PX4飞控配置光流模块

PX4固件启用光流模块理解Pixhawk的串口接口先设置飞控参数启用串口如MAV_0_CONFIG。参考https://docs.px4.io/main/en/peripherals/serial_configurationTELEM 1is configured as a MAVLink serial port suitable for connection to a GCS via a telemetry module.The configuration uses MAV_0_CONFIG to set the port, MAV_0_RATE to set the baud rate to 57600, and MAV_0_MODE to set the messages streamed to “Normal”. For more information see: MAVLink Peripherals (OSD/GCS/Companion Computers/etc.).TELEM 2is configured by default as a MAVLink serial port suitable for connection to an Onboard/Companion computer via a wired connection.The configuration uses MAV_1_CONFIG to set the port, MAV_1_RATE to set the baud rate, and MAV_1_MODE to set the messages streamed to “Onboard”.微空MTF-01P模块固定光流模块注意朝向按照PX4条件做一个接USB转串口模块的线。USB转串口建议用CP2102芯片或者CH340芯片要自己安装相应的驱动。用USB转串口模块接该模块设置固件类型网页打开https://micoair.com/assistant/MTF-01模块输出协议需要设置成mav_px4飞控参数设置建议用release版本不用daily版本的QGC因为Daily的参数值只有数字无其含义MAV_1_CONFIG TELEM n取决于实际连接的物理端口重启飞控后设下列参数参数名称参数值说明MAV_1_MODENormal设置MAVLink模式为普通模式SER_TELn_BAUD115200 8N1串口n的波特率设置n对应实际连接的Telem1-3SENS_FLOW_ROTNo rotation光流传感器不旋转EKF2_AID_MASKuse optical flow启用光流数据作为EKF2的辅助源EKF2_RNG_AIDRange aid enable启用测距仪辅助高度估计EKF2_HGT_MODERange sensor高度测量模式设置为使用测距传感器MAV_1_MODE NormalSER_TELn_BAUD 115200 8N1 n取1-3按实际连接的端口Telem1-3选SENS_FLOW_ROT No rotationEKF2_AID_MASK use optical flowEKF2_RNG_AID Range aid enableEKF2_HGT_MODE Range sensorMTF模块的波特率是115200。串口协议的光流模块不能同时适配APM与PX4固件初步测试适配APM固件的光流模块如芯片印字为Upixels U302513无法适配PX4飞控固件。尝试如下启用TELEM 2设置MAV_1_CONFIG参数为TELEM 2。SENS_TFLOW_CFG设为TELEM 2SENS_TFMINI_CFG参数改为TELEM 2。