first commit

.catkin_workspace

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+# This file currently only serves to mark the location of a catkin workspace for tool integration

.gitignore

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+/.vscode
+/build
+/devel

README.md

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+# PX4
+
+## QGC地面站
+``` shell
+#Wifi数传通讯设置
+MAV_1_CONFIG= TELEM_2 #设置TELEM_2为数传输出口
+MAV_1_MODE = Onboard
+SER_TEL2_BAUD = 921600 #设置波特率
+
+#室内定点参数
+EKF2_AID_MASK 24 #（不选择GPS，选择vision position fusion和vision yaw fusion）
+EKF2_HGT_MODE Vision
+MAV_ODOM_LP 1
+
+#速度设置
+MPC_XY_VEL_MAX 0.5
+MPC_Z_VEL_MAX_DN 0.5
+MPC_Z_VEL_MAX_UP 0.5
+
+#PX4默认PID
+MPC_XY_VEL_P_ACC 1.8
+MPC_XY_VEL_I_ACC 0.6
+MPC_XY_VEL_D_ACC 0.2
+
+MPC_Z_VEL_P_ACC 4
+MPC_Z_VEL_I_ACC 0.6
+MPC_Z_VEL_D_ACC 0
+
+MPC_XY_P 1.20
+MPC_Z_P 1.20
+```
+
+## PX4 飞控稳定调试
+
+- 首先在自稳模式下将PID参数调稳定，调试`Multicopter Rate Control`菜单下`MC_ROLLRATE_P`, `MC_ROLLRATE_I`, `MC_ROLLRATE_D`,`MC_PITCHRATE_P`,`MC_PITCHRATE_I`,`MC_PITCHRATE_D`这六个参数即可
+- 自稳PID调试完成后，此时飞行会发现飞行器总是会朝某个方向“倾斜”飞行，此时最好先将机体各部位都固定稳定，中心最好在机体中心（电池位置最好也固定，不然电池的拆卸也是影响重心的一个要点）。然后调试`Sensors`菜单下的`SENS_BOARD_X_OFF`和`SENS_BOARD_Y_OFF`两个参数，最完美的状态是调试到roll和pitch不总是朝一个方向飞行，只会随机朝某个方向缓慢飞行
+- 随后切换到offboard模式进行定位调试，如果设置指定高度后飞行器一直飞行不到指定高度，请增大`Multicopter Position Control`菜单下的`MPC_THR_HOVER`和`MPC_Z_P`参数
+- -   随后调试定位的参数，`Multicopter Position Control`菜单下的`MPC_XY_P`,`MPC_XY_TRAJ_P`,`MPC_XY_VEL_D_ACC`,`MPC_XY_VEL_I_ACC`,`MPC_XY_VEL_P_ACC`这几个参数，注意增大其中`MPC_XY_VEL_I_ACC`参数对减小偏移有显著效果
+
+## MAVESP8266
+
+``` shell
+#下载固件
+https://firmware.ardupilot.org/Tools/MAVESP8266/latest/
+
+#初始账户：ArduPilot
+#初始密码：ardupilot
+
+#连接上ESP8266后，打开192.168.4.1，连接实验室Wifi
+```
+
+# MAVROS
+
+## 安装MAVROS
+``` shell
+sudo apt-get install ros-<ros_vision>-mavros ros-<ros_vision>-mavros-extras
+wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/
+	 install_geographiclib_datasets.sh
+sudo bash ./install_geographiclib_datasets.sh
+#若wget失败，可直接下载sh文件运行
+```
+
+## MAVROS测试
+``` shell
+#连接Wifi数传到飞控
+#查看Wifi数传IP地址
+
+#设置mavros参数
+roscd mavros/launch/
+sudo vim px4.launch
+#fcu_url  udp://:[email protected]:12345 //33为数传地址
+#gcs_url  udp://:[email protected] //27为qgc主机地址（可以不设置）
+#运行mavros
+roslaunch mavros px4.launch 
+
+#运行rostopic，查看状态
+rostopic echo /mavros/state
+#注意，Wifi数传一次只能连接一个终端，连接mavros后就不能连接QGC地面站
+
+#如果显示数据异常，修改以下信息
+roscd mavros/launch
+sudo vim px4_config.yaml
+#将timesync_rate: 10.0 改为timesync_rate: 0.0
+```
+
+# 动捕设置
+
+## 安装VRPN
+``` shell
+sudo apt-get install ros-<your ros vision>-vrpn*
+```
+
+## 运行VRPN
+``` shell
+roslaunch vrpn_client_ros sample.launch  server：=192.168.31.128
+#IP地址为动捕主机IP地址
+```
+
+# 实验平台操作
+
+## 位置控制（无位姿）
+
+``` shell 
+#完成上述操作，运行launch
+roslaunch experiments  system_init.launch 
+
+#新建终端
+rostopic echo /mavros/state
+#检查是否能切换到位置控制模式，可以切换则进行下一步操作
+
+#打开position_control.cpp，将坐标点复制到poseArr数组
+double poseArr[][3] = {
+    {0, 0, hight_init}, //起飞
+    {0, 0, hight_init}, //回到坐标原点
+    //从这开始执行飞行任务
+    {0, 0, 0.3},
+    {0, 0, 0.3},
+};
+
+#重新编译ROS工作文件
+catkin_make
+
+#运行position_control节点
+rosrun experiments position_control 
+
+#无人机自动解锁起飞，执行完任务后在任务终点悬停
+```

src/CMakeLists.txt

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+# toplevel CMakeLists.txt for a catkin workspace
+# catkin/cmake/toplevel.cmake
+
+cmake_minimum_required(VERSION 3.0.2)
+
+project(Project)
+
+set(CATKIN_TOPLEVEL TRUE)
+
+# search for catkin within the workspace
+set(_cmd "catkin_find_pkg" "catkin" "${CMAKE_SOURCE_DIR}")
+execute_process(COMMAND ${_cmd}
+  RESULT_VARIABLE _res
+  OUTPUT_VARIABLE _out
+  ERROR_VARIABLE _err
+  OUTPUT_STRIP_TRAILING_WHITESPACE
+  ERROR_STRIP_TRAILING_WHITESPACE
+)
+if(NOT _res EQUAL 0 AND NOT _res EQUAL 2)
+  # searching fot catkin resulted in an error
+  string(REPLACE ";" " " _cmd_str "${_cmd}")
+  message(FATAL_ERROR "Search for 'catkin' in workspace failed (${_cmd_str}): ${_err}")
+endif()
+
+# include catkin from workspace or via find_package()
+if(_res EQUAL 0)
+  set(catkin_EXTRAS_DIR "${CMAKE_SOURCE_DIR}/${_out}/cmake")
+  # include all.cmake without add_subdirectory to let it operate in same scope
+  include(${catkin_EXTRAS_DIR}/all.cmake NO_POLICY_SCOPE)
+  add_subdirectory("${_out}")
+
+else()
+  # use either CMAKE_PREFIX_PATH explicitly passed to CMake as a command line argument
+  # or CMAKE_PREFIX_PATH from the environment
+  if(NOT DEFINED CMAKE_PREFIX_PATH)
+    if(NOT "$ENV{CMAKE_PREFIX_PATH}" STREQUAL "")
+      if(NOT WIN32)
+        string(REPLACE ":" ";" CMAKE_PREFIX_PATH $ENV{CMAKE_PREFIX_PATH})
+      else()
+        set(CMAKE_PREFIX_PATH $ENV{CMAKE_PREFIX_PATH})
+      endif()
+    endif()
+  endif()
+
+  # list of catkin workspaces
+  set(catkin_search_path "")
+  foreach(path ${CMAKE_PREFIX_PATH})
+    if(EXISTS "${path}/.catkin")
+      list(FIND catkin_search_path ${path} _index)
+      if(_index EQUAL -1)
+        list(APPEND catkin_search_path ${path})
+      endif()
+    endif()
+  endforeach()
+
+  # search for catkin in all workspaces
+  set(CATKIN_TOPLEVEL_FIND_PACKAGE TRUE)
+  find_package(catkin QUIET
+    NO_POLICY_SCOPE
+    PATHS ${catkin_search_path}
+    NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
+  unset(CATKIN_TOPLEVEL_FIND_PACKAGE)
+
+  if(NOT catkin_FOUND)
+    message(FATAL_ERROR "find_package(catkin) failed. catkin was neither found in the workspace nor in the CMAKE_PREFIX_PATH. One reason may be that no ROS setup.sh was sourced before.")
+  endif()
+endif()
+
+catkin_workspace()