Skip to content

Latest commit

 

History

History
47 lines (34 loc) · 2.49 KB

BETAFLIGHT_README.md

File metadata and controls

47 lines (34 loc) · 2.49 KB
Raw

Betaflight

The Gazebo support for Betaflight was added in this PR. It's already available in master branch.

SITL Diagram

Packages available

  • betaflight_configurator: This package download and install in the workspace the ground control station. To connect with the SITL please use "Manual" and "Port: tcp://127.0.0.1:5761"

    IMPORTANT: you need to modify the settings of the Betaflight SITL to enable arming and the motors. In order to do this you'll need to run the file betaflight_SITL.elf located in ~/vg/install/betaflight_sim/share/betaflight_sim/bin/betaflight_SITL.elf and connect to it through the program Betaflight Configurator:

    1. Open Betaflight Configurator
    2. In the Port field on the top bar insert the address tcp://127.0.0.1:5761 and click Connect
    3. In the side tabs you need to configure the following:
    • Modes: Configure arm in AUX1 (range 1500 - 2100)
    • Motors: Select PWM and enable 3D Remember to click Save in order to commit the changes. You can shut down and reopen betaflight_SITL.elf to check that the settings have been saved in Betaflight Configurator.

    1. Once you have verified that the changes have been committed you will need to copy the configuration file eeprom.bin that has been generated from ~/vg/install/betaflight_sim/share/betaflight_sim/bin/eeprom.bin to ~/vg/install/betaflight_sim/share/betaflight_sim/config/eeprom.bin:

      cp ~/vg/install/betaflight_sim/share/betaflight_sim/bin/eeprom.bin ~/vg/install/betaflight_sim/share/betaflight_sim/config/eeprom.bin

  • betaflight_controller: When the drone is connected to SITL this requires an RC, otherwise the flight controller will generate a failsafe (RX_FAILSAFE). This program will open a UDP socket in the port 9004. Values are between [1000 - 2000]

    • Connect a joystick
    • You need to run ros2 run joy joy_node
    • And the ros2 run betaflight_controller betaflight_joy_controller.

  • betaflight_gazebo: This plugin will send the state data to the SITL and it will received the data from the motors [-1, 1].

  • Sending state output to SITL at UDP link: 127.0.0.1:9002

  • Receiving PWM from SITL at UDP server: 127.0.0.1:9003

  • betaflight_sim: Download and install the betaflight flight controller.

Run the simulation

ros2 launch betaflight_sim quadcopter.launch.py

Test