pixhawk 为实际调试做的准备

感谢兰州—Zing的指教。。

1.     飞行日志

下载flightplot，官网是http://www.pixhawk.com/dev/flightplot

px4飞行日志位置在log文件夹中

数字越大表示越新，新加的日志不会覆盖旧的日志。

日志简单操作：

第一步：Open Log orFile→OpenLog….打开你要看的日志

第二步：点 Field List，选择你想看的数据类型，点Add.添加你要看的数据类型

第三步：添加进“simple”里面

第四步：flightplot为用户开发了函数功能，在画图区点Add，可以将处理完的数据画出来。

最后的效果：

绿颜色：传感器测的高度   红颜色：期望高度   蓝颜色：垂直方向速度   黑颜色：垂直速度的积分

2.     mavlink添加想发送的信息

mavlink_log_info(&mavlink_log_pub, "1212121212121"); 

mavlink_log_critical(&mavlink_log_pub, "czyv587...") 

int ii=0;
if(ii<1000)
{
	mavlink_and_console_log_info(&mavlink_log_pub, "czy: #%ii", ii);
	ii++;
}
else
	ii=0;

3.     nsh

第一步：打开TeraTerm

第二步：点setup选Serial port setup，并设置串口和波特率(默认COM5，57600)

第三步：输入命令：先回车，再输入“?”或者“help”，编译好的应用会被打印出来

第四步：重点看你需要看的部分(输入的命令)

总结：nsh输入的命令调试bug，首先需要将你要调试的部分用cmke编译生成.px4，输入“?”会显示所以编译好的应用，输入的命令实际上是在程序中写好的，对应于每个应用的相应位置。添加一个应用，有助于帮助理解nsh

int commander_main(int argc, char *argv[])
{
	if (argc < 2) {
		usage("missing command");
		return 1;
	}

	if (!strcmp(argv[1], "start")) {

		if (thread_running) {
			warnx("already running");
			/* this is not an error */
			return 0;
		}

		thread_should_exit = false;
		daemon_task = px4_task_spawn_cmd("commander",
					     SCHED_DEFAULT,
					     SCHED_PRIORITY_DEFAULT + 40,
					     3600,
					     commander_thread_main,
					     (char * const *)&argv[0]);

		unsigned constexpr max_wait_us = 1000000;
		unsigned constexpr max_wait_steps = 2000;

		unsigned i;
		for (i = 0; i < max_wait_steps; i++) {
			usleep(max_wait_us / max_wait_steps);
			if (thread_running) {
				break;
			}
		}

		return !(i < max_wait_steps);
	}

	if (!strcmp(argv[1], "stop")) {

		if (!thread_running) {
			warnx("commander already stopped");
			return 0;
		}

		thread_should_exit = true;

		while (thread_running) {
			usleep(200000);
			warnx(".");
		}

		warnx("terminated.");

		return 0;
	}

	/* commands needing the app to run below */
	if (!thread_running) {
		warnx("\tcommander not started");
		return 1;
	}

	if (!strcmp(argv[1], "status")) {
		print_status();
		return 0;
	}

	if (!strcmp(argv[1], "calibrate")) {
		if (argc > 2) {
			int calib_ret = OK;
			if (!strcmp(argv[2], "mag")) {
				calib_ret = do_mag_calibration(&mavlink_log_pub);
			} else if (!strcmp(argv[2], "accel")) {
				calib_ret = do_accel_calibration(&mavlink_log_pub);
			} else if (!strcmp(argv[2], "gyro")) {
				calib_ret = do_gyro_calibration(&mavlink_log_pub);
			} else if (!strcmp(argv[2], "level")) {
				calib_ret = do_level_calibration(&mavlink_log_pub);
			} else if (!strcmp(argv[2], "esc")) {
				calib_ret = do_esc_calibration(&mavlink_log_pub, &armed);
			} else if (!strcmp(argv[2], "airspeed")) {
				calib_ret = do_airspeed_calibration(&mavlink_log_pub);
			} else {
				warnx("argument %s unsupported.", argv[2]);
			}

			if (calib_ret) {
				warnx("calibration failed, exiting.");
				return 1;
			} else {
				return 0;
			}
		} else {
			warnx("missing argument");
		}
	}

	if (!strcmp(argv[1], "check")) {
		int checkres = 0;
		checkres = preflight_check(&status, &mavlink_log_pub, false, true, &status_flags, &battery);
		warnx("Preflight check: %s", (checkres == 0) ? "OK" : "FAILED");
		checkres = preflight_check(&status, &mavlink_log_pub, true, true, &status_flags, &battery);
		warnx("Prearm check: %s", (checkres == 0) ? "OK" : "FAILED");
		return 0;
	}

	if (!strcmp(argv[1], "arm")) {
		if (TRANSITION_CHANGED != arm_disarm(true, &mavlink_log_pub, "command line")) {
			warnx("arming failed");
		}
		return 0;
	}

	if (!strcmp(argv[1], "disarm")) {
		if (TRANSITION_DENIED == arm_disarm(false, &mavlink_log_pub, "command line")) {
			warnx("rejected disarm");
		}
		return 0;
	}

	if (!strcmp(argv[1], "takeoff")) {

		/* see if we got a home position */
		if (status_flags.condition_home_position_valid) {

			if (TRANSITION_DENIED != arm_disarm(true, &mavlink_log_pub, "command line")) {

				vehicle_command_s cmd = {};
				cmd.target_system = status.system_id;
				cmd.target_component = status.component_id;

				cmd.command = vehicle_command_s::VEHICLE_CMD_NAV_TAKEOFF;
				cmd.param1 = NAN; /* minimum pitch */
				/* param 2-3 unused */
				cmd.param2 = NAN;
				cmd.param3 = NAN;
				cmd.param4 = NAN;
				cmd.param5 = NAN;
				cmd.param6 = NAN;
				cmd.param7 = NAN;

				orb_advert_t h = orb_advertise(ORB_ID(vehicle_command), &cmd);
				(void)orb_unadvertise(h);

			} else {
				warnx("arming failed");
			}

		} else {
			warnx("rejecting takeoff, no position lock yet. Please retry..");
		}

		return 0;
	}

	if (!strcmp(argv[1], "land")) {

		vehicle_command_s cmd = {};
		cmd.target_system = status.system_id;
		cmd.target_component = status.component_id;

		cmd.command = vehicle_command_s::VEHICLE_CMD_NAV_LAND;
		/* param 2-3 unused */
		cmd.param2 = NAN;
		cmd.param3 = NAN;
		cmd.param4 = NAN;
		cmd.param5 = NAN;
		cmd.param6 = NAN;
		cmd.param7 = NAN;

		orb_advert_t h = orb_advertise(ORB_ID(vehicle_command), &cmd);
		(void)orb_unadvertise(h);

		return 0;
	}

	if (!strcmp(argv[1], "transition")) {

		vehicle_command_s cmd = {};
		cmd.target_system = status.system_id;
		cmd.target_component = status.component_id;

		cmd.command = vehicle_command_s::VEHICLE_CMD_DO_VTOL_TRANSITION;
		/* transition to the other mode */
		cmd.param1 = (status.is_rotary_wing) ? vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW : vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC;
		/* param 2-3 unused */
		cmd.param2 = NAN;
		cmd.param3 = NAN;
		cmd.param4 = NAN;
		cmd.param5 = NAN;
		cmd.param6 = NAN;
		cmd.param7 = NAN;

		orb_advert_t h = orb_advertise(ORB_ID(vehicle_command), &cmd);
		(void)orb_unadvertise(h);

		return 0;
	}

	if (!strcmp(argv[1], "mode")) {
		if (argc > 2) {
			uint8_t new_main_state = commander_state_s::MAIN_STATE_MAX;
			if (!strcmp(argv[2], "manual")) {
				new_main_state = commander_state_s::MAIN_STATE_MANUAL;
			} else if (!strcmp(argv[2], "altctl")) {
				new_main_state = commander_state_s::MAIN_STATE_ALTCTL;
			} else if (!strcmp(argv[2], "posctl")) {
				new_main_state = commander_state_s::MAIN_STATE_POSCTL;
			} else if (!strcmp(argv[2], "auto:mission")) {
				new_main_state = commander_state_s::MAIN_STATE_AUTO_MISSION;
			} else if (!strcmp(argv[2], "auto:loiter")) {
				new_main_state = commander_state_s::MAIN_STATE_AUTO_LOITER;
			} else if (!strcmp(argv[2], "auto:rtl")) {
				new_main_state = commander_state_s::MAIN_STATE_AUTO_RTL;
			} else if (!strcmp(argv[2], "acro")) {
				new_main_state = commander_state_s::MAIN_STATE_ACRO;
			} else if (!strcmp(argv[2], "offboard")) {
				new_main_state = commander_state_s::MAIN_STATE_OFFBOARD;
			} else if (!strcmp(argv[2], "stabilized")) {
				new_main_state = commander_state_s::MAIN_STATE_STAB;
			} else if (!strcmp(argv[2], "rattitude")) {
				new_main_state = commander_state_s::MAIN_STATE_RATTITUDE;
			} else if (!strcmp(argv[2], "auto:takeoff")) {
				new_main_state = commander_state_s::MAIN_STATE_AUTO_TAKEOFF;
			} else if (!strcmp(argv[2], "auto:land")) {
				new_main_state = commander_state_s::MAIN_STATE_AUTO_LAND;
			} else {
				warnx("argument %s unsupported.", argv[2]);
			}

			if (TRANSITION_DENIED == main_state_transition(&status, new_main_state, main_state_prev,  &status_flags, &internal_state)) {
				warnx("mode change failed");
			}
			return 0;

		} else {
			warnx("missing argument");
		}
	}

	if (!strcmp(argv[1], "lockdown")) {

		if (argc < 3) {
			usage("not enough arguments, missing [on, off]");
			return 1;
		}

		vehicle_command_s cmd = {};
		cmd.target_system = status.system_id;
		cmd.target_component = status.component_id;

		cmd.command = vehicle_command_s::VEHICLE_CMD_DO_FLIGHTTERMINATION;
		/* if the comparison matches for off (== 0) set 0.0f, 2.0f (on) else */
		cmd.param1 = strcmp(argv[2], "off") ? 2.0f : 0.0f; /* lockdown */

		// XXX inspect use of publication handle
		(void)orb_advertise(ORB_ID(vehicle_command), &cmd);

		return 0;
	}

	usage("unrecognized command");
	return 1;
}

4.     QGC调试的用法

（1）   参数修改的地方

这些参数对应着程序parameter_update

（2）  查看飞控实时的各种数据(都是通过mavlink传输过来的)

点击你要看的数据前面的方框

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