From 4fa755ebac7e83e4d08190b14be038b03bfd783d Mon Sep 17 00:00:00 2001 From: latercomer Date: Tue, 2 Apr 2024 11:43:35 +0800 Subject: [PATCH] =?UTF-8?q?=E5=A2=9E=E5=87=8F=E4=BA=86=E9=A3=9E=E6=8E=A7?= =?UTF-8?q?=E5=AE=89=E8=A3=85=E8=AF=B4=E6=98=8E?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- docs/README.md | 4 +- .../README.md" | 4 -- .../README.md" | 7 --- .../01.mounting-flight-control.md" | 51 +++++++++++++++++-- .../02.mouting-gps-compass.md" | 33 ++++++++++++ docs/sdk/README.md | 2 + mkdocs.yml | 2 +- 7 files changed, 84 insertions(+), 19 deletions(-) delete mode 100644 "docs/develop/01.\345\277\253\351\200\237\345\205\245\351\227\250/README.md" delete mode 100644 "docs/develop/03.\347\263\273\347\273\237\346\241\206\346\236\266/README.md" diff --git a/docs/README.md b/docs/README.md index 94136bece3..8942fbd60b 100644 --- a/docs/README.md +++ b/docs/README.md @@ -1,8 +1,8 @@ -# HOME +# Home NextPilot是一款的高性能高可靠的自动驾驶仪，支持多旋翼、复合翼、固定翼等。软件框架(param/workq)、通信中间层（uorb/mavlink）、控制算法等参考或移植于[PX4 V1.14.2](https://github.com/px4/px4-autopilot.git)项目，并基于国产[RT-Thread V5.0.2](https://github.com/RT-Thread/rt-thread/tree/v5.0.2)实时操作系统进行打造。 1. 采用国产[RT-Thread](https://rt-thread.org)实时嵌入式操作系统，拥有高可靠和自主可控等特性； 1. 支持[MATLAB/Simulink](https://www.mathworks.com)工具链，应用MBD进行飞控算法设计、仿真、验证； -1. 支持模型在环(MIL)、软件在环(SIL)、硬件在环(HIL)、仿真在环(SIH)等各种飞行验证。 \ No newline at end of file +1. 支持模型在环(MIL)、软件在环(SIL)、硬件在环(HIL)、仿真在环(SIH)等各种飞行验证。 diff --git "a/docs/develop/01.\345\277\253\351\200\237\345\205\245\351\227\250/README.md" "b/docs/develop/01.\345\277\253\351\200\237\345\205\245\351\227\250/README.md" deleted file mode 100644 index 8ed6c2b587..0000000000 --- "a/docs/develop/01.\345\277\253\351\200\237\345\205\245\351\227\250/README.md" +++ /dev/null @@ -1,4 +0,0 @@ -# 快速入门 - -- [搭建开发环境](./01.setup-toolchain.md) -- [编译飞控代码](./02.build-code.md) \ No newline at end of file diff --git "a/docs/develop/03.\347\263\273\347\273\237\346\241\206\346\236\266/README.md" "b/docs/develop/03.\347\263\273\347\273\237\346\241\206\346\236\266/README.md" deleted file mode 100644 index a141a81a65..0000000000 --- "a/docs/develop/03.\347\263\273\347\273\237\346\241\206\346\236\266/README.md" +++ /dev/null @@ -1,7 +0,0 @@ -# 系统框架 - -1. [启动流程](./03.system-startup.md) -2. [控 制 台](./05.finsh-console.md) -3. [文件系统](./04.file_system.md) -4. [系统日志](./07.micro-log.md) - diff --git "a/docs/manual/11.\351\243\236\350\241\214\346\214\207\345\215\227/01.\347\241\254\344\273\266\345\256\211\350\243\205/01.mounting-flight-control.md" "b/docs/manual/11.\351\243\236\350\241\214\346\214\207\345\215\227/01.\347\241\254\344\273\266\345\256\211\350\243\205/01.mounting-flight-control.md" index e9146b0a9d..616b77dde2 100644 --- "a/docs/manual/11.\351\243\236\350\241\214\346\214\207\345\215\227/01.\347\241\254\344\273\266\345\256\211\350\243\205/01.mounting-flight-control.md" +++ "b/docs/manual/11.\351\243\236\350\241\214\346\214\207\345\215\227/01.\347\241\254\344\273\266\345\256\211\350\243\205/01.mounting-flight-control.md" @@ -1,9 +1,50 @@ -# 安装飞控 +# 飞控安装 -## 飞控朝向 +The flight controller should be placed on the frame as close as possible to the centre-of-gravity (CoG), top-side up, and oriented so that the _heading mark arrow_ points towards the front of the vehicle. +[Vibration isolation](#vibration-isolation) is often needed, and you should follow the manufacturer recommendations. +If mounted in this way, no further PX4 configuration is required. -## 减震隔离 +## Orientation -## 升级固件 +Almost all Flight Controllers have a _heading mark arrow_ (shown below). +The controller should be placed on the frame top-side up, oriented so that the arrow points towards the front of the vehicle (on all aircraft frames - airplane, multirotor, VTOL, ground vehicles etc.). -## 水平校准 +![FC Heading Mark](../../assets/qgc/setup/sensor/fc_heading_mark_1.png) + +![FC Orientation](../../assets/qgc/setup/sensor/fc_orientation_1.png) + +:::note +If the controller cannot be mounted in the recommended/default orientation due to physical constraints, you will need to configure the autopilot software with the orientation that you actually used: [Flight Controller Orientation](../config/flight_controller_orientation.md). +::: + +## Position + +The flight controller should be placed on the frame as close as possible to the centre-of-gravity. + +If you can't mount the controller in this position, then you should [configure](../advanced_config/parameters.md) the following parameters to set offset relative to the CoG: [EKF2_IMU_POS_X](../advanced_config/parameter_reference.md#EKF2_IMU_POS_X), [EKF2_IMU_POS_Y](../advanced_config/parameter_reference.md#EKF2_IMU_POS_Y), [EKF2_IMU_POS_Z](../advanced_config/parameter_reference.md#EKF2_IMU_POS_Z) (for the default EKF2 estimator). + +Note that if you don't set these offsets then EKF2 position/velocity estimates will be at the IMU location rather that at the CoG. +This may result in undesirable oscillations, depending on how far away the IMU is from the CoG. + +::: details Explanation +To understand the impact of not setting these offsets, consider the case when the flight controller (IMU) is in front of the CoG, you're flying in position mode, and there is a forward pitching motion around the CoG. +The altitude estimate will go down, because the IMU has in fact moved down. +As a reaction, the altitude controller will give more thrust to compensate. +The amplitude depends on how far the IMU is located from the CoG. +It might be negligible, but it is still some unneeded control effort that is constantly applied. +If the offsets are specified, a pure pitch motion would not create any change in the altitude estimate so there will be less parasitic corrections. +::: + +## Vibration Isolation + +Flight Control boards with in-built accelerometers or gyros are sensitive to vibrations. +Some boards include in-built vibration-isolation, while others come with _mounting foam_ that you can use to isolate the controller from the vehicle. + +![Pixhawk Mounting foam](../../assets/hardware/mounting/3dr_anti_vibration_mounting_foam.png) +_Vibration damping foam_ + +You should use the mounting strategy recommended in your flight controller documentation. + +:::tip +[Log Analysis using Flight Review > Vibration](../log/flight_review.md#vibration) explains how to test whether vibration levels are acceptable, and [Vibration Isolation](../assembly/vibration_isolation.md) suggests a number of possible solutions if there is a problem. +::: diff --git "a/docs/manual/11.\351\243\236\350\241\214\346\214\207\345\215\227/01.\347\241\254\344\273\266\345\256\211\350\243\205/02.mouting-gps-compass.md" "b/docs/manual/11.\351\243\236\350\241\214\346\214\207\345\215\227/01.\347\241\254\344\273\266\345\256\211\350\243\205/02.mouting-gps-compass.md" index e69de29bb2..eda45ad2d1 100644 --- "a/docs/manual/11.\351\243\236\350\241\214\346\214\207\345\215\227/01.\347\241\254\344\273\266\345\256\211\350\243\205/02.mouting-gps-compass.md" +++ "b/docs/manual/11.\351\243\236\350\241\214\346\214\207\345\215\227/01.\347\241\254\344\273\266\345\256\211\350\243\205/02.mouting-gps-compass.md" @@ -0,0 +1,33 @@ +# GPS安装 + +Compass and GNSS/Compass modules should be mounted on the frame as far away from motor/ESC power lines and other sources of electromagnetic interference as possible, and [oriented](#compass-orientation) upright with the direction marker pointing towards the front of the vehicle. +You should also configure PX4 to [set the position](#position) of the receiver relative to the centre-of-gravity (CoG). + +On multicopters it is common to mount the compass on a pedestal, while for fixed-wing and VTOL vehicles the compass is usually mounted on a wing. + +## Compass Orientation + +The compass should ideally be oriented so that it is upright and the direction marker is pointing towards the front of the vehicle (the default orientation), but if needed can be oriented at multiples of 45° from this attitude (in any axis) as defined in the [standard MAVLink orientations](https://mavlink.io/en/messages/common.html#MAV_SENSOR_ORIENTATION) (these follow the same frame convention as when [orienting the flight controller](../config/flight_controller_orientation.md#calculating-orientation)). + +The diagram below shows the heading marker on the Pixhawk 4 flight controller and compass. + +![Connect compass/GPS to Pixhawk 4](../../assets/flight_controller/pixhawk4/pixhawk4_compass_gps.jpg) + +PX4 will automatically detect the orientation for any of these standard orientations during [compass calibration](../config/compass.md) ([by default](../advanced_config/parameter_reference.md#SENS_MAG_AUTOROT)). + +The compass can also be mounted at any other "custom euler angles", but in this case you will need to manually configure the orientations. +For more information see [Setting the Compass Orientation](../config/flight_controller_orientation.md#setting-the-compass-orientation) in _Flight Controller/Sensor Orientation_. + +## Position + +In order to compensate for the relative motion between the receiver and the CoG, you should [configure](../advanced_config/parameters.md) the following parameters to set the offsets: [EKF2_GPS_POS_X](../advanced_config/parameter_reference.md#EKF2_GPS_POS_X), [EKF2_GPS_POS_Y](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Y) and [EKF2_GPS_POS_Z](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Z). + +This is important because the body frame estimated by the EKF will converge on the location of the GNSS module and assume it to be at the CoG. If the GNSS module is significantly offset from the CoG, then rotation around the COG will be interpreted as an altitude change, which in some flight modes (such as position mode) will result in unnecessary corrections. + +It is particularly important if using [RTK GNSS](../advanced/rtk_gps.md) which has centimeter-level accuracy, because if the offsets are not set then GNSS measurements will often be rejected as inconsistent with the current EFK estimate. + +::: details Explanation +For example, if the GNSS module is 10cm above the CoG, and the IMU is located at the GoG, a pitch motion of 1 rad/s will create a GNSS velocity measurement of 10cm/s _even though the CoG isn't moving_. +If the speed accuracy of the GNSS receiver is 1cm/s, the EKF might stop trusting the measurements because they appear inconsistent (wrong by 10x the accuracy). +If the offsets are defined, the EKF will correct the measurements using the gyro data. +::: diff --git a/docs/sdk/README.md b/docs/sdk/README.md index 1d82aa46da..78a23be68f 100644 --- a/docs/sdk/README.md +++ b/docs/sdk/README.md @@ -1 +1,3 @@ # SDK + +welcome soon .... diff --git a/mkdocs.yml b/mkdocs.yml index 485be1b195..62ee225d58 100644 --- a/mkdocs.yml +++ b/mkdocs.yml @@ -17,7 +17,7 @@ site_dir: build/gh-pages use_directory_urls: false dev_addr: "127.0.0.1:8000" -copyright: Copyright © 2015-2024 Nextpilot Develop Team, Maintained by LaterComer. +copyright: Copyright © 2015-2024 Nextpilot Develop Team, Maintained by LaterComer. # nav: # - 主页: index.md