4.3. Frequently ISSUE
4.3.1、When I try to use connect io mode to build the controller, everything is normal. Then I want to copy the code to px4 and change it to run on board mode. After clicking Build, it will be stuck in 60% of the place all the time.
Answer to questions:
At present, the RflySim platform only supports copying to the template that comes with the platform.
4.3.2 、and vehicle_attitude modules are different in simulink and PSP official help documents. One measures angular velocity and the other Angle. Why is that?
Answer to questions:
The RflySim platform has been developed for the second time, and the Angle is calculated by quaternion. The vehicle_attitude module could be designed in Simulink to simulate or control the attitude of an aircraft (i.e. attitude control), so it is possible to measure the Angle information of the aircraft such as pitch, roll and yaw.
In the PSP, the vehicle_attitude module could be designed to be used in a virtual simulation environment or some other type of simulator to simulate vehicle or aircraft motion behavior. In this case, the module might measure the angular velocity (i.e. attitude rate) of the vehicle or vehicle, rather than the Angle information.
In addition, the "vehicle_attitude" module may be designed as a different toolbox or component in different software environments, so its function and usage may vary, resulting in differences in documentation.
In general, the function of the module may be different in different software environments, and its function and description need to be understood according to the specific context and use case.
4.3.3、I run an error while running the Mav_Control_Quadrotor Simulink file. How do I change the compiler for the model?
Answer to questions:
Need to install Visual studio on the computer, in addition, this program is running under Windows Simulink program, not burned to the flight control inside, run directly, to install Visual Studio and set mex compiler can run the program normally.
4.3.4、fixed wing aircraft, during the flight, can I change the route?
Answer to questions:
It is not possible to change the flight task during the flight of the aircraft, but the flight point of the aircraft can be changed. After drawing the route, return to the QGC home page, and right-click on the map interface during the flight task to select a new flight point.
4.3.5、If you want to run the hardware simulation of the unmanned vehicle in the loop, what firmware need to be burned?
Answer to questions:
Need to burn the corresponding official firmware: https://github.com/PX4/PX4-Autopilot/releases, frame type is changed to the corresponding vehicle can. Specific model import method can reference RflySim installation path/RflySimAPIs / 4. 】 RflySimModel/API. The PDF, the file folders for platform to illustrate the interface file, can be model reference to import.
4.3.6、We noticed that the pitch Angle and roll Angle of the UAV are calculated internally. Can we change the underlying series model to control the pitch Angle and roll Angle of the UAV?
Answer to questions:
At present, the Offboard interface used is generally the speed height yaw Angle, it is not sure whether there is a pitch and roll control interface, speed height yaw Angle can also be realized.
4.3.7、Where can CopterSim and other parts of the transceiver data protocol be seen?
Answer to questions:
Installation directory \RflySimAPIs\4.RflySimModel\API.pdf" Look at the PDF introduction document, which has some interface instructions can be referred to.
4.3.8、In the inCopterData input interface experiment under 4.RflySimModel, the ExtToPX4 output value in the model cannot be read in uorb rfly_sim, showing never published, resulting in routine problems, how to solve?
problem description：
Answer to questions:
Need to update the RflySim toolchain, the latest version has fixed the issue.
4.3.9、On the basis of routine 6.1, the control distribution matrix model of UAV is changed, but there will always be some errors when the model is compiled that there is no way to identify the signal and the matrix dimension is not correct. How to solve this situation?
problem description：
Answer to questions:
First build a blank model, to test whether matrix multiplication and the like meet expectations, deepen the understanding of simulink programming.
4.3.10、In the code burned into the aircraft in section e6.4, is actuator_outputs or actuator_outputs_rfly publishing motor PWM information?
problem description：
Answer to questions:
You have to look at what the two uORB messages are for.
4.3.11、The output of simulink controller was released through PWM_output module, compiled and downloaded to pixhawk, and data inconsistency was found after the motor output was detected. I have blocked the output of px4 official controller, what is the reason for this?
Answer to questions:
If you write your own controller, you may not understand the input and output of the controller accurately. If the pwm pulse width is written directly in the program, it is not read the correct number
4.3.12、May I ask if this imu frequency is too low due to the computer performance is not quite caused, the use of px4ctrl after takeoff is very unstable, the use of offb routine after takeoff swing larger?
problem description：
Answer to questions:
C:\PX4PSP\Firmware\ROMFS\px4fmu_common\init.d-posix\px4-rc.mavlink
If it is SITL simulation, to modify the above file, the default IMU transmission frequency is 50Hz, to be changed to 200. Some messages that are not used in this can be commented out to avoid taking up too much bandwidth.
4.3.13、In the attitude control experiment, the hardware could not recognize the presence of the flight control board in the ring, nor could it be repeatedly inserted and removed. There was no problem in the Apiexps experiment. May I ask why the flight control board used was Zhuowing H7
Answer to questions:
You can go to the device manager of the computer to disable the unused ports, if it does not work, you can burn the firmware through QGC
4.3.14、When doing the low-level control development, for example, I want to use the dshot protocol (because it is said on the Internet that the dshot protocol does not need to calibrate the electrical modulation), at this time, the signal line on the electrical modulation is connected to the fmu port, and can the pwmout module in the toolbox be used at this time?
Answer to questions:
Force and torque module, pwm output does not support Dshot
4.3.15、May I ask why the rack and remote control of the qg ground station need to be reset each time we download the firmware from matlab to the flight control board during the hardware in the loop experiment? (h7 flight control of Zhuo Wing)
Answer to questions:
Upgrade the bootloader, SYS_BL_UPDATE find this parameter, set it to 1 and restart the flight control
For more questions, please visit：https://github.com/RflySim/Docs/issues