系统模块.jpeg

硬件 Hardware

  1. Raspberry Pi 3b+
  2. RPi Camera (G), Fisheye Lens
  3. Pixhawk
  4. FS-i6
  5. PC Desktop

软件 Software

  1. ROS
  2. OpenCV
  3. MAVROS
  4. PX4
  5. FlySkyI6 v1.7.5
  6. CLEVER v0.11.4
  7. ArUco

Video

实验步骤

  1. 下载树莓派镜像，然后用Etcher烧录到SD

  2. 用camera_calibration标定鱼眼相机，标定结果：

    image_width: 320
image_height: 240
camera_name: raspicam
camera_matrix:
  rows: 3
  cols: 3
  data: [165.234351, 0.000000, 160.874331, 0.000000, 164.607285, 117.146707, 0.000000, 0.000000, 1.000000]
distortion_model: plumb_bob
distortion_coefficients:
  rows: 1
  cols: 5
  data: [-0.295531, 0.070424, -0.000707, -0.000872, 0.000000]
rectification_matrix:
  rows: 3
  cols: 3
  data: [1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000]
projection_matrix:
  rows: 3
  cols: 4
  data: [119.307640, 0.000000, 160.228617, 0.000000, 0.000000, 132.523483, 115.096171, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]

  3. 用地面站给飞控刷px4fmu-v2_lpe.px4固件

  4. 用地面站配置飞控参数

    Flight Controller Setup:
  * LPE_FUSION = 28
  * ATT_W_MAG = 0
  * ATT_W_EXT_HDG = 0.5
  * ATT_EXT_HDG_M = 2
  * LPE_VIS_DELAY = 0
  * LPE_VIS_XY = 0.1
  * LPE_VIS_Z = 0.15
     
  * COM_DISARM_LAND = 1
  * LNDMC_ROT_MAX = 45
  * LNDMC_THR_RANGE = 0.5
  * LNDMC_Z_VEL_MAX = 1

  5. 校准飞控、遥控器

  6. 设置遥控器5通道（SWC）、6通道（SWA）KILL SWITCH——用于紧急停止所有电机！

  7. 打印地图

  8. 先用 FS-i6 遥控器测试效果

  9. 再运行基于OFFBOARD模式下的脚本test.py

    import rospy
import time
from clever import srv
from std_srvs.srv import Trigger
   
rospy.init_node('foo')
   
navigate = rospy.ServiceProxy('navigate', srv.Navigate)
land = rospy.ServiceProxy('land', Trigger)
   
   
navigate(x=0.0, y=0.0, z=1.0, speed=0.5, frame_id='fcu_horiz', update_frame = False, auto_arm=True)
time.sleep(2)
navigate(x=0.5, y=0.5, z=1.0, speed=0.5, frame_id='aruco_map', update_frame = True, auto_arm=False)
time.sleep(3)
navigate(x=0.5, y=0.5, z=2.0, speed=0.5, frame_id='aruco_map', update_frame = True, auto_arm=False)
time.sleep(3)
navigate(x=0.0, y=0.0, z=2.0, speed=0.5, frame_id='aruco_map', update_frame = True, auto_arm=False)
time.sleep(3)
navigate(x=0.5, y=0.5, z=1.0, speed=0.5, frame_id='aruco_map', update_frame = True, auto_arm=False)
time.sleep(3)
land()

Tips

  1. 用浏览器查看地图 192.168.11.1:8080/snapshot?topic=/aruco_pose/map_image
  2. 运行test.py前需要保证相机初始状态正对ArUco地图，否则可能导致无法起飞，并提示错误message: "No local position"。

飞行机器人学习资料