Study On Obstacle Avoidance Flight System Of Multi-rotor UAV Based On Pixhawk

In recent years,multi-rotor UAV has been widely used in military,agricultural and industrial fields because of its flexibility?vtol?autonomous flight and other characteristics.However,with the flight environment and flight task becoming more complex,the UAV obstacles encountered in the implementation of mission,how to achieve avoiding the obstacles that encountered in the flight mission efficiently,ensure the safety of the UAV,improve the intelligence of the UAV has become the development trend of the UAV.This article aims to study the control system of multi-rotor UAV and the realization of obstacle avoidance based on the open source flight control system Pixhawk and quadrotor.Firstly,the research background,the research significance and the domestic and foreign research status of the multi-rotor UAV obstacle avoidance system are systematically discussed,and the main contents of this article are put forward.Secondly,a brief description of the basic components of quadrotor and the key components of each component are described;take quadrotor as an example to introduce the basic control principles of X type layout of the aircraft;analysis the flight control stack of Pixhawk,including the processing of APM:Copter;build a compiler environment,simple graphical analysis of makefile process;illustrate control process of Stabilize,Loiter,AltHold flight modes and the principle and function of uorb.Finally,introduce the design of the multi-rotor UAV obstacle avoidance system and its implementation process,which includes the design and debugging of the sensor data acquisition module and the communication program design with Pixhawk;how to realize the fast and efficient UAV obstacle avoidance in Loiter flight mode.