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README
BSD-3-Clause

StarryPilot

中文页 |

About

A lightweight and powerful autopilot software, which focus on research and development of state-of-the-art software for UAVs. One of the project’s primary goals is to provide an open and flexible platform making it easy to be applied to a broad range of domains.

Feature

  • RT-Thread RTOS, Fatfs file system, System components, such as IPC, Msh shell system, file manager, parameter system, log system, etc.
  • Completely support with Pixhawk hardware
  • ADRC control & PID control
  • Support with Mavlink(QGround Control)
  • Support with Gazebo hardware-in-the-loop (HITL) simulation

Control

ADRC vs PID

Simulator

Tools

  • Calibration software (magnetometer and accelerometer calibration)
  • Logger checker

Usage

The project is developed on Pixhawk (autopilot hardware). To download firmware into Pixhawk, please follow these steps:

  • First compile the starry_fmu and generate bin file.
  • Use QGroundControl (QGC) to download the bin file into fmu. To download custom firmware, choose the following choice.

  • Now the firmware of starry_fmu should be correctly downloaded (If failed, please try again, or use the newer version of QGC). Connect Radio-telemetry to the TELEM 2 port of Pixhawk, then you should see the Msh shell system output via serial terminal (default baudrate is 57600).

  • If you didn't format the SD card before, please type mkfs command to format the SD card.
  • Then you should download the starry_io firmware. To do so, first compile starry_io project to get the bin file and name it as starryio.bin. Copy the starryio.bin to the root directory of SD card, then open Msh shell system and type uploader, which is shown below.

  • Choose file system option to start download. Notice that if it's the first time that you download starry_io, after you type uploader, you should push reset button of io (in the side of Pixhawk) to let io enter the bootloader.
  • Congratulation, now the download is finished!

Compile Environment

The compile environment is based on Keil MDK5.

Developer List


QQ群: 459133925

BSD 3-Clause License Copyright (c) 2018, Jiachi Zou All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

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