COEX Clover Drone Kit
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This repository contains documentation, software platform source and RPi image builder for COEX Clover.
Clover is a PX4- and ROS-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.
Official website: coex.tech/clover.
Autonomous flights compilation
Clover drone is used on a wide range of educational events, including Copter Hack, WorldSkills Drone Operation competition, Autonomous Vehicles Track of NTI Olympics 2016–2020, Quadro Hack 2019 (National University of Science and Technology MISiS), Russian Robot Olympiad (autonomous flights), and others.
PX4 Dev Summit 2019 talk
Features
Prebuilt RPi image
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Common robotics software
ROS, OpenCV...
QGroundControl Wi-Fi bridge
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Easy autonomous flights programming
Taking off, navigating and land is just:
navigate(x=0, y=0, z=1, frame_id='body', auto_arm=True) # takeoff and hover 1 m above the ground
navigate(x=1, y=0, z=0, frame_id='body') # fly forward 1 m
land()
See programming documentation for further information.
Optical flow positioning
RPi based optical flow....
ArUco markers recognizing
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Easy work with peripheral devices
Preinstalled package for the LED strip allows high-level control (such as rainbow effect or color fade) as well as individual LED low-level control:
set_effect(r=0, g=100, b=0) # fill strip with green color
set_effect(effect='fade', r=0, g=0, b=255) # fade to blue color
set_effect(effect='rainbow') # show rainbow
Preinstalled VL53L1X rangefinder driver passes data to the flight controller automatically and allows the user to get its data:
data = rospy.wait_for_message('rangefinder/range', Range) # get data from the rangefinder
Preinstalled fast Python GPIO library.
pi.write(11, 1) # set signal of pin 11 to high
level = pi.read(12) # read the state of pin 12
Simulator
Gazebo-based simulation.
Screenshot...
Remote control apps
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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.
Image features:
- Raspbian Buster
- ROS Melodic
- Configured networking
- OpenCV
mavros- Periphery drivers for ROS (GPIO, LED strip, etc)
aruco_posepackage for marker-assisted navigationcloverpackage for autonomous drone control
API description for autonomous flights is available on GitBook.
For manual package installation and running see clover package documentation.
Other resources
- Official documentation: https://clover.coex.tech.
- ROS Wiki page: https://wiki.ros.org/Robots/clover.
- ROS Robots page: https://robots.ros.org/clover.
License
While the Clover platform source code is available under the MIT License, note, that the documentation is licensed under the Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.