大家好 Hi,everyone
我叫Joe Barnard My name is Joe Barnard.
你必须原谅网络摄像头的质量 You'll have to forgive the webcam quality here,
但我想你们会喜欢的 but I think you're going to enjoy this.
在上个视频中 In the last video,
我向你们请求了我应该使用什么地面控制软件 I requested suggestions on what ground control software I should use.
我看了几个不同的软件 I mentioned that I was looking at a couple of different ones and after looking at a bunch of them,
包括Gruffanuff和Matt plot live.这些都是很受欢迎的选择 including Gruffanuff and Matt plot live all of these really popular options.
我决定自己制作（地面控制软件） I decided screw it.
如果你想把事情做好， If you want something done right,
你必须自己去做 you have to do it yourself.
所以我这么做了 So that's what I did.
我做了这个软件 I built this ground control software in processing,
这（指SPRITE）是JAVA的一个变体版本编写的 which is sort of a veiled version of Java,
我并不熟悉这个 which I am not a fan of,
但现在已经完成了 but it's done now.
所以让我们来看看 so let's walk through what this is,
这个地面控制软件能做什么 what this ground control software can do,
在我们开始之前 and then before we get started,
这是你现在看到的Sprite的实时视图 this is a live view of Sprite that you're seeing right now.
我的车库里有个照相机 I've got a camera in my garage.
希望 Hopefully,
里面麦克风的回声还不错， the echo isn't too bad from the microphone in there,
但是我们是实时的在控制Sprite but we are live,controlling Sprite
这是实时数据 and this is live data that streaming in.
所以我们要通过地面控制软件 so we're going to go through the ground control software,
然后展示他能干什么 What it can do and then demonstrate that a little bit.
我想说的第一件事是 你现在不应该相信这些数据 the first thing I want to mention is that you shouldn't trust almost any of this data right now.
飞船没有运行任何接近实际飞行软件的东西 The craft is not running anything close to the actual flight software,
这意味着很多离子会过滤很多的校准，对于陀螺仪， so that means lots of the ion s filtering lots of the calibration.For the gyros,
你会注意到我们在这些高度上有很多稳态误差 you'll notice that we have lots of steady state error on those altitude in position is changing.
有点疯狂 kind of wildly.
但别太担心 Don't worry about it too much.
一旦我们在这个软件中加入了更好的过滤和其他很多东西 很多东西就会改变 A lot of this stuff is going to change once we incorporate better filtering and just a whole lot of other things into this software.
所以我们现在回到主题 So what we're thinking about today,
我们现在关注的是地面控制站 what we're focusing on is the ground control station.
从左下角开始 Starting in the bottom left,
我们得到了X和Y的速度 we've got our X and Y velocity.
这些是整体的变化数值 These are global values.
显然 Obviously,
我们并没有移动 we're not moving a whole lot,
但是我们在大约10秒的时间里画出了X和Y的速度。 but we've got our XY velocity plotted over the course of about ten seconds.
我们获得了XY位置和我们的高度 We've got our X Y position our altitude.
你们会注意到的一件事是在这个位置有四个信号 两个在高度 and one of the things that you'll notice with these is that there are actually four signals in the position and two in the altitude,
这并不是说它们有了两个不同的高度 And that's not to say that were occupying two different altitudes.
但是其中一个信号是一个集合点，橙色是一个集合点，这是我们的目标高度， But one of these signals is a set point ,The orange is a set point that's sort of what we're targeting for altitude,
然后绿色是实际的高度 and then the green is the measured altitude and again,
不要相信数据 don't trust the data.
这并不理想 It's not ideal.
忘了假装我们正在像这样上升 Just just forget pretend we're actually ascending like this.
你会注意到身体朝向-X的相同之处 You'll notice the same thing with the body orientation X,
Y和z Y and Z.
我们有一个橙色和绿色的信号 We have an orange and green signal.
绿色是来自惯性测量单元的测量信号 The green is the measured signal from the IMF or the IMF.
橙色是设置点 and the orange is the set point.
举个例子 如果你想让你的飞行器飞到右边 An example of this is if you wanted to send your craft to the right.
如果你想要开始向右移动 if you wanted to start moving to the right,
你实际上想让你的设置点不是完全垂直的0度 you'd actually want your set point to not be zero degrees perfectly upright,
你需要一个设定点， you'd want a sort of put that set point over,
然后你可以把你的飞行器送到右边 and then you could send your degree your craft to the right.
这还只是一个非常简化的版本 This is a very simplified version.
还有 Also,
你有这个向量 you've got the vector.
现在我又成了你的陀螺仪。 Now I am your gyros again.
这是他们为这个项目寄来的VN300(?)。 There's the VN300 that they sent for the project.
这些是陀螺仪 Now these are the gyros.
和这个稳态误差 With that steady state error,
不用管它 Don't worry about it,
然后还有加速计 and then the accelerometers as well,
现在看起来很平滑 在右上方我们有我们的时间 which are looking pretty smooth right now over on the top right We have our times,
所以我可能会在这上面美化一下标题 so I'll probably spruce up the title on this a little bit,
但是我们有了本地时间 but we've got cl t current local time.
我在中部时间 I'm in central time.
这就是为什么你在那里看到了CT(美国中部时间)，和VOT载具时间 That's why you see C T there,VOT Vehicle on time,
所以这个载具已经开了17分30秒。 so the vehicle has been powered on for seventeen minutes thirty four seconds.
GCT是地面控制时间 地面控制窗口。 GCT is ground control time the ground control window.
这个程序已经启动了18分钟57秒 This this program has been active for eighteen minutes,fifty seven seconds
然后是麻省理工学院 and then MIT or Massachusetts Institute of Technology
这是最后一次，来自麻省理工学院的人，在任何事情上犯了一个错误， This is a tracking number of the last time that anyone from MIT,made a mistake on anything,
你会注意到在0处 so you'll notice at zero.
这是一个愚蠢的笑话 It's a dumb joke,
这很愚蠢 it's stupid.
不要假装我没有那样说 Don't just pretend I didn't say that.
MIT是任务时间 MIT is mission time.
这就是飞行器在空中飞行的时间或者飞行或者执行飞行计划的时间 so that's how long the craft has been in the air or flying or executing a a flight plan their mission plan.
我们会在视频中看到这一点 So we'll see that move up a little bit later on in the video,
TBC是很明显的 TBC is pretty obvious.
这就是推力矢量控制 that's the thrust vector control.
伺服是我们在看每一个伺服器的方向 Servo is we're looking at the orientation of each servo right here,
所以X+x-y+y-z So X Plus X minus y plus Y minus Z?
C是作用中的组件 C is the role component.
TBC Servos的Z分量 The Z component of the TBC Servos
坦白地说，我不记得G P代表什么了， and frankly,I don't remember what G P stands for,
所以我必须 so I will have to.
你看 我说软件已经完成了 Look at that I did say the software was done,
但这里还有很多工作要做 but there is still plenty to work on here.
很多东西都是不完美的 A lot of this stuff is just imperfect.
现在 Right now.
你的油门在这里 You have your throttle down here.
这是不言自明的 This is pretty self explanatory.
现在我们的油门处于0 We have zero throttle right now.
我们不会让螺旋桨做任何事 we're not telling the fan to do anything,
最后 and then finally,
在右下角 in the bottom right,
你有原始的遥测数据 you've got raw telemetry,
这是T端 so this is T end.
这就是那个时间 That's that's that time up.
我们已经讲了18分钟了 There we've been on for eighteen minutes.
零时 Zero hours,
T M是任务时间，陀螺仪，加速计 T M is mission time. gyroscopes, accelerometers
在VX上， On VX,
PX， PX,
X的V是载具的方向， V of X is in order orientation of the vehicle,
位置和速度 position and velocity.
就像我们之前提到过的那些图旁边的这些值都是我们的载具定位 And then just like we mentioned for those plots next to each one of these values for vieques that's our vehicle orientation.
在X中 我们有一个X设置点的车辆方向 In the X we have a vehicle orientation of the X set points.
这就是vXs So that's vXs
所有这些都是零 All of these are zero right now,
但是当我们在飞行的时候 but when we're flying,
当飞船试图飞行时 它们开始变得可用起来 they start to become active when the craft tries to navigate,
然后向下移动 then just moving down.
gFx是GPS定位。 gFx is the GPS fix.
还有很多关于气压计的信息 There's a bunch of other information about you know barometer stuff.
这是激光雷达 有很多东西 There's the lidar there's a bunch of things.
我错过了这个面板 I missed this panel here.
我们处于闲置状态 We're in the ground idle state
这实际上是一种改变这种显示方式的东西 显示它正在干什么 这是用颜色代码做的事情 This is actually something that changes this display sort of what the craft is doing with a color code to it.
它不是一个特定的颜色代码 It's not a specific color code,
但它确实改变了颜色 but it does change color.
这是我最喜欢的部分 That's kind of my favorite part of this.
航空电子设备 The avionics,
电池 battery,
螺旋桨推进装置 propeller propulsion,
电池系统状态是我们追踪的东西因为它在我们使用推进剂时确实发生了变化。 battery system state the mass is something that we do track because it does change as we spend propellant.
它不是 It is not,
然而 however,
状态矢量的状态 a state in our state vector,
所以我们只是在跟踪这个过程 so we just track that in sort of keep track of that,
VN the VN
是载具的温度 17度 I am your temperature seventeen see,
外面的温度比兽医（？）要冷一点。 it's a little bit colder outside than it is inside the veterinary(?).
就像你 这是有道理的 因为它现在很努力在运作 I am you which makes sense because it's working pretty hard now.
这是我们在dvm的信号强度 This is our signal strength in dvm,
我们现在的遥测速率大约是4或5赫兹 we also have our telemetry rate right now we're receiving at roughly four or five hertz,
RTL Delta是每个有意义的包之间的时间， and then RTL Delta is the time in between each packet that gets sense,
位置不确定性， position uncertainty,
速度不确定性 velocity uncertainty,
GPS卫星所有这些都是不言自明的。 GPS satellites all of those are kind of self explanatory.
在我还没有展示的最后一件事上 In the last thing that I have not yet shown,
你是这个 我只是用一个开放的 是的 you is this I'm just use an open yes,
现在 right now,
但这是中间的部分 but this is what's in the middle.
顺便说一下 By the way,
这是如果我把这个放回去 this is the if I put this back here,
这就是我们要如何直播所有的测试的方法 and this is sort of how we're going to stream all of the tests.
这就是它将会出现在Youtube上的样子 This is what it's going to look like coming onto Youtube,
因此 当我们测试这些数据时 每个人都可以访问所有的数据 so everyone is going to get access to all of the data live as we test this stuff.
当我为测试做实时直播时 When I do live streams for tests,
看到所有这些东西都在改变，这将是非常酷的。 it's going to be really really cool to see all of these things changing.
就像你可以在中间看到飞船一样 Live as you can view the craft in the middle.
好的 Okay,
这些都是控制按钮 so these are are just control buttons right now.
我有很多这样的东西 I have a bunch of these things.
有些是有用处的，有些则不然。 there's sort of some of make sense some do not.
我们将继续证明这是可行的 we'll go ahead and demonstrate that this does work.
我把风扇设为60% 我要切回车库 I'll set the fan to sixty per cent idle and I'm going to go ahead and put the garage back up.
这将使螺旋桨从空闲到转速百分之60 There will set the fan to sixty per cent idol.
（你会看到）在这里，你会看到地面。(螺旋桨)闲置。 (You'll see the)Over here you'll see the ground idle.
状态改变启动 State changes to propulsion start up.
你可能会看到一些陀螺仪的运动和一些其他的东西 You'll probably see some gyroscope movement and a few other things.
我们继续做下去 So we'll go ahead and do that.
在做这些之前 我想做的另一件事是 我将向你们展示这些设置的发射站点命令 The other thing I want to do just before we do any of that is I'll show you these set launch site Command.
所以这个是0 So this is going to zero out.
我们所有的态度和位置数据 all of our attitude and position data again.
再一次，不要太相信这些数据。 Again don't trust the values too much.
但是 But.
好了 There we go,
你可以看到我们的位置和高度都是0了， you can see our position in our attitude have all zeroed out,
当然 也有疯狂的变化 and then of course there are drifting like crazy,
因为再次 because again,
不要相信数据 don't trust the data,
所以我们要把螺旋桨从闲置到百分之60 so we're going to have the fan to a sixty percent idle right here.
五 In five,
四 four,
三 three,
两个风扇开着 two one fan on.
一 One
螺旋桨启动 Fan on
我很快就看到了一些事情 I see a couple of things real quick.
节流阀升到60 The throttle went up to sixty.
惯性测量单元肯定看到了加速计看到了它 The imu Gyros definitely saw that the accelerometers saw it.
我们可以在这里再做一次 We could do it again here,
以防万一你想再看一遍因为我觉得这很酷 just in case you wanted to see that again because I think it's really cool.
我想说的另一件事是我在情节中建立的自动缩放功能 我们会讲到 The other thing I want to call out is the auto scaling function that I built into the plot's we'll talk about.
稍晚一点再讲 The plot is a little bit later,
但所有这些都是自动改变范围的 but all of these plots auto scale.
它并不完美 It's not perfect.
你会看到的 You'll see.
这需要很长一段时间才能将大小缩小到零 This is taking a kind of a long time to auto scale back down to zero,
但与此同时 but in the meantime,
让我们继续 把节流阀再次变成百分之60 let's go ahead and do a sixty percent idle again.
三 二 一。 Three two one.
是的 Yeah.
所以在Sprite开发的过程中 一切都很顺利 So things are going really well with Sprite development.
建造这样的东西需要很长时间 it takes a long time to build something like this,
我知道它看起来已经准备好了 and I know it looks like it's ready to fly,
但我保证我们还有很多工作要做 but I promise we still have a lot of work to do so.
我在推特上问了四个问题 I asked four questions on Twitter,
我想如果我们看一下其中的几个 看看我是否能回答一些人们可能会问的问题关于Sprite的情况以及会发生什么 and I thought it would be cool if we went through a couple of those to see if I could answer some of the questions that people might have about what's going on with Sprite and what happens with this.
哦 Oh,
在我们开始之前 and also before we get started,
我想再强调一次 I want to call one more attention,
只关注一件事 more attention to just one thing.
当我再次将螺旋桨关闭时 when I idle the fan again,
看看MIT watch that MIT.
这基本上是说， That's basically the Craft saying,
好了 Alright,
该走了 it's time to go.
我们开始了任务。 We're starting the mission.
说任务时间开始上升 said the MIT start to go up.
所以 三 二 一 So here we go three to one.
当我们回到地面的时候， when we go back down to the ground,
回到空闲状态 任务时间被归零 idle state That mission time gets zeroed out,
好了 so OK,
这是地面控制 that is the ground control.
让我们看一看Twitter 看看我能不能回答几个问题 而我们有实时数据 Let's take a look at Twitter and see if I can answer a couple of questions while we have this live data coming up.
好的 OK,
所以darien对代码很感兴趣 so someone darien was interested in code stuff,
语言 languages,
库和框架 libraries and frameworks.
所有这些都是令人敬畏的darien，谢谢你的问题。 All that stuff would be awesome darien and thanks for the question.
让我们看一看 let's take a look at that.
这是我在这里得到的Sprite地面控制软件 So this is the Sprite ground control software that I've got right here.
这是非常混乱的 It is very messy.
让我告诉你它是什么样子的 Let me just tell you what it's like,
糟透了 awful.
这是我写过的最糟糕的代码 It's some of the worst code I've written.
我真的不喜欢使用Java编程 I really don't like working in Java,
所以我想 and so I've like.
出于恶意 Out of spite,
我做了一个不好的评论 I have done a bad job commenting.
我不知道这在这里没有什么意义 I don't know it doesn't make a whole lot of sense here,
但是我在处理两个主要的库是处理的两个主要的现有资源。 but I'm working with two Major libraries are two major existing resources in processing.
第一个是控制P5 The first one is control P five controlled.
控制P 5是很棒的。 Control P five is awesome.
我将把它链接到下面 I will link it down below.
控制P5是让我有了这些漂亮的按钮就像你知道的 Control P five is what allows me to have these fancy buttons that sort of like you know,
当我点击其中一个 when I click one of these things.
这不会做任何事情 因为它现在没有连接起来 This won't do anything because it's not linked up right now.
当我点击它的时候 它有不同的外观 When I click like it has a different look,
我可以改变颜色和面板 I can change the color and the panel.
这很简单 It's all very easy,
所以我真的 so I really,
我真的很喜欢 I really like that,
我使用的另一件事是一个叫做基本实时绘图仪的实例 and then the other thing that I used is it's an example called Basic Real Time Plotter
我现在就打开它 I'll go ahead and open that right now.
这是一个基本的实时绘图例子 So this is the basic real time Plotter example.
我建造的大部分建筑都是靠这个建造的 Most of what I built is built off of this.
如果我在这里运行这个 If I run this right here,
你会发现它其实是一团乱麻 你可以看到这里的一些相似之处 you'll see it actually is just it's kind of a mess and you can see some of the similarities here,
但是所有的联系都是 不好意思， but all link both Excuse me,
一个链接post控制P 5和实时绘图仪，实际上， a link post control P five and the real time plotter down there it actually,
这是一个很好的资源 可以从几个不同的地方开始 我改变了我在现实生活中经常使用的东西 it's been a great resource to get started with a couple of differences that I changed the thing I had mostly used from the real time.
绘图仪只是基本的绘图功能 Plotter was just the basic plotting function.
我改变了一些东西 I changed a couple of things,
这里有一个样本 so there's a sample based.
我改变了主意 以时间为基础 I changed my mind to be time based.
你会看到一切都在几秒钟内 You'll see everything is in seconds.
它不是完美的 It's not perfect like that,
但它非常接近 but it's pretty close.
它在哪里 Where is it here?
好了，还有一些很酷的条形图，你可以这样做。 There we go and there are also cool bar charts that you can do.
你可以看到 它们并没有真正的活动缩放和它们的例子 You can see that they don't really have active scaling going on and their example.
所以我转过身 So I turned,
我写了一个关于这个的小函数 I wrote a little function for that with mine anyway,
这是我真正喜欢的两件事 those are the two things that I really liked.
他的基本实时 His basic realtime,
绘图和控制P 5 plotter and control P five,
这两个库帮助我开始的很好，继续向下看。 both of those libraries helped me get started really well. moving down here.
你用什么语言和软件来写它 What language and software did you use to write it?
所以 So,
史蒂夫麦金塔电脑 Steve Macintosh,
你最引以为傲的是什么 What small thing are you most proud of,
如果你再做一次 and if you were to do it over again,
你会怎么做呢 what would you do differently so again,
这是在编程 this is in processing,
这有点像桌面版的树莓派 which is kind of like Arduino for desktop apps.
这是一个奇怪的解释 That's a weird explanation for it,
但是 but yeah,
这是在编程 this is in processing.
我认为我最准备的是 I think the thing I'm most preparative,
这很荒谬 因为它最简单的就是地面的闲置状态 which is ridiculous because of how simple it is is the ground idle state,
这个 and this,
这种变化你知道 this changes you know.
当我切换到螺旋桨空闲的时候 When I switch to the fan Idol.
我就是喜欢它 I just love that it like,
我喜欢它能改变颜色 I love that it changes color.
这很简单 It was so simple to do,
但这是我最引以为傲的 but that's what I'm most proud of.
然后如果我再做一次 and then if I were to do it over again,
我该怎么做呢 what would I do differently?
我不知道我是不是确实对它的结果很满意 I don't know I actually am pretty happy with where it came out.
没花那么长时间 It didn't take that long.
我可能已经花了大约一个半星期的时间来完成这个项目 I've probably invested about a week and a half into this total from having nothing to having this,
但事实并非如此 and it wasn't.
还没那么糟 It's not that bad.
一旦你想要开始进入它 Once you want to start getting into it.
好的 OK,
让我们再回答几个问题 let's do a couple more questions.
所以在飞行器上的遥测负荷会把它（MIT）打开 So in terms of the telemetry load on the vehicle will just turn this back on.
所以现在我要把数据发送到离飞行器大约4到5赫兹的地方 So right now I'm I'm sending data out at about four or five hertz from the vehicle.
我想我的目标是5赫兹 I think I'm just targeting five,
但这并不理想 就像现在的设置不完美一样 but it is not ideal like the setup is not perfect right now.
所有这些都是在XP电台上的ascii文本 All of it comes out as ascii text over the XP radio,
尽管我的波特率很高 and even though I have the baud rate pretty high,
我要对我想要的数据进行排序 and I'm sort of prioritizing what data that I want,
我想要什么数据 what data I want,
我不是 I am not.
我不太担心 因为每次传输的时间只有几毫秒 I am a not too worried about it because it's only a couple of milliseconds for each transmission,
我只是每秒传输五次 and I'm only doing five transmissions a second
二因为这位经验丰富的厨师， and B because of how the veteran chef,
我是新作品 I am new works,
实际上，我不需要让时钟速度在飞船上达到超高的水平， I actually don't need to have the clock speed Be super high on the craft,
所以ascii文本很容易处理 so ascii text is really simple to work with.
我就说：太好了，这是不重要的。 and I was just like:Great,That's a non essential thing.
这种遥测技术是不重要的 This telemetry is non essential.
我们只需要使用ascii文本 we're going to just do use ascii text,
我认为如果你要用正确的方法 I think if you were going to do this the right way,
你会使用二进制 你会用各种各样的东西来填满它 you'd use binary and you'd fill it with check sums in all sorts of things.
但这是使用ascii的风险 But this is the risk on using the ascii,
德州的情况很低 Texas is pretty low here,
Dom问道 Dom asks.
你把安全的东西放在任何开关上了吗 Have you put safety lashes on any switches?
如果没有 If not,
当我们回到网络摄像头的时候 你应该再问一个好问题 you should so damn good question again I am using when we just turned back to the webcam here.
我使用的这个控制盒是很久以前制作的 用来将数据传输到飞行器上 I am using this control box that I built a long time ago to actually transmit the data to the craft.
现在这个盒子上有一些开关 我想的是什么 Now the box does have a few switches on it and what I'm thinking of.
我还没做过这个 I haven't done this yet,
但我想补充的是 能够连续按下一两个按钮 作为启动或中止飞行的一个手臂和火按钮 But what I'm thinking of adding is the ability to press one or two of these buttons in succession as sort of an arm and fire button for either launching or aborting the flight.
这让我回到了这里的展示 So that actually brings me to back to the display here.
让我们看一看 Let's just take a look at that.
我想解释一下在控制面板中所有的这些东西 I want to explain what all of these things are down here in the control panel,
所以自动发射很简单 so auto launch is pretty simple.
这基本上就是你如何让飞行器起飞的 This is basically how you get the craft to lift off.
你会看到它显然没有被配置好 You'll see it's obviously not configured right now.
很多这样的东西都没有连接起来。风扇60%的空闲只是一种奇妙的回到地面的状态。 A lot of these things are just not hooked up. fan sixty percent on idle is just a fantastic go back to the ground idle.
这就是我们现在所处的状况 That's what we're in right now.
我在校准陀螺的工作 I'm calibrating the gyros works.
现在还不完善 It's not perfected right now,
如果我这么做了 so if I do it,
你会看到的 you'll see.
我们看到 它们的误差会变得更低 There we go see the steady state on them gets gets much lower,
但它显然不是完美的 but it's obviously not perfect,
所以仍然有一些工作要做 然后校准加速度计是一样的 so there's still some work to do there and then calibrated the accelerometers is the same type of thing.
燃烧后的点火只是点燃导火索的手动触发器 Afterburner ignition is just a manual trigger of the ignite,
或者是afterburner，设置发射地点也很酷。 or for the afterburner. set launch site is pretty cool too.
你会注意到 所有这些东西都在漂移 You'll notice that you know all these things are drifting.
惯性测量单元现在真的在挣扎 the ins is really struggling right now,
但所有这些都在漂移 but all of these things are drifting.
如果我设置发射地点 So if I set the launch site.
它会把所有东西都归零 然后设置我们的发射地点 It'll it'll zero out everything and then set our launch site.
是的 Yeah,
只是现在不要相信这个位置 just don't trust the position right now.
我们的着陆点在燃烧后 We've got us at landing site after burn off.
现在这两个中止是很有趣的 Now these two aborts are pretty interesting.
我把这个东西移过来一点 这样你们就能看到了 I'll just move thee the thing over a little bit so you can see it.
中止到发射地点是很容易理解的 Abort to launch site is pretty easy to understand.
也就是8年或更短的时间（这段真听不清） that's just eight years or less.
如果你熟悉航天飞机时代 If you're familiar with the shuttle era,
这就是我们要做的 that's just take the craft.
尽快将它发送回发射地点 send it back to the launch site as quickly as you can abort.
主板是目前在空中的任何东西 Director board is whatever is currently below the craft in the air.
这就是我们着陆的地方 That's where we're landing.
这是一种紧急的导入 最后冻结悬停只是一个完整的位置它就像它听起来的那样 That's sort of an emergency import and then finally freeze hover is just a whole position that just does exactly what it sounds like.
它只是保持这个位置 It just holds the position anyway,
这就是Sprite地面控制 so that is Sprite ground control.
这就是我现在所拥有的一切 That's all I have for you right now.
非常快 Real quick.
我在拍摄的时候忘记把这个放在视频里了 I forgot to put this in the video while I was filming.
现在我们来讨论一下 So let's cover it now.
在bp的不和中 Nathan和eyeNathan有一个三维可视化 There is a three D visualization that Nathan and eye Nathan's in the Bps discord.
但是我们一直在研究这个所以我们可以利用实时数据来定位和速度方向 But we've been working on this so that we can take the live data for position and velocity orientation,
然后通过统一将其发送到三维可视化中 and then send it into a three D visualization through unity.
我只是想快速演示一下 再一次感谢Nathan的工作 So I just wanted to demo that really quick and once again a huge thanks to Nathan for working on this.
让我们看一看 So let's take a look.
所有这些都发生在程序和Unity中 All of it happens through both processing and unity,
他们将使用一个套接字来同时连接到程序和Unity and they were going to use a socket to actually connect to the both processing and unity at the same time.
但就像我给他的一些样本数据一样 but just as a test right now with some sample data that I gave him.
这是一个统一的可视化 here is a visualization with unity,
我要把它设成一个合理的大小 然后播放它 and I'll go ahead and just make this a reasonable size here and then play it.
好了 So here we go.
这是现场直播 This is a live.
这就是Sprite直播时的样子 This is what it's going to look like live with Sprite.
所以数据不是特别高 So the data isn't super high.
解决方案需要做一些 Resolution will need to do some.
我认为在框架之间进行插值 I think interpolation between frames,
但是你可以看到这里发生了什么 but you can sort of see what's going on here.
这很酷 It's pretty cool.
飞船在四处移动 The craft is moving around.
这是我通过遥测和记录得到的实际数据然后发送给他然后通过一个csp进行播放 This is actual data that I got through telemetry and recorded and then sent to him and were playing it back through a csp right now.
我试着在两个不同轴的轴上旋转飞行器 I'm trying to rotate the craft on a couple of different axis axes,
你又看到了 and you see it again.
这很明显不是完美的 但是在研究它 It's like it's obviously not perfect but working on it,
试图制作真实的生命内核空间程序 只是想展示给Nathan的链接在下面的描述中 trying to make real life kernel space program so just wanted to showcase that links to Nathan are in the description down below.
再次感谢你 Thank you again.
这么多 so much.
这太酷了 This is so so so cool.
好了 我们回到常规的jellyby All right here we go back to regular jellyby.
所以如果你有疑问在下面的评论中带着感谢 一如既往的关注 So if you have questions leaving in the comments down below with thanks as always for watching,
是的 and yeah,
我们可能会在1月下旬进行首次试飞，希望能在12月达到目标。 we're looking at maybe late in January for the first flight of Sprite.really wanted to hit December.
但是有很多模拟要做 But there's a lot of simulation to do so.
我们仍然需要在马特实验室建立整个模型 然后在它上面运行一些lQR来获得适当的控制游戏 然后设置其余的飞行软件 We still need to build the whole model out in Matt Lab and then run some l QR on it to get proper control games for it and then set up the rest of the flight software.
这就是现在的情况 That is all for now.
好的 Ok,
现在我们回到网络摄像头 here we go back to the webcam.
非常感谢你的收看 Thank you very much for watching.
这是一个较长的视频 This is a longer video,
但再次感谢你的关注。我叫Joe Barnard。 but thanks again for watching.my name is Joe Barnard.
愿你的天空蔚蓝 你的胜利 May your skies be blue and your wins below,
让我们再来一次，因为它很酷，三 二 一。 and let's just fire the fan one more time because it's so cool.here we got three to one.
我不可能向你描述它的感觉有多酷 I cannot possibly describe to you how cool it feels too,
就像坐在任务控制中心 按下他的按钮 like sit behind mission control and pressed his buttons.
好的 OK,
这很好 that's all good.
再见 bye.