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ubuntu_CHH3213 #2
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APM模式选择// Auto Pilot Modes enumeration
enum class Number : uint8_t {
STABILIZE = 0, // manual airframe angle with manual throttle
ACRO = 1, // manual body-frame angular rate with manual throttle
ALT_HOLD = 2, // manual airframe angle with automatic throttle
AUTO = 3, // fully automatic waypoint control using mission commands
GUIDED = 4, // fully automatic fly to coordinate or fly at velocity/direction using GCS immediate commands
LOITER = 5, // automatic horizontal acceleration with automatic throttle
RTL = 6, // automatic return to launching point
CIRCLE = 7, // automatic circular flight with automatic throttle
LAND = 9, // automatic landing with horizontal position control
DRIFT = 11, // semi-automous position, yaw and throttle control
SPORT = 13, // manual earth-frame angular rate control with manual throttle
FLIP = 14, // automatically flip the vehicle on the roll axis
AUTOTUNE = 15, // automatically tune the vehicle's roll and pitch gains
POSHOLD = 16, // automatic position hold with manual override, with automatic throttle
BRAKE = 17, // full-brake using inertial/GPS system, no pilot input
THROW = 18, // throw to launch mode using inertial/GPS system, no pilot input
AVOID_ADSB = 19, // automatic avoidance of obstacles in the macro scale - e.g. full-sized aircraft
GUIDED_NOGPS = 20, // guided mode but only accepts attitude and altitude
SMART_RTL = 21, // SMART_RTL returns to home by retracing its steps
FLOWHOLD = 22, // FLOWHOLD holds position with optical flow without rangefinder
FOLLOW = 23, // follow attempts to follow another vehicle or ground station
ZIGZAG = 24, // ZIGZAG mode is able to fly in a zigzag manner with predefined point A and point B
SYSTEMID = 25, // System ID mode produces automated system identification signals in the controllers
AUTOROTATE = 26, // Autonomous autorotation
}; 位于:/home/chh3213/ardupilot/ArduCopter/mode.h 14行 |
python数组展平成一列原来为7行3列:
使用展平命令:
变成1行21列:
|
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APM问题总结
1.mavros话题:
setpoint_raw/attitude 使用 NED 作为坐标系,而 setpoint_attitude/attitude 主题使用 ENU
2.setpoint_raw/attitude可以设置姿态和推力(0,1), setpoint_attitude/attitude可以设置姿态和位置;推力设置为setpoint_attitude/thrust
3.solidworks导出的模型为黑色的
只需要将导出后的sdf文件中的material标签中的以下代码注释掉(即文中已经注释掉的部分):
4.模型的转动惯量设置挺重要的
这是一个转动惯量等物理量的在线计算网站
5.gazebo中模型的摩擦:
The sdf documentation says it should be in range [0..1]. we can see that anything over 1.0 is treated as 1.0 (infinite friction).
6.gazebo仿真频率问题:设置real_time_update_rate
7.gazebo关闭仿真界面等问题
8.Ardupilot飞控姿态角与姿态角速度控制过程分析(超长篇)
9.如何修改遥控器输入:
10.模式切换不成功,是因为没有给定油门值,所以一切换就会掉下来。
1800 为油门值,1500油门值中立。
11.术语
FCS(Flight Control System)飞行控制系统:与FCU相区别,FCS是包含FCU以及其它硬件、软件、算法的系统集合。
FCU(Flight Control Unit)飞行控制单元:接收并处理从接收机发来的遥控器信号;接收并处理传感器发来的反馈信号;通过相应算法得出机体信息;通过相应算法结合机体信息得出控制输出量;将控制输出量给出到执行器部分的软件与硬件的结合。
12.HIL Control
硬件在环仿真(Hardware-in-the-loop simulation, HiL或HIL)
13.Ardupilot添加一个新模式全攻略,以Copter为例
14./mavros/actuator_control 没有订阅话题
将apm.launch中的blacklist注释掉
15. 将模型固定在地面
在相应的模型里,比如logger0里面,加入:
或者,将对应模型的
<static>
设置为true(1),就不会移动了,如果希望模型可移动,请将标签设置为 false(0)。16.使用pwm波控制每个电机
详情请看脚本文件夹:bash
17.插件订阅的问题
注意subscriber的缓存队列的大小,会影响回调结果,这与ROS的回调机制相关,ROS在发生回调是会将所有队列中的消息分别送往回调函数中,因此如果队列未被及时更新,可能出现多次重复响应,因此建议设置为1,或者慎重考虑下运行频率相关。
18.ros掉包问题
当节点初始化放在话题注册前面时,会出现掉包(前面一两个包)的情况.因此将节点初始化放在话题注册后面。
19.gazebo sdf模型下载
模型下载
20.实时画图工具
PlotJuggler
21.RuntimeError: Variable -= value not supported问题
如果报-=不支持的话,那就不要写成-=,改成x=x-这种形式,如:
+=同理。
当然也可以考虑assign_sub(减去一个数)or assign_add(加上一个数)方法。
如变成:
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