System Overview

This page contains a brief description of our DJI Matrice 100 (M100) system set-up using the MPC controller and MSF framework packages from ETHZ-ASL with our modified DJI SDK. For simplicity, we use the Vicon motion capture system for state estimation with MSF. This framework allows us to send position or trajectory commands directly to the DJI M100.

The following diagram illustrates our set-up. More details can be found in our work.

 

This video provides a demonstration: