{"id":1241,"date":"2021-01-15T22:31:03","date_gmt":"2021-01-15T20:31:03","guid":{"rendered":"http:\/\/journals.khnu.km.ua\/vestnik\/?p=1241"},"modified":"2021-03-03T15:19:16","modified_gmt":"2021-03-03T13:19:16","slug":"%d0%be%d1%81%d0%be%d0%b1%d0%bb%d0%b8%d0%b2%d0%be%d1%81%d1%82%d1%96-%d1%80%d0%b5%d0%b0%d0%bb%d1%96%d0%b7%d0%b0%d1%86%d1%96%d1%97-%d0%bf%d1%80%d0%be%d1%88%d0%b8%d0%b2%d0%ba%d0%b8-inav-%d0%bd%d0%b0","status":"publish","type":"post","link":"https:\/\/journals.khnu.km.ua\/vestnik\/?p=1241","title":{"rendered":"\u041e\u0441\u043e\u0431\u043b\u0438\u0432\u043e\u0441\u0442\u0456 \u0440\u0435\u0430\u043b\u0456\u0437\u0430\u0446\u0456\u0457 \u043f\u0440\u043e\u0448\u0438\u0432\u043a\u0438 Inav \u043d\u0430 \u043f\u043e\u043b\u044c\u043e\u0442\u043d\u043e\u043c\u0443 \u043a\u043e\u043d\u0442\u0440\u043e\u043b\u0435\u0440\u0456 Omnibus F4v3 \u0434\u043b\u044f \u0411\u041f\u041b\u0410 \u0440\u043e\u0442\u043e\u0440\u043d\u043e\u0433\u043e \u0442\u0438\u043f\u0443"},"content":{"rendered":"

\u041e\u0421\u041e\u0411\u041b\u0418\u0412\u041e\u0421\u0422\u0406 \u0420\u0415\u0410\u041b\u0406\u0417\u0410\u0426\u0406\u0407 \u041f\u0420\u041e\u0428\u0418\u0412\u041a\u0418 INAV \u041d\u0410 \u041f\u041e\u041b\u042c\u041e\u0422\u041d\u041e\u041c\u0423 \u041a\u041e\u041d\u0422\u0420\u041e\u041b\u0415\u0420\u0406 OMNIBUS F4V3 \u0414\u041b\u042f \u0411\u041f\u041b\u0410 \u0420\u041e\u0422\u041e\u0420\u041d\u041e\u0413\u041e \u0422\u0418\u041f\u0423<\/p>\n

FEATURES OF INAV FIRMWARE IMPLEMENTATION ON OMNIBUSF4V3 FLIGHT CONTROLLER FOR UAV<\/p>\n

<\/a> \u0421\u0442\u043e\u0440\u0456\u043d\u043a\u0438: 126-134. \u041d\u043e\u043c\u0435\u0440: \u21162, 2020 (283)<\/strong>
\n\u0410\u0432\u0442\u043e\u0440\u0438:<\/strong>
\n\u041e.\u0410. \u041c\u042f\u0421\u0406\u0429\u0415\u0412
\n\u0425\u043c\u0435\u043b\u044c\u043d\u0438\u0446\u044c\u043a\u0438\u0439 \u043d\u0430\u0446\u0456\u043e\u043d\u0430\u043b\u044c\u043d\u0438\u0439 \u0443\u043d\u0456\u0432\u0435\u0440\u0441\u0438\u0442\u0435\u0442
\nA.A. MYASISCHEV
\nKhmelnytsky National University
\nDOI:<\/strong> https:\/\/www.doi.org\/10.31891\/2307-5732-2020-283-2-126-134<\/a>
\n\u0420\u0435\u0446\u0435\u043d\u0437\u0456\u044f\/Peer review :<\/strong> 09.05.2020 \u0440.
\n\u041d\u0430\u0434\u0440\u0443\u043a\u043e\u0432\u0430\u043d\u0430\/Printed :<\/strong> 16.06.2020 \u0440.<\/p>\n

\u0410\u043d\u043e\u0442\u0430\u0446\u0456\u044f \u043c\u043e\u0432\u043e\u044e \u043e\u0440\u0438\u0433\u0456\u043d\u0430\u043b\u0443<\/strong><\/p>\n

\u0412 \u0440\u043e\u0431\u043e\u0442\u0456 \u0440\u043e\u0437\u0433\u043b\u044f\u0434\u0430\u0454\u0442\u044c\u0441\u044f \u043f\u0440\u0430\u043a\u0442\u0438\u0447\u043d\u0430 \u043c\u043e\u0436\u043b\u0438\u0432\u0456\u0441\u0442\u044c \u043d\u0430\u043b\u0430\u0448\u0442\u0443\u0432\u0430\u043d\u043d\u044f \u043f\u0430\u0440\u0430\u043c\u0435\u0442\u0440\u0456\u0432 PID \u0440\u0435\u0433\u0443\u043b\u044f\u0442\u043e\u0440\u0430 \u0434\u043b\u044f \u043f\u0440\u043e\u0448\u0438\u0432\u043a\u0438 INAV (\u0441\u0456\u043c\u0435\u0439\u0441\u0442\u0432\u043e \u043f\u0440\u043e\u0448\u0438\u0432\u043e\u043a Cleanflight) \u0431\u0435\u0437\u043f\u0456\u043b\u043e\u0442\u043d\u0438\u0445 \u043b\u0456\u0442\u0430\u043b\u044c\u043d\u0438\u0445 \u0430\u043f\u0430\u0440\u0430\u0442\u0456\u0432 (\u0411\u041f\u041b\u0410) \u0440\u043e\u0442\u043e\u0440\u043d\u043e\u0433\u043e \u0442\u0438\u043f\u0443 \u0456 \u0437 \u043d\u0435\u0440\u0443\u0445\u043e\u043c\u0438\u043c \u043a\u0440\u0438\u043b\u043e\u043c \u043f\u0456\u0434 \u0447\u0430\u0441 \u043f\u043e\u043b\u044c\u043e\u0442\u0443. \u041f\u043e\u043a\u0430\u0437\u0430\u043d\u043e, \u0449\u043e \u0434\u043b\u044f \u0446\u044c\u043e\u0433\u043e \u043d\u0435\u043e\u0431\u0445\u0456\u0434\u043d\u043e \u0432\u0438\u043a\u043e\u0440\u0438\u0441\u0442\u0430\u043d\u043d\u044f \u0430\u043f\u0430\u0440\u0430\u0442\u0443\u0440\u0438 \u0440\u0430\u0434\u0456\u043e\u0443\u043f\u0440\u0430\u0432\u043b\u0456\u043d\u043d\u044f \u0437 \u043c\u0456\u043d\u0456\u043c\u0430\u043b\u044c\u043d\u043e\u044e \u043a\u0456\u043b\u044c\u043a\u0456\u0441\u0442\u044e \u043a\u0430\u043d\u0430\u043b\u0456\u0432, \u0440\u0456\u0432\u043d\u043e\u044e \u0432\u043e\u0441\u044c\u043c\u0438. \u0420\u043e\u0437\u0440\u043e\u0431\u043b\u0435\u043d\u043e \u0431\u0435\u0437\u043f\u0456\u043b\u043e\u0442\u043d\u0438\u0439 \u043b\u0456\u0442\u0430\u043b\u044c\u043d\u0438\u0439 \u0430\u043f\u0430\u0440\u0430\u0442 (\u0411\u041f\u041b\u0410) \u043d\u0430 \u0431\u0430\u0437\u0456 \u043f\u043e\u043b\u044c\u043e\u0442\u043d\u043e\u0433\u043e \u043a\u043e\u043d\u0442\u0440\u043e\u043b\u0435\u0440\u0430 OMNIBUSF4V3 \u0437 \u0432\u0431\u0443\u0434\u043e\u0432\u0430\u043d\u0438\u043c \u0433\u0456\u0440\u043e\u0441\u043a\u043e\u043f\u043e\u043c \u0456 \u0430\u043a\u0441\u0435\u043b\u0435\u0440\u043e\u043c\u0435\u0442\u0440\u043e\u043c, \u0431\u0430\u0440\u043e\u043c\u0435\u0442\u0440\u043e\u043c\/\u0432\u0438\u0441\u043e\u0442\u043e\u043c\u0456\u0440\u043e\u043c BMP280. \u0420\u043e\u0437\u0440\u043e\u0431\u043b\u0435\u043d\u043e \u0441\u0445\u0435\u043c\u0443 \u043f\u0456\u0434\u043a\u043b\u044e\u0447\u0435\u043d\u043d\u044f 3-\u043e\u0441\u044c\u043e\u0432\u043e\u0433\u043e \u043a\u043e\u043c\u043f\u0430\u0441\u0430 HMC5883L \u043f\u043e \u0448\u0438\u043d\u0456 I2C \u0456 GPS \u043f\u0440\u0438\u0439\u043c\u0430\u0447\u0430 u-blox NEO-6M \u0434\u043e \u043f\u043e\u0440\u0442\u0443 \u043a\u043e\u043d\u0442\u0440\u043e\u043b\u0435\u0440\u0430 UART6. \u042f\u043a \u043f\u0440\u043e\u0448\u0438\u0432\u043a\u0438 \u0432\u0438\u043a\u043e\u0440\u0438\u0441\u0442\u0430\u043d\u0430 INAV ver.2.2.1, \u0449\u043e \u043f\u0456\u0434\u0442\u0440\u0438\u043c\u0443\u0454 \u043d\u0430\u0432\u0456\u0433\u0430\u0446\u0456\u0439\u043d\u0456 \u0444\u0443\u043d\u043a\u0446\u0456\u0457. \u0421\u043f\u0440\u043e\u0435\u043a\u0442\u043e\u0432\u0430\u043d\u0438\u0439 \u043a\u0432\u0430\u0434\u0440\u043e\u043a\u043e\u043f\u0442\u0435\u0440 (\u0411\u041f\u041b\u0410) \u0437\u0434\u0430\u0442\u043d\u0438\u0439 \u0432\u0438\u043a\u043e\u043d\u0443\u0432\u0430\u0442\u0438 \u043d\u0430\u0441\u0442\u0443\u043f\u043d\u0456 \u043f\u043e\u043b\u044c\u043e\u0442\u043d\u0456 \u0440\u0435\u0436\u0438\u043c\u0438: ANGLE \u2013 \u0430\u0432\u0442\u043e\u043c\u0430\u0442\u0438\u0447\u043d\u0435 \u0432\u0438\u0440\u0456\u0432\u043d\u044e\u0432\u0430\u043d\u043d\u044f \u043a\u0440\u0435\u043d\u0443 \u0456 \u0442\u0430\u043d\u0433\u0430\u0436\u0443 \u0437 \u043a\u043e\u043d\u0442\u0440\u043e\u043b\u0435\u043c \u043a\u0443\u0442\u0430 \u0433\u043e\u0440\u0438\u0437\u043e\u043d\u0442\u0443, \u0437\u0430\u0434\u0430\u043d\u0435 \u0437\u043d\u0430\u0447\u0435\u043d\u043d\u044f \u044f\u043a\u043e\u0433\u043e \u043d\u0435 \u043c\u043e\u0436\u0435 \u043f\u0435\u0440\u0435\u0432\u0438\u0449\u0443\u0432\u0430\u0442\u0438\u0441\u044f, \u0447\u0438\u043c \u0434\u043e\u0441\u044f\u0433\u0430\u0454\u0442\u044c\u0441\u044f \u0441\u0442\u0456\u0439\u043a\u0438\u0439 \u043f\u043e\u043b\u0456\u0442. \u0422\u0443\u0442 \u0437\u0430\u0434\u0456\u044f\u043d\u0456 \u0433\u0456\u0440\u043e\u0441\u043a\u043e\u043f \u0456 \u0430\u043a\u0441\u0435\u043b\u0435\u0440\u043e\u043c\u0435\u0442\u0440 \u0434\u043b\u044f \u0443\u0442\u0440\u0438\u043c\u0430\u043d\u043d\u044f \u0433\u043e\u0440\u0438\u0437\u043e\u043d\u0442\u0443. NAV ALTHOLD \u2013 \u0443\u0442\u0440\u0438\u043c\u0430\u043d\u043d\u044f \u0432\u0438\u0441\u043e\u0442\u0438. \u0422\u0443\u0442 \u0432\u0438\u043a\u043e\u0440\u0438\u0441\u0442\u0430\u043d\u043e \u0431\u0430\u0440\u043e\u043c\u0435\u0442\u0440, \u044f\u043a\u0438\u0439 \u0441\u043f\u0440\u0438\u044f\u0454 \u0443\u0442\u0440\u0438\u043c\u0430\u043d\u043d\u044e \u0432\u0438\u0441\u043e\u0442\u0438 \u043f\u043e \u0442\u0438\u0441\u043a\u0443 \u043f\u043e\u0432\u0456\u0442\u0440\u044f. NAV POSHOLD \u2013 \u0432\u0438\u043a\u043e\u043d\u0443\u0454\u0442\u044c\u0441\u044f \u0443\u0442\u0440\u0438\u043c\u0430\u043d\u043d\u044f \u043f\u043e\u0437\u0438\u0446\u0456\u0457. \u0412\u0438\u043a\u043e\u0440\u0438\u0441\u0442\u043e\u0432\u0443\u0454 GPS. NAV RTH (Return To Home) \u2013 \u043f\u043e\u0432\u0435\u0440\u043d\u0435\u043d\u043d\u044f \u0434\u043e\u0434\u043e\u043c\u0443, \u0432 \u0442\u043e\u0447\u043a\u0443 \u0437\u043b\u044c\u043e\u0442\u0443. NAV WP \u2013 \u043f\u043e\u043b\u0456\u0442 \u043f\u043e \u0437\u0430\u0434\u0430\u043d\u0456\u0439 \u0442\u0440\u0430\u0454\u043a\u0442\u043e\u0440\u0456\u0457, \u044f\u043a\u0430 \u0430\u043f\u0440\u043e\u043a\u0441\u0438\u043c\u043e\u0432\u0430\u043d\u0430 \u0442\u043e\u0447\u043a\u0430\u043c\u0438. \u0412 \u0446\u044c\u043e\u043c\u0443 \u0432\u0438\u043f\u0430\u0434\u043a\u0443 \u0432 \u043a\u043e\u043d\u0444\u0456\u0433\u0443\u0440\u0430\u0442\u043e\u0440\u0456 \u043d\u0430\u043a\u043b\u0430\u0434\u0430\u044e\u0442\u044c\u0441\u044f \u043d\u0430 \u043e\u0431\u0440\u0430\u043d\u0443 \u043a\u0430\u0440\u0442\u0443 \u043c\u0456\u0441\u0446\u0435\u0432\u043e\u0441\u0442\u0456 \u0448\u043b\u044f\u0445\u043e\u0432\u0456 \u0442\u043e\u0447\u043a\u0438 \u0437 \u0442\u0430\u043a\u0438\u043c\u0438 \u043f\u0430\u0440\u0430\u043c\u0435\u0442\u0440\u0430\u043c\u0438, \u044f\u043a \u0432\u0438\u0441\u043e\u0442\u0430, \u0448\u0432\u0438\u0434\u043a\u0456\u0441\u0442\u044c \u0457\u0457 \u043f\u0440\u043e\u043b\u044c\u043e\u0442\u0443. \u0414\u043b\u044f \u043c\u0430\u043b\u0438\u0445 \u043e\u0431\u043e\u0440\u043e\u0442\u0456\u0432 \u043c\u043e\u0442\u043e\u0440\u0456\u0432 \u043f\u043e\u043a\u0430\u0437\u0430\u043d\u0430 \u043c\u043e\u0436\u043b\u0438\u0432\u0456\u0441\u0442\u044c \u0432\u0438\u043a\u043e\u0440\u0438\u0441\u0442\u0430\u043d\u043d\u044f \u0440\u0435\u0436\u0438\u043c\u0443 AIR MODE \u0434\u043b\u044f \u0437\u0431\u0456\u043b\u044c\u0448\u0435\u043d\u043d\u044f \u0435\u0444\u0435\u043a\u0442\u0438\u0432\u043d\u043e\u0441\u0442\u0456 \u0440\u043e\u0431\u043e\u0442\u0438 PID \u0440\u0435\u0433\u0443\u043b\u044f\u0442\u043e\u0440\u0430. \u041f\u043e\u043a\u0430\u0437\u0430\u043d\u0430 \u043c\u043e\u0436\u043b\u0438\u0432\u0456\u0441\u0442\u044c \u0432\u0438\u043a\u043e\u0440\u0438\u0441\u0442\u0430\u043d\u043d\u044f \u043f\u0440\u043e\u0433\u0440\u0430\u043c\u0438 STM32 Flash loader demonstrator \u044f\u043a \u043f\u0440\u043e\u0433\u0440\u0430\u043c\u0430\u0442\u043e\u0440\u0430 \u0434\u043b\u044f \u043f\u0440\u043e\u0448\u0438\u0432\u043a\u0438 \u043f\u043e\u043b\u044c\u043e\u0442\u043d\u043e\u0433\u043e \u043a\u043e\u043d\u0442\u0440\u043e\u043b\u0435\u0440\u0430 OMNIBUSF4V3 \u0431\u0443\u0434\u044c-\u044f\u043a\u043e\u044e \u043f\u0440\u043e\u0448\u0438\u0432\u043a\u043e\u044e \u0441\u0456\u043c\u0435\u0439\u0441\u0442\u0432\u0430 Cleanflight. \u0412\u0441\u0442\u0430\u043d\u043e\u0432\u043b\u0435\u043d\u043e, \u0449\u043e \u0434\u043b\u044f \u043d\u0430\u043b\u0430\u0448\u0442\u0443\u0432\u0430\u043d\u043d\u044f \u043f\u0430\u0440\u0430\u043c\u0435\u0442\u0440\u0456\u0432 P, I, D, \u0430 \u0442\u0430\u043a\u043e\u0436 \u043f\u0430\u0440\u0430\u043c\u0435\u0442\u0440\u0456\u0432 \u043d\u0430\u0432\u0456\u0433\u0430\u0446\u0456\u0439\u043d\u043e\u0433\u043e \u0440\u0435\u0433\u0443\u043b\u044f\u0442\u043e\u0440\u0430 \u043c\u043e\u0436\u043b\u0438\u0432\u0435 \u0432\u0438\u043a\u043e\u0440\u0438\u0441\u0442\u0430\u043d\u043d\u044f \u0442\u0440\u0438\u043f\u043e\u0437\u0438\u0446\u0456\u0439\u043d\u043e\u0433\u043e \u043f\u0435\u0440\u0435\u043c\u0438\u043a\u0430\u0447\u0430 \u043d\u0430 \u043e\u0434\u043d\u043e\u043c\u0443 \u0437 \u043a\u0430\u043d\u0430\u043b\u0456\u0432 \u0443\u043f\u0440\u0430\u0432\u043b\u0456\u043d\u043d\u044f \u0456 \u0437\u043c\u0456\u043d\u043d\u043e\u0433\u043e \u0440\u0435\u0437\u0438\u0441\u0442\u043e\u0440\u0430 \u043d\u0430 \u0456\u043d\u0448\u043e\u043c\u0443 \u043a\u0430\u043d\u0430\u043b\u0456. \u0420\u043e\u0437\u0433\u043b\u044f\u043d\u0443\u0442\u043e \u043f\u0438\u0442\u0430\u043d\u043d\u044f \u043d\u0430\u0441\u0442\u0440\u043e\u0439\u043a\u0438 \u0441\u0442\u0456\u0439\u043a\u043e\u0441\u0442\u0456 \u043f\u043e\u043b\u044c\u043e\u0442\u0443 \u043a\u043e\u043f\u0442\u0435\u0440\u0430. \u041f\u0440\u0438 \u0440\u0456\u0437\u043a\u043e\u043c\u0443 \u0437\u0431\u0456\u043b\u044c\u0448\u0435\u043d\u043d\u0456 \u0434\u0440\u043e\u0441\u0435\u043b\u044c\u043d\u043e\u0457 \u0437\u0430\u0441\u043b\u0456\u043d\u043a\u0438 \u043c\u043e\u0436\u043b\u0438\u0432\u0438\u0439 \u0437\u0430\u0432\u0430\u043b \u043a\u043e\u043f\u0442\u0435\u0440\u0430 \u0432 \u043e\u0434\u043d\u0443 \u0437\u0456 \u0441\u0442\u043e\u0440\u0456\u043d \u0456 \u0439\u043e\u0433\u043e \u043f\u0430\u0434\u0456\u043d\u043d\u044f. \u0412\u0441\u0442\u0430\u043d\u043e\u0432\u043b\u0435\u043d\u043e, \u0449\u043e \u0434\u043b\u044f \u0437\u0430\u043f\u043e\u0431\u0456\u0433\u0430\u043d\u043d\u044f \u0446\u044c\u043e\u043c\u0443 \u043d\u0435\u043e\u0431\u0445\u0456\u0434\u043d\u043e \u0432\u0438\u043a\u043e\u0440\u0438\u0441\u0442\u0430\u043d\u043d\u044f \u043e\u0434\u043d\u0430\u043a\u043e\u0432\u043e \u043f\u0456\u0434\u0456\u0431\u0440\u0430\u043d\u0438\u0445 ESC \u0440\u0435\u0433\u0443\u043b\u044f\u0442\u043e\u0440\u0456\u0432, \u043c\u043e\u0442\u043e\u0440\u0456\u0432 \u0456 \u043f\u0440\u0430\u0432\u0438\u043b\u044c\u043d\u0430 \u043d\u0430\u0441\u0442\u043e\u044f\u043d\u043a\u0430 PID \u043f\u0430\u0440\u0430\u043c\u0435\u0442\u0440\u0456\u0432 \u0437\u043e\u043a\u0440\u0435\u043c\u0430 \u043f\u043e YAW. \u0412\u0441\u0442\u0430\u043d\u043e\u0432\u043b\u0435\u043d\u043e \u043d\u0435\u043c\u043e\u0436\u043b\u0438\u0432\u0456\u0441\u0442\u044c \u043d\u0430\u0441\u0442\u0440\u043e\u0439\u043a\u0438 \u043c\u0430\u0433\u043d\u0456\u0442\u043e\u043c\u0435\u0442\u0440\u0430 HMC5883L \u0434\u043b\u044f \u0437\u0430\u0431\u0435\u0437\u043f\u0435\u0447\u0435\u043d\u043d\u044f \u043f\u0440\u044f\u043c\u043e\u043b\u0456\u043d\u0456\u0439\u043d\u043e\u0433\u043e \u043f\u043e\u043b\u044c\u043e\u0442\u0443 \u043a\u043e\u043f\u0442\u0435\u0440\u0430 \u0432 \u0440\u0435\u0436\u0438\u043c\u0456 Cruise \u0447\u0435\u0440\u0435\u0437 \u0439\u043e\u0433\u043e \u043f\u043e\u0445\u0438\u0431\u043a\u0438. \u0422\u0430\u043a, \u043f\u0456\u0434 \u0447\u0430\u0441 \u0443\u0441\u0442\u0430\u043d\u043e\u0432\u043a\u0438 \u043d\u0430 \u043f\u0456\u0432\u043d\u0456\u0447 \u0437 \u043a\u0443\u0442\u043e\u043c 0 \u0433\u0440\u0430\u0434\u0443\u0441\u0456\u0432 \u0456 \u043f\u043e\u0434\u0430\u043b\u044c\u0448\u0438\u043c \u0439\u043e\u0433\u043e \u0440\u043e\u0437\u0432\u043e\u0440\u043e\u0442\u043e\u043c \u043d\u0430 180 \u0433\u0440\u0430\u0434\u0443\u0441\u0456\u0432, \u043f\u0440\u043e\u0433\u0440\u0430\u043c\u043d\u0435 \u0437\u0430\u0431\u0435\u0437\u043f\u0435\u0447\u0435\u043d\u043d\u044f INAV \u0456\u043d\u0442\u0435\u0440\u043f\u0440\u0435\u0442\u0443\u0454 \u043f\u043e\u0432\u043e\u0440\u043e\u0442 \u043d\u0435 \u043d\u0430 180, \u0430 \u043d\u0430 191 \u0433\u0440\u0430\u0434\u0443\u0441. \u0426\u0435 \u043f\u0440\u0438\u0437\u0432\u043e\u0434\u0438\u0442\u044c \u0434\u043e \u0432\u0456\u0434\u0432\u0435\u0434\u0435\u043d\u043d\u044e \u043a\u043e\u043f\u0442\u0435\u0440\u0430 \u0432\u0456\u0434 \u043f\u0440\u044f\u043c\u043e\u043b\u0456\u043d\u0456\u0439\u043d\u043e\u0433\u043e \u0440\u0443\u0445\u0443 \u043d\u0435\u0437\u0432\u0430\u0436\u0430\u044e\u0447\u0438 \u043d\u0430 \u043f\u0440\u0430\u0432\u0438\u043b\u044c\u043d\u0443 \u0443\u0441\u0442\u0430\u043d\u043e\u0432\u043a\u0443 \u043c\u0430\u0433\u043d\u0456\u0442\u043d\u043e\u0433\u043e \u0432\u0456\u0434\u0445\u0438\u043b\u0435\u043d\u043d\u044f.
\n\u041a\u043b\u044e\u0447\u043e\u0432\u0456 \u0441\u043b\u043e\u0432\u0430:<\/strong> OMNIBUSF4V3, PID-\u0440\u0435\u0433\u0443\u043b\u044f\u0442\u043e\u0440, INAV, GPS \u043f\u0440\u0438\u0439\u043c\u0430\u0447, AIR MODE, STM32F4, HMC5883L, NEO6MV2, MPU6000.<\/p>\n

\u0420\u043e\u0437\u0448\u0438\u0440\u0435\u043d\u0430 \u0430\u043d\u043e\u0442\u0430\u0446\u0456\u044f \u0430\u043d\u0433\u043b\u0456\u0439\u0441\u044c\u043a\u043e\u044e \u043c\u043e\u0432\u043e\u044e<\/strong><\/p>\n

The paper considers the practical possibility of adjusting the PID controller parameters for INAV firmware (Cleanflight firmware family) of rotary-type unmanned aerial vehicles (UAVs) and with a fixed wing during flight. It is shown that this requires the use of radio control equipment with a minimum number of channels equal to eight. An unmanned aerial vehicle (UAV) has been developed based on the OMNIBUSF4V3 flight controller with a built-in gyroscope and accelerometer, BMP280 barometer \/ altimeter. The scheme of connecting the 3-axis compass HMC5883L via the I2C bus and the GPS receiver u-blox NEO-6M to the controller port UART6 is developed. The firmware used is INAV ver.2.2.1, which supports navigation functions. The designed quadrocopter (UAV) is capable of performing the following flight modes: ANGLE – automatic roll and pitch alignment with horizon angle control, the set value of which cannot be exceeded, which ensures a stable flight. A gyroscope and an accelerometer are used here to hold the horizon. NAV ALTHOLD – hold height. A barometer is used here, which helps to maintain altitude by air pressure. NAV POSHOLD – a position is being held. Uses GPS. NAV RTH (Return To Home) – return home to the take-off point. NAV WP – flight along a given path, which is approximated by waypoints. In this case, waypoints with such parameters as altitude and its flight speed are superimposed on the selected terrain map in the configurator. For low engine speeds, the possibility of using the AIR MODE to increase the efficiency of the PID controller is shown. The possibility of using the STM32 Flash loader demonstrator program as a programmer for flashing the OMNIBUSF4V3 flight controller with any Cleanflight family firmware is shown. It was found that to configure the parameters P, I, D, as well as the parameters of the navigation controller, it is possible to use a three-position switch on one of the control channels and a variable resistor on the other channel. The issue of tuning the flight stability of the copter is considered. With a sharp increase in the throttle, a crash of the copter in one of the sides and its fall is possible. It was established that in order to prevent this, it is necessary to use identically selected ESC controllers, motors and the correct setting of PID parameters, in particular according to YAW. The impossibility of adjusting the HMC5883L magnetometer to ensure straight-line flight of the copter in Cruise mode due to its error is established. So when installed to the north with an angle of 0 degrees and its subsequent rotation by 180 degrees, the INAV software interprets the rotation not of 180, but of 191 degrees. This leads to the drift away from the rectilinear movement despite the correct installation of magnetic declination.
\nKeywords:<\/strong> OMNIBUSF4V3, PID controller, INAV, GPS receiver, AIR MODE, STM32F4, HMC5883L, NEO6MV2, MPU6000.<\/p>\n

References<\/strong><\/p>\n

    \n
  1. Myasishev A.A. Vozmozhnosti poletnogo kontrollera SS3D s proshivkoj INAV \/ A.A. Myasishev \/\/ Herald of Khmelnytskyi National University. \u2013 Hmelnickij : HNU, 2019. \u2013 \u2116 1. \u2013 S. 129\u2013136.<\/li>\n
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  10. INAV Configurator 2.2.1 [Electronic resource]. \u2013 2019. \u2013 Mode of access : https:\/\/github.com\/iNavFlight\/inav-configurator\/releases\/tag\/2.2.1<\/li>\n
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  14. Myasishev A.A. Postroenie BPLA na baze poletnogo kontrollera APM 2.6 \/ A.A. Myasishev \/\/ Herald of Khmelnytskyi National University. \u2013 Hmelnickij : HNU, 2016. \u2013 \u2116 5. \u2013 S. 225\u2013230.<\/li>\n
  15. Myasishev A.A. Programmirovanie ESC regulyatorov proshivkami SIMONK i BLHELI cherez ARDUINO i poletnyj kontroller [Electronic resource]. \u2013 Mode of access : https:\/\/www.researchgate.net\/publication\/332381105_PROGRAMMIROVANIE_ESC_REGULATOROV_PROSIVKAMI_SIMONK_I_BLHELI_CEREZ_ARDUINO_I_POLETNYJ_KONTROLLER , 2019<\/li>\n<\/ol>\n

     <\/p>\n","protected":false},"excerpt":{"rendered":"

    \u041e\u0421\u041e\u0411\u041b\u0418\u0412\u041e\u0421\u0422\u0406 \u0420\u0415\u0410\u041b\u0406\u0417\u0410\u0426\u0406\u0407 \u041f\u0420\u041e\u0428\u0418\u0412\u041a\u0418 INAV \u041d\u0410 \u041f\u041e\u041b\u042c\u041e\u0422\u041d\u041e\u041c\u0423 \u041a\u041e\u041d\u0422\u0420\u041e\u041b\u0415\u0420\u0406 OMNIBUS F4V3 \u0414\u041b\u042f \u0411\u041f\u041b\u0410 \u0420\u041e\u0422\u041e\u0420\u041d\u041e\u0413\u041e \u0422\u0418\u041f\u0423 FEATURES OF INAV FIRMWARE IMPLEMENTATION ON OMNIBUSF4V3 FLIGHT CONTROLLER FOR UAV \u0421\u0442\u043e\u0440\u0456\u043d\u043a\u0438: 126-134. \u041d\u043e\u043c\u0435\u0440: \u21162, 2020 (283) \u0410\u0432\u0442\u043e\u0440\u0438: \u041e.\u0410. \u041c\u042f\u0421\u0406\u0429\u0415\u0412 \u0425\u043c\u0435\u043b\u044c\u043d\u0438\u0446\u044c\u043a\u0438\u0439 \u043d\u0430\u0446\u0456\u043e\u043d\u0430\u043b\u044c\u043d\u0438\u0439 \u0443\u043d\u0456\u0432\u0435\u0440\u0441\u0438\u0442\u0435\u0442 A.A. MYASISCHEV Khmelnytsky National University DOI: https:\/\/www.doi.org\/10.31891\/2307-5732-2020-283-2-126-134 \u0420\u0435\u0446\u0435\u043d\u0437\u0456\u044f\/Peer review : 09.05.2020 \u0440. \u041d\u0430\u0434\u0440\u0443\u043a\u043e\u0432\u0430\u043d\u0430\/Printed : 16.06.2020 \u0440. \u0410\u043d\u043e\u0442\u0430\u0446\u0456\u044f \u043c\u043e\u0432\u043e\u044e \u043e\u0440\u0438\u0433\u0456\u043d\u0430\u043b\u0443 […]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":[],"categories":[15],"tags":[],"_links":{"self":[{"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=\/wp\/v2\/posts\/1241"}],"collection":[{"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=1241"}],"version-history":[{"count":3,"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=\/wp\/v2\/posts\/1241\/revisions"}],"predecessor-version":[{"id":4004,"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=\/wp\/v2\/posts\/1241\/revisions\/4004"}],"wp:attachment":[{"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=1241"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=1241"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=1241"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}