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#第八届立创电赛#四轴飞行器Liguanxi-UAV(空心杯无人机飞控)

创建时间:8个月前

描述

<h3 class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;">* 1、项目功能介绍</h3> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;"><strong><span style="color:#000000;">主控芯片为esp32-s3的小型四轴飞行器</span></strong></p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;"> </p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;"><span style="color:#000000;"><span style="font-size:14px;">目前网络上的飞行器方案非常的多,但主控芯片大多都是stm32,esp32自带WiFi和蓝牙性能强悍非常适合用来做小型飞行器但据我了解使用esp32的飞行器且使用esp-idf的编译环境除了乐鑫官方的esp-drone以外应该不超过2个,官方的代码架构对于新手来说很不友好,对于想通过飞行器来学习乐鑫芯片的新手非常不友好,所以我整理了一套基本的esp32飞行器代码开源用于学习,并分享一下我的踩坑经验,飞控目前完成功能,姿态飞行,匿名地面站状态显示与无线PID调参数。</span></span></p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;"> </p> <h3 class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;">*2、项目属性</h3> <hr class="horizontal-splitline normal-bold-2"> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;"><span style="color:#000000;"><strong><span style="font-size:14px;">项目为本人原创</span></strong></span></p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;"> </p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;"><span style="color:#000000;"><strong><span style="font-size:14px;">部分代码与硬件参考:</span></strong></span></p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;"> </p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;"><span style="color:#000000;"><strong>《多旋翼无人飞行器嵌入式飞控开发指南》</strong></span></p> <h1 class="video-title tit" title="小马哥STM32四轴学习平台--DragonFly四轴飞行器STM32软件进阶——无线数据通讯与飞控算法实现"><span style="color:#000000;"><strong><span style="font-size:14px;">小马哥STM32四轴学习平台--DragonFly四轴飞行器(bilibili视频BV号:BV1u741137MP)</span></strong></span></h1> <p> </p> <p><span style="color:#000000;"><strong><span style="font-size:14px;">CSDN论坛<br></span></strong></span></p> <p> </p> <p><span style="color:#000000;"><strong><span style="font-size:14px;">百度</span></strong></span></p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;"> </p> <h3 class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;">* 3、开源协议</h3> <hr class="horizontal-splitline normal-bold-2"> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;"><span style="color:#2dc26b;"><strong><span style="color:#95a5a6;">GPL3.0</span></strong></span></p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;"> </p> <h3 class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;">*4、硬件部分</h3> <hr class="horizontal-splitline normal-bold-2"> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;"> </p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;"><span style="font-size:16px;"><strong>PCB板</strong></span></p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;"><span style="font-size:16px;"><strong>1.主控芯片采用ESP32-S3-WROOM-1,本来是使用普通的esp32但发现S3价格没升多少性能却可以拉满,那就直接用S3了</strong></span></p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;"> </p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;"><span style="font-size:16px;"><strong>2.姿态传感器使用mpu6050,老方案了,大部分DIY飞行器都用这个</strong></span></p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;"> </p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;"><span style="font-size:16px;"><strong>3.气压传感器使用SPL06-.001使用原因是体积小,精度高(可达5cm),关键价格还便宜</strong></span></p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;"> </p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;"><span style="font-size:16px;"><strong>4.下载电路是手动下载,通过飞控上boot和rst按钮进入下载模式(先按住不放boot,再按一下rst就可以进入下载模式了),然后可以直接通过串口下载(购买一个串口下载器按照四个引脚rx,tx,3.3v,gnd连接上即可)</strong></span></p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;"> </p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;"><span style="font-size:16px;"><strong>5.LED指示灯增加到4个:</strong></span></p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;"><span style="font-size:16px;"><strong>(蓝灯)飞机状态指示灯,用来显示当前飞控内部循环是在哪部分例如初始化或初始完成未解锁</strong></span></p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;"><span style="font-size:16px;"><strong>电量指示灯(黄)显示电池电压是否足够</strong></span></p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;"><span style="font-size:16px;"><strong>连接指示灯(绿)用来显示飞控与地面站和遥控的连接状态</strong></span></p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;"><span style="font-size:16px;"><strong>电源灯(红)就是上电就亮表示电源正常</strong></span></p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;"> </p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;"><span style="font-size:16px;"><strong>6.电源是先通过ps7516芯片,从电池电压3.7v-4.2v升压成5v再通过AMS1117-3.3减压成3.3v主要起到一个缓冲的作用</strong></span></p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;"> </p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;"><span style="font-size:16px;"><strong>7.电机控制使用SI2302mos管来控制,这也是通用方案了</strong></span></p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;"> </p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;"><span style="font-size:16px;"><strong>8.电压测量则是一个简单的电阻分压电路</strong></span></p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;"> </p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;"><span style="font-size:16px;"><strong>遥控器在另一个项目链接:<a href="/liguanxi/ESP32-S3yao-kong-qi" target="_blank">#第八届立创电赛#ESP32-S3遥控器(与Liguanxi-UAV飞行器配套) - 嘉立创EDA开源硬件平台 (oshwhub.com)</a></strong></span></p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;"> </p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;"><span style="font-size:16px;"><strong>外壳</strong></span></p> <p><span style="font-size:16px;"><strong>1.外壳采用“空心杯函道有刷穿越机”的外壳,轴距80mm,这个外壳非常耐撞。</strong></span></p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;"><span style="font-size:24px;"><strong><img src="//image.lceda.cn/pullimage/zNu5aNLr7KbKntag4clPruefXAEhKI8XSHurRNqh.png" alt="zNu5aNLr7KbKntag4clPruefXAEhKI8XSHurRNqh.png" width="651" height="326"></strong></span></p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;"> </p> <p><span style="font-size:24px;"><strong>2.使用8520空心杯电机,<span style="color:#e03e2d;">注意:电机的轴径分1.0mm和1.2mm,要和螺旋桨的内径相同不然会装不上,就算硬怼上了螺旋桨也会偏心。</span></strong></span></p> <p><span style="font-size:24px;"><strong><img src="//image.lceda.cn/pullimage/LhJyn3L01uRLexbBMNBSYmmBIYC5Wa30B9oC3DJd.png" alt="LhJyn3L01uRLexbBMNBSYmmBIYC5Wa30B9oC3DJd.png" width="664" height="338"></strong></span></p> <p> </p> <p><span style="font-size:24px;"><strong>2.使用的螺旋桨直径为40mm,孔径有1.0和1.2两个规格根据空心杯选择,只要和空心杯的轴径一致即可,</strong></span></p> <p><span style="font-size:24px;"><strong><img src="//image.lceda.cn/pullimage/fkDH92LX3HSijz4Qs9ZKvADKIgUZHTe1FHgP2eeG.png" alt="fkDH92LX3HSijz4Qs9ZKvADKIgUZHTe1FHgP2eeG.png" width="676" height="355"></strong></span></p> <p> </p> <p><span style="font-size:24px;"><strong>3.飞控与机架固定处需要减震圈,规格如下图</strong></span></p> <p><span style="font-size:24px;"><strong><img src="//image.lceda.cn/pullimage/H0y753f4R1dH11gzEID9JSoWWeCjKNS3slATSCSk.png" alt="" width="250" height="251"></strong></span></p> <p> </p> <p><span style="font-size:24px;"><strong>4.使用1s动力电池(长度小于65,宽小于17.5,厚小于7.5),一般有3.7V和3.8V两种,选择3.7v的即可,两种都可以使用,但3.8v的容易鼓包。接头类型最好选择PH2.0容易插拔。</strong></span></p> <p><span style="font-size:24px;"><strong><img src="//image.lceda.cn/pullimage/VMtn6UI9JMkejOa1ZxlhHK6vawP7jUu0NKhneILS.png" alt="VMtn6UI9JMkejOa1ZxlhHK6vawP7jUu0NKhneILS.png" width="673" height="342"></strong></span></p> <p><span style="font-size:24px;"><strong><img src="//image.lceda.cn/pullimage/6Vj2hGwmj7CrNsUUv8U7CBdObqNMAIQ4cUoe0fP9.jpeg" alt="" width="1200" height="940"></strong></span></p> <p> </p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;"> </p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;"> </p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt pap-left-indent-1.6em" style="line-height:1.8;"> </p> <h3 class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;"><span style="font-size:24px;"><strong>*5、软件部分</strong></span></h3> <hr class="horizontal-splitline normal-bold-2"> <p><span style="font-size:24px;"><strong>代码编译环境使用esp-idf 4.4</strong></span></p> <p><span style="font-size:24px;"><strong>芯片选择ESP32-S3</strong></span></p> <p><span style="font-size:24px;color:#e03e2d;"><strong>程序代码以放入附件中,代码功能会持续更新!!</strong></span></p> <p> </p> <p><span style="font-size:24px;"><strong>源码运行流程</strong></span></p> <p><span style="font-size:24px;"><strong><img src="//image.lceda.cn/pullimage/YtOl4Tx8r9xwD682U9EZpmV51RKMdeeaY7i3CkCr.png" alt="" width="883" height="756"></strong></span></p> <p><span style="font-size:24px;"><strong>源码结构</strong></span></p> <p> </p> <p><span style="font-size:24px;"><strong><img src="//image.lceda.cn/pullimage/uZZFsldgAgh27qcky4xNe7oGjScgs3cJLLo5R0EH.png" alt="" width="872" height="779"></strong></span></p> <p> </p> <h2><span style="font-size:24px;"><strong>编程风格</strong></span></h2> <p><span style="font-size:24px;"><strong><img src="//image.lceda.cn/pullimage/BMTyQUoslNBwKwAJyfRwVHLKZ6qGtNnPYdmFPYTu.png" alt="" width="528" height="486"></strong></span></p> <p><span style="font-size:14px;"><strong>程序嵌套减少,不会有各种设置参数的函数,优点是程序量少,缺点是不太通用,设置其他参数需要去看手册。</strong></span></p> <p><span style="font-size:14px;"><strong>函数命名为英文缩写,一般是    遥控器_控制_初始化   转为英文 remote_control_init 就直接作为函数名<br>可通过简单的翻译软件进行理解,组件名称的命名规则也是这样。</strong></span></p> <p><span style="font-size:14px;"><strong>变量是直接在data_declaration.h进行全局声明,结构体也是在此声明</strong></span></p> <p><span style="font-size:14px;"><strong><img src="//image.lceda.cn/pullimage/9F3QwvVJlC6EoOuWWF5Ykb51kUgKAXomEFsFf9Qt.png" alt="" width="996" height="484"></strong></span></p> <p><span style="font-size:14px;"><strong>每个组件下的CMakeLists文件都是这个格式,分4块标记c文件,标记h文件,标记需要的其他组件文件夹名称</strong></span></p> <p><span style="font-size:14px;"><strong>所有的h文件都会放在对应的include文件夹下</strong></span></p> <p> </p> <p><span style="font-size:14px;"><strong><img src="//image.lceda.cn/pullimage/A1Mavtx6w0feVZdK0fUflv9UcToN5TRE4mol25VI.png" alt="" width="844" height="973"></strong></span></p> <p><span style="font-size:14px;"><strong><img src="//image.lceda.cn/pullimage/Iwg9mxSFXbqUWZALIG7SgZE4gvUp2xmWxcJF7yXG.png" alt="" width="847" height="1059"></strong></span></p> <p><span style="font-size:14px;"><strong><img src="//image.lceda.cn/pullimage/utw9W7RLLzFEbHUQlUrZ9hoKOqWU29nbnbtUhO4C.png" alt="" width="795" height="1018"></strong></span></p> <p><span style="font-size:14px;"><strong><img src="//image.lceda.cn/pullimage/hu0ovuoxyiCfTRrZgNqFXsxdcxZsWfil1Pkjg32i.png" alt="" width="780" height="916"></strong></span></p> <p> </p> <p> </p> <p><span style="font-size:24px;">初始化信息</span></p> <p><strong><span style="font-size:14px;">飞行器的初始化信息是中文的可以用来判断硬件初始化是否正常,初始化的参数是什么。</span></strong></p> <p><strong><span style="font-size:14px;">需要下载"格西调试精灵"</span></strong></p> <p><strong><span style="font-size:14px;"><img src="//image.lceda.cn/pullimage/UO4wMxA2iP3WvIU9tqUaPylxAtguvrazo5E79CrB.png" alt="" width="112" height="91"></span></strong></p> <p><span style="font-size:14px;">以下是初始化信息</span></p> <p> </p> <p><span style="font-size:24px;"><img src="//image.lceda.cn/pullimage/XlXLPDKhHR6YxgbNxV6TlyUbarFikTlYgmLZGlhP.png" alt="" width="938" height="1023"></span></p> <p><span style="font-size:24px;"><img src="//image.lceda.cn/pullimage/WmGelmPGx1Fm2DyiAhWSyAgRsxy7LmRoot1PhTyG.png" alt="" width="600" height="191"></span></p> <p><span style="font-size:24px;"><img src="//image.lceda.cn/pullimage/Iee5971975Bfi0mBFdybEWwDRgVilpkjASzDDI4R.png" alt="" width="917" height="1031"></span></p> <p>在串口调试助手中基本可以看到所有的硬件状态和设置参数。</p> <p> </p> <p> </p> <p><span style="font-size:24px;">匿名上位机的使用</span></p> <p><span style="font-size:14px;">先连接飞行器的WiFi,再进行下图设计即可连接(WiFi名称和密码初始化信息中有)</span></p> <p><span style="font-size:24px;"><img src="//image.lceda.cn/pullimage/2DOrtbDRM0o0OBDLhe0PbTVy1BdAbvFbI5TW1sNA.png" alt="" width="901" height="548"></span></p> <p><span style="font-size:24px;">匿名上位机的功能有陀螺仪加速度零偏校准,PID参数调整,状态显示,波形显示</span></p> <p><span style="font-size:24px;"><img src="//image.lceda.cn/pullimage/tSMbqtREBJP4FBVYvx6ouYWQROjunkRuUySuAFNs.png" alt="" width="943" height="564"></span></p> <p><span style="font-size:24px;">可显示姿态及其简易波形,飞行模式,锁定状态,遥控器通道数值等数据</span></p> <p><span style="font-size:24px;"><img src="//image.lceda.cn/pullimage/wkedpWnAnz8OLMoszA66j0xw2ahKwlA1xF1AbAsY.png" alt="" width="934" height="557"></span></p> <p><span style="font-size:24px;">在此可设置pid参数,飞机配平,传感器校准等操作,目前陀螺仪,加速度和气压校准是有效的</span></p> <p><span style="font-size:24px;">pid18是配平参数</span><span style="font-size:24px;">1000是基础值增加或减少可改变遥控器数值达到配平的目的。</span></p> <p><span style="font-size:24px;"><img src="//image.lceda.cn/pullimage/smGFLxqHgcLO435tlzQEl7weDOKkrdLoJLId4qWq.png" alt="" width="933" height="583"></span></p> <p><span style="font-size:24px;">在此可显示所有波形</span></p> <p> </p> <p> </p> <p><span style="font-size:14px;">电路问题修改</span></p> <p><span style="font-size:14px;">2023.10.7,气压计SDO引脚从悬空改为接地</span></p> <p> </p> <p> </p> <p> </p> <p>飞控电路密集,使用者需要有一定的电路焊接基础</p> <p>电子业余爱好者,无法保证PCB布局设计的规范性,使用过程暂未发现其他问题,有问题可以在下方评论区留言</p> <p> </p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt pap-left-indent-1.6em" style="line-height:1.8;"> </p> <h3 class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;">*6、BOM清单</h3> <hr class="horizontal-splitline normal-bold-2"> <h3 class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;"><img src="//image.lceda.cn/pullimage/jdxAYOQb5kVrXJ2Oupieh5yn3tfcxwK639juxXpC.png" alt="" width="625" height="676"></h3> <p>说明:</p> <p>有些元件不能单个购买参考价格并不准确(价格偏高)</p> <p>以上大部分元件都能在淘宝优信电子购买,但部分元件优信价格偏高如果不在意差价一并购买可以免很多麻烦</p> <p>机架部分可以在淘宝亲民模型店一起买到但空心杯和电池价格偏高如果不在意差价一并购买可以免很多麻烦</p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;"> </p> <h3 class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;">*7、大赛LOGO验证</h3> <hr class="horizontal-splitline normal-bold-2"> <p style="line-height:1.8;"> </p> <p style="line-height:1.8;"><img src="//image.lceda.cn/pullimage/zPwd6E6ZwuRoflDPkywiYeM4Z3EYpG0tlZiq0DLF.jpeg" alt="" width="1044" height="783"></p> <p style="line-height:1.8;"><img src="//image.lceda.cn/pullimage/Bl7gONhb55qV3MTGRN2h50s9zuiWjpUJi0Gzcrac.jpeg" alt="" width="1040" height="1200"></p> <h3 class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;">* 8、演示您的项目并录制成视频上传</h3> <hr class="horizontal-splitline normal-bold-2"> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;"> </p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;"> </p>
  • 立创电赛:《四轴飞行器Liguanxi-UAV》-飞行演示.mp4

  • 立创电赛:《四轴飞行器Liguanxi-UAV》-匿名上位机软件展示.mp4

文档

Sheet_1

PCB_#第八届立创电赛#四轴飞行器ESP-Liguanxi

BOM

ID Name Designator Footprint Quantity
1 1625854-2 ++1,--1 TEST-RING 2
2 10uF C1 C0603 1
3 10UF C2 C0603 1
4 0.1uF C3,C7,C4,C11,C14,C22,C23,C25 C 0603 8
5 22UF C5 C 0603 1
6 10uf C6,C8 CASE-A_3216 2
7 100uf C9,C10 CASE-A_3216 2
8 0.1u C12 C0603 1
9 1uF C13 C0603 1
10 2.2nF C15 C 0603 1
11 4.7uF C16,C17,C18,C19 C 0603 4
12 10nF C24 C 0603 1
13 4PIN*1.25MM CN1 CONN-SMD_4P-P1.25-MX1.25-4P-WT 1 https://so.szlcsc.com/global.html?k=C9900015399&ref=editor
14 10uH L1 IND-SMD_L5.0-W5.0 1 https://so.szlcsc.com/global.html?k=C2991857&ref=editor
15 D-G060306G1-KS2 LED1,LED2,LED3,LED4 LED0603-RD 4
16 1.25T-1-2A M1,M2,M3,M4 CONN-TH_1.25T-1-2A 4
17 SI2302 Q1,Q2,Q3,Q4 R-SOT-23 4
18 43K R1 R0603 1
19 8.2K R2 R0603 1
20 10K R3,R4,R5,R6,R11,R20 R0603 6
21 100K,1% R7,R8 R 0603 2
22 4.7K R9,R10 R 0603 2
23 100R R12,R13,R14,R16 R 0603 4
24 10K R15,R17,R18,R19 R 0603 4
25 TS342A2P-WZ SW1,SW2 SW-SMD_L4.0-W2.9-LS5.0 2
26 PS7516 U1 SOT-23-6_L2.9-W1.6-P0.95-LS2.8-BL 1
27 AMS1117S-3.3 U2 SOT-89-3_L4.5-W2.5-P1.50-LS4.1-BR 1
28 ESP32-S3-WROOM-1 U3 ESP32-S3-WROOM-1 1
29 MPU6050 U4 R-QFN 24 1
30 SPL06-001 U6 SENSOR-SMD_SPL06-001 1 https://so.szlcsc.com/global.html?k=C2684428&ref=editor

附件

附件名 下载
Liguanxi-UAV飞行器BOM表元件清单.xlsx
立创电赛:《四轴飞行器Liguanxi-UAV》-飞行演示.mp4
立创电赛:《四轴飞行器Liguanxi-UAV》-匿名上位机软件展示.mp4
LiGuanxi-UAV(2023.10.18气压读取成功无定高开源前备份).rar
ANO_TC匿名科创地面站v4.34.rar

成员

评论(21)

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立创电赛 回复
<p>没有看到大赛logo标识验证哦</p>
liguanxi 回复
<p>已补充</p>
fupingyi 回复
<p>遥控器怎么获取呢?</p>
liguanxi 回复
<p>后续会有遥控器的开源项目</p>
立创电赛 回复
<p>记得上传演示视频哦</p>
591968A 回复
<p>信号传输距离可以多远啊</p>
liguanxi 回复
<p>已补充</p>
liguanxi 回复
<p>使用WIFI通信,有效距离大概有几十米</p>
liguanxi 回复
<p>配套遥控器已开源链接:<a href="https://oshwhub.com/liguanxi/ESP32-S3yao-kong-qi" target="_blank">https://oshwhub.com/liguanxi/ESP32-S3yao-kong-qi</a></p>
fupingyi 回复
<p>收到谢谢</p>
lingbm 回复
<p>收藏了,想复刻一个。。。</p>
liguanxi 回复
<p>不经常看开源平台私信可能回复不及时,有问题可以加QQ交流群:578620627 代码使用espressif编译如果使用vs会有错误,群内有编译环境安装教程和安装包等资料(嘉立创附件不允许上传50m以上的文件所以放到交流群文件内)</p>
JIA 回复
<p>毕设是想做一个四轴飞行器,过来学习下[emojis:憨笑]</p>
L102828595 回复
<p>项目完成度很高,有时间我也要复刻一个</p>
howe0079 回复
<p>支持国产芯片[emojis:酷]</p>
立创电赛 回复
<p>点赞+收藏+评论赢500元京东E卡:<a href="https://diy.szlcsc.com/posts/9d4438cf6d3848d3a53c50e029514a91" target="_blank">https://diy.szlcsc.com/posts/9d4438cf6d3848d3a53c50e029514a91</a></p>
lumine_c 回复
<p>太强了👍</p>
gjy001 回复
<p>怎么断电???</p>
hcy525232 回复
<p>挺好的小玩具。当年读大学天天折腾固定翼</p>
立创电赛 回复
<p>恭喜您在“瑞萨MCU杯”第八届立创电子设计开源大赛中获得二等奖,相关奖励及证书将于近期发出!</p>
liguanxi 回复
<p>后续更新来了,这个项目最后一次更新了,简单说一下就是完善了飞行的算法和参数飞行效果更好了,增加了激光定高配合光流可以进行"简易的定点"由于续航不够电量低的时候漂移大,定高还可以就是定点效果不太好仅供参考(能力欠缺调不好),spl06-001气压计漂移太大用不了,我万万没想到比赛结束后居然不能更新链接了,那只能将后续的代码和资料放到交流群内了,有需要的加群自取578620627</p><p><img title="点击查看大图" src="//image.lceda.cn/pullimage/2HSKLSyGklxDK3yStoShBeH2mW52cAqGYjofOsP4.webp"></p>
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