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机架设置

机架（airframe）是用于管理不同飞机（SYS_AUTOSTART）的param和mixer等，当前切换机架之后，会将所有参数重置为机架设置的值，这样确保飞控系统能够同时兼容和支持多款无人机。

机架工作原理

SYS_AUTOSTART：机架编号，一个飞控里里面包含了多架飞机配置，修改机架会将SYS_AUTOCONFIG设置为1，下次重启会自动重置机架参数。

SYS_AUTOCONFIG：是否重置机架参数，如果==1则将参数值重置为机架设定值，随后将SYS_AUTOCONFIG置零，避免下次启动再次重置机架参数。

graph TB
    init(芯片上电，完成一些必要的初始化)
    load_param[从flash中加载用户设置参数]
    check_sysautoconfig{SYS_AUTOCONFIG==1}
    reset_all_param[将所有参数恢复默认值]
    load_airframe_param[根据SYS_AUTOSTART加载机载设置参数]
    clear_sysautoconfig[将SYS_AUTOCONFIG设置为0]
    start_other_module(运行其他模块)


    init --> load_param
    load_param --> check_sysautoconfig
    check_sysautoconfig --> |是| reset_all_param
    reset_all_param --> load_airframe_param
    load_airframe_param --> clear_sysautoconfig
    clear_sysautoconfig --> start_other_module
    check_sysautoconfig --> |否| start_other_module
Loading

添加新的机架

在airframe文件中增加一个新的xxx_yyy.cpp文件，其中：

  • xxx：是机架编号，比如1103
  • yyy：是机架名称，比如sih_standard_vtol

1102_sih_standard_vtol主要是定义_param和_mixer两个结构体数组。

定义机架参数

定义机架混控

多旋翼混控

固定翼混控

NULL混控

导出机架设置

在文件的结尾，通过以下宏导出机架设置： AIRFRAME_DEFINE_ALL宏有4个参数，第1个是机架名称，第2个是机架编号，第3个是参数定义，第4个是混控定义：

AIRFRAME_DEFINE_ALL(sih_standard_vtol, 1103, _param, _mixer);

完整机架例子

下面是1102_sih_standard_vtol机架的完整配置文件。

#include "airframe.h"

static param_config_t _param[] = {
    // vtol_default_param

    // set SYS_HITL to 2 to start the SIH and avoid sensors startup
    PARAM_CONFIG_INT32(SYS_HITL, 2),
    PARAM_CONFIG_INT32(SYS_MC_EST_GROUP, 4),
    PARAM_CONFIG_INT32(MAV_TYPE, 20),        // commander need
    PARAM_CONFIG_INT32(SYS_VEHICLE_TYPE, 2), // run as standard vtol
    PARAM_CONFIG_INT32(SIH_VEHICLE_TYPE, 2), // sih as standard vtol

    // qemu仿真时网络选择了user模式，故这里IP配置为网关IP即可
    PARAM_CONFIG_INT32(MAV_0_CONFIG, 10),
    PARAM_CONFIG_INT32(MAV_0_RMT_IP, 10 << 24 | 0 << 16 | 2 << 8 | 2),
    PARAM_CONFIG_INT32(MAV_0_RMT_PORT, 14550),
    PARAM_CONFIG_INT32(MAV_1_CONFIG, 0),
    PARAM_CONFIG_INT32(MAV_2_CONFIG, 0),

    // disable some checks to allow to fly:
    // - with usb
    PARAM_CONFIG_INT32(CBRK_USB_CHK, 197848),
    // - without real battery
    PARAM_CONFIG_INT32(CBRK_SUPPLY_CHK, 894281),
    // - without safety switch
    PARAM_CONFIG_INT32(COM_PREARM_MODE, 0),
    PARAM_CONFIG_INT32(CBRK_IO_SAFETY, 22027),
    PARAM_CONFIG_INT32(BAT_N_CELLS, 3),

    PARAM_CONFIG_FLOAT(SIH_T_MAX, 6.0),
    PARAM_CONFIG_FLOAT(SIH_MASS, 1.0),
    PARAM_CONFIG_FLOAT(SIH_IXX, 0.0292),
    PARAM_CONFIG_FLOAT(SIH_IYY, 0.0394),
    PARAM_CONFIG_FLOAT(SIH_IZZ, 0.0477),
    PARAM_CONFIG_FLOAT(SIH_IXZ, 0.00046),
    PARAM_CONFIG_FLOAT(SIH_KDV, 0.2),

    // 模拟器通道不需要反向
    PARAM_CONFIG_INT32(PWM_AUX_REV1, 0),
    PARAM_CONFIG_INT32(PWM_AUX_REV2, 0),
    PARAM_CONFIG_INT32(PWM_AUX_REV3, 0),
    PARAM_CONFIG_INT32(PWM_AUX_REV4, 0),

    // 美国手
    PARAM_CONFIG_INT32(RC_MAP_ROLL, 1),
    PARAM_CONFIG_INT32(RC_MAP_PITCH, 2),
    PARAM_CONFIG_INT32(RC_MAP_YAW, 3),
    PARAM_CONFIG_INT32(RC_MAP_THROTTLE, 4),
};

static mixer_config_t _mixer[] = {
    MIXER_DEFINE_MC(
        // rotor_count
        MIXER_MC_COUNT(4),
        // roll, pitch, yaw, throttle
        // @output MAIN1 left forward motor
        MIXER_MC_SCALE(-0.707107f, 0.707107f, 1.000000f, 1.000000f), // 右前，逆时针
        // @output MAIN2
        MIXER_MC_SCALE(0.707107f, -0.707107f, 1.000000f, 1.000000f),   // 左后，逆时针
        MIXER_MC_SCALE(0.707107f, 0.707107f, -1.000000f, 1.000000f),   // 左前，顺时针
        MIXER_MC_SCALE(-0.707107f, -0.707107f, -1.000000f, 1.000000f), // 右后，顺时针
        ),

    // 前拉
    MIXER_DEFINE_SIMPLE(
        MIXER_SIMPLE_COUNT(1),                       // control_count
        MIXER_SIMPLE_SCALE(1.0, 1.0, 0, -1, 1),      // output_scale = k-, k+, offset, min, max
        MIXER_SIMPLE_CONTROL(1, 3, 0, 2, -1, -1, 1), // control_scale = group, index, k-, k+, offset, min, max
        ),

    //  三个zero通道
    MIXER_DEFINE_NULL(),
    MIXER_DEFINE_NULL(),
    MIXER_DEFINE_NULL(),

    // 左副翼
    MIXER_DEFINE_SIMPLE(
        MIXER_SIMPLE_COUNT(1),                              // control_count
        MIXER_SIMPLE_SCALE(1.0, 1.0, 0, -1, 1),             // output_scale = k-, k+, offset, min, max
        MIXER_SIMPLE_CONTROL(1, 0, -0.75, -0.75, 0, -1, 1), // control_scale = group, index, k-, k+, offset, min, max
        ),

    // 右副翼
    MIXER_DEFINE_SIMPLE(
        MIXER_SIMPLE_COUNT(1),                            // control_count
        MIXER_SIMPLE_SCALE(1.0, 1.0, 0, -1, 1),           // output_scale = k-, k+, offset, min, max
        MIXER_SIMPLE_CONTROL(1, 0, 0.75, 0.75, 0, -1, 1), // control_scale = group, index, k-, k+, offset, min, max
        ),

    // 左升降舵
    MIXER_DEFINE_SIMPLE(
        MIXER_SIMPLE_COUNT(1),                          // control_count
        MIXER_SIMPLE_SCALE(1.0, 1.0, 0, -1, 1),         // output_scale = k-, k+, offset, min, max
        MIXER_SIMPLE_CONTROL(1, 1, 1.0, 1.0, 0, -1, 1), // control_scale = group, index, k-, k+, offset, min, max
        ),

    // 右升降舵
    MIXER_DEFINE_SIMPLE(
        MIXER_SIMPLE_COUNT(1),                          // control_count
        MIXER_SIMPLE_SCALE(1.0, 1.0, 0, -1, 1),         // output_scale = k-, k+, offset, min, max
        MIXER_SIMPLE_CONTROL(1, 1, 1.0, 1.0, 0, -1, 1), // control_scale = group, index, k-, k+, offset, min, max
        ),

    // 方向舵
    MIXER_DEFINE_SIMPLE(
        MIXER_SIMPLE_COUNT(1),                          // control_count
        MIXER_SIMPLE_SCALE(1.0, 1.0, 0, -1, 1),         // output_scale = k-, k+, offset, min, max
        MIXER_SIMPLE_CONTROL(1, 2, 1.0, 1.0, 0, -1, 1), // control_scale = group, index, k-, k+, offset, min, max
        ),

};

AIRFRAME_DEFINE_ALL(sih_standard_vtol, 1103, _param, _mixer);
```### 定义机架参数

### 定义机架混控

#### 多旋翼混控

#### 固定翼混控

#### NULL混控

### 导出机架设置

在文件的结尾，通过以下宏导出机架设置：
`AIRFRAME_DEFINE_ALL`宏有4个参数，第1个是机架名称，第2个是机架编号，第3个是参数定义，第4个是混控定义：

```c
AIRFRAME_DEFINE_ALL(sih_standard_vtol, 1103, _param, _mixer);

完整机架例子

下面是1102_sih_standard_vtol机架的完整配置文件。

#include "airframe.h"

static param_config_t _param[] = {
    // vtol_default_param

    // set SYS_HITL to 2 to start the SIH and avoid sensors startup
    PARAM_CONFIG_INT32(SYS_HITL, 2),
    PARAM_CONFIG_INT32(SYS_MC_EST_GROUP, 4),
    PARAM_CONFIG_INT32(MAV_TYPE, 20),        // commander need
    PARAM_CONFIG_INT32(SYS_VEHICLE_TYPE, 2), // run as standard vtol
    PARAM_CONFIG_INT32(SIH_VEHICLE_TYPE, 2), // sih as standard vtol

    // qemu仿真时网络选择了user模式，故这里IP配置为网关IP即可
    PARAM_CONFIG_INT32(MAV_0_CONFIG, 10),
    PARAM_CONFIG_INT32(MAV_0_RMT_IP, 10 << 24 | 0 << 16 | 2 << 8 | 2),
    PARAM_CONFIG_INT32(MAV_0_RMT_PORT, 14550),
    PARAM_CONFIG_INT32(MAV_1_CONFIG, 0),
    PARAM_CONFIG_INT32(MAV_2_CONFIG, 0),

    // disable some checks to allow to fly:
    // - with usb
    PARAM_CONFIG_INT32(CBRK_USB_CHK, 197848),
    // - without real battery
    PARAM_CONFIG_INT32(CBRK_SUPPLY_CHK, 894281),
    // - without safety switch
    PARAM_CONFIG_INT32(COM_PREARM_MODE, 0),
    PARAM_CONFIG_INT32(CBRK_IO_SAFETY, 22027),
    PARAM_CONFIG_INT32(BAT_N_CELLS, 3),

    PARAM_CONFIG_FLOAT(SIH_T_MAX, 6.0),
    PARAM_CONFIG_FLOAT(SIH_MASS, 1.0),
    PARAM_CONFIG_FLOAT(SIH_IXX, 0.0292),
    PARAM_CONFIG_FLOAT(SIH_IYY, 0.0394),
    PARAM_CONFIG_FLOAT(SIH_IZZ, 0.0477),
    PARAM_CONFIG_FLOAT(SIH_IXZ, 0.00046),
    PARAM_CONFIG_FLOAT(SIH_KDV, 0.2),

    // 模拟器通道不需要反向
    PARAM_CONFIG_INT32(PWM_AUX_REV1, 0),
    PARAM_CONFIG_INT32(PWM_AUX_REV2, 0),
    PARAM_CONFIG_INT32(PWM_AUX_REV3, 0),
    PARAM_CONFIG_INT32(PWM_AUX_REV4, 0),

    // 美国手
    PARAM_CONFIG_INT32(RC_MAP_ROLL, 1),
    PARAM_CONFIG_INT32(RC_MAP_PITCH, 2),
    PARAM_CONFIG_INT32(RC_MAP_YAW, 3),
    PARAM_CONFIG_INT32(RC_MAP_THROTTLE, 4),
};

static mixer_config_t _mixer[] = {
    MIXER_DEFINE_MC(
        // rotor_count
        MIXER_MC_COUNT(4),
        // roll, pitch, yaw, throttle
        // @output MAIN1 left forward motor
        MIXER_MC_SCALE(-0.707107f, 0.707107f, 1.000000f, 1.000000f), // 右前，逆时针
        // @output MAIN2
        MIXER_MC_SCALE(0.707107f, -0.707107f, 1.000000f, 1.000000f),   // 左后，逆时针
        MIXER_MC_SCALE(0.707107f, 0.707107f, -1.000000f, 1.000000f),   // 左前，顺时针
        MIXER_MC_SCALE(-0.707107f, -0.707107f, -1.000000f, 1.000000f), // 右后，顺时针
        ),

    // 前拉
    MIXER_DEFINE_SIMPLE(
        MIXER_SIMPLE_COUNT(1),                       // control_count
        MIXER_SIMPLE_SCALE(1.0, 1.0, 0, -1, 1),      // output_scale = k-, k+, offset, min, max
        MIXER_SIMPLE_CONTROL(1, 3, 0, 2, -1, -1, 1), // control_scale = group, index, k-, k+, offset, min, max
        ),

    //  三个zero通道
    MIXER_DEFINE_NULL(),
    MIXER_DEFINE_NULL(),
    MIXER_DEFINE_NULL(),

    // 左副翼
    MIXER_DEFINE_SIMPLE(
        MIXER_SIMPLE_COUNT(1),                              // control_count
        MIXER_SIMPLE_SCALE(1.0, 1.0, 0, -1, 1),             // output_scale = k-, k+, offset, min, max
        MIXER_SIMPLE_CONTROL(1, 0, -0.75, -0.75, 0, -1, 1), // control_scale = group, index, k-, k+, offset, min, max
        ),

    // 右副翼
    MIXER_DEFINE_SIMPLE(
        MIXER_SIMPLE_COUNT(1),                            // control_count
        MIXER_SIMPLE_SCALE(1.0, 1.0, 0, -1, 1),           // output_scale = k-, k+, offset, min, max
        MIXER_SIMPLE_CONTROL(1, 0, 0.75, 0.75, 0, -1, 1), // control_scale = group, index, k-, k+, offset, min, max
        ),

    // 左升降舵
    MIXER_DEFINE_SIMPLE(
        MIXER_SIMPLE_COUNT(1),                          // control_count
        MIXER_SIMPLE_SCALE(1.0, 1.0, 0, -1, 1),         // output_scale = k-, k+, offset, min, max
        MIXER_SIMPLE_CONTROL(1, 1, 1.0, 1.0, 0, -1, 1), // control_scale = group, index, k-, k+, offset, min, max
        ),

    // 右升降舵
    MIXER_DEFINE_SIMPLE(
        MIXER_SIMPLE_COUNT(1),                          // control_count
        MIXER_SIMPLE_SCALE(1.0, 1.0, 0, -1, 1),         // output_scale = k-, k+, offset, min, max
        MIXER_SIMPLE_CONTROL(1, 1, 1.0, 1.0, 0, -1, 1), // control_scale = group, index, k-, k+, offset, min, max
        ),

    // 方向舵
    MIXER_DEFINE_SIMPLE(
        MIXER_SIMPLE_COUNT(1),                          // control_count
        MIXER_SIMPLE_SCALE(1.0, 1.0, 0, -1, 1),         // output_scale = k-, k+, offset, min, max
        MIXER_SIMPLE_CONTROL(1, 2, 1.0, 1.0, 0, -1, 1), // control_scale = group, index, k-, k+, offset, min, max
        ),

};

AIRFRAME_DEFINE_ALL(sih_standard_vtol, 1103, _param, _mixer);

机架编号分配

  • [0-999] Reserved (historical)

仿真机

  • [1000, 1999] Simulation setups，用于仿真的机架

固定翼

  • [2000, 2999] Standard planes，标准固定翼无人机
  • [3000, 3999] Flying wing，飞翼布局无人机

多旋翼

  • [4000, 4999] Quadrotor x，四旋翼（x）
  • [5000, 5999] Quadrotor +，四旋翼（+）
  • [6000, 6999] Hexarotor x，六旋翼（x）
  • [7000, 7999] Hexarotor +"，六旋翼（+）
  • [8000, 8999] Octorotor +"，八旋翼（x）
  • [9000, 9999] Octorotor +"，八旋翼（+）
  • [10000, 10999] Quadrotor Wide arm / H frame
  • [11000, 11999] Hexa Cox，共轴六旋翼
  • [12000, 12999] Octo Cox，共轴八旋翼

复合翼

  • [13000, 13999] VTOL，垂起无人机
  • [14000, 14999] Tri Y，三角翼（Y）
  • [17000, 17999] Autogyro，直升机

热气球

  • [18000, 18999] High-altitude balloons，热气球

自定义

  • [22000, 22999] Reserve for custom models，自定义无人机

无人船

  • [60000, 61000] (Unmanned) Underwater Robots，水下机器人

控制输出分组

Control Group #0 (Flight Control)

0: roll (-1..1) 1: pitch (-1..1) 2: yaw (-1..1) 3: throttle (0..1 normal range, -1..1 for variable pitch / thrust reversers) 4: flaps (-1..1) 5: spoilers (-1..1) 6: airbrakes (-1..1) 7: landing gear (-1..1)

Control Group #1(Flight Control VTOL / Alternate)

0: roll ALT (-1..1) 1: pitch ALT (-1..1) 2: yaw ALT (-1..1) 3: throttle ALT (0..1 normal range, -1..1 for variable pitch / thrust reversers) 4: reserved / aux0 5: reserved / aux1 6: reserved / aux2 7: reserved / aux3

Control Group #2(Gimbal)

0: gimbal roll 1: gimbal pitch 2: gimbal yaw 3: gimbal shutter 4: camera zoom 5: reserved 6: reserved 7: reserved (parachute, -1..1)

Control Group #3(Manual Passthrough)

0: RC roll 1: RC pitch 2: RC yaw 3: RC throttle 4: RC mode switch (Passthrough of RC channel mapped by RC_MAP_FLAPS) 5: RC aux1 (Passthrough of RC channel mapped by RC_MAP_AUX1) 6: RC aux2 (Passthrough of RC channel mapped by RC_MAP_AUX2) 7: RC aux3 (Passthrough of RC channel mapped by RC_MAP_AUX3)

Control Group #4 (Flight Control MC VIRTUAL)

0: roll ALT (-1..1) 1: pitch ALT (-1..1) 2: yaw ALT (-1..1) 3: throttle ALT (0..1 normal range, -1..1 for variable pitch / thrust reversers) 4: reserved / aux0 5: reserved / aux1 6: reserved / aux2 7: reserved / aux3

Control Group #5(Flight Control FW VIRTUAL)

0: roll ALT (-1..1) 1: pitch ALT (-1..1) 2: yaw ALT (-1..1) 3: throttle ALT (0..1 normal range, -1..1 for variable pitch / thrust reversers) 4: reserved / aux0 5: reserved / aux1 6: reserved / aux2 7: reserved / aux3

Control Group #6 (First Payload)

0: function 0 1: function 1 2: function 2 3: function 3 4: function 4 5: function 5 6: function 6 7: function 7