The repository includes Tombo propeller modeling programs and ROS packages for controlling (s500) drone embedded with TOMBO propeller and implementation of equilibrium bounce reaction strategy in respond to mid-air collision between the deformable propeller and a fixed obstacle.

1. Tombo_aerodynamic_model.m : areodynamic Matlab function for 9inch-TOMBO propeller

2. aeorodynamic_parameters.m : a program for generating aerodynamic parameters

3. Airfoil.csv : airfoil data includes the coordinates of leading edge and trailing edge and pitch angle of all corss-sections

4. Camberline.dat: camberline data of the representative cross-section

Please be assure turn off Firewall for rigid-body data communication.

1. Move to Catkin workspace (ROS) working directory.

$ cd [home/username]/catkin_ws/src

Then make the catkin environment and source the setup file.

$ catkin_make && source devel/setup.bash

2. Run vrpn node for subscribing drone pose (position and orientation) in real-time, pass the ip address of the computer running the MOCAP system to server argument.

$ roslaunch vrpn_client_ros sample.launch server:=192.168.11.13

3. Run mavros node to connect to the drone (PX4 flight stack) and Qground control

4. Relay orientation topic.

• Project Manager
  • Ho Anh Van - van-ho@jaist.ac.jp
• Developers
  • Luu Khanh Quan - quan-luu@jaist.ac.jp : Flight and Reaction Control
  • Bui Tien Son - son-bui@jaist.ac.jp : Aerodynamic modeling and AirfoilGenerator

This work was supported by JST SCORE project, Grant-in-aid for Scientific Research projects No. 18H01406 and 21H01287

Distributed under the MIT License. See LICENSE for more information.