Deploying T265 in Ubuntu20.04 (PX4_VIO)

Release
转载请注明出处https://blog.csdn.net/qq_46037020/article/details/123203784

该文章的中文为个人经验总结与提示，英文部分为资料原文摘抄引用，便于在 Reference Links 中定位并阅读

SLAM: Simultaneous Localization and Mapping
VIO: Visual Inertial Odometry

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QGC Paramete Setting

CBRK_IO_SAFETY	22027
MAV_1_CONFIG	TELEM 2
MAV_1_MODE	Onboard
SER_TEL2_BAUD	921600 8N1
EKF2_AID_MASK	24
EKF2_HGT_MODE	Vision
MAV_ODOM_LP	1
MPC_XY_VEL_MAX	2.24mph
MPC_Z_VEL_MAX_DN	2.24mph
MPC_Z_VEL_MAX_UP	2.24mph

如果一开始找不到MAV_1_MODE和SER_TEL2_BAUD，就先设置MAV_1_CONFIG再reboot飞控（请熟悉并掌握QGC地面站的使用）

波特率设置会受到usb转ttl芯片的性能和接线长度影响，导致mavros与飞控传输失败，这个时候可以把921600调低，再验证配置是否正确

PID Setting：

• in Paramete Setting :
  Multicopter Attitude Control
  Multicopter Position Control
  Multicopter Rate Control

OR you can use

PID Tuning

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PX4 Firmware

在飞控的sd卡的根目录下创建/etc/extras.txt，写入

mavlink stream -d /dev/ttyUSB3 -s ATTITUDE_QUATERNION -r 200
mavlink stream -d /dev/ttyUSB3 -s HIGHRES_IMU -r 200

之后记得映射为物理地址

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机载电脑Ubuntu20.04的安装

镜像站地址：http://mirrors.aliyun.com/ubuntu-releases/20.04/ 下载 ubuntu-20.04.4-desktop-amd64.iso
烧录软件UltraISO官网：https://cn.ultraiso.net/
分区设置：
    EFI系统分区（主分区）512M
    交换空间（逻辑分区）8192M（根据实际内存大小的两倍即可）
    挂载点/（主分区）剩余所有容量

机载电脑安装 Ros Noetic

echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
source ~/.bashrc

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Librealsense

Realsense SDK2.0 Linux Distribution

sudo apt-get update && sudo apt-get upgrade && sudo apt-get dist-upgrade

sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE

sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u

sudo apt-get install librealsense2-dkms
sudo apt-get install librealsense2-utils
sudo apt-get install librealsense2-dev
sudo apt-get install librealsense2-dbg

//sudo apt-get install librealsense2-dkms && sudo apt-get install librealsense