From 757b829a17050dee6390d8ff156e36620127cd68 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 22 Feb 2018 02:41:37 +0300 Subject: [PATCH 01/13] Updates book.json Auto commit by GitBook Editor --- book.json | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/book.json b/book.json index d4a5c2dd..cf1c5c79 100644 --- a/book.json +++ b/book.json @@ -3,5 +3,11 @@ "description": "Конструктор квадрокоптера «Клевер»", "author": "Copter Express", "language": "ru", - "plugins": ["youtube", "richquotes"] + "plugins": ["youtube", "richquotes", "disqus"], + "pluginsConfig": { + "disqus": { + "shortName": "coex-clever" + } + } + } \ No newline at end of file From 3105ce109c6cb38fb9eed43d7ba6b05b4c32972e Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 22 Feb 2018 02:42:33 +0300 Subject: [PATCH 02/13] Track 4 files into repository. - untracked assets/timing_with_thumbs.png - untracked docs/rabota-so-svetodiodnoi-lentoi.md - untracked drugoe.md - modified SUMMARY.md Auto commit by GitBook Editor --- SUMMARY.md | 3 +- assets/timing_with_thumbs.png | Bin 0 -> 157442 bytes docs/rabota-so-svetodiodnoi-lentoi.md | 228 ++++++++++++++++++++++++++ drugoe.md | 0 4 files changed, 230 insertions(+), 1 deletion(-) create mode 100644 assets/timing_with_thumbs.png create mode 100644 docs/rabota-so-svetodiodnoi-lentoi.md create mode 100644 drugoe.md diff --git a/SUMMARY.md b/SUMMARY.md index bac7fca1..e3715b55 100644 --- a/SUMMARY.md +++ b/SUMMARY.md @@ -37,8 +37,9 @@ * [Урок 13](docs/les13.md) * [Урок 15](docs/les15.md) * [Урок 16](docs/les16.md) -* Другое +* [Другое](drugoe.md) * [CopterHack-2017](docs/copterhack2017.md) * [Прошивка ESC контроллеров с помощью Arduino](docs/esc_firmware.md) + * [Работа со светодиодной лентой](docs/rabota-so-svetodiodnoi-lentoi.md) * [Полезные ссылки](docs/links.md) diff --git a/assets/timing_with_thumbs.png b/assets/timing_with_thumbs.png new file mode 100644 index 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zYIcq1c*pC#&0fgsLx$3Hc|r#kOzQxeoN0GFJu6C+U;B405SXxIt3VUQB%m)~Uag5A z9}0Xb3V800Lu^Q9ww|gGxBUW8gSibEh?PFtXv4{XQ^o3atUD;Ft)<477mdL1B3=Mi zbPO{97BU_^yenQ3fd-iB6*}3Cs=JFG8nz_x(j3 z0OuGW7ooZZ7A0T}^7~Jrd-aS=%RfpdPMi?%)3)|=wDWUPbntZoe@@6qNh?T5$w Date: Mon, 26 Feb 2018 15:32:15 +0300 Subject: [PATCH 03/13] Updates docs/arduino.md Auto commit by GitBook Editor --- docs/arduino.md | 41 +++++++++++++++++++++++++++++++++++++---- 1 file changed, 37 insertions(+), 4 deletions(-) diff --git a/docs/arduino.md b/docs/arduino.md index 14fd28b3..ea12e17c 100644 --- a/docs/arduino.md +++ b/docs/arduino.md @@ -33,6 +33,30 @@ roslaunch clever arduino.launch sudo systemctl restart clever ``` +Задержки +--- + +При использовании `rosserial_arduino` микроконтроллер Arduino не должен быть заблокирован больше чем на несколько секунд (например, с использованием функции `delay`); иначе связь между Raspberry Pi и Arduino будет разорвана. + +При реализации долгих циклов `while` обеспечьте периодический вызов функции `hn.spinOnce`: + +```cpp +while(/* условие */) { + // ... Произвести необходимые действия + nh.spinOnce(); +} +``` + +Для огранизации долгих задержек используйте задержки в цикле с периодическим вызовом функции `hn.spinOnce()`: + +```cpp +// Задержка на 8 секунд +for(int i=0; i<8; i++) { + delay(1000); + nh.spinOnce(); +} +``` + Работа с Клевером --- @@ -90,8 +114,11 @@ void setup() navigate.call(nav_req, nav_res); // Ждем 5 секунд - delay(5000); - + for(int i=0; i<5; i++) { + delay(1000); + nh.spinOnce(); + } + nav_req.auto_arm = false; // Пролет вперед на 3 метра: @@ -105,7 +132,10 @@ void setup() navigate.call(nav_req, nav_res); // Ждем 5 секунд - delay(5000); + for(int i=0; i<5; i++) { + delay(1000); + nh.spinOnce(); + } // Полет в точку 1:0:2 по маркерному полю nh.loginfo("Fly on point"); @@ -119,7 +149,10 @@ void setup() navigate.call(nav_req, nav_res); // Ждем 5 секунд - delay(5000); + for(int i=0; i<5; i++) { + delay(1000); + nh.spinOnce(); + } // Посадка nh.loginfo("Land"); From 7c74ce3212205857e0b4d1312b78abac9c9ee6af Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Mon, 26 Feb 2018 16:52:06 +0300 Subject: [PATCH 04/13] Updates docs/arduino.md Auto commit by GitBook Editor --- docs/arduino.md | 32 ++++++++++++++++++++++++++++++++ 1 file changed, 32 insertions(+) diff --git a/docs/arduino.md b/docs/arduino.md index ea12e17c..ac79eddf 100644 --- a/docs/arduino.md +++ b/docs/arduino.md @@ -165,6 +165,38 @@ void loop() } ``` +Получение телеметрии +--- + +С Arduino можно использовать [сервис](/docs/simple_offboard.md) `get_telemetry`. Для этого надо объявить его по аналогии с сервисами `navigate` и `set_mode`: + +```cpp +#include + +// ... + +ros::ServiceClient getTelemetry("/get_telemetry"); + +// ... + +nh.serviceClient(getTelemetry); + +// ... + +GetTelemetry::Request gt_req; +GetTelemetry::Response gt_res; + + +// ... + +gt_req.frame_id = "aruco_map"; // фрейм для значений x, y, z +getTelemetry.call(gt_req, gt_res); + +// gt_res.x - положение коптера по x +// gt_res.y - положение коптера по y +// gt_res.z - положение коптера по z +``` + При использовании Arudino Nano может не хватать оперативной памяти (RAM). В таком случае в Aruino IDE будут появляться сообщения, типа: ``` From 0458de2fb048df5c9d228423a892c1c5bc3cdacf Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Mon, 26 Feb 2018 16:58:14 +0300 Subject: [PATCH 05/13] Updates docs/arduino.md Auto commit by GitBook Editor --- docs/arduino.md | 3 +++ 1 file changed, 3 insertions(+) diff --git a/docs/arduino.md b/docs/arduino.md index ac79eddf..0cbe7bd2 100644 --- a/docs/arduino.md +++ b/docs/arduino.md @@ -197,6 +197,9 @@ getTelemetry.call(gt_req, gt_res); // gt_res.z - положение коптера по z ``` +Проблемы +--- + При использовании Arudino Nano может не хватать оперативной памяти (RAM). В таком случае в Aruino IDE будут появляться сообщения, типа: ``` From 409b6035300c9f52688d0aa76a5aad00da7036c7 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 27 Feb 2018 12:38:28 +0300 Subject: [PATCH 06/13] Updates docs/arduino.md Auto commit by GitBook Editor --- docs/arduino.md | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/docs/arduino.md b/docs/arduino.md index 0cbe7bd2..52f10a1a 100644 --- a/docs/arduino.md +++ b/docs/arduino.md @@ -171,6 +171,10 @@ void loop() С Arduino можно использовать [сервис](/docs/simple_offboard.md) `get_telemetry`. Для этого надо объявить его по аналогии с сервисами `navigate` и `set_mode`: ```cpp +#include + +// ... + #include // ... From 3ddd37b843d2a63a18e1c4fcd14c016987863d7d Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 27 Feb 2018 16:55:00 +0300 Subject: [PATCH 07/13] Updates docs/arduino.md Auto commit by GitBook Editor --- docs/arduino.md | 13 +++++++++++++ 1 file changed, 13 insertions(+) diff --git a/docs/arduino.md b/docs/arduino.md index 52f10a1a..f5bf5dab 100644 --- a/docs/arduino.md +++ b/docs/arduino.md @@ -216,3 +216,16 @@ getTelemetry.call(gt_req, gt_res); ```cpp #define __AVR_ATmega168__ 1 ``` + +Можно уменьшить количество занятой памяти еще сильнее, если вручную настроить количество publisher'ов и subscriber'ов, а также размеры буферов памяти, выделяемой для сообщений, например: + +```cpp +#include + +// ... + +typedef ros::NodeHandle_ NodeHandle; + +// ... +NodeHandle nh; +``` \ No newline at end of file From 29070efc0627a4b31b7fda08346b2450b6b38f72 Mon Sep 17 00:00:00 2001 From: Smirnov Artem Date: Tue, 27 Feb 2018 19:02:39 +0300 Subject: [PATCH 08/13] Fix: Syntax --- docs/rabota-so-svetodiodnoi-lentoi.md | 65 ++++++++++++--------------- 1 file changed, 28 insertions(+), 37 deletions(-) diff --git a/docs/rabota-so-svetodiodnoi-lentoi.md b/docs/rabota-so-svetodiodnoi-lentoi.md index 79a9016a..0ced483f 100644 --- a/docs/rabota-so-svetodiodnoi-lentoi.md +++ b/docs/rabota-so-svetodiodnoi-lentoi.md @@ -2,9 +2,9 @@ #### Подключение и определение типа ленты -Есть два основных типа адресуемых светодиодов: WS2812 и WS2812B. Принцип управления один и тот же, однако тайминги разные. Посмотрите на светодиодный модуль на ленте и определите, сколько у него ножек: 6 или 4. Если ножек 6, то это WS2812, если 4 - то WS2812B или SK2812. +Есть два основных типа адресуемых светодиодов: WS2812 и WS2812B. Принцип управления один и тот же, однако тайминги разные. Найдите на ленте чип светодиода и определите сколько у него ножек: 6 или 4. Если ножек 6, то это WS2812, если 4 - то WS2812B или его аналог SK6812. -![](/assets/timing_with_thumbs.png) +leds Т.к. принцип управления одинаковый, то и ленты подключаются одинаково: @@ -14,40 +14,38 @@ | 5V | 5V | | DIN | GPIO21 или GPIO31 | -Типы лент для обозначения ленты в коде описаны в файле [https://github.com/jgarff/rpi\_ws281x/blob/master/ws2811.h](https://github.com/jgarff/rpi_ws281x/blob/master/ws2811.h) - -Основные типы лент - это WS2812\_STRIP \(для WS2812\) и SK6812\_STRIP \(для WS2812B или SK6812\). +Типы лент для обозначения ленты в коде описаны в [файле](https://github.com/jgarff/rpi_ws281x/blob/master/ws2811.h). Основные типы лент - это WS2812\_STRIP \(для WS2812\) и SK6812\_STRIP \(для WS2812B или SK6812\). #### Установка библиотеки для работы со светодиодной лентой Определите папку, в которой будут находиться файлы библиотеки, и открыть путь к этой папке в терминале. По-умолчанию можно использовать домашнюю папку, для перехода в неё нужно выполнить команду -``` +```(bash) cd ~ ``` Склонируйте репозиторий библиотеки для работы с led лентами на Raspberry Pi -``` +```(bash) git clone https://github.com/jgarff/rpi_ws281x.git ``` -Установите Scons \([что это?](https://ru.wikipedia.org/wiki/SCons)\) и Swig \([что это?](https://ru.wikipedia.org/wiki/SWIG)\) +Установите [Scons](https://ru.wikipedia.org/wiki/SCons) и [Swig](https://ru.wikipedia.org/wiki/SWIG) -``` +```(bash) sudo apt-get install scons python-dev swig ``` Соберите библиотеку с помощью Scons \(команда выполняется внутри папки с исходным кодом библиотеки\) -``` +```(bash) cd rpi_ws281x scons ``` Соберите python обёртку библиотеки с помощью Swig и установите её для возможности использования в своих python скриптах. -``` +```(bash) cd python python ./setup.py build python ./setup.py install @@ -57,13 +55,13 @@ python ./setup.py install Откройте в текстовом редакторе файл strandtest.py из папки python/examples \(находится в папке с библиотекой\) -``` +```(bash) nano strandtest.py ``` Найдите участок кода с настройками ленты -``` +```(bash) # LED strip configuration: LED_COUNT = 16 # Number of LED pixels. LED_PIN = 18 # GPIO pin connected to the pixels (18 uses PWM!). @@ -78,7 +76,7 @@ LED_STRIP = ws.WS2811_STRIP_GRB # Strip type and colour ordering Поправьте настройки для работы с лентой и сохраните файл. Чтобы использование ленты не мешало работе других устройств на Raspberry Pi, рекомендуется использовать следующие настройки \(настройки подходят для ленты в комплекте с Клевер 3\): -``` +```(bash) # LED strip configuration: LED_COUNT = 30 # Number of LED pixels. LED_PIN = 21 # GPIO pin connected to the pixels. @@ -92,7 +90,7 @@ LED_STRIP = ws.SK6812_STRIP # Strip type and colour ordering Запустите тестовую программу, используя права администратора -``` +```(bash) sudo python strandtest.py ``` @@ -102,7 +100,7 @@ sudo python strandtest.py Для подключения библиотеки и её корректной работы требуется подключить следующие модули: neopixels - для работы ленты, time - для управления задержками, sys и signal для прерываний и формирования управляющего сигнала. -``` +```(python) from neopixels import * import time import signal @@ -111,7 +109,7 @@ import sys Для работы с лентой необходимо создать объект типа **Adafruit\_NeoPixel **и инициализировать библиотеку: -``` +```(python) # Создание объекта NeoPixel c заданной конфигурацией strip = Adafruit_NeoPixel(LED_COUNT, LED_PIN, LED_FREQ_HZ, LED_DMA, LED_INVERT) # Инициализация библиотеки, должна быть выполнена перед другими функциями @@ -120,20 +118,20 @@ strip.begin() Основные функции, которые используются для управления лентой: -* **numPixels\(\) ** - Возвращает количество пикселей в ленте. Удобно для цикличного управления всей лентой целиком. -* **setPixelColor\(pos, color\) ** - Устанавливает цвет пикселя в позиции **pos** в цвет **color**. Цвет должен быть 24 битным значением, где первые 8 бит - красный цвет \(red\), следующие 8 бит - зелёный цвет \(green\) и последние 8 бит - голубой \(blue\). Для получения значения **color **можно использовать функцию **Color\(red, green, blue\),** которая составляет это значение из 3х компонент. Каждый компонент должен находиться в диапазоне 0-255, где 0 - отсутствие цвета, а 255 - наибольшая доступная яркость компонента в светодиодном модуле. -* **setPixelColorRGB\(pos, red, green, blue\) ** - Устанавливает цвет пикселя в позиции pos в цвет, состоящий из компонент **red, green, blue.** Каждый компонент должен находиться в диапазоне 0-255, где 0 - отсутствие цвета, а 255 - наибольшая доступная яркость компонента в светодиодном модуле. -* **show\(\) **- Обновляет состояние ленты. Только после её использования все программные изменения перемещаются на светодиодную ленту. +* **numPixels\(\)** - Возвращает количество пикселей в ленте. Удобно для цикличного управления всей лентой целиком. +* **setPixelColor\(pos, color\)** - Устанавливает цвет пикселя в позиции **pos** в цвет **color**. Цвет должен быть 24 битным значением, где первые 8 бит - красный цвет \(red\), следующие 8 бит - зелёный цвет \(green\) и последние 8 бит - голубой \(blue\). Для получения значения **color** можно использовать функцию **Color\(red, green, blue\)**, которая составляет это значение из 3х компонент. Каждый компонент должен находиться в диапазоне 0-255, где 0 - отсутствие цвета, а 255 - наибольшая доступная яркость компонента в светодиодном модуле. +* **setPixelColorRGB\(pos, red, green, blue\)** - Устанавливает цвет пикселя в позиции pos в цвет, состоящий из компонент **red, green, blue**. Каждый компонент должен находиться в диапазоне 0-255, где 0 - отсутствие цвета, а 255 - наибольшая доступная яркость компонента в светодиодном модуле. +* **show\(\)** - Обновляет состояние ленты. Только после её использования все программные изменения перемещаются на светодиодную ленту. Остальные функции можно обнаружить, вызвав команду -``` +```(bash) pydoc neopixel ``` Результат выполнения команды: -``` +```(bash) Help on module neopixel: NAME @@ -202,11 +200,7 @@ pydoc neopixel Основные типы лент, которые используются для Clever3, это WS2812, WS2812B и SK6812 \(аналог WS2812B\). Они управляются по одному и тому же принципу: для массива светодиодов в ленте отправляется пакет данных по 24 бита на светодиод; каждый светодиод считывает первые 24 бита из пришедших к нему данных и устанавливает соответствующий цвет, остальные данные он отправляет следующему светодиоду в ленте. Нули и единицы задаются разными сочетаниями длительностей высокого и низкого уровня в импульсе. -Все эти ленты поддерживаются для управления библиотекой - -[https://github.com/jgarff/rpi\_ws281x](https://github.com/jgarff/rpi_ws281x) - -, при этом для управления используется модуль DMA \(direct memory access\) процессора распберри и один из каналов передачи данных: PWM, PCM или SPI, что гарантирует отсутствие задержек в управлении \(а управляется всё на многозадачной операционке, это важно\). +Все эти ленты поддерживаются для управления библиотекой [rpi_ws281x](https://github.com/jgarff/rpi_ws281x), при этом для управления используется модуль DMA \(direct memory access\) процессора распберри и один из каналов передачи данных: PWM, PCM или SPI, что гарантирует отсутствие задержек в управлении \(а управляется всё на многозадачной операционке, это важно\). Есть некоторые особенности работы с каналами, например при передаче данных с помощью PWM \(ШИМ\) перестаёт работать встроенная аудиосистема распберри, при передаче данных по PCM блокируется использование подключенных цифровых аудиоустройств \(при этом встроенная система работает\), а при использовании SPI \(кстати, требуется специальная настройка размера буфера и частоты GPU распберри для правильной работы\) лед лента блокирует все остальные устройства, подключенные по этому каналу. @@ -214,15 +208,12 @@ pydoc neopixel Поэтому сценарии использования лед ленты следующие: -1\) Если нам не важна работоспособность встроенного аудио на распберри \(и мы его не используем, т.к. аудио и лента будут выдавать билиберду в этом случае\), то можно использовать PWM канал \(для этого требуется подключить вход ленты к одному из следующих GPIO портов распберри: 12, 18, 40, или 52 для PWM0 канала и 13, 19, 41, 45 или 53 для PWM1 канала\) - -2\) Если нам не важно наличие на шине SPI других устройств, то можно управлять лентой по каналу SPI \(GPIO на распберри 10 или 38\). Здесь требуется произвести следующие настройки \(только для распберри 3\): - -\* увеличить размер буфера передачи данных для поддержки длинных лент, добавив стройку spidev.bufsiz=32768 в файле /boot/cmdline.txt - -\* установить частоту GPU для правильной частоты работы SPI, добавив строку core\_freq=250 в файл /boot/config.txt - -3\) Если нам важна и работа аудио, и подключение к SPI устройств кроме лед ленты, то можно управлять лентой по каналу PCM \(GPIO 21 или 31\). При этом никаких дополнительных манипуляций с распберри не требуется. +1. Если нам не важна работоспособность встроенного аудио на распберри \(и мы его не используем, т.к. аудио и лента будут выдавать билиберду в этом случае\), то можно использовать PWM канал \(для этого требуется подключить вход ленты к одному из следующих GPIO портов распберри: 12, 18, 40, или 52 для PWM0 канала и 13, 19, 41, 45 или 53 для PWM1 канала\) +2. Если нам не важно наличие на шине SPI других устройств, то можно управлять лентой по каналу SPI \(GPIO на распберри 10 или 38\). + Здесь требуется произвести следующие настройки \(только для распберри 3\): + * увеличить размер буфера передачи данных для поддержки длинных лент, добавив стройку spidev.bufsiz=32768 в файле /boot/cmdline.txt + * установить частоту GPU для правильной частоты работы SPI, добавив строку core\_freq=250 в файл /boot/config.txt +3. Если нам важна и работа аудио, и подключение к SPI устройств кроме лед ленты, то можно управлять лентой по каналу PCM \(GPIO 21 или 31\). При этом никаких дополнительных манипуляций с распберри не требуется. Исходя из вышеперечисленных способов управления лентой, наилучшим вариантом, позволяющим управлять лентой, сохранить работоспособность встроенной аудиосистемы и возможность подключения всяческих устройств и датчиков по SPI, является управление по каналу PCM \(GPIO 21\) с использованием 10 канала DMA. From 37e0185d2547c723fdd5cafd845e472ba2820a1f Mon Sep 17 00:00:00 2001 From: Smirnov Artem Date: Tue, 27 Feb 2018 19:04:03 +0300 Subject: [PATCH 09/13] Fix: Delete empty file --- drugoe.md | 0 1 file changed, 0 insertions(+), 0 deletions(-) delete mode 100644 drugoe.md diff --git a/drugoe.md b/drugoe.md deleted file mode 100644 index e69de29b..00000000 From f9aa441ce85afc5f09d2fb233022f5b0de7c91cd Mon Sep 17 00:00:00 2001 From: Arthur Golubtsov Date: Tue, 27 Feb 2018 22:17:46 +0300 Subject: [PATCH 10/13] Upload param file for Clever 3 with LPE for 1.7.0 firmware with LPE --- assets/Clever3_LPE_020218.params | 562 +++++++++++++++++++++++++++++++ 1 file changed, 562 insertions(+) create mode 100644 assets/Clever3_LPE_020218.params diff --git a/assets/Clever3_LPE_020218.params b/assets/Clever3_LPE_020218.params new file mode 100644 index 00000000..4b442812 --- /dev/null +++ b/assets/Clever3_LPE_020218.params @@ -0,0 +1,562 @@ +# Onboard parameters for Vehicle 1 +# +# Stack: PX4 Pro +# Vehicle: Multi-Rotor +# Version: 1.7.3 +# Git Revision: 50bd148f53f1aeca +# +# Vehicle-Id Component-Id Name Value Type +1 1 ATT_ACC_COMP 1 6 +1 1 ATT_BIAS_MAX 0.050000000745058060 9 +1 1 ATT_EXT_HDG_M 2 6 +1 1 ATT_MAG_DECL 0.000000000000000000 9 +1 1 ATT_MAG_DECL_A 1 6 +1 1 ATT_W_ACC 0.200000002980232239 9 +1 1 ATT_W_EXT_HDG 0.500000000000000000 9 +1 1 ATT_W_GYRO_BIAS 0.100000001490116119 9 +1 1 ATT_W_MAG 0.000000000000000000 9 +1 1 BAT_A_PER_V 36.367515563964843750 9 +1 1 BAT_CAPACITY -1.000000000000000000 9 +1 1 BAT_CNT_V_CURR 0.000805664050858468 9 +1 1 BAT_CNT_V_VOLT 0.000805664050858468 9 +1 1 BAT_CRIT_THR 0.070000000298023224 9 +1 1 BAT_EMERGEN_THR 0.050000000745058060 9 +1 1 BAT_LOW_THR 0.150000005960464478 9 +1 1 BAT_N_CELLS 3 6 +1 1 BAT_R_INTERNAL -1.000000000000000000 9 +1 1 BAT_SOURCE 0 6 +1 1 BAT_V_CHARGED 4.199999809265136719 9 +1 1 BAT_V_DIV 11.074123382568359375 9 +1 1 BAT_V_EMPTY 3.400000095367431641 9 +1 1 BAT_V_LOAD_DROP 0.300000011920928955 9 +1 1 BAT_V_OFFS_CURR 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0.000000000000000000 9 +1 1 SENS_DPRES_OFF 0.000000000000000000 9 +1 1 SENS_EN_LL40LS 0 6 +1 1 SENS_EN_MB12XX 0 6 +1 1 SENS_EN_SF0X 0 6 +1 1 SENS_EN_SF1XX 0 6 +1 1 SENS_EN_TFMINI 0 6 +1 1 SENS_EN_TRANGER 0 6 +1 1 SYS_AUTOCONFIG 0 6 +1 1 SYS_AUTOSTART 4001 6 +1 1 SYS_CAL_ACCEL 0 6 +1 1 SYS_CAL_BARO 0 6 +1 1 SYS_CAL_GYRO 0 6 +1 1 SYS_CAL_TDEL 24 6 +1 1 SYS_CAL_TMAX 10 6 +1 1 SYS_CAL_TMIN 5 6 +1 1 SYS_COMPANION 157600 6 +1 1 SYS_FMU_TASK 1 6 +1 1 SYS_HITL 0 6 +1 1 SYS_LOGGER 1 6 +1 1 SYS_MC_EST_GROUP 1 6 +1 1 SYS_PARAM_VER 1 6 +1 1 SYS_RESTART_TYPE 2 6 +1 1 SYS_STCK_EN 1 6 +1 1 TC_A_ENABLE 0 6 +1 1 TC_B_ENABLE 0 6 +1 1 TC_G_ENABLE 0 6 +1 1 THR_MDL_FAC 0.000000000000000000 9 +1 1 TRIG_MODE 0 6 +1 1 UAVCAN_ENABLE 0 6 +1 1 VT_B_DEC_MSS 2.000000000000000000 9 +1 1 VT_B_REV_DEL 0.000000000000000000 9 From e56143c508f863be6e40d2e623a2e1b0409e4116 Mon Sep 17 00:00:00 2001 From: Arthur Golubtsov Date: Tue, 27 Feb 2018 22:25:52 +0300 Subject: [PATCH 11/13] Upload param file for Clever 2 with LPE --- assets/Clever2LPE_160118.params | 735 ++++++++++++++++++++++++++++++++ 1 file changed, 735 insertions(+) create mode 100644 assets/Clever2LPE_160118.params diff --git a/assets/Clever2LPE_160118.params b/assets/Clever2LPE_160118.params new file mode 100644 index 00000000..b8560d79 --- /dev/null +++ b/assets/Clever2LPE_160118.params @@ -0,0 +1,735 @@ +# Onboard parameters for Vehicle 1 +# +# Stack: PX4 Pro +# Vehicle: Multi-Rotor +# Version: 1.7.0 +# Git Revision: cbdb08bb6109c1ea +# +# Vehicle-Id Component-Id Name Value Type +1 1 ATT_ACC_COMP 1 6 +1 1 ATT_BIAS_MAX 0.050000000745058060 9 +1 1 ATT_EXT_HDG_M 0 6 +1 1 ATT_MAG_DECL 0.000000000000000000 9 +1 1 ATT_MAG_DECL_A 1 6 +1 1 ATT_W_ACC 0.200000002980232239 9 +1 1 ATT_W_EXT_HDG 0.100000001490116119 9 +1 1 ATT_W_GYRO_BIAS 0.100000001490116119 9 +1 1 ATT_W_MAG 0.100000001490116119 9 +1 1 BAT_A_PER_V 15.391030311584472656 9 +1 1 BAT_CAPACITY -1.000000000000000000 9 +1 1 BAT_CNT_V_CURR 0.000805664050858468 9 +1 1 BAT_CNT_V_VOLT 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index 7b4bb324..73cd363b 100644 --- a/docs/aruco.md +++ b/docs/aruco.md @@ -1,7 +1,6 @@ -Навигация с использованием ArUco-маркеров -=== +# Навигация с использованием ArUco-маркеров -[ArUco-маркеры](https://docs.opencv.org/3.2.0/d5/dae/tutorial_aruco_detection.html) — это популярная технология для позиционирования +[ArUco-маркеры](https://docs.opencv.org/3.2.0/d5/dae/tutorial_aruco_detection.html) — это популярная технология для позиционирования роботехнических систем с использованием компьютерного зрения. Пример ArUco-маркеров: @@ -10,16 +9,15 @@ > **Hint** При печати визуальных маркеров необходимо использовать максимально матовую бумагу. Глянцевая бумага будет бликовать на свету, сильно ухудшая качество распознавания. -aruco_pose ---- +## aruco\_pose Модуль `aruco_pose` позволяет восстанавливать позицию коптера относительно карты ArUco-маркеров и сообщать ее полетному контролеру, используя механизм [Vision Position Estimation](https://dev.px4.io/en/ros/external_position_estimation.html). -При наличии источника положения коптера по маркерам появляется возможность производить точную автономную indoor-навигацию по позициям при помощи модуля [simple_offboard](/docs/simple_offboard.md). +При наличии источника положения коптера по маркерам появляется возможность производить точную автономную indoor-навигацию по позициям при помощи модуля [simple\_offboard](/docs/simple_offboard.md). ### Включение -Необходимо убедиться, что в launch-файле Клевера (`~/catkin_ws/src/clever/clever/launch/clever.launch`) включен запуск aruco_pose и [камеры для компьютерного зрения](/docs/camera.md): +Необходимо убедиться, что в launch-файле Клевера \(`~/catkin_ws/src/clever/clever/launch/clever.launch`\) включен запуск aruco\_pose и [камеры для компьютерного зрения](/docs/camera.md): ```xml @@ -46,25 +44,26 @@ sudo systemctl restart clever - + - + - + - + ``` Можно задать отдельно расстояние между маркерами по горизонтали и вертикали: + ```xml @@ -81,13 +80,13 @@ sudo systemctl restart clever Нумерация маркеров ведется с левого верхнего угла поля. -Для контроля карты, по которой в данный момент коптер осуществляет навигацию, можно просмотреть содержимое топика `aruco_pose/map_image`. Через браузер его можно просмотреть при помощи [web_video_server](/docs/web_video_server.md) по ссылке http://192.168.11.1:8080/snapshot?topic=/aruco_pose/map_image: +Для контроля карты, по которой в данный момент коптер осуществляет навигацию, можно просмотреть содержимое топика `aruco_pose/map_image`. Через браузер его можно просмотреть при помощи [web\_video\_server](/docs/web_video_server.md) по ссылке [http://192.168.11.1:8080/snapshot?topic=/aruco\_pose/map\_image](http://192.168.11.1:8080/snapshot?topic=/aruco_pose/map_image): ![](/assets/Снимок экрана 2017-11-27 в 23.20.49.png) При полетах необходимо убедиться, что наклеенные на пол метки соответствуют карте. -В топике `aruco_pose/debug` (http://192.168.11.1:8080/snapshot?topic=/aruco_pose/debug) доступен текущий результат распознования меток: +В топике `aruco_pose/debug` \([http://192.168.11.1:8080/snapshot?topic=/aruco\_pose/debug](http://192.168.11.1:8080/snapshot?topic=/aruco_pose/debug)\) доступен текущий результат распознования меток: TODO @@ -95,21 +94,21 @@ TODO По [соглашению](http://www.ros.org/reps/rep-0103.html), в маркерном поле используется стандартная система координат ENU: -* x — вправо (условный "восток"); -* y — вперед (условный "север"); +* x — вправо \(условный "восток"\); +* y — вперед \(условный "север"\); * z — вверх. _Примечание_: указанное выше определение приведено для ситуации, когда поле маркеров лежит на полу. -Таким образом, нулевой является левая нижня точка маркерного поля. Угол по рысканью считается равным 0, когда коптер смотрит направо (по оси x). +Таким образом, нулевой является левая нижня точка маркерного поля. Угол по рысканью считается равным 0, когда коптер смотрит направо \(по оси x\). ![](/assets/aruco-frame.png) ### Настройка полетного контролера -Для правильной работы Vision Position Estimation необходимо (через [QGroundControl](/docs/gcs_bridge.md)) убедиться, что: +Для правильной работы Vision Position Estimation необходимо \(через [QGroundControl](/docs/gcs_bridge.md)\) убедиться, что: -* Для PixHawk: Установлена прошивка с LPE (local position estimator). Для PixRacer: параметр `SYS_MC_EST_GROUP` установлен в `local_position_estimator, attitude_estimator_q`. +* Для PixHawk: Установлена прошивка с LPE \(local position estimator\). Для PixRacer: параметр `SYS_MC_EST_GROUP` установлен в `local_position_estimator, attitude_estimator_q`. * В параметре `LPE_FUSION` включены **только** флажки `vision position`, `vision yaw`, `land detector`. Итоговое значение _28_. * Выключен компас: `ATT_W_MAG` = 0 * Вес угла по рысканью по зрению: `ATT_W_EXT_HDG` = 0.5 @@ -120,11 +119,14 @@ _Примечание_: указанное выше определение пр * `LNDMC_ROT_MAX` = 45 deg * `LNDMC_THR_RANGE` = 0.5 * `LNDMC_Z_VEL_MAX` = 1 m/s - + +Для простоты настройки можно воспользоваться готовым файлом настроек для [Clever 2](https://github.com/CopterExpress/clever/blob/master/assets/Clever2LPE_160118.params) или для [Clever 3](https://github.com/CopterExpress/clever/blob/master/assets/Clever3_LPE_020218.params) и вгрузить его в контроллер с помощью меню Tools - Load from file из раздела Parameters в QGroundControl. + +![](/assets/Screenshot from 2018-02-27 22-30-50.png) ### Полет -При правильной настройке коптер начнет удерживать позицию по VPE (в [режимах](/docs/modes.md) `POSCTL` или `OFFBOARD`) автоматически. +При правильной настройке коптер начнет удерживать позицию по VPE \(в [режимах](/docs/modes.md) `POSCTL` или `OFFBOARD`\) автоматически. Для [автономных полетов](/docs/simple_offboard.md) можно будет использовать функции `navigate`, `set_position`, `set_velocity`. Для полета в определенные координаты маркерного поля необходимо использовать фрейм `aruco_map`: @@ -138,11 +140,12 @@ time.sleep(5) # Полет в координату 2:2 маркерного поля, высота 2 метра navigate(2, 2, 2, speed=1, frame_id='aruco_map', update_frame=True) # полет в координату 2:2, высота 3 метра ``` + См. [другие функции](/docs/simple_offboard.md) simple offboard. ### Расположение маркеров на потолке -> **Info** Образ версии >0.2. +> **Info** Образ версии >0.2. ![](/assets/IMG_4175.JPG) @@ -154,8 +157,11 @@ navigate(2, 2, 2, speed=1, frame_id='aruco_map', update_frame=True) # поле ``` -При задании вышеуказанного параметра фрейм aruco_map также окажется "перевернутым". Таким образом, для полета на высоту 2 метра ниже потолка, аргумент `z` нужно устанавливать в 2: +При задании вышеуказанного параметра фрейм aruco\_map также окажется "перевернутым". Таким образом, для полета на высоту 2 метра ниже потолка, аргумент `z` нужно устанавливать в 2: ```python navigate(x=1, y=2, z=1.1, speed=0.5, frame_id='aruco_map') ``` + + + From db4d84e1c0a915408058649d2b788d2e31f5f464 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Sat, 3 Mar 2018 14:11:49 +0300 Subject: [PATCH 13/13] Create LICENSE.md --- LICENSE.md | 21 +++++++++++++++++++++ 1 file changed, 21 insertions(+) create mode 100644 LICENSE.md diff --git a/LICENSE.md b/LICENSE.md new file mode 100644 index 00000000..8d08f5cc --- /dev/null +++ b/LICENSE.md @@ -0,0 +1,21 @@ +MIT License + +Copyright (c) 2018 Copter Express + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE.