PX4開發環境搭建--模擬器編譯

• 1. PX4開發環境介紹
• 2. PX4開發環境搭建
• • 2.1代碼下載
  • 2.2 國內環境調整
  • 2.3 建立ubuntu開發環境
  • 2.4 構建jMAVSim仿真
  • 2.5 補充版本信息
• 3. jmavsim仿真環境
• • 3.1 仿真命令集
  • 3.2 命令實例
• 4. QGroundControl & RC遙控模擬配置
• • 4.1 QGroundControl配置
  • 4.2 RC遙控器配置

之前我們在做BetaFlight開源工程結構簡明介紹的時候，有過一張開源飛控的介紹圖譜。

從這張圖譜我們看到基本上有5條軸線：

Pixhawk // PX4

Ardupilot

OpenPilot

MultiWii // baseflight/cleanflight/betaflight

Paparazzi

BaseFlight/CleanFlight/BetaFlight目前在穿越機上的應用比較廣泛。穿越機通常是小型機，比如：5寸以下。且整體起飛重量都比較輕，置空時間通常也就10分鐘~30分鐘范圍。

航拍，無人巡航的角度，不是僅僅RC控制，更多功能需要通過地面站的接入處理。從這個角度來說，PX4就有很好的優勢（這篇文章主要是介紹PX4，其他當然也有很好的Paparazzi等）。

1. PX4開發環境介紹

整個PX4開發環境可以用于非常多的實例：

• Pixhawk和NuttX-based硬件
• jMAVSim 仿真
• Gazebo 仿真
• Raspberry Pi
• ROS (Robotics Operating System)
• Fast DDS - Required for ROS2

注：這里主要介紹基于Ubuntu 20.04 LTS （Focal Fossa）的搭建。

2. PX4開發環境搭建

2.1代碼下載

$ git clone https://github.com/PX4/PX4-Autopilot.git --recursive

2.2 國內環境調整

這些東西都是國外的，國內整體情況（比如：網絡等）不理想，因此需要做一些調整。

• 調整ubuntu本地apt升級路徑：aliyun

$ sudo vi /etc/apt/sources.list # deb cdrom:[Ubuntu 20.04.2.0 LTS _Focal Fossa_ - Release amd64 (20210209.1)]/ focal main restricted# See http://help.ubuntu.com/community/UpgradeNotes for how to upgrade to # newer versions of the distribution. deb http://mirrors.aliyun.com/ubuntu/ focal main restricted## Major bug fix updates produced after the final release of the ## distribution. deb http://mirrors.aliyun.com/ubuntu/ focal-updates main restricted## N.B. software from this repository is ENTIRELY UNSUPPORTED by the Ubuntu ## team. Also, please note that software in universe WILL NOT receive any ## review or updates from the Ubuntu security team. deb http://mirrors.aliyun.com/ubuntu/ focal universe # deb-src http://hk.archive.ubuntu.com/ubuntu/ focal universe deb http://mirrors.aliyun.com/ubuntu/ focal-updates universe # deb-src http://hk.archive.ubuntu.com/ubuntu/ focal-updates universe## N.B. software from this repository is ENTIRELY UNSUPPORTED by the Ubuntu ## team, and may not be under a free licence. Please satisfy yourself as to ## your rights to use the software. Also, please note that software in ## multiverse WILL NOT receive any review or updates from the Ubuntu ## security team. # deb-src http://hk.archive.ubuntu.com/ubuntu/ focal multiverse # deb-src http://hk.archive.ubuntu.com/ubuntu/ focal-updates multiverse## N.B. software from this repository may not have been tested as ## extensively as that contained in the main release, although it includes ## newer versions of some applications which may provide useful features. ## Also, please note that software in backports WILL NOT receive any review ## or updates from the Ubuntu security team. deb http://mirrors.aliyun.com/ubuntu/ focal-backports main restricted universe## Uncomment the following two lines to add software from Canonical's ## 'partner' repository. ## This software is not part of Ubuntu, but is offered by Canonical and the ## respective vendors as a service to Ubuntu users. # deb http://archive.canonical.com/ubuntu focal partner # deb-src http://archive.canonical.com/ubuntu focal partnerdeb http://mirrors.aliyun.com/ubuntu/ focal-security main restricted deb http://mirrors.aliyun.com/ubuntu/ focal-security universe # deb-src http://security.ubuntu.com/ubuntu focal-security universe # deb-src http://security.ubuntu.com/ubuntu focal-security multiverse# This system was installed using small removable media # (e.g. netinst, live or single CD). The matching "deb cdrom" # entries were disabled at the end of the installation process. # For information about how to configure apt package sources, # see the sources.list(5) manual.

• 調整python3本地pip升級路徑：tsinghua

diff --git a/Tools/setup/ubuntu.sh b/Tools/setup/ubuntu.sh index 25c12cb170..8bdc7ae910 100755 --- a/Tools/setup/ubuntu.sh +++ b/Tools/setup/ubuntu.sh @@ -105,10 +105,10 @@ echoecho "Installing PX4 Python3 dependencies"if [ -n "$VIRTUAL_ENV" ]; then# virtual envrionments don't allow --user option - python -m pip install -r ${DIR}/requirements.txt + python -m pip install -i https://pypi.tuna.tsinghua.edu.cn/simple -r ${DIR}/requirements.txtelse# older versions of Ubuntu require --user option - python3 -m pip install --user -r ${DIR}/requirements.txt + python3 -m pip install -i https://pypi.tuna.tsinghua.edu.cn/simple --user -r ${DIR}/requirements.txtfi# NuttX toolchain (arm-none-eabi-gcc)

2.3 建立ubuntu開發環境

$ bash ./PX4-Autopilot/Tools/setup/ubuntu.sh

注：如果缺少2.2步驟，將會遇到非常多莫名其妙的問題，大體還是網絡問題。

2.4 構建jMAVSim仿真

$ make px4_sitl jmavsim

2.5 補充版本信息

目前，使用git最新版本：

commit ffb0097052227e1b7dc2665463b6b9de33bbf835 (HEAD -> master, origin/master, origin/HEAD) Author: CR <christopher.ruwisch@tu-berlin.de> Date: Wed Jun 22 21:50:30 2022 +0200removed unused code - _constrainOneSide and _constrainAbs

這個版本在實際使用過程存在一個問題，當2.4編譯成功后，無法看到模擬GUI界面，主要是缺少ant組件，導致腳本jmavsim_run.sh的73行代碼無法執行。

PX4-Autopilot/Tools/jmavsim_run.sh +73ant create_run_jar copy_res

所以請確認ant是否已經安裝：

$ sudo apt-get install ant

3. jmavsim仿真環境

3.1 仿真命令集

仿真環境下支持的命令列表如下：

pxh> help Builtin Commands:actuator_testairship_att_controlairspeed_selectorattitude_estimator_qbattery_simulatorcamera_feedbackcamera_triggercdev_testcommandercommander_testscontrol_allocatorcontrollib_testdatamandynekf2ex_fixedwing_controlfailurefake_gpsfake_imufake_magnetometerflight_mode_managerfw_att_controlfw_autotune_attitude_controlfw_pos_control_l1gimbalgpsgyro_calibrationgyro_ffthellohrt_testland_detectorlanding_target_estimatorled_controllist_fileslist_taskslistenerload_monlocal_position_estimatorloggermag_bias_estimatormanual_controlmavlinkmavlink_testsmc_att_controlmc_autotune_attitude_controlmc_hover_thrust_estimatormc_pos_controlmc_rate_controlmixermotor_testnavigatorparamperfpwmpwm_out_simpx4_mavlink_debugpx4_simple_apprc_testsrc_updatereplayrover_pos_controlrover_steering_controlrpm_simulatorsd_benchsend_eventsensor_baro_simsensor_gps_simsensor_mag_simsensorsshutdownsihsimulatorsleepsystem_timetemperature_compensationteststone_alarmtune_controluorbuorb_testsuuv_att_controluuv_example_appuuv_pos_controlvervtol_att_controlwork_item_examplework_queuewqueue_test

3.2 命令實例

舉例：
commander takeoff //起飛
commander land //降落

注：由于我的遙控器距離有問題，去維修了（四軸飛控DIY集成FPV功能），有興趣的朋友可以跑下QGroundControl。后續有時間再做更新！！！

4. QGroundControl & RC遙控模擬配置

上次我們說過要做后續更新，更新就是如何基于模擬器來簡單實現一些基本飛控操作。這個主要還是在于PX4模塊設計之一：SITL & HITL模擬框架。這里主要還是基于SITL這個框架做了一個QGroundControl遠程連接，以及QGroundControl上連接一個模擬遙控器（采用BetaFlight KakuteF7 + ELRS遙控，真實設備）

注：BetaFlight固件（4.2.11）是支持作為模擬器輸入，便于更好的使用仿真軟件來學習手動飛行。

4.1 QGroundControl配置

新建一個連接，并將配置接到SITL的18570端口上。這樣PX4 SITL軟件可以跑在一臺電腦（通常大家習慣Windows系統）上，而編譯系統（Ubuntu 20.4）編譯PX4 SITL跑在編譯機器上做仿真。
具體QGroundControl的配置如下，記得使用前一定要Connect哦！！！
注：QGroundControl使用

4.2 RC遙控器配置

首先，要根據4.1章節，先Connect；這樣Vehicle Setup才會出來。出來以后接上自己的模擬遙控器咯，把USB插上去就OK了。
看到設備以后，第一次一定要校準。

總結

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