第1 章 無人機簡介 ...................................................................................... 1

1.1 航空模型的歷史 ............................................................................................................ 1

1.2 無人機與航模的區(qū)別 .................................................................................................... 3

1.3 無人機的分類 ................................................................................................................ 4

1.4 無人機的使用安全 ........................................................................................................ 5

復(fù)習(xí)與思考............................................................................................................................. 7

第2 章 多旋翼無人機機架設(shè)計 .................................................................... 8

2.1 初識SOLIDWORKS .................................................................................................... 9

2.1.1 SOLIDWORKS 基本操作 .................................................................................. 9

2.1.2 SOLIDWORKS 用戶界面 ................................................................................ 11

2.2 機臂設(shè)計 ...................................................................................................................... 15

2.3 管夾設(shè)計 ...................................................................................................................... 17

2.4 電機設(shè)計 ...................................................................................................................... 22

2.5 電機座設(shè)計 .................................................................................................................. 28

2.6 GPS 支架設(shè)計 ............................................................................................................. 29

2.7 中心板及掛載板設(shè)計 .................................................................................................. 34

2.8 腳架設(shè)計 ...................................................................................................................... 37

2.9 槳葉設(shè)計 ...................................................................................................................... 40

2.10 總體裝配 .................................................................................................................... 45

復(fù)習(xí)與思考........................................................................................................................... 51

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第3 章 多旋翼無人機機架生產(chǎn)與加工 ........................................................ 52

3.1 初識NcStudio .............................................................................................................. 52

3.2 NcStudio 基本操作 ...................................................................................................... 52

3.3 碳纖維板加工 .............................................................................................................. 66

3.4 初識Cura ..................................................................................................................... 74

3.4.1 Cura 首次啟動設(shè)置向?qū)?.................................................................................. 74

3.4.2 模型的載入和查看 ........................................................................................... 76

3.4.3 模型的調(diào)整 ....................................................................................................... 81

3.4.4 基礎(chǔ)切片設(shè)置 ................................................................................................... 84

3.4.5 高級切片設(shè)置 ................................................................................................... 86

3.4.6 輸出Gcode 文件 .............................................................................................. 87

3.4.7 結(jié)束語 ............................................................................................................... 88

3.5 3D 打印機的基本應(yīng)用 ................................................................................................ 88

3.5.1 連接打印機 ....................................................................................................... 88

3.5.2 手動控制打印機 ............................................................................................... 90

3.5.3 上傳、下載Gcode 文件 .................................................................................. 91

3.5.4 打印Gcode 文件 .............................................................................................. 91

3.6 腳架等輔助部件的加工 .............................................................................................. 91

復(fù)習(xí)與思考........................................................................................................................... 95

第4 章 多旋翼無人機電氣控制系統(tǒng)的設(shè)計 ................................................ 96

4.1 無刷電機 ...................................................................................................................... 96

4.2 電子調(diào)速器 .................................................................................................................. 97

4.3 舵機 ............................................................................................................................. 98

4.4 航空電池 .................................................................................................................... 101

4.5 平衡充電器 ................................................................................................................ 103

4.6 無線電遙控 ................................................................................................................ 104

4.7 飛行控制系統(tǒng) ............................................................................................................ 106

復(fù)習(xí)與思考......................................................................................................................... 107

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第5 章 多旋翼無人機開源控制系統(tǒng)的應(yīng)用 .............................................. 108

5.1 初識Pixhawk ............................................................................................................. 108

5.2 固件的更新與刷寫 .................................................................................................... 112

5.3 機架類型設(shè)置 ............................................................................................................ 117

5.4 初始化校準(zhǔn) ................................................................................................................ 118

5.5 試解鎖檢查 ................................................................................................................ 129

5.6 電調(diào)校準(zhǔn) .................................................................................................................... 131

5.7 飛行模式設(shè)置 ............................................................................................................ 132

5.8 電流計的使用 ............................................................................................................ 140

5.9 GPS 的使用 ............................................................................................................... 141

5.10 數(shù)傳和OSD ............................................................................................................. 142

5.11 自動調(diào)參 .................................................................................................................. 145

5.12 自動微調(diào)和手動微調(diào) .............................................................................................. 147

復(fù)習(xí)與思考......................................................................................................................... 147

第6 章 多旋翼無人機飛行 ....................................................................... 149

6.1 起飛與降落練習(xí) ........................................................................................................ 149

6.2 升降練習(xí) .................................................................................................................... 150

6.2.1 上升練習(xí) ......................................................................................................... 150

6.2.2 下降練習(xí) ......................................................................................................... 150

6.3 俯仰練習(xí) .................................................................................................................... 150

6.3.1 俯沖練習(xí) ......................................................................................................... 151

6.3.2 上仰練習(xí) ......................................................................................................... 151

6.4 偏航練習(xí) .................................................................................................................... 151

6.4.1 左偏航練習(xí) ..................................................................................................... 151

6.4.2 右偏航練習(xí) ..................................................................................................... 152

6.5 手動飛行 .................................................................................................................... 152

6.5.1 直線飛行 ......................................................................................................... 152

6.5.2 曲線飛行 ......................................................................................................... 152

6.6 自動飛行 .................................................................................................................... 153

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6.6.1 TAKEOFF 起飛 .............................................................................................. 154

6.6.2 WAYPOINT 航點 ........................................................................................... 154

6.6.3 SPLINE WAYPOINT 曲線航點 ..................................................................... 155

6.6.4 LOITER_TIME 定點延時 .............................................................................. 156

6.6.5 LOITER_TURNS 定點繞圈 .......................................................................... 156

6.6.6 LOITER_UNLIMITED 等待處理 ................................................................. 156

6.6.7 RETURN-TO-LAUNCH 自返 ....................................................................... 157

6.6.8 LAND 自主降落 ............................................................................................. 157

6.6.9 Do-Set-Roi 興趣熱點 ..................................................................................... 157

6.6.10 CONDITION-DELAY 條件延遲 ................................................................. 158

6.6.11 CONDITION-DISTANCE 條件距離 ........................................................... 159

6.6.12 CONDITION-YAW 條件指向 ..................................................................... 159

6.6.13 DO-JUMP 執(zhí)行跳轉(zhuǎn) .................................................................................... 159

6.6.14 DO-CHANGE-SPEED 變更速度................................................................. 160

6.6.15 DO-SET-CAM-TRIGG-DIST 距離快門 ...................................................... 160

6.6.16 DO-SET-RELAY 繼電器 .............................................................................. 160

6.6.17 DO-REPEAT-RELAY 重復(fù)繼電器 .............................................................. 161

6.6.18 DO-SET-SERVO 舵機 .................................................................................. 161

6.6.19 DO-REPEAT-SERVO 重復(fù)舵機 .................................................................. 161

6.6.20 DO-DIGICAM-CONTROL 快門控制 ......................................................... 162

復(fù)習(xí)與思考......................................................................................................................... 162

附錄A Pixhawk 標(biāo)準(zhǔn)參數(shù) ........................................................................ 163

附錄B 硅膠線參數(shù) ................................................................................... 169

附錄C 常用接口參數(shù) ............................................................................... 170

附錄D 常用電機參數(shù) ............................................................................... 171

附錄E Pixraptor 引腳接線定義 ................................................................ 172