mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-14 00:33:34 +08:00
Merge branch 'main' of github.com:PX4/PX4-Autopilot into pr-MCP23017
This commit is contained in:
Phil-Engljaehringer
@@ -27,6 +27,7 @@ CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM150=y
|
||||
CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
|
||||
CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_DRIVERS_OSD_MSP_OSD=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA228=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA238=y
|
||||
@@ -74,7 +75,7 @@ CONFIG_MODULES_RC_UPDATE=y
|
||||
CONFIG_MODULES_SENSORS=y
|
||||
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
|
||||
CONFIG_MODULES_UXRCE_DDS_CLIENT=y
|
||||
#CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
|
||||
@@ -25550,12 +25550,16 @@ Used below MPC_LAND_ALT3 if distance sensor data is availabe.
|
||||
|
||||
User assisted landing radius.
|
||||
|
||||
When nudging is enabled (see MPC_LAND_RC_HELP), this controls
|
||||
the maximum allowed horizontal displacement from the original landing point.
|
||||
When nudging is enabled (see MPC_LAND_RC_HELP), this defines the maximum
|
||||
allowed horizontal displacement from the original landing point.
|
||||
|
||||
- If inside of the radius, only allow nudging inputs that do not move the vehicle outside of it.
|
||||
- If outside of the radius, only allow nudging inputs that move the vehicle back towards it.
|
||||
Set it to -1 for infinite radius.
|
||||
|
||||
| Reboot | minValue | maxValue | increment | default | unit |
|
||||
| ------ | -------- | -------- | --------- | ------- | ---- |
|
||||
| | 0 | | 1 | 1000. | m |
|
||||
| | -1 | | 1 | -1.0 | m |
|
||||
|
||||
### MPC_LAND_RC_HELP (`INT32`) {#MPC_LAND_RC_HELP}
|
||||
|
||||
@@ -38833,6 +38837,14 @@ UAVCAN CAN bus bitrate.
|
||||
| ------ | -------- | -------- | --------- | ------- | ---- |
|
||||
| | 20000 | 1000000 | | 1000000 |
|
||||
|
||||
### CANNODE_NODE_ID (`INT32`) {#CANNODE_NODE_ID}
|
||||
|
||||
UAVCAN CAN node ID (0 for dynamic allocation).
|
||||
|
||||
| Reboot | minValue | maxValue | increment | default | unit |
|
||||
| ------ | -------- | -------- | --------- | ------- | ---- |
|
||||
| | 0 | 127 | | 0 |
|
||||
|
||||
### CANNODE_PUB_IMU (`INT32`) {#CANNODE_PUB_IMU}
|
||||
|
||||
Enable RawIMU pub.
|
||||
@@ -40859,13 +40871,15 @@ The encoder angle at which theta is zero. Adjust this number to change the locat
|
||||
|
||||
### ZENOH_ENABLE (`INT32`) {#ZENOH_ENABLE}
|
||||
|
||||
Zenoh Enable.
|
||||
Enable Zenoh.
|
||||
|
||||
Zenoh
|
||||
Set true (1) to start the Zenoh driver module (a.k.a the "Zenoh-Pico Node").
|
||||
See https://docs.px4.io/main/en/middleware/zenoh and
|
||||
https://docs.px4.io/main/en/modules/modules_driver.html#zenoh
|
||||
|
||||
| Reboot | minValue | maxValue | increment | default | unit |
|
||||
| ------- | -------- | -------- | --------- | ------- | ---- |
|
||||
| ✓ | | | | 0 |
|
||||
| Reboot | minValue | maxValue | increment | default | unit |
|
||||
| ------- | -------- | -------- | --------- | ------------ | ---- |
|
||||
| ✓ | | | | Disabled (0) |
|
||||
|
||||
## Miscellaneous
|
||||
|
||||
|
||||
@@ -98,8 +98,7 @@ The test steps are:
|
||||
|
||||
</div><div v-else-if="$frontmatter.frame === 'Plane'">
|
||||
|
||||
4. The drone will first start to perform quick roll motions followed by pitch and yaw motions. When [`FW_AT_SYSID_TYPE`](../advanced_config/parameter_reference.md#FW_AT_SYSID_TYPE) is set to linear/logarithmic sine sweep (recommended), the max rates are approximately 45 deg/s for roll and 30 deg/s for pitch and yaw.
|
||||
The progress is shown in the progress bar, next to the _Autotune_ button.
|
||||
4. The drone will first start to perform quick roll motions followed by pitch and yaw motions. When [`FW_AT_SYSID_TYPE`](../advanced_config/parameter_reference.md#FW_AT_SYSID_TYPE) is set to linear/logarithmic sine sweep (recommended), the max rates reached during the maneuvers are 75% of the maximum configured roll (`FW_R_RMAX`), pitch (`FW_P_RMAX_NEG`, `FW_P_RMAX_POS`) and yaw (`FW_Y_RMAX`) rates. The progress is shown in the progress bar, next to the _Autotune_ button.
|
||||
|
||||
</div>
|
||||
<div style="display: inline;" v-if="$frontmatter.frame === 'Multicopter'">
|
||||
@@ -194,7 +193,7 @@ Increase the [MC_AT_SYSID_AMP](../advanced_config/parameter_reference.md#MC_AT_S
|
||||
</div>
|
||||
<div v-else-if="$frontmatter.frame === 'Plane'">
|
||||
|
||||
By default, the autotune maneuvers ensure that a sufficient angular rate is reached for system identification. The target rates are approximately 45 deg/s for roll and 30 deg/s for pitch and yaw.
|
||||
By default, the autotune maneuvers ensure that a sufficient angular rate is reached for system identification, corresponding to 75% of the configured maximum roll (`FW_R_RMAX`), pitch (`FW_P_RMAX_NEG`, `FW_P_RMAX_POS`) and yaw (`FW_Y_RMAX`) rates.
|
||||
|
||||
If the signal-to-noise ratio of the vehicle is low, the system identification algorithm might have issues finding the correct coefficients. Ensure that there is no excessive noise and/or platform vibration.
|
||||
|
||||
|
||||
@@ -1,19 +1,24 @@
|
||||
# DifferentialPressure (UORB message)
|
||||
|
||||
Differential-pressure (airspeed) sensor
|
||||
|
||||
This is populated by airspeed sensor drivers and used by the sensor module to calculate airspeed.
|
||||
The information is published in the `SCALED_PRESSURE_n` MAVLink messages (along with information from a corresponding `SensorBaro` instance).
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DifferentialPressure.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
uint64 timestamp_sample
|
||||
# Differential-pressure (airspeed) sensor
|
||||
#
|
||||
# This is populated by airspeed sensor drivers and used by the sensor module to calculate airspeed.
|
||||
# The information is published in the `SCALED_PRESSURE_n` MAVLink messages (along with information from a corresponding `SensorBaro` instance).
|
||||
|
||||
uint32 device_id # unique device ID for the sensor that does not change between power cycles
|
||||
uint64 timestamp # [us] Time of publication (since system start)
|
||||
uint64 timestamp_sample # [us] Time of raw data capture
|
||||
|
||||
float32 differential_pressure_pa # differential pressure reading in Pascals (may be negative)
|
||||
|
||||
float32 temperature # Temperature provided by sensor in degrees Celsius, NAN if unknown
|
||||
|
||||
uint32 error_count # Number of errors detected by driver
|
||||
uint32 device_id # [-] Unique device ID for the sensor that does not change between power cycles
|
||||
float32 differential_pressure_pa # [Pa] Differential pressure reading (may be negative)
|
||||
float32 temperature # [degC] [@invalid NaN if unknown] Temperature
|
||||
uint32 error_count # [-] Number of errors detected by driver
|
||||
|
||||
```
|
||||
|
||||
@@ -1,20 +1,25 @@
|
||||
# SensorBaro (UORB message)
|
||||
|
||||
Barometer sensor
|
||||
|
||||
This is populated by barometer drivers and used by the EKF2 estimator.
|
||||
The information is published in the `SCALED_PRESSURE_n` MAVLink messages (along with information from a corresponding `DifferentialPressure` instance).
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorBaro.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
uint64 timestamp_sample
|
||||
# Barometer sensor
|
||||
#
|
||||
# This is populated by barometer drivers and used by the EKF2 estimator.
|
||||
# The information is published in the `SCALED_PRESSURE_n` MAVLink messages (along with information from a corresponding `DifferentialPressure` instance).
|
||||
|
||||
uint32 device_id # unique device ID for the sensor that does not change between power cycles
|
||||
uint64 timestamp # [us] Time of publication (since system start)
|
||||
uint64 timestamp_sample # [us] Time of raw data capture
|
||||
|
||||
float32 pressure # static pressure measurement in Pascals
|
||||
|
||||
float32 temperature # temperature in degrees Celsius
|
||||
|
||||
uint32 error_count
|
||||
uint32 device_id # [-] Unique device ID for the sensor that does not change between power cycles
|
||||
float32 pressure # [Pa] Static pressure measurement
|
||||
float32 temperature # [degC] Temperature.
|
||||
uint32 error_count # [-] Number of errors detected by driver.
|
||||
|
||||
uint8 ORB_QUEUE_LENGTH = 4
|
||||
|
||||
|
||||
@@ -20,20 +20,16 @@ uint8 ARMING_STATE_ARMED = 2
|
||||
|
||||
uint8 latest_arming_reason
|
||||
uint8 latest_disarming_reason
|
||||
uint8 ARM_DISARM_REASON_TRANSITION_TO_STANDBY = 0
|
||||
uint8 ARM_DISARM_REASON_STICK_GESTURE = 1
|
||||
uint8 ARM_DISARM_REASON_RC_SWITCH = 2
|
||||
uint8 ARM_DISARM_REASON_COMMAND_INTERNAL = 3
|
||||
uint8 ARM_DISARM_REASON_COMMAND_EXTERNAL = 4
|
||||
uint8 ARM_DISARM_REASON_MISSION_START = 5
|
||||
uint8 ARM_DISARM_REASON_SAFETY_BUTTON = 6
|
||||
uint8 ARM_DISARM_REASON_AUTO_DISARM_LAND = 7
|
||||
uint8 ARM_DISARM_REASON_AUTO_DISARM_PREFLIGHT = 8
|
||||
uint8 ARM_DISARM_REASON_KILL_SWITCH = 9
|
||||
uint8 ARM_DISARM_REASON_LOCKDOWN = 10
|
||||
uint8 ARM_DISARM_REASON_FAILURE_DETECTOR = 11
|
||||
uint8 ARM_DISARM_REASON_SHUTDOWN = 12
|
||||
uint8 ARM_DISARM_REASON_UNIT_TEST = 13
|
||||
uint8 ARM_DISARM_REASON_LANDING = 6
|
||||
uint8 ARM_DISARM_REASON_PREFLIGHT_INACTION = 7
|
||||
uint8 ARM_DISARM_REASON_KILL_SWITCH = 8
|
||||
uint8 ARM_DISARM_REASON_RC_BUTTON = 13
|
||||
uint8 ARM_DISARM_REASON_FAILSAFE = 14
|
||||
|
||||
uint64 nav_state_timestamp # time when current nav_state activated
|
||||
|
||||
|
||||
@@ -105,7 +105,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
|
||||
- [DebugKeyValue](DebugKeyValue.md)
|
||||
- [DebugValue](DebugValue.md)
|
||||
- [DebugVect](DebugVect.md)
|
||||
- [DifferentialPressure](DifferentialPressure.md)
|
||||
- [DifferentialPressure](DifferentialPressure.md) — Differential-pressure (airspeed) sensor
|
||||
- [DistanceSensor](DistanceSensor.md) — DISTANCE_SENSOR message data
|
||||
- [DistanceSensorModeChangeRequest](DistanceSensorModeChangeRequest.md)
|
||||
- [DronecanNodeStatus](DronecanNodeStatus.md)
|
||||
@@ -240,7 +240,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
|
||||
- [SensorAccel](SensorAccel.md)
|
||||
- [SensorAccelFifo](SensorAccelFifo.md)
|
||||
- [SensorAirflow](SensorAirflow.md)
|
||||
- [SensorBaro](SensorBaro.md)
|
||||
- [SensorBaro](SensorBaro.md) — Barometer sensor
|
||||
- [SensorCombined](SensorCombined.md) — Sensor readings in SI-unit form.
|
||||
These fields are scaled and offset-compensated where possible and do not
|
||||
change with board revisions and sensor updates.
|
||||
|
||||
@@ -187,6 +187,7 @@
|
||||
- [Radiolink PIX6](flight_controller/radiolink_pix6.md)
|
||||
- [Sky-Drones AIRLink](flight_controller/airlink.md)
|
||||
- [SPRacing SPRacingH7EXTREME](flight_controller/spracingh7extreme.md)
|
||||
- [SVehicle E2](flight_controller/svehicle_e2.md)
|
||||
- [ThePeach FCC-K1](flight_controller/thepeach_k1.md)
|
||||
- [ThePeach FCC-R1](flight_controller/thepeach_r1.md)
|
||||
- [Experimental Autopilots](flight_controller/autopilot_experimental.md)
|
||||
|
||||
@@ -102,8 +102,7 @@ The test steps are:
|
||||
|
||||
</div><div v-else-if="$frontmatter.frame === 'Plane'">
|
||||
|
||||
4. The drone will first start to perform quick roll motions followed by pitch and yaw motions. When [`FW_AT_SYSID_TYPE`](../advanced_config/parameter_reference.md#FW_AT_SYSID_TYPE) is set to linear/logarithmic sine sweep (recommended), the max rates are approximately 45 deg/s for roll and 30 deg/s for pitch and yaw.
|
||||
The progress is shown in the progress bar, next to the _Autotune_ button.
|
||||
4. The drone will first start to perform quick roll motions followed by pitch and yaw motions. When [`FW_AT_SYSID_TYPE`](../advanced_config/parameter_reference.md#FW_AT_SYSID_TYPE) is set to linear/logarithmic sine sweep (recommended), the max rates reached during the maneuvers are 75% of the maximum configured roll (`FW_R_RMAX`), pitch (`FW_P_RMAX_NEG`, `FW_P_RMAX_POS`) and yaw (`FW_Y_RMAX`) rates. The progress is shown in the progress bar, next to the _Autotune_ button.
|
||||
|
||||
</div>
|
||||
<div style="display: inline;" v-if="$frontmatter.frame === 'Multicopter'">
|
||||
@@ -198,7 +197,7 @@ Increase the [MC_AT_SYSID_AMP](../advanced_config/parameter_reference.md#MC_AT_S
|
||||
</div>
|
||||
<div v-else-if="$frontmatter.frame === 'Plane'">
|
||||
|
||||
By default, the autotune maneuvers ensure that a sufficient angular rate is reached for system identification. The target rates are approximately 45 deg/s for roll and 30 deg/s for pitch and yaw.
|
||||
By default, the autotune maneuvers ensure that a sufficient angular rate is reached for system identification, corresponding to 75% of the configured maximum roll (`FW_R_RMAX`), pitch (`FW_P_RMAX_NEG`, `FW_P_RMAX_POS`) and yaw (`FW_Y_RMAX`) rates.
|
||||
|
||||
If the signal-to-noise ratio of the vehicle is low, the system identification algorithm might have issues finding the correct coefficients. Ensure that there is no excessive noise and/or platform vibration.
|
||||
|
||||
|
||||
@@ -35,5 +35,6 @@ This category includes boards that are not fully compliant with the pixhawk stan
|
||||
- [Radiolink PIX6](../flight_controller/radiolink_pix6.md)
|
||||
- [Sky-Drones AIRLink](../flight_controller/airlink.md)
|
||||
- [SPRacing SPRacingH7EXTREME](../flight_controller/spracingh7extreme.md)
|
||||
- [Svehicle E2](../flight_controller/svehicle_e2.md)
|
||||
- [ThePeach FCC-K1](../flight_controller/thepeach_k1.md)
|
||||
- [ThePeach FCC-R1](../flight_controller/thepeach_r1.md)
|
||||
|
||||
@@ -0,0 +1,177 @@
|
||||
# S-Vehicle E2
|
||||
|
||||
:::warning
|
||||
PX4 does not manufacture this (or any) autopilot.
|
||||
:::
|
||||
|
||||
The _E2_ is an advanced autopilot manufactured by S-Vehicle<sup>®</sup>.
|
||||
|
||||
The autopilot is recommended for commercial system integration, but is also suitable for academic research and any other applications.
|
||||
It brings you ultimate performance, stability, and reliability in every aspect.
|
||||
|
||||
|
||||
|
||||
:::info
|
||||
이 비행 컨트롤러는 [제조업체에서 지원](../flight_controller/autopilot_manufacturer_supported.md)합니다.
|
||||
:::
|
||||
|
||||
### Processors & Sensors
|
||||
|
||||
- FMU Processor: STM32H753IIK6
|
||||
- 32 Bit Arm® Cortex®-M7, 480MHz, 2MB flash memory, 1MB RAM
|
||||
- IO Processor: STM32F103
|
||||
- 32 Bit Arm® Cortex®-M3, 72MHz, 20KB SRAM
|
||||
- 내장 센서 :
|
||||
- Accel/Gyro: BMI088
|
||||
- Accel/Gyro: ICM-42688-P
|
||||
- Accel/Gyro: ICM-20649
|
||||
- Mag: RM3100
|
||||
- Barometer: 2x ICP-20100
|
||||
|
||||
### 인터페이스
|
||||
|
||||
- 14x PWM Servo Outputs
|
||||
- 1x Dedicated R/C Input for Spektrum / DSM and S.Bus
|
||||
- 1x Analog/PWM RSSI Input
|
||||
- 2x TELEM Ports (with full flow control)
|
||||
- 1x UART4 Port
|
||||
- 2x GPS Ports
|
||||
- 1x Full GPS plus Safety Switch Port (GPS1)
|
||||
- 1x Basic GPS Port (with I2C, GPS2)
|
||||
- 1x USB Port (TYPE-C)
|
||||
- 1x Ethernet Port
|
||||
- Transformerless application
|
||||
- 100Mbps
|
||||
- 3x I2C Bus Ports
|
||||
- 1x SPI Bus
|
||||
- 1x Chip Select Line
|
||||
- 1x Data Ready Line
|
||||
- 1x SPI Reset Line
|
||||
- 2x CAN Ports
|
||||
- 3x Power Input Ports
|
||||
- ADC Power Input
|
||||
- I2C Power Input
|
||||
- DroneCAN/UAVCAN Power Input
|
||||
- 2x AD Ports
|
||||
- Analog Input (3.3V)
|
||||
- Analog Input (6.6V - not supported by PX4)
|
||||
- 1x Dedicated Debug Port
|
||||
- FMU Debug
|
||||
|
||||
## Purchase Channels
|
||||
|
||||
Order from [S-Vehicle](https://svehicle.cn/).
|
||||
|
||||
## 무선 조종
|
||||
|
||||
A Radio Control (RC) system is required if you want to manually control your vehicle (PX4 does not require a radio system for autonomous flight modes).
|
||||
|
||||
기체와 조종자가 통신하기 위하여 송신기와 수신기를 바인딩하여야 합니다.
|
||||
송신기와 수신기의 매뉴얼을 참고하십시오.
|
||||
|
||||
Spektrum/DSM receivers connect to the DSM/SBUS RC input.
|
||||
PPM or SBUS receivers connect to the RC IN input port.
|
||||
CRSF receiver must be wired to a spare port (UART) on the Flight Controller. Then you can bind the transmitter and receiver together.
|
||||
|
||||
## 시리얼 포트 매핑
|
||||
|
||||
| UART | 장치 | 포트 |
|
||||
| ------ | ---------- | -------- |
|
||||
| USART1 | /dev/ttyS0 | GPS |
|
||||
| USART2 | /dev/ttyS1 | TELEM3 |
|
||||
| USART3 | /dev/ttyS2 | 디버그 콘솔 |
|
||||
| UART4 | /dev/ttyS3 | UART4 |
|
||||
| UART5 | /dev/ttyS4 | TELEM2 |
|
||||
| USART6 | /dev/ttyS5 | PX4IO/RC |
|
||||
| UART7 | /dev/ttyS6 | TELEM1 |
|
||||
| UART8 | /dev/ttyS7 | GPS2 |
|
||||
|
||||
## PWM Output
|
||||
|
||||
The E2-Plus flight controller supports up to 14 PWM outputs.
|
||||
The first 8 outputs (labelled M1 to M8) are controlled by a dedicated STM32F103 IOMCU controller.
|
||||
The remaining 6 outputs (labelled 9 to 14) are the "auxiliary" outputs.
|
||||
These are directly attached to the STM32H753 FMU controller .
|
||||
|
||||
The 14 PWM outputs are:
|
||||
|
||||
M1 - M8 are connected to the IOMCU
|
||||
A1 - A6 are connected to the FMU
|
||||
|
||||
M1 - M8 support DShot and are in 3 groups:
|
||||
|
||||
- M1, M2 in group 1
|
||||
- M3, M4 in group 2
|
||||
- M5, M6, M7, M8 in group 3
|
||||
|
||||
The 6 FMU PWM outputs are in 2 groups:
|
||||
|
||||
A1 - A4 are in one group.
|
||||
A5, A6 are in a 2nd group.
|
||||
|
||||
Channels within the same group need to use the same output rate.
|
||||
If any channel in a group uses DShot then all channels in the group need to use DShot.
|
||||
|
||||
### Electrical data
|
||||
|
||||
- Voltage Ratings:
|
||||
- Max input voltage: 5.7V
|
||||
- USB Power Input: 4.75\~5.25V
|
||||
- Servo Rail Input: 0\~9.9V
|
||||
- Current Ratings:
|
||||
- TELEM1 and GPS2 combined output current limiter: 1.5A
|
||||
- All other port combined output current limiter: 1.5A
|
||||
|
||||
## Battery Monitoring
|
||||
|
||||
The board has connectors for 3 power monitors.
|
||||
|
||||
- POWER1 -- ADC
|
||||
- POWER2 -- DroneCAN
|
||||
- POWER3 -- I2C
|
||||
|
||||
The board is configure by default for a analog power monitor, and also has DroneCAN power monitor and I2C defaults configured which is enabled.
|
||||
|
||||
The default PDB included with the E2+ is analog and must be connected to `POWER1`.
|
||||
|
||||
## 펌웨어 빌드
|
||||
|
||||
To [build PX4](../dev_setup/building_px4.md) for this target, execute:
|
||||
|
||||
```sh
|
||||
make svehicle_e2_default
|
||||
```
|
||||
|
||||
## 디버그 포트
|
||||
|
||||
The [PX4 System Console](../debug/system_console.md) and [SWD Interface](../debug/swd_debug.md) operate on the **FMU Debug** port.
|
||||
|
||||
| 핀 | 신호 | 전압 |
|
||||
| ------------------------- | ------------------------------- | --------------------- |
|
||||
| 1(red) | 5V+ | +5V |
|
||||
| 2 (흑) | DEBUG TX(출력) | +3.3V |
|
||||
| 3 (흑) | DEBUG TX(입력) | +3.3V |
|
||||
| 4 (흑) | FMU_SWDIO | +3.3V |
|
||||
| 5 (흑) | FMU_SWCLK | +3.3V |
|
||||
| 6 (흑) | GND | GND |
|
||||
|
||||
For information about using this port see:
|
||||
|
||||
- [SWD Debug Port](../debug/swd_debug.md)
|
||||
- [PX4 System Console](../debug/system_console.md) (Note, the FMU console maps to USART3).
|
||||
- All ports use GH1.25 ,power ports use ports on E2 uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/en-us/products/part-detail/5024430670).
|
||||
|
||||
## 핀배열
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
## 지원 플랫폼 및 기체
|
||||
|
||||
Any multirotor/airplane/rover or boat that can be controlled using normal RC servos or Futaba S-Bus servos.
|
||||
The complete set of supported configurations can be found in the [Airframe Reference](../airframes/airframe_reference.md).
|
||||
@@ -187,6 +187,7 @@
|
||||
- [Radiolink PIX6](flight_controller/radiolink_pix6.md)
|
||||
- [Sky-Drones AIRLink](flight_controller/airlink.md)
|
||||
- [SPRacing SPRacingH7EXTREME](flight_controller/spracingh7extreme.md)
|
||||
- [SVehicle E2](flight_controller/svehicle_e2.md)
|
||||
- [ThePeach FCC-K1](flight_controller/thepeach_k1.md)
|
||||
- [ThePeach FCC-R1](flight_controller/thepeach_r1.md)
|
||||
- [Калібрування рівня горизонту](flight_controller/autopilot_experimental.md)
|
||||
|
||||
@@ -102,8 +102,7 @@ The RC sticks cannot be used during autotuning (moving the sticks will stop the
|
||||
|
||||
</div><div v-else-if="$frontmatter.frame === 'Plane'">
|
||||
|
||||
4. The drone will first start to perform quick roll motions followed by pitch and yaw motions. When [`FW_AT_SYSID_TYPE`](../advanced_config/parameter_reference.md#FW_AT_SYSID_TYPE) is set to linear/logarithmic sine sweep (recommended), the max rates are approximately 45 deg/s for roll and 30 deg/s for pitch and yaw.
|
||||
The progress is shown in the progress bar, next to the _Autotune_ button.
|
||||
4. The drone will first start to perform quick roll motions followed by pitch and yaw motions. When [`FW_AT_SYSID_TYPE`](../advanced_config/parameter_reference.md#FW_AT_SYSID_TYPE) is set to linear/logarithmic sine sweep (recommended), the max rates reached during the maneuvers are 75% of the maximum configured roll (`FW_R_RMAX`), pitch (`FW_P_RMAX_NEG`, `FW_P_RMAX_POS`) and yaw (`FW_Y_RMAX`) rates. The progress is shown in the progress bar, next to the _Autotune_ button.
|
||||
|
||||
</div>
|
||||
<div style="display: inline;" v-if="$frontmatter.frame === 'Multicopter'">
|
||||
@@ -198,7 +197,7 @@ Increase the [MC_AT_SYSID_AMP](../advanced_config/parameter_reference.md#MC_AT_S
|
||||
</div>
|
||||
<div v-else-if="$frontmatter.frame === 'Plane'">
|
||||
|
||||
By default, the autotune maneuvers ensure that a sufficient angular rate is reached for system identification. The target rates are approximately 45 deg/s for roll and 30 deg/s for pitch and yaw.
|
||||
By default, the autotune maneuvers ensure that a sufficient angular rate is reached for system identification, corresponding to 75% of the configured maximum roll (`FW_R_RMAX`), pitch (`FW_P_RMAX_NEG`, `FW_P_RMAX_POS`) and yaw (`FW_Y_RMAX`) rates.
|
||||
|
||||
If the signal-to-noise ratio of the vehicle is low, the system identification algorithm might have issues finding the correct coefficients. Ensure that there is no excessive noise and/or platform vibration.
|
||||
|
||||
|
||||
@@ -35,5 +35,6 @@ This category includes boards that are not fully compliant with the pixhawk stan
|
||||
- [Radiolink PIX6](../flight_controller/radiolink_pix6.md)
|
||||
- [Sky-Drones AIRLink](../flight_controller/airlink.md)
|
||||
- [SPRacing SPRacingH7EXTREME](../flight_controller/spracingh7extreme.md)
|
||||
- [Svehicle E2](../flight_controller/svehicle_e2.md)
|
||||
- [ThePeach FCC-K1](../flight_controller/thepeach_k1.md)
|
||||
- [ThePeach FCC-R1](../flight_controller/thepeach_r1.md)
|
||||
|
||||
@@ -0,0 +1,176 @@
|
||||
# S-Vehicle E2
|
||||
|
||||
:::warning
|
||||
PX4 не розробляє цей (або будь-який інший) автопілот.
|
||||
:::
|
||||
|
||||
The _E2_ is an advanced autopilot manufactured by S-Vehicle<sup>®</sup>.
|
||||
|
||||
The autopilot is recommended for commercial system integration, but is also suitable for academic research and any other applications.
|
||||
It brings you ultimate performance, stability, and reliability in every aspect.
|
||||
|
||||
|
||||
|
||||
:::info
|
||||
These flight controllers are [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
|
||||
:::
|
||||
|
||||
### Processors & Sensors
|
||||
|
||||
- FMU Processor: STM32H753IIK6
|
||||
- 32 Bit Arm® Cortex®-M7, 480MHz, 2MB flash memory, 1MB RAM
|
||||
- IO Processor: STM32F103
|
||||
- 32 Bit Arm® Cortex®-M3, 72MHz, 20KB SRAM
|
||||
- Сенсори на платі
|
||||
- Акселератор/гіроскоп: BMI088
|
||||
- Accel/Gyro: ICM-42688-P
|
||||
- Accel/Gyro: ICM-20649
|
||||
- Mag: RM3100
|
||||
- Барометр: 2x ICP-20100
|
||||
|
||||
### Інтерфейси
|
||||
|
||||
- 14x PWM Servo Outputs
|
||||
- 1x Dedicated R/C Input for Spektrum / DSM and S.Bus
|
||||
- 1x Analog/PWM RSSI Input
|
||||
- 2x TELEM Ports (with full flow control)
|
||||
- 1x UART4 Port
|
||||
- 2x GPS Ports
|
||||
- 1x Full GPS plus Safety Switch Port (GPS1)
|
||||
- 1x Basic GPS Port (with I2C, GPS2)
|
||||
- 1x USB Port (TYPE-C)
|
||||
- 1x Ethernet Port
|
||||
- Transformerless application
|
||||
- 100Mbps
|
||||
- 3x I2C Bus Ports
|
||||
- 1x SPI Bus
|
||||
- 1x Chip Select Line
|
||||
- 1x Data Ready Line
|
||||
- 1x SPI Reset Line
|
||||
- 2x CAN Ports
|
||||
- 3x Power Input Ports
|
||||
- ADC Power Input
|
||||
- I2C Power Input
|
||||
- DroneCAN/UAVCAN Power Input
|
||||
- 2x AD Ports
|
||||
- Analog Input (3.3V)
|
||||
- Analog Input (6.6V - not supported by PX4)
|
||||
- 1x Dedicated Debug Port
|
||||
- FMU Debug
|
||||
|
||||
## Purchase Channels
|
||||
|
||||
Order from [S-Vehicle](https://svehicle.cn/).
|
||||
|
||||
## Радіоуправління
|
||||
|
||||
A Radio Control (RC) system is required if you want to manually control your vehicle (PX4 does not require a radio system for autonomous flight modes).
|
||||
|
||||
Вам буде потрібно вибрати сумісний передавач/приймач та потім зв'язати їх, щоб вони взаємодіяли (прочитайте інструкції, що додаються до вашого конкретного передавача/приймача).
|
||||
|
||||
Spektrum/DSM receivers connect to the DSM/SBUS RC input.
|
||||
PPM or SBUS receivers connect to the RC IN input port.
|
||||
CRSF receiver must be wired to a spare port (UART) on the Flight Controller. Then you can bind the transmitter and receiver together.
|
||||
|
||||
## Налаштування послідовного порту
|
||||
|
||||
| UART | Пристрій | Порт |
|
||||
| ------ | ---------- | ------------- |
|
||||
| USART1 | /dev/ttyS0 | GPS |
|
||||
| USART2 | /dev/ttyS1 | TELEM3 |
|
||||
| USART3 | /dev/ttyS2 | Debug Console |
|
||||
| UART4 | /dev/ttyS3 | UART4 |
|
||||
| UART5 | /dev/ttyS4 | TELEM2 |
|
||||
| USART6 | /dev/ttyS5 | PX4IO/RC |
|
||||
| UART7 | /dev/ttyS6 | TELEM1 |
|
||||
| UART8 | /dev/ttyS7 | GPS2 |
|
||||
|
||||
## PWM Output
|
||||
|
||||
The E2-Plus flight controller supports up to 14 PWM outputs.
|
||||
The first 8 outputs (labelled M1 to M8) are controlled by a dedicated STM32F103 IOMCU controller.
|
||||
The remaining 6 outputs (labelled 9 to 14) are the "auxiliary" outputs.
|
||||
These are directly attached to the STM32H753 FMU controller .
|
||||
|
||||
The 14 PWM outputs are:
|
||||
|
||||
M1 - M8 are connected to the IOMCU
|
||||
A1 - A6 are connected to the FMU
|
||||
|
||||
M1 - M8 support DShot and are in 3 groups:
|
||||
|
||||
- M1, M2 in group 1
|
||||
- M3, M4 in group 2
|
||||
- M5, M6, M7, M8 in group 3
|
||||
|
||||
The 6 FMU PWM outputs are in 2 groups:
|
||||
|
||||
A1 - A4 are in one group.
|
||||
A5, A6 are in a 2nd group.
|
||||
|
||||
Channels within the same group need to use the same output rate.
|
||||
If any channel in a group uses DShot then all channels in the group need to use DShot.
|
||||
|
||||
### Електричні дані
|
||||
|
||||
- Номінальна напруга:
|
||||
- Максимальна вхідна напруга: 5,7 В
|
||||
- Вхід USB Power: 4.75~5.25V
|
||||
- Вхід на серворейку: 0\~9.9В
|
||||
- Номінальний струм:
|
||||
- Комбінований обмежувач вихідного струму TELEM1 і GPS2: 1,5 А
|
||||
- Комбінований обмежувач вихідного струму всіх інших портів: 1.5A
|
||||
|
||||
## Battery Monitoring
|
||||
|
||||
The board has connectors for 3 power monitors.
|
||||
|
||||
- POWER1 -- ADC
|
||||
- POWER2 -- DroneCAN
|
||||
- POWER3 -- I2C
|
||||
|
||||
The board is configure by default for a analog power monitor, and also has DroneCAN power monitor and I2C defaults configured which is enabled.
|
||||
|
||||
The default PDB included with the E2+ is analog and must be connected to `POWER1`.
|
||||
|
||||
## Збірка прошивки
|
||||
|
||||
To [build PX4](../dev_setup/building_px4.md) for this target, execute:
|
||||
|
||||
```sh
|
||||
make svehicle_e2_default
|
||||
```
|
||||
|
||||
## Відладочний порт
|
||||
|
||||
The [PX4 System Console](../debug/system_console.md) and [SWD Interface](../debug/swd_debug.md) operate on the **FMU Debug** port.
|
||||
|
||||
| Pin | Сигнал | Вольтаж |
|
||||
| -------------------------- | --------------------------------- | --------------------- |
|
||||
| 1 (red) | 5V+ | +5V |
|
||||
| 2 (blk) | DEBUG TX (OUT) | +3.3V |
|
||||
| 3 (blk) | DEBUG RX (IN) | +3.3V |
|
||||
| 4 (blk) | FMU_SWDIO | +3.3V |
|
||||
| 5 (blk) | FMU_SWCLK | +3.3V |
|
||||
| 6 (blk) | GND | GND |
|
||||
|
||||
Інформацію про використання цього порту див:
|
||||
|
||||
- [SWD Debug Port](../debug/swd_debug.md)
|
||||
- [PX4 System Console](../debug/system_console.md) (Note, the FMU console maps to USART3).
|
||||
- All ports use GH1.25 ,power ports use ports on E2 uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/en-us/products/part-detail/5024430670).
|
||||
|
||||
## Схема розташування виводів
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
## Підтримувані платформи / Конструкції
|
||||
|
||||
Any multirotor/airplane/rover or boat that can be controlled using normal RC servos or Futaba S-Bus servos.
|
||||
The complete set of supported configurations can be found in the [Airframe Reference](../airframes/airframe_reference.md).
|
||||
@@ -187,6 +187,7 @@
|
||||
- [Radiolink PIX6](flight_controller/radiolink_pix6.md)
|
||||
- [Sky-Drones AIRLink](flight_controller/airlink.md)
|
||||
- [SPRacing SPRacingH7EXTREME](flight_controller/spracingh7extreme.md)
|
||||
- [SVehicle E2](flight_controller/svehicle_e2.md)
|
||||
- [ThePeach FCC-K1](flight_controller/thepeach_k1.md)
|
||||
- [ThePeach FCC-R1](flight_controller/thepeach_r1.md)
|
||||
- [Experimental Autopilots](flight_controller/autopilot_experimental.md)
|
||||
|
||||
@@ -102,8 +102,7 @@ The test steps are:
|
||||
|
||||
</div><div v-else-if="$frontmatter.frame === 'Plane'">
|
||||
|
||||
4. The drone will first start to perform quick roll motions followed by pitch and yaw motions. When [`FW_AT_SYSID_TYPE`](../advanced_config/parameter_reference.md#FW_AT_SYSID_TYPE) is set to linear/logarithmic sine sweep (recommended), the max rates are approximately 45 deg/s for roll and 30 deg/s for pitch and yaw.
|
||||
The progress is shown in the progress bar, next to the _Autotune_ button.
|
||||
4. The drone will first start to perform quick roll motions followed by pitch and yaw motions. When [`FW_AT_SYSID_TYPE`](../advanced_config/parameter_reference.md#FW_AT_SYSID_TYPE) is set to linear/logarithmic sine sweep (recommended), the max rates reached during the maneuvers are 75% of the maximum configured roll (`FW_R_RMAX`), pitch (`FW_P_RMAX_NEG`, `FW_P_RMAX_POS`) and yaw (`FW_Y_RMAX`) rates. The progress is shown in the progress bar, next to the _Autotune_ button.
|
||||
|
||||
</div>
|
||||
<div style="display: inline;" v-if="$frontmatter.frame === 'Multicopter'">
|
||||
@@ -198,7 +197,7 @@ Increase the [MC_AT_SYSID_AMP](../advanced_config/parameter_reference.md#MC_AT_S
|
||||
</div>
|
||||
<div v-else-if="$frontmatter.frame === 'Plane'">
|
||||
|
||||
By default, the autotune maneuvers ensure that a sufficient angular rate is reached for system identification. The target rates are approximately 45 deg/s for roll and 30 deg/s for pitch and yaw.
|
||||
By default, the autotune maneuvers ensure that a sufficient angular rate is reached for system identification, corresponding to 75% of the configured maximum roll (`FW_R_RMAX`), pitch (`FW_P_RMAX_NEG`, `FW_P_RMAX_POS`) and yaw (`FW_Y_RMAX`) rates.
|
||||
|
||||
If the signal-to-noise ratio of the vehicle is low, the system identification algorithm might have issues finding the correct coefficients. Ensure that there is no excessive noise and/or platform vibration.
|
||||
|
||||
|
||||
@@ -35,5 +35,6 @@ The boards in this category are:
|
||||
- [Radiolink PIX6](../flight_controller/radiolink_pix6.md)
|
||||
- [Sky-Drones AIRLink](../flight_controller/airlink.md)
|
||||
- [SPRacing SPRacingH7EXTREME](../flight_controller/spracingh7extreme.md)
|
||||
- [Svehicle E2](../flight_controller/svehicle_e2.md)
|
||||
- [ThePeach FCC-K1](../flight_controller/thepeach_k1.md)
|
||||
- [ThePeach FCC-R1](../flight_controller/thepeach_r1.md)
|
||||
|
||||
@@ -0,0 +1,176 @@
|
||||
# S-Vehicle E2
|
||||
|
||||
:::warning
|
||||
PX4 does not manufacture this (or any) autopilot.
|
||||
:::
|
||||
|
||||
The _E2_ is an advanced autopilot manufactured by S-Vehicle<sup>®</sup>.
|
||||
|
||||
The autopilot is recommended for commercial system integration, but is also suitable for academic research and any other applications.
|
||||
It brings you ultimate performance, stability, and reliability in every aspect.
|
||||
|
||||
|
||||
|
||||
:::info
|
||||
These flight controllers are [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
|
||||
:::
|
||||
|
||||
### Processors & Sensors
|
||||
|
||||
- FMU Processor: STM32H753IIK6
|
||||
- 32 Bit Arm® Cortex®-M7, 480MHz, 2MB flash memory, 1MB RAM
|
||||
- IO Processor: STM32F103
|
||||
- 32 Bit Arm® Cortex®-M3, 72MHz, 20KB SRAM
|
||||
- On-board sensors
|
||||
- Accel/Gyro: BMI088
|
||||
- Accel/Gyro: ICM-42688-P
|
||||
- Accel/Gyro: ICM-20649
|
||||
- Mag: RM3100
|
||||
- Barometer: 2x ICP-20100
|
||||
|
||||
### 接口
|
||||
|
||||
- 14x PWM Servo Outputs
|
||||
- 1x Dedicated R/C Input for Spektrum / DSM and S.Bus
|
||||
- 1x Analog/PWM RSSI Input
|
||||
- 2x TELEM Ports (with full flow control)
|
||||
- 1x UART4 Port
|
||||
- 2x GPS Ports
|
||||
- 1x Full GPS plus Safety Switch Port (GPS1)
|
||||
- 1x Basic GPS Port (with I2C, GPS2)
|
||||
- 1x USB Port (TYPE-C)
|
||||
- 1x Ethernet Port
|
||||
- Transformerless application
|
||||
- 100Mbps
|
||||
- 3x I2C Bus Ports
|
||||
- 1x SPI Bus
|
||||
- 1x Chip Select Line
|
||||
- 1x Data Ready Line
|
||||
- 1x SPI Reset Line
|
||||
- 2x CAN Ports
|
||||
- 3x Power Input Ports
|
||||
- ADC Power Input
|
||||
- I2C Power Input
|
||||
- DroneCAN/UAVCAN Power Input
|
||||
- 2x AD Ports
|
||||
- Analog Input (3.3V)
|
||||
- Analog Input (6.6V - not supported by PX4)
|
||||
- 1x Dedicated Debug Port
|
||||
- FMU Debug
|
||||
|
||||
## Purchase Channels
|
||||
|
||||
Order from [S-Vehicle](https://svehicle.cn/).
|
||||
|
||||
## 遥控器
|
||||
|
||||
A Radio Control (RC) system is required if you want to manually control your vehicle (PX4 does not require a radio system for autonomous flight modes).
|
||||
|
||||
将 <em>HW\\u PM</em> 模块的6针连接器连接到飞控的<code>电源</code>接口。
|
||||
|
||||
Spektrum/DSM receivers connect to the DSM/SBUS RC input.
|
||||
PPM or SBUS receivers connect to the RC IN input port.
|
||||
CRSF receiver must be wired to a spare port (UART) on the Flight Controller. Then you can bind the transmitter and receiver together.
|
||||
|
||||
## 串口映射
|
||||
|
||||
| UART | 设备 | Port |
|
||||
| ------ | ---------- | ------------- |
|
||||
| USART1 | /dev/ttyS0 | GPS |
|
||||
| USART2 | /dev/ttyS1 | TELEM3 |
|
||||
| USART3 | /dev/ttyS2 | Debug Console |
|
||||
| UART4 | /dev/ttyS3 | UART4 |
|
||||
| UART5 | /dev/ttyS4 | TELEM2 |
|
||||
| USART6 | /dev/ttyS5 | PX4IO/RC |
|
||||
| UART7 | /dev/ttyS6 | TELEM1 |
|
||||
| UART8 | /dev/ttyS7 | GPS2 |
|
||||
|
||||
## PWM Output
|
||||
|
||||
The E2-Plus flight controller supports up to 14 PWM outputs.
|
||||
The first 8 outputs (labelled M1 to M8) are controlled by a dedicated STM32F103 IOMCU controller.
|
||||
The remaining 6 outputs (labelled 9 to 14) are the "auxiliary" outputs.
|
||||
These are directly attached to the STM32H753 FMU controller .
|
||||
|
||||
The 14 PWM outputs are:
|
||||
|
||||
M1 - M8 are connected to the IOMCU
|
||||
A1 - A6 are connected to the FMU
|
||||
|
||||
M1 - M8 support DShot and are in 3 groups:
|
||||
|
||||
- M1, M2 in group 1
|
||||
- M3, M4 in group 2
|
||||
- M5, M6, M7, M8 in group 3
|
||||
|
||||
The 6 FMU PWM outputs are in 2 groups:
|
||||
|
||||
A1 - A4 are in one group.
|
||||
A5, A6 are in a 2nd group.
|
||||
|
||||
Channels within the same group need to use the same output rate.
|
||||
If any channel in a group uses DShot then all channels in the group need to use DShot.
|
||||
|
||||
### Electrical data
|
||||
|
||||
- Voltage Ratings:
|
||||
- Max input voltage: 5.7V
|
||||
- USB Power Input: 4.75\~5.25V
|
||||
- Servo Rail Input: 0\~9.9V
|
||||
- Current Ratings:
|
||||
- TELEM1 and GPS2 combined output current limiter: 1.5A
|
||||
- All other port combined output current limiter: 1.5A
|
||||
|
||||
## Battery Monitoring
|
||||
|
||||
The board has connectors for 3 power monitors.
|
||||
|
||||
- POWER1 -- ADC
|
||||
- POWER2 -- DroneCAN
|
||||
- POWER3 -- I2C
|
||||
|
||||
The board is configure by default for a analog power monitor, and also has DroneCAN power monitor and I2C defaults configured which is enabled.
|
||||
|
||||
The default PDB included with the E2+ is analog and must be connected to `POWER1`.
|
||||
|
||||
## 编译固件
|
||||
|
||||
To [build PX4](../dev_setup/building_px4.md) for this target, execute:
|
||||
|
||||
```sh
|
||||
make svehicle_e2_default
|
||||
```
|
||||
|
||||
## 调试接口
|
||||
|
||||
The [PX4 System Console](../debug/system_console.md) and [SWD Interface](../debug/swd_debug.md) operate on the **FMU Debug** port.
|
||||
|
||||
| 针脚 | 信号 | 电压 |
|
||||
| ---- | --------------------------------- | --------------------- |
|
||||
| 1（红） | 5V+ | +5V |
|
||||
| 2 | DEBUG TX (OUT) | +3.3V |
|
||||
| 3 | DEBUG RX (IN) | +3.3V |
|
||||
| 4（黑） | FMU_SWDIO | +3.3V |
|
||||
| 6 | FMU_SWCLK | +3.3V |
|
||||
| 6 | GND | GND |
|
||||
|
||||
For information about using this port see:
|
||||
|
||||
- [SWD Debug Port](../debug/swd_debug.md)
|
||||
- [PX4 System Console](../debug/system_console.md) (Note, the FMU console maps to USART3).
|
||||
- All ports use GH1.25 ,power ports use ports on E2 uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/en-us/products/part-detail/5024430670).
|
||||
|
||||
## 针脚定义
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
## 支持的平台/机身
|
||||
|
||||
Any multirotor/airplane/rover or boat that can be controlled using normal RC servos or Futaba S-Bus servos.
|
||||
The complete set of supported configurations can be found in the [Airframe Reference](../airframes/airframe_reference.md).
|
||||
@@ -590,13 +590,13 @@ int BMM350::ReadOutRawData(float *out_data)
|
||||
return -1;
|
||||
}
|
||||
|
||||
float temp = 0.0;
|
||||
struct BMM350::raw_mag_data raw_data = {0};
|
||||
|
||||
// --- Start read_uncomp_mag_temp_data
|
||||
uint8_t mag_data[14] = {0};
|
||||
|
||||
uint32_t raw_mag_x, raw_mag_y, raw_mag_z, raw_temp;
|
||||
|
||||
uint8_t cmd = static_cast<uint8_t>(Register::DATAX_XLSB);
|
||||
|
||||
uint8_t res = transfer(&cmd, 1, (uint8_t *)&mag_data, sizeof(mag_data));
|
||||
@@ -623,17 +623,7 @@ int BMM350::ReadOutRawData(float *out_data)
|
||||
out_data[3] = (float)raw_data.raw_t * lsb_to_utc_degc[3];
|
||||
|
||||
// Adjust temperature
|
||||
if (out_data[3] > 0.0f) {
|
||||
temp = (float)(out_data[3] - (1 * 25.49f));
|
||||
|
||||
} else if (out_data[3] < 0.0f) {
|
||||
temp = (float)(out_data[3] - (-1 * 25.49f));
|
||||
|
||||
} else {
|
||||
temp = (float)(out_data[3]);
|
||||
}
|
||||
|
||||
out_data[3] = temp;
|
||||
out_data[3] = (float)(out_data[3] - (1 * 25.49f));
|
||||
|
||||
return res;
|
||||
}
|
||||
|
||||
@@ -345,7 +345,7 @@ void FwAutotuneAttitudeControl::updateStateMachine(hrt_abstime now)
|
||||
}
|
||||
|
||||
const float abs_roll_rate = fabsf(_angular_velocity(0));
|
||||
const float target = min(kTargetRollRate, math::radians(_param_fw_r_rmax.get()));
|
||||
const float target = 0.75f * math::radians(_param_fw_r_rmax.get());
|
||||
|
||||
updateAmplitudeDetectionState(now, abs_roll_rate, target);
|
||||
|
||||
@@ -396,7 +396,7 @@ void FwAutotuneAttitudeControl::updateStateMachine(hrt_abstime now)
|
||||
|
||||
const float abs_pitch_rate = fabsf(_angular_velocity(1));
|
||||
const float max_pitch_rate = min(_param_fw_p_rmax_pos.get(), _param_fw_p_rmax_neg.get());
|
||||
const float target = min(kTargetPitchRate, math::radians(max_pitch_rate));
|
||||
const float target = 0.75f * math::radians(max_pitch_rate);
|
||||
|
||||
updateAmplitudeDetectionState(now, abs_pitch_rate, target);
|
||||
|
||||
@@ -444,7 +444,7 @@ void FwAutotuneAttitudeControl::updateStateMachine(hrt_abstime now)
|
||||
}
|
||||
|
||||
const float abs_yaw_rate = fabsf(_angular_velocity(2));
|
||||
const float target = min(kTargetYawRate, math::radians(_param_fw_y_rmax.get()));
|
||||
const float target = 0.75f * math::radians(_param_fw_y_rmax.get());
|
||||
|
||||
updateAmplitudeDetectionState(now, abs_yaw_rate, target);
|
||||
|
||||
@@ -548,16 +548,47 @@ void FwAutotuneAttitudeControl::updateStateMachine(hrt_abstime now)
|
||||
}
|
||||
|
||||
// In case of convergence timeout
|
||||
// the identification sequence is aborted immediately
|
||||
// the identification sequence is aborted and the FSM moves on to the next axis
|
||||
if (_state != state::wait_for_disarm && _state != state::idle && _state != state::fail && _state != state::complete) {
|
||||
if (now - _state_start_time > 20_s
|
||||
|| (_param_fw_at_man_aux.get() && !_aux_switch_en)
|
||||
|| _start_flight_mode != _nav_state) {
|
||||
orb_advert_t mavlink_log_pub = nullptr;
|
||||
|
||||
const bool timeout = (now - _state_start_time) > 30_s;
|
||||
const bool mode_changed = (_start_flight_mode != _nav_state);
|
||||
const bool aux_switched_off = (_param_fw_at_man_aux.get() && !_aux_switch_en);
|
||||
|
||||
orb_advert_t mavlink_log_pub = nullptr;
|
||||
|
||||
if (mode_changed || aux_switched_off) {
|
||||
// Abort
|
||||
mavlink_log_critical(&mavlink_log_pub, "Autotune aborted before finishing");
|
||||
_state = state::fail;
|
||||
_state_start_time = now;
|
||||
|
||||
} else if (timeout) {
|
||||
// Skip to next axis
|
||||
mavlink_log_critical(&mavlink_log_pub, "Autotune axis timeout, skipping to next axis");
|
||||
|
||||
switch (_state) {
|
||||
case state::roll_amp_detection:
|
||||
case state::roll:
|
||||
_state = state::roll_pause; // proceed to pitch
|
||||
break;
|
||||
|
||||
case state::pitch_amp_detection:
|
||||
case state::pitch:
|
||||
_state = state::pitch_pause; // proceed to yaw
|
||||
break;
|
||||
|
||||
case state::yaw_amp_detection:
|
||||
case state::yaw:
|
||||
_state = state::yaw_pause; // proceed to verification
|
||||
break;
|
||||
|
||||
default:
|
||||
_state = state::fail; // safety fallback
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
_state_start_time = now;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@@ -172,16 +172,6 @@ private:
|
||||
static constexpr float kSignalAmpMax{5.0f};
|
||||
static constexpr float kSignalAmpStep{0.1f};
|
||||
|
||||
// Target maximum angular rates for the system identification signal.
|
||||
// ~45 deg/s for roll, ~30 deg/s for pitch and yaw. These values are:
|
||||
// - High enough to provide good signal-to-noise ratio for identification.
|
||||
// - Low enough to keep pitch and yaw responses within the linear range
|
||||
// for most vehicles.
|
||||
|
||||
static constexpr float kTargetRollRate{0.8f};
|
||||
static constexpr float kTargetPitchRate{0.5f};
|
||||
static constexpr float kTargetYawRate{0.5f};
|
||||
|
||||
matrix::Vector3f _angular_velocity{};
|
||||
|
||||
bool _armed{false};
|
||||
@@ -253,6 +243,6 @@ private:
|
||||
(ParamInt<px4::params::FW_AT_SYSID_TYPE>) _param_fw_sysid_signal_type
|
||||
)
|
||||
|
||||
static constexpr float _publishing_dt_s = 100e-3f;
|
||||
static constexpr hrt_abstime _publishing_dt_hrt = 100_ms;
|
||||
static constexpr float _publishing_dt_s = 20e-3f;
|
||||
static constexpr hrt_abstime _publishing_dt_hrt = 20_ms;
|
||||
};
|
||||
|
||||
Submodule src/modules/mavlink/mavlink updated: 342530b83c...b401fe0238
@@ -1746,7 +1746,6 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
|
||||
configure_stream_local("DISTANCE_SENSOR", 10.0f);
|
||||
configure_stream_local("MOUNT_ORIENTATION", 10.0f);
|
||||
configure_stream_local("OBSTACLE_DISTANCE", 10.0f);
|
||||
configure_stream_local("ODOMETRY", 30.0f);
|
||||
configure_stream_local("GIMBAL_DEVICE_ATTITUDE_STATUS", 1.0f);
|
||||
configure_stream_local("GIMBAL_MANAGER_STATUS", 0.5f);
|
||||
configure_stream_local("GIMBAL_DEVICE_SET_ATTITUDE", 5.0f);
|
||||
|
||||
@@ -37,10 +37,11 @@ else()
|
||||
find_package(gz-transport NAMES gz-transport13)
|
||||
endif()
|
||||
|
||||
file(GLOB gz_worlds ${PX4_SOURCE_DIR}/Tools/simulation/gz/worlds/*.sdf)
|
||||
file(GLOB gz_airframes ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d-posix/airframes/*_gz_*)
|
||||
|
||||
if (gz-transport_FOUND)
|
||||
px4_add_git_submodule(TARGET git_gz PATH "${PX4_SOURCE_DIR}/Tools/simulation/gz")
|
||||
|
||||
file(GLOB gz_worlds ${PX4_SOURCE_DIR}/Tools/simulation/gz/worlds/*.sdf)
|
||||
file(GLOB gz_airframes ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d-posix/airframes/*_gz_*)
|
||||
if (gz-transport_VERSION VERSION_LESS "15")
|
||||
set(GZ_TRANSPORT_TARGET "gz-transport${gz-transport_VERSION_MAJOR}::core")
|
||||
else()
|
||||
@@ -78,7 +79,6 @@ if (gz-transport_FOUND)
|
||||
target_include_directories(modules__simulation__gz_bridge PUBLIC px4_gz_msgs)
|
||||
target_link_libraries(modules__simulation__gz_bridge PUBLIC px4_gz_msgs)
|
||||
|
||||
px4_add_git_submodule(TARGET git_gz PATH "${PX4_SOURCE_DIR}/Tools/simulation/gz")
|
||||
include(ExternalProject)
|
||||
ExternalProject_Add(gz
|
||||
SOURCE_DIR ${PX4_SOURCE_DIR}/Tools/simulation/gz
|
||||
|
||||
@@ -39,7 +39,11 @@
|
||||
#include <future>
|
||||
#include <vector>
|
||||
|
||||
|
||||
#include <mavsdk/plugins/mavlink_passthrough/mavlink_passthrough.h>
|
||||
|
||||
// Fix build until this is moved to common.xml
|
||||
#define MAVLINK_WIP
|
||||
#include <mavlink/development/mavlink_msg_figure_eight_execution_status.h>
|
||||
|
||||
using namespace mavsdk::geometry;
|
||||
|
||||
Reference in New Issue
Block a user