The MRS UAV System API

📄️ UAV-ROS API

The UAV can be given commands via the following managers and nodes.

📄️ ROS messages

We keep all of our messages defined within a handful of packages.

📄️ Configuring the MRS UAV System

There are many configuration files baked in the mrsuavcore and other packages of the system.

📄️ Frames of reference

As described in the Transformations manual, the MRS control system enables to send commands to the UAV in all coordinate frames that are part of the same TF Tree as the /fcu frame.

📄️ Transformations

As a robotic system, the MRS system makes use of many coordinate reference frames.

📄️ Trajectories

Definitions

📄️ Motor thrust model

The MRS UAV System requires a model which can estimate the relation between a throttle input and thrust force produced by the rotors.