A Pixhawk-ROS Based Development Solution for the Research of Autonomous Quadrotor Flight with a Rotor Failure

Abstract

In this paper, a development solution based on Pixhawk and Robot Operating System (ROS) is proposed for the research and application of autonomous quadrotor flight with a rotor failure. The solution adopts the ROS development framework, which allows users to design the fault-tolerant controller for quadrotor directly in ROS to update control signals in high frequency. In addition, the proposed solution can be further validated using the ROS-Gazebo visual simulation environment for different types of fault-tolerant controllers and deployed in real quadrotor. Finally, a specific fault-tolerant controller and its control effects are given in this paper to show the effectiveness and advantages of the proposed solution.