Fl-AIR - Framework libre AIR

Fl-AIR is a framework written in C++ that aims at helping the development of applications for robots, and more specially for UAVs. It is licensed under ​Cecill-C license.

WARNING: version 0.2.0 has a bug with vrpn delta time calculation. It will affect estimated velocities. Use a fixed time step for vrpn filters (ask to Guillaume) or use a newer version.

WARNING: version 0.1.2 has a bug with ardrone2 magnetometers. AHRS estimation is not good. Set km[i]=0 in imu tab of ground station to disable magnetometers. Ask to Guillaume if necessary.

WARNING: version 0.1.0 has a bug with VRPN rotation. Please use version 0.1.1 or latest.

WARNING: version 0.0.1 has a bug with HdsX8. Version 0.0.1 has also a problem with ubuntu 16.4 (cmake). Please use version 0.0.2 or latest.

News

• 17 december 2020: version 0.3.1 is available, see updating repositories. NOTE : you will need to reinstall the toolchain for x86_64, see wiki
• 20 february 2020: version 0.3 is available, see updating repositories. NOTE : this version uses a new build scheme (out of source), see wiki
• 26 august 2019: version 0.2.2 is available, see updating repositories. NOTE : Please upgrade to this version to use Gildas' new IP scheme
• 5 december 2018: version 0.2.1 is available, see updating repositories.
• 13 september 2018: version 0.2.0 is available, see updating repositories. NOTE : you need to reinstall toolchains for this versions. UAVs also need a software upgrade; ask to Guillaume.
• 09 january 2018: version 0.1.2 is available, see updating repositories.

Documentation

• How Fl-AIR works
• Prerequisite
• getting started:
  • Setup your computer
  • Setup your UAV/dev board
  • Install toolchains
  • Subversion repositories
    • Description
    • Get repositories
    • Updating repositories
  • Build system
  • Demos: provided demos are good starting points if you want to write your own application
    • Sinus demo: Filter and Ground Control Station features
    • Circle follower demo: Simulation and control programs for a UAV
    • Simple fleet demo: Simulation and control programs for a fleet of 2 UAVs
  • Skeletons: skeletons are also good starting points to write applications, as they are very minimalistic
  • Cmake modules: description of cmake modules used by flair. Usefull to understand how flair CMakeLists work
• Additional software for Heudiasyc users
• Fl-AIR documentation
• Coding Style
• Troubleshooting