Release
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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
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 ControlOR you can use
PID Tuning
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
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
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 ins