# Robot description in the robot.yaml format, version 0.1.

format_version: "0.1"
name: Fast-Drone-250
summary: An open-source 250mm autonomous quadrotor drone that flies in unknown environments and avoids obstacles using VINS visual-inertial odometry and EGO-Planner.
category: drone
difficulty: advanced
license:
  hardware: NONE
  software: NONE
source:
  repository: https://github.com/ZJU-FAST-Lab/Fast-Drone-250
  ref: 8ff64274b161bb829653faf5946656658e7e2c9f
tools:
  - soldering iron
  - multimeter
  - 3D printer
files:
  parts_3d: carbon_board/
  cad: carbon_board/
software:
  framework: ros
specs:
  payload_kg: 1.8
build_steps:
  - title: Course introduction
  - title: Solder the power set
  - title: Install and wire the flight controller
  - title: Configure the flight controller and test flight
  - title: Install the onboard computer and sensors
  - title: Install Ubuntu 20.04
  - title: Set up the onboard computer environment
  - title: Install common experiment and debugging software
  - title: Ego-Planner code structure and parameters
  - title: VINS parameter setup and extrinsic calibration
  - title: Ego-Planner flight experiments