Arm, Disarm, Prearm Configuration - MACH-CAU/UAM GitHub Wiki

Arm, Disarm, Prearm Configuration

๋น„ํ–‰์ฒด์˜ ๊ตฌ๋™๋ถ€(motor & ํ”„๋กญ)๋Š” ์ž ์žฌ์ ์ธ ์œ„ํ—˜ ์š”์†Œ์ž…๋‹ˆ๋‹ค. ์‹ค์ œ๋กœ ๊ทธ ์†๋„์™€ ์†Œ๋ฆฌ๋Š” ์†๊ฐ€๋ฝ์ด ์ ˆ๋‹จ๋  ์ •๋„๋กœ ์œ„ํ—˜ํ•  ์ˆ˜ ์žˆ์Šต๋‹ˆ๋‹ค.

์ด๋ฅผ ๋ฐฉ์ง€ํ•˜๊ธฐ ์œ„ํ•ด PX4๋Š” ๋‹ค์Œ๊ณผ ๊ฐ™์€ ๋ช…ํ™•ํ•œ ์ „์› ๊ณต๊ธ‰ ์ƒํƒœ๋ฅผ ๊ตฌ๋ถ„ํ•ฉ๋‹ˆ๋‹ค:

์ƒํƒœ ์„ค๋ช…
Disarmed ๋ชจํ„ฐ๋‚˜ ์•ก์ถ”์—์ดํ„ฐ์— ์ „์› ๊ณต๊ธ‰์ด ์—†๋Š” ์ƒํƒœ
Pre-armed ๋ชจํ„ฐ/ํ”„๋กญ์€ ์ž ๊ฒจ ์žˆ์ง€๋งŒ, ์ผ๋ถ€ ์ „์ž์žฅ์น˜์—๋Š” ์ „์›์ด ๊ณต๊ธ‰๋œ ์ƒํƒœ
Armed ๋ชจํ„ฐ/ํ”„๋กญ ํฌํ•จ, ์ „์ฒด ์‹œ์Šคํ…œ์— ์ „์› ๊ณต๊ธ‰. ๋ชจํ„ฐ ์ž‘๋™ ๊ฐ€๋Šฅ ์ƒํƒœ๋กœ ์œ„ํ—˜ํ•จ

โš ๏ธ Ground station์—์„œ๋Š” Pre-armed ์ƒํƒœ๋ฅผ Disarmed๋กœ ํ‘œ์‹œํ•  ์ˆ˜ ์žˆ์Œ (๊ธฐ์ˆ ์ ์œผ๋กœ๋Š” ๋‹ค๋ฅด์ง€๋งŒ ์•ˆ์ „ํ•˜๊ฒŒ ๊ฐ„์ฃผ)


โœ… ์ œ์–ด ์ˆ˜๋‹จ

๋‹ค์Œ๊ณผ ๊ฐ™์€ ๋ฐฉ๋ฒ•์œผ๋กœ ์ƒํƒœ๋ฅผ ์ œ์–ดํ•  ์ˆ˜ ์žˆ์Šต๋‹ˆ๋‹ค:

1. Safety Switch

  • Arming ์ „์— ๋ฐ˜๋“œ์‹œ ์ž‘๋™ํ•ด์•ผ ํ•˜๋Š” ์ œ์–ด ์žฅ์น˜
  • Prearming์„ ๋ง‰์„ ์ˆ˜ ์žˆ์Œ
  • ์ผ๋ฐ˜์ ์œผ๋กœ Pixhawk GPS1 ํฌํŠธ์— ์—ฐ๊ฒฐ๋จ (buzzer ๋ฐ UI LED ํฌํ•จ)
  • CBRK_IO_SAFETY ํŒŒ๋ผ๋ฏธํ„ฐ๋กœ ํ™œ์„ฑํ™”/๋น„ํ™œ์„ฑํ™” ๊ฐ€๋Šฅ

์ž์„ธํ•œ ์„ค๋ช…: Safety Switch ยท PX4 User Guide


2. Arming Switch / Button

  • RC ์ปจํŠธ๋กค๋Ÿฌ์˜ ์Šค์œ„์น˜ ๋˜๋Š” ๋ฒ„ํŠผ
  • ์•ˆ์ „ ์Šค์œ„์น˜์— ์˜ํ•œ Arming ๋ฐฉ์ง€๋Š” ๋ถˆ๊ฐ€
  • Gesture-based arming๊ณผ ๋Œ€์ฒด ๊ด€๊ณ„
  • Momentary switch ์„ค์ • ๊ฐ€๋Šฅ (COM_ARM_SWISBTN)

RC ๊ด€๋ จ ํŒŒ๋ผ๋ฏธํ„ฐ:

ํŒŒ๋ผ๋ฏธํ„ฐ ์„ค๋ช…
RC_MAP_ARM_SW RC arm switch ์ฑ„๋„ ์ง€์ • (0 = ๋ฏธํ• ๋‹น)
COM_ARM_SWISBTN Arm ์Šค์œ„์น˜๊ฐ€ ๋ฒ„ํŠผ(1)์ธ์ง€ ์Šค์œ„์น˜(0)์ธ์ง€ ์ง€์ •

Arming switch๊ฐ€ ์„ค์ •๋˜๋ฉด stick gesture๋Š” ๋น„ํ™œ์„ฑํ™”๋ฉ๋‹ˆ๋‹ค.
์ด ์„ค์ •์€ RC ์ปจํŠธ๋กค๋Ÿฌ์—๋งŒ ์ ์šฉ๋˜๋ฉฐ, QGroundControl์˜ ์กฐ์ด์Šคํ‹ฑ์—๋Š” ์ ์šฉ๋˜์ง€ ์•Š์Šต๋‹ˆ๋‹ค.

์ฐธ๊ณ  ๋งํฌ:


3. MAVLink Command

  • Ground Control Station์—์„œ arm/disarm ๋ช…๋ น ์ „์†ก ๊ฐ€๋Šฅ
  • ๋ช…๋ น ์˜ˆ์‹œ: MAV_CMD_COMPONENT_ARM_DISARM

โš™๏ธ Pre-Arm Checks

PX4๋Š” ํŠน์ • ์กฐ๊ฑด์„ ๋งŒ์กฑํ•  ๋•Œ๋งŒ arming์„ ํ—ˆ์šฉํ•ฉ๋‹ˆ๋‹ค:

  • ์„ผ์„œ ์˜ค๋ฅ˜๋‚˜ ๋ฏธ๋ณด์ • ์ƒํƒœ ๋“ฑ ๋น„์ •์ƒ ์ƒํƒœ
  • Safety Switch๊ฐ€ ์ž‘๋™๋˜์ง€ ์•Š์Œ
  • Remote ID๊ฐ€ ์‹ ๋ขฐํ•  ์ˆ˜ ์—†์Œ
  • VTOL์€ ๊ธฐ๋ณธ์ ์œผ๋กœ ๊ณ ์ •์ต ๋ชจ๋“œ ํ•„์š”
  • Global position ์ถ”์ •์ด ํ•„์š”ํ•œ ๋ชจ๋“œ์—์„œ GPS lock ์—†์Œ

PX4๋Š” 10Hz๋กœ arming check๋ฅผ ์ˆ˜ํ–‰ํ•˜๋ฉฐ, ์‹คํŒจ ๋ชฉ๋ก์„ ์ด๋ฒคํŠธ๋กœ ์†ก์‹ ํ•ฉ๋‹ˆ๋‹ค.

โœ”๏ธ GCS ์—ฐ๊ฒฐ ์‹œ, ๋˜๋Š” arm/disarm ์‹œ์ ๋งˆ๋‹ค ์ƒํƒœ๋ฅผ ํ™•์ธ ๊ฐ€๋Šฅ
โœ”๏ธ QGroundControl(v4.2.0 ์ด์ƒ)์—์„œ๋Š” Arming Check Report ๋กœ ์ƒํƒœ ํ™•์ธ ๊ฐ€๋Šฅ
โœ”๏ธ SYS_STATUS MAVLink ๋ฉ”์‹œ์ง€๋กœ๋„ ์ผ๋ถ€ ์ƒํƒœ ํ™•์ธ ๊ฐ€๋Šฅ
โœ”๏ธ ์ถ”๊ฐ€ ์ •๋ณด: Arming & Preflight Checks ยท PX4 User Guide


๐Ÿ”ง ๊ฐœ๋ฐœ ์ฐธ๊ณ : ๋‚ด๋ถ€ ๊ตฌํ˜„


๐Ÿ“ก Remote ID (์›๊ฒฉ ์‹๋ณ„)

  • ๋ฏธ๊ตญ, ์ผ๋ณธ, EU ๋“ฑ์—์„œ๋Š” ๋ฒ•์ ์œผ๋กœ ์š”๊ตฌ๋จ
  • ์‹ค์‹œ๊ฐ„ ์œ„์น˜/๊ณ ๋„, ์‹œ๋ฆฌ์–ผ, ์šด์˜์ž ID ๋“ฑ ๋ฐฉ์†ก ํ•„์š”
  • PX4๋Š” FAA ํ‘œ์ค€ Remote ID ๊ทœ์น™ ๋Œ€์ƒ ๋ชจ๋“ˆ๊ณผ ์ž‘๋™ ๊ฐ€๋Šฅ
  • ๋‘ ๊ฐ€์ง€ ์œ ํ˜•:
    • ํ‘œ์ค€ ๊ทœ์น™(Standard Rule) ๋ชจ๋“ˆ: Autopilot ์—ฐ๋™ ๊ฐ€๋Šฅ
    • ๋ฐฉ์†ก ๊ทœ์น™(Broadcast Rule) ๋ชจ๋“ˆ: ๋…๋ฆฝํ˜•, ์ œํ•œ์ 

PX4์˜ Remote ID ๊ฐ€์ด๋“œ:


๐Ÿ“˜ ์ฐธ๊ณ  ๋ฌธ์„œ