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88 lines
5.8 KiB
Markdown
88 lines
5.8 KiB
Markdown
# Offboard控制
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:::warning
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[Offboard control](../flight_modes/offboard.md) is dangerous.
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这是通过 Mavlink 协议完成的, 特别是 <a href="https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_LOCAL_NED">SET_POSITION_TARGET_LOCAL_NED</a> 和 <a href="https://mavlink.io/en/messages/common.html#SET_ATTITUDE_TARGET">SET_ATTITUDE_TARGET</a> 消息。
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:::
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Offboard控制背后的想法是能够使用在自动驾驶仪外运行的软件来控制 PX4 飞控。
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This is done through the MAVLink protocol, specifically the [SET_POSITION_TARGET_LOCAL_NED](https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_LOCAL_NED) and the [SET_ATTITUDE_TARGET](https://mavlink.io/en/messages/common.html#SET_ATTITUDE_TARGET) messages.
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## Offboard控制固件设置
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在进行Offboard开发前，您需要在固件端做两个设置。
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### Enable RC Override
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In _QGroundControl_ you can set the [COM_RC_OVERRIDE](../advanced_config/parameter_reference.md#COM_RC_OVERRIDE) parameter to automatically switch from offboard mode (or any mode) to Position mode if the RC sticks are moved.
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This is the best way to ensure that an operator can easily take control of the vehicle and switch to the safest flight mode.
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### 1. 将遥控开关映射到离板模式激活
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In _QGroundControl_ you can set the [RC_MAP_OFFB_SW](../advanced_config/parameter_reference.md#RC_MAP_OFFB_SW) parameter to the RC channel that will be used to activate offboard mode.
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This can be used to switch between offboard mode and the mode set by the mode switch ([RC_MAP_MODE_SW](../advanced_config/parameter_reference.md#RC_MAP_MODE_SW)).
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You can also switch into offboard mode using a GCS/MAVLink so this is not "mandatory".
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Note also that this mechanism is not as "safe" as using [RC Override](#enable-rc-override) to switch out of offboard mode, because the mode you switch to is unpredictable.
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### 2. 启用机载计算机接口
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Enable MAVLink on the serial port that you connect to the companion computer (see [Companion Computers](../companion_computer/index.md)).
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## 硬件设置
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通常，有三种方式设置Offboard模式通信。
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### 串口电台
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1. 一端连接飞控的 UART
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2. 一端连接地面站电脑
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参考电台包括：
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- [Digi International XBee Pro](https://www.digi.com/products/embedded-systems/digi-xbee/rf-modules/sub-1-ghz-rf-modules)
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[](https://mermaid-js.github.io/mermaid-live-editor/#/edit/eyJjb2RlIjoiZ3JhcGggVEQ7XG4gIGduZFtHcm91bmQgU3RhdGlvbl0gLS1NQVZMaW5rLS0-IHJhZDFbR3JvdW5kIFJhZGlvXTtcbiAgcmFkMSAtLVJhZGlvUHJvdG9jb2wtLT4gcmFkMltWZWhpY2xlIFJhZGlvXTtcbiAgcmFkMiAtLU1BVkxpbmstLT4gYVtBdXRvcGlsb3RdOyIsIm1lcm1haWQiOnsidGhlbWUiOiJkZWZhdWx0In0sInVwZGF0ZUVkaXRvciI6ZmFsc2V9)
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<!-- original mermaid graph
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graph TD;
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gnd[Ground Station] --MAVLink-- > rad1[Ground Radio];
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rad1 --RadioProtocol-- > rad2[Vehicle Radio];
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rad2 --MAVLink-- > a[Autopilot];
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-->
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### 板载处理器
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A small computer mounted onto the vehicle, connected to the autopilot through a serial port or Ethernet port.
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这里有许多可能性，这将取决于您除了向自驾仪发送指令外，还想要做什么样的额外机载处理。
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Some examples are provided in [Companion Computers](../companion_computer/index.md#companion-computer-options).
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[](https://mermaid-js.github.io/mermaid-live-editor/#/edit/eyJjb2RlIjoiZ3JhcGggVEQ7XG4gIGNvbXBbQ29tcGFuaW9uIENvbXB1dGVyXSAtLU1BVkxpbmstLT4gdWFydFtVQVJUIEFkYXB0ZXJdO1xuICB1YXJ0IC0tTUFWTGluay0tPiBBdXRvcGlsb3Q7IiwibWVybWFpZCI6eyJ0aGVtZSI6ImRlZmF1bHQifSwidXBkYXRlRWRpdG9yIjpmYWxzZX0)
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<!-- original mermaid graph
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graph TD;
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comp[Companion Computer] --MAVLink-- > uart[UART Adapter];
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uart --MAVLink-- > Autopilot;
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-->
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### On-board processor and wifi link to ROS (**_Recommended_**)
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部署在飞行器上的小型计算机除了通过 UART - USB 适配器连接到自动驾驶仪外，同时还可通过WiFi连接至运行 ROS 的地面站。
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这可以是上述配备了WiFi适配器的任一计算机。
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[](https://mermaid-js.github.io/mermaid-live-editor/#/edit/eyJjb2RlIjoiZ3JhcGggVERcbiAgc3ViZ3JhcGggR3JvdW5kICBTdGF0aW9uXG4gIGduZFtST1MgRW5hYmxlZCBDb21wdXRlcl0gLS0tIHFnY1txR3JvdW5kQ29udHJvbF1cbiAgZW5kXG4gIGduZCAtLU1BVkxpbmsvVURQLS0-IHdbV2lGaV07XG4gIHFnYyAtLU1BVkxpbmstLT4gdztcbiAgc3ViZ3JhcGggVmVoaWNsZVxuICBjb21wW0NvbXBhbmlvbiBDb21wdXRlcl0gLS1NQVZMaW5rLS0-IHVhcnRbVUFSVCBBZGFwdGVyXVxuICB1YXJ0IC0tLSBBdXRvcGlsb3RcbiAgZW5kXG4gIHcgLS0tIGNvbXAiLCJtZXJtYWlkIjp7InRoZW1lIjoiZGVmYXVsdCJ9LCJ1cGRhdGVFZGl0b3IiOmZhbHNlfQ)
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<!-- original mermaid graph
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graph TD
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subgraph Ground Station
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gnd[ROS Enabled Computer] --- qgc[qGroundControl]
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end
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gnd --MAVLink/UDP-- > w[WiFi];
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qgc --MAVLink-- > w;
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subgraph Vehicle
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comp[Companion Computer] --MAVLink-- > uart[UART Adapter]
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uart --- Autopilot
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end
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w --- comp
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-->
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