ROScopter让无人机研发更高效，代码简洁易改。
ROScopter: A Multirotor Autopilot based on ROSflight 2.0
- 基于ROSflight 2.0构建，代码模块化且易修改
- 实测性能接近顶尖飞控，代码量显著减少
- 适合想快速测试算法的研究者使用
ROScopter 是一个面向研究者的轻量级多旋翼飞控系统，旨在通过清晰可读、易于修改的架构，加速科研代码在仿真与真实硬件上的测试。该系统基于 ROSflight 2.0 构建，运行于机载飞行计算机上，充分利用 ROS 2 的特性提升模块化水平。本文介绍了 ROScopter 的整体架构，并展示了其在仿真与实际硬件环境中测试应用代码的能力。硬件测试结果表明，其默认行为在基础航点追踪任务中表现与当前先进飞控相当，但代码规模显著减小且结构更模块化。
原文摘要 · Abstract (English)
ROScopter is a lean multirotor autopilot built for researchers. ROScopter seeks to accelerate simulation and hardware testing of research code with an architecture that is both easy to understand and simple to modify. ROScopter is designed to interface with ROSflight 2.0 and runs entirely on an onboard flight computer, leveraging the features of ROS 2 to improve modularity. This work describes the architecture of ROScopter and how it can be used to test application code in both simulated and hardware environments. Hardware results of the default ROScopter behavior are presented, showing that ROScopter achieves similar performance to another state-of-the-art autopilot for basic waypoint-following maneuvers, but with a significantly reduced and more modular code-base.
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