Software

The software team will develop all the software to make DogCopter function autonomously. It is split into three teams.

Controls

Controls software works on establishing communication between the different control systems and the motors. We will be working with Raspberry Pi 5s, PX4 firmware, and MIT Cheetah motor controllers. There will be some intersection between controls and electronics. We are currently working on communicating with the motors and PX4 from the Raspberry Pi.

Raspberry Pi 5: https://www.raspberrypi.com/documentation/ PX4: https://docs.px4.io/main/en/ MIT Cheetah Controllers: https://dspace.mit.edu/bitstream/handle/1721.1/118671/1057343368-MIT.pdf

Vision

The vision team will be taking input from the lidar and camera and using it to navigate DogCopter. Currently, we are working on processing input from our lidar. Unitree 4D Lidar: https://shop.unitree.com/products/unitree-4d-lidar-l1

Simulation

Simulations will work on testing the DogCopter in a virtual environment. The goal is to first create a simulated environment to test in, then to create a map of that simulated environment through our vision method. Gazebo: https://gazebosim.org/docs/latest/getstarted/