{"id":563,"date":"2014-12-13T11:24:40","date_gmt":"2014-12-13T03:24:40","guid":{"rendered":"http:\/\/blog.xuhao1.me\/?p=563"},"modified":"2014-12-13T14:07:26","modified_gmt":"2014-12-13T06:07:26","slug":"%e9%a3%9e%e6%8e%a7%e5%bc%80%e5%8f%91%e7%ac%94%e8%ae%b0%ef%bc%9apixhawk-app%e5%88%86%e6%9e%90","status":"publish","type":"post","link":"http:\/\/blog.xuhao1.me\/?p=563","title":{"rendered":"\u98de\u63a7\u5f00\u53d1\u7b14\u8bb0\uff1aPIXHAWK App\u5206\u6790"},"content":{"rendered":"<h1>\u65b0\u5751<\/h1>\n<p>\u7ec8\u4e8e\u4e0b\u5b9a\u51b3\u5fc3\u91cd\u65b0\u5199\u6389\u98de\u63a7\u4e86,fork\u4e86pixhawk\u3002\u5220\u6389\u4e86\u9664\u9a71\u52a8\u548c\u59ff\u6001\uff0c\u4f4d\u7f6e\u786e\u5b9a\u4ee5\u5916\u7684\u7edd\u5927\u90e8\u5206\u6a21\u5757\u3002<\/p>\n<p>\u524d\u884c\u7684\u9053\u8def\u662f\u8270\u96be\u7684\uff0c\u60f3\u505a\u4e00\u4e2a\u597d\u7684\u98de\u63a7\u9700\u8981\u592a\u591a\u5404\u5b66\u79d1\u77e5\u8bc6\uff0c\u5728\u8fd9\u91cc\u5f00\u5751\u505a\u7b14\u8bb0\uff0c\u4e89\u53d6\u5728\u5e74\u5e95\u7ed3\u675f\u524d\u4f5c\u51fa\u4e00\u4e2a\u96cf\u5f62\u3002<br \/>\n<!--more--><\/p>\n<h1>\u4ece\u542f\u52a8\u770bonboard app<\/h1>\n<p>\u9996\u5148\u4ecePIXHAWK\u7684\u542f\u52a8\u811a\u672c\u8c08\u8d77\u3002<\/p>\n<p>PIXHAWK\u91c7\u7528\u4e86nuttx\u4f5c\u4e3a\u81ea\u5df1\u7684\u64cd\u4f5c\u7cfb\u7edf\uff0c\u5176\u811a\u672c\u7c7b\u4f3c\u4e8esh\uff0c\u5f88\u597d\u61c2 \uff0c\u6211\u8fd9\u91cc\u4ec5\u4ec5\u5bf9\u6628\u5929\u7684\u7ed3\u679c\u505a\u4e00\u4e2a\u5c0f\u5c0f\u7684\u603b\u7ed3<\/p>\n<p>\u9996\u5148 pix\u5728\u542f\u52a8\u4e4b\u521d\u4f1a\u770b\u662f\u5426\u5b58\u5728sdcard\u7684\u914d\u7f6e\u6587\u4ef6\uff0c\u5982\u679c\u5b58\u5728\u7684\u8bdd\u4ee5\u4e4b\u4e3a\u66ff\u4ee3\uff0c\u5426\u5219\u542f\u52a8autostart<\/p>\n<h1>autostart\u5206\u6790<\/h1>\n<h2>\u7cfb\u7edf\u7ea7\u522b\u542f\u52a8\u9879<\/h2>\n<p>autostart\u7684\u529f\u80fd\u5305\u62ec\u4ee5\u4e0b\u51e0\u90e8\u5206,\u9996\u5148\u662f\u4e00\u4e9b\u7cfb\u7edf\u7ea7\u522b\u7684\u6a21\u5757<\/p>\n<pre><code>sercon\n\n# Try to get an USB console\nnshterm \/dev\/ttyACM0 &amp;\n\n#\n# Start the ORB (first app to start)\n#\nuorb start\n<\/code><\/pre>\n<p>\u8fd8\u6709\u53c2\u6570\u670d\u52a1\u5668,led\uff0c\u548c\u4e00\u4e9b\u82af\u7247<\/p>\n<pre><code>set PARAM_FILE \/fs\/microsd\/params\nif mtd start\nthen\n    set PARAM_FILE \/fs\/mtd_params\nfi\n\nparam select $PARAM_FILE\nif param load\nthen\n    echo \"[param] Loaded: $PARAM_FILE\"\nelse\n    echo \"[param] FAILED loading $PARAM_FILE\"\n    if param reset\n    then\n    fi\nfi\n\n#\n# Start system state indicator\n#\nif rgbled start\nthen\nelse\n    if blinkm start\n    then\n        blinkm systemstate\n    fi\nfi\n\nif pca8574 start\nthen\nfi\n<\/code><\/pre>\n<h2>\u5173\u952e\u7a0b\u5e8f<\/h2>\n<p>\u9009\u62e9\u8f93\u51fa\u7684\u5668\u4ef6\uff0c\u5373\u662f\u4ee5px4io\u8f93\u51fa\u8fd8\u662ffmu\u672c\u8eab\uff0c\u8003\u8651\u5230\u672a\u6765\u81ea\u5df1\u6253\u677f\u5b50\uff0c\u80af\u5b9a\u662fio\uff0c\u6240\u4ee5\u6211\u76f4\u63a5\u53bb\u6389\u4e86\u4ea2\u4f59\u90e8\u5206<\/p>\n<p>\u7136\u540eautostart\u4f1a\u4f9d\u6b21\u542f\u52a8\u4e00\u4e9b\u5173\u952e\u7a0b\u5e8f\uff0c\u5305\u62ec:<\/p>\n<ul>\n<li>dataman (data manager app)<\/li>\n<li>commander <\/li>\n<li>mavlink <\/li>\n<li>uavcan<\/li>\n<li>gps<\/li>\n<li>sensors<\/li>\n<li>logging<\/li>\n<\/ul>\n<h2>App\u7ea7\u522b\u542f\u52a8<\/h2>\n<p>\u7136\u540e\u6839\u636e\u98de\u673a\u7c7b\u578b\u9009\u62e9\u5bf9\u5e94\u7684\u4e13\u6709\u542f\u52a8\u811a\u672c\uff0c\u53e6\u5916\uff0c\u4f1a\u52a0\u8f7d\u4e00\u4e2ainterface\u6587\u4ef6<\/p>\n<p>\u8fd9\u4e2a\u6587\u4ef6\u7684\u5173\u952e\u90e8\u5206\u662f<\/p>\n<pre><code>mixer load $OUTPUT_DEV $MIXER_FILE\n<\/code><\/pre>\n<p>\u4e5f\u5c31\u662f\u52a0\u8f7dmixer\uff0c\u53e6\u5916\u5c31\u662f\u901a\u8fc7pwm\u8fd9\u4e2aapp\u6765\u8bbe\u7f6epmw\u7684\u8f93\u51fa\u72b6\u51b5<\/p>\n<pre><code>    pwm rate -c $PWM_OUTPUTS -r $PWM_RATE\n    pwm disarmed -c $PWM_OUTPUTS -p $PWM_DISARMED\n    pwm min -c $PWM_OUTPUTS -p $PWM_MIN\n    pwm max -c $PWM_OUTPUTS -p $PWM_MAX\n    pwm failsafe -d $OUTPUT_DEV $FAILSAFE\n<\/code><\/pre>\n<p>\u6bd4\u5982\u5bf9\u4e8e\u591a\u65cb\u7ffc\u7cfb\u7edf\uff0c\u98de\u63a7\u4f1a\u9009\u62e9mc.apps \u548cmc.defaultes<\/p>\n<pre><code>#!nsh\n#\n# Standard apps for multirotors:\n# att &amp; pos estimator, att &amp; pos control.\n#\n\nattitude_estimator_ekf start\n#ekf_att_pos_estimator start\nposition_estimator_inav start\n\nmc_att_control start\nmc_pos_control start\n<\/code><\/pre>\n<p>\u8fd9\u51e0\u4e2aapp\u7684\u5185\u5bb9\u90fd\u5f88\u5bb9\u6613\u61c2\uff0c\u5c31\u4e0d\u5e9f\u8bdd\u4e86<\/p>\n<p>\u6700\u540e\u8fd8\u6709\u4e00\u4e2a\u73a9\u610f\uff0c\u90a3\u5c31\u662f\u5bfc\u822a\u6a21\u5757\u8981\u88ab\u542f\u52a8<\/p>\n<pre><code>navigator start\n<\/code><\/pre>\n<p>\u53ef\u4ee5\u770b\u5230pixhawk\u7684\u542f\u52a8\u5c42\u6b21\u8fd8\u662f\u975e\u5e38\u7b80\u5355\u660e\u4e86\u7684\uff0c\u6a21\u5757\u7ed3\u6784\u6e05\u6670\uff0c\u53e6\u4e00\u4e2a\u5c31\u662f\u53d1\u73b0<\/p>\n<pre><code>nshterm \/dev\/ttyACM0 &amp;\n<\/code><\/pre>\n<p>\u662f\u5f00\u673a\u53ef\u4ee5\u8c03\u8282\u7684\uff0c\u90a3\u4e48\u6211\u4eec\u5c31\u53ef\u4ee5\u6109\u5feb\u7684\u6362\u4e00\u4e2a\u63a5\u53e3\u7528\u6570\u4f20\u5728\u8fdc\u7a0b\u5f00term debug\u4e86\uff01<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u65b0\u5751 \u7ec8\u4e8e\u4e0b\u5b9a\u51b3\u5fc3\u91cd\u65b0\u5199\u6389\u98de\u63a7\u4e86,fork\u4e86pixhawk\u3002\u5220\u6389\u4e86\u9664\u9a71\u52a8\u548c\u59ff\u6001\uff0c\u4f4d\u7f6e\u786e\u5b9a\u4ee5\u5916\u7684\u7edd\u5927\u90e8\u5206\u6a21\u5757\u3002  &hellip; <\/p>\n<p class=\"link-more\"><a href=\"http:\/\/blog.xuhao1.me\/?p=563\" class=\"more-link\">\u7ee7\u7eed\u9605\u8bfb<span class=\"screen-reader-text\">\u201c\u98de\u63a7\u5f00\u53d1\u7b14\u8bb0\uff1aPIXHAWK App\u5206\u6790\u201d<\/span><\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":[],"categories":[1],"tags":[],"_links":{"self":[{"href":"http:\/\/blog.xuhao1.me\/index.php?rest_route=\/wp\/v2\/posts\/563"}],"collection":[{"href":"http:\/\/blog.xuhao1.me\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/blog.xuhao1.me\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/blog.xuhao1.me\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/blog.xuhao1.me\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=563"}],"version-history":[{"count":2,"href":"http:\/\/blog.xuhao1.me\/index.php?rest_route=\/wp\/v2\/posts\/563\/revisions"}],"predecessor-version":[{"id":566,"href":"http:\/\/blog.xuhao1.me\/index.php?rest_route=\/wp\/v2\/posts\/563\/revisions\/566"}],"wp:attachment":[{"href":"http:\/\/blog.xuhao1.me\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=563"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/blog.xuhao1.me\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=563"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/blog.xuhao1.me\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=563"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}