描述
<p><strong>一、作品简介</strong></p>
<p> </p>
<p>大疆精灵2是大疆出的精灵系列第二代四轴飞行器,发布于2015年,现在大疆公司不断推陈出新,大疆精灵系列已经出到了第4代,大疆精灵2集成度没有后边的几代集成度高,但相对的,留给DIYER们改造的空间也相对较大,本制作就是针对大疆精灵2的can信息进行解码,来扩展改造。此制作分为两大部分。<br>第一是针对需要对大疆精灵2系列四轴飞行器的电池信息,GPS信息等通过stm32加can芯片,进行CAN接口解码,叠加到摄像头图像里,方便了解飞行器飞行时的状态,并解码出两个遥控器通道进行云吞俯仰的操作,配合地面遥控器头追,实时控制云吞的俯仰状态,并通过模拟图传实时发送到地面飞手的VR眼镜里,让飞手有一种身临其境的飞行快感。<br>第二是头追的制作,头追传感器采用ardunio与GY-85九轴模块设计,放置在VR眼镜上部,采集飞手的头部动作,通过遥控器发送信号给四轴飞行器,从而控制飞行器摄像头的俯仰与航向,让飞手犹如坐在飞行器机仓般的感觉。</p>
<div> </div>
<p> <img src="//image.lceda.cn/pullimage/NyyVcJKJ4qWajpQiomrMdnpRKCp0RB5tQNAq541S.jpeg" alt="" width="501" height="680"></p>
<p><img src="//image.lceda.cn/pullimage/gVU0ed4AdGZVoU6iG8TOT7N7GmcXABXB6Thc4kXY.jpeg" alt="" width="527" height="673"><img title="点击查看大图" src="//" alt=""></p>
<p> <img src="//image.lceda.cn/pullimage/6ObQ6DHaduPFuQvztNCMtFFptP4hcYz2pp2eVgMc.jpeg" alt="" width="520" height="679"><img title="点击查看大图" src="//" alt=""></p>
<p> <img title="点击查看大图" src="//" alt=""></p>
<p><strong>二、系统构架图</strong></p>
<p>OSD系统框图</p>
<p> <img src="//image.lceda.cn/pullimage/r1Qp0mBO9TGmFlP8iK19Kicny3KWLGm4rdDot8Hb.jpeg" alt="" width="564" height="365"><img title="点击查看大图" src="//" alt=""></p>
<p> </p>
<p>头追系统框图<img src="//image.lceda.cn/pullimage/YHo4l9h6yruOWpobaYpEyjCdlMiIctvWWJu3ONMc.jpeg" alt="" width="516" height="276"></p>
<p> </p>
<p><img title="点击查看大图" src="//" alt=""></p>
<p><strong>三、硬件部分的描述</strong></p>
<p>OSD原理图与成品图</p>
<p> <img src="//image.lceda.cn/pullimage/oRXkKIP3YnO4fRMPSqTAbbdCS97z84phoHaS3d2A.jpeg" alt="" width="892" height="495"></p>
<p><img src="//image.lceda.cn/pullimage/Vx82wSMvyP7GZHXVl0YGkrar6nXMWH3PJrhNzB3l.jpeg" alt="" width="815" height="609"></p>
<p><img title="点击查看大图" src="//" alt=""></p>
<p> </p>
<p>头追系统成品图:<img src="//image.lceda.cn/pullimage/vZixqCJ2kFSd1EDtBWZv458Hc5AzQNiU0BQOqLJD.jpeg" alt="" width="507" height="676"></p>
<p><img title="点击查看大图" src="//" alt=""></p>
<p>主要原理:</p>
<p>1.osd 抬头显示系统。</p>
<p> 大疆精灵2飞控系统,会不断的向CAN总线传送各种飞控状态信息和控制信息,改OSD设计就是解码精灵2的can数据,解析出四轴飞行器的电池信息,GPS信息,飞行高度,和遥控器摇杆数值,各种飞控信息通过stm32的can模块接受并解码,送osd芯片结合摄像头传来的图像信息,进行字符叠加,再通过5.8G视频无线图传模块传送到地面接收。地面通过5.8g视频接收模块接收并显示图像。解码出的遥控器的两个通道的数据,由stm32转换成pwm输出给舵机,从而控制舵机的转向和俯仰,实现挂在舵机上的摄像头随地面遥控信号动作。</p>
<p>2.头追系统。</p>
<p> 头追系统主要由一块ardunio 板和GY-85 9轴传感器和两个I2C接口的DAC芯片组成,这里采用了现成的模块搭接。ardinuo 读取9轴传感器的状态和磁力计的数据,进行融合计算,转换成俯仰,横滚,朝向的变化数值,并通过DAC芯片转换成电压给遥控器的两个通道读取,模拟遥控器的电阻器动作,从而实现头部的动作模拟成摇杆的动作,控制飞行器上的舵机转动。这样飞行器上摄像头就随着地面控制人员的头部运动而运动,模拟飞机上上下左右看的感觉。</p>
<p><a class="ke-insertfile" href="http://club.szlcsc.com/article/downFile_D1B31AB6F874CC95.html" target="_blank">skylink_osd_p2_V1.0_PCB.zip</a> (下载次数:1052) 原理图和PCB文件(采用kicad软件)</p>
<p> </p>
<p><strong>四、材料清单(BOM列表)</strong></p>
<p>stm32f103c8t6 商品编号:C8734</p>
<p>tja1050 商品编号:C112947</p>
<p>at7456 商品编号:C82351</p>
<p>atmega328 商品编号:C14877</p>
<p>mcp4725 商品编号:C61423</p>
<p>GY-85模块 https://item.taobao.com/item.htm?spm=a230r.1.14.36.76bf5236XgcH1&id=35070081530&ns=1&abbucket=5#detail</p>
<p> </p>
<p> </p>
<p><strong>五、软件部分的描述(选填)</strong></p>
<p>OSD软件流程</p>
<p> <img src="//image.lceda.cn/pullimage/lh4ZmsgnEfCVqHzevSqvx5qyFIqAkSJjVVPE8Qsz.jpeg" alt="" width="417" height="345"><img title="点击查看大图" src="//" alt=""></p>
<p>头追软件流程</p>
<p> <img src="//image.lceda.cn/pullimage/iz54HpyVOxBZh48uLUTgbR34zX6CWyXsGqjsEtIr.jpeg" alt="" width="470" height="329"><img title="点击查看大图" src="//" alt=""></p>
<p>osd 大疆can信息解码代码</p>
<p> </p>
<pre class="prettyprint lang-cpp">uint16_t NazaCanDecoderLib::decode()
{
uint16_t msgId = NAZA_MESSAGE_NONE;
if(can.available())
{
can.read(&RxMessage);
if(RxMessage.StdId == 0x090) canMsgIdIdx = 0;
else if(RxMessage.StdId == 0x108) canMsgIdIdx = 1;
else if(RxMessage.StdId == 0x7F8) canMsgIdIdx = 2;
else return msgId; // we don't care about other CAN messages
for(uint8_t i = 0; i < RxMessage.DLC; i++)
{
canMsgByte = RxMessage.Data[i];
if(collectData[canMsgIdIdx] == 1)
{
msgBuf[canMsgIdIdx].bytes[msgIdx[canMsgIdIdx]] = canMsgByte;
if(msgIdx[canMsgIdIdx] == 3)
{
msgLen[canMsgIdIdx] = msgBuf[canMsgIdIdx].header.len;
}
msgIdx[canMsgIdIdx] += 1;
if((msgIdx[canMsgIdIdx] > (msgLen[canMsgIdIdx] + 8)) || (msgIdx[canMsgIdIdx] > 256)) collectData[canMsgIdIdx] = 0;
}
// Look fo header
if(canMsgByte == 0x55) { if(header[canMsgIdIdx] == 0) header[canMsgIdIdx] = 1; else if(header[canMsgIdIdx] == 2) header[canMsgIdIdx] = 3; else header[canMsgIdIdx] = 0;}
else if(canMsgByte == 0xAA) { if(header[canMsgIdIdx] == 1) header[canMsgIdIdx] = 2; else if(header[canMsgIdIdx] == 3) { header[canMsgIdIdx] = 0; collectData[canMsgIdIdx] = 1; msgIdx[canMsgIdIdx] = 0; } else header[canMsgIdIdx] = 0;}
else header[canMsgIdIdx] = 0;
// Look fo footer
if(canMsgByte == 0x66) { if(footer[canMsgIdIdx] == 0) footer[canMsgIdIdx] = 1; else if(footer[canMsgIdIdx] == 2) footer[canMsgIdIdx] = 3; else footer[canMsgIdIdx] = 0;}
else if(canMsgByte == 0xCC) { if(footer[canMsgIdIdx] == 1) footer[canMsgIdIdx] = 2; else if(footer[canMsgIdIdx] == 3) { footer[canMsgIdIdx] = 0; if(collectData[canMsgIdIdx] != 0) collectData[canMsgIdIdx] = 2; } else footer[canMsgIdIdx] = 0;}
else footer[canMsgIdIdx] = 0;
if(collectData[canMsgIdIdx] == 2)
{
if(msgIdx[canMsgIdIdx] == (msgLen[canMsgIdIdx] + 8))
{
if(msgBuf[canMsgIdIdx].header.id == NAZA_MESSAGE_MSG1002)
{
float magCalX = msgBuf[canMsgIdIdx].msg1002.magCalX;
float magCalY = msgBuf[canMsgIdIdx].msg1002.magCalY;
headingNc = -atan2(magCalY, magCalX) / M_PI * 180.0;
if(headingNc < 0) headingNc += 360.0;
float headCompX = msgBuf[canMsgIdIdx].msg1002.headCompX;
float headCompY = msgBuf[canMsgIdIdx].msg1002.headCompY;
heading = atan2(headCompY, headCompX) / M_PI * 180.0;
if(heading < 0) heading += 360.0;
sat = msgBuf[canMsgIdIdx].msg1002.numSat;
gpsAlt = msgBuf[canMsgIdIdx].msg1002.altGps;
lat = msgBuf[canMsgIdIdx].msg1002.lat / M_PI * 180.0;
lon = msgBuf[canMsgIdIdx].msg1002.lon / M_PI * 180.0;
alt = msgBuf[canMsgIdIdx].msg1002.altBaro;
float nVel = msgBuf[canMsgIdIdx].msg1002.northVelocity;
float eVel = msgBuf[canMsgIdIdx].msg1002.eastVelocity;
spd = sqrt(nVel * nVel + eVel * eVel);
cog = atan2(eVel, nVel) / M_PI * 180;
if(cog < 0) cog += 360.0;
vsi = -msgBuf[canMsgIdIdx].msg1002.downVelocity;
msgId = NAZA_MESSAGE_MSG1002;
}
else if(msgBuf[canMsgIdIdx].header.id == NAZA_MESSAGE_MSG1003)
{
uint32_t dateTime = msgBuf[canMsgIdIdx].msg1003.dateTime;
second = dateTime & 0x3f; dateTime >>= 6; //0b00111111
minute = dateTime & 0x3f; dateTime >>= 6; //0b00111111
hour = dateTime & 0x0f; dateTime >>= 4; //0b00001111
day = dateTime & 0x3f; dateTime >>= 5; if(hour > 7) day++; //0b00011111
month = dateTime & 0x0f; dateTime >>= 4; //0b00001111
year = dateTime & 0x7f; //0b01111111
gpsVsi = -msgBuf[canMsgIdIdx].msg1003.downVelocity;
vdop = (double)msgBuf[canMsgIdIdx].msg1003.vdop / 100;
double ndop = (double)msgBuf[canMsgIdIdx].msg1003.ndop / 100;
double edop = (double)msgBuf[canMsgIdIdx].msg1003.edop / 100;
hdop = sqrt(ndop * ndop + edop * edop);
uint8_t fixType = msgBuf[canMsgIdIdx].msg1003.fixType;
uint8_t fixFlags = msgBuf[canMsgIdIdx].msg1003.fixStatus;
switch(fixType)
{
case 2 : fix = FIX_2D; break;
case 3 : fix = FIX_3D; break;
default: fix = NO_FIX; break;
}
if((fix != NO_FIX) && (fixFlags & 0x02)) fix = FIX_DGPS;
msgId = NAZA_MESSAGE_MSG1003;
}
else if(msgBuf[canMsgIdIdx].header.id == NAZA_MESSAGE_MSG1009)
{
for(uint8_t j = 0; j < 10; j++)
{
rcIn[j] = msgBuf[canMsgIdIdx].msg1009.rcIn[j];
}
#ifndef GET_SMART_BATTERY_DATA
battery = msgBuf[canMsgIdIdx].msg1009.batVolt;
#endif
// rollRad = msgBuf[canMsgIdIdx].msg1009.roll;
// pitchRad = msgBuf[canMsgIdIdx].msg1009.pitch;
rollRad = msgBuf[canMsgIdIdx].msg1009.stabRollIn;
pitchRad = msgBuf[canMsgIdIdx].msg1009.stabPitchIn;
roll = (int8_t)(rollRad*0.1);
pitch = (int8_t)(pitchRad*0.1);
// roll = (int8_t)(rollRad * 180.0 / M_PI);
// pitch = (int8_t)(pitchRad * 180.0 / M_PI);
mode = (NazaCanDecoderLib::mode_t)msgBuf[canMsgIdIdx].msg1009.flightMode;
msgId = NAZA_MESSAGE_MSG1009;
}
#ifdef GET_SMART_BATTERY_DATA
else if(msgBuf[canMsgIdIdx].header.id == NAZA_MESSAGE_MSG0926)
{
battery = msgBuf[canMsgIdIdx].msg0926.voltage;
batteryPercent = msgBuf[canMsgIdIdx].msg0926.chargePercent;
for(uint8_t j = 0; j < 3; j++)
{
batteryCell[j] = msgBuf[canMsgIdIdx].msg0926.cellVoltage[j];
}
msgId = NAZA_MESSAGE_MSG0926;
}
#endif
}
collectData[canMsgIdIdx] = 0;
}
}
}
return msgId;
}</pre>
<p>头追系统融合代码</p>
<p> </p>
<p> </p>
<pre class="prettyprint lang-cpp">//--------------------------------------------------------------------------------------
// Func: Filter
// Desc: Filters / merges sensor data.
//--------------------------------------------------------------------------------------
void FilterSensorData()
{
int temp = 0;
// Used to set initial values.
if (resetValues == 1)
{
#if FATSHARK_HT_MODULE
digitalWrite(BUZZER, HIGH);
#endif
resetValues = 0;
tiltStart = 0;
panStart = 0;
rollStart = 0;
UpdateSensors();
GyroCalc();
AccelCalc();
MagCalc();
panAngle = 0;
tiltStart = accAngle[0];
panStart = magAngle[2];
rollStart = accAngle[1];
#if FATSHARK_HT_MODULE
digitalWrite(BUZZER, LOW);
#endif
}
// Simple FilterSensorData, uses mainly gyro-data, but uses accelerometer to compensate for drift
rollAngle = (rollAngle + ((gyroRaw[0] - gyroOff[0]) * cos((tiltAngle - 90) / 57.3) + (gyroRaw[2] - gyroOff[2]) * sin((tiltAngle - 90) / 57.3)) / (SAMPLERATE * SCALING_FACTOR)) * gyroWeightTiltRoll + accAngle[1] * (1 - gyroWeightTiltRoll);
tiltAngle = (tiltAngle + ((gyroRaw[1] - gyroOff[1]) * cos((rollAngle - 90) / 57.3) + (gyroRaw[2] - gyroOff[2]) * sin((rollAngle - 90) / 57.3) * -1) / (SAMPLERATE * SCALING_FACTOR)) * gyroWeightTiltRoll + accAngle[0] * (1 - gyroWeightTiltRoll);
panAngle = (panAngle + ((gyroRaw[2] - gyroOff[2]) * cos((tiltAngle - 90) / 57.3) + (((gyroRaw[0] - gyroOff[0]) * -1) * (sin((tiltAngle - 90) / 57.3)) ) + ( ((gyroRaw[1] - gyroOff[1]) * 1) * (sin((rollAngle - 90) / 57.3)))) / (SAMPLERATE * SCALING_FACTOR)) * GyroWeightPan + magAngle[2] * (1 - GyroWeightPan);
if (TrackerStarted)
{
// All low-pass filters
tiltAngleLP = tiltAngle * tiltRollBeta + (1 - tiltRollBeta) * lastTiltAngle;
lastTiltAngle = tiltAngleLP;
rollAngleLP = rollAngle * tiltRollBeta + (1 - tiltRollBeta) * lastRollAngle;
lastRollAngle = rollAngleLP;
panAngleLP = panAngle * panBeta + (1 - panBeta) * lastPanAngle;
lastPanAngle = panAngleLP;
float panAngleTemp = panAngleLP * panInverse * panFactor;
if ( (panAngleTemp > -panMinPulse) && (panAngleTemp < panMaxPulse) )
{
temp = servoPanCenter + panAngleTemp;
channel_value[htChannels[0]] = (int)temp;
}
float tiltAngleTemp = (tiltAngleLP - tiltStart) * tiltInverse * tiltFactor;
if ( (tiltAngleTemp > -tiltMinPulse) && (tiltAngleTemp < tiltMaxPulse) )
{
temp = servoTiltCenter + tiltAngleTemp;
channel_value[htChannels[1]] = temp;
}
float rollAngleTemp = (rollAngleLP - rollStart) * rollInverse * rollFactor;
if ( (rollAngleTemp > -rollMinPulse) && (rollAngleTemp < rollMaxPulse) )
{
temp = servoRollCenter + rollAngleTemp;
channel_value[htChannels[2]] = temp;
}
}
}</pre>
<p><a class="ke-insertfile" href="http://club.szlcsc.com/article/downFile_8264D38F29A88364.html" target="_blank">ebox_skylink_osd_p2_fw_v1.0.zip</a> (下载次数:1648) osd源代码</p>
<p><a class="ke-insertfile" href="http://club.szlcsc.com/article/downFile_3583DB278302C59B.html" target="_blank">skylink_osd_p2_PC_v1.0.zip</a> (下载次数:1031) osd上位机代码</p>
<p><a class="ke-insertfile" href="http://club.szlcsc.com/article/downFile_92A62F71F1CC038A.html" target="_blank">DIY_Headtracker.zip</a> (下载次数:1775) 头追代码与设计</p>
<p><strong>六、作品演示</strong></p>
<p> </p>
<p> </p>
<p> </p>
<p><strong>七、总结</strong></p>
<p>这个方案是模拟遥控器的摇杆动作的,所以要接线到遥控器的两个通道,这样其实很别扭,下一步是要用433m无线模块替代模拟摇杆,做到真正的免连线头追。</p>
<p> </p>
<h3><strong>更多项目详情见链接:http://club.szlcsc.com/article/details_7034_1.html</strong><br><strong>本项目归立创社区“diylink”所有</strong></h3>
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