开源视觉导航飞行平台

Oct 8, 2018 • Jixiang Zhang

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"。

摘自https://matheecs.tech/about.html感谢Jixiang Zhang老师