ar.drone飞机使用手册
AR.DRONE 2.0
AR.DRONE 2.0作者：张越来源：《个人电脑》2013年第06期很多人都被电影壮志凌云（TOP GUN）中的特技飞行所打动，但是不是每个人都有能力成为飞行员，也不是每个人都能享受到飞行的乐趣。
不过在AR.DRONE 2.0这台四轴飞行器的帮助下，您仍旧可以实现儿时的梦想，从空中欣赏这个世界或做出令人眼花缭乱的飞行动作。
在编辑部里，已经很久没有出现一帮人争抢一个产品的事情了。
当AR.DRONE起飞以后，就连平时总板着脸的BOSS也兴致勃勃的拿出了自己的手机拍照。
如果只是一个单纯的遥控飞机，那么AR.DRONE不会引起如此的轰动，但是当它在室内做出各种盘旋、悬停，并且将机载图像事实传送到手机控制端时，AR.DRONE所提供的乐趣就不仅仅是简单的飞行了。
貌似简陋的AR.DRONE称得上是一款高科技产品。
它可以由iPhone、iPad或者安卓设备进行远程控制，而最重要的则是这款飞行器内置了前置高清摄像头、垂直摄像头、超声波高度计、13轴惯性导航仪和绝对控制模式。
用户可以从App Store或者谷歌下载相应平台的AR.FreeFlight软件，通过Wi-Fi连接就可以实现对飞行器的控制。
AR.DRONE的操控非常简单，一个方向键一个高度键，当没有指令输入时飞行器则会保持悬停状态。
理论上飞行中最危险的时刻就是起飞和降落，不过在AR.DRONE上这不是问题。
在软件中我们可以轻触一个键就可以让AR.DRONE起飞，而且可以在危机关头实现快速紧急降落。
现在的AR.DRONE 2.0可以通过iOS以及安卓设备进行遥控，不过AR.FreeFlight 只是AR.DRONE众多软件中的基础款，我们还可以在iOS平台上找到这款飞行器的更多趣味控制软件，至于安卓用户……玩过遥控直升机的读者可能知道，普通的3通道遥控直升机的可控飞行动作很少，像翻滚这种动作只能在6通道直升机上由高手实现。
如果你想挑战一下这一高难度动作并在朋友面前炫耀一下，那么AR.DRONE 2.0就是最好的设备。
无人驾驶飞机无人机系统操作指引
无人驾驶飞机(无人机)系统操作指引引言近年，航空科技不断发展，全球各地广泛使用无人驾驶飞机(无人机)系统。
该等系统主要作为军事用途，但民航应用(例如空中监察、高空摄影及搜索拯救)亦与日俱增。
随着适用的科技渐趋成熟和微型化，无人机系统成为价格更低和性能更佳的航空器供使用者选择，还可免除空勤人员伤亡的风险。
香港民航处负责处理在本港空域内操作无人机系统的申请。
鉴于市面上各款无人机系统的精密度十分参差，拟在本港空域操作该等系统的人士，应在预定操作日期前，尽早向民航处提交详细资料。
规管该等系统的飞行活动，主要是为确保无人机(不论大小和重量)的操作不会危及其他空域使用者, 及地面上的任何人士和财产。
一般而言，无人机系统不得飞越人多居住的地区、不得装载危险物品，以及不得投下物件，危及地面上的任何人士或财产。
该等系统飞行时所经的空域须与其他民航交通分隔，操作方式也不得危及任何人士或财产。
下文载述操作重量达7千克或以上无人机系统的其他指引：7千克或以上(不计燃料)无人机系统的一般安全操作准则1. 操作范围a) 一般不得在受管制空域、机场交通区域或香港境内的机场5公里范围内操作。
2. 操作高度a) 一般须在海拔3,000呎以下。
b) 视乎确实地点与管制及通讯方式，操作高度上限或会调低。
3. 操作时间a) 只限白昼。
4. 无人机数目a) 同一指定空域范围及同一时间内获准飞行的无人机数目，通常不会多于一架。
5. 天气条件a) 能见度不得少于5公里。
视乎操作的性质和范围，能见度或须多于5公里。
b) 云幕不得低于核准操作高度。
c) 除非制造商另有指明，地面风速不得超过20海里。
如民航处对无人机系统受控程度有任何疑问，地面风速上限或会被调低。
d) 无人机操作员必须配备手提风速表，在现场监测地面风速。
e) 当雷暴警告、大雨预警及强烈季候风信号生效时，无人机操作员不得放飞无人机系统。
6. 控制无人机a) 无人机操作员必须在现场，并确保无人机在整个飞行过程中维持在其视线范围内。
folding drone无人机怎么操作
Folding Drone无人机怎么操作在现代科技发展日新月异的今天，无人机作为一种智能飞行器具有着广泛的应用领域，其中折叠款无人机因其便携性和灵活性备受消费者青睐。
如何正确操作和使用折叠款无人机成为了很多人关心的问题。
下面将介绍一些关于折叠款无人机的基本操作技巧和注意事项。
首先，当你拿到一台全新的折叠款无人机时，第一步是仔细阅读说明书。
不同品牌和型号的无人机可能有所不同，详细了解你手中的无人机的功能和特点是非常重要的。
在阅读说明书的同时，也可以先通过简单的拆卸和组装练习，熟悉无人机的结构和组件。
在操作折叠款无人机之前，要确保无人机和遥控器的电量充足。
正常情况下，无人机和遥控器的电池应该是充满电的，这样可以确保你有足够的飞行时间和操控能力。
另外，还要找一个开阔的空地或者场地进行飞行操作，避免无人机碰到障碍物或者人群。
启动无人机的步骤通常是打开遥控器电源，然后再打开无人机电源。
在一定的距离范围内，遥控器会自动识别并连接无人机，之后你就可以通过遥控器的摇杆来操控无人机的飞行了。
在操作过程中，要保持手脚协调，轻轻移动摇杆，尽量避免快速和过大的操作，这样可以更好地控制无人机的飞行方向。
在飞行无人机的过程中，一定要注意无人机的周围环境和飞行高度，避免无人机撞到树木、建筑物等障碍物。
此外，在强风天气下最好不要飞行，强大的风力会影响无人机的飞行稳定性。
如果你是初学者，可以选择一个没有障碍物且风平浪静的环境进行练习，以提高自己的飞行技巧和经验。
无人机在飞行过程中也可能会出现意外情况，比如失控、电池不足等。
当无人机出现失控情况时，不要慌张，应该及时降低无人机的高度并稳定无人机的飞行姿态，等待自动降落或者手动操控无人机安全降落。
另外，遇到电池电量不足时也要及时返航并替换电池，以免无人机掉落或者丢失。
总的来说，操作折叠款无人机需要具备一定的飞行技巧和经验，初学者可以通过不断练习来提高自己的飞行水平。
在操作无人机的过程中要注意安全，遵守相关法规，保护自己和他人的人身安全。
无人机产品使用手册20150701
产品使用说明书二〇一五年三月十八日目录1.前言 (1)2.飞行安全守则 (1)3.航摄流程图 (3)4.飞机的参数和性能、特点及应用领域 (5)5.无人机各部件的介绍和作用 (6)6.APCommander地面站软件介绍 (9)7.飞行任务航线设计教程 (10)8.飞行组分工和职责 (13)9.维护、保养、运输和使用 (14)10.锂电池维护说明 (14)11.免责声明 (16)12.双方事故鉴定和分责 (18)13.附录： (19)1. 前言飞行组要养成良好的习惯，出行前必须按清单清点设备、准备常用修补粘胶、材料和工具、检查设备电池电量是否满足此次的飞行任务。
每一样都要仔细清点，在家尽量想得周全，外场飞行才能更好的开展工作，提高工作效率。
飞行是一项技术含量高，需要仔细进行地面检查的一项工作。
千万不要马虎大意，把安全放在第一位，把隐患消除在地面，设备不要带病飞行，要做到仔细——仔细——再仔细——检查——检查——再检查。
要做到一丝不苟，这是飞机安全起飞的最基本条件。
检查过程中必须落实到个人，每个检查项是都要有应答确定，确定无误后才能起飞，不要怕工作麻烦。
2. 飞行安全守则（1）在飞行的过程中要做到不伤害他人，不被他人伤害，因此在整个飞行过程中要做到三不飞、三注意：a)飞机没有做好飞前检查不飞.b)飞行区域天气地形不摸清楚，飞行条件不符合不飞.c)飞行区域敏感，不符合政策法规不飞.a)注意伙伴当前的工作状态.b)注意飞机当前状态.c)注意自身状态.（2）不安全因素及预防a.工作状态下的螺旋桨工作状态下的螺旋桨的整个回转平面内20米内都是危险区域，在其运转的过程中人员严禁在此区域内逗留，每次飞行都要检查螺旋桨的固定螺丝有没有松动，桨叶有没有损伤和裂痕。
b.弹射皮筋因为无人机是通过一根一端由地钉固定在地面上的皮筋储能，然后在一瞬间释放来赋予飞机动能，使飞机在短距离内达到起飞速度。
所以在弹射皮筋拉伸的过程中，会储存大量弹性势能，因此在弹射作业及平时检查保养的过程中，必需由经过专门培训的人员来操作，每次起飞前和弹射作业以后都必需认真的检查橡筋有没有损伤，橡筋头固定装置稳妥可靠。
戴森无人机说明书
戴森无人机说明书一、引言戴森无人机是一款高性能、多功能的无人机产品，具备先进的飞行控制系统、高清摄像功能以及智能避障技术，为用户提供了全新的飞行体验。
本说明书将详细介绍戴森无人机的组装、操作、安全注意事项等内容，帮助用户快速上手并安全地使用该产品。
二、组装步骤1. 将无人机主体、遥控器、电池、螺旋桨等配件准备齐全。
2. 打开无人机主体的电池仓盖，将电池插入相应插槽并确保连接牢固。
3. 安装螺旋桨：根据无人机主体上的螺旋桨安装指示，将螺旋桨正确安装在相应位置上，并确保旋转自如。
4. 将遥控器电池仓盖打开，安装电池并确保连接稳固。
5. 打开遥控器电源，待指示灯亮起后，将遥控器与无人机主体进行配对。
三、操作说明1. 开机与关机：- 开机：将无人机主体放在平稳的地面上，按下开机按钮并保持按压，等待指示灯亮起后松开按钮。
- 关机：将遥控器和无人机主体放置在平稳的地面上，按住无人机主体上方的关机按钮并保持按压，等待指示灯熄灭后松开按钮。
2. 起飞与降落：- 起飞：将遥控器左上角的油门杆向上推动，无人机会自动起飞并悬停在空中。
- 降落：将遥控器左上角的油门杆向下推动，无人机会缓慢降落到地面。
3. 前进与后退：- 前进：将遥控器右手边的摇杆向上推动，无人机会向前飞行。
- 后退：将遥控器右手边的摇杆向下推动，无人机会向后飞行。
4. 左移与右移：- 左移：将遥控器右手边的摇杆向左推动，无人机会向左移动。
- 右移：将遥控器右手边的摇杆向右推动，无人机会向右移动。
5. 悬停与急停：- 悬停：将遥控器左手边的摇杆推动到中间位置，无人机会在当前位置悬停不动。
- 急停：将遥控器左下角的急停按钮按下，无人机会立即停止飞行并自动降落。
6. 拍摄与录像：- 拍摄照片：将遥控器上的拍照按钮按下，无人机会拍摄当前画面。
- 录制视频：将遥控器上的录像按钮按下，无人机会开始录制视频，再次按下停止录制。
四、安全注意事项1. 使用前请确保阅读并理解本说明书，并按照说明正确操作。
英语无人机使用说明书范文
英语无人机使用说明书范文篇 1First of all, to operate the drone, you need to turn on the power. Make sure the battery is properly installed and then press the power button. Next, connect the remote controller to the drone. Ensure a stable and seamless connection. After that, calibrate the sensors for accurate readings and smooth operation.When it comes to flying, gently push the throttle lever on the remote controller to make the drone take off. To land, gradually reduce the throttle until the drone touches the ground safely. For hovering, keep the throttle at a constant level to maintain the drone's position in the air.During flight, be cautious of the surrounding environment and avoid obstacles. Also, pay attention to the battery level to prevent unexpected power loss. Remember to follow local regulations and fly in permitted areas. With these simple steps and careful operation, you can enjoy the wonderful experience of flying a drone.篇 2When it comes to using drones, safety should always be our top priority. Firstly, it's strictly prohibited to fly drones in specific areas such as airports, military zones, or crowded public places. This is to avoid potential risks and ensure the safety of people and public facilities. Secondly, always be cautious to avoid colliding with obstacles during the flight. Before taking off, make sure to have a clear understanding of the surrounding environment and keep a safe distance from buildings, trees, and power lines. Also, pay close attention to the weather conditions. Strong winds, heavy rain, or low visibility can greatly affect the stability and control of the drone. As for the maintenance and storage of the drone, after each use, carefully clean it toremove dirt and debris. Store it in a dry and cool place, away from direct sunlight and moisture. Regularly check the battery and components for any damage or malfunction. By following these safety precautions and maintenance tips, you can enjoy the fun of using the drone while ensuring its long-term performance and your own safety.篇 3A drone is an amazing technological device that offers a wide range of functions and features. One of the outstanding capabilities of a drone is its high-definition camera. With precise operation, you can capture breathtaking aerial views and record precious moments. The intelligent follow mode enables the drone to track and film moving objects smoothly, providing you with dynamic and exciting footage.The automatic return function is a significant guarantee for safety. By setting specific parameters, the drone can automatically return to the starting point when it loses signal or the battery is low. This feature gives users peace of mind during flights.In terms of key parameters, the drone's battery life is sufficient to support a considerable flight duration, allowing you to complete various tasks and enjoy the flight experience. Moreover, its flying speed is fast enough to reach your desired destination quickly and efficiently.Overall, a drone combines advanced technology and practical functions, bringing new possibilities and convenience to our lives.篇 4A drone is a remarkable technological device that offers exciting possibilities for both recreational and professional use. To connect your mobile device, such as a phone or tablet, to the drone for real-time viewing of the captured footage, firstensure that your device has the compatible app installed. Then, turn on the drone and your device's Wi-Fi, and select the drone's network. Once connected, you can enjoy a live feed of the scenes captured by the drone's camera.When it comes to replacing the battery and propellers, which are the vulnerable parts of the drone, be cautious. Power off the drone completely before starting. For the battery, locate the compartment and gently remove the old one, then insert the new battery making sure it is properly seated. As for the propellers, unscrew the old ones and screw on the new ones, ensuring they are tightened securely.To edit and share the captured content, use the dedicated software. It provides various editing tools like trimming, adding filters, and adjusting colors. Sharing can be done easily through social media or other sharing platforms, allowing you to showcase your amazing drone footage with friends and the world.篇 5Drones have become an indispensable tool in various fields due to their remarkable capabilities and flexibility. In the realm of aerial photography, they offer a unique perspective, allowing photographers to capture breathtaking landscapes that were previously inaccessible. For instance, they can fly over vast mountains and capture the majesty of nature or soar above bustling cities to showcase the urban panorama.In agriculture, drones play a crucial role in monitoring crops. They can detect areas affected by pests or diseases, enabling farmers to take prompt action and increase productivity. Moreover, in the context of fire rescue, drones equipped with thermal imaging cameras can quickly locate trapped individuals in smoky and dangerous environments, providing vital information for rescue teams.In scientific research, drones are employed to study wildlife habitats and monitor environmental changes. They can reach remote and inhospitable areas thatare difficult for humans to access. In the world of entertainment, they have brought new excitement to events like air shows and races, captivating audiences with their agile maneuvers and stunning displays.The application scenarios of drones are constantly expanding, and their significance and value are becoming increasingly prominent in our lives.。
一圆你的飞行梦！超迷你MinidroneRollingSpider四轴直升机动手玩～
一圆你的飞行梦！超迷你MinidroneRollingSpider四轴直升机动手玩～Parrot 是一家很神奇的公司，或许单说公司名字你并不知道他是何方神圣，但如果说到超热门四轴直升机「AR.Drone」我想大家应该就知道了吧？AR.Drone 这台只要用 iPhone 就能轻松操控的四轴直升机掀起了一股素人空拍热潮，但太大的机体与较高的价格却不是每个人都能负担得起，特别是地狭人稠的台北，想要找到一个好地方玩AR.Drone 更是难上加难。
现在Parrot 终于听到大家的呼唤啦！Parrot 正式推出能在家里玩的超迷你四轴直升机Minidrone Rolling Spider，娇小的机身让玩家能在小空间里自在飞行，但却不因为身材小而有所牺牲。
超迷你的Minidrone Rolling Spider 与他的老大哥AR.Drone 一样内建三轴陀螺仪与三轴加速度感应器，因此能轻松维持机身稳定，是很容易就能上手的遥控飞行玩具。
Minidrone Rolling Spider 同样是以智慧型手机或平板电脑作为遥控器，但与使用无线网路的老大哥不同，Minidrone Rolling Spider 采用蓝牙作为连结通讯的手段，不过也因为如此，Minidrone Rolling Spider 的连线方式非常简单，只要把 Minidrone Rolling Spider 开机并把手机的蓝牙功能与专属App「Free Flight 3」开启，手机就会自动找到Minidrone Rolling Spider 并启动连线。
从上面这张图大家就可以看到Minidrone Rolling Spider 的真实尺寸啦！高度不到 iPhone 的三分之ㄧ、长度则约莫与 iPhone 相等，因此就算是小到不行的小套房也是可以玩的！不过必须注意的是 Minidrone Rolling Spider 并没有内建「画面传输」这个老大哥AR.Drone 的特色功能，虽然上图的手机看起来好像有摄影机画面的感觉，但其实那是直接启动手机本身相机所得到的画面，Minidrone Rolling Spider 只支援静态拍照（手机画面右上角有个相机按键），录影功能仅支援以手机拍摄Minidrone Rolling Spider，并不支援以 Minidrone Rolling Spider 本身内建的摄影机录影。
AR.Drone开发手册
2Prepared TitleStephane Piskorski A.R.Drone Developer GuideApproved Date Revision FileOctober5,2010SDK1.5Notations used in this document:$This is a Linux shell command line(the dollar signrepresents the shell prompt and should not be typed)This is a console output(do not type this)Here is afile_name.Here is a macro.iPhone®and iPod Touch®are registered trademarks of Apple Inc.Wi-Fi®is a trademark of the Wi-Fi Alliance.Visuals and technical specifications subject to change without notice.All Rights reserved.The Parrot Trademarks appearing on this document are the sole and exclusive property of Parrot S.A.All the others Trademarks are the property of their respective owners.ContentsA.R.Drone Developer Guide1 Contents iI SDK documentation1 1Introduction3 2 A.R.Drone Overview52.1Introduction to quadrotor UAV (5)2.2Indoor and outdoor design configurations (7)2.3Engines (7)2.4LiPo batteries (8)2.5Motion sensors (8)2.6Assisted control of basic manoeuvres (8)2.7Advanced manoeuvres using host tilt sensors (9)2.8Video streaming and tags detection (10)2.9Wifinetwork and connection (10)2.10Communication services between the A.R.Drone and a client device (11)3 A.R.Drone SDK Overview133.1Layered architecture (14)3.2The A.R.Drone Library (14)3.3The A.R.Drone Tool (15)3.4The A.R.Drone Control Engine-only for Apple iPhone (16)4ARDroneLIB and ARDroneTool functions174.1Drone control functions (17)ardrone_tool_set_ui_pad_start (17)ardrone_tool_set_ui_pad_select (17)ardrone_at_set_progress_cmd (18)4.2Drone configuration functions (19)ardrone_at_navdata_demo (19)ardrone_at_set_navdata_all (19)5Creating an application with ARDroneTool215.1Quick steps to create a custom A.R.Drone application (21)5.2Customizing the client initialization (22)5.3Using navigation data (22)iii5.4Command line parsing for a particular application (24)5.5Thread management in the application (24)5.6Managing the video stream (25)5.7Adding control devices (26)6AT Commands296.1AT Commands syntax (30)6.2Commands sequencing (30)6.3Floating-point parameters (31)6.4Deprecated commands (31)6.5AT Commands summary (32)6.6Commands description (33)AT*REF (33)AT*PCMD (34)AT*FTRIM (35)AT*MTRIM (35)AT*ZAP (36)AT*CAD (36)AT*CONFIG (37)AT*GAIN (37)AT*COMWDG (37)AT*AFLIGHT (38)AT*PWM (38)AT*LED (39)AT*ANIM (39)7Incoming data streams417.1Navigation data (41)7.1.1Navigation data stream (41)7.1.2Initiating the reception of Navigation data (42)7.1.3Augmented reality data stream (44)7.2The video stream (45)7.2.1Image structure (45)7.2.2Entropy-encoding process (51)7.2.3Entropy-decoding process (52)7.2.4Example (53)7.2.5End of sequence(EOS)(22bits) (54)7.2.6Intiating the video stream (55)8Drone Configuration578.1Reading the drone configuration (57)8.1.1With ARDroneTool (57)8.1.2From the Control Engine for iPhone (58)8.1.3Without ARDroneTool (58)8.2Setting the drone configuration (59)8.2.1With ARDroneTool (59)8.2.2Without ARDroneTool (60)8.3General configuration (61)GENERAL:navdata_demo (61)GENERAL:num_version_config (61)GENERAL:num_version_mb (61)GENERAL:soft_build_date (61)iii GENERAL:motor1_soft (61)GENERAL:motor1_hard (61)GENERAL:motor1_supplier (61)GENERAL:ardrone_name (62)GENERAL:flying_time (62)GENERAL:com_watchdog (62)GENERAL:video_enable (62)GENERAL:vision_enable (62)GENERAL:vbat_min (62)8.4Command control configuration (63)CONTROL:euler_angle_max (63)CONTROL:control_vz_max (63)CONTROL:control_yaw (63)CONTROL:altitude_max (63)CONTROL:altitude_min (63)CONTROL:outdoor (64)DETECT:enemy_colors (64)DETECT:detect_type (64)8.5Sensors calibration (65)9 F.A.Q.67II T utorials69 10Building the Linux Examples7110.1Set up your development environment (71)10.2Prepare the source code (72)10.3Compile the SDK Demo example (73)10.4Run the SDK Demo program (73)10.5Compile the Navigation example (74)10.6Run the Navigation program (75)11Building the Windows Example7711.1Set up your development environment (77)11.2Required settings in the source code before compiling (79)11.3Compiling the example (79)11.4What to expect when running the example (80)11.5Quick summary of problems solving (81)12Other platforms8312.1Android example (83)Part ISDK documentation1Welcome to the A.R.Drone Software Development Kit!The A.R.Drone product and the provided host interface example have innovative and exciting features such as:•intuitive touch and tiltflight controls•live video streaming and photo shooting•updated Euler angles of the AR Drone•embedded2D-tag detection for duo air battle and augmented reality gamesThe A.R.Drone SDK allows third party developers to develop and distribute new games based on A.R.Drone product for Wifi,motion sensing mobile devices like game consoles,the Apple iPhone,iPod touch,the Sony PSP,personal computers or HTC android phones.To download the A.R.Drone SDK,third party developers will have to register and accept the A.R.Drone SDK License Agreement terms and conditions.Uponfinal approval from Parrot, they will have access to the A.R.Drone SDK download web page and receive a Parrot signed certificate for controlling the AR Drone product from the target host device.This SDK includes:•this document explaining how to use the SDK,and describes the drone communications protocols;•the A.R.Drone Library(ARDroneLIB),which provides the APIs needed to easily com-municate and configure an A.R.Drone product;•the A.R.Drone Tool(ARDroneTool)library,which provides a fully functionnal drone client where developers only have to insert their custom application specific code;•the A.R.Drone Control Engine library which provides an intuitive control interface de-veloped by Parrot for remotely controlling the A.R.Drone product from an iPhone;34•an open-source iPhone game example,several code examples that show how to control the drone from a Linux or Windows personal computer,and a simple example for An-droid phones.Where should I start?Pleasefirst read chapter2to get an overview of the drone abilities and a bit of vocabulary. You then have the choice between:•using the provided library5and modifying the provided examples(10,11)to suit your needs•trying to write your own software from scratch by following the specifications given in6 and7,and(soon)following the provided tutorials.2 A.R.Drone Overview2.1Introduction to quadrotor UA VA.R.Drone is a quadrotor.The mechanical structure comprises four rotors attached to the four ends of a crossing to which the battery and the RF hardware are attached.Each pair of opposite rotors is turning the same way.One pair is turning clockwise and theother anti-clockwise.56(a)Throttle(b)Roll(c)Pitch(d)YawFigure2.1:Drone movementsManoeuvres are obtained by changing pitch,roll and yaw angles of the A.R.Drone.Varying left and right rotors speeds the opposite way yields roll movement.This allows to go forth and back.Varying front and rear rotors speeds the opposite way yields pitch movement.Varying each rotor pair speed the opposite way yields yaw movement.This allows turning left and right.7(a)Indoor (b)OutdoorFigure 2.2:Drone hulls2.2Indoor and outdoor design configurationsWhen flying outdoor the A.R.Drone can be set in a light and low wind drag configuration (2.2b ).Flying indoor requires the drone to be protected by external bumpers (2.2a ).When flying indoor,tags can be added on the external hull to allow several drones to easily detect each others via their cameras.2.3EnginesThe A.R.Drone can be powered with two different types of engines:•Brushed engines with a legacy 2phases current mechanical inversion system•Brushless engines with three phases current controlled by a micro-controllerThe A.R.Drone automatically detects the type of engines that are plugged and automatically adjusts engine controls.The A.R.Drone detects if all the engines are turning or are stopped.In case a rotating propeller encounters any obstacle,the A.R.Drone detects if any of the propeller is blocked and in such case stops all engines immediately.This protection system prevents repeated shocks.8(a)Ultrasound sensor(b)CameraFigure2.3:Drone Sensors2.4LiPo batteriesThe A.R.Drone uses a charged1000mAh,11.1V LiPo batteries tofly.Whileflying the battery voltage decreases from full charge(12.5Volts)to low charge(9Volts).The A.R.Drone monitors battery voltage and converts this voltage into a battery life percentage(100%if battery is full, 0%if battery is low).When the drone detects a low battery voltage,itfirst sends a warning message to the user,then automatically lands.If the voltage reaches a critical level,the whole system is shut down to prevent any unexpected behaviour.2.5Motion sensorsThe A.R.Drone has many motions sensors.They are located below the central hull.The A.R.Drone features a6DOF,MEMS-based,miniaturized inertial measurement unit.It provides the software with pitch,roll and yaw measurements.Inertial measurements are used for automatic pitch,roll and yaw stabilization and assisted tilting control.They are needed for generating realistic augmented reality effects.An ultrasound telemeter provides with altitude measures for automatic altitude stabilization and assisted vertical speed control.A camera aiming towards the ground provides with ground speed measures for automatic hovering and trimming.2.6Assisted control of basic manoeuvresUsually quadrotor remote controls feature levers and trims for controlling UAV pitch,roll,yaw and throttle.Basic manoeuvres include take-off,trimming,hovering with constant altitude, and landing.It generally takes hours to a beginner and many UAV crashes before executing safely these basic manoeuvres.Thanks to the A.R.Drone onboard sensors take-off,hovering,trimming and landing are now completely automatic and all manoeuvres are completely assisted.9 User interface for basics controls on host can now be greatly simplified:•When landed push take-off button to automatically start engines,take-off and hover at a pre-determined altitude.•Whenflying push landing button to automatically land and stop engines.•Press turn left button to turn the AR Drone automatically to the left at a predetermined speed.Otherwise the AR Drone automatically keeps the same orientation.•Press turn right button to turn the AR Drone automatically to the right.Otherwise the AR Drone automatically keeps the same orientation.•Push up button to go upward automatically at a predetermined speed.Otherwise the AR Drone automatically stays at the same altitude.•Push down to go downward automatically at a predetermined speed.Otherwise the AR Drone automatically stays at the same altitude.A number offlight control parameters can be tuned:•altitude limit•yaw speed limit•vertical speed limit•A.R.Drone tilt angle limit•host tilt angle limit2.7Advanced manoeuvres using host tilt sensorsMany hosts now include tilt motion sensors.Their output values can be sent to the A.R.Drone as the A.R.Drone tilting commands.One tilting button on the host activates the sending of tilt sensor values to the A.R.Drone.Oth-erwise hovering is a default command when the user does not input any manoeuvre command. This dramatically simplifies the A.R.Drone control by the user.The host tilt angle limit and trim parameters can be tuned.102.8Video streaming and tags detectionThe frontal camera is a CMOS sensor with a90degrees angle lens.The A.R.Drone automatically encodes and streams the incoming images to the host device. QCIF and QVGA image resolutions are supported.The video stream frame rate is set to15Hz. Tags painted on drones can be detected by the drone front camera.These tags can be used to detect other drones during multiplayer games,or to help a dronefind its way in the environ-ment.Both tags on the external and internal hull can be detected.(a)2D tags on outdoor shell(b)2D tags on indoor shellFigure2.4:Drone shell tags2.9Wifinetwork and connectionThe A.R.Drone can be controlled from any client device supporting the Wifiad-hoc mode.The following process is followed:1.the A.R.Drone creates a WIFI network with an ESSID usually called adrone_xxx and selfallocates a free,odd IP address.2.the user connects the client device to this ESSID network.3.the client device requests an IP address from the drone DHCP server.4.the A.R.Drone DHCP server grants the client with an IP address which is:•the drone own IP address plus1(for drones prior to version1.1.3)•the drone own IP address plus a number between1and4(starting from version1.1.3)5.the client device can start sending requests the A.R.Drone IP address and its servicesports.The client can also initiate the Wifiad-hoc network.If the drone detects an already-existing network with the SSID it intented to use,it joins the already-existing Wifichannel.11 2.10Communication services between the A.R.Drone and a clientdeviceControlling the A.R.Drone is done through3main communication services.Controlling and configuring the drone is done by sending AT commands on UDP port5556. The transmission latency of the control commands is critical to the user experience.Those commands are to be sent on a regular basis(usually30times per second).The list of available commands and their syntax is discussed in chapter6.Information about the drone(like its status,its position,speed,engine rotation speed,etc.), called navdata,are sent by the drone to its client on UDP port5554.These navdata also include tags detection information that can be used to create augmented reality games.They are sent approximatively30times per second.A video stream is sent by the A.R.Drone to the client device on port5555.Images from this video stream can be decoded using the codec included in this SDK.Its encoding format is discussed in section7.2.A fourth communication channel,called control port,can be established on TCP port5559to transfer critical data,by opposition to the other data that can be lost with no dangerous effect. It is used to retrieve configuration data,and to acknowledge important information such as the sending of configuration information.3 A.R.Drone SDKOverviewThis SDK allows you to easily write your own applications to remotely control the drone:•from any personal computer with Wificonnectivity(Linux or Windows);•from an Apple iPhone;•(soon)from an Android mobile phone.It also allows you,with a bit more effort,to:•remotely control the drone from any programmable device with a Wifinetwork card anda TCP/UDP/IP stack-for devices which are not supported by Parrot,a complete de-scription of the communication protocol used by the drone is given in this document;•(depending on some legal issues)write an embedded client to be run on the drone so itflies autonomously.However,this SDK does NOT support:•rewriting your own embedded software-no direct access to the drone hardware(sensors, engines)is allowed.13143.1Layered architectureHere is an overview of the layered architecture of a host application built upon the A.R.DroneSDK.openGL Wifi Touchpad Accelerometer Host hwARDroneLibraryHost hw/sw APIhost sw Applicationthreads ARDrone Control Engine (only for iPhone) Threads level Applicationlevel Host applicationData streams AT cmds 3.2The A.R.Drone LibraryThe A.R.Drone Library is currently provided as an open-source library with high level APIs to access the drone.Let’s review its content :•S OFT :the drone-specific code,including :–C OMMONS :header (.h)files describing the communication structures used by the drone (make sure you pack the C structures when compiling them)–Lib/ardrone_tool :a set of tools to easily manage the drone,like an AT command sending loop and thread,a navdata receiving thread,a ready to use video pipeline,and a ready to use main function•VLIB :the video processing library.It contains the functions to receive and decode the video stream•VPSDK :a set of general purpose libraries,including–VPSTAGES :video processing pieces,which you can assemble to build a video processing pipeline15–VPOS:multiplatform(Linux/Windows/Parrot proprietary platforms)wrappersfor system-level functions(memory allocation,thread management,etc.)–VPCOM:multiplatform wrappers for communication functions(over Wifi,Blue-tooth,etc.)–VPAPI:helpers to manage video pipelines and threadsLet’s now detail the ARDroneTool part:•ardrone_tool.c:contains a ready-to-use main C function which initialises the Wifinet-work and initiates all the communications with the drone•UI:contains a ready-to-use gamepad management code•AT:contains all the functions you can call to actually control the drone.Most of them directly refer to an AT command which is then automatically built with the right syntax and sequencing number,and forwarded to the AT management thread.•N AVDATA:contains a ready-to-use Navdata receiving and decoding system3.3The A.R.Drone ToolPart of the A.R.Drone Library is the ARDroneTool.The ARDroneTool is a library which implements in an efficient way the four services described in section2.10.In particular,it provides:•an AT command management thread,which collects commands sent by all the other threads,and send them in an ordered manner with correct sequence numbers•a navdata management thread which automatically receives the navdata stream,decodes it,and provides the client application with ready-to-use navigation data through a call-back function•a video management thread,which automatically receives the video stream and provides the client application with ready-to-use video data through a callback function•a control thread which handles requests from other threads for sending reliable commands from the drone,and automatically checks for the drone acknowledgements.All those threads take care of connecting to the drone at their creation,and do so by using the vp_com library which takes charge of reconnecting to the drone when necessary.These threads,and the required initialization,are created and managed by a main function,also provided by the ARDroneTool in the ardrone_tool.cfile.All a programmer has to do is thenfill the desired callback functions with some application specific code.Navdata can be processed as described in section5.3.The video frames can be retrived as mentionned in5.6.163.4The A.R.Drone Control Engine-only for Apple iPhoneThe A.R.Drone control engine(aka.ARDrone engine)provides all the A.R.Drone applications for iPhonewith common methods for managing the drone,displaying its video stream and managing touch/tilt controls and special events on the iPhone.It is meant to be a common base for all iPhone applications,in order to provide a common drone API and user interface(common controls,setting menus,etc.).The Control Engine API is the only interface to the drone from the iPhone application.It is the Control Engine task to acces the ARDroneLIB.The A.R.Drone Control Engine automatically opens,receives,decodes and displays video stream coming from toy using OpenGL routines.Only one AR Drone Control Engine function need be called inside application for displaying automatically the incoming video stream.Another function allows getting a status of this process.The followingflight parameters are superimposed on video:•speed will be indicated on left vertical scale•altitude will be indicated on right vertical scale•Wifiquality will be indicated with standard bars on top left•AR Drone battery life will be displayed on top rightOn the bottom of the video stream:•At the center,a vertical slider take-off button when landed or a landing button when flying•On the left of take-off/landing button,aflight settings buttonSpecial events can occur when in game,and trigger warning messages:•battery too low•wificonnection loss•video connection loss•engine problemUser can be requested to acknowledge special event message on touch pad.ARDroneTool functionsHere are discussed the functions provided by the ARDroneLIB to manage and control the drone.ImportantThose functions are meant to be used along with the whole ARDroneLIB and ARDroneTool framework.You can use them when building your own application as described in chapter5or when modifying the examples(see the tutorials).They cannot be used when writing an application from scratch;you will then have to reim-plement your own framework by following the specifications of the AT commands(chapter6), navigation data(section7.1),and video stream(section7.2).Most of them are declared infile ardrone_api.h of the SDK.4.1Drone control functionsSummary:Take off-LandCorresponding AT command:AT*REFArgs:(int value:take offflag)Description:Makes the drone take-off(if value=1)or land(if value=0).When entering an emergency mode,the client program should call this function with a zero argument to prevent the drone from taking-off once the emergency hasfinished.1718Summary:Send emergency signal/recover from emergencyCorresponding AT command:AT*REFArgs:(int value:emergencyflag) Description:When the drone is in a normalflying or ready-to-fly state,use this command with value=1to start sending an emergency signal to the drone,i.e.make it stop its engines and fall.When the drone is in an emergency state,use this command with value=1to make the dronetry to resume to a normal state.Once you sent the emergency signal,you must check the drone state in the navdata and wait until its state is actually changed.You can then call this command with value=0to stop sending the emergency signal.Summary:Moves the droneCorresponding AT command:AT*PCMDArgs:(int enable:Flag enabling the use of progressive commandsfloat phi:Left/right angle∈[−1.0;+1.0]float theta:Front/back angle∈[−1.0;+1.0]float gaz:Vertical speed∈[−1.0;+1.0]float yaw:Angular speed∈[−1.0;+1.0])Description:This function makes the drone move in the air.It has no effect when the drone lies on the ground.The drone is controlled by giving as a command a set of four parameters:•a left/right bending angle,with0being the horizontal plane,and negative values bend-ing leftward•a front/back bending angle,with0being the horizontal plane,and negative values bend-ing frontward•a vertical speed•an angular speed around the yaw-axisIn order to allow the user to choose between smooth or dynamic moves,the arguments of this function are not directly the control parameters values,but a percentage of the maximum corresponding values as set in the drone parameters.All parameters must thus befloating-point values between−1.0and1.0.19 When enable=0,the drone will enter the hovering mode,i.e.try to stay on top of afixed point on the ground.4.2Drone configuration functionsSummary:Makes the drone send a limited amount of navigation data Corresponding AT command:AT*CONFIG[This function does not take any parameter.Description:Some navigation data are used for debugging purpose and are not useful for every dayflights. You can choose to receive only the most useful ones by calling this function.This saves some network bandwidth.Most demonstration programs in the SDK(including the iPhone FreeFlight application)use this restricted set of data.Ardrone Navigation uses the whole set of data. Note:You must call this function or ardrone_at_set_navdata_all to make the drone start send-ing any navdata.Summary:Makes the drone send all the navigation dataCorresponding AT command:AT*CONFIG[This function does not take any parameter.Description:Some navigation data are used for debugging purpose and are not useful for every dayflights. You can choose to receive all the available navdata by calling this function.This used some more network bandwidth.Note:You must call this function or ardrone_at_navdata_demo to make the drone start send-ing any navdata.with ARDroneToolThe ARDroneTool library includes all the code needed to start your application.All you have to do is writing your application specific code,and compile it along with the ARDroneLIB library to get a fully functional drone client application which will connect to the drone and start interacting with it.This chapter shows you how to quickly get a customized application that suits your needs. You can try to immediately start customizing your own application by reading section5.1,but it is recommended you read the whole chapter to understand what is going on inside.5.1Quick steps to create a custom A.R.Drone applicationThe fastest way to get an up and running application is to copy the SDK Demo application folder and bring the following modifications to suit your needs:•customize the demo_navdata_client_process function to react to navigation information reception(more details in5.3)•customize the output_gtk_stage_transform function to react to video frames reception (more details in5.6)•customize the update_gamepad function to react to inputs on a game pad(more details in5.7)•create a new thread and add it to the THREAD_TABLE structure to send commands in-dependently from the above-mentioned events(more details in5.5)Customizing mainly means sending the appropriate commands from the ARDroneTool API. Those commands are listed in chapter4.To compile your customized demo,please refer to the tutorials.21225.2Customizing the client initializationAs is true for every C-based application,the initial entry point for every A.R.Drone application is a function called main.The good news is that,when you create a new application using the ARDroneTool library,you do not have to write this function yourself.The ARDroneTool library includes a version of this function with all the code needed to start your application.All you have to do is writing your application specific code,and compile it along with the ARDroneLIB library to get a fully functional drone client application.Listing5.1shows the main function for the ARDrone application.It is located in thefile ardrone_tool.c and should not require any modification.Every application you create will have a main function that is almost identical to this one.This function performs the following tasks:•Configures WIFI network.•Initializes the communication ports(AT commands,Navdata,Video and Control).•Calls the ardrone_tool_init_custom function.Its prototype is defined in ardrone_tool.h file,and must be defined and customized by the developer(see example5.2).In this function we canfind:–the local initialization for your own application.–the initialization of input devices,with the ardrone_tool_input_add function–the starting off all threads except the navdata_update and ardrone_control that arestarted by the main function.•Starts the thread navdata_update that is located in ardrone_navdata_client.cfile.To run properly this routine,the user must declare a table ardrone_navdata_handler_table.List-ing3shows how to declare an ardrone_navdata_handler table.The MACRO is located in ardrone_navdata_client.hfile.•Starts the thread ardrone_control that is located in ardrone_control.cfile.To send an event you must use ardrone_control_send_event function declared in ardrone_control.h.•Acknowledge the Drone to indicate that we are ready to receive the Navdata.•At last call ardrone_tool_update function in loop.The application does not return from this function until it quits.This function retrieves the device information to send to the Drone.The user can declare ardrone_tool_update_custom function,that will be called by the ardrone_tool_update function.5.3Using navigation dataDuring the application lifetime,the ARDroneTool library automatically calls a set of user-defined callback functions every time some navdata arrive from the drone.Declaring such a callback function is done by adding it to the NAVDATA_HANDLER_TABLE table.In code example5.3,a navdata_ihm_process function,written by the user,is declared. Note:the callback function prototype must be the one used in code example5.3.。
多旋翼飞行器设计与控制_北京航空航天大学中国大学mooc课后章节答案期末考试题库2023年
多旋翼飞行器设计与控制_北京航空航天大学中国大学mooc课后章节答案期末考试题库2023年1.欧拉转动中，将地球固联坐标系绕固定点转动（）次可以使它与机体坐标系的三轴指向一致。
参考答案:三次2.螺旋桨桨盘倾斜安装的好处是（）参考答案:前飞时可以不倾斜机身3.多旋翼动力学模型的输出不包括（）参考答案:位置4.同等条件下，飞行距离最远的飞行器是（）。
参考答案:固定翼飞行器5.多旋翼超声波测距仪检测不到反射波的原因可能有哪些？（）参考答案:机体俯仰角过大_机体距离地面过远_机体滚转角过大6.一个飞行控制系统(FCS)或者自动驾驶仪除了需要底层控制模块，还需要什么( )参考答案:决策模块7.遥控器上可设置的飞行参数包括（）参考答案:油门的正反_摇杆灵敏度大小_摇杆功能设定8.判断系统【图片】的可观性（）参考答案:可观9.对于带光流传感器的半自主自驾仪多旋翼的自稳定模式，关于水平位置通道的描述正确的是（）参考答案:水平位置通道是不稳定的_水平速度通道是稳定的10.而在（）实验中，输入信号可以任意选择，因此能获得更多的系统信息。
参考答案:开环11.理论上加速度计可以测量下列哪些量？（）参考答案:比力_滚转角_俯仰角12.姿态控制的目标是（）参考答案:_13.稳定性和飞行性能之间是什么关系（）参考答案:稳定性越高飞行性能越差14.避障技术包括（）参考答案:声呐系统_激光雷达15.多旋翼的建模包含哪些部分？（）参考答案:刚体运动学模型_动力系统模型_控制效率模型_刚体动力学模型16.不考虑动力系统动态特性时，电机模型中可忽略的有（）参考答案:电感17.一般情况下，空载电流对悬停时间的影响（）参考答案:有影响，但是影响较小18.单目视觉系统（）获取绝对尺度信息参考答案:不能19.下列多旋翼构型，当有任意一个旋翼失效时，哪些构型可以采用放弃偏航的方式实现安全着陆（）参考答案:__20.表示材料或结构在外力作用下抵抗破坏的能力的物理量为（）参考答案:强度21.当电子罗盘不健康时，则多旋翼无法实现以下哪个功能（）参考答案:定点悬停22.多旋翼可靠性高主要是因为（）参考答案:无刷直流电机_没有活动关节23.如果得到的误差传递函数为【图片】，其中【图片】而是频率为幅值为1的正弦信号，那么关于最终误差表述正确的是（）参考答案:收敛到 024.在做系统辨识时，传递函数阶数的选取应（）参考答案:尽可能小25.水平速度通道中的速度是指（），这样才能与偏航角无关参考答案:机体系下的速度26.工具箱( )在多种真实飞机的系统辨识中得到了广泛的应用参考答案:CIFER27.对于半自主自驾仪的多旋翼，遥控指令能直接控制多旋翼的以下变量( )参考答案:俯仰角和滚转角_垂直高度方向的速度_偏航角速度28.在多旋翼控制模型系统辨识中，下列（）先验知识对系统辨识有用参考答案:有无速度反馈_偏航通道的模型形式_水平位置通道的模型形式_高度通道的模型形式29.系统辨识方法包括( )参考答案:最小二乘方法_子空间辨识方法_PEM（Prediction-Error Minimization）方法_最大似然率方法30.对于半自主自驾仪的多旋翼的自稳定模式，关于高度通道的描述正确的是（）参考答案:高度方向的速度通道是稳定的_高度通道是不稳定的31.对于半自主自驾仪的多旋翼的自稳定模式，关于偏航通道的描述正确的是（）参考答案:偏航角速度通道是稳定的_偏航通道是不稳定的32.多旋翼在悬停下主要受到（）参考答案:重力_拉力33.直升机的升力主要由（）控制参考答案:油门_总距操纵杆34.多旋翼“刷锅”其实指的以一个目标为中心点，飞行器围着它转圈拍摄。
iDrones2智能航拍飞行器用户手册
……红灯和蓝灯闪
x 2 ……黄灯双闪 ……蓝灯闪 ……绿灯闪 ——绿灯常亮 ……黄灯闪
飞行器功能详解
1. iDrones 2 带有GPS定位功能； 2. 一键式返航“RTH”返航键：当在飞行过程中遇到困难，按下“RTH”返航键，飞行 器会自动飞回到起点。 02
03
无头模式
解锁前，机头指示灯方向为机头方向；解锁后不管机头朝向哪边，初始指向方位为正方向。
△
定位
[摇杆]
↑ 上升 ↓ 下降 ← 向左旋转 → 向右旋转
[摇杆]
↑ 前进 ↓ 后退 ← 左 → 右
[一键起飞按钮]
启动一键起飞功能
[一键返航按钮]
启动一键返航功能
[电源开关/图传控制]
△ 图传控制 ○ 打开遥控器电源 △ 关闭遥控器电源
[云台俯仰控制拨轮]
调整云台上下角度
[云台俯仰控制拨轮]
调整云台左右角度
起飞/降落步骤
1. 把iDrones 2 放置在平整地面，并且确保电池电量指示灯朝向您； 2. 先开启遥控器开关，再接通飞行器电源； 3. 等LED飞行指示灯绿（黄）灯慢闪，进入可（半）安全飞行状态，绿灯长亮时进入GPS 智能模式。（如绿灯没有显示，则没有定位和返航功能） 4. 往上缓慢推动油门杆，让飞行器平稳起飞。详细的操控方式请参阅《遥控器操控方式》； 5. 需要下降时，下拉油门杆，使飞行器缓慢下降于平整地面； 6. 落地后，将油门杆向左拉至最低位持续3~5秒，电机即可停转，降落过程完成。 7. 解锁/关锁状态：遥控器拨动开关不能拨在“GPS Orie”（GPS定位）位置，否则无法解 锁和关锁。
安全注意事项
由于iDrones 2 并非普通玩具，因此要求使用本产品的用户要年满18 周岁。飞行前请仔细阅读用户说明、网上相关教学视频、免责声明等。 用户须经过长期练习达到高级飞手水平，用户须认真对待每次飞行，为飞行安全负责。 飞行iDrones 2 产品之前，请务必遵守以下所列事项： 1. 请务必先打开遥控器电源,确定各个摇杆位置正确后再接通飞行器电源。 2. 装上电池后，需要避开螺旋桨，高速旋转的螺旋桨可能会造成事故。 3. 飞行过程中，请集中精力。 4. 请选择开阔空间作为训练场地，并注意周围环境无障碍物，飞行器不适合在人多 拥挤的地方飞行，飞行过程注意远离交通要道和人群。操纵者请务必牢记要为自 己与他人的安全负责。 5. 请不要在恶劣天气中飞行。如大风（风速4级及以上）、大雨雾天。 6. 飞行高度请勿超过120米。 7. 飞行训练时，确保飞行器始终在您前面并与您保持一定的距离。飞行中请保持飞 行器在您的正前方视线之内，切勿将飞行器飞到您的背后。 8. 在飞行过程中不要企图去抓飞行中的飞行器，以免造成伤害。 9. 飞行结束后，在发射机关闭前请先断开飞行器的电源，否则，螺旋桨可能会全速 启动，并可能会造成受伤事故。 10. 飞行过程如遇到困难，请缓慢下拉油门或直接拨下一键返航键，降落飞行器。 11. 不要把充电器放在潮湿的地方。如电池充满，请在拔掉电源后才离开充电位置。 不要把电池放在易燃物周围，以免发生火灾。充电时要有人在现场监督，电池使 用过程中少许发热属于正常现象。 12. 请始终保持镇定，切勿恐慌。
V1.0 X12 操作指南说明书
前位置悬停 5 秒钟，在此期间如未能重新连接通讯，飞行器即自动返航。 2) GPS 未定位状态时的失联保护功能
当飞行器未能 GPS 定位且与遥控器中断通讯约两秒后，飞行器将在当前位置自动降落。
7 校准指南针
注意：更换飞行场地后，务必在首次飞行前校准指南针。 使用过程中，如飞行器指示灯为“蓝绿灯交替闪烁”即表示指南针异常，需要校准指南针。 校准时请远离有磁场干扰的环境 , 否则会导致校准失败。
1
X12 操作指南
3 GPS 状态与飞行模式
本飞行器内置 GPS 定位模块，在自主飞行模式等功能时必须使用 GPS 设备进行定位。当飞行器 同时满足如下条件时，飞行器进入 GPS 定位模式： 1) 遥控器处于定点模式； 2) GPS 水平定位因子满足条件 ( 飞机状态指示灯为绿灯常亮 ) 时；
傲翼飞控用户手册
高级设置 在此页面可以对图上所示参数进行获取和设置，其中刚进入此界面时输入框对每 个参数的范围都有范围限制，用户需遵循此数值范围进行参数设置。设置完成点击返 回，回到作业设置界面。
3.3 调参设置
点击功能界面中的“调参设置”进入调参设置界面。此界面中可以通过滑动进度 条对姿态、高度、速度进行调节。
说明
免责申明
请用户在使用本产品前，务必仔细阅读本说明。一旦使用本产品，即视为对本声明的所有 内容表示认可和接受。本产品适合 18 周岁以上人士使用。
本产品是一款适用于多旋翼飞行器的监控与设置软件。在供电正常和连接正确的情况下， 可以给用户提供卓越的飞行体验。在使用本飞控系统调试参数时，我们强烈建议您卸下螺旋 桨，并保证供电正常和相应的功能模块接线正确。使用时请务必远离人群，危险物品和易碎物 品。使用本产品时，发生以下原因直接或间接造成人身伤害和财产损失，傲翼飞控将不承担赔 偿责任： 1.用户没有按本手册及相应的调参软件要求使用； 2.用户在饮酒，吸毒，疲劳等身体或精神状态不佳的情况下操控飞行器； 3.用户主动或者有意操控飞行器制造伤害； 4.用户自行改装飞行器； 5.用户操作失误或主观判断失误造成的伤害； 6.飞行器自然磨损，电路老化等飞行器不正常工作造成的伤害； 7.用户在明知飞行器处于非正常工作状态下仍然操控飞行器造成的伤害； 8.用户在台风，冰雹，大雾等恶劣气象条件下仍然操控飞行器飞行； 9.用户在磁场干扰区域，无线电干扰区，政府禁飞区飞行造成的伤害； 10.用户在能见度不良，视线受到遮挡的情况下驾驶飞行器；
● 电池选型 电池共有 4 种，分别为 3s,4s,6s,12s,点击进入电池选型界面后，选择你想要的电 池类型，其图如下图所示。
四旋翼无人机小论文介绍
四旋翼无人机自适应导航控制通过在课堂上老师讲解的关于导航和制导的一些基本知识，我对导航这门学问产生了极其浓厚的兴趣。
在课下，我通过自己查找一些相关的文献和资料对于导航的知识进行了进一步的学习，下面我将针对“四旋翼无人机自适应导航控制”这篇论文，对我学习到的一些基础知识进行一下简要的介绍。
但由于时间以及知识储备有限，所以并没有作深入的研究。
首先，本篇论文主要研究的内容是四旋翼（Quadrotor）无人机的导航问题。
解决了传统导航方法的目标定位误差和实时性差等问题。
主要采取的控制方法是基于CLOS技术的导航控制方法。
下面我将针对论文中的每个部分进行简要的介绍，并阐述一下我所学习到的一些基本知识。
1. 引言在第一部分“引言”中，作者主要针对现阶段四旋翼无人机在国内外的一些基本发展现状进行了简要的介绍，并说明了本篇论文所解决的问题所具有的一些实际的意义，最后概括的介绍了基于CLOS技术的导航控制方法的一些基本情况。
通过查阅相关资料，我主要有以下两个方面的收获：第一，是关于四旋翼无人机的基本发展情况的了解。
从国内情况来看，国内四旋翼无人机的研究水平相对滞后，同一些科技相对发达的国家尚有一定差距；其次，国内的无人机研究近些年来主要集中在北航，南航等一些知名的院校，主要研究的课题包括无人机的自主导航试飞等方面。
从总体情况来看，国内的四旋翼无人机领域开发不深，有许多可以深入探究的地方。
与国内相比，国外的四旋翼无人机研究水平则相对较高，国外无人机的发展在一定程度上是和一些科研竞赛是息息相关的。
比较知名的如“国际空中机器人大赛(IARC)”，该项赛事在一定程度上反映了国际上对无人机研究的程度，是一项国际公认的比赛。
此外，我还了解到了无人机的发展历史，下面做简要的阐述：1.1907年，法国Breguet兄弟制造了第一架四旋翼式直升机Breguet -Richet “旋翼机 1 号”，这次飞行中没有用到任何的控制，所以飞行稳定性是很差。
AR.Drone
AR.Drone四轴飞行器内置ARM9 CPU, Linux操作系统, 通过WiFi来控制.开放的Linux内核使得在AR.Drone增加新设备成为可行. AR.Drone是一个很好的DIY平台.这也正是我入手AR.Drone的主要原因. 要知道我既没iPhone也没Apple的其它东东(目前官方只支持iPhone系列做控制端), 买来怎玩? ---- 我的笔记本PC带WiFi, 那就拿它来控制AR.Drone.中秋节假期正好有空, 于是我先行写了个简单的Java程序: 在Windows XP下的DOS窗口运行, 向UDP端口5556发送AT命令来控制AR.Drone.今天收到AR.Drone后就测试了一下: 先发送了起飞AT命令, AR.Drone就立马起飞, 升至1米左右后便稳稳地悬停在那儿!然后发送降落AT命令, AR.Drone便自动完成降落动作.(我之前都做好了这样的思想准备: 万一降落命令不灵, 我就伸手把它拽下来!)再试了些其它命令(pitch/roll/yaw/gaz)也都灵.DIY目标:1) Java版的跨平台地面控制软件(先在Windows XP下测试)a) 发送AT命令来控制AR.Droneb) 接受并显示两个摄像头的视频(可选其一或叠加)c) 用键盘控制d) 用游戏杆控制2) 连接AR.Drone到WiFi AP, 通过Internet来遥控AR.Drone (能上网的飞行器!)3) 在WiFi AP间漫游4) 给AR.Drone配上气压高度计/激光高度计(对AR.Drone现有6米超声波高度计的补充)4) 给AR.Drone配上GPS模块和磁罗盘, 沿预定路线自主飞行5) 给AR.Drone配上USB 3G模块, 要飞多远就飞多远---- 只要电池够:)2010.09.26: 增加键盘控制2010.10.04: 在AR.Drone上用tcpdump抓包分析网络数据2010.10.05: Parrot今天发布了AR.Drone的详细开发文档下载: https:///attachments/download/207/ARDrone_Developer_Guide.pdf包括飞控AT命令, 飞控数据, 视频流等, 是DIY的福音!2010.10.17: 增加GPS模块成功详见第6页110楼2011.01.01: USB Host成功, GPS可用VBUS +5V 详见第13页247/251楼2011.01.02: AR.Drone成功地读出了U盘里的文件详见第13页252楼2011.01.14 零点: USB 3G 成功详见第15页292楼2011.02.17: USB刷机教程/bbs/viewthread.php?tid=4598952011.03.06: AR.Drone附加导航板DIY (气压高度计+ 电子罗盘+ GPS) --- 基于Arduino/bbs/bbs_content.jsp?bbs_sn=4594637&bbs_page_no=1&bbs_id=10252011.03.22: 在Google Code 上设立ARDroneME 开源项目:(Java (J2ME) WiFi手机上的AR.Drone控制软件, WM6/Symbian等系统)/p/ardroneme/2011.03.29: ARDroneME1.2 (带触屏软游戏柄):/bbs/bbs_content.jsp?bbs_sn=4626493&bbs_page_no=1&bbs_id=10252011.05.29: AR.Drone电调通信协议:/bbs/viewthread.php?tid=4240582011.07.02: 直接读取AR.Drone摄像头的原始图像详见第21页415楼键盘控制/*Author: MAPGPS at/forum/viewforum.php?f=8/forums/showthread.php?t=1335257https:///projects/ardrone-api/boards/bbs/bbs_list.jsp?bbs_id=1025/bbs/viewthread.php?tid=415063Initial: 2010.09.20Updated: 2011.03.03UI_BIT:00010001010101000000000000000000| | | | | || | ||||+--0: Button turn to left| | | | | || | |||+---1: Button altitude down (ah - ab)| | | | | || | ||+----2: Button turn to right| | | | | || | |+-----3: Button altitude up (ah - ab)| | | | | || | +------4: Button - z-axis (r1 - l1)| | | | | || +--------6: Button + z-axis (r1 - l1)| | | | | |+----------8: Button emergency reset all| | | | | +-----------9: Button Takeoff / Landing| | | | +-------------------18: y-axis trim +1 (Trim increase at +/- 1??/s) | | | +---------------------20: x-axis trim +1 (Trim increase at +/- 1??/s) | | +-----------------------22: z-axis trim +1 (Trim increase at +/- 1??/s) | +-------------------------24: x-axis +1+-----------------------------28: y-axis +1AT*REF=<sequence>,<UI>AT*PCMD=<sequence>,<enable>,<roll>,<pitch>,<gaz>,<yaw>(float)0.05 = (int)1028443341 (float)-0.05 = (int)-1119040307(float)0.1 = (int)1036831949 (float)-0.1 = (int)-1110651699(float)0.5 = (int)1056964608 (float)-0.5 = (int)-1090519040AT*ANIM=<sequence>,<animation>,<duration>AT*CONFIG=<sequence>,\"<name>\",\"<value>\"########## Commandline mode ############altitude max2m: java ARDrone 192.168.1.1AT*CONFIG=1,\"control:altitude_max\",\"2000\"Takeoff: java ARDrone 192.168.1.1 AT*REF=1,290718208Landing: java ARDrone 192.168.1.1 AT*REF=1,290717696Hovering: java ARDrone 192.168.1.1 AT*PCMD=1,1,0,0,0,0gaz 0.1: java ARDrone 192.168.1.1 AT*PCMD=1,1,0,0,1036831949,0gaz -0.1: java ARDrone 192.168.1.1 AT*PCMD=1,1,0,0,-1110651699,0roll 0.1: java ARDrone 192.168.1.1 AT*PCMD=1,1,1036831949,0,0,0roll -0.1: java ARDrone 192.168.1.1 AT*PCMD=1,1,-1110651699,0,0,0yaw 0.1: java ARDrone 192.168.1.1 AT*PCMD=1,1,0,0,0,1036831949yaw -0.1: java ARDrone 192.168.1.1 AT*PCMD=1,1,0,0,0,-1110651699java ARDrone 192.168.1.1 AT*PCMD=1,1,0,1036831949,0,0pitch -0.1: java ARDrone 192.168.1.1 AT*PCMD=1,1,0,-1110651699,0,0pitch -30 deg: java ARDrone 192.168.1.1 AT*ANIM=1,0,1000pitch 30 deg: java ARDrone 192.168.1.1 AT*ANIM=1,1,1000########## Keyboad mode ############Takeoff/Landing: Space bar (toggle)Hovering: Pause keyArrow keys:Go Forward^|Go Left <---+---> Go Right|vGo BackwardArrow keys with Ctrl key pressed:^|Rotate Left <---+---> Rotate Right|vGo DownDigital keys 1~9: Change speed (rudder rate 5%~99%), 1 is min and 9 is max. */import .*;import java.util.*;import java.awt.*;import java.awt.event.*;import java.nio.*;class ARDrone extends Frame implements KeyListener {static final int NAVDATA_PORT = 5554;static final int VIDEO_PORT = 5555;static final int AT_PORT = 5556;//NavData offsetstatic final int NAVDATA_STATE = 4;static final int NAVDATA_BATTERY = 24;static final int NAVDATA_ALTITUDE = 40;InetAddress inet_addr;DatagramSocket socket_at;int seq = 1; //Send AT command with sequence number 1 will reset the counter int seq_last = 1;String at_cmd_last = "";float speed = (float)0.1;boolean ctrl = false;boolean locked = true;FloatBuffer fb;IntBuffer ib;boolean space_bar = false; //true = Takeoff, false = Landingfinal static int INTERVAL = 100;long lastTime = 0;public ARDrone(String name, String args[], InetAddress inet_addr) throws Exception {super(name);this.inet_addr = inet_addr;ByteBuffer bb = ByteBuffer.allocate(4);fb = bb.asFloatBuffer();ib = bb.asIntBuffer();socket_at = new DatagramSocket(ARDrone.AT_PORT);socket_at.setSoTimeout(3000);if (args.length == 2) { //Commandline modesend_at_cmd(args[1]);System.exit(0);}System.out.println("Speed: " + speed);send_at_cmd("AT*PMODE=" + get_seq() + ",2");Thread.sleep(INTERVAL);send_at_cmd("AT*MISC=" + get_seq() + ",2,20,2000,3000");Thread.sleep(INTERVAL);send_at_cmd("AT*REF=" + get_seq() + ",290717696");Thread.sleep(INTERVAL);send_at_cmd("AT*COMWDG=" + get_seq());Thread.sleep(INTERVAL);send_at_cmd("AT*CONFIG=" + get_seq() +",\"control:altitude_max\",\"2000\""); //altitude max 2mThread.sleep(INTERVAL);send_at_cmd("AT*CONFIG="+ get_seq() + ",\"control:control_level\",\"0\""); //0:BEGINNER, 1:ACE, 2:MAXThread.sleep(INTERVAL);send_at_cmd("AT*CONFIG=" + get_seq() +",\"general:navdata_demo\",\"TRUE\"");Thread.sleep(INTERVAL);send_at_cmd("AT*CONFIG=" + get_seq() +",\"general:video_enable\",\"TRUE\"");Thread.sleep(INTERVAL);//send_at_cmd("AT*CONFIG=" + get_seq() +",\"network:owner_mac\",\"00:18:DE:9D:E9:5D\""); //my PC//send_at_cmd("AT*CONFIG=" + get_seq() +",\"network:owner_mac\",\"00:23:CD:5D:92:37\""); //AP//Thread.sleep(INTERVAL);send_at_cmd("AT*CONFIG=" + get_seq() + ",\"pic:ultrasound_freq\",\"8\"");Thread.sleep(INTERVAL);send_at_cmd("AT*FTRIM=" + get_seq()); //flat trimThread.sleep(INTERVAL);send_at_cmd("AT*REF=" + get_seq() + ",290717696");Thread.sleep(INTERVAL);send_pcmd(0, 0, 0, 0, 0);Thread.sleep(INTERVAL);send_at_cmd("AT*REF=" + get_seq() + ",290717696");Thread.sleep(INTERVAL);//send_at_cmd("AT*REF=" + get_seq() + ",290717952"); //toggle Emergency //Thread.sleep(INTERVAL);send_at_cmd("AT*REF=" + get_seq() + ",290717696");addKeyListener(this);setSize(320, 160);setVisible(true);addWindowListener(new WindowAdapter() {public void windowClosing(WindowEvent e) {System.exit(0);}});}public static void main(String args[]) throws Exception {InetAddress inet_addr;String ip = "192.168.1.1";if (args.length >= 1) {ip = args[0];}StringTokenizer st = new StringTokenizer(ip, ".");byte[] ip_bytes = new byte[4];if (st.countTokens() == 4){for (int i = 0; i < 4; i++){ip_bytes[i] = (byte)Integer.parseInt(st.nextToken());}}else {System.out.println("Incorrect IP address format: " + ip);System.exit(-1);}System.out.println("IP: " + ip);inet_addr = InetAddress.getByAddress(ip_bytes);ARDrone ardrone = new ARDrone("ARDrone", args, inet_addr);Thread.sleep(ARDrone.INTERVAL);NavData nd = new NavData(ardrone, inet_addr);nd.start();Thread.sleep(ARDrone.INTERVAL);Video v = new Video(ardrone, inet_addr);v.start();Thread.sleep(ARDrone.INTERVAL);ardrone.send_at_cmd("AT*REF=" + ardrone.get_seq() + ",290717696");int cnt = 0;while (true) {Thread.sleep(30); //within 50ms to avoid ARDRONE_COM_WATCHDOG_MASK (pitch and roll does not work in this state)if (ardrone.seq == ardrone.seq_last)ardrone.send_at_cmd(ardrone.at_cmd_last);ardrone.seq_last = ardrone.seq;cnt++;if(cnt >= 5) { //30*5=1500, within 2000ms to avoid ARDRONE_COM_LOST_MASK (need to re-connect for this state)cnt = 0;ardrone.send_at_cmd("AT*COMWDG=" + (ardrone.seq++));}}}public void keyTyped(KeyEvent e) {;}public void keyPressed(KeyEvent e) {int keyCode = e.getKeyCode();try {control(keyCode);} catch (Exception ex) {ex.printStackTrace();}}public void keyReleased(KeyEvent e) {int keyCode = e.getKeyCode();//if (keyCode >= KeyEvent.VK_1 && keyCode <= KeyEvent.VK_9) speed = (float)0.1; //Reset speedif (keyCode == KeyEvent.VK_CONTROL) ctrl = false;}public int intOfFloat(float f) {fb.put(0, f);return ib.get(0);}public static String byte2hex(byte[] data, int offset, int len) {StringBuffer sb = new StringBuffer();for (int i = 0; i < len; i++) {String tmp = Integer.toHexString(((int) data[offset + i]) & 0xFF);for(int t = tmp.length();t<2;t++){sb.append("0");}sb.append(tmp);sb.append(" ");}return sb.toString();}public static int get_int(byte[] data, int offset) {int tmp = 0, n = 0;System.out.println("get_int(): data = " + byte2hex(data, offset, 4));for (int i=3; i>=0; i--) {n <<= 8;tmp = data[offset + i] & 0xFF;n |= tmp;}return n;}public synchronized int get_seq() {return seq++;}public void send_pcmd(int enable, float roll, float pitch, float gaz, floatyaw) throws Exception {System.out.println("Speed: " + speed);send_at_cmd("AT*PCMD=" + get_seq() + "," + enable + "," + intOfFloat(roll)+ "," + intOfFloat(pitch)+ "," + intOfFloat(gaz) + "," + intOfFloat(yaw));}public synchronized void send_at_cmd(String at_cmd) throws Exception {//System.out.println("AT command: " + at_cmd);at_cmd_last = at_cmd;byte[] buf_snd = (at_cmd + "\r").getBytes();DatagramPacket packet_snd = new DatagramPacket(buf_snd, buf_snd.length,inet_addr, ARDrone.AT_PORT);socket_at.send(packet_snd);/* AR.Drone does not send back ack message (like "OK")byte[] buf_rcv = new byte[64];DatagramPacket packet_rcv = new DatagramPacket(buf_rcv, buf_rcv.length);socket_at.receive(packet_rcv);System.out.println(newString(packet_rcv.getData(),0,packet_rcv.getLength()));*/}//Control AR.Drone via AT commands per key codepublic void control(int keyCode) throws Exception {System.out.println("Key: "+ keyCode + " ("+ KeyEvent.getKeyText(keyCode)+ ")");switch (keyCode) {case KeyEvent.VK_1:speed = (float)0.05;break;case KeyEvent.VK_2:speed = (float)0.1;break;case KeyEvent.VK_3:speed = (float)0.15;break;case KeyEvent.VK_4:speed = (float)0.25;break;case KeyEvent.VK_5:speed = (float)0.35;break;case KeyEvent.VK_6:speed = (float)0.45;break;case KeyEvent.VK_7:speed = (float)0.6;break;case KeyEvent.VK_8:speed = (float)0.8;break;case KeyEvent.VK_9:speed = (float)0.99;break;case KeyEvent.VK_CONTROL:ctrl = true;break;case KeyEvent.VK_UP:if (ctrl) {System.out.println("Go Up (gaz+)");send_pcmd(1, 0, 0, speed, 0);} else {System.out.println("Go Forward (pitch+)");send_pcmd(1, 0, speed, 0, 0);}break;case KeyEvent.VK_DOWN:if (ctrl) {System.out.println("Go Down (gaz-)");send_pcmd(1, 0, 0, -speed, 0);} else {System.out.println("Go Backward (pitch-)");send_pcmd(1, 0, -speed, 0, 0);}break;case KeyEvent.VK_LEFT:if (ctrl) {System.out.println("Rotate Left (yaw-)");send_pcmd(1, 0, 0, 0, -speed);} else {System.out.println("Go Left (roll-)");send_pcmd(1, -speed, 0, 0, 0);}break;case KeyEvent.VK_RIGHT:if (ctrl) {System.out.println("Rotate Right (yaw+)");send_pcmd(1, 0, 0, 0, speed);} else {System.out.println("Go Right (roll+)");send_pcmd(1, speed, 0, 0, 0);}break;case KeyEvent.VK_F1:locked = !locked;break;case KeyEvent.VK_SPACE:long currentTime = System.nanoTime();if (currentTime - lastTime < 2000000000) { //2s to avoid double click System.out.println("Click interval is too short (<2s), ignored");break;}lastTime = currentTime;space_bar = !space_bar;if (space_bar) {if (locked) {System.out.println("Takeoff locked, press F1 to unlock");break;}System.out.println("Takeoff");send_at_cmd("AT*REF=" + get_seq() + ",290718208");} else {System.out.println("Landing");send_at_cmd("AT*REF=" + get_seq() + ",290717696");}break;case KeyEvent.VK_PAUSE:System.out.println("Hovering");send_pcmd(1, 0, 0, 0, 0);speed = (float)0.1; //Reset speedbreak;default:break;}if (keyCode >= KeyEvent.VK_1 && keyCode <= KeyEvent.VK_9)System.out.println("Speed: " + speed);}}class NavData extends Thread {DatagramSocket socket_nav;InetAddress inet_addr;ARDrone ardrone;public NavData(ARDrone ardrone, InetAddress inet_addr) throws Exception {this.ardrone = ardrone;this.inet_addr = inet_addr;socket_nav = new DatagramSocket(ARDrone.NAVDATA_PORT);socket_nav.setSoTimeout(3000);}public void run() {int cnt = 0;try {byte[] buf_snd = {0x01, 0x00, 0x00, 0x00};DatagramPacket packet_snd = new DatagramPacket(buf_snd, buf_snd.length,inet_addr, ARDrone.NAVDATA_PORT);socket_nav.send(packet_snd);System.out.println("Sent trigger flag to UDP port " +ARDrone.NAVDATA_PORT);ardrone.send_at_cmd("AT*CONFIG=" + ardrone.get_seq() +",\"general:navdata_demo\",\"TRUE\"");byte[] buf_rcv = new byte[10240];DatagramPacket packet_rcv = new DatagramPacket(buf_rcv, buf_rcv.length);while(true) {try {socket_nav.receive(packet_rcv);cnt++;if (cnt >= 5) {cnt = 0;System.out.println("NavData Received: " + packet_rcv.getLength() +" bytes");//System.out.println(ARDrone.byte2hex(buf_rcv, 0,packet_rcv.getLength()));System.out.println("Battery: " + ARDrone.get_int(buf_rcv,ARDrone.NAVDATA_BATTERY)+ "%, Altitude: " + ((float)ARDrone.get_int(buf_rcv,ARDrone.NAVDATA_ALTITUDE)/1000) + "m");}} catch(SocketTimeoutException ex3) {System.out.println("socket_nav.receive(): Timeout");} catch(Exception ex1) {ex1.printStackTrace();}}} catch(Exception ex2) {ex2.printStackTrace();}}}class Video extends Thread {DatagramSocket socket_video;InetAddress inet_addr;ARDrone ardrone;public Video(ARDrone ardrone, InetAddress inet_addr) throws Exception {this.ardrone = ardrone;this.inet_addr = inet_addr;socket_video = new DatagramSocket(ARDrone.VIDEO_PORT);socket_video.setSoTimeout(3000);}public void run() {try {byte[] buf_snd = {0x01, 0x00, 0x00, 0x00};DatagramPacket packet_snd = new DatagramPacket(buf_snd, buf_snd.length,inet_addr, ARDrone.VIDEO_PORT);socket_video.send(packet_snd);System.out.println("Sent trigger flag to UDP port "+ ARDrone.VIDEO_PORT);ardrone.send_at_cmd("AT*CONFIG=" + ardrone.get_seq() +",\"general:video_enable\",\"TRUE\"");byte[] buf_rcv = new byte[64000];DatagramPacket packet_rcv = new DatagramPacket(buf_rcv, buf_rcv.length);while(true) {try {socket_video.receive(packet_rcv);System.out.println("Video Received: " + packet_rcv.getLength() + " bytes");//System.out.println(ARDrone.byte2hex(buf_rcv, 0,packet_rcv.getLength()));} catch(SocketTimeoutException ex3) {System.out.println("socket_video.receive(): Timeout");socket_video.send(packet_snd);} catch(Exception ex1) {ex1.printStackTrace();}}} catch(Exception ex2) {ex2.printStackTrace();}}}PgUp键: 起飞PgDn键: 降落空格键: 悬停方向键:前进^|左进<---+---> 右进|v后退Shift + 方向键:上升^|左旋<---+---> 右旋|v下降按住数字键1~9 : 速度(舵量), 1最小, 9最大(满舵), 松开数字键则恢复缺省值(10%舵量)在AR.Drone上用tcpdump抓包分析网络数据有些视频命令发到AR.Drone后, PC端收不到回传的数据, 于是想看看AR.Drone端的控制命令/ 姿态数据/ 视频数据是怎么传送的.Android也是ARM CPU, 它上面的工具程序也能在AR.Drone上用.找了个Android上的tcpdump抓包工具: /~timuralp/tcpdump-arm通过FTP将其上传到AR.Drone的/data目录下.telnet 192.168.1.1# cd /data# chmod 755 tcpdump-arm# ./tcpdump-arm -i ath0 -s 0 -w ardrone.pcaptcpdump-arm: WARNING: can't create rx ring on packet socket 8: 92-Protocol not availabletcpdump-arm: listening on ath0, link-type EN10MB (Ethernet), capture size 65535 bytes^C435 packets captured436 packets received by filter0 packets dropped by kernel用Ctrl-C结束抓包.再通过FTP将ardrone.pcap抓包文件传到PC机上, 可用Wireshark分析.Parrot今天发布了AR.Drone的详细开发文档下载: https:///attachments/download/207/ARDrone_Developer_Guide.pdf包括飞控AT命令, 飞控数据, 视频流等, 是DIY的福音!增加GPS模块GPS模块已收到好些天了, 但一直没时间在AR.Drone上试.今天是周末, 搭了个试验环境.AR.Drone的USB口上有7针, 它是USB和串口的复合口:针3为USB D-, 针5为USB D+针4为串口RX, 针6为串口TX (对应于AR.Drone Linux串口设备/dev/ttyPA0)针7为地针2为电源+11.1V针1(VBUS) 0V (或许能找到AR.Drone USB OTG的ID脚, 使其充当USB Host而在针1上输出+5V)没有+5V输出, 于是把车上的一个手机车载充电器拆了, 作为12V/5V降压. 还接了个万用表来测定GPS模块的工作电流:GPS模块C3-370C, 个子很小, 重量也很轻, 才10克:Show一下我新买的带示波器功能的数字万用表(示波表). GPS模块的工作电流很小, 显示48.5mA:用作12V/5V降压的车载充电器电路板, 5V 1A输出, 个子傻大, 是那个GPS模块的两倍:)试验用用而已. 因GPS模块的工作电流很小, 以后DIY个100mA体积小的12V/5V降压模块(或许能找到AR.Drone USB OTG 的ID脚, 使其充当USB Host而在针1(VBUS)上输出+5V):在AR.Drone的Telnet窗口里: cat /dev/ttyPA0终于看到了熟悉的GPS NMEA输出数据:可以写GPS数据解析, 并控制AR.Drone飞行的程序了 ...。
诺亚航空公司航空助手说明书
XeniumX116BlackCTX116BLKEnduring connectionThe Philips Xenium X116 is packed with the most needed features for life on the go. Powered by the long-lasting Xenium battery and backed by dual SIM card slots, the X116 offers a good balance of performance, practicality and reliability.Always on, always connectedUp to 1 month of standby timeUp to 8 hours of talk timeMaximize your mobilityDual SIM for 2 groups of contactsMultimedia essentialsEnjoy FM music your way - out loud or via a headsetLED flashlight - a handy light source in any dark situationsIntegrated digital cameraMP3 playback and ringtones for a superior audio experienceMicroSD memory card slot for extra memory/ data storageHighlightsDual SIMOrganize your life better and keep yourcontacts separate by using 2 different phonenumbers. With Dual SIM, you don't need tocarry 2 phones around.FM radio on the go Enjoy the convenience of tuning in to FM radio the way you want - play it out loud through the phone's speaker or via your headset. Just plug in the headset, which acts as an antenna and select your listening option in the menu.Built-in LED flashlight Why grope around in the dark for your keys or the light switch? Just rely on the handy built-in LED flashlight in your mobile phone to shed light on any situation.Digital camera The integrated digital camera with VGA resolution (640x480 pixels) allows you to capture precious moments of your life anywhere, anytime with your phone. Press camera key to take vibrant pictures and use as wallpaper and fotocall, or to send later via MMS.SpecificationsDimensionsForm Factor: Candy barHandset dimensions: 108.3 X 46.7 X13.2mm Handset weight: 79.5 gAntenna: IntegratedHandset color: blackNetwork FeaturesGPRS (Rx+Tx): Class 12, class B and C GSM band: 900, 1800 MHzMessaging: SMS CB (Cell Broadcast), SMS (Short Message Service), SMS multi-target, Concatenated SMS (Long SMS), E-mail, MMS,Multimedia Message Service Services: WAP 2.0Voice Codec: FR/EFR/AMR/HRGSM band(Primary SIM): 900, 1800 MHz GSM band(Secondary SIM): 900, 1800 MHz Picture/DisplayMain Display Technology: TFTDiagonal screen size (inch): 2.0 inchMain Display Resolution: 176x220 pixel Main Display Colors: 262KSoundRingers: MP3 ringer, Polyphonic (64 tones) Audio PlaybackAudio supported formats: MP3, AMR, Midi Audio CapturingVoice recording: AMRAudio RecordingRecord your own voiceStorage MediaMemory Card Types: Micro SDMaximum memory card capacity: 4 GB Memory management: Dynamic memory allocation, Memory statusMultimedia ApplicationsMemory Card Access: SD card slot ConnectivityHeadset: Via mini USB connectorBluetooth: Bluetooth V2.0Bluetooth profiles: Headset, File transferprofile, Handsfree, Object push profileSerial connections: USB-miniUSB data cableConvenienceButtons and controls: 4-way navigation keyand enter, Customized hot key, Soft keysCall Management: Call Counters, CallForwarding, Call on Hold, Call Time, CallWaiting*, Emergency Call, Microphone mute,Missed Calls, Received CallsClock/Version: DigitalEase of Use: Dual SIM cards, Hands freemode, Graphical User Interface, Hot Keys,Keypad Lock, Softkeys, Vibra AlertEmbedded Games: 2Games and applications: Agenda, AlarmClock, Calculator, CalendarLanguage available: UI: English, ChineseSimplifiedMultimedia: FM RadioPersonalisation/Customization: Screen Saver,Wallpaper, RingtonesText input: Character counter, Smart predictiveinputVibratorVolume controlPowerBattery Type: Lithium-ionStandby time: Up to 850 hoursTalk time: Up to 8 hoursBattery Capacity: 1050mAhBattery saving manager: Auto switch on/offAccessoriesStandard Package Includes: Battery, Charger,Stereo Headset, User Manual, HandsetGreen SpecificationsLead-free soldered productPackaging material: CartonUser manual: Recycled paperStill Picture CapturingCamera: IntegratedImage sensor type: CMOSPicture file format: JPEGPicture resolution: VGA (640x480)Still Picture PlaybackPicture Compression Format: BMP, JPEG© 2019 Koninklijke Philips N.V.All Rights reserved.Specifications are subject to change without notice. Trademarks are the property of Koninklijke Philips N.V. or their respective owners.Issue date 2019‑10‑23 Version: 2.0.112 NC: 8670 000 74122 EAN: 69 31555 20967 6。
系留多旋翼无人机及其军事应用
系留多旋翼无人机及其军事应用作者：张帅张鑫李志华来源：《中国军转民》 2021年第9期张帅张鑫李志华摘要：为解决多旋翼无人机无法长时留空的问题，可以通过系留综合缆绳将多旋翼无人机和地面站组合起来，构成一种新型无人机系统——系留多旋翼无人机。
本文梳理了多旋翼无人机的发展历程，采取对比分析的方法总结了系留多旋翼无人机的系统组成和应用特点，对多旋翼无人机在战术通信保障、军事侦察监控、电子干扰与防护3 个方面的军事应用前景进行了分析。
关键词：系留多旋翼无人机；发展历程；组成；特点；军事应用引言当前，军用无人机的种类也越来越多，应用范围越来越广，成为不可替代的“战场新宠”。
系留多旋翼无人机是一种新型的无人机系统，它解决了普通多旋翼无人机续航时间较短的问题，能够广泛应用于应急救灾、电磁监控等民用领域，同时也可以在军事领域发挥重要作用。
1 多旋翼无人机的发展历程多旋翼无人机的英文为Multirotorunmanned aerial vehicle，缩写为MUA，也称为多旋翼无人直升机，是一种没有搭载驾驶人员的旋翼飞行器，具有垂直起降、空中悬停、低空飞行和原地回转等独特飞行技能，在民用和军用市场上都大有用武之地[1]。
相对于固定翼飞行器来说，多旋翼飞行器的发展经历了一个比较漫长的过程。
1.1 探索阶段：20 世纪90 年代初之前在1903 年莱特兄弟发明固定翼飞机后，人类就开始了对多旋翼飞行器的探索。
真正意义上的第一架多旋翼飞行器来自于法国的Breguet 兄弟，他们在1907 年设计了一个4 旋翼飞行器原型，进行了旋翼式直升机的飞行试验[2]。
而后在1921 年，美国人Dr.George deBothezat 建造了一个可载3 人的大型4旋翼飞行器，实现飞行距离5 米、留空时间2 分45 秒[3]。
1956 年，M.K.Adman设计出一架4 旋翼飞行器并试飞成功，然而由于这种飞行器在速度、载重量、续航等方面无法与传统单旋翼直升机竞争，这项研究工作再没有继续推进下去。
DRONES31无人机起飞教程
DRONES31无人机起飞教程
如何正确起飞与降落无人机，以及注意事项：
（1）起飞
执行左右摇杆内八掰杆动作，飞机将解锁，螺旋桨将以怠速旋转。
向上推动油门杆，飞机即可起飞，此时再执行其他摇杆动作。
（2）降落
向下拉低油门杆，直至飞机降落到地面。
飞机降落在地面后将油门杆拉到最低并保持3秒，飞机即可上锁，螺旋桨停转。
（3）保持距离
无人机起飞时，操作人员必须保持与无人机距离5m以上。
（4）不急推油门
严禁在地面突然急推油门或其他摇杆起飞，避免无人机姿态出错不可控撞向人群。
（5）遥控器不离手
严禁非专业操作手外的其他人员擅动遥控器，避免误操作导致意外发生。
（6）降落后要上锁
无人机降落后，桨叶未停止转动或自锁时不要靠近或移动无人机，务必保证电机自锁后再行移动。
（7）试飞检查
起飞无人机至安全高度（3--5米），观察飞行器悬停是否有异常，再打摇杆确认遥控器各项操作有无异常。
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AR.Drone 完整手册目录安全预防措施 (1)癫痫患者的注意事项 (1)经重复动作造成的伤害和视觉疲劳 (1)警告 (2)使用和保养 (2)电池使用的相关注意事项充电 (2) (3)使用和储存回收 (3) (3)附加电池－防假冒保护开始前 (4)包装内物件清单 (4)应用程序下载首次使用注意事项 (6)电池电池充电 (6)安装电池 (7) (7)检查 iPhone 的电量水平。
(7)室内使用 (8)室外使用 (8)将 iPhone与 AR.Drone 连接激活飞行模式 (8)将 iPhone 连接到 AR.Drone 的 Wi-Fi 网络上 (9)配合多个 iPhone 使用 AR.Drone (9) (10)LEDs (10)LED 灯的类型马达 LED 灯 (10)LED 灯系统 (11) (11)选项基础设置 (11)高级设置 (12) (13)遇到问题时的章节检查 AR.Drone 的 IP 地址 (13)清除 Wi-Fi 网络 (14)关闭 Wi-Fi 模式 (15)删除 AR.Drone 内存记忆 (15)重新启动 AR.Drone (16)自由飞行 (17)开始前 (17)iPhone的定位在 iPhone 上的手位 (17) (18)LED 灯的颜色设置 (18) (18)驾驶起飞 (18)状态图标 (18)驾驶 (19) (20)摄像头转换着陆 (20)紧急按钮 (21) (21)重启按钮 (21)使用时联机中断距离 (21)电池 (21)电话/短信息 (21)日历备忘录 (22)应用程序中断 (22) (22)错误信息启动问题 (22) (23)警示信息紧急报警信息 (23)安全预防措施安全事项：使用A R.D r one或者让孩子使用A R.D r one之前，请务必仔细阅读相关注意事项，忽视任何信息将可能会造成意外。
无视这些建议可能导致受伤。
癫痫患者的注意事项有部份人仕（大约为1/4000）在受到强烈光线刺激时可能会引发癫痫或者失去意识，例如：在看电视或进行电动游戏时的画面快速切换、光亮等，即使以前没有相关的病历或者癫痫经历。
如果您或者您的家人在受到强烈视觉刺激时曾出现过癫痫的相关症状（发作或者失去意识），在使用本品前请咨询专业医生。
当小孩在玩相关视讯游戏时，家长应该特别留意。
如果您或者您的孩子出现以下症状：头晕、视力模糊、眼睛或者肌肉收缩、意识短暂丧失、定向障碍、发作或者不由自主地抖动或抽搐，请立即停止游戏并咨询专业医生。
在玩相关视讯游戏时应该采取相关措施以减少病发的风险：-尽可能坐或站在远离电视屏幕的位置。
-尽可能用最小的电视屏幕去进行游戏。
-在您疲惫或者睡眠不足的情况下，尽量避免进行游戏。
-择在光线充足的房间(室内)或环境(室外)进行游戏。
-每隔一小时休息10 到15 分钟。
经重复动作造成的伤害和视觉疲劳连续几个小时玩视讯游戏会造成肌肉、关节和眼睛疲劳，并且对皮肤造成一定的刺激。
为了避免出现肌腱炎、腕道症候群、视觉疲劳或者皮肤刺激，请遵守下列要求：-避免沉迷游戏。
要求家长在孩子玩游戏时进行适当的监督。
-即使身体感觉良好，也建议每个小时休息10 到15 分钟。
-玩游戏时，如果手、手腕、手臂或者眼睛出现疲劳或疼痛，请立即休息数小时后再继续玩。
-如果经过充足的休息后，仍然感觉疲惫或者疼痛，请立即停止游戏并就医。
警告不鼓励小于14 岁的儿童使用本产品。
本产品内装小型磁体。
一旦吞服，小型磁铁在肠道内会粘连在一起，从而造成严重的伤害。
如摄入磁体，请立即向医生咨询。
使用和保养派诺特AR.Dr one 不适合14岁以下儿童游玩。
在您使用AR.Dr one时，请时刻注意，以免航模碰到人员、牲畜或物品。
在某些公共场所（如火车站、机场等或公共道路上使用可能不允许使用派诺特公司的AR.Dr one。
请核实您所在的地点是否允许使用AR.Dr one。
在使用AR.Dr one时，请尊重他人的隐私。
派诺特A R.D r one 起飞或着陆时，站立位置最好在大概1 米范围以外的地方。
AR.Drone飞行中的螺旋桨可能对其他人，宠物或者物体造成伤害。
严禁触摸飞行中的派诺特A R.D r one。
螺旋桨完全停止转动后方可对派诺特A R.D r one进行操作。
请将产品远离小孩和宠物。
螺旋桨应与其他人，宠物或对象保持一定的距离。
请勿堵塞通风出口。
请使用由制造商提供的指定零件。
在临近强磁场、声波或者强辐射的区域，A R.D r one 的摄影机可能无法正常拍摄。
如果灰尘或者沙子进入A R.D r one，本产品将可能无法正常运作。
请勿在恶劣天气（下雨、大风、下雪）或者光线不足的情况下（夜间）使用派诺特A R.D r one。
派诺特A R.D r one 应该远离高压电线、树木、房屋或者其他潜在危险区域。
不得将本品与的液体物质堆放在一起。
请勿将派诺特A R.D r one降落在水面上或者置于潮湿的表面，这将会造成不可挽回的损失。
电池使用的相关注意事项锂电池的使用有一定风险，可能对人身和财产造成重大损失，使用者应自行承担所有相关责任。
制造商和经销商不对电池的使用（充电、放电和储存等）进行控制，也不对由其对人身和财产造成的损失承担责任。
如果电池发生泄漏，请避免液体与皮肤和眼睛接触。
若接触到皮肤，请立即以香皂和清水进行清洗。
若接触到眼睛，请立即以大量冷水冲洗并立即就医。
如果充电器出现可疑的异味、噪音或者烟雾，请立即拔除电源。
请严格遵守下列要求，否则将会引发煤气泄漏、火灾、电击或爆炸。
充电派诺特的电池必须配合派诺特充电器使用。
严禁使用破损的充电器。
请勿对膨胀、泄漏或者破损的电池进行充电。
请勿对电池进行过度充电。
当电池完全充满后，请拔出充电器。
充电结束后，请勿对设备进行重新充电，避免发生过热的情况。
不要在靠近易燃物或在易燃（地毯、木地板、实木家具等）或导电的物体表明上充电。
充电时，要随时对电池进行观察。
切勿在使用A R.D r one后、电池尚热的时候立即充电。
充电时，不要覆盖电池和充电器。
电池充电的温度应该介于0°C到40°C之间。
使用和储存严禁使用塑料包装已破损的电池。
当设备开启时，请勿插入或取出电池。
请勿将电池过暴露于过度物理撞击。
严禁使用膨胀、泄漏、破损或者发出异味的电池。
禁止儿童接触电池。
请勿将电池放入火中。
避免电池与液体发生接触。
设备严禁淋雨，也不得置于潮湿处。
请勿将电池放入微波炉或压力罐中。
请勿对电池进行拆卸、钻孔、变形或者切割。
电池或者充电器严禁承载重物。
禁止摔打电池。
请勿使用溶剂、工业酒精或者其他易燃溶剂对充电器进行清洁。
防止短路发生。
避免与电池中的电解物质发生直接接触，电解物质和电解蒸汽对身体有害。
在室温下储存设备。
请勿将设备置于极端温度下。
避免设备存放处的温度发生重大变化。
请勿将产品放置在发热源附近。
设备不使用时应取出电池。
請在電池不充電時，拔掉充電器。
回收请勿将设备当作日常垃圾处理。
损坏或者无法使用的电池应该放置在特殊的指定用途的容器中。
此设备由电子组件和电池构成。
属于电子电器垃圾，请照特殊的要求进行处理。
请熟悉当地垃圾集中处理的办法。
附加电池－防假冒保护使用不符合P ar r ot质量标准的锂聚合物电池可能导致A R.D r one的损坏，并可导致人员和财产的重大损失。
如果您为A R.D r one添置了一块新电池或您不能确定该电池的来源，在连接A R.D r one之前，请检查电池上是否有如左图所示的标签。
这个标签应包含2个编码（每块电池都有不同编码），其中一个是多彩6位数编码。
开始前备注：在本手册中,i P od t ouch,i P hone 和i P ad 将以同一名称“i P hone ”表示。
包装内物件清单AR.Drone 圆框的流线体保护装置（室内使用）无圆框的流线体保护装置（室外使用）电池充电器适配器背胶贴纸去掉在 AR .D r one摄像头以及两个挡板上的胶纸。
请保管所提供的背胶贴纸。
多个玩家操作 A R .Fl yi ng A ce 时，必须将这些贴纸贴在内侧流线体保护装置,有小标记所示的位置处。
应用程序下载请您连接到 A pp S t or e 并免费下载 A R .D r one 应用程序。
AR.FreeFlight FreeFlight 是基础应用程序。
它可以使您通过您的 i P hone 驾驶 A R .D r one 。
它也可以使您学习基础飞行（爬升、下降、转弯、后退、前进等）。
AR.FlyingAce AR.FlyingAce应用程序可使您在团队空战中，与处于同一个W i-Fi网络中的其它A R.D r one 进行对战。
此应用程序将在近期推出。
首次使用注意事项电池电池充电1.选择您所在国家适用的适配器，插到变压器上。
您必须听到响声以确认插好。
2.连接电池与充电器。
警告：不得强行将适配器插到变压器上。
3.将电源线连到变压器上，然后接通电源。
备注：电池充电的时间为一个半小时。
当LE D指示灯变绿时即充电结束。
当正在配平对应原件时，标号 1 至 3 的LE D灯闪烁安装电池1.将电池安装在指定位置。
2.请确保其通过固定系统正确安装。
3.将其连接到A R.D r one。
检查 iPhone 的电量水平。
为了在最佳条件下使用A R.D r one，请确保您i P hone 的电池已经充满。
微弱或中等的电量水平可导致A R.D r one 的飞行效果变差（指令的再激活、视频流的质量......）。
室内使用警告：避免A R.D r one 在儿童、宠物或者易碎品周边进行飞行。
请安装带圆框的流线体保护装置，以便在与其它物体碰撞时保护A R.D r one。
将A R.D r one 放置在无任何障碍的房间中间（至少4m X 4m）。
人站在设备后方一米处(依靠设备前部的摄像头，可轻松辨识A R.D r one 前方情况)。
在A R.Fr eeFl i ght应用程序的设置中，关闭室外保护及室外飞行选项。
.室外使用不得在恶劣天气时（下雨、大风、下雪）或者光线不足的情况下（夜间）使用P ar r ot A R.D r one。
尽管自动驾驶可以对风力引起的扰流进行补偿，但在风速超过15K m/h 的条件下，避免进行A R.D r one 飞行。
备注：请注意，您在驾驶A R.D r one 时所感觉到的风的强度和A R.D r one 所在位置的风的强度可能差别很大。
这可以解释意外轨迹改变的发生。
安装无圆框的流线体保护装置。
将A R.D r one放置在平整干燥的表面上，周边不要放置任何障碍物。
人站在设备后方一米处（依靠设备前部的摄像头，可轻松辨识A R.D r one 前方情况）。
在A R.Fr eeFl i ght应用程序的设置中，开启选项室外保护及室外飞行.将 iPhone与 AR.Drone 连接激活飞行模式为达到更好的使用舒适性，我们建议您将您的i P hone调至飞行模式。