diff --git a/README.md b/README.md index d068da7a..1561b671 100644 --- a/README.md +++ b/README.md @@ -1,19 +1,127 @@ # COEX Clover Drone Kit -Clover Drone + + + + + + + + +
++
-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. +This repository contains documentation, software platform source and RPi image builder for COEX Clover. -The main documentation is available [on Gitbook](https://clover.coex.tech/). +COEX Clover + +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. + +The main documentation is available at [https://clover.coex.tech](https://clover.coex.tech/). Official website: coex.tech/clover. -## Video compilation +## Autonomous flights compilation [![Clover Drone Kit autonomy compilation](http://img.youtube.com/vi/u3omgsYC4Fk/hqdefault.jpg)](https://youtu.be/u3omgsYC4Fk) 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. +## PX4 Dev Summit 2019 talk + +[![](http://img.youtube.com/vi/CTG9E9PbJQ8/0.jpg)](http://www.youtube.com/watch?v=CTG9E9PbJQ8) + +## Features + +### Prebuilt RPi image + +... + +### Common robotics software + +ROS, OpenCV... + +### QGroundControl Wi-Fi bridge + +... + +### Easy autonomous flights programming + +Taking off, navigating and land is just: + +```python +navigate(x=0, y=0, z=1, frame_id='body', auto_arm=True) # takeoff and hover 1 m above the ground +``` + +```python +navigate(x=1, y=0, z=0, frame_id='body') # fly forward 1 m +``` + +``` +land() +``` + +See [programming documentation](https://clover.coex.tech) for further information. + +### Optical flow positioning + +RPi based optical flow.... + +### ArUco markers recognizing + +... + +### Easy work with peripheral devices + +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: + +```python +set_effect(r=0, g=100, b=0) # fill strip with green color +``` + +```python +set_effect(effect='fade', r=0, g=0, b=255) # fade to blue color +``` + +```python +set_effect(effect='rainbow') # show rainbow +``` + +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: + +```python +data = rospy.wait_for_message('rangefinder/range', Range) # get data from the rangefinder +``` + +Preinstalled fast Python [GPIO library](https://clover.coex.tech/en/gpio.html). + +```python +pi.write(11, 1) # set signal of pin 11 to high +``` + +```python +level = pi.read(12) # read the state of pin 12 +``` + +### Simulator + +Gazebo-based simulation. + +Screenshot... + +### Remote control apps + +... + +### Community + +Community photo... + +Clover is widely used ... + +### Free and open source + +The Clover software bundle is free, open source, and compatible with any PX4-based drone. + ## Raspberry Pi image 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). @@ -35,6 +143,12 @@ API description for autonomous flights is available [on GitBook](https://clover. For manual package installation and running see [`clover` package documentation](clover/README.md). +## Other resources + +* Official documentation: [https://clover.coex.tech](https://clover.coex.tech). +* ROS Wiki page: [https://wiki.ros.org/Robots/clover](https://wiki.ros.org/Robots/clover). +* ROS Robots page: [https://robots.ros.org/clover](https://robots.ros.org/clover). + ## License 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. diff --git a/docs/assets/clover.png b/docs/assets/clover.png new file mode 100644 index 00000000..f256cd5e Binary files /dev/null and b/docs/assets/clover.png differ diff --git a/docs/assets/clover42.png b/docs/assets/clover42.png new file mode 100644 index 00000000..b43b5c56 Binary files /dev/null and b/docs/assets/clover42.png differ diff --git a/docs/assets/px4.svg b/docs/assets/px4.svg new file mode 100644 index 00000000..0b1af059 --- /dev/null +++ b/docs/assets/px4.svg @@ -0,0 +1 @@ +Asset 1 \ No newline at end of file diff --git a/docs/assets/ros.svg b/docs/assets/ros.svg new file mode 100644 index 00000000..238333b4 --- /dev/null +++ b/docs/assets/ros.svg @@ -0,0 +1,134 @@ + + + + + + image/svg+xml + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/docs/assets/rpi.svg b/docs/assets/rpi.svg new file mode 100644 index 00000000..fa3ee4d4 --- /dev/null +++ b/docs/assets/rpi.svg @@ -0,0 +1,69 @@ + +image/svg+xml \ No newline at end of file