{"id":98066,"date":"2024-09-26T16:11:31","date_gmt":"2024-09-26T08:11:31","guid":{"rendered":"\/\/www.viralrail.com\/?p=98066"},"modified":"2024-09-26T16:11:35","modified_gmt":"2024-09-26T08:11:35","slug":"mxyyl-2","status":"publish","type":"post","link":"\/\/www.viralrail.com\/blog\/98066.html","title":{"rendered":"MAVLink\u534f\u8bae\u539f\u7406"},"content":{"rendered":"\n<p>\u3000\u3000<strong>MAVLink(Micro Air Vehicle Link)<\/strong>\u662f\u4e00\u79cd\u4e13\u4e3a\u5fae\u578b\u98de\u884c\u5668\u8bbe\u8ba1\u7684\u8f7b\u91cf\u7ea7\u901a\u4fe1\u534f\u8bae\uff0c\u5e7f\u6cdb\u5e94\u7528\u4e8e\u65e0\u4eba\u673a\u548c\u5730\u9762\u7ad9\u4e4b\u95f4\u7684\u6570\u636e\u4f20\u8f93\u548c\u901a\u4fe1\u3002\u8be5\u534f\u8bae\u6700\u521d\u7531\u82cf\u9ece\u4e16\u8054\u90a6\u7406\u5de5\u5b66\u9662\u8ba1\u7b97\u673a\u89c6\u89c9\u4e0e\u51e0\u4f55\u5b9e\u9a8c\u7ec4\u7684Lorenz Meier\u4e8e2009\u5e74\u53d1\u5e03\uff0c\u5e76\u9075\u5faaLGPL\u5f00\u6e90\u534f\u8bae\u3002<\/p>\n\n\n\n<p>\u3000\u3000MAVLink\u534f\u8bae\u7684\u57fa\u672c\u5355\u4f4d\u662f\u6d88\u606f\u5e27\uff0c\u6bcf\u4e2a\u6d88\u606f\u5e27\u5305\u542b\u4e00\u4e2a6\u5b57\u8282\u7684\u62a5\u5934\u548c\u6570\u636e\u90e8\u5206\u3002\u62a5\u5934\u4e2d\u5305\u542b\u4e86\u6d88\u606f\u957f\u5ea6\u3001\u6570\u636e\u7c7b\u578b\u3001\u6d88\u606f\u6765\u6e90\u7b49\u4fe1\u606f\uff0c\u7528\u4e8e\u786e\u4fdd\u6d88\u606f\u7684\u6b63\u786e\u4f20\u8f93\u548c\u6821\u9a8c\u3002MAVLink\u534f\u8bae\u652f\u6301\u591a\u79cd\u4f20\u8f93\u65b9\u5f0f\uff0c\u5305\u62ec\u4e32\u53e3\u3001WiFi\u3001\u84dd\u7259\u7b49\uff0c\u56e0\u6b64\u5177\u6709\u5f88\u9ad8\u7684\u7075\u6d3b\u6027\u548c\u517c\u5bb9\u6027\u3002<\/p>\n\n\n\n<p>\u3000\u3000MAVLink\u534f\u8bae\u5b9a\u4e49\u4e86\u4e00\u5957\u6807\u51c6\u5316\u7684\u6d88\u606f\u7ed3\u6784\uff0c\u652f\u6301\u591a\u79cd\u6570\u636e\u7c7b\u578b\uff0c\u5982\u6574\u578b\u3001\u6d6e\u70b9\u578b\u3001\u5b57\u7b26\u4e32\u7b49\u3002\u8fd9\u4e9b\u6d88\u606f\u53ef\u4ee5\u901a\u8fc7\u4e0d\u540c\u7684\u901a\u9053\u53d1\u9001\uff0c\u4f8b\u5982USB\u4e32\u884c\u6216\u65e0\u7ebf\u9065\u6d4b\u3002\u6b64\u5916\uff0cMAVLink\u8fd8\u63d0\u4f9b\u4e86\u4e30\u5bcc\u7684\u6d88\u606f\u96c6\uff0c\u53ef\u4ee5\u5728common.xml\u548cardupilot.xml\u6587\u4ef6\u4e2d\u627e\u5230\uff0c\u8fd9\u4e9b\u6d88\u606f\u96c6\u53ef\u4ee5\u6ee1\u8db3\u65e0\u4eba\u673a\u548c\u5730\u9762\u7ad9\u4e4b\u95f4\u5404\u79cd\u901a\u4fe1\u9700\u6c42\u3002<\/p>\n\n\n\n<p>\u3000\u3000MAVLink\u534f\u8bae\u7684\u4e00\u4e2a\u91cd\u8981\u7279\u70b9\u662f\u5176\u9ad8\u6548\u6027\u548c\u4f4e\u5f00\u9500\u3002\u7531\u4e8e\u6d88\u606f\u77ed\u5c0f\u4e14\u901a\u4fe1\u5f00\u9500\u5c0f\uff0cMAVLink\u5728\u65e0\u4eba\u673a\u901a\u4fe1\u4e2d\u5f97\u5230\u4e86\u5e7f\u6cdb\u5e94\u7528\u3002\u5b83\u4e0d\u4ec5\u9002\u7528\u4e8e\u65e0\u4eba\u673a\u4e0e\u5730\u9762\u7ad9\u4e4b\u95f4\u7684\u901a\u4fe1\uff0c\u8fd8\u53ef\u4ee5\u7528\u4e8e\u65e0\u4eba\u673a\u4e4b\u95f4\u7684\u901a\u4fe1\u4ee5\u53ca\u65e0\u4eba\u673a\u4e0e\u5176\u4ed6\u8bbe\u5907(\u5982\u76f8\u673a\u3001\u8ba1\u7b97\u8bbe\u5907\u7b49)\u4e4b\u95f4\u7684\u901a\u4fe1\u3002<\/p>\n\n\n\n<p>\u3000\u3000MAVLink\u534f\u8bae\u901a\u8fc7\u5176\u7075\u6d3b\u7684\u6d88\u606f\u7ed3\u6784\u548c\u9ad8\u6548\u7684\u4f20\u8f93\u673a\u5236\uff0c\u5728\u65e0\u4eba\u673a\u751f\u6001\u7cfb\u7edf\u4e2d\u626e\u6f14\u4e86\u91cd\u8981\u89d2\u8272\uff0c\u4e3a\u65e0\u4eba\u673a\u7684\u76d1\u63a7\u548c\u63a7\u5236\u63d0\u4f9b\u4e86\u5f3a\u5927\u7684\u652f\u6301\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u3000\u3000\u4e00\u3001 MAVLink\u534f\u8bae\u7684\u6700\u65b0\u7248\u672c\u662f\u4ec0\u4e48<\/h2>\n\n\n\n<p>\u3000\u3000MAVLink\u534f\u8bae\u7684\u6700\u65b0\u7248\u672c\u662f2.0.\u8fd9\u4e00\u4fe1\u606f\u53ef\u4ee5\u4ece\u4e2d\u5f97\u5230\u786e\u8ba4\uff0c\u8be5\u8bc1\u636e\u6307\u51fa\uff1a\u201cMavlink\u73b0\u5728\u6700\u65b0\u7248\u672c\u662f2.0\u201d\u3002\u4e0e\u65e9\u671f\u7248\u672c\u76f8\u6bd4\uff0cMAVLink 2.0\u4e3b\u8981\u6539\u8fdb\u5305\u62ec\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u3000\u3000<strong>\u6807\u51c6\u5316\u6d88\u606f\u96c6<\/strong>\uff1a\u63d0\u5230MAVLink 2.0\u5b9a\u4e49\u4e86\u6807\u51c6\u5316\u7684\u6d88\u606f\u96c6\uff0c\u8fd9\u610f\u5473\u7740\u5b83\u63d0\u4f9b\u4e86\u4e00\u5957\u7edf\u4e00\u7684\u6d88\u606f\u683c\u5f0f\uff0c\u4f7f\u5f97\u4e0d\u540c\u7cfb\u7edf\u4e4b\u95f4\u7684\u901a\u4fe1\u66f4\u52a0\u9ad8\u6548\u548c\u4e00\u81f4\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u6570\u636e\u7ed3\u6784\u4f18\u5316<\/strong>\uff1a\u4e2d\u63d0\u5230\u4e86MAVLink 1.0\u548c2.0\u7684\u6d88\u606f\u7ed3\u6784\uff0c\u867d\u7136\u6ca1\u6709\u8be6\u7ec6\u5217\u51fa\u6240\u6709\u6539\u8fdb\u70b9\uff0c\u4f46\u53ef\u4ee5\u63a8\u65ad\u51faMAVLink 2.0\u5728\u6570\u636e\u7ed3\u6784\u4e0a\u8fdb\u884c\u4e86\u4f18\u5316\uff0c\u4ee5\u63d0\u9ad8\u901a\u4fe1\u6548\u7387\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u5b89\u5168\u6027\u589e\u5f3a<\/strong>\uff1a\u6307\u51faMAVLink 1\u7684\u5b89\u5168\u6027\u8f83\u5dee\uff0c\u5bb9\u6613\u88ab\u653b\u51fb\u65b9\u622a\u53d6\u3001\u7be1\u6539\u3001\u4f2a\u9020\u548c\u91cd\u653e\u3002\u867d\u7136\u6ca1\u6709\u76f4\u63a5\u63d0\u53caMAVLink 2.0\u7684\u5b89\u5168\u6027\u6539\u8fdb\uff0c\u4f46\u53ef\u4ee5\u5408\u7406\u63a8\u6d4b\uff0c\u4f5c\u4e3a\u66f4\u65b0\u7248\u672c\uff0cMAVLink 2.0\u5728\u5b89\u5168\u6027\u65b9\u9762\u8fdb\u884c\u4e86\u589e\u5f3a\uff0c\u4ee5\u5e94\u5bf9\u8fd9\u4e9b\u5b89\u5168\u5a01\u80c1\u3002<\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\">\u3000\u3000\u4e8c\u3001 MAVLink\u534f\u8bae\u5728\u4e0d\u540c\u4f20\u8f93\u65b9\u5f0f\u7684\u6027\u80fd\u6bd4\u8f83<\/h2>\n\n\n\n<p>\u3000\u3000MAVLink\u534f\u8bae\u662f\u4e00\u79cd\u4e13\u4e3a\u5fae\u578b\u98de\u884c\u5668\u8bbe\u8ba1\u7684\u8f7b\u91cf\u7ea7\u901a\u4fe1\u534f\u8bae\uff0c\u652f\u6301\u591a\u79cd\u4f20\u8f93\u65b9\u5f0f\uff0c\u5305\u62ec\u4e32\u53e3\u3001WiFi\u548c\u84dd\u7259\u3002\u4ee5\u4e0b\u662fMAVLink\u534f\u8bae\u5728\u4e0d\u540c\u4f20\u8f93\u65b9\u5f0f\u4e0b\u7684\u6027\u80fd\u6bd4\u8f83\uff1a<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">\u3000\u30001.&nbsp;<strong>\u4e32\u53e3\u901a\u4fe1<\/strong>\uff1a<\/h3>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u3000\u3000<strong>\u4f18\u70b9<\/strong>\uff1a\u4e32\u53e3\u901a\u4fe1\u901a\u5e38\u7528\u4e8e\u8bbe\u5907\u4e4b\u95f4\u7684\u76f4\u63a5\u8fde\u63a5\uff0c\u5982\u673a\u8f7d\u8ba1\u7b97\u673a\u4e0e\u98de\u63a7\u7684\u8fde\u63a5\u3002\u4e32\u53e3\u901a\u4fe1\u5177\u6709\u8f83\u9ad8\u7684\u53ef\u9760\u6027\u548c\u7a33\u5b9a\u6027\uff0c\u7279\u522b\u662f\u5728\u4f4e\u901f\u6570\u636e\u4f20\u8f93\u65f6\u8868\u73b0\u826f\u597d\u3002\u6b64\u5916\uff0c\u4e32\u53e3\u901a\u4fe1\u5728\u786c\u4ef6\u8c03\u8bd5\u548c\u8f6f\u4ef6\u5f00\u53d1\u4e2d\u80fd\u591f\u6709\u6548\u63d0\u5347\u6548\u7387\u548c\u51c6\u786e\u6027\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u7f3a\u70b9<\/strong>\uff1a\u7531\u4e8eMAVLink\u534f\u8bae\u7684\u6570\u636e\u5305\u8f83\u5927\uff0c\u5f53\u6ce2\u7279\u7387\u4f4e\u4e8e38400\u65f6\uff0c\u53ef\u80fd\u4f1a\u51fa\u73b0\u5361\u987f\u73b0\u8c61\u3002\u56e0\u6b64\uff0c\u4e32\u53e3\u901a\u4fe1\u5728\u9ad8\u901f\u6570\u636e\u4f20\u8f93\u65f6\u53ef\u80fd\u4e0d\u5982\u5176\u4ed6\u65b9\u5f0f\u9ad8\u6548\u3002<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\">\u3000\u30002.&nbsp;<strong>WiFi\u901a\u4fe1<\/strong>\uff1a<\/h3>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u3000\u3000<strong>\u4f18\u70b9<\/strong>\uff1aMAVLink\u534f\u8bae\u901a\u8fc7WiFi\u4e0e\u5730\u9762\u7ad9\u63a7\u5236\u8f6f\u4ef6(\u5982QGroundControl)\u8fdb\u884c\u901a\u4fe1\uff0c\u80fd\u591f\u5b9e\u73b0\u8fdc\u7a0b\u63a7\u5236\u548c\u6570\u636e\u4f20\u8f93\u3002WiFi\u901a\u4fe1\u5177\u6709\u8f83\u9ad8\u7684\u7075\u6d3b\u6027\u548c\u6269\u5c55\u6027\uff0c\u9002\u7528\u4e8e\u9700\u8981\u8fdc\u7a0b\u64cd\u4f5c\u7684\u573a\u666f\u3002WiFi\u6a21\u5757\u7684\u6807\u51c62.4G\u534f\u8bae\u652f\u6301\u591a\u79cd\u64cd\u4f5c\u7cfb\u7edf\u5e73\u53f0\uff0c\u517c\u5bb9\u6027\u8f83\u597d\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u7f3a\u70b9<\/strong>\uff1aWiFi\u901a\u4fe1\u7684\u5ef6\u8fdf\u53ef\u80fd\u8f83\u9ad8\uff0c\u5c24\u5176\u662f\u5728\u4fe1\u53f7\u8f83\u5f31\u6216\u5e72\u6270\u8f83\u591a\u7684\u73af\u5883\u4e2d\u3002\u6b64\u5916\uff0cWiFi\u901a\u4fe1\u7684\u529f\u8017\u76f8\u5bf9\u8f83\u9ad8\uff0c\u4e0d\u9002\u5408\u957f\u65f6\u95f4\u8fd0\u884c\u7684\u65e0\u4eba\u673a\u7cfb\u7edf\u3002<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\">\u3000\u30003.&nbsp;<strong>\u84dd\u7259\u901a\u4fe1<\/strong>\uff1a<\/h3>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u3000\u3000<strong>\u4f18\u70b9<\/strong>\uff1a\u84dd\u7259\u6a21\u5757\u5185\u7f6e\u5728\u4e00\u4e9b\u8bbe\u5907\u4e2d\uff0c\u5982FM30\u6570\u9065\u4e00\u4f53\u84dd\u7259\u9ad8\u9891\u5934\uff0c\u652f\u6301MAVLink\u534f\u8bae\uff0c\u5e76\u53ef\u4ee5\u901a\u8fc7\u5730\u9762\u7ad9APP\u8fdb\u884c\u98de\u884c\u4fe1\u606f\u5b9e\u65f6\u67e5\u770b\u3002\u84dd\u7259\u901a\u4fe1\u5177\u6709\u8f83\u4f4e\u7684\u529f\u8017\u548c\u8f83\u597d\u7684\u4fbf\u643a\u6027\uff0c\u9002\u5408\u77ed\u8ddd\u79bb\u901a\u4fe1\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u7f3a\u70b9<\/strong>\uff1a\u84dd\u7259\u901a\u4fe1\u7684\u4f20\u8f93\u8ddd\u79bb\u6709\u9650\uff0c\u901a\u5e38\u5728\u51e0\u7c73\u5230\u51e0\u5341\u7c73\u4e4b\u95f4\uff0c\u4e0d\u9002\u5408\u957f\u8ddd\u79bb\u901a\u4fe1\u3002\u6b64\u5916\uff0c\u84dd\u7259\u901a\u4fe1\u7684\u6297\u5e72\u6270\u80fd\u529b\u8f83\u5f31\uff0c\u53ef\u80fd\u53d7\u5230\u5176\u4ed6\u65e0\u7ebf\u4fe1\u53f7\u7684\u5e72\u6270\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u3000\u3000MAVLink\u534f\u8bae\u5728\u4e0d\u540c\u4f20\u8f93\u65b9\u5f0f\u4e0b\u5404\u6709\u4f18\u7f3a\u70b9\u3002\u4e32\u53e3\u901a\u4fe1\u9002\u7528\u4e8e\u4f4e\u901f\u3001\u9ad8\u53ef\u9760\u6027\u7684\u672c\u5730\u8fde\u63a5;WiFi\u901a\u4fe1\u9002\u7528\u4e8e\u8fdc\u7a0b\u63a7\u5236\u548c\u9ad8\u7075\u6d3b\u6027\u7684\u5e94\u7528;\u84dd\u7259\u901a\u4fe1\u5219\u9002\u5408\u77ed\u8ddd\u79bb\u3001\u4f4e\u529f\u8017\u7684\u573a\u666f\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u3000\u3000\u4e09\u3001 \u5982\u4f55\u5b9e\u73b0MAVLink\u534f\u8bae\u7684\u6d88\u606f\u52a0\u5bc6\u548c\u5b89\u5168\u4f20\u8f93?<\/h2>\n\n\n\n<p>\u3000\u3000MAVLink\u534f\u8bae\u7684\u6d88\u606f\u52a0\u5bc6\u548c\u5b89\u5168\u4f20\u8f93\u53ef\u4ee5\u901a\u8fc7\u4ee5\u4e0b\u51e0\u79cd\u65b9\u6cd5\u5b9e\u73b0\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u3000\u3000<strong>\u6570\u636e\u5305\u7b7e\u540d<\/strong>\uff1aArduPilot\u548cMission Planner\u7b49\u5de5\u5177\u53ef\u4ee5\u901a\u8fc7\u4f7f\u7528\u52a0\u5bc6\u5bc6\u94a5\u6dfb\u52a0\u6570\u636e\u5305\u7b7e\u540d\u6765\u589e\u52a0MAVLink\u4f20\u8f93\u7684\u5b89\u5168\u6027\u3002\u8fd9\u79cd\u65b9\u6cd5\u5e76\u4e0d\u76f4\u63a5\u52a0\u5bc6\u6570\u636e\uff0c\u800c\u662f\u901a\u8fc7\u7b7e\u540d\u6765\u63a7\u5236\u81ea\u52a8\u9a7e\u9a76\u4eea\u662f\u5426\u4f1a\u54cd\u5e94MAVLink\u547d\u4ee4\uff0c\u4ece\u800c\u9632\u6b62\u672a\u7ecf\u6388\u6743\u7684\u5730\u9762\u63a7\u5236\u7ad9\u8bfb\u53d6\u6216\u5199\u5165\u53c2\u6570\u4ee5\u53ca\u53d1\u9001\u547d\u4ee4\u7ed9\u98de\u63a7\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u5bc6\u94a5\u7ba1\u7406<\/strong>\uff1a\u5bc6\u94a5\u7531\u4e00\u7ec432\u5b57\u8282\u7684\u4e8c\u8fdb\u5236\u6570\u636e\u6784\u6210\uff0c\u7528\u4e8e\u521b\u5efa\u6d88\u606f\u7b7e\u540d\u3002\u5bc6\u94a5\u901a\u5e38\u7531\u7f51\u7edc\u4e0a\u7684\u67d0\u4e00\u7cfb\u7edf(\u591a\u6570\u60c5\u51b5\u4e0b\u662f\u5730\u9762\u7ad9)\u521b\u5efa\uff0c\u5e76\u901a\u8fc7\u53ef\u9760\u901a\u9053\u5206\u4eab\u5230\u53d7\u4fe1\u4efb\u8bbe\u5907\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u534f\u8bae\u6269\u5c55<\/strong>\uff1a\u5728\u5f00\u6e90\u7684MAVLink\u57fa\u7840\u4e0a\uff0c\u53ef\u4ee5\u52a0\u5165\u534f\u8bae\u52a0\u5bc6\u3001\u6570\u636e\u7b7e\u540d\u548c\u8bbf\u95ee\u8ba4\u8bc1\u7684\u90e8\u5206\u3002\u5373\u4f7f\u653b\u51fb\u8005\u80fd\u653b\u7834\u7269\u7406\u5c42\u534f\u8bae\uff0c\u7531\u4e8e\u4e0a\u5c42\u534f\u8bae\u662f\u52a0\u5bc6\u7b7e\u540d\u7684\uff0c\u4f9d\u7136\u53ef\u4ee5\u4fdd\u8bc1\u65e0\u4eba\u673a\u7cfb\u7edf\u7684\u901a\u4fe1\u5b89\u5168\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u7248\u672c\u5347\u7ea7<\/strong>\uff1aMAVLink 2.0\u7248\u672c\u901a\u8fc7\u8ba4\u8bc1\u52a0\u5f3a\u4e86\u65e0\u4eba\u673a\u7684\u5b89\u5168\u6027\uff0c\u540c\u65f6\u589e\u52a0\u4e86\u65f6\u95f4\u6233\u548c\u7b7e\u540d\u673a\u5236\uff0c\u8fdb\u4e00\u6b65\u63d0\u5347\u4e86\u901a\u4fe1\u7684\u5b89\u5168\u6027\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u66ff\u4ee3\u534f\u8bae<\/strong>\uff1a\u53ef\u4ee5\u8003\u8651\u4f7f\u7528Secure MavLink\u6216\u5176\u7ee7\u4efb\u8005GEC\u7b49\u66ff\u4ee3\u534f\u8bae\uff0c\u8fd9\u4e9b\u534f\u8bae\u63d0\u4f9b\u4e86\u66f4\u9ad8\u7ea7\u522b\u7684\u52a0\u5bc6\u548c\u5b89\u5168\u673a\u5236\u3002<\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\">\u3000\u3000\u56db\u3001 MAVLink\u534f\u8bae\u652f\u6301\u54ea\u4e9b\u5177\u4f53\u7684\u6570\u636e\u7c7b\u578b\u548c\u6d88\u606f\u96c6<\/h2>\n\n\n\n<p>\u3000\u3000MAVLink\u534f\u8bae\u662f\u4e00\u79cd\u4e13\u4e3a\u65e0\u4eba\u673a\u548c\u5730\u9762\u7ad9\u4e4b\u95f4\u901a\u4fe1\u8bbe\u8ba1\u7684\u4e8c\u8fdb\u5236\u9065\u6d4b\u534f\u8bae\uff0c\u652f\u6301\u591a\u79cd\u6570\u636e\u7c7b\u578b\u548c\u6d88\u606f\u96c6\uff0c\u9002\u7528\u4e8e\u4e0d\u540c\u7684\u5e94\u7528\u573a\u666f\u3002\u4ee5\u4e0b\u662fMAVLink\u534f\u8bae\u652f\u6301\u7684\u5177\u4f53\u6570\u636e\u7c7b\u578b\u548c\u6d88\u606f\u96c6\u53ca\u5176\u5e94\u7528\u573a\u666f\uff1a<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">\u3000\u30001.&nbsp;<strong>\u9884\u5b9a\u4e49\u7684\u6d88\u606f\u7c7b\u578b<\/strong>\uff1a<\/h3>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u3000\u3000<strong>HEARTBEAT\u6d88\u606f<\/strong>\uff1a\u7528\u4e8e\u786e\u8ba4\u7cfb\u7edf\u6d3b\u52a8\uff0c\u786e\u4fdd\u65e0\u4eba\u673a\u4e0e\u5730\u9762\u7ad9\u4e4b\u95f4\u7684\u901a\u4fe1\u8fde\u63a5\u6b63\u5e38\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>ATTITUDE\u6d88\u606f<\/strong>\uff1a\u7528\u4e8e\u4f20\u8f93\u65e0\u4eba\u673a\u7684\u59ff\u6001\u4fe1\u606f\uff0c\u5305\u62ec\u4fef\u4ef0\u3001\u6a2a\u6eda\u548c\u504f\u822a\u89d2\u5ea6\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>GPS\u5750\u6807\u6d88\u606f<\/strong>\uff1a\u7528\u4e8e\u4f20\u8f93\u65e0\u4eba\u673a\u7684GPS\u4f4d\u7f6e\u4fe1\u606f\uff0c\u8fd9\u5bf9\u4e8e\u5bfc\u822a\u548c\u5b9a\u4f4d\u81f3\u5173\u91cd\u8981\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u547d\u4ee4\u4e0e\u63a7\u5236\u6d88\u606f<\/strong>\uff1a\u7528\u4e8e\u5730\u9762\u7ad9\u5411\u65e0\u4eba\u673a\u53d1\u9001\u5404\u79cd\u63a7\u5236\u547d\u4ee4\uff0c\u5982\u8d77\u98de\u3001\u964d\u843d\u3001\u60ac\u505c\u7b49\u3002<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\">\u3000\u30002.&nbsp;<strong>MAVLink\u901a\u7528\u6d88\u606f\u96c6<\/strong>\uff1a<\/h3>\n\n\n\n<p>\u3000\u3000\u8fd9\u4e9b\u6d88\u606f\u96c6\u5b9a\u4e49\u4e86\u901a\u7528\u7684\u6d88\u606f\u7c7b\u578b\uff0c\u662f\u5927\u591a\u6570\u5730\u9762\u63a7\u5236\u7ad9\u548c\u81ea\u52a8\u9a7e\u9a76\u4eea\u5b9e\u73b0\u7684\u57fa\u7840\u3002\u8fd9\u4e9b\u6d88\u606f\u96c6\u53ef\u4ee5\u5728\u300aMAVLink Common Message Set Specifications\u300b\u6587\u6863\u4e2d\u67e5\u770b\u3002<\/p>\n\n\n\n<p>\u3000\u3000\u6bcf\u4e2aXML\u6587\u4ef6\u5bf9\u5e94\u4e00\u4e2a\u7279\u5b9a\u7684MAVLink\u7cfb\u7edf\uff0c\u5e76\u4e3a\u8be5\u7cfb\u7edf\u5b9a\u4e49\u4e86\u4e13\u5c5e\u7684\u6d88\u606f\u96c6(\u4ea6\u88ab\u79f0\u4e3a\u201c\u8bed\u652fdialect\u201d)\uff0c\u4f8b\u5982common.xml \u548cardupilot.xml&nbsp;\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">\u3000\u30003.&nbsp;<strong>\u81ea\u5b9a\u4e49\u6d88\u606f<\/strong>\uff1a<\/h3>\n\n\n\n<p>\u3000\u3000\u5728\u8fdb\u884c\u5f00\u6e90\u98de\u63a7\u4e8c\u6b21\u5f00\u53d1\u65f6\uff0c\u589e\u52a0\u81ea\u5b9a\u4e49\u6d88\u606f\u975e\u5e38\u666e\u904d\u3002\u4f8b\u5982\uff0c\u5728offboard\u6a21\u5f0f\u4e0b\uff0c\u5c06\u89c6\u89c9\u907f\u969c\u4fe1\u606f\u6216\u8005\u96f7\u8fbe\u4fe1\u606f\u53d1\u9001\u7ed9\u98de\u63a7\u65f6\uff0c\u5c31\u9700\u8981\u5728MAVLink\u4e2d\u81ea\u5b9a\u4e49\u4e00\u4e9b\u6d88\u606f\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">\u3000\u30004.&nbsp;<strong>\u6d88\u606f\u5305\u7ed3\u6784<\/strong>\uff1a<\/h3>\n\n\n\n<p>\u3000\u3000\u6d88\u606f\u5305\u7ed3\u6784\u5b9a\u4e49\u4e86\u6d88\u606f\u5305\u5728\u53d1\u9001\u3001\u63a5\u6536\u3001\u521d\u6b21\u89e3\u6790\u4e2d\u6240\u9700\u4fe1\u606f\u7684\u5b58\u50a8\u89c4\u5219\u3002\u5728MAVLink 1.0\u7248\u672c\u4e2d\uff0c\u6d88\u606f\u5305\u7ed3\u6784\u5305\u62ecSTX\u6bb5\u5f15\u5bfc\u548c\u6821\u9a8c\u4f4d\u7b49\u4fe1\u606f\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">\u3000\u30005.&nbsp;<strong>\u5e94\u7528\u573a\u666f<\/strong>\uff1a<\/h3>\n\n\n\n<ul 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