Interfaces

x4_interface

Handles communication with the physical drone:

• MAVLink protocol implementation

• Telemetry data processing

• Command conversion

• Safety monitoring

• Parameter management

• User interface

User Interface

A graphical keyboard-based teleoperation interface is included to interact with the drone using the defined actions. It is built with tkinter and integrated with ROS 2.

Features:

• Velocity Control Slider - Set desired drone velocity in the range [0.0, 10.0]. - Affects both linear and angular velocities.

• Keyboard Command Input - Control the drone using the following keyboard keys:

  • W: Move forward

  • A: Move left

  • S: Move backward

  • D: Move right

  • Q: Rotate left (yaw)

  • E: Rotate right (yaw)

  • C: Stop movement

  • The latest key command is shown in the GUI.

• ROS 2 Publishing - Publishes geometry_msgs/Twist messages to:

  ` /mavros/setpoint_velocity/cmd_vel_unstamped `

• Flight Control Buttons

  • Arm: Arms the drone (calls /mavros/cmd/arming)

  • Disarm: Disarms the drone

  • Takeoff 15m: Runs ros2 run x4_service_scripts mavros_takeoff

  • Land: Runs ros2 run x4_service_scripts mavros_landing

  • Guided: Switches mode to GUIDED via /mavros/set_mode

  • Loiter: Switches mode to LOITER via /mavros/set_mode