摘自:https://github.com/generalized-intelligence/GAAS/tree/master/hardware
List of Recommended Hardware for Building Your Own Prototype
In order to facilitate indoor testing and daily maintenance, we did not select models that are too large or too small. Excellent performance and easy maintenance are our original intention to build this drone.
If you wish, we could help you buy all of this hardware and send it to you. Or we can send you the links if you could use taobao.com. Please contact us for more details at [email protected]
This is a list of hardware that we used for testing. You may use the same hardware for your prototype:
Frame and Power:
Frame: JMRRC GF360 - One Unit
Motor: T-Motor AIR GEAR 350 - One Unit
ESC: hobywing mini 20A - Four Units
Battery: 4s 5300 25c - Two Units
Charger: ISDT Q6 PRO + power switch - One Unit
Flight control and Sensor:
Flight control: Micro Pix + Ammeter - One Unit
GPS: U-blox neo M8N + hmc5883l - One Unit
Laser: LIDAR Lite V3 (Optional)
Optic Flow: PX4 FLOW - One Unit
Computational unit: Intel up2 CPU N4200 8G+128G - One Unit
Camera: Occipital Structure Core 3D - One Unit or more
Communication equipment:
Radio: 900Mhz 100mw - One Unit
Receiver: Frsky XM+ - One Unit
Controller: Frsky X9D+ - One Unit
Miscellaneous
I2C
XT60
Anti-vibration plate: CC3D
5V10A DC-DC
Related parameter settings for PX4:
EKF2_AID_MASK Attitude control sensor fusion
RC_MAP_OFFB_SW Get into offboard channel
We strongly recommend using the remote control's two-stage switch to enter the offboard mode instead of sending commands via TX2, especially if it has not been tested for long periods of time. Use the remote control to avoid accidents.
SYS_COMPANION TELEM2 working mode
Usually we need to choose Companion link (921600 baud, 8N1), so that the flight control TELEM2 port works at 921600 baud rate, we need to connect the flight control serial port to the TX2 serial port.
EKF2_HGT_MODE Height sensor type
By default, we will use Barometric pressure to call the barometer as a height sensor.
We recommend using the Range sensor parameter and purchasing a Lidar lite v3 laser sensor as the height sensor and specifying the port PWM / I2C used by SENS_EN_LL40LS.
(Lidar lite v3 can be powered separately for best results during use)
hardware 目錄放置推薦的硬件配置,方便使用者購買相應的元件製作原型機。
我們的項目完全開源,你可以用任何你希望使用的開發方式來開發 GAAS。
但如果你希望快速上手,直接開始寫代碼的話,你也可以通過郵件聯繫我們購買 GAAS 團隊內部自己使用的開發套件:[email protected]
我們使用的測試設備明細:
爲了方便室內測試和日常維護,我們並沒有選取過大或者過小的機型,優秀的性能和便於維護性是我們選配這架無人機的初衷。
機架 猛禽360機架 1 套
好贏 樂天 mini 20A 4 個
T MOTOR Air 350 (不含電調) 1 套
飛控 micro Pix + 電流計 1 套
GPS u blox - M8N 1 個
數傳 900Mhz 100mw 1 對
光流 權盛光流 1 套
intel up2 CPU N4200 8G+128G 1 套
Occipital Structure Core 3D 1 套
5V10A DCDC 1 個
3D 打印攝像頭支架 1 個
CC3D 減震 1 套
I2C 分線板 1 套
XT60公母頭 4 對
接收機 frsky XM+ 1 個
遙控器 Frsky X9D+ 1 套
電池 4s 5300 25c 2 塊
充電器 ISDT Q6 PRO + 開關電源 1 套
PX4 相關參數設定:
EKF2_AID_MASK 姿態控制傳感器融合
RC_MAP_OFFB_SW 進入offboard模式的通道
我們強烈建議使用遙控器的兩段開關進入 offboard 模式而不是通過 TX2 發送命令,尤其是在未經長期測試的條件下。使用遙控器控制進入 offboard 的時機會有效避免意外的發生 。
SYS_COMPANION 飛控 TELEM2 端口工作模式
通常我們需要選擇 Companion link (921600 baud,8N1),使飛控的 TELEM2 端口工作在 921600 波特率下,我們需要連接飛控的串口到TX2的串口。
EKF2_HGT_MODE 高度傳感器類型
默認我們將使用 Barometric pressure 來調用氣壓計作爲高度傳感器。
我們更建議使用 Range sensor 參數併購買 Lidar lite v3 型激光傳感器作爲高度傳感器,並指定 SENS_EN_LL40LS 使用的端口 PWM / I2C 。
(使用過程中視情況對可對 Lidar lite v3 單獨供電以獲得最佳效果 )
2019.04.02 更新
bottom.SLDPRT 和 top.sldprt 爲 TX2 + 兩組小覓攝像頭的殼體工程文件,可使用 solidworks 打開。
初版往往伴隨着小 bug 和不合理,希望有經驗的朋友可以多指正。
第二版加緊籌備中。