执行机构的故障也是飞行炸鸡的主要问题之一,通过分析飞控的控制输出可以大致定位是否是执行机构的问题。 actuator_outputs:飞控输出的控制信号 飞行状态信息 vehicle_local_position:位置与速度信息 vehicle_attitude:飞行姿态数据 vehicle_status:飞行状态数据,包括解锁、起飞、失控等状态数据 commander_state:飞行模式 控制状态...
#pragma once#include<px4_tasks.h>/* SCHED_PRIORITY_MAX */#define SCHED_PRIORITY_FAST_DRIVER SCHED_PRIORITY_MAX#define SCHED_PRIORITY_WATCHDOG (SCHED_PRIORITY_MAX - 5)#define SCHED_PRIORITY_ACTUATOR_OUTPUTS (SCHED_PRIORITY_MAX - 15)#define SCHED_PRIORITY_ATTITUDE_CONTROL (SCHED_PRIORITY_MAX - ...
默认值为56,这表示在AUX 5和AUX 6上启用触发。 IMPORTANT : With TRIG_PINS set to its default value of 56, you can use the AUX pins 1, 2, 3 and 4 as actuator outputs (for servos/ESCs). Due to the way the hardware timers are handled (1234 are 56 are 2 different groups handled by...
将控制权重应用到输出 _vtol_type->fill_actuator_outputs(); 1. 发布控制输出 _actuator_controls_0_pub.publish(_actuators_out_0); _actuator_controls_1_pub.publish(_actuators_out_1); _vehicle_torque_setpoint0_pub.publish(_torque_setpoint_0); _vehicle_torque_setpoint1_pub.publish(_torque_setpoin...
}elseif(cmd_mavlink.command== MAV_CMD_DO_SET_ACTUATOR) { //since we're only paying attention to 3 AUX outputs, the //index should be 0, otherwise ignore the message if(((int) vehicle_command.param7) ==0) { actuator_controls_s actuator_controls{}; ...
把固定翼的L1算法搬来,用横滚来描述UGV小车的转向不太合适,所以这里的最后一行就将横滚值给了偏航,小车所用参数只有偏航和actuator_controls_s::INDEX_YAW油门actuator_controls_s::INDEX_THROTTLE以上得到的控制信息全部通过_act_controls发布到Group#0输入组中...
). Due to the way the hardware timers are handled (1234 are 56 are 2 different groups handled by 2 timers), this is the ONLY combination which allows the simultaneous usage of camera trigger and FMU actuator outputs.DO NOT CHANGE THE DEFAULT VALUE OFTRIG_PINSIF YOU NEED ACTUATOR OUTPUTS....
PX4到仿真器。PX4给仿真器只会发送一个HIL_ACTUATOR_CONTROLS的MAVLink消息,熟悉PX4的应该知道这个对应的uORB消息是actuator_outputs.msg,也就是姿态控制器最后的输出控制量。这里也就意味着,混控是在仿真器中进行的,仿真器中也包含电机的模型。 仿真器到PX4。仿真器的作用就是模拟真实飞行,即模拟计算出真实飞行时的...
105.orb_publish(ORB_ID(actuator_outputs), _outputs_pub, &outputs); 106.orb_publish(ORB_ID(safety), _to_safety, &safety); 107.orb_publish(ORB_ID(input_rc), _to_input_rc, &_rc_in); 108.orb_copy(_control_topics[i], _control_subs[i], &_controls[i]); 109.orb_copy(ORB_ID(ac...
actuator_controls_0.msg actuator_controls_1.msg actuator_controls_2.msg actuator_controls_3.msg actuator_controls_virtual_fw.msg actuator_controls_virtual_mc.msg actuator_direct.msg actuator_outputs.msg airspeed.msg att_pos_mocap.msg battery_status.msg camera_trigger.msg debug_key_value.msg dif...