请问px4ctrl还没有实现精确油门模型吗，好像只有在线辨识的线性模型。
python的thrust_calibrate.py可以用来辨识精确模型吗？

既然相机只用单目RGB，是否可以选择成本更低的普通usb相机？

Hello,

The URL https://github.com/ZJU-FAST-Lab/PX4-controller/tree/master/mavros_launch_files in px4ctrl README has lost. The URL need to be updated.

Thanks.

src/realflight_modules/px4ctrl/src/input.cpp 113 行
bool RC_Data_t::check_centered()
{
bool centered = abs(ch[0]) < 1e-5 && abs(ch[0]) < 1e-5 && abs(ch[0]) < 1e-5 && abs(ch[0]) < 1e-5;
return centered;
}
你好，想问一下，这里所有都是ch[0]是什么意思呢？

我用你们提供的固件，在添加GPS模块后，无法进入定点模式。另外我尝试了1.13版本，imu根据你们提供的命令去修改发布频率，结果发现只有50HZ左右，明显发布频率修改没有生效，在你们提供的1.11版本是可以的。如果要使用1.13固件，要怎么修改发布频率呢？你们现在有尝试使用最新pixhawk6C进行试验吗？

视频中提到可以通过修改ctrl_param_fpv.yaml文件中的thrust_model：print value设置为true来打印hover percentage，但是在实际使用中开启了以后，并没有在实际的终端界面中看见这个参数的打印，只能在开始时看见一个ROS_WARN("You should disable "print_value" if you are in regular usage.");
请问可以提供这个的正确修改方法或者是其他可以来调整这个参数的方法吗？

感谢实验室的工作，使用过程有些问题想再请教您们。
就是多次使用PX4+D435，VINS偶尔会启动不稳定，或起飞后也有不小飘逸。
看了VINS介绍说可以做硬件时间同步来提高性能
想请教下，用pX4和D435可以做时间同步吗，会不会对性能有提升呢，有没有一些链接资料可以供参考的呢
真的感谢哈

How do I build and use my own grid map for simulation in this code?

首先非常感谢您的分享！
如题，请问安装如上机体后，整体重量如何，会不会太重了？

运行roslaunch vins fast_drone_250.launch时报错
报错内容：

环境：JetsonXavierNX Ubuntu18
步骤：VINS外参精确自标定：sh shfiles/rspx4.sh
前面测试验证都通过了，这个报错有点不明白，麻烦指教，谢谢！

您好！首先感谢您的分享！
请问px4ctrl里面控制器设计部分有没有参考文献呢？不是很明白控制器输出的姿态的计算方法。^_^

第八章
VScode：sudo dpkg --i ***.deb -> VScode：sudo dpkg -i ***.deb
rosrun plotjuggler plotjugller -> rosrun plotjuggler plotjuggler

anyway，感谢这门课程，学到了好多东西

只给油门不给方向的时候，无人机缓慢的往3号电机方向飞。这是飞控的问题还是电机的问题呢请问？

您好，想请教一下，请问您们在对飞控和机载计算机通信时，用的是什么设备线路呢？我看PX4官网推荐了mRo USB FTDI Serial to JST-GH (Basic)，但似乎买不到这样的线路。
希望能收到您的回复，感谢！

In this drone detect launch make reference to ID=1 but every other launch refer ID as 0, is that right?

<!-- <remap from="~drone0" to="/drone_0_$(arg odom_topic)"/>
<remap from="~drone1" to="/drone_1_$(arg odom_topic)"/>
<remap from="~drone2" to="/drone_2_$(arg odom_topic)"/> -->

<!-- <remap from="~drone1" to="/test/dynamic0_odom"/> -->
<!-- <remap from="~drone2" to="/test/dynamic1_odom"/> -->

1

.用rostopic hz /mavros/imu/data_raw 检查频率为190hz（刚刚开始时会从150hz逐渐上升）。拿起飞机来回走的过程中会出现wait for imu。
问题如图

2
在标定外参前需要大概估计双目相对与imu的位置，请问坐标系是东北天还是前右下，或是左手系右手系？

感谢您地项目！
1 视频中飞控和相机有一个90度的差值，但是在我的飞机上二者都朝前，请问这种情况下旋转矩阵应该怎么写？
2 我有学习到旋转矩阵计算方法，但是我不清楚imu和相机的坐标系朝向（网上也众说纷纭），请问可以告知一下吗
3 我想确认一下 齐次变换矩阵的最后一列的xyz是以imu为原点前x左y右z来计算相机的位置吗
这真的很困扰我 期待您的解答

用虚拟机安装了两次都报了相同的错，点进了/lib/x86_64-linux-gnu/cmake/realsense2/realsense2Config.cmake文件将错误的行注释之后还是会出现新的错误，明明一步步按着要求做的，真不知道是哪出问题了（之前在双系统装啥问题没有），但双系统没那么方便，求求了，救救孩子吧。

-- +++ processing catkin package: 'odom_visualization'
-- ==> add_subdirectory(uav_simulator/odom_visualization)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'local_sensing_node'
-- ==> add_subdirectory(uav_simulator/local_sensing)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
CMake Warning at /opt/ros/noetic/share/catkin/cmake/catkin_package.cmake:166 (message):
  catkin_package() DEPENDS on 'Eigen' but neither 'Eigen_INCLUDE_DIRS' nor
  'Eigen_LIBRARIES' is defined.
Call Stack (most recent call first):
  /opt/ros/noetic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package)
  uav_simulator/local_sensing/CMakeLists.txt:72 (catkin_package)


-- +++ processing catkin package: 'mockamap'
-- ==> add_subdirectory(uav_simulator/mockamap)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'realsense2_camera'
-- ==> add_subdirectory(realflight_modules/realsense-ros/realsense2_camera)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
CMake Error at /lib/x86_64-linux-gnu/cmake/realsense2/realsense2Config.cmake:11 (message):
  File or directory //include referenced by variable realsense2_INCLUDE_DIR
  does not exist !
Call Stack (most recent call first):
  /lib/x86_64-linux-gnu/cmake/realsense2/realsense2Config.cmake:33 (set_and_check)
  realflight_modules/realsense-ros/realsense2_camera/CMakeLists.txt:44 (find_package)


-- Configuring incomplete, errors occurred!
See also "/home/tan/文档/Fast-Drone-250-master/build/CMakeFiles/CMakeOutput.log".
See also "/home/tan/文档/Fast-Drone-250-master/build/CMakeFiles/CMakeError.log".

First thank you very much for providing all these information! It is very helpful for students and researchers.
I have few question

1. Can you tell us please what are the characteristics of the tri-blades you are using? I cannot find it in the shopping list - or I missed it ...
2. From what I can see the total weight of the drone fully assembled should be around 1.7/1.8 kg probably. I am wondering what is the thrust delivered by the T-motor KV 2550 at 50%/ 60% throttle ? I tried to find out on Internet but cannot... and the related question is about the autonomy - is it around 5 mn or more?
3. You are not mentioning what kind of geometric controller are you using? Can you tell us more about it?
4. As you are using PX4 and dynamic trajectories, it is pretty important to have the "PX4 rate controller" pretty well tuned. is it possible for you to share your params file ?

Thanks again for all the fantastic open you are sharing with the community

您好！我一直都在关注你们组。首先非常感谢您能够开源自主无人机，可以预见到一定能够带动国内专业领域的发展。我在NUC上配置ego-planner这一步时，按照你们给的命令，编译完成，并且执行了source devel/setup.bash
在执行roslaunch ego_planner sing_run_in_sim.launch时报错：

RLException: [sing_run_in_sim.launch] is neither a launch file in package [ego_planner] nor is [ego_planner] a launch file name
The traceback for the exception was written to the log file.

请问为什么会出现这个问题，该怎么解决呢？十分感谢

Hi @ZhepeiWang Hope you are doing well I want to use ZED camera instead of d435, As i am able to run it with D435 i want know what parameters i need to change apart from depth topic and intrinsic values.
Do i need to change something over here

@bigsuperZZZX @ZhepeiWang As you can see over here #33 (comment)
I want to know if we are using VIO then why we need mavros/imu/data as far i know that mavros/imu/data gives us acc,gyro and orientation and where as /mavros/imu/data_raw we only get acc and gyro.
If you are flying over VIO, why do you need the magnetometer?
Thankyou

第十章 - VINS外参精确自标定
rostopic echo /vins_estimator/imu_propagate -> rostopic echo /vins_fusion/imu_propagate
(还有一处在 第十一章 - 自动起飞)

第十一章 - Ego-Planner实验
roslaunch ego-planner single_run_in_exp.launch -> roslaunch ego_planner single_run_in_exp.launch

As your uploaded firmware i am unable to flash because its not for cube..Do you guys made some changes in the firmware parameters or i can just flash 1.11 default ones.

If you guys have changed some parameter please do mention.
Thankyou

麻烦问一下，如标题的问题。如果用pix32 v6，适配的话大致需要什么工作？

Segmentation fault in:
Fast-Drone-250/tree/master/src/realflight_modules/VINS-Fusion/vins_estimator/src/estimator)/parameters.cpp:
cv::FileStorage fsSettings(config_file, cv::FileStorage::READ);
answer:
https://stackoverflow.com/questions/66778367/segmentation-fault-when-loading-yml-file-with-cvfilestorage-in-ros

I try to follow the instructions to prepare for the environment. However, I found that libcxsparse3.1.2 doesn't exist (or cann't locate). So I changed to run sudo apt install libcxsparse3 and it works. Maybe this can help someone.

thank you very much for sharing this amazing project (and years of research) with the community
I see that pixhawk4 is sold out almost everywhere so I am wondering if there is any issue with the latest version of pixhawk 6C or CUAV? Indeed in this case, one have to use a difference release of PX4 such px4 fmu v6 for instance

请问有大负载飞机的硬件解决方案推荐嘛？比如能够挂载一个激光头的

你好，在ubuntu20.04配置vins时遇到opencv版本的问题，运行一直段错误，请问可以提供vins在20下的源码和配置步骤吗

自动起飞报错：[px4ctrl] Reject AUTO_TAKEOFF. If you have your RC connected, keep its switches at "auto hover" and "command control" states, and all sticks at the center, then takeoff again.
请教一下怎么办，通道没选择错误

很感激fastlab团队做出的贡献，最近也在结合你们的视频教程弄自己的东西，我用的是jetson AGX Xavier，CUAV V5+固件版本1.11，vins-fusion替换成了vins-fusion-gpu版本，运行时GPU有20%多的使用率。问题出现在运行vins之后再运行ego_planner，终端会出现报错
[drone_0_ego_planner_node-2] process has died [pid 935, exit code -11, cmd /home/hyy/catkin_ws/devel/lib/ego_planner/ego_planner_node ~odom_world:=/vins_fusion/imu_propagate ~planning/bspline:=/drone_0_planning/bspline ~planning/data_display:=/drone_0_planning/data_display ~planning/broadcast_bspline_from_planner:=/broadcast_bspline ~planning/broadcast_bspline_to_planner:=/broadcast_bspline ~grid_map/odom:=/vins_fusion/imu_propagate ~grid_map/cloud:=nouse2 ~grid_map/pose:=nouse1 ~grid_map/depth:=/camera/depth/image_rect_raw __name:=drone_0_ego_planner_node __log:=/home/hyy/.ros/log/aacab844-ce0c-11ed-89c8-3413e862af5c/drone_0_ego_planner_node-2.log].
log file: /home/hyy/.ros/log/aacab844-ce0c-11ed-89c8-3413e862af5c/drone_0_ego_planner_node-2*.log

单独运行ego的话并不会出现报错，或者先运行ego再运行vins，过了一段时间才会出现报错。想请问一下是什么原因？有什么解决办法吗？

erminate called after throwing an instance of 'cv::Exception'
what(): OpenCV(4.2.0) /home/wya/opencv4/opencv/modules/video/src/lkpyramid.cpp:1257: error: (-215:Assertion failed) maxLevel >= 0 && winSize.width > 2 && winSize.height > 2 in function 'calc'

[vins_fusion-1] process has died [pid 24975, exit code -6, cmd /home/wya/fastdrone/ego-planner-pure/devel/lib/vins/vins_node /home/wya/fastdrone/ego-planner-pure/src/realflight_modules/VINS-Fusion/vins_estimator/../config/fast_drone_250.yaml __name:=vins_fusion __log:=/home/wya/.ros/log/8a6bf5de-c968-11ed-b007-eb26846a03d9/vins_fusion-1.log].
log file: /home/wya/.ros/log/8a6bf5de-c968-11ed-b007-eb26846a03d9/vins_fusion-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete

Hi, I hope you are doing well as i can see here @

I can find horizen in some lines as in the link but in others says horizon referring I think to same thing , is it a errata?
https://github.com/ZJU-FAST-Lab/Fast-Drone-250/blob/7cbd67f2edb2aa02b88c1a368015a658cb449662/src/planner/plan_manage/src/ego_replan_fsm.cpp

飞机起飞时VINS里程计有一个较大的漂移，大概有十多厘米。
还有请问有什么办法可以获得飞机较为准确的距离地面的高度吗？

已经把整个项目跑起来了，但是遇到了一些问题，想咨询一下。

1.自主飞行项目中的vins使用的imu是飞控的imu，想咨询一下为什么不直接使用realsense的imu？

2.我在实机实验中，运行vins，发现vins特别容易漂，飞机自动起飞时候飞行不稳可能也与之有关。想问一下vins为什么会这么容易漂？

3.因为2中的问题，我尝试把项目中vins中接入的imu换成了realsense自带的imu，单独运行vins算法，发现没有那么容易漂了，但是在rviz中发现，它的坐标轴变动了，y轴变成垂直方向了，开了realsense-viewer才发现，realsense默认是y轴在垂直方向的，请问这是不是你们选择使用飞控imu的原因。

I think opening multiple terminals and remote desktops for flight testing is chaotic, so I write a web frontend for visualization and setting nav points (without even using a laptop).

https://github.com/zyayoung/ego-planer-web-control

你们好，请问可选购的三种飞控有什么使用上的区别吗？是否有更推荐的一种？
另一个问题是关于Xavier NX，官方套件就是核心板+底板，那么还需要再购买表中的NX载板吗？是否有什么不同？
谢谢！

您好，买了purchase_list里边链接的x7飞控，买到才发现其实是x7+。烧不进去给的固件，请问用px4 v1.12.3以后的固件可以吗？有哪里要修改的吗？
谢谢!

Hi , is there any possibility of publishing an English version as well ?

Thanks

Dear All,

As mentioned in a previous message, instead of a pixhawk 4 mini (no more available), I had to purchase a Pixhawk 6x mini.
In your READ.ME you mentioned that we have to use the v1.11.0 but this version does not support the Pixhawk 6x (starting with v1.12.0). So the question is can you tell us why the v1.13 is not suitable, and is it still not suitable with the new hardware?

Regarding the assembling, we have to set up the pixhawk "perpendicular" to the front face of the drone. Why do we have to do this? Because of VINS? Because when we are testing the drone with the pixhawk only and the AT9S PRO, if the pilot wants to go forward, the drone will move sideway

Thank you very much for answering the question and helping us to reproduce what you do in your lab!

见readme文件

1. gyroscope bias initial calibration -0.00056661 0.00100545 -0.000996476
   是一个警告，请问有影响吗？
   2.如下图，路径规划路线异常，无人机往所规划路径的方向飘（但机头不会朝着运动的方向，看起来似乎机头不会转动，因为正常情况下，机头总朝向运动方向），请问如何解决，谢谢。
   

roslaunch ego_planner single_run_in_exp.launch
... logging to /home/oem/.ros/log/9f347834-aeb9-11ed-927f-9304ded37c71/roslaunch-ihexa-53043.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ihexa:42275/

SUMMARY

PARAMETERS

• /drone_0_ego_planner_node/bspline/limit_acc: 2.0
• /drone_0_ego_planner_node/bspline/limit_ratio: 1.1
• /drone_0_ego_planner_node/bspline/limit_vel: 0.25
• /drone_0_ego_planner_node/fsm/emergency_time: 1.0
• /drone_0_ego_planner_node/fsm/fail_safe: True
• /drone_0_ego_planner_node/fsm/flight_type: 1
• /drone_0_ego_planner_node/fsm/planning_horizon: 6.0
• /drone_0_ego_planner_node/fsm/planning_horizon_time: 3.0
• /drone_0_ego_planner_node/fsm/realworld_experiment: True
• /drone_0_ego_planner_node/fsm/thresh_no_replan_meter: 1.0
• /drone_0_ego_planner_node/fsm/thresh_replan_time: 1.0
• /drone_0_ego_planner_node/fsm/waypoint0_x: 15.0
• /drone_0_ego_planner_node/fsm/waypoint0_y: 0.0
• /drone_0_ego_planner_node/fsm/waypoint0_z: 1.0
• /drone_0_ego_planner_node/fsm/waypoint1_x: 0.0
• /drone_0_ego_planner_node/fsm/waypoint1_y: 0.0
• /drone_0_ego_planner_node/fsm/waypoint1_z: 1.0
• /drone_0_ego_planner_node/fsm/waypoint2_x: 15.0
• /drone_0_ego_planner_node/fsm/waypoint2_y: 0.0
• /drone_0_ego_planner_node/fsm/waypoint2_z: 1.0
• /drone_0_ego_planner_node/fsm/waypoint3_x: 0.0
• /drone_0_ego_planner_node/fsm/waypoint3_y: 0.0
• /drone_0_ego_planner_node/fsm/waypoint3_z: 1.0
• /drone_0_ego_planner_node/fsm/waypoint4_x: 15.0
• /drone_0_ego_planner_node/fsm/waypoint4_y: 0.0
• /drone_0_ego_planner_node/fsm/waypoint4_z: 1.0
• /drone_0_ego_planner_node/fsm/waypoint_num: 1
• /drone_0_ego_planner_node/grid_map/cx: 162.2635345458984
• /drone_0_ego_planner_node/grid_map/cy: 117.3401031494141
• /drone_0_ego_planner_node/grid_map/depth_filter_margin: 2
• /drone_0_ego_planner_node/grid_map/depth_filter_maxdist: 5.0
• /drone_0_ego_planner_node/grid_map/depth_filter_mindist: 0.2
• /drone_0_ego_planner_node/grid_map/depth_filter_tolerance: 0.15
• /drone_0_ego_planner_node/grid_map/frame_id: world
• /drone_0_ego_planner_node/grid_map/fx: 307.8522033691406
• /drone_0_ego_planner_node/grid_map/fy: 310.60693359375
• /drone_0_ego_planner_node/grid_map/ground_height: -0.01
• /drone_0_ego_planner_node/grid_map/k_depth_scaling_factor: 1000.0
• /drone_0_ego_planner_node/grid_map/local_map_margin: 10
• /drone_0_ego_planner_node/grid_map/local_update_range_x: 5.5
• /drone_0_ego_planner_node/grid_map/local_update_range_y: 5.5
• /drone_0_ego_planner_node/grid_map/local_update_range_z: 4.5
• /drone_0_ego_planner_node/grid_map/map_size_x: 50
• /drone_0_ego_planner_node/grid_map/map_size_y: 50
• /drone_0_ego_planner_node/grid_map/map_size_z: 5.0
• /drone_0_ego_planner_node/grid_map/max_ray_length: 5.0
• /drone_0_ego_planner_node/grid_map/min_ray_length: 0.3
• /drone_0_ego_planner_node/grid_map/obstacles_inflation: 0.5
• /drone_0_ego_planner_node/grid_map/p_hit: 0.65
• /drone_0_ego_planner_node/grid_map/p_max: 0.9
• /drone_0_ego_planner_node/grid_map/p_min: 0.12
• /drone_0_ego_planner_node/grid_map/p_miss: 0.35
• /drone_0_ego_planner_node/grid_map/p_occ: 0.8
• /drone_0_ego_planner_node/grid_map/pose_type: 2
• /drone_0_ego_planner_node/grid_map/resolution: 0.2
• /drone_0_ego_planner_node/grid_map/show_occ_time: False
• /drone_0_ego_planner_node/grid_map/skip_pixel: 2
• /drone_0_ego_planner_node/grid_map/use_depth_filter: True
• /drone_0_ego_planner_node/grid_map/visualization_truncate_height: 1.8
• /drone_0_ego_planner_node/manager/control_points_distance: 0.4
• /drone_0_ego_planner_node/manager/drone_id: 0
• /drone_0_ego_planner_node/manager/feasibility_tolerance: 0.05
• /drone_0_ego_planner_node/manager/max_acc: 2.0
• /drone_0_ego_planner_node/manager/max_jerk: 4.0
• /drone_0_ego_planner_node/manager/max_vel: 0.25
• /drone_0_ego_planner_node/manager/planning_horizon: 6.0
• /drone_0_ego_planner_node/manager/use_distinctive_trajs: False
• /drone_0_ego_planner_node/optimization/dist0: 0.5
• /drone_0_ego_planner_node/optimization/lambda_collision: 0.5
• /drone_0_ego_planner_node/optimization/lambda_feasibility: 0.1
• /drone_0_ego_planner_node/optimization/lambda_fitness: 1.0
• /drone_0_ego_planner_node/optimization/lambda_smooth: 1.0
• /drone_0_ego_planner_node/optimization/max_acc: 2.0
• /drone_0_ego_planner_node/optimization/max_vel: 0.25
• /drone_0_ego_planner_node/optimization/swarm_clearance: 0.5
• /drone_0_ego_planner_node/prediction/lambda: 1.0
• /drone_0_ego_planner_node/prediction/obj_num: 10
• /drone_0_ego_planner_node/prediction/predict_rate: 1.0
• /drone_0_traj_server/traj_server/time_forward: 1.0
• /rosdistro: noetic
• /rosversion: 1.15.15

NODES
/
drone_0_ego_planner_node (ego_planner/ego_planner_node)
drone_0_traj_server (ego_planner/traj_server)

ROS_MASTER_URI=http://localhost:11311

process[drone_0_ego_planner_node-1]: started with pid [53178]
process[drone_0_traj_server-2]: started with pid [53179]
hit: 0.619039
miss: -0.619039
min log: -1.99243
max: 2.19722
thresh log: 1.38629
[FSM]: from INIT to WAIT_TARGET
[ WARN] [1676641698.037088225]: [Traj server]: ready.
[drone_0_ego_planner_node-1] process has died [pid 53178, exit code -11, cmd /home/oem/ihexa_ws/devel/lib/ego_planner/ego_planner_node ~odom_world:=/vins_fusion/imu_propagate ~planning/bspline:=/drone_0_planning/bspline ~planning/data_display:=/drone_0_planning/data_display ~planning/broadcast_bspline_from_planner:=/broadcast_bspline ~planning/broadcast_bspline_to_planner:=/broadcast_bspline ~grid_map/odom:=/vins_fusion/imu_propagate ~grid_map/cloud:=nouse2 ~grid_map/pose:=nouse1 ~grid_map/depth:=/camera/depth/image_rect_raw __name:=drone_0_ego_planner_node __log:=/home/oem/.ros/log/9f347834-aeb9-11ed-927f-9304ded37c71/drone_0_ego_planner_node-1.log].
log file: /home/oem/.ros/log/9f347834-aeb9-11ed-927f-9304ded37c71/drone_0_ego_planner_node-1*.log
^C[drone_0_traj_server-2] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

您好，想请教一下，平台使用Manifold 2C运行vins Fusion和ego planner或ego swarm时，有几个问题

1. 平台供电问题，我看manifold是15.2-27v宽压输入的，但是平台使用的是4s电池，处理器是怎么供电的呢，是通过电池直接供电还是通过稳压器，如果功率太大导致电压降到15.2v以下会不会导致处理器断电，问这个问题主要是想知道大佬你们是怎么平衡性能、功率和供电的。
2. 功率问题，处理器电源管理是否需要开到performance状态呢，我看高飞老师在ego planner里建议采用performance状态去保证系统不降频，但这样运行会导致处理器功率很高，如果电池容量只有2300mah，运行demo时，大佬你们一般能飞多久啊。
3. 现在manifold 2c停产了，nx的性能也不是那么理想，大佬你们有意向替换处理器么？

作者，您好，我使用v1.11.0的px4_fmu_v2的固件，找不到dshot_config参数，不能使用dshot协议电调。换成v1.13.0就能找到该参数。而您又提到v1.13有BUG，请问是致命性BUG吗？是否可以使用v1.13固件呢？谢谢

https://github.com/ZJU-FAST-Lab/Fast-Drone-250/blob/master/src/realflight_modules/px4ctrl/src/controller.cpp
从48行开始
Eigen::Quaterniond q = Eigen::AngleAxisd(des.yaw,Eigen::Vector3d::UnitZ())
* Eigen::AngleAxisd(pitch,Eigen::Vector3d::UnitY())
* Eigen::AngleAxisd(roll,Eigen::Vector3d::UnitX());
u.q = imu.q * odom.q.inverse() * q;
不明白为什么需要这样才能得到u.q
求大佬们指导

ARM rejected by PX4！
请问上面这个警告这是什么原因呢？