ОСОБЕННОСТИ ИСПОЛЬЗОВАНИЯ РЕЖИМА RESCUEВ ПРОШИВКЕ BETAFLIGHTДЛЯ БПЛА НА БАЗЕ КОНТРОЛЛЕРА STM32F405

Abstract

The paper considers the practical possibility of implementing the GPS Rescue mode for Betaflight ver.4.1.1 firmware in order to return the quadrocopter (UAV) to a point close to the take-off point coordinates. In this regard, an experimental prototype was built with a 250mm frame, but with which the OMNIBUSF4V3 flight controller was installed based on the STM32F405 microcontroller with a GPS receiver and a directional video camera for FTP flights. Betaflight OSD was configured to receive flight data in order to analyze the correct operation of the copter return algorithm. During flight tests, it was shown that the GPS Rescue mode allows you to return the UAV to the launch zone, subject to the settings presented in the work on the assembled quadcopter. When performing GPS Rescue mode, an important condition is the stable connection of the GPS receiver with the number of satellites not less than those installed when setting the firmware. If the number of satellites becomes less than the set, then within a few seconds the motors turn off and the copter falls. It is shown that for stable operation of the GPS Rescue mode, the copter during flight should use the stabilization mode (Angle) with the accelerometer turned on, perform a flight with small angles of inclination. It was found that the greater the angle of inclination of the coprera, the smaller the number of satellites the GPS receiver catches. Therefore, the GPS rescue mode is not advisable to use in Acro, 3D, Horizon flight modes when making flip-s. It has been practically established that the GPS Rescue mode is more appropriate to use in the event of a break in video communication with the heading camera (FPV flights) while maintaining communication with the control panel. In this case, the flight orientation is lost and the copter in automatic mode must be returned to the video communication zone. To do this, the control mode sets the stabilization mode (angle) and turns on the GPS Rescue mode. When establishing a video connection, determining the location, GPS Rescue mode is disabled from the remote control and the copter can continue flying via FPV. It was noticed that in case of communication failure with the control panel, GPS Rescue mode is automatically turned on. In this case, the copter returns to the starting point and in case of restoration of radio communication, the copter automatically restores control with the remote control. This moment must be monitored by the pilot, otherwise the copter may crash. Therefore, it is advisable in case of loss of communication to set the toggle switch on the control panel to GPS Rescue mode. Then, when the radio is restored, the copter will operate according to the GPS Rescue mode from the remote control and will automatically return to the start area and can be detected visually with subsequent control from the remote control.