Complete project data of UAV apriltag dynamic tracking landing based on openmv (LabVIEW + openmv + apriltag + punctual atom four axes)

Preface ：

A small project done during the previous holiday , Blew up several sets of blades 233, Share it, hoping to help more people learn quickly .
Using punctual atoms ATK-MiniFly Secondary development of aircraft multi rotor Apriltag track ;
Use LABVIEW The independently designed ground station is used to send control commands and receive information ;
aircraft ： STM32F4+FreeRTOS;
The remote control ： STM32F1+FreeRTOS;
OPENMV: STM32H7
Users can OPENMV Replace with advanced vision opencv、yolo etc. , Other functions can be quickly redeveloped according to the existing interface design protocol .
This project is applicable to STM32（ involve F1、F4、H7） as well as FreeRTOS Beginners of operating system and those who are interested in the development of navigation and control of multi rotor flight control system , Need some programming ability , The project has been completed , The following functions have been realized , Welcome to comment area .

Functional specifications ：

1.labview Independently designed ground station （ After the dependency package is installed, it can run independently labview）, The ground station terminal contains one button take-off 、 One button emergency stop 、 One touch landing 、 One click tracking tag Code button , And the display interface of relevant information ;
2. Use openmv Official routine Apriltag distinguish tag Tag and pose information , Frame... In the image tag label , And upload it to the four axis aircraft through the serial port ;
3. Between the remote controller and the ground station USB/ Data transmission connection , Aircraft and OPENMV Serial port connection is adopted ;
4. The remote controller can reflect relevant status information , One button take over the autonomous control state , Ensure safe flight ;

Material description ：
1.ATK-MiniFly
2. OPENMV4
3. Apriltag （tag16h5）

Ground station protocol description ： （ The specific flight control code can be deduced ）
1. Take off with one click 、 land ：0xaa 0x11 （ On the ground, take off , In the air, it lands ）
2. One button emergency stop ： 0xaa 0x22 （ Lock the paddle directly , Caution! ）
3. One click tracking tag code ：0xaa 0x33（ Click... After takeoff , otherwise openmv Lack of vision ）

Ground station ui Interface ：

Aircraft related information ：（ Search and download official information by yourself ）

OPENMV Guide aircraft core code ：

bool opv_control_state=0;
float opv_x_data=0,opv_y_data=0; // North West celestial coordinate system   front x just   Left y just   On z just 
void opv_Communication_Task(void *param)
{
    
	while(1)
	{
    
		if(opv_control_state==1)
		{
    
			if(SDK_tag.Tx<0)opv_y_data=-5;
			else if(SDK_tag.Tx>0)opv_y_data=5;
			else opv_y_data=0;
			
			if(SDK_tag.Ty<0)opv_x_data=-5;
			else if(SDK_tag.Ty>0)opv_x_data=5;
			else opv_x_data=0;
		}
		else
		{
    
			opv_x_data=0;
			opv_y_data=0;
		}
		
		ledSet(LED_BLUE_L,opv_control_state);	// The left rear light of the aircraft judges opv Control state , bright （1） Allow tracking tag
		vTaskDelay(200);
	}
}

Aircraft position output core code ：

	if(getOpDataState() && commander.ctrlMode == 0x03)	/* Optical flow data is available , Fixed point mode */ 
	{
    
		setpoint->attitude.yaw *= 0.5f;	/* Fixed point mode slows down yaw Adjust the */
		
		/* Adjusting position   Speed mode */
		if(fabsf(setpoint->attitude.roll) > 1.5f || fabsf(setpoint->attitude.pitch) > 1.5f || opv_control_state == 1)
		{
    
			adjustPosXYTime = 0;
			isAdjustingPosXY = true;
			setpoint->mode.x = modeVelocity;
			setpoint->mode.y = modeVelocity;
			setpoint->velocity.x = setpoint->attitude.pitch * 4.0f + opv_x_data;// The inclination is greater than 1.5° When the 
			setpoint->velocity.y = setpoint->attitude.roll * 4.0f + opv_y_data;	
		}
		else if(isAdjustingPosXY == true)
		{
    
			if(adjustPosXYTime++ > 100)
			{
    
				adjustPosXYTime = 0;
				isAdjustingPosXY = false;
			}		
			setpoint->mode.x = modeAbs;
			setpoint->mode.y = modeAbs;
			setpoint->position.x = state->position.x + errorPosX;	// Adjust the new position  
			setpoint->position.y = state->position.y + errorPosY;	// Adjust the new position  
		}
		else if(isAdjustingPosXY == false)	/* Displacement error */
		{
    	
			errorPosX = setpoint->position.x - state->position.x ;// Shake the lever and execute here 
			errorPosY = setpoint->position.y - state->position.y ;	
			errorPosX = constrainf(errorPosX, -30.0f, 30.0f);	/* Error limiting   Company cm*/
			errorPosY = constrainf(errorPosY, -30.0f, 30.0f);	/* Error limiting   Company cm*/
		}
	}
	else	/* Manual mode */
	{
    
		setpoint->mode.x = modeDisable;
		setpoint->mode.y = modeDisable;		
	}

Take off with one click 、 land 、 Emergency stop 、 Trace and other instruction core code ：

		if(drone_control_state==0x11)//pc Take off with one touch 、 One touch landing 
		{
    
			if( getRCLock()==false && getIsMFCanFly()==true &&
				(configParam.flight.ctrl == ALTHOLD_MODE || configParam.flight.ctrl == THREEHOLD_MODE)
			  )
			{
    
				sendRmotorCmd(CMD_FLIGHT_LAND, NULL);
			}
			drone_control_state=0;			
		}
		else if(drone_control_state==0x22)//pc End one button emergency stop 
		{
    
			sendRmotorCmd(CMD_EMER_STOP, NULL);
			drone_control_state=0;			
		}
		else if(drone_control_state==0x33)//pc End one key tracking tag code 
		{
    
			sendRmotorCmd(CMD_TAG_TRACK, NULL);
			LED_RED  = !LED_RED;
			drone_control_state=0;			
		}
		else drone_control_state=0;	

Some aircraft information is sent to LABVIEW Core code ：

/***************************************************************************************************************************/		
	    printf("A");				//0
/***************************************************************************************************************************/		
		drone_pit=limit(plane_pitch*10,-999,999);// take flyControl.pitch*100 Replace with plane_pitch*10 You can upload the aircraft attitude information 
		if(drone_pit>0)printf("+");
		else 
		{
    
			printf("-");			//1
			drone_pit=-drone_pit;
		}
		send_bai=drone_pit/100;
		send_shi=drone_pit%100/10;
		send_ge=drone_pit%100%10;		
	    printf("%d",send_bai);		//2
		printf("%d",send_shi);		//3
		printf("%d",send_ge);		//4
/***************************************************************************************************************************/
		drone_rol=limit(plane_roll*10,-999,999);		
		if(drone_rol>0)printf("+");
		else
		{
    
			printf("-");			//5
			drone_rol=-drone_rol;
		}			
		send_bai=drone_rol/100;
		send_shi=drone_rol%100/10;
		send_ge=drone_rol%100%10;	
	    printf("%d",send_bai);		//6
		printf("%d",send_shi);		//7
		printf("%d",send_ge);		//8
/***************************************************************************************************************************/
		drone_yaw=limit(plane_yaw*10,-1800,1800);		
		if(drone_yaw>0)printf("+");
		else
		{
    
			printf("-");			//9
			drone_yaw=-drone_yaw;
		}
		send_qian=drone_yaw/1000;
		send_bai=drone_yaw%1000/100;
		send_shi=drone_yaw%1000%100/10;
		send_ge=drone_yaw%1000%100%10;	
		printf("%d",send_qian);		//10
	    printf("%d",send_bai);		//11
		printf("%d",send_shi);		//12
		printf("%d",send_ge);		//13
/***************************************************************************************************************************/		

See the comments section for links to all the information , If you have any questions, please leave a message or discuss in the comment area .
author ： Outside Jinguan City
Time ：2021.11
I wish good ！