Set value to 2 for using TeraRanger distance sensor readings directly for z-axis position measurements
Set value to 3 for using MoCAp or TeraRanger readings mapped through the MoCap topic (see distance_sensor_override.py) for z-axis position measurements
Configure relevant files such as uav.launch, px4_config.yaml, & px4_pluginlists.yaml
Select which RealSense cameras to use, z-axis estimate mode, etc.
Safely place drone in the flying cage and reboot/prearm the Pixhawk 4
You must be wearing PPE (gloves, safety glasses, ear muffs).
Prearming is done with the pre-arming button.
Launch necessary ROS nodes
roslaunch rpl uav.launch
Verify the TeraRanger distance sensor is actively reporting
distance values either through MAVROS or in QGroundControl
(unless using alternative z-axis position source)
If not, repeat the reboot/prearm procedure until it is.
Begin recording video of flight with an external camera (w/ a view of the flight area)
Begin recording a rosbag of point cloud data (by default, there is a rosbag being recorded with all relevant topics -mavros and tf- when launching the uav.launch file )
rosbag record --lz4 -O cameras_outside_net.b_2ag /tf /tf_static /l515/depth/color/points /d435_r/depth/color/points /d435_l/depth/color/points
Center the throttle switch at 50% and fly based on Position Mode (Mode 2 remote) instructions
When you are ready to land, or hear the low voltage alarm, fly above a flat landing
spot and throttle stick down in Position Mode until the drone lands
Switch to Manual Mode ([SA] up) and disarm with the disarming gesture
Stop ROS nodes, ROSBAG recording, and external video recording
Enter the flying cage (with full PPE) and fully disarm the pre-arming button