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FASTLAB 自主导航无人机硬件
0.概要
本项目主要介绍浙江大学FASTLAB实验室使用的自主导航无人机的硬件组成与搭建，本无人机可应用于无人机在未知环境中的自主飞行，集群飞行等等，以下工作都以本无人机为基础：Ego-Planner Ego-Swarm CMPCC Fast-Tracker Fast-Racing 等
1. 无人机硬件基本组成
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一个可以用遥控器控制飞行的无人机，需要的基本硬件有：机架，电机，电调，飞控，接收机，遥控器，锂电池，BB响（电压计）等
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自主导航无人机在基本硬件基础上，还需要双目相机用于视觉定位，机载电脑用于运行导航算法等等。
下表为各部件型号，数量，与购买链接
| 类目 | 型号 | 数量 | 单价 | 总价 | 淘宝链接 |
|---|---|---|---|---|---|
| 机架 | QAV250 | 1 | 38 | 38 | https://item.taobao.com/item.htm?spm=a1z09.2.0.0.2abd2e8da0sHzh&id=520738516076&_u=l32egecqf290 |
| 电调 | 银燕45A | 4 | 89 | 356 | https://item.taobao.com/item.htm?spm=a1z09.2.0.0.2abd2e8da0sHzh&id=627250691828&_u=l32egecq104a |
| 电机 | T-MOTOR F60 KV2550 | 4 | 159 | 636 | https://item.taobao.com/item.htm?spm=a230r.1.14.6.58866126r2mH5j&id=612118488792&ns=1&abbucket=3#detail |
| 飞控 | CUAV NORA | 1 | 1669 | 1669 | （原版NORA似乎已停产，这个链接点进去是换了IMU的NORA+，不支持本项目的固件）https://item.taobao.com/item.htm?spm=a1z09.2.0.0.2abd2e8da0sHzh&id=618340579779&_u=l32egecq6321 |
| V5+ | 1 | 1499 | 1499 | https://item.taobao.com/item.htm?spm=a1z10.5-c-s.w4002-22188405087.10.39df7ad6BKLAJz&id=594262853015 | |
| X7 | 1 | 1999 | 1999 | https://item.taobao.com/item.htm?spm=a1z10.5-c-s.w4002-22188405087.22.39df7ad6BKLAJz&id=617384615131 | |
| 机载电脑 | DJI MANIFOLD2-C | 1 | 8799 | 8799 | https://m.dji.com/cn/product/manifold-2 |
| JETSON XAVIER NX | 1 | 6800 | 6800 | https://detail.tmall.com/item.htm?spm=a230r.1.14.33.351a587bMPOWBh&id=619740546745&ns=1&abbucket=3&skuId=4573153270812 | |
| NX载板 | 1 | 889 | 889 | https://item.taobao.com/item.htm?spm=a1z09.2.0.0.40df2e8dWJlaLW&id=613984388047&_u=s32egecqa8ff | |
| 双目相机 | INTEL REALSENSE D435 | 1 | 1590 | 1590 | https://item.taobao.com/item.htm?spm=a1z09.2.0.0.2abd2e8da0sHzh&id=638877621060&_u=l32egecq42d1 |
| 遥控器 | 乐迪 AT9S PRO | 1 | 580 | 580 | https://item.taobao.com/item.htm?spm=a1z09.2.0.0.2abd2e8da0sHzh&id=533085053894&_u=l32egecq481a |
| 接收机 | 乐迪 R12DSM | 1 | 94 | 94 | https://item.taobao.com/item.htm?spm=a1z09.2.0.0.2abd2e8da0sHzh&id=541658831753&_u=l32egecq5116 |
| 碳纤维板 | 定制 | 1 | 80 | 80 | https://item.taobao.com/item.htm?spm=a1z09.2.0.0.2abd2e8da0sHzh&id=628187754851&_u=l32egecq8290 |
| USB网卡 | EDIMAX EW7822ULC | 1 | 188 | 188 | https://item.jd.com/10022884495770.html |
| 3D打印件 | 定制 | 1 | 100 | 100 | https://wenext.cn/ |
| 电池 | 格氏 2300mAh 4S | 4 | 125 | 500 | https://item.taobao.com/item.htm?spm=a1z09.2.0.0.2abd2e8da0sHzh&id=583311920871&_u=l32egecq9cf8 |
| TYPEC连接线 | 30cm | 2 | 27 | 54 | https://detail.tmall.com/item.htm?id=617461584216&spm=a1z09.2.0.0.2abd2e8da0sHzh&_u=l32egecq0e19 |
| 桨叶 | 乾丰51477 | 10 | 14 | 140 | https://item.taobao.com/item.htm?spm=a1z09.2.0.0.2abd2e8da0sHzh&id=627007813072&_u=l32egecqfabf |
| 定位相机（可选） | INTEL REALSENSE T265 | 1 | 1600 | 1600 | https://item.taobao.com/item.htm?spm=a1z09.2.0.0.2abd2e8da0sHzh&id=638877621060&_u=l32egecq42d1 |
| 硅胶线 | 若干 | ||||
| BB响 | 1 | ||||
| 杜邦线 | 若干 | ||||
| XT60母头 | 1 |
其中，飞控可选型号为CUAV NORA(官方店已经买不到了，在售的NORA+不支持本项目的固件),V5+,X7，其他支持px4固件的飞控也可选用。机载电脑可选用DJI MANIFOLD 2-C 或 JETSON XAVIER NX。
3D打印件与碳板的STL模型可以在model目录下找到
## 2. 三维模型
- 机载电脑挂载MANIFOLD 2-C：
- 机载电脑挂载XAVIER NX：
3. 机载电脑环境
本无人机运行Ubuntu 16.04/18.04 与 ROS Kinetic/Melodic，相关安装说明详见 ROS安装
4. 装机
装机主要难点在于动力套件的焊接与飞控的设置及调试，请移步assemble.pdf机载电脑的安装可以根据不同的机载电脑自己安装。
Core symbols most depended-on inside this repo
push_back
called by 507
src/realflight_modules/VINS-Fusion/vins_estimator/src/factor/integration_base.h
size
called by 369
src/realflight_modules/VINS-Fusion/loop_fusion/src/ThirdParty/DBoW/TemplatedDatabase.h
x
called by 213
src/realflight_modules/VINS-Fusion/camera_models/include/camodocal/chessboard/Spline.h
begin
called by 199
src/realflight_modules/VINS-Fusion/camera_models/include/camodocal/chessboard/Spline.h
end
called by 199
src/realflight_modules/VINS-Fusion/camera_models/include/camodocal/chessboard/Spline.h
y
called by 196
src/realflight_modules/VINS-Fusion/camera_models/include/camodocal/chessboard/Spline.h
size
called by 166
src/realflight_modules/VINS-Fusion/camera_models/include/camodocal/chessboard/Spline.h
pow
called by 153
src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/gmp/check_gmp.cpp
Shape
Languages
C++96%
Python4%
Modules by API surface
src/realflight_modules/realsense-ros/realsense2_camera/src/base_realsense_node.cpp71 symbols
src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/default_operations.hpp69 symbols
src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/generic_rk_operations.hpp42 symbols
src/uav_simulator/local_sensing/src/helper_math.h35 symbols
src/realflight_modules/VINS-Fusion/global_fusion/ThirdParty/GeographicLib/include/Math.hpp34 symbols
src/realflight_modules/VINS-Fusion/loop_fusion/src/ThirdParty/DBoW/TemplatedVocabulary.h33 symbols
src/realflight_modules/VINS-Fusion/camera_models/src/camera_models/PinholeFullCamera.cc33 symbols
src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/runge_kutta_fehlberg78.hpp32 symbols
src/realflight_modules/VINS-Fusion/vins_estimator/src/estimator/estimator.cpp31 symbols
src/realflight_modules/VINS-Fusion/global_fusion/ThirdParty/GeographicLib/include/Constants.hpp31 symbols
src/realflight_modules/VINS-Fusion/camera_models/src/camera_models/EquidistantCamera.cc30 symbols
src/realflight_modules/VINS-Fusion/camera_models/src/camera_models/CataCamera.cc30 symbols
For agents
$ claude mcp add Fast-Drone-250 \
-- python -m otcore.mcp_server <graph>