404 auto pilot drone demo
文件层次分为
- Algorithm: includes Algorithm related to the projects(SLAM \ Quarternion )
- Book: includes books and files of related knowledge that are used in the projects. I will write reference at every fuction realization.
- Hardware_design: fly control board design and other PCB used in the project.
- Hardware_design_doc : documents of chips which are used in the PCB design
- Software: includes fly control codes and SLAM codes; the codes realization.
I will mainly use english in 404APDdemo which from my point of view forces me to adpat future reaserch work enviroments and work flow and to some extends,is an interesting project to practice and be familiar with the academic terms.
The project is conjured up by Morty-Liu Evan-Guo and Nick-Zheng and unsuitable explaination and declaration about the project is inevitable.
404APD 目标是建立一个能够稳定飞行，通过双目SLAM以及其他传感器完成自主路径选择和地图绘制的的无人机。
无人机能够高速穿越复杂环境; 通过GPS和IMU模块完成自动返航和目标点规划，飞行路径规划。
- 20v 转 5v TPS5430DA
- 5v-3v飞控 1117 33 电池直接供电４个电调，电调电路上需要做滤波
- 接收机插座，ppm连接供电板
- 为四个最大放电电流为30A的电调供电
- 为飞行控制板供电5V 3A
- 为飞行主机供电5V3A // 后期会变为12V供电
h750vbt6 //
1. 双冗余IMU
IMU 选择
icm20602(0) // 6轴
icm20649 ／／bmi088(0)
hmc5883? // spl06 // ist8310(0)
2. 4路PWM-》电调
3. 一路PPM《-接收机
4. 一路调试串口
5. 稀疏光流模块
6. 激光测距模块
7. 一路串口GPS
8. 一路JTAG
9. 晶振
前期使用单目摄像头以及树莓派进行验证；后期会换到双目摄像头和图像算力平台进行实验
图像平台需要转接板：
- 双目/单目摄像头 // 2021 2.6 首先选用港科大的单目SLAM项目，结合IMU构建地图
- GPS/？
- 描述一个物体在三维空间中的位置和旋转