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docs(updates): Link fixes and orphan image removals (#26925)
* docs(updates): Link fixes and orphan image removals * docs(delete): Remove orphaned translations
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@ -566,6 +566,8 @@
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- [DistanceSensorModeChangeRequest](msg_docs/DistanceSensorModeChangeRequest.md)
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- [DronecanNodeStatus](msg_docs/DronecanNodeStatus.md)
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- [Ekf2Timestamps](msg_docs/Ekf2Timestamps.md)
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- [EscEepromRead](msg_docs/EscEepromRead.md)
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- [EscEepromWrite](msg_docs/EscEepromWrite.md)
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- [EscReport](msg_docs/EscReport.md)
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- [EscStatus](msg_docs/EscStatus.md)
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- [EstimatorAidSource1d](msg_docs/EstimatorAidSource1d.md)
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@ -756,6 +758,7 @@
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- [VehicleLocalPositionV0](msg_docs/VehicleLocalPositionV0.md)
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- [VehicleStatusV0](msg_docs/VehicleStatusV0.md)
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- [VehicleStatusV1](msg_docs/VehicleStatusV1.md)
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- [VehicleStatusV2](msg_docs/VehicleStatusV2.md)
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- [MAVLink Messaging](mavlink/index.md)
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- [Adding Messages](mavlink/adding_messages.md)
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- [Streaming Messages](mavlink/streaming_messages.md)
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@ -91,7 +91,7 @@ For FMUv6S, you need to route the PPS signal separately:
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For ARK FMUv6X on the Jetson carrier board:
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1. Connect your GNSS module using either the 10-pin or 6-pin GPS connector: [ARK PAB GPS1 Interface](../flight_controller/ark_pab#gps1)
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1. Connect your GNSS module using either the 10-pin or 6-pin GPS connector: [ARK PAB GPS1 Interface](../flight_controller/ark_pab.md#gps1)
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2. Connect the PPS signal to the **FMU_CAP** pin: [ARK PAB ADIO Interface](../flight_controller/ark_pab.md#adio)
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## Verification
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@ -160,7 +160,7 @@ After the bootloader has updated you can [Load PX4 Firmware](../config/firmware.
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## FMUv2 Bootloader Update
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If _QGroundControl_ installs the FMUv2 target (see console during installation), and you have a newer board, you may need to update the bootloader in order to access all the memory on your flight controller.
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This example explains how you can use [QGC Bootloader Update](qgc-bootloader-update-sys-bl-update) to update the bootloader.
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This example explains how you can use [QGC Bootloader Update](#qgc-bootloader-update-sys-bl-update) to update the bootloader.
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::: info
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Early FMUv2 [Pixhawk-series](../flight_controller/pixhawk_series.md#fmu_versions) flight controllers had a [hardware issue](../flight_controller/silicon_errata.md#fmuv2-pixhawk-silicon-errata) that restricted them to using 1MB of flash memory.
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@ -37,7 +37,7 @@ The wiring for CAN networks is the same for both DroneCAN and Cyphal/CAN (in fac
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Devices within a network are connected in a _daisy-chain_ in any order (this differs from UARTs peripherals, where you attach just one component per port).
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:::warning Don't connect each CAN peripheral to a separate CAN port!
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Unlike UARTs, CAN peripherals are designed to be daisy chained, with additional ports such as `CAN2` used for [redundancy](redundancy).
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Unlike UARTs, CAN peripherals are designed to be daisy chained, with additional ports such as `CAN2` used for [redundancy](#redundancy).
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:::
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At either end of the chain, a 120Ω termination resistor should be connected between the two data lines.
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@ -83,7 +83,7 @@ You only _need_ one CAN port to support an arbitrary number of CAN devices using
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Don't connect each CAN peripheral to a separate CAN port!
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:::
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Generally you'll daisy all CAN peripherals off a single port, and if there is more than one CAN port, use the second one for [redundancy](redundancy).
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Generally you'll daisy all CAN peripherals off a single port, and if there is more than one CAN port, use the second one for [redundancy](#redundancy).
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If three are three ports, you might use the remaining network for devices that support another CAN protocol.
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The documentation for your flight controller should indicate which ports are supported/enabled.
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@ -77,12 +77,12 @@ You might have to adjust the per-motor pole count (`DSHOT_MOT_POL1`–`DSHOT_MOT
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The following parameters should be set to enable and configure dynamic notch filters:
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| Parameter | Description |
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| ------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------ |
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| <a href="IMU_GYRO_DNF_EN"></a>[IMU_GYRO_DNF_EN](../advanced_config/parameter_reference.md#IMU_GYRO_DNF_EN) | Enable IMU gyro dynamic notch filtering. `0`: ESC RPM, `1`: Onboard FFT. |
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| <a href="IMU_GYRO_FFT_EN"></a>[IMU_GYRO_FFT_EN](../advanced_config/parameter_reference.md#IMU_GYRO_FFT_EN) | Enable onboard FFT (required if `IMU_GYRO_DNF_EN` is set to `1`). |
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| <a href="IMU_GYRO_DNF_MIN"></a>[IMU_GYRO_DNF_MIN](../advanced_config/parameter_reference.md#IMU_GYRO_DNF_MIN) | Minimum dynamic notch frequency in Hz. |
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| <a href="IMU_GYRO_DNF_BW"></a>[IMU_GYRO_DNF_BW](../advanced_config/parameter_reference.md#IMU_GYRO_DNF_BW) | Bandwidth for each notch filter in Hz. |
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| <a href="IMU_GYRO_DNF_HMC"></a>[IMU_GYRO_DNF_HMC](../advanced_config/parameter_reference.md#IMU_GYRO_NF0_BW) | Number of harmonics to filter. |
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| ----------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------ |
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| <a id="IMU_GYRO_DNF_EN"></a>[IMU_GYRO_DNF_EN](../advanced_config/parameter_reference.md#IMU_GYRO_DNF_EN) | Enable IMU gyro dynamic notch filtering. `0`: ESC RPM, `1`: Onboard FFT. |
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| <a id="IMU_GYRO_FFT_EN"></a>[IMU_GYRO_FFT_EN](../advanced_config/parameter_reference.md#IMU_GYRO_FFT_EN) | Enable onboard FFT (required if `IMU_GYRO_DNF_EN` is set to `1`). |
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| <a id="IMU_GYRO_DNF_MIN"></a>[IMU_GYRO_DNF_MIN](../advanced_config/parameter_reference.md#IMU_GYRO_DNF_MIN) | Minimum dynamic notch frequency in Hz. |
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| <a id="IMU_GYRO_DNF_BW"></a>[IMU_GYRO_DNF_BW](../advanced_config/parameter_reference.md#IMU_GYRO_DNF_BW) | Bandwidth for each notch filter in Hz. |
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| <a id="IMU_GYRO_DNF_HMC"></a>[IMU_GYRO_DNF_HMC](../advanced_config/parameter_reference.md#IMU_GYRO_NF0_BW) | Number of harmonics to filter. |
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### Low-pass Filter
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@ -25,7 +25,7 @@ See the debug probe documentation for details on how to setup your debug connect
|
||||
|
||||
- [SEGGER J-Link](probe_jlink.md): commercial probe, no built-in serial console, requires adapter.
|
||||
- [Black Magic Probe](probe_bmp.md): integrated GDB server and serial console, requires adapter.
|
||||
- [STLink](probe_stlink): best value, integrated serial console, adapter must be soldered.
|
||||
- [STLink](probe_stlink.md): best value, integrated serial console, adapter must be soldered.
|
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|
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We recommend using the J-Link with the Pixhawk Debug Adapter or the STLinkv3-MINIE with a soldered custom cable.
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@ -5,7 +5,7 @@ PX4 runs on ARM Cortex-M microcontrollers, which contain dedicated hardware for
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The SWD debug interface allows direct, low-level, hardware access to the microcontroller's processor and peripherals, so it does not depend on any software on the device.
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Therefore it can be used to debug bootloaders and operating systems such as NuttX.
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## Debug Signals
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## Debug Signals {#debug-signals}
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Four signals are required for debugging (in bold) while the rest is recommended.
|
||||
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@ -29,7 +29,7 @@ They are usually not accessible and are typically only used to debug very specif
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## Autopilot Debug Ports {#debug-ports}
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||||
Flight controllers commonly provide a single debug port that exposes both the [SWD Interface](#debug-signals) and [System Console](system_console).
|
||||
Flight controllers commonly provide a single debug port that exposes both the [SWD Interface](#debug-signals) and [System Console](system_console.md).
|
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|
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The [Pixhawk Connector Standards](#pixhawk-standard-debug-ports) formalize the port that must be used in each FMU version.
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However there are still many boards that use different pinouts or connectors, so we recommend you check the [documentation for your autopilot](../flight_controller/index.md) to confirm port location and pinout.
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@ -91,7 +91,7 @@ There FMU and Pixhawk versions are (only) consistent after FMUv5X.
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### Pixhawk Debug Mini
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The [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf) defines the _Pixhawk Debug Mini_, a _6-Pin SH Debug Port_ that provides access to both SWD pins and the [System Console](system_console).
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||||
The [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf) defines the _Pixhawk Debug Mini_, a _6-Pin SH Debug Port_ that provides access to both SWD pins and the [System Console](system_console.md).
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This is used in FMUv4 and FMUv5.
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@ -122,7 +122,7 @@ You can connect to the debug port using a [cable like this one](https://www.digi
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### Pixhawk Debug Full
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The [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf) defines _Pixhawk Debug Full_, a _10-Pin SH Debug Port_ that provides access to both SWD pins and the [System Console](system_console).
|
||||
The [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf) defines _Pixhawk Debug Full_, a _10-Pin SH Debug Port_ that provides access to both SWD pins and the [System Console](system_console.md).
|
||||
This essentially moves the solder pads from beside the [Pixhawk Debug Mini](#pixhawk-debug-mini) into the connector, and also adds an SWO pin.
|
||||
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||||
This port is specified for use in FMUv5x, FMUv6, FMUv6x.
|
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@ -154,14 +154,14 @@ You can connect to the debug port using a [cable like this one](https://www.digi
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||||
## Debug Probes for PX4 Hardware {#debug-probes}
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||||
|
||||
Flight controllers commonly provide a [single debug port](#autopilot-debug-ports) that exposes both the [SWD Interface](#debug-signals) and [System Console](system_console).
|
||||
Flight controllers commonly provide a [single debug port](#autopilot-debug-ports) that exposes both the [SWD Interface](#debug-signals) and [System Console](system_console.md).
|
||||
|
||||
There are several debug probes that are tested and supported for connecting to one or both of these interfaces:
|
||||
|
||||
- [SEGGER J-Link](../debug/probe_jlink.md): commercial probe, no built-in serial console, requires adapter.
|
||||
- [Black Magic Probe](../debug/probe_bmp.md): integrated GDB server and serial console, requires adapter.
|
||||
- [STLink](../debug/probe_stlink): best value, integrated serial console, adapter must be soldered.
|
||||
- [MCU-Link](../debug/probe_mculink): best value, integrated serial console, requires adapter.
|
||||
- [STLink](../debug/probe_stlink.md): best value, integrated serial console, adapter must be soldered.
|
||||
- [MCU-Link](../debug/probe_mculink.md): best value, integrated serial console, requires adapter.
|
||||
|
||||
An adapter to connect to the debug port may come with your flight controller or debug probe.
|
||||
Other options are given below.
|
||||
@ -199,7 +199,7 @@ Probes that are known to come with connectors are listed below:
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||||
|
||||
### Board-specific Adapters
|
||||
|
||||
Some manufacturers provide cables to make it easy to connect the SWD interface and [System Console](../debug/system_console).
|
||||
Some manufacturers provide cables to make it easy to connect the SWD interface and [System Console](../debug/system_console.md).
|
||||
|
||||
- [CUAV V5nano](../flight_controller/cuav_v5_nano.md#debug_port) and [CUAV V5+](../flight_controller/cuav_v5_plus.md#debug-port) include this debug cable:
|
||||
|
||||
@ -213,7 +213,7 @@ You can also create custom cables for connecting to different boards or probes:
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- Connect the VREF pin, if supported by the debug probe.
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- Connect the remaining pins, if present.
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||||
|
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See the [STLinkv3-MINIE](probe_stlink) for a guide on how to solder a custom cable.
|
||||
See the [STLinkv3-MINIE](probe_stlink.md) for a guide on how to solder a custom cable.
|
||||
|
||||
:::tip
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Where possible, we highly recommend that you create or obtain an adapter board rather than custom cables for connecting to SWD/JTAG debuggers and computers.
|
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|
||||
@ -1,7 +1,7 @@
|
||||
# Arch Linux Development Environment
|
||||
|
||||
:::warning
|
||||
This development environment is [community supported and maintained](../advanced/community_supported_dev_env).
|
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This development environment is [community supported and maintained](../advanced/community_supported_dev_env.md).
|
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It may or may not work with current versions of PX4.
|
||||
|
||||
See [Toolchain Installation](../dev_setup/dev_env.md) for information about the environments and tools supported by the core development team.
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@ -84,7 +84,7 @@ You need to set necessary [DroneCAN](index.md) parameters and define offsets if
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- Enable GPS yaw fusion by setting bit 3 of [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL) to true.
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- Enable GPS blending to ensure the heading is always published by setting [SENS_GPS_MASK](../advanced_config/parameter_reference.md#SENS_GPS_MASK) to 7 (all three bits checked).
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- If using [Moving Baseline & GPS Heading](#setting-up-moving-baseline--gps-heading), set [SENS_GPS_PRIME](../advanced_config/parameter_reference.md#SENS_GPS_PRIME) to the CAN node ID of the _Moving Base_ module. The moving base is preferred because the rover receiver in a moving baseline configuration can experience degraded navigation rate and increased data latency when corrections are intermittent.
|
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- If using [Moving Baseline & GPS Heading](#setting-up-moving-baseline-gps-heading), set [SENS_GPS_PRIME](../advanced_config/parameter_reference.md#SENS_GPS_PRIME) to the CAN node ID of the _Moving Base_ module. The moving base is preferred because the rover receiver in a moving baseline configuration can experience degraded navigation rate and increased data latency when corrections are intermittent.
|
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- Enable [UAVCAN_SUB_GPS](../advanced_config/parameter_reference.md#UAVCAN_SUB_GPS), [UAVCAN_SUB_MAG](../advanced_config/parameter_reference.md#UAVCAN_SUB_MAG), and [UAVCAN_SUB_BARO](../advanced_config/parameter_reference.md#UAVCAN_SUB_BARO).
|
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- The parameters [SENS_GPS0_OFFX](../advanced_config/parameter_reference.md#SENS_GPS0_OFFX), [SENS_GPS0_OFFY](../advanced_config/parameter_reference.md#SENS_GPS0_OFFY) and [SENS_GPS0_OFFZ](../advanced_config/parameter_reference.md#SENS_GPS0_OFFZ) can be set to account for the offset of the ARK RTK GPS from the vehicles centre of gravity.
|
||||
|
||||
|
||||
@ -5,7 +5,7 @@ PX4 supports DroneCAN compliant ESCs.
|
||||
## Supported ESC
|
||||
|
||||
:::info
|
||||
[Supported ESCs](../peripherals/esc_motors#supported-esc) in _ESCs & Motors_ may include additional devices that are not listed below.
|
||||
[Supported ESCs](../peripherals/esc_motors.md#supported-esc) in _ESCs & Motors_ may include additional devices that are not listed below.
|
||||
:::
|
||||
|
||||
The following articles have specific hardware/firmware information:
|
||||
|
||||
@ -5,7 +5,7 @@ PX4 does not manufacture this (or any) autopilot.
|
||||
Contact the [manufacturer](https://arkelectron.com/contact-us/) for hardware support or compliance issues.
|
||||
:::
|
||||
|
||||
The USA-built [ARKV6X](<(https://arkelectron.gitbook.io/ark-documentation/flight-controllers/arkv6x)>) flight controller is based on the [FMUV6X and Pixhawk Autopilot Bus open source standards](https://github.com/pixhawk/Pixhawk-Standards).
|
||||
The USA-built [ARKV6X](https://arkelectron.gitbook.io/ark-documentation/flight-controllers/arkv6x) flight controller is based on the [FMUV6X and Pixhawk Autopilot Bus open source standards](https://github.com/pixhawk/Pixhawk-Standards).
|
||||
|
||||
With triple synced IMUs, data averaging, voting, and filtering is possible.
|
||||
The Pixhawk Autopilot Bus (PAB) form factor enables the ARKV6X to be used on any [PAB-compatible carrier board](../flight_controller/pixhawk_autopilot_bus.md), such as the [ARK Pixhawk Autopilot Bus Carrier](../flight_controller/ark_pab.md).
|
||||
|
||||
@ -14,13 +14,13 @@ The mission is typically created and uploaded with a Ground Control Station (GCS
|
||||
The following commands can be used in missions at time of writing (PX4 v1.16):
|
||||
|
||||
| QGC mission item | Command | Description |
|
||||
| ------------------- | ------------------------------------------------------------ | ------------------------------------------------- |
|
||||
| Mission start | [MAV_CMD_MISSION_START](MAV_CMD_MISSION_START) | Starts the mission. |
|
||||
| Waypoint | [MAV_CMD_NAV_WAYPOINT](MAV_CMD_NAV_WAYPOINT) | Navigate to waypoint. |
|
||||
| Return to launch | [MAV_CMD_NAV_RETURN_TO_LAUNCH][MAV_CMD_NAV_RETURN_TO_LAUNCH] | Return to the launch location. |
|
||||
| Change speed | [MAV_CMD_DO_CHANGE_SPEED][MAV_CMD_DO_CHANGE_SPEED] | Change the speed setpoint |
|
||||
| Set launch location | [MAV_CMD_DO_SET_HOME](MAV_CMD_DO_SET_HOME) | Changes launch location to specified coordinates. |
|
||||
| Jump to item (all) | [MAV_CMD_DO_JUMP][MAV_CMD_DO_JUMP] (and other jump commands) | Jump to specified mission item. |
|
||||
| ------------------- | ------------------------------------------- | ------------------------------------------------- |
|
||||
| Mission start | [MAV_CMD_MISSION_START] | Starts the mission. |
|
||||
| Waypoint | [MAV_CMD_NAV_WAYPOINT] | Navigate to waypoint. |
|
||||
| Return to launch | [MAV_CMD_NAV_RETURN_TO_LAUNCH] | Return to the launch location. |
|
||||
| Change speed | [MAV_CMD_DO_CHANGE_SPEED] | Change the speed setpoint |
|
||||
| Set launch location | [MAV_CMD_DO_SET_HOME] | Changes launch location to specified coordinates. |
|
||||
| Jump to item (all) | [MAV_CMD_DO_JUMP] (and other jump commands) | Jump to specified mission item. |
|
||||
|
||||
[MAV_CMD_MISSION_START]: https://mavlink.io/en/messages/common.html#MAV_CMD_MISSION_START
|
||||
[MAV_CMD_NAV_WAYPOINT]: https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_WAYPOINT
|
||||
|
||||
@ -68,7 +68,7 @@ The following manual and assisted modes are currently supported on BlueROV2 Heav
|
||||
## Joystick Stick Mode
|
||||
|
||||
BlueROV2 supports two joystick mappings for manual control, selected using the
|
||||
[UUV_STICK_MODE](../advanced_config/parameter_reference.md#uuv_stick_mode) parameter.
|
||||
[UUV_STICK_MODE](../advanced_config/parameter_reference.md#UUV_STICK_MODE) parameter.
|
||||
|
||||
By default, `UUV_STICK_MODE` is set to `0`, which enables the UUV stick mapping intended for vectored underwater vehicles.
|
||||
|
||||
|
||||
@ -14,50 +14,52 @@ This section describes the VTOL types and configurations supported by PX4, and p
|
||||
|
||||
## VTOL Types
|
||||
|
||||
PX4 supports the three most important/main VTOL types.
|
||||
PX4 supports the three most important/main VTOL types: [Standard VTOL](standardvtol.md), [Tiltrotor](tiltrotor.md), and [Tailsitter](tailsitter.md).
|
||||
|
||||
<div class="grid_wrapper three_column">
|
||||
<div class="grid_item">
|
||||
<div class="grid_item_heading"><a href="tailsitter.html" title="Tailsitter"><big>Tailsitter</big></a></div>
|
||||
<div class="grid_text">
|
||||
Rotors permanently in fixed-wing position.
|
||||
Takes off and lands on tail. Whole vehicle tilts forward to enter forward flight.
|
||||
<img src="../../assets/airframes/vtol/wingtraone/hero.jpg" title="wingtraone" />
|
||||
<ul>
|
||||
<li>Simple and robust</li>
|
||||
<li>Minimal set of actuators</li>
|
||||
<li>Can be hard to control, particularly in wind</li>
|
||||
<li>Tradeoff between efficiency in hover and forward flight, as same actuators are used</li>
|
||||
</ul>
|
||||
</div>
|
||||
</div>
|
||||
<div class="grid_item">
|
||||
<div class="grid_item_heading"><a href="tiltrotor.html" title="Tiltrotor"><big>Tiltrotor</big></a></div>
|
||||
Rotors swivel 90 degrees to transition from multicopter to forward flight orientation.
|
||||
Takes off and lands on belly.
|
||||
<div class="grid_text">
|
||||
<img src="../../assets/airframes/vtol/eflite_convergence_pixfalcon/hero.jpg" title="Eflight Confvergence" />
|
||||
<ul>
|
||||
<li>Additional actuators for motor tilts</li>
|
||||
<li>Mechanically complex tilting mechanism</li>
|
||||
<li>Easier to control in hover than tailsitters due to more control authority</li>
|
||||
</ul>
|
||||
</div>
|
||||
</div>
|
||||
<div class="grid_item">
|
||||
<div class="grid_item_heading"><a href="standardvtol.html" title="Standard VTOL"><big>Standard VTOL</big></a></div>
|
||||
<div class="grid_text">
|
||||
Separate rotors/flight controls for multicopter and forward flight. Takes off and lands on belly.
|
||||
<img src="../../assets/airframes/vtol/vertical_technologies_deltaquad/hero_small.png" title="Vertical Technologies: Deltaquad" />
|
||||
<ul>
|
||||
<li>Additional weight from separate hover/forward flight propulsion systems</li>
|
||||
<li>Easiest to control due to dedicated hover/forward flight actuators</li>
|
||||
<li>Can hover</li>
|
||||
<li>Fuel engines for forward flight propulsion can be used</li>
|
||||
</ul>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
:::: tabs
|
||||
|
||||
::: tab Standard VTOL
|
||||
|
||||
Separate rotors/flight controls for multicopter and forward flight.
|
||||
Takes off and lands on belly.
|
||||
|
||||
|
||||
|
||||
- Additional weight from separate hover/forward flight propulsion systems
|
||||
- Easiest to control due to dedicated hover/forward flight actuators
|
||||
- Can hover
|
||||
- Fuel engines can be used for forward flight propulsion
|
||||
|
||||
:::
|
||||
|
||||
::: tab Tailsitter
|
||||
|
||||
Rotors permanently in fixed-wing position.
|
||||
Takes off and lands on tail. Whole vehicle tilts forward to enter forward flight.
|
||||
|
||||
|
||||
|
||||
- Simple and robust
|
||||
- Minimal set of actuators
|
||||
- Can be hard to control, particularly in wind
|
||||
- Tradeoff between efficiency in hover and forward flight, as same actuators are used
|
||||
|
||||
:::
|
||||
|
||||
::: tab Tiltrotor
|
||||
|
||||
Rotors swivel 90 degrees to transition from multicopter to forward flight orientation.
|
||||
Takes off and lands on belly.
|
||||
|
||||
|
||||
|
||||
- Additional actuators for motor tilts
|
||||
- Mechanically complex tilting mechanism
|
||||
- Easier to control in hover than tailsitters due to more control authority
|
||||
|
||||
:::
|
||||
|
||||
::::
|
||||
|
||||
In general, as mechanical complexity increases the vehicles are easier to fly, but the cost and weight increase.
|
||||
Each type has advantages and disadvantages, and there are successful commercial ventures based on all of them.
|
||||
@ -125,7 +127,7 @@ VTOL Control & Airspeed Fault Detection (PX4 Developer Summit 2019)
|
||||
|
||||
<!-- 20190704 -->
|
||||
|
||||
### Tailsitter
|
||||
### Tailsitter {#tailsitter_video}
|
||||
|
||||
[UAV Works VALAQ Patrol Tailsitter](https://www.valaqpatrol.com/valaq_patrol_technical_data/)
|
||||
|
||||
@ -135,7 +137,7 @@ VTOL Control & Airspeed Fault Detection (PX4 Developer Summit 2019)
|
||||
|
||||
<lite-youtube videoid="acG0aTuf3f8" title="PX4 VTOL - Call for Testpilots"/>
|
||||
|
||||
### Tiltrotor
|
||||
### Tiltrotor {#tiltrotor_video}
|
||||
|
||||
[Convergence Tiltrotor](../frames_vtol/vtol_tiltrotor_eflite_convergence_pixfalcon.md)
|
||||
|
||||
|
||||
@ -88,35 +88,36 @@ This section contains videos that are specific to Tailsitter VTOL (videos that a
|
||||
|
||||
## Gallery
|
||||
|
||||
<div class="grid_wrapper three_column">
|
||||
<div class="grid_item">
|
||||
<div class="grid_item_heading"><big><a href="https://wingtra.com/mapping-drone-fast-accurate-surveying/">WingtraOne</a></big></div>
|
||||
<div class="grid_text">
|
||||
<img src="../../assets/airframes/vtol/wingtraone/hero.jpg" title="Wingtra: WingtraOne VTOL Duo Tailsitter" alt="wingtraone" />
|
||||
</div>
|
||||
</div>
|
||||
<div class="grid_item">
|
||||
<div class="grid_item_heading"><big><a href="https://www.skypull.technology/">Skypull</a></big></div>
|
||||
<div class="grid_text">
|
||||
<img title="Skypull SP-1 VTOL QuadTailsitter" src="../../assets/airframes/vtol/skypull/skypull_sp1.jpg" />
|
||||
</div>
|
||||
</div>
|
||||
<div class="grid_item">
|
||||
<div class="grid_item_heading"><big><a href="../frames_vtol/vtol_tailsitter_caipiroshka_pixracer.html">TBS Caipiroshka</a></big></div>
|
||||
<div class="grid_text">
|
||||
<img title="TBS Caipiroshka" src="../../assets/airframes/vtol/caipiroshka/caipiroshka.jpg" />
|
||||
</div>
|
||||
</div>
|
||||
<div class="grid_item">
|
||||
<div class="grid_item_heading"><big><a href="http://uav-cas.ac.cn/WOSHARK/">Woshark</a></big></div>
|
||||
<div class="grid_text">
|
||||
<img title="Woshark" src="../../assets/airframes/vtol/xdwgood_ax1800/hero.jpg" />
|
||||
</div>
|
||||
</div>
|
||||
<div class="grid_item">
|
||||
<div class="grid_item_heading"><big><a href="https://www.valaqpatrol.com/valaq_patrol_technical_data/">UAV Works VALAQ Patrol Tailsitter</a></big></div>
|
||||
<div class="grid_text">
|
||||
<img title="UAV Works VALAQ Patrol Tailsitter" src="../../assets/airframes/vtol/uav_works_valaq_patrol/hero.jpg" />
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
:::: tabs
|
||||
|
||||
::: tab WingtraOne
|
||||
[WingtraOne](https://wingtra.com/mapping-drone-fast-accurate-surveying/)
|
||||
|
||||
|
||||
:::
|
||||
|
||||
::: tab Skypull
|
||||
[Skypull](https://www.skypull.technology/)
|
||||
|
||||
|
||||
:::
|
||||
|
||||
::: tab TBS Caipiroshka
|
||||
[TBS Caipiroshka](../frames_vtol/vtol_tailsitter_caipiroshka_pixracer.md)
|
||||
|
||||
|
||||
:::
|
||||
|
||||
::: tab Woshark
|
||||
[Woshark](http://uav-cas.ac.cn/WOSHARK/)
|
||||
|
||||
|
||||
:::
|
||||
|
||||
::: tab VALAQ Patrol Tailsitter
|
||||
[UAV Works VALAQ Patrol Tailsitter](https://www.valaqpatrol.com/valaq_patrol_technical_data/)
|
||||
|
||||
|
||||
:::
|
||||
|
||||
::::
|
||||
|
||||
@ -13,7 +13,7 @@ This topic shows how to connect and configure DShot ESCs.
|
||||
|
||||
## Supported ESC
|
||||
|
||||
[ESCs & Motors > Supported ESCs](../peripherals/esc_motors#supported-esc) has a list of supported ESC (check "Protocols" column for DShot ESC).
|
||||
[ESCs & Motors > Supported ESCs](../peripherals/esc_motors.md#supported-esc) has a list of supported ESC (check "Protocols" column for DShot ESC).
|
||||
|
||||
## Wiring/Connections {#wiring}
|
||||
|
||||
|
||||
@ -1,86 +0,0 @@
|
||||
# Neural Network Module: System Integration
|
||||
|
||||
The neural control module ([mc_nn_control](../modules/modules_controller.md#mc-nn-control)) implements an end-to-end controller utilizing neural networks.
|
||||
|
||||
The parts of the module directly concerned with generating the code for the trained neural network and integrating it into the module are covered in [TensorFlow Lite Micro (TFLM)](../advanced/tflm.md).
|
||||
This page covers the changes that were made to integrate the module into PX4, both within the module, and in larger system configuration.
|
||||
|
||||
:::tip
|
||||
This topic should help you to shape the module to your own needs.
|
||||
|
||||
You will need some familiarity with PX4 development.
|
||||
For more information see the developer [Getting Started](../dev_setup/getting_started.md).
|
||||
:::
|
||||
|
||||
## 자동 실행
|
||||
|
||||
A line to autostart the [mc_nn_control](../modules/modules_controller.md#mc-nn-control) module has been added in the [`ROMFS/px4fmu_common/init.d/rc.mc_apps`](https://github.com/PX4/PX4-Autopilot/blob/main/ROMFS/px4fmu_common/init.d/rc.mc_apps) startup script.
|
||||
|
||||
It checks whether the module is included by looking for the parameter [MC_NN_EN](../advanced_config/parameter_reference.md#MC_NN_EN).
|
||||
If this is set to `1` (the default value), the module will be started when booting PX4.
|
||||
Similarly you could create other parameters in the [`mc_nn_control_params.c`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mc_nn_control/mc_nn_control_params.c) file for other startup script checks.
|
||||
|
||||
## Custom Flight Mode
|
||||
|
||||
The module creates its own flight mode "Neural Control" which lets you choose it from the flight mode menu in QGC and bind it to a switch on you RC controller.
|
||||
This is done by using the [ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md) internally.
|
||||
This involves several steps and is visualized here:
|
||||
|
||||
:::info
|
||||
The module does not actually use ROS 2, it just uses the API exposed through uORB topics.
|
||||
:::
|
||||
|
||||
:::info
|
||||
In some QGC versions the flight mode does not show up, so make sure to update to the newest version.
|
||||
This only works for some flight controllers, so you might have to use an RC controller to switch to the correct external flight mode.
|
||||
:::
|
||||
|
||||
|
||||
|
||||
1. Publish a [RegisterExtComponentRequest](../msg_docs/RegisterExtComponentRequest.md).
|
||||
This specifies what you want to create, you can read more about this in the [Control Interface](../ros2/px4_ros2_control_interface.md).
|
||||
In this case we register an arming check and a mode.
|
||||
2. Wait for a [RegisterExtComponentReply](../msg_docs/RegisterExtComponentReply.md).
|
||||
This will give feedback on wether the mode registration was successful, and what the mode and arming check id is for the new mode.
|
||||
3. [Optional] With the mode id, publish a [VehicleControlMode](../msg_docs/VehicleControlMode.md) message on the `config_control_setpoints` topic.
|
||||
Here you can configure what other modules run in parallel.
|
||||
The example controller replaces everything, so it turns off allocation.
|
||||
If you want to replace other parts you can enable or disable the modules accordingly.
|
||||
4. [Optional] With the mode id, publish a [ConfigOverrides](../msg_docs/ConfigOverrides.md) on the `config_overrides_request` topic.
|
||||
(This is not done in the example module) This will let you defer failsafes or stop it from automatically disarming.
|
||||
5. When the mode has been registered a [ArmingCheckRequest](../msg_docs/ArmingCheckRequest.md) will be sent, asking if your mode has everything it needs to run.
|
||||
This message must be answered with a [ArmingCheckReply](../msg_docs/ArmingCheckReply.md) so the mode is not flagged as unresponsive.
|
||||
In this response it is possible to set what requirements the mode needs to run, like local position.
|
||||
If any of these requirements are set the commander will stop you from switching to the mode if they are not fulfilled.
|
||||
It is also important to set health_component_index and num_events to 0 to not get a segmentation fault.
|
||||
Unless you have a health component or events.
|
||||
6. Listen to the [VehicleStatus](../msg_docs/VehicleStatus.md) topic.
|
||||
If the nav_state equals the assigned `mode_id`, then the Neural Controller is activated.
|
||||
7. When active the module will run the controller and publish to [ActuatorMotors](../msg_docs/ActuatorMotors.md).
|
||||
If you want to replace a different part of the controller, you should find the appropriate topic to publish to.
|
||||
|
||||
To see how the requests are handled you can check out [src/modules/commander/ModeManagement.cpp](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/commander/ModeManagement.cpp).
|
||||
|
||||
## 로깅
|
||||
|
||||
To add module-specific logging a new topic has been added to [uORB](../middleware/uorb.md) called [NeuralControl](../msg_docs/NeuralControl.md).
|
||||
The message definition is also added in `msg/CMakeLists.txt`, and to [`src/modules/logger/logged_topics.cpp`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/logger/logged_topics.cpp) under the debug category.
|
||||
For these messages to be saved in your logs you need to include `debug` in the [SDLOG_PROFILE](../advanced_config/parameter_reference.md#SDLOG_PROFILE) parameter.
|
||||
|
||||
## Timing
|
||||
|
||||
The module has two includes for measuring the inference times.
|
||||
The first one is a driver that works on the actual flight controller units, but a second one, `chrono`, is loaded for SITL testing.
|
||||
Which timing library is included and used is based on wether PX4 is built with NUTTX or not.
|
||||
|
||||
## Changing the setpoint
|
||||
|
||||
The module uses the [TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md) message’s position fields to define its target.
|
||||
To follow a trajectory, you can send updated setpoints.
|
||||
For an example of how to do this in a PX4 module, see the [mc_nn_testing](https://github.com/SindreMHegre/PX4-Autopilot-public/tree/main/src/modules/mc_nn_testing) module in this fork.
|
||||
Note that this is not included in upstream PX4.
|
||||
To use it, copy the module folder from the linked repository into your workspace, and enable it by adding the following line to your `.px4board` file:
|
||||
|
||||
```sh
|
||||
CONFIG_MODULES_MC_NN_TESTING=y
|
||||
```
|
||||
@ -1,77 +0,0 @@
|
||||
# TensorFlow Lite Micro (TFLM)
|
||||
|
||||
The PX4 [Multicopter Neural Network](../advanced/neural_networks.md) module ([mc_nn_control](../modules/modules_controller.md#mc-nn-control)) integrates a neural network that uses the [TensorFlow Lite Micro (TFLM)](https://github.com/tensorflow/tflite-micro) inference library.
|
||||
|
||||
This is a mature inference library intended for use on embedded devices, and is hence a suitable choice for PX4.
|
||||
|
||||
This guide explains how the TFLM library is integrated into the [mc_nn_control](../modules/modules_controller.md#mc-nn-control) module, and the changes you would have to make to use it for your own neural network.
|
||||
|
||||
:::tip
|
||||
For more information, see the [TFLM guide](https://ai.google.dev/edge/litert/microcontrollers/get_started).
|
||||
:::
|
||||
|
||||
## TLMF NN Formats
|
||||
|
||||
TFLM uses networks in its own [tflite format](https://ai.google.dev/edge/litert/models/convert).
|
||||
However, since many microcontrollers do not have native filesystem support, a tflite file can be converted to a C++ source and header file.
|
||||
|
||||
This is what is done in `mc_nn_control`.
|
||||
The tflight neural network is represented in code by the files [`control_net.cpp`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mc_nn_control/control_net.cpp) and [`control_net.hpp`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mc_nn_control/control_net.hpp).
|
||||
|
||||
### Getting a Network in tflite Format
|
||||
|
||||
There are many online resource for generating networks in the `.tflite` format.
|
||||
|
||||
For this example we trained the network in the open source [Aerial Gym Simulator](https://ntnu-arl.github.io/aerial_gym_simulator/).
|
||||
Aerial Gym includes a guide, and supports RL both for control and vision-based navigation tasks.
|
||||
|
||||
The project includes conversion code for `PyTorch -> TFLM` in the [resources/conversion](https://github.com/ntnu-arl/aerial_gym_simulator/tree/main/resources/conversion) folder.
|
||||
|
||||
### Updating `mc_nn_control` with your own NN
|
||||
|
||||
You can convert a `.tflite` network into a `.cc` file in the ubuntu terminal with this command:
|
||||
|
||||
```sh
|
||||
xxd -i converted_model.tflite > model_data.cc
|
||||
```
|
||||
|
||||
You will then have to modify the `control_net.hpp` and `control_net.cpp` to include the data from `model_data.cc`:
|
||||
|
||||
- Take the size of the network in the bottom of the `.cc` file and replace the size in `control_net.hpp`.
|
||||
- Take the data in the model array in the `cc` file, and replace the ones in `control_net.cpp`.
|
||||
|
||||
You are now ready to run your own network.
|
||||
|
||||
## Code Explanation
|
||||
|
||||
This section explains the code used to integrate the NN in `control_net.cpp`.
|
||||
|
||||
### Operations and Resolver
|
||||
|
||||
Firstly we need to create the resolver and load the needed operators to run inference on the NN.
|
||||
This is done in the top of `mc_nn_control.cpp`.
|
||||
The number in `MicroMutableOpResolver<3>` represents how many operations you need to run the inference.
|
||||
|
||||
A full list of the operators can be found in the [micro_mutable_op_resolver.h](https://github.com/tensorflow/tflite-micro/blob/main/tensorflow/lite/micro/micro_mutable_op_resolver.h) file.
|
||||
There are quite a few supported operators, but you will not find the most advanced ones.
|
||||
In the control example the network is fully connected so we use `AddFullyConnected()`.
|
||||
Then the activation function is ReLU, and we `AddAdd()` for the bias on each neuron.
|
||||
|
||||
### Interpreter
|
||||
|
||||
In the `InitializeNetwork()` we start by setting up the model that we loaded from the source and header file.
|
||||
Next is to set up the interpreter, this code is taken from the TFLM documentation and is thoroughly explained there.
|
||||
The end state is that the `_control_interpreter` is set up to later run inference with the `Invoke()` member function.
|
||||
The `_input_tensor` is also defined, it is fetched from `_control_interpreter->input(0)`.
|
||||
|
||||
### 입력
|
||||
|
||||
The `_input_tensor` is filled in the `PopulateInputTensor()` function.
|
||||
`_input_tensor` works by accessing the `->data.f` member array and fill in the required inputs for your network.
|
||||
The inputs used in the control network is covered in [Neural Networks](../advanced/neural_networks.md).
|
||||
|
||||
### 출력
|
||||
|
||||
For the outputs the approach is fairly similar to the inputs.
|
||||
After setting the correct inputs, calling the `Invoke()` function the outputs can be found by getting `_control_interpreter->output(0)`.
|
||||
And from the output tensor you get the `->data.f` array.
|
||||
@ -1,162 +0,0 @@
|
||||
# _Pixhawk 4 Mini_ Wiring Quick Start
|
||||
|
||||
:::warning
|
||||
PX4 does not manufacture this (or any) autopilot.
|
||||
Contact the [manufacturer](https://holybro.com/) for hardware support or compliance issues.
|
||||
:::
|
||||
|
||||
This quick start guide shows how to power the [_Pixhawk<sup>®</sup> 4 Mini_](../flight_controller/pixhawk4_mini.md) flight controller and connect its most important peripherals.
|
||||
|
||||
|
||||
|
||||
## 배선 개요
|
||||
|
||||
아래의 이미지는 주요 센서와 주변 장치(모터 및 서보 출력 제외)의 연결 방법을 설명합니다.
|
||||
|
||||
|
||||
|
||||
:::tip
|
||||
More information about available ports can be found here: [_Pixhawk 4 Mini_ > Interfaces](../flight_controller/pixhawk4_mini.md#interfaces).
|
||||
:::
|
||||
|
||||
## 콘트롤러 장착 및 장착 방향
|
||||
|
||||
_Pixhawk 4 Mini_ should be mounted on your frame using vibration-damping foam pads (included in the kit).
|
||||
차량의 무게 중심에 최대한 가깝운 프레임에 장착하여야 하며, 화살표가 차량의 앞쪽과 위쪽을 향하도록 하여야 합니다.
|
||||
|
||||
|
||||
|
||||
:::info
|
||||
If the controller cannot be mounted in the recommended/default orientation (e.g. due to space constraints) you will need to configure the autopilot software with the orientation that you actually used: [Flight Controller Orientation](../config/flight_controller_orientation.md).
|
||||
:::
|
||||
|
||||
## GPS + 나침반 + 부저 + 안전 스위치 + LED
|
||||
|
||||
Attach the provided GPS with integrated compass, safety switch, buzzer, and LED to the **GPS MODULE** port. The GPS/Compass should be [mounted on the frame](../assembly/mount_gps_compass.md) as far away from other electronics as possible, with the direction marker towards the front of the vehicle (separating the compass from other electronics will reduce interference).
|
||||
|
||||
|
||||
|
||||
:::info
|
||||
The GPS module's integrated safety switch is enabled _by default_ (when enabled, PX4 will not let you arm the vehicle).
|
||||
비활성화하려면 안전 스위치를 1초간 길게 누르십시오.
|
||||
안전 스위치를 다시 눌러 안전 장치를 활성화하고 기체 시동을 끌 수 있습니다.
|
||||
조종기나 지상국 프로그램에서 기체 시동을 끌 수 없는 상황에서 유용합니다.
|
||||
:::
|
||||
|
||||
## 전원
|
||||
|
||||
PMB(Power Management Board)는 배전 보드와 전원 모듈로 사용됩니다.
|
||||
In addition to providing regulated power to _Pixhawk 4 Mini_ and the ESCs, it sends information to the autopilot about the battery’s voltage and current draw.
|
||||
|
||||
Connect the output of the PMB that comes with the kit to the **POWER** port of the _Pixhawk 4 Mini_ using a 6-wire cable.
|
||||
ESC와 서보에 대한 전원 공급 및 신호 연결을 위한 전원관리보드의 연결 방법은 아래의 표에서 설명합니다.
|
||||
|
||||
|
||||
|
||||
:::info
|
||||
The image above only shows the connection of a single ESC and a single servo.
|
||||
나머지 ESC와 서보를 비슷하게 연결합니다.
|
||||
:::
|
||||
|
||||
| 핀 또는 커넥터 | 기능 |
|
||||
| -------- | -------------------------------------------------------------------------- |
|
||||
| B+ | ESC에 전원을 공급하기 위해 ESC B +에 연결 |
|
||||
| GND | ESC 접지에 연결 |
|
||||
| PWR | JST-GH 6-pin Connector, 5V 3A output<br> connect to _Pixhawk 4 Mini_ POWER |
|
||||
| BAT | 전원 입력, 2 ~ 12S LiPo 배터리에 연결 |
|
||||
|
||||
The pinout of the _Pixhawk 4 Mini_ **POWER** port is shown below.
|
||||
The `CURRENT` signal should carry an analog voltage from 0-3.3V for 0-120A as default.
|
||||
The `VOLTAGE` signal should carry an analog voltage from 0-3.3V for 0-60V as default.
|
||||
VCC 라인은 최소 3A 연속을 제공하여야하며, 기본적으로 5.1V로 설정되어야 합니다. 5V 보다 낮은 전압은 권장되지 않습니다.
|
||||
|
||||
| 핀 | 신호 | 전압 |
|
||||
| --------------------------- | ------- | --------------------- |
|
||||
| 1(red) | VCC | +5V |
|
||||
| 2(black) | VCC | +5V |
|
||||
| 3(black) | CURRENT | +3.3V |
|
||||
| 4(black) | VOLTAGE | +3.3V |
|
||||
| 5(black) | GND | GND |
|
||||
| 6(black) | GND | GND |
|
||||
|
||||
:::info
|
||||
If using a plane or rover, the 8 pin power (+) rail of **MAIN OUT** will need to be separately powered in order to drive servos for rudders, elevons, etc.
|
||||
전원 레일을 BEC가 장착된 ESC 또는 독립형 5V BEC 또는 2S LiPo 배터리에 연결하여야 합니다.
|
||||
서보에 제공되는 전압이 적절한 지 체크하십시오.
|
||||
:::
|
||||
|
||||
<!--In the future, when Pixhawk 4 kit is available, add wiring images/videos for different airframes.-->
|
||||
|
||||
:::info
|
||||
Using the Power Module that comes with the kit you will need to configure the _Number of Cells_ in the [Power Settings](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/power.html) but you won't need to calibrate the _voltage divider_.
|
||||
You will have to update the _voltage divider_ if you are using any other power module (e.g. the one from the Pixracer).
|
||||
:::
|
||||
|
||||
## 무선 조종
|
||||
|
||||
A remote control (RC) radio system is required if you want to _manually_ control your vehicle (PX4 does not require a radio system for autonomous flight modes).
|
||||
|
||||
You will need to [select a compatible transmitter/receiver](../getting_started/rc_transmitter_receiver.md) and then _bind_ them so that they communicate (read the instructions that come with your specific transmitter/receiver).
|
||||
|
||||
The instructions below show how to connect the different types of receivers to _Pixhawk 4 Mini_:
|
||||
|
||||
- Spektrum/DSM or S.BUS receivers connect to the **DSM/SBUS RC** input.
|
||||
|
||||
|
||||
|
||||
- PPM receivers connect to the **PPM RC** input port.
|
||||
|
||||
|
||||
|
||||
- PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **PPM RC** port _via a PPM encoder_ [like this one](https://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels).
|
||||
|
||||
For more information about selecting a radio system, receiver compatibility, and binding your transmitter/receiver pair, see: [Remote Control Transmitters & Receivers](../getting_started/rc_transmitter_receiver.md).
|
||||
|
||||
## Telemetry Radio (Optional)
|
||||
|
||||
무선 텔레메트리는 지상국 프로그램에서 비행 차량의 통신/제어에 사용합니다(예 : UAV를 특정 위치로 지시하거나 새 임무를 업로드 할 수 있음).
|
||||
|
||||
The vehicle-based radio should be connected to the **TELEM1** port as shown below (if connected to this port, no further configuration is required).
|
||||
다른 텔레메트리는 일반적으로 지상국 컴퓨터나 모바일 장치에 USB를 통하여 연결됩니다.
|
||||
|
||||
|
||||
|
||||
## micro SD 카드 (선택 사항)
|
||||
|
||||
SD cards are highly recommended as they are needed to [log and analyse flight details](../getting_started/flight_reporting.md), to run missions, and to use UAVCAN-bus hardware.
|
||||
Insert the card (included in the kit) into _Pixhawk 4 Mini_ as shown below.
|
||||
|
||||
|
||||
|
||||
:::tip
|
||||
For more information see [Basic Concepts > SD Cards (Removable Memory)](../getting_started/px4_basic_concepts.md#sd-cards-removable-memory).
|
||||
:::
|
||||
|
||||
## 모터
|
||||
|
||||
Motors/servos are connected to the **MAIN OUT** ports in the order specified for your vehicle in the [Airframe Reference](../airframes/airframe_reference.md). See [_Pixhawk 4 Mini_ > Supported Platforms](../flight_controller/pixhawk4_mini.md#supported-platforms) for more information.
|
||||
|
||||
:::info
|
||||
이 참고사항은 모든 지원되는 기체 프레임의 출력 포트의 모터/서보 연결 리스트입니다. 프레임이 참고사항에 기재되어 있지 않다면, 올바른 유형의 "일반" 프레임을 사용하십시오.
|
||||
:::
|
||||
|
||||
:::warning
|
||||
The mapping is not consistent across frames (e.g. you can't rely on the throttle being on the same output for all plane frames).
|
||||
가지고 있는 기체의 프레임에 대해 올바르게 모터를 제대로 연결하였는지 다시 한 번 확인하십시오.
|
||||
:::
|
||||
|
||||
## 기타 주변 장치
|
||||
|
||||
The wiring and configuration of optional/less common components is covered within the topics for individual [peripherals](../peripherals/index.md).
|
||||
|
||||
## 설정
|
||||
|
||||
General configuration information is covered in: [Autopilot Configuration](../config/index.md).
|
||||
|
||||
QuadPlane specific configuration is covered here: [QuadPlane VTOL Configuration](../config_vtol/vtol_quad_configuration.md)
|
||||
|
||||
<!-- Nice to have detailed wiring infographic and instructions for different vehicle types. -->
|
||||
|
||||
## 추가 정보
|
||||
|
||||
- [_Pixhawk 4 Mini_](../flight_controller/pixhawk4_mini.md)
|
||||
@ -1,7 +0,0 @@
|
||||
# DroPix Flight Controller (Discontinued)
|
||||
|
||||
<Badge type="info" text="Discontinued" />
|
||||
|
||||
The Drotek<sup>®</sup> _DroPix autopilot_ is no longer available on the Drotek website, and is assumed to be discontinued.
|
||||
|
||||
See [PX4 v1.13 Documentation > DroPix Flight Controller](https://docs.px4.io/v1.13/en/flight_controller/dropix.html) for documentation.
|
||||
@ -1,52 +0,0 @@
|
||||
# Test MC_07 - VIO (Visual-Inertial Odometry)
|
||||
|
||||
## Objective
|
||||
|
||||
To test that external vision (VIO) works as expected
|
||||
|
||||
## Preflight
|
||||
|
||||
Disconnect all GPS / compasses and ensure vehicle is using VIO for navigation
|
||||
|
||||
Ensure that the drone can go into Altitude / Position flight mode while still on the ground
|
||||
|
||||
Ensure there are no other sources of positioning besides VIO:
|
||||
|
||||
- [EKF2_OF_CTRL](../advanced_config/parameter_reference.md#EKF2_OF_CTRL): `0`
|
||||
- [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL): `0`
|
||||
- [EKF2_EV_CTRL](../advanced_config/parameter_reference.md#EKF2_EV_CTRL): `15`
|
||||
- [SYS_HAS_MAG](../advanced_config/parameter_reference.md#SYS_HAS_MAG): `0`
|
||||
|
||||
## Flight Tests
|
||||
|
||||
❏ Altitude flight mode
|
||||
|
||||
❏ Vertical position should hold current value with stick centered
|
||||
|
||||
❏ Pitch/Roll/Yaw response 1:1
|
||||
|
||||
❏ Throttle response set to climb/descent rate
|
||||
|
||||
❏ Position flight mode
|
||||
|
||||
❏ Horizontal position should hold current value with stick centered
|
||||
|
||||
❏ Vertical position should hold current value with stick centered
|
||||
|
||||
❏ Throttle response set to climb/descent rate
|
||||
|
||||
❏ Pitch/Roll/Yaw response set to pitch/roll/yaw rates
|
||||
|
||||
## 착륙
|
||||
|
||||
❏ Land in either Position or Altitude mode with the throttle below 40%
|
||||
|
||||
❏ Upon touching ground, copter should disarm automatically within 2 seconds (default: see [COM_DISARM_LAND](../advanced_config/parameter_reference.md#COM_DISARM_LAND))
|
||||
|
||||
## 예상 결과
|
||||
|
||||
- 추력을 올릴 때 서서히 이륙한다
|
||||
- Drone should hold altitude in Altitude Flight mode without wandering
|
||||
- Drone should hold position within 1 meter in Position Flight mode without pilot moving sticks
|
||||
- 위에 언급한 어떤 비행 모드에서도 떨림이 나타나서는 안됨
|
||||
- 지면에 착륙시, 콥터가 지면에서 튀면 안됨
|
||||
@ -1,86 +0,0 @@
|
||||
# Neural Network Module: System Integration
|
||||
|
||||
The neural control module ([mc_nn_control](../modules/modules_controller.md#mc-nn-control)) implements an end-to-end controller utilizing neural networks.
|
||||
|
||||
The parts of the module directly concerned with generating the code for the trained neural network and integrating it into the module are covered in [TensorFlow Lite Micro (TFLM)](../advanced/tflm.md).
|
||||
This page covers the changes that were made to integrate the module into PX4, both within the module, and in larger system configuration.
|
||||
|
||||
:::tip
|
||||
This topic should help you to shape the module to your own needs.
|
||||
|
||||
You will need some familiarity with PX4 development.
|
||||
For more information see the developer [Getting Started](../dev_setup/getting_started.md).
|
||||
:::
|
||||
|
||||
## Автозавантаження
|
||||
|
||||
A line to autostart the [mc_nn_control](../modules/modules_controller.md#mc-nn-control) module has been added in the [`ROMFS/px4fmu_common/init.d/rc.mc_apps`](https://github.com/PX4/PX4-Autopilot/blob/main/ROMFS/px4fmu_common/init.d/rc.mc_apps) startup script.
|
||||
|
||||
It checks whether the module is included by looking for the parameter [MC_NN_EN](../advanced_config/parameter_reference.md#MC_NN_EN).
|
||||
If this is set to `1` (the default value), the module will be started when booting PX4.
|
||||
Similarly you could create other parameters in the [`mc_nn_control_params.c`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mc_nn_control/mc_nn_control_params.c) file for other startup script checks.
|
||||
|
||||
## Custom Flight Mode
|
||||
|
||||
The module creates its own flight mode "Neural Control" which lets you choose it from the flight mode menu in QGC and bind it to a switch on you RC controller.
|
||||
This is done by using the [ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md) internally.
|
||||
This involves several steps and is visualized here:
|
||||
|
||||
:::info
|
||||
The module does not actually use ROS 2, it just uses the API exposed through uORB topics.
|
||||
:::
|
||||
|
||||
:::info
|
||||
In some QGC versions the flight mode does not show up, so make sure to update to the newest version.
|
||||
This only works for some flight controllers, so you might have to use an RC controller to switch to the correct external flight mode.
|
||||
:::
|
||||
|
||||
|
||||
|
||||
1. Publish a [RegisterExtComponentRequest](../msg_docs/RegisterExtComponentRequest.md).
|
||||
This specifies what you want to create, you can read more about this in the [Control Interface](../ros2/px4_ros2_control_interface.md).
|
||||
In this case we register an arming check and a mode.
|
||||
2. Wait for a [RegisterExtComponentReply](../msg_docs/RegisterExtComponentReply.md).
|
||||
This will give feedback on wether the mode registration was successful, and what the mode and arming check id is for the new mode.
|
||||
3. [Optional] With the mode id, publish a [VehicleControlMode](../msg_docs/VehicleControlMode.md) message on the `config_control_setpoints` topic.
|
||||
Here you can configure what other modules run in parallel.
|
||||
The example controller replaces everything, so it turns off allocation.
|
||||
If you want to replace other parts you can enable or disable the modules accordingly.
|
||||
4. [Optional] With the mode id, publish a [ConfigOverrides](../msg_docs/ConfigOverrides.md) on the `config_overrides_request` topic.
|
||||
(This is not done in the example module) This will let you defer failsafes or stop it from automatically disarming.
|
||||
5. When the mode has been registered a [ArmingCheckRequest](../msg_docs/ArmingCheckRequest.md) will be sent, asking if your mode has everything it needs to run.
|
||||
This message must be answered with a [ArmingCheckReply](../msg_docs/ArmingCheckReply.md) so the mode is not flagged as unresponsive.
|
||||
In this response it is possible to set what requirements the mode needs to run, like local position.
|
||||
If any of these requirements are set the commander will stop you from switching to the mode if they are not fulfilled.
|
||||
It is also important to set health_component_index and num_events to 0 to not get a segmentation fault.
|
||||
Unless you have a health component or events.
|
||||
6. Listen to the [VehicleStatus](../msg_docs/VehicleStatus.md) topic.
|
||||
If the nav_state equals the assigned `mode_id`, then the Neural Controller is activated.
|
||||
7. When active the module will run the controller and publish to [ActuatorMotors](../msg_docs/ActuatorMotors.md).
|
||||
If you want to replace a different part of the controller, you should find the appropriate topic to publish to.
|
||||
|
||||
To see how the requests are handled you can check out [src/modules/commander/ModeManagement.cpp](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/commander/ModeManagement.cpp).
|
||||
|
||||
## Логування
|
||||
|
||||
To add module-specific logging a new topic has been added to [uORB](../middleware/uorb.md) called [NeuralControl](../msg_docs/NeuralControl.md).
|
||||
The message definition is also added in `msg/CMakeLists.txt`, and to [`src/modules/logger/logged_topics.cpp`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/logger/logged_topics.cpp) under the debug category.
|
||||
For these messages to be saved in your logs you need to include `debug` in the [SDLOG_PROFILE](../advanced_config/parameter_reference.md#SDLOG_PROFILE) parameter.
|
||||
|
||||
## Timing
|
||||
|
||||
The module has two includes for measuring the inference times.
|
||||
The first one is a driver that works on the actual flight controller units, but a second one, `chrono`, is loaded for SITL testing.
|
||||
Which timing library is included and used is based on wether PX4 is built with NUTTX or not.
|
||||
|
||||
## Changing the setpoint
|
||||
|
||||
The module uses the [TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md) message’s position fields to define its target.
|
||||
To follow a trajectory, you can send updated setpoints.
|
||||
For an example of how to do this in a PX4 module, see the [mc_nn_testing](https://github.com/SindreMHegre/PX4-Autopilot-public/tree/main/src/modules/mc_nn_testing) module in this fork.
|
||||
Note that this is not included in upstream PX4.
|
||||
To use it, copy the module folder from the linked repository into your workspace, and enable it by adding the following line to your `.px4board` file:
|
||||
|
||||
```sh
|
||||
CONFIG_MODULES_MC_NN_TESTING=y
|
||||
```
|
||||
@ -1,77 +0,0 @@
|
||||
# TensorFlow Lite Micro (TFLM)
|
||||
|
||||
The PX4 [Multicopter Neural Network](../advanced/neural_networks.md) module ([mc_nn_control](../modules/modules_controller.md#mc-nn-control)) integrates a neural network that uses the [TensorFlow Lite Micro (TFLM)](https://github.com/tensorflow/tflite-micro) inference library.
|
||||
|
||||
This is a mature inference library intended for use on embedded devices, and is hence a suitable choice for PX4.
|
||||
|
||||
This guide explains how the TFLM library is integrated into the [mc_nn_control](../modules/modules_controller.md#mc-nn-control) module, and the changes you would have to make to use it for your own neural network.
|
||||
|
||||
:::tip
|
||||
For more information, see the [TFLM guide](https://ai.google.dev/edge/litert/microcontrollers/get_started).
|
||||
:::
|
||||
|
||||
## TLMF NN Formats
|
||||
|
||||
TFLM uses networks in its own [tflite format](https://ai.google.dev/edge/litert/models/convert).
|
||||
However, since many microcontrollers do not have native filesystem support, a tflite file can be converted to a C++ source and header file.
|
||||
|
||||
This is what is done in `mc_nn_control`.
|
||||
The tflight neural network is represented in code by the files [`control_net.cpp`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mc_nn_control/control_net.cpp) and [`control_net.hpp`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mc_nn_control/control_net.hpp).
|
||||
|
||||
### Getting a Network in tflite Format
|
||||
|
||||
There are many online resource for generating networks in the `.tflite` format.
|
||||
|
||||
For this example we trained the network in the open source [Aerial Gym Simulator](https://ntnu-arl.github.io/aerial_gym_simulator/).
|
||||
Aerial Gym includes a guide, and supports RL both for control and vision-based navigation tasks.
|
||||
|
||||
The project includes conversion code for `PyTorch -> TFLM` in the [resources/conversion](https://github.com/ntnu-arl/aerial_gym_simulator/tree/main/resources/conversion) folder.
|
||||
|
||||
### Updating `mc_nn_control` with your own NN
|
||||
|
||||
You can convert a `.tflite` network into a `.cc` file in the ubuntu terminal with this command:
|
||||
|
||||
```sh
|
||||
xxd -i converted_model.tflite > model_data.cc
|
||||
```
|
||||
|
||||
You will then have to modify the `control_net.hpp` and `control_net.cpp` to include the data from `model_data.cc`:
|
||||
|
||||
- Take the size of the network in the bottom of the `.cc` file and replace the size in `control_net.hpp`.
|
||||
- Take the data in the model array in the `cc` file, and replace the ones in `control_net.cpp`.
|
||||
|
||||
You are now ready to run your own network.
|
||||
|
||||
## Code Explanation
|
||||
|
||||
This section explains the code used to integrate the NN in `control_net.cpp`.
|
||||
|
||||
### Operations and Resolver
|
||||
|
||||
Firstly we need to create the resolver and load the needed operators to run inference on the NN.
|
||||
This is done in the top of `mc_nn_control.cpp`.
|
||||
The number in `MicroMutableOpResolver<3>` represents how many operations you need to run the inference.
|
||||
|
||||
A full list of the operators can be found in the [micro_mutable_op_resolver.h](https://github.com/tensorflow/tflite-micro/blob/main/tensorflow/lite/micro/micro_mutable_op_resolver.h) file.
|
||||
There are quite a few supported operators, but you will not find the most advanced ones.
|
||||
In the control example the network is fully connected so we use `AddFullyConnected()`.
|
||||
Then the activation function is ReLU, and we `AddAdd()` for the bias on each neuron.
|
||||
|
||||
### Interpreter
|
||||
|
||||
In the `InitializeNetwork()` we start by setting up the model that we loaded from the source and header file.
|
||||
Next is to set up the interpreter, this code is taken from the TFLM documentation and is thoroughly explained there.
|
||||
The end state is that the `_control_interpreter` is set up to later run inference with the `Invoke()` member function.
|
||||
The `_input_tensor` is also defined, it is fetched from `_control_interpreter->input(0)`.
|
||||
|
||||
### Вхідні дані
|
||||
|
||||
The `_input_tensor` is filled in the `PopulateInputTensor()` function.
|
||||
`_input_tensor` works by accessing the `->data.f` member array and fill in the required inputs for your network.
|
||||
The inputs used in the control network is covered in [Neural Networks](../advanced/neural_networks.md).
|
||||
|
||||
### Виводи
|
||||
|
||||
For the outputs the approach is fairly similar to the inputs.
|
||||
After setting the correct inputs, calling the `Invoke()` function the outputs can be found by getting `_control_interpreter->output(0)`.
|
||||
And from the output tensor you get the `->data.f` array.
|
||||
@ -1,161 +0,0 @@
|
||||
# _Pixhawk 4 Mini_ Wiring Quick Start
|
||||
|
||||
:::warning
|
||||
PX4 не розробляє цей (або будь-який інший) автопілот.
|
||||
Contact the [manufacturer](https://holybro.com/) for hardware support or compliance issues.
|
||||
:::
|
||||
|
||||
This quick start guide shows how to power the [_Pixhawk<sup>®</sup> 4 Mini_](../flight_controller/pixhawk4_mini.md) flight controller and connect its most important peripherals.
|
||||
|
||||
|
||||
|
||||
## Огляд схеми підключення
|
||||
|
||||
На зображенні нижче показано, куди підключити найважливіші датчики та периферійні пристрої (за винятком моторів та сервоприводів).
|
||||
|
||||
|
||||
|
||||
:::tip
|
||||
More information about available ports can be found here: [_Pixhawk 4 Mini_ > Interfaces](../flight_controller/pixhawk4_mini.md#interfaces).
|
||||
:::
|
||||
|
||||
## Монтаж та орієнтація контролера
|
||||
|
||||
_Pixhawk 4 Mini_ should be mounted on your frame using vibration-damping foam pads (included in the kit).
|
||||
Вона повинна розташовуватися якомога ближче до центру тяжіння вашого апарату верхньою стороною вгору зі стрілкою, що вказує в напрямку передньої частини апарату.
|
||||
|
||||
|
||||
|
||||
:::info
|
||||
Якщо контролер не може бути змонтований у рекомендованому/стандартному положенні (наприклад, через обмеження місця), вам потрібно буде налаштувати програмне забезпечення автопілота з орієнтацією, яку ви фактично використовували: [Орієнтація контролера польоту](../config/flight_controller_orientation.md).
|
||||
:::
|
||||
|
||||
## GPS + компас + зумер + захисний вимикач + світлодіод
|
||||
|
||||
Attach the provided GPS with integrated compass, safety switch, buzzer, and LED to the **GPS MODULE** port. The GPS/Compass should be [mounted on the frame](../assembly/mount_gps_compass.md) as far away from other electronics as possible, with the direction marker towards the front of the vehicle (separating the compass from other electronics will reduce interference).
|
||||
|
||||
|
||||
|
||||
:::info
|
||||
Вбудований безпечний вимикач в GPS-модулі увімкнений _за замовчуванням_ (коли включений, PX4 не дозволить вам готувати до польоту).
|
||||
Щоб вимкнути безпеку, натисніть і утримуйте безпечний вимикач протягом 1 секунди.
|
||||
Ви можете натиснути безпечний вимикач знову, щоб увімкнути безпеку та відключити транспортний засіб (це може бути корисно, якщо, з якихось причин, ви не можете вимкнути транспортний засіб за допомогою вашого пульта дистанційного керування або наземної станції).
|
||||
:::
|
||||
|
||||
## Power
|
||||
|
||||
Плата управління живленням (PMB) виконує функції блоку живлення та розподільчої плати живлення.
|
||||
In addition to providing regulated power to _Pixhawk 4 Mini_ and the ESCs, it sends information to the autopilot about the battery’s voltage and current draw.
|
||||
|
||||
Connect the output of the PMB that comes with the kit to the **POWER** port of the _Pixhawk 4 Mini_ using a 6-wire cable.
|
||||
Підключення PMB, включаючи живлення та сигнальні з'єднання з ESC та сервоприводами, пояснені на зображенні нижче.
|
||||
|
||||
|
||||
|
||||
:::info
|
||||
The image above only shows the connection of a single ESC and a single servo.
|
||||
Підключіть інші ESC та сервоприводи аналогічно.
|
||||
:::
|
||||
|
||||
| Pin(s) або роз'єм | Функція |
|
||||
| ------------------------------------ | -------------------------------------------------------------------------- |
|
||||
| B+ | Підключіться до ESC B+, щоб живити ESC |
|
||||
| GND | Підключіться до землі ESC |
|
||||
| PWR | JST-GH 6-pin Connector, 5V 3A output<br> connect to _Pixhawk 4 Mini_ POWER |
|
||||
| BAT | Живлення, підключіть до акумулятора LiPo 2~12s |
|
||||
|
||||
The pinout of the _Pixhawk 4 Mini_ **POWER** port is shown below.
|
||||
The `CURRENT` signal should carry an analog voltage from 0-3.3V for 0-120A as default.
|
||||
The `VOLTAGE` signal should carry an analog voltage from 0-3.3V for 0-60V as default.
|
||||
Лінії VCC повинні пропонувати принаймні 3A безперервного струму і за замовчуванням повинні мати напругу 5,1 В. Нижчий напруга 5V все ще прийнятний, але не рекомендується.
|
||||
|
||||
| Pin | Сигнал | Вольтаж |
|
||||
| --------------------------- | ------- | --------------------- |
|
||||
| 1(red) | VCC | +5V |
|
||||
| 2(black) | VCC | +5V |
|
||||
| 3(black) | CURRENT | +3.3V |
|
||||
| 4(black) | VOLTAGE | +3.3V |
|
||||
| 5(black) | GND | GND |
|
||||
| 6(black) | GND | GND |
|
||||
|
||||
:::info
|
||||
If using a plane or rover, the 8 pin power (+) rail of **MAIN OUT** will need to be separately powered in order to drive servos for rudders, elevons, etc.
|
||||
Щоб це зробити, живильну рейку потрібно підключити до ESC з BEC, автономного BEC на 5V або 2S LiPo акумулятора.
|
||||
Будьте обережні з напругою сервопривода, який ви збираєтеся використовувати тут.
|
||||
:::
|
||||
|
||||
<!--In the future, when Pixhawk 4 kit is available, add wiring images/videos for different airframes.-->
|
||||
|
||||
:::info
|
||||
Using the Power Module that comes with the kit you will need to configure the _Number of Cells_ in the [Power Settings](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/power.html) but you won't need to calibrate the _voltage divider_.
|
||||
You will have to update the _voltage divider_ if you are using any other power module (e.g. the one from the Pixracer).
|
||||
:::
|
||||
|
||||
## Радіоуправління
|
||||
|
||||
Для того щоб керувати транспортним засобом _вручну_, потрібна система радіоуправління (RC) (PX4 не потребує системи радіоуправління для автономних режимів польоту).
|
||||
|
||||
Вам потрібно [вибрати сумісний передавач/приймач](../getting_started/rc_transmitter_receiver.md) і _зв'язати_ їх таким чином, щоб вони взаємодіяли (ознайомтеся з інструкціями, що додаються до вашого конкретного передавача/приймача).
|
||||
|
||||
The instructions below show how to connect the different types of receivers to _Pixhawk 4 Mini_:
|
||||
|
||||
- Spektrum/DSM or S.BUS receivers connect to the **DSM/SBUS RC** input.
|
||||
|
||||
|
||||
|
||||
- PPM receivers connect to the **PPM RC** input port.
|
||||
|
||||
|
||||
|
||||
- PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **PPM RC** port _via a PPM encoder_ [like this one](https://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels).
|
||||
|
||||
Для отримання додаткової інформації про вибір радіосистеми, сумісність приймача та зв'язок вашої передавача/приймача, див. статтю: [Пульт керування передавачів & приймачів](../getting_started/rc_transmitter_receiver.md).
|
||||
|
||||
## Телеметрійне радіо (Опціонально)
|
||||
|
||||
Телеметричні радіостанції можуть використовуватися для зв'язку та управління транспортним засобом у польоті з наземної станції (наприклад, ви можете направляти БПЛА до певної позиції або завантажувати нове завдання).
|
||||
|
||||
The vehicle-based radio should be connected to the **TELEM1** port as shown below (if connected to this port, no further configuration is required).
|
||||
Інша радіостанція підключається до вашого комп'ютера або мобільного пристрою наземної станції (зазвичай за допомогою USB).
|
||||
|
||||
|
||||
|
||||
## microSD-карта (Опціонально)
|
||||
|
||||
SD cards are highly recommended as they are needed to [log and analyse flight details](../getting_started/flight_reporting.md), to run missions, and to use UAVCAN-bus hardware.
|
||||
Insert the card (included in the kit) into _Pixhawk 4 Mini_ as shown below.
|
||||
|
||||
|
||||
|
||||
:::tip
|
||||
Для отримання додаткової інформації див. [Основні концепції > SD-карти (знімна пам'ять)](../getting_started/px4_basic_concepts.md#sd-cards-removable-memory).
|
||||
:::
|
||||
|
||||
## Двигуни
|
||||
|
||||
Motors/servos are connected to the **MAIN OUT** ports in the order specified for your vehicle in the [Airframe Reference](../airframes/airframe_reference.md). See [_Pixhawk 4 Mini_ > Supported Platforms](../flight_controller/pixhawk4_mini.md#supported-platforms) for more information.
|
||||
|
||||
:::info
|
||||
Цей довідник містить зіставлення портів виводу до моторів/сервоприводів для всіх підтримуваних повітряних та наземних шасі (якщо ваше шасі не вказане в довіднику, то використовуйте "загальний" планер відповідного типу).
|
||||
:::
|
||||
|
||||
:::warning
|
||||
Відображення не є однорідним для всіх конструкцій (наприклад, ви не можете покладатися на те, що ручка газу буде на тому ж вихідному порту для всіх повітряних конструкцій).
|
||||
Переконайтеся, що ви використовуєте правильне зіставлення для вашого апарату.
|
||||
:::
|
||||
|
||||
## Інші периферійні пристрої
|
||||
|
||||
Підключення та конфігурація додаткових/менш поширених компонентів описано в темах для окремих [периферійних пристроїв](../peripherals/index.md).
|
||||
|
||||
## Налаштування
|
||||
|
||||
Загальну інформацію про конфігурацію описано в: [Конфігурація автопілота](../config/index.md).
|
||||
|
||||
Конкретні конфігурації QuadPlane тут: [QuadPlane VTOL налаштування](../config_vtol/vtol_quad_configuration.md)
|
||||
|
||||
<!-- Nice to have detailed wiring infographic and instructions for different vehicle types. -->
|
||||
|
||||
## Подальша інформація
|
||||
|
||||
- [_Pixhawk 4 Mini_](../flight_controller/pixhawk4_mini.md)
|
||||
@ -1,7 +0,0 @@
|
||||
# DroPix Польотний контролер (Призупинено)
|
||||
|
||||
<Badge type="info" text="Discontinued" />
|
||||
|
||||
The Drotek<sup>®</sup> _DroPix autopilot_ is no longer available on the Drotek website, and is assumed to be discontinued.
|
||||
|
||||
See [PX4 v1.13 Documentation > DroPix Flight Controller](https://docs.px4.io/v1.13/en/flight_controller/dropix.html) for documentation.
|
||||
@ -1,52 +0,0 @@
|
||||
# Test MC_07 - VIO (Visual-Inertial Odometry)
|
||||
|
||||
## Objective
|
||||
|
||||
To test that external vision (VIO) works as expected
|
||||
|
||||
## Preflight
|
||||
|
||||
Disconnect all GPS / compasses and ensure vehicle is using VIO for navigation
|
||||
|
||||
Ensure that the drone can go into Altitude / Position flight mode while still on the ground
|
||||
|
||||
Ensure there are no other sources of positioning besides VIO:
|
||||
|
||||
- [EKF2_OF_CTRL](../advanced_config/parameter_reference.md#EKF2_OF_CTRL): `0`
|
||||
- [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL): `0`
|
||||
- [EKF2_EV_CTRL](../advanced_config/parameter_reference.md#EKF2_EV_CTRL): `15`
|
||||
- [SYS_HAS_MAG](../advanced_config/parameter_reference.md#SYS_HAS_MAG): `0`
|
||||
|
||||
## Flight Tests
|
||||
|
||||
❏ Altitude flight mode
|
||||
|
||||
❏ Vertical position should hold current value with stick centered
|
||||
|
||||
❏ Pitch/Roll/Yaw response 1:1
|
||||
|
||||
❏ Throttle response set to climb/descent rate
|
||||
|
||||
❏ Position flight mode
|
||||
|
||||
❏ Horizontal position should hold current value with stick centered
|
||||
|
||||
❏ Vertical position should hold current value with stick centered
|
||||
|
||||
❏ Throttle response set to climb/descent rate
|
||||
|
||||
❏ Pitch/Roll/Yaw response set to pitch/roll/yaw rates
|
||||
|
||||
## Посадка
|
||||
|
||||
❏ Land in either Position or Altitude mode with the throttle below 40%
|
||||
|
||||
❏ Upon touching ground, copter should disarm automatically within 2 seconds (default: see [COM_DISARM_LAND](../advanced_config/parameter_reference.md#COM_DISARM_LAND))
|
||||
|
||||
## Очікувані результати
|
||||
|
||||
- Зліт повинен бути плавним, коли газ піднято
|
||||
- Drone should hold altitude in Altitude Flight mode without wandering
|
||||
- Drone should hold position within 1 meter in Position Flight mode without pilot moving sticks
|
||||
- Немає коливання в жодному з перерахованих режимів польоту
|
||||
- Після посадки, коптер не повинен підскакувати на землі
|
||||
@ -1,86 +0,0 @@
|
||||
# Neural Network Module: System Integration
|
||||
|
||||
The neural control module ([mc_nn_control](../modules/modules_controller.md#mc-nn-control)) implements an end-to-end controller utilizing neural networks.
|
||||
|
||||
The parts of the module directly concerned with generating the code for the trained neural network and integrating it into the module are covered in [TensorFlow Lite Micro (TFLM)](../advanced/tflm.md).
|
||||
This page covers the changes that were made to integrate the module into PX4, both within the module, and in larger system configuration.
|
||||
|
||||
:::tip
|
||||
This topic should help you to shape the module to your own needs.
|
||||
|
||||
You will need some familiarity with PX4 development.
|
||||
For more information see the developer [Getting Started](../dev_setup/getting_started.md).
|
||||
:::
|
||||
|
||||
## Autostart
|
||||
|
||||
A line to autostart the [mc_nn_control](../modules/modules_controller.md#mc-nn-control) module has been added in the [`ROMFS/px4fmu_common/init.d/rc.mc_apps`](https://github.com/PX4/PX4-Autopilot/blob/main/ROMFS/px4fmu_common/init.d/rc.mc_apps) startup script.
|
||||
|
||||
It checks whether the module is included by looking for the parameter [MC_NN_EN](../advanced_config/parameter_reference.md#MC_NN_EN).
|
||||
If this is set to `1` (the default value), the module will be started when booting PX4.
|
||||
Similarly you could create other parameters in the [`mc_nn_control_params.c`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mc_nn_control/mc_nn_control_params.c) file for other startup script checks.
|
||||
|
||||
## Custom Flight Mode
|
||||
|
||||
The module creates its own flight mode "Neural Control" which lets you choose it from the flight mode menu in QGC and bind it to a switch on you RC controller.
|
||||
This is done by using the [ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md) internally.
|
||||
This involves several steps and is visualized here:
|
||||
|
||||
:::info
|
||||
The module does not actually use ROS 2, it just uses the API exposed through uORB topics.
|
||||
:::
|
||||
|
||||
:::info
|
||||
In some QGC versions the flight mode does not show up, so make sure to update to the newest version.
|
||||
This only works for some flight controllers, so you might have to use an RC controller to switch to the correct external flight mode.
|
||||
:::
|
||||
|
||||
|
||||
|
||||
1. Publish a [RegisterExtComponentRequest](../msg_docs/RegisterExtComponentRequest.md).
|
||||
This specifies what you want to create, you can read more about this in the [Control Interface](../ros2/px4_ros2_control_interface.md).
|
||||
In this case we register an arming check and a mode.
|
||||
2. Wait for a [RegisterExtComponentReply](../msg_docs/RegisterExtComponentReply.md).
|
||||
This will give feedback on wether the mode registration was successful, and what the mode and arming check id is for the new mode.
|
||||
3. [Optional] With the mode id, publish a [VehicleControlMode](../msg_docs/VehicleControlMode.md) message on the `config_control_setpoints` topic.
|
||||
Here you can configure what other modules run in parallel.
|
||||
The example controller replaces everything, so it turns off allocation.
|
||||
If you want to replace other parts you can enable or disable the modules accordingly.
|
||||
4. [Optional] With the mode id, publish a [ConfigOverrides](../msg_docs/ConfigOverrides.md) on the `config_overrides_request` topic.
|
||||
(This is not done in the example module) This will let you defer failsafes or stop it from automatically disarming.
|
||||
5. When the mode has been registered a [ArmingCheckRequest](../msg_docs/ArmingCheckRequest.md) will be sent, asking if your mode has everything it needs to run.
|
||||
This message must be answered with a [ArmingCheckReply](../msg_docs/ArmingCheckReply.md) so the mode is not flagged as unresponsive.
|
||||
In this response it is possible to set what requirements the mode needs to run, like local position.
|
||||
If any of these requirements are set the commander will stop you from switching to the mode if they are not fulfilled.
|
||||
It is also important to set health_component_index and num_events to 0 to not get a segmentation fault.
|
||||
Unless you have a health component or events.
|
||||
6. Listen to the [VehicleStatus](../msg_docs/VehicleStatus.md) topic.
|
||||
If the nav_state equals the assigned `mode_id`, then the Neural Controller is activated.
|
||||
7. When active the module will run the controller and publish to [ActuatorMotors](../msg_docs/ActuatorMotors.md).
|
||||
If you want to replace a different part of the controller, you should find the appropriate topic to publish to.
|
||||
|
||||
To see how the requests are handled you can check out [src/modules/commander/ModeManagement.cpp](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/commander/ModeManagement.cpp).
|
||||
|
||||
## 日志
|
||||
|
||||
To add module-specific logging a new topic has been added to [uORB](../middleware/uorb.md) called [NeuralControl](../msg_docs/NeuralControl.md).
|
||||
The message definition is also added in `msg/CMakeLists.txt`, and to [`src/modules/logger/logged_topics.cpp`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/logger/logged_topics.cpp) under the debug category.
|
||||
For these messages to be saved in your logs you need to include `debug` in the [SDLOG_PROFILE](../advanced_config/parameter_reference.md#SDLOG_PROFILE) parameter.
|
||||
|
||||
## Timing
|
||||
|
||||
The module has two includes for measuring the inference times.
|
||||
The first one is a driver that works on the actual flight controller units, but a second one, `chrono`, is loaded for SITL testing.
|
||||
Which timing library is included and used is based on wether PX4 is built with NUTTX or not.
|
||||
|
||||
## Changing the setpoint
|
||||
|
||||
The module uses the [TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md) message’s position fields to define its target.
|
||||
To follow a trajectory, you can send updated setpoints.
|
||||
For an example of how to do this in a PX4 module, see the [mc_nn_testing](https://github.com/SindreMHegre/PX4-Autopilot-public/tree/main/src/modules/mc_nn_testing) module in this fork.
|
||||
Note that this is not included in upstream PX4.
|
||||
To use it, copy the module folder from the linked repository into your workspace, and enable it by adding the following line to your `.px4board` file:
|
||||
|
||||
```sh
|
||||
CONFIG_MODULES_MC_NN_TESTING=y
|
||||
```
|
||||
@ -1,77 +0,0 @@
|
||||
# TensorFlow Lite Micro (TFLM)
|
||||
|
||||
The PX4 [Multicopter Neural Network](../advanced/neural_networks.md) module ([mc_nn_control](../modules/modules_controller.md#mc-nn-control)) integrates a neural network that uses the [TensorFlow Lite Micro (TFLM)](https://github.com/tensorflow/tflite-micro) inference library.
|
||||
|
||||
This is a mature inference library intended for use on embedded devices, and is hence a suitable choice for PX4.
|
||||
|
||||
This guide explains how the TFLM library is integrated into the [mc_nn_control](../modules/modules_controller.md#mc-nn-control) module, and the changes you would have to make to use it for your own neural network.
|
||||
|
||||
:::tip
|
||||
For more information, see the [TFLM guide](https://ai.google.dev/edge/litert/microcontrollers/get_started).
|
||||
:::
|
||||
|
||||
## TLMF NN Formats
|
||||
|
||||
TFLM uses networks in its own [tflite format](https://ai.google.dev/edge/litert/models/convert).
|
||||
However, since many microcontrollers do not have native filesystem support, a tflite file can be converted to a C++ source and header file.
|
||||
|
||||
This is what is done in `mc_nn_control`.
|
||||
The tflight neural network is represented in code by the files [`control_net.cpp`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mc_nn_control/control_net.cpp) and [`control_net.hpp`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mc_nn_control/control_net.hpp).
|
||||
|
||||
### Getting a Network in tflite Format
|
||||
|
||||
There are many online resource for generating networks in the `.tflite` format.
|
||||
|
||||
For this example we trained the network in the open source [Aerial Gym Simulator](https://ntnu-arl.github.io/aerial_gym_simulator/).
|
||||
Aerial Gym includes a guide, and supports RL both for control and vision-based navigation tasks.
|
||||
|
||||
The project includes conversion code for `PyTorch -> TFLM` in the [resources/conversion](https://github.com/ntnu-arl/aerial_gym_simulator/tree/main/resources/conversion) folder.
|
||||
|
||||
### Updating `mc_nn_control` with your own NN
|
||||
|
||||
You can convert a `.tflite` network into a `.cc` file in the ubuntu terminal with this command:
|
||||
|
||||
```sh
|
||||
xxd -i converted_model.tflite > model_data.cc
|
||||
```
|
||||
|
||||
You will then have to modify the `control_net.hpp` and `control_net.cpp` to include the data from `model_data.cc`:
|
||||
|
||||
- Take the size of the network in the bottom of the `.cc` file and replace the size in `control_net.hpp`.
|
||||
- Take the data in the model array in the `cc` file, and replace the ones in `control_net.cpp`.
|
||||
|
||||
You are now ready to run your own network.
|
||||
|
||||
## Code Explanation
|
||||
|
||||
This section explains the code used to integrate the NN in `control_net.cpp`.
|
||||
|
||||
### Operations and Resolver
|
||||
|
||||
Firstly we need to create the resolver and load the needed operators to run inference on the NN.
|
||||
This is done in the top of `mc_nn_control.cpp`.
|
||||
The number in `MicroMutableOpResolver<3>` represents how many operations you need to run the inference.
|
||||
|
||||
A full list of the operators can be found in the [micro_mutable_op_resolver.h](https://github.com/tensorflow/tflite-micro/blob/main/tensorflow/lite/micro/micro_mutable_op_resolver.h) file.
|
||||
There are quite a few supported operators, but you will not find the most advanced ones.
|
||||
In the control example the network is fully connected so we use `AddFullyConnected()`.
|
||||
Then the activation function is ReLU, and we `AddAdd()` for the bias on each neuron.
|
||||
|
||||
### Interpreter
|
||||
|
||||
In the `InitializeNetwork()` we start by setting up the model that we loaded from the source and header file.
|
||||
Next is to set up the interpreter, this code is taken from the TFLM documentation and is thoroughly explained there.
|
||||
The end state is that the `_control_interpreter` is set up to later run inference with the `Invoke()` member function.
|
||||
The `_input_tensor` is also defined, it is fetched from `_control_interpreter->input(0)`.
|
||||
|
||||
### 输入
|
||||
|
||||
The `_input_tensor` is filled in the `PopulateInputTensor()` function.
|
||||
`_input_tensor` works by accessing the `->data.f` member array and fill in the required inputs for your network.
|
||||
The inputs used in the control network is covered in [Neural Networks](../advanced/neural_networks.md).
|
||||
|
||||
### Outputs
|
||||
|
||||
For the outputs the approach is fairly similar to the inputs.
|
||||
After setting the correct inputs, calling the `Invoke()` function the outputs can be found by getting `_control_interpreter->output(0)`.
|
||||
And from the output tensor you get the `->data.f` array.
|
||||
@ -1,161 +0,0 @@
|
||||
# _Pixhawk 4 Mini_ Wiring Quick Start
|
||||
|
||||
:::warning
|
||||
PX4 does not manufacture this (or any) autopilot.
|
||||
Contact the [manufacturer](https://holybro.com/) for hardware support or compliance issues.
|
||||
:::
|
||||
|
||||
This quick start guide shows how to power the [_Pixhawk<sup>®</sup> 4 Mini_](../flight_controller/pixhawk4_mini.md) flight controller and connect its most important peripherals.
|
||||
|
||||
|
||||
|
||||
## 接线图概述
|
||||
|
||||
The image below shows where to connect the most important sensors and peripherals (except for motors and servos).
|
||||
|
||||
|
||||
|
||||
:::tip
|
||||
More information about available ports can be found here: [_Pixhawk 4 Mini_ > Interfaces](../flight_controller/pixhawk4_mini.md#interfaces).
|
||||
:::
|
||||
|
||||
## 飞控的安装和方向
|
||||
|
||||
_Pixhawk 4 Mini_ should be mounted on your frame using vibration-damping foam pads (included in the kit).
|
||||
It should be positioned as close to your vehicle’s center of gravity as possible, oriented top-side up with the arrow pointing towards the front of the vehicle.
|
||||
|
||||
|
||||
|
||||
:::info
|
||||
If the controller cannot be mounted in the recommended/default orientation (e.g. due to space constraints) you will need to configure the autopilot software with the orientation that you actually used: [Flight Controller Orientation](../config/flight_controller_orientation.md).
|
||||
:::
|
||||
|
||||
## GPS + 指南针 + 蜂鸣器 + 安全开关 + LED
|
||||
|
||||
Attach the provided GPS with integrated compass, safety switch, buzzer, and LED to the **GPS MODULE** port. The GPS/Compass should be [mounted on the frame](../assembly/mount_gps_compass.md) as far away from other electronics as possible, with the direction marker towards the front of the vehicle (separating the compass from other electronics will reduce interference).
|
||||
|
||||
|
||||
|
||||
:::info
|
||||
The GPS module's integrated safety switch is enabled _by default_ (when enabled, PX4 will not let you arm the vehicle).
|
||||
To disable the safety press and hold the safety switch for 1 second.
|
||||
You can press the safety switch again to enable safety and disarm the vehicle (this can be useful if, for whatever reason, you are unable to disarm the vehicle from your remote control or ground station).
|
||||
:::
|
||||
|
||||
## 电源
|
||||
|
||||
The Power Management Board (PMB) serves the purpose of a power module as well as a power distribution board.
|
||||
In addition to providing regulated power to _Pixhawk 4 Mini_ and the ESCs, it sends information to the autopilot about the battery’s voltage and current draw.
|
||||
|
||||
Connect the output of the PMB that comes with the kit to the **POWER** port of the _Pixhawk 4 Mini_ using a 6-wire cable.
|
||||
The connections of the PMB, including power supply and signal connections to the ESCs and servos, are explained in the image below.
|
||||
|
||||
|
||||
|
||||
:::info
|
||||
The image above only shows the connection of a single ESC and a single servo.
|
||||
Connect the remaining ESCs and servos similarly.
|
||||
:::
|
||||
|
||||
| Pin(s) 或连接器 | 功能 |
|
||||
| ------------------------------ | -------------------------------------------------------------------------- |
|
||||
| B+ | 连接到 ESC电调B+以为 ESC电调供电 |
|
||||
| GND | 连接到 ESC电调负极 |
|
||||
| PWR | JST-GH 6-pin Connector, 5V 3A output<br> connect to _Pixhawk 4 Mini_ POWER |
|
||||
| BAT | 电源输入，连接到2~12S的LiPo电池 |
|
||||
|
||||
The pinout of the _Pixhawk 4 Mini_ **POWER** port is shown below.
|
||||
The `CURRENT` signal should carry an analog voltage from 0-3.3V for 0-120A as default.
|
||||
The `VOLTAGE` signal should carry an analog voltage from 0-3.3V for 0-60V as default.
|
||||
The VCC lines have to offer at least 3A continuous and should default to 5.1V. A lower voltage of 5V is still acceptable, but discouraged.
|
||||
|
||||
| 针脚 | 信号 | 电压 |
|
||||
| ---- | --- | --------------------- |
|
||||
| 1（红） | VCC | +5V |
|
||||
| 2（黑） | VCC | +5V |
|
||||
| 3（黑） | 电流 | +3.3V |
|
||||
| 4（黑） | 电压 | +3.3V |
|
||||
| 5（黑） | GND | GND |
|
||||
| 6（黑） | GND | GND |
|
||||
|
||||
:::info
|
||||
If using a plane or rover, the 8 pin power (+) rail of **MAIN OUT** will need to be separately powered in order to drive servos for rudders, elevons, etc.
|
||||
To do this, the power rail needs to be connected to a BEC equipped ESC, a standalone 5V BEC, or a 2S LiPo battery.
|
||||
Be careful with the voltage of servo you are going to use here.
|
||||
:::
|
||||
|
||||
<!--In the future, when Pixhawk 4 kit is available, add wiring images/videos for different airframes.-->
|
||||
|
||||
:::info
|
||||
Using the Power Module that comes with the kit you will need to configure the _Number of Cells_ in the [Power Settings](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/power.html) but you won't need to calibrate the _voltage divider_.
|
||||
You will have to update the _voltage divider_ if you are using any other power module (e.g. the one from the Pixracer).
|
||||
:::
|
||||
|
||||
## 遥控器
|
||||
|
||||
A remote control (RC) radio system is required if you want to _manually_ control your vehicle (PX4 does not require a radio system for autonomous flight modes).
|
||||
|
||||
You will need to [select a compatible transmitter/receiver](../getting_started/rc_transmitter_receiver.md) and then _bind_ them so that they communicate (read the instructions that come with your specific transmitter/receiver).
|
||||
|
||||
The instructions below show how to connect the different types of receivers to _Pixhawk 4 Mini_:
|
||||
|
||||
- Spektrum/DSM or S.BUS receivers connect to the **DSM/SBUS RC** input.
|
||||
|
||||
|
||||
|
||||
- PPM receivers connect to the **PPM RC** input port.
|
||||
|
||||
|
||||
|
||||
- PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **PPM RC** port _via a PPM encoder_ [like this one](https://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels).
|
||||
|
||||
For more information about selecting a radio system, receiver compatibility, and binding your transmitter/receiver pair, see: [Remote Control Transmitters & Receivers](../getting_started/rc_transmitter_receiver.md).
|
||||
|
||||
## Telemetry Radio (Optional)
|
||||
|
||||
Telemetry radios may be used to communicate and control a vehicle in flight from a ground station (for example, you can direct the UAV to a particular position, or upload a new mission).
|
||||
|
||||
The vehicle-based radio should be connected to the **TELEM1** port as shown below (if connected to this port, no further configuration is required).
|
||||
The other radio is connected to your ground station computer or mobile device (usually by USB).
|
||||
|
||||
|
||||
|
||||
## SD卡（可选）
|
||||
|
||||
SD cards are highly recommended as they are needed to [log and analyse flight details](../getting_started/flight_reporting.md), to run missions, and to use UAVCAN-bus hardware.
|
||||
Insert the card (included in the kit) into _Pixhawk 4 Mini_ as shown below.
|
||||
|
||||
|
||||
|
||||
:::tip
|
||||
For more information see [Basic Concepts > SD Cards (Removable Memory)](../getting_started/px4_basic_concepts.md#sd-cards-removable-memory).
|
||||
:::
|
||||
|
||||
## 电机
|
||||
|
||||
Motors/servos are connected to the **MAIN OUT** ports in the order specified for your vehicle in the [Airframe Reference](../airframes/airframe_reference.md). See [_Pixhawk 4 Mini_ > Supported Platforms](../flight_controller/pixhawk4_mini.md#supported-platforms) for more information.
|
||||
|
||||
:::info
|
||||
This reference lists the output port to motor/servo mapping for all supported air and ground frames (if your frame is not listed in the reference then use a "generic" airframe of the correct type).
|
||||
:::
|
||||
|
||||
:::warning
|
||||
The mapping is not consistent across frames (e.g. you can't rely on the throttle being on the same output for all plane frames).
|
||||
Make sure to use the correct mapping for your vehicle.
|
||||
:::
|
||||
|
||||
## 其它外设
|
||||
|
||||
The wiring and configuration of optional/less common components is covered within the topics for individual [peripherals](../peripherals/index.md).
|
||||
|
||||
## 配置
|
||||
|
||||
General configuration information is covered in: [Autopilot Configuration](../config/index.md).
|
||||
|
||||
QuadPlane specific configuration is covered here: [QuadPlane VTOL Configuration](../config_vtol/vtol_quad_configuration.md)
|
||||
|
||||
<!-- Nice to have detailed wiring infographic and instructions for different vehicle types. -->
|
||||
|
||||
## 更多信息
|
||||
|
||||
- [_Pixhawk 4 Mini_](../flight_controller/pixhawk4_mini.md)
|
||||
@ -1,7 +0,0 @@
|
||||
# DroPix Flight Controller (Discontinued)
|
||||
|
||||
<Badge type="info" text="Discontinued" />
|
||||
|
||||
The Drotek<sup>®</sup> _DroPix autopilot_ is no longer available on the Drotek website, and is assumed to be discontinued.
|
||||
|
||||
See [PX4 v1.13 Documentation > DroPix Flight Controller](https://docs.px4.io/v1.13/en/flight_controller/dropix.html) for documentation.
|
||||
@ -1,52 +0,0 @@
|
||||
# Test MC_07 - VIO (Visual-Inertial Odometry)
|
||||
|
||||
## Objective
|
||||
|
||||
To test that external vision (VIO) works as expected
|
||||
|
||||
## Preflight
|
||||
|
||||
Disconnect all GPS / compasses and ensure vehicle is using VIO for navigation
|
||||
|
||||
Ensure that the drone can go into Altitude / Position flight mode while still on the ground
|
||||
|
||||
Ensure there are no other sources of positioning besides VIO:
|
||||
|
||||
- [EKF2_OF_CTRL](../advanced_config/parameter_reference.md#EKF2_OF_CTRL): `0`
|
||||
- [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL): `0`
|
||||
- [EKF2_EV_CTRL](../advanced_config/parameter_reference.md#EKF2_EV_CTRL): `15`
|
||||
- [SYS_HAS_MAG](../advanced_config/parameter_reference.md#SYS_HAS_MAG): `0`
|
||||
|
||||
## Flight Tests
|
||||
|
||||
❏ Altitude flight mode
|
||||
|
||||
❏ Vertical position should hold current value with stick centered
|
||||
|
||||
❏ Pitch/Roll/Yaw response 1:1
|
||||
|
||||
❏ Throttle response set to climb/descent rate
|
||||
|
||||
❏ Position flight mode
|
||||
|
||||
❏ Horizontal position should hold current value with stick centered
|
||||
|
||||
❏ Vertical position should hold current value with stick centered
|
||||
|
||||
❏ Throttle response set to climb/descent rate
|
||||
|
||||
❏ Pitch/Roll/Yaw response set to pitch/roll/yaw rates
|
||||
|
||||
## 降落
|
||||
|
||||
❏ Land in either Position or Altitude mode with the throttle below 40%
|
||||
|
||||
❏ Upon touching ground, copter should disarm automatically within 2 seconds (default: see [COM_DISARM_LAND](../advanced_config/parameter_reference.md#COM_DISARM_LAND))
|
||||
|
||||
## 预期成果
|
||||
|
||||
- 当油门升高时，起飞应该是平稳的
|
||||
- Drone should hold altitude in Altitude Flight mode without wandering
|
||||
- Drone should hold position within 1 meter in Position Flight mode without pilot moving sticks
|
||||
- 在上述任何飞行模式中都不应出现振荡
|
||||
- 着陆时，直升机不应在地面上反弹
|
||||
Loading…
x
Reference in New Issue
Block a user