Categories：FPV
January 4, 2023
Wow.
这两个系统都给我带来很大的惊喜。我分别用一个HDZERO和WalkSnail的接收机搭配肥鲨HDO2，表现都出乎意料的好，当然不是最好，因为肥鲨HDO2的HDMI仅仅是能用而已，它在搭配HDZERO的时候还好，搭配WalkSnail时画面有一点波纹。由于HDO2是原生4:3的屏幕，HDMI只能工作在16：9的裁切模式下，屏幕变小了一圈，更何况它也不支持大于60帧的刷新率，所以体验是不完整的。
即便这样我也仍感觉这是两个非常有意思的系统。首先它们都消除了模拟摄像头奇怪的颜色变化，隔行变逐行，这在视觉体验上有质的飞跃。最让我兴奋的是它们在延迟上的表现。我不想说它们有多低的延迟，而是它们的延迟变化都低于我的感觉。而不像老版的DJI高清一样，会更频繁地感觉到它的存在。
WalkSnail的延迟处理让我感觉非常顺滑，大概就和大疆的O3一样，有“天地帧同步”技术(Emm,听起来很熟悉)，我相信它们的核心技术是一样的，大疆的宣传也并不虚。这样一来我用这套图传，和其他人一起飞就不用担心被干扰了。
HDZERO这边也非常好，虽然我在最初的一次尝试遭遇到了卡顿。这套系统是没有延迟变化的，但在信号非常微弱或受到较大干扰时有丢失关键同步信息的可能(Carl在一个采访中透露其系统的同步帧有最高优先权。等等，难道？…)，导致画面卡顿，从而你不自觉地和模拟对比，感觉到沮丧。
但经过多次起飞后，发现这种情况是较少出现且能避免的。它和模拟图传类似，是单向传输，所以我把它放在我的小远航机上使用感觉也非常合适。而据说ws系统如果遭遇黑屏，恢复画面的时间会比较长，未经亲自验证，但之前用老dji系统是有这个现象。
这次都只使用了它们的迷你图传，一来便宜，二来它们不像大图传那么臃肿可怕。它们的表现完全可以满足我5寸机的多数飞行场景。要知道我最喜欢的模拟图传是黑羊的“指甲盖”，方寸间可以达到500mW，而重量只有1克。
我也不想说用高清替代模拟这种话。总之，无论是WS还是HDZERO，DJIO3，高清时代真的来了。
当然我还是最希望有人和我一起用模拟炸楼。
ps: My opinion about Dji Goggles 2, definitely the best quality I ever seen, best optical modules, a decent appearance design, comfortable material all around. Just, it's impossible to feed any analog or HD signal to it, only a wireless cast thing. What a waste! But that's not their fault, it is my problem though. Guess I need to make more money first. LOL
Categories：FPV
September 23, 2022
作为一项准体育运动，穿越机的进阶练习，装备的一致性非常重要。
给射击运动员一把不一样的枪，我相信他能比业余选手打得更准，但和他自己训练的装备相比仍会有较大差距。
穿越机装备的选择是一个让人头疼的事儿，因为用不了多长时间，更好的设备就会出来。
对于影响体验的配件例如摄像头，眼镜，图传，动力等等，每次更换大脑都要新的适应。这对精准操控影响较大，特别是对新人进阶来说。保持设备不变，直到有较大的进步为止，我认为是很关键的一点。
更不要说rate值的差异。
一起进步吧。
Categories：FPV
August 30, 2022
Visit here for the latest: https://github.com/hulandy/hulandy.github.io/releases
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Just made it, for Toothpick F405 2-4S AIO Brushless Flight Controller 20A (BLHELI_32) V4.
The FC link
It is for MPU6000 version. TX3 RX3 for I2C. Serial1=Usart1, Serial3=TX4 RX4, Serial4=TX6
Sbus port has been abandoned since it's shared with TX3RX3 and it is I2C port for now.
LED and BUZZ is PWM6(GPIO55) and PWM5(GPIO54)
FW: betafpvf405.zip I use iNav 4.1 configurator to flash it, it is simple.
Categories：FPV
August 8, 2022
Visit here for the latest: https://github.com/hulandy/hulandy.github.io/releases
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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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