Features
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Graphical User Interface (GUI)
The Graphical User Interface is built to give a user-friendly experience to users interacting with the project. All the features included in the project is made to be accesible from the GUI. Some features found are:
- Ros Startup
- Drone Selection
- Mission Creation and Selection
- Load and Save Mission
- Emegency Stop
- Control Parameter Settings
- Manual Control
- Follow the leader Mission
- Real-time Visualisation
- RRT* Toggle
- Simulation/Real-flight Toggle
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RRT*
The project fully supports obstacle avoidence in the form of RRT *. If the RRT * is toggeled on the drones will calculate a trajectory that avoids all the defined obstacles. The user can easily define the obstacles from the GUI.
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Simulation
By selecting the simulation mode, all the commands that would otherwise go to the actual drone is given to a virtual drone. The flight path of the simulated drone is then plotted. This simulation does not offer any dynamic model of the drone rather it gives a visulasition of what the mission would look like. This is a good way to evaluate the performance of a mission before risking the hardware.
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Real-time visualisation
The real-time visualisation of the drone positions is provided through the GUI, where the live positions of each drone are plotted together with their planned trajectories. Included in the real-time visualisation is a error estimation between the planned trajectory and the actual position. If the error becomes greater than 1 m for any drone, the emergency function is called so that all drones land. This is a safety measure that is used to make sure that if a drone is faulty and wanders off its trajectory, the program is terminated to protect the drones and their surroundings.
