mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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New Crowdin translations - zh-CN
This commit is contained in:
Crowdin Bot
committed by
Hamish Willee
Hamish Willee
parent
8aecc7e588
commit
588fd9d684
+24
-12
@@ -1,9 +1,7 @@
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- [Introduction](index.md)
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- [基本概念](getting_started/px4_basic_concepts.md)
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- [多旋翼](frames_multicopter/index.md)
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- [Features](features_mc/index.md)
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- [飞行模式](flight_modes_mc/index.md)
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- [位置模式（多旋翼）](flight_modes_mc/position.md)
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@@ -57,7 +55,6 @@
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- [DJI F450 (CUAV v5 nano)](frames_multicopter/dji_f450_cuav_5nano.md)
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- [Planes (Fixed-Wing)](frames_plane/index.md)
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- [Assembly](assembly/assembly_fw.md)
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- [Config/Tuning](config_fw/index.md)
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- [Auto-tune](config/autotune_fw.md)
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@@ -85,7 +82,6 @@
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- [Wing Wing Z84 (Pixracer)](frames_plane/wing_wing_z84.md)
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- [垂直起降](frames_vtol/index.md)
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- [Assembly](assembly/assembly_vtol.md)
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- [垂直起降配置/调试](config_vtol/index.md)
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- [Auto-tune](config/autotune_vtol.md)
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@@ -110,7 +106,6 @@
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- [Complete Vehicles](complete_vehicles_vtol/index.md)
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- [Operations](config/operations.md)
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- [安全性](config/safety_intro.md)
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- [Safety Configuration (Failsafes)](config/safety.md)
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- [Failsafe Simulation](config/safety_simulation.md)
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@@ -131,7 +126,6 @@
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- [QGroundControl Flight-Readiness Status](flying/pre_flight_checks.md)
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- [Hardware Selection & Setup](hardware/drone_parts.md)
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- [飞行控制器(Autopilots)](flight_controller/index.md)
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- [Flight Controller Selection](getting_started/flight_controller_selection.md)
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- [Pixhawk Series](flight_controller/pixhawk_series.md)
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@@ -168,13 +162,11 @@
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- [ARK Electronics ARKV6X](flight_controller/ark_v6x.md)
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- [ARK FPV Flight Controller](flight_controller/ark_fpv.md)
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- [ARK Pi6X Flow Flight Controller](flight_controller/ark_pi6x.md)
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- [CUAV X7](flight_controller/cuav_x7.md)
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- [CUAV Nora](flight_controller/cuav_nora.md)
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- [CUAV V5+ (FMUv5)](flight_controller/cuav_v5_plus.md)
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- [Wiring Quickstart](assembly/quick_start_cuav_v5_plus.md)
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- [CUAV V5 nano (FMUv5)](flight_controller/cuav_v5_nano.md)
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- [CUAV V5 nano Wiring Quickstart](assembly/quick_start_cuav_v5_nano.md)
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- [CUAV Pixhack v3 (FMUv3)](flight_controller/pixhack_v3.md)
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- [CubePilot Cube Orange+ (CubePilot)](flight_controller/cubepilot_cube_orangeplus.md)
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- [CubePilot Cube Orange (CubePilot)](flight_controller/cubepilot_cube_orange.md)
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- [CubePilot Cube Yellow (CubePilot)](flight_controller/cubepilot_cube_yellow.md)
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@@ -190,8 +182,7 @@
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- [ModalAI Flight Core v1](flight_controller/modalai_fc_v1.md)
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- [ModalAI VOXL Flight](flight_controller/modalai_voxl_flight.md)
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- [ModalAI VOXL 2](flight_controller/modalai_voxl_2.md)
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- [mRobotics-X2.1 (FMUv2)](flight_controller/mro_x2.1.md)
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- [mRo Control Zero F7)](flight_controller/mro_control_zero_f7.md)
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- [mRo Control Zero F7](flight_controller/mro_control_zero_f7.md)
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- [Sky-Drones AIRLink](flight_controller/airlink.md)
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- [SPRacing SPRacingH7EXTREME](flight_controller/spracingh7extreme.md)
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- [ThePeach FCC-K1](flight_controller/thepeach_k1.md)
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@@ -208,10 +199,13 @@
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- [BetaFPV Beta75X 2S Brushless Whoop](complete_vehicles_mc/betafpv_beta75x.md)
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- [Bitcraze Crazyflie 2.0 ](complete_vehicles_mc/crazyflie2.md)
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- [Aerotenna OcPoC-Zynq Mini](flight_controller/ocpoc_zynq.md)
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- [CUAV X7](flight_controller/cuav_x7.md)
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- [CUAV v5](flight_controller/cuav_v5.md)
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- [CUAV Pixhack v3 (FMUv3)](flight_controller/pixhack_v3.md)
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- [Holybro Kakute F7](flight_controller/kakutef7.md)
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- [Holybro Pixfalcon](flight_controller/pixfalcon.md)
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- [Holybro pix32 (FMUv2)](flight_controller/holybro_pix32.md)
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- [mRo X2.1 (FMUv2)](flight_controller/mro_x2.1.md)
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- [mRo AUAV-X2](flight_controller/auav_x2.md)
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- [NXP RDDRONE-FMUK66 FMU](flight_controller/nxp_rddrone_fmuk66.md)
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- [3DR Pixhawk 1](flight_controller/pixhawk.md)
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@@ -228,7 +222,9 @@
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- [Bootloader Update](advanced_config/bootloader_update.md)
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- [Bootloader Update FMUv6X-RT via USB](advanced_config/bootloader_update_v6xrt.md)
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- [Bootloader Flashing onto Betaflight Systems](advanced_config/bootloader_update_from_betaflight.md)
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- [Airframe Selection](config/airframe.md)
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- [传感器](sensor/index.md)
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- [加速度计](sensor/accelerometer.md)
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- [Calibration](config/accelerometer.md)
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@@ -271,6 +267,7 @@
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- [CUAV C-RTK](gps_compass/rtk_gps_cuav_c-rtk.md)
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- [CUAV C-RTK2 PPK/RTK GNSS](gps_compass/rtk_gps_cuav_c-rtk2.md)
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- [CUAV C-RTK 9Ps](gps_compass/rtk_gps_cuav_c-rtk-9ps.md)
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- [DATAGNSS NANO HRTK GNSS](gps_compass/rtk_gps_datagnss_nano_hrtk.md)
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- [DATAGNSS GEM1305 RTK GNSS](gps_compass/rtk_gps_gem1305.md)
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- [Femtones MINI2 Receiver](gps_compass/rtk_gps_fem_mini2.md)
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- [Freefly RTK GPS](gps_compass/rtk_gps_freefly.md)
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@@ -296,6 +293,7 @@
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- [ThunderFly TFRPM01 转速传感器](sensor/thunderfly_tachometer.md)
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- [IMU Factory Calibration](advanced_config/imu_factory_calibration.md)
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- [传感器热补偿](advanced_config/sensor_thermal_calibration.md)
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- [执行器](actuators/index.md)
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- [ADSB/FLARM (空中防撞)](config/actuators.md)
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- [电调（ESC）校准](advanced_config/esc_calibration.md)
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@@ -310,10 +308,13 @@
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- [Zubax Orel](dronecan/zubax_orel.md)
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- [Vertiq](peripherals/vertiq.md)
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- [VESC](peripherals/vesc.md)
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- [Radio Control (RC)](getting_started/rc_transmitter_receiver.md)
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- [无线电系统设置](config/radio.md)
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- [飞行模式](config/flight_mode.md)
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- [Joysticks](config/joystick.md)
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- [Data Links](data_links/index.md)
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- [MAVLink 回传（OSD/GCS）](peripherals/mavlink_peripherals.md)
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@@ -338,6 +339,7 @@
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- [TBS Crossfire (CRSF) Telemetry](telemetry/crsf_telemetry.md)
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- [Satellite Comms (Iridium/RockBlock)](advanced_features/satcom_roadblock.md)
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- [Power Systems](power_systems/index.md)
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- [Battery Estimation Tuning](config/battery.md)
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- [Battery Chemistry Overview](power_systems/battery_chemistry.md)
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@@ -356,6 +358,7 @@
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- [Sky-Drones SmartAP PDB](power_module/sky-drones_smartap-pdb.md)
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- [Smart/MAVLink Batteries](smart_batteries/index.md)
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- [Rotoye Batmon 电池智能套装](smart_batteries/rotoye_batmon.md)
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- [载荷 & 相机](payloads/index.md)
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- [Use Cases](payloads/use_cases.md)
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- [Package Delivery Mission](flying/package_delivery_mission.md)
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@@ -367,19 +370,25 @@
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- [Gimbal \(Mount\) Configuration](advanced/gimbal_control.md)
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- [Grippers](peripherals/gripper.md)
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- [Servo Gripper](peripherals/gripper_servo.md)
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- [Peripherals](peripherals/index.md)
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- [ADSB/FLARM/UTM (Traffic Avoidance)](peripherals/adsb_flarm.md)
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- [降落伞](peripherals/parachute.md)
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- [Remote ID](peripherals/remote_id.md)
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- [I2C Peripherals](sensor_bus/i2c_general.md)
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- [I2C bus accelerators](sensor_bus/i2c_general.md#i2c-bus-accelerators)
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- [TFI2CADT01 I2C address translator](sensor_bus/translator_tfi2cadt.md)
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- [CAN Peripherals](can/index.md)
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- [DroneCAN Peripherals](dronecan/index.md)
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- [PX4 DroneCAN Firmware](dronecan/px4_cannode_fw.md)
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- [ARK CANnode](dronecan/ark_cannode.md)
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- [RaccoonLab CAN Nodes](dronecan/raccoonlab_nodes.md)
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- [Cable Wiring](assembly/cable_wiring.md)
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- [机载电脑](companion_computer/index.md)
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- [Pixhawk + Companion Setup](companion_computer/pixhawk_companion.md)
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- [RPi Pixhawk Companion](companion_computer/pixhawk_rpi.md)
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@@ -395,16 +404,19 @@
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- [Realsense T265 跟踪相机 (VIO)](camera/camera_intel_realsense_t265_vio.md)
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- [视频流](companion_computer/video_streaming.md)
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- [Video Streaming using WFB-ng Wifi (Long range)](companion_computer/video_streaming_wfb_ng_wifi.md)
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- [串口配置](peripherals/serial_configuration.md)
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- [PX4 Ethernet Setup](advanced_config/ethernet_setup.md)
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- [Standard Configuration](config/index.md)
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- [高级配置](advanced_config/index.md)
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- [Using PX4's Navigation Filter (EKF2)](advanced_config/tuning_the_ecl_ekf.md)
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- [查找/更新参数](advanced_config/parameters.md)
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- [Full Parameter Reference](advanced_config/parameter_reference.md)
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- [Other Vehicles](airframes/index.md)
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- [Airships (experimental)](frames_airship/index.md)
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- [Autogyros (experimental)](frames_autogyro/index.md)
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- [ThunderFly Auto-G2 (Holybro pix32)](frames_autogyro/thunderfly_auto_g2.md)
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@@ -765,7 +777,7 @@
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- [Debugging with GDB](debug/gdb_debugging.md)
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- [SWD Debug Port](debug/swd_debug.md)
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- [JLink Probe](debug/probe_jlink.md)
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- [Black Magic/DroneCode Probe](debug/probe_bmp.md)
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- [Black Magic/Zubax BugFace BF1 Probe](debug/probe_bmp.md)
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- [STLink Probe](debug/probe_stlink.md)
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- [MCU-Link Probe](debug/probe_mculink.md)
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- [Hardfault Debugging](debug/gdb_hardfault.md)
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@@ -41,7 +41,7 @@ RealSense R200 相机头如下图所示:
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## 安装 ROS Indigo
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- Follow instructions given at [ROS indigo installation guide](http://wiki.ros.org/indigo/Installation/Ubuntu):
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- Follow instructions given at [ROS indigo installation guide](https://wiki.ros.org/indigo/Installation/Ubuntu):
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- 安装桌面完整版。
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- 执行 "初始化 rosdep" 和 "环境设置" 部分中描述的步骤。
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@@ -54,7 +54,6 @@ RealSense R200 相机头如下图所示:
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```
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- 下载并安装驱动:
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- Clone [RealSense_ROS repository](https://github.com/bestmodule/RealSense_ROS):
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```sh
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@@ -62,7 +61,6 @@ RealSense R200 相机头如下图所示:
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```
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- Follow instructions given in [here](https://github.com/bestmodule/RealSense_ROS/tree/master/r200_install).
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- 无论要不要安装如下包都敲击回车：
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```sh
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@@ -86,11 +84,9 @@ RealSense R200 相机头如下图所示:
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- 安装结束后，重启虚拟机。
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- 测试摄像头驱动：
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- 使用 USB 线缆，一头连接电脑的 USB3 接口，另一端连接 Intel RealSense 相机。
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- Click on Devices->USB-> Intel Corp Intel RealSense 3D Camera R200 in the menu bar of the Virtual Box, in order to forward the camera USB connection to the Virtual Machine.
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- 执行文件 [unpacked folder]/bin/dsreadcamerainfo：
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- 如果出现以下错误消息，请拔下相机 (从计算机物理上拔下 usb 电缆)。 Plug it in again + Click on Devices->USB-> Intel Corp Intel RealSense 3D Camera R200 in the menu bar of the Virtual Box again and execute again the file [unpacked folder]/Bin/DSReadCameraInfo.
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```sh
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@@ -39,7 +39,7 @@ The u-blox U-Center RTK module configuration tool is not needed/used!
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:::
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:::info
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Both _QGroundControl_ and the autopilot firmware share the same [PX4 GPS driver stack](https://github.com/PX4/GpsDrivers).
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Both _QGroundControl_ and the autopilot firmware share the same [PX4 GPS driver stack](https://github.com/PX4/PX4-GPSDrivers).
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实际上，这意味着只需要将新协议和/或消息添加到一个地方。
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:::
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@@ -25,7 +25,7 @@ On Windows, one option is to use _Melody Master_ within _Dosbox_.
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使用软件的步骤是：
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1. Download [DosBox](http://www.dosbox.com/) and install the app
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1. Download [DosBox](https://www.dosbox.com/) and install the app
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2. Download [Melody Master](ftp://archives.thebbs.org/ansi_utilities/melody21.zip) and unzip into a new directory
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@@ -78,7 +78,7 @@ arm-none-eabi-objcopy -O ihex build/px4_fmu-v6x_bootloader/px4_fmu-v6x_bootloade
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### PX4 Bootloader FMUv5X and earlier
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PX4 boards up to FMUv5X (before STM32H7) used the [PX4 bootloader](https://github.com/PX4/Bootloader) repository.
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PX4 boards up to FMUv5X (before STM32H7) used the [PX4 bootloader](https://github.com/PX4/PX4-Bootloader) repository.
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The instructions in the repo README explain how to use it.
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@@ -116,7 +116,7 @@ The following steps explain how you can "manually" update the bootloader using a
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:::
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4. The _gdb terminal_ appears and it should display the following output:
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4. The _gdb terminal_ appears and it should display (something like) the following output:
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```sh
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GNU gdb (GNU Tools for Arm Embedded Processors 7-2017-q4-major) 8.0.50.20171128-git
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@@ -128,9 +128,9 @@ The following steps explain how you can "manually" update the bootloader using a
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This GDB was configured as "--host=x86_64-linux-gnu --target=arm-none-eabi".
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Type "show configuration" for configuration details.
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For bug reporting instructions, please see:
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<http://www.gnu.org/software/gdb/bugs/>.
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<https://www.sourceware.org/gdb/bugs/>.
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Find the GDB manual and other documentation resources online at:
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<http://www.gnu.org/software/gdb/documentation/>.
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<https://www.sourceware.org/gdb/documentation/>.
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For help, type "help".
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Type "apropos word" to search for commands related to "word"...
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Reading symbols from px4fmuv5_bl.elf...done.
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@@ -147,7 +147,7 @@ The following steps explain how you can "manually" update the bootloader using a
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7. Power on the Pixhawk with another USB cable and connect the probe to the `FMU-DEBUG` port.
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::: info
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If using a Dronecode probe you may need to remove the case in order to connect to the `FMU-DEBUG` port (e.g. on Pixhawk 4 you would do this using a T6 Torx screwdriver).
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If using a Zubax BugFace BF1 you may need to remove the case in order to connect to the `FMU-DEBUG` port (e.g. on Pixhawk 4 you would do this using a T6 Torx screwdriver).
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:::
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@@ -2,7 +2,7 @@
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This page documents how to flash the PX4 bootloader onto boards that are already flashed with Betaflight (e.g. [OmnibusF4 SD](../flight_controller/omnibus_f4_sd.md) or [Kakute F7](../flight_controller/kakutef7.md)).
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There are three tools that can be used to flash the PX4 bootloader: _Betaflight Configurator_, [dfu-util](http://dfu-util.sourceforge.net/) command line tool, or the graphical [dfuse](https://www.st.com/en/development-tools/stsw-stm32080.html) (Windows only).
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There are three tools that can be used to flash the PX4 bootloader: _Betaflight Configurator_, [dfu-util](https://dfu-util.sourceforge.net/) command line tool, or the graphical [dfuse](https://www.st.com/en/development-tools/stsw-stm32080.html) (Windows only).
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:::info
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The _Betaflight Configurator_ is easiest, but newer versions may not support non-betaflight bootloader update.
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@@ -23,7 +23,7 @@ To install the PX4 bootloader using the _Betaflight Configurator_:
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2. Download the [Betaflight Configurator](https://github.com/betaflight/betaflight-configurator/releases) for your platform.
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:::tip
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If using the _Chrome_ web browser, a simple cross-platform alternative is to install the configurator as an [extension from here](https://chrome.google.com/webstore/detail/betaflight-configurator/kdaghagfopacdngbohiknlhcocjccjao).
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If using the _Chrome_ web browser, a simple cross-platform alternative is to install the configurator as an [extension from here](https://chromewebstore.google.com/detail/betaflight-configurator/kdaghagfopacdngbohiknlhcocjccjao?pli=1).
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:::
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@@ -38,7 +38,7 @@ To install the PX4 bootloader using the _Betaflight Configurator_:
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## DFU Bootloader Update
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This section explains how to flash the PX4 bootloader using the [dfu-util](http://dfu-util.sourceforge.net/) or the graphical [dfuse](https://www.st.com/en/development-tools/stsw-stm32080.html) tool (Windows only).
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This section explains how to flash the PX4 bootloader using the [dfu-util](https://dfu-util.sourceforge.net/) or the graphical [dfuse](https://www.st.com/en/development-tools/stsw-stm32080.html) tool (Windows only).
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|
||||
You will first need to download or build [bootloader firmware](#bootloader-firmware) for the board you want to flash (below, this is referred to as `<target.bin>`).
|
||||
|
||||
@@ -118,10 +118,10 @@ cd PX4-Autopilot
|
||||
make <target> # For example: holybro_kakuteh7mini_bootloader
|
||||
```
|
||||
|
||||
For other flight controllers download the [PX4/Bootloader](https://github.com/PX4/Bootloader) repository and build the source code using the appropriate targets:
|
||||
For other flight controllers download the [PX4/Bootloader](https://github.com/PX4/PX4-Bootloader) repository and build the source code using the appropriate targets:
|
||||
|
||||
```
|
||||
git clone --recursive https://github.com/PX4/Bootloader.git
|
||||
git clone --recursive https://github.com/PX4/PX4-Bootloader.git
|
||||
cd Bootloader
|
||||
make <target> # For example: omnibusf4sd_bl or kakutef7_bl
|
||||
```
|
||||
|
||||
@@ -108,7 +108,7 @@ You also need to [configure the Ethernet port](#px4-mavlink-serial-port-configur
|
||||
If you're using Ubuntu for your ground station (or companion computer) then you can use [netplan](https://netplan.io/) to configure the network.
|
||||
|
||||
Below we show how you write a setup to the netplan configuration file "`/etc/netplan/01-network-manager-all.yaml`", which would run on the same network as used by the PX4 setup above.
|
||||
Note that there are many more [examples](https://netplan.io/examples/) and instructions in the [netplan](https://netplan.io/) documentation.
|
||||
Note that there are many more [examples](https://github.com/canonical/netplan/tree/main/examples) and instructions in the [netplan](https://netplan.io/) documentation.
|
||||
|
||||
设置Ubuntu计算机：
|
||||
|
||||
|
||||
@@ -109,7 +109,7 @@ Arming is prevented if:
|
||||
- The current mode requires an adequate global position estimate but the vehicle does not have GPS lock.
|
||||
- Many more (see [arming/disarming safety settings](../config/safety.md#arming-disarming-settings) for more information).
|
||||
|
||||
The current failed checks can be viewed in QGroundControl (v4.2.0 and later) [Arming Check Report](../flying/pre_flight_checks.md#qgc-arming-check-report) (see also [Fly View > Arming and Preflight Checks](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/fly_view/fly_view.md#arm)).
|
||||
The current failed checks can be viewed in QGroundControl (v4.2.0 and later) [Arming Check Report](../flying/pre_flight_checks.md#qgc-arming-check-report) (see also [Fly View > Toolbar > Flight Status](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/fly_view/fly_view_toolbar.html#flight-status)).
|
||||
|
||||
Note that internally PX4 runs arming checks at 10Hz.
|
||||
A list of the failed checks is kept, and if the list changes PX4 emits the current list using the [Events interface](../concept/events_interface.md).
|
||||
@@ -159,7 +159,6 @@ The default startup sequence is:
|
||||
- System now prearmed: non-throttling actuators can move (e.g. ailerons).
|
||||
- System safety is off: Arming possible.
|
||||
3. Arm command is issued.
|
||||
|
||||
- The system is armed.
|
||||
- All motors and actuators can move.
|
||||
|
||||
@@ -177,7 +176,6 @@ The startup sequence is:
|
||||
- _All actuators stay locked into disarmed position (same as disarmed)._
|
||||
- System safety is off: Arming possible.
|
||||
3. Arm command is issued.
|
||||
|
||||
- The system is armed.
|
||||
- All motors and actuators can move.
|
||||
|
||||
|
||||
@@ -276,7 +276,7 @@ For more details about the configuration of height sources, [click here](#height
|
||||
|
||||
#### 偏航角测量
|
||||
|
||||
Some GPS receivers such as the [Trimble MB-Two RTK GPS receiver](https://www.trimble.com/Precision-GNSS/MB-Two-Board.aspx) can be used to provide a heading measurement that replaces the use of magnetometer data.
|
||||
Some GPS receivers such as the [Trimble MB-Two RTK GPS receiver](https://oemgnss.trimble.com/en/products/receiver-modules/mb-two) can be used to provide a heading measurement that replaces the use of magnetometer data.
|
||||
在存在大型磁场异常的环境中工作时，或在高纬度地区，地球磁场具有很大的磁倾角时，这可能是一个重要的优势。
|
||||
Use of GPS yaw measurements is enabled by setting bit position 3 to 1 (adding 8) in the [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL) parameter.
|
||||
|
||||
@@ -541,9 +541,9 @@ When this has been done, the performance metadata files can be processed to prov
|
||||
|
||||
### 输出数据
|
||||
|
||||
- Attitude output data is found in the [VehicleAttitude](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleAttitude.msg) message.
|
||||
- Local position output data is found in the [VehicleLocalPosition](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleLocalPosition.msg) message.
|
||||
- Global \(WGS-84\) output data is found in the [VehicleGlobalPosition](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleGlobalPosition.msg) message.
|
||||
- Attitude output data is found in the [VehicleAttitude](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleAttitude.msg) message.
|
||||
- Local position output data is found in the [VehicleLocalPosition](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleLocalPosition.msg) message.
|
||||
- Global \(WGS-84\) output data is found in the [VehicleGlobalPosition](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleGlobalPosition.msg) message.
|
||||
- Wind velocity output data is found in the [Wind.msg](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Wind.msg) message.
|
||||
|
||||
### 状态
|
||||
|
||||
@@ -103,10 +103,10 @@ At time of writing is no _convenient_ way to directly invoke precision landing (
|
||||
|
||||
### IR Sensor/Beacon Setup
|
||||
|
||||
The IR sensor/landing beacon solution requires an [IR-LOCK Sensor](https://irlock.com/products/ir-lock-sensor-precision-landing-kit) and downward facing [distance sensor](../sensor/rangefinders.md) connected to the flight controller, and an IR beacon as a target (e.g. [IR-LOCK MarkOne](https://irlock.com/collections/markone)).
|
||||
The IR sensor/landing beacon solution requires an [IR-LOCK Sensor](https://irlock.com/products/ir-lock-sensor-precision-landing-kit) and downward facing [distance sensor](../sensor/rangefinders.md) connected to the flight controller, and an IR beacon as a target (e.g. [IR-LOCK MarkOne](https://irlock.com/collections/ir-markers)).
|
||||
This enables landing with a precision of roughly 10 cm (GPS precision, by contrast, may be as large as several meters).
|
||||
|
||||
Install the IR-LOCK sensor by following the [official guide](https://irlock.readme.io/v2.0/docs).
|
||||
Install the IR-LOCK sensor by following the [official guide](https://irlock.readme.io/docs/getting-started).
|
||||
Ensure that the sensor's x axis is aligned with the vehicle's y axis and the sensor's y axis aligned with the vehicle's -x direction (this is the case if the camera is pitched down 90 degrees from facing forward).
|
||||
|
||||
Install a [range/distance sensor](../sensor/rangefinders.md) (the _LidarLite v3_ has been found to work well).
|
||||
|
||||
@@ -9,7 +9,7 @@
|
||||
|
||||
卫星通信链接需要以下组成部件：
|
||||
|
||||
- A [RockBlock 9603 Iridium Satellite Modem](https://www.iridium.com/products/rock-seven-rockblock-9603/) module connected to a Pixhawk flashed with the PX4 Autopilot.
|
||||
- A [RockBlock 9603 Iridium Satellite Modem](https://www.iridium.com/products/ground-control-rockblock-9603/) module connected to a Pixhawk flashed with the PX4 Autopilot.
|
||||
- 运行 Ubuntu 系统的消息中继服务器。
|
||||
- A ground station computer running _QGroundControl_ on Ubuntu Linux
|
||||
|
||||
@@ -21,7 +21,7 @@
|
||||
The setup was tested with the current release of _QGroundControl_ running on Ubuntu 14.04 and 16.04.
|
||||
|
||||
- It may be possible to run the system on other ground stations and operating systems, but this has not been tested (and is not guaranteed to work).
|
||||
- The [RockBlock MK2](https://www.groundcontrol.com/us/product/rockblock-9602-satellite-modem/) module can also be used.
|
||||
- The [RockBlock MK2](https://www.groundcontrol.com/product/rockblock-9602-satellite-modem/) module can also be used.
|
||||
The RockBlock 9603 module is recommended because it is smaller and lighter, while providing the same functionality.
|
||||
|
||||
:::
|
||||
@@ -34,7 +34,7 @@ The UK link running cost consists of a line rental and per message cost:
|
||||
- Each message transmitted over the system costs one _credit_ per 50 bytes.
|
||||
Bundles of credits can be bought from RockBlock for £0.04-£0.11 per credit, depending on the bundle size.
|
||||
|
||||
Refer to the [RockBlock Documentation](https://docs.rockblock.rock7.com/docs) for a detailed explanation of the modules, running costs and _RockBlock_ in general.
|
||||
Refer to the [RockBlock Documentation](https://docs.groundcontrol.com/iot/rockblock) for a detailed explanation of the modules, running costs and _RockBlock_ in general.
|
||||
|
||||
## Vehicle Setup
|
||||
|
||||
@@ -43,15 +43,15 @@ Refer to the [RockBlock Documentation](https://docs.rockblock.rock7.com/docs) fo
|
||||
Connect the RockBlock module to a serial port of the Pixhawk.
|
||||
Due to the power requirements of the module it can only be powered over a high-power serial port as a maximum of 0.5 A at 5 V are required.
|
||||
If none is available/free then another power source which has the same ground level as the Pixhawk and can provide required power has to be setup.
|
||||
The details of the [connectors](https://docs.rockblock.rock7.com/docs/connectors) and the [power requirements](https://docs.rockblock.rock7.com/docs/power-supply) can be found in the RockBlock documentation.
|
||||
The details of the [connectors](https://docs.groundcontrol.com/iot/rockblock/specification/connectors-wiring) and the [power requirements](https://docs.groundcontrol.com/iot/rockblock/electrical) can be found in the RockBlock documentation.
|
||||
|
||||
### Module
|
||||
|
||||
The module can either use the internal antenna or an external one connected to the SMA connector.
|
||||
To [switch between the two antennas modes](https://docs.rockblock.rock7.com/docs/switching-rockblock-9603-antenna-mode) the position of a small RF link cable needs to changed.
|
||||
To [switch between the two antennas modes](https://docs.groundcontrol.com/iot/rockblock/user-manual/9603-atenna-mode) the position of a small RF link cable needs to changed.
|
||||
If an external antenna is used always make sure that the antenna is connected to the module before powering it up to avoid damage to the module.
|
||||
|
||||
The default baud rate of the module is 19200. However, the PX4 _iridiumsbd_ driver requires a baud rate of 115200 so it needs to be changed using the [AT commands](https://www.groundcontrol.com/en/wp-content/uploads/2022/02/IRDM_ISU_ATCommandReferenceMAN0009_Rev2.0_ATCOMM_Oct2012.pdf).
|
||||
The default baud rate of the module is 19200. However, the PX4 _iridiumsbd_ driver requires a baud rate of 115200 so it needs to be changed using the [AT commands](https://www.groundcontrol.com/wp-content/uploads/2022/02/IRDM_ISU_ATCommandReferenceMAN0009_Rev2.0_ATCOMM_Oct2012.pdf).
|
||||
|
||||
1. Connect to the module with using a 19200/8-N-1 setting and check if the communication is working using the command: `AT`.
|
||||
The response should be: `OK`.
|
||||
@@ -101,7 +101,6 @@ Set up a delivery group for the message relay server and add the module to that
|
||||
The relay server should be run on either Ubuntu 16.04 or 14.04 OS.
|
||||
|
||||
1. The server working as a message relay should have a static IP address and two publicly accessible, open, TCP ports:
|
||||
|
||||
- `5672` for the _RabbitMQ_ message broker (can be changed in the _rabbitmq_ settings)
|
||||
- `45679` for the HTTP POST interface (can be changed in the **relay.cfg** file)
|
||||
|
||||
@@ -124,7 +123,7 @@ The relay server should be run on either Ubuntu 16.04 or 14.04 OS.
|
||||
sudo rabbitmqctl set_permissions iridiumsbd ".*" ".*" ".*"
|
||||
```
|
||||
|
||||
5. Clone the [SatComInfrastructure](https://github.com/acfloria/SatComInfrastructure.git) repository:
|
||||
5. Clone the [SatComInfrastructure](https://github.com/acfloria/SatComInfrastructure) repository:
|
||||
|
||||
```sh
|
||||
git clone https://github.com/acfloria/SatComInfrastructure.git
|
||||
@@ -241,7 +240,6 @@ If in the terminal where the `udp2rabbit.py` script is running within a couple o
|
||||
|
||||
5. The satellite communication system is now ready to use.
|
||||
The priority link, which is the link over which commands are send, is determined the following ways:
|
||||
|
||||
- If no link is commanded by the user a regular radio telemetry link is preferred over the high latency link.
|
||||
- The autopilot and QGC will fall back from the regular radio telemetry to the high latency link if the vehicle is armed and the radio telemetry link is lost (no MAVLink messages received for a certain time).
|
||||
As soon as the radio telemetry link is regained QGC and the autopilot will switch back to it.
|
||||
@@ -256,7 +254,6 @@ If in the terminal where the `udp2rabbit.py` script is running within a couple o
|
||||
- Check the settings of the relay server and make sure that they are correct, especially the IMEI.
|
||||
|
||||
- No satellite communication messages from the airplane arrive on the ground station:
|
||||
|
||||
- Check using the system console if the _iridiumsbd_ driver started and if it did that a signal from any satellite is received by the module:
|
||||
|
||||
```sh
|
||||
@@ -268,7 +265,6 @@ If in the terminal where the `udp2rabbit.py` script is running within a couple o
|
||||
- Check if the link is connected and that its settings are correct.
|
||||
|
||||
- The IridiumSBD driver does not start:
|
||||
|
||||
- Reboot the vehicle.
|
||||
If that helps increase the sleep time in the `extras.txt` before the driver is started.
|
||||
If that does not help make sure that the Pixhawk and the module have the same ground level. Confirm also that the baudrate of the module is set to 115200.
|
||||
|
||||
@@ -54,7 +54,7 @@ The GPS/Compass module should be [mounted on the frame](../assembly/mount_gps_co
|
||||
Connect to the flight control GPS interface using a cable.
|
||||
|
||||
:::info
|
||||
If you use the [NEO V2 PRO GNSS (CAN GPS)](http://doc.cuav.net/gps/neo-series-gnss/en/neo-v2-pro.html), please use the cable to connect to the flight control CAN interface.
|
||||
If you use the [NEO V2 PRO GNSS (CAN GPS)](https://doc.cuav.net/gps/neo-series-gnss/en/neo-v2-pro.html), please use the cable to connect to the flight control CAN interface.
|
||||
:::
|
||||
|
||||
|
||||
@@ -130,7 +130,7 @@ Download **V5+** pinouts from [here](http://manual.cuav.net/V5-Plus.pdf).
|
||||
|
||||
- [Airframe build-log using CUAV v5+ on a DJI FlameWheel450](../frames_multicopter/dji_f450_cuav_5plus.md)
|
||||
- [CUAV V5+ Manual](http://manual.cuav.net/V5-Plus.pdf) (CUAV)
|
||||
- [CUAV V5+ docs](http://doc.cuav.net/flight-controller/v5-autopilot/en/v5+.html) (CUAV)
|
||||
- [CUAV V5+ docs](https://doc.cuav.net/controller/v5-autopilot/en/v5+.html) (CUAV)
|
||||
- [FMUv5 reference design pinout](https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY/edit#gid=912976165) (CUAV)
|
||||
- [CUAV Github](https://github.com/cuav) (CUAV)
|
||||
- [Base board design reference](https://github.com/cuav/hardware/tree/master/V5_Autopilot/V5%2B/V5%2BBASE) (CUAV)
|
||||
|
||||
@@ -13,7 +13,7 @@ This quick start guide shows how to power the _Cube_<sup>®</sup> flight cont
|
||||
|
||||
:::tip
|
||||
The instructions apply to all Cube variants, including [Cube Black](../flight_controller/pixhawk-2.md), [Cube Yellow](../flight_controller/cubepilot_cube_yellow.md) and [Cube Orange](../flight_controller/cubepilot_cube_orange.md).
|
||||
Further/updated information may be available in the [Cube User Manual](https://docs.cubepilot.org/user-guides/autopilot/the-cube-user-manual) (Cube Docs).
|
||||
Further/updated information may be available in the [Cube User Manual](https://docs.cubepilot.org/user-guides/autopilot/the-cube) (Cube Docs).
|
||||
:::
|
||||
|
||||
## 配件
|
||||
@@ -193,7 +193,7 @@ If connecting peripherals to the port labeled `GPS2`, assign the PX4 [serial por
|
||||
|
||||
## 配置
|
||||
|
||||
Configuration is performed using [QGroundContro](http://qgroundcontrol.com/).
|
||||
Configuration is performed using [QGroundContro](https://qgroundcontrol.com/).
|
||||
|
||||
After downloading, installing and running _QGroundControl_, connect the board to your computer as shown.
|
||||
|
||||
@@ -218,6 +218,5 @@ To use this feature de-power the Cube, hold down the safety switch, then power t
|
||||
- [Cube Yellow](../flight_controller/cubepilot_cube_yellow.md)
|
||||
- [Cube Orange](../flight_controller/cubepilot_cube_orange.md)
|
||||
- Cube Docs (Manufacturer):
|
||||
- [Cube Module Overview](https://docs.cubepilot.org/user-guides/autopilot/the-cube-module-overview)
|
||||
- [Cube User Manual](https://docs.cubepilot.org/user-guides/autopilot/the-cube-user-manual)
|
||||
- [Cube User Guide](https://docs.cubepilot.org/user-guides/autopilot/the-cube)
|
||||
- [Mini Carrier Board](https://docs.cubepilot.org/user-guides/carrier-boards/mini-carrier-board)
|
||||
|
||||
@@ -147,7 +147,7 @@ The instructions below show how to connect the different types of receivers to _
|
||||
|
||||
|
||||
|
||||
- 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](http://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels).
|
||||
- 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).
|
||||
|
||||
@@ -213,6 +213,6 @@ QuadPlane specific configuration is covered here: [QuadPlane VTOL Configuration]
|
||||
|
||||
- [Durandal Overview](../flight_controller/durandal.md)
|
||||
- [Durandal Technical Data Sheet](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Durandal_technical_data_sheet_90f8875d-8035-4632-a936-a0d178062077.pdf) (Holybro)
|
||||
- [Durandal Pinouts](https://holybro.com/collections/autopilot-flight-controllers/products/Durandal-Pinouts) (Holybro)
|
||||
- [Durandal_MB_H743sch.pdf](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/durandal/Durandal_MB_H743sch.pdf) (Durandal Schematics)
|
||||
- [STM32H743IIK_pinout.pdf](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/durandal/STM32H743IIK_pinout.pdf) (Durandal Pinmap)
|
||||
- [Durandal Pinouts](https://cdn.shopifycdn.net/s/files/1/0604/5905/7341/files/Durandal_Pinouts_v1.0.pdf?v=1693983344) (Holybro)
|
||||
- [Durandal_MB_H743sch.pdf](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_controller/durandal/Durandal_MB_H743sch.pdf) (Durandal Schematics)
|
||||
- [STM32H743IIK_pinout.pdf](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_controller/durandal/STM32H743IIK_pinout.pdf) (Durandal Pinmap)
|
||||
|
||||
@@ -123,7 +123,7 @@ The instructions below show how to connect the different types of receivers to _
|
||||
|
||||
|
||||
|
||||
- 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](http://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels).
|
||||
- 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).
|
||||
|
||||
@@ -181,5 +181,5 @@ QuadPlane specific configuration is covered here: [QuadPlane VTOL Configuration]
|
||||
- [Pix32 v5 Technical Data Sheet](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Holybro_PIX32-V5_technical_data_sheet_v1.1.pdf)
|
||||
- [Pix32 v5 Pinouts](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Holybro_Pix32-V5-Base-Mini-Pinouts.pdf)
|
||||
- [Pix32 v5 Base Schematic Diagram](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Holybro_PIX32-V5-BASE-Schematic_diagram.pdf)
|
||||
- [Pix32 v5 Base Components Layout](https://holybro.com/manual/Holybro_PIX32-V5-BASE-ComponentsLayout.pdf)
|
||||
- [Pix32 v5 Base Components Layout](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Holybro_PIX32-V5-BASE-RC02-ComponentsLayout.pdf)
|
||||
- [FMUv5 reference design pinout](https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY/edit#gid=912976165).
|
||||
|
||||
@@ -83,7 +83,7 @@ The instructions below show how to connect the different types of receivers to P
|
||||
- PPM-SUM and S.BUS receivers connect to the **RC** ground, power and signal pins as shown.
|
||||
|
||||
|
||||
- PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **RC** port _via a PPM encoder_ [like this one](http://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels).
|
||||
- PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **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).
|
||||
|
||||
|
||||
@@ -135,7 +135,7 @@ The instructions below show how to connect the different types of receivers to _
|
||||
|
||||
|
||||
|
||||
- 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](http://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels).
|
||||
- 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).
|
||||
|
||||
@@ -178,7 +178,7 @@ The wiring and configuration of optional/less common components is covered withi
|
||||
|
||||
## 针脚定义
|
||||
|
||||
[Pixhawk 4 Pinouts](https://holybro.com/manual/Pixhawk4-Pinouts.pdf) (Holybro)
|
||||
[Pixhawk 4 Pinouts](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Pixhawk4-Pinouts.pdf) (Holybro)
|
||||
|
||||
## 配置
|
||||
|
||||
@@ -191,6 +191,6 @@ QuadPlane specific configuration is covered here: [QuadPlane VTOL Configuration]
|
||||
## 更多信息
|
||||
|
||||
- [Pixhawk 4](../flight_controller/pixhawk4.md) (Overview page)
|
||||
- [Pixhawk 4 Technical Data Sheet](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/pixhawk4/pixhawk4_technical_data_sheet.pdf)
|
||||
- [Pixhawk 4 Pinouts](https://holybro.com/manual/Pixhawk4-Pinouts.pdf) (Holybro)
|
||||
- [Pixhawk 4 Technical Data Sheet](https://github.com/PX4/PX4-Autopilot/blob/main/docs/assets/flight_controller/pixhawk4/pixhawk4_technical_data_sheet.pdf)
|
||||
- [Pixhawk 4 Pinouts](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Pixhawk4-Pinouts.pdf) (Holybro)
|
||||
- [Pixhawk 4 Quick Start Guide (Holybro)](https://holybro.com/manual/Pixhawk4-quickstartguide.pdf)
|
||||
|
||||
@@ -107,7 +107,7 @@ The instructions below show how to connect the different types of receivers to _
|
||||
|
||||
|
||||
|
||||
- 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](http://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels).
|
||||
- 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).
|
||||
|
||||
|
||||
@@ -92,7 +92,7 @@ You will need to [select a compatible transmitter/receiver](../getting_started/r
|
||||
- Spektrum/DSM receivers connect to the **DSM/SBUS RC** input.
|
||||
- PPM or SBUS receivers connect to the **RC IN** input port.
|
||||
|
||||
PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **RC IN** port _via a PPM encoder_ [like this one](http://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels).
|
||||
PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **RC IN** 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).
|
||||
|
||||
|
||||
@@ -81,7 +81,7 @@ You will need to [select a compatible transmitter/receiver](../getting_started/r
|
||||
- Spektrum/DSM receivers connect to the **DSM** input.
|
||||
- PPM or SBUS receivers connect to the **PPM/SBUS** input port.
|
||||
|
||||
PPM and PWM receivers that have an _individual wire for each channel_ must connect to the \*PPM/SBUS\*\* port \*via a PPM encoder\* [like this one](http://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels).
|
||||
PPM and PWM receivers that have an _individual wire for each channel_ must connect to the \*PPM/SBUS\*\* 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).
|
||||
|
||||
|
||||
@@ -105,7 +105,7 @@ You will need to [select a compatible transmitter/receiver](../getting_started/r
|
||||
- Spektrum/DSM receivers connect to the **DSM/SBUS RC** input.
|
||||
- PPM or SBUS receivers connect to the **RC IN** input port.
|
||||
|
||||
PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **RC IN** port _via a PPM encoder_ [like this one](http://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels).
|
||||
PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **RC IN** 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).
|
||||
|
||||
|
||||
@@ -41,7 +41,7 @@ The instructions below show how to connect the different types of receivers:
|
||||
|
||||
|
||||
|
||||
- PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **RCIN** port _via a PPM encoder_ [like this one](http://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels).
|
||||
- PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **RCIN** 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).
|
||||
|
||||
### 电源模块 (ASCP4)
|
||||
|
||||
|
||||
@@ -31,5 +31,5 @@ Flight Control boards with in-built accelerometers or gyros are sensitive to vib
|
||||
|
||||
一些可能对您有用的参考资料：
|
||||
|
||||
- [An Introduction to Shock & Vibration Response Spectra, Tom Irvine](http://www.vibrationdata.com/tutorials2/srs_intr.pdf) (free paper)
|
||||
- [An Introduction to Shock & Vibration Response Spectra, Tom Irvine](https://www.vibrationdata.com/tutorials2/srs_intr.pdf) (free paper)
|
||||
- [Structural Dynamics and Vibration in Practice - An Engineering Handbook, Douglas Thorby](https://books.google.ch/books?id=PwzDuWDc8AgC&printsec=frontcover) (preview).
|
||||
|
||||
@@ -1,16 +1,18 @@
|
||||
# Intel® RealSense™ Tracking Camera T265 (VIO)
|
||||
|
||||
The [Intel® RealSense™ Tracking Camera T265](https://www.intelrealsense.com/tracking-camera-t265/) provides odometry information that can be used for [VIO](../computer_vision/visual_inertial_odometry.md), augmenting or replacing other positioning systems on PX4.
|
||||
|
||||
:::tip
|
||||
This camera is recommended, and is used in the [Visual Inertial Odometry (VIO) > Suggested Setup](../computer_vision/visual_inertial_odometry.md#suggested-setup).
|
||||
This camera is discontinued.
|
||||
:::
|
||||
|
||||
The _Intel® RealSense™ Tracking Camera T265_ provides odometry information that can be used for [VIO](../computer_vision/visual_inertial_odometry.md), augmenting or replacing other positioning systems on PX4.
|
||||
|
||||
It is used in the [Visual Inertial Odometry (VIO) > Suggested Setup](../computer_vision/visual_inertial_odometry.md#suggested-setup).
|
||||
|
||||
|
||||
|
||||
## 购买渠道
|
||||
|
||||
[Intel® RealSense™ Tracking Camera T265](https://www.intelrealsense.com/tracking-camera-t265/) (store.intelrealsense.com)
|
||||
No longer available.
|
||||
|
||||
## Setup Instructions
|
||||
|
||||
|
||||
@@ -113,12 +113,12 @@ If it is your first time enabling the camera trigger app, remember to reboot aft
|
||||
|
||||
The camera trigger driver supports several backends - each for a specific application, controlled by the [TRIG_INTERFACE](../advanced_config/parameter_reference.md#TRIG_INTERFACE) parameter:
|
||||
|
||||
| Number | 描述 |
|
||||
| ------ | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
|
||||
| 1 | Enables the GPIO interface. The AUX outputs are pulsed high or low (depending on the `TRIG_POLARITY` parameter) every [TRIG_INTERVAL](../advanced_config/parameter_reference.md#TRIG_INTERVAL) duration. This can be used to trigger most standard machine vision cameras directly. Note that on PX4FMU series hardware (Pixhawk, Pixracer, etc.), the signal level on the AUX pins is 3.3v. |
|
||||
| 2 | Enables the Seagull MAP2 interface. This allows the use of the [Seagull MAP2](http://www.seagulluav.com/product/seagull-map2/) to interface to a multitude of supported cameras. Pin/Channel 1 (camera trigger) and Pin/Channel 2 (mode selector) of the MAP2 should be connected to the lower and higher mapped [camera trigger pins](#trigger-output-pin-configuration). Using Seagull MAP2, PX4 also supports automatic power control and keep-alive functionalities of Sony Multiport cameras like the QX-1. |
|
||||
| 3 | This mode enables MAVLink cameras that used the legacy [MAVLink interface listed above](#mavlink-command-interface). The messages are automatically emitted on the MAVLink `onboard` channel when found in missions. PX4 emits the `CAMERA_TRIGGER` MAVLink message when a camera is triggered, by default to the `onboard` channel (if this is not used, custom stream will need to be enabled). [Simple MAVLink cameras](../camera/mavlink_v1_camera.md) explains this use case in more detail. |
|
||||
| 4 | Enables the generic PWM interface. This allows the use of [infrared triggers](https://hobbyking.com/en_us/universal-remote-control-infrared-shutter-ir-rc-1g.html) or servos to trigger your camera. |
|
||||
| Number | 描述 |
|
||||
| ------ | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
|
||||
| 1 | Enables the GPIO interface. The AUX outputs are pulsed high or low (depending on the `TRIG_POLARITY` parameter) every [TRIG_INTERVAL](../advanced_config/parameter_reference.md#TRIG_INTERVAL) duration. This can be used to trigger most standard machine vision cameras directly. Note that on PX4FMU series hardware (Pixhawk, Pixracer, etc.), the signal level on the AUX pins is 3.3v. |
|
||||
| 2 | Enables the Seagull MAP2 interface. This allows the use of the [Seagull MAP2](https://www.seagulluav.com/product/seagull-map2/) to interface to a multitude of supported cameras. Pin/Channel 1 (camera trigger) and Pin/Channel 2 (mode selector) of the MAP2 should be connected to the lower and higher mapped [camera trigger pins](#trigger-output-pin-configuration). Using Seagull MAP2, PX4 also supports automatic power control and keep-alive functionalities of Sony Multiport cameras like the QX-1. |
|
||||
| 3 | This mode enables MAVLink cameras that used the legacy [MAVLink interface listed above](#mavlink-command-interface). The messages are automatically emitted on the MAVLink `onboard` channel when found in missions. PX4 emits the `CAMERA_TRIGGER` MAVLink message when a camera is triggered, by default to the `onboard` channel (if this is not used, custom stream will need to be enabled). [Simple MAVLink cameras](../camera/mavlink_v1_camera.md) explains this use case in more detail. |
|
||||
| 4 | Enables the generic PWM interface. This allows the use of [infrared triggers](https://hobbyking.com/en_us/universal-remote-control-infrared-shutter-ir-rc-1g.html) or servos to trigger your camera. |
|
||||
|
||||
### Trigger Output Pin Configuration
|
||||
|
||||
|
||||
@@ -137,9 +137,9 @@ Generic/extensible camera managers:
|
||||
- [MAVLink Camera Manager](https://github.com/mavlink/mavlink-camera-manager) - Extensible cross-platform MAVLink Camera Server built on top of GStreamer and Rust-MAVLink.
|
||||
- [Dronecode Camera Manager](https://camera-manager.dronecode.org/en/) - Adds Camera Protocol interface for cameras connected to Linux computer.
|
||||
|
||||
Camera-specfic camera managers:
|
||||
Camera-specific camera managers:
|
||||
|
||||
- [SIYI A8 mini camera manager](https://github.com/julianoes/siyi-a8-mini-camera-manager) - MAVSDK-plugin based camera manager for the [SIYI A8 mini](https://shop.siyi.biz/products/siyi-a8-mini) (includes tutorial).
|
||||
- [SIYI A8 mini camera manager](https://github.com/julianoes/siyi-a8-mini-camera-manager) - MAVSDK-plugin based camera manager for the [SIYI A8 mini](https://shop.siyi.biz/products/siyi-a8-mini-gimbal-camera) (includes tutorial).
|
||||
|
||||
::: tip
|
||||
This is a good example of how MAVSDK can be used to create a MAVLink camera protocol interface for a particular camera.
|
||||
@@ -150,6 +150,6 @@ When using a camera manager you connect the companion computer to the flight con
|
||||
|
||||
More information about camera manager and companion computer setups can be found in:
|
||||
|
||||
- [SIYI A8 mini camera manager](https://github.com/julianoes/siyi-a8-mini-camera-manager) - Tutorial for integrating with the [SIYI A8 mini](https://shop.siyi.biz/products/siyi-a8-mini) using a MAVSDK-based camera manager running on a Raspberry Pi companion computer.
|
||||
- [SIYI A8 mini camera manager](https://github.com/julianoes/siyi-a8-mini-camera-manager) - Tutorial for integrating with the [SIYI A8 mini](https://shop.siyi.biz/products/siyi-a8-mini-gimbal-camera) using a MAVSDK-based camera manager running on a Raspberry Pi companion computer.
|
||||
- [Using a Companion Computer with Pixhawk Controllers](../companion_computer/pixhawk_companion.md)
|
||||
- [Companion Computers > Companion Computer Software](../companion_computer/index.md#companion-computer-software): In particular note [MAVLink-Router](https://github.com/mavlink-router/mavlink-router), which you can setup to route MAVLink traffic between a serial port and an IP link (or other camera manager interface).
|
||||
|
||||
@@ -38,7 +38,7 @@ CAN 网络的接线对于 DroneCAN 和 Cyphal/CAN 是一样 (实际上对所有
|
||||
图中未显示任何电源接线。
|
||||
参考制造商的说明，确认组件是否需要单独供电，还是可以通过 CAN 总线供电。
|
||||
|
||||
欲了解更多信息，请查看[Cyphal/CAN设备互联](https://kb.zubax.com/pages/viewpage.action?pageId=2195476) (kb.zubax.com)。
|
||||
For more information, see [Cyphal/CAN device interconnection](https://wiki.zubax.com/public/cyphal/CyphalCAN-device-interconnection?pageId=2195476) (kb.zubax.com).
|
||||
虽然本文是以 Cyphal 协议为基础编写的，但同样适用于 DroneCAN 硬件和任何其他 CAN 设置。
|
||||
如需了解更复杂的场景，请参考 [论CAN总线拓扑结构与终端匹配](https://forum.opencyphal.org/t/on-can-bus-topology-and-termination/1685)。
|
||||
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
# Auterion Skynode
|
||||
# Auterion Skynode X
|
||||
|
||||
[Skynode](https://auterion.com/product/skynode/) is a powerful flight computer that combines a mission computer, flight controller, video streaming, networking, and cellular connection, in a single tightly integrated device.
|
||||
[Skynode](https://auterion.com/product/skynode-x/) is a powerful flight computer that combines a mission computer, flight controller, video streaming, networking, and cellular connection, in a single tightly integrated device.
|
||||
|
||||
|
||||
|
||||
@@ -12,10 +12,11 @@ Auterion OS and Skynode allow seamless integration with Auterion's other softwar
|
||||
For information about Auterion and Skynode:
|
||||
|
||||
- [auterion.com](https://auterion.com/)
|
||||
- [Skynode](https://auterion.com/product/skynode/) (auterion.com)
|
||||
- [Skynode X](https://auterion.com/product/skynode-x/) (auterion.com)
|
||||
- Skynode Guides:
|
||||
- [Manufacturer's Guide](https://docs.auterion.com/manufacturers/getting-started/readme)
|
||||
- [App Developer's Guide](https://docs.auterion.com/developers/getting-started/readme)
|
||||
- [Vehicle Operation](https://docs.auterion.com/vehicle-operation/auterion-sign-up)
|
||||
- [App Development](https://docs.auterion.com/app-development/app-development)
|
||||
- [Hardware Integration](https://docs.auterion.com/app-development/app-development)
|
||||
|
||||
## Skynode with Vanilla PX4
|
||||
|
||||
@@ -34,7 +35,7 @@ Upstream PX4 will generally work, with the following caveats:
|
||||
|
||||
PX4 `px4_fmu-v5x` binaries for Skynode are built from source using the normal [developer environment](../dev_setup/dev_env.md) and [build commands](../dev_setup/building_px4.md), and are uploaded using either `upload_skynode_usb` or `upload_skynode_wifi` upload targets.
|
||||
|
||||
`upload_skynode_usb` and `upload_skynode_wifi` connect to Skynode via SSH over a network interface using the default (fixed) IP addresses for [USB](https://docs.auterion.com/manufacturers/avionics/skynode/advanced-configuration/connecting-to-skynode) and [WiFi](https://docs.auterion.com/manufacturers/avionics/skynode/advanced-configuration/configuration), and upload a TAR compressed binary to the mission computer.
|
||||
`upload_skynode_usb` and `upload_skynode_wifi` connect to Skynode via SSH over a network interface using the default (fixed) IP addresses for USB and WiFi, respectively (see [AuterionOS System Guide > Building and Flashing PX4 Firmware](https://docs.auterion.com/hardware-integration/auterionos-system-guide/flashing-px4-upstream-firmware)), and upload a TAR compressed binary to the mission computer.
|
||||
The mission computer then decompresses the binary and installs it to the flight controller.
|
||||
|
||||
:::info
|
||||
|
||||
@@ -30,7 +30,7 @@ A few "turnkey" options are listed below:
|
||||
[mro_usb_ftdi_serial_to_jst_gh]: https://store.mrobotics.io/USB-FTDI-Serial-to-JST-GH-p/mro-ftdi-jstgh01-mr.htm
|
||||
[sparkfun_ftdi basic_breakout]: https://www.sparkfun.com/products/9873
|
||||
|
||||
You can also use an off-the-shelf FTDI cable [like this one](https://www.sparkfun.com/products/9717) and connect it to flight controller using the appropriate header adaptor
|
||||
You can also use an off-the-shelf FTDI cable [like this one](https://www.sparkfun.com/ftdi-cable-5v-vcc-3-3v-i-o.html) and connect it to flight controller using the appropriate header adaptor
|
||||
(JST-GH connectors are specified in the Pixhawk standard, but you should confirm the connectors for your flight controller).
|
||||
|
||||
### Logic Level Shifters
|
||||
@@ -40,7 +40,7 @@ In order to resolve this, a level shifter can be implemented to safely convert t
|
||||
|
||||
Options include:
|
||||
|
||||
- [SparkFun Logic Level Converter - Bi-Directional](https://www.sparkfun.com/products/12009)
|
||||
- [SparkFun Logic Level Converter - Bi-Directional](https://www.sparkfun.com/sparkfun-logic-level-converter-bi-directional.html)
|
||||
- [4-channel I2C-safe Bi-directional Logic Level Converter - BSS138](https://www.adafruit.com/product/757)
|
||||
|
||||
## Cameras
|
||||
@@ -78,7 +78,7 @@ However NAT has no way to know where to direct the traffic from an arbitrary ext
|
||||
:::
|
||||
|
||||
A common approach is to set up a virtual private network between the companion and GCS computer (i.e. install a VPN system like [zerotier](https://www.zerotier.com/) on both computers).
|
||||
The companion then uses [mavlink-router](https://github.com/intel/mavlink-router) to route traffic between the serial interface (flight controller) and GCS computer on the VPN network.
|
||||
The companion then uses [mavlink-router](https://github.com/mavlink-router/mavlink-router) to route traffic between the serial interface (flight controller) and GCS computer on the VPN network.
|
||||
|
||||
This method has the benefit that the GCS computer address can be static within the VPN, so the configuration of the _mavlink router_ does not need to change over time.
|
||||
In addition, the communication link is secure because all VPN traffic is encrypted (MAVLink 2 itself does not support encryption).
|
||||
@@ -90,5 +90,6 @@ This approach means that you do not need to know the IP address of the GCS compu
|
||||
|
||||
Some USB modules that are known to work include:
|
||||
|
||||
- [Huawei E8372](https://consumer.huawei.com/en/mobile-broadband/e8372/) and [Huawei E3372](https://consumer.huawei.com/en/mobile-broadband/e3372/)
|
||||
- The _E8372_ includes WiFi which you can use to configure the SIM while it is plugged into the companion (making the development workflow a little easier). The _E3372_ lacks WiFi, so you have to configure it by plugging the stick into a laptop.
|
||||
- [Huawei E8372](https://consumer.huawei.com/au/support/routers/e8372/) and [Huawei E3372](https://consumer.huawei.com/au/support/routers/e3372/)
|
||||
- The _E8372_ includes WiFi which you can use to configure the SIM while it is plugged into the companion (making the development workflow a little easier).
|
||||
The _E3372_ lacks WiFi, so you have to configure it by plugging the stick into a laptop.
|
||||
|
||||
@@ -4,7 +4,7 @@ The [Holybro Pixhawk Jetson Baseboard](https://holybro.com/products/pixhawk-jets
|
||||
|
||||
|
||||
|
||||
The board comes with either the [Jetson Orin NX (16GB RAM)](https://holybro.com/products/nvidia-jetson-orin-nx-16g) or [Jetson Orin Nano (4GB RAM)](https://holybro.com/products/nvidia-jetson-orin-nx-16g?variant=44391410598077).
|
||||
The board comes with either the _Jetson Orin NX_ (16GB RAM) or _Jetson Orin Nano_ (4GB RAM) (see [NVIDIA Jetson Orin™](https://www.nvidia.com/en-us/autonomous-machines/embedded-systems/jetson-orin/)).
|
||||
It can be used with any Pixhawk Autopilot Bus (PAB) specification-compliant Pixhawk flight controller, such as the Pixhawk 6 or Pixhawk 6X.
|
||||
|
||||
This guide walks through the process of setting up the board and connecting to PX4, including:
|
||||
@@ -44,7 +44,6 @@ This information comes from the [Holybro Pixhawk-Jetson Baseboard Documentation]
|
||||
[Dimensions and weight](https://docs.holybro.com/autopilot/pixhawk-baseboards/pixhawk-jetson-baseboard/dimension-and-weight) (Holybro)
|
||||
|
||||
- 尺寸
|
||||
|
||||
- 126 x 80 x 45mm (with Jetson Orin NX + Heatsink/Fan & FC Module)
|
||||
- 126 x 80 x 22.9mm (without Jetson and FC Module)
|
||||
|
||||
@@ -56,37 +55,30 @@ This information comes from the [Holybro Pixhawk-Jetson Baseboard Documentation]
|
||||
:::tab Jetson connectors
|
||||
|
||||
- 2x Gigabit Ethernet Port
|
||||
|
||||
- Connected to both Jetson & Autopilot via Ethernet switch (RTL8367S)
|
||||
- Ethernet Switch powered by the same circuit as the Pixhawk
|
||||
- 8-pin JST-GH
|
||||
- RJ45
|
||||
|
||||
- 2x MIPI CSI Camera Inputs
|
||||
|
||||
- 4 Lanes each
|
||||
- 22-Pin Raspberry Pi Cam FFC
|
||||
|
||||
- 2x USB 3.0 Host Port
|
||||
|
||||
- USB A
|
||||
- 5A Current Limit
|
||||
|
||||
- 2x USB 2.0 Host Port
|
||||
|
||||
- 5-Pin JST-GH
|
||||
- 0A Current Limit
|
||||
|
||||
- USB 2.0 for Programming/Debugging
|
||||
|
||||
- USB-C
|
||||
|
||||
- 2 Key M 2242/2280 for NVMe SSD
|
||||
|
||||
- PCIEx4
|
||||
|
||||
- 2 Key E 2230 for WiFi/BT
|
||||
|
||||
- PCIEx2
|
||||
- USB
|
||||
- UART
|
||||
@@ -95,27 +87,21 @@ This information comes from the [Holybro Pixhawk-Jetson Baseboard Documentation]
|
||||
- Mini HDMI Out
|
||||
|
||||
- 4x GPIO
|
||||
|
||||
- 6-pin JST-GH
|
||||
|
||||
- CAN Port
|
||||
|
||||
- Connected to Autopilot's CAN2 (4 Pin JST-GH)
|
||||
|
||||
- SPI Port
|
||||
|
||||
- 7-Pin JST-GH
|
||||
|
||||
- I2C Port
|
||||
|
||||
- 4-Pin JST-GH
|
||||
|
||||
- I2S Port
|
||||
|
||||
- 7-Pin JST-GH
|
||||
|
||||
- 2x UART Port
|
||||
|
||||
- 1 for debug
|
||||
- 1 connected to Autopilot's telem2
|
||||
|
||||
@@ -128,12 +114,10 @@ This information comes from the [Holybro Pixhawk-Jetson Baseboard Documentation]
|
||||
:::tab Autopilot connectors
|
||||
|
||||
- Pixhawk Autopilot Bus Interface
|
||||
|
||||
- 100 Pin Hirose DF40
|
||||
- 50 Pin Hirose DF40
|
||||
|
||||
- Redundant Digital Power Module Inputs
|
||||
|
||||
- I2C Power Monitor Support
|
||||
- 2x 6-Pin Molex CLIK-Mate
|
||||
|
||||
@@ -142,66 +126,52 @@ This information comes from the [Holybro Pixhawk-Jetson Baseboard Documentation]
|
||||
- Overvoltage Protection
|
||||
|
||||
- 额定电压
|
||||
|
||||
- Max input voltage: 6V
|
||||
- USB 电源输入：4.75~5.25V
|
||||
|
||||
- Full GPS Plus Safety Switch Port
|
||||
|
||||
- 10-Pin JST-GH
|
||||
|
||||
- Secondary (GPS2) Port
|
||||
|
||||
- 6-Pin JST-GH
|
||||
|
||||
- 2x CAN Ports
|
||||
|
||||
- 4-Pin JST-GH
|
||||
|
||||
- 3x Telemetry Ports with Flow Control
|
||||
|
||||
- 2x 6-Pin JST-GH
|
||||
- 1 is connected to Jetson's `UART1` Port
|
||||
|
||||
- 16 PWM Outputs
|
||||
|
||||
- 2x 10-Pin JST-GH
|
||||
|
||||
- UART4 & I2C Port
|
||||
|
||||
- 6-Pin JST-GH
|
||||
|
||||
- 2x Gigabit Ethernet Port
|
||||
|
||||
- Connected to both Jetson & Autopilot via Ethernet switch (RTL8367S)
|
||||
- 8-Pin JST-GH
|
||||
- RJ45
|
||||
|
||||
- AD & IO
|
||||
|
||||
- 8-Pin JST-GH
|
||||
|
||||
- USB 2.0
|
||||
|
||||
- USB-C
|
||||
- 4-Pin JST-GH
|
||||
|
||||
- DSM Input
|
||||
|
||||
- 3-Pin JST-ZH 1.5mm Pitch
|
||||
|
||||
- RC In
|
||||
|
||||
- PPM/SBUS
|
||||
- 5-Pin JST-GH
|
||||
|
||||
- SPI Port
|
||||
|
||||
- External Sensor Bus (SPI5)
|
||||
- 11-Pin JST-GH
|
||||
|
||||
- 2x Debug Port
|
||||
|
||||
- 1 for FMU
|
||||
- 1 for IO
|
||||
- 10-Pin JST-SH
|
||||
@@ -1333,7 +1303,7 @@ You can now start your ROS2 nodes and continue the development.
|
||||
You can test the Client and agent by using the `sensor_combined` example in [Build ROS 2 Workspace](../ros2/user_guide.md#build-ros-2-workspace) (ROS2 User Guide).
|
||||
|
||||
:::tip
|
||||
[VSCode over SSH](https://code.visualstudio.com/learn/develop-cloud/ssh-lab-machines) enables faster development and application of changes to your ROS 2 code!
|
||||
[VSCode over SSH](https://code.visualstudio.com/docs/remote/ssh) enables faster development and application of changes to your ROS 2 code!
|
||||
:::
|
||||
|
||||
After getting to the point of running the example:
|
||||
|
||||
@@ -42,7 +42,7 @@ PX4 可以与计算机一起使用，可以配置为通过基于串口(或以太
|
||||
- [NXP NavQPlus](https://nxp.gitbook.io/navqplus/user-contributed-content/ros2/microdds)
|
||||
- [Nvidia Jetson TX2](https://developer.nvidia.com/embedded/jetson-tx2)
|
||||
|
||||
* [Intel NUC](https://www.intel.com/content/www/us/en/products/details/nuc.html)
|
||||
* [Intel NUC](https://www.asus.com/au/content/nuc-overview/)
|
||||
* [Gigabyte Brix](https://www.gigabyte.com/Mini-PcBarebone/BRIX)
|
||||
|
||||
小型/低功耗设备如：
|
||||
@@ -78,7 +78,7 @@ MAVSDK 通常更容易学习和使用，而 ROS 提供更多预先编写的软
|
||||
|
||||
如果您需要将 MAVLink 从载具桥接到地面站或 IP 网络，您将需要一个路由器。 或者如果您需要多个连接：
|
||||
|
||||
- [MAVLink Router](https://github.com/intel/mavlink-router) (recommended)
|
||||
- [MAVLink Router](https://github.com/mavlink-router/mavlink-router) (recommended)
|
||||
- [MAVProxy](https://ardupilot.org/mavproxy/)
|
||||
|
||||
## 以太网设置
|
||||
|
||||
@@ -20,7 +20,7 @@ The high level benefits of _WFB-ng_ include:
|
||||
- Bidirectional telemetry link (MAVLink).
|
||||
- TCP/IP tunnel.
|
||||
- Automatic TX diversity - use multiple cards on the ground to avoid antenna tracker.
|
||||
- Full link encryption and authentication (using [libsodium](https://download.libsodium.org/doc/)).
|
||||
- Full link encryption and authentication (using [libsodium](https://doc.libsodium.org/)).
|
||||
- Aggregation of MAVLink packets (pack small packets into batches before transmitting).
|
||||
- Enhanced [OSD](https://github.com/svpcom/wfb-ng-osd) for Raspberry PI or generic linux desktop with gstreamer.
|
||||
|
||||
@@ -36,21 +36,19 @@ The vehicle setup consists of:
|
||||
|
||||
- A camera.
|
||||
These have been tested:
|
||||
|
||||
- [Raspberry Pi camera](https://www.raspberrypi.org/products/camera-module-v2/) connected via CSI.
|
||||
- [Logitech camera C920](https://www.logitech.com/en-us/product/hd-pro-webcam-c920?crid=34) connected via USB
|
||||
- [Logitech camera C920](https://support.logi.com/hc/en-us/articles/360024326953-Getting-started-HD-Pro-Webcam-C920) connected via USB
|
||||
|
||||
- WiFi module [ALPHA AWUS036ACH](https://www.alfa.com.tw/products_detail/1.htm) or any other **RTL8812au** card.
|
||||
- WiFi module [ALPHA AWUS036ACH](https://www.alfa.com.tw/products/awus036ach_1?variant=40319795789896) or any other **RTL8812au** card.
|
||||
|
||||
### Ground Station
|
||||
|
||||
- Ground Station Computer.
|
||||
These options have been tested:
|
||||
|
||||
- Any Linux computer with a USB port (tested on Ubuntu 18.04 x86-64)
|
||||
- A computer with any OS running QGround control and Raspberry PI connected via Ethernet (RPi provides the wifi connection).
|
||||
|
||||
- WiFi module [ALPHA AWUS036ACH](https://www.alfa.com.tw/products_detail/1.htm) or any other **RTL8812au** card.
|
||||
- WiFi module [ALPHA AWUS036ACH](https://www.alfa.com.tw/products/awus036ach_1?variant=40319795789896) or any other **RTL8812au** card.
|
||||
See [WFB-ng wiki > WiFi hardware](https://github.com/svpcom/wfb-ng/wiki/WiFi-hardware) for more information on supported modules.
|
||||
|
||||
## Hardware Modification
|
||||
@@ -125,7 +123,7 @@ If you need a higher bandwidth you can use other MCS index (for example 2 or gre
|
||||
|
||||
## Antennas and Diversity
|
||||
|
||||
For simple cases you can use omnidirectional antennas with linear (that bundled with wifi cards) or circular leaf ([circularly polarized Coverleaf Antenna](http://www.antenna-theory.com/antennas/cloverleaf.php)) polarization.
|
||||
For simple cases you can use omnidirectional antennas with linear (that bundled with wifi cards) or circular leaf ([circularly polarized Coverleaf Antenna](https://www.antenna-theory.com/antennas/cloverleaf.php)) polarization.
|
||||
If you want to setup long distance link you can use multiple wifi adapters with directional and omnidirectional antennas. TX/RX diversity for multiple adapters supported out of box (just add multiple NICs to `/etc/default/wifibroadcast`).
|
||||
If your WiFi adapter has two antennas (like Alfa AWU036ACH) TX diversity is implemented via [STBC](https://en.wikipedia.org/wiki/Space%E2%80%93time_block_code).
|
||||
Cards with 4 ports (like Alfa AWUS1900) are currently not supported.
|
||||
|
||||
@@ -12,7 +12,7 @@ You can find others on [px4.io](https://px4.io/ecosystem/commercial-systems/) an
|
||||
This section contains consumer vehicles that run a _custom_ version of PX4 (supported by their vendors).
|
||||
These may or may not be updatable to run "vanilla" PX4.
|
||||
|
||||
- [Sentera PXH](https://sentera.com/products/fieldcapture/ag-drones/phx/)
|
||||
- [Sentera PXH](https://senterasensors.com/phx/)
|
||||
|
||||
<!--
|
||||
## Drone Development Kits/Reference Platforms
|
||||
|
||||
@@ -104,7 +104,7 @@ It is pre-installed with PX4 v1.15.4 at time of writing (a more recent version m
|
||||
|
||||
## Tutorials
|
||||
|
||||
- Tutorials [English](https://docs.amovlab.com/f450-v6c-wiki/#/en/)/[Chinese](https://docs.amovlab.com/F450-V6C-wiki/#/src/%E8%A7%84%E6%A0%BC%E5%8F%82%E6%95%B0/%E8%A7%84%E6%A0%BC%E5%8F%82%E6%95%B0) (docs.amovlab.com/)
|
||||
- Tutorials [English](https://docs.amovlab.com/f450-v6c-wiki/#/en/)/[Chinese](https://docs.amovlab.com/f450-v6c-wiki/#/) (docs.amovlab.com/)
|
||||
|
||||
## Upgrading
|
||||
|
||||
|
||||
@@ -52,7 +52,7 @@ After setting up the PX4 development environment, follow these steps to install
|
||||
1. Download the source code of the PX4 Bootloader:
|
||||
|
||||
```sh
|
||||
git clone https://github.com/PX4/Bootloader.git
|
||||
git clone https://github.com/PX4/PX4-Bootloader.git
|
||||
```
|
||||
|
||||
2. Navigate into the top directory of the source code and compile it using:
|
||||
@@ -257,7 +257,7 @@ Crazyflie is able to fly in _Altitude_ mode if you use a [Z-ranger deck](https:/
|
||||
According to the datasheet, the maximum height (above ground) the range finder can sense is 2 m. However, when tested on dark surfaces this value decreases to 0.5 m. On a light floor, it goes up to max 1.3 m. This means you cannot hold altitudes above this value in _Altitude_ or _Position_ flight modes.
|
||||
|
||||
:::tip
|
||||
If the Crazyflie 2.0 height drifts at mid-throttle command in _Altitude mode_ or _Position mode_, first try rebooting the vehicle. If this does not fix the problem, recalibrate the accel and mag (compass).\
|
||||
If the Crazyflie 2.0 height drifts at mid-throttle command in _Altitude mode_ or _Position mode_, first try rebooting the vehicle. If this does not fix the problem, recalibrate the accel and mag (compass).
|
||||
:::
|
||||
|
||||
:::info
|
||||
|
||||
@@ -65,7 +65,7 @@ After setting up the PX4 development environment, follow these steps to install
|
||||
1. Download the source code of the PX4 Bootloader:
|
||||
|
||||
```sh
|
||||
git clone https://github.com/PX4/Bootloader.git --recurse-submodules
|
||||
git clone https://github.com/PX4/PX4-Bootloader.git --recurse-submodules
|
||||
```
|
||||
|
||||
2. Navigate into the top directory of the source code and compile it using:
|
||||
|
||||
@@ -19,12 +19,12 @@ They may come either fully assembled or in parts.
|
||||
|
||||
This section lists vehicles that are sold fully assembled and ready to fly (RTF), with PX4 installed.
|
||||
|
||||
- [Teal One](https://tealdrones.com/teal-one/)
|
||||
- [ModalAI Starling](../complete_vehicles_mc/modalai_starling.md)
|
||||
- [ModalAI Sentinel](https://www.modalai.com/sentinel)
|
||||
- [MindRacer 210](../complete_vehicles_mc/mindracer210.md)
|
||||
- [NanoMind 110](../complete_vehicles_mc/nanomind110.md)
|
||||
- [Amovlab F410](../complete_vehicles_mc/amov_F410_drone.md)
|
||||
- [Teal One](https://px4.io/project/teal-one/) ([superseded](https://tealdrones.com/solutions/teal-2/))
|
||||
|
||||
## PX4 Compatible
|
||||
|
||||
@@ -42,7 +42,7 @@ These may or may not be updatable to run "vanilla" PX4.
|
||||
- [Yuneec Typhoon H Plus](https://us.yuneec.com/typhoon-h-plus/)
|
||||
- [Yuneec Mantis Q](https://px4.io/portfolio/yuneec-mantis-q/)
|
||||
- [Yuneec H520](https://px4.io/portfolio/yuneec-h520-hexacopter/)
|
||||
- [AeroSense Aerobo (AS-MC02-P)](https://px4.io/portfolio/aerosense-aerobo/)
|
||||
- [AeroSense Aerobo (AS-MC02-P)](https://px4.io/project/aerosense-aerobo/)
|
||||
|
||||
## See Also
|
||||
|
||||
|
||||
@@ -75,7 +75,6 @@ What's inside the PX4 Vision V1 can be found here in the [PX4 v1.13 Docs here](h
|
||||
The PX4 Vision DevKit contains following components:
|
||||
|
||||
- Core Components:
|
||||
|
||||
- 1x Pixhawk 4 or Pixhawk 6C (for v1.5) flight controller
|
||||
- 1x PMW3901 optical flow sensor
|
||||
- 1x TOF Infrared distance sensor (PSK‐CM8JL65‐CC5)
|
||||
@@ -96,7 +95,6 @@ The PX4 Vision DevKit contains following components:
|
||||
- WiFi 802.11 b/g/n @ 2.4 GHz (attached to external antenna #1). Allows computer to access home WiFi network for Internet access/updates.
|
||||
|
||||
- Mechanical Specification:
|
||||
|
||||
- Frame: Full 5mm 3k carbon fiber twill
|
||||
- Motors: T-MOTOR KV1750
|
||||
- ESC: BEHEli-S 20A ESC
|
||||
@@ -107,7 +105,6 @@ The PX4 Vision DevKit contains following components:
|
||||
- Telemetry: ESP8266 connected to flight controller (attached to external antenna #2). Enables wireless connection to the ground station.
|
||||
|
||||
- A USB2.0 stick with pre-flashed software that bundles:
|
||||
|
||||
- Ubuntu 18.04 LTS
|
||||
- ROS Melodic
|
||||
- Occipital Structure Core ROS driver
|
||||
@@ -135,7 +132,6 @@ In addition, users will need ground station hardware/software:
|
||||
## First-time Setup
|
||||
|
||||
1. Attach a [compatible RC receiver](../getting_started/rc_transmitter_receiver.md#connecting-receivers) to the vehicle (not supplied with kit):
|
||||
|
||||
- Remove/unscrew the top plate (where the battery goes) using an H2.0 hex key tool.
|
||||
- [Connect the receiver to the flight controller](../assembly/quick_start_pixhawk4.md#radio-control).
|
||||
- Re-attach the top plate.
|
||||
@@ -222,7 +218,6 @@ When the vehicle setup described above is complete:
|
||||
:::
|
||||
|
||||
3. Check that the avoidance system has started properly:
|
||||
|
||||
- The _QGroundControl_ notification log displays the message: **Avoidance system connected**.
|
||||
|
||||
|
||||
@@ -339,7 +334,6 @@ To login to the companion computer:
|
||||
The Ubuntu login screen should then appear on the monitor.
|
||||
|
||||
3. Login to the _UP Core_ using the credentials:
|
||||
|
||||
- **Username:** px4vision
|
||||
- **Password:** px4vision
|
||||
|
||||
@@ -391,7 +385,7 @@ To integrate a different planner, this needs to be disabled.
|
||||
```
|
||||
|
||||
The ROS workspace is placed in `~/catkin_ws`.
|
||||
For reference on developing in ROS and using the catkin workspace, see the [ROS catkin tutorials](http://wiki.ros.org/catkin/Tutorials).
|
||||
For reference on developing in ROS and using the catkin workspace, see the [ROS catkin tutorials](https://wiki.ros.org/catkin/Tutorials).
|
||||
|
||||
### Developing PX4 Firmware
|
||||
|
||||
|
||||
@@ -46,9 +46,7 @@ To setup ROS and PX4:
|
||||
|
||||
- [Verify that VIO is set up correctly](#verify_estimate) before your first flight!
|
||||
|
||||
<a id="vio_ros_node"></a>
|
||||
|
||||
### ROS VIO node
|
||||
### ROS VIO node {#vio_ros_node}
|
||||
|
||||
In this suggested setup, a ROS node is required to
|
||||
|
||||
@@ -58,17 +56,16 @@ In this suggested setup, a ROS node is required to
|
||||
|
||||
The implementation of the ROS node will be specific to the camera used and will need to be developed to use the interface and drivers appropriate for the camera.
|
||||
|
||||
The odometry messages should be of the type [`nav_msgs/Odometry`](http://docs.ros.org/en/noetic/api/nav_msgs/html/msg/Odometry.html) and published to the topic `/mavros/odometry/out`.
|
||||
The odometry messages should be of the type [`nav_msgs/Odometry`](https://docs.ros.org/en/noetic/api/nav_msgs/html/msg/Odometry.html) and published to the topic `/mavros/odometry/out`.
|
||||
|
||||
System status messages of the type [`mavros_msgs/CompanionProcessStatus`](https://github.com/mavlink/mavros/blob/master/mavros_msgs/msg/CompanionProcessStatus.msg) should be published to the topic `/mavros/companion_process/status`. These should identify the component as `MAV_COMP_ID_VISUAL_INERTIAL_ODOMETRY` (197) and indicate the `state` of the system. Recommended status values are:
|
||||
System status messages of the type [`mavros_msgs/CompanionProcessStatus`](https://github.com/mavlink/mavros/blob/master/mavros_msgs/msg/CompanionProcessStatus.msg) should be published to the topic `/mavros/companion_process/status`.
|
||||
These should identify the component as `MAV_COMP_ID_VISUAL_INERTIAL_ODOMETRY` (197) and indicate the `state` of the system. Recommended status values are:
|
||||
|
||||
- `MAV_STATE_ACTIVE` when the VIO system is functioning as expected,
|
||||
- `MAV_STATE_CRITICAL` when the VIO system is functioning, but with low confidence, and
|
||||
- `MAV_STATE_FLIGHT_TERMINATION` when the system has failed or the estimate confidence is unacceptably low.
|
||||
|
||||
<a id="ekf2_tuning"></a>
|
||||
|
||||
### PX4 调试
|
||||
### PX4 Tuning {#ekf2_tuning}
|
||||
|
||||
将相机连接到机载计算机并将其安装到框架：
|
||||
|
||||
@@ -83,9 +80,7 @@ These can be set in _QGroundControl_ > **Vehicle Setup > Parameters > EKF2** (re
|
||||
|
||||
For more detailed/additional information, see: [Using PX4's Navigation Filter (EKF2) > External Vision System](../advanced_config/tuning_the_ecl_ekf.md#external-vision-system).
|
||||
|
||||
<a id="tuning-EKF2_EV_DELAY"></a>
|
||||
|
||||
#### 调参 EKF2_EV_DELAY
|
||||
#### Tuning EKF2_EV_DELAY {#tuning-EKF2_EV_DELAY}
|
||||
|
||||
[EKF2_EV_DELAY](../advanced_config/parameter_reference.md#EKF2_EV_DELAY) is the _Vision Position Estimator delay relative to IMU measurements_.
|
||||
换而言之，这是视觉系统时间戳和 IMU 时钟（ EKF2 “时基” ）记录的“实际”捕获时间之间的差异。
|
||||
@@ -104,9 +99,7 @@ A plot of external data vs. onboard estimate (as above) can be generated using [
|
||||
|
||||
可以通过更改参数来进一步调整该值，以找到在动态变化中最低的 EKF 更新值。
|
||||
|
||||
<a id="verify_estimate"></a>
|
||||
|
||||
## 检查/校验 VIO 估计
|
||||
## Check/Verify VIO Estimate {#verify_estimate}
|
||||
|
||||
:::info
|
||||
The [MAV_ODOM_LP](../advanced_config/parameter_reference.md#MAV_ODOM_LP) parameter mentioned below was removed in PX4 v1.14.
|
||||
@@ -153,11 +146,9 @@ First, make sure MAVROS is able to connect successfully to the flight controller
|
||||
如果连接正确， 常见问题 / 解决方案是：
|
||||
|
||||
- **Problem:** I get drift / flyaways when the drone flies, but not when I carry it around with the props off.
|
||||
|
||||
- If using the [T265](../peripherals/camera_t265_vio.md) try soft-mounting it (this camera is very sensitive to high-frequency vibrations).
|
||||
|
||||
- **Problem:** I get toilet-bowling when VIO is enabled.
|
||||
|
||||
- 确保相机的方向与启动文件中的变换匹配。
|
||||
Use the _QGroundControl_ [MAVLink Inspector](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/analyze_view/mavlink_inspector.html) to verify that the velocities in the `ODOMETRY` message coming from MAVROS are aligned to the FRD coordinate system.
|
||||
|
||||
|
||||
@@ -3,7 +3,7 @@
|
||||
PX4 consists of two main layers: the [flight stack](#flight-stack) is an estimation and flight control system,
|
||||
and the [middleware](#middleware) is a general robotics layer that can support any type of autonomous robot, providing internal/external communications and hardware integration.
|
||||
|
||||
All PX4 [airframes](../airframes/index.md) share a single codebase (this includes other robotic systems like boats, rovers, submarines etc.). The complete system design is [reactive](http://www.reactivemanifesto.org), which means that:
|
||||
All PX4 [airframes](../airframes/index.md) share a single codebase (this includes other robotic systems like boats, rovers, submarines etc.). The complete system design is [reactive](https://www.reactivemanifesto.org), which means that:
|
||||
|
||||
- 所有的功能都可以被分割成若干可替换、可重复使用的部件。
|
||||
- 通过异步消息传递进行通信。
|
||||
|
||||
@@ -42,7 +42,7 @@ PX4将这个转换逻辑区分开，这个逻辑被称为从姿态/角速率控
|
||||
- publishes the servo trims separately so they can be added as an offset when [testing actuators](../config/actuators.md#actuator-testing) (using the test sliders).
|
||||
- 输出驱动：
|
||||
- 处理硬件初始化和更新
|
||||
- use a shared library [src/libs/mixer_module](https://github.com/PX4/PX4-Autopilot/blob/main/src/lib/mixer_module/).
|
||||
- use a shared library [src/libs/mixer_module](https://github.com/PX4/PX4-Autopilot/blob/main/src/lib/mixer_module).
|
||||
The driver defines a parameter prefix, e.g. `PWM_MAIN` that the library then uses for configuration.
|
||||
Its main task is to select from the input topics and assign the right data to the outputs based on the user set `<param_prefix>_FUNCx` parameter values.
|
||||
For example if `PWM_MAIN_FUNC3` is set to **Motor 2**, the 3rd output is set to the 2nd motor from `actuator_motors`.
|
||||
|
||||
@@ -78,7 +78,6 @@ Explanations and requirements:
|
||||
This means as long as the event name stays the same, so will the ID.
|
||||
|
||||
- **Log Level**:
|
||||
|
||||
- valid log levels are the same as used in the MAVLink [MAV_SEVERITY](https://mavlink.io/en/messages/common.html#MAV_SEVERITY) enum.
|
||||
In order of descending importance these are:
|
||||
|
||||
@@ -117,7 +116,7 @@ Valid types: `uint8_t`, `int8_t`, `uint16_t`, `int16_t`, `uint32_t`, `int32_t`,
|
||||
You can also use enumerations as arguments:
|
||||
|
||||
- PX4-specific/custom enumerations for events should be defined in [src/lib/events/enums.json](https://github.com/PX4/PX4-Autopilot/blob/main/src/lib/events/enums.json), and can then be used as event argument in the form of `events::send<events::px4::enums::my_enum_t>(...)`.
|
||||
- MAVLink "common" events are defined in [mavlink/libevents/events/common.json](https://github.com/mavlink/libevents/blob/master/events/common.json) and can be used as event argument in the form of `events::send<events::common::enums::my_enum_t>(...)`.
|
||||
- MAVLink "common" events are defined in [mavlink/libevents/events/common.json](https://github.com/mavlink/libevents/blob/main/events/common.json) and can be used as event argument in the form of `events::send<events::common::enums::my_enum_t>(...)`.
|
||||
|
||||
#### Text format
|
||||
|
||||
@@ -128,7 +127,6 @@ Text format for event message description:
|
||||
These have to be escaped: '\\\\', '\\<', '\\{'.
|
||||
|
||||
- supported tags:
|
||||
|
||||
- Profiles: `<profile name="[!]NAME">CONTENT</profile>`
|
||||
|
||||
`CONTENT` will only be shown if the name matches the configured profile.
|
||||
@@ -142,7 +140,6 @@ Text format for event message description:
|
||||
- no nested tags of the same type are allowed
|
||||
|
||||
- arguments: template placeholders that follow python syntax, with 1-based indexing (instead of 0)
|
||||
|
||||
- general form: `{ARG_IDX[:.NUM_DECIMAL_DIGITS][UNIT]}`
|
||||
|
||||
UNIT:
|
||||
|
||||
@@ -5,7 +5,7 @@ On NuttX they reside in the [ROMFS/px4fmu_common/init.d](https://github.com/PX4/
|
||||
The scripts that are only used on Posix are located in [ROMFS/px4fmu_common/init.d-posix](https://github.com/PX4/PX4-Autopilot/tree/main/ROMFS/px4fmu_common/init.d-posix).
|
||||
|
||||
All files starting with a number and underscore (e.g. `10000_airplane`) are predefined airframe configurations.
|
||||
They are exported at build-time into an `airframes.xml` file which is parsed by [QGroundControl](http://qgroundcontrol.com) for the airframe selection UI.
|
||||
They are exported at build-time into an `airframes.xml` file which is parsed by [QGroundControl](https://qgroundcontrol.com) for the airframe selection UI.
|
||||
Adding a new configuration is covered [here](../dev_airframes/adding_a_new_frame.md).
|
||||
|
||||
其它的文件则是系统常规启动逻辑的一部分。
|
||||
@@ -33,7 +33,7 @@ The first executed file is the [init.d/rcS](https://github.com/PX4/PX4-Autopilot
|
||||
|
||||
- Shell 将每个模块作为一个新的 (客户端) 进程进行启动，
|
||||
每个客户端进程都需要与 PX4 主实例（服务器）进行通讯，实际的模块以线程的形式运行。
|
||||
This is done through a [UNIX socket](http://man7.org/linux/man-pages/man7/unix.7.html).
|
||||
This is done through a [UNIX socket](https://man7.org/linux/man-pages/man7/unix.7.html).
|
||||
服务器侦听一个 socket，然后客户端将连接该 socket 并通过它发送指令。
|
||||
服务器收到客户端的指令后将指令运行的输出结果及返回代码重新发送给客户端。
|
||||
|
||||
|
||||
@@ -7,7 +7,7 @@ Most other steps can be done out of order, except for [tuning](#tuning), which m
|
||||
|
||||
## 操作前提
|
||||
|
||||
Before starting you should [Download QGroundControl](http://qgroundcontrol.com/downloads/) and install it on your **desktop** computer.
|
||||
Before starting you should [Download QGroundControl](https://qgroundcontrol.com/downloads/) and install it on your **desktop** computer.
|
||||
Then open the QGC application menu ("Q" icon in the top-left corner) and choose **Vehicle Setup** in the _Select Tool_ popup:
|
||||
|
||||
|
||||
@@ -77,7 +77,6 @@ If you need help with the configuration you can ask for help on the [QGroundCont
|
||||
- [飞控外设](../peripherals/index.md) - 设置特定传感器、可选传感器、执行器等。
|
||||
- [Advanced Configuration](../advanced_config/index.md) - Factory/OEM calibration, configuring advanced features, less-common configuration.
|
||||
- Vehicle-Centric Config/Tuning:
|
||||
|
||||
- [多旋翼配置/调参](../config_mc/index.md)
|
||||
- [直升机配置/调参](../config_heli/index.md)
|
||||
- [固定翼配置/调参](../config_fw/index.md)
|
||||
|
||||
@@ -12,7 +12,7 @@ Joysticks are also commonly used to allow developers to fly the vehicle in simul
|
||||
:::
|
||||
|
||||
:::info
|
||||
_QGroundControl_ uses the cross-platform [SDL2](http://www.libsdl.org/index.php) library to convert joystick movements to MAVLink [MANUAL_CONTROL](https://mavlink.io/en/messages/common.html#MANUAL_CONTROL) messages, which are then sent to PX4 over the telemetry channel.
|
||||
_QGroundControl_ uses the cross-platform [SDL2](https://www.libsdl.org/index.php) library to convert joystick movements to MAVLink [MANUAL_CONTROL](https://mavlink.io/en/messages/common.html#MANUAL_CONTROL) messages, which are then sent to PX4 over the telemetry channel.
|
||||
In consequence, a joystick-based controller system requires a reliable high bandwidth telemetry channel to ensure that the vehicle is responsive to joystick movements.
|
||||
:::
|
||||
|
||||
|
||||
@@ -58,7 +58,7 @@ Users can select the form that is used by setting the proportional gain for the
|
||||
这两种形式将在后面介绍。
|
||||
|
||||
:::info
|
||||
The derivative term (**D**) is on the feedback path in order to avoid an effect known as the [derivative kick](http://brettbeauregard.com/blog/2011/04/improving-the-beginner%E2%80%99s-pid-derivative-kick/).
|
||||
The derivative term (**D**) is on the feedback path in order to avoid an effect known as the [derivative kick](http://brettbeauregard.com/blog/2011/04/improving-the-beginners-pid-derivative-kick/).
|
||||
:::
|
||||
|
||||
:::tip
|
||||
|
||||
@@ -14,7 +14,7 @@ We try to retain a [linear history through rebases](https://www.atlassian.com/gi
|
||||
To contribute new functionality, [sign up for Github](https://docs.github.com/en/get-started/signing-up-for-github/signing-up-for-a-new-github-account), then [fork](https://docs.github.com/en/get-started/quickstart/fork-a-repo) the repository, [create a new branch](https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/proposing-changes-to-your-work-with-pull-requests/creating-and-deleting-branches-within-your-repository), add your [changes as commits](#commits-and-commit-messages), and finally [send a pull request](#pull-requests).
|
||||
Changes will be merged when they pass our [continuous integration](https://en.wikipedia.org/wiki/Continuous_integration) tests.
|
||||
|
||||
All code contributions have to be under the permissive [BSD 3-clause license](https://opensource.org/licenses/BSD-3-Clause) and all code must not impose any further constraints on the use.
|
||||
All code contributions have to be under the permissive [BSD 3-clause license](https://opensource.org/license/BSD-3-Clause) and all code must not impose any further constraints on the use.
|
||||
|
||||
## Code Style
|
||||
|
||||
@@ -114,7 +114,7 @@ Currently we have two types of source-based documentation:
|
||||
- Do not add documentation that can trivially be inferred from C++ entity names.
|
||||
- ALWAYS specify units of variables, constants, and input/return parameters where they are defined.
|
||||
- Commonly you may want to add information about corner cases and error handling.
|
||||
- [Doxgyen](http://www.doxygen.nl/) tags should be used if documentation is needed: `@class`, `@file`, `@param`, `@return`, `@brief`, `@var`, `@see`, `@note`.
|
||||
- [Doxgyen](https://www.doxygen.nl/) tags should be used if documentation is needed: `@class`, `@file`, `@param`, `@return`, `@brief`, `@var`, `@see`, `@note`.
|
||||
A good example of usage is [src/modules/events/send_event.h](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/events/send_event.h).
|
||||
|
||||
Please avoid "magic numbers", for example, where does this number in the conditional come from? What about the multiplier on yaw stick input?
|
||||
|
||||
@@ -29,11 +29,11 @@ This is a great opportunity to meet the team and contribute to the ongoing devel
|
||||
|
||||
## 讨论什么内容?
|
||||
|
||||
We publish a forum post per meeting a week before the call on [PX4 Discuss - weekly-dev-call](https://discuss.px4.io/c/weekly-dev-call) and track the agenda write down the discussion for the day. We welcome any topics that you, as a community member may have questions about / want to discuss!
|
||||
We publish a forum post per meeting a week before the call on [PX4 Discuss - weekly-dev-call](https://discuss.px4.io/c/weekly-dev-call/14) and track the agenda write down the discussion for the day. We welcome any topics that you, as a community member may have questions about / want to discuss!
|
||||
|
||||
Please add your topics for discussion to the agenda before the meeting begins, by replying to the meeting note. This will help you formulate your questions more clearly, and allow us to think about them in advance.
|
||||
|
||||
## 日程
|
||||
|
||||
- TIME: Wednesday 17h00 CET ([subscribe to calendar](https://www.dronecode.org/calendar/))
|
||||
- TIME: Wednesday 17h00 CET ([subscribe to calendar](https://dronecode.org/calendar/))
|
||||
- **Join the call**: [https://discord.gg/BDYmr6FA6Q](https://discord.gg/BDYmr6FA6Q)
|
||||
|
||||
@@ -37,7 +37,7 @@ For these kinds of changes we suggest using the same approach as for _code_:
|
||||
1. Use the _git_ toolchain to get the PX4 source code onto your local computer.
|
||||
2. Modify the documentation as needed (add, change, delete).
|
||||
3. _Test_ that it builds properly using Vitepress.
|
||||
4. Create a branch for your changes and create a pull request (PR) to pull it back into the [PX4-Autopilot](https://github.com/PX4/PX4-Autopilot.git) repo.
|
||||
4. Create a branch for your changes and create a pull request (PR) to pull it back into the [PX4-Autopilot](https://github.com/PX4/PX4-Autopilot) repo.
|
||||
|
||||
The following explain how to get the source code, build locally (to test), and modify the code.
|
||||
|
||||
@@ -57,7 +57,7 @@ The instructions below explain how to get git and use it on your local computer.
|
||||
|
||||
1. Download git for your computer from [https://git-scm.com/downloads](https://git-scm.com/downloads)
|
||||
|
||||
2. [Sign up](https://github.com/join) for Github if you haven't already
|
||||
2. [Sign up](https://github.com/signup) for Github if you haven't already
|
||||
|
||||
3. Create a copy (Fork) of the [PX4-Autopilot repo](https://github.com/PX4/PX4-Autopilot) on Github ([instructions here](https://docs.github.com/en/get-started/quickstart/fork-a-repo)).
|
||||
|
||||
@@ -134,7 +134,6 @@ Within the repository you created above:
|
||||
There you should see the message that a new branch has been pushed to your forked repository.
|
||||
|
||||
7. Create a pull request (PR):
|
||||
|
||||
- On the right hand side of the "new branch message" (see one step before), you should see a green button saying "Compare & Create Pull Request".
|
||||
Press it.
|
||||
- A pull request template will be created.
|
||||
@@ -152,7 +151,6 @@ Within the repository you created above:
|
||||
概述：
|
||||
|
||||
1. Install the [Vitepress prerequisites](https://vitepress.dev/guide/getting-started#prerequisites):
|
||||
|
||||
- [Nodejs 18+](https://nodejs.org/en)
|
||||
- [Yarn classic](https://classic.yarnpkg.com/en/docs/install)
|
||||
|
||||
@@ -233,7 +231,6 @@ In overview:
|
||||
- This makes linking easier because other pages and images are always as the same relative levels
|
||||
|
||||
- The _structure_ of the book is defined in `SUMMARY.md`.
|
||||
|
||||
- If you add a new page to the guide you must also add an entry to this file!
|
||||
|
||||
:::tip
|
||||
@@ -259,7 +256,6 @@ When you add a new page you must also add it to `en/SUMMARY.md`!
|
||||
## 翻译
|
||||
|
||||
1. 图片
|
||||
|
||||
- Put new markdown files in an appropriate sub-folder of `/en/`, such as `/en/contribute/`.
|
||||
Do not further nest folders.
|
||||
- Put new image files in an appropriate nested sub-folder of `/assets/`.
|
||||
@@ -269,14 +265,12 @@ When you add a new page you must also add it to `en/SUMMARY.md`!
|
||||
- Use lower case filenames and separate words using underscores (`_`).
|
||||
|
||||
2. 内容:
|
||||
|
||||
- 将新文件放入相应的子文件夹
|
||||
- New images should be created in a sub-folder of `/assets/` (so they can be shared between translations).
|
||||
- SVG files are preferred for diagrams.
|
||||
PNG files are preferred over JPG for screenshots.
|
||||
|
||||
3. Content:
|
||||
|
||||
- Use "style" (**bold**, _emphasis_, etc.) consistently and sparingly (as little as possible).
|
||||
- **Bold** for button presses and menu definitions.
|
||||
- _Emphasis_ for tool names such as _QGroundControl_ or _prettier_.
|
||||
@@ -291,7 +285,6 @@ When you add a new page you must also add it to `en/SUMMARY.md`!
|
||||
- Format using _prettier_ (_VSCode_ is a has extensions can be used for this).
|
||||
|
||||
4. Videos:
|
||||
|
||||
- Youtube videos can be added using the format `<lite-youtube videoid="<youtube-video-id>" title="your title"/>` (supported via the [https://www.npmjs.com/package/lite-youtube-embed](https://www.npmjs.com/package/lite-youtube-embed) custom element, which has other parameters you can pass).
|
||||
- Use instructional videos sparingly as they date badly, and are hard to maintain.
|
||||
- Cool videos of airframes in flight are always welcome.
|
||||
|
||||
@@ -6,7 +6,7 @@
|
||||
|
||||
Adding a feature to PX4 follows a defined workflow. In order to share your contributions on PX4, you can follow this example. 为了在 px4 上分享您的贡献, 您可以遵循此示例。
|
||||
|
||||
- [Sign up](https://github.com/join) for github if you haven't already
|
||||
- [Sign up](https://github.com/signup) for github if you haven't already
|
||||
|
||||
- Fork the PX4-Autopilot repo (see [here](https://docs.github.com/en/get-started/quickstart/fork-a-repo))
|
||||
|
||||
@@ -49,7 +49,7 @@ Adding a feature to PX4 follows a defined workflow. In order to share your contr
|
||||
git add <file name>
|
||||
```
|
||||
|
||||
If you prefer having a GUI to add your files see [Gitk](https://git-scm.com/book/en/v2/Git-in-Other-Environments-Graphical-Interfaces) or [`git add -p`](http://nuclearsquid.com/writings/git-add/).
|
||||
If you prefer having a GUI to add your files see [Gitk](https://git-scm.com/book/en/v2/Git-in-Other-Environments-Graphical-Interfaces) or [`git add -p`](https://nuclearsquid.com/writings/git-add/).
|
||||
|
||||
- 提交添加的文件, 并顺便记录一条有意义的消息, 解释您的更改
|
||||
|
||||
@@ -292,7 +292,7 @@ If a conflict occurs during a `git rebase`, please refer to [this guide](https:/
|
||||
|
||||
### 拉取合并冲突
|
||||
|
||||
If a conflict occurs during a `git pull`, please refer to [this guide](https://help.github.com/articles/resolving-a-merge-conflict-using-the-command-line/#competing-line-change-merge-conflicts).
|
||||
If a conflict occurs during a `git pull`, please refer to [this guide](https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/addressing-merge-conflicts/resolving-a-merge-conflict-using-the-command-line#competing-line-change-merge-conflicts).
|
||||
|
||||
### Build error due to git tags out of date
|
||||
|
||||
|
||||
@@ -1,12 +1,12 @@
|
||||
# 许可证
|
||||
|
||||
:::info
|
||||
All code contributions must be made under the permissive [BSD 3-clause license](https://opensource.org/licenses/BSD-3-Clause) and must not impose any further constraints on its use.
|
||||
All code contributions must be made under the permissive [BSD 3-clause license](https://opensource.org/license/BSD-3-Clause) and must not impose any further constraints on its use.
|
||||
:::
|
||||
|
||||
This page documents the licenses of various components in the system.
|
||||
|
||||
- [PX4 Flight Stack](https://github.com/PX4/PX4-Autopilot) — BSD
|
||||
- [PX4 Middleware](https://github.com/PX4/PX4-Autopilot) — BSD
|
||||
- [Pixhawk Hardware](https://github.com/PX4/Hardware) — CC-BY-SA 3.0
|
||||
- [Pixhawk Hardware](https://github.com/pixhawk/Hardware) — CC-BY-SA 3.0
|
||||
- [PX4 User Guide](https://github.com/PX4/PX4-user_guide) (Documentation) — [CC BY 4.0](https://creativecommons.org/licenses/by/4.0/).
|
||||
|
||||
@@ -10,7 +10,7 @@ PX4 enables terminal access to the system through the [MAVLink Shell](../debug/m
|
||||
|
||||
The PX4 _System Console_ provides low-level access to the system, debug output and analysis of the system boot process.
|
||||
|
||||
There is just one _System Console_, which runs on one specific UART (the debug port, as configured in NuttX), and is commonly attached to a computer via an FTDI cable (or some other debug adapter like a [Dronecode probe](https://kb.zubax.com/display/MAINKB/Dronecode+Probe+documentation)).
|
||||
There is just one _System Console_, which runs on one specific UART (the debug port, as configured in NuttX), and is commonly attached to a computer via an FTDI cable (or some other debug adapter like a [Zubax BugFace BF1](https://github.com/Zubax/bugface_bf1)).
|
||||
|
||||
- Used for _low-level debugging/development_: bootup, NuttX, startup scripts, board bringup, development on central parts of PX4 (e.g. uORB).
|
||||
- 更具体一点，这里是包括自启动的用户应用在内的整个PX4系统下所有启动过程唯一的输出位置。
|
||||
|
||||
@@ -52,7 +52,6 @@ For more information, see: [https://gnu-mcu-eclipse.github.io/debug/jlink/instal
|
||||
|
||||
|
||||
7. Update packs:
|
||||
|
||||
- Click the small icon on the top right called _Open Perspective_ and open the _Packs_ perspective.
|
||||
|
||||
|
||||
@@ -107,7 +106,6 @@ This is quite useful since PX4 tends to run many different tasks.
|
||||
To enable this feature for use in Eclipse:
|
||||
|
||||
1. You first need to enable `CONFIG_DEBUG_TCBINFO` in the NuttX configuration for your build (to expose the TCB offsets).
|
||||
|
||||
- Open a terminal in the root of your PX4-Autopilot source code
|
||||
|
||||
- In the terminal, open `menuconfig` using the appropriate make target for the build.
|
||||
@@ -149,7 +147,7 @@ Adding missing SVD files for the _Peripheral View_:
|
||||
|
||||
|
||||
|
||||
2. Download missing packages from: http://www.keil.com/dd2/Pack/
|
||||
2. Download missing packages from: https://www.keil.arm.com/devices/
|
||||
|
||||
3. Open downloaded pack with a decompression tool, and extract the **.SVD** files from: **/CMSIS/SVD**.
|
||||
|
||||
|
||||
@@ -1,13 +1,13 @@
|
||||
# Black Magic Probe (and Dronecode Probe)
|
||||
# Black Magic Probe (and Zubax BugFace BF1)
|
||||
|
||||
The [Black Magic Probe](https://black-magic.org) is an easy to use, mostly plug-and-play, JTAG/SWD debugger for embedded microcontrollers.
|
||||
Since the Black Magic Probe is a generic debug probe, you will need an adapter to connect to Pixhawk flight controllers, which can be purchased here:
|
||||
|
||||
- [Drone Code Debug Adapter](https://1bitsquared.com/products/drone-code-debug-adapter) (1 BIT SQUARED).
|
||||
|
||||
## Dronecode Probe
|
||||
## Zubax BugFace BF1 {#dronecode-probe}
|
||||
|
||||
The [Dronecode Probe](https://kb.zubax.com/display/MAINKB/Dronecode+Probe+documentation) is a specialization of the Black Magic Probe for debugging PX4 autopilots.
|
||||
The [Zubax BugFace BF1](https://github.com/Zubax/bugface_bf1) (formerly known as "Dronecode Probe") is a specialization of the Black Magic Probe for debugging PX4 autopilots.
|
||||
|
||||
The probe's USB interface exposes two separate virtual serial port interfaces: one for connecting to the [System Console](system_console.md) (UART) and the other for an embedded GDB server (SWD interface).
|
||||
|
||||
@@ -20,17 +20,17 @@ The _6-pos DF13_ connector that comes with the probe cannot be used for SWD debu
|
||||
## Using the Probe
|
||||
|
||||
:::info
|
||||
To debug STM32F7 or later (FMUv5 and newer) the Dronecode probe / Blackmagic probe likely requires a firmware update.
|
||||
To debug STM32F7 or later (FMUv5 and newer) the Zubax BugFace BF1 / Blackmagic probe likely requires a firmware update.
|
||||
You can find how to update the [blackmagic probe here](https://github.com/blacksphere/blackmagic/wiki/Upgrading-Firmware).
|
||||
:::
|
||||
|
||||
To use a Dronecode probe with GDB, start GDB with the exact ELF file that is currently flashed on the autopilot:
|
||||
To use a Zubax BugFace BF1 with GDB, start GDB with the exact ELF file that is currently flashed on the autopilot:
|
||||
|
||||
```sh
|
||||
arm-none-eabi-gdb build/px4_fmu-v5_default/px4_fmu-v5_default.elf
|
||||
```
|
||||
|
||||
Then, you have to select the Dronecode probe interface, on Linux this is e.g.:
|
||||
Then, you have to select the Zubax BugFace BF1 interface, on Linux this is e.g.:
|
||||
|
||||
```sh
|
||||
target ext /dev/serial/by-id/usb-Black_Sphere_Technologies_Black_Magic_Probe_f9414d5_7DB85DAC-if00
|
||||
|
||||
@@ -9,7 +9,7 @@ PMSP 是一种 shell 脚本,它通过定期中断固件的执行来运行，便
|
||||
采样的堆栈跟踪将追加到文本文件中。
|
||||
Once sampling is finished (which normally takes about an hour or more), the collected stack traces are _folded_.
|
||||
The result of _folding_ is another text file that contains the same stack traces, except that all similar stack traces (i.e. those that were obtained at the same point in the program) are joined together, and the number of their occurrences is recorded.
|
||||
The folded stacks are then fed into the visualization script, for which purpose we employ [FlameGraph - an open source stack trace visualizer](http://www.brendangregg.com/flamegraphs.html).
|
||||
The folded stacks are then fed into the visualization script, for which purpose we employ [FlameGraph - an open source stack trace visualizer](https://www.brendangregg.com/flamegraphs.html).
|
||||
|
||||
## 基本用法
|
||||
|
||||
@@ -17,14 +17,14 @@ The folded stacks are then fed into the visualization script, for which purpose
|
||||
|
||||
探查器的基本用法可通过生成系统使用。
|
||||
例如，下面的命令生成和探查出 px4_fmu-v4pro 目标的10000个样本（提取 <em x-id="3">FlameGraph</em> 并根据需要将其添加到路径中）。
|
||||
You will then need a [debug probe](../debug/swd_debug.md#debug-probes) (such as the DroneCode Probe), to run the GDB server and interact with the board.
|
||||
You will then need a [debug probe](../debug/swd_debug.md#debug-probes) (such as the Zubax BugFace BF1), to run the GDB server and interact with the board.
|
||||
|
||||
### Determine the Debugger Device
|
||||
|
||||
The `poor-mans-profiler.sh` automatically detects and uses the correct USB device if you use it with a [DroneCode Probe](../debug/probe_bmp.md#dronecode-probe).
|
||||
The `poor-mans-profiler.sh` automatically detects and uses the correct USB device if you use it with a [Zubax BugFace BF1](../debug/probe_bmp.md#dronecode-probe).
|
||||
If you use a different kind of probe you may need to pass in the specific _device_ on which the debugger is located.
|
||||
You can use the bash command `ls -alh /dev/serial/by-id/` to enumerate the possible devices on Ubuntu.
|
||||
For example the following devices are enumerated with a Pixhawk 4 and DroneCode Probe connected over USB:
|
||||
For example the following devices are enumerated with a Pixhawk 4 and Zubax BugFace BF1 connected over USB:
|
||||
|
||||
```sh
|
||||
user@ubuntu:~/PX4-Autopilot$ ls -alh /dev/serial/by-id/
|
||||
@@ -48,7 +48,7 @@ Then pass in the appropriate device using the `--gdbdev` argument like this:
|
||||
### Running
|
||||
|
||||
在火焰图上，水平水平表示堆叠帧，而每个帧的宽度与采样次数成正比。
|
||||
For example, the following command builds and profiles px4_fmu-v4pro target with 10000 samples (fetching _FlameGraph_ and adding it to the path as needed).
|
||||
For example, the following command builds and profiles px4_fmu-v4pro target with 10000 samples (fetching \_FlameGraph_ and adding it to the path as needed).
|
||||
|
||||
```sh
|
||||
./poor-mans-profiler.sh --elf=build/px4_fmu-v4_default/px4_fmu-v4_default.elf --nsamples=30000 --append
|
||||
|
||||
@@ -187,7 +187,7 @@ The cable used to connect the M2 and the STLinkv3-MINIE comes with the adaptor.
|
||||
Some SWD [debug probes](#debug-probes) come with adapters/cables for connecting to common Pixhawk [debug ports](#debug-ports).
|
||||
Probes that are known to come with connectors are listed below:
|
||||
|
||||
- [DroneCode Probe](../debug/probe_bmp.md#dronecode-probe): comes with a connector for attaching to the [Pixhawk Debug Mini](#pixhawk-debug-mini)
|
||||
- [Zubax BugFace BF1](../debug/probe_bmp.md#dronecode-probe): comes with a connector for attaching to the [Pixhawk Debug Mini](#pixhawk-debug-mini)
|
||||
|
||||
### Board-specific Adapters
|
||||
|
||||
|
||||
@@ -72,7 +72,7 @@ screen /dev/ttyXXX BAUDRATE 8N1
|
||||
|
||||
### Windows: PuTTY
|
||||
|
||||
Download [PuTTY](http://www.chiark.greenend.org.uk/~sgtatham/putty/download.html) and start it.
|
||||
Download [PuTTY](https://www.chiark.greenend.org.uk/~sgtatham/putty/latest.html) and start it.
|
||||
|
||||
Then select 'serial connection' and set the port parameters to:
|
||||
|
||||
|
||||
@@ -28,7 +28,7 @@ logger help
|
||||
|
||||
## 配置
|
||||
|
||||
The logging system is configured by default to collect sensible logs for [flight reporting](../getting_started/flight_reporting.md) with [Flight Review](http://logs.px4.io).
|
||||
The logging system is configured by default to collect sensible logs for [flight reporting](../getting_started/flight_reporting.md) with [Flight Review](https://logs.px4.io/).
|
||||
|
||||
Logging may further be configured using the [SD Logging](../advanced_config/parameter_reference.md#sd-logging) parameters.
|
||||
The parameters you are most likely to change are listed below.
|
||||
|
||||
@@ -24,5 +24,5 @@
|
||||
|
||||
- [支持](../contribute/support.md)：使用 [讨论板](https://discuss.px4.io//) 和其他支持渠道获得帮助。
|
||||
- [每周开发者电话会议](../contribute/dev_call.md)：这是一个很好的机会来会见 PX4 开发团队，讨论平台技术细节(包括pull requests， 主要问题，一般性问答）。
|
||||
- [协议](../contribute/licenses.md): 你可以做什么代码(根据允许的 [BSD 3 条款许可](https://opensource.org/licenses/BSD-3-Clause)！)
|
||||
- [Licences](../contribute/licenses.md): What you can do with the code (free to use and modify under terms of the permissive [BSD 3-clause license](https://opensource.org/license/BSD-3-Clause)!)
|
||||
- [贡献](../contribute/index.md): 如何使用我们的 [源代码](../contribute/code.md)。
|
||||
|
||||
@@ -71,4 +71,4 @@ Set the following parameters in _QGroundControl_ [Vehicle Setup > Parameters](..
|
||||
|
||||
[CAN PMU Manual](http://manual.cuav.net/power-module/CAN-PMU.pdf)
|
||||
|
||||
[CAN PMU Power detection module > Enable CAN PMU > PX4 firmware](http://doc.cuav.net/power-module/can-pmu/en/) (CUAV docs)
|
||||
[CAN PMU Power detection module > Enable CAN PMU > PX4 firmware](https://doc.cuav.net/power-module/can-pmu/en/) (CUAV docs)
|
||||
|
||||
@@ -8,6 +8,6 @@ Additional documentation on how to use Babel/other SLCAN adapters, the DroneCAN
|
||||
|
||||
## Debugging with Zubax Babel
|
||||
|
||||
A great tool to debug the transmission on the CAN bus is the [Zubax Babel](https://zubax.com/products/babel) in combination with the [GUI tool](http://dronecan.github.io/GUI_Tool/Overview/).
|
||||
A great tool to debug the transmission on the CAN bus is the [Zubax Babel](https://zubax.com/products/babel) in combination with the [GUI tool](https://dronecan.github.io/GUI_Tool/Overview/).
|
||||
|
||||
They can also be used independently from Pixhawk hardware in order to test a node or manually control DroneCAN enabled ESCs.
|
||||
|
||||
@@ -55,7 +55,7 @@ Supported hardware includes (this is not an exhaustive list):
|
||||
- [Holybro DroneCAN H-RTK F9P Rover](https://holybro.com/products/dronecan-h-rtk-f9p-rover)
|
||||
- [Holybro DroneCAN H-RTK F9P Helical](https://holybro.com/products/dronecan-h-rtk-f9p-helical)
|
||||
- [RaccoonLab GNSS Modules](https://docs.raccoonlab.co/guide/gps_mag_baro/)
|
||||
- [Zubax GNSS](https://zubax.com/products/gnss_2)
|
||||
- [Zubax GNSS](https://shop.zubax.com/products/zubax-gnss-2)
|
||||
|
||||
- Power monitors
|
||||
- [Pomegranate Systems Power Module](../dronecan/pomegranate_systems_pm.md)
|
||||
@@ -70,7 +70,7 @@ Supported hardware includes (this is not an exhaustive list):
|
||||
- [ARK Flow](ark_flow.md)
|
||||
- [Ark Flow MR](ark_flow_mr.md)
|
||||
- [Avionics Anonymous Laser Altimeter UAVCAN Interface](../dronecan/avanon_laser_interface.md)
|
||||
- [RaccoonLab uRangefidner and Rangefinders Adapter](https://docs.raccoonlab.co/guide/rangefinder)
|
||||
- [RaccoonLab uRangefidner and Rangefinders Adapter](https://docs.raccoonlab.co/guide/rangefinder/)
|
||||
|
||||
- 光流
|
||||
- [Ark Flow](ark_flow.md)
|
||||
@@ -326,4 +326,4 @@ If successful, the firmware binary will be removed from the root directory and t
|
||||
- [Home Page](https://dronecan.github.io) (dronecan.github.io)
|
||||
- [Protocol Specification](https://dronecan.github.io/Specification) (dronecan.github.io)
|
||||
- [Implementations](https://dronecan.github.io/Implementations/) (dronecan.github.io)
|
||||
- [Cyphal/CAN Device Interconnection](https://kb.zubax.com/pages/viewpage.action?pageId=2195476) (kb.zubax.com)
|
||||
- [Cyphal/CAN Device Interconnection](https://wiki.zubax.com/public/cyphal/CyphalCAN-device-interconnection?pageId=2195476) (kb.zubax.com)
|
||||
|
||||
@@ -11,13 +11,13 @@ PX4 does not manufacture this (or any) autopilot.
|
||||
Contact the [manufacturer](https://store.mrobotics.io/) for hardware support or compliance issues.
|
||||
:::
|
||||
|
||||
The [AUAV<sup>®</sup>](http://www.auav.com/) _AUAV-X2 autopilot_ is based on the [Pixhawk<sup>®</sup>-project](https://pixhawk.org/) **FMUv2** open hardware design. It runs PX4 on the [NuttX](https://nuttx.apache.org/) OS.
|
||||
The AUAV-X2 autopilot is based on the [Pixhawk<sup>®</sup>-project](https://pixhawk.org/) **FMUv2** open hardware design. It runs PX4 on the [NuttX](https://nuttx.apache.org/) OS.
|
||||
|
||||
|
||||
|
||||
## 总览
|
||||
|
||||
- Main System-on-Chip: [STM32F427](http://www.st.com/web/en/catalog/mmc/FM141/SC1169/SS1577/LN1789)
|
||||
- Main System-on-Chip: [STM32F427](https://www.st.com/en/microcontrollers-microprocessors/stm32f427-437.html)
|
||||
- CPU：STM32F427VIT6 ARM 微控制器-版本 3
|
||||
- IO：STM32F100C8T6 ARM 微控制器
|
||||
- 传感器：
|
||||
@@ -58,7 +58,7 @@ mRobotics is the distributor for the AUAV Products from August 2017.
|
||||
## 主链接
|
||||
|
||||
- [User Manual](http://arsovtech.com/wp-content/uploads/2015/08/AUAV-X2-user-manual-EN.pdf)
|
||||
- [DIY Drones Post](http://diydrones.com/profiles/blogs/introducing-the-auav-x2-1-flight-controller)
|
||||
- [DIY Drones Post](https://diydrones.com/profiles/blogs/introducing-the-auav-x2-1-flight-controller)
|
||||
|
||||
## 接线指南
|
||||
|
||||
@@ -77,7 +77,7 @@ The board is based on the [Pixhawk project](https://pixhawk.org/) **FMUv2** open
|
||||
- [FMUv2 + IOv2 schematic](https://raw.githubusercontent.com/PX4/Hardware/master/FMUv2/PX4FMUv2.4.5.pdf) -- Schematic and layout
|
||||
|
||||
:::info
|
||||
As a CC-BY-SA 3.0 licensed Open Hardware design, all schematics and design files are [available](https://github.com/PX4/Hardware).
|
||||
As a CC-BY-SA 3.0 licensed Open Hardware design, all schematics and design files are [available](https://github.com/pixhawk/Hardware).
|
||||
:::
|
||||
|
||||
## 串口映射
|
||||
|
||||
@@ -1,9 +1,5 @@
|
||||
# Discontinued Autopilots/Vehicles
|
||||
|
||||
:::tip
|
||||
For more information about PX4 project autopilot board support levels see: [px4.io/autopilots/](https://px4.io/autopilots/).
|
||||
:::
|
||||
|
||||
This category is for discontinued autopilots and complete vehicles.
|
||||
These are no longer being manufactured, and may not be supported by their manufacturer.
|
||||
They are listed because you may be using them in an existing drone, and because they **may** still work with the head revision of PX4.
|
||||
@@ -12,13 +8,16 @@ They are listed because you may be using them in an existing drone, and because
|
||||
|
||||
- [Drotek DroPix](../flight_controller/dropix.md) (FMUv2)
|
||||
- [Omnibus F4 SD](../flight_controller/omnibus_f4_sd.md)
|
||||
- [CUAV X7](../flight_controller/cuav_x7.md)
|
||||
- [CUAV v5](../flight_controller/cuav_v5.md) (Pixhawk FMUv5)
|
||||
- [CUAV Pixhack v3](../flight_controller/pixhack_v3.md) (FMUv3)
|
||||
- [Aerotenna OcPoC-Zynq Mini](../flight_controller/ocpoc_zynq.md)
|
||||
- [Holybro Pixhawk 4 Mini](../flight_controller/pixhawk4_mini.md) (FMUv5)
|
||||
- [Holybro Kakute F7](../flight_controller/kakutef7.md)
|
||||
- [Holybro Pixhawk Mini](../flight_controller/pixhawk_mini.md) (FMUv3)
|
||||
- [Holybro Pixfalcon](../flight_controller/pixfalcon.md) (Pixhawk FMUv2)
|
||||
- [Holybro Pix32](../flight_controller/holybro_pix32.md) (FMUv2)
|
||||
- [mRobotics-X2.1](../flight_controller/mro_x2.1.md) (FMUv2)
|
||||
- [mRo AUAV-X2](../flight_controller/auav_x2.md) (Pixhawk FMUv2)
|
||||
- [NXP FMUK66](../flight_controller/nxp_rddrone_fmuk66.md) (Discontinued)
|
||||
- [3DR Pixhawk 1](../flight_controller/pixhawk.md) (Pixhawk FMUv2)
|
||||
|
||||
@@ -17,11 +17,9 @@ The boards in this category are:
|
||||
- [ARK Electronics ARKV6X](../flight_controller/ark_v6x.md) (and [ARK Electronics Pixhawk Autopilot Bus Carrier](../flight_controller/ark_pab.md))
|
||||
- [ARK FPV Flight Controller](../flight_controller/ark_fpv.md)
|
||||
- [ARK Pi6X Flow Flight Controller](../flight_controller/ark_pi6x.md)
|
||||
- [CUAV X7](../flight_controller/cuav_x7.md)
|
||||
- [CUAV Nora](../flight_controller/cuav_nora.md)（CUAV X7 variant)
|
||||
- [CUAV V5+](../flight_controller/cuav_v5_plus.md) (FMUv5)
|
||||
- [CUAV V5 nano](../flight_controller/cuav_v5_nano.md) (FMUv5)
|
||||
- [CUAV Pixhack v3](../flight_controller/pixhack_v3.md) (FMUv3)
|
||||
- [CubePilot Cube Orange+](../flight_controller/cubepilot_cube_orangeplus.md)
|
||||
- [CubePilot Cube Orange](../flight_controller/cubepilot_cube_orange.md)
|
||||
- [CubePilot Cube Yellow](../flight_controller/cubepilot_cube_yellow.md)
|
||||
@@ -34,7 +32,6 @@ The boards in this category are:
|
||||
- [ModalAI Flight Core v1](../flight_controller/modalai_fc_v1.md)
|
||||
- [ModalAI VOXL Flight](../flight_controller/modalai_voxl_flight.md)
|
||||
- [ModalAI VOXL 2](../flight_controller/modalai_voxl_2.md)
|
||||
- [mRobotics-X2.1](../flight_controller/mro_x2.1.md) (FMUv2)
|
||||
- [mRo Control Zero](../flight_controller/mro_control_zero_f7.md)
|
||||
- [Sky-Drones AIRLink](../flight_controller/airlink.md)
|
||||
- [SPRacing SPRacingH7EXTREME](../flight_controller/spracingh7extreme.md)
|
||||
|
||||
@@ -9,7 +9,7 @@ Contact the [manufacturer](https://beagleboard.org/blue) for hardware support or
|
||||
|
||||
[BeagleBone Blue](https://beagleboard.org/blue) is an all-in-one Linux-based computer.
|
||||
Although it is optimized for robotics, this compact and inexpensive board has all necessary sensors and peripherals needed by a flight controller.
|
||||
This topic shows how to set up the board to run PX4 with [librobotcontrol](https://github.com/StrawsonDesign/librobotcontrol) robotics package.
|
||||
This topic shows how to set up the board to run PX4 with [librobotcontrol](https://github.com/beagleboard/librobotcontrol) robotics package.
|
||||
|
||||
|
||||
|
||||
@@ -77,7 +77,6 @@ echo "PermitRootLogin yes" >> /etc/ssh/sshd_config && systemctl restart sshd
|
||||
|
||||
1. First set up _rsync_ (this is used to transfer files from the development computer to the target board over a network - WiFi or Ethernet).
|
||||
For _rsync_ over SSH with key authentication, follow the steps here (on the development machine):
|
||||
|
||||
1. Generate an SSH key if you have not previously done so:
|
||||
|
||||
```
|
||||
@@ -105,9 +104,7 @@ echo "PermitRootLogin yes" >> /etc/ssh/sshd_config && systemctl restart sshd
|
||||
5. Enter root password
|
||||
|
||||
2. Cross Compile Setup
|
||||
|
||||
1. Toolchain download
|
||||
|
||||
1. First install the toolchain into _/opt/bbblue_toolchain/gcc-arm-linux-gnueabihf_.
|
||||
Here is an example of using soft link to select which version of the toolchain you want to use:
|
||||
|
||||
@@ -127,7 +124,7 @@ echo "PermitRootLogin yes" >> /etc/ssh/sshd_config && systemctl restart sshd
|
||||
|
||||
Download and unpack [gcc-linaro-13.0.0-2022.06-x86_64_arm-linux-gnueabihf.tar.xz](https://snapshots.linaro.org/gnu-toolchain/13.0-2022.06-1/arm-linux-gnueabihf/gcc-linaro-13.0.0-2022.06-x86_64_arm-linux-gnueabihf.tar.xz) to the bbblue_toolchain folder.
|
||||
|
||||
Different ARM Cross Compiler versions for _BeagleBone Blue_ can be found at [Linaro Toolchain Binaries site](http://www.linaro.org/downloads/).
|
||||
Different ARM Cross Compiler versions for _BeagleBone Blue_ can be found at [Linaro Toolchain Binaries site](https://www.linaro.org/downloads/).
|
||||
|
||||
```sh
|
||||
wget https://snapshots.linaro.org/gnu-toolchain/13.0-2022.06-1/arm-linux-gnueabihf/gcc-linaro-13.0.0-2022.06-x86_64_arm-linux-gnueabihf.tar.xz
|
||||
@@ -212,7 +209,9 @@ Run the following commands on the BeagleBone Blue (i.e. via SSH):
|
||||
sudo apt-get update
|
||||
sudo apt-get install cmake python3-empy=3.3.4-2
|
||||
```
|
||||
|
||||
2. 将 PX4 固件直接克隆到 BeagleBone Blue 上。
|
||||
|
||||
3. Continue with the [standard build system installation](../dev_setup/dev_env_linux.md).
|
||||
|
||||
## Changes in config
|
||||
|
||||
@@ -40,7 +40,6 @@ They should be used by preference as they contain the most complete and up to da
|
||||
- Main FMU Processor: STM32H743
|
||||
|
||||
- 内置传感器：
|
||||
|
||||
- 加速度计/陀螺仪：ICM-20689
|
||||
- 加速度计/陀螺仪：ICM-20649
|
||||
- Accelerometer/Gyroscope: BMI088
|
||||
@@ -173,5 +172,5 @@ The complete set of supported configurations can be seen in the [Airframes Refer
|
||||
## 更多信息
|
||||
|
||||
- [Quick start](https://doc.cuav.net/flight-controller/x7/en/quick-start/quick-start-nora.html)
|
||||
- [CUAV docs](http://doc.cuav.net)
|
||||
- [CUAV docs](https://doc.cuav.net/)
|
||||
- [nora schematic](https://github.com/cuav/hardware/tree/master/X7_Autopilot)
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
# CUAV v5 (Discontinued)
|
||||
|
||||
<Badge type="info" text="Discontinued" />
|
||||
<Badge type="info" text="Discontinued" /> <!-- 202507 / PX4v1.16 -->
|
||||
|
||||
:::warning
|
||||
This flight controller has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available.
|
||||
@@ -27,7 +27,6 @@ It is intended primarily for academic and commercial developers.
|
||||
- 32 位 Arm® Cortex®-M3，24MHz，8KB SRAM
|
||||
|
||||
- 内置传感器：
|
||||
|
||||
- 加速度计/陀螺仪：ICM-20689
|
||||
- 加速度计/陀螺仪：BMI055
|
||||
- 磁力计：IST8310
|
||||
@@ -147,5 +146,4 @@ The complete set of supported configurations can be seen in the [Airframes Refer
|
||||
## 更多信息
|
||||
|
||||
- [FMUv5 reference design pinout](https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY/edit#gid=912976165).
|
||||
- [CUAV v5 docs](http://doc.cuav.net/flight-controller/v5-autopilot/en/v5.html)
|
||||
- [CUAV Github](https://github.com/cuav)
|
||||
|
||||
@@ -17,7 +17,7 @@ The V5 nano is similar to the [CUAV V5+](../flight_controller/cuav_v5_plus.md),
|
||||
|
||||
Some of its main features include:
|
||||
|
||||
- Full compatibility with the [Pixhawk project](https://pixhawk.org/) **FMUv5** design standard and uses the [Pixhawk Connector Standard](https://pixhawk.org/pixhawk-connector-standard/) for all external interfaces.
|
||||
- Full compatibility with the [Pixhawk project](https://pixhawk.org/) **FMUv5** design standard and uses the [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf) for all external interfaces.
|
||||
- More advanced processor, RAM and flash memory than FMU v3, along with more stable and reliable sensors.
|
||||
- Firmware-compatible with PX4.
|
||||
- Generous 2.6mm spacing for I/O pins, making it easier to use all the interfaces.
|
||||
@@ -31,7 +31,6 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo
|
||||
Main FMU Processor: STM32F765◦32 Bit Arm® Cortex®-M7, 216MHz, 2MB memory, 512KB RAM
|
||||
|
||||
- 内置传感器：
|
||||
|
||||
- 加速度计 / 陀螺仪：ICM-20689
|
||||
- 加速度计 / 陀螺仪：ICM-20602
|
||||
- 加速度计 / 陀螺仪：BMI055
|
||||
@@ -39,7 +38,6 @@ Main FMU Processor: STM32F765◦32 Bit Arm® Cortex®-M7, 216MHz, 2MB memory, 51
|
||||
- 气压计：MS5611
|
||||
|
||||
- Interfaces: 8 PWM outputs
|
||||
|
||||
- FMU上有3个专用PWM/Capture输入
|
||||
- CPPM专用的RC输入
|
||||
- Dedicated R/C input for Spektrum / DSM and S.Bus
|
||||
@@ -186,7 +184,7 @@ CUAV adopts some differentiated designs and is incompatible with some hardware,
|
||||
|
||||
The _Neo v2.0 GPS_ that is recommended for use with _CUAV V5+_ and _CUAV V5 nano_ is not fully compatible with other Pixhawk flight controllers (specifically, the buzzer part is not compatible and there may be issues with the safety switch).
|
||||
|
||||
The UAVCAN [NEO V2 PRO GNSS receiver](http://doc.cuav.net/gps/neo-series-gnss/en/neo-v2-pro.html) can also be used, and is compatible with other flight controllers.
|
||||
The UAVCAN [NEO V2 PRO GNSS receiver](https://doc.cuav.net/gps/neo-series-gnss/en/neo-v2-pro.html) can also be used, and is compatible with other flight controllers.
|
||||
|
||||
<a id="compatibility_jtag"></a>
|
||||
|
||||
|
||||
@@ -14,7 +14,7 @@ The autopilot is recommended for commercial systems integration, but is also sui
|
||||
|
||||
Some of its main features include:
|
||||
|
||||
- Full compatibility with the [Pixhawk project](https://pixhawk.org/) **FMUv5** design standard and uses the [Pixhawk Connector Standard](https://pixhawk.org/pixhawk-connector-standard/) for all external interfaces.
|
||||
- Full compatibility with the [Pixhawk project](https://pixhawk.org/) **FMUv5** design standard and uses the [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf) for all external interfaces.
|
||||
- More advanced processor, RAM and flash memory than FMU v3, along with more stable and reliable sensors.
|
||||
- Firmware-compatible with PX4.
|
||||
- Modular design allows users to customize their own carrier board.
|
||||
@@ -34,7 +34,6 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo
|
||||
- 32 位 Arm® Cortex®-M3，24MHz，8KB SRAM
|
||||
|
||||
- 内置传感器：
|
||||
|
||||
- 加速度计/陀螺仪：ICM-20689
|
||||
- 加速度计/陀螺仪：BMI055
|
||||
- 磁力计：IST8310
|
||||
@@ -62,7 +61,6 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo
|
||||
- Dimensions: 85.5\*42\*33mm
|
||||
|
||||
- 其它特性:
|
||||
|
||||
- Operating temperature: -20 ~ 80°c（Measured value）
|
||||
|
||||
## 购买渠道
|
||||
@@ -206,7 +204,7 @@ CUAV adopts some differentiated designs and is incompatible with some hardware,
|
||||
|
||||
The _Neo v2.0 GPS_ recommended for use with _CUAV V5+_ and _CUAV V5 nano_ is not fully compatible with other Pixhawk flight controllers (specifically, the buzzer part is not compatible and there may be issues with the safety switch).
|
||||
|
||||
The UAVCAN [NEO V2 PRO GNSS receiver](http://doc.cuav.net/gps/neo-series-gnss/en/neo-v2-pro.html) can also be used, and is compatible with other flight controllers.
|
||||
The UAVCAN [NEO V2 PRO GNSS receiver](https://doc.cuav.net/gps/neo-series-gnss/en/neo-v2-pro.html) can also be used, and is compatible with other flight controllers.
|
||||
|
||||
<a id="compatibility_jtag"></a>
|
||||
|
||||
@@ -240,7 +238,7 @@ Please do not connect other equipment (except RC receiver) on SBUS / DSM / RSSI
|
||||
## 更多信息
|
||||
|
||||
- [CUAV V5+ Manual](http://manual.cuav.net/V5-Plus.pdf)
|
||||
- [CUAV V5+ docs](http://doc.cuav.net/flight-controller/v5-autopilot/en/v5+.html)
|
||||
- [CUAV V5+ docs](https://doc.cuav.net/controller/v5-autopilot/en/v5+.html)
|
||||
- [FMUv5 reference design pinout](https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY/edit#gid=912976165)
|
||||
- [CUAV Github](https://github.com/cuav)
|
||||
- [Base board design reference](https://github.com/cuav/hardware/tree/master/V5_Autopilot/V5%2B/V5%2BBASE)
|
||||
|
||||
@@ -1,4 +1,11 @@
|
||||
# CUAV X7 飞行控制器
|
||||
# CUAV X7 Flight Controller (Discontinued)
|
||||
|
||||
<Badge type="info" text="Discontinued" /> <!-- 202507 / PX4v1.16 -->
|
||||
|
||||
:::warning
|
||||
This flight controller has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available.
|
||||
It has been superseded by the [CUAV X7+](https://doc.cuav.net/controller/x7/en/).
|
||||
:::
|
||||
|
||||
:::warning
|
||||
PX4 does not manufacture this (or any) autopilot.
|
||||
@@ -41,7 +48,6 @@ They should be used by preference as they contain the most complete and up to da
|
||||
- Main FMU Processor: STM32H743
|
||||
|
||||
- 内置传感器：
|
||||
|
||||
- 加速度计/陀螺仪：ICM-20689
|
||||
- 加速度计/陀螺仪：ICM-20649
|
||||
- Accelerometer/Gyroscope: BMI088
|
||||
@@ -85,7 +91,7 @@ When it runs PX4 firmware, only 8 pwm works, the remaining 6 pwm are still being
|
||||
|
||||
## Connections (Wiring)
|
||||
|
||||
[CUAV X7 Wiring Quickstart](http://doc.cuav.net/flight-controller/x7/en/quick-start/quick-start-x7.html)
|
||||
[CUAV X7 Wiring Quickstart](https://doc.cuav.net/controller/x7/en/quick-start/quick-start-x7-plus.html)
|
||||
|
||||
## Size and Pinouts
|
||||
|
||||
@@ -177,5 +183,5 @@ The complete set of supported configurations can be seen in the [Airframes Refer
|
||||
## 更多信息
|
||||
|
||||
- [Quick start](http://doc.cuav.net/flight-controller/x7/en/quick-start/quick-start-x7.html)
|
||||
- [CUAV docs](http://doc.cuav.net)
|
||||
- [CUAV docs](https://doc.cuav.net/)
|
||||
- [x7 schematic](https://github.com/cuav/hardware/tree/master/X7_Autopilot)
|
||||
|
||||
@@ -19,7 +19,7 @@ This is automatically configured and enabled in the default PX4 firmware.
|
||||
Cube includes vibration isolation on two of the IMU's, with a third fixed IMU as a reference / backup.
|
||||
|
||||
:::tip
|
||||
The manufacturer [Cube Docs](https://docs.cubepilot.org/user-guides/autopilot/the-cube-module-overview) contain detailed information, including an overview of the [Differences between Cube Colours](https://docs.cubepilot.org/user-guides/autopilot/the-cube-module-overview#differences-between-cube-colours).
|
||||
The manufacturer [Cube User Guide](https://docs.cubepilot.org/user-guides/autopilot/the-cube) contains detailed information, including an overview of the [Differences between Cube Colours](https://docs.cubepilot.org/user-guides/autopilot/the-cube/introduction/specifications).
|
||||
:::
|
||||
|
||||
## 主要特性
|
||||
@@ -53,7 +53,7 @@ The manufacturer [Cube Docs](https://docs.cubepilot.org/user-guides/autopilot/th
|
||||
- 400 MHz
|
||||
- 1 MB RAM
|
||||
- 2 MB Flash \(fully accessible\)
|
||||
- **Failsafe co-processor:** <!-- inconsistent info on failsafe processor: 32 bit STM32F103 failsafe co-processor http://www.proficnc.com/all-products/191-pixhawk2-suite.html -->
|
||||
- **Failsafe co-processor:** <!-- inconsistent info on failsafe processor: 32 bit STM32F103 failsafe co-processor -->
|
||||
- STM32F103 (32bit _ARM Cortex-M3_)
|
||||
- 24 MHz
|
||||
- 8 KB SRAM
|
||||
@@ -244,6 +244,5 @@ Board schematics and other documentation can be found here: [The Cube Project](h
|
||||
|
||||
- [Cube Wiring Quickstart](../assembly/quick_start_cube.md)
|
||||
- Cube Docs (Manufacturer):
|
||||
- [Cube Module Overview](https://docs.cubepilot.org/user-guides/autopilot/the-cube-module-overview)
|
||||
- [Cube User Manual](https://docs.cubepilot.org/user-guides/autopilot/the-cube-user-manual)
|
||||
- [Cube User Guide](https://docs.cubepilot.org/user-guides/autopilot/the-cube)
|
||||
- [Mini Carrier Board](https://docs.cubepilot.org/user-guides/carrier-boards/mini-carrier-board)
|
||||
|
||||
@@ -20,7 +20,7 @@ This is automatically configured and enabled in the default PX4 firmware.
|
||||
Cube includes vibration isolation on two of the IMU's, with a third fixed IMU as a reference / backup.
|
||||
|
||||
:::tip
|
||||
The manufacturer [Cube Docs](https://docs.cubepilot.org/user-guides/autopilot/the-cube-module-overview) contain detailed information, including an overview of the [Differences between Cube Colours](https://docs.cubepilot.org/user-guides/autopilot/the-cube-module-overview#differences-between-cube-colours).
|
||||
The manufacturer [Cube User Guide](https://docs.cubepilot.org/user-guides/autopilot/the-cube) contains detailed information, including an overview of the [Differences between Cube Colours](https://docs.cubepilot.org/user-guides/autopilot/the-cube/introduction/specifications).
|
||||
:::
|
||||
|
||||
## 主要特性
|
||||
@@ -54,7 +54,7 @@ The manufacturer [Cube Docs](https://docs.cubepilot.org/user-guides/autopilot/th
|
||||
- 400 MHz
|
||||
- 1 MB RAM
|
||||
- 2 MB Flash \(fully accessible\)
|
||||
- **Failsafe co-processor:** <!-- inconsistent info on failsafe processor: 32 bit STM32F103 failsafe co-processor http://www.proficnc.com/all-products/191-pixhawk2-suite.html -->
|
||||
- **Failsafe co-processor:** <!-- inconsistent info on failsafe processor: 32 bit STM32F103 failsafe co-processor -->
|
||||
- STM32F103 (32bit _ARM Cortex-M3_)
|
||||
- 24 MHz
|
||||
- 8 KB SRAM
|
||||
@@ -249,6 +249,5 @@ Board schematics and other documentation can be found here: [The Cube Project](h
|
||||
|
||||
- [Cube Wiring Quickstart](../assembly/quick_start_cube.md)
|
||||
- Cube Docs (Manufacturer):
|
||||
- [Cube Module Overview](https://docs.cubepilot.org/user-guides/autopilot/the-cube-module-overview)
|
||||
- [Cube User Manual](https://docs.cubepilot.org/user-guides/autopilot/the-cube-user-manual)
|
||||
- [Cube User Guide](https://docs.cubepilot.org/user-guides/autopilot/the-cube)
|
||||
- [Mini Carrier Board](https://docs.cubepilot.org/user-guides/carrier-boards/mini-carrier-board)
|
||||
|
||||
@@ -15,7 +15,7 @@ For example, a carrier board for a commercial inspection vehicle might include c
|
||||
Cube includes vibration isolation on two of the IMU's, with a third fixed IMU as a reference / backup.
|
||||
|
||||
:::tip
|
||||
The manufacturer [Cube Docs](https://docs.cubepilot.org/user-guides/autopilot/the-cube-module-overview) contain detailed information, including an overview of the [Differences between Cube Colours](https://docs.cubepilot.org/user-guides/autopilot/the-cube-module-overview#differences-between-cube-colours).
|
||||
The manufacturer [Cube User Guide](https://docs.cubepilot.org/user-guides/autopilot/the-cube) contains detailed information, including an overview of the [Differences between Cube Colours](https://docs.cubepilot.org/user-guides/autopilot/the-cube/introduction/specifications).
|
||||
:::
|
||||
|
||||
## 主要特性
|
||||
@@ -49,7 +49,7 @@ The manufacturer [Cube Docs](https://docs.cubepilot.org/user-guides/autopilot/th
|
||||
- 400 MHz
|
||||
- 512 KB MB RAM
|
||||
- 2 MB Flash
|
||||
- **Failsafe co-processor:** <!-- inconsistent info on failsafe processor: 32 bit STM32F103 failsafe co-processor http://www.proficnc.com/all-products/191-pixhawk2-suite.html -->
|
||||
- **Failsafe co-processor:** <!-- inconsistent info on failsafe processor: 32 bit STM32F103 failsafe co-processor -->
|
||||
- STM32F100 (32bit _ARM Cortex-M3_)
|
||||
- 24 MHz
|
||||
- 8 KB SRAM
|
||||
@@ -142,6 +142,5 @@ CAN1 and CAN2 silk screen on the Cube are flipped (CAN1 is CAN2 and vice versa).
|
||||
|
||||
- [Cube Wiring Quickstart](../assembly/quick_start_cube.md)
|
||||
- Cube Docs (Manufacturer):
|
||||
- [Cube Module Overview](https://docs.cubepilot.org/user-guides/autopilot/the-cube-module-overview)
|
||||
- [Cube User Manual](https://docs.cubepilot.org/user-guides/autopilot/the-cube-user-manual)
|
||||
- [Cube User Guide](https://docs.cubepilot.org/user-guides/autopilot/the-cube)
|
||||
- [Mini Carrier Board](https://docs.cubepilot.org/user-guides/carrier-boards/mini-carrier-board)
|
||||
|
||||
@@ -211,7 +211,7 @@ The complete set of supported configurations can be seen in the [Airframes Refer
|
||||
## 针脚定义
|
||||
|
||||
_Durandal_ pinouts are listed below.
|
||||
These can also be downloaded from [here](https://holybro.com/collections/autopilot-flight-controllers/products/Durandal-Pinouts).
|
||||
These can also be downloaded from [here](https://cdn.shopifycdn.net/s/files/1/0604/5905/7341/files/Durandal_Pinouts_v1.0.pdf?v=1693983344).
|
||||
|
||||
### Top Pinouts
|
||||
|
||||
@@ -422,4 +422,4 @@ These can also be downloaded from [here](https://holybro.com/collections/autopil
|
||||
|
||||
- [Durandal Wiring QuickStart](../assembly/quick_start_durandal.md)
|
||||
- [Durandal Technical Data Sheet](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Durandal_technical_data_sheet_90f8875d-8035-4632-a936-a0d178062077.pdf)
|
||||
- [Durandal Pinouts](https://holybro.com/collections/autopilot-flight-controllers/products/Durandal-Pinouts) (Holybro)
|
||||
- [Durandal Pinouts](https://cdn.shopifycdn.net/s/files/1/0604/5905/7341/files/Durandal_Pinouts_v1.0.pdf?v=1693983344) (Holybro)
|
||||
|
||||
@@ -13,7 +13,7 @@ It runs the PX4 flight stack on the [NuttX](https://nuttx.apache.org/) OS.
|
||||
|
||||
|
||||
|
||||
As a CC-BY-SA 3.0 licensed Open Hardware design, schematics and design files should be [available here](https://github.com/PX4/Hardware).
|
||||
As a CC-BY-SA 3.0 licensed Open Hardware design, schematics and design files should be [available here](https://github.com/pixhawk/Hardware).
|
||||
|
||||
:::tip
|
||||
The Holybro pix32 is software compatible with the [3DR Pixhawk 1](../flight_controller/pixhawk.md).
|
||||
@@ -26,7 +26,7 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo
|
||||
|
||||
## 主要特性
|
||||
|
||||
- Main System-on-Chip: [STM32F427](http://www.st.com/web/en/catalog/mmc/FM141/SC1169/SS1577/LN1789)
|
||||
- Main System-on-Chip: [STM32F427](https://www.st.com/en/microcontrollers-microprocessors/stm32f427-437.html)
|
||||
- CPU: 32-bit STM32F427 Cortex<sup>®</sup> M4 core with FPU
|
||||
- RAM: 168 MHz/256 KB
|
||||
- Flash: 2 MB
|
||||
@@ -90,7 +90,7 @@ The board is based on the [Pixhawk project](https://pixhawk.org/) **FMUv2** open
|
||||
- [FMUv2 + IOv2 schematic](https://raw.githubusercontent.com/PX4/Hardware/master/FMUv2/PX4FMUv2.4.5.pdf) -- Schematic and layout
|
||||
|
||||
:::info
|
||||
As a CC-BY-SA 3.0 licensed Open Hardware design, all schematics and design files are [available](https://github.com/PX4/Hardware).
|
||||
As a CC-BY-SA 3.0 licensed Open Hardware design, all schematics and design files are [available](https://github.com/pixhawk/Hardware).
|
||||
:::
|
||||
|
||||
## 串口映射
|
||||
|
||||
@@ -74,7 +74,7 @@ This is the silkscreen for the _Kakute F7_, showing the top of the board:
|
||||
|
||||
The board comes pre-installed with [Betaflight](https://github.com/betaflight/betaflight/wiki).
|
||||
Before PX4 firmware can be installed, the _PX4 bootloader_ must be flashed.
|
||||
Download the [kakutef7_bl.hex](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/kakutef7/kakutef7_bl_0b3fbe2da0.hex) bootloader binary and read [this page](../advanced_config/bootloader_update_from_betaflight.md) for flashing instructions.
|
||||
Download the [kakutef7_bl.hex](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_controller/kakutef7/kakutef7_bl_0b3fbe2da0.hex) bootloader binary and read [this page](../advanced_config/bootloader_update_from_betaflight.md) for flashing instructions.
|
||||
|
||||
## 编译固件
|
||||
|
||||
|
||||
@@ -78,7 +78,7 @@ This is the silkscreen for the _Kakute H7_, showing the top of the board:
|
||||
|
||||
The board comes pre-installed with [Betaflight](https://github.com/betaflight/betaflight/wiki).
|
||||
Before PX4 firmware can be installed, the _PX4 bootloader_ must be flashed.
|
||||
Download the [kakuteh7_bl.hex](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/kakuteh7/holybro_kakuteh7_bootloader.hex) bootloader binary and read [this page](../advanced_config/bootloader_update_from_betaflight.md) for flashing instructions.
|
||||
Download the [kakuteh7_bl.hex](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_controller/kakuteh7/holybro_kakuteh7_bootloader.hex) bootloader binary and read [this page](../advanced_config/bootloader_update_from_betaflight.md) for flashing instructions.
|
||||
|
||||
## 编译固件
|
||||
|
||||
|
||||
@@ -80,7 +80,7 @@ The board can be bought from one of the following shops (for example):
|
||||
|
||||
The board comes pre-installed with [Betaflight](https://github.com/betaflight/betaflight/wiki).
|
||||
Before the PX4 firmware can be installed, the _PX4 bootloader_ must be flashed.
|
||||
Download the [holybro_kakuteh7mini_bootloader.hex](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/kakuteh7mini/holybro_kakuteh7mini_bootloader.hex) bootloader binary and read [this page](../advanced_config/bootloader_update_from_betaflight.md) for flashing instructions.
|
||||
Download the [holybro_kakuteh7mini_bootloader.hex](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_controller/kakuteh7mini/holybro_kakuteh7mini_bootloader.hex) bootloader binary and read [this page](../advanced_config/bootloader_update_from_betaflight.md) for flashing instructions.
|
||||
|
||||
## 编译固件
|
||||
|
||||
|
||||
@@ -77,7 +77,7 @@ The _Kakute H7v2_ is designed to work with the _Tekko32_ 4-in-1 ESC and they can
|
||||
|
||||
The board comes pre-installed with [Betaflight](https://github.com/betaflight/betaflight/wiki).
|
||||
Before the PX4 firmware can be installed, the _PX4 bootloader_ must be flashed.
|
||||
Download the [holybro_kakuteh7v2_bootloader.hex](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/kakuteh7v2/holybro_kakuteh7v2_bootloader.hex) bootloader binary and read [this page](../advanced_config/bootloader_update_from_betaflight.md) for flashing instructions.
|
||||
Download the [holybro_kakuteh7v2_bootloader.hex](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_controller/kakuteh7v2/holybro_kakuteh7v2_bootloader.hex) bootloader binary and read [this page](../advanced_config/bootloader_update_from_betaflight.md) for flashing instructions.
|
||||
|
||||
## 编译固件
|
||||
|
||||
|
||||
@@ -47,7 +47,6 @@ This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md
|
||||
- External microUSB port
|
||||
|
||||
- 电源系统
|
||||
|
||||
- Ideal diode controller with automatic failover
|
||||
- Servo rail high-power (7 V) and high-current ready
|
||||
- All peripheral outputs over-current protected, all inputs ESD protected
|
||||
@@ -102,8 +101,8 @@ See [3DR Pixhawk 1 > Pinouts](../flight_controller/pixhawk.md#pinouts)
|
||||
|
||||
The board is based on the [Pixhawk-project](https://pixhawk.org/) **FMUv3** open hardware design.
|
||||
|
||||
- [FMUv3 schematic](https://github.com/PX4/Hardware/raw/master/FMUv3_REV_D/Schematic%20Print/Schematic%20Prints.PDF) -- Schematic and layout
|
||||
- [FMUv3 schematic](https://github.com/pixhawk/Hardware/raw/master/FMUv3_REV_D/Schematic%20Print/Schematic%20Prints.PDF) -- Schematic and layout
|
||||
|
||||
:::info
|
||||
As a CC-BY-SA 3.0 licensed Open Hardware design, all schematics and design files are [available](https://github.com/PX4/Hardware).
|
||||
As a CC-BY-SA 3.0 licensed Open Hardware design, all schematics and design files are [available](https://github.com/pixhawk/Hardware).
|
||||
:::
|
||||
|
||||
@@ -1,4 +1,10 @@
|
||||
# mRo-X2.1 Autopilot
|
||||
# mRo-X2.1 Autopilot (Discontinued)
|
||||
|
||||
<Badge type="info" text="Discontinued" /> <!-- 202507 / PX4v1.16 -->
|
||||
|
||||
:::warning
|
||||
This flight controller has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available.
|
||||
:::
|
||||
|
||||
:::warning
|
||||
PX4 does not manufacture this (or any) autopilot.
|
||||
@@ -16,7 +22,7 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo
|
||||
|
||||
## 总览
|
||||
|
||||
- Main System-on-Chip: [STM32F427](http://www.st.com/web/en/catalog/mmc/FM141/SC1169/SS1577/LN1789)
|
||||
- Main System-on-Chip: [STM32F427](https://www.st.com/en/microcontrollers-microprocessors/stm32f427-437.html)
|
||||
- CPU: STM32F427VIT6 ARM<sup>®</sup> microcontroller - Revision 3
|
||||
- IO: STM32F100C8T6 ARM<sup>®</sup> microcontroller
|
||||
- 传感器：
|
||||
@@ -29,8 +35,10 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo
|
||||
- 安装点：30.5mm x 30.5mm 直径 3.2mm
|
||||
- 重量: 10.9g
|
||||
|
||||
The diagram below provides a side-by-side comparison with a Pixhawk 1. The mRo features almost identical hardware and connectivity but
|
||||
has a much smaller footprint. Major differences are updated sensors and Rev 3 FMU.
|
||||
The diagram below provides a side-by-side comparison with a Pixhawk 1.
|
||||
The mRo features almost identical hardware and connectivity but
|
||||
has a much smaller footprint.
|
||||
Major differences are updated sensors and Rev 3 FMU.
|
||||
|
||||
|
||||
|
||||
@@ -63,13 +71,13 @@ has a much smaller footprint. Major differences are updated sensors and Rev 3 FM
|
||||
By default a mRo X2.1 might come preconfigured for ArduPilot<sup>®</sup> rather than PX4. This
|
||||
can be seen during firmware update when the board is recognized as FMUv2 instead of X2.1.
|
||||
|
||||
In this case you must update the BootLoader using [BL_Update_X21.zip](https://github.com/PX4/PX4-user_guide/raw/main/assets/hardware/BL_Update_X21.zip).
|
||||
In this case you must update the BootLoader using [BL_Update_X21.zip](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/hardware/BL_Update_X21.zip).
|
||||
If this correction is not carried out your compass direction will be wrong and the
|
||||
secondary IMU will not be detected.
|
||||
|
||||
The update steps are:
|
||||
|
||||
1. Download and extract [BL_Update_X21.zip](https://github.com/PX4/PX4-user_guide/raw/main/assets/hardware/BL_Update_X21.zip).
|
||||
1. Download and extract [BL_Update_X21.zip](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/hardware/BL_Update_X21.zip).
|
||||
2. Find the folder _BL_Update_X21_. This contains a **bin** file and a subfolder named **/etc** containing an **rc.txt** file
|
||||
3. Copy these files to your micro SD card's root directory and insert it into the mRO x2.1
|
||||
4. Power on the mRO x2.1 Wait for it to boot and then reboot 1 time.
|
||||
|
||||
@@ -192,9 +192,9 @@ If you use CRSF Telemetry you will need to build custom PX4 firmware.
|
||||
By contrast, FrSky telemetry can use prebuilt firmware.
|
||||
:::
|
||||
|
||||
For Omnibus we recommend the [TBS Crossfire Nano RX](http://team-blacksheep.com/products/prod:crossfire_nano_rx), since it is specifically designed for small Quads.
|
||||
For Omnibus we recommend the [TBS Crossfire Nano RX](https://www.team-blacksheep.com/products/prod:crossfire_nano_rx), since it is specifically designed for small Quads.
|
||||
|
||||
On the handheld controller (e.g. Taranis) you will also need a [Transmitter Module](http://team-blacksheep.com/shop/cat:rc_transmitters#product_listing).
|
||||
On the handheld controller (e.g. Taranis) you will also need a [Transmitter Module](https://www.team-blacksheep.com/shop/cat:tbs-crossfire-radio-transmitter#product_listing).
|
||||
This can be plugged into the back of the RC controller.
|
||||
|
||||
:::info
|
||||
@@ -218,17 +218,13 @@ Instructions for this are provided in the [TBS Crossfire Manual](https://www.tea
|
||||
You will need to build custom firmware to use CRSF.
|
||||
For more information see [CRSF Telemetry](../telemetry/crsf_telemetry.md#px4-configuration).
|
||||
|
||||
## 原理图
|
||||
<!-- no longer available 202507 -->
|
||||
|
||||
The schematics are provided by [Airbot](https://myairbot.com/): [OmnibusF4-Pro-Sch.pdf](http://bit.ly/obf4pro).
|
||||
|
||||
<a id="bootloader"></a>
|
||||
|
||||
## PX4 Bootloader Update
|
||||
## PX4 Bootloader Update {#bootloader}
|
||||
|
||||
The board comes pre-installed with [Betaflight](https://github.com/betaflight/betaflight/wiki).
|
||||
Before PX4 firmware can be installed, the _PX4 bootloader_ must be flashed.
|
||||
Download the [omnibusf4sd_bl.hex](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/omnibus_f4_sd/omnibusf4sd_bl_d52b70cb39.hex) bootloader binary and read [this page](../advanced_config/bootloader_update_from_betaflight.md) for flashing instructions.
|
||||
Download the [omnibusf4sd_bl.hex](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_controller/omnibus_f4_sd/omnibusf4sd_bl_d52b70cb39.hex) bootloader binary and read [this page](../advanced_config/bootloader_update_from_betaflight.md) for flashing instructions.
|
||||
|
||||
## 编译固件
|
||||
|
||||
|
||||
@@ -17,7 +17,7 @@ The Pixfalcon autopilot (designed by [Holybro<sup>®</sup>](https://holybro.c
|
||||
|
||||
## 总览
|
||||
|
||||
- Main System-on-Chip: [STM32F427](http://www.st.com/web/en/catalog/mmc/FM141/SC1169/SS1577/LN1789)
|
||||
- Main System-on-Chip: [STM32F427](https://www.st.com/en/microcontrollers-microprocessors/stm32f427-437.html)
|
||||
- CPU: 180 MHz ARM<sup>®</sup> Cortex<sup>®</sup> M4 with single-precision FPU
|
||||
- RAM: 256 KB SRAM (L1)
|
||||
- Failsafe System-on-Chip: STM32F100
|
||||
|
||||
@@ -1,4 +1,10 @@
|
||||
# Pixhack v3
|
||||
# CUAV Pixhack V3 (Discontinued)
|
||||
|
||||
<Badge type="info" text="Discontinued" />
|
||||
|
||||
:::warning
|
||||
This flight controller has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available.
|
||||
:::
|
||||
|
||||
:::warning
|
||||
PX4 does not manufacture this (or any) autopilot.
|
||||
@@ -53,7 +59,6 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo
|
||||
|
||||
The board can be purchased from:
|
||||
|
||||
- [store.cuav.net](http://store.cuav.net/index.php?id_product=8&id_product_attribute=0&rewrite=pixhack-v3-autopilot&controller=product&id_lang=3)
|
||||
- [leixun.aliexpress.com/store](https://leixun.aliexpress.com/store)
|
||||
|
||||
## 编译固件
|
||||
@@ -65,13 +70,11 @@ It is pre-built and automatically installed by _QGroundControl_ when appropriate
|
||||
|
||||
To [build PX4](../dev_setup/building_px4.md) for this target:
|
||||
|
||||
```
|
||||
```sh
|
||||
make px4_fmu-v3_default
|
||||
```
|
||||
|
||||
## 引脚和原理图
|
||||
|
||||
- [Documentation/wiring guides](http://doc.cuav.net/flight-controller/pixhack/en/pixhack-v3.html)
|
||||
<!-- Pinouts and Schematics: section removed as guides no longer published -->
|
||||
|
||||
## 串口映射
|
||||
|
||||
@@ -81,5 +84,5 @@ make px4_fmu-v3_default
|
||||
| USART2 | /dev/ttyS1 | TELEM1 (flow control) |
|
||||
| USART3 | /dev/ttyS2 | TELEM2 (flow control) |
|
||||
| UART4 | | |
|
||||
| UART7 | CONSOLE | |
|
||||
| UART8 | SERIAL4 | |
|
||||
| UART7 | | CONSOLE |
|
||||
| UART8 | | SERIAL4 |
|
||||
|
||||
@@ -11,7 +11,7 @@ We recommend however to consider products built on industry standards, such as t
|
||||
This flight controller is not following the standard and uses a patented connector.
|
||||
:::
|
||||
|
||||
The [Hex Cube Black](http://www.proficnc.com/61-system-kits2) flight controller (previously known as Pixhawk 2.1) is a flexible autopilot intended primarily for manufacturers of commercial systems.
|
||||
The [Hex Cube Black](https://docs.cubepilot.org/user-guides/autopilot/the-cube) flight controller (previously known as Pixhawk 2.1) is a flexible autopilot intended primarily for manufacturers of commercial systems.
|
||||
It is based on the [Pixhawk-project](https://pixhawk.org/) **FMUv3** open hardware design and runs PX4 on the [NuttX](https://nuttx.apache.org/) OS.
|
||||
|
||||
|
||||
@@ -23,7 +23,7 @@ while a carrier board for a racer could includes ESCs form the frame of the vehi
|
||||
Cube includes vibration isolation on two of the IMU's, with a third fixed IMU as a reference / Backup.
|
||||
|
||||
:::info
|
||||
The manufacturer [Cube Docs](https://docs.cubepilot.org/user-guides/autopilot/the-cube-module-overview) contain detailed information, including an overview of the [Differences between Cube Colours](https://docs.cubepilot.org/user-guides/autopilot/the-cube-module-overview#differences-between-cube-colours).
|
||||
The manufacturer [Cube User Guide](https://docs.cubepilot.org/user-guides/autopilot/the-cube) contains detailed information, including an overview of the [Differences between Cube Colours](https://docs.cubepilot.org/user-guides/autopilot/the-cube/introduction/specifications).
|
||||
:::
|
||||
|
||||
:::tip
|
||||
@@ -32,7 +32,7 @@ This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md
|
||||
|
||||
## 主要特性
|
||||
|
||||
- 32bit STM32F427 [Cortex-M4F](http://en.wikipedia.org/wiki/ARM_Cortex-M#Cortex-M4)<sup>®</sup> core with FPU
|
||||
- 32bit STM32F427 [Cortex-M4F](https://en.wikipedia.org/wiki/ARM_Cortex-M#Cortex-M4)<sup>®</sup> core with FPU
|
||||
- 168 MHz / 252 MIPS
|
||||
- 256 KB RAM
|
||||
- 2 MB Flash \(fully accessible\)
|
||||
@@ -51,7 +51,7 @@ This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md
|
||||
|
||||
## 购买渠道
|
||||
|
||||
[Cube Black](http://www.proficnc.com/61-system-kits) (ProfiCNC)
|
||||
[Cube Black](https://www.cubepilot.com/#/reseller/list) (Reseller list)
|
||||
|
||||
## 组装
|
||||
|
||||
@@ -61,7 +61,7 @@ This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md
|
||||
|
||||
### 处理器
|
||||
|
||||
- 32bit STM32F427 [Cortex M4](http://en.wikipedia.org/wiki/ARM_Cortex-M#Cortex-M4) core with FPU
|
||||
- 32bit STM32F427 [Cortex M4](https://en.wikipedia.org/wiki/ARM_Cortex-M#Cortex-M4) core with FPU
|
||||
- 168 MHz / 252 MIPS
|
||||
- 256 KB RAM
|
||||
- 2 MB Flash (fully accessible)
|
||||
@@ -167,6 +167,5 @@ CAN1 and CAN2 silk screen on the Cube Black are flipped (CAN1 is CAN2 and vice v
|
||||
|
||||
- [Cube Wiring Quickstart](../assembly/quick_start_cube.md)
|
||||
- Cube Docs (Manufacturer):
|
||||
- [Cube Module Overview](https://docs.cubepilot.org/user-guides/autopilot/the-cube-module-overview)
|
||||
- [Cube User Manual](https://docs.cubepilot.org/user-guides/autopilot/the-cube-user-manual)
|
||||
- [Cube User Guide](https://docs.cubepilot.org/user-guides/autopilot/the-cube)
|
||||
- [Mini Carrier Board](https://docs.cubepilot.org/user-guides/carrier-boards/mini-carrier-board)
|
||||
|
||||
@@ -19,7 +19,7 @@ Assembly/setup instructions for use with PX4 are provided here: [Pixhawk Wiring
|
||||
|
||||
## 主要特性
|
||||
|
||||
- Main System-on-Chip: [STM32F427](http://www.st.com/web/en/catalog/mmc/FM141/SC1169/SS1577/LN1789)
|
||||
- Main System-on-Chip: [STM32F427](https://www.st.com/en/microcontrollers-microprocessors/stm32f427-437.html)
|
||||
- CPU: 180 MHz ARM<sup>®</sup> Cortex<sup>®</sup> M4 with single-precision FPU
|
||||
- RAM: 256 KB SRAM (L1)
|
||||
- Failsafe System-on-Chip: STM32F100
|
||||
@@ -60,7 +60,7 @@ Order mRo Pixhawk from:
|
||||
|
||||
### 处理器
|
||||
|
||||
- 32bit STM32F427 [Cortex-M4F](http://en.wikipedia.org/wiki/ARM_Cortex-M#Cortex-M4) core with FPU
|
||||
- 32bit STM32F427 [Cortex-M4F](https://en.wikipedia.org/wiki/ARM_Cortex-M#Cortex-M4) core with FPU
|
||||
- 168 MHz
|
||||
- 256 KB RAM
|
||||
- 2 MB Flash
|
||||
@@ -119,7 +119,7 @@ Under these conditions the system will not draw any power (will not be operation
|
||||
[FMUv2 + IOv2 schematic](https://raw.githubusercontent.com/PX4/Hardware/master/FMUv2/PX4FMUv2.4.5.pdf) -- Schematic and layout
|
||||
|
||||
:::info
|
||||
As a CC-BY-SA 3.0 licensed Open Hardware design, all schematics and design files are [available](https://github.com/PX4/Hardware).
|
||||
As a CC-BY-SA 3.0 licensed Open Hardware design, all schematics and design files are [available](https://github.com/pixhawk/Hardware).
|
||||
:::
|
||||
|
||||
## Connections
|
||||
@@ -263,22 +263,22 @@ Due to space constraints two ports are on one connector.
|
||||
The [PX4 System Console](../debug/system_console.md) runs on the port labeled [SERIAL4/5](#serial-4-5-port).
|
||||
|
||||
:::tip
|
||||
A convenient way to connect to the console is to use a [Dronecode probe](https://kb.zubax.com/display/MAINKB/Dronecode+Probe+documentation), as it comes with connectors that can be used with several different Pixhawk devices.
|
||||
Simply connect the 6-pos DF13 1:1 cable on the [Dronecode probe](https://kb.zubax.com/display/MAINKB/Dronecode+Probe+documentation) to the Pixhawk `SERIAL4/5` port.
|
||||
A convenient way to connect to the console is to use a [Zubax BugFace BF1](https://github.com/Zubax/bugface_bf1), as it comes with connectors that can be used with several different Pixhawk devices.
|
||||
Simply connect the 6-pos DF13 1:1 cable on the [Zubax BugFace BF1](https://github.com/Zubax/bugface_bf1) to the Pixhawk `SERIAL4/5` port.
|
||||
|
||||
|
||||
|
||||
:::
|
||||
|
||||
The pinout is standard serial pinout, designed to connect to a [3.3V FTDI](https://www.digikey.com/en/products/detail/TTL-232R-3V3/768-1015-ND/1836393) cable (5V tolerant).
|
||||
|
||||
| 3DR Pixhawk 1 | | FTDI | |
|
||||
| ------------- | ---------------------------- | ---- | -------------------------------- |
|
||||
| 1 | + 5v (红色) | | N/C |
|
||||
| 2 | S4 Tx | | N/C |
|
||||
| 3 | S4 Rx | | N/C |
|
||||
| 4 | S5 Tx | 5 | FTDI RX （黄色） |
|
||||
| 5 | S5 Rx | 4 | FTDI TX （橙色） |
|
||||
| 6 | GND | 1 | FTDI GND (黑色) |
|
||||
\| 3DR Pixhawk 1 | | FTDI |
|
||||
\| ------------- | --------- | ---- | ---------------- |
|
||||
\| 1 | +5V (red) | | N/C |
|
||||
\| 2 | S4 Tx | | N/C |
|
||||
\| 3 | S4 Rx | | N/C |
|
||||
\| 4 | S5 Tx | 5 | FTDI RX (yellow) |
|
||||
\| 5 | S5 Rx | 4 | FTDI TX (orange) |
|
||||
\| 6 | GND | 1 | FTDI GND (black) |
|
||||
|
||||
The wiring for an FTDI cable to a 6-pos DF13 1:1 connector is shown in the figure below.
|
||||
|
||||
@@ -323,11 +323,11 @@ make px4_fmu-v2_default
|
||||
|
||||
## Parts / Housings
|
||||
|
||||
- **ARM MINI JTAG (J6)**: 1.27 mm 10pos header (SHROUDED), for Black Magic Probe: FCI 20021521-00010D4LF ([Distrelec](https://www.distrelec.ch/en/minitek-127-straight-male-pcb-header-surface-mount-rows-10-contacts-27mm-pitch-amphenol-fci-20021521-00010d4lf/p/14352308), [Digi-Key](https://www.digikey.com/en/products/detail/20021521-00010T1LF/609-4054-ND/2414951),) or Samtec FTSH-105-01-F-DV-K (untested) or Harwin M50-3600542 ([Digikey](https://www.digikey.com/en/products/detail/harwin-inc/M50-3600542/2264370) or [Mouser](http://ch.mouser.com/ProductDetail/Harwin/M50-3600542/?qs=%2fha2pyFadujTt%2fIEz8xdzrYzHAVUnbxh8Ki%252bwWYPNeEa09PYvTkIOQ%3d%3d))
|
||||
- **ARM MINI JTAG (J6)**: 1.27 mm 10pos header (SHROUDED), for Black Magic Probe: FCI 20021521-00010D4LF ([Distrelec](https://www.distrelec.ch/en/minitek-127-straight-male-pcb-header-surface-mount-rows-10-contacts-27mm-pitch-amphenol-fci-20021521-00010d4lf/p/14352308), [Digi-Key](https://www.digikey.com/en/products/detail/20021521-00010T1LF/609-4054-ND/2414951),) or Samtec FTSH-105-01-F-DV-K (untested) or Harwin M50-3600542 ([Digikey](https://www.digikey.com/en/products/detail/harwin-inc/M50-3600542/2264370))
|
||||
- JTAG Adapter Option #1: [BlackMagic Probe](https://1bitsquared.com/products/black-magic-probe). Note, may come without cables (check with manufacturer).
|
||||
If so, you will need the **Samtec FFSD-05-D-06.00-01-N** cable ([Samtec sample service](https://www.samtec.com/products/ffsd-05-d-06.00-01-n) or [Digi-Key Link: SAM8218-ND](http://www.digikey.com/product-search/en?x=0&y=0&lang=en&site=us&KeyWords=FFSD-05-D-06.00-01-N)) or [Tag Connect Ribbon](http://www.tag-connect.com/CORTEXRIBBON10) and a Mini-USB cable.
|
||||
- JTAG Adapter Option #2: [Digi-Key Link: ST-LINK/V2](https://www.digikey.com/product-detail/en/stmicroelectronics/ST-LINK-V2/497-10484-ND) / [ST USER MANUAL](http://www.st.com/internet/com/TECHNICAL_RESOURCES/TECHNICAL_LITERATURE/USER_MANUAL/DM00026748.pdf), needs an ARM Mini JTAG to 20pos adapter: [Digi-Key Link: 726-1193-ND](https://www.digikey.com/en/products/detail/texas-instruments/MDL-ADA2/1986451)
|
||||
- JTAG Adapter Option #3: [SparkFun Link: Olimex ARM-TINY](http://www.sparkfun.com/products/8278) or any other OpenOCD-compatible ARM Cortex JTAG adapter, needs an ARM Mini JTAG to 20pos adapter: [Digi-Key Link: 726-1193-ND](https://www.digikey.com/en/products/detail/texas-instruments/MDL-ADA2/1986451)
|
||||
If so, you will need the **Samtec FFSD-05-D-06.00-01-N** cable ([Samtec sample service](https://www.samtec.com/products/ffsd-05-d-06.00-01-n) or [Digi-Key Link: SAM8218-ND](https://www.digikey.com/en/products/detail/samtec-inc/ffsd-05-d-06-00-01-n/1106577)) or [Tag Connect Ribbon](https://www.tag-connect.com/product/10-pin-cortex-ribbon-cable-4-length-with-50-mil-connectors) and a Mini-USB cable.
|
||||
- JTAG Adapter Option #2: [Digi-Key Link: ST-LINK/V2](https://www.digikey.com/product-detail/en/stmicroelectronics/ST-LINK-V2/497-10484-ND) / [ST USER MANUAL](https://www.st.com/resource/en/user_manual/dm00026748.pdf), needs an ARM Mini JTAG to 20pos adapter: [Digi-Key Link: 726-1193-ND](https://www.digikey.com/en/products/detail/texas-instruments/MDL-ADA2/1986451)
|
||||
- JTAG Adapter Option #3: [Olimex ARM-TINY](https://www.olimex.com/wiki/ARM-USB-TINY) or any other OpenOCD-compatible ARM Cortex JTAG adapter, needs an ARM Mini JTAG to 20pos adapter: [Digi-Key Link: 726-1193-ND](https://www.digikey.com/en/products/detail/texas-instruments/MDL-ADA2/1986451)
|
||||
- **USARTs**: Hirose DF13 6 pos ([Digi-Key Link: DF13A-6P-1.25H(20)](https://www.digikey.com/products/en?keywords=H3371-ND))
|
||||
- Mates: Hirose DF13 6 pos housing ([Digi-Key Link: Hirose DF13-6S-1.25C](https://www.digikey.com/products/en?keywords=H2182-ND))
|
||||
- **I2C and CAN**: Hirose DF13 4 pos ([Digi-Key Link: DF13A-4P-1.25H(20)](https://www.digikey.com/en/products/detail/hirose-electric-co-ltd/DF13A-4P-1-25H-20/530666) - discontinued)
|
||||
|
||||
@@ -49,7 +49,7 @@ This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md
|
||||
- 其它特性:
|
||||
- 工作温度：-40 ~ 85°C
|
||||
|
||||
Additional information can be found in the [Pixhawk 4 Technical Data Sheet](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/pixhawk4/pixhawk4_technical_data_sheet.pdf).
|
||||
Additional information can be found in the [Pixhawk 4 Technical Data Sheet](https://github.com/PX4/PX4-Autopilot/blob/main/docs/assets/flight_controller/pixhawk4/pixhawk4_technical_data_sheet.pdf).
|
||||
|
||||
## 购买渠道
|
||||
|
||||
@@ -157,7 +157,7 @@ The complete set of supported configurations can be seen in the [Airframes Refer
|
||||
|
||||
## 更多信息
|
||||
|
||||
- [Pixhawk 4 Technical Data Sheet](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/pixhawk4/pixhawk4_technical_data_sheet.pdf)
|
||||
- [Pixhawk 4 Technical Data Sheet](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_controller/pixhawk4/pixhawk4_technical_data_sheet.pdf)
|
||||
- [FMUv5 reference design pinout](https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY/edit#gid=912976165).
|
||||
- [Pixhawk 4 Wiring QuickStart](../assembly/quick_start_pixhawk4.md)
|
||||
- [Pixhawk 4 Pinouts](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Pixhawk4-Pinouts.pdf) (Holybro)
|
||||
|
||||
@@ -50,7 +50,7 @@ This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md
|
||||
- 其它特性:
|
||||
- 工作温度：-40 ~ 85°C
|
||||
|
||||
Additional information can be found in the [_Pixhawk 4 Mini_ Technical Data Sheet](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/pixhawk4mini/pixhawk4mini_technical_data_sheet.pdf).
|
||||
Additional information can be found in the [_Pixhawk 4 Mini_ Technical Data Sheet](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_controller/pixhawk4mini/pixhawk4mini_technical_data_sheet.pdf).
|
||||
|
||||
## 购买渠道
|
||||
|
||||
@@ -66,7 +66,7 @@ The **RC IN** and **PPM** ports are for RC receivers only. These are powered! NE
|
||||
|
||||
## 针脚定义
|
||||
|
||||
Download _Pixhawk 4 Mini_ pinouts from [here](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/pixhawk4mini/pixhawk4mini_pinouts.pdf).
|
||||
Download _Pixhawk 4 Mini_ pinouts from [here](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_controller/pixhawk4mini/pixhawk4mini_pinouts.pdf).
|
||||
|
||||
## 尺寸
|
||||
|
||||
@@ -120,7 +120,8 @@ In order to access these ports, the user must remove the _Pixhawk 4 Mini_ casing
|
||||
|
||||
|
||||
|
||||
The port has a standard serial pinout and can be connected to a standard FTDI cable (3.3V, but it's 5V tolerant) or a [Dronecode probe](https://kb.zubax.com/display/MAINKB/Dronecode+Probe+documentation). The pinout uses the standard [Pixhawk debug connector](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf) pinout. Please refer to the [wiring](../debug/system_console.md) page for details of how to wire up this port.
|
||||
The port has a standard serial pinout and can be connected to a standard FTDI cable (3.3V, but it's 5V tolerant) or a [Zubax BugFace BF1](https://github.com/Zubax/bugface_bf1).
|
||||
The pinout uses the standard [Pixhawk debug connector](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf) pinout. Please refer to the [wiring](../debug/system_console.md) page for details of how to wire up this port.
|
||||
|
||||
## 串口映射
|
||||
|
||||
@@ -153,5 +154,5 @@ It can be used for airframes that use AUX for non-essential peripherals (e.g. "f
|
||||
|
||||
## 更多信息
|
||||
|
||||
- [_Pixhawk 4 Mini_ Technical Data Sheet](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/pixhawk4mini/pixhawk4mini_technical_data_sheet.pdf)
|
||||
- [_Pixhawk 4 Mini_ Technical Data Sheet](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_controller/pixhawk4mini/pixhawk4mini_technical_data_sheet.pdf)
|
||||
- [FMUv5 reference design pinout](https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY/edit#gid=912976165).
|
||||
|
||||
@@ -119,7 +119,7 @@ Please refer to the [Pixhawk 4 Mini Wiring Quick Start](../assembly/quick_start_
|
||||
| UART7 | /dev/ttyS5 | TELEM1 | TELEM1 |
|
||||
| UART8 | /dev/ttyS6 | GPS2 | GPS2 |
|
||||
|
||||
<!-- See http://docs.px4.io/main/en/hardware/serial_port_mapping.html#serial-port-mapping -->
|
||||
<!-- See https://docs.px4.io/main/en/hardware/serial_port_mapping.html#serial-port-mapping -->
|
||||
|
||||
## 尺寸
|
||||
|
||||
|
||||
@@ -266,7 +266,7 @@ Pixhawk Mini supports many different radio receiver models:
|
||||
|
||||
<img src="../../assets/flight_controller/pixhawk_mini/pixhawk_mini_port_rcin.png" width="350px" title="Pixhawk Mini - Radio port for PPM receivers" />
|
||||
|
||||
- PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **RCIN** port _via a PPM encoder_ [like this one](http://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels).
|
||||
- PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **RCIN** 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).
|
||||
|
||||
|
||||
@@ -41,7 +41,7 @@ The [Pixhawk project](https://pixhawk.org/) creates open hardware designs in the
|
||||
Manufacturers are encouraged to take the [open designs](https://github.com/pixhawk/Hardware) and create products that are best suited to a particular market or use case (the physical layout/form factor not part of the open specification). Boards based on the same design are binary compatible.
|
||||
|
||||
:::info
|
||||
While a physical connector standard is not mandated, newer products generally follow the [Pixhawk Connector Standard](https://pixhawk.org/pixhawk-connector-standard/).
|
||||
While a physical connector standard is not mandated, newer products generally follow the [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf).
|
||||
:::
|
||||
|
||||
The project also creates reference autopilot boards based on the open designs, and shares them under the same [licence](#licensing-and-trademarks).
|
||||
|
||||
@@ -16,7 +16,7 @@ This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md
|
||||
|
||||
## 主要特性
|
||||
|
||||
- Main System-on-Chip: [STM32F427VIT6 rev.3](http://www.st.com/web/en/catalog/mmc/FM141/SC1169/SS1577/LN1789)
|
||||
- Main System-on-Chip: [STM32F427VIT6 rev.3](https://www.st.com/en/microcontrollers-microprocessors/stm32f427-437.html)
|
||||
- CPU: 180 MHz ARM Cortex<sup>®</sup> M4 with single-precision FPU
|
||||
- RAM: 256 KB SRAM (L1)
|
||||
- Standard FPV form factor: 36x36 mm with standard 30.5 mm hole pattern
|
||||
@@ -41,7 +41,8 @@ Accessories include:
|
||||
|
||||
## Kit
|
||||
|
||||
The Pixracer is designed to use a separate avionics power supply. This is necessary to avoid current surges from motors or ESCs to flow back to the flight controller and disturb its delicate sensors.
|
||||
The Pixracer is designed to use a separate avionics power supply.
|
||||
This is necessary to avoid current surges from motors or ESCs to flow back to the flight controller and disturb its delicate sensors.
|
||||
|
||||
- Power module (with voltage and current sensing)
|
||||
- I2C splitter (supporting AUAV, Hobbyking and 3DR<sup>®</sup> peripherals)
|
||||
@@ -53,7 +54,7 @@ One of the main features of the board is its ability to use Wifi for flashing ne
|
||||
This frees it of the need of any desktop system.
|
||||
|
||||
- [ESP8266 Wifi](../telemetry/esp8266_wifi_module.md)
|
||||
- [Custom ESP8266 MAVLink firmware](https://github.com/dogmaphobic/mavesp8266)
|
||||
- [Custom ESP8266 MAVLink firmware](https://github.com/BeyondRobotix/mavesp8266)
|
||||
|
||||
:::info
|
||||
Firmware upgrade is not yet enabled over WiFi (it is supported by the default bootloader but not yet enabled).
|
||||
@@ -85,7 +86,7 @@ For more information see: [Pixracer Wiring Quickstart > External Telemetry](../a
|
||||
|
||||
## 连接器
|
||||
|
||||
All connectors follow the [Pixhawk connector standard](https://pixhawk.org/pixhawk-connector-standard/).
|
||||
All connectors follow the [Pixhawk connector standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf).
|
||||
Unless noted otherwise all connectors are JST GH.
|
||||
|
||||
## 针脚定义
|
||||
@@ -204,8 +205,8 @@ The reference is provided as: [Altium Design Files](https://github.com/AUAV-Open
|
||||
|
||||
The following PDF files are provided for _convenience only_:
|
||||
|
||||
- [pixracer-rc12-12-06-2015-1330.pdf](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/pixracer/pixracer-rc12-12-06-2015-1330.pdf)
|
||||
- [pixracer-r14.pdf](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/pixracer/pixracer-r14.pdf) - R14 or RC14 is printed next to the SDCard socket
|
||||
- [pixracer-rc12-12-06-2015-1330.pdf](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_controller/pixracer/pixracer-rc12-12-06-2015-1330.pdf)
|
||||
- [pixracer-r14.pdf](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_controller/pixracer/pixracer-r14.pdf) - R14 or RC14 is printed next to the SDCard socket
|
||||
|
||||
## 编译固件
|
||||
|
||||
|
||||
@@ -159,4 +159,4 @@ The complete set of supported configurations can be seen in the [Airframes Refer
|
||||
- [Pixhawk Autopilot FMUv6X Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-012%20Pixhawk%20Autopilot%20v6X%20Standard.pdf)
|
||||
- [Pixhawk Autopilot Bus Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-010%20Pixhawk%20Autopilot%20Bus%20Standard.pdf)
|
||||
- [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf)
|
||||
- [RaccoonLab docs](http://docs.raccoonlab.co)
|
||||
- [RaccoonLab docs](https://docs.raccoonlab.co/)
|
||||
|
||||
@@ -14,21 +14,17 @@ It is based on the **Pixhawk-project FMUv3** open hardware design and runs **PX4
|
||||
## 产品规格
|
||||
|
||||
- Main Processor: STM32F427VIT6
|
||||
|
||||
- 32bit ARM Cortex-M4, 168 MHz 256 KB RAM 2 MB Flash memory
|
||||
|
||||
- IO Processor: STM32F100C8T6
|
||||
|
||||
- ARM Cortex-M3, 32bit ARM Cortex-M3, 24 MHz, 8KB SRAM
|
||||
|
||||
- On-board sensors
|
||||
|
||||
- 加速度计 / 陀螺仪：ICM-20602
|
||||
- Accel/Gyro/Mag: MPU-9250
|
||||
- 气压计：MS5611
|
||||
|
||||
- 接口
|
||||
|
||||
- 8+5 PWM output (8 from IO, 5 from FMU)
|
||||
- Spektrum DSM / DSM2 / DSM-X Satellite compatible input
|
||||
- Futaba S.BUS compatible input and output
|
||||
@@ -98,4 +94,4 @@ make thepeach_k1_default
|
||||
|
||||
## Where to buy
|
||||
|
||||
Order from [ThePeach](http://thepeach.shop/)
|
||||
Order from [ThePeach](https://thepeach.shop/)
|
||||
|
||||
@@ -14,21 +14,17 @@ It is based on the **Pixhawk-project FMUv3** open hardware design and runs **PX4
|
||||
## 产品规格
|
||||
|
||||
- Main Processor: STM32F427VIT6
|
||||
|
||||
- 32bit ARM Cortex-M4, 168 MHz 256 KB RAM 2 MB Flash memory
|
||||
|
||||
- IO Processor: STM32F100C8T6
|
||||
|
||||
- ARM Cortex-M3, 32bit ARM Cortex-M3, 24 MHz, 8KB SRAM
|
||||
|
||||
- On-board sensors
|
||||
|
||||
- 加速度计 / 陀螺仪：ICM-20602
|
||||
- Accel/Gyro/Mag: MPU-9250
|
||||
- 气压计：MS5611
|
||||
|
||||
- 接口
|
||||
|
||||
- 8+6 PWM output (8 from IO, 6 from FMU)
|
||||
- Spektrum DSM / DSM2 / DSM-X Satellite compatible input
|
||||
- Futaba S.BUS compatible input and output
|
||||
@@ -42,7 +38,6 @@ It is based on the **Pixhawk-project FMUv3** open hardware design and runs **PX4
|
||||
- Analog inputs for voltage / Current of 1 battery
|
||||
|
||||
- Interfaces For Raspberry Pi CM3+
|
||||
|
||||
- VBUS
|
||||
- DDR2 Connector: Raspberry Pi CM3+
|
||||
- 1x UART
|
||||
@@ -103,4 +98,4 @@ make thepeach_r1_default
|
||||
|
||||
## Where to buy
|
||||
|
||||
Order from [ThePeach](http://thepeach.shop/)
|
||||
Order from [ThePeach](https://thepeach.shop/)
|
||||
|
||||
@@ -85,9 +85,7 @@ Before using offboard mode with ROS 2, please spend a few minutes understanding
|
||||
### 旋翼机
|
||||
|
||||
- [px4_msgs::msg::TrajectorySetpoint](https://github.com/PX4/PX4-Autopilot/blob/main/msg/TrajectorySetpoint.msg)
|
||||
|
||||
- 支持以下输入组合：
|
||||
|
||||
- Position setpoint (`position` different from `NaN`). Non-`NaN` values of velocity and acceleration are used as feedforward terms for the inner loop controllers.
|
||||
- Velocity setpoint (`velocity` different from `NaN` and `position` set to `NaN`). Non-`NaN` values acceleration are used as feedforward terms for the inner loop controllers.
|
||||
- Acceleration setpoint (`acceleration` different from `NaN` and `position` and `velocity` set to `NaN`)
|
||||
@@ -95,18 +93,14 @@ Before using offboard mode with ROS 2, please spend a few minutes understanding
|
||||
- 所有值都是基于NED(北, 东, 地)坐标系，位置、速度和加速的单位分别为\[m\], \[m/s\] 和\[m/s^2\] 。
|
||||
|
||||
- [px4_msgs::msg::VehicleAttitudeSetpoint](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleAttitudeSetpoint.msg)
|
||||
|
||||
- 支持以下输入组合：
|
||||
|
||||
- quaternion `q_d` + thrust setpoint `thrust_body`.
|
||||
Non-`NaN` values of `yaw_sp_move_rate` are used as feedforward terms expressed in Earth frame and in \[rad/s\].
|
||||
|
||||
- 姿态四元数表示无人机机体坐标系FRD(前、右、下) 与NED坐标系之间的旋转。 这个推力是在无人机体轴FRD坐标系下，并归一化为 \[-1, 1\] 。
|
||||
|
||||
- [px4_msgs::msg::VehicleRatesSetpoint](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleRatesSetpoint.msg)
|
||||
|
||||
- 支持以下输入组合：
|
||||
|
||||
- `roll`, `pitch`, `yaw` and `thrust_body`.
|
||||
|
||||
- 所有值都表示在无人机体轴FRD坐标系下。 角速率(roll, pitch, yaw) 单位为\[rad/s\] ，thrust_body归一化为 \[-1, 1\]。
|
||||
@@ -116,7 +110,6 @@ Before using offboard mode with ROS 2, please spend a few minutes understanding
|
||||
下面的offboard控制模式会绕过所有PX4内部的控制环，应当非常谨慎地使用。
|
||||
|
||||
- [px4_msgs::msg::VehicleThrustSetpoint](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleThrustSetpoint.msg) + [px4_msgs::msg::VehicleTorqueSetpoint](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleTorqueSetpoint.msg)
|
||||
|
||||
- 支持以下输入组合：
|
||||
- `xyz` for thrust and `xyz` for torque.
|
||||
- 所有值都在无人机体轴 FRD 坐标系中表示，并且归一化为\[-1, 1\]。
|
||||
@@ -134,9 +127,7 @@ Before using offboard mode with ROS 2, please spend a few minutes understanding
|
||||
### 直升机/垂直起降
|
||||
|
||||
- [SET_POSITION_TARGET_LOCAL_NED](https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_LOCAL_NED)
|
||||
|
||||
- The following input combinations are supported: <!-- https://github.com/PX4/PX4-Autopilot/blob/main/src/lib/FlightTasks/tasks/Offboard/FlightTaskOffboard.cpp#L166-L170 -->
|
||||
|
||||
- Position setpoint (only `x`, `y`, `z`)
|
||||
- Velocity setpoint (only `vx`, `vy`, `vz`)
|
||||
- Acceleration setpoint (only `afx`, `afy`, `afz`)
|
||||
@@ -146,9 +137,7 @@ Before using offboard mode with ROS 2, please spend a few minutes understanding
|
||||
- PX4 supports the following `coordinate_frame` values (only): [MAV_FRAME_LOCAL_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_LOCAL_NED) and [MAV_FRAME_BODY_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_BODY_NED).
|
||||
|
||||
- [SET_POSITION_TARGET_GLOBAL_INT](https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_GLOBAL_INT)
|
||||
|
||||
- The following input combinations are supported: <!-- https://github.com/PX4/PX4-Autopilot/blob/main/src/lib/FlightTasks/tasks/Offboard/FlightTaskOffboard.cpp#L166-L170 -->
|
||||
|
||||
- Position setpoint (only `lat_int`, `lon_int`, `alt`)
|
||||
|
||||
- Velocity setpoint (only `vx`, `vy`, `vz`)
|
||||
@@ -172,11 +161,8 @@ Before using offboard mode with ROS 2, please spend a few minutes understanding
|
||||
### Fixed-wing
|
||||
|
||||
- [SET_POSITION_TARGET_LOCAL_NED](https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_LOCAL_NED)
|
||||
|
||||
- The following input combinations are supported (via `type_mask`): <!-- https://github.com/PX4/PX4-Autopilot/blob/main/src/lib/FlightTasks/tasks/Offboard/FlightTaskOffboard.cpp#L166-L170 -->
|
||||
|
||||
- Position setpoint (`x`, `y`, `z` only; velocity and acceleration setpoints are ignored).
|
||||
|
||||
- Specify the _type_ of the setpoint in `type_mask` (if these bits are not set the vehicle will fly in a flower-like pattern):
|
||||
::: info
|
||||
Some of the _setpoint type_ values below are not part of the MAVLink standard for the `type_mask` field.
|
||||
@@ -196,11 +182,8 @@ Before using offboard mode with ROS 2, please spend a few minutes understanding
|
||||
- PX4 supports the coordinate frames (`coordinate_frame` field): [MAV_FRAME_LOCAL_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_LOCAL_NED) and [MAV_FRAME_BODY_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_BODY_NED).
|
||||
|
||||
- [SET_POSITION_TARGET_GLOBAL_INT](https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_GLOBAL_INT)
|
||||
|
||||
- The following input combinations are supported (via `type_mask`): <!-- https://github.com/PX4/PX4-Autopilot/blob/main/src/lib/FlightTasks/tasks/Offboard/FlightTaskOffboard.cpp#L166-L170 -->
|
||||
|
||||
- Position setpoint (only `lat_int`, `lon_int`, `alt`)
|
||||
|
||||
- Specify the _type_ of the setpoint in `type_mask` (if these bits are not set the vehicle will fly in a flower-like pattern):
|
||||
|
||||
::: info
|
||||
@@ -225,11 +208,8 @@ Before using offboard mode with ROS 2, please spend a few minutes understanding
|
||||
### 无人车
|
||||
|
||||
- [SET_POSITION_TARGET_LOCAL_NED](https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_LOCAL_NED)
|
||||
|
||||
- The following input combinations are supported (in `type_mask`): <!-- https://github.com/PX4/PX4-Autopilot/blob/main/src/lib/FlightTasks/tasks/Offboard/FlightTaskOffboard.cpp#L166-L170 -->
|
||||
|
||||
- Position setpoint (only `x`, `y`, `z`)
|
||||
|
||||
- Specify the _type_ of the setpoint in `type_mask`:
|
||||
|
||||
::: info
|
||||
@@ -245,13 +225,11 @@ Before using offboard mode with ROS 2, please spend a few minutes understanding
|
||||
- PX4 supports the coordinate frames (`coordinate_frame` field): [MAV_FRAME_LOCAL_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_LOCAL_NED) and [MAV_FRAME_BODY_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_BODY_NED).
|
||||
|
||||
- [SET_POSITION_TARGET_GLOBAL_INT](https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_GLOBAL_INT)
|
||||
|
||||
- The following input combinations are supported (in `type_mask`): <!-- https://github.com/PX4/PX4-Autopilot/blob/main/src/lib/FlightTasks/tasks/Offboard/FlightTaskOffboard.cpp#L166-L170 -->
|
||||
- Position setpoint (only `lat_int`, `lon_int`, `alt`)
|
||||
|
||||
- Specify the _type_ of the setpoint in `type_mask` (not part of the MAVLink standard).
|
||||
值为：
|
||||
|
||||
- 下面的比特位没有置位，是正常表现。
|
||||
- 12288：悬停设定值（无人机足够接近设定值时会停止）。
|
||||
|
||||
@@ -279,7 +257,7 @@ _Offboard mode_ is affected by the following parameters:
|
||||
|
||||
## 开发者资源
|
||||
|
||||
Typically developers do not directly work at the MAVLink layer, but instead use a robotics API like [MAVSDK](https://mavsdk.mavlink.io/) or [ROS](http://www.ros.org/) (these provide a developer friendly API, and take care of managing and maintaining connections, sending messages and monitoring responses - the minutiae of working with _Offboard mode_ and MAVLink).
|
||||
Typically developers do not directly work at the MAVLink layer, but instead use a robotics API like [MAVSDK](https://mavsdk.mavlink.io/) or [ROS](https://www.ros.org/) (these provide a developer friendly API, and take care of managing and maintaining connections, sending messages and monitoring responses - the minutiae of working with _Offboard mode_ and MAVLink).
|
||||
|
||||
以下资源可能对开发者有用：
|
||||
|
||||
|
||||
@@ -163,7 +163,7 @@ The final build is shown below:
|
||||
## PX4 配置
|
||||
|
||||
_QGroundControl_ is used to install the PX4 autopilot and configure/tune it for the frame.
|
||||
[Download and install](http://qgroundcontrol.com/downloads/) _QGroundControl_ for your platform.
|
||||
[Download and install](https://qgroundcontrol.com/downloads/) _QGroundControl_ for your platform.
|
||||
|
||||
:::tip
|
||||
Full instructions for installing and configuring PX4 can be found in [Basic Configuration](../config/index.md).
|
||||
|
||||
@@ -166,7 +166,7 @@ The final build is shown below:
|
||||
## PX4 配置
|
||||
|
||||
_QGroundControl_ is used to install the PX4 autopilot and configure/tune it for the frame.
|
||||
[Download and install](http://qgroundcontrol.com/downloads/)
|
||||
[Download and install](https://qgroundcontrol.com/downloads/)
|
||||
_QGroundControl_ for your platform.
|
||||
|
||||
:::tip
|
||||
|
||||
@@ -21,7 +21,7 @@ Key information
|
||||
|
||||
## Quickstart Guide
|
||||
|
||||
[Pixhawk 4 Mini QAV250 Kit Quickstart Guide](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/pixhawk4mini/pixhawk4mini_qav250kit_quickstart_web.pdf)
|
||||
[Pixhawk 4 Mini QAV250 Kit Quickstart Guide](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_controller/pixhawk4mini/pixhawk4mini_qav250kit_quickstart_web.pdf)
|
||||
|
||||
## Bill of materials
|
||||
|
||||
@@ -40,7 +40,7 @@ Additionally you will need a battery and receiver (+compatible transmitter).
|
||||
This build uses:
|
||||
|
||||
- Receiver: [FrSSKY D4R-II](https://www.frsky-rc.com/product/d4r-ii/)
|
||||
- Battery: [4S 1300 mAh](http://www.getfpv.com/lumenier-1300mah-4s-60c-lipo-battery-xt60.html)
|
||||
- Battery: [4S 1300 mAh](https://www.getfpv.com/lumenier-1300mah-4s-60c-lipo-battery-xt60.html)
|
||||
|
||||
## 硬件
|
||||
|
||||
@@ -104,26 +104,37 @@ The following tools are used in this assembly:
|
||||
1. Attach arms to the button plate with the 15mm screws as shown:
|
||||
|
||||
|
||||
|
||||
2. Put the short plate over the arms
|
||||
|
||||
|
||||
|
||||
3. Put the nuts on the 15mm screws (shown next step)
|
||||
|
||||
4. Insert the plastic screws into the indicated holes (note that this part of the frame faces down when the vehicle is complete).
|
||||
|
||||
|
||||
5. Add the plastic nuts to the screws (turn over, as shown)
|
||||
|
||||
|
||||
6. Lower the power module over the plastic screws and then add the plastics standoffs
|
||||
|
||||
|
||||
7. Put the flight controller plate on the standoffs (over the power module)
|
||||
|
||||
|
||||
8. Attach the motors. The motors have an arrow indicating the direction of rotation.
|
||||
|
||||
|
||||
9. Use double sided tape from kit to attach the _Pixhawk 4 Mini_ to the flight controller plate.
|
||||
|
||||
|
||||
10. Connect the power module's "power" cable to _Pixhawk 4 mini_.
|
||||
|
||||
|
||||
11. Attach the aluminium standoffs to the button plate
|
||||
|
||||
|
||||
12. Connect the Esc’s with the motors and hold. In this image shown the order of the motors and direction of the rotation.
|
||||
|
||||
|
||||
@@ -135,19 +146,24 @@ The following tools are used in this assembly:
|
||||
:::
|
||||
|
||||
|
||||
|
||||
13. Connect the signal ESC cables to the PWM outputs of the Pixhawk in the correct order (see previous image)
|
||||
|
||||
|
||||
|
||||
14. Connect the receiver.
|
||||
- If using a PPM receiver connect to the PPM port.
|
||||
|
||||
|
||||
|
||||
- If using the SBUS receiver connect to the RC IN port
|
||||
|
||||
|
||||
|
||||
15. Connect the telemetry module. Paste the module with double tape and connect on the port of the telemetry.
|
||||
|
||||
|
||||
|
||||
16. Connect the GPS module
|
||||
|
||||
|
||||
@@ -155,6 +171,7 @@ The following tools are used in this assembly:
|
||||
Attach the module on the top plate (using provided 3M tape, or paste). Then put the top plate on the standoffs as shown
|
||||
|
||||
|
||||
|
||||
17. The last "mandatory" assembly step is to add the velcro to hold the battery
|
||||
|
||||
|
||||
@@ -193,7 +210,7 @@ If you have to wire the system yourself, the diagram below shows all the connect
|
||||
## PX4 配置
|
||||
|
||||
_QGroundControl_ is used to install the PX4 autopilot and configure/tune it for the QAV250 frame.
|
||||
[Download and install](http://qgroundcontrol.com/downloads/) _QGroundControl_ for your platform.
|
||||
[Download and install](https://qgroundcontrol.com/downloads/) _QGroundControl_ for your platform.
|
||||
|
||||
:::tip
|
||||
Full instructions for installing and configuring PX4 can be found in [Basic Configuration](../config/index.md).
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user