thank you very much for sharing this amazing project (and years of research) with the community I see that pixhawk4 is sold out almost everywhere so I am wondering if there is any issue with the latest version of pixhawk 6C or CUAV? Indeed in this case, one have to use a difference release of PX4 such px4 fmu v6 for instance

First thank you very much for providing all these information! It is very helpful for students and researchers. I have few question

1. Can you tell us please what are the characteristics of the tri-blades you are using? I cannot find it in the shopping list - or I missed it ...
2. From what I can see the total weight of the drone fully assembled should be around 1.7/1.8 kg probably. I am wondering what is the thrust delivered by the T-motor KV 2550 at 50%/ 60% throttle ? I tried to find out on Internet but cannot... and the related question is about the autonomy - is it around 5 mn or more?
3. You are not mentioning what kind of geometric controller are you using? Can you tell us more about it?
4. As you are using PX4 and dynamic trajectories, it is pretty important to have the "PX4 rate controller" pretty well tuned. is it possible for you to share your params file ?

Thanks again for all the fantastic open you are sharing with the community

1

.用rostopic hz /mavros/imu/data_raw 检查频率为190hz（刚刚开始时会从150hz逐渐上升）。拿起飞机来回走的过程中会出现wait for imu。 问题如图

2 在标定外参前需要大概估计双目相对与imu的位置，请问坐标系是东北天还是前右下，或是左手系右手系？

I think opening multiple terminals and remote desktops for flight testing is chaotic, so I write a web frontend for visualization and setting nav points (without even using a laptop).

https://github.com/zyayoung/ego-planer-web-control

https://github.com/ZJU-FAST-Lab/Fast-Drone-250/blob/master/src/realflight_modules/px4ctrl/src/controller.cpp 从48行开始
Eigen::Quaterniond q = Eigen::AngleAxisd(des.yaw,Eigen::Vector3d::UnitZ()) * Eigen::AngleAxisd(pitch,Eigen::Vector3d::UnitY()) * Eigen::AngleAxisd(roll,Eigen::Vector3d::UnitX()); u.q = imu.q * odom.q.inverse() * q; 不明白为什么需要这样才能得到u.q 求大佬们指导

您好！我一直都在关注你们组。首先非常感谢您能够开源自主无人机，可以预见到一定能够带动国内专业领域的发展。我在NUC上配置ego-planner这一步时，按照你们给的命令，编译完成，并且执行了source devel/setup.bash 在执行roslaunch ego_planner sing_run_in_sim.launch时报错：

RLException: [sing_run_in_sim.launch] is neither a launch file in package [ego_planner] nor is [ego_planner] a launch file name The traceback for the exception was written to the log file.

请问为什么会出现这个问题，该怎么解决呢？十分感谢

Hi, I hope you are doing well as i can see here @https://github.com/ZJU-FAST-Lab/Fast-Drone-250/blob/8ff64274b161bb829653faf5946656658e7e2c9f/src/realflight_modules/px4ctrl/src/px4ctrl_node.cpp#L51 why we cant use /mavros/imu/data_raw. As what i know difference between these two is one gives you orientation and one doesn't as we have already switched off the magnetometer why we are using it. Thank you

我用你们提供的固件，在添加GPS模块后，无法进入定点模式。另外我尝试了1.13版本，imu根据你们提供的命令去修改发布频率，结果发现只有50HZ左右，明显发布频率修改没有生效，在你们提供的1.11版本是可以的。如果要使用1.13固件，要怎么修改发布频率呢？你们现在有尝试使用最新pixhawk6C进行试验吗？

Hello,

The URL https://github.com/ZJU-FAST-Lab/PX4-controller/tree/master/mavros_launch_files in px4ctrl README has lost. The URL need to be updated.

Thanks.

已经把整个项目跑起来了，但是遇到了一些问题，想咨询一下。

1.自主飞行项目中的vins使用的imu是飞控的imu，想咨询一下为什么不直接使用realsense的imu？

2.我在实机实验中，运行vins，发现vins特别容易漂，飞机自动起飞时候飞行不稳可能也与之有关。想问一下vins为什么会这么容易漂？

3.因为2中的问题，我尝试把项目中vins中接入的imu换成了realsense自带的imu，单独运行vins算法，发现没有那么容易漂了，但是在rviz中发现，它的坐标轴变动了，y轴变成垂直方向了，开了realsense-viewer才发现，realsense默认是y轴在垂直方向的，请问这是不是你们选择使用飞控imu的原因。

As your uploaded firmware i am unable to flash because its not for cube..Do you guys made some changes in the firmware parameters or i can just flash 1.11 default ones.

If you guys have changed some parameter please do mention. Thankyou

1. gyroscope bias initial calibration -0.00056661 0.00100545 -0.000996476 是一个警告，请问有影响吗？ 2.如下图，路径规划路线异常，无人机往所规划路径的方向飘（但机头不会朝着运动的方向，看起来似乎机头不会转动，因为正常情况下，机头总朝向运动方向），请问如何解决，谢谢。

用虚拟机安装了两次都报了相同的错，点进了/lib/x86_64-linux-gnu/cmake/realsense2/realsense2Config.cmake文件将错误的行注释之后还是会出现新的错误，明明一步步按着要求做的，真不知道是哪出问题了（之前在双系统装啥问题没有），但双系统没那么方便，求求了，救救孩子吧。

-- +++ processing catkin package: 'odom_visualization'
-- ==> add_subdirectory(uav_simulator/odom_visualization)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'local_sensing_node'
-- ==> add_subdirectory(uav_simulator/local_sensing)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
CMake Warning at /opt/ros/noetic/share/catkin/cmake/catkin_package.cmake:166 (message):
  catkin_package() DEPENDS on 'Eigen' but neither 'Eigen_INCLUDE_DIRS' nor
  'Eigen_LIBRARIES' is defined.
Call Stack (most recent call first):
  /opt/ros/noetic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package)
  uav_simulator/local_sensing/CMakeLists.txt:72 (catkin_package)


-- +++ processing catkin package: 'mockamap'
-- ==> add_subdirectory(uav_simulator/mockamap)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'realsense2_camera'
-- ==> add_subdirectory(realflight_modules/realsense-ros/realsense2_camera)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
CMake Error at /lib/x86_64-linux-gnu/cmake/realsense2/realsense2Config.cmake:11 (message):
  File or directory //include referenced by variable realsense2_INCLUDE_DIR
  does not exist !
Call Stack (most recent call first):
  /lib/x86_64-linux-gnu/cmake/realsense2/realsense2Config.cmake:33 (set_and_check)
  realflight_modules/realsense-ros/realsense2_camera/CMakeLists.txt:44 (find_package)


-- Configuring incomplete, errors occurred!
See also "/home/tan/文档/Fast-Drone-250-master/build/CMakeFiles/CMakeOutput.log".
See also "/home/tan/文档/Fast-Drone-250-master/build/CMakeFiles/CMakeError.log".