Command/control methods

  • Using a joystick
  • Autonomously using a command queue
  • Command line interface

Joystick mode

  • The joystick is always active (though it’s use can be safely commented out)
  • Commands from the joystick are continuously sent to the drone without waiting for a response
  • Based on the controller used, the mappings might require modification
  • The default controller is gameSirT1s; key/axis to value mappings for PS3 and 360 controller have been provided, though the mappings between the values to the commands sent to the drone might need modification

Autonomous mode

  • This queue is always overridden by the joystick as a safety measure
  • Using the joystick while the queue is executing pauses the queue, which will need to be restarted even when there is no longer additional input from the joystick
  • Queue execution can be safely paused and resumed
  • Commands can be dynamically added
  • This mode enables (optional) command retries when a command does not receive any response from the drone

Command line interface

  • A command line interface can be brought up by setting the CMake option USE_TERMINAL to ON
  • Like the joystick, the CLI will pause command queue execution

SLAM integration has been provided using the OpenVSLAM library.