{"id":98077,"date":"2024-09-26T16:20:10","date_gmt":"2024-09-26T08:20:10","guid":{"rendered":"\/\/www.viralrail.com\/?p=98077"},"modified":"2024-09-26T16:20:14","modified_gmt":"2024-09-26T08:20:14","slug":"msddhsxd-2","status":"publish","type":"post","link":"\/\/www.viralrail.com\/blog\/98077.html","title":{"rendered":"MAVLink\u662f\u5927\u7aef\u8fd8\u662f\u5c0f\u7aef"},"content":{"rendered":"\n<p>\u3000\u3000<strong>MAVLink(Micro Air Vehicle Link)<\/strong>\u662f\u4e00\u79cd\u8f7b\u91cf\u7ea7\u7684\u6d88\u606f\u4f20\u9012\u534f\u8bae\uff0c\u5e7f\u6cdb\u7528\u4e8e\u65e0\u4eba\u673a\u548c\u5176\u4ed6\u673a\u5668\u4eba\u7cfb\u7edf\u4e4b\u95f4\u7684\u901a\u4fe1\u3002<strong>MAVLink \u4f7f\u7528\u5c0f\u7aef(Little Endian)\u683c\u5f0f\u6765\u7f16\u7801\u591a\u5b57\u8282\u6570\u636e\u3002<\/strong>\u8fd9\u610f\u5473\u7740\u5728\u6d88\u606f\u7684\u6709\u6548\u8f7d\u8377\u90e8\u5206\uff0c\u591a\u5b57\u8282\u6570\u636e\u7684\u6700\u4f4e\u6709\u6548\u5b57\u8282\u5b58\u50a8\u5728\u6700\u4f4e\u7684\u5185\u5b58\u5730\u5740\uff0c\u800c\u6700\u9ad8\u6709\u6548\u5b57\u8282\u5b58\u50a8\u5728\u6700\u9ad8\u7684\u5185\u5b58\u5730\u5740\u3002\u4f8b\u5982\uff0c\u5bf9\u4e8e\u4e00\u4e2a32\u4f4d\u7684\u6574\u65700x12345678.\u5728\u5c0f\u7aef\u7cfb\u7edf\u4e2d\u7684\u5b58\u50a8\u987a\u5e8f\u4e3a\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u3000\u3000\u5730\u5740: 0x00 0x01 0x02 0x03<\/li>\n\n\n\n<li>\u3000\u3000\u6570\u636e: 0x78 0x56 0x34 0x12<\/li>\n<\/ul>\n\n\n\n<p>\u3000\u3000\u8fd9\u79cd\u683c\u5f0f\u5728\u8bb8\u591a\u5d4c\u5165\u5f0f\u7cfb\u7edf\u548c\u901a\u4fe1\u534f\u8bae\u4e2d\u88ab\u5e7f\u6cdb\u91c7\u7528\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u3000\u3000\u4e00\u3001 \u5728MAVLink\u534f\u8bae\u4e2d\uff0c\u5982\u4f55\u5904\u7406\u4e0d\u540c\u7cfb\u7edf\u4e4b\u95f4\u7684\u5b57\u8282\u5e8f\u5dee\u5f02?<\/h2>\n\n\n\n<p>\u3000\u3000\u5728MAVLink\u534f\u8bae\u4e2d\uff0c\u5904\u7406\u4e0d\u540c\u7cfb\u7edf\u4e4b\u95f4\u7684\u5b57\u8282\u5e8f\u5dee\u5f02\u4e3b\u8981\u901a\u8fc7\u5b8f\u5b9a\u4e49\u6765\u5b9e\u73b0\u3002\u5f53\u5b8f\u5b9a\u4e49MAVLINK NEED_BYTE_SWAP\u4e3atrue\u6216MAVLINK_ALIGNED_FIELDS\u4e3afalse\u65f6\uff0c\u9700\u8981\u8003\u8651\u4ea4\u6362\u5b57\u8282\u5e8f\u6216\u5b57\u8282\u5bf9\u9f50\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u3000\u3000\u4e8c\u3001 MAVLink\u534f\u8bae\u7684\u6d88\u606f\u7ed3\u6784\u4e2d\uff0cCRC\u5b57\u6bb5\u662f\u5982\u4f55\u8ba1\u7b97\u7684?<\/h2>\n\n\n\n<p>\u3000\u3000MAVLink\u534f\u8bae\u7684\u6d88\u606f\u7ed3\u6784\u4e2d\uff0cCRC\u5b57\u6bb5\u7684\u8ba1\u7b97\u662f\u901a\u8fc7\u4e00\u79cd\u5faa\u73af\u5197\u4f59\u6821\u9a8c(CRC)\u7b97\u6cd5\u6765\u5b9e\u73b0\u7684\u3002CRC\u662f\u4e00\u79cd\u6570\u636e\u4f20\u8f93\u68c0\u9519\u529f\u80fd\uff0c\u5bf9\u6570\u636e\u8fdb\u884c\u591a\u9879\u5f0f\u8ba1\u7b97\uff0c\u5e76\u5c06\u5f97\u5230\u7684\u7ed3\u679c\u9644\u5728\u5e27\u7684\u540e\u9762\uff0c\u63a5\u6536\u8bbe\u5907\u4e5f\u6267\u884c\u7c7b\u4f3c\u7684\u7b97\u6cd5\uff0c\u4ee5\u4fdd\u8bc1\u6570\u636e\u4f20\u8f93\u7684\u6b63\u786e\u6027\u548c\u5b8c\u6574\u6027\u3002<\/p>\n\n\n\n<p>\u3000\u3000\u5177\u4f53\u6765\u8bf4\uff0cMAVLink\u534f\u8bae\u4f7f\u7528\u7684\u662fCRC-16\/MCRF4XX\u6821\u9a8c\u7b97\u6cd5\u3002\u5728\u8ba1\u7b97CRC\u65f6\uff0c\u9664\u4e86\u6d88\u606f\u7684\u5b9e\u9645\u6570\u636e\u5916\uff0c\u8fd8\u4f1a\u52a0\u5165\u4e00\u4e2a\u989d\u5916\u7684\u5b57\u6bb5MAVLINK_CRC_EXTRA\uff0c\u8fd9\u4e2a\u5b57\u6bb5\u662f\u7531\u751f\u6210mavlink\u4ee3\u7801\u7684XML\u6587\u4ef6\u751f\u6210\u7684\u3002MAVLINK_CRC_EXTRA\u7528\u4e8e\u786e\u4fdd\u5f53\u98de\u884c\u5668\u548c\u5730\u9762\u7ad9\u4f7f\u7528\u4e0d\u540c\u7248\u672c\u7684mavlink\u534f\u8bae\u65f6\uff0c\u53cc\u65b9\u8ba1\u7b97\u5f97\u5230\u7684\u6821\u9a8c\u7801\u4f1a\u4e0d\u540c\uff0c\u4ece\u800c\u907f\u514d\u4e0d\u540c\u7248\u672c\u95f4\u7684\u901a\u8baf\u95ee\u9898\u3002<\/p>\n\n\n\n<p>\u3000\u3000\u5728\u5b9e\u9645\u5e94\u7528\u4e2d\uff0c\u8ba1\u7b97CRC\u7684\u8fc7\u7a0b\u901a\u5e38\u7531\u4e13\u95e8\u7684\u51fd\u6570\u5b8c\u6210\uff0c\u4f8b\u5982\u5728Rust\u8bed\u8a00\u4e2d\uff0c\u53ef\u4ee5\u4f7f\u7528calculate_crc\u51fd\u6570\u6765\u8ba1\u7b97CRC\u503c\u3002\u8fd9\u4e2a\u51fd\u6570\u4f1a\u6839\u636e\u6d88\u606f\u7684\u5177\u4f53\u5185\u5bb9\u548c\u683c\u5f0f\uff0c\u6309\u7167CRC\u7b97\u6cd5\u8fdb\u884c\u8ba1\u7b97\uff0c\u751f\u6210\u6700\u7ec8\u7684CRC\u5b57\u6bb5\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u3000\u3000\u4e09\u3001 MAVLink\u534f\u8bae\u6709\u54ea\u4e9b\u5e38\u89c1\u7684\u6d88\u606fID(MSG_ID)\u53ca\u5176\u7528\u9014?<\/h2>\n\n\n\n<p>\u3000\u3000MAVLink\u534f\u8bae\u5b9a\u4e49\u4e86\u4e00\u7cfb\u5217\u7684\u6d88\u606fID(MSG_ID)\uff0c\u8fd9\u4e9bID\u7528\u4e8e\u6807\u8bc6\u4e0d\u540c\u7c7b\u578b\u7684\u6d88\u606f\u3002\u6bcf\u4e2a\u6d88\u606fID\u5bf9\u5e94\u4e00\u4e2a\u7279\u5b9a\u7684\u6d88\u606f\u7c7b\u578b\u548c\u7528\u9014\u3002\u4ee5\u4e0b\u662f\u4e00\u4e9b\u5e38\u89c1\u7684\u6d88\u606fID\u53ca\u5176\u7528\u9014\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u3000\u3000<strong>0x00<\/strong>\uff1a\u5fc3\u8df3\u5305(Heartbeat)\u3002\u7528\u4e8e\u65e0\u4eba\u673a\u4e0e\u5730\u9762\u7ad9\u4e4b\u95f4\u7684\u57fa\u672c\u901a\u4fe1\uff0c\u786e\u4fdd\u53cc\u65b9\u7684\u8fde\u63a5\u6b63\u5e38\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>0x01<\/strong>\uff1a\u7cfb\u7edf\u72b6\u6001(System Status)\u3002\u63d0\u4f9b\u65e0\u4eba\u673a\u7cfb\u7edf\u7684\u72b6\u6001\u4fe1\u606f\uff0c\u5982\u7cfb\u7edfID\u3001\u7c7b\u578b\u3001\u6a21\u5f0f\u7b49\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>0x02<\/strong>\uff1a\u4f4d\u7f6e\u548c\u901f\u5ea6(Position and Velocity)\u3002\u5305\u542b\u65e0\u4eba\u673a\u7684\u4f4d\u7f6e\u548c\u901f\u5ea6\u4fe1\u606f\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>0x03<\/strong>\uff1a\u59ff\u6001\u548c\u52a0\u901f\u5ea6(Attitude and Acceleration)\u3002\u63d0\u4f9b\u65e0\u4eba\u673a\u7684\u59ff\u6001\u548c\u52a0\u901f\u5ea6\u4fe1\u606f\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>0x04<\/strong>\uff1aGPS\u6570\u636e(GPS Data)\u3002\u5305\u542bGPS\u4f4d\u7f6e\u3001\u901f\u5ea6\u3001\u9ad8\u5ea6\u548c\u65f6\u95f4\u7b49\u4fe1\u606f\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>0x05<\/strong>\uff1a\u9065\u63a7\u5668\u72b6\u6001(Remote Control)\u3002\u663e\u793a\u9065\u63a7\u5668\u7684\u8f93\u5165\u72b6\u6001\uff0c\u5982\u6cb9\u95e8\u3001\u65b9\u5411\u8235\u7b49\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>0x06<\/strong>\uff1a\u4efb\u52a1\u8bf7\u6c42(Mission Request)\u3002\u7528\u4e8e\u8bf7\u6c42\u6267\u884c\u7279\u5b9a\u7684\u4efb\u52a1\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>0x07<\/strong>\uff1a\u4efb\u52a1\u54cd\u5e94(Mission Response)\u3002\u8fd4\u56de\u4efb\u52a1\u6267\u884c\u7684\u7ed3\u679c\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>0x08<\/strong>\uff1a\u4efb\u52a1\u4e0b\u8f7d(Mission Download)\u3002\u4e0b\u8f7d\u4efb\u52a1\u5217\u8868\u5230\u65e0\u4eba\u673a\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>0x09<\/strong>\uff1a\u4efb\u52a1\u4e0a\u4f20(Mission Upload)\u3002\u4e0a\u4f20\u4efb\u52a1\u5217\u8868\u5230\u5730\u9762\u7ad9\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>0x0A<\/strong>\uff1a\u4efb\u52a1\u786e\u8ba4(Mission Conf)\u3002\u786e\u8ba4\u4efb\u52a1\u662f\u5426\u6210\u529f\u4e0a\u4f20\u6216\u4e0b\u8f7d\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>0x0B<\/strong>\uff1a\u4efb\u52a1\u6e05\u9664(Mission Clear)\u3002\u6e05\u9664\u65e0\u4eba\u673a\u4e0a\u7684\u6240\u6709\u4efb\u52a1\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>0x0C<\/strong>\uff1a\u4efb\u52a1\u8bf7\u6c42\u786e\u8ba4(Mission Request Conf)\u3002\u786e\u8ba4\u4efb\u52a1\u8bf7\u6c42\u662f\u5426\u6210\u529f\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>0x0D<\/strong>\uff1a\u4efb\u52a1\u8bf7\u6c42\u4e0b\u8f7d(Mission Request Download)\u3002\u8bf7\u6c42\u4e0b\u8f7d\u4efb\u52a1\u5217\u8868\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>0x0E<\/strong>\uff1a\u4efb\u52a1\u8bf7\u6c42\u4e0a\u4f20(Mission Request Upload)\u3002\u8bf7\u6c42\u4e0a\u4f20\u4efb\u52a1\u5217\u8868\u3002<\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\">\u3000\u3000\u56db\u3001 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