[Flight Control Development Advanced Course 7] Crazy Shell Open Source Formation UAV - Formation Flight

COCOFLY教程
——疯壳·无人机·系列
编队飞行
    

图1    
    
    
    一、编队飞行
    COCOFLY Support formation flight,Formation flying needs to rely on the formation's graphic code map as wellCOCOFLY host computer to achieve.The specific steps are shown in the table below.
    
    
    表1
    （1）Prepare a graphic code map：The graphic code map is placed in strict accordance with the order and position shown in the following diagrams as required;
    
    
    图2
    These image codes will be provided in the data package,即“软件工具”下方的“OPENMV 相关” 内,And the corresponding numerical serial number has been marked,如下图所示.
    
    
    图3
    That is graphics code 0 摆放在 0 的位置,图形码 1 摆放在 1 的位置,依次类推, The interval between the two is 50cm 左右最佳.The map size of the specific graphic code can be flexibly changed,不一定要全部 400 Use all,The size can be adjusted according to the actual application,For example, it can be placed 6*6
    graphic code,这里的“6”Refers to the number of graphic codes.如下图所示,Just place the red frame part.But you need to pay attention to the position of the serial number must be placed correctly.
    
    
    图4
    The figure below shows the graphic code map of different sizes.
    2*2 图形码：
    
    
    图5
    4*4 图形码：
    
    
    图6
    6*6 图形码：
    
    
    图7
    7*7 图形码：
    
    
    图8
    10*10 图形码：
    
    
    图9
    12*12 图形码：
    
    
    图10
    （2）Set the flight control formation parameters：使用 USB Connect the data cable to the plane,打开 COCOFLY 上位机,在“基础收发”Refresh the serial port in the interface,The host computer automatically recognizes the serial port,然后点击“打开”即可.如果没有识别到,You need to find the installation of the corresponding system according to the provided virtual serial port driver, 如 win7、64 bit system is installed“VCP_V1.5.0_Setup_W7_x64”,如下图所示.
    
    
    图11
    The position where the host computer opens the serial port is shown in the figure below.
    
    
    图12
    Then click on the left side of the upper computer“飞控设置”,Switch to the flight control settings interface.Put it under the formation settings interface“Formation mode”设置为“是”,然后设置“编号”,The range of this number depends on the number of aircraft joining the formation,For example, the number of aircraft joining the formation is 4 架飞机,Then the number can be set to 0~3,But the four aircraft numbers cannot be repeated,This way each aircraft has its own ID 编号; Finally set the wireless channel,This signal can be filled 0~125 任意数字,However, the channels joining the formation must be the same,In this way, all four aircraft can receive orders;最后点击“发送”,The setup information will be sent to the aircraft,You can see the four flight status lights of the aircraft flashing,It can also be read at this time,You can see that the information has changed,（注意：If you don't use formation, you need to set formation mode to “否”）.如下图所示.
    
    
    图13
    According to the number of aircraft in formation 4 example of an airplane,Set up the four planes in sequence,Here, the formation channel is set as 110 做示例.
    Set the formation formation：Setting up the formation formation requires connecting the remote control,Also pick up USB The line is on the remote control,打开串口,然后切换到“图形编队”界面,以 4*4 The formation map for an example of formation, Pairs of graphic codes are adjacent to each other 50cm,如下图所示.
    
    
    图14
    in formation“Image formation”inside the upper point“设置”,Here you need to set the horizontal axis range、纵轴范围、飞机数量、网格间距、飞行速度、formation channel.According to the graphic code map, the interval is pairwise50cm And the number of vertical and horizontal graphic codes is 4,按照(n+1)*50 的公式,Set the horizontal axis of the host computer、纵轴,这里的 n is the vertical and horizontal number of the graphic code 4,Set according to the formula to know the horizontal axis range、The vertical axis range is both 250CM,网格间距为 50CM;Because it is a formation of four planes,飞机数量为 4;Because the formation channel set by the aircraft is 110,The remote's formation channel is also set to 110;The last is the recommended setting for flight speed 50~100cm/s 之间.最后点击“确定”即可,如下图所示.
    
    
    图15
    After that, the four planes set up will appear on the interface,At this time, the coordinates of the host computer will be in one-to-one correspondence with the graphic code map,Just drag and drop them to the preset takeoff place（注意：It's best to keep the planes farther apart）,如下图所示.
    
    
    图16
    此时飞机 0 位于坐标（50,50）的位置,That is, the graphic code on the map corresponding to the image code 0
    的位置、飞机 1 位于坐标（200,20）……
    The graphic code map corresponding to the position where the final aircraft needs to be placed is shown below.
    
    
    图17
    设置好之后,You can select the aircraft to form a formation,Click on the aircraft on the host computer to select it,Click again to deselect.Four aircraft are selected here,Click Takeoff above,Then set the takeoff altitude,点击“确定”,最后点击“Add pairs of columns”You can see that the first formation appears at the position of the formation,步骤如下图所示.
    
    
    图18
    Select the corresponding formation in the formation box to change the delay time after the formation is executed. Here the delay is changed 10 秒,You can also expand to view specific formation information.如下图所示.
    
    
    图19
    Four aircraft are selected,点击“降落”、“Add pairs of columns”,This will add a new formation, 如下图所示.
    
    
    图20
    So far, a simple formation has been completed,点击“编队”下方的“运行”You can view the preview phenomenon,The flight path can be seen（显示轨迹）、And a preview of the flight process（模拟飞行）,如下图所示.
    
    图21
    Open the plane placed on the corresponding graphic code,The remote control will connect to the corresponding aircraft,在“Add pairs of columns” 旁的“Fleet information”Four planes can be seen“在线”,If not visible or incomplete,可以点击“搜索”,Or power up the plane again,Know that all four planes are online.点击“编队”下方的“Start the formation”,The planes will follow the formation of the formation,执行相应的动作,The specific phenomenon is that four planes take off in situ,Then hover 10 秒,最后降落.
    Here is just the simplest example of takeoff and landing formation,There are many other additional functions,Here is a unified table listing,见下表.
    
   
    表2
    注意：The formation flight process involves a large number of aircraft,容易发生碰撞,Users need to consider the actual operation effect of the formation（Can be combined with preview）,And pay attention to the formation flight process,People should be within the range of the formation flight area 2~3 米