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px4混控器流程理解 motor test qgc调试
sys_autostart 索引是5000启动是加载5000_generic_ground_vehicle文件,此脚本指定混控脚本文件55行是rover_generic------------------------华丽分界线--------------四悬翼------sys_autostart 索引是4011,PX4源码中的4011_dji_f450set MIXER quad_x对应的混控脚本quad_x.main.mixquad_x.toml...原创 2021-12-06 15:54:13 · 981 阅读 · 0 评论 -
C++ EIGEN block the value of ‘blk2’ is not usable in a constant expression
#include <Eigen/Dense>#include <Eigen/Eigen>#include <iostream>// g++ mat.cpp -o mat -I/download/eigenusing namespace Eigen;using namespace std;//矩阵的按元素赋值int main() { int n_seg = 4; int df_size = 7 + n_seg, dp_size = 3 * (n...原创 2021-05-06 14:57:18 · 2154 阅读 · 1 评论 -
数学推导工具在线
原创 2021-04-22 10:17:04 · 989 阅读 · 0 评论 -
2021-03-24 matlab a* A star
绿色代表起点,黄色代表终点,黑色代表障碍,红色代表CLOSED列表,蓝色代表OPEN列表%% TestScript for Assignment 1%%% Define a small mapmap = false(10);% Add an obstaclemap (1:7, 6) = true;map (8, 4:8) = true;start_coords = [6, 2];dest_coords = [8, 9];%%绿色代表起点,黄色代表终点,黑色代表障碍,..转载 2021-03-24 10:19:14 · 283 阅读 · 0 评论 -
2021-03-17 一种批量下载RSS文章的shell脚本 Robotics: Science and System
#!/bin/bash for i in {1..9} do wget http://www.roboticsproceedings.org/rss13/p0$i.pdf &done for i in {10..99} do wget http://www.roboticsproceedings.org/rss13/p$i.pdf &done 一种批量下载RSS文章的shell脚本原创 2021-03-17 10:39:04 · 405 阅读 · 0 评论 -
gazebo iris 无人机添加激光 hokuyo
原创 2021-02-08 16:02:43 · 373 阅读 · 0 评论 -
2021-02-07 USR-WIFI232-B2 串口转WIFI模块
PC端树莓派端https://www.usr.cn/Help/871.htmlhttps://detail.tmall.com/item.htm?id=530269492891原创 2021-02-07 17:17:20 · 965 阅读 · 0 评论 -
xavier测试死机时间的程序
xavier偶尔会死机自己重启, 写个程序测试下#include <cmath>#include <cstdio>#include <cstdlib>#include <ctime>#include <iostream>#include <signal.h>#include <string.h>#include <sys/time.h>#include <unistd.h> #原创 2020-08-27 09:38:44 · 315 阅读 · 0 评论 -
树莓派 GPIO c wiringPi
http://wiringpi.com/download-and-install/原创 2020-08-25 17:10:35 · 203 阅读 · 0 评论 -
nomachine windows10 远程桌面连接nvidia xavier
就是这个效果了,速度还算可以。关键是nomachine免费,不需要注册啥的。windows 很简单,下载exe后下一步下一步就完了。nvidia xavier上下载arm 64版本的nomachine的源码。源码包放到/usr$ sudo tar zxvf nomachine_6.11.2_1_aarch64.tar.gz $ sudo /usr/NX/nxserver --install保障windows和nvida网络连通,windows自动检测到nvida,一路点击..原创 2020-07-30 10:14:35 · 1992 阅读 · 2 评论 -
nvidia xavier 远程桌面nomachine
NoMachine DownloadFree remote desktop for everybodyHome/Download/ NoMachine for ARM - aarch64NoMachine for ARM - aarch64Version:6.11.2_1Package size:...原创 2020-07-30 09:25:31 · 1300 阅读 · 0 评论 -
ardupilot_gazebo多机仿真
https://ardupilot.org/dev/docs/using-gazebo-simulator-with-sitl.htmlhttps://blog.csdn.net/CAIYUNFREEDOM/article/details/106081124https://blog.csdn.net/weixin_33904756/article/details/93617723Multi-Vehicle simulationThis section explains how t..原创 2020-07-27 14:22:50 · 479 阅读 · 0 评论 -
不使用pymavlink , python打包mavlink协议
from struct import pack , unpackfrom builtins import objectdef checksum(data, extra): # https://github.com/mavlink/c_library_v1/blob/master/checksum.h output = 0xFFFF for i in range(len(data)): tmp = data[i] ^ (output & 0xFF) .原创 2020-07-22 15:52:51 · 823 阅读 · 0 评论 -
openmv 引导无人机飞行
http://www.nufeichuiyun.com/?p=307修改arducopter源码,在Guided模式下,如果OpenMV有引导数据过来,就将目标航点设置为识别点,从而飞机将自动飞向目标点 mode_guided.set_destination(target, false, 0, true, 0, false);https://github.com/nufeichuiyun/ardupilot/blob/TestOpenMV_p/ArduCopter/ArduCopter.cpp.原创 2020-07-21 17:09:59 · 1567 阅读 · 0 评论 -
copter 参数 选择是几轴
https://ardupilot.org/copter/docs/parameters.html#frame-class原创 2020-06-21 11:13:45 · 214 阅读 · 0 评论 -
mavlink manual_control_send
manual_control_send(self, target, x, y, z, r, buttons, force_mavlink1=False) method of pymavlink.dialects.v10.ardupilotmega.MAVLink instance This message provides an API for manually controlling the vehicle using standard joystick axes nomenclatur.原创 2020-06-16 15:16:43 · 691 阅读 · 0 评论 -
ardupilot copter 源码学习知识
Received Signal Strength Indicationrssi 信号强度原创 2020-06-11 15:34:24 · 938 阅读 · 4 评论 -
nvidia xavier远程桌面 desktop sharing
参考博客https://blog.csdn.net/qq_38649880/article/details/99475118转载 2020-06-10 11:28:40 · 2063 阅读 · 1 评论 -
arducopter mavros sitl qgc 一起工作
~/Desktop/ardupilot/ArduCopter$ ../Tools/autotest/sim_vehicle.py --map --console --out=udp:0.0.0.0:14560 -v ArduCopter~$ "mavproxy.py" "--master" "tcp:127.0.0.1:5760" "--sitl" "127.0.0.1:5501" "--out" "127.0.0.1:14550" "--out" "127.0.0.1:14551" "--map" "-原创 2020-05-13 17:09:16 · 480 阅读 · 0 评论 -
学习ardupilot 源码
https://ardupilot.org/dev/docs/learning-the-ardupilot-codebase.htmlardupilot约有70万行。对新手来说很吓人。本页意在给出一些快速上手的建议。假定你熟悉C++,本教程的一些示例是在linux系统上探索源码的。你应该一步一步地阅读下面的页面,自己亲自试试。如果你认为有些重要的信息遗漏了,请访问我们的wiki留言,...翻译 2020-05-07 15:48:42 · 463 阅读 · 0 评论 -
将视觉信息转换为mavros
https://github.com/thien94/vision_to_mavros/blob/master/src/vision_to_mavros.cpp$ rosmsg show mavros_msgs/LandingTarget原创 2020-04-30 15:14:03 · 468 阅读 · 0 评论 -
ardupilot sitl
$ git clone https://github.com/ArduPilot/ardupilot$ git submodule update --init --recursive$ git checkout Copter-4.0.3ArduCopter$ ../Tools/autotest/sim_vehicle.py --map --console --out=udp:0.0.0...原创 2020-05-06 16:50:29 · 332 阅读 · 0 评论 -
ardupilot arducopter 遥控器模式对应关系
原创 2020-04-30 11:00:26 · 399 阅读 · 0 评论 -
ArduSub SITL Ubuntu mavros环境搭建
第一章 ArduSub SITL Ubuntu环境搭建作者:张玉梅 zhangym@pcl.ac.cn1.1.安装过程第一步:http://ardupilot.org/dev/docs/building-setup-linux.html#building-setup-linuxSetting up the Build Environment (Linux/Ubuntu)如果已经有git...原创 2020-04-29 11:51:23 · 1589 阅读 · 0 评论 -
mavlink 控制单个电机运动
https://github.com/RaspberrySun/BlueROV2# -*- coding: UTF-8 -*-import timeimport numpy as npfrom pymavlink import mavutilclass PID: # 初始化 def __init__(self, P, I, D): self.Kp ...转载 2020-04-24 15:16:19 · 1392 阅读 · 0 评论 -
pixhawk连接到nvidia xavier
mavproxy.param--master=/dev/ttyACM0,115200--load-module='GPSInput,DepthOutput'--source-system=200--cmd="set heartbeat 0"--out udpin:localhost:9000--out udpbcast:192.168.2.255:14550--out ...原创 2020-04-23 11:47:23 · 1630 阅读 · 1 评论 -
八叉树公式推导
https://www.cnblogs.com/gaoxiang12/p/5041142.html来推导下最后一个公式。原创 2020-04-17 15:49:44 · 519 阅读 · 0 评论 -
编译安装g2o 遇到错误 /usr/lib/x86_64-linux-gnu/libEGL.so
/usr/lib/x86_64-linux-gnu/libEGL.so说是没有这库,在自己的电脑中看,有这个库啊。怎么回事?发现libEGL.so软连接到一个不存在的so。修改软连接,$sudo rm libEGL.so$ sudo ln -s libEGL.so.1.1.0 libEGL.so好了。...原创 2020-03-19 16:40:46 · 2079 阅读 · 0 评论 -
ORB-SLAM2部署,编译错误问题解决方法ros_rgbd.cc.o: undefined reference to symbol
ORB-SLAM2部署https://blog.csdn.net/u014709760/article/details/85253525可参考上述连接进行。遇到些问题。 问题一解决CMake Error $gedit ~/.bashrc在文件最后添加一行,下行路径根据自己电脑的实际路径填写,例如我的是:export ROS_PACKAGE_PATH=${ROS_PACKAG...原创 2020-02-10 17:21:22 · 3461 阅读 · 2 评论 -
mavlink python
from pymavlink import mavutil# Create the connectionm = mavutil.mavlink_connection('udpin:0.0.0.0:14550')dir(m.mav)['_MAVLink__callbacks', '_MAVLink__parse_char_legacy', '_MAVLink__parse_char_n...原创 2019-11-20 09:23:17 · 1540 阅读 · 0 评论 -
开源飞控 mavlink mavros ardupilot -----mavlink部分代码分析
https://mavlink.io/en/messages/common.html#mav_commands手柄协议 MANUAL_CONTROLSET_MODERC_CHANNELS_OVERRIDE...在固件代码中https://github.com/ArduPilot/ardupilot/blob/master/ArduSub/GCS_Mavlink.cppGCS_Mavli...原创 2019-11-14 16:16:08 · 995 阅读 · 0 评论 -
cv::aruco::drawMarker
API文档https://docs.opencv.org/3.2.0/d9/d6a/group__aruco.html代码托管https://github.com/sofiathefirst/imagesCpp/tree/master/03arucoLearn#include <iostream>#include<opencv2/opencv.hpp&g...原创 2019-04-26 17:21:41 · 1319 阅读 · 0 评论 -
opencv获得相机的最大分辨率
代码托管:https://github.com/sofiathefirst/imagesCpp/blob/master/01showImg/cali_api.cpp#include<opencv2/highgui/highgui.hpp>#include<opencv2/imgproc/imgproc.hpp>using namespace cv;i...原创 2019-04-29 12:05:27 · 2441 阅读 · 0 评论 -
3d 可视化百度Apollo的数据开放平台中的激光点云障碍物检测分类数据
百度数据介绍页面:http://data.apollo.auto/help?name=data_intro_3d&data_key=lidar_obstacle_label&data_type=0&locale=zh-cn&lang=zh代码:https://github.com/sofiathefirst/imagesCpp/tree/master/0...原创 2019-04-24 18:28:46 · 1797 阅读 · 0 评论 -
opencv findChessboardCorners findCirclesGrid 代码实例和运行结果
代码托管:https://github.com/sofiathefirst/imagesCpp/blob/master/01showImg/cali_api.cpp#include <iostream>#include <sstream>#include <string>#include <ctime>#include <cs...原创 2019-04-29 17:16:29 · 4836 阅读 · 0 评论 -
udev rules
zp@zp:/etc/udev/rules.d$ sudo cp ~/qrcode_tracking/CMakeLists.txt config/ cv_qr_code.kdev4 .git/ launch/ package.xml README.md src/ usb_...原创 2019-05-08 10:18:11 · 318 阅读 · 0 评论 -
四元数插值 ros tf tf2
http://docs.ros.org/jade/api/tf2/html/classtf2_1_1Quaternion.htmlQuaterniontf2::Quaternion::slerp ( constQuaternion& q, consttf2Scalar& t ) con...原创 2019-06-06 18:16:07 · 1546 阅读 · 0 评论 -
"qrcamera" passed to lookupTransform argument target_frame does not exist.
$rosrun tf tf_echo qrcamera markerhttp://docs.ros.org/indigo/api/tf2_ros/html/c++/classtf2__ros_1_1Buffer.html#acabbd72cae8f49fb3b6ede3be7e34c55#include <ros/ros.h>#include <tf2_ros/t...原创 2019-06-03 09:47:14 · 4643 阅读 · 0 评论 -
两点间分段 一种融合滤波算法
位置评估:假如有两种算法估算定位。定位算法一,算得A点。算法二,算得B点。对两种算法进行简单的融合。step = 1x1=2y1=6x2=-2y2=16x=[]y=[]for a = [0:0.1:1] x3=a*x1+(1-a)*x2 x4=a*y1+(1-a)*y2 x(step)=x3 y(step)=x4 ste...原创 2019-06-04 10:23:50 · 409 阅读 · 0 评论 -
uuv_simulator
https://uuvsimulator.github.io/packages/uuv_simulator/docs/tutorials/disturbances/2019-07-18 10:30:29,701 | ERROR | dp_controller_local_planner | Invalid waypoint file 2019-07-18 10:31:35,073 |...原创 2019-07-18 10:44:32 · 2663 阅读 · 2 评论