2019年全国电子设计竞赛回顾-我做的小飞机
<p style="color: rgb(0, 0, 0); font-family: sans-serif; font-size: 16px; font-style: normal; font-variant: normal; font-weight: 400; letter-spacing: normal; margin-bottom: 5px; margin-left: 0px; margin-right: 0px; margin-top: 5px; orphans: 2; text-align: left; text-decoration: none; text-indent: 0px; text-transform: none; -webkit-text-stroke-width: 0px; white-space: normal; word-spacing: 0px;"> 准备比赛之前我们都是准大四的，所以我们都是大一参加过瑞萨杯的勉强算是有经验的老学长。在18年福建的省赛题目要求就是只需要使用主控为ti的芯片，因故年初我便采购了acfly的飞控（猪哥飞控真的稳）。但是因为robocon比赛就暂时耽搁了。</p><p style="color: rgb(0, 0, 0); font-family: sans-serif; font-size: 16px; font-style: normal; font-variant: normal; font-weight: 400; letter-spacing: normal; margin-bottom: 5px; margin-left: 0px; margin-right: 0px; margin-top: 5px; orphans: 2; text-align: left; text-decoration: none; text-indent: 0px; text-transform: none; -webkit-text-stroke-width: 0px; white-space: normal; word-spacing: 0px;"> 七月份才正式开始准备电赛的飞机。</p>
<p style="color: rgb(0, 0, 0); font-family: sans-serif; font-size: 16px; font-style: normal; font-variant: normal; font-weight: 400; letter-spacing: normal; margin-bottom: 5px; margin-left: 0px; margin-right: 0px; margin-top: 5px; orphans: 2; text-align: left; text-decoration: none; text-indent: 0px; text-transform: none; -webkit-text-stroke-width: 0px; white-space: normal; word-spacing: 0px;"> 板子比较旧因为是第一批猪哥家飞控看起来不是特别美观。</p>
<p style="color: rgb(0, 0, 0); font-family: sans-serif; font-size: 16px; font-style: normal; font-variant: normal; font-weight: 400; letter-spacing: normal; margin-bottom: 5px; margin-left: 0px; margin-right: 0px; margin-top: 5px; orphans: 2; text-align: left; text-decoration: none; text-indent: 0px; text-transform: none; -webkit-text-stroke-width: 0px; white-space: normal; word-spacing: 0px;"></p>
<p style="color: rgb(0, 0, 0); font-family: sans-serif; font-size: 16px; font-style: normal; font-variant: normal; font-weight: 400; letter-spacing: normal; margin-bottom: 5px; margin-left: 0px; margin-right: 0px; margin-top: 5px; orphans: 2; text-align: left; text-decoration: none; text-indent: 0px; text-transform: none; -webkit-text-stroke-width: 0px; white-space: normal; word-spacing: 0px;">为了更好的学习飞控，我对飞控的板子进行了自己的抄板。</p>
<p style="color: rgb(0, 0, 0); font-family: sans-serif; font-size: 16px; font-style: normal; font-variant: normal; font-weight: 400; letter-spacing: normal; margin-bottom: 5px; margin-left: 0px; margin-right: 0px; margin-top: 5px; orphans: 2; text-align: left; text-decoration: none; text-indent: 0px; text-transform: none; -webkit-text-stroke-width: 0px; white-space: normal; word-spacing: 0px;">五元大法好</p>
<p style="color: rgb(0, 0, 0); font-family: sans-serif; font-size: 16px; font-style: normal; font-variant: normal; font-weight: 400; letter-spacing: normal; margin-bottom: 5px; margin-left: 0px; margin-right: 0px; margin-top: 5px; orphans: 2; text-align: left; text-decoration: none; text-indent: 0px; text-transform: none; -webkit-text-stroke-width: 0px; white-space: normal; word-spacing: 0px;">制作完的还是需要注册下飞控acfly的算法还是没有开源</p>
<p style="color: rgb(0, 0, 0); font-family: sans-serif; font-size: 16px; font-style: normal; font-variant: normal; font-weight: 400; letter-spacing: normal; margin-bottom: 5px; margin-left: 0px; margin-right: 0px; margin-top: 5px; orphans: 2; text-align: left; text-decoration: none; text-indent: 0px; text-transform: none; -webkit-text-stroke-width: 0px; white-space: normal; word-spacing: 0px;">飞控上机</p>
<p style="color: rgb(0, 0, 0); font-family: sans-serif; font-size: 16px; font-style: normal; font-variant: normal; font-weight: 400; letter-spacing: normal; margin-bottom: 5px; margin-left: 0px; margin-right: 0px; margin-top: 5px; orphans: 2; text-align: left; text-decoration: none; text-indent: 0px; text-transform: none; -webkit-text-stroke-width: 0px; white-space: normal; word-spacing: 0px;">终于到题目出来的时候我们分析了一下。</p>
<p style="color: rgb(0, 0, 0); font-family: sans-serif; font-size: 16px; font-style: normal; font-variant: normal; font-weight: 400; letter-spacing: normal; margin-bottom: 5px; margin-left: 0px; margin-right: 0px; margin-top: 5px; orphans: 2; text-align: left; text-decoration: none; text-indent: 0px; text-transform: none; -webkit-text-stroke-width: 0px; white-space: normal; word-spacing: 0px;">首先的场地</p>
<p style="color: rgb(0, 0, 0); font-family: sans-serif; font-size: 16px; font-style: normal; font-variant: normal; font-weight: 400; letter-spacing: normal; margin-bottom: 5px; margin-left: 0px; margin-right: 0px; margin-top: 5px; orphans: 2; text-align: left; text-decoration: none; text-indent: 0px; text-transform: none; -webkit-text-stroke-width: 0px; white-space: normal; word-spacing: 0px;">赛委提供的是摩尔纹或者白色地面，后来和巡查老师沟通的时候才知道可以直接用地面。</p>
<p style="color: rgb(0, 0, 0); font-family: sans-serif; font-size: 16px; font-style: normal; font-variant: normal; font-weight: 400; letter-spacing: normal; margin-bottom: 5px; margin-left: 0px; margin-right: 0px; margin-top: 5px; orphans: 2; text-align: left; text-decoration: none; text-indent: 0px; text-transform: none; -webkit-text-stroke-width: 0px; white-space: normal; word-spacing: 0px;">这次题目巡线机器人大家讨论的方案主要有：</p>
<p style="color: rgb(0, 0, 0); font-family: sans-serif; font-size: 16px; font-style: normal; font-variant: normal; font-weight: 400; letter-spacing: normal; margin-bottom: 5px; margin-left: 0px; margin-right: 0px; margin-top: 5px; orphans: 2; text-align: left; text-decoration: none; text-indent: 0px; text-transform: none; -webkit-text-stroke-width: 0px; white-space: normal; word-spacing: 0px;">（1）纯开环，通过光流直接硬锁住位置进行飞行，拍照位置通过openmv感应色块进行拍照。</p>
<p style="color: rgb(0, 0, 0); font-family: sans-serif; font-size: 16px; font-style: normal; font-variant: normal; font-weight: 400; letter-spacing: normal; margin-bottom: 5px; margin-left: 0px; margin-right: 0px; margin-top: 5px; orphans: 2; text-align: left; text-decoration: none; text-indent: 0px; text-transform: none; -webkit-text-stroke-width: 0px; white-space: normal; word-spacing: 0px;">（2）通过openmv识别线继而巡线再通过激光或者超声波传感器等高度传感器进行巡线飞行。</p>
<p style="color: rgb(0, 0, 0); font-family: sans-serif; font-size: 16px; font-style: normal; font-variant: normal; font-weight: 400; letter-spacing: normal; margin-bottom: 5px; margin-left: 0px; margin-right: 0px; margin-top: 5px; orphans: 2; text-align: left; text-decoration: none; text-indent: 0px; text-transform: none; -webkit-text-stroke-width: 0px; white-space: normal; word-spacing: 0px;">（3）使用摄像头识别底下摩尔纹，通过边缘的位置进行飞行。</p>
<p style="color: rgb(0, 0, 0); font-family: sans-serif; font-size: 16px; font-style: normal; font-variant: normal; font-weight: 400; letter-spacing: normal; margin-bottom: 5px; margin-left: 0px; margin-right: 0px; margin-top: 5px; orphans: 2; text-align: left; text-decoration: none; text-indent: 0px; text-transform: none; -webkit-text-stroke-width: 0px; white-space: normal; word-spacing: 0px;">我们整机装了两个openmv，我们先尝试性的处理一下openmv的图像，不过果然作为简版的openmcv还是跑不动太多的设置，直接卡成了ppt。于是底下的openmv便被我们作为识别底下起飞点靶心的存在。</p>
<p style="color: rgb(0, 0, 0); font-family: sans-serif; font-size: 16px; font-style: normal; font-variant: normal; font-weight: 400; letter-spacing: normal; margin-bottom: 5px; margin-left: 0px; margin-right: 0px; margin-top: 5px; orphans: 2; text-align: left; text-decoration: none; text-indent: 0px; text-transform: none; -webkit-text-stroke-width: 0px; white-space: normal; word-spacing: 0px;">不过，我们初期还是没有放弃识别摩尔纹，在水群时听说可以直接使用QS家的px4flow识别摩尔纹并且还相对稳定。所以还是用顺丰隔日达采购了一个。</p>
<p style="color: rgb(0, 0, 0); font-family: sans-serif; font-size: 16px; font-style: normal; font-variant: normal; font-weight: 400; letter-spacing: normal; margin-bottom: 5px; margin-left: 0px; margin-right: 0px; margin-top: 5px; orphans: 2; text-align: left; text-decoration: none; text-indent: 0px; text-transform: none; -webkit-text-stroke-width: 0px; white-space: normal; word-spacing: 0px;">在keil仿真时我们读到的数值简直飘的妈妈都不认识我的飞机了。</p>
<p style="color: rgb(0, 0, 0); font-family: sans-serif; font-size: 16px; font-style: normal; font-variant: normal; font-weight: 400; letter-spacing: normal; margin-bottom: 5px; margin-left: 0px; margin-right: 0px; margin-top: 5px; orphans: 2; text-align: left; text-decoration: none; text-indent: 0px; text-transform: none; -webkit-text-stroke-width: 0px; white-space: normal; word-spacing: 0px;">思考了很久不敢赌一波（炸鸡太多次了）这个读到的数值几乎注定我们肯定是要炸鸡的。</p>
<p style="color: rgb(0, 0, 0); font-family: sans-serif; font-size: 16px; font-style: normal; font-variant: normal; font-weight: 400; letter-spacing: normal; margin-bottom: 5px; margin-left: 0px; margin-right: 0px; margin-top: 5px; orphans: 2; text-align: left; text-decoration: none; text-indent: 0px; text-transform: none; -webkit-text-stroke-width: 0px; white-space: normal; word-spacing: 0px;">讨论完后我们还是使用优象的LC-302</p>
<p style="color: rgb(0, 0, 0); font-family: sans-serif; font-size: 16px; font-style: normal; font-variant: normal; font-weight: 400; letter-spacing: normal; margin-bottom: 5px; margin-left: 0px; margin-right: 0px; margin-top: 5px; orphans: 2; text-align: left; text-decoration: none; text-indent: 0px; text-transform: none; -webkit-text-stroke-width: 0px; white-space: normal; word-spacing: 0px;">幸好比赛前采购了一波</p>
<p style="color: rgb(0, 0, 0); font-family: sans-serif; font-size: 16px; font-style: normal; font-variant: normal; font-weight: 400; letter-spacing: normal; margin-bottom: 5px; margin-left: 0px; margin-right: 0px; margin-top: 5px; orphans: 2; text-align: left; text-decoration: none; text-indent: 0px; text-transform: none; -webkit-text-stroke-width: 0px; white-space: normal; word-spacing: 0px;">虽然是因为担心良品率所以多买了两个，但是测试了下还是非常稳定的</p>
<p style="color: rgb(0, 0, 0); font-family: sans-serif; font-size: 16px; font-style: normal; font-variant: normal; font-weight: 400; letter-spacing: normal; margin-bottom: 5px; margin-left: 0px; margin-right: 0px; margin-top: 5px; orphans: 2; text-align: left; text-decoration: none; text-indent: 0px; text-transform: none; -webkit-text-stroke-width: 0px; white-space: normal; word-spacing: 0px;">视频链接在下方：</p>
<p style="color: rgb(0, 0, 0); font-family: sans-serif; font-size: 16px; font-style: normal; font-variant: normal; font-weight: 400; letter-spacing: normal; margin-bottom: 5px; margin-left: 0px; margin-right: 0px; margin-top: 5px; orphans: 2; text-align: left; text-decoration: none; text-indent: 0px; text-transform: none; -webkit-text-stroke-width: 0px; white-space: normal; word-spacing: 0px;"><iframe allowfullscreen="true" border="0" frameborder="no" framespacing="0" height="450px" scrolling="no" src="//player.bilibili.com/player.html?aid=68191938&cid=118192147&page=1" width="100%"></iframe><br />
</p>
<p style="color: rgb(0, 0, 0); font-family: sans-serif; font-size: 16px; font-style: normal; font-variant: normal; font-weight: 400; letter-spacing: normal; margin-bottom: 5px; margin-left: 0px; margin-right: 0px; margin-top: 5px; orphans: 2; text-align: left; text-decoration: none; text-indent: 0px; text-transform: none; -webkit-text-stroke-width: 0px; white-space: normal; word-spacing: 0px;"> 最后我们是直接用优象光流在普通瓷砖地面上进行飞行，稳定性很棒。</p>
<p style="color: rgb(0, 0, 0); font-family: sans-serif; font-size: 16px; font-style: normal; font-variant: normal; font-weight: 400; letter-spacing: normal; margin-bottom: 5px; margin-left: 0px; margin-right: 0px; margin-top: 5px; orphans: 2; text-align: left; text-decoration: none; text-indent: 0px; text-transform: none; -webkit-text-stroke-width: 0px; white-space: normal; word-spacing: 0px;"> 但是检测时没想到高度传感器最后出了问题，进场前也为了以防万一放进了遥控器，结果被评委禁止使用（要好好分析题目！！！）</p>
<p style="color: rgb(0, 0, 0); font-family: sans-serif; font-size: 16px; font-style: normal; font-variant: normal; font-weight: 400; letter-spacing: normal; margin-bottom: 5px; margin-left: 0px; margin-right: 0px; margin-top: 5px; orphans: 2; text-align: left; text-decoration: none; text-indent: 0px; text-transform: none; -webkit-text-stroke-width: 0px; white-space: normal; word-spacing: 0px;"> 进场真的超无语，大家进场学的第一件事是如何抓飞机，对！就是空手抓飞机，旁边非常贴心的准备了一副手套，老师指给我们说前面一组抓飞机贼溜。测试的时候还是最后因为高度传感器我用的tfmini出了点小问题最后飞回来的时候还是不停的上升。我们最后凭借附加部分还是蹭线进了复测。（听说隔天测试就允许遥控器了，因为有大哥最后还是不小心血溅当场。好几个其他赛区的都发了注意安全的用纸。）</p>
<p style="color: rgb(0, 0, 0); font-family: sans-serif; font-size: 16px; font-style: normal; font-variant: normal; font-weight: 400; letter-spacing: normal; margin-bottom: 5px; margin-left: 0px; margin-right: 0px; margin-top: 5px; orphans: 2; text-align: left; text-decoration: none; text-indent: 0px; text-transform: none; -webkit-text-stroke-width: 0px; white-space: normal; word-spacing: 0px;">由于我们组主要都是机械的所以参加复测题就不赘述了。</p>
<p style="color: rgb(0, 0, 0); font-family: sans-serif; font-size: 16px; font-style: normal; font-variant: normal; font-weight: 400; letter-spacing: normal; margin-bottom: 5px; margin-left: 0px; margin-right: 0px; margin-top: 5px; orphans: 2; text-align: left; text-decoration: none; text-indent: 0px; text-transform: none; -webkit-text-stroke-width: 0px; white-space: normal; word-spacing: 0px;"> 经过一番挣扎还是保住了国二。</p>
<p style="color: rgb(0, 0, 0); font-family: sans-serif; font-size: 16px; font-style: normal; font-variant: normal; font-weight: 400; letter-spacing: normal; margin-bottom: 5px; margin-left: 0px; margin-right: 0px; margin-top: 5px; orphans: 2; text-align: left; text-decoration: none; text-indent: 0px; text-transform: none; -webkit-text-stroke-width: 0px; white-space: normal; word-spacing: 0px;"> 最后总结还是飞行器的题目已经越来不注重单片机的底层了，大家真的不要在不停的挣扎与我是用32的飞控还是ti的不管哪个到最后几乎都是一样的，你还是在不停的调整传感器还是在不停选择他们的搭配。只要你提前一段时间好好准备基础的控制部分，多准备好几种传感器的使用，还有他飞行路径的规划，最后的结果一定不会太令你失望的。</p>
<p style="color: rgb(0, 0, 0); font-family: sans-serif; font-size: 16px; font-style: normal; font-variant: normal; font-weight: 400; letter-spacing: normal; margin-bottom: 5px; margin-left: 0px; margin-right: 0px; margin-top: 5px; orphans: 2; text-align: left; text-decoration: none; text-indent: 0px; text-transform: none; -webkit-text-stroke-width: 0px; white-space: normal; word-spacing: 0px;"> </p>
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飞起来没有:loveliness: 学习了 <p>我们队还在控制与测仪题中苦苦挣扎。</p>
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<p>学习了，非常感谢分享，楼主的飞机很酷，很受用！</p>
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