ChrisLiu的博客

本文仅供参考，如有困惑的参阅官方文档Multicopter PID Tuning Guide (Manual/Advanced): https://docs.px4.io/master/en/config_mc/pid_tuning_guide_multicopter.html提示：All gains should be increased very slowly as large gains may cause dangerous oscillations! Typically increase

http://docs.px4.io/master/en/simulation/ros_interface.html前提此方法无论是否已经安装过ROS都适用，放心食用。安装环境下载脚本wget https://raw.githubusercontent.com/PX4/Devguide/master/build_scripts/ubuntu_sim_ros_melodic.sh运行脚本bash ubuntu_sim_ros_melodic.sh运行完之后会在目录生成一个catkin_ws工作

下载QGroundcontrolhttps://docs.qgroundcontrol.com/master/en/getting_started/quick_start.html飞控初始化配置按PX4基本配置指南走https://docs.px4.io/master/zh/config/firmware.html

整理补充于https://zhuanlan.zhihu.com/p/91329291本教程将在Ubuntu 16.04上安装ROS Kinetic以及px4 toolchain由于ROS Kinetic上的gazebo7与px4 toolchain中的gazebo9不兼容,所以安装要特别注意考虑到可能已经安装过ros, 这里我们选择使用ubuntu_sim_common_deps.sh脚本, 该脚本不会安装gazebo,不然会将ros-kinetic中安装的gazebo7覆盖step1:新建脚本一