Categories：FPV
August 28, 2023
Categories：FPV August 28, 2023
When we first setup our Hdzero vtxs with Ardupilot firmware we tend to google it first, at least that's what I have been. And there are articles that suggest to set "MSP" option to "4". But as times gone by we no longer need to do so. Just simply leave it there the default "0" and set the corresponding serial port to "42", don't mess up with braud rates and leave the default "115" and it is good to go.
Also need to know you need the newer versions of Hdzero firmware. It contains the essential fonts that ardupilot OSD use to display.
Categories：FPV
August 27, 2023
Categories：FPV August 27, 2023
补充一个肥鲨高清眼镜的体验。它和蜗牛版本应该是相同的。
首先拿在手里会感觉非常精致小巧对比HDZERO来说，肥鲨的做工还是可以的，看起来外形也很像一个鲨鱼头。只可惜有两个我看来比较严重的缺点：1.和早期的模拟肥鲨眼镜一样，面罩很窄，不能适合所有人的脸庞，只能通过更换海绵垫来解决，但效果不会特别好，因为距离也变了。2.机身前后距离太长，导致重心靠外，等你装上天线会有更严重的下坠，其实我认为蜗牛可以和DJI合作，用他们的一体版就很完美，我想多了~
我最期待的就是之前在HDZERO眼镜加VRX无法实现的1080P模式，等实际使用时才发现结果大失所望。也有比较明显的掉帧，眼睛感到强烈不适。。抱歉，我的是这样。
然后就是相比VRX的HDMI带来的延迟，它的延迟会更小一点。可能正是这个延迟让其更流畅，无论我尝试何种码率搭配，720P也会有比VRX更多的卡顿。。
再见。蜗牛眼镜。
我仍然相信这是个有潜力的系统，请优化一下眼镜，外形和延迟处理。哪怕是增加一点延迟~ 延迟的高低不是问题，问题在于卡顿。
先这样。
Categories：FPV
May 31, 2023
Categories：FPV May 31, 2023
随着数字图传的性能越来越好，FPV的入门也变得更加容易起来。早期模拟的时代，设备性能都有限，一般眼镜的分辨率也低得可怜，还有各种“盒子眼镜”。即便是后期RF出现，很多人也未必能真的适应模拟的画质，从而过早放弃。糟糕的画面很大程度上影响空间的判断，穿越障碍物也非常困难。除了大量练习磨合装备外，我觉得在设备的选择上也是有一点点的技巧的，比如CMOS摄像头虽然像素更清晰一些，但是相比过时的CCD会更多地被光干扰（同Mr Steele）。而模拟本来就不见得是一定要看清楚才能飞~想象一下蝙蝠是怎么在黑夜里飞行的~
每个人都喜欢尝鲜，但变来变去，轴距也就那几个尺寸，电机也一样。如果想早日玩好一种机型，就要适当专一，如非必要不变更任何装备和配件。即便是练习的机器，也尽可能使用同一架，第二架可作为备用机，在主机没办法飞时不至于提前回家。
尽可能地使用高性能的产品。而高性能也不总是高价格，比如ELRS遥控系统，即好用又便宜。高刷对飞行起到很大作用，setpoint的高刷新率和稳定的无线链路，如果你是BF飞控建议完全关闭它的自动插值。这里我还是保守地使用成熟的opentx搭配“众矢之的”Frsky遥控器:D减少不必要的jitter等等。说到精度，RATE值肯定不是高了就“牛逼”，有得有失，高RATE低精度，低RATE高精度，自己在每个方面都要做到取舍，选择自己最需要的那个。每一方面都提高一点加起来就很多，你的飞机也会更好飞。这让人想起来整机减重，每个配件都尽可能选用最轻的，整机就会很轻。
要玩好就要完全投入，远离哗众取宠，告别设备测试员。做到这几点，相信会很有帮助。通往罗马的路有很多，或许你有更好的见解~
Categories：FPV
August 8, 2022
Visit here for the latest: https://github.com/hulandy/hulandy.github.io/releases
=============
Updated on 2022.08.13
Today I've compiled another 4.1.5 copter firmware for this board. It contains 6 PWM output, PA0 pin (CAM or TM pin depends on varieties) is for the PWM5, LED pin is the PWM6, thus adding a super low cost sonar on it to incorporate with optic flow is possible now. The other functionality maintains the same. If you attach a MS5611 module on it, then you don't need to do anything in order to make it working. In theory, you can use a different barometer like BMP280 then you set it as an external module (In this case, set BARO_PROBE_EXT to 2, after reboot you'll be able to check the "press_abs" and "press_temp" in Status).
My setup : MS5611 module, GL9306 optic flow, GY-US42v2 Sonar works in PWM mode, 5883L compass. It works great~ Test flight footage and the firmware below :
Testflight
Firmware
=====================================================================================
I just compiled two firmware for the old target betaflightf4 controller (Initially created by BorisB and FpvModel), I believe that iFlight SucceX-E and LDARC-KKT30D are both using the same target. There has no Baro on the board.
One of the firmware is for external Baro -BMP280 bff428_with_bl.zip and another is for MS56XX bff456_with_bl.zip.
There is also a slightly different between these two firmware, that is MS56XX one has PA0 pin (TM or Cam control) for PWM 5 but hopefully it will work.
Common function: The default USART3 is I2C, you can set BRD_ALT_CONFIG=1 to use it as a normal USART (most unlikely, somehow if you don’t attach a baro on it, “speed” goes crazy, I’m an AP noob, tell me if you know what is going on in this case). By default, B08 is the RCin, on LDARC KK30D is PPM pin.
I haven't flight it yet, but it supposed to be fine. Just for test purposes only.
Use iNav configurator to flash it, newer Betaflight configurator doesn't work.
Since STM32 use rom for bootloader so you won't brick it.
Categories：FPV
August 5, 2022
使用WINDOWS11，WSL2 - ubuntu22.04进行编译。
需要安装Virtual Machine Platform和Windows Subsystem for Linux两个模块。当然还要打开bios的cpu虚拟化。
编译需要在非root下执行，所以建立新的用户 adduser 然后再赋予sudo组: usermod -a -G 可能我的ubuntu安装步骤不完整，理论上应该提示创建不需要手动。
使用git克隆项目。
编译环境按手册搭建好之后默认在master分支下，趁机编译bootloader(其它的版本比如Copter4.1.5编译会出错)如果你已经切换至其它tag那么需要回来编译bootloader: git branch, git checkout master
更新submodule: git submodule update --init --recursive --force
有时候需要git submodule update --remote --merge
开始编译:
./waf distclean
./waf configure --board yourboard --bootloader
./waf clean
./waf bootloader
使用自动配置环境有时下载C编译器会失败，配置waf时提示没有编译器，重新执行自动配置并不能识别这个错误，需手动重新下载。
复制并改名Ap_bootloader.bin至Tools/bootloader 为 yourboard_bl.bin
切换至目标tag， 如：
git checkout tags/Copter-4.1.5
git submodule update --init --recursive
./waf distclean
./waf configure --board yourboard
./waf copter
如遇错误可能是网络的问题，需要确认你的文件完整，更新也没有报错。
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