共轴双桨自动驾驶直升机

tai

不顶不行啊！

c_nmusic

上几个图。

首先是新做的控制系统。


按照GM700的大小，做成多层板堆叠的形式。边长25mm，目前使用接插件连接，所以高度高了很多。





陀螺仪和加速度计部分通过电缆连接，到时候可以分开放置。
下面用了一个TF卡取代以前的SD卡，体积小了很多。



还有一块8通道接收/转发的模块。可以直接接标准的接收机，然后通过I2C和导航模块通讯，将接收到的舵量按照自动平衡的要求重新调整后再用标准的PPM格式发送出去。

下面是我的四轴进展：


体积很大，上面是一块3S的电池。看起来可以配双电池了。:em15:



可以多层堆叠。目前想把控制电路放到夹层里，这样不容易摔到。

c_nmusic

目前，自制的OV528+AT91SAM7S256的板上，OV528已经可以读到EEPROM里的代码了。

我用编程器将买来的串口摄像头板上EEPROM中的代码读出，然后烧录到我这个板上。
示波器显示，OV528已经成功读取了代码。但目前似乎这个OV528里的51核有问题。代码执行有错误。
估计是在调试ID端口的时候可能把芯片损坏了:em23: 。外围电路我看已经没什么可以调整的了。

今天又去买了10片OV528，希望能够很快搞定。

kingmo86

断断续续看了几天终于把它看完了 楼主真是牛人 :em15:

c_nmusic

今天，把摄像头部分装倒飞机上了。



驱动板体积有点大，不知道放哪里合适，先放到侧面吧。



这是买的成品串口摄像头，只能挤在这里了。



双摄像头，:em15: ，靠左那个是一个2.4G的无线摄像头，右边的才是用来进行漂移抑制的摄像头。


下面就是控制算法了，如果能做到一个比较好的效果，将来四轴也能受益。
现在发现MD500还是小了些，加起模块来捉襟见肘。

c_nmusic

在网上找了一些神经网络的资料看了看，感觉比较有意思。
有点想利用遗传算法+神经网络来实现这个漂移抑制。
不过目前还不知道这个天上飞的东西要怎么试验比较安全，这个可比我那个2轮小车麻烦多了。

梦幻铁甲

真养眼

yxchyt

老兄！你可以考虑搞个电视制导了。

c_nmusic

在换上一片新的OV528以后，我自己做的OV528的板子上终于也能通过示波器看到OV528进入休眠模式了。这就说明程序正常运行了，离完全成功更进了。下面还有一个上电复位的问题。

到目前为止，为了研究这个OV528的电路，我已经费掉3片OV528，一片AT91SAM7S256了。这就是学费啊，惨....:em17:

kingmo86

学费贵不要紧 只要能学到东西:em15:

流星

:em04: 看到黎明前的曙光啦，哈哈，楼主继续

c_nmusic

自制的OV528电路终于可以成功出图像了，开心。:em15:

不过摄像头上的滤波电路似乎不大够，出来的图像上有些杂波。

c_nmusic

上原理图喽，这个原理图就是我目前正在使用的，是调通了的OV528应用电路。

OV528部分，电路里没有画各个电源的滤波/去藕电容，大家自己加上就可以了。



摄像头部分就相当简单了，OV7640部分的原理图如下：



因为我是分板做的，所以插头引脚的线路名称稍有差别，不过不影响使用。

还有一个最最重要的，OV528上的EEPROM（24LC64）里的代码。
HEX文件格式，用一个记事本把下面的内容粘贴过去然后存成扩展名是hex的文件就可以了。
需要用编程器先写入EEPROM，然后再焊到电路板上。

附件里我提供HEX和BIN格式的。 OV528 EEPROM里的代码.rar (9.37 KB, 下载次数: 83)

2008-10-31 14:23 上传

点击文件名下载附件

这个OV528价格不贵，性能还不错，可以说性价比还是蛮高的。
有了这个应用电路后，就可以根据自己的需要做出串口摄像头板了，不需要再买别人的了。
其实目前市面上的串口摄像头基本都是大家互相抄来的，我在06年买的一个和08年买的2家不同公司的
串口摄像头，EEPROM中的代码完全一致。

正所谓“天下文章一大抄，看你会抄不会抄”。

通过搜索网上的串口摄像头，我认为原始作者应该是CAM-VGA100，下面顺便提供一下这个摄像头的使用手册。
CAM-VGA100-User-ManualV2-0.pdf (136 KB, 下载次数: 6185)

2008-10-31 14:23 上传

点击文件名下载附件

整个这个串口摄像头花了我差不多1个月的时间，交了将近200块的学费，死掉N多脑细胞，焊了3块板，挂掉4个芯片。
希望大家觉得好了回复一下，有兴趣的也可以转载（请标注“转”字样和出处，谢谢）。

[ 本帖最后由 c_nmusic 于 2008-10-31 22:26 编辑 ]

c_nmusic

下面是HEX格式的OV528EEPROM里的代码，粘贴到记事本然后另存成hex扩展名就行了。

:200000007591207592007593FF75941F75854AD40000000000000000000000000000FFFF6E
:200020000202100213B300000000000000000000000000021483000000000000000000004B
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第一部分完，下面是第二部分。因为帖子长度有限，没办法。:em19:

[ 本帖最后由 c_nmusic 于 2008-10-31 14:31 编辑 ]

c_nmusic

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2部分要合并到一个文件里，中间不能有空行。

c_nmusic

如果电路正确，上电后14.7456Mhz的晶振会有输出，然后很快就会停止。这说明EEPROM中的代码开始工作了，这部分代码会让OV528在空闲时自动进入休眠状态，所以晶振才会不再起振。由于这个EEPROM的代码里包含一个自动波特率识别的功能，所以用示波器量芯片的UCLK引脚会发现输出的波形频率会发生变化。

如果OV528没有正确识别到EEPROM，通过示波器可以看到C_SIO_C_IN2上一直有波形。那是OV528再反复尝试读取EEPROM。一般上电复位出问题的时候会这样。这时14.7456Mhz的主晶振一直有输出，不会停下来。UCLK也是如此，输出波形频率不会改变。

至于OV7640，在上电时其实OV528是没有去访问它的，只有在用到和摄像头相关的功能，比如设置图像大小的时候，才会去访问。

接在P2[0]口上的指示灯，只要芯片复位信号撤掉就会一直亮。不管有没有成功执行到EEPROM里的代码。

c_nmusic

今天，完成了部分四轴控制电路的焊接，装到了飞机上。



和预先设计的一样，这部分电路放到夹层里。

c_nmusic

最近画好了新的摄像头板和一个可以接12864点阵液晶屏的ARM7板。电子市场找到的小的COG封装的液晶屏看起来效果不错。
利用5X8点阵的字可以做到8行25个字，体积也很小巧，刷新速度测试过差不多有10FPS。唯一的缺点就是ST7565的芯片看起来稳定性稍差，刷屏时间久了会花屏。但是拿来做静态的数据显示还是很好的。



这个是人家加了一个背板的，我就只需要液晶屏和后面的背光板就行了。



目前四轴的控制电路基本都齐了，目前先用ESKY的接收机测试，用LAMA的驱动板做一个2路的有刷电调。

c_nmusic

刚才，加上摄像头的MD500试飞了一下，效果并不好。

速度慢是一方面，还有另外一个很重要的方面就是地面的光照变化。在被飞机挡住和没挡住的时候，光照程度是不一样的。由于我无法绕过OV528设置摄像头的自动白平衡，所以这就造成处理程序把光照变化误认为是漂移，虽然我代码里已经增加了图像亮度最大化的功能。

下一步，准备将四轴上的小号的导航模块放到MD500上。这样就可以避开马达部分，直接装到舵机的位置上。效果应该能好一些。

摄像头部分准备上ARM9了，AT91SAM9260自带摄像头接口，处理速度也可以达到200Mhz。看起来做这个识别应该可以了吧。

c_nmusic

完成了一部分四轴的控制代码，目前导航板已经可以通过I2C获得接收机的输入。测试过将输入的数据直接输出，看了一下效果。还不错。

下面轮到“破解”CCPM的混控参数了，目前先用前4个通道。控制四轴4个通道看起来也够用了。