PX4 V1.13.0版本bug

航天小学生

已于 2022-07-14 18:01:59 修改

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分类专栏： PX4 文章标签： bug 大数据

于 2022-07-09 19:41:16 首次发布

本文链接：https://blog.csdn.net/weixin_42659026/article/details/125696749

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PX4 V1.13.0版本bug

px4 tailsitter的几个突出问题

px4 tailsitter的几个突出问题

问题1

在使用 px4 v1.12.3 版本，开发 vtol tailsitter（尾座式垂直起降）过程中，出现了定高模式四旋翼状态下逻辑混乱的问题，但是没能够查明原因，因此考虑使用新版本代码解决这一问题，因此换用 v1.13.0 解决问题，测试使用 v1.13.0 后，确实解决了逻辑混乱的问题，但是新版本又出现了新的问题，空速计参数无法获得，但是换回原来的代码版本又变得正常，在 cuav v5 nano 和 nora 上分别复现了这个问题，确认并非硬件问题导致，是代码版本升级导致。

解决方法

在新版本代码中，多出了一些传感器参数，其中包括了多个空速传感器驱动的开关，其中就包含了雷迅自带的空速计版本，参数如下
参数名称及其说明
将其从默认的关闭状态 0，调整为开启状态 1，就能成功检测空速信息了，留此文件记录。
另外新版本mavlink消息不回传servo_out_raw，无法在地面上在线调试pwm输出，有点麻烦，不知道怎么能打开这部分功能。

问题2及其解决方法

在vtol tailsitter模式下，在旋翼状态下使用时候姿态角是正常状态，而在切换到固定翼模式后，在地面站的姿态角显示会保留原来的角度，如果是90度倾转，也就是默认的转动方法，处于欧拉角描述姿态的奇点上，姿态难以看懂，但是程序内部处理是正常的，姿态和指令都会做转换，指令部分转换如下

if (_is_tailsitter) {
	/* vehicle is a tailsitter, we need to modify the estimated attitude for fw mode
	 *
	 * Since the VTOL airframe is initialized as a multicopter we need to
	 * modify the estimated attitude for the fixed wing operation.
	 * Since the neutral position of the vehicle in fixed wing mode is -90 degrees rotated around
	 * the pitch axis compared to the neutral position of the vehicle in multicopter mode
	 * we need to swap the roll and the yaw axis (1st and 3rd column) in the rotation matrix.
	 * Additionally, in order to get the correct sign of the pitch, we need to multiply
	 * the new x axis of the rotation matrix with -1
	 *
	 * original:			modified:
	 *
	 * Rxx  Ryx  Rzx		-Rzx  Ryx  Rxx
	 * Rxy	Ryy  Rzy		-Rzy  Ryy  Rxy
	 * Rxz	Ryz  Rzz		-Rzz  Ryz  Rxz
	 * */
	matrix::Dcmf R_adapted = R;		//modified rotation matrix
	/* move z to x */
	R_adapted(0, 0) = R(0, 2);
	R_adapted(1, 0) = R(1, 2);
	R_adapted(2, 0) = R(2, 2);
	/* move x to z */
	R_adapted(0, 2) = R(0, 0);
	R_adapted(1, 2) = R(1, 0);
	R_adapted(2, 2) = R(2, 0);
	/* change direction of pitch (convert to right handed system) */
	R_adapted(0, 0) = -R_adapted(0, 0);
	R_adapted(1, 0) = -R_adapted(1, 0);
	R_adapted(2, 0) = -R_adapted(2, 0);
	/* fill in new attitude data */
	R = R_adapted;
	/* lastly, roll- and yawspeed have to be swaped */
	float helper = rollspeed;
	rollspeed = -yawspeed;
	yawspeed = helper;
}

在上述代码中通过旋转矩阵的调整完成了姿态角指令的切换，因此在实际的控制器操作过程中使用的指令值是正常的，也就是控制器具备正常的setpoint。
在实际操作过程，usb和数传发送使用的mavlink消息内容不同，我测试1.13.0版本代码usb发回来的数据是会进行自动切换的，因此重新查看代码，发现px4是通过int Mavlink::configure_streams_to_default(const char *configure_single_stream)来进行数据传输判断用何种方式传输的，传输内容和频率也都在该函数下规定，当使用常规数传时，会进入case MAVLINK_MODE_NORMAL:判断，按照指定频率发送所需消息，再通过地面站mavlink inspector功能能够查看地面站接收到的所有mavlink消息内容，可以找到usb连接和telemetry连接的姿态发送区别在于是否ATTITUDE_QUATERNION消息，将这个消息内容使得数传也同步发送就能解决姿态角混乱的问题了，用类似的方法也能解决上面发送servo_out_raw的问题，暂时这样记录，后面详细整理下px4中mavlink消息的发送方法再更新这部分内容
常规数传发送内容：

case MAVLINK_MODE_NORMAL:
	configure_stream_local("ADSB_VEHICLE", unlimited_rate);
	configure_stream_local("ALTITUDE", 1.0f);
	configure_stream_local("ATTITUDE", 15.0f);
	configure_stream_local("ATTITUDE_TARGET", 2.0f);
	configure_stream_local("BATTERY_STATUS", 0.5f);
	configure_stream_local("CAMERA_IMAGE_CAPTURED", unlimited_rate);
	configure_stream_local("COLLISION", unlimited_rate);
	configure_stream_local("DISTANCE_SENSOR", 0.5f);
	configure_stream_local("EFI_STATUS", 2.0f);
	configure_stream_local("ESC_INFO", 1.0f);
	configure_stream_local("ESC_STATUS", 1.0f);
	configure_stream_local("ESTIMATOR_STATUS", 0.5f);
	configure_stream_local("EXTENDED_SYS_STATE", 1.0f);
	configure_stream_local("GLOBAL_POSITION_INT", 5.0f);
	configure_stream_local("GIMBAL_DEVICE_ATTITUDE_STATUS", 1.0f);
	configure_stream_local("GIMBAL_MANAGER_STATUS", 0.5f);
	configure_stream_local("GIMBAL_DEVICE_SET_ATTITUDE", 5.0f);
	configure_stream_local("GPS2_RAW", 1.0f);
	configure_stream_local("GPS_GLOBAL_ORIGIN", 0.1f);
	configure_stream_local("GPS_RAW_INT", 1.0f);
	configure_stream_local("GPS_STATUS", 1.0f);
	configure_stream_local("HOME_POSITION", 0.5f);
	configure_stream_local("LOCAL_POSITION_NED", 1.0f);
	configure_stream_local("NAV_CONTROLLER_OUTPUT", 1.0f);
	configure_stream_local("OBSTACLE_DISTANCE", 1.0f);
	configure_stream_local("ORBIT_EXECUTION_STATUS", 2.0f);
	configure_stream_local("PING", 0.1f);
	configure_stream_local("POSITION_TARGET_GLOBAL_INT", 1.0f);
	configure_stream_local("POSITION_TARGET_LOCAL_NED", 1.5f);
	configure_stream_local("RAW_RPM", 2.0f);
	configure_stream_local("RC_CHANNELS", 5.0f);
	configure_stream_local("SERVO_OUTPUT_RAW_0", 1.0f);
	configure_stream_local("SYS_STATUS", 1.0f);
	configure_stream_local("UTM_GLOBAL_POSITION", 0.5f);
	configure_stream_local("VFR_HUD", 4.0f);
	configure_stream_local("VIBRATION", 0.1f);
	configure_stream_local("WIND_COV", 0.5f);

使用usb时候发送的内容

case MAVLINK_MODE_CONFIG: // USB
	// Note: streams requiring low latency come first
	configure_stream_local("TIMESYNC", 10.0f);
	configure_stream_local("CAMERA_TRIGGER", unlimited_rate);
	configure_stream_local("LOCAL_POSITION_NED", 30.0f);
	configure_stream_local("DISTANCE_SENSOR", 10.0f);
	configure_stream_local("MOUNT_ORIENTATION", 10.0f);
	configure_stream_local("ODOMETRY", 30.0f);
	configure_stream_local("ACTUATOR_CONTROL_TARGET0", 30.0f);
	configure_stream_local("ADSB_VEHICLE", unlimited_rate);
	configure_stream_local("ALTITUDE", 10.0f);
	configure_stream_local("ATTITUDE", 50.0f);
	configure_stream_local("ATTITUDE_QUATERNION", 50.0f);
	configure_stream_local("ATTITUDE_TARGET", 8.0f);
	configure_stream_local("BATTERY_STATUS", 0.5f);
	configure_stream_local("CAMERA_IMAGE_CAPTURED", unlimited_rate);
	configure_stream_local("COLLISION", unlimited_rate);
	configure_stream_local("EFI_STATUS", 10.0f);
	configure_stream_local("ESC_INFO", 10.0f);
	configure_stream_local("ESC_STATUS", 10.0f);
	configure_stream_local("ESTIMATOR_STATUS", 5.0f);
	configure_stream_local("EXTENDED_SYS_STATE", 2.0f);
	configure_stream_local("GLOBAL_POSITION_INT", 10.0f);
	configure_stream_local("GPS2_RAW", unlimited_rate);
	configure_stream_local("GPS_GLOBAL_ORIGIN", 1.0f);
	configure_stream_local("GPS_RAW_INT", unlimited_rate);
	configure_stream_local("GPS_STATUS", 1.0f);
	configure_stream_local("HIGHRES_IMU", 50.0f);
	configure_stream_local("HOME_POSITION", 0.5f);
	configure_stream_local("MANUAL_CONTROL", 5.0f);
	configure_stream_local("NAV_CONTROLLER_OUTPUT", 10.0f);
	configure_stream_local("OPTICAL_FLOW_RAD", 10.0f);
	configure_stream_local("ORBIT_EXECUTION_STATUS", 5.0f);
	configure_stream_local("PING", 1.0f);
	configure_stream_local("POSITION_TARGET_GLOBAL_INT", 10.0f);
	configure_stream_local("RAW_RPM", 5.0f);
	configure_stream_local("RC_CHANNELS", 10.0f);
	configure_stream_local("SCALED_IMU", 25.0f);
	configure_stream_local("SCALED_IMU2", 25.0f);
	configure_stream_local("SCALED_IMU3", 25.0f);
	configure_stream_local("SERVO_OUTPUT_RAW_0", 20.0f);
	configure_stream_local("SERVO_OUTPUT_RAW_1", 20.0f);
	configure_stream_local("SYS_STATUS", 1.0f);
	configure_stream_local("SYSTEM_TIME", 1.0f);
	configure_stream_local("UTM_GLOBAL_POSITION", 1.0f);
	configure_stream_local("VFR_HUD", 20.0f);
	configure_stream_local("VIBRATION", 2.5f);
	configure_stream_local("WIND_COV", 10.0f);