==================
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==================
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瀹夎姝ラ
--------------------
鏁翠綋鐨勫畨瑁呮楠ゅ彲浠ユ€荤粨涓轰互涓嬪嚑涓楠ゃ€�
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| 锛�3锛夊湪 MATLAB 鐨勨€滃懡浠よ绐楀彛"涓緭鍏ュ懡浠も€淧X4InstallScript"骞舵寜涓嬪洖杞﹂敭鏉ヨ繍琛屼竴閿畨瑁呰剼鏈€傚彟澶栦竴绉嶆柟娉曪細鐢ㄩ紶鏍囬€変腑 鈥淧X4InstallScript.p"鏂囦欢锛屾寜涓嬮紶鏍囧彸閿紝鍦ㄥ脊鍑鸿彍鍗曚腑锛屽崟鍑烩€滆繍琛�"鎸夐挳鏉ヨ繍琛屼竴閿畨瑁呰剼鏈€�
.. figure:: /images/2-3.jpg
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.. figure:: /images/2-4.jpg
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| (5)鑰愬績绛夊緟杞欢鍖呭畨瑁呴儴缃插畬鎴愶紝鎬诲叡闇€瑕佸ぇ绾� 30 鍒嗛挓銆�
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* 鏉€姣掕蒋浠跺彲鑳戒細闃绘鏈剼鏈敓鎴愭闈㈠揩鎹锋柟寮忋€傚鏋滆剼鏈彁绀哄揩鎹锋柟寮忕敓鎴愬け璐ワ紝璇峰叧闂潃姣掕蒋浠�(Win10绯荤粺杩橀渶瑕佹殏鏃跺叧闂€滃疄鏃朵繚鎶も€濆紑鍏筹級锛屽苟鎵嬪姩鍗曞嚮瀹夎鐩綍(榛樿涓� C:\PX4PSP)涓嬬殑鈥淕enerateShortcutCMD. bat鈥濊剼鏈紝鑷姩鐢熸垚鎵€鏈夎蒋浠跺揩鎹锋柟寮忋€�
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楂樼骇璁剧疆
--------------------
瀵逛簬楂樼骇鐙珛寮€鍙戣€咃紝鍙互鍦ㄩ厤缃獥鍙ｈ缃畨瑁呰矾寰勩€丳X4 鍥轰欢鐗堟湰銆佺紪璇戝懡浠ゅ拰缂栬瘧鐜绛夈€傞厤缃獥鍙ｄ腑鐨勫悇椤归€夐」璇︾粏瑙ｉ噴濡備笅銆�
| 锛�1锛夊伐鍏峰寘瀹夎璺緞銆傛湰骞冲彴鐨勬墍鏈変緷璧栨枃浠堕兘浼氬畨瑁呭湪鏈矾寰勪笅锛屽ぇ绾﹂渶瑕�6G 鐨勭┖闂淬€傞粯璁ゅ畨瑁呰矾寰勬槸鈥淐:\PX4PSP鈥濓紝濡傛灉 C 鐩樼┖闂翠笉澶熷彲浠ラ€夋嫨鍏朵粬鐩樼涓嬬殑璺緞銆傞渶瑕佹敞鎰忕殑鏄矾寰勫悕绉板繀椤绘纭紝涓斿彧鑳界敤绾嫳鏂囩殑璺緞锛屽惁鍒欎細瀵艰嚧缂栬瘧澶辫触銆�
| 锛�2锛塒X4 鍥轰欢缂栬瘧鍛戒护銆傞粯璁ょ殑缂栬瘧鍛戒护涓衡€減x4fmu-v3_default鈥濓紝鍦� PSP 鐢熸垚鎺у埗鍣ㄤ唬鐮佸悗锛屼細鑷姩璋冪敤缂栬瘧鍣ㄥ皢鍏剁紪璇戜负鈥減x4fmu-v3_default.px4鈥濇牸寮忓浐浠舵枃浠讹紝鐒跺悗灏嗚鈥�.px4鈥濇枃浠朵笅杞藉苟鐑у綍鍒版敮鎸佺殑纭欢涓婏紝灏卞彲浠ュ疄鐜扮畻娉曠殑閮ㄧ讲銆備娇鐢ㄤ笉鍚岀殑 Pixhawk纭欢浜у搧锛岄渶瑕侀€夋嫨涓嶅悓鐨� PX4 鍥轰欢缂栬瘧鍛戒护銆傗€減x4fmu-v3 default鈥濆彲鐢ㄤ簬 `mRo Pixhawk <https://docs.px4.io/master/en/flight_controller/mro_pixhawk.html>`_ 鍜� `Cube (Pixhawk 2) <https://docs.px4.io/master/en/flight_controller/pixhawk-2.html>`_ 涓ゆ鐑棬浜у搧锛涜€屽父鐢ㄧ殑鈥減x4fmu-v2 default鈥濇敮鎸佹渶鐭ュ悕鐨� `Pixhawk 1 <https://docs.px4.io/master/en/flight_controller/pixhawk.html>`_ 鑷┚浠€傚綋鐒讹紝PX4 杩樻敮鎸佸叾浠栫殑涓€浜涚‖浠�(濡� `Intel Aero <https://software.intel.com/en-us/aero/drone-kit>`_ 銆� `Crazyfile <https://www.bitcraze.io/products/old-products/crazyflie-2-0/>`_ 绛�)锛� `瀵瑰簲鐨勭紪璇戝懡浠� <http://dev.px4.io/master/en/setup/building_px4.html>`_ 濡備笅锛�
* Pixhawk 1: ``px4fmu-v2 default``
* Pixhawk 1 (2M flash): ``px4fmu-v3 default``.
* Pixhawk 4: ``px4fmu-v5 default``
* Pixracer: ``px4fmu-v4 default``
* Pixhawk 3 Pro: ``px4fmu-v4pro default``
* Pixhawk Mini: ``px4fmu-v3 default``
* Pixhawk 2: ``px4fmu-v3 default``
* mRo Pixhawk: ``px4fmu-v3 default``
* HKPilot32: ``px4fmu-v2 default``
* Pixfalcon: ``px4fmu-v2 default``
* Dropix: ``px4fmu-v2 default``
* MindPX/MindRacer: ``mindpx-v2 default``
* mRo X-2.1: ``auav-x21 default``
* Crazyflie 2.0: ``crazyflie default``
* Intel Aero Ready to Fly Drone: ``aerofc-v1 default``
.. figure:: /images/2-5.jpg
:align: center
Pixhawk 纭欢浜у搧绯诲垪鍜屽搴旂紪璇戝懡浠�
| 锛�3锛塒X4 鍥轰欢鐗堟湰銆侾X4 婧愪唬鐮佺増鏈竴鐩村湪鏇存柊锛岀洰鍓嶆渶鏂扮殑鍥轰欢鐗堟湰涓� 1.10銆傞殢鐫€鍥轰欢鐗堟湰鐨勫崌绾э紝鍔熻兘浼氶€愭笎澧炲姞锛屾敮鎸佺殑鏂颁骇鍝佷篃瓒婂锛屼絾鏄鏃х殑涓€浜涜嚜椹句华纭欢鐨勫吋瀹规€у氨浼氬彉宸€傜敱浜庢湰涔︿娇鐢ㄧ殑鏄粡鍏哥殑 Pixhawk 1 鐗堟湰鑷┚浠‖浠�(搴旂敤骞挎硾浠锋牸瀹炴儬锛屼笖鏈� LED 妯″潡渚夸簬瑙傚療瀹為獙鏁堟灉)锛屾帹鑽愰€夌敤杈冩棫鐨勫浐浠剁増鏈� PX4-1.7.3 浠ヨ幏鍙栨洿濂界殑浣跨敤鏁堟灉銆�
| 锛�4锛塒X4 鍥轰欢缂栬瘧鍣ㄣ€傜敱浜� PX4 婧愪唬鐮佺殑缂栬瘧渚濊禆浜� Linux 缂栬瘧鐜锛屾湰杞欢鍖呮彁渚涗簡涓夊缂栬瘧宸ュ叿閾炬潵瀹炵幇 Windows 骞冲彴涓嬪Linux 缂栬瘧鐜鐨勬ā鎷燂紝瀹冧滑鍒嗗埆鏄細
| 鈶犲熀浜� `Windows Subsystem for Linux (WSL) <https://en.wikipedia.org/wiki/Windows_Subsystem_for_Linux>`_ 鐨勭紪璇戠幆澧� Win10WSL 缂栬瘧鍣紱
| 鈶″熀浜� `Msys2 <https://baike.baidu.com/item/MSYS2>`_ 鐨凪sys2Toolchain 缂栬瘧鐜锛�
| 鈶㈠熀浜� `Cygwin <https://www.cygwin.com/>`_ 鐨凜ygwinToolchain 缂栬瘧鍣ㄣ€�
鍏朵腑锛孋ygwinToolchain鍜孧sys2Toolchain缂栬瘧鍣ㄩ兘鏀寔Windows7鍙婁互涓婄郴缁燂紝閮ㄧ讲鏂逛究涓斿吋瀹规€у己锛屼絾鏄紪璇戦€熷害杈冩參銆傚叾涓瑿ygwinToolchain缂栬瘧鍣ㄦ敮鎸丳X4-1.8鐗堟湰鍙婁互涓婂浐浠讹紝Msys2Toolchain缂栬瘧鍣ㄦ敮鎸丳X4-1.8鐗堟湰鍙婁互涓嬪浐浠躲€傚浜� Windows10 1809 鍙婁互涓婄殑绯荤粺鐗堟湰锛孯flySim楂樼骇鐗堝钩鍙拌繕鍙互鎸夌収 ``0.UbuntuWSL\Win10UbuntuInstallation-Step.docx`` 鐨勬柟娉曢€夋嫨瀹夎 Ubuntu 瀛愮郴缁燂紝鐒跺悗鍦ㄩ厤缃獥鍙ｄ腑閫夋嫨Win10WSL 缂栬瘧鍣紝杩欑鏂瑰紡鍙互澶уぇ鍔犲揩缂栬瘧閫熷害锛岃€屼笖鍏煎鎵€鏈夌増鏈殑 PX4 鍥轰欢銆�
| 锛�5锛夋槸鍚﹂噸鏂板畨瑁� PSP 宸ュ叿绠便€傝嫢璇ラ€夐」璁剧疆涓衡€滄槸鈥濓紝鍒欎細灏� PSP 宸ュ叿绠卞畨瑁呭湪鏈湴MATLAB 杞欢涓€傝嫢 PSP 宸ュ叿绠卞凡缁忓畨瑁呰繃锛屽垯浼氬 PSP 宸ュ叿绠辫繘琛屽叏鏂板畨瑁呫€傝嫢閫夋嫨鈥滃惁鈥濓紝鍒欒剼鏈 PSP 宸ュ叿绠变笉鍋氫换浣曟洿鏀�(涓嶄細鍗歌浇鎺夊畨瑁呯殑 PSP 宸ュ叿绠辨垨鏈夊叾浠栧姩浣�)銆�
| 锛�6锛夋槸鍚﹂噸鏂板畨瑁呭叾浠栦緷璧栫▼搴忓寘銆傝嫢璇ラ€夐」璁剧疆涓衡€滄槸鈥濓紝鍒欎細灏� FlightGear銆丵GC鍦伴潰绔欍€丆opterSim銆�3DDisplay 绛夎蒋浠堕儴缃插湪璁惧畾鐨勫畨瑁呰矾寰勪笂锛屽苟瀹夎 Pixhawk 纭欢鐨勭浉鍏抽┍鍔ㄧ▼搴忥紝浠ュ強鍦ㄦ闈㈢敓鎴愯繖浜涜蒋浠剁殑蹇嵎鏂瑰紡銆傝嫢瀹夎璺緞涓婂凡缁忛儴缃茶繃鐩稿叧渚濊禆杞欢锛岄€夋嫨鈥滄槸鈥濓紝鍒欎細鍒犻櫎鏃х殑瀹夎鍖呭苟杩涜鍏ㄦ柊閲嶆柊瀹夎銆傝嫢璇ラ€夐」璁剧疆涓衡€滃惁鈥濓紝鍒欎笉鍋氫换浣曚慨鏀广€�
| 锛�7锛夋槸鍚﹂噸鏂伴厤缃浐浠剁紪璇戝櫒缂栬瘧鐜銆傝嫢璇ラ€夐」璁剧疆涓衡€滄槸鈥濓紝鍒欎細灏嗛€夊畾鐨勭紪璇戝櫒(Win10WSL銆丆ygwinToolchain 鎴朚sys2Toolchain)閮ㄧ讲鍦ㄨ瀹氱殑瀹夎璺緞涓婏紝鑻ョ幆澧冨凡缁忓瓨鍦紝鍒欎細娓呯┖鏃х殑缂栬瘧鐜锛岃繘琛岃繕鍘熶笌鍏ㄦ柊閮ㄧ讲銆傚弽涔嬶紝鑻ヨ閫夐」璁剧疆涓衡€滃惁鈥濓紝鍒欎笉浼氳繘琛屼换浣曟洿鏀广€�
| 锛�8锛夋槸鍚﹂噸鏂伴儴缃� PX4 鍥轰欢浠ｇ爜銆傝嫢璇ラ€夐」璁剧疆涓衡€滄槸鈥濓紝鍒欎細灏嗛€夊畾鐨� PX4 Firmware婧愪唬鐮侀儴缃插湪璁惧畾鐨勫畨瑁呰矾寰勪笂锛岃嫢 PX4 Firmware 鍥轰欢瀛樺湪锛屽垯浼氬垹闄ゆ棫鐨勫浐浠舵枃浠跺す锛屽苟杩涜鍏ㄦ柊閮ㄧ讲銆傝嫢璇ラ€夐」璁剧疆涓衡€滃惁鈥濓紝鍒欎笉浼氳繘琛屼换浣曟洿鏀广€�
| 锛�9锛夋槸鍚﹂鍏堢敤閫夊畾鍛戒护缂栬瘧鍥轰欢銆傝嫢璇ラ€夐」璁剧疆涓衡€滄槸鈥濓紝鍒欎細瀵归儴缃插浐浠惰繘琛岄缂栬瘧锛岃繖鏍峰彲浠ュぇ澶ц妭鐪佸悗缁唬鐮佺敓鎴愪笌缂栬瘧鐨勬椂闂达紝鍚屾椂鍙互妫€娴嬬幆澧冨畨瑁呮槸鍚︽甯搞€傝嫢璇ラ€夐」璁剧疆涓衡€滃惁鈥濓紝鍒欎笉浼氳繘琛屼换浣曟洿鏀广€�
| 锛�10锛夋槸鍚﹀睆钄� PX4 鑷韩鎺у埗鍣ㄨ緭鍑恒€傝嫢璇ラ€夐」璁剧疆涓衡€滄槸鈥濓紝鍒欎細瀵� PX4 鑷韩鐨勬帶鍒跺櫒杈撳嚭淇″彿杩涜灞忚斀锛岄槻姝㈠叾涓� Simulink 鐢熸垚鐨勬帶鍒跺櫒鍙戠敓鍐茬獊銆傚湪鏈功鐨勪豢鐪熶笌瀹為檯椋炶瀹為獙涓紝杩欎竴椤瑰繀椤昏缃负鈥滄槸鈥濄€傝嫢閫夋嫨鈥滃惁鈥濓紝鍒欎笉浼氬 PX4 鑷韩鐨勬帶鍒惰緭鍑鸿繘琛屽睆钄斤紝杩欑妯″紡鍙互鐢ㄤ簬娴嬭瘯 PX4 鑷甫鐨勬帶鍒剁畻娉曘€�
.. note::
娉ㄦ剰锛歅X4 鍥轰欢鐗堟湰浠� 1.9 寮€濮嬶紝鍥轰欢缂栬瘧鍛戒护鐢� ``px4fmu-v3_default.px4`` 鍙樻洿涓轰簡 ``px4 fmu-v3_default.px4`` 鏍煎紡銆傜敱浜庢湰涔︿娇鐢ㄧ殑杞欢鍖呬細鎸佺画鏇存柊锛屼负纭繚瀵规渶鏂扮増鏈� PX4 鍥轰欢鐨勬敮鎸侊紝鍦ㄤ娇鐢ㄥ悗缁柊鐗堟湰鍥轰欢(澶т簬绛変簬 1.9)鏃讹紝闇€瑕佹敞鎰忎慨鏀圭紪璇戝懡浠ょ殑鏍煎紡銆�
瀹夎瀹屾垚鏁堟灉
-------------------------
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锛�1锛夋闈笂鑳藉鐪嬪埌鐢熸垚鐨勬牳蹇冨伐鍏风殑蹇嵎鏂瑰紡锛�
.. figure:: /images/2-6.jpg
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