{"id":1529,"date":"2023-12-22T17:23:49","date_gmt":"2023-12-22T09:23:49","guid":{"rendered":"http:\/\/www.autouav.net.cn\/?p=1529"},"modified":"2023-12-24T21:34:02","modified_gmt":"2023-12-24T13:34:02","slug":"%e5%9c%a8ardupilot%e6%97%8b%e7%bf%bc%e6%9c%ba%e4%b8%8a%e5%ae%89%e8%a3%85px4flow%e5%85%89%e6%b5%81%e4%bc%a0%e6%84%9f%e5%99%a8","status":"publish","type":"post","link":"https:\/\/www.autouav.net.cn\/?p=1529","title":{"rendered":"\u5728ARDUPILOT\u65cb\u7ffc\u673a\u4e0a\u5b89\u88c5PX4FLOW\u5149\u6d41\u4f20\u611f\u5668"},"content":{"rendered":"<h2>\u9884\u5148\u8981\u6c42<\/h2>\n<p>\u5728\u5b89\u88c5\u548c\u8c03\u8bd5\u5149\u6d41\u4f20\u611f\u5668\u4e4b\u524d\uff0c\u8bf7\u5148\u4fdd\u8bc1\uff1a<\/p>\n<ol>\n<li>\u65cb\u7ffc\u673a\u5df2\u7ecf\u5b89\u88c5\u3001\u8c03\u8bd5\u5b8c\u6bd5\uff0c\u81f3\u5c11\u53ef\u4ee5\u5728Stabilize\uff08\u81ea\u7a33\uff09\u548cAltHold\uff08\u5b9a\u9ad8\uff09\u6a21\u5f0f\u4e0b\u7a33\u5b9a\u98de\u884c\u3002<\/li>\n<li>\u98de\u63a7\u7684\u56fa\u4ef6\u4e3aCopter-3.3\u6216\u4e4b\u540e\u7684\u7248\u672c\u3002\u63a8\u8350\u4f7f\u7528\u6700\u65b0\u7684\u7a33\u5b9a\u7248\u672c\u3002<\/li>\n<li><strong>\u624b\u4e0a\u6709Maxbotix1043\uff08PX4Flow\u81ea\u5e26\uff09\u4ee5\u5916\u7684\u4e00\u6b3e\u8d85\u58f0\u6ce2\u6216\u6fc0\u5149\u96f7\u8fbe\u4f20\u611f\u5668\uff08\u63a8\u8350\uff09\uff0c\u6216\u98de\u63a7\u4e0a\u76846.6V ADC\u6ca1\u6709\u88ab\u5360\u7528\uff08\u4f7f\u7528PX4Flow\u81ea\u5e26\u7684MB1043\uff0c\u4e0d\u63a8\u8350\uff09<\/strong>\u3002ArduPilot\u5f00\u53d1\u8005\u4f3c\u4e4e\u662f\u5728\u6d4b\u8bd5\u4e2d\u53d1\u73b0MB1043\u7684\u8bfb\u6570\u4e0d\u591f\u7a33\u5b9a\uff0c\u6ca1\u6709\u652f\u6301\u901a\u8fc7I2C\u8fde\u63a5\u81f3MB1043\u3002\u56e0\u6b64\uff0c\u53ea\u80fd\u4f7f\u7528\u5176\u5b83\u578b\u53f7\u7684\u4f20\u611f\u5668\uff0c\u6216\u5c06MB1043\u7684\u6a21\u62df\u8f93\u51fa\u53e3\u5f15\u51fa\u81f3\u98de\u63a7ADC\u3002\u6240\u6709\u652f\u6301\u7684\u4f20\u611f\u5668\u53ef\u89c1<a href=\"http:\/\/ardupilot.org\/copter\/docs\/common-rangefinder-landingpage.html#common-rangefinder-landingpage\" target=\"_blank\" rel=\"nofollow,noindex noopener\">http:\/\/ardupilot.org\/copter\/docs\/common-rangefinder-landingpage.html#common-rangefinder-landingpage<\/a><\/li>\n<\/ol>\n<h2>PX4FLOW\u7b80\u4ecb<\/h2>\n<p>PX4Flow\u5149\u6d41\u4f20\u611f\u5668\u662f\u4e00\u6b3e\u9ad8\u5206\u8fa8\u7387\u7684\u56fe\u50cf\u4f20\u611f\u5668\uff0c\u5185\u7f6e3\u8f74\u9640\u87ba\u4eea\uff0c\u901a\u8fc7\u5206\u6790\u65e0\u4eba\u673a\u6b63\u4e0b\u65b9\u5730\u9762\u4e0a\u7684\u53ef\u89c1\u4fe1\u606f\uff0c\u786e\u5b9a\u65e0\u4eba\u673a\u7684\u5730\u901f\u3001\u5b9e\u73b0\u5b9a\u70b9\u60ac\u505c\u3002PX4Flow\u7684\u6b63\u5e38\u5de5\u4f5c\u9700\u8981\u58f0\u5450\u6216\u96f7\u8fbe\u7684\u914d\u5408\uff0c\u5e76\u4e14\u53ef\u4ee5\u5728GPS\u4fe1\u53f7\u4e0d\u826f\u7684\u65f6\u5019\u8d77\u5230\u66ff\u4ee3GPS\u7684\u4f5c\u7528\u3002<\/p>\n<p><strong>\u6ce8\u610fPX4Flow\u81ea\u5e26\u7684Maxbotix1403\u8d85\u58f0\u6ce2\u4f20\u611f\u5668\u662f\u4e0d\u80fd\u76f4\u63a5\u4f7f\u7528\u7684\uff01<\/strong>\u5efa\u8bae\u8d2d\u4e70\u4e0d\u5e26\u8d85\u58f0\u6ce2\u4f20\u611f\u5668\u7248\u672c\u7684PX4Flow\uff0c\u540c\u65f6\u53e6\u8d2d\u4e00\u4e2a\u8d85\u58f0\u6ce2\u4f20\u611f\u5668\u3002<\/p>\n<h2>\u5b89\u88c5PX4FLOW<\/h2>\n<h3>\u5237\u5199PX4FLOW\u56fa\u4ef6<\/h3>\n<p>\u901a\u5e38\uff0c\u82af\u7247\u5728\u51fa\u8d27\u524d\u90fd\u5df2\u7ecf\u5237\u5199\u4e86\u56fa\u4ef6\u3002\u4e00\u822c\u60c5\u51b5\u4e0b\uff0c\u4f60\u53ef\u4ee5\u8df3\u8fc7\u8fd9\u4e00\u6b65\uff1b\u5f53\u7136\uff0c\u4e5f\u53ef\u4ee5\u91cd\u65b0\u5237\u5199\u56fa\u4ef6\u4ee5\u9632\u4e07\u4e00\u3002<\/p>\n<ol>\n<li>\u4e0b\u8f7d<a href=\"http:\/\/download.ardupilot.org\/downloads\/wiki\/advanced_user_tools\/px4flow-klt-06Dec2014.zip\" target=\"_blank\" rel=\"nofollow,noindex noopener\">PX4Flow\u56fa\u4ef6<\/a>\uff08<a href=\"https:\/\/github.com\/priseborough\/px4flow\/tree\/klt_flow\" target=\"_blank\" rel=\"nofollow,noindex noopener\">\u6e90\u7801\u89c1\u6b64<\/a>\uff09<\/li>\n<li>\u4f7f\u7528micro USB\u7ebf\uff0c\u4ece\u7535\u8111\u8fde\u63a5\u5230PX4Flow\u7684USB\u53e3\u3002\u6253\u5f00MissionPlanner\uff0c\u5e94\u8be5\u53ef\u4ee5\u901a\u8fc7COM\u53e3\u8fde\u63a5\u5230PX4Flow\u3002\u5982\u679c\u65e0\u6cd5\u6b63\u5e38\u8fde\u63a5\uff0c\u53ef\u80fd\u662f\u9700\u8981\u5b89\u88c5<a href=\"http:\/\/download.ardupilot.org\/downloads\/wiki\/advanced_user_tools\/px4flow_win_driver.zip\" target=\"_blank\" rel=\"nofollow,noindex noopener\">PX4Flow\u7684\u9a71\u52a8\u7a0b\u5e8f<\/a>\u3002<\/li>\n<li>\u9009\u62e9\u6700\u4e0a\u65b9\u7684\u201c<strong>\u521d\u59cb\u8bbe\u7f6e\/INITIAL SETUP<\/strong>\u201d\u9009\u9879\u5361\uff0c\u9009\u62e9\u201c<strong>\u5b89\u88c5\u56fa\u4ef6\/Install Firmware<\/strong>\u201d\uff0c\u53f3\u4e0b\u89d2\u201c<strong>\u52a0\u8f7d\u81ea\u5b9a\u4e49\u56fa\u4ef6\/Load custom firmware<\/strong>\u201d\uff0c\u9009\u62e9\u6b65\u9aa41\u4e2d\u4e0b\u8f7d\u7684<em>px4flow-klt-06dec2014.px4<\/em>\u6587\u4ef6\u3002\u4e4b\u540e\u6839\u636e\u63d0\u793a\u8fdb\u884c\u64cd\u4f5c\uff0c\u53ef\u80fd\u9700\u8981\u4f60\u62d4\u4e0b\u518d\u63d2\u4e0aUSB\u7ebf\u3002<img decoding=\"async\" title=\"\" src=\"https:\/\/www.autouav.net.cn\/wp-content\/uploads\/2023\/12\/PX4Flow_FirmUpgrade1_MP.png\" alt=\"Load PX4Flow Firmware\" \/><\/li>\n<\/ol>\n<h3>\u955c\u5934\u5bf9\u7126<\/h3>\n<ol>\n<li>\u4f7f\u7528USB\u7ebf\uff0c\u8fde\u63a5\u7535\u8111\u548cPX4Flow<\/li>\n<li>\u5728MissionPlanner\u53f3\u4e0a\u89d2\u9009\u62e9\u5408\u9002\u7684COM\u53e3\uff0c\u8fde\u63a5\u5230PX4Flow<\/li>\n<li>\u5728\u9009\u9879\u5361\u4e2d\u6253\u5f00\u201d<strong>\u521d\u59cb\u8bbe\u7f6e\/INITIAL SETUP<\/strong>\u201c-&gt;\u201d<strong>\u53ef\u9009\u786c\u4ef6\/Optional Hardware<\/strong>\u201c-&gt;\u201d<strong>PX4Flow\u5149\u6d41\/PX4Flow<\/strong>\u201d<img decoding=\"async\" title=\"\" src=\"https:\/\/www.autouav.net.cn\/wp-content\/uploads\/2023\/12\/PX4Flow_Focus_MP.png\" alt=\"Focusing the lens\" \/><\/li>\n<li>\u5c06\u4f20\u611f\u5668\u5bf9\u51c6\u4e00\u5b9a\u8ddd\u79bb\u7684\u7269\u4f53\uff08\u5b98\u65b9\u5efa\u8bae3m\u4ee5\u4e0a\uff1b\u4f46\u5982\u679c\u8981\u5728\u5ba4\u5185\u60ac\u505c\u7684\u8bdd\uff0c\u6211\u4e2a\u4eba\u8ba4\u4e3a1.5m\u66f4\u597d\uff09\uff0c\u8c03\u6574\u955c\u5934\u7126\u8ddd\uff0c\u4f7f\u56fe\u50cf\u6700\u6e05\u6670\u3002<\/li>\n<li>\u56fd\u4ea7\u7684PX4Flow\u7684\u955c\u5934\u6ca1\u6709\u56fa\u5b9a\uff0c\u5bb9\u6613\u677e\u52a8\uff0c\u5efa\u8bae\u5bf9\u7126\u5b8c\u6210\u540e\u7528\u80f6\u5e03\u7f20\u4e00\u5708\u56fa\u5b9a\u3002<\/li>\n<\/ol>\n<h3>\u8fde\u7ebf\u81f3PIXHAWK<\/h3>\n<p>\u5c06PX4Flow\u6b63\u9762\u76844Pin\u63a5\u53e3\uff08I2C\u63a5\u53e3\uff09\uff0c\u8fde\u63a5\u81f3\u98de\u63a7\u7684I2C\u63a5\u53e3\u3002\u98de\u63a7\u901a\u5e38\u4f1a\u8fde\u63a5\u591a\u4e2aI2C\u8bbe\u5907\uff0c\u56e0\u6b64\u5efa\u8bae\u4f7f\u7528I2C\u5206\u7ebf\u5668\uff08\u98de\u63a7I2C\u63a5\u53e3\u8fde\u5230I2C\u5206\u7ebf\u5668\uff0cPX4Flow\u53ca\u5176\u4ed6\u8bbe\u5907\u8fde\u63a5\u81f3I2C\u5206\u7ebf\u5668\uff09\u3002<\/p>\n<p>USB\u53e3\u53ea\u4f5c\u8fde\u63a5\u7535\u8111\u3001\u70e7\u5199\u56fa\u4ef6\u4e4b\u7528\uff0c\u4e0d\u7528\u4f5c\u4e0e\u98de\u63a7\u901a\u4fe1\u7684\u63a5\u53e3\u3002<\/p>\n<h3>\u7ec4\u88c5PX4FLOW<\/h3>\n<p>\u5c06\u955c\u5934\u6307\u5411\u6b63\u4e0b\u65b9\uff0cmicro USB\u53e3\u6307\u5411\u98de\u673a\u7684\u6b63\u524d\u65b9\u3002\u6b64\u65f6\uff0cPX4Flow\u677f\u4e0a\u7684X\u8f74\u6307\u5411\u6b63\u524d\u65b9\uff0cY\u8f74\u6307\u5411\u53f3\u3002<\/p>\n<p>\u901a\u8fc7\u4fee\u6539FLOW_ORIENT_YAW\u53c2\u6570\uff0c\u53ef\u4ee5\u652f\u6301\u5176\u4ed6\u7684\u5b89\u88c5\u671d\u5411\u3002<\/p>\n<h3>\u542f\u7528PX4FLOW<\/h3>\n<p>\u4f7f\u7528MissionPlanner\u8fde\u63a5Pixhawk\uff0c\u5728\u201d<strong>\u521d\u59cb\u8bbe\u7f6e\/INITIAL SETUP<\/strong>\u201c-&gt;\u201d<strong>\u53ef\u9009\u786c\u4ef6\/Optional Hardware<\/strong>\u201c-&gt;\u201d<strong>\u5149\u6d41\/Optical Flow<\/strong>\u201c\u4e2d\uff0c\u52fe\u9009<strong>\u542f\u7528\/Enable<\/strong><\/p>\n<p><img decoding=\"async\" title=\"\" src=\"https:\/\/www.autouav.net.cn\/wp-content\/uploads\/2023\/12\/OptFlow_MPSetup.png\" alt=\"Enable PX4Flow\" \/><\/p>\n<p>\u6216\u8005\uff0c\u4e5f\u53ef\u5728\u53c2\u6570\u4e2d\u8bbe\u7f6eFLOW_ENABLE\u4e3a1\u3002<\/p>\n<p>\u8bbe\u7f6e\u5b8c\u6210\u540e\uff0c\u91cd\u542f\u98de\u63a7\u3002<\/p>\n<h2>\u5b89\u88c5\u58f0\u5450\/\u6fc0\u5149\u96f7\u8fbe<\/h2>\n<p>\u672c\u6587\u4e3b\u8981\u4ecb\u7ecdPX4Flow\u5149\u6d41\u4f20\u611f\u5668\u7684\u5b89\u88c5\u548c\u8c03\u8bd5\u3002\u867d\u7136<strong>\u53ea\u6709\u62e5\u6709\u4e86\u6d4b\u8ddd\u96f7\u8fbe\uff0c\u5149\u6d41\u4f20\u611f\u5668\u624d\u80fd\u6b63\u5e38\u5de5\u4f5c<\/strong>\uff0c\u4f46\u662f\u56e0\u4e3a\u6d4b\u8ddd\u96f7\u8fbe\u7684\u79cd\u7c7b\u548c\u578b\u53f7\u8fc7\u591a\uff0c\u96be\u4ee5\u4e00\u6982\u800c\u8bba\u3002\u5728\u6b64\u53ea\u7b80\u5355\u4ecb\u7ecd\u51e0\u79cd\u4e3b\u6d41\u89e3\u51b3\u65b9\u6848\uff0c\u5177\u4f53\u914d\u7f6e\u548c\u6280\u672f\u53c2\u6570\u8bf7\u67e5\u627e\u76f8\u5173\u4ea7\u54c1\u7684\u6280\u672f\u652f\u6301\u3002<\/p>\n<h3>LIDAR LITE<\/h3>\n<p>Lidar Lite\u662f\u4e00\u6b3e\u4f4e\u4ef7\u7684\u6fc0\u5149\u96f7\u8fbe\uff0c\u6807\u79f0\u6709\u6548\u8ddd\u79bb40m\uff0c\u53ef\u4ee5\u4f7f\u7528I2C\u6216PWM\u6a21\u5f0f\u8fde\u63a5\u81f3\u98de\u63a7\u3002Lidar Lite\u4f5c\u4e3a\u6fc0\u5149\u96f7\u8fbe\uff0c\u6709\u6548\u8ddd\u79bb\u548c\u7cbe\u5ea6\u663e\u8457\u9ad8\u4e8e\u57fa\u4e8e\u8d85\u58f0\u6ce2\u539f\u7406\u7684\u58f0\u5450\uff1b\u540c\u65f6\u4e0e\u5176\u4ed6\u6fc0\u5149\u96f7\u8fbe\u76f8\u6bd4\uff0c\u4ef7\u683c\u76f8\u5bf9\u8f83\u4f4e\u3002\u6bd4\u8f83\u9002\u5408\u79d1\u7814\u3001\u5546\u7528\u4ee5\u53ca\u9884\u7b97\u5145\u8db3\u7684\u73a9\u5bb6\u3002<\/p>\n<h3>MAXBOTIX1242<\/h3>\n<p>Maxbotix1242\u662f\u4e00\u6b3eArduPilot\u5b98\u65b9\u56fa\u4ef6\u652f\u6301\u7684\u8d85\u58f0\u6ce2\u4f20\u611f\u5668\uff0c\u6807\u79f0\u6709\u6548\u8ddd\u79bb7m\uff0c\u53ef\u4f7f\u7528I2C\u63a5\u7ebf\uff0c\u4f53\u79ef\u5c0f\u5de7\uff0c\u8bbe\u7f6e\u7b80\u5355<\/p>\n<h3>PX4FLOW\u81ea\u5e26\u7684MAXBOTIX1043\uff08\u6a21\u62df\u8f93\u51fa\uff09<\/h3>\n<p>Maxbotix1043\u662f\u90e8\u5206PX4Flow\u51fa\u5382\u81ea\u5e26\u7684\u8d85\u58f0\u6ce2\u4f20\u611f\u5668\u3002\u636e\u8bf4\u5f00\u53d1\u56e2\u961f\u8ba4\u4e3a\u8be5\u4f20\u611f\u5668\u7684\u8bfb\u6570\u7a33\u5b9a\u6027\u5b58\u5728\u95ee\u9898\uff0c\u4e8e\u662f\u6ca1\u6709\u5728\u56fa\u4ef6\u4e2d\u63d0\u4f9b\u5bf9\u8fd9\u4e2a\u4f20\u611f\u5668\u7684\u652f\u6301\u3002\u4e0d\u8fc7\uff0c\u4f60\u4f9d\u7136\u53ef\u4ee5\u81ea\u884c\u5c06\u8be5\u4f20\u611f\u5668\u7684<strong>\u6a21\u62df\u8f93\u51fa\u5f15\u811a\uff08Pin 3\uff09<\/strong>\u548c<strong>\u5730\uff08Pin 7\uff09<\/strong>\u5f15\u51fa\uff0c\u63a5\u5165Pixhawk\u98de\u63a7\u7684<strong>6.6V ADC\u63a5\u53e3<\/strong>\uff08ADC\u63a5\u53e3\u4ece\u5de6\u5230\u53f3\u5206\u522b\u4e3aVCC\u3001\u6a21\u62df\u8f93\u5165\u548c\u5730\uff1b\u4e0d\u8981\u63a5\u51653.3V ADC\uff0c\u56e0\u4e3a\u8f93\u51fa\u7535\u538b\u6700\u9ad8\u53ef\u8fbe5V\uff09\u3002\u5c06Maxbotix1403\u89c6\u4e3a\u6a21\u62df\u58f0\u5450\uff0c\u5373\u53ef\u4f7f\u7528\u5b83\u91c7\u96c6\u5230\u7684\u6570\u636e\u3002<\/p>\n<p>\u4ee5\u4e0b\u53c2\u6570\u8bbe\u7f6e\u4ec5\u4f9b\u53c2\u8003\uff1a<\/p>\n<pre class=\"prettyprint\"><code class=\"hljs vala has-numbering\"><span class=\"hljs-preprocessor\"># \u4f7f\u7528\u6a21\u62df\u58f0\u5450<\/span>\r\nRNGFND_TYPE = <span class=\"hljs-number\">1<\/span>\r\n\r\n<span class=\"hljs-preprocessor\"># Pin 15\u4ee3\u88686.6V ADC<\/span>\r\nRNGFND_PIN = <span class=\"hljs-number\">15<\/span>\r\n\r\n<span class=\"hljs-preprocessor\"># \u58f0\u5450\u8f93\u51fa\u4e3a\u7ebf\u6027<\/span>\r\nRNGFND_FUNCTION = <span class=\"hljs-number\">0<\/span>\r\n<span class=\"hljs-preprocessor\"># \u58f0\u5450\u8f93\u51fa\u548c\u53c2\u8003\u7535\u538b\uff08\u7535\u6e90\u7535\u538b\uff09\u6210\u6bd4\u4f8b<\/span>\r\nRNGFND_RMETRIC = <span class=\"hljs-number\">1<\/span>\r\n\r\n<span class=\"hljs-preprocessor\"># \u6ca1\u6709Stop Pin\uff08\u58f0\u5450\u4f1a\u4e00\u76f4\u5de5\u4f5c\uff09<\/span>\r\nRNGFND_STOP_PIN = -<span class=\"hljs-number\">1<\/span>\r\n\r\n<span class=\"hljs-preprocessor\"># \u8bbe\u7f6e\u6700\u5927\u6709\u6548\u8ddd\u79bb\uff08\u5398\u7c73\uff09<\/span>\r\nRNGFND_MAX_CM = <span class=\"hljs-number\">500<\/span>\r\n<span class=\"hljs-preprocessor\"># \u82e5\u8ddd\u79bb\u5c0f\u4e8e30cm\uff0c\u8bfb\u6570\u5c31\u88ab\u8ba4\u4e3a\u4e0d\u53ef\u9760<\/span>\r\nRNGFND_MIN_CM = <span class=\"hljs-number\">30<\/span>\r\n\r\n<span class=\"hljs-preprocessor\"># \u505c\u5728\u5730\u9762\u65f6\uff0c\u58f0\u5450\u4e0e\u5730\u9762\u7684\u8ddd\u79bb\uff08\u5398\u7c73\uff09<\/span>\r\nRNGFND_GNDCLEAR = <span class=\"hljs-number\">2<\/span>\r\n<span class=\"hljs-preprocessor\"># \u7406\u8bba\u4e0a\uff0c\u8f93\u5165\u7535\u538b\u4e3a5V\uff0c\u8f93\u51fa\u7535\u538b\u7684\u8303\u56f4\u4e3a0.293V\u52304.885V (300mm to 5000mm)<\/span>\r\nRNGFND_OFFSET = <span class=\"hljs-number\">0.293<\/span>\r\n<span class=\"hljs-preprocessor\"># \u6839\u636edatasheet,\u8ddd\u79bb5m\uff0c\u8f93\u51fa\u4e3a4.885V<\/span>\r\n<span class=\"hljs-preprocessor\"># 5m \/ 4.885v<\/span>\r\nRNGFND_SCALING = <span class=\"hljs-number\">1.02354<\/span><\/code><\/pre>\n<p>\u7531\u4e8e\u5bf9Maxbotix1043\u7684\u7a33\u5b9a\u6027\u5b58\u7591\uff0c\u4e14\u6a21\u62df\u4fe1\u53f7\u7684\u566a\u58f0\u5e72\u6270\u8f83\u5927\uff0c\u4e0d\u662f\u975e\u5e38\u5efa\u8bae\u91c7\u7528\u6b64\u65b9\u6cd5\u3002<\/p>\n<h3>PREARM\uff1aCHECK RANGEFINDER\u7684\u89e3\u51b3\u65b9\u6cd5<\/h3>\n<p>\u8fd9\u4e00\u4fe1\u606f\u63d0\u793aRangeFinder\uff08\u58f0\u5450\u6216\u96f7\u8fbe\uff09\u8bfb\u6570\u4e0d\u6b63\u5e38\uff0c\u65e0\u6cd5\u6b63\u5e38\u89e3\u9501\u3002\u51fa\u73b0\u8be5\u4fe1\u606f\uff0c\u662f\u56e0\u4e3a\u5728\u98de\u63a7\u7a0b\u5e8f\u4e2d\uff0c<strong>\u53ea\u6709\u8bfb\u5230\u4e86\u4e00\u4e2a0.5m\u81f32m\u7684\u8ddd\u79bb\u540e\uff0c\u624d\u4f1a\u89e3\u9501\u98de\u63a7<\/strong>\u3002\u5982\u679c\u8bfb\u5230\u4e862m\u4ee5\u4e0a\u7684\u8ddd\u79bb\uff0c\u5219\u9700\u8981\u91cd\u542f\u98de\u63a7\u3002<\/p>\n<p>\u4f60\u53ef\u4ee5\u6bcf\u6b21\u5c06\u65e0\u4eba\u673a\u63d0\u8d77\u81f30.5m\u4ee5\u4e0a\uff0c\u5b8c\u6210\u8fd9\u9879\u68c0\u67e5\uff1b\u6216\u8005\u4f60\u53ef\u4ee5\u5728Arming Check\u7684\u8bbe\u7f6e\u4e2d\uff0c<strong>\u7981\u7528Parameters\u9009\u9879<\/strong>\uff0c\u5373\u53ef\u8df3\u8fc7\u8fd9\u9879\u68c0\u67e5\u3002<\/p>\n<h2>\u6d4b\u8bd5\u548c\u6821\u51c6<\/h2>\n<h3>\u6d4b\u8bd5\u5149\u6d41\u4f20\u611f\u5668<\/h3>\n<p>\u901a\u8fc7MissionPlanner\u94fe\u63a5\u5230Pixhawk\uff0c\u9009\u62e9\u9996\u9875\u5de6\u4e0b\u65b9\u7684\u201c<strong>\u72b6\u6001\/Status<\/strong>\u201d\u680f\u3002\u5982\u679c\u8bbe\u7f6e\u6b63\u786e\uff0c\u53ef\u4ee5\u89c2\u5bdf\u5230\u975e0\u7684opt_m_x\uff0copt_m_y\u548copt_qua\u7684\u503c\u3002<\/p>\n<p><img decoding=\"async\" title=\"\" src=\"https:\/\/www.autouav.net.cn\/wp-content\/uploads\/2023\/12\/PX4Flow_CheckForData_MP.png\" alt=\"Testing PX4Flow\" \/><\/p>\n<h3>\u6821\u51c6\u5149\u6d41\u4f20\u611f\u5668<\/h3>\n<ol>\n<li>\u4f7f\u7528\u5730\u9762\u7ad9\u8fde\u63a5\u98de\u63a7\uff0c\u542f\u7528\u5728\u9501\u5b9a\u72b6\u6001\u4e0b\u7684\u98de\u884c\u65e5\u5fd7\uff08Copter-3.3\u8bbe\u7f6eLOG_BITMASK\u4e3a131071\uff0cCopter-3.4\u53ca\u4ee5\u4e0a\u8bbe\u7f6eLOG_DISARMED\u4e3a1\uff09<\/li>\n<li>\u627e\u4e00\u4e2a\u6709\u660e\u663e\u7eb9\u8def\u7684\u5730\u9762\uff0c\u786e\u4fdd\u5149\u7167\u5145\u8db3<\/li>\n<li>\u5378\u4e0b\u87ba\u65cb\u6868<\/li>\n<li>\u4e3a\u65e0\u4eba\u673a\u4e0a\u7535\uff0c\u7528\u624b\u5c06\u65e0\u4eba\u673a\u63d0\u8d77\u81f3\u4e0e\u89c6\u7ebf\u9f50\u5e73<\/li>\n<li>\u5728\u6a2a\u6eda\uff08Roll\uff09\u65b9\u5411\u4e0a\uff0c\u00b115\u5ea6\u8303\u56f4\u5185\u8f6c\u52a8\u65e0\u4eba\u673a5\u81f310\u6b21\uff0c\u6bcf\u6b21\u5927\u7ea61\u79d2\uff1b\u4e4b\u540e\uff0c\u5728\u4fef\u4ef0\uff08Pitch\uff09\u65b9\u5411\u4e0a\u91cd\u590d\u6b64\u52a8\u4f5c\u3002<\/li>\n<li>\u65ad\u7535\uff0c\u4e0b\u8f7d\u6b64\u6b21\u98de\u884c\u65e5\u5fd7\u3002\u7ed8\u5236\u51fa<code>OF.flowX<\/code>\u00a0<code>OF.bodyX<\/code>\u548c<code>IMU.GyrX<\/code>\u7684\u6570\u636e\uff0c\u7ed3\u679c\u5e94\u8be5\u5982\u4e0b<img decoding=\"async\" title=\"\" src=\"https:\/\/www.autouav.net.cn\/wp-content\/uploads\/2023\/12\/OF-roll-calibration.png\" alt=\"Flow_x calibration\" \/>\n<p>\u5982\u679c<code>OF.flowX<\/code>\u4e0e<code>OF.bodyX<\/code>\u5927\u5c0f\u4e0d\u4e00\u81f4\uff0c\u5219\u9700\u8981\u4fee\u6539FLOW_FXSCALER\u53c2\u6570\u4f7f\u5176\u4e00\u81f4<\/li>\n<li>\u4e0e\u6b65\u9aa46\u7c7b\u4f3c\uff0c\u7ed8\u5236<code>OF.flowY<\/code>\u00a0<code>OF.bodyY<\/code>\u548c<code>IMU.GyrY<\/code>\u7684\u6570\u636e\u3002\u5982\u679c<code>OF.flowY<\/code>\u548c<code>OF.bodyY<\/code>\u5927\u5c0f\u4e0d\u4e00\u81f4\uff0c\u5219\u9700\u8981\u4fee\u6539FLOW_FYSCALER<\/li>\n<\/ol>\n<h3>\u68c0\u67e5\u58f0\u5450<\/h3>\n<p>\u5728\u4e0a\u8ff0\u98de\u884c\u65e5\u5fd7\u4e2d\uff0c\u7ed8\u5236\u51fa<code>NKF5.meaRng<\/code>\uff08\u5355\u4f4d\u4e3a\u7c73\uff09\u3002\u5982\u679c\u59cb\u7ec8\u6709\u975e\u96f6\u8bfb\u6570\uff0c\u4e14\u8bfb\u6570\u503c\u7684\u53d8\u52a8\u572810cm\u4ee5\u5185\uff0c\u8bf4\u660e\u58f0\u5450\u8bfb\u6570\u826f\u597d\uff08\u6ce8\u610f\u5728\u8f6c\u52a8\u65e0\u4eba\u673a\u7684\u8fc7\u7a0b\u4e2d\uff0c\u58f0\u5450\u8bfb\u6570\u4f1a\u6709\u6240\u6539\u53d8\uff09<\/p>\n<p><strong>\u5982\u679c\u4e00\u5207\u6b63\u5e38\uff0c\u53ef\u4ee5\u5c06LOG_DISARMED\u91cd\u65b0\u8bbe\u7f6e\u4e3a0\uff0c\u907f\u514d\u4ea7\u751f\u4f53\u79ef\u8fc7\u5927\u7684\u65e5\u5fd7\u6587\u4ef6\u5360\u7528\u7a7a\u95f4<\/strong><\/p>\n<h2>\u8bd5\u98de<\/h2>\n<h3>\u7b2c\u4e00\u6b21\u8bd5\u98de<\/h3>\n<p><strong>\u8bd5\u98de\u76ee\u7684<\/strong>\uff1a<\/p>\n<p>\u6d4b\u8bd5\u5149\u6d41\u4f20\u611f\u5668\u548c\u58f0\u5450\u7684\u8bfb\u6570<\/p>\n<p><strong>\u53c2\u6570\u8bbe\u5b9a<\/strong>\uff1a<\/p>\n<pre class=\"prettyprint\"><code class=\"hljs vala has-numbering\"><span class=\"hljs-preprocessor\"># \u5361\u66fc\u6ee4\u6ce2\u5668\u91c7\u7528GPS\u6570\u636e<\/span>\r\nEK2_GPS_TYPE = <span class=\"hljs-number\">0<\/span>\r\n\r\n<span class=\"hljs-preprocessor\"># \u4f7f\u7528\u6c14\u538b\u8ba1\u4f5c\u4e3a\u6ee4\u6ce2\u5668\u7684\u4e3b\u8981\u9ad8\u5ea6\u6570\u636e\u6e90<\/span>\r\nEK2_ALT_SOURCE = <span class=\"hljs-number\">0<\/span><\/code><\/pre>\n<p><strong>\u8bd5\u98de\u6b65\u9aa4<\/strong>\uff1a<\/p>\n<p>\u4ee5\u81ea\u7a33\uff08Stabilize\uff09\u6216\u5b9a\u9ad8\uff08AltHold\uff09\u6a21\u5f0f\u8d77\u98de\uff0c\u786e\u8ba4GPS\u4fe1\u53f7\u826f\u597d\u540e\u53ef\u4ee5\u5207\u6362\u81f3\u5b9a\u70b9\uff08PosHold\uff09\u6a21\u5f0f\u3002\u7ef4\u6301\u65e0\u4eba\u673a\u7684\u9ad8\u5ea6\u57280.5m\u81f33m\uff08\u5efa\u8bae\u8fbe\u52303m\uff09\uff0c\u76d8\u65cb\u7247\u523b\u5373\u53ef\u964d\u843d\u3002<\/p>\n<p><strong>\u5206\u6790\u65e5\u5fd7<\/strong>\uff1a<\/p>\n<ol>\n<li><code>NKF5.meaRng<\/code>\u5e94\u8be5\u548c\u65e0\u4eba\u673a\u7684\u79bb\u5730\u9ad8\u5ea6\u76f8\u540c<\/li>\n<li><code>OF.flowX<\/code>\u548c<code>OF.flowY<\/code>\u5e94\u8be5\u4e0d\u540c<\/li>\n<li><code>OF.bodyX<\/code>\u3001<code>OF.bodyY<\/code>\u5e94\u8be5\u5206\u522b\u548c<code>IMU.GyrX<\/code>\u548c<code>IMU.GyrY<\/code>\u4e00\u81f4<\/li>\n<\/ol>\n<p>\u5982\u679c\u4ee5\u4e0a\u90fd\u4e09\u70b9\u7b26\u5408\uff0c\u5219\u53ef\u4ee5\u8fdb\u884c\u7b2c\u4e8c\u6b21\u8bd5\u98de\uff0c\u5b9e\u9645\u6d4b\u8bd5\u5149\u6d41\u6027\u80fd\u4e86\u3002<\/p>\n<h3>\u7b2c\u4e8c\u6b21\u8bd5\u98de<\/h3>\n<p><strong>\u8bd5\u98de\u76ee\u7684<\/strong>\uff1a<\/p>\n<p>\u6d4b\u8bd5\u5149\u6d41\u5b9a\u70b9\u548c\u58f0\u5450\u5b9a\u9ad8\u662f\u5426\u6b63\u5e38\u5de5\u4f5c<\/p>\n<p><strong>\u53c2\u6570\u8bbe\u5b9a<\/strong>\uff1a<\/p>\n<pre class=\"prettyprint\"><code class=\"hljs vala has-numbering\"><span class=\"hljs-preprocessor\"># \u5361\u66fc\u6ee4\u6ce2\u5668\u4f7f\u7528\u5149\u6d41\u6570\u636e<\/span>\r\nEK2_GPS_TYPE = <span class=\"hljs-number\">3<\/span>\r\n\r\n<span class=\"hljs-preprocessor\"># \u4f7f\u7528\u58f0\u5450\u4f5c\u4e3a\u4e3b\u8981\u9ad8\u5ea6\u6570\u636e\u6765\u6e90<\/span>\r\nEk2_ALT_SOURCE = <span class=\"hljs-number\">1<\/span><\/code><\/pre>\n<p><strong>\u98de\u884c\u524d\u68c0\u67e5<\/strong>\uff1a<\/p>\n<ol>\n<li>\u786e\u4fdd\uff1a\n<ul>\n<li>\u53ef\u4ee5\u7528\u9065\u63a7\u5668\u5207\u6362\u5230<strong>\u7559\u5f85\uff08Loiter\uff09<\/strong>\u6a21\u5f0f<\/li>\n<li><strong>\u81ea\u7a33\uff08Stabilize\uff09<\/strong>\u548c<strong>\u5b9a\u9ad8\uff08AltHold\uff09<\/strong>\u4e2d\u81f3\u5c11\u6709\u4e00\u4e2a\u6a21\u5f0f\u53ef\u7528<\/li>\n<li>\u5728<strong>\u7559\u5f85\uff08Loiter\uff09<\/strong>\u6a21\u5f0f\u4e0b\u53ef\u4ee5\u65b9\u4fbf\u5730\u5207\u5165<strong>\u964d\u843d\uff08Land\uff09<\/strong>\u6a21\u5f0f\u3002<\/li>\n<\/ul>\n<\/li>\n<li>\u786e\u8ba4<strong>\u5728\u65e0\u4eba\u673a\u5468\u56f4\uff0c\u6709\u81f3\u5c1115m\u7684\u7a7a\u5730<\/strong>\u3002\u5982\u679c\u5149\u6d41\u6570\u636e\u5f02\u5e38\uff0c\u65e0\u4eba\u673a\u53ef\u80fd\u4f1a\u76f4\u63a5\u4ee5\u6700\u5927\u901f\u5ea6\u5411\u4e00\u4e2a\u65b9\u5411\u504f\u79fb\u3002<\/li>\n<\/ol>\n<p><strong>\u8bd5\u98de\u6b65\u9aa4<\/strong>\uff1a<\/p>\n<p>\u4ee5<strong>\u7559\u5f85\uff08Loiter\uff09<\/strong>\u6a21\u5f0f\u89e3\u9501\u3001\u8d77\u98de\uff0c\u81f3\u9ad8\u5ea6\u7ea61m\u3002<\/p>\n<p>\u5982\u679c\u65e0\u4eba\u673a\u8fc5\u901f\u5411\u67d0\u4e2a\u65b9\u5411\u52a0\u901f\uff0c\u7acb\u523b\u5c06\u6a21\u5f0f\u5207\u6362\u6210<strong>\u964d\u843d\uff08Land\uff09<\/strong>\u3002\u4f60\u53ef\u80fd\u9700\u8981\u5c06\u98de\u884c\u65e5\u5fd7\u4e0a\u4f20\u5230<a href=\"http:\/\/discuss.ardupilot.org\/c\/arducopter\" target=\"_blank\" rel=\"nofollow,noindex noopener\">ArduPilot\u8bba\u575b\uff08\u82f1\u6587\uff09<\/a>\uff0c\u8bf7\u5927\u5bb6\u5206\u6790\u5176\u4e2d\u53ef\u80fd\u7684\u539f\u56e0\u3002<\/p>\n<p>\u5982\u679c\u65e0\u4eba\u673a\u5b9e\u73b0\u4e86\u7a33\u5b9a\u7684\u5b9a\u9ad8\u548c\u5b9a\u70b9\uff0c\u90a3\u8bf4\u660e\u5149\u6d41\u548c\u58f0\u5450\u6b63\u5e38\u5de5\u4f5c\u4e86\u3002\u4f60\u53ef\u4ee5\u8f7b\u8f7b\u62e8\u52a8\u6447\u6746\uff0c\u5c1d\u8bd5\u5728\u5e26\u5149\u6d41\u7684Loiter\u6a21\u5f0f\u4e0b\u98de\u884c\u3002<\/p>\n<h2>\u5df2\u77e5\u95ee\u9898<\/h2>\n<h3>\u5149\u6d41\u4f20\u611f\u5668\u7684\u8868\u73b0\u4e0e\u7126\u8ddd\u5173\u7cfb\u5de8\u5927<\/h3>\n<p>\u5149\u6d41\u4f20\u611f\u5668\u5728\u79bb\u5730\u9762\u8fc7\u8fd1\u6216\u8fc7\u8fdc\u65f6\uff0c\u90fd\u4f1a\u56e0\u4e3a\u6210\u50cf\u6a21\u7cca\uff0c\u5bfc\u81f4\u6570\u636e\u53d8\u5dee\u3002\u6211\u53d1\u73b0\u7684\u4e00\u4e2a\u5e38\u89c1\u73b0\u8c61\u662f\uff1a\u5728\u65e0\u4eba\u673a\u8d34\u8fd1\u5730\u9762\uff0830cm\u4ee5\u5185\uff09\uff0c\u4ee5\u53ca\u65e0\u4eba\u673a\u8fdc\u79bb\u5730\u9762\uff08\u8ddf\u7126\u8ddd\u6709\u5173\uff0c\u5927\u7ea63-5m\u4ee5\u4e0a\uff09\u65f6\uff0c\u6781\u6613\u89e6\u53d1\u9519\u8bef<strong>\u201cErr: 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