企业网站新模式,wordpress首页密码访问,成都网站空间,网站推荐界面ArduPilot开源代码之Companion Computers简单分析 1. 源由2. 伴机系统2.1 APSync2.2 DroneKit2.3 FlytOS2.4 Maverick2.5 ROS2.6 Rpanion-server 3. 总结4. 参考资料 1. 源由
从稳定性#xff0c;社区群体#xff0c;以及开源方式的角度看#xff0c;Ardupilot是不错的选择… ArduPilot开源代码之Companion Computers简单分析 1. 源由2. 伴机系统2.1 APSync2.2 DroneKit2.3 FlytOS2.4 Maverick2.5 ROS2.6 Rpanion-server 3. 总结4. 参考资料 1. 源由
从稳定性社区群体以及开源方式的角度看Ardupilot是不错的选择之一。
主要有以下几个特点
【操控性】手动【稳定性】自动导航【安全性】异常场景【普及性】社区受众群体广泛
为了更好的实现智能飞行就需要融合传感和空间感知技术。这些内容显然并非当前任意一个飞控软件能解决的更多依赖计算能力更强大的伴机电脑系统。
在入手companion computer之前就Ardupilot生态圈内部提供的几个伴机方案进行研习和分析。
伴机电脑就选个手边简单的板子吧主要还是分析软件这块内容。 2. 伴机系统
APSyncDroneKitFlytOSMaverickROSRpanion-server
注这里仅根据companion computer提供的信息进行简单分析。
2.1 APSync
【1】APSync介绍 【2】APSync代码
WiFi电传 WiFi Access PointUDP Telemetry (port:14550)Log Download Script WEB配置 View and modify parametersView sensor information and trigger some calibrationsModify the Wifi access point name and passwordView and download log files if they are stored on the companion computer URL http://10.0.1.128 - 视频传输 video stream http://10.0.1.128:8000 从上面特性看更像一个摄像头电传模块的功能集成。
2.2 DroneKit
【1】DroneKit介绍 【2】DroneKit代码
该开发工具主要应用python编程支持Ardupilot的MAVLink接口详见API资料 Connect to a vehicle (or multiple vehicles) from a scriptGet and set vehicle state/telemetry and parameter information.Receive asynchronous notification of state changes.Guide a UAV to specified position (GUIDED mode).Send arbitrary custom messages to control UAV movement and other hardware (GUIDED mode).Create and manage waypoint missions (AUTO mode).Override RC channel settings. 2.3 FlytOS
【1】FlytOS介绍 该系统方案分析了众多应用场景从行业应用的角度做了平台整合。 显然这个是商业运作开源代码是木有的呵呵。
2.4 Maverick
【1】 Maverick介绍 【2】Maverick代码
该系统从功能角度来说很多 Downloadable, ready to flash, ready to fly images for Raspberry Pi (all models), NVidia Tegra TX1/TX2, Up (Up, Squared, Core), Odroid XU4, Intel JouleDownloadable VM image for developers in OVA (Open Virtual Appliance) and Parallels formats, should run in VirtualBox, VMware, Parallels etcPermissive MIT licensing, absolute minimum restrictions on opensource or commercial usageAbility to bootstrap from any donor/vendor OS (only Debian/Ubuntu based OS supported so far, but possible to support any base OS) and create custom imagesSingle ‘maverick’ command provides system/network info, self updating, system configuration, service controlSelf-contained, consistent software environments and versions across different platformsAutomatic detection and configuration of platform hardware and peripheralsEasy modular network configuration including managed wireless, monitor/injection, Host Access Point, Avahi, Dnsmasq, DHCP client/server, wifibroadcastBuilt-in security, firewall, antivirus, scannersSelective, modular Mavlink proxy, Dronekit and MAVROS configuration, supports MAVProxy, mavlink-router, cmavnodeRich web-based IDE (Integrated Development Environment) - Cloud9Full SITL environment with separate mavlink proxy, dronekit and MAVROS instancesExtensive consistent software components installed on all platforms - ROS Kinetic/Lunar, ROS2, Tensorflow 1.3, OpenCV 3.4, Gstreamer 1.12.4, FPV video (visiond, camera-streaming-daemon), Orb_slam2, RTABMAP, ArucoArduPllot development environment, compiled ArduPilot for SITL, everything necessary setup to compile and upload to Flight Controllers direct from companion computerPX4 development environment, compiled PX4 for SITL, everything necessary setup to compile and upload to Flight Controllers direct from companion computerVision functions - automatic detection and configuration of attached digital cameras for FPV (visiond), Precision Landing with vision_landing, experimental collision avoidance with RealSense depth cameras, Thermal Image streaming with Seek Thermal and Flir One devices, experimental SLAM components ORB_SLAM2 and RTABMAP 但是从整体架构上不难看出围绕MAVLink/ROS/Vision在做数据分析是一个整合的系统。
注最近一次更新Nov 12, 2021感觉有点缺少维护了。
2.5 ROS
【1】ROS介绍 【2】ROS代码
ROS(Robot Operating System)是机器人操作系统。因为SLAM (Simultaneous Localization and Mapping)/Vision等传感器和空间定位技术的应用随着MAVROS组件的发展现在这块非常热门。
这里不多做介绍其系统也是非常庞大的。
2.6 Rpanion-server
【1】Rpanion-server介绍 【2】Rpanion-server代码 Flight Controller telemetry routing to udp outputsVideo Streaming via an RTSP serverNetwork configurationNTRIP StreamingLogging (tlog and bin logs) 该服务是基于node.js开发的其最终应用的还是MAVLink与飞控通信。鉴于其SBC可以做视频RTSP服务因此可以进行相关视频图像流处理。
3. 总结
从上述几个Ardupilot伴机电脑上常用的软件来看考虑如下
不考虑商业软件学习研究角度从不同的维度考虑 应用角度SLAM/Vision/SensorFusion飞控技术MAVLink API仿真角度SITL in Gazebo 4. 参考资料
【1】Ardupilot-APSync 【2】Ardupilot-DroneKit 【3】Ardupilot-FlytOS 【4】goodrobots-Maverick 【5】Ardupilot-ROS 【6】Ardupilot-Rpanion-server
