diff --git a/hardware-crazyflie2.md b/hardware-crazyflie2.md index 745bae5..9adc74f 100644 --- a/hardware-crazyflie2.md +++ b/hardware-crazyflie2.md @@ -1,69 +1,69 @@ # Crazyflie 2.0 -The Crazyflie line of micro quads was created by Bitcraze AB. An overview of the Crazyflie 2 (CF2) is here: https://www.bitcraze.io/crazyflie-2/ +Crazyflie 是由Bitcraze AB发起的微型四旋翼飞行器项目. Crazyflie 2 (CF2) 的概述在以下网址: https://www.bitcraze.io/crazyflie-2/ ![](images/hardware/hardware-crazyflie2.png) -## Quick Summary +## 概要 -> ** The main hardware documentation is here: https://wiki.bitcraze.io/projects:crazyflie2:index ** +> ** 主要硬件手册网址: https://wiki.bitcraze.io/projects:crazyflie2:index ** - * Main System-on-Chip: STM32F405RG - * CPU: 168 MHz ARM Cortex M4 with single-precision FPU + * 主处理器芯片: STM32F405RG + * CPU: 168 MHz主频 ARM Cortex M4内核 内置单精度浮点处理器 * RAM: 192 KB SRAM - * nRF51822 radio and power management MCU - * MPU9250 Accel / Gyro / Mag - * LPS25H barometer + * nRF51822 无线通信模块 与 电源管理芯片 + * MPU9250 加速度计 / 陀螺仪/ 磁力计 + * LPS25H 气压计 -## Flashing +## 加载程序 -After setting up the PX4 development environment, follow these steps to put the PX4 software on the CF2: +设置完 PX4开发环境后, 按照以下步骤在CF2上运行PX4软件程序: -1. Grab source code of the PX4 [Bootloader](https://github.com/PX4/Bootloader) +1. 下载PX4源代码 [Bootloader](https://github.com/PX4/Bootloader) -2. Compile using `make crazyflie_bl` +2. 用 `make crazyflie_bl`编译 -3. Put the CF2 into DFU mode: - - Ensure it is initially unpowered - - Hold down button - - Plug into computer's USB port - - After a second, the blue LED should start blinking and after 5 seconds should start blinking faster - - Release button +3. 用 DFU模式运行CF2: + - 确保初始化时未上电 + - 按住按钮 + - 插入usb端口 + - 一秒后,蓝灯应当开始闪烁并且五秒后闪烁更快 + - 松开按钮 -4. Flash bootloader using dfu-util: `sudo dfu-util -d 0483:df11 -a 0 -s 0x08000000 -D crazyflie_bl.bin` and unplug CF2 when done - - If successful, then the yellow LED should blink when plugging in again +4. 用dfu-util加载bootloader: `sudo dfu-util -d 0483:df11 -a 0 -s 0x08000000 -D crazyflie_bl.bin` 并且当完成时拔出CF2的接口 + - 如果成功完成, 当再次插入接口时，那么黄灯此时应当闪烁 -5. Grab the [Firmware](https://github.com/PX4/Firmware) +5. 下载固件 [Firmware](https://github.com/PX4/Firmware) -6. Compile with `make crazyflie_default upload` +6. 用 `make crazyflie_default upload`编译 -7. When prompted to plug in device, plug in CF2: the yellow LED should start blinking indicating bootloader mode. Then the red LED should turn on indicating that the flashing process has started. +7. 当提示插入设备时, 插入CF2: 黄灯开始闪烁代表进入bootloader模式. 然后红灯常亮代表加载程序过程开始. -8. Wait for completion +8. 等待完成 -9. Done! Calibrate via QGC +9. 完工! 通过QGC校准传感器信息 -## Wireless +##无线通信 -The onboard nRF module allows connecting to the board via Bluetooth or through the proprietary 2.4GHz Nordic ESB protocol. +板载的nRF模块可以通过蓝牙或者以专有的2.4GHz北欧ESB协议连接到飞控板上 -- A [Crazyradio PA](https://www.bitcraze.io/crazyradio-pa/) is recommended. -- To fly the CF2 right away, the Crazyflie phone app is supported via Bluetooth +- 推荐使用 [Crazyradio PA](https://www.bitcraze.io/crazyradio-pa/). +- 为了让CF2即刻飞行, Crazyflie手机应用可以通过蓝牙连接 -Using the official Bitcraze **Crazyflie phone app** +使用官方的Bitcraze **Crazyflie手机应用** -- Connect via Bluetooth -- Change mode in settings to 1 or 2 -- Calibrate via QGC +- 通过蓝牙连接 +- 通过设置1 or 2来改变模式 +- 通过QGC校准传感器信息 -Connecting via **MAVLink** +通过 **MAVLink**连接 -- Use a Crazyradio PA alongside a compatible GCS -- See [cfbridge](https://github.com/dennisss/cfbridge) for how to connect any UDP capable GCS to the radio +- 使用与GCS兼容的crazyradio PA +- 浏览 [cfbridge](https://github.com/dennisss/cfbridge) 网页以了解如何通过无线以任何的用户协议连接至地面站 -## Flying +## 飞行 {% youtube %}https://www.youtube.com/watch?v=oWk0RRIzF-4{% endyoutube %} diff --git a/hardware-intel-aero.md b/hardware-intel-aero.md index 9b4037d..ce85845 100644 --- a/hardware-intel-aero.md +++ b/hardware-intel-aero.md @@ -1,46 +1,46 @@ # Intel Aero -The Aero is a UAV development platform. Part of this is the Intel Aero Compute Board (see below), running Linux on a Quad-core CPU. This is connected to the FMU, which runs PX4 on NuttX. +Aero是一款无人机开发平台. 其中一部分是Intel Aero开发板 (如下所示), 在一个Quad-core CPU上运行着linux系统. 他和FMU部分进行连接, 在NuttX上运行px4. ![](images/hardware/hardware-intel-aero.png) -## Introduction +## 介绍 -The main documentation is under https://github.com/intel-aero/meta-intel-aero/wiki. It includes instructions how to setup, update and connect to the board. And it also explains how to do development on the Linux side. +主要文档在以下网址 https://github.com/intel-aero/meta-intel-aero/wiki. 它包括了如何设置，升级，以及连接至开发板的介绍.并且它也讲解了如何在linux端进行开发. -The following describes how to flash and connect to the FMU. +以下介绍了如何加载程序并与FMU进行连接。 -## Flashing +## 加载程序 -After setting up the PX4 development environment, follow these steps to put the PX4 software on the FMU board: +在设置完PX4开发环境后, 按照以下几个步骤在FMU板上安装px4程序: -1. Do a full update of all software on the Aero (https://github.com/intel-aero/meta-intel-aero/wiki/Upgrade-To-Latest-Software-Release) +1. 进行一次在Aero上的所有软件的全面升级 (https://github.com/intel-aero/meta-intel-aero/wiki/Upgrade-To-Latest-Software-Release) -2. Grab the [Firmware](https://github.com/PX4/Firmware) +2. 下载固件 [Firmware](https://github.com/PX4/Firmware) -3. Compile with `make aerofc-v1_default` +3. 用`make aerofc-v1_default`进行编译 -4. Set the hostname (The following IP assumes you are connected via WiFi): +4. 设置主机名为 (下面的 IP建议你用WIFI连接): ``` export AERO_HOSTNAME=192.168.1.1` ``` -5. Upload with `make aerofc-v1_default upload` +5. 用 `make aerofc-v1_default upload`语句进行升级 -## Connecting QGroundControl via Network +## 通过网络连接QGroundControl -1. Make sure you are connected to the board with WiFi or USB Network +1. 确保你能通过板载WIFI或者USB网络连接至开发板 -2. ssh to the board and make sure mavlink forwarding runs. By default it automatically starts when booting. It can be started manually with: +2. 通过ssh连接到开发板并确保 mavlink 已经连上.系统默认当开发板启动时他应当自动开始连接. 它也可以手动启动连接: ``` /etc/init.d/mavlink_bridge.sh start ``` -3. Start QGroundControl and it should automatically connect. +3. 启动QGroundControl并且应当自动连接. -4. Instead of starting QGroundControl, you can open a [NuttX shell](advanced-system-console.md#mavlink-shell) with: +4. 如果不用 QGroundControl,你可以用这个替代 [NuttX shell](advanced-system-console.md#mavlink-shell) : ``` ./Tools/mavlink_shell.py 0.0.0.0:14550 ```