With the development of the drone industry, drones have played to varying degrees in the fields of film and television aerial photography, geographic survey, and public safety. When talking about drones, one of the most core technologies is flight control technology. Its technological development affects the attitude and control of drones, mission equipment management and emergency control.
Currently used flying controls on the market, including open source flight control and closed source flight control. Due to the limited developers of closed source flight control, we will focus on introducing open source flight control. The so-called open source flight control is based on the open source idea of ​​the Open Source AutoPilot project, which includes both open source software and open source hardware, while the software includes firmware and ground station software in the flight control hardware.
First, the development of open source flight control
The first generation of open source flight control systems based on Arduino or other similar open source electronic platforms, extended to connect various MEMS sensors, enabling drones to fly smoothly. The main features are modularity and scalability.
The second generation of open source flight control systems mostly have their own open source hardware, development environment and community, using a fully integrated hardware architecture. The main feature is high integration, high reliability, and its function is close to commercial autopilot.
The third generation of open source flight control systems will revolutionize software, artificial intelligence and cloud applications. Join advanced flight functions such as cluster flight, image recognition, autonomous obstacle avoidance, and automatic tracking flight to develop in the direction of machine vision, clustering, and development process.
Second, open source flight control introduction
Arduino flight control
Arduino was the first open source flight control developed by Massimo Banzi, David Cuartielles, Tom Igoe, Gianluca Martino, David Mellis and Nicholas Zambetti in 2005 at the Italian Institute of Interaction Design. Arduino first built a flexible open source hardware platform and development environment for electronic development enthusiasts. Users can obtain hardware design documents and adjust circuit boards and components from the Arduino official website to meet their actual design needs.
Arduino can view the source code and upload its own code through its matching Arduino IDE software. The Arduino IDE uses the Arduino language based on C language and C++, which is very easy to master, and the Arduino IDE can be used in Windows, Macintosh OSX and Linux. Running on mainstream operating systems.
As the platform is gradually accepted by enthusiasts, electronic expansion modules of various functions emerge in an endless stream, the most complicated of which is the flight controller integrated with MEMS sensors. In order to get better flight control design source code, Arduino decided to open its flight control source code, and they opened up the development path of open source flight control. The well-known open source flight control WMC and APM are direct derivatives of Arduino flight control, and still use the Arduino development environment for development.
APM flight control
APM (ArduPilotMega) is a flight control product launched by DIY Drones in 2007 and is the most mature open source hardware project today. Based on the open source platform of Arduino, APM has improved several hardware, including accelerometer, gyroscope and magnetometer combined inertial measurement unit (IMU). Due to the good customizability of APM, APM has spread rapidly within the reach of global model enthusiasts. Through the open source software Mission Planner, developers can configure APM settings, accept and display sensor data, use google map to complete autopilot, etc., but Mission Planner only supports Windows operating system.
At present, APM flight control has become a mature benchmark for open source flight control, supporting unmanned devices such as multi-rotor, fixed-wing, helicopter and driverless vehicles. For multi-rotor, APM flight control supports a variety of four, six, and eight-axis products, and can be stabilized after connecting external GPS sensors, and complete autonomous flight, autonomous flight, home, high altitude, fixed point, etc. mode. APM can connect external ultrasonic sensors and optical flow sensors to achieve fixed height and fixed-point flight indoors.
PX4 and PIXHAWK
PX4 is a software and hardware open source project (observing the BSD protocol) to provide a low-cost, high-performance, high-end autopilot for academic, hobby, and industrial groups.
The project originated from the PIXHawk project of the Computer Vision and Geometry Laboratory, the Autonomous Systems Laboratory and the Automation Control Laboratory at the Federal Institute of Technology in Zurich. The PX4FMU autopilot module runs an efficient real-time operating system (RTOS). Nuttx provides a portable operating system interface (POSIX) type environment that can be updated with the USB bootloader.
The PX4 communicates with the ground station via MAVl ink. The compatible ground stations are QGroundControl and Mission Planner. The software is all open source and complies with the BSD protocol.
The PIXHawk flight control, launched by the 3DR in conjunction with the APM team and the PX4 team in 2014, is an upgraded version of the PX4 flight controller with two sets of PX4 and APM firmware and corresponding ground station software. The flight control is currently the highest hardware product in the world's open source flight control products, and is also the hottest product in the hands of fans.
PIXHawk has a computing frequency of 168MHz, and uses the Cortex-M4 microcontroller integrated with hardware floating-point computing core as the main control chip. It has two sets of gyro and accelerometer MEMS sensors, which are complementary corrections. Built-in three-axis magnetic field sensor. It can be connected to a three-axis magnetic field sensor, and can be connected to one main unit and two GPS sensors to automatically switch between faults.
Based on its high-speed computing core and floating-point algorithms, PIXHawk uses the most advanced leveling algorithm to fix the aircraft height to within 1 meter with a barometer. It supports almost all current multi-rotor types, even those with irregular structures such as three-rotor and H4. It enables the aircraft to have a variety of flight modes, supporting full autonomous routes, key points around, mouse guidance, "FollowMe", and other advanced flight modes, and can complete independent tuning.
The openness of PIXHawk flight control is very good. Hundreds of parameters are all open to the players for adjustment. They can also fly after simple debugging in the basic mode. PIXHawk integrates a variety of electronic maps, and fans can choose according to local conditions.
Openpilot
OpenPilot is an autopilot project launched by the OpenPilot community in 2009 to provide a low-cost but powerful stable autopilot for the community. The project consists of two parts, including the OpenPilot autopilot and its accompanying software. Among them, the firmware part of the autopilot is written in C language, while the ground station is written in C++ and can run on Windows, Macintosh OSX and Linux.
The biggest feature of OpenPilot is that the hardware architecture is very simple, and it can be seen from the many hardware designs it has. The officially released flight control hardware includes CC, CC3D, ATOM, Revolution, Revolution nano, etc. The derivative hardware includes Sparky, Quanton, REVOMINI, etc., and even includes FlyingF3, FlyingF4, DescoveryF4, etc. directly expanded by STM32 development board, among which CC3D has It is the preferred flight control for wheelbase and ultra-small indoor aircraft models below 300mm, while DiscoveryF4 is widely used for enthusiast research and flight control. Quanton has become the preferred hardware for Taulabs.
Multiwiicopter
Multi Wii Copter (MWC) Flight Control is a typical Arduino derivative. It is a low-cost flight control developed for multi-rotor. It completely preserves the Arduino IDE development and the method of upgrading and using Arduino equipment. Due to its low cost, simple architecture and mature firmware, the flight control has a large number of fans at home and abroad. In addition to supporting the common four, six, and eight rotors, the main feature of the flight control is to support many exotic aircraft types, such as the three-rotor, the BIcopter avatar style, and the Y4 multi-rotor (the two axes are up and down ), etc., making the development of the flight control more interesting, easy to win everyone's favorite.
KK Flight Control
KK Flight Control is an open source flight control project originated from South Korea. It is also the first multi-rotor flight control widely accepted by the public. In the early stage of the development of open source flight control, the flight control was born to the entire four-rotor industry. A shock.
The flight control uses only three low-cost single-axis gyro, with one of the simplest four-channel remote control devices, it can control common three-, four-, and six-rotor aircraft, and supports "cross" type, X-type, H-type And a variety of layouts such as up and down. The flight control uses three adjustable resistors to adjust the sensitivity as a method of tuning, retaining the characteristics of the early model gyro. As an important testimony to the start of the multi-rotor flight control, this "antique" class of classic flight control still has many players.
Paparazzi
Paparazzi (PPZ) is a software and hardware open source project. It started in 2003 with the goal of building a flexible and powerful open source flight control project. A major feature of PPZ is that the open source flight control solution includes ground station hardware, including various modems and antennas, in addition to common flight control hardware, flight control software and ground station software. Functionally, PPZ is close to a small UAV system .
Another feature of the open source project is the use of the ubuntu operating system, which integrates all ground station software and development environments into the system, officially known as the Live CD. A CD plus flight control hardware can do all the work from development to use.
The most popular hardware version of PPZ is Paparazzi (PPZ) Lisa/Mv2.0. The hardware has a large number of expansion interfaces and uses a scalable, separate IMU sensor board. This is also the popular practice of early open source flight control, which can upgrade the IMU hardware as the DIY desktop computer upgrades with the sensor.
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