Merge branch 'main' of github.com:PegasusResearch/pegasus

.github/workflows/doc.yaml

@@ -0,0 +1,36 @@
+name: Build docs
+
+on:
+  push:
+    branches:
+      main
+  pull_request:
+    branches:
+      - main
+
+jobs:
+  build-docs:
+    name: Build documentation
+    runs-on: ubuntu-22.04
+    if: github.repository == 'PegasusResearch/pegasus'
+
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v2
+
+      - name: Checkout code
+        uses: actions/checkout@v2
+
+      - name: Install doc requirements
+        working-directory: ./docs
+        run: pip install -r requirements.txt
+
+      - name: Compile html docs
+        working-directory: ./docs
+        run: make html
+
+      - name: Deploy to github pages
+        uses: peaceiris/actions-gh-pages@v3
+        with:
+          github_token: ${{ secrets.GITHUB_TOKEN }}
+          publish_dir: ./docs/_build/html

docs/index.rst

@@ -86,6 +86,7 @@ Not only have you made this project possible, but also crashing drones an enjoya
    source/features/states
    source/features/controllers
    source/features/geofencing
+   source/features/static_trajectory_manager
 
 .. toctree::
    :maxdepth: 3

docs/requirements.txt

@@ -6,4 +6,4 @@ sphinx_mdinclude==0.5.3
 myst-parser==0.18.1
 sphinxcontrib-bibtex==2.5.0
 sphinxcontrib-youtube==1.2.0
-readthedocs-sphinx-search==0.1.2
+readthedocs-sphinx-search==0.3.2

docs/source/features/autopilot.rst

@@ -1,4 +1,51 @@
 Autopilot
 =========
 
-At the center of the Guidance and Control system is the Autopilot.
+At the center of the Guidance and Control system is the Autopilot, implemented in C++. This is located inside the ``pegasus_autopilot/autopilot`` package. 
+The Autopilot is responsible for keeping track of the current operating ``mode`` of the vehicle. It exposes to each operation ``mode`` the following APIs:
+
+* ``Control`` - Provides the control commands to the vehicle to track a given position, attitude, velocity, etc.
+* ``Geofencing`` - Checks if the vehicle is within the geofence and if not, provides the control commands to bring the vehicle back inside the geofence.
+* ``Trajectory Manager`` - Manages desired trajectories for the vehicle to follow.
+
+It also provides each mode with the current ``state`` of the vehicle, which includes the current position, velocity, attitude, etc.
+
+The autopilot operation ``modes``, ``controllers``, ``geofencing`` and ``trajectory manager`` are implemented as ROS 2 plugins. This allows for easy extensibility and customization of the Autopilot, without having
+to modify the base autopilot packages. The Autopilot is responsible for loading the plugins at runtime and managing the communication between them.
+
+0. Operating Modes
+------------------
+
+The default operating modes provided by the Autopilot are:
+
+* ``Arm`` - The vehicle is armed and ready to take off.
+* ``Disarm`` - The vehicle is on the ground and disarmed.
+* ``Takeoff`` - The vehicle takes of to a predefined altitude above the current position.
+* ``Land`` - The vehicle lands at the current position.
+* ``Hold`` - The vehicle holds its current position.
+* ``Follow Trajectory`` - The vehicle follows the trajectory loaded in the trajectory manager.
+* ``Waypoint`` - The vehicle goes to a waypoint.
+
+
+1. Autopilot Code
+-----------------
+
+.. literalinclude:: ../../../pegasus_autopilot/autopilot/include/autopilot/autopilot.hpp
+   :language: c++
+   :emphasize-lines: 87-88, 90-91, 93-94, 102-103, 127-128, 130-131, 133-136, 182-186 
+   :linenos:
+
+2. Explanation
+--------------
+
+In order to 
+
+.. literalinclude:: ../../../pegasus_autopilot/autopilot/include/autopilot/autopilot.hpp
+   :language: c++
+   :lines: 87-88
+   :lineno-start: 87
+
+
+
+
+

docs/source/features/controllers.rst

@@ -1,2 +1,9 @@
 Controllers
-===========
+===========
+
+0. Definition of the Controller Interface
+-----------------------------------------
+.. literalinclude:: ../../../pegasus_autopilot/autopilot/include/autopilot/controller.hpp
+   :language: c++
+   :emphasize-lines: 92-95, 97-101, 128-130, 132-139, 141-148, 150-157, 159-166, 168-173
+   :linenos:

docs/source/features/geofencing.rst

@@ -1,2 +1,9 @@
 Geofencing
-==========
+==========
+
+0. Definition of the Geofencing Interface
+-----------------------------------------
+.. literalinclude:: ../../../pegasus_autopilot/autopilot/include/autopilot/geofencing.hpp
+   :language: c++
+   :emphasize-lines: 92-93, 95-99
+   :linenos:

docs/source/features/states.rst

@@ -1,2 +1,17 @@
 States
-======
+======
+
+0. Definition of the State Machine Mode Interface
+-------------------------------------------------
+.. literalinclude:: ../../../pegasus_autopilot/autopilot/include/autopilot/mode.hpp
+   :language: c++
+   :emphasize-lines: 103-108
+   :linenos:
+
+1. Provided State Machine Modes
+-------------------------------
+TODO
+
+2. Adding Custom Modes to the State Machine
+-------------------------------------------
+TODO

docs/source/features/static_trajectory_manager.rst

@@ -0,0 +1,17 @@
+Static Trajectory Manager
+=========================
+
+0. Definition of the Trajectory Interface
+-----------------------------------------
+.. literalinclude:: ../../../pegasus_autopilot/static_trajectory_manager/include/static_trajectory_manager/static_trajectory.hpp
+   :language: c++
+   :emphasize-lines: 67-73
+   :linenos:
+
+1. Provided Trajectories
+------------------------
+TODO
+
+2. Adding Custom Static Trajectories
+------------------------------------
+TODO

docs/source/vehicles/pegasus.rst

@@ -3,15 +3,37 @@ Pegasus Drone v1.0.0
 
 CAD Model
 ---------
+The lastest CAD model for the Pegasus Drone can be found in the `Pegasus CAD <https://github.com/PegasusResearch/pegasus_cad>`_ repository under a `Creative Commons Non-Commercial & Non-Military License <https://github.com/PegasusResearch/pegasus_cad/blob/main/LICENSE>`_. 
+
+.. image:: https://github.com/PegasusResearch/pegasus_cad/blob/main/docs/_static/full_assembly.png?raw=true
+  :width: 600
+  :align: center
+  :alt: Pegasus Drone CAD Model
 
 Bill of Materials
 -----------------
 
+In order to replicate the Pegasus Drone, the following components are required:
+
+* 1x `Nvidia Jetson Orin Nano Developer Kit <https://developer.nvidia.com/embedded/learn/get-started-jetson-orin-nano-devkit>`_
+* 1x 256GB NVMe SSD PCIe 4.0
+* 1x `Kakute H7 v1.3 stack (Microcontroller + 4in1 ESC) <https://holybro.com/products/kakute-h7-v1-stacks?variant=42833125277885>`_ 
+* 4x `T-motor V2306 V2 2400KV <https://store.tmotor.com/product/v2306-v2-fpv-motor.html>`_
+* 1x `Micro M8N GPS <https://holybro.com/collections/standard-gps-module/products/micro-m8n-gps>`_
+* 1x `FrSky XM Plus ACCST 16CH Sbus <https://www.frsky-rc.com/product/xm-plus/>`_
+* 1x `Realsense d435i <https://www.intelrealsense.com/depth-camera-d435i/>`_
+* 4x `Propellers Dalprop Cyclone T5050 <http://www.dalprop.com>`_
+* 1x Battery 4S 4300mAh
+* 1x Set of jumper dupont wires
+* 1x XT60 cable connector
+
 PX4 Configuration for Indoor Flight
 -----------------------------------
 
+
 Pegasus Drone Setup
 -------------------
 
 Realsense Setup
----------------
+---------------
+