大话pixhawk运行Ardu:Copter启动过程

最新推荐文章于 2024-11-18 09:51:15 发布

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最新推荐文章于 2024-11-18 09:51:15 发布 · 1.9k 阅读

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CC 4.0 BY-SA版权

本文详细解析了Pixhawk飞行控制器运行ArduCopter的启动过程，包括硬件连接、初始化步骤和传感器检测。从RGBLED、microSD卡挂载到PWM输出设备、PX4IO板的检测与配置，再到各种传感器（如MPU6000、L3GD20、LSM303D等）的启动和UAVCAN节点设置，最后成功启动ArduPilot并进入NuttShell (NSH)。

1：了解启动过程有什么帮助？

2：硬件连接

3：启动过程&分析

[rgbled] on I2C bus 2 at 0x55 (bus: 100 KHz, max: 100 KHz)
[init] looking for microSD...
[init] card mounted at /fs/microsd
sercon: Registering CDC/ACM serial driver
sercon: Successfully registered the CDC/ACM serial driver
[init] USB interface connected
Running rc.APM
Mounting binfs
binfs mounted OK
nsh: rm: unlink failed: No such file or directory
Detected FMUv2 board
uorb started OK
Trying PX4IO board
PX4: param_find(SYS_RESTART_TYPE)
PX4: param_find(CBRK_IO_SAFETY)
[px4io] default PWM output device
PX4: param_find(CBRK_FLIGHTTERM)
PX4IO board OK
PX4: param_find(RC_DSM_BIND)
PX4: param_find(BAT_V_SCALE_IO)
PX4: param_find(RC_FAILS_THR)
PX4: param_find(RC_FAILS_THR)
PX4: param_find(CBRK_FLIGHTTERM)
PX4: param_find(RC_RSSI_PWM_CHAN)
PX4: param_find(RC_RSSI_PWM_MAX)
PX4: param_find(RC_RSSI_PWM_MIN)
PX4: param_find(PWM_MAI