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本文作者Fantasy,PX4WiKi汉化带头大哥,深耕于飞控开发领域,为开源无人机社区贡献多多。此文是Fantasy跳坑踩坑又脱坑之后的重要经验总结,系统梳理了飞控软件开发的各个关节要点,不可不看。
原文链接:
http://blog.csdn.net/oqqenvy12/article/details/70247988
联系方式:
QQ:931026752
Mail:jingxiaofei520@qq.com
强烈建议
本文涉及到许多在线资源,因为微信无法外链,我们强烈建议你发送此文章至PC端浏览,对每一篇超链进行下载、学习,这样本文所划重点才能让你快速脱坑。
无人机是一个系统的工程,不可谓不庞大。开源飞控盛行,重复造轮子的工作实在无需再做。但是若决定真正的去研究飞控,必须从本质出发,熟悉并了解其实现原理。纷繁复杂的资料,让人无法分辨。现根据自己的学习经历整理出一套多旋翼无人机的系统学习教程,愿能让你少走弯路,也是对自己的一个总结,主要针对PX4项目。
A、官方参考文献
PIXHAWK: A Micro Aerial Vehicle Design for Autonomous Flight using Onboard Computer Vision → Pixhawk应该的样子
https://www.inf.ethz.ch/personal/lomeier/publications/pixhawk_auro2012.pdf
PIXHAWK: A System for Autonomous Flight using Onboard Computer Vision → 是用CV的
https://www.inf.ethz.ch/personal/lomeier/publications/pixhawk_icra2011.pdf
Full Autonomous Quadcopter for Indoor 3D Reconstruction Without External Sensors → Pixhawk的整体设计
PX4: A Node-Based Multithreaded Open Source Robotics Framework for Deeply Embedded Platforms → PX4软件
https://www.inf.ethz.ch/personal/lomeier/publications/px4_autopilot_icra2015.pdf
Onboard Object Recognition on the PIXHAWK Micro Air Vehicle → 目标识别
https://pixhawk.ethz.ch/_media/publications/cogsys_2010_poster_pixhawk.pdf
An open source and open hardware embedded metric optical flow CMOS camera for indoor and outdoor applications → PX4 Flow
https://www.inf.ethz.ch/personal/pomarc/pubs/HoneggerICRA13.pdf
Optic Flow-Based Vision System for Autonomous 3D Localization and Control of Small Aerial Vehicles
https://hal.archivesouvertes.fr/file/index/docid/445972/filename/Robotics_Autonomous_Systems.pdf
A New Nonlinear Guidance Logic for Trajectory Tracking → L1导航
http://mercury.kau.ac.kr/park/Archive/PCUAV/gnc_park_deyst_how.pdf
MAVLink Tutorial for Absolute Dummies (Part –I) → Mavlink
http://api.ning.com/files/i%2atFWQTF2R%2a7Mmw7hksAU-u9IABKNDO9apguOiSOCfvi2znk1tXhur0Bt00jTOldFvob-Sczg3%2alDcgChG26QaHZpzEcISM5/MAVLINK_FOR_DUMMIESPart1_v.1.1.pdf
SLAM
B、PX4学习资料
官方资料:
PX4开发指南(中文版链接)
https://dev.px4.io/en/ | 中文版链接 https://px4.osdrone.net/
PX4用户指南
https://docs.px4.io/en/
Pixhawk官网
https://pixhawk.org/start
PX4自驾仪固件
https://pixhawk.ethz.ch/docs/dir_ddb4d7e95cc2d6c8e1ade10a20d7247d.html
Pixhawk_ETHZ
https://www.pixhawk.ethz.ch/
官方GITTERPX4/Firmware
https://gitter.im/PX4/Firmware
官方GITTERPX4/PX4Devguide
https://gitter.im/PX4/PX4Devguide
QGC用户指南
https://donlakeflyer.gitbooks.io/qgroundcontrol-user-guide/content/en/
Mavlink官网
http://qgroundcontrol.org/mavlink/start
NuttX
http://nuttx.org/
官方资料:
summer的博客
http://blog.csdn.net/qq_21842557/article/details/50884695
虾米一代的博客
http://blog.csdn.net/czyv587/article/details/52078166
across的知乎回答
https://www.zhihu.com/people/hu-xiao-dao-51/answers
FreeApe的博客
http://blog.csdn.net/FreeApe/article/category/5636687
阿木社区
http://www.amovauto.com/portal.php
Top Liu推荐的无人机必读
https://www.zhihu.com/question/27360805/answer/36353528
吴兴章的官方网站
http://www.nephen.com/arrange/drones
洛神的博客
http://blog.csdn.net/luoshi006/article/category/6389437
Fantasy的博客
http://blog.csdn.net/oqqENvY12/article/category/6449496
官方社区链接:
APM社区
http://ardupilot.org/ardupilot/index.html
DIY Drones
http://diydrones.com/
Kumar实验室
http://www.kumarrobotics.org/
Flying Machine Arena
http://flyingmachinearena.org/research/
Pixhawk在Matlab
https://cn.mathworks.com/hardware-support/pixhawk.html?s_tid=srchtitle
Quad-Sim
https://github.com/dch33/Quad-Sim
PS:APM/Pixhawk常用链接汇总
一、APM/Pixhawk飞控疑难杂症解决办法汇总
http://www.nufeichuiyun.com/?p=28
二、MissonPlanner地面站(简称MP)最新版官方下载地址
http://firmware.ardupilot.org/Tools/MissionPlanner/MissionPlanner-latest.msi
三、QgroundControl地面站(简称QGC)最新版官方下载地址
https://s3-us-west-2.amazonaws.com/qgroundcontrol/latest/QGroundControl-installer.exe
四、 APM官网地址
http://ardupilot.org/ardupilot/index.html
五、APM源代码地址
https://github.com/ArduPilot/ardupilot
六、Pixhawk开源硬件地址
https://github.com/pixhawk/Hardware
七、 APM官方开发者教程地址
http://ardupilot.org/dev/index.html
八、Mission Planner源代码地址
https://github.com/ArduPilot/MissionPlanner
九、APM官方日志分析教程
http://ardupilot.org/copter/docs/common-diagnosing-problems-using-logs.html
十、APM飞控固件开发视频教程地址
https://study.163.com/course/introduction/1209568864.htm?share=1&shareId=1448054983
十一、APM历史版本固件官方下载地址
http://firmware.ardupilot.org/
十二、怒飞垂云飞控开源资料下载地址
作为业内开源开的最彻底的开源飞控系统,怒飞垂云飞控提供飞控、电源模块的完整PCB设计工程,而不是只提供PDF版的原理图,使用PCB工程中的文件可以直接生产出一模一样的飞控,并且里面的电路、元器件封装都是经受过多轮测试,可以放心使用。
https://gitee.com/junzixing/Hardware
怒飞垂云淘宝店铺地址(怒飞垂云飞控及其外设)
https://shop60017434.taobao.com/?spm=2013.1.1000126.d21.4ac13f8beow2Oi |
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