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Preface
Reference: https://blog.csdn.net/qq_42703283/article/details/115214729
- The flight controller uses Lei Xun X7 pro
- Firmware 1.12.3
1: Find firmware
PX4 firmware download address
My flight controller is cuav_x7pro, so I choose this firmware (it depends on your own situation)
2: QGC configuration parameters
QGC download and search by yourself
下载QGroundcontrol
https://docs.qgroundcontrol.com/master/en/getting_started/quick_start.html
2.1: Flight control initialization configuration
Follow the PX4 basic configuration guide
https://docs.px4.io/master/zh/config/firmware.html
There may be only one parameter MAV_1_CONFIG at the beginning. Set it to TELEM2 and then restart the flight control.
| parameter | set up |
|---|---|
| MAV_1_CONFIG | TELEM 2 |
| MAV_1_MODE | Onboard |
| SER_TEL2_BAUD | 921600 |
| For other detailed instructions, please see official documents. | https://docs.px4.io/main/en/advanced_config/tuning_the_ecl_ekf.html |
Special if there is no drop-down menu and only allows you to fill in numbers, you can refer to
2.2: Using visual positioning as position feedback
https://docs.px4.io/master/zh/ros/external_position_estimation.html
Set the visual as feedback as follows
| parameter | set up |
|---|---|
| EKF2_AID_MASK | 280/24; vision position fusion, vision yaw fusion, vision velocity fusion (if you are using motion capture for feedback, do not select this item because there is no velocity information) |
| EKF2_HGT_MODE | Vision |
| EKF2_EV_DELAY | Set as the difference between the timestamp of the pose feedback and the flight control IMU capture time. See below for details . |
| EKF2_EV_POS_X, EKF2_EV_POS_Y, EKF2_EV_POS_Z | Set the position of the pose feedback center relative to the fuselage frame. |
Disable self-tests for some useless devices
| parameter | set up |
|---|---|
| CBRK_AIRSPD_CHK | 162128;Disable airspeed meter |
| CBRK_SUPPLY_CHK | 894281; Disable battery check (no need to plug in the voltage check module) |
| CBRK_USB_CHK | 197848; Disable USB inspection (otherwise it is not allowed to fly with USB) |
| CBRK_IO_SAFETY | 22027; Disable Prearm (no need to press the safety switch) |
| COM_ARM_MAG_ANG | -1; disable magnetometer detection |
Three: PID debugging/flight log viewing
Download the flight log and upload it to the following website, you can see all the information about the flight process
https://logs.px4.io/
Usage and introduction:
https://docs.px4.io/master/en/log/flight_log_analysis. html
PID debugging tutorial:
https://docs.px4.io/master/en/config_mc/pid_tuning_guide_multicopter.html
https://blog.csdn.net/qq_42703283/article/details/122535574