Cov txheej txheem:
- Kauj ruam 1: Kho vajtse
- Kauj ruam 2: Tsim
- Kauj Ruam 3: Kev tsim thiab sib dhos
- Kauj Ruam 4: Teeb Tus Kws Tswj Multiwii Code
- Kauj Ruam 5: Siv Multiwii GUI
- Kauj Ruam 6: PID Tuning thiab Calibration Tips
- Kauj ruam 7: Fly
Video: DIY Arduino Control Multiwii Flight Controller: 7 Cov Kauj Ruam (nrog Duab)
2024 Tus sau: John Day | [email protected]. Kawg hloov kho: 2024-01-30 09:27
Txoj haujlwm no yog los tsim kom muaj ntau yam tseem ceeb tsis tau siv ntau lub dav hlau drone logic-board raws Arduino thiab Multiwii.
Kauj ruam 1: Kho vajtse
Ib qho Arduino Nano tau siv los ua cov laj thawj thiab MPU-6050 tau ua tiav rau kev ntsuas lub ntsej muag thiab ntsuas lub ntsuas cua.
Kauj ruam 2: Tsim
Download tau Fritzing. Nws yog kev tsim hluav taws xob tsim hluav taws xob rau cov kab hluav taws xob me me, yooj yim dua. Nws yog ib qho yooj yim tshaj plaws tab sis muaj txiaj ntsig PCB tsim software muaj.
Kuv tus qauv tsim muaj nyob ntawm "myPCB.fzz" txuas.
Yog tias koj lub sensor tsis muaj nyob rau hauv Fritzing los ntawm lub neej ntawd, koj tuaj yeem rub tawm lub sensor cov txheej txheem (.fzz file) thiab rub cov ntawv rau hauv chaw ua haujlwm.
Kauj Ruam 3: Kev tsim thiab sib dhos
Lawv yog ob txoj hauv kev los hais txog kev ua PCB los ntawm koj tus qauv. Kuv siv thawj qhov kev xaiv thaum ua haujlwm ntawm txoj haujlwm no.
Tsim PCB hauv online
Kuv siv SeeedStudio nrog cov txiaj ntsig zoo ntawm tus nqi sib tw.
Ntawm Fritzing, xa koj cov phiaj xwm los ua cov ntaub ntawv gerber.
Koj tuaj yeem saib cov qauv tsim los ntawm kev xa cov ntaub ntawv gerber (s) ntawm no.
Tom qab ntawd tsim ib tus as khauj ntawm seeedstudio, rub koj cov ntaub ntawv gerber rau hauv SeeedStudio cov nplooj tsim, thiab xaj kom raws li qhov xav tau tshwj xeeb.
Los ua ke
Muab koj cov khoom tso rau hauv koj lub PCB. Xav txog 3D luam ntawv casing rau lub davhlau tswj.
Kauj Ruam 4: Teeb Tus Kws Tswj Multiwii Code
MultiWii tus lej pub dawb, siv tau yooj yim, thiab nws txhawb nqa ntau (feem ntau) tsim.
Rub tawm Multiwii thiab Arduino IDE.
Txuas lub dav hlau tswj mus rau koj lub computer.
Hauv lub khoos phis tawj, qhib qhov rub tawm MultiWii nplaub tshev thiab qhib Arduino cov ntaub ntawv hu ua "MultiWii.ino".
Nkag mus rau tab "config.h" thiab rho tawm "//", xaiv hom xav tau ntawm ntau lub tshuab.
Scroll cia thiab nkag mus yam tsawg kawg thiab qhov siab tshaj plaws ntawm koj tus xa tawm.
Tsis lees paub cov sensors siv.
Tom ntej no, ua raws cov lus qhia hais qhia thoob plaws hauv daim ntawv.
Tom qab ntawd, nyob rau sab saum toj cov ntawv qhia zaub mov ntawm IDE, nyem rau ntawm Cov Cuab Yeej, Boards, thiab xaiv Arduino micro-controller koj tab tom siv.
Tom qab ntawd, nyem rau ntawm Tools, Port, thiab xaiv lub khoos phis tawj qhov chaw nres nkoj uas koj tus tswj hwm nyob.
Rub tawm Multiwii code los ntawm txhaj lub pob zoo li tus xub.
Tom qab rub tawm, cov ntawv "upload tau zoo" yuav tsum tshwm ntawm IDE.
Kauj Ruam 5: Siv Multiwii GUI
Qhib koj MultiWii nplaub tshev, nyem rau MultiwiiConf, application.windows32 (lossis qhov kev xav tau ntawm lub operating system xaiv), thiab thaum kawg qhib MultiWiiConf.exe.
Nyob rau sab laug sab saum toj ntawm lub qhov rais, xaiv qhov chaw nres nkoj koj lub davhlau tswj hwm tau qhib thiab nyem rau ntawm pib. Qhov tseem ceeb Sensor yuav tsum qhia ntawm daim ntawv thov.
Ntawm sab xis, xaiv hom sensor. Txhawm rau ntsuas lub ntsuas, maj mam txav/qaij lub davhlau tswj raws li tau hais kom ua.
Tus qauv ntawm qhov xav tau drone yuav tsum tshwm ntawm daim ntawv thov. Nws lub zog yuav tsum ua raws li qhov txav ntawm lub davhlau tswj.
Kauj Ruam 6: PID Tuning thiab Calibration Tips
Txuas lub davhlau tswj hwm mus rau ntau lub tshuab los kho PID qhov tseem ceeb.
Teem lub PID qhov tseem ceeb rau lub hauv paus thiab ua kom ntseeg tau tias ntau lub tshuab ua haujlwm lub ntiajteb txawj nqus nyob hauv nruab nrab.
Ua tib zoo tuav lub nyoob hoom qav taub kom koj lub gyroscope nyeem ntawv hauv GUI tiaj tus. Tom qab ntawd teeb tsa lub tog raj kheej rau 50%.
Nco tseg: Yog tias qhov ntsuas tus nyeem ntawv hloov pauv ntau heev, uas yog qhov qhia tau tias muaj kev co ntau dhau. Kev co dampeners yuav tsum tau txo qis kev co (Kuv siv Daim Kab Xev Ob Sab ua lwm txoj hauv kev daws teeb meem).
Tam sim no thaum ua tib zoo tuav koj lub rotor nyob rau hauv qhov chaw nyab xeeb, ua kom lub qhov rooj kaw kom txog thaum lub dav hlau txav mus los tsis muaj qhov hnyav.
Tso siab (ntshiv) ntawm txhua lub axis ntawm lub drone. Koj yuav tsum xav tias tsis kam tawm tsam qhov kev hloov ntawd. Hloov P tus nqi kom txog thaum qhov kev tawm tsam no tseem ceeb.
Nrog koj txhais tes, oscillate (qaij) lub drone rov qab los nrog koj txhais tes. Ntawm daim ntawv thov, nce tus nqi P kom txog thaum lub drone nyuam qhuav pib oscillating ntawm nws tus kheej. Tam sim no txo tus nqi P me ntsis. Rov ua cov txheej txheem no, lub sijhawm no txav lub drone mus rau ob sab (mus rau sab laug thiab sab xis).
Cov ntsuas ntsuas yuav tsum tsim nyog rau davhlau tam sim no.
Txhawm rau kho cov lus qhia rau ntau hom davhlau, saib ntawm "Advanced Tuning - kev ua tau zoo" ntu ntawm no.
Kauj ruam 7: Fly
Xav tias yuav mus sim ntxiv nrog PID qhov tseem ceeb nrog kev ceev faj.
Yog tias koj xav ntxiv cov yam ntxwv ntxiv rau koj lub drone, koj tuaj yeem txiav txim siab ntxiv cov kwj nyob nrog siv Raspberry Pi lossis ntxiv Bluetooth lub peev xwm rau nws.
Ua tsaug tshwj xeeb rau robobot3112 rau kev pab kuv teeb tsa kuv lub davhlau tswj.
Yog tias koj xav tias txoj haujlwm no tsim nyog nws, tsis txhob hnov qab pov npav, nyiam, lossis sau npe.
Zoo siab los tham txog lwm qhov ua tau, nug kuv cov lus nug, lossis qhia kev xav hauv nqe lus hauv qab no.
Muaj kev lom zem ya!
Pom zoo:
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