内容源自:PX4飞控用户手册
链接:https://docs.px4.io/master/en/
an unmanned "robotic" vehicle that can be remotely or autonomously controlled.
(自动驾驶仪)组成:flight stack(飞行栈) software running on flight controller (hardware)
a flight stack
将PX4加载到飞机控制硬件中,完成各种功能(设置参数、创建任务等)
选择适合您的飞机的飞控板。PX4目前可在Linux运行计算机或其他硬件
最小配置:陀螺仪、加计、指南针、气压表GPS(或其它定位系统)、空速传感器(固定翼等)
输出口分为main和 aux ,一般有6到8个口。main用于核心飞行控制,aux一般用于非关键执行器/载荷等。飞行控制输出为PWM/Dshot/One-shot。
Dshot协议介绍https://blog.csdn.net/zhengningwei/article/details/79815281?ops_request_misc=%7B%22request%5Fid%22%3A%22165518363216781818740233%22%2C%22scm%22%3A%2220140713.130102334..%22%7D&request_id=165518363216781818740233&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2~all~sobaiduend~default-1-79815281-null-null.142^v14^pc_search_result_control_group,157^v14^new_3&utm_term=Dshot&spm=1018.2226.3001.4187
One-shot协议尚未发现
PX无刷电机一般由飞行控制器通过ESC(电调)驱动。
LiPo battery. Use a Power module or a power management board
地面控制站和PX连接,实时监控。
PX4.机载计算机电缆或WiFi连接
最大容量为32GB,许多功能要求SD卡插入。
PX4定义了三种状态:锁定、预锁定和解锁。只有在需要时才能解锁,还有一些默认设置(在解锁后一定时间内自动锁定),以确保安全。
自主模式 &手动模式。手动模式也有一些细分模式,但不同型号的配置会有限制。
问题一旦开始failsafe代码,如
- low battery
- Remote Control (RC) Loss
- Position Loss (globle position quality is too low)
- Offboard Loss
- DataLink Loss (e.g. loss telemetry connection to GCS)
- Geofence Failsafe (场地限制人为设置)
- ……
x y z方向旋转分别称为 roll pitch yaw
即使多旋翼直升机完全对称,也分为方向。制造商经常用颜色来标记。
The boat calls at the main port to load its regular cargo of bananas.
船停泊在大港,装载着香蕉的常规货物。
computer hardware hardware store 五金商品店
< style="margin-left:0;text-align:justify;"> is the science of using automatic equipment to make scientific measurements and transmit them by radio to a receiving station.Companies are increasingly eager to contract out peripheral activities like training.
公司越来越渴望把像培训这样的次要活动外包出去。
payload capability 有效载荷能力
The forum is now open to all budding entrepreneurs.
该论坛现在向所有崭露头角的企业家开放。
I’m a completely novice at skiing.
非详尽的 不完全的 These include (non exhaustively): balabala……
This makes it possible to tune parameters while a vehicle is in flight.