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RSS订阅原创 “神奇”的volatile关键字
有感而发写下自己对volatile关键字的一点浅显理解，有理解不当的地方希望大家多指正。 近日写了个姿态解算的小project，先介绍下工具。 开发环境： keil MDK V5 MCU： stm32f407VG 主要传感器： MPU6050，hmc5883 写完以后，第一次烧录进去跑一遍，果然是失败的。。，只解算出了yaw轴数据，而pith，roll轴都输出了
2015-12-03 13:53:44
380
原创 win7+unbuntu_14.04双系统安装
虚拟机中跑ubuntu实在不爽，添置另一台linux电脑又太不方便（其实是买不起。。），所以以下开始在电脑中安装win7+unbuntu双系统。 首先使用分区工具为ubuntu留出硬盘空间，下图是ubuntu的硬盘分区。使用的工具是 DiskGenius.exe 这是下载链接链接：http://pan.baidu.com/s/1c0BJewS密码：uix6 而后便是下载u
2015-11-06 23:09:54
1047
pid调试经验
Multirotor PID Tuning Guide
NEVER do multirotor tuning with carbon fiber or carbon fiber reinforced blades.
NEVER use damaged blades.
For SAFETY reason, the default gains are set to small value. You HAVE TO increase
the gains before you can expect any control responses.
This tutorial is valid for all multi rotor setups (AR.Drone, PWM Quads / Hexa /
Octo setups). Proportional, Integral, Derivative controllers are the most
widespread control technique. There are substantially better performing control
techniques (LQR/LQG) from the model predictive control, since these techniques
require a more or less accurate model of the system, they not as widely used. The
goal of all PX4 control infrastructure is move as soon as possible on MPC, since
not for all supported systems models are available, PID tuning is very relevant
(and PID control sufficient for many cases).
Introduction
2015-11-06
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