Application And Practice Of Pixhawk Flight Control Technology In Plant Protection UAV

Plant protection unmanned aerial vehicle(UAV)is well welcomed by the market,because of its safe, reliable,low costs and other advantages?Single-rotor oil-powered plant protection UAV has already obtained widespread development because of its big load and long flight time ? The flight control system is the core component of the plant protection UAV ? In this paper, the open source flight control system( pixhawk) is applied to the single rotor oil-powered plant protection UAV to make it easy to operate and reliable?This article consists of three parts:The first part introduces the basic component and function of the single rotor plant protection UAV,with giving a simple description of its key components, and analyses its flight operation principle?The second part describes the software and hardware structure of the pixhawk system.introduces the components and connection in the hardware, gives the architecture,module design and attitude control flow chart in the software?In the third part,the whole design scheme of single-rotor plant protection UAV is given, which involves power system, gyroscope, spray system and flight control system?Among them,This paper introduces a new connection method between the flight control system and the power system, the flight control system and the gyroscope, a electrical scheme with the flight control system installed on the frame on the back, a method with avoiding a large error of the negative pitch control?These methods have been successfully applied in the plant protection UAV?At last,the debugging methods of each system are introduced, the flight test and data analysis is carried out?...