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F200 - UAV equipped with domestic open source flight control system based on Model Design
2022-07-06 18:02:00 【Amu Laboratory】
One 、F200 brief introduction F200 It's based on FMT The first UAV product developed by the open source self driving instrument project , It aims to provide an ideal UAV R & D and testing platform for UAV enthusiasts and researchers . Support outdoor height setting 、 Fixed point , Take off with one click , One touch landing , One click return , Waypoint planning and other functions . Add optical flow later 、 Laser sensor navigation support after , Can support indoor No GPS Fixed point function of , The following is from amu Laboratory - Xiaoqi brings you F200 Real machine test video : https://www.bilibili.com/video/BV1834y157PS?spm_id_from=333.999.0.0
F200 Use the latest FMT The firmware , A set of commercial multi rotor algorithm models are provided , Including navigation 、 control 、 State machine and controlled object model . be based on MATLAB/Simulink Quickly build algorithm model by graphical programming , The closed-loop verification of the algorithm is carried out through advanced simulation technology . At the same time, it supports one click code generation , Seamlessly integrated into the embedded flight control system , Save the tedious of writing code manually and improve the efficiency and reliability of the code .
Two 、FMT Project brief introduction FMT It is the first model-based development (Model-based-design,MBD) Open source self driving instrument system , Its software ecosystem consists of the following three parts :
FMT-Firmware:C Language development of high-performance flight control embedded software system . FMT-Model: be based on MATLAB/Simulink Built MBD Simulation platform . FMT-Sim: be based on 3D The simulation environment implemented by the engine , Provide realistic rendering effects and rich simulation scenes .
Functional characteristics : C Lightweight language implementation 、 High real time 、 High performance embedded software system , Support C/C++ Mixed compilation . Based on domestic RTOS RT-Thread, It has an active open source community and rich third-party components . Support MBD(Model-based Design) Whole process development ,MIL、SIL、HIL as well as SIH Simulation support . be based on Matlab/Simulink Implemented algorithm and model base , Graphic programming , Support simulation and automatic code generation . Support Mavlink Agreement and open source ground station QGroundcontrol. Support widely used open source hardware Pixhawk/Pixhawk4 etc. , as well as QEMU Simulator . Adopt cross platform development tool chain , Support Win/Linux/Mac And other platforms .
FMT The research and development of unmanned control system from embedded software to modeling and simulation is constructed / Test platform , In order to make it convenient for everyone to understand FMT project , Here is FMT author Echo Bring you the video of project introduction : https://mp.weixin.qq.com/s?__biz=MzIwNzgxNzg0Mg==&mid=2247525685&idx=1&sn=ade442b4300033ff1b0ca6a1c5135826&chksm=970eb828a079313ed9c9008bf454377d336dab318e93b0d519d26622c3134430c7a7e85e969c&token=1333118673&lang=zh_CN#rd
see 《F200 UAV user manual 》 Please go to the address :https://wiki.amovlab.com/public/fserieswiki/
FMT Project address :https://github.com/Firmament-Autopilo
F200 As the only one based on FMT Developed UAV , Considering that most UAV developers are FMT Open source projects are not yet familiar , therefore , Anyone who buys F200 Developers of unmanned aerial vehicles , In addition to providing learning courses and materials , There will also be an extra gift for 31 Day's exclusive Q & a service , from FMT The main developers of open source projects answer questions one-on-one . in consideration of FMT Author's schedule , And further ensure the quality of answering questions , at present F200 UAV Q & a service is limited 100 Places .
Amu lab : Provide open source software and hardware tools and course services for robot research and development , Make R & D more efficient ! Amu laboratory is committed to providing open source software and hardware tools and course services for robot research and development , Make R & D more efficient !
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