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work:quadcopter [2014/04/02 16:39] – created dongheework:quadcopter [2018/07/18 14:10] (current) – external edit 127.0.0.1
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 +====== 개발  ======
 +
 +
 +## ar9331 보드 만들기
 +
 +### USB 허브칩 ftdi GL850G
 +
 +TP WR703N의 확장 보드: GL850사용해서 만든 허브 http://www.kean.com.au/oshw/WR703N/WR703N%20Expander%20v1.pdf
 +
 +arduino yun에서 RT8010-33GQW라는 step down dcdc 사용합 1.5mhz 1A
 +
 +----
 +
 +## 알리바바에 파는 ar9331 보드 
 +
 +![](http://i.imgur.com/ujk9RQQ.png)
 +
 +http://www.alibaba.com/product-gs/1333014406/150Mbps_Wireless_Module_AR9331_security_and.html
 +
 +이런거 사서 써도 되겠다. 100개 US $5 - 30 / Piece Get Latest Price 크기 50x30
 +
 +----
 +
 +![](http://i.imgur.com/yDcJLr7.png)
 + http://www.alibaba.com/product-gs/1242172281/OPENWRT_module_WLAN_module_WiFi_module.html
 +
 +FOB Price: US $10 - 13 /Port: Guangzhou/ Minimum Order Quantity: 1 
 +
 +
 +----
 +
 +![](http://i.imgur.com/K4PFu7f.png)
 +
 +http://www.alibaba.com/product-gs/761550814/ar9331_module.html
 +
 +US $9 - 16 요거 작네(27.5x40.5) carambola2랑 비슷한 수준; 그런데 1000개가 기본 수량 
 +
 +----
 +
 +### TL-WR703N Reverse Engineering
 +
 + * https://github.com/Squonk42/TL-WR703N
 + * http://squonk42.github.io/TL-WR703N/
 +
 +----
 +
 +## openwrt configure for tplink 703N
 +
 +steps:
 +
 +1. buy an tplink 703N, if it is A17 version , need to download an old firmware from tplink http://service.tp-link.com.cn/download/20131/TL-WR703N_V1_121204.rar
 +2. download the bin to downgrade the firmware
 +3. download tplink specific firmware with squre factory os
 +4. flash the firmware within the web ui
 +5. after reboot, link lan with laptop, and telnet into the system
 +6. type passwd to set new passwd for root, reboot and ssh to system with new passwd
 +7. change /etc/config/wireless file and reboot to enale wifi
 +------------------------
 +
 + STM32F Hard fault
 +
 +http://www.freertos.org/FreeRTOS_Support_Forum_Archive/February_2012/freertos_STM32F2_hard_fault_5015439.html
 +
 +http://www.coactionos.com/embedded-design/133-effective-use-of-arm-cortex-m3-svcall.html
 +
 +http://sourceforge.net/p/freertos/discussion/382005/thread/109acbfc
 +좀 이유 설명 
 +
 +Hard Fault freertos xPortPendSVHandler
 +
 +http://blog.frankvh.com/2011/12/07/cortex-m3-m4-hard-fault-handler/
 +
 +
 +http://www.freertos.org/Debugging-Hard-Faults-On-Cortex-M-Microcontrollers.html
 +
 +
 +http://sourceforge.net/p/freertos/discussion/382005/thread/49667801
 +Mike,
 +I've seen exactly this problem several times on the 205 and it was generally caused by the main 'C' stack being too small or corrupted.
 +
 +http://www.freertos.org/RTOS-Cortex-M3-M4.html
 +
 +. If you are using an STM32 with the STM32 driver library then ensure all the
 + priority bits are assigned to be preempt priority bits by calling NVIC_PriorityGroupConfig( NVIC_PriorityGroup_4 ); before the RTOS is started.
 +
 +이미 NVIC_PriorityGroup_4로 되어 있네ㅣ
 +
 +스택 사이즈?
 +시스템 테스크를 2배에서 4배로 스택 크기를 수정
 + -> 그래도 죽네;; 다른때보다 3배정도는 늦게 죽는다.
 +
 +http://www.freertos.org/a00111.html
 +
 +Uart에 이걸 넣음
 +
 +vTaskSuspendAll()
 +xTaskResumeAll()
 +
 +The stack in use when you call main() is recycled for use by all interrupt handlers.
 +
 +
 +
 +---------------- 
 +
 +Heli controls are like following
 +
 +Throttle/Collective Pitch == up/down
 +Rudder == yaw, rotate left/right
 +Elevator == (bank)/fly forward/backward
 +Aileron == (bank)/fly sideways left/right
 +
 +openpilot
 +
 +https://github.com/zhao0079/openpilot/blob/master/hardware/Production/CopterControl/CopterControl%20Schematic.pdf
 +
 +체크 리스트 
 + - http://wiki.openpilot.org/display/Doc/Hardware+FAQ#HardwareFAQ-ESCsandBESCs BEC 영향 없나?
 + - mbed로 
 +
 + - openpilot esc
 + - x copter, quard copter http://i.imgur.com/AesvWf9.png
 +
 +
 +esc 세팅 
 +http://wiki.openpilot.org/display/Doc/TurboPWM+ESC's#TurboPWMESC%27s-Whyisthisimportant%3F
 +http://wiki.openpilot.org/display/Doc/RapidESC+Database 데이터베이스 
 +
 +http://git.openpilot.org/browse/OpenPilot
 +
 +
 +
 +http://www.rc-airplane-world.com/rc-airplane-controls.html
 +
 +pwm 코드 수정
 + - http://guyvo-cortex.blogspot.kr/2009_04_01_archive.html
 + - 50mhz 1ms~2ms 로 데이터 수정!
 +
 +pid 코드 수정
 + - http://forum.bitcraze.se/viewtopic.php?f=6&t=192
 + - pid 값 수정해서 스테이블한 상태 만들기
 +
 +
 +modules/interface/pid.h 
 +
 +http://forum.bitcraze.se/viewtopic.php?f=6&t=192
 +
 +crazyflie는 기본으로 attitude mode? rate 모드는 뭐지?
 +    
 +Project Quadcopter 
 +
 +http://quadcopter.wordpress.com/
 +
 +http://wiki.bitcraze.se/_media/projects:crazyflie:hardware:crazyflie_control_board_schematics_rev.f.pdf
 +http://wiki.bitcraze.se/_media/projects:crazyflie:hardware:crazyflie_control_board_rev.f_-_component_placement_top.pdf
 +
 +http://shop.8devices.com/wifi4things/carambola
 +m-bugs altitude holding
 +
 +쿼드콥터 만들기
 + - 8MIPS로 400hz? 제어기 성능보다 추저성능이 중요.
 +http://blog.naver.com/PostList.nhn?from=postList&blogId=solsol8711&categoryNo=15&currentPage=2
 + - 인터럽트 사용해서 쓰는uart와 i2c가 추적 성능을 낮게 만들지.도 nrf24는 dma로 했나?
 +
 +칼만필터: http://realsys.co.kr/data/hobby/6_%EC%B9%BC%EB%A7%8C%ED%95%84%ED%84%B0.pdf
 +
 +
 +## crazyflie 
 +
 +https://bitbucket.org/phiamo/crazyflie-firmware/commits/all
 +
 +http://forum.bitcraze.se/viewtopic.php?f=11&t=128
 +
 +슬라이딩 어떻게 하지?
 +
 +![](accelerometers)
 +
 +
 +Accel보다 자이로만 사용했을때 계속 밀린다.
 +
 +GyroBias 값을 0으로 해보았는데, 흠 그럼 더 밀린다.
 +
 +Gyro에 low pass filter를 적용 해보자!
 +
 +-> lpf와 average filter(250hz) 적용
 +
 +low pass filter가 별로 나아지는것은 없어보이는데 
 +    GyroBias가 지대한 영향을 끼치는것 같다. 
 +분산, 평균을 이용해서 추세를 보는듯.
 +
 +0.296548, -0.452743, 3.047594
 + gyro.x: 0.0, gyro.y: 0.0, gyro.z: -0.061035, acc.x: -0.007568, acc.y: 0.004882, acc.z 1.000732
 +0.295663, -0.450056, 3.115887
 + gyro.x: 0.030517, gyro.y: 0.0, gyro.z: -0.061035, acc.x: -0.007934, acc.y: 0.004272, acc.z 1.001464
 +0.292134, -0.452814, 3.190397
 + gyro.x: 0.0, gyro.y: 0.122070, gyro.z: 0.0, acc.x: -0.007568, acc.y: 0.005126, acc.z 0.999267
 +0.236752, -0.417580, 3.254106
 +
 +
 +----
 +
 +bias계산 안하고 그냥 손으로 넣은게 나을려나?
 +
 +bias계산해서 넣으니깐 한쪽으로 계속 치우친다.
 +
 +날개를 바꾸는것도 이상해. 
 +
 +
 +----
 +
 +#### Reading accelerometers
 +
 + AccelBias 를 사용해서 기울어진 것 찾기.
 +
 +## openpilot
 +
 + - http://wiki.openpilot.org/display/Doc/OpenPilot+Flight+Control+board+Common+issues
 +
 +----
 +
 +https://bitbucket.org/danhamilt1/crazyflie-firmware/commits/7445a483fb44a25e730408e293088258be3d11e5?at=stabalizer
 +
 +
 +모터를 exp? 왜 이렇게 계산하냐?
 +
 +   motorPowerM1 = limitThrust(calculatePower(thrust + pitch + yaw));
 +   motorPowerM2 = limitThrust(calculatePower(thrust - roll - yaw));
 +   motorPowerM3 =  limitThrust(calculatePower(thrust - pitch + yaw));
 +   motorPowerM4 =  limitThrust(calculatePower(thrust + roll - yaw));
 +
 + static int32_t calculatePower(int32_t thrust)
 + {
 +   int32_t value = 0;
 +   
 +-  value = ipow(UINT16_MAX, -0.5) * ipow(thrust, 1.5);
 ++  value = fastPow(UINT16_MAX, -0.5) * fastPow(thrust, 1.5);
 +   return value;
 + }
 +
 ++double fastPow(double a, double b) {
 ++  union {
 ++    double d;
 ++    int x[2];
 ++  } u = { a };
 ++  u.x[1] = (int)(b * (u.x[1] - 1072632447) + 1072632447);
 ++  u.x[0] = 0;
 ++  return u.d;
 ++}
 +
 ++static double fastPrecisePow(double a, double b) {
 ++  // calculate approximation with fraction of the exponent
 ++  int e = (int) b;
 ++  union {
 ++    double d;
 ++    int x[2];
 ++  } u = { a };
 ++  u.x[1] = (int)((b - e) * (u.x[1] - 1072632447) + 1072632447);
 ++  u.x[0] = 0;
 ++ 
 ++  // exponentiation by squaring with the exponent's integer part
 ++  // double r = u.d makes everything much slower, not sure why
 ++  double r = 1.0;
 ++  while (e) {
 ++    if (e & 1) {
 ++      r *= a;
 ++    }
 ++    a *= a;
 ++    e >>= 1;
 ++  }
 ++ 
 ++  return r * u.d;
 ++}
 ++
 +----
 +
 +안드로이드 콘트롤러 
 +
 +<2013-09-20 금 15:31>
 +
 +이어서 시작 
 +
 +andorid vm 버전 avd 4.3과 avd 4.0.3 설치 두개 설치 
 +
 +E:\adt-bundle-windows-x86_64-20130911\adt-bundle-windows-x86_64-20130911\eclipse
 +
 +4.3에서 한글이 안나오네. 4.0.3으로 가자!
 +
 +
 + - http://8devices.com/wiki_carambola/doku.php/carambola_robot1
 + - http://lukse.lt/uzrasai/2013-01-carambola-powered-robot-v2/
 + - http://github.com/Lukse/cara-rover2 android controllerd rover application
 +
 +cara-rover2를 다운받아서 우선 설치.
 +
 +http://trackfield.webcam.oregonstate.edu/axis-cgi/mjpg/video.cgi?resolution=800x600&amp%3bdummy=1333689998337
 +
 +mjpeg jni사용해서 빠름
 +
 +
 +시간나면 안드로이드 말고 pc용 클라이언트도 하나 만들어야 겠다. 
 +pyside가 좋겠어. http://forums.thefoundry.co.uk/phpBB2/viewtopic.php?p=37955&sid=c01d69e25a98b521d088f57b582a7232
 +
 +여기보니 pyqt가 낫다고 하네;;;
 + 
 +
 +pc client 수정해서 동작 하도록 만들고 있음
 +
 +<- 5:3 (97, 114, 100, 32, 102, 97, 117, 108, 116, 32, 104, 97, 110, 100, 108, 101, 114, 93, 10, 82, 48, 32, 61, 32, 50, 48, 48, 48, 53, 48, 48, 48, 10, 82, 49, 32, 61, 32, 48, 10, 82, 50, 32, 61, 32, 48, 10, 82, 51, 32, 61, 32, 50, 48, 48, 48, 48, 50, 49, 67, 10, 82, 49, 50, 32, 61, 32, 50, 48, 10, 76, 82)
 +
 +그런데 이거 뱃으면서 죽어버렸네..
 +
 +3채널은 있지도 않은데. 
 +
 +http://www.freertos.org/Debugging-Hard-Faults-On-Cortex-M-Microcontrollers.html
 + 
 +
 +이건 HardFault 메시지? gdbㄷ로 디버깅 필요.
 + 
 +
 +
 ====== Camera ====== ====== Camera ======
  
Line 11: Line 330:
  - cmos usb 3.2mp 29mm 원형 http://huentek.com/board/k_sub02_04.php  - cmos usb 3.2mp 29mm 원형 http://huentek.com/board/k_sub02_04.php
  
- - DFM 42BUC03-ML http://www.theimagingsource.com/en_US/products/oem-cameras/usb-cmos-color/dfm42buc03ml/+] - DFM 42BUC03-ML http://www.theimagingsource.com/en_US/products/oem-cameras/usb-cmos-color/dfm42buc03ml/
 H: 30 mm, W: 30 mm, L: 15 mm H: 30 mm, W: 30 mm, L: 15 mm
  
work/quadcopter.1396456781.txt.gz · Last modified: 2018/07/18 14:09 (external edit)