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New Crowdin translations - zh-CN (#24563)
Co-authored-by: Crowdin Bot <support+bot@crowdin.com>
This commit is contained in:
PX4 Build Bot
@@ -10,4 +10,4 @@
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## See Also
|
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- [外设](../peripherals/index.md) - 包括非核心执行器，如夹具， 降落伞等。
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- [外设](../peripherals/index.md) - 包括非核心执行器，如夹具， 降落伞等。
|
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@@ -129,7 +129,7 @@ The on-screen gimbal control can be used to move/test a connected MAVLink camera
|
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|
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2. Open QGroundControl and enable the on-screen camera control (Application settings).
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|
||||
|
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|
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|
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3. Make sure the vehicle is armed and flying, e.g. by entering with `commander takeoff`.
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|
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@@ -128,21 +128,21 @@ You add some "boilerplate" code to regularly listen for changes in the [uORB Top
|
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|
||||
- **px4_platform_common/module_params.h** to get the `DEFINE_PARAMETERS` macro:
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```cpp
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#include <px4_platform_common/module_params.h>
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```
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```cpp
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#include <px4_platform_common/module_params.h>
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```
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|
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- **parameter_update.h** to access the uORB `parameter_update` message:
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```cpp
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#include <uORB/topics/parameter_update.h>
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```
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```cpp
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#include <uORB/topics/parameter_update.h>
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```
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- **Subscription.hpp** for the uORB C++ subscription API:
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```cpp
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#include <uORB/Subscription.hpp>
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```
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```cpp
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#include <uORB/Subscription.hpp>
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```
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Derive your class from `ModuleParams`, and use `DEFINE_PARAMETERS` to specify a list of parameters and their associated parameter attributes.
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参数的名称必须与其参数元数据定义相同。
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@@ -194,7 +194,7 @@ void Module::parameters_update()
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- `_parameter_update_sub.updated()` tells us if there is _any_ update to the `param_update` uORB message (but not what parameter is affected).
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- If there has been "some" parameter updated, we copy the update into a `parameter_update_s` (`param_update`), to clear the pending update.
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- Then we call `ModuleParams::updateParams()`.
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This "under the hood" updates all parameter attributes listed in our `DEFINE_PARAMETERS` list.
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This "under the hood" updates all parameter attributes listed in our `DEFINE_PARAMETERS` list.
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The parameter attributes (`_sys_autostart` and `_att_bias_max` in this case) can then be used to represent the parameters, and will be updated whenever the parameter value changes.
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@@ -267,12 +267,12 @@ YAML meta data is intended as a full replacement for the **.c** definitions.
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- An example of YAML definitions being used can be found in the MAVLink parameter definitions: [/src/modules/mavlink/module.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mavlink/module.yaml).
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- 通过添加到 cmake 构建系统中注册一个 YAML 文件
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```cmake
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MODULE_CONFIG
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module.yaml
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```
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```cmake
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MODULE_CONFIG
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module.yaml
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```
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to the `px4_add_module` section of the `CMakeLists.txt` file of that module.
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to the `px4_add_module` section of the `CMakeLists.txt` file of that module.
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#### 多实例（模块化）YAML 元数据
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|
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@@ -52,7 +52,7 @@ On Windows, one option is to use _Melody Master_ within _Dosbox_.
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7. 当您准备好时保存音乐：
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- Press **F2** to give the tune a name and save it in the _/Music_ sub folder of your Melody Master installation.
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- Press **F7**, the scroll down the list of output formats on the right to get to ANSI.
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The file will be exported to the _root_ of the Melody Master directory (with the same name and a file-type specific extension).
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The file will be exported to the _root_ of the Melody Master directory (with the same name and a file-type specific extension).
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8. 打开文件。
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输出可能看起来像这样：
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@@ -23,7 +23,7 @@ You can locate the parameters in QGroundControl as shown below:
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1. Open QGroundControl menu: **Settings > Parameters > Sensor Calibration**.
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2. The parameters as located in the section as shown below (or you can search for them):
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## Parameter Summary
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@@ -52,80 +52,80 @@ The following steps explain how you can "manually" update the bootloader using a
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1. Get a binary containing the bootloader (either from dev team or [build it yourself](#building-the-px4-bootloader)).
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2. Get a [Debug Probe](../debug/swd_debug.md#debug-probes-for-px4-hardware).
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Connect the probe your PC via USB and setup the `gdbserver`.
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Connect the probe your PC via USB and setup the `gdbserver`.
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3. Go into the directory containing the binary and run the command for your target bootloader in the terminal:
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- FMUv6X
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- FMUv6X
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```sh
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arm-none-eabi-gdb px4_fmu-v6x_bootloader.elf
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```
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```sh
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arm-none-eabi-gdb px4_fmu-v6x_bootloader.elf
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```
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- FMUv6X-RT
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- FMUv6X-RT
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```sh
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arm-none-eabi-gdb px4_fmu-v6xrt_bootloader.elf
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```
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```sh
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arm-none-eabi-gdb px4_fmu-v6xrt_bootloader.elf
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```
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- FMUv5
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- FMUv5
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```sh
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```
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```sh
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```
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::: info
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H7 Bootloaders from [PX4/PX4-Autopilot](https://github.com/PX4/PX4-Autopilot) are named with pattern `*._bootloader.elf`.
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Bootloaders from [PX4/PX4-Bootloader](https://github.com/PX4/PX4-Bootloader) are named with the pattern `*_bl.elf`.
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::: info
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H7 Bootloaders from [PX4/PX4-Autopilot](https://github.com/PX4/PX4-Autopilot) are named with pattern `*._bootloader.elf`.
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Bootloaders from [PX4/PX4-Bootloader](https://github.com/PX4/PX4-Bootloader) are named with the pattern `*_bl.elf`.
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:::
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4. The _gdb terminal_ appears and it should display 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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Copyright (C) 2017 Free Software Foundation, Inc.
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License GPLv3+: GNU GPL version 3 or later <http://gnu.org/licenses/gpl.html>
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This is free software: you are free to change and redistribute it.
|
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There is NO WARRANTY, to the extent permitted by law.
|
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Type "show copying" and "show warranty" for details.
|
||||
This GDB was configured as "--host=x86_64-linux-gnu --target=arm-none-eabi".
|
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Type "show configuration" for configuration details.
|
||||
For bug reporting instructions, please see:
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<http://www.gnu.org/software/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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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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```
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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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||||
Copyright (C) 2017 Free Software Foundation, Inc.
|
||||
License GPLv3+: GNU GPL version 3 or later <http://gnu.org/licenses/gpl.html>
|
||||
This is free software: you are free to change and redistribute it.
|
||||
There is NO WARRANTY, to the extent permitted by law.
|
||||
Type "show copying" and "show warranty" for details.
|
||||
This GDB was configured as "--host=x86_64-linux-gnu --target=arm-none-eabi".
|
||||
Type "show configuration" for configuration details.
|
||||
For bug reporting instructions, please see:
|
||||
<http://www.gnu.org/software/gdb/bugs/>.
|
||||
Find the GDB manual and other documentation resources online at:
|
||||
<http://www.gnu.org/software/gdb/documentation/>.
|
||||
For help, type "help".
|
||||
Type "apropos word" to search for commands related to "word"...
|
||||
Reading symbols from px4fmuv5_bl.elf...done.
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```
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|
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5. Find your `<dronecode-probe-id>` by running an `ls` command in the **/dev/serial/by-id** directory.
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6. Now connect to the debug probe with the following command:
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|
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```sh
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tar ext /dev/serial/by-id/<dronecode-probe-id>
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```
|
||||
```sh
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tar ext /dev/serial/by-id/<dronecode-probe-id>
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```
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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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::: 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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:::
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8. Use the following command to scan for the Pixhawk\`s SWD and connect to it:
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```sh
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(gdb) mon swdp_scan
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(gdb) attach 1
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```
|
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```sh
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(gdb) mon swdp_scan
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(gdb) attach 1
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```
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9. 将二进制文件加载到 Pixhawk 中 ：
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```sh
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(gdb) load
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```
|
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```sh
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(gdb) load
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```
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After the bootloader has updated you can [Load PX4 Firmware](../config/firmware.md) using _QGroundControl_.
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@@ -146,8 +146,8 @@ Currently only FMUv2 and some custom firmware includes the desired bootloader.
|
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2. [Update the Firmware](../config/firmware.md#custom) with an image containing the new/desired bootloader.
|
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|
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::: info
|
||||
The updated bootloader might be supplied in custom firmware (i.e. from the dev team), or it or may be included in the latest main branch.
|
||||
::: info
|
||||
The updated bootloader might be supplied in custom firmware (i.e. from the dev team), or it or may be included in the latest main branch.
|
||||
|
||||
:::
|
||||
|
||||
@@ -156,7 +156,7 @@ Currently only FMUv2 and some custom firmware includes the desired bootloader.
|
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4. [Find and enable](../advanced_config/parameters.md) the parameter [SYS_BL_UPDATE](../advanced_config/parameter_reference.md#SYS_BL_UPDATE).
|
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|
||||
5. 重新启动（断开/重新连接飞控板）。
|
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Bootloader 更新只需要几秒钟即可完成。
|
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Bootloader 更新只需要几秒钟即可完成。
|
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|
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Generally at this point you may then want to [update the firmware](../config/firmware.md) again using the correct/newly installed bootloader.
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|
||||
@@ -176,25 +176,25 @@ Early FMUv2 [Pixhawk-series](../flight_controller/pixhawk_series.md#fmu_versions
|
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1. 插入 SD 卡（使能引导日志记录，便于调试任何可能的问题）。
|
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|
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2. [Update the Firmware](../config/firmware.md) to PX4 _master_ version (when updating the firmware, check **Advanced settings** and then select **Developer Build (master)** from the dropdown list).
|
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_QGroundControl_ will automatically detect that the hardware supports FMUv2 and install the appropriate Firmware.
|
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_QGroundControl_ will automatically detect that the hardware supports FMUv2 and install the appropriate Firmware.
|
||||
|
||||
|
||||
|
||||
|
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等待飞控重启。
|
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等待飞控重启。
|
||||
|
||||
3. [Find and enable](../advanced_config/parameters.md) the parameter [SYS_BL_UPDATE](../advanced_config/parameter_reference.md#SYS_BL_UPDATE).
|
||||
|
||||
4. 重新启动（断开/重新连接飞控板）。
|
||||
Bootloader 更新只需要几秒钟即可完成。
|
||||
Bootloader 更新只需要几秒钟即可完成。
|
||||
|
||||
5. Then [Update the Firmware](../config/firmware.md) again.
|
||||
This time _QGroundControl_ should autodetect the hardware as FMUv3 and update the Firmware appropriately.
|
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This time _QGroundControl_ should autodetect the hardware as FMUv3 and update the Firmware appropriately.
|
||||
|
||||
|
||||
|
||||
|
||||
::: info
|
||||
If the hardware has the [Silicon Errata](../flight_controller/silicon_errata.md#fmuv2-pixhawk-silicon-errata) it will still be detected as FMUv2 and you will see that FMUv2 was re-installed (in console).
|
||||
在这种情况下，您将无法安装 FMUv3 硬件。
|
||||
::: info
|
||||
If the hardware has the [Silicon Errata](../flight_controller/silicon_errata.md#fmuv2-pixhawk-silicon-errata) it will still be detected as FMUv2 and you will see that FMUv2 was re-installed (in console).
|
||||
在这种情况下，您将无法安装 FMUv3 硬件。
|
||||
|
||||
:::
|
||||
|
||||
|
||||
@@ -48,7 +48,7 @@ The process is demonstrated for a multicopter, but is equally valid for other ve
|
||||
- 解锁无人机，然后缓缓将油门推到最大。
|
||||
- 慢慢将油门降到0
|
||||
- 给无人机加锁
|
||||
> <strong x-id="1">Note</strong> 谨慎地进行测试，并密切注意振动情况。
|
||||
> <strong x-id="1">Note</strong> 谨慎地进行测试，并密切注意振动情况。
|
||||
|
||||
::: info
|
||||
Perform the test carefully and closely monitor the vibrations.
|
||||
|
||||
@@ -94,29 +94,29 @@ Flight control systems that can't power the autopilot via USB will need a [diffe
|
||||
|
||||
- The minimum value for a motor (default: `1100us`) should make the motor spin slowly but reliably, and also spin up reliably after it was stopped.
|
||||
|
||||
You can confirm that a motor spins at minimum (still without propellers) in [Actuator Testing](../config/actuators.md#actuator-testing), by enabling the sliders, and then moving the test output slider for the motor to the first snap position from the bottom.
|
||||
当你将滑块从解锁到最小值时，正确的值应该使电机立即和可靠地旋转。
|
||||
You can confirm that a motor spins at minimum (still without propellers) in [Actuator Testing](../config/actuators.md#actuator-testing), by enabling the sliders, and then moving the test output slider for the motor to the first snap position from the bottom.
|
||||
当你将滑块从解锁到最小值时，正确的值应该使电机立即和可靠地旋转。
|
||||
|
||||
要找到“最佳”最小值，请将滑块移动到底部(禁用)。
|
||||
Then increase the PWM output's `disarmed` setting in small increments (e.g. 1025us, 1050us, etc), until the motor starts to spin reliably (it is better to be a little too high than a little too low).
|
||||
Enter this value into the `minimum` setting for all the motor PWM outputs, and restore the `disarmed` output to `1100us`.
|
||||
要找到“最佳”最小值，请将滑块移动到底部(禁用)。
|
||||
Then increase the PWM output's `disarmed` setting in small increments (e.g. 1025us, 1050us, etc), until the motor starts to spin reliably (it is better to be a little too high than a little too low).
|
||||
Enter this value into the `minimum` setting for all the motor PWM outputs, and restore the `disarmed` output to `1100us`.
|
||||
|
||||
- The maximum value for a motor (default: `1900us`) should be chosen such that increasing the value doesn't make the motor spin any faster.
|
||||
|
||||
You can confirm that the motor spins quickly at the maximum setting in [Actuator Testing](../config/actuators.md#actuator-testing), by moving the associated test output slider to the top position.
|
||||
You can confirm that the motor spins quickly at the maximum setting in [Actuator Testing](../config/actuators.md#actuator-testing), by moving the associated test output slider to the top position.
|
||||
|
||||
To find the "optimal" maximum value, first move the slider to the bottom (disarmed).
|
||||
Then increase the PWM output's `disarmed` setting to near the default maximum (`1900`) - the motors should spin up.
|
||||
Listen to the tone of the motor as you increase the PWM maximum value for the output in increments (e.g. 1925us, 1950us, etc).
|
||||
The optimal value is found at the point when the sound of the motors does not change as you increase the value of the output.
|
||||
Enter this value into the `maximum` setting for all the motor PWM outputs, and restore the `disarmed` output to `1100us`.
|
||||
To find the "optimal" maximum value, first move the slider to the bottom (disarmed).
|
||||
Then increase the PWM output's `disarmed` setting to near the default maximum (`1900`) - the motors should spin up.
|
||||
Listen to the tone of the motor as you increase the PWM maximum value for the output in increments (e.g. 1925us, 1950us, etc).
|
||||
The optimal value is found at the point when the sound of the motors does not change as you increase the value of the output.
|
||||
Enter this value into the `maximum` setting for all the motor PWM outputs, and restore the `disarmed` output to `1100us`.
|
||||
|
||||
- The disarmed value for a motor (default: `1000us`) should make the motor stop and stay stopped.
|
||||
|
||||
You can confirm this in [Actuator Testing](../config/actuators.md#actuator-testing) by moving the test output slider to the snap position at the bottom of the slider and observing that the motor does not spin.
|
||||
You can confirm this in [Actuator Testing](../config/actuators.md#actuator-testing) by moving the test output slider to the snap position at the bottom of the slider and observing that the motor does not spin.
|
||||
|
||||
If the ESC spins with the default value of 1000us then the ESC is not properly calibrated.
|
||||
If using an ESC that can't be calibrated, you should reduce the PWM output value for the output to below where the motor does not spin anymore (such as 950us or 900us).
|
||||
If the ESC spins with the default value of 1000us then the ESC is not properly calibrated.
|
||||
If using an ESC that can't be calibrated, you should reduce the PWM output value for the output to below where the motor does not spin anymore (such as 950us or 900us).
|
||||
|
||||
::: info
|
||||
VTOL and fixed-wing motors do not need any special PWM configuration.
|
||||
|
||||
@@ -87,14 +87,14 @@ To set the above "example" configuration using the _QGroundControl_:
|
||||
|
||||
3. Enter commands "like" the ones below into the _MAVLink Console_ (to write the values to the configuration file):
|
||||
|
||||
```sh
|
||||
echo DEVICE=eth0 > /fs/microsd/net.cfg
|
||||
echo BOOTPROTO=fallback >> /fs/microsd/net.cfg
|
||||
echo IPADDR=10.41.10.2 >> /fs/microsd/net.cfg
|
||||
echo NETMASK=255.255.255.0 >>/fs/microsd/net.cfg
|
||||
echo ROUTER=10.41.10.254 >>/fs/microsd/net.cfg
|
||||
echo DNS=10.41.10.254 >>/fs/microsd/net.cfg
|
||||
```
|
||||
```sh
|
||||
echo DEVICE=eth0 > /fs/microsd/net.cfg
|
||||
echo BOOTPROTO=fallback >> /fs/microsd/net.cfg
|
||||
echo IPADDR=10.41.10.2 >> /fs/microsd/net.cfg
|
||||
echo NETMASK=255.255.255.0 >>/fs/microsd/net.cfg
|
||||
echo ROUTER=10.41.10.254 >>/fs/microsd/net.cfg
|
||||
echo DNS=10.41.10.254 >>/fs/microsd/net.cfg
|
||||
```
|
||||
|
||||
4. 一旦设置了网络配置，您可以断开 USB 电缆。
|
||||
|
||||
@@ -113,36 +113,36 @@ Note that there are many more [examples](https://netplan.io/examples/) and instr
|
||||
设置Ubuntu计算机：
|
||||
|
||||
1. In a terminal, create and open a `netplan` configuration file: `/etc/netplan/01-network-manager-all.yaml`
|
||||
Below we do this using the _nano_ text editor.
|
||||
Below we do this using the _nano_ text editor.
|
||||
|
||||
```
|
||||
sudo nano /etc/netplan/01-network-manager-all.yaml
|
||||
```
|
||||
```
|
||||
sudo nano /etc/netplan/01-network-manager-all.yaml
|
||||
```
|
||||
|
||||
2. 将以下配置信息复制并粘贴到文件中（注意：缩进很重要！）:
|
||||
|
||||
```
|
||||
network:
|
||||
version: 2
|
||||
renderer: NetworkManager
|
||||
ethernets:
|
||||
enp2s0:
|
||||
addresses:
|
||||
- 10.41.10.1/24
|
||||
nameservers:
|
||||
addresses: [10.41.10.1]
|
||||
routes:
|
||||
- to: 10.41.10.1
|
||||
via: 10.41.10.1
|
||||
```
|
||||
```
|
||||
network:
|
||||
version: 2
|
||||
renderer: NetworkManager
|
||||
ethernets:
|
||||
enp2s0:
|
||||
addresses:
|
||||
- 10.41.10.1/24
|
||||
nameservers:
|
||||
addresses: [10.41.10.1]
|
||||
routes:
|
||||
- to: 10.41.10.1
|
||||
via: 10.41.10.1
|
||||
```
|
||||
|
||||
保存并退出编辑器。
|
||||
保存并退出编辑器。
|
||||
|
||||
3. Apply the _netplan_ configuration by entering the following command into the Ubuntu terminal.
|
||||
|
||||
```
|
||||
sudo netplan apply
|
||||
```
|
||||
```
|
||||
sudo netplan apply
|
||||
```
|
||||
|
||||
### 机载计算机以太网网络设置
|
||||
|
||||
@@ -189,9 +189,9 @@ Assuming you have already [Set up the Ethernet Network](#setting-up-the-ethernet
|
||||
|
||||
3. Start QGroundControl and [define a comm link](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/settings_view/settings_view.html) (**Application Settings > Comm Links**) specifying the _server address_ and port as the IP address and port assigned in PX4, respectively.
|
||||
|
||||
假设值已按本主题其余部分所述设置，设置将如下所示：
|
||||
假设值已按本主题其余部分所述设置，设置将如下所示：
|
||||
|
||||
|
||||
|
||||
|
||||
4. 如果你选择这个链接，QGroundControl 应该会连接。
|
||||
|
||||
@@ -205,14 +205,14 @@ Assuming you have already [Set up the Ethernet Network](#setting-up-the-ethernet
|
||||
|
||||
1. [Set up the Ethernet Network](#setting-up-the-ethernet-network) so your companion computer and PX4 run on the same network.
|
||||
2. Modify the [PX4 Ethernet Port Configuration](#px4-ethernet-network-setup) to connect to a companion computer.
|
||||
You might change the parameters [MAV_2_REMOTE_PRT](../advanced_config/parameter_reference.md#MAV_2_REMOTE_PRT) and [MAV_2_UDP_PRT](../advanced_config/parameter_reference.md#MAV_2_UDP_PRT) to `14540`, and [MAV_2_MODE](../advanced_config/parameter_reference.md#MAV_2_MODE) to `2` (Onboard).
|
||||
You might change the parameters [MAV_2_REMOTE_PRT](../advanced_config/parameter_reference.md#MAV_2_REMOTE_PRT) and [MAV_2_UDP_PRT](../advanced_config/parameter_reference.md#MAV_2_UDP_PRT) to `14540`, and [MAV_2_MODE](../advanced_config/parameter_reference.md#MAV_2_MODE) to `2` (Onboard).
|
||||
3. Follow the instructions in [MAVSDK-python](https://github.com/mavlink/MAVSDK-Python) to install and use MAVSDK.
|
||||
|
||||
例如，您的代码将使用以下方式连接到PX4：
|
||||
例如，您的代码将使用以下方式连接到PX4：
|
||||
|
||||
```python
|
||||
await drone.connect(system_address="udp://10.41.10.2:14540")
|
||||
```
|
||||
```python
|
||||
await drone.connect(system_address="udp://10.41.10.2:14540")
|
||||
```
|
||||
|
||||
:::info
|
||||
MAVSDK can connect to the PX4 on port `14550` if you don't modify the PX4 Ethernet port configuration.
|
||||
@@ -235,38 +235,38 @@ MAVSDK can connect to the PX4 on port `14550` if you don't modify the PX4 Ethern
|
||||
1. 通过以太网连接您的飞行控制器和机载计算机。
|
||||
|
||||
2. [Start the uXRCE-DDS client on PX4](../middleware/uxrce_dds.md#starting-the-client), either manually or by customizing the system startup script.
|
||||
Note that you must use the IP address of the companion computer and the UDP port on which the agent is listening (the example configuration above sets the companion IP address to `10.41.10.1`, and the agent UDP port is set to `8888` in the next step).
|
||||
Note that you must use the IP address of the companion computer and the UDP port on which the agent is listening (the example configuration above sets the companion IP address to `10.41.10.1`, and the agent UDP port is set to `8888` in the next step).
|
||||
|
||||
3. [Start the micro XRCE-DDS agent on the companion computer](../middleware/uxrce_dds.md#starting-the-agent).
|
||||
For example, enter the following command in a terminal to start the agent listening on UDP port `8888`.
|
||||
For example, enter the following command in a terminal to start the agent listening on UDP port `8888`.
|
||||
|
||||
```sh
|
||||
MicroXRCEAgent udp4 -p 8888
|
||||
```
|
||||
```sh
|
||||
MicroXRCEAgent udp4 -p 8888
|
||||
```
|
||||
|
||||
4. Run a [listener node](../ros2/user_guide.md#running-the-example) in a new terminal to confirm the connection is established:
|
||||
|
||||
```sh
|
||||
source ~/ws_sensor_combined/install/setup.bash
|
||||
ros2 launch px4_ros_com sensor_combined_listener.launch.py
|
||||
```
|
||||
```sh
|
||||
source ~/ws_sensor_combined/install/setup.bash
|
||||
ros2 launch px4_ros_com sensor_combined_listener.launch.py
|
||||
```
|
||||
|
||||
如果所有设置都正确，终端应显示如下输出:
|
||||
如果所有设置都正确，终端应显示如下输出:
|
||||
|
||||
```sh
|
||||
RECEIVED SENSOR COMBINED DATA
|
||||
=============================
|
||||
ts: 855801598
|
||||
gyro_rad[0]: -0.00339938
|
||||
gyro_rad[1]: 0.00440091
|
||||
gyro_rad[2]: 0.00513893
|
||||
gyro_integral_dt: 4997
|
||||
accelerometer_timestamp_relative: 0
|
||||
accelerometer_m_s2[0]: -0.0324082
|
||||
accelerometer_m_s2[1]: 0.0392213
|
||||
accelerometer_m_s2[2]: -9.77914
|
||||
accelerometer_integral_dt: 4997
|
||||
```
|
||||
```sh
|
||||
RECEIVED SENSOR COMBINED DATA
|
||||
=============================
|
||||
ts: 855801598
|
||||
gyro_rad[0]: -0.00339938
|
||||
gyro_rad[1]: 0.00440091
|
||||
gyro_rad[2]: 0.00513893
|
||||
gyro_integral_dt: 4997
|
||||
accelerometer_timestamp_relative: 0
|
||||
accelerometer_m_s2[0]: -0.0324082
|
||||
accelerometer_m_s2[1]: 0.0392213
|
||||
accelerometer_m_s2[2]: -9.77914
|
||||
accelerometer_integral_dt: 4997
|
||||
```
|
||||
|
||||
## See Also
|
||||
|
||||
|
||||
@@ -153,15 +153,15 @@ It corresponds to: [COM_PREARM_MODE=1](#COM_PREARM_MODE) (safety switch) and [CB
|
||||
The default startup sequence is:
|
||||
|
||||
1. Power-up.
|
||||
- All actuators locked into disarmed position
|
||||
- Not possible to arm.
|
||||
- All actuators locked into disarmed position
|
||||
- Not possible to arm.
|
||||
2. Safety switch is pressed.
|
||||
- System now prearmed: non-throttling actuators can move (e.g. ailerons).
|
||||
- System safety is off: Arming possible.
|
||||
- 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.
|
||||
- The system is armed.
|
||||
- All motors and actuators can move.
|
||||
|
||||
### COM_PREARM_MODE=Disabled and Safety Switch
|
||||
|
||||
@@ -171,15 +171,15 @@ This corresponds to [COM_PREARM_MODE=0](#COM_PREARM_MODE) (Disabled) and [CBRK_I
|
||||
The startup sequence is:
|
||||
|
||||
1. Power-up.
|
||||
- All actuators locked into disarmed position
|
||||
- Not possible to arm.
|
||||
- All actuators locked into disarmed position
|
||||
- Not possible to arm.
|
||||
2. Safety switch is pressed.
|
||||
- _All actuators stay locked into disarmed position (same as disarmed)._
|
||||
- System safety is off: Arming possible.
|
||||
- _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.
|
||||
- The system is armed.
|
||||
- All motors and actuators can move.
|
||||
|
||||
### COM_PREARM_MODE=Always and Safety Switch
|
||||
|
||||
@@ -190,13 +190,13 @@ This corresponds to [COM_PREARM_MODE=2](#COM_PREARM_MODE) (Always) and [CBRK_IO_
|
||||
The startup sequence is:
|
||||
|
||||
1. Power-up.
|
||||
- System now prearmed: non-throttling actuators can move (e.g. ailerons).
|
||||
- Not possible to arm.
|
||||
- System now prearmed: non-throttling actuators can move (e.g. ailerons).
|
||||
- Not possible to arm.
|
||||
2. Safety switch is pressed.
|
||||
- System safety is off: Arming possible.
|
||||
- System safety is off: Arming possible.
|
||||
3. Arm command is issued.
|
||||
- The system is armed.
|
||||
- All motors and actuators can move.
|
||||
- The system is armed.
|
||||
- All motors and actuators can move.
|
||||
|
||||
### COM_PREARM_MODE=Safety or Disabled and No Safety Switch
|
||||
|
||||
@@ -206,11 +206,11 @@ This corresponds to [COM_PREARM_MODE=0 or 1](#COM_PREARM_MODE) (Disabled/Safety
|
||||
The startup sequence is:
|
||||
|
||||
1. Power-up.
|
||||
- All actuators locked into disarmed position
|
||||
- System safety is off: Arming possible.
|
||||
- All actuators locked into disarmed position
|
||||
- System safety is off: Arming possible.
|
||||
2. Arm command is issued.
|
||||
- The system is armed.
|
||||
- All motors and actuators can move.
|
||||
- The system is armed.
|
||||
- All motors and actuators can move.
|
||||
|
||||
### COM_PREARM_MODE=Always and No Safety Switch
|
||||
|
||||
@@ -220,11 +220,11 @@ This corresponds to [COM_PREARM_MODE=2](#COM_PREARM_MODE) (Always) and [CBRK_IO_
|
||||
The startup sequence is:
|
||||
|
||||
1. Power-up.
|
||||
- System now prearmed: non-throttling actuators can move (e.g. ailerons).
|
||||
- System safety is off: Arming possible.
|
||||
- System now prearmed: non-throttling actuators can move (e.g. ailerons).
|
||||
- System safety is off: Arming possible.
|
||||
2. Arm command is issued.
|
||||
- The system is armed.
|
||||
- All motors and actuators can move.
|
||||
- The system is armed.
|
||||
- All motors and actuators can move.
|
||||
|
||||
### 参数
|
||||
|
||||
|
||||
@@ -102,11 +102,11 @@ To perform an offboard calibration:
|
||||
|
||||
9. Open a terminal window in the **Firmware/Tools** directory and run the python calibration script:
|
||||
|
||||
```sh
|
||||
python process_sensor_caldata.py <full path name to .ulog file>
|
||||
```
|
||||
```sh
|
||||
python process_sensor_caldata.py <full path name to .ulog file>
|
||||
```
|
||||
|
||||
This will generate a **.pdf** file showing the measured data and curve fits for each sensor, and a **.params** file containing the calibration parameters.
|
||||
This will generate a **.pdf** file showing the measured data and curve fits for each sensor, and a **.params** file containing the calibration parameters.
|
||||
|
||||
10. Power the board, connect _QGroundControl_ and load the parameter from the generated **.params** file onto the board using _QGroundControl_. 由于参数的数量，加载它们可能需要一些时间。
|
||||
|
||||
|
||||
@@ -157,29 +157,29 @@ Three axis body fixed magnetometer data at a minimum rate of 5Hz is required to
|
||||
Magnetometer data fusion can be configured using [EKF2_MAG_TYPE](../advanced_config/parameter_reference.md#EKF2_MAG_TYPE):
|
||||
|
||||
0. Automatic:
|
||||
- The magnetometer readings only affect the heading estimate before arming, and the whole attitude after arming.
|
||||
- Heading and tilt errors are compensated when using this method.
|
||||
- Incorrect magnetic field measurements can degrade the tilt estimate.
|
||||
- The magnetometer biases are estimated whenever observable.
|
||||
- The magnetometer readings only affect the heading estimate before arming, and the whole attitude after arming.
|
||||
- Heading and tilt errors are compensated when using this method.
|
||||
- Incorrect magnetic field measurements can degrade the tilt estimate.
|
||||
- The magnetometer biases are estimated whenever observable.
|
||||
1. Magnetic heading:
|
||||
- Only the heading is corrected.
|
||||
The tilt estimate is never affected by incorrect magnetic field measurements.
|
||||
- Tilt errors that could arise when flying without velocity/position aiding are not corrected when using this method.
|
||||
- The magnetometer biases are estimated whenever observable.
|
||||
- Only the heading is corrected.
|
||||
The tilt estimate is never affected by incorrect magnetic field measurements.
|
||||
- Tilt errors that could arise when flying without velocity/position aiding are not corrected when using this method.
|
||||
- The magnetometer biases are estimated whenever observable.
|
||||
2. Deprecated
|
||||
3. Deprecated
|
||||
4. Deprecated
|
||||
5. None:
|
||||
- Magnetometer data is never used.
|
||||
This is useful when the data can never be trusted (e.g.: high current close to the sensor, external anomalies).
|
||||
- The estimator will use other sources of heading: [GPS heading](#yaw-measurements) or external vision.
|
||||
- When using GPS measurements without another source of heading, the heading can only be initialized after sufficient horizontal acceleration.
|
||||
See [Estimate yaw from vehicle movement](#yaw-from-gps-velocity) below.
|
||||
- Magnetometer data is never used.
|
||||
This is useful when the data can never be trusted (e.g.: high current close to the sensor, external anomalies).
|
||||
- The estimator will use other sources of heading: [GPS heading](#yaw-measurements) or external vision.
|
||||
- When using GPS measurements without another source of heading, the heading can only be initialized after sufficient horizontal acceleration.
|
||||
See [Estimate yaw from vehicle movement](#yaw-from-gps-velocity) below.
|
||||
6. Init only:
|
||||
- Magnetometer data is only used to initialize the heading estimate.
|
||||
This is useful when the data can be used before arming but not afterwards (e.g.: high current after the vehicle is armed).
|
||||
- After initialization, the heading is constrained using other observations.
|
||||
- Unlike mag type `None`, when combined with GPS measurements, this method allows position controlled modes to run directly during takeoff.
|
||||
- Magnetometer data is only used to initialize the heading estimate.
|
||||
This is useful when the data can be used before arming but not afterwards (e.g.: high current after the vehicle is armed).
|
||||
- After initialization, the heading is constrained using other observations.
|
||||
- Unlike mag type `None`, when combined with GPS measurements, this method allows position controlled modes to run directly during takeoff.
|
||||
|
||||
The following selection tree can be used to select the right option:
|
||||
|
||||
@@ -241,8 +241,8 @@ EKF2模块将误差建模为与机体固连的椭球体，在将其转换为高
|
||||
|
||||
2. Extract the `.ulg` log file using, for example, [QGroundControl: Analyze > Log Download](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/analyze_view/log_download.html)
|
||||
|
||||
::: info
|
||||
The same log file can be used to tune the [multirotor wind estimator](#mc_wind_estimation_using_drag).
|
||||
::: info
|
||||
The same log file can be used to tune the [multirotor wind estimator](#mc_wind_estimation_using_drag).
|
||||
|
||||
:::
|
||||
|
||||
@@ -460,8 +460,8 @@ The amount of specific force observation noise is set by the [EKF2_DRAG_NOISE](.
|
||||
|
||||
1. Fly once in [Position mode](../flight_modes_mc/position.md) repeatedly forwards/backwards/left/right/up/down between rest and maximum speed (best results are obtained when this testing is conducted in still conditions).
|
||||
2. Extract the **.ulg** log file using, for example, [QGroundControl: Analyze > Log Download](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/analyze_view/log_download.html)
|
||||
::: info
|
||||
The same **.ulg** log file can also be used to tune the [static pressure position error coefficients](#correction-for-static-pressure-position-error).
|
||||
::: info
|
||||
The same **.ulg** log file can also be used to tune the [static pressure position error coefficients](#correction-for-static-pressure-position-error).
|
||||
|
||||
:::
|
||||
3. Use the log with the [mc_wind_estimator_tuning.py](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/ekf2/EKF/python/tuning_tools/mc_wind_estimator) Python script to obtain the optimal set of parameters.
|
||||
|
||||
@@ -38,14 +38,14 @@ If it is not visible the vehicle immediately performs a _normal_ landing at the
|
||||
A precision landing has three phases:
|
||||
|
||||
1. **Horizontal approach:** The vehicle approaches the target horizontally while keeping its current altitude.
|
||||
Once the position of the target relative to the vehicle is below a threshold ([PLD_HACC_RAD](../advanced_config/parameter_reference.md#PLD_HACC_RAD)), the next phase is entered.
|
||||
If the target is lost during this phase (not visible for longer than [PLD_BTOUT](../advanced_config/parameter_reference.md#PLD_BTOUT)), a search procedure is initiated (during a required precision landing) or the vehicle does a normal landing (during an opportunistic precision landing).
|
||||
Once the position of the target relative to the vehicle is below a threshold ([PLD_HACC_RAD](../advanced_config/parameter_reference.md#PLD_HACC_RAD)), the next phase is entered.
|
||||
If the target is lost during this phase (not visible for longer than [PLD_BTOUT](../advanced_config/parameter_reference.md#PLD_BTOUT)), a search procedure is initiated (during a required precision landing) or the vehicle does a normal landing (during an opportunistic precision landing).
|
||||
|
||||
2. **Descent over target:** The vehicle descends, while remaining centered over the target.
|
||||
If the target is lost during this phase (not visible for longer than `PLD_BTOUT`), a search procedure is initiated (during a required precision landing) or the vehicle does a normal landing (during an opportunistic precision landing).
|
||||
If the target is lost during this phase (not visible for longer than `PLD_BTOUT`), a search procedure is initiated (during a required precision landing) or the vehicle does a normal landing (during an opportunistic precision landing).
|
||||
|
||||
3. **Final approach:** When the vehicle is close to the ground (closer than [PLD_FAPPR_ALT](../advanced_config/parameter_reference.md#PLD_FAPPR_ALT)), it descends while remaining centered over the target.
|
||||
If the target is lost during this phase, the descent is continued independent of the kind of precision landing.
|
||||
If the target is lost during this phase, the descent is continued independent of the kind of precision landing.
|
||||
|
||||
Search procedures are initiated in the first and second steps, and will run at most [PLD_MAX_SRCH](../advanced_config/parameter_reference.md#PLD_MAX_SRCH) times.
|
||||
Landing Phases Flow Diagram
|
||||
|
||||
@@ -54,19 +54,19 @@ If an external antenna is used always make sure that the antenna is connected to
|
||||
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).
|
||||
|
||||
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`.
|
||||
The response should be: `OK`.
|
||||
|
||||
2. Change the baud rate:
|
||||
|
||||
```
|
||||
AT+IPR=9
|
||||
```
|
||||
```
|
||||
AT+IPR=9
|
||||
```
|
||||
|
||||
3. Reconnect to the model now with a 115200/8-N-1 setting and save the configuration using:
|
||||
|
||||
```
|
||||
AT&W0
|
||||
```
|
||||
```
|
||||
AT&W0
|
||||
```
|
||||
|
||||
The module is now ready to be used with PX4.
|
||||
|
||||
@@ -102,55 +102,55 @@ 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)
|
||||
- `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)
|
||||
|
||||
2. Install the required python modules:
|
||||
|
||||
```sh
|
||||
sudo pip install pika tornado future
|
||||
```
|
||||
```sh
|
||||
sudo pip install pika tornado future
|
||||
```
|
||||
|
||||
3. Install the `rabbitmq` message broker:
|
||||
|
||||
```sh
|
||||
sudo apt install rabbitmq-server
|
||||
```
|
||||
```sh
|
||||
sudo apt install rabbitmq-server
|
||||
```
|
||||
|
||||
4. Configure the broker's credentials (change PWD to your preferred password):
|
||||
|
||||
```sh
|
||||
sudo rabbitmqctl add_user iridiumsbd PWD
|
||||
sudo rabbitmqctl set_permissions iridiumsbd ".*" ".*" ".*"
|
||||
```
|
||||
```sh
|
||||
sudo rabbitmqctl add_user iridiumsbd PWD
|
||||
sudo rabbitmqctl set_permissions iridiumsbd ".*" ".*" ".*"
|
||||
```
|
||||
|
||||
5. Clone the [SatComInfrastructure](https://github.com/acfloria/SatComInfrastructure.git) repository:
|
||||
|
||||
```sh
|
||||
git clone https://github.com/acfloria/SatComInfrastructure.git
|
||||
```
|
||||
```sh
|
||||
git clone https://github.com/acfloria/SatComInfrastructure.git
|
||||
```
|
||||
|
||||
6. Go to the location of the _SatComInfrastructure_ repo and configure the broker's queues:
|
||||
|
||||
```sh
|
||||
./setup_rabbit.py localhost iridiumsbd PWD
|
||||
```
|
||||
```sh
|
||||
./setup_rabbit.py localhost iridiumsbd PWD
|
||||
```
|
||||
|
||||
7. Verify the setup:
|
||||
|
||||
```sh
|
||||
sudo rabbitmqctl list_queues
|
||||
```
|
||||
```sh
|
||||
sudo rabbitmqctl list_queues
|
||||
```
|
||||
|
||||
This should give you a list of 4 queues: `MO`, `MO_LOG`, `MT`, `MT_LOG`
|
||||
This should give you a list of 4 queues: `MO`, `MO_LOG`, `MT`, `MT_LOG`
|
||||
|
||||
8. Edit the `relay.cfg` configuration file to reflect your settings.
|
||||
|
||||
9. Start the relay script in the detached mode:
|
||||
|
||||
```sh
|
||||
screen -dm bash -c 'cd SatcomInfrastructure/; ./relay.py
|
||||
```
|
||||
```sh
|
||||
screen -dm bash -c 'cd SatcomInfrastructure/; ./relay.py
|
||||
```
|
||||
|
||||
Other instructions include:
|
||||
|
||||
@@ -178,15 +178,15 @@ To setup the ground station:
|
||||
|
||||
1. Install the required python modules:
|
||||
|
||||
```sh
|
||||
sudo pip install pika tornado future
|
||||
```
|
||||
```sh
|
||||
sudo pip install pika tornado future
|
||||
```
|
||||
|
||||
2. Clone the SatComInfrastructure repository:
|
||||
|
||||
```sh
|
||||
git clone https://github.com/acfloria/SatComInfrastructure.git
|
||||
```
|
||||
```sh
|
||||
git clone https://github.com/acfloria/SatComInfrastructure.git
|
||||
```
|
||||
|
||||
3. Edit the **udp2rabbit.cfg** configuration file to reflect your settings.
|
||||
|
||||
@@ -194,20 +194,20 @@ To setup the ground station:
|
||||
|
||||
5. Add a UDP connection in QGC with the parameters:
|
||||
|
||||
- Listening port: 10000
|
||||
- Target hosts: 127.0.0.1:10001
|
||||
- High Latency: checked
|
||||
- Listening port: 10000
|
||||
- Target hosts: 127.0.0.1:10001
|
||||
- High Latency: checked
|
||||
|
||||
|
||||
|
||||
|
||||
### 验证
|
||||
|
||||
1. Open a terminal on the ground station computer and change to the location of the _SatComInfrastructure_ repository.
|
||||
Then start the **udp2rabbit.py** script:
|
||||
Then start the **udp2rabbit.py** script:
|
||||
|
||||
```sh
|
||||
./udp2rabbit.py
|
||||
```
|
||||
```sh
|
||||
./udp2rabbit.py
|
||||
```
|
||||
|
||||
2. Send a test message from [RockBlock Account](https://rockblock.rock7.com/Operations) to the created delivery group in the `Test Delivery Groups` tab.
|
||||
|
||||
@@ -218,37 +218,37 @@ If in the terminal where the `udp2rabbit.py` script is running within a couple o
|
||||
## Running the System
|
||||
|
||||
1. Start _QGroundControl_.
|
||||
Manually connect the high latency link first, then the regular telemetry link:
|
||||
Manually connect the high latency link first, then the regular telemetry link:
|
||||
|
||||
|
||||
|
||||
|
||||
2. Open a terminal on the ground station computer and change to the location of the _SatComInfrastructure_ repository.
|
||||
Then start the **udp2rabbit.py** script:
|
||||
Then start the **udp2rabbit.py** script:
|
||||
|
||||
```sh
|
||||
./udp2rabbit.py
|
||||
```
|
||||
```sh
|
||||
./udp2rabbit.py
|
||||
```
|
||||
|
||||
3. Power up the vehicle.
|
||||
|
||||
4. Wait until the first `HIGH_LATENCY2` message is received on QGC.
|
||||
This can be checked either using the _MAVLink Inspector_ widget or on the toolbar with the _LinkIndicator_.
|
||||
If more than one link is connected to the active vehicle the _LinkIndicator_ shows all of them by clicking on the name of the shown link:
|
||||
This can be checked either using the _MAVLink Inspector_ widget or on the toolbar with the _LinkIndicator_.
|
||||
If more than one link is connected to the active vehicle the _LinkIndicator_ shows all of them by clicking on the name of the shown link:
|
||||
|
||||
|
||||
|
||||
|
||||
The link indicator always shows the name of the priority link.
|
||||
The link indicator always shows the name of the priority link.
|
||||
|
||||
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:
|
||||
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.
|
||||
- The user can select a priority link over the `LinkIndicator` on the toolbar.
|
||||
This link is kept as the priority link as long as this link is active or the user selects another priority link:
|
||||
- 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.
|
||||
- The user can select a priority link over the `LinkIndicator` on the toolbar.
|
||||
This link is kept as the priority link as long as this link is active or the user selects another priority link:
|
||||
|
||||
|
||||
|
||||
|
||||
## 故障处理
|
||||
|
||||
|
||||
@@ -797,3 +797,4 @@ div.frame_variant td, div.frame_variant th {
|
||||
</tbody>
|
||||
</table>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -4,4 +4,4 @@ frame: 垂直起降
|
||||
newEditLink: en/assembly/_assembly.md
|
||||
---
|
||||
|
||||
<!--@include: _assembly.md-->
|
||||
<!--@include: _assembly.md-->
|
||||
@@ -3,4 +3,4 @@ frame: 基本配置
|
||||
newEditLink: en/assembly/_assembly.md
|
||||
---
|
||||
|
||||
<!--@include: _assembly.md-->
|
||||
<!--@include: _assembly.md-->
|
||||
@@ -49,7 +49,7 @@ The GPS/compass should be [mounted on the frame](../assembly/mount_gps_compass.m
|
||||
|
||||
|
||||
:::info
|
||||
Pixhawk V6X<sup>&reg;</sup> is not compatible with NEO V2 GPS built-in buzzer: you should use [NEO3/NEO 3Pro](https://store.cuav.net/shop/neo-3/) instead.
|
||||
Pixhawk V6X<sup>®</sup> is not compatible with NEO V2 GPS built-in buzzer: you should use [NEO3/NEO 3Pro](https://store.cuav.net/shop/neo-3/) instead.
|
||||
The GPS module's integrated safety switch is enabled _by default_ (when enabled, PX4 will not let you arm the vehicle).
|
||||
To disable the safety press and hold the safety switch for 1 second.
|
||||
You can press the safety switch again to enable safety and disarm the vehicle (this can be useful if, for whatever reason, you are unable to disarm the vehicle from your remote control or ground station).
|
||||
|
||||
@@ -32,4 +32,4 @@ 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)
|
||||
- [Structural Dynamics and Vibration in Practice - An Engineering Handbook, Douglas Thorby](https://books.google.ch/books?id=PwzDuWDc8AgC\&printsec=frontcover) (preview).
|
||||
- Structural Dynamics and Vibration in Practice - An Engineering Handbook, Douglas Thorby (preview).
|
||||
|
||||
@@ -188,16 +188,16 @@ The following sections are out of date and need retesting.
|
||||
|
||||
1. On the PX4 console:
|
||||
|
||||
```shell
|
||||
camera_trigger test
|
||||
```
|
||||
```shell
|
||||
camera_trigger test
|
||||
```
|
||||
|
||||
2. From _QGroundControl_:
|
||||
|
||||
Click on **Trigger Camera** in the main instrument panel.
|
||||
These shots are not logged or counted for geotagging.
|
||||
Click on **Trigger Camera** in the main instrument panel.
|
||||
These shots are not logged or counted for geotagging.
|
||||
|
||||
|
||||
|
||||
|
||||
## Sony QX-1 example (Photogrammetry)
|
||||
|
||||
|
||||
@@ -17,4 +17,4 @@ PX4 integrates with three types of cameras:
|
||||
## See Also
|
||||
|
||||
- [云台(相机支架)](../advanced/gimbal_control.md)
|
||||
- [相机集成/架构](../camera/camera_architecture.md) ( PX4 开发者)
|
||||
- [相机集成/架构](../camera/camera_architecture.md) ( PX4 开发者)
|
||||
@@ -86,7 +86,7 @@ PX4 重新使用与自驾仪相同的系统 ID 和组件 ID [MAV_COMP_ID_ALL](ht
|
||||
|
||||
1. 修改一个未使用的 `MAV_n_CONFIG` 参数，例如[MAV_2_CONFIG](../advanced_config/parameter_reference.md#MAV_2_CONFIG)，使其分配给相机连接的端口。
|
||||
2. 将对应的 [MAV_2_MODE](../advanced_config/parameter_reference.md#MAV_2_MODE) 设置为 `2` (板载)。
|
||||
这确保正确的 MAVLink 消息集被发出和转发。
|
||||
这确保正确的 MAVLink 消息集被发出和转发。
|
||||
3. 您可能需要设置一些其他参数，取决于您的连接 - 例如波特率。
|
||||
|
||||
然后按照其用户指南中的建议连接和配置相机。
|
||||
|
||||
@@ -112,7 +112,7 @@ The linked document explains how, but in summary:
|
||||
|
||||
1. Modify an unused `MAV_n_CONFIG` parameter, such as [MAV_2_CONFIG](../advanced_config/parameter_reference.md#MAV_2_CONFIG), so that it is assigned to port to which you connected the camera/companion computer.
|
||||
2. 将对应的 [MAV_2_MODE](../advanced_config/parameter_reference.md#MAV_2_MODE) 设置为 `2` (板载)。
|
||||
This ensures that the right set of MAVLink messages are emitted for a companion computer (or camera).
|
||||
This ensures that the right set of MAVLink messages are emitted for a companion computer (or camera).
|
||||
3. Set [MAV_2_FORWARD](../advanced_config/parameter_reference.md#MAV_2_FORWARD) to enable forwarding of communications from the port to other ports, such as the one that is connected to the ground station.
|
||||
4. You may need to set some of the other parameters, depending on your connection type and any particular requirements of the camera on the expected baud rate, and so on.
|
||||
|
||||
|
||||
@@ -69,15 +69,15 @@ To install the RPi CM4 companion computer:
|
||||
|
||||
1. Disconnect the `FAN` wiring.
|
||||
|
||||
|
||||
|
||||
|
||||
2. Remove these 4 screws on the back side of the baseboard.
|
||||
|
||||
|
||||
|
||||
|
||||
3. Remove the baseboard case, install the CM4, and use the 4 screws to attach it (as shown):
|
||||
|
||||
|
||||
|
||||
|
||||
4. Reattach the cover.
|
||||
|
||||
@@ -115,29 +115,29 @@ To flash a RPi image onto EMMC.
|
||||
|
||||
1. Switch Dip-Switch to `RPI`.
|
||||
|
||||
|
||||
|
||||
|
||||
2. Connect computer to USB-C _CM4 Slave_ port used to power & flash the RPi.
|
||||
|
||||
|
||||
|
||||
|
||||
3. Get `usbboot`, build it and run it.
|
||||
|
||||
```sh
|
||||
sudo apt install libusb-1.0-0-dev
|
||||
git clone --depth=1 https://github.com/raspberrypi/usbboot
|
||||
cd usbboot
|
||||
make
|
||||
sudo ./rpiboot
|
||||
```
|
||||
```sh
|
||||
sudo apt install libusb-1.0-0-dev
|
||||
git clone --depth=1 https://github.com/raspberrypi/usbboot
|
||||
cd usbboot
|
||||
make
|
||||
sudo ./rpiboot
|
||||
```
|
||||
|
||||
4. You can now install your preferred Linux distro using The `rpi-imager`.
|
||||
Make sure you add WiFi and SSH settings (hidden behind the gear/advanced symbol).
|
||||
Make sure you add WiFi and SSH settings (hidden behind the gear/advanced symbol).
|
||||
|
||||
```sh
|
||||
sudo apt install rpi-imager
|
||||
rpi-imager
|
||||
```
|
||||
```sh
|
||||
sudo apt install rpi-imager
|
||||
rpi-imager
|
||||
```
|
||||
|
||||
5. Once done, unplugging USB-C CM4 Slave (this will unmount the volumes, and power off the CM4).
|
||||
|
||||
@@ -146,8 +146,8 @@ To flash a RPi image onto EMMC.
|
||||
7. Power on CM4 by providing power to USB-C CM4 Slave port.
|
||||
|
||||
8. To check if it's booting/working you can either:
|
||||
- Check there is HDMI output
|
||||
- Connect via SSH (if set up in rpi-imager, and WiFi is available).
|
||||
- Check there is HDMI output
|
||||
- Connect via SSH (if set up in rpi-imager, and WiFi is available).
|
||||
|
||||
## Configure PX4 to CM4 MAVLink Serial Connection
|
||||
|
||||
@@ -167,13 +167,13 @@ To enable this MAVLink instance on the FC:
|
||||
|
||||
1. Connect a computer running QGroundControl via USB Type C port on the baseboard labeled `FC`
|
||||
|
||||
|
||||
|
||||
|
||||
2. [Set the parameters](../advanced_config/parameters.md):
|
||||
|
||||
- `MAV_1_CONFIG` = `102`
|
||||
- `MAV_1_MODE = 2`
|
||||
- `SER_TEL2_BAUD` = `921600`
|
||||
- `MAV_1_CONFIG` = `102`
|
||||
- `MAV_1_MODE = 2`
|
||||
- `SER_TEL2_BAUD` = `921600`
|
||||
|
||||
3. Reboot the FC.
|
||||
|
||||
@@ -185,13 +185,13 @@ On the RPi side:
|
||||
|
||||
2. Enable the RPi serial port by running `RPi-config`
|
||||
|
||||
- Go to `3 Interface Options`, then `I6 Serial Port`.
|
||||
Then choose:
|
||||
- `login shell accessible over serial → No`
|
||||
- `serial port hardware enabled` → `Yes`
|
||||
- Go to `3 Interface Options`, then `I6 Serial Port`.
|
||||
Then choose:
|
||||
- `login shell accessible over serial → No`
|
||||
- `serial port hardware enabled` → `Yes`
|
||||
|
||||
3. Finish, and reboot.
|
||||
This will add `enable_uart=1` to `/boot/config.txt`, and remove `console=serial0,115200` from `/boot/cmdline.txt`.
|
||||
This will add `enable_uart=1` to `/boot/config.txt`, and remove `console=serial0,115200` from `/boot/cmdline.txt`.
|
||||
|
||||
4. Now MAVLink traffic should be available on `/dev/serial0` at a baudrate of 921600.
|
||||
|
||||
@@ -201,9 +201,9 @@ On the RPi side:
|
||||
|
||||
2. Install MAVSDK Python:
|
||||
|
||||
```sh
|
||||
python3 -m pip install mavsdk
|
||||
```
|
||||
```sh
|
||||
python3 -m pip install mavsdk
|
||||
```
|
||||
|
||||
3. Copy an example from the [MAVSDK-Python examples](https://github.com/mavlink/MAVSDK-Python/tree/main/examples).
|
||||
|
||||
@@ -247,7 +247,7 @@ Note that we could have used WiFi for the link, but by setting up a dedicated ro
|
||||
|
||||
To set up a local ethernet connection between CM4 and the flight computer, the two Ethernet ports need to be connected using the provided 8 pin to 4 pin connector.
|
||||
|
||||
|
||||
|
||||
|
||||
The pinout of the cable is:
|
||||
|
||||
|
||||
@@ -43,7 +43,7 @@ In most cases the accessible hardware serial ports already have some function (m
|
||||
A safe and easy to set up option is to use an FTDI Chip USB-to-serial adapter board to connect from `TELEM2` on the Pixhawk to the USB port on the companion computer.
|
||||
The `TELEM2` to FTDI wiring map is shown below.
|
||||
|
||||
| TELEM2 | | FTDI | &nbsp; |
|
||||
| TELEM2 | | FTDI | |
|
||||
| ------ | ---------------------------- | ---- | -------------------------------- |
|
||||
| 1 | + 5v (红色) | | DO NOT CONNECT! |
|
||||
| 2 | 2 | 5 | 5 |
|
||||
|
||||
@@ -132,50 +132,50 @@ Enter the following commands (in sequence) a terminal to configure Ubuntu for RP
|
||||
|
||||
1. Install `raspi-config`:
|
||||
|
||||
```sh
|
||||
sudo apt update
|
||||
sudo apt upgrade
|
||||
sudo apt-get install raspi-config
|
||||
```
|
||||
```sh
|
||||
sudo apt update
|
||||
sudo apt upgrade
|
||||
sudo apt-get install raspi-config
|
||||
```
|
||||
|
||||
2. Open `raspi-config`:
|
||||
|
||||
```sh
|
||||
sudo raspi-config
|
||||
```
|
||||
```sh
|
||||
sudo raspi-config
|
||||
```
|
||||
|
||||
3. Go to the **Interface Option** and then click **Serial Port**.
|
||||
|
||||
- Select **No** to disable serial login shell.
|
||||
- Select **Yes** to enable the serial interface.
|
||||
- Click **Finish** and restart the RPi.
|
||||
- Select **No** to disable serial login shell.
|
||||
- Select **Yes** to enable the serial interface.
|
||||
- Click **Finish** and restart the RPi.
|
||||
|
||||
4. Open the firmware boot configuration file in the `nano` editor on RPi:
|
||||
|
||||
```sh
|
||||
sudo nano /boot/firmware/config.txt
|
||||
```
|
||||
```sh
|
||||
sudo nano /boot/firmware/config.txt
|
||||
```
|
||||
|
||||
5. Append the following text to the end of the file (after the last line):
|
||||
|
||||
```sh
|
||||
enable_uart=1
|
||||
dtoverlay=disable-bt
|
||||
```
|
||||
```sh
|
||||
enable_uart=1
|
||||
dtoverlay=disable-bt
|
||||
```
|
||||
|
||||
6. Then save the file and restart the RPi.
|
||||
|
||||
- In `nano` you can save the file using the following sequence of keyboard shortcuts: **ctrl+x**, **ctrl+y**, **Enter**.
|
||||
- In `nano` you can save the file using the following sequence of keyboard shortcuts: **ctrl+x**, **ctrl+y**, **Enter**.
|
||||
|
||||
7. Check that the serial port is available.
|
||||
In this case we use the following terminal commands to list the serial devices:
|
||||
In this case we use the following terminal commands to list the serial devices:
|
||||
|
||||
```sh
|
||||
cd /
|
||||
ls /dev/ttyAMA0
|
||||
```
|
||||
```sh
|
||||
cd /
|
||||
ls /dev/ttyAMA0
|
||||
```
|
||||
|
||||
The result of the command should include the RX/TX connection `/dev/ttyAMA0` (note that this serial port is also available as `/dev/serial0`).
|
||||
The result of the command should include the RX/TX connection `/dev/ttyAMA0` (note that this serial port is also available as `/dev/serial0`).
|
||||
|
||||
The RPi is now setup to work with RPi and communicate using the `/dev/ttyAMA0` serial port.
|
||||
Note that we'll install more software in the following sections to work with MAVLink and ROS 2.
|
||||
@@ -199,39 +199,39 @@ First check the Pixhawk `TELEM 2` configuration:
|
||||
2. Open QGroundControl (the vehicle should connect).
|
||||
3. [Check/change the following parameters](../advanced_config/parameters.md) in QGroundControl:
|
||||
|
||||
```ini
|
||||
MAV_1_CONFIG = TELEM2
|
||||
UXRCE_DDS_CFG = 0 (Disabled)
|
||||
SER_TEL2_BAUD = 57600
|
||||
```
|
||||
```ini
|
||||
MAV_1_CONFIG = TELEM2
|
||||
UXRCE_DDS_CFG = 0 (Disabled)
|
||||
SER_TEL2_BAUD = 57600
|
||||
```
|
||||
|
||||
Note that the parameters may already be set appropriately.
|
||||
For information about how serial ports and MAVLink configuration work see [Serial Port Configuration](../peripherals/serial_configuration.md) and [MAVLink Peripherals](../peripherals/mavlink_peripherals.md).
|
||||
Note that the parameters may already be set appropriately.
|
||||
For information about how serial ports and MAVLink configuration work see [Serial Port Configuration](../peripherals/serial_configuration.md) and [MAVLink Peripherals](../peripherals/mavlink_peripherals.md).
|
||||
|
||||
Then install setup MAVProxy on the RPi using the following terminal commands:
|
||||
|
||||
1. Install MAVProxy:
|
||||
|
||||
```sh
|
||||
sudo apt install python3-pip
|
||||
sudo pip3 install mavproxy
|
||||
sudo apt remove modemmanager
|
||||
```
|
||||
```sh
|
||||
sudo apt install python3-pip
|
||||
sudo pip3 install mavproxy
|
||||
sudo apt remove modemmanager
|
||||
```
|
||||
|
||||
2. Run MAVProxy, setting the port to connect to `/dev/ttyAMA0` and the baud rate to match the PX4:
|
||||
|
||||
```sh
|
||||
sudo mavproxy.py --master=/dev/serial0 --baudrate 57600
|
||||
```
|
||||
```sh
|
||||
sudo mavproxy.py --master=/dev/serial0 --baudrate 57600
|
||||
```
|
||||
|
||||
::: info
|
||||
Note that above we used `/dev/serial0`, but we could equally well have used `/dev/ttyAMA0`.
|
||||
If we were connecting via USB then we would instead set the port as `/dev/ttyACM0`:
|
||||
::: info
|
||||
Note that above we used `/dev/serial0`, but we could equally well have used `/dev/ttyAMA0`.
|
||||
If we were connecting via USB then we would instead set the port as `/dev/ttyACM0`:
|
||||
|
||||
```sh
|
||||
sudo chmod a+rw /dev/ttyACM0
|
||||
sudo mavproxy.py --master=/dev/ttyACM0 --baudrate 57600
|
||||
```
|
||||
```sh
|
||||
sudo chmod a+rw /dev/ttyACM0
|
||||
sudo mavproxy.py --master=/dev/ttyACM0 --baudrate 57600
|
||||
```
|
||||
|
||||
|
||||
:::
|
||||
@@ -259,27 +259,27 @@ The configuration steps are:
|
||||
|
||||
2. [Check/change the following parameters](../advanced_config/parameters.md) in QGroundControl:
|
||||
|
||||
```ini
|
||||
MAV_1_CONFIG = 0 (Disabled)
|
||||
UXRCE_DDS_CFG = 102 (TELEM2)
|
||||
SER_TEL2_BAUD = 921600
|
||||
```
|
||||
```ini
|
||||
MAV_1_CONFIG = 0 (Disabled)
|
||||
UXRCE_DDS_CFG = 102 (TELEM2)
|
||||
SER_TEL2_BAUD = 921600
|
||||
```
|
||||
|
||||
[MAV_1_CONFIG=0](../advanced_config/parameter_reference.md#MAV_1_CONFIG) and [UXRCE_DDS_CFG=102](../advanced_config/parameter_reference.md#UXRCE_DDS_CFG) disable MAVLink on TELEM2 and enable the uXRCE-DDS client on TELEM2, respectively.
|
||||
The `SER_TEL2_BAUD` rate sets the comms link data rate.\
|
||||
You could similarly configure a connection to `TELEM1` using either `MAV_1_CONFIG` or `MAV_0_CONFIG`.
|
||||
[MAV_1_CONFIG=0](../advanced_config/parameter_reference.md#MAV_1_CONFIG) and [UXRCE_DDS_CFG=102](../advanced_config/parameter_reference.md#UXRCE_DDS_CFG) disable MAVLink on TELEM2 and enable the uXRCE-DDS client on TELEM2, respectively.
|
||||
The `SER_TEL2_BAUD` rate sets the comms link data rate.\
|
||||
You could similarly configure a connection to `TELEM1` using either `MAV_1_CONFIG` or `MAV_0_CONFIG`.
|
||||
|
||||
::: info
|
||||
You will need to reboot the flight controller to apply any changes to these parameters.
|
||||
::: info
|
||||
You will need to reboot the flight controller to apply any changes to these parameters.
|
||||
|
||||
:::
|
||||
|
||||
3. Check that the [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client) module is now running.
|
||||
YOu can do this by running the following command in the QGroundControl [MAVLink Console](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/analyze_view/mavlink_console.html):
|
||||
YOu can do this by running the following command in the QGroundControl [MAVLink Console](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/analyze_view/mavlink_console.html):
|
||||
|
||||
```sh
|
||||
uxrce_dds_client status
|
||||
```
|
||||
```sh
|
||||
uxrce_dds_client status
|
||||
```
|
||||
|
||||
:::info
|
||||
If the client module is not running you can start it manually in the MAVLink console:
|
||||
@@ -300,32 +300,32 @@ The steps to setup ROS 2 and the Micro XRCE-DDS Agent on the RPi are:
|
||||
|
||||
2. Install the git using the RPi terminal:
|
||||
|
||||
```sh
|
||||
sudo apt install git
|
||||
```
|
||||
```sh
|
||||
sudo apt install git
|
||||
```
|
||||
|
||||
3. Install the uXRCE_DDS agent:
|
||||
|
||||
```sh
|
||||
git clone https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
|
||||
cd Micro-XRCE-DDS-Agent
|
||||
mkdir build
|
||||
cd build
|
||||
cmake ..
|
||||
make
|
||||
sudo make install
|
||||
sudo ldconfig /usr/local/lib/
|
||||
```
|
||||
```sh
|
||||
git clone https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
|
||||
cd Micro-XRCE-DDS-Agent
|
||||
mkdir build
|
||||
cd build
|
||||
cmake ..
|
||||
make
|
||||
sudo make install
|
||||
sudo ldconfig /usr/local/lib/
|
||||
```
|
||||
|
||||
See [uXRCE-DDS > Micro XRCE-DDS Agent Installation](../middleware/uxrce_dds.md#micro-xrce-dds-agent-installation) for alternative ways of installing the agent.
|
||||
See [uXRCE-DDS > Micro XRCE-DDS Agent Installation](../middleware/uxrce_dds.md#micro-xrce-dds-agent-installation) for alternative ways of installing the agent.
|
||||
|
||||
4. Start the agent in the RPi terminal:
|
||||
|
||||
```sh
|
||||
sudo MicroXRCEAgent serial --dev /dev/serial0 -b 921600
|
||||
```
|
||||
```sh
|
||||
sudo MicroXRCEAgent serial --dev /dev/serial0 -b 921600
|
||||
```
|
||||
|
||||
Note how we use the serial port set up earlier and the same baud rate as for PX4.
|
||||
Note how we use the serial port set up earlier and the same baud rate as for PX4.
|
||||
|
||||
Now that both the agent and client are running, you should see activity on both the MAVLink console and the RPi terminal.
|
||||
You can view the available topics using the following command on the RPi:
|
||||
|
||||
@@ -82,18 +82,18 @@ If you use a special "very" high power cards from Taobao/Aliexpress then you MUS
|
||||
5. Setup camera pipeline. Open `/etc/systemd/system/fpv-camera.service` and uncomment pipeline according to your camera (PI camera or Logitech camera)
|
||||
6. Open `/etc/wifibroadcast.cfg` and configure WiFi channel according to your antenna setup (or use default #165 for 5.8GHz)
|
||||
7. Configure PX4 to output telemetry stream at speed 1500 Kbps (other UART speeds doesn't match well to RPi frequency dividers).
|
||||
Connect Pixhawk UART to Raspberry Pi UART.
|
||||
In `/etc/wifibroadcast.cfg` uncomment `peer = 'serial:ttyS0:1500000'` in `[drone_mavlink]` section.
|
||||
Connect Pixhawk UART to Raspberry Pi UART.
|
||||
In `/etc/wifibroadcast.cfg` uncomment `peer = 'serial:ttyS0:1500000'` in `[drone_mavlink]` section.
|
||||
|
||||
### Using a Linux Laptop as GCS (Harder than using a RPi)
|
||||
|
||||
1. On **ground** Linux development computer:
|
||||
|
||||
```sh
|
||||
sudo apt install libpcap-dev libsodium-dev python3-all python3-twisted
|
||||
git clone -b stable https://github.com/svpcom/wfb-ng.git
|
||||
cd wfb-ng && make deb && sudo apt install ./deb_dist/wfb-ng*.deb
|
||||
```
|
||||
```sh
|
||||
sudo apt install libpcap-dev libsodium-dev python3-all python3-twisted
|
||||
git clone -b stable https://github.com/svpcom/wfb-ng.git
|
||||
cd wfb-ng && make deb && sudo apt install ./deb_dist/wfb-ng*.deb
|
||||
```
|
||||
|
||||
2. Follow the [Setup HOWTO](https://github.com/svpcom/wfb-ng/wiki/Setup-HOWTO) to complete installation
|
||||
|
||||
|
||||
@@ -1 +1 @@
|
||||
<Redirect to="../complete_vehicles_mc/betafpv_beta75x" />
|
||||
<Redirect to="../complete_vehicles_mc/betafpv_beta75x" />
|
||||
@@ -1 +1 @@
|
||||
<Redirect to="../complete_vehicles_mc/crazyflie2" />
|
||||
<Redirect to="../complete_vehicles_mc/crazyflie2" />
|
||||
@@ -1 +1 @@
|
||||
<Redirect to="../complete_vehicles_mc/crazyflie21" />
|
||||
<Redirect to="../complete_vehicles_mc/crazyflie21" />
|
||||
@@ -1 +1 @@
|
||||
<Redirect to="../complete_vehicles_mc/holybro_kops2" />
|
||||
<Redirect to="../complete_vehicles_mc/holybro_kops2" />
|
||||
@@ -1 +1 @@
|
||||
<Redirect to="../complete_vehicles_mc/intel_aero" />
|
||||
<Redirect to="../complete_vehicles_mc/intel_aero" />
|
||||
@@ -1 +1 @@
|
||||
<Redirect to="../complete_vehicles_mc/mindracer210" />
|
||||
<Redirect to="../complete_vehicles_mc/mindracer210" />
|
||||
@@ -1 +1 @@
|
||||
<Redirect to="../complete_vehicles_mc/mindracer_BNF_RTF" />
|
||||
<Redirect to="../complete_vehicles_mc/mindracer_BNF_RTF" />
|
||||
@@ -1 +1 @@
|
||||
<Redirect to="../complete_vehicles_mc/modalai_starling" />
|
||||
<Redirect to="../complete_vehicles_mc/modalai_starling" />
|
||||
@@ -1 +1 @@
|
||||
<Redirect to="../complete_vehicles_mc/nanomind110" />
|
||||
<Redirect to="../complete_vehicles_mc/nanomind110" />
|
||||
@@ -1 +1 @@
|
||||
<Redirect to="../complete_vehicles_mc/px4_vision_kit" />
|
||||
<Redirect to="../complete_vehicles_mc/px4_vision_kit" />
|
||||
@@ -51,54 +51,54 @@ 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
|
||||
```
|
||||
```sh
|
||||
git clone https://github.com/PX4/Bootloader.git
|
||||
```
|
||||
|
||||
2. Navigate into the top directory of the source code and compile it using:
|
||||
|
||||
```sh
|
||||
make crazyflie_bl
|
||||
```
|
||||
```sh
|
||||
make crazyflie_bl
|
||||
```
|
||||
|
||||
3. Put the Crazyflie 2.0 into DFU mode by following these steps:
|
||||
- Ensure it is initially unpowered.
|
||||
- Hold down the reset button (see figure below...).
|
||||
|
||||
- Plug into computer's USB port.
|
||||
- After a second, the blue LED should start blinking and after 5 seconds should start blinking faster.
|
||||
- Release button.
|
||||
- Ensure it is initially unpowered.
|
||||
- Hold down the reset button (see figure below...).
|
||||
|
||||
- Plug into computer's USB port.
|
||||
- After a second, the blue LED should start blinking and after 5 seconds should start blinking faster.
|
||||
- Release button.
|
||||
|
||||
4. Install _dfu-util_:
|
||||
|
||||
```sh
|
||||
sudo apt-get update
|
||||
sudo apt-get install dfu-util
|
||||
```
|
||||
```sh
|
||||
sudo apt-get update
|
||||
sudo apt-get install dfu-util
|
||||
```
|
||||
|
||||
5. Flash bootloader using _dfu-util_ and unplug Crazyflie 2.0 when done:
|
||||
|
||||
```sh
|
||||
sudo dfu-util -d 0483:df11 -a 0 -s 0x08000000 -D ./build/crazyflie_bl/crazyflie_bl.bin
|
||||
```
|
||||
```sh
|
||||
sudo dfu-util -d 0483:df11 -a 0 -s 0x08000000 -D ./build/crazyflie_bl/crazyflie_bl.bin
|
||||
```
|
||||
|
||||
When powering on the Crazyflie 2.0 the yellow LED should blink.
|
||||
When powering on the Crazyflie 2.0 the yellow LED should blink.
|
||||
|
||||
6. Download the source code of the PX4 autopilot:
|
||||
|
||||
```sh
|
||||
git clone https://github.com/PX4/PX4-Autopilot.git
|
||||
```
|
||||
```sh
|
||||
git clone https://github.com/PX4/PX4-Autopilot.git
|
||||
```
|
||||
|
||||
7. Navigate into the top directory of the source code and compile it using:
|
||||
|
||||
```sh
|
||||
make bitcraze_crazyflie_default upload
|
||||
```
|
||||
```sh
|
||||
make bitcraze_crazyflie_default upload
|
||||
```
|
||||
|
||||
8. When prompted to plug in device, plug in Crazyflie 2.0.
|
||||
The yellow LED should start blinking indicating bootloader mode.
|
||||
Then the red LED should turn on indicating that the flashing process has started.
|
||||
The yellow LED should start blinking indicating bootloader mode.
|
||||
Then the red LED should turn on indicating that the flashing process has started.
|
||||
|
||||
9. Wait for completion.
|
||||
|
||||
|
||||
@@ -64,56 +64,56 @@ 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
|
||||
```
|
||||
```sh
|
||||
git clone https://github.com/PX4/Bootloader.git --recurse-submodules
|
||||
```
|
||||
|
||||
2. Navigate into the top directory of the source code and compile it using:
|
||||
|
||||
```sh
|
||||
make crazyflie21_bl
|
||||
```
|
||||
```sh
|
||||
make crazyflie21_bl
|
||||
```
|
||||
|
||||
3. Put the Crazyflie 2.1 into DFU mode by following these steps:
|
||||
- Ensure it is initially unpowered.
|
||||
- Ensure battery is disconnected.
|
||||
- Hold down the reset button (see figure below...).
|
||||
|
||||
- Plug into computer's USB port.
|
||||
- After a second, the blue LED should start blinking and after 5 seconds should start blinking faster.
|
||||
- Release button.
|
||||
- Ensure it is initially unpowered.
|
||||
- Ensure battery is disconnected.
|
||||
- Hold down the reset button (see figure below...).
|
||||
|
||||
- Plug into computer's USB port.
|
||||
- After a second, the blue LED should start blinking and after 5 seconds should start blinking faster.
|
||||
- Release button.
|
||||
|
||||
4. Install _dfu-util_:
|
||||
|
||||
```sh
|
||||
sudo apt-get update
|
||||
sudo apt-get install dfu-util
|
||||
```
|
||||
```sh
|
||||
sudo apt-get update
|
||||
sudo apt-get install dfu-util
|
||||
```
|
||||
|
||||
5. Flash bootloader using _dfu-util_ and unplug Crazyflie 2.1 when done:
|
||||
|
||||
```sh
|
||||
sudo dfu-util -d 0483:df11 -a 0 -s 0x08000000 -D ./build/crazyflie21_bl/crazyflie21_bl.bin
|
||||
```
|
||||
```sh
|
||||
sudo dfu-util -d 0483:df11 -a 0 -s 0x08000000 -D ./build/crazyflie21_bl/crazyflie21_bl.bin
|
||||
```
|
||||
|
||||
When powering on the Crazyflie 2.1 the yellow LED should blink.
|
||||
When powering on the Crazyflie 2.1 the yellow LED should blink.
|
||||
|
||||
6. Download the source code of the PX4 autopilot:
|
||||
|
||||
```sh
|
||||
git clone https://github.com/PX4/PX4-Autopilot.git
|
||||
```
|
||||
```sh
|
||||
git clone https://github.com/PX4/PX4-Autopilot.git
|
||||
```
|
||||
|
||||
7. Navigate into the top directory of the source code and compile it using:
|
||||
|
||||
```sh
|
||||
cd PX4-Autopilot/
|
||||
make bitcraze_crazyflie21_default upload
|
||||
```
|
||||
```sh
|
||||
cd PX4-Autopilot/
|
||||
make bitcraze_crazyflie21_default upload
|
||||
```
|
||||
|
||||
8. When prompted to plug in device, plug in Crazyflie 2.1.
|
||||
The yellow LED should start blinking indicating bootloader mode.
|
||||
Then the red LED should turn on indicating that the flashing process has started.
|
||||
The yellow LED should start blinking indicating bootloader mode.
|
||||
Then the red LED should turn on indicating that the flashing process has started.
|
||||
|
||||
9. Wait for completion.
|
||||
|
||||
@@ -124,20 +124,20 @@ After setting up the PX4 development environment, follow these steps to install
|
||||
1. Download the latest [Crazyflie 2.1 bootloader](https://github.com/bitcraze/crazyflie2-stm-bootloader/releases)
|
||||
|
||||
2. Put the Crazyflie 2.1 into DFU mode by following these steps:
|
||||
- Ensure it is initially unpowered.
|
||||
- Ensure battery is disconnected.
|
||||
- Hold down the reset button.
|
||||
- Plug into computer's USB port.
|
||||
- After a second, the blue LED should start blinking and after 5 seconds should start blinking faster.
|
||||
- Release button.
|
||||
- Ensure it is initially unpowered.
|
||||
- Ensure battery is disconnected.
|
||||
- Hold down the reset button.
|
||||
- Plug into computer's USB port.
|
||||
- After a second, the blue LED should start blinking and after 5 seconds should start blinking faster.
|
||||
- Release button.
|
||||
|
||||
3. Flash bootloader using _dfu-util_ and unplug Crazyflie 2.1 when done:
|
||||
|
||||
```sh
|
||||
sudo dfu-util -d 0483:df11 -a 0 -s 0x08000000 -D cf2loader-1.0.bin
|
||||
```
|
||||
```sh
|
||||
sudo dfu-util -d 0483:df11 -a 0 -s 0x08000000 -D cf2loader-1.0.bin
|
||||
```
|
||||
|
||||
When powering on the Crazyflie 2.1 the yellow LED should blink.
|
||||
When powering on the Crazyflie 2.1 the yellow LED should blink.
|
||||
|
||||
4. Install the latest Bitcraze Crazyflie 2.1 Firmware using [this](https://www.bitcraze.io/documentation/tutorials/getting-started-with-crazyflie-2-x/#update-fw) tutorial.
|
||||
|
||||
|
||||
@@ -82,26 +82,26 @@ Follow this guide to bind your ELRS receiver to your transmitter.
|
||||
#### Setting up the Receiver
|
||||
|
||||
1. **Power On the Receiver**: Once your drone is powered on, you'll notice the ELRS receiver's blue LED flashing.
|
||||
This is an indication that the receiver is on but has not yet established a connection with a transmitter.
|
||||
This is an indication that the receiver is on but has not yet established a connection with a transmitter.
|
||||
|
||||
|
||||
|
||||
|
||||
2. **Enter Binding Mode**: To initiate binding, open a terminal and execute the `adb shell` and `voxl-elrs -bind` commands.
|
||||
You'll observe the receiver's LED switch to a flashing in a heartbeat pattern, signaling that it is now in binding mode.
|
||||
You'll observe the receiver's LED switch to a flashing in a heartbeat pattern, signaling that it is now in binding mode.
|
||||
|
||||
|
||||
|
||||
|
||||
#### Setting up the Transmitter
|
||||
|
||||
1. **Access the Menu**: On your Commando 8 radio transmitter included in the kit, press the left mode button to open the menu system.
|
||||
|
||||
|
||||
|
||||
|
||||
2. **Navigate to ExpressLRS**: Use the right button to select the first menu entry, which should be "ExpressLRS."
|
||||
|
||||
3. **Find the Bind Option**: With the "ExpressLRS" option selected, scroll down to the bottom of the menu to locate the "Bind" section. This can be done by pressing the right button downwards until you reach the "Bind" option.
|
||||
|
||||
|
||||
|
||||
|
||||
4. **Initiate Binding**: Select "Bind" to put the transmitter into binding mode. You will know the process has been successful when the transmitter emits a beep, indicating a successful bind.
|
||||
|
||||
|
||||
@@ -42,17 +42,17 @@ This kit is still highly recommended for developing and testing vision solutions
|
||||
## Warnings and Notifications
|
||||
|
||||
1. The kit is intended for computer vision projects that use a forward-facing camera (it does not have downward or rear-facing depth cameras).
|
||||
Consequently it can't be used (without modification) for testing features that require a downward-facing camera.
|
||||
Consequently it can't be used (without modification) for testing features that require a downward-facing camera.
|
||||
|
||||
2. Obstacle avoidance in missions can only be tested when GPS is available (missions use GPS coordinates).
|
||||
Collision prevention can be tested in position mode provided there is a good position lock from either GPS or optical flow.
|
||||
Collision prevention can be tested in position mode provided there is a good position lock from either GPS or optical flow.
|
||||
|
||||
3. The port labeled `USB1` may jam the GPS if used with a _USB3_ peripheral (disable GPS-dependent functionality including missions).
|
||||
This is why the boot image is supplied on a _USB2.0_ memory stick.
|
||||
This is why the boot image is supplied on a _USB2.0_ memory stick.
|
||||
|
||||
4. PX4 Vision v1 with ECN 010 or above (carrier board RC05 and up), the _UP Core_ can be powered by either the DC plug or with battery.
|
||||
|
||||
 
|
||||
 
|
||||
|
||||
5. All PX4 Vision v1.5 _UP Core_ can be powered by either the DC plug or with battery.
|
||||
|
||||
@@ -136,37 +136,37 @@ In addition, users will need ground station hardware/software:
|
||||
|
||||
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.
|
||||
- Mount the RC receiver on the _UP Core_ carrier board plate at the back of the vehicle (use zipties or double-sided tape).
|
||||
- Ensure the antennas are clear of any obstructions and electrically isolated from the frame (e.g. secure them under the carrier board or to the vehicle arms or legs).
|
||||
- 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.
|
||||
- Mount the RC receiver on the _UP Core_ carrier board plate at the back of the vehicle (use zipties or double-sided tape).
|
||||
- Ensure the antennas are clear of any obstructions and electrically isolated from the frame (e.g. secure them under the carrier board or to the vehicle arms or legs).
|
||||
|
||||
2. [Bind](../getting_started/rc_transmitter_receiver.md#binding) the RC ground and air units (if not already done).
|
||||
The binding procedure depends on the specific radio system used (read the receiver manual).
|
||||
The binding procedure depends on the specific radio system used (read the receiver manual).
|
||||
|
||||
3. Raise the GPS mast to the vertical position and screw the cover onto the holder on the base plate. (Not required for v1.5)
|
||||
|
||||
|
||||
|
||||
|
||||
4. Insert the pre-imaged USB2.0 stick from the kit into the _UP Core_ port labeled `USB1` (highlighted below).
|
||||
|
||||
|
||||
|
||||
|
||||
5. Power the vehicle with a fully charged battery.
|
||||
::: info
|
||||
Ensure propellers are removed before connecting the battery.
|
||||
::: info
|
||||
Ensure propellers are removed before connecting the battery.
|
||||
|
||||
:::
|
||||
|
||||
6. Connect the ground station to the vehicle WiFi network (after a few seconds) using the following default credentials:
|
||||
|
||||
- **SSID:** pixhawk4
|
||||
- **Password:** pixhawk4
|
||||
- **SSID:** pixhawk4
|
||||
- **Password:** pixhawk4
|
||||
|
||||
:::tip
|
||||
WiFi network SSID, password, and other credentials may be changed after connecting (if desired), by using a web browser to open the URL: `http://192.168.4.1`.
|
||||
The baud rate must not be changed from 921600.
|
||||
:::tip
|
||||
WiFi network SSID, password, and other credentials may be changed after connecting (if desired), by using a web browser to open the URL: `http://192.168.4.1`.
|
||||
The baud rate must not be changed from 921600.
|
||||
|
||||
:::
|
||||
|
||||
@@ -174,39 +174,39 @@ In addition, users will need ground station hardware/software:
|
||||
|
||||
8. [Configure/calibrate](../config/index.md) the vehicle:
|
||||
|
||||
::: info
|
||||
The vehicle should arrive pre-calibrated (e.g. with firmware, airframe, battery, and sensors all setup).
|
||||
You will however need to calibrate the radio system (that you just connected) and it is often worth re-doing the compass calibration.
|
||||
::: info
|
||||
The vehicle should arrive pre-calibrated (e.g. with firmware, airframe, battery, and sensors all setup).
|
||||
You will however need to calibrate the radio system (that you just connected) and it is often worth re-doing the compass calibration.
|
||||
|
||||
:::
|
||||
|
||||
- [Calibrate the Radio System](../config/radio.md)
|
||||
- [Calibrate the Compass](../config/compass.md)
|
||||
- [Calibrate the Radio System](../config/radio.md)
|
||||
- [Calibrate the Compass](../config/compass.md)
|
||||
|
||||
9. (Optional) Configure a [Flight Mode selector switch](../config/flight_mode.md) on the remote controller.
|
||||
|
||||
::: info
|
||||
Modes can also be changed using _QGroundControl_
|
||||
::: info
|
||||
Modes can also be changed using _QGroundControl_
|
||||
|
||||
:::
|
||||
|
||||
We recommend RC controller switches are define for:
|
||||
We recommend RC controller switches are define for:
|
||||
|
||||
- [Position Mode](../flight_modes_mc/position.md) - a safe manual flight mode that can be used to test collision prevention.
|
||||
- [Mission Mode](../flight_modes_mc/mission.md) - run missions and test obstacle avoidance.
|
||||
- [Return Mode](../flight_modes_mc/return.md) - return vehicle safely to its launch point and land.
|
||||
- [Position Mode](../flight_modes_mc/position.md) - a safe manual flight mode that can be used to test collision prevention.
|
||||
- [Mission Mode](../flight_modes_mc/mission.md) - run missions and test obstacle avoidance.
|
||||
- [Return Mode](../flight_modes_mc/return.md) - return vehicle safely to its launch point and land.
|
||||
|
||||
10. Attach the propellers with the rotations as shown:
|
||||
|
||||
|
||||
|
||||
|
||||
- The propellers directions can be determined from the labels: _6045_ (normal, counter-clockwise) and _6045_**R** (reversed, clockwise).
|
||||
- The propellers directions can be determined from the labels: _6045_ (normal, counter-clockwise) and _6045_**R** (reversed, clockwise).
|
||||
|
||||
|
||||
|
||||
|
||||
- Screw down firmly using the provided propellor nuts:
|
||||
- Screw down firmly using the provided propellor nuts:
|
||||
|
||||
|
||||
|
||||
|
||||
## Fly the Drone with Avoidance
|
||||
|
||||
@@ -216,31 +216,31 @@ When the vehicle setup described above is complete:
|
||||
|
||||
2. Wait until the boot sequence completes and the avoidance system has started (the vehicle will reject arming commands during boot).
|
||||
|
||||
:::tip
|
||||
The boot/startup process takes around 1 minute from the supplied USB stick (or 30 seconds from [internal memory](#install_image_mission_computer)).
|
||||
:::tip
|
||||
The boot/startup process takes around 1 minute from the supplied USB stick (or 30 seconds from [internal memory](#install_image_mission_computer)).
|
||||
|
||||
:::
|
||||
|
||||
3. Check that the avoidance system has started properly:
|
||||
|
||||
- The _QGroundControl_ notification log displays the message: **Avoidance system connected**.
|
||||
- The _QGroundControl_ notification log displays the message: **Avoidance system connected**.
|
||||
|
||||
|
||||
|
||||
|
||||
- A red laser is visible on the front of the _Structure Core_ camera.
|
||||
- A red laser is visible on the front of the _Structure Core_ camera.
|
||||
|
||||
4. Wait for the GPS LED to turn green.
|
||||
This means that the vehicle has a GPS fix and is ready to fly!
|
||||
This means that the vehicle has a GPS fix and is ready to fly!
|
||||
|
||||
5. Connect the ground station to the vehicle WiFi network.
|
||||
|
||||
6. Find a safe outdoor location for flying, ideally with a tree or some other convenient obstacle for testing PX4 Vision.
|
||||
|
||||
7. To test [collision prevention](../computer_vision/collision_prevention.md), enable [Position Mode](../flight_modes_mc/position.md) and fly manually towards an obstacle.
|
||||
The vehicle should slow down and then stop within 6m of the obstacle (the distance can be [changed](../advanced_config/parameters.md) using the [CP_DIST](../advanced_config/parameter_reference.md#CP_DIST) parameter).
|
||||
The vehicle should slow down and then stop within 6m of the obstacle (the distance can be [changed](../advanced_config/parameters.md) using the [CP_DIST](../advanced_config/parameter_reference.md#CP_DIST) parameter).
|
||||
|
||||
8. To test obstacle avoidance, create a mission where the path is blocked by an obstacle.
|
||||
Then switch to [Mission Mode](../flight_modes_mc/mission.md) to run the mission, and observe the vehicle moving around the obstacle and then returning to the planned course.
|
||||
Then switch to [Mission Mode](../flight_modes_mc/mission.md) to run the mission, and observe the vehicle moving around the obstacle and then returning to the planned course.
|
||||
|
||||
## Development using the Kit
|
||||
|
||||
@@ -285,22 +285,22 @@ To flash the USB image to the _UP Core_:
|
||||
2. [Login to the companion computer](#login_mission_computer) (as described above).
|
||||
|
||||
3. Open a terminal and run the following command to copy the image onto internal memory (eMMC).
|
||||
The terminal will prompt for a number of responses during the flashing process.
|
||||
The terminal will prompt for a number of responses during the flashing process.
|
||||
|
||||
```sh
|
||||
cd ~/catkin_ws/src/px4vision_ros/tools
|
||||
sudo ./flash_emmc.sh
|
||||
```
|
||||
```sh
|
||||
cd ~/catkin_ws/src/px4vision_ros/tools
|
||||
sudo ./flash_emmc.sh
|
||||
```
|
||||
|
||||
::: info
|
||||
All information saved in the _UP Core_ computer will be removed when executing this script.
|
||||
::: info
|
||||
All information saved in the _UP Core_ computer will be removed when executing this script.
|
||||
|
||||
:::
|
||||
|
||||
4. Pull out the USB stick.
|
||||
|
||||
5. Restart the vehicle.
|
||||
The _UP Core_ computer will now boot from internal memory (eMMC).
|
||||
The _UP Core_ computer will now boot from internal memory (eMMC).
|
||||
|
||||
### Boot the Companion Computer
|
||||
|
||||
@@ -324,24 +324,24 @@ To login to the companion computer:
|
||||
|
||||
1. Connect a keyboard and mouse to the _UP Core_ via port `USB2`:
|
||||
|
||||
|
||||
|
||||
|
||||
- Use the USB-JST cable from the kit to get a USB A connector
|
||||
- Use the USB-JST cable from the kit to get a USB A connector
|
||||
|
||||
|
||||
|
||||
|
||||
- A USB hub can be attached to the cable if the keyboard and mouse have separate connectors.
|
||||
- A USB hub can be attached to the cable if the keyboard and mouse have separate connectors.
|
||||
|
||||
2. Connect a monitor to the _UP Core_ HDMI port.
|
||||
|
||||
|
||||
|
||||
|
||||
The Ubuntu login screen should then appear on the monitor.
|
||||
The Ubuntu login screen should then appear on the monitor.
|
||||
|
||||
3. Login to the _UP Core_ using the credentials:
|
||||
|
||||
- **Username:** px4vision
|
||||
- **Password:** px4vision
|
||||
- **Username:** px4vision
|
||||
- **Password:** px4vision
|
||||
|
||||
### Developing/Extending PX4 Avoidance
|
||||
|
||||
@@ -356,39 +356,39 @@ To integrate a different planner, this needs to be disabled.
|
||||
|
||||
1. Disable the avoidance process using the following command:
|
||||
|
||||
```sh
|
||||
systemctl stop avoidance.service
|
||||
```
|
||||
```sh
|
||||
systemctl stop avoidance.service
|
||||
```
|
||||
|
||||
You can simply reboot the machine to restart the service.
|
||||
You can simply reboot the machine to restart the service.
|
||||
|
||||
Other useful commands are:
|
||||
Other useful commands are:
|
||||
|
||||
```sh
|
||||
# restart service
|
||||
systemctl start avoidance.service
|
||||
```sh
|
||||
# restart service
|
||||
systemctl start avoidance.service
|
||||
|
||||
# disable service (stop service and do not restart after boot)
|
||||
systemctl disable avoidance.service
|
||||
# disable service (stop service and do not restart after boot)
|
||||
systemctl disable avoidance.service
|
||||
|
||||
# enable service (start service and enable restart after boot)
|
||||
systemctl enable avoidance.service
|
||||
```
|
||||
# enable service (start service and enable restart after boot)
|
||||
systemctl enable avoidance.service
|
||||
```
|
||||
|
||||
2. The source code of the obstacle avoidance package can be found in https://github.com/PX4/PX4-Avoidance which is located in `~/catkin_ws/src/avoidance`.
|
||||
|
||||
3. Make changes to the code! To get the latest code of avoidance pull the code from the avoidance repo:
|
||||
|
||||
```sh
|
||||
git pull origin
|
||||
git checkout origin/master
|
||||
```
|
||||
```sh
|
||||
git pull origin
|
||||
git checkout origin/master
|
||||
```
|
||||
|
||||
4. Build the package
|
||||
|
||||
```sh
|
||||
catkin build local_planner
|
||||
```
|
||||
```sh
|
||||
catkin build local_planner
|
||||
```
|
||||
|
||||
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).
|
||||
|
||||
@@ -33,4 +33,4 @@ These may or may not be updatable to run "vanilla" PX4.
|
||||
## See Also
|
||||
|
||||
- [Complete Vehicles (Fixed-Wing)](../complete_vehicles_fw/index.md)
|
||||
- [Complete Vehicles (MC)](../complete_vehicles_mc/index.md)
|
||||
- [Complete Vehicles (MC)](../complete_vehicles_mc/index.md)
|
||||
@@ -47,7 +47,7 @@ PX4 v1.14 (and later) supports the [LightWare LiDAR SF45](../sensor/sf45_rotatin
|
||||
|
||||
- Attach and configure the distance sensor on a particular port (see [sensor-specific docs](../sensor/rangefinders.md)) and enable collision prevention using [CP_DIST](#CP_DIST).
|
||||
- 修改驱动程序以设置方向。
|
||||
This should be done by mimicking the `SENS_CM8JL65_R_0` parameter (though you might also hard-code the orientation in the sensor _module.yaml_ file to something like `sf0x start -d ${SERIAL_DEV} -R 25` - where 25 is equivalent to `ROTATION_DOWNWARD_FACING`).
|
||||
This should be done by mimicking the `SENS_CM8JL65_R_0` parameter (though you might also hard-code the orientation in the sensor _module.yaml_ file to something like `sf0x start -d ${SERIAL_DEV} -R 25` - where 25 is equivalent to `ROTATION_DOWNWARD_FACING`).
|
||||
- Modify the driver to set the _field of view_ in the distance sensor UORB topic (`distance_sensor_s.h_fov`).
|
||||
|
||||
## PX4 (Software) Setup
|
||||
@@ -184,7 +184,7 @@ Next, adjust the relevant parameters to the appropriate values and add arbitrary
|
||||
|
||||
The diagram below shows a simulation of collision prevention as viewed in Gazebo.
|
||||
|
||||
|
||||
|
||||
|
||||
## Development Information/Tools
|
||||
|
||||
@@ -203,85 +203,85 @@ The Lua script works by extracting the `obstacle_distance_fused` data at each ti
|
||||
|
||||
2. Configure PX4 to publish obstacle distance data (so that it is available to PlotJuggler):
|
||||
|
||||
Add the [`obstacle_distance_fused`](../msg_docs/ObstacleDistance.md) UORB topic to your [`dds_topics.yaml`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) so that it is published by PX4:
|
||||
Add the [`obstacle_distance_fused`](../msg_docs/ObstacleDistance.md) UORB topic to your [`dds_topics.yaml`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) so that it is published by PX4:
|
||||
|
||||
```sh
|
||||
- topic: /fmu/out/obstacle_distance_fused
|
||||
type: px4_msgs::msg::ObstacleDistance
|
||||
```
|
||||
```sh
|
||||
- topic: /fmu/out/obstacle_distance_fused
|
||||
type: px4_msgs::msg::ObstacleDistance
|
||||
```
|
||||
|
||||
For more information see [DDS Topics YAML](../middleware/uxrce_dds.md#dds-topics-yaml) in _uXRCE-DDS (PX4-ROS 2/DDS Bridge)_.
|
||||
For more information see [DDS Topics YAML](../middleware/uxrce_dds.md#dds-topics-yaml) in _uXRCE-DDS (PX4-ROS 2/DDS Bridge)_.
|
||||
|
||||
3. Open PlotJuggler and navigate to the **Tools > Reactive Script Editor** section.
|
||||
In the **Script Editor** tab, add following scripts in the appropriate sections:
|
||||
In the **Script Editor** tab, add following scripts in the appropriate sections:
|
||||
|
||||
- **Global code, executed once:**
|
||||
- **Global code, executed once:**
|
||||
|
||||
```lua
|
||||
obs_dist_fused_xy = ScatterXY.new("obstacle_distance_fused_xy")
|
||||
obs_dist_min = Timeseries.new("obstacle_distance_minimum")
|
||||
```
|
||||
```lua
|
||||
obs_dist_fused_xy = ScatterXY.new("obstacle_distance_fused_xy")
|
||||
obs_dist_min = Timeseries.new("obstacle_distance_minimum")
|
||||
```
|
||||
|
||||
- **function(tracker_time)**
|
||||
- **function(tracker_time)**
|
||||
|
||||
```lua
|
||||
obs_dist_fused_xy:clear()
|
||||
```lua
|
||||
obs_dist_fused_xy:clear()
|
||||
|
||||
i = 0
|
||||
angle_offset = TimeseriesView.find("/fmu/out/obstacle_distance_fused/angle_offset")
|
||||
increment = TimeseriesView.find("/fmu/out/obstacle_distance_fused/increment")
|
||||
min_dist = 65535
|
||||
i = 0
|
||||
angle_offset = TimeseriesView.find("/fmu/out/obstacle_distance_fused/angle_offset")
|
||||
increment = TimeseriesView.find("/fmu/out/obstacle_distance_fused/increment")
|
||||
min_dist = 65535
|
||||
|
||||
-- Cache increment and angle_offset values at tracker_time to avoid repeated calls
|
||||
local angle_offset_value = angle_offset:atTime(tracker_time)
|
||||
local increment_value = increment:atTime(tracker_time)
|
||||
-- Cache increment and angle_offset values at tracker_time to avoid repeated calls
|
||||
local angle_offset_value = angle_offset:atTime(tracker_time)
|
||||
local increment_value = increment:atTime(tracker_time)
|
||||
|
||||
if increment_value == nil or increment_value <= 0 then
|
||||
print("Invalid increment value: " .. tostring(increment_value))
|
||||
return
|
||||
end
|
||||
if increment_value == nil or increment_value <= 0 then
|
||||
print("Invalid increment value: " .. tostring(increment_value))
|
||||
return
|
||||
end
|
||||
|
||||
local max_steps = math.floor(360 / increment_value)
|
||||
local max_steps = math.floor(360 / increment_value)
|
||||
|
||||
while i < max_steps do
|
||||
local str = string.format("/fmu/out/obstacle_distance_fused/distances[%d]", i)
|
||||
local distance = TimeseriesView.find(str)
|
||||
if distance == nil then
|
||||
print("No distance data for: " .. str)
|
||||
break
|
||||
end
|
||||
while i < max_steps do
|
||||
local str = string.format("/fmu/out/obstacle_distance_fused/distances[%d]", i)
|
||||
local distance = TimeseriesView.find(str)
|
||||
if distance == nil then
|
||||
print("No distance data for: " .. str)
|
||||
break
|
||||
end
|
||||
|
||||
local dist = distance:atTime(tracker_time)
|
||||
if dist ~= nil and dist < 65535 then
|
||||
-- Calculate angle and Cartesian coordinates
|
||||
local angle = angle_offset_value + i * increment_value
|
||||
local y = dist * math.cos(math.rad(angle))
|
||||
local x = dist * math.sin(math.rad(angle))
|
||||
local dist = distance:atTime(tracker_time)
|
||||
if dist ~= nil and dist < 65535 then
|
||||
-- Calculate angle and Cartesian coordinates
|
||||
local angle = angle_offset_value + i * increment_value
|
||||
local y = dist * math.cos(math.rad(angle))
|
||||
local x = dist * math.sin(math.rad(angle))
|
||||
|
||||
obs_dist_fused_xy:push_back(x, y)
|
||||
obs_dist_fused_xy:push_back(x, y)
|
||||
|
||||
-- Update minimum distance
|
||||
if dist < min_dist then
|
||||
min_dist = dist
|
||||
end
|
||||
end
|
||||
-- Update minimum distance
|
||||
if dist < min_dist then
|
||||
min_dist = dist
|
||||
end
|
||||
end
|
||||
|
||||
i = i + 1
|
||||
end
|
||||
i = i + 1
|
||||
end
|
||||
|
||||
-- Push minimum distance once after the loop
|
||||
if min_dist < 65535 then
|
||||
obs_dist_min:push_back(tracker_time, min_dist)
|
||||
else
|
||||
print("No valid minimum distance found")
|
||||
end
|
||||
```
|
||||
-- Push minimum distance once after the loop
|
||||
if min_dist < 65535 then
|
||||
obs_dist_min:push_back(tracker_time, min_dist)
|
||||
else
|
||||
print("No valid minimum distance found")
|
||||
end
|
||||
```
|
||||
|
||||
4. Enter a name for the script on the top right, and press **Save**.
|
||||
Once saved, the script should appear in the _Active Scripts_ section.
|
||||
Once saved, the script should appear in the _Active Scripts_ section.
|
||||
|
||||
5. Start streaming the data using the approach described in [Plotting uORB Topic Data in Real Time using PlotJuggler](../debug/plotting_realtime_uorb_data.md).
|
||||
You should see the `obstacle_distance_fused_xy` and `obstacle_distance_minimum` timeseries on the left.
|
||||
You should see the `obstacle_distance_fused_xy` and `obstacle_distance_minimum` timeseries on the left.
|
||||
|
||||
Note that you have to press **Save** again to re-enable the scripts after loading a new log file or otherwise clearing data.
|
||||
|
||||
@@ -293,7 +293,7 @@ New sensor data is compared to the existing map, and used to update any sections
|
||||
|
||||
The angles in the `obstacle_distance` topic are defined as follows:
|
||||
|
||||
|
||||
|
||||
|
||||
The data from rangefinders, rotary lidars, or companion computers, is processed differently, as described below.
|
||||
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
# Path Planning Interface
|
||||
|
||||
<Badge type="warning" text="Removed" />
|
||||
<Badge type="warning" text="Removed PX4 v1.15" />
|
||||
|
||||
:::warning
|
||||
The **Path Planning Interface**, along with the features **Obstacle avoidance in Missions** and **Safe Landing** are no longer supported or maintained, and _should not_ be used in any PX4 version.
|
||||
|
||||
@@ -96,7 +96,7 @@ It is rare that a system is set up with an entirely synchronised chain!
|
||||
|
||||
通过检查 IMU 速率和 EV 速率之间的偏移，可以从日志中获取对延迟的粗略估计：
|
||||
|
||||
|
||||
|
||||
|
||||
:::info
|
||||
A plot of external data vs. onboard estimate (as above) can be generated using [FlightPlot](../log/flight_log_analysis.md#flightplot) or similar flight analysis tools.
|
||||
@@ -132,15 +132,15 @@ Perform the following checks to verify that VIO is working properly _before_ you
|
||||
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。
|
||||
|
||||
1. Put the vehicle on the ground and start streaming `ODOMETRY` feedback (as above).
|
||||
油门杆推到最低并解锁。
|
||||
油门杆推到最低并解锁。
|
||||
|
||||
此时，设置为位置控制模式。
|
||||
如果切换成功，飞控会闪绿灯。
|
||||
绿灯代表：你的外部位置信息已经注入到飞控中，并且位置控制模式已经切换成功。
|
||||
此时，设置为位置控制模式。
|
||||
如果切换成功，飞控会闪绿灯。
|
||||
绿灯代表：你的外部位置信息已经注入到飞控中，并且位置控制模式已经切换成功。
|
||||
|
||||
2. 油门杆放到中间位置（死区），以便无人机保持飞行高度。
|
||||
提高操控杆会增加参考高度，降低操控杆会降低参考高度。
|
||||
Similarly, the other stick will change the position over the ground.
|
||||
提高操控杆会增加参考高度，降低操控杆会降低参考高度。
|
||||
Similarly, the other stick will change the position over the ground.
|
||||
|
||||
3. Increase the value of the throttle stick and the vehicle will take off. Move it back to the middle immediately afterwards.
|
||||
|
||||
|
||||
@@ -71,44 +71,44 @@ Explanations and requirements:
|
||||
- `/* EVENT`: This tag indicates that a comment defines metadata for the following event.
|
||||
|
||||
- **event_name**: the event name (`events::ID(event_name)`).
|
||||
- must be unique within the whole source code of PX4.
|
||||
As a general convention, prefix it with the module name, or the source file for larger modules.
|
||||
- must be a valid variable name, i.e. must not contain spaces, colons, etc.
|
||||
- from that name, a 24 bit event ID is derived using a hash function.
|
||||
This means as long as the event name stays the same, so will the ID.
|
||||
- must be unique within the whole source code of PX4.
|
||||
As a general convention, prefix it with the module name, or the source file for larger modules.
|
||||
- must be a valid variable name, i.e. must not contain spaces, colons, etc.
|
||||
- from that name, a 24 bit event ID is derived using a hash function.
|
||||
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:
|
||||
- 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:
|
||||
|
||||
```plain
|
||||
Emergency,
|
||||
Alert,
|
||||
Critical,
|
||||
Error,
|
||||
Warning,
|
||||
Notice,
|
||||
Info,
|
||||
Debug,
|
||||
Disabled,
|
||||
```
|
||||
```plain
|
||||
Emergency,
|
||||
Alert,
|
||||
Critical,
|
||||
Error,
|
||||
Warning,
|
||||
Notice,
|
||||
Info,
|
||||
Debug,
|
||||
Disabled,
|
||||
```
|
||||
|
||||
```
|
||||
- Above we specify a separate external and internal log level, which are the levels displayed to GCS users and in the log file, respectively: `{events::Log::Error, events::LogInternal::Info}`.
|
||||
For the majority of cases you can pass a single log level, and this will be used for both exernal and internal cases.
|
||||
There are cases it makes sense to have two different log levels.
|
||||
For example an RTL failsafe action: the user should see it as Warning/Error, whereas in the log, it is an expected system response, so it can be set to `Info`.
|
||||
```
|
||||
```
|
||||
- Above we specify a separate external and internal log level, which are the levels displayed to GCS users and in the log file, respectively: `{events::Log::Error, events::LogInternal::Info}`.
|
||||
For the majority of cases you can pass a single log level, and this will be used for both exernal and internal cases.
|
||||
There are cases it makes sense to have two different log levels.
|
||||
For example an RTL failsafe action: the user should see it as Warning/Error, whereas in the log, it is an expected system response, so it can be set to `Info`.
|
||||
```
|
||||
|
||||
- **Event Message**:
|
||||
- Single-line, short message of the event.
|
||||
It may contain template placeholders for arguments (e.g. `{1}`). For more information see below.
|
||||
- Single-line, short message of the event.
|
||||
It may contain template placeholders for arguments (e.g. `{1}`). For more information see below.
|
||||
|
||||
- **Event Description**:
|
||||
- Detailed, optional event description.
|
||||
- Can be multiple lines/paragraphs.
|
||||
- It may contain template placeholders for arguments (e.g. `{2}`) and supported tags (see below)
|
||||
- Detailed, optional event description.
|
||||
- Can be multiple lines/paragraphs.
|
||||
- It may contain template placeholders for arguments (e.g. `{2}`) and supported tags (see below)
|
||||
|
||||
#### Arguments and Enums
|
||||
|
||||
@@ -127,35 +127,35 @@ Text format for event message description:
|
||||
|
||||
- characters can be escaped with \\
|
||||
|
||||
These have to be escaped: '\\\\', '\\<', '\\{'.
|
||||
These have to be escaped: '\\\\', '\\<', '\\{'.
|
||||
|
||||
- supported tags:
|
||||
|
||||
- Profiles: `<profile name="[!]NAME">CONTENT</profile>`
|
||||
- Profiles: `<profile name="[!]NAME">CONTENT</profile>`
|
||||
|
||||
`CONTENT` will only be shown if the name matches the configured profile.
|
||||
This can be used for example to hide developer information from end-users.
|
||||
`CONTENT` will only be shown if the name matches the configured profile.
|
||||
This can be used for example to hide developer information from end-users.
|
||||
|
||||
- URLs: `<a [href="URL"]>CONTENT</a>`.
|
||||
If `href` is not set, use `CONTENT` as `URL` (i.e.`<a>https://docs.px4.io</a>` is interpreted as `<a href="https://docs.px4.io">https://docs.px4.io</a>`)
|
||||
- URLs: `<a [href="URL"]>CONTENT</a>`.
|
||||
If `href` is not set, use `CONTENT` as `URL` (i.e.`<a>https://docs.px4.io</a>` is interpreted as `<a href="https://docs.px4.io">https://docs.px4.io</a>`)
|
||||
|
||||
- Parameters: `<param>PARAM_NAME</param>`
|
||||
- Parameters: `<param>PARAM_NAME</param>`
|
||||
|
||||
- no nested tags of the same type are allowed
|
||||
- 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]}`
|
||||
- general form: `{ARG_IDX[:.NUM_DECIMAL_DIGITS][UNIT]}`
|
||||
|
||||
UNIT:
|
||||
UNIT:
|
||||
|
||||
- m: horizontal distance in meters
|
||||
- m_v: vertical distance in meters
|
||||
- m^2: area in m^2
|
||||
- m/s: speed in m/s
|
||||
- C: temperature in degrees celsius
|
||||
- m: horizontal distance in meters
|
||||
- m_v: vertical distance in meters
|
||||
- m^2: area in m^2
|
||||
- m/s: speed in m/s
|
||||
- C: temperature in degrees celsius
|
||||
|
||||
- `NUM_DECIMAL_DIGITS` only makes sense for real number arguments.
|
||||
- `NUM_DECIMAL_DIGITS` only makes sense for real number arguments.
|
||||
|
||||
## 日志
|
||||
|
||||
|
||||
@@ -38,24 +38,24 @@ The instructions below might be used to create a task named _MyTask_:
|
||||
|
||||
- Update the copyright to the current year
|
||||
|
||||
```cmake
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2021 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
```
|
||||
```cmake
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2021 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
```
|
||||
|
||||
- Modify the code to reflect the new task - e.g. replace `FlightTaskOrbit` with `FlightTaskMyTask`.
|
||||
The code will look something like this:
|
||||
The code will look something like this:
|
||||
|
||||
```cmake
|
||||
px4_add_library(FlightTaskMyTask
|
||||
FlightTaskMyTask.cpp
|
||||
)
|
||||
```cmake
|
||||
px4_add_library(FlightTaskMyTask
|
||||
FlightTaskMyTask.cpp
|
||||
)
|
||||
|
||||
target_link_libraries(FlightTaskMyTask PUBLIC FlightTask)
|
||||
target_include_directories(FlightTaskMyTask PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
|
||||
```
|
||||
target_link_libraries(FlightTaskMyTask PUBLIC FlightTask)
|
||||
target_include_directories(FlightTaskMyTask PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
|
||||
```
|
||||
|
||||
4. Update the header file (in this case **FlightTaskMyTask.hpp**):
|
||||
Most tasks reimplement the virtual methods `activate()` and `update()`, and in this example we also have a private variable.
|
||||
@@ -141,35 +141,35 @@ The instructions below might be used to create a task named _MyTask_:
|
||||
|
||||
- Update `MPC_POS_MODE` ([multicopter_position_mode_params.c](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mc_pos_control/multicopter_position_mode_params.c)) to add an option for selecting "MyTask" if the parameter has a previously unused value like 5:
|
||||
|
||||
```c
|
||||
...
|
||||
* @value 0 Direct velocity
|
||||
* @value 3 Smoothed velocity
|
||||
* @value 4 Acceleration based
|
||||
* @value 5 My task
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_INT32(MPC_POS_MODE, 5);
|
||||
```
|
||||
```c
|
||||
...
|
||||
* @value 0 Direct velocity
|
||||
* @value 3 Smoothed velocity
|
||||
* @value 4 Acceleration based
|
||||
* @value 5 My task
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_INT32(MPC_POS_MODE, 5);
|
||||
```
|
||||
|
||||
- Add a case for your new option in the switch for the parameter [FlightModeManager.cpp](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/flight_mode_manager/FlightModeManager.cpp#L266-L285) to enable the task when `_param_mpc_pos_mode` has the right value.
|
||||
|
||||
```cpp
|
||||
...
|
||||
// manual position control
|
||||
...
|
||||
switch (_param_mpc_pos_mode.get()) {
|
||||
...
|
||||
case 3:
|
||||
error = switchTask(FlightTaskIndex::ManualPositionSmoothVel);
|
||||
break;
|
||||
case 5: // Add case for new task: MyTask
|
||||
error = switchTask(FlightTaskIndex::MyTask);
|
||||
break;
|
||||
case 4:
|
||||
....
|
||||
...
|
||||
```
|
||||
```cpp
|
||||
...
|
||||
// manual position control
|
||||
...
|
||||
switch (_param_mpc_pos_mode.get()) {
|
||||
...
|
||||
case 3:
|
||||
error = switchTask(FlightTaskIndex::ManualPositionSmoothVel);
|
||||
break;
|
||||
case 5: // Add case for new task: MyTask
|
||||
error = switchTask(FlightTaskIndex::MyTask);
|
||||
break;
|
||||
case 4:
|
||||
....
|
||||
...
|
||||
```
|
||||
|
||||
## Test New Flight Task
|
||||
|
||||
|
||||
+27
-19
@@ -43,13 +43,13 @@ To make sure the vehicle is stable enough for auto-tuning:
|
||||
2. Take off and <div style="display: inline;" v-if="$frontmatter.frame === 'Multicopter'">hover at 1m above ground in [Altitude mode](../flight_modes_mc/altitude.md) or [Stabilized mode](../flight_modes_mc/manual_stabilized.md)</div><div style="display: inline;" v-else-if="$frontmatter.frame === 'Plane'">fly at cruise speed in [Position mode](../flight_modes_fw/position.md) or [Altitude mode](../flight_modes_fw/altitude.md)</div>.
|
||||
|
||||
3. Use the RC transmitter roll stick to perform the following maneuver, tilting the vehicle just a few degrees: _roll left > roll right > center_ (The whole maneuver should take about 3 seconds).
|
||||
The vehicle should stabilise itself within 2 oscillations.
|
||||
The vehicle should stabilise itself within 2 oscillations.
|
||||
|
||||
4. Repeat the maneuver, tilting with larger amplitudes at each attempt.
|
||||
If the vehicle can stabilise itself within 2 oscillations at ~20 degrees move to the next step.
|
||||
If the vehicle can stabilise itself within 2 oscillations at ~20 degrees move to the next step.
|
||||
|
||||
5. Repeat the same maneuvers but on the pitch axis.
|
||||
As above, start with small angles and confirm that the vehicle can stabilise itself within 2 oscillations before increasing the tilt.
|
||||
As above, start with small angles and confirm that the vehicle can stabilise itself within 2 oscillations before increasing the tilt.
|
||||
|
||||
If the drone can stabilize itself within 2 oscillations it is ready for the [auto-tuning procedure](#auto-tuning-procedure).
|
||||
|
||||
@@ -72,35 +72,43 @@ The test steps are:
|
||||
1. Perform the [pre-tuning test](#pre-tuning-test).
|
||||
|
||||
2. Takeoff using RC control <div style="display: inline;" v-if="$frontmatter.frame === 'Multicopter'">in [Altitude mode](../flight_modes_mc/altitude.md).
|
||||
Hover the vehicle at a safe distance and at a few meters above ground (between 4 and 20m).</div><div v-else-if="$frontmatter.frame === 'Plane'">
|
||||
Once flying at cruise speed, activate [Hold mode](../flight_modes_fw/hold.md).
|
||||
This will guide the plane to fly in circle at constant altitude and speed.</div>
|
||||
Hover the vehicle at a safe distance and at a few meters above ground (between 4 and 20m).</div><div v-else-if="$frontmatter.frame === 'Plane'">
|
||||
Once flying at cruise speed, activate [Hold mode](../flight_modes_fw/hold.md).
|
||||
This will guide the plane to fly in circle at constant altitude and speed.</div>
|
||||
|
||||
3. Enable autotune.
|
||||
|
||||
<div v-if="$frontmatter.frame === 'Plane'">
|
||||
<div class="tip custom-block"><p class="custom-block-title">TIP</p>
|
||||
<div v-if="$frontmatter.frame === 'Plane'">
|
||||
<div class="tip custom-block"><p class="custom-block-title">TIP</p>
|
||||
|
||||
If an [Enable/Disable Autotune Switch](#enable-disable-autotune-switch) is configured you can just toggle the switch to the "enabled" position.
|
||||
If an [Enable/Disable Autotune Switch](#enable-disable-autotune-switch) is configured you can just toggle the switch to the "enabled" position.
|
||||
|
||||
</div></div>
|
||||
</div></div>
|
||||
|
||||
1. In QGroundControl, open the menu **Vehicle setup > PID Tuning**:
|
||||
1. In QGroundControl, open the menu **Vehicle setup > PID Tuning**:
|
||||
|
||||
|
||||
|
||||
|
||||
2. Select either the _Rate Controller_ or _Attitude Controller_ tabs.
|
||||
2. Select either the _Rate Controller_ or _Attitude Controller_ tabs.
|
||||
|
||||
3. Ensure that the **Autotune enabled** button is enabled (this will display the **Autotune** button and remove the manual tuning selectors).
|
||||
3. Ensure that the **Autotune enabled** button is enabled (this will display the **Autotune** button and remove the manual tuning selectors).
|
||||
|
||||
4. Read the warning popup and click on **OK** to start tuning.
|
||||
4. Read the warning popup and click on **OK** to start tuning.
|
||||
|
||||
4. The drone will first start to perform quick roll motions followed by pitch and yaw motions.
|
||||
The progress is shown in the progress bar, next to the _Autotune_ button.
|
||||
The progress is shown in the progress bar, next to the _Autotune_ button.
|
||||
|
||||
5. <div style="display: inline;" v-if="$frontmatter.frame === 'Multicopter'">Manually land and disarm to apply the new tuning parameters.
|
||||
Takeoff carefully and manually test that the vehicle is stable.</div><div v-else-if="$frontmatter.frame === 'Plane'">The tuning will be immediately/automatically be applied and tested in flight (by default).
|
||||
PX4 will then run a 4 second test and revert the new tuning if a problem is detected.</div>
|
||||
<div style="display: inline;" v-if="$frontmatter.frame === 'Multicopter'">
|
||||
|
||||
5. Manually land and disarm to apply the new tuning parameters.
|
||||
Takeoff carefully and manually test that the vehicle is stable.
|
||||
|
||||
</div><div v-else-if="$frontmatter.frame === 'Plane'">
|
||||
|
||||
5. The tuning will be immediately/automatically be applied and tested in flight (by default).
|
||||
PX4 will then run a 4 second test and revert the new tuning if a problem is detected.
|
||||
|
||||
</div>
|
||||
|
||||
:::warning
|
||||
If any strong oscillations occur, land immediately and follow the instructions in the [Troubleshooting](#troubleshooting) section below.
|
||||
|
||||
+46
-46
@@ -448,9 +448,9 @@ Instructions:
|
||||
|
||||
4. One motor will start spinning (click **Spin Motor Again** if it stops spinning too quickly to note.)
|
||||
|
||||
Select the corresponding motor in the geometry section.
|
||||
Select the corresponding motor in the geometry section.
|
||||
|
||||
|
||||
|
||||
|
||||
5. After assigning all motors, the tool will set the correct motor mapping for the outputs and then exit.
|
||||
|
||||
@@ -467,15 +467,15 @@ To assign an actuator:
|
||||
1. First assign functions to the outputs that you think are _likely_ to be correct in the _Actuator Outputs_ section.
|
||||
2. Toggle the **Enable sliders** switch in _Actuator Testing_ section.
|
||||
3. Move the slider for the actuator you want to test:
|
||||
- Motors should be moved to the minimum thrust position.
|
||||
- Servos should be moved near the middle position.
|
||||
- Motors should be moved to the minimum thrust position.
|
||||
- Servos should be moved near the middle position.
|
||||
4. Check which actuator moves on the vehicle.
|
||||
This should match the actuator positions for your geometry (the [airframe reference](../airframes/airframe_reference.md) shows motor positions for a number of standard airframes).
|
||||
- If the correct actuator moves, then proceed to the next step.
|
||||
- If a wrong actuator moves, swap the output assignment over.
|
||||
- If nothing moves then increase the slider mid-way though the range, then higher if needed.
|
||||
If nothing moves after that the output might not be connected, the motor might not be powered, or the output might be misconfigured.
|
||||
You will need to troubleshoot (perhaps try other actuator outputs to see if "anything" moves).
|
||||
This should match the actuator positions for your geometry (the [airframe reference](../airframes/airframe_reference.md) shows motor positions for a number of standard airframes).
|
||||
- If the correct actuator moves, then proceed to the next step.
|
||||
- If a wrong actuator moves, swap the output assignment over.
|
||||
- If nothing moves then increase the slider mid-way though the range, then higher if needed.
|
||||
If nothing moves after that the output might not be connected, the motor might not be powered, or the output might be misconfigured.
|
||||
You will need to troubleshoot (perhaps try other actuator outputs to see if "anything" moves).
|
||||
5. Return the slider to the "disarmed" position (bottom of slider for motors, centre of slider for servos).
|
||||
6. Repeat for all actuators
|
||||
|
||||
@@ -501,34 +501,34 @@ The motor configuration sets output values such that motors:
|
||||
For each motor:
|
||||
|
||||
1. Pull the motor slider down so that it snaps to the bottom.
|
||||
In this position the motor is set to the outputs `disarmed` value.
|
||||
- Verify that the motor doesn't spin in this position.
|
||||
- If the motor spins, reduce the corresponding PWM `disarmed` value in the [Actuator Outputs](#actuator-outputs) section to below the level at which it still spins.
|
||||
In this position the motor is set to the outputs `disarmed` value.
|
||||
- Verify that the motor doesn't spin in this position.
|
||||
- If the motor spins, reduce the corresponding PWM `disarmed` value in the [Actuator Outputs](#actuator-outputs) section to below the level at which it still spins.
|
||||
|
||||
2. Slowly move the slider up until it snaps to the _minimum_ position.
|
||||
In this position the motor is set to the outputs `minimum` value.
|
||||
In this position the motor is set to the outputs `minimum` value.
|
||||
|
||||
- Verify that the motor is spinning very slowly in this position.
|
||||
- If the motor is not spinning, or spinning too fast you will need to adjust the corresponding PWM `minimum` value in the [Actuator Outputs](#actuator-outputs) such that the motors barely spin.
|
||||
- Verify that the motor is spinning very slowly in this position.
|
||||
- If the motor is not spinning, or spinning too fast you will need to adjust the corresponding PWM `minimum` value in the [Actuator Outputs](#actuator-outputs) such that the motors barely spin.
|
||||
|
||||
|
||||
::: info
|
||||
For DShot output, this is not required.
|
||||
|
||||
::: info
|
||||
For DShot output, this is not required.
|
||||
|
||||
:::
|
||||
|
||||
3. Increase the slider value to a level where you can verify that the motor is spinning in the correct direction and that it would give a positive thrust in the expected direction.
|
||||
|
||||
- The expected thrust direction can vary by vehicle type.
|
||||
For example in multicopters the thrust should always point upwards, while in a fixed-wing vehicle the thrust will push the vehicle forwards.
|
||||
- For VTOL, thrust should point upwards when the Tilt Servo is at 0 degrees as defined the [Tilt Servo Convention](#tilt-servo-coordinate-system).
|
||||
Testing of the [Tilt Servo](#tilt-servo-setup) is covered below as well.
|
||||
- If thrust is in the wrong direction, you may need to [reverse the motors](#reversing-motors).
|
||||
- The expected thrust direction can vary by vehicle type.
|
||||
For example in multicopters the thrust should always point upwards, while in a fixed-wing vehicle the thrust will push the vehicle forwards.
|
||||
- For VTOL, thrust should point upwards when the Tilt Servo is at 0 degrees as defined the [Tilt Servo Convention](#tilt-servo-coordinate-system).
|
||||
Testing of the [Tilt Servo](#tilt-servo-setup) is covered below as well.
|
||||
- If thrust is in the wrong direction, you may need to [reverse the motors](#reversing-motors).
|
||||
|
||||
4. Increase the slider value to the maximum value, so the motor is spinning quickly.
|
||||
Reduce the value of the PWM output's `maximum` value just below the default.
|
||||
Listen to the tone of the motors as you increase the value in small (25us) increments.
|
||||
The "optimal" maximum value is the value at which you last hear a change in the tone.
|
||||
Reduce the value of the PWM output's `maximum` value just below the default.
|
||||
Listen to the tone of the motors as you increase the value in small (25us) increments.
|
||||
The "optimal" maximum value is the value at which you last hear a change in the tone.
|
||||
|
||||
### Control Surface Setup
|
||||
|
||||
@@ -551,34 +551,34 @@ Control surfaces that move either direction around a neutral point include: aile
|
||||
To set these up:
|
||||
|
||||
1. Set the `Disarmed` value so that the surfaces will stay at neutral position when disarmed.
|
||||
This is usually around `1500` for PWM servos (near the centre of the servo range).
|
||||
This is usually around `1500` for PWM servos (near the centre of the servo range).
|
||||
|
||||
|
||||
|
||||
|
||||
2. Move the slider for the surface upwards (positive command) and verify that it moves in the direction defined in the [Control Surface Convention](#control-surface-deflection-convention).
|
||||
|
||||
- Ailerons, elevons, V-Tails, A-Tails, and other horizontal surfaces should move up.
|
||||
- Rudders and other "purely vertical" surfaces should move right.
|
||||
- Ailerons, elevons, V-Tails, A-Tails, and other horizontal surfaces should move up.
|
||||
- Rudders and other "purely vertical" surfaces should move right.
|
||||
|
||||
::: tip
|
||||
It is important that the slider movement matches the control surface convention, in order to normalize control for different servo mountings (moving the slider up may actually decrease the output value sent to the servo).
|
||||
::: tip
|
||||
It is important that the slider movement matches the control surface convention, in order to normalize control for different servo mountings (moving the slider up may actually decrease the output value sent to the servo).
|
||||
|
||||
:::
|
||||
|
||||
If the control surface moves in the opposite direction, click on the `Rev Range` checkbox to reverse the range.
|
||||
If the control surface moves in the opposite direction, click on the `Rev Range` checkbox to reverse the range.
|
||||
|
||||
3. Move the slider again to the middle and check if the Control Surfaces are aligned in the neutral position of the wing.
|
||||
|
||||
- If it is not aligned, you can set the **Trim** value for the control surface.
|
||||
- If it is not aligned, you can set the **Trim** value for the control surface.
|
||||
|
||||
::: info
|
||||
This is done in the `Trim` setting of the Geometry panel, usually by "trial and error".
|
||||
|
||||
::: info
|
||||
This is done in the `Trim` setting of the Geometry panel, usually by "trial and error".
|
||||
|
||||
|
||||
:::
|
||||
|
||||
- After setting the trim for a control surface, move its slider away from the centre, release, and then back into disarmed (middle) position.
|
||||
Confirm that surface is in the neutral position.
|
||||
- After setting the trim for a control surface, move its slider away from the centre, release, and then back into disarmed (middle) position.
|
||||
Confirm that surface is in the neutral position.
|
||||
|
||||
:::info
|
||||
Another way to test without using the sliders would be to set the [`COM_PREARM_MODE`](../advanced_config/parameter_reference.md#COM_PREARM_MODE) parameter to `Always`:
|
||||
@@ -600,13 +600,13 @@ One approach for setting these up is:
|
||||
|
||||
1. Set values `Disarmed` to `1500`, `Min` to `1200`, `Max` to `1700` so that the values are around the centre of the servo range.
|
||||
2. Move the corresponding slider up and check the control moves and that it is extending (moving away from the disarmed position).
|
||||
If not, click on the `Rev Range` checkbox to reverse the range.
|
||||
If not, click on the `Rev Range` checkbox to reverse the range.
|
||||
3. Enable slider in the disarmed position, them change the value of the `Disarmed` signal until the control is retracted/flush with wing.
|
||||
This may require that the `Disarmed` value is increased or decreased:
|
||||
- If the value was decreased towards `Min`, then set `Min` to match `Disarmed`.
|
||||
- If the value was increased towards `Max`, then set `Max` to match `Disarmed`.
|
||||
This may require that the `Disarmed` value is increased or decreased:
|
||||
- If the value was decreased towards `Min`, then set `Min` to match `Disarmed`.
|
||||
- If the value was increased towards `Max`, then set `Max` to match `Disarmed`.
|
||||
4. The value that you did _not_ set to match `Disarmed` controls the maximum amount that the control surface can extend.
|
||||
Set the slider to the top of the control, then change the value (`Max` or `Min`) so that the control surface is fully extended when the slider is at top.
|
||||
Set the slider to the top of the control, then change the value (`Max` or `Min`) so that the control surface is fully extended when the slider is at top.
|
||||
|
||||
:::info Special note for flaps
|
||||
In some vehicle builds, flaps may be configured such that both flaps are controlled from a single output.
|
||||
@@ -630,7 +630,7 @@ For each of the tilt servos:
|
||||
|
||||
2. Position the slider for the servo in the lowest position, and verify that a positive value increase will point towards the `Angle at Min Tilt` (defined in the Geometry section).
|
||||
|
||||
|
||||
|
||||
|
||||
3. Position the slider for the servo in the highest position, and verify that positive motor thrust will point towards the `Angle at Max Tilt` (as defined in the Geometry section).
|
||||
|
||||
|
||||
@@ -27,18 +27,18 @@ To calibrate the airspeed sensor:
|
||||
|
||||
4. Click the **Airspeed** sensor button.
|
||||
|
||||
|
||||
|
||||
|
||||
5. Shield the sensor from the wind (i.e. cup it with your hand).
|
||||
Take care not to block any of its holes.
|
||||
Take care not to block any of its holes.
|
||||
|
||||
6. Click **OK** to start the calibration.
|
||||
|
||||
7. Once asked for, blow into the tip of the pitot tube to signal the end of calibration.
|
||||
|
||||
:::tip
|
||||
Blowing into the tube is also a basic check that the dynamic and static ports are installed correctly.
|
||||
If they are swapped then the sensor will read a large negative differential pressure when you blow into the tube, and the calibration will abort with an error.
|
||||
:::tip
|
||||
Blowing into the tube is also a basic check that the dynamic and static ports are installed correctly.
|
||||
If they are swapped then the sensor will read a large negative differential pressure when you blow into the tube, and the calibration will abort with an error.
|
||||
|
||||
:::
|
||||
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
---
|
||||
title: Multicopter Auto-Tuning
|
||||
frame: 多旋翼
|
||||
frame: Multicopter
|
||||
newEditLink: en/config/_autotune.md
|
||||
---
|
||||
|
||||
|
||||
+15
-15
@@ -23,9 +23,9 @@ If any external magnetometers are available, it then disables the internal magne
|
||||
Several types of compass calibration are available:
|
||||
|
||||
1. [Complete](#complete-calibration): This calibration is required after installing the autopilot on an airframe for the first time or when the configuration of the vehicle has changed significantly.
|
||||
It compensates for hard and soft iron effects by estimating an offset and a scale factor for each axis.
|
||||
It compensates for hard and soft iron effects by estimating an offset and a scale factor for each axis.
|
||||
2. [Partial](#partial-quick-calibration): This calibration can be performed as a routine when preparing the vehicle for a flight, after changing the payload, or simply when the compass rose seems inaccurate.
|
||||
This type of calibration only estimates the offsets to compensate for a hard iron effect.
|
||||
This type of calibration only estimates the offsets to compensate for a hard iron effect.
|
||||
3. [Large vehicle](#large-vehicle-calibration): This calibration can be performed when the vehicle is too large or heavy to perform a complete calibration. This type of calibration only estimates the offsets to compensate for a hard iron effect.
|
||||
|
||||
## 执行校准
|
||||
@@ -35,13 +35,13 @@ Several types of compass calibration are available:
|
||||
Before starting the calibration:
|
||||
|
||||
1. Choose a location away from large metal objects or magnetic fields.
|
||||
:::tip
|
||||
Metal is not always obvious! Avoid calibrating on top of an office table (often contain metal bars) or next to a vehicle.
|
||||
Calibration can even be affected if you're standing on a slab of concrete with uneven distribution of re-bar.
|
||||
:::tip
|
||||
Metal is not always obvious! Avoid calibrating on top of an office table (often contain metal bars) or next to a vehicle.
|
||||
Calibration can even be affected if you're standing on a slab of concrete with uneven distribution of re-bar.
|
||||
|
||||
:::
|
||||
2. Connect via telemetry radio rather than USB if at all possible.
|
||||
USB can potentially cause significant magnetic interference.
|
||||
USB can potentially cause significant magnetic interference.
|
||||
3. If using an external compass (or a combined GPS/compass module), make sure it is [mounted](../assembly/mount_gps_compass.md) as far as possible from other electronics in order to reduce magnetic interference, and in a _supported orientation_.
|
||||
|
||||
### Complete Calibration
|
||||
@@ -54,10 +54,10 @@ The calibration steps are:
|
||||
|
||||
3. Click the **Compass** sensor button.
|
||||
|
||||
|
||||
|
||||
|
||||
::: info
|
||||
You should already have set the [Autopilot Orientation](../config/flight_controller_orientation.md). If not, you can also set it here.
|
||||
::: info
|
||||
You should already have set the [Autopilot Orientation](../config/flight_controller_orientation.md). If not, you can also set it here.
|
||||
|
||||
:::
|
||||
|
||||
@@ -65,7 +65,7 @@ The calibration steps are:
|
||||
|
||||
5. 把你的飞机放置在下面显示的某一个方向，并保持静止。 随后提示（方向图像变为黄色）在指定方向旋转飞行器。 该位置标定完成后，屏幕上的相应图示将变成绿色。
|
||||
|
||||
|
||||
|
||||
|
||||
6. 在机体的所有方向上重复校准步骤。
|
||||
|
||||
@@ -76,7 +76,7 @@ Once you've calibrated the vehicle in all the positions _QGroundControl_ will di
|
||||
This calibration is similar to the well-known figure-8 compass calibration done on a smartphone:
|
||||
|
||||
1. Hold the vehicle in front of you and randomly perform partial rotations on all its axes.
|
||||
2-3 oscillations of ~30 degrees in every direction is usually sufficient.
|
||||
2-3 oscillations of ~30 degrees in every direction is usually sufficient.
|
||||
2. Wait for the heading estimate to stabilize and verify that the compass rose is pointing to the correct direction (this can take a couple of seconds).
|
||||
|
||||
备注：
|
||||
@@ -94,12 +94,12 @@ This calibration process leverages external knowledge of vehicle's orientation a
|
||||
|
||||
1. Ensure GNSS Fix. This is required to find the expected Earth magnetic field in WMM tables.
|
||||
2. Align the vehicle to face True North.
|
||||
Be as accurate as possible for best results.
|
||||
Be as accurate as possible for best results.
|
||||
3. Open the [QGroundControl MAVLink Console](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/analyze_view/mavlink_console.html) and send the following command:
|
||||
|
||||
```sh
|
||||
commander calibrate mag quick
|
||||
```
|
||||
```sh
|
||||
commander calibrate mag quick
|
||||
```
|
||||
|
||||
备注：
|
||||
|
||||
|
||||
@@ -61,10 +61,10 @@ To install a different version of PX4:
|
||||
2. Check **Advanced settings** and select the version from the dropdown list:
|
||||
- **Standard Version (stable):** The default version (i.e. no need to use advanced settings to install this!)
|
||||
- **Beta Testing (beta):** A beta/candidate release.
|
||||
只有当新版本准备完毕时才可用。
|
||||
只有当新版本准备完毕时才可用。
|
||||
- **Developer Build (master):** The latest build of PX4/PX4-Autopilot _main_ branch.
|
||||
- **Custom Firmware file...:** A custom firmware file (e.g. [that you have built locally](../dev_setup/building_px4.md)).
|
||||
如果选择 Custom firmware file ，您需要在下一步中从文件系统中选择自定义固件。
|
||||
如果选择 Custom firmware file ，您需要在下一步中从文件系统中选择自定义固件。
|
||||
|
||||
Firmware update then continues as before.
|
||||
|
||||
|
||||
@@ -40,24 +40,24 @@ To configure single-channel flight mode selection:
|
||||
|
||||
3. Select **"Q" icon > Vehicle Setup > Flight Modes** (sidebar) to open _Flight Modes Setup_.
|
||||
|
||||
|
||||
|
||||
|
||||
4. Specify _Flight Mode Settings_:
|
||||
- Select the **Mode channel** (above this shown as Channel 5, but this will depend on your transmitter configuration).
|
||||
- Move the transmitter switch (or switches) that you have set up for mode selection through the available positions.
|
||||
The mode slot matching your current switch position will be highlighted (above this is _Flight Mode 1_).
|
||||
::: info
|
||||
While you can set flight modes in any of the 6 slots, only the channels that are mapped to switch positions will be highlighted/used.
|
||||
- Select the **Mode channel** (above this shown as Channel 5, but this will depend on your transmitter configuration).
|
||||
- Move the transmitter switch (or switches) that you have set up for mode selection through the available positions.
|
||||
The mode slot matching your current switch position will be highlighted (above this is _Flight Mode 1_).
|
||||
::: info
|
||||
While you can set flight modes in any of the 6 slots, only the channels that are mapped to switch positions will be highlighted/used.
|
||||
|
||||
:::
|
||||
- Select the flight mode that you want triggered for each switch position.
|
||||
- Select the flight mode that you want triggered for each switch position.
|
||||
|
||||
5. Specify _Switch Settings_:
|
||||
- Select the channels that you want to map to specific actions - e.g.: _Return_ mode, _Kill switch_, _offboard_ mode, etc. (if you have spare switches and channels on your transmitter).
|
||||
- Select the channels that you want to map to specific actions - e.g.: _Return_ mode, _Kill switch_, _offboard_ mode, etc. (if you have spare switches and channels on your transmitter).
|
||||
|
||||
6. Test that the modes are mapped to the right transmitter switches:
|
||||
- Check the _Channel Monitor_ to confirm that the expected channel is changed by each switch.
|
||||
- Select each mode switch on your transmitter in turn, and check that the desired flight mode is activated (the text turns yellow on _QGroundControl_ for the active mode).
|
||||
- Check the _Channel Monitor_ to confirm that the expected channel is changed by each switch.
|
||||
- Select each mode switch on your transmitter in turn, and check that the desired flight mode is activated (the text turns yellow on _QGroundControl_ for the active mode).
|
||||
|
||||
All values are automatically saved as they are changed.
|
||||
|
||||
|
||||
@@ -14,7 +14,7 @@ To use it:
|
||||
2. Set the vehicle type
|
||||
3. Set the other values in the **State** or any of the flags under **Conditions**
|
||||
- The **Intended Mode** corresponds to the commanded mode via RC or GCS (or external script).
|
||||
The failsafe state machine can override this in case of a failsafe.
|
||||
The failsafe state machine can override this in case of a failsafe.
|
||||
4. Check the action under **Output**
|
||||
5. Check what happens when changing mode or **Move the RC sticks**
|
||||
6. Play with different settings and conditions!
|
||||
@@ -30,3 +30,4 @@ make run_failsafe_web_server
|
||||
<script setup>
|
||||
import { withBase } from 'vitepress';
|
||||
</script>
|
||||
|
||||
|
||||
@@ -29,10 +29,10 @@ The [Advanced Trimming](#advanced-trimming) section introduces parameters that c
|
||||
|
||||
1. Trim the servos by physically adjusting the linkages lengths if possible and fine tune by trimming the PWM channels (use `PWM_MAIN/AUX_TRIMx`) on the bench to properly set the control surfaces to their theoretical position.
|
||||
2. Fly in stabilized mode at cruise speed and set the pitch setpoint offset (`FW_PSP_OFF`) to desired angle of attack.
|
||||
巡航速度飞行下的需用攻角为飞机在平飞状态下保持固定高度时的实际飞行迎角。
|
||||
If you are using an airspeed sensor, also set the correct cruise airspeed (`FW_AIRSPD_TRIM`).
|
||||
巡航速度飞行下的需用攻角为飞机在平飞状态下保持固定高度时的实际飞行迎角。
|
||||
If you are using an airspeed sensor, also set the correct cruise airspeed (`FW_AIRSPD_TRIM`).
|
||||
3. Look at the actuator controls in the log file (upload it to [Flight Review](https://logs.px4.io) and check the _Actuator Controls_ plot for example) and set the pitch trim (`TRIM_PITCH`).
|
||||
将该值设置为平飞时俯仰角度的平均值。
|
||||
将该值设置为平飞时俯仰角度的平均值。
|
||||
|
||||
步骤3可以在步骤2之前执行，如果你不想查看日志， 或者如果您在手动模式下感觉舒适。
|
||||
You can then trim your remote (with the trim switches) and report the values to `TRIM_PITCH` (and remove the trims from your transmitter) or update `TRIM_PITCH` directly during flight via telemetry and QGC.
|
||||
|
||||
@@ -53,15 +53,15 @@ To setup and configure a helicopter:
|
||||
For each servo set:
|
||||
|
||||
- `Angle`: Clockwise angle in degree on the swash plate circle at which the servo arm is attached starting from `0` pointing forwards.
|
||||
Example for a typical setup where three servos are controlling the swash plate equally distributed over the circle (360° / 3 =) 120° apart each which results in the angles:
|
||||
Example for a typical setup where three servos are controlling the swash plate equally distributed over the circle (360° / 3 =) 120° apart each which results in the angles:
|
||||
|
||||
| # | Angle |
|
||||
| ------- | ----- |
|
||||
| Servo 1 | 60° |
|
||||
| Servo 2 | 180° |
|
||||
| Servo 3 | 300° |
|
||||
| # | Angle |
|
||||
| ------- | ----- |
|
||||
| Servo 1 | 60° |
|
||||
| Servo 2 | 180° |
|
||||
| Servo 3 | 300° |
|
||||
|
||||
<img width="700" alt="warning and requirement" src="../../assets/airframes/helicopter/swash_plate_servo_angles.png">
|
||||
<img width="700" alt="warning and requirement" src="../../assets/airframes/helicopter/swash_plate_servo_angles.png">
|
||||
|
||||
- `Arm Length (relative to each other)`: Radius from the swash plate center (top view). A shorter arm means the same servo motion moves the plate more. This allows the autopilot to compensate.
|
||||
|
||||
@@ -72,7 +72,7 @@ To setup and configure a helicopter:
|
||||
- `Yaw compensation scale based on collective pitch`: How much yaw is feed forward compensated based on the current collective pitch.
|
||||
- `Main rotor turns counter-clockwise`: `Disabled` (clockwise rotation) | `Enabled`
|
||||
- `Throttle spoolup time`: Set value (in seconds) greater than the achievable minimum motor spool up time.
|
||||
A larger value may improve user experience.
|
||||
A larger value may improve user experience.
|
||||
|
||||
3. Remove the rotor blades and propellers
|
||||
|
||||
|
||||
@@ -148,9 +148,9 @@ Note that there can be negative impacts on performance if `IMU_GYRO_CUTOFF` and
|
||||
|
||||
Below is an example for three different `IMU_DGYRO_CUTOFF` filter values (40Hz, 70Hz, 90Hz).
|
||||
At 90 Hz the general noise level starts to increase (especially for roll), and thus a cutoff frequency of 70 Hz is a safe setting.
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
:::info
|
||||
The plot cannot be compared between different vehicles, as the y axis scale can be different.
|
||||
@@ -161,16 +161,16 @@ If the flight plots shows significant low frequency spikes, like the one shown i
|
||||
In this case you might use the settings: [IMU_GYRO_NF0_FRQ=32](../advanced_config/parameter_reference.md#IMU_GYRO_NF0_FRQ) and [IMU_GYRO_NF0_BW=5](../advanced_config/parameter_reference.md#IMU_GYRO_NF0_BW) (note, this spike is narrower than usual).
|
||||
The low pass filters and the notch filter can be tuned independently (i.e. you don't need to set the notch filter before collecting the data for tuning the low pass filter).
|
||||
|
||||
|
||||
|
||||
|
||||
## Additional Tips
|
||||
|
||||
1. Acceptable latency depends on vehicle size and expectations.
|
||||
FPV racers typically tune for the absolute minimal latency (as a ballpark `IMU_GYRO_CUTOFF` around 120, `IMU_DGYRO_CUTOFF` of 50 to 80).
|
||||
For bigger vehicles latency is less critical and `IMU_GYRO_CUTOFF` of around 80 might be acceptable.
|
||||
FPV racers typically tune for the absolute minimal latency (as a ballpark `IMU_GYRO_CUTOFF` around 120, `IMU_DGYRO_CUTOFF` of 50 to 80).
|
||||
For bigger vehicles latency is less critical and `IMU_GYRO_CUTOFF` of around 80 might be acceptable.
|
||||
|
||||
2. You can start tuning at higher `IMU_GYRO_CUTOFF` values (e.g. 100Hz), which might be desirable because the default tuning of `IMU_GYRO_CUTOFF` is set very low (30Hz).
|
||||
The only caveat is that you must be aware of the risks:
|
||||
- Don't fly for more than 20-30 seconds
|
||||
- Check that the motors are not getting to hot
|
||||
- Listen for odd sounds and symptoms of excessive noise, as discussed above.
|
||||
The only caveat is that you must be aware of the risks:
|
||||
- Don't fly for more than 20-30 seconds
|
||||
- Check that the motors are not getting to hot
|
||||
- Listen for odd sounds and symptoms of excessive noise, as discussed above.
|
||||
|
||||
+14
-14
@@ -38,9 +38,9 @@ A frame configuration can define everything about a vehicle, from it's geometry
|
||||
When you're bringing up a new vehicle though, the frame will usually contain a fairly minimal configuration:
|
||||
|
||||
- Frames named with "Generic" define the vehicle type, number of rotors, and "placeholder" rotor positions.
|
||||
After selecting the airframe you define the actual geometry and then configure outputs.
|
||||
After selecting the airframe you define the actual geometry and then configure outputs.
|
||||
- Frames named with model/brand will define the vehicle type, number of rotors, actual rotor positions, and motor directions.
|
||||
After selecting the airframe you usually still have to configure outputs.
|
||||
After selecting the airframe you usually still have to configure outputs.
|
||||
|
||||
:::
|
||||
|
||||
@@ -52,7 +52,7 @@ This ensures that all ESC provide exactly the same output for a given input (ide
|
||||
The final step is [Motor Configuration](../config/actuators.md#motor-configuration):
|
||||
|
||||
- [Reverse any motors](../config/actuators.md#reversing-motors) that don't match the spin direction configured in the Geometry.
|
||||
For DShot ESC you can do this through the Acuator Testing UI.
|
||||
For DShot ESC you can do this through the Acuator Testing UI.
|
||||
- PWM, OneShot, and CAN ESC, set the motor input limits for disarmed, low and high speed (not needed for DShot ESC)
|
||||
|
||||
相关章节：
|
||||
@@ -123,14 +123,14 @@ Tuning is the final step, carried out only after most other setup and configurat
|
||||
|
||||
- [Autotune](../config/autotune_mc.md) — Automates tuning PX4 rate and attitude controllers (recommended).
|
||||
|
||||
::: info
|
||||
Automatic tuning works on frames that have reasonable authority and dynamics around all the body axes.
|
||||
It has primarily been tested on racing quads and X500, and is expected to be less effective on tricopters with a tiltable rotor.
|
||||
::: info
|
||||
Automatic tuning works on frames that have reasonable authority and dynamics around all the body axes.
|
||||
It has primarily been tested on racing quads and X500, and is expected to be less effective on tricopters with a tiltable rotor.
|
||||
|
||||
Manual tuning using these guides are only needed if there is a problem with autotune:
|
||||
Manual tuning using these guides are only needed if there is a problem with autotune:
|
||||
|
||||
- [MC PID Tuning (Manual/Basic)](../config_mc/pid_tuning_guide_multicopter_basic.md) — Manual tuning basic how to.
|
||||
- [MC PID Tuning Guide (Manual/Detailed)](../config_mc/pid_tuning_guide_multicopter.md) — Manual tuning with detailed explanation.
|
||||
- [MC PID Tuning (Manual/Basic)](../config_mc/pid_tuning_guide_multicopter_basic.md) — Manual tuning basic how to.
|
||||
- [MC PID Tuning Guide (Manual/Detailed)](../config_mc/pid_tuning_guide_multicopter.md) — Manual tuning with detailed explanation.
|
||||
|
||||
|
||||
:::
|
||||
@@ -138,7 +138,7 @@ Tuning is the final step, carried out only after most other setup and configurat
|
||||
- [MC Filter/Control Latency Tuning](../config_mc/filter_tuning.md) — Trade off control latency and noise filtering.
|
||||
|
||||
- [MC Setpoint Tuning (Trajectory Generator)](../config_mc/mc_trajectory_tuning.md)
|
||||
- [MC Jerk-limited Type Trajectory](../config_mc/mc_jerk_limited_type_trajectory.md)
|
||||
- [MC Jerk-limited Type Trajectory](../config_mc/mc_jerk_limited_type_trajectory.md)
|
||||
|
||||
- [Multicopter Racer Setup](../config_mc/racer_setup.md)
|
||||
|
||||
@@ -167,7 +167,7 @@ Yes but it must be physically feasible. E.g. if you make a quadrotor where all m
|
||||
- [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:
|
||||
- **Multicopter Config/Tuning**
|
||||
- [直升机配置/调参](../config_heli/index.md)
|
||||
- [Fixed Wing Config/Tuning](../config_fw/index.md)
|
||||
- [VTOL 配置/调参](../config_vtol/index.md)
|
||||
- **Multicopter Config/Tuning**
|
||||
- [直升机配置/调参](../config_heli/index.md)
|
||||
- [Fixed Wing Config/Tuning](../config_fw/index.md)
|
||||
- [VTOL 配置/调参](../config_vtol/index.md)
|
||||
|
||||
@@ -45,7 +45,7 @@ PX4 supports two (mathematically equivalent) forms of the PID rate controller in
|
||||
|
||||
Users can select the form that is used by setting the proportional gain for the other form to "1" (i.e. in the diagram below set **K** to 1 for the parallel form, or **P** to 1 for the standard form - this will replace either the K or P blocks with a line).
|
||||
|
||||
|
||||
|
||||
|
||||
<!-- The drawing is on draw.io: https://drive.google.com/file/d/1hXnAJVRyqNAdcreqNa5W4PQFkYnzwgOO/view?usp=sharing -->
|
||||
|
||||
@@ -74,14 +74,14 @@ The derivative term (**D**) is on the feedback path in order to avoid an effect
|
||||
The _parallel form_ is the simplest form, and is (hence) commonly used in textbooks.
|
||||
在这种情况下，控制器的输出只是简单的将比例，积分和微分项相加。
|
||||
|
||||
|
||||
|
||||
|
||||
##### 标准模式
|
||||
|
||||
这种形式在数学上等同于并行形式。 但主要的优点是（即使似乎有点反直觉）将比例增益的调试与积分、微分增益分离开了。
|
||||
这意味着一个新的平台通过使用同样大小/推力 无人机的增益，使它更易于调试，只是简单地调整K增益就可正常飞行。
|
||||
|
||||
|
||||
|
||||
|
||||
#### 角速度 PID 调试
|
||||
|
||||
|
||||
@@ -72,7 +72,7 @@ The tuning procedure is:
|
||||
1. Arm the vehicle, takeoff, and hover (typically in [Position mode](../flight_modes_mc/position.md)).
|
||||
|
||||
2. Open _QGroundControl_ **Vehicle Setup > PID Tuning**
|
||||
|
||||
|
||||
|
||||
3. Select the **Rate Controller** tab.
|
||||
|
||||
@@ -80,60 +80,60 @@ The tuning procedure is:
|
||||
|
||||
5. Set the _Thrust curve_ value to: 0.3 (PWM, power-based controllers) or 1 (RPM-based ESCs)
|
||||
|
||||
::: info
|
||||
For PWM, power-based and (some) UAVCAN speed controllers, the control signal to thrust relationship may not be linear.
|
||||
As a result, the optimal tuning at hover thrust may not be ideal when the vehicle is operating at higher thrust.
|
||||
::: info
|
||||
For PWM, power-based and (some) UAVCAN speed controllers, the control signal to thrust relationship may not be linear.
|
||||
As a result, the optimal tuning at hover thrust may not be ideal when the vehicle is operating at higher thrust.
|
||||
|
||||
The thrust curve value can be used to compensate for this non-linearity:
|
||||
The thrust curve value can be used to compensate for this non-linearity:
|
||||
|
||||
- For PWM controllers, 0.3 is a good default (which may benefit from [further tuning](../config_mc/pid_tuning_guide_multicopter.md#thrust-curve)).
|
||||
- For RPM-based controllers, use 1 (no further tuning is required as these have a quadratic thrust curve).
|
||||
- For PWM controllers, 0.3 is a good default (which may benefit from [further tuning](../config_mc/pid_tuning_guide_multicopter.md#thrust-curve)).
|
||||
- For RPM-based controllers, use 1 (no further tuning is required as these have a quadratic thrust curve).
|
||||
|
||||
For more information see the [detailed PID tuning guide](../config_mc/pid_tuning_guide_multicopter.md#thrust-curve).
|
||||
For more information see the [detailed PID tuning guide](../config_mc/pid_tuning_guide_multicopter.md#thrust-curve).
|
||||
|
||||
:::
|
||||
|
||||
6. Set the _Select Tuning_ radio button to: **Roll**.
|
||||
|
||||
7. (Optionally) Select the **Automatic Flight Mode Switching** checkbox.
|
||||
This will _automatically_ switch from [Position mode](../flight_modes_mc/position.md) to [Stabilised mode](../flight_modes_mc/manual_stabilized.md) when you press the **Start** button
|
||||
This will _automatically_ switch from [Position mode](../flight_modes_mc/position.md) to [Stabilised mode](../flight_modes_mc/manual_stabilized.md) when you press the **Start** button
|
||||
|
||||
8. For rate controller tuning switch to _Acro mode_, _Stabilized mode_ or _Altitude mode_ (unless automatic switching is enabled).
|
||||
|
||||
9. Select the **Start** button in order to start tracking the setpoint and response curves.
|
||||
|
||||
10. Rapidly move the _roll stick_ full range and observe the step response on the plots.
|
||||
:::tip
|
||||
Stop tracking to enable easier inspection of the plots.
|
||||
This happens automatically when you zoom/pan.
|
||||
Use the **Start** button to restart the plots, and **Clear** to reset them.
|
||||
:::tip
|
||||
Stop tracking to enable easier inspection of the plots.
|
||||
This happens automatically when you zoom/pan.
|
||||
Use the **Start** button to restart the plots, and **Clear** to reset them.
|
||||
|
||||
:::
|
||||
|
||||
11. Modify the three PID values using the sliders (for roll rate-tuning these affect `MC_ROLLRATE_K`, `MC_ROLLRATE_I`, `MC_ROLLRATE_D`) and observe the step response again.
|
||||
The values are saved to the vehicle as soon as the sliders are moved.
|
||||
::: info
|
||||
The goal is for the _Response_ curve to match the _Setpoint_ curve as closely as possible (i.e. a fast response without overshoots).
|
||||
The values are saved to the vehicle as soon as the sliders are moved.
|
||||
::: info
|
||||
The goal is for the _Response_ curve to match the _Setpoint_ curve as closely as possible (i.e. a fast response without overshoots).
|
||||
|
||||
:::
|
||||
The PID values can be adjusted as follows:
|
||||
- P (proportional) or K gain:
|
||||
- increase this for more responsiveness
|
||||
- reduce if the response is overshooting and/or oscillating (up to a certain point increasing the D gain also helps).
|
||||
- D (derivative) gain:
|
||||
- this can be increased to dampen overshoots and oscillations
|
||||
- increase this only as much as needed, as it amplifies noise (and can lead to hot motors)
|
||||
- I (integral) gain:
|
||||
- used to reduce steady-state error
|
||||
- if too low, the response might never reach the setpoint (e.g. in wind)
|
||||
- if too high, slow oscillations can occur
|
||||
The PID values can be adjusted as follows:
|
||||
- P (proportional) or K gain:
|
||||
- increase this for more responsiveness
|
||||
- reduce if the response is overshooting and/or oscillating (up to a certain point increasing the D gain also helps).
|
||||
- D (derivative) gain:
|
||||
- this can be increased to dampen overshoots and oscillations
|
||||
- increase this only as much as needed, as it amplifies noise (and can lead to hot motors)
|
||||
- I (integral) gain:
|
||||
- used to reduce steady-state error
|
||||
- if too low, the response might never reach the setpoint (e.g. in wind)
|
||||
- if too high, slow oscillations can occur
|
||||
|
||||
12. Repeat the tuning process above for the pitch and yaw:
|
||||
- Use _Select Tuning_ radio button to select the axis to tune
|
||||
- Move the appropriate sticks (i.e. pitch stick for pitch, yaw stick for yaw).
|
||||
- For pitch tuning, start with the same values as for roll.
|
||||
:::tip
|
||||
Use the **Save to Clipboard** and **Reset from Clipboard** buttons to copy the roll settings for initial pitch settings.
|
||||
- Use _Select Tuning_ radio button to select the axis to tune
|
||||
- Move the appropriate sticks (i.e. pitch stick for pitch, yaw stick for yaw).
|
||||
- For pitch tuning, start with the same values as for roll.
|
||||
:::tip
|
||||
Use the **Save to Clipboard** and **Reset from Clipboard** buttons to copy the roll settings for initial pitch settings.
|
||||
|
||||
:::
|
||||
|
||||
@@ -141,10 +141,10 @@ The tuning procedure is:
|
||||
|
||||
14. Repeat the tuning process for the velocity and positions controllers (on all the axes).
|
||||
|
||||
- Use Position mode when tuning these controllers
|
||||
- Select the **Simple position control** option in the _Position control mode ..._ selector (this allows direct control for the generation of step inputs)
|
||||
- Use Position mode when tuning these controllers
|
||||
- Select the **Simple position control** option in the _Position control mode ..._ selector (this allows direct control for the generation of step inputs)
|
||||
|
||||
|
||||
|
||||
|
||||
All done!
|
||||
Remember to re-enable airmode before leaving the setup.
|
||||
|
||||
@@ -11,7 +11,7 @@ For airframe specific documentation and build instructions see [VTOL Framebuilds
|
||||
2. Flash the firmware for your current release or master (PX4 `main` branch build).
|
||||
3. In the [Frame setup](../config/airframe.md) section select the appropriate VTOL airframe.
|
||||
|
||||
If your airframe is not listed select the [Generic Standard VTOL](../airframes/airframe_reference.md#vtol_standard_vtol_generic_standard_vtol) frame.
|
||||
If your airframe is not listed select the [Generic Standard VTOL](../airframes/airframe_reference.md#vtol_standard_vtol_generic_standard_vtol) frame.
|
||||
|
||||
### 飞行模式/模式转换
|
||||
|
||||
|
||||
+90
-90
@@ -50,74 +50,74 @@ The instructions below explain how to get git and use it on your local computer.
|
||||
|
||||
4. Clone (copy) your forked repository to your local computer:
|
||||
|
||||
```sh
|
||||
cd ~/wherever/
|
||||
git clone https://github.com/<your git name>/PX4-user_guide.git
|
||||
```
|
||||
```sh
|
||||
cd ~/wherever/
|
||||
git clone https://github.com/<your git name>/PX4-user_guide.git
|
||||
```
|
||||
|
||||
For example, to clone the PX4 userguide fork for a user with Github account "john_citizen":
|
||||
For example, to clone the PX4 userguide fork for a user with Github account "john_citizen":
|
||||
|
||||
```sh
|
||||
git clone https://github.com/john_citizen/PX4-user_guide.git
|
||||
```
|
||||
```sh
|
||||
git clone https://github.com/john_citizen/PX4-user_guide.git
|
||||
```
|
||||
|
||||
5. Navigate to your local repository:
|
||||
|
||||
```sh
|
||||
cd ~/wherever/PX4-user_guide
|
||||
```
|
||||
```sh
|
||||
cd ~/wherever/PX4-user_guide
|
||||
```
|
||||
|
||||
6. Add a _remote_ called "upstream" to point to the PX4 version of the library:
|
||||
|
||||
```sh
|
||||
git remote add upstream https://github.com/PX4/PX4-user_guide.git
|
||||
```
|
||||
```sh
|
||||
git remote add upstream https://github.com/PX4/PX4-user_guide.git
|
||||
```
|
||||
|
||||
:::tip
|
||||
A "remote" is a handle to a particular repository.
|
||||
The remote named _origin_ is created by default when you clone the repository, and points to _your fork_ of the guide.
|
||||
Above you create a new remote _upstream_ that points to the PX4 project version of the documents.
|
||||
:::tip
|
||||
A "remote" is a handle to a particular repository.
|
||||
The remote named _origin_ is created by default when you clone the repository, and points to _your fork_ of the guide.
|
||||
Above you create a new remote _upstream_ that points to the PX4 project version of the documents.
|
||||
|
||||
:::
|
||||
|
||||
7. Create a branch for your changes:
|
||||
|
||||
```sh
|
||||
git checkout -b <your_feature_branch_name>
|
||||
```
|
||||
```sh
|
||||
git checkout -b <your_feature_branch_name>
|
||||
```
|
||||
|
||||
This creates a local branch on your computer named `your_feature_branch_name`.
|
||||
This creates a local branch on your computer named `your_feature_branch_name`.
|
||||
|
||||
8. Make changes to the documentation as needed (general guidance on this in following sections)
|
||||
|
||||
9. Once you are satisfied with your changes, you can add them to your local branch using a "commit":
|
||||
|
||||
```sh
|
||||
git add <file name>
|
||||
git commit -m "<your commit message>"
|
||||
```
|
||||
```sh
|
||||
git add <file name>
|
||||
git commit -m "<your commit message>"
|
||||
```
|
||||
|
||||
For a good commit message, please refer to the [Source Code Management](../contribute/code.md#commits-and-commit-messages) section.
|
||||
For a good commit message, please refer to the [Source Code Management](../contribute/code.md#commits-and-commit-messages) section.
|
||||
|
||||
10. Push your local branch (including commits added to it) to your forked repository on Github.
|
||||
|
||||
```sh
|
||||
git push origin your_feature_branch_name
|
||||
```
|
||||
```sh
|
||||
git push origin your_feature_branch_name
|
||||
```
|
||||
|
||||
11. Go to your forked repository on Github in a web browser, e.g.: `https://github.com/<your git name>/PX4-user_guide.git`.
|
||||
There you should see the message that a new branch has been pushed to your forked repository.
|
||||
There you should see the message that a new branch has been pushed to your forked repository.
|
||||
|
||||
12. 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.
|
||||
It will list your commits and you can (must) add a meaningful title (in case of a one commit PR, it's usually the commit message) and message (<span style="color:orange">explain what you did for what reason</span>.
|
||||
Check [other pull requests](https://github.com/PX4/PX4-user_guide/pulls) for comparison)
|
||||
- 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.
|
||||
It will list your commits and you can (must) add a meaningful title (in case of a one commit PR, it's usually the commit message) and message (<span style="color:orange">explain what you did for what reason</span>.
|
||||
Check [other pull requests](https://github.com/PX4/PX4-user_guide/pulls) for comparison)
|
||||
|
||||
13. You're done!
|
||||
Maintainers for the PX4 User Guide will now have a look at your contribution and decide if they want to integrate it.
|
||||
Check if they have questions on your changes every once in a while.
|
||||
Maintainers for the PX4 User Guide will now have a look at your contribution and decide if they want to integrate it.
|
||||
Check if they have questions on your changes every once in a while.
|
||||
|
||||
### Gitbook Documentation Toolchain
|
||||
|
||||
@@ -125,51 +125,51 @@ The instructions below explain how to get git and use it on your local computer.
|
||||
|
||||
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)
|
||||
- [Nodejs 18+](https://nodejs.org/en)
|
||||
- [Yarn classic](https://classic.yarnpkg.com/en/docs/install)
|
||||
|
||||
2. Navigate to your local repository:
|
||||
|
||||
```sh
|
||||
cd ~/wherever/PX4-user_guide
|
||||
```
|
||||
```sh
|
||||
cd ~/wherever/PX4-user_guide
|
||||
```
|
||||
|
||||
3. Install dependencies (including Vitepress):
|
||||
|
||||
```sh
|
||||
yarn install
|
||||
```
|
||||
```sh
|
||||
yarn install
|
||||
```
|
||||
|
||||
4. Preview and serve the library:
|
||||
|
||||
```sh
|
||||
yarn start
|
||||
```
|
||||
```sh
|
||||
yarn start
|
||||
```
|
||||
|
||||
- Once the development/preview server has built the library (less than a minute for the first time) it will show you the URL you can preview the site on.
|
||||
This will be something like: `http://localhost:5173/px4_user_guide/`.
|
||||
- Stop serving using **CTRL+C** in the terminal prompt.
|
||||
- Once the development/preview server has built the library (less than a minute for the first time) it will show you the URL you can preview the site on.
|
||||
This will be something like: `http://localhost:5173/px4_user_guide/`.
|
||||
- Stop serving using **CTRL+C** in the terminal prompt.
|
||||
|
||||
5. Open previewed pages in your local editor:
|
||||
|
||||
First specify a local text editor file using the `EDITOR` environment variable, before calling `yarn start` to preview the library.
|
||||
For example, on Windows command line you can enable VSCode as your default editor by entering:
|
||||
First specify a local text editor file using the `EDITOR` environment variable, before calling `yarn start` to preview the library.
|
||||
For example, on Windows command line you can enable VSCode as your default editor by entering:
|
||||
|
||||
```sh
|
||||
set EDITOR=code
|
||||
```
|
||||
```sh
|
||||
set EDITOR=code
|
||||
```
|
||||
|
||||
The **Open in your editor** link at the bottom of each page will then open the current page in the editor (this replaces the _Open in GitHub_ link).
|
||||
The **Open in your editor** link at the bottom of each page will then open the current page in the editor (this replaces the _Open in GitHub_ link).
|
||||
|
||||
6. You can build the library as it would be done for deployment:
|
||||
|
||||
```sh
|
||||
# Ubuntu
|
||||
yarn docs:build
|
||||
```sh
|
||||
# Ubuntu
|
||||
yarn docs:build
|
||||
|
||||
# Windows
|
||||
yarn docs:buildwin
|
||||
```
|
||||
# Windows
|
||||
yarn docs:buildwin
|
||||
```
|
||||
|
||||
:::tip
|
||||
Use `yarn start` to preview changes _as you make them_ (documents are updated and served very quickly).
|
||||
@@ -224,41 +224,41 @@ When you add a new page you must also add it to `en/SUMMARY.md`!
|
||||
|
||||
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/`.
|
||||
Deeper nesting is allowed/encouraged.
|
||||
- Use descriptive names for folders and files.
|
||||
In particular, image filenames should describe what they contain (don't name as "image1.png")
|
||||
- Use lower case filenames and separate words using underscores (`_`).
|
||||
- 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/`.
|
||||
Deeper nesting is allowed/encouraged.
|
||||
- Use descriptive names for folders and files.
|
||||
In particular, image filenames should describe what they contain (don't name as "image1.png")
|
||||
- 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.
|
||||
- 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_.
|
||||
- `code` for file paths, and code, parameter names that aren't linked, using tools in a command line, such as `prettier`.
|
||||
- Headings and page titles should use "First Letter Capitalisation".
|
||||
- The page title should be a first level heading (`#`).
|
||||
All other headings should be h2 (`##`) or lower.
|
||||
- Don't add any style to headings.
|
||||
- Don't translate the text indicating the name of an `info`, `tip` or `warning` declaration (e.g. `::: tip`) as this precise text is required to render the aside properly.
|
||||
- Break lines on sentences by preference.
|
||||
Don't break lines based on some arbitrary line length.
|
||||
- Format using _prettier_ (_VSCode_ is a has extensions can be used for this).
|
||||
- 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_.
|
||||
- `code` for file paths, and code, parameter names that aren't linked, using tools in a command line, such as `prettier`.
|
||||
- Headings and page titles should use "First Letter Capitalisation".
|
||||
- The page title should be a first level heading (`#`).
|
||||
All other headings should be h2 (`##`) or lower.
|
||||
- Don't add any style to headings.
|
||||
- Don't translate the text indicating the name of an `info`, `tip` or `warning` declaration (e.g. `::: tip`) as this precise text is required to render the aside properly.
|
||||
- Break lines on sentences by preference.
|
||||
Don't break lines based on some arbitrary line length.
|
||||
- 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.
|
||||
- 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.
|
||||
|
||||
## 许可证
|
||||
|
||||
|
||||
@@ -109,64 +109,64 @@ To switch between branches:
|
||||
|
||||
1. Clean up the current branch, de-initializing submodule and removing all build artifacts:
|
||||
|
||||
```sh
|
||||
make clean
|
||||
make distclean
|
||||
```
|
||||
```sh
|
||||
make clean
|
||||
make distclean
|
||||
```
|
||||
|
||||
2. Switch to a new branch or tag (here we first fetch the fictional branch "PR_test_branch" from the `upstream` remote):
|
||||
|
||||
```sh
|
||||
git fetch upstream PR_test_branch
|
||||
git checkout PR_test_branch
|
||||
```
|
||||
```sh
|
||||
git fetch upstream PR_test_branch
|
||||
git checkout PR_test_branch
|
||||
```
|
||||
|
||||
3. Get the submodules for the new branch:
|
||||
|
||||
```sh
|
||||
make submodulesclean
|
||||
```
|
||||
```sh
|
||||
make submodulesclean
|
||||
```
|
||||
|
||||
<!-- FYI: Cleaning commands in https://github.com/PX4/PX4-Autopilot/blob/main/Makefile#L494 -->
|
||||
|
||||
## 更新子模块
|
||||
|
||||
Specific PX4 point releases are made as tags of the [release branches](#get-a-release-branch), and are named using the format `v<release>`.
|
||||
These are [listed on Github here](https://github.com/PX4/PX4-Autopilot/releases?q=release\&expanded=true) (or you can query all tags using `git tag -l`).
|
||||
These are listed on Github here (or you can query all tags using `git tag -l`).
|
||||
|
||||
To get the source code for a _specific older release_ (tag):
|
||||
|
||||
1. Clone the PX4-Autopilot repo and navigate into _PX4-Autopilot_ directory:
|
||||
|
||||
```sh
|
||||
git clone https://github.com/PX4/PX4-Autopilot.git
|
||||
cd PX4-Autopilot
|
||||
```
|
||||
```sh
|
||||
git clone https://github.com/PX4/PX4-Autopilot.git
|
||||
cd PX4-Autopilot
|
||||
```
|
||||
|
||||
:::note
|
||||
:::note
|
||||
|
||||
You can reuse an existing repo rather than cloning a new one.
|
||||
In this case clean the build environment (see [changing source trees](#changing-source-trees)):
|
||||
You can reuse an existing repo rather than cloning a new one.
|
||||
In this case clean the build environment (see [changing source trees](#changing-source-trees)):
|
||||
|
||||
```sh
|
||||
make clean
|
||||
make distclean
|
||||
```
|
||||
```sh
|
||||
make clean
|
||||
make distclean
|
||||
```
|
||||
|
||||
|
||||
:::
|
||||
|
||||
2. Checkout code for particular tag (e.g. for tag v1.13.0-beta2)
|
||||
|
||||
```sh
|
||||
git checkout v1.13.0-beta2
|
||||
```
|
||||
```sh
|
||||
git checkout v1.13.0-beta2
|
||||
```
|
||||
|
||||
3. Update submodules:
|
||||
|
||||
```sh
|
||||
make submodulesclean
|
||||
```
|
||||
```sh
|
||||
make submodulesclean
|
||||
```
|
||||
|
||||
## Get a Release Branch
|
||||
|
||||
|
||||
@@ -54,17 +54,17 @@ 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.
|
||||
|
||||
|
||||
|
||||
- Click the **update all** button.
|
||||
|
||||
:::tip
|
||||
This takes a VERY LONG TIME (10 minutes).
|
||||
Ignore all the errors about missing packages that pop up.
|
||||
:::tip
|
||||
This takes a VERY LONG TIME (10 minutes).
|
||||
Ignore all the errors about missing packages that pop up.
|
||||
|
||||
:::
|
||||
|
||||
|
||||
|
||||
|
||||
- The STM32Fxx devices are found in the Keil folder, install by right-clicking and then selecting **install** on the according device for F4 and F7.
|
||||
|
||||
@@ -80,24 +80,24 @@ For more information, see: [https://gnu-mcu-eclipse.github.io/debug/jlink/instal
|
||||
|
||||
|
||||
10. Then select _GDB SEGGER J-Link Debugging_ and then the **New config** button on the top left.
|
||||
|
||||
|
||||
|
||||
11. Setup build config:
|
||||
|
||||
- Give it a name and set the _C/C++ Application_ to the corresponding **.elf** file.
|
||||
- Choose _Disable Auto build_
|
||||
- Give it a name and set the _C/C++ Application_ to the corresponding **.elf** file.
|
||||
- Choose _Disable Auto build_
|
||||
|
||||
::: info
|
||||
Remember that you must build the target from the command line before starting a debug session.
|
||||
|
||||
:::
|
||||
|
||||
|
||||
|
||||
|
||||
12. The _Debugger_ and _Startup_ tabs shouldn’t need any modifications (just verify your settings with the screenshots below)
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
## SEGGER Task-aware debugging
|
||||
|
||||
@@ -111,16 +111,16 @@ To enable this feature for use in Eclipse:
|
||||
- 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.
|
||||
This will be something like:
|
||||
This will be something like:
|
||||
|
||||
```sh
|
||||
make px4_fmu-v5_default boardguiconfig
|
||||
```
|
||||
```sh
|
||||
make px4_fmu-v5_default boardguiconfig
|
||||
```
|
||||
|
||||
(See [PX4 Menuconfig Setup](../hardware/porting_guide_config.md#px4-menuconfig-setup) for more information) on using the config tools).
|
||||
(See [PX4 Menuconfig Setup](../hardware/porting_guide_config.md#px4-menuconfig-setup) for more information) on using the config tools).
|
||||
|
||||
- Ensure that the _Enable TCBinfo struct for debug_ is selected as shown:
|
||||
|
||||
|
||||
|
||||
2. Compile the **jlink-nuttx.so** library in the terminal by running the following command in the terminal: `make jlink-nuttx`
|
||||
|
||||
|
||||
@@ -68,13 +68,13 @@ To simulate losing RC signal without having to turn off your RC controller:
|
||||
1. Enable the parameter [SYS_FAILURE_EN](../advanced_config/parameter_reference.md#SYS_FAILURE_EN).
|
||||
2. Enter the following commands on the MAVLink console or SITL _pxh shell_:
|
||||
|
||||
```sh
|
||||
# Fail RC (turn publishing off)
|
||||
failure rc_signal off
|
||||
```sh
|
||||
# Fail RC (turn publishing off)
|
||||
failure rc_signal off
|
||||
|
||||
# Restart RC publishing
|
||||
failure rc_signal ok
|
||||
```
|
||||
# Restart RC publishing
|
||||
failure rc_signal ok
|
||||
```
|
||||
|
||||
## MAVSDK Failure Plugin
|
||||
|
||||
|
||||
@@ -49,7 +49,7 @@ See the [Embedded Debug Tools][emdbg] for more advanced debug options.
|
||||
The [Segger JLink EDU Mini](https://www.segger.com/products/debug-probes/j-link/models/j-link-edu-mini/) is an inexpensive and popular SWD debug probe.
|
||||
The probe's connector pinout looks like the image below (connect to this using an ARM 10-pin mini connector like [FTSH-105-01-F-DV-K](https://www.digikey.com/products/en?keywords=SAM8796-ND)).
|
||||
|
||||
|
||||
|
||||
|
||||
The pin mapping to connect the J-Link Edu Mini to [Pixhawk Debug Mini](swd_debug.md#pixhawk-debug-mini) is shown below.
|
||||
|
||||
|
||||
@@ -37,8 +37,8 @@ Alternatively you can just append the modified parameters to the startup configu
|
||||
To add a frame configuration to firmware:
|
||||
|
||||
1. Create a new config file in the [init.d/airframes](https://github.com/PX4/PX4-Autopilot/tree/main/ROMFS/px4fmu_common/init.d/airframes) folder.
|
||||
- Give it a short descriptive filename and prepend the filename with an unused autostart ID (for example, `1033092_superfast_vtol`).
|
||||
- Update the file with configuration parameters and apps (see section above).
|
||||
- Give it a short descriptive filename and prepend the filename with an unused autostart ID (for example, `1033092_superfast_vtol`).
|
||||
- Update the file with configuration parameters and apps (see section above).
|
||||
2. Add the name of the new frame config file to the [CMakeLists.txt](https://github.com/PX4/PX4-Autopilot/blob/main/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt) in the relevant section for the type of vehicle
|
||||
3. [Build and upload](../dev_setup/building_px4.md) the software.
|
||||
|
||||
@@ -280,37 +280,37 @@ If the airframe is for a **new group** you additionally need to:
|
||||
|
||||
2. Add a mapping between the new group name and image filename in the [srcparser.py](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/px4airframes/srcparser.py) method `GetImageName()` (follow the pattern below):
|
||||
|
||||
```python
|
||||
def GetImageName(self):
|
||||
"""
|
||||
Get parameter group image base name (w/o extension)
|
||||
"""
|
||||
if (self.name == "Standard Plane"):
|
||||
return "Plane"
|
||||
elif (self.name == "Flying Wing"):
|
||||
return "FlyingWing"
|
||||
...
|
||||
...
|
||||
return "AirframeUnknown"
|
||||
```
|
||||
```python
|
||||
def GetImageName(self):
|
||||
"""
|
||||
Get parameter group image base name (w/o extension)
|
||||
"""
|
||||
if (self.name == "Standard Plane"):
|
||||
return "Plane"
|
||||
elif (self.name == "Flying Wing"):
|
||||
return "FlyingWing"
|
||||
...
|
||||
...
|
||||
return "AirframeUnknown"
|
||||
```
|
||||
|
||||
3. Update _QGroundControl_:
|
||||
|
||||
- Add the svg image for the group into: [src/AutopilotPlugins/Common/images](https://github.com/mavlink/qgroundcontrol/tree/master/src/AutoPilotPlugins/Common/Images)
|
||||
- Add reference to the svg image into [qgcimages.qrc](https://github.com/mavlink/qgroundcontrol/blob/master/qgcimages.qrc), following the pattern below:
|
||||
- Add the svg image for the group into: [src/AutopilotPlugins/Common/images](https://github.com/mavlink/qgroundcontrol/tree/master/src/AutoPilotPlugins/Common/Images)
|
||||
- Add reference to the svg image into [qgcimages.qrc](https://github.com/mavlink/qgroundcontrol/blob/master/qgcimages.qrc), following the pattern below:
|
||||
|
||||
```xml
|
||||
<qresource prefix="/qmlimages">
|
||||
...
|
||||
<file alias="Airframe/AirframeSimulation">src/AutoPilotPlugins/Common/Images/AirframeSimulation.svg</file>
|
||||
<file alias="Airframe/AirframeUnknown">src/AutoPilotPlugins/Common/Images/AirframeUnknown.svg</file>
|
||||
<file alias="Airframe/Boat">src/AutoPilotPlugins/Common/Images/Boat.svg</file>
|
||||
<file alias="Airframe/FlyingWing">src/AutoPilotPlugins/Common/Images/FlyingWing.svg</file>
|
||||
...
|
||||
```
|
||||
```xml
|
||||
<qresource prefix="/qmlimages">
|
||||
...
|
||||
<file alias="Airframe/AirframeSimulation">src/AutoPilotPlugins/Common/Images/AirframeSimulation.svg</file>
|
||||
<file alias="Airframe/AirframeUnknown">src/AutoPilotPlugins/Common/Images/AirframeUnknown.svg</file>
|
||||
<file alias="Airframe/Boat">src/AutoPilotPlugins/Common/Images/Boat.svg</file>
|
||||
<file alias="Airframe/FlyingWing">src/AutoPilotPlugins/Common/Images/FlyingWing.svg</file>
|
||||
...
|
||||
```
|
||||
|
||||
::: info
|
||||
The remaining airframe metadata should be automatically included in the firmware (once **srcparser.py** is updated).
|
||||
::: info
|
||||
The remaining airframe metadata should be automatically included in the firmware (once **srcparser.py** is updated).
|
||||
|
||||
:::
|
||||
|
||||
|
||||
@@ -30,7 +30,7 @@ If another algorithm is supported in future, the process is _likely_ to remain t
|
||||
The encryption process for each new ULog is:
|
||||
|
||||
1. A XChaCha20 symmetric key is generated and encrypted using an RSA2048 public key.
|
||||
This wrapped (encrypted) key is stored on the SD card in the beginning of a file that has the suffix `.ulge` ("ulog encrypted").
|
||||
This wrapped (encrypted) key is stored on the SD card in the beginning of a file that has the suffix `.ulge` ("ulog encrypted").
|
||||
2. When a log is captured, the ULog data is encrypted with the unwrapped symmetric key and the resulting data is appended into the end of the `.ulge` file immediately after the wrapped key data.
|
||||
|
||||
After the flight, the `.ulge` file containing both the wrapped symmetric key and the encrypted log data can be found on the SD card.
|
||||
|
||||
@@ -187,4 +187,4 @@ There are different clients that support ulog streaming:
|
||||
|
||||
## See Also
|
||||
|
||||
- [Encrypted logging](../dev_log/log_encryption.md)
|
||||
- [Encrypted logging](../dev_log/log_encryption.md)
|
||||
@@ -29,24 +29,24 @@ To install the toolchain:
|
||||
|
||||
1. [Download PX4 Source Code](../dev_setup/building_px4.md):
|
||||
|
||||
```sh
|
||||
git clone https://github.com/PX4/PX4-Autopilot.git --recursive
|
||||
```
|
||||
```sh
|
||||
git clone https://github.com/PX4/PX4-Autopilot.git --recursive
|
||||
```
|
||||
|
||||
::: info
|
||||
The environment setup scripts in the source usually work for recent PX4 releases.
|
||||
If working with an older version of PX4 you may need to [get the source code specific to your release](../contribute/git_examples.md#get-a-specific-release).
|
||||
::: info
|
||||
The environment setup scripts in the source usually work for recent PX4 releases.
|
||||
If working with an older version of PX4 you may need to [get the source code specific to your release](../contribute/git_examples.md#get-a-specific-release).
|
||||
|
||||
:::
|
||||
|
||||
2. Run the **ubuntu.sh** with no arguments (in a bash shell) to install everything:
|
||||
|
||||
```sh
|
||||
bash ./PX4-Autopilot/Tools/setup/ubuntu.sh
|
||||
```
|
||||
```sh
|
||||
bash ./PX4-Autopilot/Tools/setup/ubuntu.sh
|
||||
```
|
||||
|
||||
- 在安装过程中确认并通过所有的提示。
|
||||
- You can use the `--no-nuttx` and `--no-sim-tools` options to omit the NuttX and/or simulation tools.
|
||||
- 在安装过程中确认并通过所有的提示。
|
||||
- You can use the `--no-nuttx` and `--no-sim-tools` options to omit the NuttX and/or simulation tools.
|
||||
|
||||
3. 完成后重新启动计算机。
|
||||
|
||||
|
||||
@@ -38,21 +38,21 @@ First set up the environment
|
||||
|
||||
1. Enable more open files by appending the following line to the `~/.zshenv` file (creating it if necessary):
|
||||
|
||||
```sh
|
||||
echo ulimit -S -n 2048 >> ~/.zshenv
|
||||
```
|
||||
```sh
|
||||
echo ulimit -S -n 2048 >> ~/.zshenv
|
||||
```
|
||||
|
||||
::: info
|
||||
If you don't do this, the build toolchain may report the error: `"LD: too many open files"`
|
||||
::: info
|
||||
If you don't do this, the build toolchain may report the error: `"LD: too many open files"`
|
||||
|
||||
:::
|
||||
|
||||
2. Enforce Python 3 by appending the following lines to `~/.zshenv`
|
||||
|
||||
```sh
|
||||
# Point pip3 to MacOS system python 3 pip
|
||||
alias pip3=/usr/bin/pip3
|
||||
```
|
||||
```sh
|
||||
# Point pip3 to MacOS system python 3 pip
|
||||
alias pip3=/usr/bin/pip3
|
||||
```
|
||||
|
||||
### Common Tools
|
||||
|
||||
@@ -62,19 +62,19 @@ To setup the environment to be able to build for Pixhawk/NuttX hardware (and ins
|
||||
|
||||
2. Run these commands in your shell to install the common tools:
|
||||
|
||||
```sh
|
||||
brew tap PX4/px4
|
||||
brew install px4-dev
|
||||
```
|
||||
```sh
|
||||
brew tap PX4/px4
|
||||
brew install px4-dev
|
||||
```
|
||||
|
||||
3. Install the required Python packages:
|
||||
|
||||
```sh
|
||||
# install required packages using pip3
|
||||
python3 -m pip install --user pyserial empty toml numpy pandas jinja2 pyyaml pyros-genmsg packaging kconfiglib future jsonschema
|
||||
# if this fails with a permissions error, your Python install is in a system path - use this command instead:
|
||||
sudo -H python3 -m pip install --user pyserial empty toml numpy pandas jinja2 pyyaml pyros-genmsg packaging kconfiglib future jsonschema
|
||||
```
|
||||
```sh
|
||||
# install required packages using pip3
|
||||
python3 -m pip install --user pyserial empty toml numpy pandas jinja2 pyyaml pyros-genmsg packaging kconfiglib future jsonschema
|
||||
# if this fails with a permissions error, your Python install is in a system path - use this command instead:
|
||||
sudo -H python3 -m pip install --user pyserial empty toml numpy pandas jinja2 pyyaml pyros-genmsg packaging kconfiglib future jsonschema
|
||||
```
|
||||
|
||||
## Gazebo Classic 模拟
|
||||
|
||||
@@ -82,35 +82,35 @@ To setup the environment for [Gazebo Classic](../sim_gazebo_classic/index.md) si
|
||||
|
||||
1. Run the following commands in your shell:
|
||||
|
||||
```sh
|
||||
brew unlink tbb
|
||||
sed -i.bak '/disable! date:/s/^/ /; /disable! date:/s/./#/3' $(brew --prefix)/Library/Taps/homebrew/homebrew-core/Formula/tbb@2020.rb
|
||||
brew install tbb@2020
|
||||
brew link tbb@2020
|
||||
```
|
||||
```sh
|
||||
brew unlink tbb
|
||||
sed -i.bak '/disable! date:/s/^/ /; /disable! date:/s/./#/3' $(brew --prefix)/Library/Taps/homebrew/homebrew-core/Formula/tbb@2020.rb
|
||||
brew install tbb@2020
|
||||
brew link tbb@2020
|
||||
```
|
||||
|
||||
::: info
|
||||
September 2021: The commands above are a workaround to this bug: [PX4-Autopilot#17644](https://github.com/PX4/PX4-Autopilot/issues/17644).
|
||||
They can be removed once it is fixed (along with this note).
|
||||
::: info
|
||||
September 2021: The commands above are a workaround to this bug: [PX4-Autopilot#17644](https://github.com/PX4/PX4-Autopilot/issues/17644).
|
||||
They can be removed once it is fixed (along with this note).
|
||||
|
||||
:::
|
||||
|
||||
2. To install SITL simulation with Gazebo Classic:
|
||||
|
||||
```sh
|
||||
brew install --cask temurin
|
||||
brew install --cask xquartz
|
||||
brew install px4-sim-gazebo
|
||||
```
|
||||
```sh
|
||||
brew install --cask temurin
|
||||
brew install --cask xquartz
|
||||
brew install px4-sim-gazebo
|
||||
```
|
||||
|
||||
3. Run the macOS setup script: `PX4-Autopilot/Tools/setup/macos.sh`
|
||||
The easiest way to do this is to clone the PX4 source, and then run the script from the directory, as shown:
|
||||
The easiest way to do this is to clone the PX4 source, and then run the script from the directory, as shown:
|
||||
|
||||
```sh
|
||||
git clone https://github.com/PX4/PX4-Autopilot.git --recursive
|
||||
cd PX4-Autopilot/Tools/setup
|
||||
sh macos.sh
|
||||
```
|
||||
```sh
|
||||
git clone https://github.com/PX4/PX4-Autopilot.git --recursive
|
||||
cd PX4-Autopilot/Tools/setup
|
||||
sh macos.sh
|
||||
```
|
||||
|
||||
## Gazebo dependencies
|
||||
|
||||
|
||||
@@ -136,32 +136,32 @@ The toolchain gets maintained and hence these instructions might not cover every
|
||||
|
||||
10. Download [**Apache Ant**](https://ant.apache.org/bindownload.cgi) as zip archive of the binaries for Windows and unpack the content to the folder `C:\PX4\toolchain\apache-ant`.
|
||||
|
||||
:::tip
|
||||
Make sure you don't have an additional folder layer from the folder which is inside the downloaded archive.
|
||||
:::tip
|
||||
Make sure you don't have an additional folder layer from the folder which is inside the downloaded archive.
|
||||
|
||||
:::
|
||||
|
||||
::: info
|
||||
This is what the toolchain does in: [apache-ant/install-apache-ant.bat](https://github.com/MaEtUgR/PX4Toolchain/blob/master/toolchain/apache-ant/install-apache-ant.bat).
|
||||
::: info
|
||||
This is what the toolchain does in: [apache-ant/install-apache-ant.bat](https://github.com/MaEtUgR/PX4Toolchain/blob/master/toolchain/apache-ant/install-apache-ant.bat).
|
||||
|
||||
:::
|
||||
|
||||
11. Download, build and add _genromfs_ to the path:
|
||||
|
||||
- Clone the source code to the folder **C:\PX4\toolchain\genromfs\genromfs-src** with
|
||||
- Clone the source code to the folder **C:\PX4\toolchain\genromfs\genromfs-src** with
|
||||
|
||||
```sh
|
||||
cd /c/toolchain/genromfs
|
||||
git clone https://github.com/chexum/genromfs.git genromfs-src
|
||||
```
|
||||
|
||||
- Compile it with:
|
||||
- Compile it with:
|
||||
|
||||
```sh
|
||||
cd genromfs-src
|
||||
make all
|
||||
```
|
||||
|
||||
- Copy the resulting binary **genromfs.exe** one folder level out to: **C:\PX4\toolchain\genromfs**
|
||||
- Copy the resulting binary **genromfs.exe** one folder level out to: **C:\PX4\toolchain\genromfs**
|
||||
|
||||
12. Make sure all the binary folders of all the installed components are correctly listed in the `PATH` variable configured by [**setup-environment.bat**](https://github.com/PX4/windows-toolchain/blob/master/toolchain/scripts/setup-environment.bat).
|
||||
|
||||
@@ -57,13 +57,13 @@ VMWare performance is acceptable for basic usage (building Firmware) but not for
|
||||
Remember all settings are only for within your host operating system usage and hence you can disable any screen saver and local workstation security features which do not increase risk of a network attack.
|
||||
|
||||
10. Once the new VM is booted up make sure you install _VMWare tools drivers and tools extension_ inside your guest system.
|
||||
This will enhance performance and usability of your VM usage:
|
||||
This will enhance performance and usability of your VM usage:
|
||||
|
||||
- Significantly enhanced graphics performance
|
||||
- Proper support for hardware device usage like USB port allocation (important for target upload), proper mouse wheel scrolling, sound support
|
||||
- Guest display resolution adaption to the window size
|
||||
- Clipboard sharing to host system
|
||||
- File sharing to host system
|
||||
- Significantly enhanced graphics performance
|
||||
- Proper support for hardware device usage like USB port allocation (important for target upload), proper mouse wheel scrolling, sound support
|
||||
- Guest display resolution adaption to the window size
|
||||
- Clipboard sharing to host system
|
||||
- File sharing to host system
|
||||
|
||||
11. Continue with [PX4 environment setup for Linux](../dev_setup/dev_env_linux.md)
|
||||
|
||||
@@ -98,11 +98,11 @@ To allow this, you need to configure USB passthrough settings:
|
||||
4. Add USB filters for the bootloader in VM: **VirtualBox > Settings > USB > Add new USB filter**.
|
||||
|
||||
- Open the menu and plug in the USB cable connected to your autopilot.
|
||||
Select the `...Bootloader` device when it appears in the UI.
|
||||
Select the `...Bootloader` device when it appears in the UI.
|
||||
|
||||
::: info
|
||||
The bootloader device only appears for a few seconds after connecting USB.
|
||||
If it disappears before you can select it, disconnect and then reconnect USB.
|
||||
::: info
|
||||
The bootloader device only appears for a few seconds after connecting USB.
|
||||
If it disappears before you can select it, disconnect and then reconnect USB.
|
||||
|
||||
:::
|
||||
|
||||
|
||||
@@ -48,38 +48,38 @@ The benefit of WSL2 is that its virtual machine is deeply integrated into Window
|
||||
To install WSL2 with Ubuntu on a new installation of Windows 10 or 11:
|
||||
|
||||
1. Make sure your computer your computer's virtualization feature is enabled in the BIOS.
|
||||
It's usually referred as "Virtualization Technology", "Intel VT-x" or "AMD-V" respectively
|
||||
It's usually referred as "Virtualization Technology", "Intel VT-x" or "AMD-V" respectively
|
||||
|
||||
2. Open _cmd.exe_ as administrator.
|
||||
This can be done by pressing the start key, typing `cmd`, right-clicking on the _Command prompt_ entry and selecting **Run as administrator**.
|
||||
This can be done by pressing the start key, typing `cmd`, right-clicking on the _Command prompt_ entry and selecting **Run as administrator**.
|
||||
|
||||
3. Execute the following commands to install WSL2 and a particular Ubuntu version:
|
||||
|
||||
- Default version (Ubuntu 22.04):
|
||||
- Default version (Ubuntu 22.04):
|
||||
|
||||
```sh
|
||||
wsl --install
|
||||
```
|
||||
```sh
|
||||
wsl --install
|
||||
```
|
||||
|
||||
- Ubuntu 20.04 ([Gazebo-Classic Simulation](../sim_gazebo_classic/index.md))
|
||||
- Ubuntu 20.04 ([Gazebo-Classic Simulation](../sim_gazebo_classic/index.md))
|
||||
|
||||
```sh
|
||||
wsl --install -d Ubuntu-20.04
|
||||
```
|
||||
```sh
|
||||
wsl --install -d Ubuntu-20.04
|
||||
```
|
||||
|
||||
- Ubuntu 22.04 ([Gazebo Simulation](../sim_gazebo_gz/index.md))
|
||||
- Ubuntu 22.04 ([Gazebo Simulation](../sim_gazebo_gz/index.md))
|
||||
|
||||
```sh
|
||||
wsl --install -d Ubuntu-22.04
|
||||
```
|
||||
```sh
|
||||
wsl --install -d Ubuntu-22.04
|
||||
```
|
||||
|
||||
::: info
|
||||
You can also install[Ubuntu 20.04](https://www.microsoft.com/store/productId/9MTTCL66CPXJ) and [Ubuntu 22.04](https://www.microsoft.com/store/productId/9PN20MSR04DW) from the store, which allows you to delete the application using the normal Windows Add/Remove settings:
|
||||
::: info
|
||||
You can also install[Ubuntu 20.04](https://www.microsoft.com/store/productId/9MTTCL66CPXJ) and [Ubuntu 22.04](https://www.microsoft.com/store/productId/9PN20MSR04DW) from the store, which allows you to delete the application using the normal Windows Add/Remove settings:
|
||||
|
||||
:::
|
||||
|
||||
4. WSL will prompt you for a user name and password for the Ubuntu installation.
|
||||
Record these credentials as you will need them later on!
|
||||
Record these credentials as you will need them later on!
|
||||
|
||||
The command prompt is now a terminal within the newly installed Ubuntu environment.
|
||||
|
||||
@@ -95,26 +95,26 @@ To open a WSL shell using a command prompt:
|
||||
|
||||
1. Open a command prompt:
|
||||
|
||||
- Press the Windows **Start** key.
|
||||
- Type `cmd` and press **Enter** to open the prompt.
|
||||
- Press the Windows **Start** key.
|
||||
- Type `cmd` and press **Enter** to open the prompt.
|
||||
|
||||
2. To start WSL and access the WSL shell, execute the command:
|
||||
|
||||
```sh
|
||||
wsl -d <distribution_name>
|
||||
```
|
||||
```sh
|
||||
wsl -d <distribution_name>
|
||||
```
|
||||
|
||||
例如：
|
||||
例如：
|
||||
|
||||
```sh
|
||||
wsl -d Ubuntu
|
||||
```
|
||||
```sh
|
||||
wsl -d Ubuntu
|
||||
```
|
||||
|
||||
```sh
|
||||
wsl -d Ubuntu-20.04
|
||||
```
|
||||
```sh
|
||||
wsl -d Ubuntu-20.04
|
||||
```
|
||||
|
||||
If you only have one version of Ubuntu, you can just use `wsl`.
|
||||
If you only have one version of Ubuntu, you can just use `wsl`.
|
||||
|
||||
Enter the following commands to first close the WSL shell, and then shut down WSL:
|
||||
|
||||
@@ -136,57 +136,57 @@ To install the development toolchain:
|
||||
|
||||
2. Execute the command `cd ~` to switch to the home folder of WSL for the next steps.
|
||||
|
||||
:::warning
|
||||
This is important!
|
||||
If you work from a location outside of the WSL file system you'll run into issues such as very slow execution and access right/permission errors.
|
||||
:::warning
|
||||
This is important!
|
||||
If you work from a location outside of the WSL file system you'll run into issues such as very slow execution and access right/permission errors.
|
||||
|
||||
:::
|
||||
|
||||
3. Download the PX4 source code using `git` (which is already installed in WSL2):
|
||||
|
||||
```sh
|
||||
git clone https://github.com/PX4/PX4-Autopilot.git --recursive
|
||||
```
|
||||
```sh
|
||||
git clone https://github.com/PX4/PX4-Autopilot.git --recursive
|
||||
```
|
||||
|
||||
::: info
|
||||
The environment setup scripts in the source usually work for recent PX4 releases.
|
||||
If working with an older version of PX4 you may need to [get the source code specific to your release](../contribute/git_examples.md#get-a-specific-release).
|
||||
::: info
|
||||
The environment setup scripts in the source usually work for recent PX4 releases.
|
||||
If working with an older version of PX4 you may need to [get the source code specific to your release](../contribute/git_examples.md#get-a-specific-release).
|
||||
|
||||
:::
|
||||
|
||||
4. Run the **ubuntu.sh** installer script and acknowledge any prompts as the script progresses:
|
||||
|
||||
```sh
|
||||
bash ./PX4-Autopilot/Tools/setup/ubuntu.sh
|
||||
```
|
||||
```sh
|
||||
bash ./PX4-Autopilot/Tools/setup/ubuntu.sh
|
||||
```
|
||||
|
||||
::: info
|
||||
This installs tools to build PX4 for Pixhawk and either Gazebo or Gazebo Classic targets:
|
||||
::: info
|
||||
This installs tools to build PX4 for Pixhawk and either Gazebo or Gazebo Classic targets:
|
||||
|
||||
- You can use the `--no-nuttx` and `--no-sim-tools` options to omit the NuttX and/or simulation tools.
|
||||
- Other Linux build targets are untested (you can try these by entering the appropriate commands in [Ubuntu Development Environment](../dev_setup/dev_env_linux_ubuntu.md) into the WSL shell).
|
||||
- You can use the `--no-nuttx` and `--no-sim-tools` options to omit the NuttX and/or simulation tools.
|
||||
- Other Linux build targets are untested (you can try these by entering the appropriate commands in [Ubuntu Development Environment](../dev_setup/dev_env_linux_ubuntu.md) into the WSL shell).
|
||||
|
||||
:::
|
||||
|
||||
5. Restart the "WSL computer" after the script completes (exit the shell, shutdown WSL, and restart WSL):
|
||||
|
||||
```sh
|
||||
exit
|
||||
wsl --shutdown
|
||||
wsl
|
||||
```
|
||||
```sh
|
||||
exit
|
||||
wsl --shutdown
|
||||
wsl
|
||||
```
|
||||
|
||||
6. Switch to the PX4 repository in the WSL home folder:
|
||||
|
||||
```sh
|
||||
cd ~/PX4-Autopilot
|
||||
```
|
||||
```sh
|
||||
cd ~/PX4-Autopilot
|
||||
```
|
||||
|
||||
7. Build the PX4 SITL target and test your environment:
|
||||
|
||||
```sh
|
||||
make px4_sitl
|
||||
```
|
||||
```sh
|
||||
make px4_sitl
|
||||
```
|
||||
|
||||
For more build options see [Building PX4 Software](../dev_setup/building_px4.md).
|
||||
|
||||
@@ -206,26 +206,26 @@ To set up the integration:
|
||||
|
||||
5. In the WSL shell, switch to the PX4 folder:
|
||||
|
||||
```sh
|
||||
cd ~/PX4-Autopilot
|
||||
```
|
||||
```sh
|
||||
cd ~/PX4-Autopilot
|
||||
```
|
||||
|
||||
6. In the WSL shell, start VS Code:
|
||||
|
||||
```sh
|
||||
code .
|
||||
```
|
||||
```sh
|
||||
code .
|
||||
```
|
||||
|
||||
This will open the IDE fully integrated with the WSL shell.
|
||||
This will open the IDE fully integrated with the WSL shell.
|
||||
|
||||
Make sure you always open the PX4 repository in the Remote WSL mode.
|
||||
Make sure you always open the PX4 repository in the Remote WSL mode.
|
||||
|
||||
7. Next time you want to develop WSL2 you can very easily open it again in Remote WSL mode by selecting **Open Recent** (as shown below).
|
||||
This will start WSL for you.
|
||||
This will start WSL for you.
|
||||
|
||||
|
||||
|
||||
|
||||
Note however that the IP address of the WSL virtual machine will have changed, so you won't be able to monitor simulation from QGC for Windows (you can still monitor using QGC for Linux)
|
||||
Note however that the IP address of the WSL virtual machine will have changed, so you won't be able to monitor simulation from QGC for Windows (you can still monitor using QGC for Linux)
|
||||
|
||||
## QGroundControl
|
||||
|
||||
@@ -241,21 +241,21 @@ You can do this from within the WSL shell.
|
||||
1. In a web browser, navigate to the QGC [Ubuntu download section](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html#ubuntu)
|
||||
|
||||
2. Right-click on the **QGroundControl.AppImage** link, and select "Copy link address".
|
||||
This will be something like _https://d176td9ibe4jno.cloudfront.net/builds/master/QGroundControl.AppImage_
|
||||
This will be something like _https://d176td9ibe4jno.cloudfront.net/builds/master/QGroundControl.AppImage_
|
||||
|
||||
3. [Open a WSL shell](#opening-a-wsl-shell) and enter the following commands to download the appimage and make it executable (replace the AppImage URL where indicated):
|
||||
|
||||
```sh
|
||||
cd ~
|
||||
wget <the_copied_AppImage_URL>
|
||||
chmod +x QGroundControl.AppImage
|
||||
```
|
||||
```sh
|
||||
cd ~
|
||||
wget <the_copied_AppImage_URL>
|
||||
chmod +x QGroundControl.AppImage
|
||||
```
|
||||
|
||||
4. Run QGroundControl:
|
||||
|
||||
```sh
|
||||
./QGroundControl.AppImage
|
||||
```
|
||||
```sh
|
||||
./QGroundControl.AppImage
|
||||
```
|
||||
|
||||
QGroundControl will launch and automatically connect to a running simulation and allow you to monitor and control your vehicle(s).
|
||||
|
||||
@@ -271,15 +271,15 @@ These steps describe how you can connect to the simulation running in the WSL:
|
||||
|
||||
2. Check the IP address of the WSL virtual machine by running the command `ip addr | grep eth0`:
|
||||
|
||||
```sh
|
||||
$ ip addr | grep eth0
|
||||
```sh
|
||||
$ ip addr | grep eth0
|
||||
|
||||
6: eth0: <BROADCAST,MULTICAST,UP,LOWER_UP> mtu 1500 qdisc mq state UP group default qlen 1000
|
||||
inet 172.18.46.131/20 brd 172.18.47.255 scope global eth0
|
||||
```
|
||||
6: eth0: <BROADCAST,MULTICAST,UP,LOWER_UP> mtu 1500 qdisc mq state UP group default qlen 1000
|
||||
inet 172.18.46.131/20 brd 172.18.47.255 scope global eth0
|
||||
```
|
||||
|
||||
Copy the first part of the `eth0` interface `inet` address to the clipboard.
|
||||
In this case: `172.18.46.131`.
|
||||
Copy the first part of the `eth0` interface `inet` address to the clipboard.
|
||||
In this case: `172.18.46.131`.
|
||||
|
||||
3. In QGC go to **Q > Application Settings > Comm Links**
|
||||
|
||||
@@ -305,14 +305,14 @@ Do the following steps to flash your custom binary built in WSL:
|
||||
|
||||
1. If you haven't already built the binary in WSL e.g. with a [WSL shell](dev_env_windows_wsl.md#opening-a-wsl-shell) and by running:
|
||||
|
||||
```sh
|
||||
cd ~/PX4-Autopilot
|
||||
make px4_fmu-v5
|
||||
```
|
||||
```sh
|
||||
cd ~/PX4-Autopilot
|
||||
make px4_fmu-v5
|
||||
```
|
||||
|
||||
::: tip
|
||||
Use the correct `make` target for your board.
|
||||
`px4_fmu-v5` can be used for a Pixhawk 4 board.
|
||||
::: tip
|
||||
Use the correct `make` target for your board.
|
||||
`px4_fmu-v5` can be used for a Pixhawk 4 board.
|
||||
|
||||
:::
|
||||
|
||||
@@ -326,12 +326,12 @@ Do the following steps to flash your custom binary built in WSL:
|
||||
|
||||
6. Continue and select the firmware binary you just built in WSL.
|
||||
|
||||
In the open dialog look for the "Linux" location with the penguin icon in the left pane.
|
||||
It's usually all the way at the bottom.
|
||||
Choose the file in the path: `Ubuntu\home\{your WSL user name}\PX4-Autopilot\build\{your build target}\{your build target}.px4`
|
||||
In the open dialog look for the "Linux" location with the penguin icon in the left pane.
|
||||
It's usually all the way at the bottom.
|
||||
Choose the file in the path: `Ubuntu\home\{your WSL user name}\PX4-Autopilot\build\{your build target}\{your build target}.px4`
|
||||
|
||||
::: info
|
||||
You can add the folder to the favourites to access it quickly next time.
|
||||
::: info
|
||||
You can add the folder to the favourites to access it quickly next time.
|
||||
|
||||
:::
|
||||
|
||||
|
||||
@@ -6,4 +6,4 @@ The QGroundControl _Daily Build_ includes development tools that are hidden in r
|
||||
|
||||
It should be used instead of the stable release when working with new code forked from the PX4 `main` branch.
|
||||
|
||||
- [Download daily builds](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/releases/daily_builds.html)
|
||||
- [Download daily builds](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/releases/daily_builds.html)
|
||||
+10
-10
@@ -26,9 +26,9 @@ You must already have installed the command line [PX4 developer environment](../
|
||||
2. Open VSCode and add the PX4 source code:
|
||||
|
||||
- Select _Open folder ..._ option on the welcome page (or using the menu: **File > Open Folder**):
|
||||
|
||||
|
||||
- A file selection dialog will appear.
|
||||
Select the **PX4-Autopilot** directory and then press **OK**.
|
||||
Select the **PX4-Autopilot** directory and then press **OK**.
|
||||
|
||||
The project files and configuration will then load into _VSCode_.
|
||||
|
||||
@@ -47,9 +47,9 @@ You must already have installed the command line [PX4 developer environment](../
|
||||
:::
|
||||
|
||||
- If prompted to install a new version of _cmake_:
|
||||
- Say **No** (the right version is installed with the [PX4 developer environment](../dev_setup/dev_env.md)).
|
||||
- Say **No** (the right version is installed with the [PX4 developer environment](../dev_setup/dev_env.md)).
|
||||
- If prompted to sign into _github.com_ and add your credentials:
|
||||
- This is up to you! It provides a deep integration between Github and the IDE, which may simplify your workflow.
|
||||
- This is up to you! It provides a deep integration between Github and the IDE, which may simplify your workflow.
|
||||
- Other prompts are optional, and may be installed if they seem useful. <!-- perhaps add screenshot of these prompts -->
|
||||
|
||||
<a id="building"></a>
|
||||
@@ -61,21 +61,21 @@ To build:
|
||||
1. Select your build target ("cmake build config"):
|
||||
|
||||
- The current _cmake build target_ is shown on the blue _config_ bar at the bottom (if this is already your desired target, skip to next step).
|
||||
|
||||
|
||||
|
||||
::: info
|
||||
The cmake target you select affects the targets offered for when [building/debugging](#debugging) (i.e. for hardware debugging you must select a hardware target like `px4_fmu-v6`).
|
||||
::: info
|
||||
The cmake target you select affects the targets offered for when [building/debugging](#debugging) (i.e. for hardware debugging you must select a hardware target like `px4_fmu-v6`).
|
||||
|
||||
:::
|
||||
|
||||
- Click the target on the config bar to display other options, and select the one you want (this will replace any selected target).
|
||||
|
||||
- _Cmake_ will then configure your project (see notification in bottom right).
|
||||
|
||||
|
||||
|
||||
- Wait until configuration completes.
|
||||
When this is done the notification will disappear and you'll be shown the build location:
|
||||
.
|
||||
When this is done the notification will disappear and you'll be shown the build location:
|
||||
.
|
||||
|
||||
2. You can then kick off a build from the config bar (select either **Build** or **Debug**).
|
||||
|
||||
|
||||
@@ -65,7 +65,7 @@ Set the following parameters in _QGroundControl_ [Vehicle Setup > Parameters](..
|
||||
|
||||
- [UAVCAN_SUB_BAT](../advanced_config/parameter_reference.md#UAVCAN_SUB_BAT): set to: _Raw data_
|
||||
|
||||
|
||||
|
||||
|
||||
## 更多信息
|
||||
|
||||
|
||||
@@ -54,7 +54,7 @@ The high-precision PNI RM3100 compass ensures accurate orientation and stability
|
||||
The Holybro ZED-F9P GPS is connected to the CAN bus using a Pixhawk standard 4 pin JST GH cable.
|
||||
For more information, refer to the [CAN Wiring](../can/index.md#wiring) instructions.
|
||||
|
||||
For dual F9P setups leveraging GPS yaw, connect both F9P CAN connectors to the same bus via a CAN or I2C expansion splitter or [hub](https://holybro.com/products/can-hub?_pos=1&_sid=eeb6b74b2&_ss=r).
|
||||
For dual F9P setups leveraging GPS yaw, connect both F9P CAN connectors to the same bus via a CAN or I2C expansion splitter or hub.
|
||||
|
||||
## Firmware Setup
|
||||
|
||||
@@ -64,10 +64,10 @@ To update the "AP Periph" firmware to the latest version:
|
||||
|
||||
1. [Download the latest binary](https://firmware.ardupilot.org/AP_Periph/latest/HolybroG4_GPS/).
|
||||
2. Update the firmware using either of the following approaches:
|
||||
- Using ArduPilot:
|
||||
1. Install _Ardupilot_ firmware on your flight controller and the Mission Planner GCS on your computer.
|
||||
2. Update the binary by following the instructions in the [DroneCAN FW Upgrade](https://docs.holybro.com/gps-and-rtk-system/zed-f9p-h-rtk-series/dronecan-fw-upgrade) guide.
|
||||
- Use a serial-to-can converter (such as the [Zubax Babel](https://github.com/Zubax/canface_cf1?tab=readme-ov-file)) and the [DroneCAN GUI Tool](https://dronecan.github.io/Implementations/Libuavcan/Tutorials/11._Firmware_update/).
|
||||
- Using ArduPilot:
|
||||
1. Install _Ardupilot_ firmware on your flight controller and the Mission Planner GCS on your computer.
|
||||
2. Update the binary by following the instructions in the [DroneCAN FW Upgrade](https://docs.holybro.com/gps-and-rtk-system/zed-f9p-h-rtk-series/dronecan-fw-upgrade) guide.
|
||||
- Use a serial-to-can converter (such as the [Zubax Babel](https://github.com/Zubax/canface_cf1?tab=readme-ov-file)) and the [DroneCAN GUI Tool](https://dronecan.github.io/Implementations/Libuavcan/Tutorials/11._Firmware_update/).
|
||||
|
||||
Remember to change the firmware on the flight controller back to PX4 afterwards.
|
||||
|
||||
@@ -88,7 +88,7 @@ DroneCAN configuration in PX4 is explained in more detail in [DroneCAN > Enablin
|
||||
|
||||
- For the the single Rover the module should be mounted with the included mast.
|
||||
- For the Dual ZED-F9P setup (moving baseline), the DroneCAN modules should be placed at least 30cm apart on the airframe and elevated on a mast also.
|
||||
See the following [mast](https://holybro.com/products/30-antenna-mount?_pos=20&_sid=67b49d76b&_ss=r).
|
||||
See the following mast.
|
||||
- F9P module arrow(s) should be pointing forward with respect to the autopilot orientation.
|
||||
|
||||
## Dual ZED-F9P DroneCAN Modules For Heading
|
||||
@@ -98,14 +98,14 @@ In order to use dual ZED-F9P GPS heading in PX4, follow these steps:
|
||||
1. Open the QGroundControl parameters page.
|
||||
2. On the left side next to the parameters list, double-click on the _System_ section (this hides the section).
|
||||
3. Components should be visible on the left panel.
|
||||
Click on the first `_Component_<ID#>` that maps to the ZED-F9P DroneCAN node (below shown as _Component 124_).
|
||||
Click on the first `_Component_<ID#>` that maps to the ZED-F9P DroneCAN node (below shown as _Component 124_).
|
||||
4. Click on the _GPS_ subsection and configure the parameters listed below:
|
||||
|
||||
- `GPS_TYPE`: Either set to `17` for moving baseline _base_, or set to `18` to be the moving baseline _rover_.
|
||||
One F9P MUST be _rover_, and the other MUST be _base_.
|
||||
- `GPS_AUTO_CONFIG`: set to 1 for both the rover and base
|
||||
- `GPS_POS_X`, `GPS_POS_Y`, `GPS_POS_Z`: This is the antenna placement, which for the F9P is internal to the module.
|
||||
This is the local offset (FRD) with respect to the autopilot.
|
||||
- `GPS_TYPE`: Either set to `17` for moving baseline _base_, or set to `18` to be the moving baseline _rover_.
|
||||
One F9P MUST be _rover_, and the other MUST be _base_.
|
||||
- `GPS_AUTO_CONFIG`: set to 1 for both the rover and base
|
||||
- `GPS_POS_X`, `GPS_POS_Y`, `GPS_POS_Z`: This is the antenna placement, which for the F9P is internal to the module.
|
||||
This is the local offset (FRD) with respect to the autopilot.
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -45,11 +45,11 @@ Source code and build instructions can be found on [the bitbucket](https://bitbu
|
||||
1. Enable DroneCAN by setting the [UAVCAN_ENABLE](../advanced_config/parameter_reference.md#UAVCAN_ENABLE) parameter to `2` (Sensors Automatic Config) or `3`.
|
||||
2. Enable DroneCAN battery monitoring by setting [UAVCAN_SUB_BAT](../advanced_config/parameter_reference.md#UAVCAN_SUB_BAT) to `1` or `2` ( depending on your battery).
|
||||
3. Set the following module parameters using the [MAVLink console](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/analyze_view/mavlink_console.html):
|
||||
- Battery capacity in mAh: `battery_capacity_mAh`
|
||||
- Battery voltage when _full_: `battery_full_V`,
|
||||
- Battery voltage when _empty_: `battery_empty_V`
|
||||
- Turn on current integration: `enable_current_track`
|
||||
- (optional) Turn Off CANbus termination resistor :`enable_can_term`
|
||||
- Battery capacity in mAh: `battery_capacity_mAh`
|
||||
- Battery voltage when _full_: `battery_full_V`,
|
||||
- Battery voltage when _empty_: `battery_empty_V`
|
||||
- Turn on current integration: `enable_current_track`
|
||||
- (optional) Turn Off CANbus termination resistor :`enable_can_term`
|
||||
|
||||
**Example:** A Power Module with UAVCAN node id `125` connected to a `3S` LiPo with capacity of `5000mAh` can be configured with the following commands:
|
||||
|
||||
|
||||
@@ -7,9 +7,9 @@ CAN power connectors are designed for light unmanned aerial (UAV) and other vehi
|
||||
There are two types of devices:
|
||||
|
||||
1. `CAN-MUX` devices provide power from XT30 connector to CAN.
|
||||
There are 2 variation of this type of the device with different number of connectors.
|
||||
There are 2 variation of this type of the device with different number of connectors.
|
||||
2. `Power connector node` is designed to pass current (up to 60A) to power load and CAN, measure voltage and current on load.
|
||||
It behaves as Cyphal/DroneCAN node.
|
||||
It behaves as Cyphal/DroneCAN node.
|
||||
|
||||
Please refer to the RaccoonLab docs [CAN Power Connectors](https://docs.raccoonlab.co/guide/pmu/power/) page.
|
||||
|
||||
|
||||
@@ -81,15 +81,15 @@ To enumerate the ESC:
|
||||
|
||||
3. Start the process of ESC auto-enumeration by pressing the **Start Assignment** button, as shown on the screenshot below.
|
||||
|
||||
|
||||
|
||||
|
||||
You will hear a sound indicating that the flight controller has entered the ESC enumeration mode.
|
||||
You will hear a sound indicating that the flight controller has entered the ESC enumeration mode.
|
||||
|
||||
4. Manually turn each motor in the correct direction of its rotation (as specified in the [Airframe Reference](../airframes/airframe_reference.md)), starting from the first motor and finishing with the last motor.
|
||||
Each time you turn a motor, you should hear a confirmation beep.
|
||||
Each time you turn a motor, you should hear a confirmation beep.
|
||||
|
||||
::: info
|
||||
Make sure to turn each of the motors in the correct direction, as the ESC will automatically learn and remember the direction (i.e. motors that spin clockwise during normal operation must also be turned clockwise during enumeration).
|
||||
::: info
|
||||
Make sure to turn each of the motors in the correct direction, as the ESC will automatically learn and remember the direction (i.e. motors that spin clockwise during normal operation must also be turned clockwise during enumeration).
|
||||
|
||||
:::
|
||||
|
||||
|
||||
@@ -395,7 +395,7 @@ Frequently asked questions are answered in [FAQ](https://docs.sky-drones.com/air
|
||||
|
||||
- [AIRLink product page](https://sky-drones.com/airlink)
|
||||
- [AIRLink documentation](https://docs.sky-drones.com/avionics/airlink)
|
||||
- [AIRLink datasheet](https://3182378893-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-MTMlWysgDtJq8Hid1v7%2Fuploads%2F8AiuNNSwLYnZSscj7uIV%2FAIRLink-Datasheet.pdf?alt=media\&token=cbf0c4bf-9ab1-40c5-a0af-c6babdddb690)
|
||||
- [AIRLink datasheet](https://3182378893-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-MTMlWysgDtJq8Hid1v7%2Fuploads%2F8AiuNNSwLYnZSscj7uIV%2FAIRLink-Datasheet.pdf?alt=media&token=cbf0c4bf-9ab1-40c5-a0af-c6babdddb690)
|
||||
- [Buy AIRLink Enterprise 4G](https://sky-drones.com/sets/airlink-enterprise-set.html)
|
||||
- [Buy AIRLink Enterprise 5G](https://sky-drones.com/sets/airlink-5g-enterprise-set.html)
|
||||
- [Buy AIRLink Core 4G](https://sky-drones.com/autopilots/airlink-core.html)
|
||||
|
||||
@@ -86,3 +86,5 @@ See the documentation [Ark Electronics GitBook](https://arkelectron.gitbook.io/a
|
||||
## 针脚定义
|
||||
|
||||
See the [DS-10 Pixhawk Autopilot Bus Standard](https://arkelectron.gitbook.io/ark-documentation/flight-controllers/ark-fpv/pinout)
|
||||
|
||||
|
||||
|
||||
@@ -13,7 +13,7 @@ Contact the [manufacturer](https://store.mrobotics.io/) for hardware support or
|
||||
|
||||
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.
|
||||
|
||||
|
||||
|
||||
|
||||
## 总览
|
||||
|
||||
|
||||
@@ -80,7 +80,7 @@ The remaining 6 PWM ports are still being adapted (so it is not compatible with
|
||||
## 购买渠道
|
||||
|
||||
- [CUAV Store](https://store.cuav.net)<\br>
|
||||
- [CUAV Aliexpress](https://www.aliexpress.com/item/4001042501927.html?gps-id=8041884\&scm=1007.14677.110221.0\&scm_id=1007.14677.110221.0\&scm-url=1007.14677.110221.0\&pvid=3dc0a3ba-fa82-43d2-b0b3-6280e4329cef\&spm=a2g0o.store_home.promoteRecommendProducts_7913969.58)
|
||||
- [CUAV Aliexpress](https://www.aliexpress.com/item/4001042501927.html?gps-id=8041884&scm=1007.14677.110221.0&scm_id=1007.14677.110221.0&scm-url=1007.14677.110221.0&pvid=3dc0a3ba-fa82-43d2-b0b3-6280e4329cef&spm=a2g0o.store_home.promoteRecommendProducts_7913969.58)
|
||||
|
||||
## Connections (Wiring)
|
||||
|
||||
|
||||
@@ -28,7 +28,7 @@ Pixhawk<sup>®</sup> V6X brings you the ultimate in performance, stability an
|
||||
- External sensor bus (SPI5) has two chip select lines and data-ready signals for additional sensors and payload with SPI-interface.
|
||||
- Integrated Microchip Ethernet PHY for high-speed communication over Ethernet with onboard devices such as mission computers.
|
||||
- Newly designed vibration isolation system to filter out high frequency vibration and reduce noise to ensure accurate readings.
|
||||
- IMUs are temperature-controlled by onboard heating resistors, allowing optimum working temperature of IMUs 
|
||||
- IMUs are temperature-controlled by onboard heating resistors, allowing optimum working temperature of IMUs 
|
||||
- Modular flight controller: separated IMU, FMU, and Base system connected by a 100-pin & a 50-pin Pixhawk® Autopilot Bus connector.
|
||||
|
||||
The Pixhawk® V6X is ideal for corporate research labs, academic research and commercial applications.
|
||||
|
||||
@@ -135,8 +135,8 @@ The pinout is as shown.
|
||||
|
||||
## 外部设备
|
||||
|
||||
- [Digital Airspeed Sensor](https://item.taobao.com/item.htm?spm=a1z10.3-c-s.w4002-16371268452.37.6d9f48afsFgGZI\&id=9512463037)
|
||||
- [Telemetry Radio Modules](https://cuav.taobao.com/category-158480951.htm?spm=2013.1.w5002-16371268426.4.410b7a821qYbBq\&search=y\&catName=%CA%FD%B4%AB%B5%E7%CC%A8)
|
||||
- [Digital Airspeed Sensor](https://item.taobao.com/item.htm?spm=a1z10.3-c-s.w4002-16371268452.37.6d9f48afsFgGZI&id=9512463037)
|
||||
- [Telemetry Radio Modules](https://cuav.taobao.com/category-158480951.htm?spm=2013.1.w5002-16371268426.4.410b7a821qYbBq&search=y&catName=%CA%FD%B4%AB%B5%E7%CC%A8)
|
||||
- [Rangefinders/Distance sensors](../sensor/rangefinders.md)
|
||||
|
||||
## 支持的平台/机身
|
||||
|
||||
@@ -66,9 +66,9 @@ Main FMU Processor: STM32F765◦32 Bit Arm® Cortex®-M7, 216MHz, 2MB memory, 51
|
||||
|
||||
[CUAV Store](https://store.cuav.net/shop/v5-nano/)
|
||||
|
||||
[CUAV Aliexpress](https://www.aliexpress.com/item/33050770314.html?storeId=3257035\&spm=2114.12010612.8148356.9.dbe6790bjW2hpH) (international users)
|
||||
CUAV Aliexpress (international users)
|
||||
|
||||
[CUAV Taobao](https://item.taobao.com/item.htm?spm=a230r.1.14.8.26ab5258veQJRu\&id=569404317857\&ns=1\&abbucket=13#detail) (China Mainland users)
|
||||
CUAV Taobao (China Mainland users)
|
||||
|
||||
:::info
|
||||
Autopilot may be purchased with included Neo GPS module
|
||||
@@ -167,8 +167,8 @@ The _V5 nano_ has no over current protection.
|
||||
|
||||
## 外部设备
|
||||
|
||||
- [Digital Airspeed Sensor](https://item.taobao.com/item.htm?spm=a1z10.3-c-s.w4002-16371268452.37.6d9f48afsFgGZI\&id=9512463037)
|
||||
- [Telemetry Radio Modules](https://cuav.taobao.com/category-158480951.htm?spm=2013.1.w5002-16371268426.4.410b7a821qYbBq\&search=y\&catName=%CA%FD%B4%AB%B5%E7%CC%A8)
|
||||
- [Digital Airspeed Sensor](https://item.taobao.com/item.htm?spm=a1z10.3-c-s.w4002-16371268452.37.6d9f48afsFgGZI&id=9512463037)
|
||||
- [Telemetry Radio Modules](https://cuav.taobao.com/category-158480951.htm?spm=2013.1.w5002-16371268426.4.410b7a821qYbBq&search=y&catName=%CA%FD%B4%AB%B5%E7%CC%A8)
|
||||
- [Rangefinders/Distance sensors](../sensor/rangefinders.md)
|
||||
|
||||
## 支持的平台/机身
|
||||
|
||||
@@ -69,9 +69,9 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo
|
||||
|
||||
<!-- [CUAV Store](https://store.cuav.net/index.php?id_product=95&id_product_attribute=0&rewrite=cuav-new-pixhack-v5-autopilot-m8n-gps-for-fpv-rc-drone-quadcopter-helicopter-flight-simulator-free-shipping-whole-sale&controller=product&id_lang=1) -->
|
||||
|
||||
[CUAV Aliexpress](https://www.aliexpress.com/item/32890380056.html?spm=a2g0o.detail.1000060.1.7a7233e7mLTlVl\&gps-id=pcDetailBottomMoreThisSeller\&scm=1007.13339.90158.0\&scm_id=1007.13339.90158.0\&scm-url=1007.13339.90158.0\&pvid=d899bfab-a7ca-46e1-adf2-72ad1d649822) (International users)
|
||||
[CUAV Aliexpress](https://www.aliexpress.com/item/32890380056.html?spm=a2g0o.detail.1000060.1.7a7233e7mLTlVl&gps-id=pcDetailBottomMoreThisSeller&scm=1007.13339.90158.0&scm_id=1007.13339.90158.0&scm-url=1007.13339.90158.0&pvid=d899bfab-a7ca-46e1-adf2-72ad1d649822) (International users)
|
||||
|
||||
[CUAV Taobao](https://item.taobao.com/item.htm?spm=a1z10.5-c.w4002-21303114052.37.a28f697aeYzQx9\&id=594262853015) (China Mainland users)
|
||||
CUAV Taobao (China Mainland users)
|
||||
|
||||
:::info
|
||||
Autopilot may be purchased with included Neo GPS module
|
||||
@@ -178,8 +178,8 @@ For more information see [Using JTAG for hardware debugging](#using-jtag-for-har
|
||||
|
||||
## 外部设备
|
||||
|
||||
- [Digital Airspeed Sensor](https://item.taobao.com/item.htm?spm=a1z10.3-c-s.w4002-16371268452.37.6d9f48afsFgGZI\&id=9512463037)
|
||||
- [Telemetry Radio Modules](https://cuav.taobao.com/category-158480951.htm?spm=2013.1.w5002-16371268426.4.410b7a821qYbBq\&search=y\&catName=%CA%FD%B4%AB%B5%E7%CC%A8)
|
||||
- [Digital Airspeed Sensor](https://item.taobao.com/item.htm?spm=a1z10.3-c-s.w4002-16371268452.37.6d9f48afsFgGZI&id=9512463037)
|
||||
- [Telemetry Radio Modules](https://cuav.taobao.com/category-158480951.htm?spm=2013.1.w5002-16371268426.4.410b7a821qYbBq&search=y&catName=%CA%FD%B4%AB%B5%E7%CC%A8)
|
||||
- [Rangefinders/Distance sensors](../sensor/rangefinders.md)
|
||||
|
||||
## 支持的平台/机身
|
||||
|
||||
@@ -81,7 +81,7 @@ When it runs PX4 firmware, only 8 pwm works, the remaining 6 pwm are still being
|
||||
|
||||
[CUAV Store](https://store.cuav.net)
|
||||
|
||||
[CUAV aliexpress](https://www.aliexpress.com/item/4001042683738.html?spm=a2g0o.detail.1000060.2.1ebb2a9d3WDryi\&gps-id=pcDetailBottomMoreThisSeller\&scm=1007.13339.169870.0\&scm_id=1007.13339.169870.0\&scm-url=1007.13339.169870.0\&pvid=f0df2481-1c0a-44eb-92a4-9c11c6cb3d06&_t=gps-id:pcDetailBottomMoreThisSeller,scm-url:1007.13339.169870.0,pvid:f0df2481-1c0a-44eb-92a4-9c11c6cb3d06,tpp_buckets:668%230%23131923%2320_668%23808%234094%23518_668%23888%233325%2319_668%234328%2319934%23630_668%232846%238115%23807_668%232717%237566%23827_668%231000022185%231000066058%230_668%233468%2315607%2376)
|
||||
[CUAV aliexpress](https://www.aliexpress.com/item/4001042683738.html?spm=a2g0o.detail.1000060.2.1ebb2a9d3WDryi&gps-id=pcDetailBottomMoreThisSeller&scm=1007.13339.169870.0&scm_id=1007.13339.169870.0&scm-url=1007.13339.169870.0&pvid=f0df2481-1c0a-44eb-92a4-9c11c6cb3d06&_t=gps-id:pcDetailBottomMoreThisSeller,scm-url:1007.13339.169870.0,pvid:f0df2481-1c0a-44eb-92a4-9c11c6cb3d06,tpp_buckets:668%230%23131923%2320_668%23808%234094%23518_668%23888%233325%2319_668%234328%2319934%23630_668%232846%238115%23807_668%232717%237566%23827_668%231000022185%231000066058%230_668%233468%2315607%2376)
|
||||
|
||||
## Connections (Wiring)
|
||||
|
||||
|
||||
@@ -36,14 +36,14 @@ This flight controller is perfect for people that is looking for a affordable an
|
||||
|
||||
### **Processors & Sensors**
|
||||
|
||||
- FMU Processor: STM32H743 
|
||||
- 32 Bit Arm® Cortex®-M7, 480MHz, 2MB memory, 1MB SRAM 
|
||||
- FMU Processor: STM32H743 
|
||||
- 32 Bit Arm® Cortex®-M7, 480MHz, 2MB memory, 1MB SRAM 
|
||||
- IO Processor: STM32F103
|
||||
-  32 Bit Arm® Cortex®-M3, 72MHz, 64KB SRAM 
|
||||
- On-board sensors 
|
||||
-  Accel/Gyro: ICM-42688-P 
|
||||
- Accel/Gyro: BMI055 
|
||||
- Mag: IST8310 
|
||||
-  32 Bit Arm® Cortex®-M3, 72MHz, 64KB SRAM 
|
||||
- On-board sensors 
|
||||
-  Accel/Gyro: ICM-42688-P 
|
||||
- Accel/Gyro: BMI055 
|
||||
- Mag: IST8310 
|
||||
- 气压计：MS5611
|
||||
|
||||
### **Electrical data**
|
||||
@@ -204,5 +204,5 @@ The complete set of supported configurations can be seen in the [Airframes Refer
|
||||
- [PM02 Power Module](../power_module/holybro_pm02.md)
|
||||
- [PM06 Power Module](../power_module/holybro_pm06_pixhawk4mini_power_module.md)
|
||||
- [PM07 Power Module](../power_module/holybro_pm07_pixhawk4_power_module.md)
|
||||
- [FMUv6C reference design pinout](https://docs.google.com/spreadsheets/d/1FcmWRKd6zjdz3-cnjEDYEmANKZOFzNSc/edit?usp=sharing\&ouid=113251442407318461574\&rtpof=true\&sd=true).
|
||||
- FMUv6C reference design pinout.
|
||||
- [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf).
|
||||
|
||||
@@ -135,4 +135,4 @@ The [SWD interface](../debug/swd_debug.md) (JTAG) pins are:
|
||||
|
||||
These are shown below.
|
||||
|
||||
 
|
||||
 
|
||||
|
||||
@@ -35,21 +35,21 @@ The main hardware documentation is [here](http://mindpx.net/assets/accessories/m
|
||||
- Support IMU isolation
|
||||
- DroneCode<sup>®</sup> standard compliance connector
|
||||
|
||||
| Item | 描述 |
|
||||
| :----------------------------------------: | :-----------------------------------------------------------------------------------------------------------: |
|
||||
| Flight controller/Processor | F427VIT6 |
|
||||
| 重量 | ~6g |
|
||||
| Dimension | 35x35mm |
|
||||
| PWM Outputs | maximum 6 |
|
||||
| IMU | 10DOF |
|
||||
| IMU isolation | YES/Optional |
|
||||
| Radio Receiver | S.BUS/PPM/DSM/DSM2/DSMX/SUMD |
|
||||
| Telemetry | FrSky<sup>&reg;</sup> D.Port, S.Port, Wifi, 3DR radio |
|
||||
| On board TF card for flight data recording | YES |
|
||||
| OneShot ESC Support | YES |
|
||||
| Expansion Slots | 2x7(pin)x2 |
|
||||
| On board Real time clock | YES |
|
||||
| Connector | JST GH(compliance with DroneCode standard) |
|
||||
| Item | 描述 |
|
||||
| :----------------------------------------: | :-------------------------------------------------------------------------------------------------------: |
|
||||
| Flight controller/Processor | F427VIT6 |
|
||||
| 重量 | ~6g |
|
||||
| Dimension | 35x35mm |
|
||||
| PWM Outputs | maximum 6 |
|
||||
| IMU | 10DOF |
|
||||
| IMU isolation | YES/Optional |
|
||||
| Radio Receiver | S.BUS/PPM/DSM/DSM2/DSMX/SUMD |
|
||||
| Telemetry | FrSky<sup>®</sup> D.Port, S.Port, Wifi, 3DR radio |
|
||||
| On board TF card for flight data recording | YES |
|
||||
| OneShot ESC Support | YES |
|
||||
| Expansion Slots | 2x7(pin)x2 |
|
||||
| On board Real time clock | YES |
|
||||
| Connector | JST GH(compliance with DroneCode standard) |
|
||||
|
||||
## Quick Start
|
||||
|
||||
|
||||
@@ -8,7 +8,7 @@ Contact the [manufacturer](https://store.mrobotics.io/) for hardware support or
|
||||
The _mRo Pixhawk<sup>®</sup>_ is a hardware compatible version of the original [Pixhawk 1](../flight_controller/pixhawk.md). It runs PX4 on the [NuttX](https://nuttx.apache.org/) OS.
|
||||
|
||||
:::tip
|
||||
The controller can be used as a drop-in replacement for the 3DR<sup>&reg;</sup> [Pixhawk 1](../flight_controller/pixhawk.md).
|
||||
The controller can be used as a drop-in replacement for the 3DR<sup>®</sup> [Pixhawk 1](../flight_controller/pixhawk.md).
|
||||
The main difference is that it is based on the [Pixhawk-project](https://pixhawk.org/) **FMUv3** open hardware design, which corrects a bug that limited the original Pixhawk 1 to 1MB of flash.
|
||||
:::
|
||||
|
||||
|
||||
@@ -80,7 +80,7 @@ This product can be ordered at the [mRobotics<sup>®</sup> Store](https://sto
|
||||
|
||||
## 接线指南
|
||||
|
||||
|
||||
|
||||
|
||||
## 编译固件
|
||||
|
||||
|
||||
@@ -60,7 +60,7 @@ Similar variants will be available from our licensees.
|
||||
- Triple-redundancy domains: Completely isolated sensor domains with separate buses and separate power control
|
||||
- Newly designed vibration isolation system to filter out high frequency vibration and reduce noise to ensure accurate readings
|
||||
- 100Base-T1 2-Wire Ethernet interface for high-speed mission computer integration
|
||||
- IMUs are temperature-controlled by onboard heating resistors, allowing optimum working temperature of IMUs 
|
||||
- IMUs are temperature-controlled by onboard heating resistors, allowing optimum working temperature of IMUs 
|
||||
|
||||
### Processors & Sensors
|
||||
|
||||
|
||||
@@ -126,6 +126,6 @@ You only need to supply the 3S/4S LiPo battery.
|
||||
|
||||
- [HoverGames online documentation](https://nxp.gitbook.io/hovergames) PX4 user and programming guide, specific assembly, construction, debugging, programming instructions.
|
||||
|
||||
- 3DModels supporting HoverGames and RDDRONE-FMUK66 can be found on _Thingiverse_ at these search links: [fmuk66](https://www.thingiverse.com/search?q=fmuk66\&type=things\&sort=relevant), [hovergames](https://www.thingiverse.com/search?q=hovergames\&type=things\&sort=relevant).
|
||||
- 3DModels supporting HoverGames and RDDRONE-FMUK66 can be found on _Thingiverse_ at these search links: fmuk66, hovergames.
|
||||
|
||||
|
||||
|
||||
@@ -53,7 +53,7 @@ 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)
|
||||
- [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
|
||||
|
||||
@@ -325,7 +325,7 @@ make px4_fmu-v2_default
|
||||
|
||||
- **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))
|
||||
- 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.
|
||||
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) or Tag Connect Ribbon 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)
|
||||
- **USARTs**: Hirose DF13 6 pos ([Digi-Key Link: DF13A-6P-1.25H(20)](https://www.digikey.com/products/en?keywords=H3371-ND))
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user