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。
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:
2. Q&A (Question and Answer)
讨论问题:
【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
【7】 Can’t use zerotier VPN, any idea? #220
【8】 RTP streaming lost, not sure if the encoding process is exit #223
期望功能:
【1】 Feature Request: Multicast RTP support #216
【2】 Feature request: Got stucked when activating new wifi AP interface #221
【3】 Feature Request: IP bind to mac when Rpanion used as WiFi AP #214
【4】 Feature Request: pan-tilt gimbal controls #196
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. 性能测试
应网友要求,简单测了下性能,设备简陋,就相对的看下效果。
- 【Check】Low Lantency - around 200ms
- 【Un-Check】Low Lantency - around 600ms
Rpanion OV5647 RPi3B+ 性能测试
- VPN/Local性能对比 280ms v/s 200ms
Rpanion OV5647 720P VPN/Local Delay/Response
注:另外QGroundControl最近的一个4.3.0发布版本,好像在保存视频方面还是有BUG的,详见: Can’t save data to SD Card #11483
关注性能方面的朋友,可以继续看下:
- FPV Camera(RPI3+V2.1) | wfb_ng Release 23.01 | ubuntu20.04 gnome软解测试
- FPV Camera(RPI3+V2.1) | wfb_ng Release 23.01 | Ubuntu 20.04 xfce软解测试
- FPV Camera(RPI 3B+/Zero W+V2.1) | wfb_ng Release 23.01 | H264硬解测试
- Ardupilot & OpenIPC & 基于WFB-NG构架分析和数据链路思考
6. 集成试飞
整体试飞情况良好,计划后续部署ZeroTier Moon节点,优化服务器。
Ardupilot + Rpi3B+ + OV5647 + 4G LTE Copter
7. 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
OpenAI Chat
8. 参考资料
【1】ArduPilot开源飞控之lida2003-H743-5inch套机配置
【2】ArduPilot - Guided Mode