imu drone

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20179209 "Linux kernel Fundamentals and analysis" 11th Week work

Connect () scan is the default TCP scan: Nmap-st 192.168.1.0/24 UDP scan with-SU option, UDP scan sends empty (no data) UDP header to each destination port: Nmap-su 192.168.1.0/24 Scan host information (port): Probe open ports on the target host, you can specify a comma-delimited list of ports (such as-ps22,23,25,80): Nmap-ps 192.168.1.234 Semi-open scan: Nmap-ss 192.168.1.1 Full open scan: Nmap-st 192.168.1.1 UDP Scan: Nmap-su 192.168.1.1 Fin

[Turn] attitude calculation of four-rotor aircraft small knowledge points

1, Inertial measurement unit IMU (inertialmeasurement unit)Attitude Heading Reference System ahrs (attitude and Heading Reference systems)Geomagnetic angular velocity gravity marg (magnetic, Angular rate, and Gravity)MEMS (Micro electrical Mechanical systems)DOF Dimension DOF (Dimension of Freedom)Unmanned aerial Vehicle UAV (unmanned aerial Vehicle)Extended Kalman Filter EKF (Extended Kalman Filter)Lossless Kalman Filter UKF (unscented Kalman Filter)

[UVA] Pixhawk's Attitude Solution (4) _ Supplementary article

of the four-rotor aircraft, and the position control is based on the perfect attitude control. As already mentioned, it is unreliable to obtain the angle value only by gyroscope integral, because of the inherent drift of the gyroscope, the error caused by the integral becomes more and more large, and the accelerometer is susceptible to noise and vibration disturbance. Therefore, the two kinds of data are fused using various algorithms to obtain the ideal attitude data. The more common fusion al

HoloLens Development Notes-hardware details Hardware Detail

Microsoft HoloLens is the world's first holographic computer with completely wireless cables. By empowering users with a holographic experience in new ways, HoloLens redefined personal computing (Personal Computing). To pin the holographic graphics to the real world around you, HoloLens incorporates state-of-the-art optics and sensors.Equipment Specifications Device SpecificationsOptical components Holographic Mirror (waveguide) 2 x HD (HD) Light engines Automatic pupil distance

UKF filter resolution used in Google Open source slam software cartographer

  In the Google Open source SLAM software cartographer, the more complex, better-performing scan matching and UKF algorithm is used relative to SLAM for Dummies, where the cartographer algorithm used in UKF is briefly described.  (i) filter parameter settingconstexpr static Floattype Kalpha = 1e-3;constexpr static Floattype Kkappa = 0.;constexpr static Floattype Kbeta = 2.;constexpr static Floattype Klambda = SQR (kalpha) * (n + kkappa)-N;constexpr static Floattype kMeanWeight0 = KLAMBDA/(N + KL

ROS (Indigo) robotic operating systems learn interesting and rich gazebo simulation examples Evarobot

/cmd_vel/gazebo/link_states/gazebo/model_states/gazebo/parameter_descriptions/gazebo/parameter_updates/gazebo/sensor/bumper/gazebo/set_link_state/gazebo/set_model_state/imu/ir0/ir0/parameter_descriptions/ir0/parameter_updates/ir1/ir1/parameter_descriptions/ir1/parameter_updates/ir2/ir2/parameter_descriptions/ir2/parameter_updates/ir3/ir3/parameter_descriptions/ir3/parameter_updates/joint_states/lidar/odom/rosout/rosout_agg/sonar0/sonar0/parameter_desc

The method of increasing sonar height by MWC flight control

, returns COS * (1 //When x approaches zero, cos (x) = 1-x ^ 2/2, X was in radians// https://en.wikipedia.org/wiki/Small-angle_approximation//rad = deg/180 * PIint32_t _cos10 (int16_t x) {//x within [ -1800, 1800]int32_t radtemp = (int32_t) x * the;//rad = x * ((pi/1800) int32_t rad = Radtemp >>6;//rad ^ 2 within [ -657922500, 657922500]int32_t COS20= ((uint32_t)1 -)-((RAD * rad) >>1); int32_t result= Cos20 >>Ten; returnresult;}The algorithm used is similar to the MWC

In-depth understanding of graph optimization and G2O: Graph optimization

equation is: \[\begin{equation} z = C (R \mathbf{x} + t) \end{equation} \] $C $ for camera internal, $R, t$ for rotation and pan.These examples are intended to give the reader a better understanding of what vertices and edges are. Since robots may use a variety of sensors, we do not limit the appearance of vertices and edges after parameterization. For example, I (in the Turnip body) with the addition of laser, also with the camera, but also with the IMU

Summary of discount stores of different brands in Beijing

development zone has its discount center store, which is 2-6 folds and the new version is 6 folds. It seems that the new model can be reserved. After half a month, the product can be purchased at a rate of. This is probably the case (which of the following can be detailed) Metersbonwe: There is a metersbonwe near the east gate of Tsinghua Park, the third floor perennial special offerThe third floor of the MB building on Wangfujing Street is also a sale. The pants are less than 100, the T30 yuan

Linux & ROS Common Command collation

Feel some tools even simple also always forget, right when this is Notepad, Doodle.Linux:Ros:1) Ros View topic of image typesRosrun Image_view Image_view image:=/imagetopic this inside: = actually change the meaning of its built-in topic name2) Ros View topic contentFor example, I have a topic named/ardrone/imu,Rostopic Echo/ardrone/imu3) RQTSometimes it is necessary to display the content of the topic in a curved way, RQT is a good way to enter direc

Oracle Basic Data Change principle analysis (redo and undo)--oracle Core Technology reading notes one

, the next statement waits for 5,6s to execute, and the checkpoint only tells Oracle to write dirty data to disk, which takes a little time)Pause Query The IMU structures now (@core_imu_01. sql)Alter system checkpoint;--a checkpoint that writes data to diskExecute dump_seg (' t1 ') Execute Dump_undo_block10. Dump Redo BlockRollback;commit;execute Dump_log11. Locate the Dump information file locationSelect Sid from V$mystat where rownum=1;--query resul

Mongodb-introduction to MongoDB, Databases and collections

Tags: when ... tar explicit IMU one database following BSPMongoDB stores BSON documents, i.e. data records, in collections; The collections in databases. DatabasesIn MongoDB, databases hold collections of documents. To select a database to use, in the MONGO Shell, issue the use statement, as in the following Example Use MyDBCreate a DatabaseIf A database does not exist, MongoDB creates the database when you first store data for that database. As suc

Oracle 12.1 CPU 100%

Tags: dba SSI lin arguments OMS imu VPD Eve textView overall loadCPU usage is high; Basically the overall CPU is over 80%; At this time: physical reading 600mb/s,redo is not too high;All for latch free, usually bug-proneCheck related SQL Basic for System SQL:4B4WP0A8DVKF0,11BZV8FM87ZVR,3UQKKFU1CRW8Y,FRJD8ZFY2JFDQ,8MDZ49ZKAJHW3Related bugs:1 frequent execution of Recursive Sql Metrics Collector sql_id "FRJD8ZFY2JFDQ" in 12.1.0.2 (Doc ID 2059121.1)Alte

Kali Linux Cewl

CEWL Create a password dictionary by crawling Web sites for critical information.Target drone OWSAHost Kali Linux 32-bitOfficial website: http://digi.ninja/projects/cewl.phpYou can use--help to view HelpThe host commands are as follows:CEWL 192.168.191.139-m 3-e-c-v-W a.txt (1.1.1.1 can be the IP address of the destination website, or it can be a URL)-M: Minimum word length-D: Crawl Depth-e: Collect contains Emali address information-C: Number of occu

Linux Magic Yum

directory.You can add multiple options after the URL, such as Gpgcheck,exclude,failovermethod, etc.Such as[Updates-released]Name=fedora Core $releasever-$basharch-released Updatesbaseurl=http://downloadatrpms.net/mirrors/fedoracore/updates/$releasever/$bashurlhttp://redhat.linux.ee/pub/fedora/linux/core/updates/$releasever/$bashurlhttp://fr2.rpmfind.net/linux/fedora/core/updates/$releasever/$basharchGpgcheck=1Exclude=gaimFailovermethod=priorityWhere the meaning of gpgcheck,exclude is the same a

UVa 10182 Bee Maja: Rule &o (1) algorithm

10182-bee Maja Time limit:3.000 seconds Http://uva.onlinejudge.org/index.php?option=com_onlinejudgeItemid=8category=24page=show_problem problem=1123 Maja is a bee. She lives in a bee hive with thousands of the other bees. This bee hive consists of many hexagonal honey combs where the honey are stored in. But Bee Maja has a problem. Willi told her where she can meet him, but because, Willi are a male drone and Maja is a female worker they have diffe

Introduction to Eve Mining system

: 1. Pick the mines you want to dig: When you come to the asteroid belt and you are ready to dig, you can select the triangle arrows in the general View window and turn the ' load default ' to ' mining so that you can show the names and distances of all the mines in the window below. You can see that there are so many kinds of mines here, there are high and low level, in order to observe the need, we need to remove the mine from the window. At this point we can right-click on those

ICMP bounce backdoor under Linux: PRISM

The ping-based ICMP backdoor that was inadvertently seen while searching. So to the author's GitHub to see, incredibly is engraved, in order to level, can only endure to see, the student dog hurt. Fortunately it's easier to understand, as the introduction says: "PRISM is a user space stealth reverse shell backdoor, written in pure C."Project address:https://github.com/andreafabrizi/prismPrism has only two main files, simple configuration, can be run on Linux,Solaris,AIX,bsd/mac,Android and man

Introduction to Arkit and Arcore concepts

processor A9 and above can be used, apple from the iphone6s start using A9 processor, That is, IPhone6 and previous models cannot be used Arkit 5. Introduction to Development environment1.Xcode version: Xcode9 and above 2.iOS system: iOS11 and above 3.iOS equipment: Processor A9 and above (6S model and above) 4.MacOS system: 10.12.4 and above (install Xcode9 to Mac system version is required) Currently only bete version, link address: https://developer.apple.com/download/ the working principle

Marry a programmer when married

, why ah, the programmer can afford it.There is a question on the water and wood. "Why is it so low?" "User God reply" There is a place, called the programmer can not get to the place. ” Of course, programmers are not so keen on buying a house, the house price is the programmer's wife or programmer's mother buy high, not related to the programmer. What programmers love to buy. Nature is different. Others buy Land Rover to buy BMW, they buy Tesla. Other people buy Lego for their kids, they buy

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