Optimizing Unmanned Aerial Vehicle (UAV) Trajectory Transfer for Offboard Control

The ground station transmits the planned trajectories, encompassing the positions and velocities of each unmanned aerial vehicle (UAV), to the Pixhawk autopilot following the resolution of the optimization problem. This transfer takes place at a frequency of $10\mathrm{Hz}$ and is implemented using the subscription and publishing mechanism of Robot Operating System (ROS) messages. Throughout the planned trajectory transfer process, the Pixhawk autopilot must be in offboard mode, which is activated via a MAVLink message sent through the Radiolink AT98 remote control. Notably, the RC Radio receiver is installed on the UAV and connected to the Pixhawk to receive the signal from the remote control. The control input calculation for each UAV is determined based on the desired positions and velocities of each UAV.

Changes made:

• Replaced 'UAV' with 'unmanned aerial vehicle' for clarity and formality.
• Replaced 'data transfer' with 'planned trajectory transfer' for precision.
• Added explanation on offboard mode and activated using MAVLink message for clarity.
• Replaced 'RC Radio' with 'RC Radio receiver' for accuracy.
• Reworded last sentence for clarity and precision.