中文版readme请移步 readme.md.
This project introduces the hardware design and assembly process of the FAST-LAB autonomous drone. This drone can be applied in autonomous flight in unknown environment, swarm flight, for example. The following projects are on based on the introduced drone:Ego-Planner Ego-Swarm CMPCC Fast-Tracker Fast-Racing
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The basic hardware of a drone that can be controlled by a remote controller are: frame, motor, ESC, flight controller, receiver, remote controller, li-po battery, voltmeter, etc.
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Based on the basic hardware, an autonomous drone need two more parts: a stereo camera for visual localization, an onboard computer for running navigation algorithms.
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The following sheet contains the model, quantity, and purchasing link(we only offer the taobao link,and developer overseas may have to look up the device in other purchasing channel. In theory, every similar model works.)
It should be noted that, the model selection of flight controller is CUAV NORA(Don't use NORA+, because it doesn't support this repo's firmware), V5+, X7, while any other FCU that supports PX4 firmware works, too. As for the onboard computer, you can choose DJI MANIFOLD 2-C or JETSON XAVIER NX. The STL model of the 3D print part and the carbon fiber board can be found at catalog "model".
- MANIFOLD 2-C version：
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XAVIER NX version：
This drone runs at Ubuntu 16.04/18.04 and ROS Kinetic/Melodic, and correlating installation can be found at ROS Installation
The main difficulty of the assembly lies at the weld of the power suit and the configuration and tuning of the FCU. Please refer to assemble.pdf.