ArduPilot开源飞控之lida2003套机+伴机电脑首飞

1. 源由

最近由于一些琐事耽搁了伴机电脑上天的事情，今天总算是找补回来了。

主要的目的是，扩展Ardupilot的应用功能，侧重图像识别环节的应用。

• ArduPilot开源代码之CompanionComputer上天计划
• ArduPilot开源飞控之硬件SBC分析

有些细心朋友发现我的测试固件和官网的版本(git commit id)不一致？
好吧，我承认，确实经过我调整或者修改的，因为硬件以及一些问题做了小的调整，详细的二进制和源代码，请参考：

• Aocoda-RC-H743Dua-lida2003-4.5.1
• SnapDragonfly Copter-4.5-lida2003

2. 问题

【1】Can’t set “Maximum Bitrate” beyond 10MB on Raspberry Pi3B+ #191
【2】Is there any way to save configuration locally on Rpanion? #197
【3】720P@20FPS latency is obviously there, any idea? #204
【4】[Feature Request] IP bind to mac when Rpanion used as WiFi AP #214
【5】Can’t connect to FC through serial port #215
【6】Rpanion-server: README: Add 3B+ UART fix

3. 平台测试

首先，确保伴机电脑的飞机平台能稳定、可靠、安全飞行。

注: Non-gps navigation need help!

Ardupilot 4.4.4 Mark4 + FuseAllVelocities + RaspberryPi3B+

4. 功能测试

然后，测试伴机电脑基本功能：视频+电传+日志

注：截止发稿日，最新固件4.5.1，解决CRSF在APM上的重大问题，请务必使用该版本，而非4.5.0. Critical bug in the CRSF R/C protocol parser that can lead to a hardfault and a vehicle crashing. Please update to 4.5.1

Ardupilot 4.5.1 Mark4 + RaspberryPi3B + Rpanion

5. 后续动作

OAK-D Camera

• Easy way to integrate AI with ArduPilot? OAK-D! (Part 1)
• Easy way to integrate AI with ArduPilot? OAK-D! (Part 2)

Intel Realsense T265

• Integration of ArduPilot and VIO tracking camera (Part 1): Getting started with the Intel Realsense T265 on Rasberry Pi 3B
• Integration of ArduPilot and VIO tracking camera (Part 2): Complete installation and indoor non-GPS flights

ROS/ROS2

• Ardupilot Robot Operating System
• Indoor non-GPS flight using AprilTags (ROS-based)

OpenAI Chat

• Chat - OpenAI’s ChatGPT Assistants
• ArduPilot & OpenAI’s ChatGPT using MAVProxy’s Chat module

6. 参考资料

【1】ArduPilot开源飞控之lida2003-H743-5inch套机配置
【2】ArduPilot - Guided Mode