{"id":762,"date":"2020-03-21T13:00:15","date_gmt":"2020-03-21T05:00:15","guid":{"rendered":"http:\/\/www.nufeichuiyun.com\/?p=762"},"modified":"2021-01-23T23:24:10","modified_gmt":"2021-01-23T15:24:10","slug":"%e5%8e%86%e4%bb%a3pixhawk%e4%bb%8b%e7%bb%8d","status":"publish","type":"post","link":"http:\/\/www.nufeichuiyun.com\/?p=762","title":{"rendered":"\u5386\u4ee3Pixhawk\u4ecb\u7ecd"},"content":{"rendered":"\n<p>\u3000\u622a\u81f3\u52302020\u5e74\uff0cPixhawk\u7cfb\u5217\u98de\u63a7\u5df2\u7ecf\u53d1\u5c55\u4e86\u5c06\u8fd18\u5e74\uff0c\u4e2d\u95f4\u4ea7\u751f\u4e86\u5f88\u591a\u4ee3Pixhawk\u98de\u63a7\uff0c\u8ba9\u5927\u5bb6\u773c\u82b1\u7f2d\u4e71\uff0c\u672c\u6587\u5c06\u7ed9\u5927\u5bb6\u4ecb\u7ecd\u4e00\u4e0b\u5386\u4ee3Pixhawk\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u7b2c\u4e00\u4ee3\uff082012\u5e74\uff09<\/h2>\n\n\n\n<p>\u3000\u7b2c\u4e00\u4ee3\uff0c\u8fd9\u4e5f\u662f\u5b9e\u9a8c\u6027\u8d28\u7684\u4e00\u4ee3\uff0c\u5206\u4e0a\u4e0b\u4e24\u5c42\u7ed3\u6784\uff0c\u4e00\u5c42\u53eb\u201cPX4 FMU\u201d\uff0c\u5305\u542b\u4e86\u4e3b\u63a7\u82af\u7247\u548c\u4f20\u611f\u5668\uff0c\u53e6\u4e00\u5c42\u53eb\u201cPX4 IO\u201d\uff0c\u5305\u542b\u4e86IO MCU\u548c\u5404\u4e2a\u5bf9\u5916\u63a5\u53e3\u3002\u53e6\u5916\uff0c\u6ca1\u6709\u5916\u58f3\uff0c\u662f\u7684\uff0c\u6ca1\u6709\u5916\u58f3\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"592\" height=\"358\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/03\/timg.jpg\" alt=\"\" class=\"wp-image-763\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/03\/timg.jpg 592w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/03\/timg-300x181.jpg 300w\" sizes=\"auto, (max-width: 592px) 100vw, 592px\" \/><\/figure>\n\n\n\n<p>\u3000<strong>\u7b2c\u4e00\u4ee3\u6709\u4e00\u4e2a\u5212\u65f6\u4ee3\u7684\u610f\u4e49\uff0c\u90a3\u5c31\u662f\u5c06\u5f00\u6e90\u65e0\u4eba\u673a\u786c\u4ef6\u4ece\u201cAVR\u5355\u7247\u673a\u201d\u65f6\u4ee3\u5e26\u5165\u4e86\u201cSTM32\u201d\u65f6\u4ee3\uff0c\u5e76\u4e14\u8d77\u6b65\u5c31\u662f\u5f53\u65f6\u6bd4\u8f83\u65b0\u7684\u201cSTM32F4\u201d\u7cfb\u5217\uff0c\u4f7f\u5f97\u98de\u63a7\u786c\u4ef6\u6027\u80fd\u6709\u4e86\u5f88\u5927\u63d0\u5347\uff0c\u4ece\u6b64\u4e00\u4e9b\u5148\u8fdb\u4e14\u590d\u6742\u7684\u7b97\u6cd5\u5f00\u59cb\u5728\u5f00\u6e90\u98de\u63a7\u4e2d\u5927\u91cf\u51fa\u73b0\u3002<\/strong>\u6211\uff08\u6012\u98de\u5782\u4e91\uff09\u4e5f\u7b97\u662f\u7b2c\u4e00\u6279\u63a5\u89e6\u8fd9\u6b3e\u98de\u63a7\u7684\u4eba\uff0c\u5f53\u65f6\u662f\u901a\u8fc7\u505a\u517c\u804c\u7684\u516c\u53f8\u91c7\u8d2d\u7684\uff08\u5b66\u751f\u515a\uff0c\u81ea\u5df1\u82b1\u94b1\u53ef\u4e70\u4e0d\u8d77\u263a\uff09\uff0c\u521a\u624d\u6211\u53c8\u6253\u5f00\u4e86\u5f53\u5e74\u7684\u6dd8\u5b9d\u8bb0\u5f55\uff0c\u6b64\u5546\u54c1\u5df2\u7ecf\u4e0b\u67b6\u591a\u5e74\uff0c\u800c\u5f53\u5e742\u9897\u7ea2\u5fc3\u7684\u6dd8\u5b9d\u5e97\uff0c\u5982\u4eca\u5df2\u662f\u56db\u94bb\u5e97\u94fa\uff0c\u65f6\u95f4\uff0c\u8fc7\u7684\u771f\u5feb\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u7b2c\u4e8c\u4ee3\uff082013\u5e74\uff09<\/h2>\n\n\n\n<p>\u3000\u5b83\u5c31\u662fPixhawk\uff0cPixhawk\u5c31\u662f\u5b83\u3002\u5176\u4f59\u7684Pixhawk xxx\uff0c\u8981\u4e48\u662f\u4ed6\u7684\u5f1f\u5f1f\u59b9\u59b9\uff08\u5927\u5bb6\u6839\u636e\u81ea\u5df1\u7684\u9700\u6c42\u4fee\u6539\u7248\uff09\uff0c\u8981\u4e48\u662f\u4ed6\u7684\u513f\u5b50\u3001\u5b59\u5b50\u3001\u91cd\u5b59\uff08\u5404\u79cd\u5347\u7ea7\u7248\uff09\u3002\u5b83\u6709\u4e86\u5916\u58f3\uff0c\u5546\u54c1\u5316\u505a\u7684\u5f88\u597d\uff0c\u7535\u8def\u8bbe\u8ba1\u4e5f\u4e0d\u9519\uff0c\u5f88\u6709\u501f\u9274\u610f\u4e49\u3002PX4 FMU\u548cPX4 IO\u4e24\u4e2a\u677f\u5b50\u4e5f\u5408\u6210\u4e86\u4e00\u4e2a\u677f\u5b50\uff0c\u4e3b\u63a7\u82af\u7247\u662fSTM32F427VIT6\uff0c\u4f20\u611f\u5668\u662fL3GD20\u3001MPU6000\u3001LSM303D\u3001MS5611\uff0c\u8fd9\u79cd\u914d\u7f6e\uff0c\u653e\u5230\u4eca\u5929\uff082020\u5e74\uff09\u4e5f\u4e0d\u8fc7\u65f6\u3002<\/p>\n\n\n\n<p>\u3000\u5b83\u540c\u65f6\u652f\u6301APM\u56fa\u4ef6\u548cPX4\u56fa\u4ef6\u3002APM\u5b98\u65b9\u4ece\u5b83\u5f00\u59cb\u9010\u6b65\u6dd8\u6c70\u4e86\u539f\u6709\u7684APM2.8\uff08\u4ee5AVR\u5355\u7247\u673a\u4e3a\u4e3b\u63a7\u82af\u7247\uff09\u8fd9\u79cd\u98de\u63a7\u786c\u4ef6\uff0c\u9488\u5bf9APM2.8\u786c\u4ef6\u53ea\u652f\u6301\u5230Copter-3.2.1\uff0c\u800c\u5982\u4eca\u7684APM\u56fa\u4ef6\u5df2\u7ecf\u53d1\u5c55\u5230\u4e86Copter-4.0.3\uff08\u622a\u81f32020\u5e743\u6708\uff09\uff0c\u4e2d\u95f4\u5dee\u4e86\u5f88\u591a\u4ee3\uff0c\u6709\u5f88\u591abug\u88ab\u6d88\u9664\uff0c\u5f88\u591a\u65b0\u7684\u529f\u80fd\u52a0\u4e86\u8fdb\u53bb\uff0c\u98de\u63a7\u4e5f\u7a33\u4e86\u4e0d\u5c11\u3002\u56e0\u6b64\uff0c\u73b0\u5728\u4e0d\u5efa\u8bae\u5927\u5bb6\u7ee7\u7eed\u91c7\u8d2dAPM2.8\u8fd9\u79cd\u98de\u63a7\u3002<\/p>\n\n\n\n<p>\u3000\u5bf9\u4e8eAPM\u56fa\u4ef6\uff0c\u8fd9\u4e00\u4ee3\u98de\u63a7\u7f16\u8bd1\u65f6\uff0c\u4f7f\u7528\u5982\u4e0b\u547d\u4ee4\u914d\u7f6e\u677f\u5b50\u7c7b\u578b\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>.\/waf configure --board fmuv2<\/code><\/pre>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"600\" height=\"601\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/03\/mro_pixhawk-600x601-1.png\" alt=\"\" class=\"wp-image-764\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/03\/mro_pixhawk-600x601-1.png 600w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/03\/mro_pixhawk-600x601-1-300x300.png 300w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/03\/mro_pixhawk-600x601-1-150x150.png 150w\" sizes=\"auto, (max-width: 600px) 100vw, 600px\" \/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\">\u7b2c\u4e09\u4ee3\uff082015\u5e74\uff09<\/h2>\n\n\n\n<p>\u3000\u8fd9\u4e00\u4ee3\u98de\u63a7\u53d6\u540d\u201cPixhawk2\u201d\uff0c\u4e3b\u63a7\u82af\u7247\u8fd8\u662f\u4f7f\u7528\u4e86STM32F427\uff0c\u4f46\u662f\u4f20\u611f\u5668\u589e\u52a0\u4e86\u4e00\u4e2aMPU9250\uff08\u96c6\u4e09\u8f74\u78c1\u7f57\u76d8\u3001\u4e09\u8f74\u9640\u87ba\u3001\u4e09\u8f74\u52a0\u901f\u5ea6\u8ba1\u4e3a\u4e00\u4f53\uff09\uff0c\u56e0\u6b64\u4f20\u611f\u5668\u4ece\u53cc\u5907\u4efd\u53d8\u4e3a\u4e86\u4e09\u91cd\u5907\u4efd\u3002\u56fd\u5185\u5404\u4e2a\u98de\u63a7\u5356\u5bb6\u6839\u636e\u81ea\u5df1\u7684\u7406\u89e3\u8bbe\u8ba1\u4e86\u4e0d\u540c\u7684\u98de\u63a7\u7535\u8def\u548c\u5916\u58f3\uff0c\u5404\u6709\u6240\u957f\uff0c\u4f18\u52a3\u96be\u5206\u3002<\/p>\n\n\n\n<p> \u3000\u5bf9\u4e8eAPM\u56fa\u4ef6\uff0c\u8fd9\u4e00\u4ee3\u98de\u63a7\u7f16\u8bd1\u65f6\uff0c\u4f7f\u7528\u5982\u4e0b\u547d\u4ee4\u914d\u7f6e\u677f\u5b50\u7c7b\u578b\uff1a <\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>.\/waf configure --board fmuv3<\/code><\/pre>\n\n\n\n<h2 class=\"wp-block-heading\">\u7b2c\u56db\u4ee3\uff082015\u5e74\uff09<\/h2>\n\n\n\n<p>\u3000\u8fd9\u4e00\u4ee3\u98de\u63a7\u7684\u4e3b\u8981\u4ee3\u8868\u662f\u201cPixracer\u201d\uff0c\u662f\u5728\u4e4b\u524d\u7684\u57fa\u7840\u4e0a\uff0c\u5c06IO MCU\u5220\u6389\uff0c\u5404\u4e2a\u63a5\u53e3\u76f4\u63a5\u4ece\u4e3b\u63a7MCU\u4e0a\u5f15\u51fa\uff0c\u4ece\u800c\u98de\u63a7\u53ef\u4ee5\u505a\u7684\u5f88\u5c0f\uff0c\u5373\u4f7f\u662f\u8f83\u5c0f\u7684\u7a7f\u8d8a\u673a\u4e0a\u4e5f\u53ef\u4ee5\u653e\u4e0b\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u7b2c\u4e94\u4ee3\uff082018\u5e74\uff09<\/h2>\n\n\n\n<p>\u3000\u8fd9\u53c8\u662f\u4e00\u4e2a\u5347\u7ea7\u6bd4\u8f83\u5927\u7684\u4e00\u4ee3\uff0c\u7edf\u79f0\u201cFMUv5\u201d\uff0c\u4e3b\u63a7\u82af\u7247\u4eceSTM32F4\u7cfb\u5217\u5355\u7247\u673a\u63d0\u5347\u5230\u4e86STM32F7\u7cfb\u5217\u5355\u7247\u673a\uff0c\u4e3b\u9891\u63d0\u5347\u5230216MHz\uff0c\u62e5\u6709\u66f4\u5927\u7684Flash\uff0c\u56fa\u4ef6\u5927\u5c0f\u7684\u9650\u5236\u8fdb\u4e00\u6b65\u51cf\u5c0f\uff0c\u540c\u65f6RAM\u4e5f\u589e\u52a0\u4e86\u4e0d\u5c11\uff0c\u53ef\u4ee5\u8fd0\u884c\u66f4\u52a0\u590d\u6742\u7684\u7b97\u6cd5\u3002\u622a\u6b62\u5230\u73b0\u5728\uff082020\u5e74\uff09\uff0c\u591a\u4e2a\u98de\u63a7\u5356\u5bb6\u5df2\u7ecf\u63a8\u51fa\u4e86\u5404\u81ea\u57fa\u4e8e\u201cFMUv5\u201d\u67b6\u6784\u7684\u5404\u5177\u7279\u8272\u7684\u98de\u63a7\u786c\u4ef6\u3002<\/p>\n\n\n\n<p>\u3000<strong>\u7ecf\u8fc7\u4e24\u5e74\u7684\u53d1\u5c55\uff0cAPM\u56fa\u4ef6\u9488\u5bf9\u8fd9\u79cd\u4ee5STM32F7\u4e3a\u4e3b\u63a7\u82af\u7247\u7684\u98de\u63a7\u786c\u4ef6\u7684\u9002\u914d\u5df2\u7ecf\u975e\u5e38\u5b8c\u5584\uff0c\u4e8c\u8005\u914d\u5408\u8fbe\u5230\u4e86\u4e00\u4e2a\u6bd4\u8f83\u7a33\u5b9a\u7684\u72b6\u6001\uff0c\u56e0\u6b64\uff0c\u5728\u9884\u7b97\u8db3\u591f\u7684\u60c5\u51b5\u4e0b\uff0c\u5efa\u8bae\u5927\u5bb6\u9996\u9009\u8fd9\u4e00\u4ee3\u98de\u63a7\uff0c\u4ece\u800c\u5728\u6027\u80fd\u4e0a\u4e3a\u63a5\u4e0b\u6765\u76845\u5e74\u7559\u8db3\u4f59\u91cf\uff0c\u6bd5\u7adf\u98de\u63a7\u8fd9\u79cd\u4e1c\u897f\u4e0d\u662f\u6d88\u8d39\u7ea7\u4ea7\u54c1\uff0c\u5b9e\u9645\u4e0a\u7684\u66f4\u65b0\u6362\u4ee3\u5f88\u6162\uff1b\u5982\u679c\u9884\u7b97\u4e0d\u5145\u8db3\uff0c\u539f\u7248Pixhawk\u4f9d\u7136\u662f\u4e00\u4e2a\u975e\u5e38\u4e0d\u9519\u7684\u9009\u62e9<\/strong>\uff1b\u4e0d\u8fc7\uff0c\u8fd8\u662f\u90a3\u53e5\u8bdd\uff0c\u4ee5AVR\u5355\u7247\u673a\u4e3a\u4e3b\u63a7\u7684APM2.8\u8fd9\u79cd\u786c\u4ef6\uff0c\u4e0d\u5efa\u8bae\u8d2d\u4e70\u3002<\/p>\n\n\n\n<p>\u3000\u6b64\u5904\u63d2\u5165\u4e00\u5219\u5e7f\u544a\uff0c\u6211\u505a\u7684\u98de\u63a7\uff1a<a href=\"https:\/\/item.taobao.com\/item.htm?spm=a230r.1.14.21.65d365aaVGdlIW&amp;id=628690434894&amp;ns=1&amp;abbucket=9#detail\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/item.taobao.com\/item.htm?spm=a230r.1.14.21.65d365aaVGdlIW&amp;id=628690434894&amp;ns=1&amp;abbucket=9#detail<\/a><\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u7b2c\u516d\u4ee3\uff082019\u5e74\uff09<\/h2>\n\n\n\n<p>\u3000\u4ece2019\u5e74\u540e\u534a\u5e74\u52302020\u5e74\u4e0a\u534a\u5e74\uff0c\u4ee5STM32H7\u7cfb\u5217\u5355\u7247\u673a\u4e3a\u4e3b\u63a7\u82af\u7247\u7684\u98de\u63a7\u5f00\u59cb\u9010\u6b65\u8fdb\u5165\u6d4b\u8bd5\u9636\u6bb5\uff0c\u4eceAPM\u6e90\u4ee3\u7801\u4e5f\u53ef\u4ee5\u770b\u51fa\uff0c\u5927\u5bb6\u5f00\u59cb\u4e86\u5bf9\u5176\u7684\u9002\u914d\u5de5\u4f5c\uff0c\u4ee3\u7801\u4fee\u6539\u5f88\u9891\u7e41\uff0c\u8fd9\u4e00\u4ee3\u98de\u63a7\u7edf\u79f0\u201cFMUv6\u201d\uff0c\u4f46\u662fAPM\u56fa\u4ef6\u7f16\u8bd1\u7684\u65f6\u5019\uff0c\u5177\u4f53\u7f16\u8bd1\u5bf9\u8c61\u6839\u636e\u5404\u4e2a\u5bb6\u98de\u63a7\u7684\u914d\u7f6e\u4e0d\u540c\uff0c\u5b9e\u9645\u7f16\u8bd1\u547d\u4ee4\u662f\u4e0d\u540c\u7684\u3002STM32H7\u7cfb\u5217\u5355\u7247\u673a\u4e3b\u9891\u4e3a400MHz\uff0c\u6bd4STM32F7\u63d0\u5347\u4e86\u5c06\u8fd11\u500d\uff0c\u5f53\u7136\uff0c\u4ef7\u683c\u4e5f\u6709\u6240\u63d0\u5347\u263a\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u7ed3\u8bed<\/h2>\n\n\n\n<p>\u3000\u7ecf\u8fc7\u591a\u5e74\u7684\u53d1\u5c55\uff0cPixhawk\u5f00\u6e90\u98de\u63a7\u786c\u4ef6\u5df2\u7ecf\u975e\u5e38\u5b8c\u5584\uff0cAPM\u56fa\u4ef6\u5bf9\u5176\u6bcf\u4ee3\u4ea7\u54c1\u7684\u9002\u914d\u5de5\u4f5c\u4e5f\u8fbe\u5230\u4e86\u4e00\u79cd\u975e\u5e38\u7a33\u5b9a\u7684\u72b6\u6001\uff0c\u5e02\u9762\u4e0a\u51fa\u73b0\u4e86\u591a\u4ee3\u5171\u5b58\u7684\u5c40\u9762\uff0c\u5927\u5bb6\u5728\u9009\u8d2d\u98de\u63a7\u7684\u65f6\u5019\uff0c\u8981\u7262\u8bb0\u5982\u4e0b\u51e0\u53e5\u8bdd\uff1a<\/p>\n\n\n\n<ul 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