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之前我们在做BetaFlight开源工程结构简明介绍的时候,有过一张开源飞控的介绍图谱。
从这张图谱我们看到基本上有5条轴线:
BaseFlight/CleanFlight/BetaFlight目前在穿越机上的应用比较广泛。穿越机通常是小型机,比如:5寸以下。且整体起飞重量都比较轻,置空时间通常也就10分钟~30分钟范围。
航拍,无人巡航的角度,不是仅仅RC控制,更多功能需要通过地面站的接入处理。从这个角度来说,PX4就有很好的优势(这篇文章主要是介绍PX4,其他当然也有很好的Paparazzi等)。
整个PX4开发环境可以用于非常多的实例:
注:这里主要介绍基于Ubuntu 20.04 LTS (Focal Fossa)的搭建。
$ git clone https://github.com/PX4/PX4-Autopilot.git --recursive
这些东西都是国外的,国内整体情况(比如:网络等)不理想,因此需要做一些调整。
$ sudo vi /etc/apt/sources.list
# deb cdrom:[Ubuntu 20.04.2.0 LTS _Focal Fossa_ - Release amd64 (20210209.1)]/ focal main restricted # See http://help.ubuntu.com/community/UpgradeNotes for how to upgrade to # newer versions of the distribution. deb http://mirrors.aliyun.com/ubuntu/ focal main restricted ## Major bug fix updates produced after the final release of the ## distribution. deb http://mirrors.aliyun.com/ubuntu/ focal-updates main restricted ## N.B. software from this repository is ENTIRELY UNSUPPORTED by the Ubuntu ## team. Also, please note that software in universe WILL NOT receive any ## review or updates from the Ubuntu security team. deb http://mirrors.aliyun.com/ubuntu/ focal universe # deb-src http://hk.archive.ubuntu.com/ubuntu/ focal universe deb http://mirrors.aliyun.com/ubuntu/ focal-updates universe # deb-src http://hk.archive.ubuntu.com/ubuntu/ focal-updates universe ## N.B. software from this repository is ENTIRELY UNSUPPORTED by the Ubuntu ## team, and may not be under a free licence. Please satisfy yourself as to ## your rights to use the software. Also, please note that software in ## multiverse WILL NOT receive any review or updates from the Ubuntu ## security team. # deb-src http://hk.archive.ubuntu.com/ubuntu/ focal multiverse # deb-src http://hk.archive.ubuntu.com/ubuntu/ focal-updates multiverse ## N.B. software from this repository may not have been tested as ## extensively as that contained in the main release, although it includes ## newer versions of some applications which may provide useful features. ## Also, please note that software in backports WILL NOT receive any review ## or updates from the Ubuntu security team. deb http://mirrors.aliyun.com/ubuntu/ focal-backports main restricted universe ## Uncomment the following two lines to add software from Canonical's ## 'partner' repository. ## This software is not part of Ubuntu, but is offered by Canonical and the ## respective vendors as a service to Ubuntu users. # deb http://archive.canonical.com/ubuntu focal partner # deb-src http://archive.canonical.com/ubuntu focal partner deb http://mirrors.aliyun.com/ubuntu/ focal-security main restricted deb http://mirrors.aliyun.com/ubuntu/ focal-security universe # deb-src http://security.ubuntu.com/ubuntu focal-security universe # deb-src http://security.ubuntu.com/ubuntu focal-security multiverse # This system was installed using small removable media # (e.g. netinst, live or single CD). The matching "deb cdrom" # entries were disabled at the end of the installation process. # For information about how to configure apt package sources, # see the sources.list(5) manual.
diff --git a/Tools/setup/ubuntu.sh b/Tools/setup/ubuntu.sh index 25c12cb170..8bdc7ae910 100755 --- a/Tools/setup/ubuntu.sh +++ b/Tools/setup/ubuntu.sh @@ -105,10 +105,10 @@ echo echo "Installing PX4 Python3 dependencies" if [ -n "$VIRTUAL_ENV" ]; then # virtual envrionments don't allow --user option - python -m pip install -r ${DIR}/requirements.txt + python -m pip install -i https://pypi.tuna.tsinghua.edu.cn/simple -r ${DIR}/requirements.txt else # older versions of Ubuntu require --user option - python3 -m pip install --user -r ${DIR}/requirements.txt + python3 -m pip install -i https://pypi.tuna.tsinghua.edu.cn/simple --user -r ${DIR}/requirements.txt fi # NuttX toolchain (arm-none-eabi-gcc)
$ bash ./PX4-Autopilot/Tools/setup/ubuntu.sh
注:如果缺少2.2步骤,将会遇到非常多莫名其妙的问题,大体还是网络问题。
$ make px4_sitl jmavsim
目前,使用git最新版本:
commit ffb0097052227e1b7dc2665463b6b9de33bbf835 (HEAD -> master, origin/master, origin/HEAD)
Author: CR <christopher.ruwisch@tu-berlin.de>
Date: Wed Jun 22 21:50:30 2022 +0200
removed unused code - _constrainOneSide and _constrainAbs
这个版本在实际使用过程存在一个问题,当2.4编译成功后,无法看到模拟GUI界面,主要是缺少ant组件,导致脚本jmavsim_run.sh的73行代码无法执行。
PX4-Autopilot/Tools/jmavsim_run.sh +73
ant create_run_jar copy_res
所以请确认ant是否已经安装:
$ sudo apt-get install ant
仿真环境下支持的命令列表如下:
pxh> help Builtin Commands: actuator_test airship_att_control airspeed_selector attitude_estimator_q battery_simulator camera_feedback camera_trigger cdev_test commander commander_tests control_allocator controllib_test dataman dyn ekf2 ex_fixedwing_control failure fake_gps fake_imu fake_magnetometer flight_mode_manager fw_att_control fw_autotune_attitude_control fw_pos_control_l1 gimbal gps gyro_calibration gyro_fft hello hrt_test land_detector landing_target_estimator led_control list_files list_tasks listener load_mon local_position_estimator logger mag_bias_estimator manual_control mavlink mavlink_tests mc_att_control mc_autotune_attitude_control mc_hover_thrust_estimator mc_pos_control mc_rate_control mixer motor_test navigator param perf pwm pwm_out_sim px4_mavlink_debug px4_simple_app rc_tests rc_update replay rover_pos_control rover_steering_control rpm_simulator sd_bench send_event sensor_baro_sim sensor_gps_sim sensor_mag_sim sensors shutdown sih simulator sleep system_time temperature_compensation tests tone_alarm tune_control uorb uorb_tests uuv_att_control uuv_example_app uuv_pos_control ver vtol_att_control work_item_example work_queue wqueue_test
举例:
commander takeoff //起飞
commander land //降落
注:由于我的遥控器距离有问题,去维修了(四轴飞控DIY集成FPV功能),有兴趣的朋友可以跑下QGroundControl。后续有时间再做更新!!!
上次我们说过要做后续更新,更新就是如何基于模拟器来简单实现一些基本飞控操作。这个主要还是在于PX4模块设计之一:SITL & HITL模拟框架。这里主要还是基于SITL这个框架做了一个QGroundControl远程连接,以及QGroundControl上连接一个模拟遥控器(采用BetaFlight KakuteF7 + ELRS遥控,真实设备)
注:BetaFlight固件(4.2.11)是支持作为模拟器输入,便于更好的使用仿真软件来学习手动飞行。
新建一个连接,并将配置接到SITL的18570端口上。这样PX4 SITL软件可以跑在一台电脑(通常大家习惯Windows系统)上,而编译系统(Ubuntu 20.4)编译PX4 SITL跑在编译机器上做仿真。
具体QGroundControl的配置如下,记得使用前一定要Connect哦!!!
注:QGroundControl使用
首先,要根据4.1章节,先Connect;这样Vehicle Setup才会出来。出来以后接上自己的模拟遥控器咯,把USB插上去就OK了。
看到设备以后,第一次一定要校准。
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