Registration for the second phase of the special training series of "Based on RflySim Platform Flight Control Bottom Algorithm Development" by Feisi Lab is now open! The special training will be given by Associate Professor Dai Xunhua and the student & engineer team of FlySim Laboratory. The "online + offline" intensive teaching method will be adopted. The training time will be from August 28th to September 3rd . The course content will be introduced and used on the RflySim platform. Experiments such as the use of the underlying algorithm development interface, the construction of multi-rotor control models, and the logic design of multi-rotor failure protection are carried out. From the shallower to the deeper, you will be guided to realize the development technology of the UAV's underlying algorithm Sim2Real!
01 Platform Introduction
The RflySim platform is an ecosystem or tool chain (official website: Introduction · GitBook ), initiated by Beihang University's reliable flight control research group, mainly used to follow the idea of model-based design for unmanned system control and safety testing. This platform chooses MATLAB/Simulink as the control core programming platform, and applies the technology of demand traceability, full simulation verification and automatic code generation in the concept of Model-Based Design (MBD) to the bottom control and middle layer of the control system. In the process of algorithm development such as security decision-making and top-level vision clusters and artificial intelligence. The theme of this training is "Based on RflySim Platform Flight Control Bottom Algorithm Development", follow-up training courses of this kind will be held once in the last week of each month, please continue to pay attention! ! !
02 Learnable Skills
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Use skills of the RflySim platform, including (not limited to) software-in-the-loop simulation, hardware-in-the-loop simulation, and real-flight algorithm migration;
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Master the complete process and rapid development skills of model-based design using MATLAB/Simulink;
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By learning the relevant theoretical knowledge of multi-rotor UAV controller design, master the multi-rotor UAV controller design, semi-autonomous mode design, failure protection logic design and other experiments.
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Combining theoretical knowledge learning and control algorithm development, complete UAV real machine algorithm migration, deployment and debugging, and master Sim2Real's multi-rotor UAV development concept.
03 Training title and format
①Training form
The training will be conducted in the form of "online + offline" intensive teaching. Live teaching is adopted online. Registered students provide free course recording and broadcasting videos, send all case codes, and set up a course Q&A group. Professional teachers in charge of answering questions are resident in the group; offline teaching mode is adopted, and professional pilots lead The team conducts on-site guidance and teaching on the actual flight cases in the online course at the flight site to realize the development concept of Sim2Real.
②Training content
Topic 1: Introduction of RflySim platform , including detailed introduction of RflySim platform, including platform composition and software and hardware introduction, including software and hardware instructions, introduction of PSP code generation and programming toolbox, teaching of software and hardware-in-the-loop simulation process, etc. Help students get familiar with the features, features and usage of core components of the RflySim platform;
Topic 2: Simulation experiments , firstly through the model design based on the RflySim platform, software-in-the-loop simulation and hardware-in-the-loop simulation cases, to help students be deeply familiar with the complete development process and experimental steps of the flight control underlying algorithm based on the RflySim platform. Then, it focuses on the design and modeling of multi-rotor power system, semi-autonomous control mode design and other experiments to help students complete the development of specific cases and master the development ideas based on model design.
Topic 3: Real flight debugging , master the attitude, position controller design and semi-autonomous control mode development of multi-rotor drones through the study of theoretical knowledge in online courses. This article transplants the calculation examples developed in the online course to the real machine, completes the real machine deployment, debugging and real flight of the multi-rotor UAV, and realizes the development process of Sim2Real.
| Topic name |
training plan |
training period |
Remark |
| Topic 1: RflySim Platform Introduction |
1.1 Introduction and installation of the platform 1.2 Introduction and use of software and hardware 1.3 Overview of this course 1.4 Software and hardware-in-the-loop simulation experiments |
2023.8.28 18:30~21:30 |
online teaching |
| Topic 2: Simulation Experiment |
2.1 RflySim flight control underlying algorithm development principle 2.2 Introduction to the experiment process (including attitude controller design) 2.2 Introduction to the underlying development interface of RflySim |
2023.8.29 18:30~21:30 |
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| 3.1 Power system design and modeling experiment 3.2 Multi-rotor sensor calibration experiment |
2023.8.30 18:30~21:30 |
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| 3.3 Semi-autonomous control mode design experiment 3.4 Multi-rotor failure protection logic experiment |
2023.8.31 18:30~21:30 |
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| Topic 3: Real flight debugging |
1. Aircraft debugging and official firmware test flight |
2023.9.02 9:00~12:00 |
offline teaching |
| 2. Precautions for the actual flight experiment |
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| 3. Overall actual flight experiment arrangement plan |
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| Summary and Q&A |
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| 4. Quadrotor PID parameter tuning experiment |
2023.9.02 14:00~17:00 |
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| 5. Attitude controller turntable experiment |
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| Experiment summary and after-class Q&A |
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| 6. Semi-autonomous control mode design experiment |
2023.9.03 9:00~12:00 |
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| Experiment summary and after-class Q&A |
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| 7. Multi-rotor fail-safe logic experiment |
2023.9.03 14:00~17:00 |
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| 8. Students design actual flight routine experiments |
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| 9. RflySim follow-up training course arrangement |
04 Trainer
Associate Professor Dai Xunhua and the team of students & engineers from Phase One Lab.
05 Training costs
This training fee is divided into: online training, offline on-site teaching and supporting hardware costs. Since it involves offline training and teaching content, it also includes accommodation costs. The specific charging packages (excluding hardware fees) are as follows:
Details of supporting hardware and accommodation expenses
| serial number |
name |
Fee (yuan ) |
Remark |
|
| Supporting hardware costs |
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| 1 |
HIL suite |
Zowee H7 Flight Controller |
3999 |
You need to contact the teaching assistant in advance to buy or rent (See note ①) |
| remote control receiver |
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| remote control |
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| Other Accessories |
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| Accommodation fees (see note ②) |
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| 2 |
Ordinary Queen Room/Double Room |
188/day |
Please contact before check-in Assistant teacher |
|
| 3 |
Deluxe Queen Room/Double Room |
218/day |
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| ①: Students can obtain HIL kits by purchasing or renting. The purchase time is until August 22, 2023. They can also choose to purchase Pixhawk series flight controllers. The recommended models are: Pixhawk 2.4.8 (also known as Pixhawk 1 ) , Pixhawk 6X, Pixhawk 6C, Note: A deposit of 3,000 yuan is required for renting, and the rent is 80 yuan per person/set/day. You can choose to purchase directly after the course is over; the Zowee H7 flight controller used in this course will provide this flight controller The use process and technical support; Pixhawk series only provides the use process, not technical support; ②: The price in the table is the negotiated price with the hotel. Students can choose to stay. The hotel address: Huayifu Block B, Huayifu, No. 123, Shaoshan South Road, Changsha City, Hunan Province. |
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06 Value-added services
1. All registered students will get the accompanying electronic materials (case codes) in this training;
2、凡报名学员遇到与课程相关的问题，均可在课程结束后可以得到老师的解答与指导（邮件、微信等）；
3、凡购买套餐1课程的学员，均提供线上课程视频回放；
4、凡飞思实验室前期课程报名成功学员，报名本期课程均享受半价优惠。
5、四人组团报名，一人免费；三人组团报名，一人半价；两人组团报名，一人七折。
07 课程前期咨询、报名及缴费
请各位有意向报名的学员，关注飞思实验室公众号底部“服务支持”->“课程报名”进行课程报名相关问题咨询。
扫描上方二维码 关注飞思实验室
08 注意事项
1.课程报名缴费提供普通发票，发票类型为培训费，具体费用支付方面问题请进入培训咨询群进行了解。
2.本次课程中所使用的飞机型号为飞思X450模型设计版，需要购买的学员可咨询课程助教老师进行购买。飞思实验室(部分)其余四旋翼无人机如下图所示。
飞思实验室(部分)四旋翼无人机
3.本课程全程(线上+线下)需学员自行准备电脑，电脑配置及软件最低要求可见如下：
系统：Windows 10 x64系统（版本大于等于1809）
CPU：Intel i5 十代处理器及以上，或同等性能AMD处理器
显卡：英特尔集成显卡UHD 630及以上，或同等性能AMD显卡
内存：容量16G及以上，频率DDR3 1600MHz及以上
硬盘：安装盘剩余容量40G及以上（推荐固态硬盘）
显示器：分辨率1080P（1920*1080）及以上
接口：至少有一个USB Type A接口（可用扩展线）
MATLAB：2017b或以上版本（推荐2017b版本）
注：电脑配置应该越高越好，低配电脑也可以运行本平台Demo，但是可能出现控制不稳定、实验效果不佳等问题。MATLAB请提前自行安装。
4. This course can be experimented on the basic version. You can fill in your email address at https://rflysim.com/download to get the cloud disk download link. For the first installation of the platform, please refer to the installation tutorial: https://www.bilibili.com/video/BV1oM411V7XE/?spm_id_from=333.999.0.0. Please consult [email protected] for the download link and registration code of the full version. Note: Please be sure to complete the RflySim platform installation before the course starts.
5. For the detailed explanation of the theoretical part of this course, please refer to the books "Multi-rotor Aircraft Design and Control" and "Multi-Rotor Aircraft Design and Control Practice", as shown in the figure below. "Multi-rotor aircraft design and control practice" on the left is a practical course for the development of flight control algorithms launched in 2020, including the theoretical knowledge of this course and other experiments. The "Multi-rotor Aircraft Design and Control" on the right is a tutorial launched in 2017, mainly for multi-rotor control theory. 09、
09 Future plan (partial) course display
Multi-rotor UAV visual control interface, communication, control routines and practice. Monocular vision hitting small ball experiment/monocular vision piercing complete task experiment/binocular camera calibration, face recognition, tracking experiment/visual simulation of Raspberry Pi or NX (Linux/ROS environment) and flight control hardware in the loop at the same time /Real machine vision control application introduction and demonstration.
RflySim platform cluster algorithm routines and interface details. Design cluster-related algorithms, implement the algorithms in Simulink, and connect UE4 display engine to perform software-in-the-loop simulation, hardware-in-the-loop simulation, and real-time communication and control of cluster algorithms. Introduction and experiment of Python control UAV cluster interface, introduction of distributed cluster functions with vision, etc.
Follow-up training courses will be held once a month, and the courses are under development, so stay tuned! ! !