APM最新固件(20181220)

ardupilot/Makefile

  1. MAKEFILE_LIST
  2. WAF_BINARY= …/modules/waf/waf-light
  3. WAF = python WAF_BINARY WAF_FLAGS
  4. EXPLICIT_COMMANDS=‘check’ ‘check-all’ ‘clean’ ‘list_boards’
  5. VEHICLES = ‘copter’ ‘plane’ ‘rover’ ‘sub’ ‘heli’
  6. BOARD_LIST = WAF list_boards

sim_vehicle.py

  1. WAF build //对应脚本279行
  2. Configure waf
  3. ''ardupilot/modules/waf/waf-light"(287行) ''configure" ‘’–board" “sitl”(289行)
  4. Setting top to “/ardupilot”
  5. Setting out to “/ardupilot/build”
  6. Autoconfiguration “enable”
  7. Setting board to “sitl”
  8. /usr/bin/g++
  9. /usr/bin/gcc
  10. cxx flags ‘-MMD’
  11. ‘/usr/bin/python’
  12. ’configure’ finished successfully.
  13. Building
  14. “/ardupilot/modules/waf/waf-light” “build” “–target” “bin/arducopter”(305行)
  15. Waf: ‘/ardupilot/build/sitl’
  16. 333行“param_parse_path=ardupilot/Tools/autotest/param_metadata/param_parse.py”
  17. cmd_param_build=“python …/param_parse.py --vehilce”
  18. def do_build(vehicledir, opts, frame_options):
  19. 如果opts=“waf”,则执行 do_build_waf(opts,frame_options )
  20. ’build’ finished successfully
  21. sim_vehilce: using defaults from (/ardupilot/Tools/autotest/default_params/copter.parm)
  22. Run ArduCopter
  23. “/ardupilot/Tools/autotest/run_in_terminal_window.sh” “ArduCopter” “/ardupilot/build/sitl/bin/arducopter”
  24. “-S” “-I0” “–home” “-w” “–model” “–speedup” “–defaults” 依次对应540至547行 “/ardupilot/Tools/autotest/default_params/copter.parm” “-S” “-I0” “–home” “-w” “–model” “–speedup” “–defaults” “/ardupilot/Tools/autotest/default_params/copter.parm”

def start_mavproxy(opts,stuff)

如果在Windows下,/usr/bin/cygstart -w mavproxy.exe,否则mavproxy.py
如果选择HTL,则“–load-module” “HIL”;
否则(“–master”,mavlink_port),
如果stuff[“sitl-port”],则("–sitl", simout_port)

ArduPPM v2.3.16 ATMega32U2 firmware for APM 2.x – New interrupt system that handles certain Futaba receivers better (simultaneous changes on groups of R/C channels in fast intervals) – Adapted behaviour in case of channel loss: ch1, roll: set to center (1500us) ch2, pitch: set to center (1500us) ch3, throttle: set to low (900us) ch4, yaw: set to center (1500us) ch5-ch8: retain last value HOW-TO: http://code.google.com/p/ardupilot-mega/wiki/APM2Encoder APM 2.x LED STATUS: ——————- RX – OFF = No input signal detected RX – SLOW TOGGLE = Input signal OK RX – FAST TOGGLE = Invalid input signal(s) detected RX – ON = Input signal(s) lost during flight and fail-safe activated TX – OFF= PPM output disabled TX – FAST TOGGLE = PPM output enabled TX – SLOW TOGGLE = PPM pass-trough mode SERVO INPUT (PWM) MODE: ———————– – PPM output will not be enabled unless a input signal has been detected and verified – Verified inputs are lost during operation (lose servo wire or receiver malfunction): + The last known value of the lost input channel is kept for ~1 second + If the lost input channel is not restored within ~1 second, it will be set to the default fail-safe value (for channel 1-4) or kept at the last value (for channel 5-8) – Lost channel signal is restored: + Normal channel operation is restored using the valid input signal PPM PASS-THROUGH MODE (signal pin 2&3 shorted): ———————————————– – PPM output will not be enabled unless a input signal has been detected – Active signal on input channel 1 has been detected: + Any input level changes will be passed directly to the PPM output (PPM pass-trough) + If no input level changes are detected withing 250ms: + PPM output is enabled and default fail-safe values for all eight channels transmitted + Input level change detected again, PPM fail-safe output is terminated and normal PPM pass-through operation is restore
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