Arena Setup

ID, IPs and Mavlink Ports and other information
ID	IP	Port	AP SSID	AP Password	Station SSID	Status	Kakute version	Config File
7	192.168.1.247	15007	CineWhoop3-7	pixracer	Quadrotor	✔️	KakuteH7v2	kopis7.params
8	192.168.1.248	15008	CineWhoop3-8	pixracer	Quadrotor	✔️	KakuteH7v2	kopis8.params
9	192.168.1.249	15009	CineWhoop3-9	pixracer	Quadrotor	✔️	KakuteH7v2	kopis9.params
10	192.168.1.250	15010	CineWhoop3-10	pixracer	Quadrotor	✔️	KakuteH7v2	kopis10.params
11	192.168.1.251	15011	CineWhoop3-11	pixracer	Quadrotor	✔️	KakuteH7	TBD
12	192.168.1.252	15012	CineWhoop3-12	pixracer	Quadrotor	❌	KakuteH7	TBD

The vehicles are configured to connect to the station network if the Statis SSID is detected. Otherwise, the vehicles will create an AP with the AP SSID and AP Password, according to the table above.

Running the Kopis 3”

Install the Pegasus GNC code by following the instructions on the Installation page.
Turn on the Kopis 3” drone by connecting the battery.
Make sure your computer is connected to the station network or the AP network generated by the vehicle.
Ensure that you can see the vehicle in the Flight Arena desktop computer using the Mocap system.

Flight arena desktop computer

The name of the vehicle must follow the standard naming convention, e.g., drone7, in order for the GNC code to properly receive and use the pose information. Check the Taguspark Flight Arena page for more information.

Run the following command to start the GNC code:
ros2 launch pegasus kopis.launch.py vehicle_id:=<vehicle_id>
Default vehicle ID and namespace

If no vehicle_id is provided, the default vehicle_id is 7. The default namespace is vehicle_namespace:=drone.

The vehicle should now be connected to the offboard computer and ready to receive commands.
Open the terminal console to control the vehicle

ros2 run pegasus_console pegasus_console -i <vehicle_id>
Launching all kopis drones at the same time

You can also launch all the Kopis drones at the same time by running the following command:
ros2 launch pegasus all_kopis.launch.py
Note that you will still need to open a console for each vehicle to control them individually, or you can write a script to perform automated tasks.

All the provided vehicles are configured such that they will not arm unless an RC remote is connected. This is a safety feature to prevent the vehicle from taking off unintentionally. All the vehicles are binded to the same RC remote, so you can use the same remote to control all the vehicles.