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这是在设置或使用 UAVCAN 时解决问题的一系列提示和技巧。


如果 px4 固件解锁,但电机无法开始旋转,请检查参数 UAVCAN_ENABLE。 它应该设置为 3,以便使用通过 UAVCAN 连接的电调作为输出。 此外,如果电机在增加推力之前没有开始旋转,请检查 UAVCAN_ESC_IDLT 并将其设置为 1。

用 Zubax Babel 进行调试

A great tool to debug the transmission on the UAVCAN bus is the Zubax Babel in combination with the GUI tool. 它们还可以独立于 Pixhawk 硬件使用,以测试节点或手动控制启用了 UAVCAN 的电调。

UAVCAN devices dont get node ID/FW doesn't update

PX4 requires an SD card for UAVCAN node allocation and firmware upgrade (both of which happen during boot). Check that there is a (working) SD card present and reboot.

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