1. 源由

• ArduPilot开源代码之CompanionComputer上天计划
• ArduPilot开源飞控之硬件SBC分析

因为，之前进行相关代码配置和优化调整过程中，出现了不少的问题。上伴机电脑之前，再进行一次lida2003-H743-5inch套机配置整理。

• ArduPilot H743 Dual BMI270 Mark4 四轴DIY简单功能验证

2. 整理固件

2.1 APM v4.4.4固件

【1】官网将 从4.5.0开始支持H743 Dual BMI270，笔者固件v4.4.4
【2】Google Drive, Aocoda-RC-H743Dual-lida2003-4.4.4.zip
【3】CSDN Drive, Aocoda-RC-H743Dual-lida2003-4.4.4.zip

2.2 APM固件编译

【1】ArduPilot飞控AOCODARC-H7DUAL固件编译
【2】Copter-4.4-lida2003，解决tramp pandarc-vt5804ml1各段功率使用问题
【3】ArduPilot开源代码之AP_VideoTX

3. lida2003套机配置

3.1 基本配置

【1】ArduPilot之H743+BMI270x2+First Normal Takeoff
【2】ArduPilot开源飞控之磁力计校准
【3】ArduPilot开源代码之MatekSys Optical Flow 3901-L0X

3.2 wifi电传

• ESP8266 wifi telemetry

SERIAL8_PROTOCOL  = 2
SERIAL8_BAUD = 921
SERIAL8_OPTIONS = 0

3.3 光流计+雷达（MatekSys 3901-L0X）

参考：Optical Flow Sensor Testing and Setup

RC9_OPTION = 90 (EKF Pos Source) low is GPS, middle is OpticalFlow, high is unused
EK3_SRC_OPTIONS = 0 (Disable FuseAllVelocities)

EK3_SRC1_POSXY = 3 (GPS)
EK3_SRC1_POSZ = 1 (Baro)
EK3_SRC1_VELXY = 3 (GPS)
EK3_SRC1_VELZ = 3 (GPS)
EK3_SRC1_YAW = 1 (Compass)

EK3_SRC2_POSXY = 0 (None)
EK3_SRC2_VELXY = 5 (Optical Flow)
EK3_SRC2_POSZ = 2 (RangerFinder)
EK3_SRC2_VELZ = 0 (None)
EK3_SRC2_YAW = 1 (Compass)

FLOW_POS_X = 0.08 (m, set to 8 cm forward)

4. 测试

回头天气好点，去外面飞一圈！！！

5. 参考资料

【1】EK3_SRC selection from GPS/OpticalFlow etc