用于长航时固定翼无人机的开源 STM32 自动驾驶仪（SmartNavX）
4 分•作者: Talalalsohimiy•6 个月前
各位 HN 用户，大家好，
我是 Talal Al-Suhaimi，一位来自沙特阿拉伯的控制系统和嵌入式工程师。过去几个月，我一直在设计和测试一款用于长航时固定翼无人机的开源自动驾驶仪系统，很高兴能与大家分享我的成果。
SmartNavX 是一个完全开源的飞控固件和硬件平台，基于 STM32F405。它设计轻巧、高效且模块化，为固定翼飞机提供全栈自主功能，无需依赖昂贵或闭源的自动驾驶仪。
主要特点：
* 运行于低成本 STM32F405 (Blackpill 或定制板)
* 基于 GPS 的自主导航（航点、返航、盘旋、地理围栏）
* 使用 IMU (MPU6050)、气压计和磁力计进行传感器融合，并采用卡尔曼滤波
* 通过 ExpressLRS UART 进行实时遥测（支持 MAVLink-lite）
* 集成智能 BMS 支持锂离子电池组（电压跌落校正）
* 地面站兼容性 (QGroundControl)
* Python CLI 工具，用于实时配置和遥测解码
我为什么构建它：
我需要一个可靠的长航时无人机平台，用于在偏远沙漠地区进行测绘和数据采集，并且希望完全掌控硬件和固件。大多数现成的解决方案要么是闭源的，要么是对于实验来说过于昂贵。因此，我构建了 SmartNavX，使其具有以下特点：
* 对开发者友好
* 易于修改
* 硬件无关
* 适用于研究和现场使用
资源：
* GitHub: github.com/En-Talal-ALSohimiy/SmartNavX
* 飞行演示（26 公里自主沙漠飞行）：
这个项目仍在不断发展——我非常欢迎其他从事无人机、导航、遥测或嵌入式系统工作的人提供反馈。欢迎贡献、建议和合作。
感谢阅读，
– Talal Al-Suhaimi
控制系统与无人机工程师
查看原文
Hello HN,<p>I’m Talal Al-Suhaimi, a control systems and embedded engineer based in Saudi Arabia. I’ve spent the last several months designing and testing an open-source autopilot system for long-range, fixed-wing UAVs — and I'm excited to share it with the community.<p>SmartNavX is a fully open-source flight controller firmware and hardware platform built on the STM32F405. It's designed to be lightweight, efficient, and modular — offering full-stack autonomy for fixed-wing aircraft without relying on expensive or closed-source autopilots.<p>Key features:
Runs on low-cost STM32F405 (Blackpill or custom board)
GPS-based autonomous navigation (waypoints, RTH, loiter, geofencing)
Sensor fusion using IMU (MPU6050), barometer, and magnetometer with Kalman filtering
Real-time telemetry via ExpressLRS UART (MAVLink-lite supported)
Integrated smart BMS support for Li-Ion flight packs (voltage sag correction)
Ground control compatibility (QGroundControl)
Python CLI tool for live configuration and telemetry decoding
Why I built this:
I needed a reliable, long-range UAV platform for mapping and data collection in remote desert areas, but wanted full control over both hardware and firmware. Most COTS solutions are either closed-source or too expensive for experimentation. So I built SmartNavX to be:<p>Developer-friendly
Easily hackable
Hardware-agnostic
Suitable for both research and field use
Resources:
GitHub: github.com/En-Talal-ALSohimiy/SmartNavX
Flight demo (26km autonomous desert flight):<p>This project is still evolving — I'd love feedback from others working on UAVs, navigation, telemetry, or embedded systems. Contributions, suggestions, and collaborations are more than welcome.<p>Thanks for reading,
– Talal Al-Suhaimi
Control Systems & UAV Engineer