Advanced Robotic Vehicles Programming: An Ardupilot and Pixhawk Approach

Table of Contents\nAbout the Authors\nAcknowledgments\nClause of Responsibilities\nForeword\nWarning\nPrior Knowledge\nExpected Results\nLicenses\nPart I: Introduction\n	Chapter 1: Hardware and Software Description\n		Autopilot\n		Kinds of Autopilot: SDK vs. GUI\n		Kinds of SDKs\n		Pixhawk Autopilot (Hardware)\n		Clones vs. Originals\n		Commercial Autopilot vs. Your Own Design\n		ArduPilot Libraries (Software)\n		Compatibilities and Similar Projects\n		Confusion Between Hardware and Software?\n		Chapter Summary\n	Chapter 2: ArduPilot Working Environment\n		File Types Related to ArduPilot Libraries\n		Specific Data Types\n			Implementation Tip: PPM, PWM, 1000, or 2000?\n		Description and Flow of the Programs Used\n			Coding and Compiling\n			Connection and Loading Interface\n			Physical Execution\n			Display\n			Feedback\n		Uploading Custom Code to the Autopilot\n		Making New Projects by Using Eclipse\n		Error Checking\n		Is It Feasible to Use Arduino Directly with ArduPilot Libraries?\n		Chapter Summary\n	Chapter 3: Concepts and Definitions\n		Auxiliary Components\n			Brushless Motors\n			ESC\n			Propellers\n			Frame\n			Special Connectors\n			Telemetry Module (Wireless Serial Communication)\n			LIPO Battery\n			Battery Tester or Battery Monitor\n			GPS Module\n			Distributor\n			Power Module\n			Silicon Wire\n			Thermofit\n			Fasteners\n			Passive Antivibration Modules\n			Remote Control\n			Embedded On-Board Computer\n			Special Pixhawk Components\n		Computational Efficiency Against Mathematical Equality\n		Working with Variables, Functions, Modules, and Objects\n			Variable\n			Structure\n			Function\n			Module\n		Getter and Setter Concepts\n		Concepts of Orientation and Position\n		Attention: Difference Between Installation and Coding\n		Usual Parts of ArduPilot Code\n		Usual Models for Programming ArduPilot Code\n		Chapter Summary\n		Part 1 References and Suggested Websites\nPart II: Sequential Operation Mode\n	Chapter 4: Basic Input and Output Operations\n		About the Header\n		About the Setup\n		Writing to the Terminal\n		Terminal Reading\n		Radio Reading\n		Auxiliary Channels and Introduction to State Machines\n		Position and Orientation Internal Sensors Reading\n		External Position Sensors Reading (GPS)\n		Reading Analog Sensors\n		Signals Filtering\n		Digital Reading and Writing\n		Battery Reading\n		Using Visual Alerts Through the Main LED\n		Chapter Summary\n	Chapter 5: Advanced Operations\n		Wired and Wireless Serial Communication\n		Communication Procedure\n			Procedures for Sending Data\n			Data Verification Procedure\n			Description of a Basic Checksum Method\n			Description of the XOR Checksum Method\n		Polling\n		Reading from External Devices Through Serial Communication and Development Boards\n		Writing to Brushless Motors (BLDC Motors)\n		Code Optimization\n		Simplified Function for Writing to Motors\n		Writing to Standard DC Motors (Brushed)\n		Using Stepper Motors\n		Using Servomotors for Auxiliary Tasks\n		Summary of ArduPilot Compatible Motors\n		Data Use and Storage\n		Using the Mission Planner GUI to Plot SD Data\n		Time Management\n		Chapter Summary\n	Chapter 6: Quadcopter Control with Smooth Flight Mode\n		Basic Modeling of a Multicopter\n		Second Example: Bicopter (with Coaxial Motors Analysis)\n		Velocity Kinematic Relations\n		Dynamic Translation Equations\n		Dynamic Rotational Equations\n		Flight Modes\n		Decoupled Tasks\n		Control Methods\n		Closed Loop vs. Open Loop\n		Saturated PD Control (Soft-Mode Basic Control of Flight)\n		Drone Flight Implementation\n		Chapter Summary\n		Part 2 References\nPart III: Real-Time Mode\n	Chapter 7: Real-Time Working Environment\n		Linker\n		Scheduler Description\n		ArduPilot Usual Parts in Real-Time Mode/Scheduler Mode\n		Measuring the Execution Time of a Task\n		Chapter Summary\n	Chapter 8: Compendium of the  Previous Chapters in Real Time with  Application Code\n		Module radio.pde\n		Module control.pde\n		Module Data.pde\n		Module Pose.pde\n		Chapter Summary\n		Part 3 References\nAppendix 1:\rComparison of  Commands with  Other SDKs\nAppendix 2:\rSetup Extended Code\nAppendix 3:\rExtended Header\nAppendix 4:\rThe Fully Functional Code\nAppendix 5:\rHelpful Keywords\nAppendix 6:\rInstalling ArduPilot Libraries\n	“Generic” Procedure\n	Installation Procedure\n	Compiling the Libraries\n	Interface Customization and Recompilation from the Preloaded Version of the Eclipse Editor\n	Uploading ∗ .px4 Files to the Autopilot\n	Terminal Test of the Previously Loaded Program\n	References and Suggested Websites\nAppendix 7:\rThrust Vectoring\nAppendix 8:\rOmnidirectionality\n	References and Suggested Websites\nAppendix 9:\rExtended Power Methods\n	References and Suggested Websites\nAppendix 10:\rSummary of the Design of a Quadcopter\n	Vehicle Design\n	Autopilot Selection\n	Selection of the Remote Control\n	References and Websites\nAppendix 11:\rWorking with Header Files\nIndex