ArDrone 2.0 Quadcopter Control Unit ntawm MPU6050 thiab ESP8266 Module: 7 Kauj Ruam

2024 Tus sau: John Day | [email protected]. Kawg hloov kho: 2024-01-30 09:25

Qhov loj me, tus nqi thiab muaj Wi-nkaus tso cai rau koj los ua tus tswj hwm pob nyiaj siv rau ArDrone 2.0 quadrocopter ntawm ESP8266 tus qauv (tus nqi ntawm AliExpress, Gearbest). Rau kev tswj hwm, peb yuav siv Gy-521 Module ntawm MPU6050 nti (gyroscope, accelerometer).

Parrot AW. Drone yog lub xov tooj cua tswj quadrocopter, uas yog, lub nyoob hoom qav taub nrog plaub lub ntsiab lus tig rau ntawm kab teeb pom kev deb. Cov AR. Drone nws tus kheej ua haujlwm ntawm Linux kev ua haujlwm, thiab yuav luag txhua lub Android lossis iOS kov lub vijtsam smartphone lossis ntsiav tshuaj tuaj yeem ua tus tswj chaw taws teeb rau lub quadcopter. Qhov kev tswj hwm ruaj khov ntawm Wi-Fi nyob deb li ntawm 25 txog 100 metres thiab nyob ntawm chav thiab huab cua, yog tias ya dav hlau mus rau ntawm txoj kev.

Kauj Ruam 1: Txuas ESP8266 mus rau Ar Drone 2.0 Access Point

Thaum qhib, AR. Drone tsim qhov SSIS nkag mus rau "ardrone_XX_XX". Txuas tsis muaj tus password.

Cia peb sim txuas mus rau Ar. Dron nkag mus siv AT cov lus txib Txuas daim npav ESP8266 mus rau lub khoos phis tawj com chaw nres nkoj ntawm UART USB adapter txuas hluav taws xob 3.3 V.

Qhib Arduino IDE, tus saib xyuas chaw nres nkoj, thiab xa AT cov lus txib mus rau ESP Board (lub quadcopter yuav tsum tau qhib)

Kauj Ruam 2: Kev Sib Txuas Nrog AR. Drone Ua tiav Siv AT Commands

Cov lus txib raug xa mus rau AR. Drone li UDP lossis TCP pob ntawv;

Ib pob ntawv UDP nkaus xwb yuav tsum muaj tsawg kawg ib qho lus txib ua tiav lossis ntau dua; Yog tias pob muaj ntau dua ib lo lus txib, tus cim 0x0A yog siv los cais cov lus txib.

Cov hlua raug sau ua 8-ntsis ASCII cov cim;

Qhov siab tshaj plaws hais kom ntev yog 1024 cim;

Muaj 30 MS ncua sijhawm ntawm cov lus txib.

Cov lus txib muaj

AT * [lub npe hais kom ua] = [hais kom ua ntu zus raws li txoj hlua] [, kev sib cav 1, kev sib cav 2 …]

Cov npe ntawm AT cov lus txib tseem ceeb rau kev tswj hwm AR. Drone:

AT * REF-siv rau kev nce tsheb, tsaws, rov pib dua, thiab nres thaum muaj xwm ceev;

AT*PCMD-cov lus txib no yog siv los tswj AR. Drone txav;

AT*FTRIM - ntawm lub dav hlau kab rov tav;

AT*CONFIG-teeb tsa AR. Drone tsis;

AT*LED-teeb tsa LED cov duab ntawm AR. Drone;

AT*ANIM-txhim kho kev ya dav hlau ntawm AR. Drone.

AT * COMWDG-watchdog rov pib ua haujlwm-peb xa nws tas li mus rau lub quadcopter.

Cov chaw nres nkoj hauv qab no yog siv rau kev sib txuas lus:

Chaw nres nkoj 5556-UDP-xa cov lus txib rau AR. Drone;

Chaw nres nkoj 5554-UDP-tau txais cov ntaub ntawv pob los ntawm AR. Drone;

Chaw nres nkoj 5555-Teb cov kwj video ntawm AR. Drone;

Chaw nres nkoj 5559-TCP pob ntawv rau cov ntaub ntawv tseem ceeb uas tsis tuaj yeem ploj, feem ntau yog rau kev teeb tsa.

Cov neeg siv khoom sib txuas los ntawm UDP chaw nres nkoj tom qab ncua sijhawm 2 vib nas this tom qab xa cov lus txib kawg !!! - yog li ntawd, koj yuav tsum xa cov lus txib tas li, yog tias tsim nyog-AT*COMWDG.

Xav txog kev tau txais cov ntaub ntawv qhia los ntawm ARDrone (Chaw Nkag 5554-UDP). Cov ntawv qhia cov ntaub ntawv qhia hauv hom ua qauv qhia yog 500 bytes ntev. Yog tias muaj qee yam tsis raug, lub drone tuaj yeem xa pob ntawv 32-thiab 24-byte. Yog tias pob ntawv yog 24 bytes ntev qhov no txhais tau tias chaw nres nkoj 5554 nyob hauv BOOTSTRAP hom thiab koj yuav tsum rov txuas mus rau chaw nres nkoj kom hloov nws mus rau Demo hom ARDrone tuaj yeem xa cov ntaub ntawv qhia mus rau tus neeg siv khoom hauv ob daim ntawv:

luv (lossis demo), 500 bytes loj. tiav.

Txhawm rau kom tau txais cov ntaub ntawv demo, thawj zaug xa plaub bytes 0x01, 0x00, 0x00, 0x00 rau chaw nres nkoj 5554, thiab tom qab ntawd xa cov lus txib mus rau chaw nres nkoj 5556

AT*CONFIG = "+(seq ++)+", / "general: navdata_demo \", / "TRUE \" qhov twg seq yog tus lej txuas ntxiv ntawm qhov hais kom ua.

Cov qauv ntawm cov ntaub ntawv qhia txog pob. Muaj 4 lub npe muaj nuj nqis thaum pib ntawm pob:

32-ntsis pob ntawv header: qhov xwm txheej nyoob hoom qav taub 32 khoom;

tus lej lej ntawm cov lus txib zaum kawg xa mus rau lub dav hlau los ntawm tus neeg siv khoom 32 khoom;

tsis pom kev chij 32 khoom. Next-the navdata option Header: 20-23.

Kev xaiv navdata muaj cov haujlwm hauv qab no:

Roj teeb = 24; roj teeb them raws li feem pua;

PIB = 28; lub kaum sab xis ntawm inclination raws txoj kab ntev;

ROLL = 32; lub kaum sab xis ntawm inclination txheeb ze rau txoj kab hla;

YAW = 36; lub kaum sab xis ntawm kev sib hloov txheeb ze rau txoj kab ntsug;

ALTITUDE = 40; qhov siab;

VX = 44; x-axis ceev;

VY = 48; y-axis ceev;

VZ = 52; ceev ntawm z axis.

Kauj Ruam 3: Txuas Nokia 5110 Zaub rau ESP8266 Pawg Thawj Coj

Txuas Nokia 5110 zaub rau ESP8266 tus qauv thiab tso tawm qee cov ntaub ntawv qhia rau nws thiab mus rau qhov chaw nres nkoj saib xyuas

Kauj Ruam 4: Tau Txais Cov Ntaub Ntawv Qhia thiab Qhia Nws ntawm Nokia5110 Zaub

Rub tawm (kos duab kos duab ardrone_esp8266_01. Ino), thiab soj ntsuam qhov tso tawm ntawm cov ntaub ntawv qhia mus rau qhov chaw nres nkoj thiab lub vijtsam zaub.

Kauj Ruam 5: Xa Cov Nqes Tawm thiab Tsaws Cov Lus txib

Tam sim no peb yuav ntxiv rau peb txoj haujlwm tshem tawm thiab tsaws ntawm lub quadcopter nrog cov lus txib los ntawm kev tswj chaw taws teeb. Txhawm rau tshem tawm, koj yuav tsum xa cov lus txib

AT*REF = [Tus lej naj npawb], 290718208

Rau tsaws

AT*REF = [Tus lej naj npawb], 290717696

Ua ntej yuav mus, koj yuav tsum xa cov lus txib rau kev ntsuas ntsuas kab rov tav, txwv tsis pub Ar Drone yuav tsis tuaj yeem ruaj khov thaum lub davhlau.

AT * F TRIM = [Sequence naj npawb]

Tshaj tawm daim duab kos duab ardrone_esp8266_02.ino () rau ESP8266 Pawg Thawj Coj, tig rau Ar Drone 2.0 quadcopter thiab tshawb xyuas lub pob ua haujlwm. Thaum koj nyem-tshem tawm, lub sijhawm tom ntej koj nyem-tsaws, thiab lwm yam.

Kauj Ruam 6: Txuas MPU6050 los Tswj Ardrone 2.0

Sensors rau kev txiav txim siab txoj haujlwm hauv qhov chaw tau siv los tswj cov quadrocopters. MPU6050 nti muaj ob qho ntsuas thiab ntsuas lub ntsuas cua ntawm lub Rooj Tswjhwm Saib, nrog rau ntsuas kub. MPU6050 yog lub hauv paus tseem ceeb ntawm Gy-531 module (Daim duab 15.44). Ntxiv nrog rau cov nti no, pawg Thawj Coj muaj qhov tsim nyog MPU6050 khi, suav nrog rub tawm tus tiv thaiv ntawm I2C interface, ntxiv rau 3.3-volt voltage stabilizer nrog lub zog me me poob (thaum siv zog ntawm 3.3 volts, tso tawm ntawm stabilizer yuav yog 3 volts raws nraim) nrog lim capacitors.

Txuas nrog lub microcontroller siv I2C raws tu qauv.

Kauj Ruam 7: Tswj lub Quadcopter Siv MPU6050

Kev siv lub ntsuas qhov ntsuas thiab ntsuas lub ntsej muag tso cai rau koj los txiav txim siab qhov sib txawv ntawm x thiab y axes, thiab qhov sib txawv "tig" rau hauv cov lus txib rau txav lub quadcopter raws qhov sib thooj. Kev txhais lus ntawm kev nyeem tau txais los ntawm lub sensor mus rau lub kaum ntse ntse.

cov lus txib kom xa mus rau Ar Drone rau kev tswj dav hlau

AT*REF = [Sequence number], [Flag bit-field], [Roll], [Suab], [Gaz], [Yaw]

Qhov tseem ceeb ntawm Yob thiab Suab hauv thaj tsam -1 txog 1 raug coj los ntawm lub rooj const ntab ntab , qhov ntsuas tau sib haum rau lub kaum sab xis ntawm qhov sib txawv suav los ntawm mu6050 sensor cov ntaub ntawv.

Tshaj tawm daim duab kos duab ardrone_esp8266_03.ino nws mus rau ESP8266 Pawg Thawj Coj, tig rau ntawm Drone 2.0 quadrocopter thiab txheeb xyuas kev ua haujlwm ntawm cov chaw taws teeb.