硬件

History of ArduPilot Simple Overview of ArduPilot Operation

软件

DIY清单

  • CUAV V5 Nano 飞控 CUAV V5 Nano
  • GPS + Compass
  • 数传
  • Sonar Sensors
  • RC
    • FlySky FS-I6
  • 锂电池&充电器
  • 地面站
    • Mission Planner
    • QGroundControl
    • APM Planner 2

电机布局

  • Separate Steering and Throttle
  • Skid Steering
  • Omni Vehicles

无人船配置

  • FRAME_CLASS = 2
  • Boats appear as boats on the ground station (version 3.3.0 and higher)
  • In Auto, Guided, RTL and SmartRTL modes the vehicle will attempt to maintain its position even after it reaches its destination (version 3.2.0 and higher)
  • Vectored Thrust can be enabled to improve steering response on boats which use the steering servo to aim the motors (version 3.3.1 and higher)
  • Loiter mode for holding position
  • Echosounders for underwater mapping

准备工作

  • RC标定
  • 加速度计标定
  • 指南针标定
  • RC飞行模式配置
  • 电机配置
    • 电调类型 MOT_PWM_TYPE
      • Normal
      • Brushed With Relay
      • Brushed BiPolar

Mission Planning

参考文献