{"id":96758,"date":"2024-08-13T15:11:24","date_gmt":"2024-08-13T07:11:24","guid":{"rendered":"\/\/www.viralrail.com\/?p=96758"},"modified":"2024-08-13T15:11:29","modified_gmt":"2024-08-13T07:11:29","slug":"wrjtxxyynjz","status":"publish","type":"post","link":"\/\/www.viralrail.com\/blog\/96758.html","title":{"rendered":"\u65e0\u4eba\u673a\u901a\u4fe1\u534f\u8bae\u6709\u54ea\u51e0\u79cd"},"content":{"rendered":"\n

\u3000\u3000\u65e0\u4eba\u673a\u901a\u4fe1\u534f\u8bae<\/strong>\u4e3b\u8981\u53ef\u4ee5\u5206\u4e3a\u4ee5\u4e0b\u51e0\u79cd\uff1a<\/p>\n\n\n\n

\u3000\u3000MAVLink\uff08Micro Air Vehicle Link\uff09<\/strong> \uff1a<\/p>\n\n\n\n

\u3000\u3000MAVLink\u662f\u4e00\u79cd\u5f00\u6e90\u7684\u8f7b\u91cf\u7ea7\u6d88\u606f\u4f20\u8f93\u534f\u8bae\uff0c\u5e7f\u6cdb\u5e94\u7528\u4e8e\u65e0\u4eba\u673a\u548c\u5730\u9762\u7ad9\u4e4b\u95f4\u7684\u901a\u4fe1\u3002\u5b83\u652f\u6301\u591a\u79cd\u7c7b\u578b\u7684\u65e0\u4eba\u673a\u548c\u5730\u9762\u7ad9\uff0c\u80fd\u591f\u5b9e\u73b0\u98de\u884c\u5668\u7684\u63a7\u5236\u3001\u72b6\u6001\u3001\u6570\u636e\u4f20\u8f93\u7b49\u529f\u80fd\u3002MAVLink\u534f\u8bae\u5177\u6709\u9ad8\u6548\u3001\u53ef\u9760\u4e14\u6613\u4e8e\u5b9e\u73b0\u7684\u7279\u70b9\uff0c\u9002\u7528\u4e8e\u4f4e\u5e26\u5bbd\u73af\u5883\u3002<\/p>\n\n\n\n

\u3000\u3000OcuSync\u7cfb\u5217\u901a\u4fe1\u534f\u8bae<\/strong>\uff1a<\/p>\n\n\n\n

\u3000\u3000OcuSync\u662fDJI\u5927\u7586\u65e0\u4eba\u673a\u8fdc\u7a0b\u901a\u4fe1\u63a7\u5236\u7cfb\u7edf\u4e2d\u4f7f\u7528\u7684\u4e00\u79cd\u901a\u4fe1\u534f\u8bae\uff0c\u901a\u8fc7\u4e0d\u540c\u9891\u6bb5\u548c\u9891\u5bbd\u5de5\u4f5c\u4ee5\u786e\u4fdd\u7a33\u5b9a\u8fde\u63a5\u3002\u4e0d\u540c\u7248\u672c\u7684OcuSync\u534f\u8bae\u5728\u5ef6\u8fdf\u3001\u4f20\u8f93\u8ddd\u79bb\u3001\u89c6\u9891\u8d28\u91cf\u548c\u52a0\u5bc6\u7b49\u65b9\u9762\u6709\u6240\u6539\u8fdb\uff0c\u652f\u6301\u591a\u79cd\u8bbe\u5907\u548c\u5e94\u7528\u573a\u666f\u3002<\/p>\n\n\n\n

\u3000\u3000UDP\uff08\u7528\u6237\u6570\u636e\u62a5\u534f\u8bae\uff09\u548cTCP\/IP\uff08\u4f20\u8f93\u63a7\u5236\u534f\u8bae\/\u4e92\u8054\u7f51\u534f\u8bae\uff09<\/strong> \uff1a<\/p>\n\n\n\n

\u3000\u3000UDP\u548cTCP\/IP\u4e5f\u662f\u65e0\u4eba\u673a\u901a\u4fe1\u4e2d\u5e38\u7528\u7684\u534f\u8bae\uff0c\u5176\u4e2dUDP\u9002\u7528\u4e8e\u9700\u8981\u5feb\u901f\u4f20\u8f93\u4f46\u4e0d\u8981\u6c42\u53ef\u9760\u6027\u7684\u573a\u666f\uff0c\u800cTCP\/IP\u5219\u63d0\u4f9b\u66f4\u53ef\u9760\u7684\u4f20\u8f93\u670d\u52a1\u3002<\/p>\n\n\n\n

\u3000\u3000Cyphal<\/strong>\uff1a<\/p>\n\n\n\n

\u3000\u3000Cyphal\u662f\u4e00\u79cd\u4e13\u6ce8\u4e8e\u65e0\u4eba\u673a\u5185\u90e8\u901a\u4fe1\u7684\u534f\u8bae\uff0c\u62e5\u6709\u8f83\u5c0f\u4f46\u6d3b\u8dc3\u7684\u793e\u533a\u3002<\/p>\n\n\n\n

\u3000\u3000Paparazzi UAV\u4f7f\u7528\u7684ppprzlink<\/strong>\uff1a<\/p>\n\n\n\n

\u3000\u3000Paparazzi UAV\u662f\u4e00\u4e2a\u5f00\u6e90\u9879\u76ee\uff0c\u4f7f\u7528\u81ea\u5df1\u7684\u534f\u8baeppprzlink\u8fdb\u884c\u901a\u4fe1\u3002<\/p>\n\n\n\n

\u3000\u3000DDS\uff08Data Distribution Service\uff09<\/strong> \uff1a<\/p>\n\n\n\n

\u3000\u3000DDS\u662f\u4e00\u79cd\u5e94\u7528\u5c42\u534f\u8bae\uff0c\u7528\u4e8e\u65e0\u4eba\u673a\u7cfb\u7edf\u4e2d\u7684\u6570\u636e\u5206\u53d1\u3002<\/p>\n\n\n\n

\u3000\u3000\u8def\u7531\u534f\u8bae<\/strong>\uff1a<\/p>\n\n\n\n

\u3000\u3000\u5305\u62ecAd Hoc On-Demand Distance Vector (AODV)\u3001Optimized Link State Routing Protocol (OLSR)\u3001RedeFINE\u548c\u9759\u6001\u8def\u7531\u7b49\uff0c\u8fd9\u4e9b\u534f\u8bae\u7528\u4e8e\u65e0\u4eba\u673a\u7f51\u7edc\u4e2d\u7684\u6570\u636e\u8def\u7531\u548c\u4f20\u8f93\u3002<\/p>\n\n\n\n

\u3000\u3000\u5a92\u4f53\u63a5\u5165\u63a7\u5236\u534f\u8bae<\/strong>\uff1a<\/p>\n\n\n\n

\u3000\u3000\u5982ELMAC\u3001LMAC\u3001FS-MAC\u3001FMAC\u3001FM-MAC\u3001MCLA\u548cFA-MMAC\u7b49\uff0c\u8fd9\u4e9b\u534f\u8bae\u65e8\u5728\u63d0\u9ad8\u65e0\u4eba\u673a\u7f51\u7edc\u7684\u6027\u80fd\u548c\u4fe1\u9053\u5229\u7528\u7387\uff0c\u5e76\u89e3\u51b3\u9ad8\u673a\u52a8\u6027\u5e26\u6765\u7684\u94fe\u8def\u4e2d\u65ad\u95ee\u9898\u3002<\/p>\n\n\n\n

\u3000\u3000\u4ee5\u4e0a\u662f\u76ee\u524d\u8f83\u4e3a\u5e38\u89c1\u7684\u51e0\u79cd\u65e0\u4eba\u673a\u901a\u4fe1\u534f\u8bae\uff0c\u6bcf\u79cd\u534f\u8bae\u90fd\u6709\u5176\u7279\u5b9a\u7684\u5e94\u7528\u573a\u666f\u548c\u4f18\u52bf\u3002\u9009\u62e9\u5408\u9002\u7684\u901a\u4fe1\u534f\u8bae\u9700\u8981\u6839\u636e\u5177\u4f53\u9700\u6c42\u8003\u8651\u8986\u76d6\u533a\u57df\u3001\u901a\u4fe1\u8ddd\u79bb\u3001\u4f20\u8f93\u529f\u7387\u3001\u6570\u636e\u901f\u7387\u548c\u6210\u672c\u7b49\u56e0\u7d20\u3002<\/p>\n\n\n\n

\u3000\u3000\u4e00\u3001 MAVLink\u534f\u8bae\u7684\u5177\u4f53\u5b9e\u73b0\u7ec6\u8282\u548c\u5728\u4e0d\u540c\u73af\u5883\u4e0b\u7684\u6027\u80fd\u8868\u73b0<\/h2>\n\n\n\n

\u3000\u3000MAVLink\u534f\u8bae\u662f\u4e00\u79cd\u4e13\u4e3a\u5fae\u578b\u98de\u884c\u5668\u8bbe\u8ba1\u7684\u8f7b\u91cf\u7ea7\u901a\u8baf\u534f\u8bae\uff0c\u5e7f\u6cdb\u5e94\u7528\u4e8e\u65e0\u4eba\u673a(UAV)\u4e0e\u5730\u9762\u63a7\u5236\u7ad9(GCS)\u4e4b\u95f4\u7684\u4fe1\u606f\u4f20\u8f93\u3002\u5176\u5177\u4f53\u5b9e\u73b0\u7ec6\u8282\u548c\u5728\u4e0d\u540c\u73af\u5883\u4e0b\u7684\u6027\u80fd\u8868\u73b0\u5982\u4e0b\uff1a<\/p>\n\n\n\n

\u3000\u30001. \u5177\u4f53\u5b9e\u73b0\u7ec6\u8282<\/h3>\n\n\n\n

\u3000\u3000MAVLink\u534f\u8bae\u7684\u6d88\u606f\u5e27\u7531\u591a\u4e2a\u90e8\u5206\u7ec4\u6210\uff0c\u5305\u62ec\u7cfb\u7edfID\u3001\u7ec4\u4ef6ID\u3001\u6d88\u606fID\u3001\u957f\u5ea6\u5b57\u6bb5\u3001\u6570\u636e\u5b57\u6bb5\u548c\u6821\u9a8c\u548c\u5b57\u6bb5\u3002\u6bcf\u4e2a\u6d88\u606f\u5e27\u90fd\u6709\u4e00\u4e2a\u552f\u4e00\u7684ID\uff0c\u7528\u4e8e\u6807\u8bc6\u4e0d\u540c\u7684\u6d88\u606f\u7c7b\u578b\u3002<\/p>\n\n\n\n

\u3000\u3000MAVLink\u534f\u8bae\u901a\u8fc7XML\u6587\u4ef6\u5b9a\u4e49\u4e86\u53c2\u6570\u4f20\u8f93\u7684\u89c4\u5219\uff0c\u5e76\u52a0\u5165\u4e86\u6821\u9a8c\u529f\u80fd(checksum)\uff0c\u4ee5\u786e\u4fdd\u6570\u636e\u7684\u5b8c\u6574\u6027\u548c\u6b63\u786e\u6027\u3002\u8fd9\u79cd\u8bbe\u8ba1\u4f7f\u5f97MAVLink\u80fd\u591f\u9ad8\u6548\u5730\u5c01\u88c5C\u7ed3\u6784\u6570\u636e\u5e76\u5c06\u5176\u53d1\u9001\u81f3\u5730\u9762\u63a7\u5236\u7ad9\u3002<\/p>\n\n\n\n

\u3000\u3000MAVLink\u91c7\u7528\u6df7\u5408\u53d1\u5e03-\u8ba2\u9605\u548c\u70b9\u5bf9\u70b9\u4ea4\u6362\u7684\u901a\u4fe1\u6a21\u5f0f\u3002\u6570\u636e\u6d41\u4f5c\u4e3a\u4e3b\u9898\u8fdb\u884c\u53d1\u5e03\uff0c\u800c\u914d\u7f6e\u5b50\u534f\u8bae\u7b49\u9700\u8981\u9ad8\u53ef\u9760\u6027\u7684\u6570\u636e\u5219\u91c7\u7528\u70b9\u5bf9\u70b9\u91cd\u4f20\u7684\u65b9\u5f0f\u3002\u8fd9\u79cd\u8bbe\u8ba1\u65e2\u652f\u6301\u5feb\u901f\u7684\u4fe1\u606f\u4f20\u9012\uff0c\u53c8\u4fdd\u8bc1\u4e86\u6570\u636e\u7684\u53ef\u9760\u6027\u3002<\/p>\n\n\n\n

\u3000\u3000MAVLink\u4e0d\u4f9d\u8d56\u4e8e\u7279\u5b9a\u7684\u4f20\u8f93\u534f\u8bae\uff0c\u53ef\u4ee5\u4f7f\u7528\u4e32\u53e3(\u5982RS232)\u3001TCP\u3001UDP\u751a\u81f3WebSocket\u7b49\u591a\u79cd\u4f20\u8f93\u65b9\u5f0f\u3002\u8fd9\u4f7f\u5f97MAVLink\u5177\u6709\u5f88\u9ad8\u7684\u7075\u6d3b\u6027\u548c\u9002\u5e94\u6027\u3002<\/p>\n\n\n\n

\u3000\u3000MAVLink\u7cfb\u7edf\u91c7\u7528\u5fae\u670d\u52a1\u534f\u8bae\uff0c\u5141\u8bb8\u591a\u4e2a\u8bbe\u5907\u5171\u4eab\u901a\u7528\u547d\u4ee4\u534f\u8bae\uff0c\u4ee5\u53d1\u9001\u9700\u8981\u786e\u8ba4\u7684\u70b9\u5bf9\u70b9\u6d88\u606f\u3002\u8fd9\u79cd\u8bbe\u8ba1\u786e\u4fdd\u4e86\u6570\u636e\u7684\u91cd\u65b0\u4f20\u8f93\u548c\u4e22\u5931\u6570\u636e\u7684\u8865\u6551\u3002<\/p>\n\n\n\n

\u3000\u30002. \u6027\u80fd\u8868\u73b0<\/h3>\n\n\n\n

\u3000\u3000MAVLink\u534f\u8bae\u8bbe\u8ba1\u7528\u4e8e\u5b9e\u65f6\u76d1\u63a7\u548c\u63a7\u5236\u65e0\u4eba\u673a\uff0c\u7279\u522b\u662f\u5728\u9700\u8981\u9891\u7e41\u4ea4\u6362\u98de\u884c\u6570\u636e\u7684\u60c5\u51b5\u4e0b\u8868\u73b0\u51fa\u8272\u3002\u4f8b\u5982\uff0c\u5728\u4e00\u952e\u8d77\u98de\u7b97\u6cd5\u4e2d\uff0c\u5730\u9762\u7ad9\u901a\u8fc7MAVLink\u534f\u8bae\u5411\u98de\u63a7\u7533\u8bf7\u98de\u884c\u6570\u636e\uff0c\u786e\u4fdd\u4e86\u64cd\u4f5c\u7684\u53ef\u9760\u6027\u548c\u5b9e\u65f6\u6027\u3002<\/p>\n\n\n\n

\u3000\u3000MAVLink\u534f\u8bae\u8bbe\u8ba1\u521d\u8877\u662f\u4e3a\u5c0f\u578b\u98de\u884c\u5668\u548c\u6709\u9650\u8d44\u6e90\u7cfb\u7edf\u670d\u52a1\uff0c\u56e0\u6b64\u5728\u5e26\u5bbd\u548c\u8ba1\u7b97\u8d44\u6e90\u53d7\u9650\u7684\u73af\u5883\u4e0b\u8868\u73b0\u4f18\u5f02\u3002\u5b83\u80fd\u591f\u5728\u4f4e\u5e26\u5bbd\u94fe\u8def\u4e0b\u9ad8\u6548\u5730\u4f20\u8f93\u6570\u636e\u3002<\/p>\n\n\n\n

\u3000\u3000\u5c3d\u7ba1MAVLink\u534f\u8bae\u88ab\u5e7f\u6cdb\u4f7f\u7528\uff0c\u4f46\u5176\u5728\u5b89\u5168\u6027\u65b9\u9762\u5b58\u5728\u4e00\u5b9a\u7684\u7f3a\u9677\u3002\u7814\u7a76\u6307\u51fa\uff0cMAVLink\u5bb9\u6613\u53d7\u5230\u5404\u79cd\u6076\u610f\u653b\u51fb\uff0c\u56e0\u6b64\u9700\u8981\u589e\u52a0\u989d\u5916\u7684\u5b89\u5168\u63aa\u65bd\u6765\u4fdd\u62a4\u901a\u4fe1\u3002<\/p>\n\n\n\n

\u3000\u3000\u81ea2009\u5e74\u53d1\u5e03\u4ee5\u6765\uff0cMAVLink\u5f97\u5230\u4e86\u5e7f\u6cdb\u7684\u793e\u533a\u652f\u6301\u548c\u591a\u4e2a\u9879\u76ee\u7684\u6d4b\u8bd5\u9a8c\u8bc1\uff0c\u5305\u62ecPX4\u3001PIXHAWK\u3001APM\u548cParrot AR.Drone\u7b49\u5e73\u53f0\u3002\u8fd9\u79cd\u5e7f\u6cdb\u7684\u4f7f\u7528\u548c\u6301\u7eed\u7684\u6539\u8fdb\u4f7f\u5176\u5728\u5b9e\u9645\u5e94\u7528\u4e2d\u8868\u73b0\u7a33\u5b9a\u3002<\/p>\n\n\n\n

\u3000\u3000MAVLink\u534f\u8bae\u4ee5\u5176\u8f7b\u91cf\u7ea7\u3001\u9ad8\u6548\u6027\u548c\u7075\u6d3b\u6027\uff0c\u5728\u65e0\u4eba\u673a\u4e0e\u5730\u9762\u7ad9\u4e4b\u95f4\u7684\u901a\u8baf\u4e2d\u53d1\u6325\u4e86\u91cd\u8981\u4f5c\u7528\u3002<\/p>\n\n\n\n

\u3000\u3000\u4e8c\u3001 DJI\u5927\u7586OcuSync\u7cfb\u5217\u901a\u4fe1\u534f\u8bae\u4e0e\u5176\u4ed6\u65e0\u4eba\u673a\u901a\u4fe1\u534f\u8bae\u76f8\u6bd4\u6709\u54ea\u4e9b\u72ec\u7279\u4f18\u52bf\u548c\u5c40\u9650\u6027?<\/h2>\n\n\n\n

\u3000\u3000DJI\u5927\u7586\u7684OcuSync\u7cfb\u5217\u901a\u4fe1\u534f\u8bae\u5728\u65e0\u4eba\u673a\u9886\u57df\u5177\u6709\u663e\u8457\u7684\u72ec\u7279\u4f18\u52bf\u548c\u4e00\u4e9b\u5c40\u9650\u6027\u3002<\/p>\n\n\n\n

\u3000\u30001. \u72ec\u7279\u4f18\u52bf<\/h3>\n\n\n\n

\u3000\u3000OcuSync\u80fd\u591f\u63d0\u4f9b\u9ad8\u8fbe40Mb\/s\u7684\u8fd1\u573a\u4e0b\u8f7d\u901f\u7387\uff0c\u4e14\u5176\u65e0\u7ebf\u4f20\u8f93\u90e8\u5206\u7684\u65f6\u5ef6\u5c0f\u4e8e10ms\u3002\u8fd9\u4f7f\u5f97\u5b83\u5728\u5b9e\u65f6\u89c6\u9891\u4f20\u8f93\u548c\u63a7\u5236\u65b9\u9762\u8868\u73b0\u51fa\u8272\u3002<\/p>\n\n\n\n

\u3000\u3000OcuSync\u5177\u5907\u5f3a\u5927\u7684\u6297\u5e72\u6270\u673a\u5236\uff0c\u53ef\u4ee5\u5728\u590d\u6742\u7684\u65e0\u7ebf\u73af\u5883\u4e2d\u4fdd\u6301\u7a33\u5b9a\u8fde\u63a5\u3002\u4f8b\u5982\uff0c\u5728\u667a\u80fd\u7535\u5b50\u8bbe\u5907\u4f17\u591a\u7684\u73af\u5883\u4e2d\uff0cWi-Fi\u548c\u5176\u4ed6\u4fe1\u53f7\u5e72\u6270\u8f83\u591a\u7684\u60c5\u51b5\u4e0b\uff0cOcuSync\u4f9d\u7136\u80fd\u6709\u6548\u5de5\u4f5c\u3002<\/p>\n\n\n\n

\u3000\u3000OcuSync\u91c7\u7528\u4e86\u5148\u8fdb\u7684\u591a\u5929\u7ebf\u6280\u672f\u3001\u4fe1\u9053\u7f16\u7801\u6280\u672f\u3001\u5206\u96c6\u6280\u672f\u548c\u4fe1\u9053\u4f30\u8ba1\u53ca\u5747\u8861\u6280\u672f\u7b49\uff0c\u8fd9\u4e9b\u6280\u672f\u5171\u540c\u63d0\u5347\u4e86\u5176\u94fe\u8def\u6027\u80fd\u548c\u53ef\u9760\u6027\u3002<\/p>\n\n\n\n

\u3000\u3000\u8fd9\u79cd\u6280\u672f\u53ef\u4ee5\u968f\u4fe1\u9053\u53d8\u5316\u5feb\u901f\u8c03\u6574\u89c6\u9891\u7801\u7387\u548c\u65e0\u7ebf\u4f20\u8f93\u7b56\u7565\uff0c\u8282\u7701\u7ea630%\u7684\u4f20\u8f93\u5e26\u5bbd\uff0c\u5e76\u6709\u6548\u89e3\u51b3\u5361\u987f\u548c\u9a6c\u8d5b\u514b\u95ee\u9898\u3002<\/p>\n\n\n\n

\u3000\u3000OcuSync\u652f\u6301\u591a\u53f0\u8bbe\u5907\u4e4b\u95f4\u7684\u7075\u6d3b\u901a\u4fe1\u7ec4\u5408\uff0c\u6bd4\u5982\u50cfMavic Pro\u90a3\u6837\u652f\u63011\u5bf92\u7684\u8fde\u63a5\u65b9\u5f0f\uff0c\u5373\u540c\u65f6\u4e0e\u9065\u63a7\u5668\u548c\u98de\u884c\u773c\u955c(\u5982DJI\u98de\u884c\u773c\u955c\u7ade\u901f\u7248)\u8fde\u63a5\uff0c\u7efc\u5408\u5ef6\u8fdf\u53ef\u4f4e\u81f350ms\u3002<\/p>\n\n\n\n

\u3000\u3000OcuSync\u8fd8\u5177\u5907\u589e\u5f3a\u7684\u4f20\u8f93\u94fe\u8def\u5b89\u5168\u673a\u5236\uff0c\u901a\u8fc7\u4f7f\u7528AES-256\u7b97\u6cd5\u52a0\u5bc6\u6570\u636e\uff0c\u5e76\u751f\u6210\u968f\u673a\u4e14\u552f\u4e00\u7684\u4f1a\u8bdd\u5bc6\u94a5\u6765\u786e\u4fdd\u901a\u4fe1\u7684\u5b89\u5168\u6027\u3002<\/p>\n\n\n\n

\u3000\u30002. \u5c40\u9650\u6027<\/h3>\n\n\n\n

\u3000\u3000\u5c3d\u7ba1OcuSync\u63d0\u4f9b\u4e86\u8bb8\u591a\u9ad8\u7ea7\u529f\u80fd\uff0c\u4f46\u5176\u5f00\u53d1\u548c\u7ef4\u62a4\u6210\u672c\u8f83\u9ad8\uff0c\u8fd9\u53ef\u80fd\u53cd\u6620\u5728\u6700\u7ec8\u4ea7\u54c1\u7684\u4ef7\u683c\u4e0a\uff0c\u4f7f\u5f97\u67d0\u4e9b\u7528\u6237\u96be\u4ee5\u8d1f\u62c5\u3002<\/p>\n\n\n\n

\u3000\u3000\u867d\u7136OcuSync\u5728\u5927\u7586\u81ea\u5bb6\u4ea7\u54c1\u4e2d\u8868\u73b0\u4f18\u5f02\uff0c\u4f46\u5728\u4e0e\u5176\u4ed6\u54c1\u724c\u7684\u65e0\u4eba\u673a\u6216\u914d\u4ef6\u517c\u5bb9\u6027\u65b9\u9762\u53ef\u80fd\u5b58\u5728\u6311\u6218\uff0c\u8fd9\u9650\u5236\u4e86\u5176\u5e7f\u6cdb\u5e94\u7528\u3002<\/p>\n\n\n\n

\u3000\u3000\u867d\u7136OcuSync\u5728\u5927\u591a\u6570\u60c5\u51b5\u4e0b\u8868\u73b0\u826f\u597d\uff0c\u4f46\u5728\u6781\u7aef\u5929\u6c14\u6761\u4ef6\u6216\u8fdc\u8ddd\u79bb\u4f20\u8f93\u65f6\uff0c\u5176\u6027\u80fd\u53ef\u80fd\u4f1a\u53d7\u5230\u4e00\u5b9a\u5f71\u54cd\u3002<\/p>\n\n\n\n

\u3000\u3000\u4e09\u3001 DDS\u6570\u636e\u5206\u5e03\u670d\u52a1\u534f\u8bae\u5728\u65e0\u4eba\u673a\u7cfb\u7edf\u4e2d\u7684\u5e94\u7528\u6848\u4f8b\u548c\u6548\u679c\u8bc4\u4f30\u3002<\/h2>\n\n\n\n

\u3000\u3000DDS(Data Distribution Service)\u5728\u65e0\u4eba\u673a\u7cfb\u7edf\u4e2d\u7684\u5e94\u7528\u6848\u4f8b\u548c\u6548\u679c\u8bc4\u4f30\u53ef\u4ee5\u4ece\u591a\u4e2a\u65b9\u9762\u8fdb\u884c\u5206\u6790\u3002<\/p>\n\n\n\n

\u3000\u30001. \u5e94\u7528\u6848\u4f8b<\/h3>\n\n\n\n

\u3000\u3000\u5728\u81ea\u4e3b\u65e0\u4eba\u673a\u4e2d\uff0c\u901a\u8fc7\u4f7f\u7528DDS\u7f51\u7edc\u8fde\u63a5\u7684\u4f4e\u8d44\u6e90\u8bbe\u5907\u80fd\u591f\u663e\u8457\u51cf\u5c11\u901a\u4fe1\u5ef6\u8fdf\u3002\u4f8b\u5982\uff0c\u901a\u8fc7XRCE-DDS\u6865\u5b9e\u73b0ROS2\u4e0eRTOS\u5f00\u6e90\u98de\u884c\u63a7\u5236\u5668\u4e4b\u95f4\u7684\u901a\u4fe1\uff0c\u53ef\u4ee5\u6709\u6548\u964d\u4f4e\u57fa\u4e8eMAVROS-MAVLink\u7684\u6807\u51c6\u901a\u4fe1\u65b9\u6cd5\u6240\u5bfc\u81f4\u7684\u9ad8\u5ef6\u8fdf\u95ee\u9898\u3002<\/p>\n\n\n\n

\u3000\u3000DDS\u89c4\u8303\u88ab\u5e7f\u6cdb\u5e94\u7528\u4e8e\u9700\u8981\u9ad8\u6027\u80fd\u3001\u53ef\u9884\u89c1\u6027\u548c\u5bf9\u8d44\u6e90\u6709\u6548\u4f7f\u7528\u7684\u9886\u57df\uff0c\u5982\u96f7\u8fbe\u5904\u7406\u5668\u3001\u98de\u884c\u548c\u5730\u9762\u65e0\u4eba\u673a\u3001\u4f5c\u6218\u7ba1\u7406\u7cfb\u7edf\u3001\u7a7a\u4e2d\u4ea4\u901a\u63a7\u5236\u7b49\u3002\u8fd9\u4e9b\u5e94\u7528\u573a\u666f\u8981\u6c42\u4f4e\u5ef6\u8fdf\u548c\u9ad8\u541e\u5410\u91cf\u7684\u5b9e\u65f6\u901a\u4fe1\uff0c\u800cDDS\u6b63\u597d\u6ee1\u8db3\u8fd9\u4e9b\u9700\u6c42\u3002<\/p>\n\n\n\n

\u3000\u3000\u4e0a\u6d77\u521b\u666f\u4fe1\u606f\u79d1\u6280\u6709\u9650\u516c\u53f8\u57fa\u4e8eDDS\u5236\u4f5c\u4e86\u4e00\u4e2a\u5177\u6709\u5f00\u53d1\u3001\u7ba1\u7406\u548c\u76d1\u63a7\u529f\u80fd\u7684\u5206\u5e03\u5f0f\u7ec4\u4ef6\u96c6\u6210\u5f00\u53d1\u5e73\u53f0\uff0c\u7528\u4e8e\u6ee1\u8db3\u67d0\u65e0\u4eba\u673a\u9879\u76ee\u7684\u5206\u5e03\u5f0f\u7cfb\u7edf\u5f00\u53d1\u3001\u6d4b\u8bd5\u4e0e\u90e8\u7f72\u9700\u6c42\u3002<\/p>\n\n\n\n

\u3000\u30002. \u6548\u679c\u8bc4\u4f30<\/h3>\n\n\n\n

\u3000\u3000DDS\u4e13\u4e3a\u5b9e\u65f6\u7cfb\u7edf\u8bbe\u8ba1\uff0c\u80fd\u591f\u63d0\u4f9b\u4f4e\u5ef6\u8fdf\u7684\u901a\u4fe1\u670d\u52a1\uff0c\u8fd9\u5bf9\u4e8e\u65e0\u4eba\u673a\u5728\u98de\u884c\u63a7\u5236\u548c\u5176\u4ed6\u5173\u952e\u4efb\u52a1\u4e2d\u81f3\u5173\u91cd\u8981\u3002\u4f8b\u5982\uff0c\u5728\u79fb\u52a8\u7f51\u7edc\u7684\u65e0\u4eba\u673a\u901a\u4fe1\u5e73\u53f0\u4e2d\uff0cDDS\u652f\u6301\u5b9a\u4e49\u6570\u636e\u7c7b\u578b\u5e76\u786e\u4fdd\u8fd9\u4e9b\u7c7b\u578b\u5728\u4e0d\u540c\u5e73\u53f0\u4e0a\u4fdd\u6301\u4e00\u81f4\uff0c\u4ece\u800c\u5904\u7406\u590d\u6742\u7684\u5f02\u6784\u7cfb\u7edf\u3002<\/p>\n\n\n\n

\u3000\u3000\u4f7f\u7528DDS\u7f51\u7edc\u8fde\u63a5\u7684\u4f4e\u8d44\u6e90\u8bbe\u5907\u5728\u5b9e\u9645\u5e94\u7528\u4e2d\u8868\u73b0\u51fa\u8f83\u4f4e\u7684\u901a\u4fe1\u5ef6\u8fdf\uff0c\u5e76\u4e14\u80fd\u591f\u5b9e\u73b0\u5206\u7ec4\u540c\u6b65\u3002\u8fd9\u8868\u660eDDS\u5728\u7f51\u7edc\u8d44\u6e90\u6709\u9650\u7684\u60c5\u51b5\u4e0b\u4ecd\u80fd\u4fdd\u6301\u8f83\u9ad8\u7684\u901a\u4fe1\u6548\u7387\u548c\u7a33\u5b9a\u6027\u3002<\/p>\n\n\n\n

\u3000\u3000DDS\u6807\u51c6\u5141\u8bb8\u53d1\u5e03\u8005\u5411\u4e3b\u9898\u53d1\u5e03\u6570\u636e\uff0c\u8ba2\u9605\u8005\u4ece\u8fd9\u4e9b\u4e3b\u9898\u63a5\u6536\u6570\u636e\uff0c\u8fd9\u79cd\u6570\u636e\u53d1\u5e03\/\u8ba2\u9605\u6a21\u578b\u7b80\u5316\u4e86\u7f16\u7a0b\u5de5\u4f5c\uff0c\u5e76\u63d0\u9ad8\u4e86\u7cfb\u7edf\u7684\u53ef\u6269\u5c55\u6027\u548c\u4e92\u64cd\u4f5c\u6027\u3002<\/p>\n\n\n\n

\u3000\u3000DDS\u5728\u65e0\u4eba\u673a\u7cfb\u7edf\u4e2d\u7684\u5e94\u7528\u4e0d\u4ec5\u63d0\u5347\u4e86\u901a\u4fe1\u6548\u7387\u548c\u5b9e\u65f6\u6027\u80fd\uff0c\u8fd8\u901a\u8fc7\u5176\u5f3a\u5927\u7684\u6570\u636e\u5206\u53d1\u80fd\u529b\uff0c\u4f18\u5316\u4e86\u6574\u4f53\u7cfb\u7edf\u7684\u7a33\u5b9a\u6027\u548c\u53ef\u9760\u6027\u3002<\/p>\n\n\n\n

\u3000\u3000\u56db\u3001 Cyphal\u534f\u8bae\u793e\u533a\u6d3b\u8dc3\u7684\u539f\u56e0\u53ca\u5176\u5bf9\u65e0\u4eba\u673a\u5185\u90e8\u901a\u4fe1\u6539\u8fdb\u7684\u5177\u4f53\u8d21\u732e\u3002<\/h2>\n\n\n\n

\u3000\u3000Cyphal\u534f\u8bae\u793e\u533a\u4e4b\u6240\u4ee5\u6d3b\u8dc3\uff0c\u4e3b\u8981\u5f52\u56e0\u4e8e\u5176\u5f00\u653e\u6027\u548c\u5e7f\u6cdb\u7684\u8ba8\u8bba\u5e73\u53f0\u3002\u6839\u636e\uff0cCyphal\u62e5\u6709\u4e00\u4e2a\u6d3b\u8dc3\u7684\u8bba\u575b\u548c\u804a\u5929\u9875\u9762\uff0c\u5c3d\u7ba1\u540e\u8005\u7528\u6237\u8f83\u5c11\u4e14\u7f3a\u4e4f\u8fd1\u671f\u6d3b\u52a8\uff0c\u4f46\u524d\u8005\u5374\u975e\u5e38\u6d3b\u8dc3\uff0c\u6709\u5927\u91cf\u95ee\u9898\u548c\u7b54\u6848\u4ee5\u53ca\u5f00\u53d1\u8005\u6bcf\u5468\u7684\u66f4\u65b0\u3002\u8fd9\u8868\u660eCyphal\u793e\u533a\u901a\u8fc7\u63d0\u4f9b\u4e00\u4e2a\u4e92\u52a8\u6027\u5f3a\u3001\u4fe1\u606f\u4e30\u5bcc\u7684\u73af\u5883\uff0c\u5438\u5f15\u4e86\u8bb8\u591a\u7528\u6237\u53c2\u4e0e\u8ba8\u8bba\u548c\u5206\u4eab\u7ecf\u9a8c\u3002<\/p>\n\n\n\n

\u3000\u3000\u5bf9\u4e8e\u65e0\u4eba\u673a\u5185\u90e8\u901a\u4fe1\u7684\u6539\u8fdb\uff0cCyphal\u534f\u8bae\u505a\u51fa\u4e86\u663e\u8457\u8d21\u732e\u3002\u63d0\u5230\uff0cCyphal\/CAN\u7684\u8bbe\u8ba1\u589e\u5f3a\u4e86\u78b0\u649e\u907f\u514d\u914d\u7f6e\u9636\u6bb5\u7684\u9c81\u68d2\u6027\uff0c\u8fd9\u610f\u5473\u7740\u5728\u65e0\u4eba\u673a\u7b49\u667a\u80fd\u8f66\u8f86\u4e2d\uff0cCyphal\u80fd\u591f\u63d0\u9ad8\u6570\u636e\u4f20\u8f93\u7684\u53ef\u9760\u6027\u548c\u6548\u7387\u3002\u6b64\u5916\uff0c\u6307\u51fa\uff0cCyphal\u57fa\u4e8e\u73b0\u4ee3\u7f51\u7edc\u6807\u51c6(\u5982\u4ee5\u592a\u7f51\u3001CAN FD\u7b49)\u5b9e\u73b0\u5b9e\u65f6\u5206\u5e03\u5f0f\u8ba1\u7b97\u548c\u901a\u4fe1\uff0c\u4e3a\u65e0\u4eba\u98de\u884c\u5668\u63d0\u4f9b\u4e86\u66f4\u5148\u8fdb\u3001\u66f4\u7a33\u5065\u7684\u7f51\u7edc\u67b6\u6784\u3002\u8fd9\u8868\u660eCyphal\u4e0d\u4ec5\u652f\u6301\u65e0\u4eba\u673a\u4e0e\u5730\u9762\u63a7\u5236\u7ad9\u4e4b\u95f4\u7684\u901a\u4fe1\uff0c\u8fd8\u80fd\u591f\u5904\u7406\u673a\u8f7d\u8ba1\u7b97\u7cfb\u7edf\u4e0e\u98de\u884c\u63a7\u5236\u7cfb\u7edf\u4e4b\u95f4\u7684\u590d\u6742\u6570\u636e\u4ea4\u6362\uff0c\u4ece\u800c\u63d0\u5347\u65e0\u4eba\u673a\u7684\u6574\u4f53\u6027\u80fd\u548c\u5b89\u5168\u6027\u3002<\/p>\n\n\n\n

\u3000\u3000Cyphal\u534f\u8bae\u793e\u533a\u4e4b\u6240\u4ee5\u6d3b\u8dc3\uff0c\u662f\u56e0\u4e3a\u5b83\u63d0\u4f9b\u4e86\u4e30\u5bcc\u7684\u4ea4\u6d41\u5e73\u53f0\u548c\u8d44\u6e90;<\/p>\n\n\n\n

\u3000\u3000\u4e94\u3001 Paparazzi UAV\u4f7f\u7528\u7684ppprzlink\u534f\u8bae\u7684\u6280\u672f\u7ec6\u8282\u548c\u5b9e\u9645\u5e94\u7528\u6548\u679c\u3002<\/h2>\n\n\n\n

\u3000\u3000Paparazzi UAV\u4f7f\u7528\u7684ppprzlink\u534f\u8bae\u662f\u4e00\u79cd\u4e13\u4e3a\u65e0\u4eba\u673a\u901a\u4fe1\u8bbe\u8ba1\u7684\u5f00\u653e\u6e90\u4ee3\u7801\u534f\u8bae\uff0c\u5177\u6709\u591a\u79cd\u6280\u672f\u7ec6\u8282\u548c\u5b9e\u9645\u5e94\u7528\u6548\u679c\u3002<\/p>\n\n\n\n

\u3000\u30001. \u6280\u672f\u7ec6\u8282<\/h3>\n\n\n\n

\u3000\u3000Pprzlink\u534f\u8bae\u5229\u7528\u4e32\u884c\u6d41\u3001UDP\u6570\u636e\u5305\u548c\u53d1\u5e03-\u8ba2\u9605\u8bed\u4e49\u6765\u5b9e\u73b0\u901a\u4fe1\u3002\u8fd9\u79cd\u8bbe\u8ba1\u4f7f\u5f97\u5b83\u80fd\u591f\u7075\u6d3b\u5730\u9002\u5e94\u4e0d\u540c\u7684\u786c\u4ef6\u548c\u8f6f\u4ef6\u73af\u5883\uff0c\u5e76\u4e14\u53ef\u4ee5\u9ad8\u6548\u5730\u5904\u7406\u5404\u79cd\u7c7b\u578b\u7684\u6570\u636e\u4f20\u8f93\u9700\u6c42\u3002<\/p>\n\n\n\n

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