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我已经通过各种论坛配置我的Aero无人机以使用光流,但无法让它工作。 我连接了LeddarOne传感器。 我有: 将EKF2_AID_MASK设置为2(使用光流)SYS_MC_ESG_GROUP为1(ekf2)SENS_EN_LEDDAR1为1Downloaded,编译并运行aero-optical-flow软件包。 它似乎工作和检测移动QGroundControl>小部件> MAVLink检查器> OPTICAL_FLOW_RAD>质量远远超过100(除非我把手放在相机前)QGroundControl>小部件> MAVLink检查器> DISTANCE_SENSOR> current_distance显示高于地面的高度 BIOS_VERSION = Aero-01.00.16 OS_VERSION = Ubuntu 16.04.5 LTS“ AIRMAP_VERSION =未知 FPGA_VERSION = 0xc2 AeroFC固件版本= 1.8.0 将无人机移动到表面上方对LOCAL_POSITION_NED没有影响。 然而,OPTICAL_FLOW_RAD似乎确实发生了变化。 现在在之前的帖子中,来自英特尔(耶稣)的人提供了一个测试PX4固件(名为“aerofc-v1_default_leddar_one.px4”),我已经尝试过,它提供了改进; LOCAL_POSITION_NED随着无人机的移动而变化。 然而,在我们的设置中,我们还有来自三角测量(一些室内GPS系统)的位置估计,我将其提供给VISION_POSITION_ESTIMATE。 在默认的1.8.0 PX4固件中,这是有效的,值最终在LOCAL_POSITION_NED中。 但在具有光流工作的测试PX4固件中,VISION_POSITION_ESTIMATE的值不再融合到LOCAL_POSITION_NED中。 当然,我改变了EKF2_AID_MASK以结合视觉定位。 知道PX4代码中有哪些更改待解决我的问题? 感谢致敬, Gertjan Westeneng Florinco B.V. 以上来自于谷歌翻译 以下为原文 Hi, I have gone through various forums configuring my Aero drone to use optical flow, but can't get it to work. I have connected the LeddarOne sensor. I have:
BIOS_VERSION = Aero-01.00.16 OS_VERSION = Ubuntu 16.04.5 LTS" AIRMAP_VERSION = unknown FPGA_VERSION = 0xc2 AeroFC firmware version = 1.8.0 Moving the drone above the surface has no influence on LOCAL_POSITION_NED. However OPTICAL_FLOW_RAD does seem to change. Now in a previous post, someone from Intel (Jesus) provided a test PX4-firmware (named "aerofc-v1_default_leddar_one.px4"), which I have tried, and it gives an improvement; LOCAL_POSITION_NED changes along with the movement of the drone. However in our setup we also have a position estimate coming from triangualation (some indoor GPS sytem), which I feed to VISION_POSITION_ESTIMATE. In the default 1.8.0 PX4 firmware this is working, the values end up in LOCAL_POSITION_NED. But in the test PX4 firmware with optical flow working, the values from VISION_POSITION_ESTIMATE are no longer fused into LOCAL_POSITION_NED. Of course I changed EKF2_AID_MASK to also incorporate vision positioning. Any idea what changes are pending in the PX4 code to solve my issue? Thanks and regards, Gertjan Westeneng Florinco B.V. |
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您好gjwesteneng,感谢您对英特尔Aero Ready to Fly无人机的兴趣。既然您已经发布了这个帖子://communities.intel.com/thread/128475,请继续关注该主题吗?非常感谢,Eliza
以上来自于谷歌翻译 以下为原文 Hello gjwesteneng, Thank you for your interest in the Intel Aero Ready to Fly drone. Since you have already posted on https://communities.intel.com/thread/128475 could you please continue following that thread? Thank you very much, Eliza |
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