Intel AERO manual / automatic flying

-
前置作業:
  1. Flashing intel AERO board and calibration (參: Initial setup, Flight mode setting) *先flash Aero-xx-xx.iso，再安裝Ubuntu 16.04。(跟雙系統的安裝方法一樣，安裝完後需從Kernel 4.4.76 登入)
  2. Video display test (參: Video streaming)

*Press shift & ESC for entrying the GRUB screen (https://askubuntu.com/questions/16042/how-to-get-to-the-grub-menu-at-boot-time)

 * Flash the latest BIOS: 

  1. Download bios.rpm file bios download link
  2. rpm2cpio aero-bios-01.00.16-r1.corei7_64.rpm | cpio -idmv 
  3. sudo mv BIOSUPDATE.fv /boot
  4. sudo aero-bios-update
  5. sudo reboot


手動 (參: First flight):
  1. 連接好所有配件
  2. 開啟Intel AERO電源，開啟遙控器
  3. 等待開機完畢，開車 (左邊搖桿往右下)
  4. 加油門，起飛 (Position Hold Mode)
  5. 關車 (左邊搖桿往左下)，關掉Intel AERO電源，最後關掉遙控器
* The transmitter should always be powered on before the receiver (which is normally powered together with the vehicle). If powered on after the vehicle it won’t connect. To overcome this you can simply disconnect the cable from the receiver, or go through the binding process, which involves powering on the transmitter while holding the “BIND/PANIC/TRAINER” button pressed.

自動:
  1. Python (參:04-Autonomous-drone-programming-in-Python)
  2. Dronekit (參: dronekit-example.html，6/13, 6/14筆記)
  3. DroneKit的使用, DRONEKIT官網
  4. ROS (參: MavRos-takeoff-n-land，6/17, 6/19筆記)
  5. PX4FLOW
Dronekit SITL & Implementation:
  1. Install mavproxy, dronekit, dronekit-sitl (參:Dronekit setup, simulation and visualization on Mission Planner )
  2. Install mission planner on Linux 16.04 (參:Steps)
  3. Start the simulator with dronekit-sitl copter (ex: dronekit-sitl plane-3.3.0 --home=-35.363261,149.165230,584,353 )
  4. Share the connection with the localhost and external UDP (ex: mavproxy.py --master tcp:127.0.0.1:5760 --out udp:127.0.0.1:14551 --out udp:10.39.122.32:14550)
  5. Open Mission Planner (~/MissionPlannerBeta$ sudo mono MissionPlanner.exe) and establish connection
  6. Run .py file (ex: ~/dronekit-python/examples/simple_goto$ sudo python simple_goto.py --connect udp:127.0.0.1:14551)
  7. Install mavproxy, dronekit on Intel AERO
  8. Run the .py file that already verified by SITL.
Key: 


留言

張貼留言

這個網誌中的熱門文章

Tuing PID parameters in QGroundcontrol (2)

-
圖片
Based on tips for tuning PX4 PID parameters written in my previous post [1] or even using the default values directly, you will be able to fly your vehicle freely in manual or stabilized flight mode.   However, if you are using an unique vehicle (usually assembly by yourself and only equipped with sensors you desire) and struggling for finding the best PID parameters for your applications. I think following 8 tips will help you to get ideal PID parameters.  This is the vehicle I made based on LHI QAV250 fiber frame, with TX2, high-speed camera, etc.[2]  Tip1:  Tuning order: Rate controller -> attitude controller -> position controller The PX4 controllers are layered [3], which means a higher-level controller passes its results to a lower-level controller. Thus the PID tuning needs to be done from lowest-level controller to highest-level controller. Tip2:  Check if  PWM_MIN  is set correctly. Remove propellers Arm the vehicle and lower the throttle to the minimu
閱讀完整內容

Useful PX4 Parameters

-
1. For setting companion link SYS_COMPANION (Before ver. 1.9.0) MAV_0_CONFIG, MAV_0_MODE (After ver. 1.9.0) 2. EKF2 configuration EKF2_AID_MASK EKF2_HGT_MODE EKF2_EV_DELAY (Reduce this parameter if high rate external vision is available) EKF2_EV_POS_X, EKF2_EV_POS_Y, EKF2_EV_POS_Z 3. Offboard mode parameters ( The vehicle will exit the mode if target setpoints are not received at a rate of > 2Hz ) COM_OBL_RC_ACT (Default: position mode, I set land mode) COM_OBL_ACT COM_OF_LOSS_T 4. Position loss failsafe COM_POSCTL_NAVL 5. Land mode MPC_LAND_SPEED COM_DISARM_LAND: Time-out for auto disarm after landing. (Default: 0, I set 3.) 6. TBD Reference: [1]  https://dev.px4.io/en/advanced/parameter_reference.html [2]  https://dev.px4.io/en/ros/external_position_estimation.html#tuning-EKF2_EV_DELAY [3]  https://docs.px4.io/en/config/safety.html#qgc_safety_setup
閱讀完整內容

Burn linux image to eMMC storage on Banana Pi M3

-
1. Download linux image and install image on a TF card. 2. Insert the TF card into M3, and press power button setup M3. 3. Clone the running ubuntu from the TF card to the eMMC. $ sudo dd if=/dev/mmcblk0 of=/dev/mmcblk1 bs=10MB status=progress 4. Poweroff M3, remove the SD, power it on again, and you should be good to go… *Command for wiping emmc disk: $ sudo dd if=/dev/zero of=/dev/mmcblk1 status=progress *Remember to allocate the storage space of SD card before inserting the board. (Windows: minitool partition wizard) Reference: [1]  http://wiki.banana-pi.org/Banana_Pi_BPI-M3#Image_Release [2]  http://forum.banana-pi.org/t/bpi-m3-how-to-burn-linux-images-to-emmc-storage-on-your-bpi-m3/1214 [3]  http://wiki.banana-pi.org/Getting_Started_with_M3#Development_For_Linux [4]  http://forum.banana-pi.org/t/how-to-wipe-emmc-disk/1276 [5]  https://gxiangco.gitbook.io/moodlebox-on-banana-pi/chapter6 [6]  https://www.techwalla.com/articles/how-to-mount-an-sd-card-in-linux
閱讀完整內容