Which software is suitable for flight control debugging?

What software is used to debug the flight control

Download the flight control source code of mwc, which is available in the network disk. This is customized by me and is suitable for our small aircraft. Those from other sources may not be suitable.

2. Plug in the ftdi downloader. The specific steps are as follows

(1) Use Dupont wire to lead out the FTDI downloader interface, as shown in the picture, use pin headers to connect them one by one. The order does not need to be adjusted.

The jumper cap of the downloader is connected to 5v

Connect the CTS of the downloader to the GND of the aircraft interface

(3) Install the FTDI driver (available in the network disk)

(4)

3.Open multiwii.ino

4. Select the board type as 5V, 16MHz

5. Select the serial port of your downloader here

6. Motor download button to start the download process

7. The host computer debugs the flight control, download the host computer debugging software in the network disk,

8. Select the corresponding folder according to the computer operating system. For example, my computer is a windows 32-bit system

9. Select the corresponding version and open it

10. The running interface is as shown in the figure, select the port number of your downloader from the left

11. Then click the start button to start debugging the program

How to develop with open source flight control PIXHAWK

The following descriptions are all for px4 native firmware. In addition, because the firmware updates are too frequent, this article describes the firmware in July 2015. It is mainly an example. If there are any changes, please study it yourself (change to cmake later) Compilation method, the changes are quite big).

Since you want to develop, the first step is to set up a development environment. According to my experience, it is best to compile in a Linux environment, which will be very efficient. In the past, compiling under Windows often took more than 40 minutes. It affects development too much;

The second step is to roughly understand the architecture of the firmware,

If it only involves the development of the application layer, the underlying nuttx system can be bypassed. Generally, it is best to first understand the mechanism of the uorb module. Start with uorb to understand the source and function of each topic. , just organize the data flow and understand the relationship between each module. For example, to implement manual mode, which modules interact with each other, auto mode, and which modules work,

If it involves the development of corresponding algorithms, you must learn to locate the corresponding algorithm modules, or even specific codes. For example, if you want to test your attitude estimation algorithm, then you can just replace the attitude estimation module, but accordingly The interface still needs to be the same as the px4 environment, taking attitude estimation as an example. Finally, you must publish your vehicle_attitude topic, otherwise you will not be able to interact with other modules;

In addition, don’t try to find the main function in the code, that is microcontroller thinking, you only need to look at the startup script, \ROMFS\px4fmu_common\init.d\rcs;

The third step is to locate the corresponding module according to your specific situation and conduct intensive research. Although the module is basically written in C, it doesn’t matter if you don’t know C. After all, you are not asked to write it. I have done it so far. I don’t know C either. Just use the comments to understand clearly. For example, sort out the control process of mavlink

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