무인 항공기의 자율 비행을 얻으려면 Dronecode와 MAVSDK를 사용해보십시오.

목차

PX4 환경 구축

uORB Messaging

QGroundControl 사용(사용자 가이드)

MAVLink 입문

QGroundControl 사용자 정의 개발

운영 환경

우분투 18.04

ROS Melodic

PX4 환경 구축

사용자 권한 설정, dialout 그룹에 추가

$ sudo usermod -a -G dialout $USER

사용자 권한 반영하려면 Logut and Login

Gazebo, JMAVSim and NuttX (Pixhawk) Targets

Download ubuntu.sh and requirements.txt from the PX4

Run the ubuntu.sh to install

wget https://raw.githubusercontent.com/PX4/Firmware/v1.10.0/Tools/setup/ubuntu.sh
wget https://raw.githubusercontent.com/PX4/Firmware/v1.10.0/Tools/setup/requirements.txt
source ubuntu.sh

ROS/Gazebo

Download ubuntu_sim_ros_melodic.sh

Run the ubuntu_sim_ros_melodic.sh to install

install ROS/Gazebo ("Melodic") for use with PX4

$ wget https://raw.githubusercontent.com/PX4/Devguide/v1.9.0/build_scripts/ubuntu_sim_ros_melodic.sh

$ source ubuntu_sim_ros_melodic.sh

Downloading PX4 Source Code

$ git clone https://github.com/PX4/Firmware.git

First Build (Using the jMAVSim Simulator)

use java 8

$ sudo apt install openjdk-8-jdk
$ sudo update-alternatives --config java # choose java-8

PX4 Make Build Targets

make [VENDOR_][MODEL][_VARIANT] [VIEWER_MODEL_DEBUGGER]
VENDOR: The manufacturer of the board: px4(Pixhawk), intel, parrot, etc. 
MODEL: The board model : sitl, fmu-v2, etc.
VARIANT: Indicates particular configurations: rtps, lpe, default, and may be omitted.

VIEWER: This is the simulator : gazebo, jmavsim
MODEL: The vehicle model : iris (default), rover, etc.
DEBUGGER: Debugger to use: none (default), ide, gdb, lldb, ddd, valgrind, callgrind

사용 jMAVSim Simulation

$ cd Firmware
$ make px4_sitl jmavsim
pxh> commander takeoff

Use Gazebo Simulation

$ make px4_sitl gazebo
pxh> commander takeoff

Fast RTPS 설치

eProsima Fast RTPS는 RTPS(Real Time Publish Subscribe) 프로토콜입니다.

Fast RTPS를 사용하여 PX4 uORB topics 데이터를 각 모듈간에 공유합니다.

eProsima Fast RTPS를 사용하려면 Java(Java JDK 8 권장)가 필요합니다.

Installation from Sources

foonathan_memory 설치

$ git clone https://github.com/foonathan/memory.git
$ cd memory
$ git submodule update --init --recursive
$ mkdir build && cd build
$ cmake -DCMAKE_CXX_FLAGS=-fPIC ..
$ cmake --build . --target install

Fast-RTPS 설치

$ git clone -b master https://github.com/eProsima/Fast-RTPS
$ mkdir Fast-RTPS/build && cd Fast-RTPS/build
$ sudo apt-get install gradle
$ cmake -DBUILD_JAVA=ON -DCOMPILE_EXAMPLES=ON -DPERFORMANCE_TESTS=ON -DTHIRDPARTY=ON -DCMAKE_PREFIX_PATH=/usr/local/lib/ ..
$ make
$ sudo make install

QGroundControl 설치

sudo usermod -a -G dialout $USER
sudo apt-get remove modemmanager -y
sudo apt-get install gstreamer1.0-plugins-bad gstreamer1.0-libav gstreamer1.0-gl -y

Download QGroundControl.AppImage.

Install (and run) using the terminal commands:

chmod +x ./QGroundControl.AppImage
./QGroundControl.AppImage  (or double click)

다음 : uORB Messaging