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# COEX Clover Drone Kit
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<img src="docs/assets/clever4-front-white.png" align="right" width="400px" alt="Clover Drone">
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<table align=center>
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<tr>
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<td align=center><img src="docs/assets/px4.svg" height=100></td>
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<td align=center><big>+</big></td>
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<td align=center><img src="docs/assets/rpi.svg" height=100></td>
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<td align=center><big>+</big></td>
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<td align=center><img src="docs/assets/ros.svg" height=100></td>
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</tr>
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</table>
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Clover is an educational programmable drone kit consisting of an unassembled quadcopter, open source software and documentation. The kit includes Pixracer-compatible autopilot running PX4 firmware, Raspberry Pi 4 as companion computer, a camera for computer vision navigation as well as additional sensors and peripheral devices.
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This repository contains documentation, software platform source and RPi image builder for COEX Clover.
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The main documentation is available [on Gitbook](https://clover.coex.tech/).
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<img src="docs/assets/clover42.png" align="right" width="400px" alt="COEX Clover">
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Clover is a [PX4](https://px4.io)- and [ROS](https://www.ros.org)-powered educational programmable drone kit consisting of an unassembled quadcopter, open source software and documentation. The kit includes Pixracer-compatible autopilot, Raspberry Pi 4 as companion computer, a camera for computer vision navigation as well as additional sensors and peripheral devices.
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The main documentation is available at [https://clover.coex.tech](https://clover.coex.tech/).
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Official website: <a href="https://coex.tech/clover">coex.tech/clover</a>.
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## Video compilation
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## Autonomous flights compilation
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[](https://youtu.be/u3omgsYC4Fk)
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Clover drone is used on a wide range of educational events, including [Copter Hack](https://www.youtube.com/watch?v=xgXheg3TTs4), WorldSkills Drone Operation competition, [Autonomous Vehicles Track of NTI Olympics 2016–2020](https://www.youtube.com/watch?v=E1_ehvJRKxg), Quadro Hack 2019 (National University of Science and Technology MISiS), Russian Robot Olympiad (autonomous flights), and others.
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## PX4 Dev Summit 2019 talk
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[](http://www.youtube.com/watch?v=CTG9E9PbJQ8)
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## Features
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### Prebuilt RPi image
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...
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### Common robotics software
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ROS, OpenCV...
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### QGroundControl Wi-Fi bridge
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...
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### Easy autonomous flights programming
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Taking off, navigating and land is just:
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```python
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navigate(x=0, y=0, z=1, frame_id='body', auto_arm=True) # takeoff and hover 1 m above the ground
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```
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```python
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navigate(x=1, y=0, z=0, frame_id='body') # fly forward 1 m
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```
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```
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land()
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```
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See [programming documentation](https://clover.coex.tech) for further information.
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### Optical flow positioning
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RPi based optical flow....
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### ArUco markers recognizing
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...
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### Easy work with peripheral devices
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Preinstalled package for the [LED strip](https://clover.coex.tech/en/leds.html) allows high-level control (such as rainbow effect or color fade) as well as individual LED low-level control:
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```python
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set_effect(r=0, g=100, b=0) # fill strip with green color
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```
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```python
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set_effect(effect='fade', r=0, g=0, b=255) # fade to blue color
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```
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```python
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set_effect(effect='rainbow') # show rainbow
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```
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Preinstalled [VL53L1X rangefinder driver](https://clover.coex.tech/en/laser.html) passes data to the flight controller automatically and allows the user to get its data:
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```python
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data = rospy.wait_for_message('rangefinder/range', Range) # get data from the rangefinder
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```
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Preinstalled fast Python [GPIO library](https://clover.coex.tech/en/gpio.html).
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```python
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pi.write(11, 1) # set signal of pin 11 to high
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```
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```python
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level = pi.read(12) # read the state of pin 12
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```
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### Simulator
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Gazebo-based simulation.
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Screenshot...
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### Remote control apps
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...
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### Community
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Community photo...
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Clover is widely used ...
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### Free and open source
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The Clover software bundle is free, open source, and compatible with any PX4-based drone.
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## Raspberry Pi image
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Preconfigured image for Raspberry Pi with installed and configured software, ready to fly, is available [in the Releases section](https://github.com/CopterExpress/clover/releases).
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@@ -35,6 +143,12 @@ API description for autonomous flights is available [on GitBook](https://clover.
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For manual package installation and running see [`clover` package documentation](clover/README.md).
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## Other resources
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* Official documentation: [https://clover.coex.tech](https://clover.coex.tech).
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* ROS Wiki page: [https://wiki.ros.org/Robots/clover](https://wiki.ros.org/Robots/clover).
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* ROS Robots page: [https://robots.ros.org/clover](https://robots.ros.org/clover).
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## License
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While the Clover platform source code is available under the MIT License, note, that the [documentation](docs/) is licensed under the Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.
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Reference in New Issue
Block a user