ROSflight: A lightweight, inexpensive MAV research and development tool

摘要

To accelerate research and development of the autonomous capabilities of micro aerial vehicles we have developed flight control framework, ROSflight, as a research tool. ROSflight makes development of autopilot code easier and more efficient by minimizing the use of embedded systems, incorporating the Robot Operating System and using off-the-shelf and open-source hardware and software. Motivation and applications for use in the research community are discussed. Analysis of loop rate and communication bandwidth are presented as well as results from flight demonstration of two multirotor aircraft.