基于PX4构建高可靠多旋翼控制器的实现方法  

Implementation of Constructing High Reliability Multi-rotor Rontroller Based on PX4

作　　者：陈子杰[1] 刘永辉[1] 赵厚宝[1] 苏仰锋[2] 陆小敏[3] 

机构地区：[1]上海金融学院,上海201209 [2]复旦大学,上海200433 [3]上海市信息中心,上海200050

出　　处：《软件产业与工程》2014年第6期38-42,共5页

基　　金：2012年上海市大学生创新创业训练计划(201311639036);上海金融学院第十批科创立项项目

摘　　要：多旋翼无人机是当前备受关注的热点,虽然功能强大,但在日常飞行中仍存在可靠性不高的问题。本文以PX4开源飞行控制器为基础,使用Arduino单片机平台构建低成本的高可靠性多旋翼无人机控制器,用于提升现有的多旋翼无人机的可靠性。主要介绍了冗余切换装置以及坠落预警装置的原理和结构,并进行了相应的实际测试以验证系统运行的效果。Multi-Rotor UAV has attracted serious concern recently. Despite its powerful functions, there remains some problems of reliability. A highly reliable low-cost Multi-Rotor flight control system based on PX4 project on Arduino platform is tried in this paper to improve the reliability of existing Multi-Rotor UAV. This paper mainly discussed the Redundancy Swithing System and the Falling Warning System. Both of them have passed tests to improve their validity.

关 键 词：无人机 开源飞控 PX4 ARDUINO 冗余 

分 类 号：TP368.5[自动化与计算机技术—计算机系统结构]