UniQuad

A unified and versatile quadrotor platform series designed for UAV research and applications.

Drone
No license: all rights reserved by the creator
ROS 2
3D printable

Suggested by Robotheca, created by @HKUST-Aerial-Robotics (opens in a new tab), from github.com/HKUST-Aerial-Robotics/UniQuad (opens in a new tab). Pinned to commit a7d09d8 (opens in a new tab).

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Hardware license: No license
Software license: No license
Commercial use: Unknown

No license is stated for part of this robot.

The creator chose the hardware and software licenses on Robotheca; the repository has no license file for them yet.

Its license doesn't let Robotheca show its photos.

See the photos on GitHub

Commercial use is not confirmed for this robot, so no preview is stored. View the STEP files on GitHub (opens in a new tab)

What it can do

Written by Robotheca from the project's documents.

Autonomous flight with multiple sensor configurations
Visual-inertial odometry using cameras and IMU
LiDAR-inertial odometry for navigation
Trajectory planning and obstacle avoidance
Multi-sensor state estimation with VINS-Fusion
Gimbal-stabilized camera payload support
RTK GPS positioning for high-precision navigation

Bill of materials

This repository has no parts list Robotheca can read yet.

Build guide

The creator's guide is in the repository. It has no license, so all rights stay with the creator: Robotheca doesn't show it here or translate it, and gives its own notes about the robot instead.

Read the creator's guide Ask the creator on GitHub

Wiring and electronics

Notes written by Robotheca from the project's documents.

Main parts

Flight controller (Nxt-FC based on PX4)
Intel RealSense depth cameras
Livox LiDAR sensors
IMU (Inertial Measurement Unit)
GPS/RTK receiver modules
Onboard computing units (e.g., RK3588)
Brushless motors and ESCs for four rotors

Connections

Flight controller connected to IMU via I2C or UART
RealSense cameras connected via USB
LiDAR sensors connected via USB or CAN
GPS/RTK receiver connected via UART
Motors connected to ESCs which link to flight controller PWM outputs
Onboard computer connected to flight controller via USB or UART

Project information

Difficulty: Intermediate
Estimated cost: Not stated
Buildability: 30/100Incomplete documentation
Parts: –
Tools: 3D printer, soldering iron, screwdriver set

Buildability30/100

Incomplete documentation

How complete the published files are for rebuilding this robot, measured by Robotheca at commit a7d09d8. It isn't a rating of the robot.

3D and CAD files10/20
4 CAD source files.
Add the parts to print (STL or 3MF files).
Robot description0/15
No URDF.
Add a URDF: the robot can then be seen in 3D and tried in the browser.
Parts list0/20
No parts list in the repository or linked.
Most points to gain: Link to your parts list, or add it to the repository (a CSV or a Markdown table) with quantities, prices and where to buy each part.
Software10/15
Instructions to install or run it, built on ros2.
Link to your code, or add it to this repository.
Documentation10/15
README of 2,288 characters with 13 pictures; 0 build steps.
Split the build into at least 3 steps.
Simulation0/5
No simulation files.
Add a simulation model (MuJoCo, Gazebo, Webots or Isaac).
Licenses0/10
Hardware: no license; software: no license.
Add a license for the hardware (e.g. CERN-OHL-S-2.0 or CC-BY-SA-4.0). Add a license for the software (e.g. MIT or Apache-2.0).

Software

Framework: ROS 2
License: NONE

How to run it

Written by Robotheca from the project's documents.

Install ROS and required dependencies like realsense-ros and livox_ros_driver
Flash the flight controller firmware (PX4-based Nxt-FC)
Configure sensor parameters and calibration in the flight stack
Launch VINS-Fusion or FAST_LIO for state estimation
Run Fast-Planner for autonomous trajectory generation
Start the px4ctrl module for flight control

Robotheca doesn't review code. Read it before running it.

Project files

Every file of the project: code, CAD, electronics, guides, at commit a7d09d8.

Community

Questions and improvements go to the creator's repository.

Photo