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95 lines
3.8 KiB
Markdown
95 lines
3.8 KiB
Markdown
# Copter Hack 2019
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The [Copter Hack 2019](https://copterexpress.timepad.ru/event/1017592/) hackathon took place on the 11th to 13th of October in the "Moscow" Technopolis.
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Event page: https://coex.tech/copterhack.
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Hackathon chat: https://t.me/CopterHack.
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Timepad event page: https://copterexpress.timepad.ru/event/1017592/.
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## Information for participants
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### COEX Pix specifics
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Be sure to set the *Autopilot orientation* parameter to `ROTATION_ROLL_180_YAW_90` if you're using the *COEX Pix* flight controller. This parameter should be applied during calibration of each sensor.
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<img src="../assets/autopilot_orientation.png" class="center" width="600">
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This parameter is used for *IMU* orientation correction.
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### Suggested image versions
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Raspberry Pi versions 3B+ and lower: [v0.18](https://github.com/CopterExpress/clever/releases/tag/v0.18)
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Raspberry Pi version 4: [v0.19-alpha.1](https://github.com/CopterExpress/clever/releases/tag/v0.19-alpha.1)
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### Camera orientation
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Some drones have the camera mounted with the cable going forward. You should set this orientation in the `main_camera.launch` file in the `clever` package.
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Further reading: [Camera orientation](camera_frame.md)
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### Using Optical Flow
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In order to enable optical flow set `optical_flow` and `rangefinder_vl53l1x` parameters to `true` in `clever.launch`.
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Enable `pub agl as lpos down` in `LPE_FUSION` parameter using QGroundControl.
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Make sure the rangefinder is mounted correctly and is working (see [Interfacing with a laser rangefinder](laser.md)).
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Further reading: [Optical Flow](optical_flow.md).
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### Using ArUco map
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Use the `cmit.txt` map. See [instructions](aruco_map.md).
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### Drone batteries
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**The battery indicator should be connected to the battery at all times. The organizers will not replace your damaged batteries!**
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### Flight videos
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Be sure to record **ALL** your flights on video! If your drone fails before your presentation, you'll be able to at least show your videos.
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### Yaw problem
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The v1.8.2-clever.7 FCU firmware has a potential bug that manifests during VPE (marker-based) flights. If your drone does not correct its yaw when using ArUco markers, try using an older firmware version (v1.8.2-clever.6, available from https://github.com/CopterExpress/Firmware/releases/tag/v1.8.2-clever.6). Download `px4fmu-v4_default.px4` for COEX Pix.
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### `navigate` service problem
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The 0.18 Raspberry Pi image has a potential bug that makes the drone fly through waypoints too fast. Try setting the `nav_from_sp` parameter to `false` in `~/catkin_ws/src/clever/clever/launch/clever.launch` if you are affected by it:
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```xml
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<!-- simplified offboard control -->
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<node name="simple_offboard" pkg="clever" type="simple_offboard" output="screen" clear_params="true">
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<param name="reference_frames/body" value="map"/>
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<param name="reference_frames/base_link" value="map"/>
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<param name="reference_frames/navigate_target" value="map"/>
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<param name="reference_frames/navigate_target" value="map"/>
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<param name="nav_from_sp" value="false"/>
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</node>
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```
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## Lectures (in Russian)
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Lecture 1: Introduction – https://www.youtube.com/watch?v=cjtmZNuq7z0.
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Lecture 2: FCU setup – https://www.youtube.com/watch?v=PJNDYFPZQms.
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Lecture 3: PX4 architecture – https://www.youtube.com/watch?v=_jl7FImq3jk.
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Lecture 4: Autonomous flights – https://www.youtube.com/watch?v=ThXiNG1IzvI.
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Be sure to check out other videos on the COEX YouTube channel: https://www.youtube.com/channel/UCeCu93sLBkcgbIkIC7Jaauw/featured.
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## Results
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Winners:
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1. Bulbolet – potato delivery using a smart hoist.
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2. Copter don't hurt me – controlling drone using a neural interface.
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3. import torch – active track using neural networks.
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4. Autobot – freeze light through a VK bot.
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5. Stardust Crusaders – AR drone simulation.
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