{"id":99408,"date":"2024-11-21T10:30:04","date_gmt":"2024-11-21T02:30:04","guid":{"rendered":"\/\/www.viralrail.com\/?p=99408"},"modified":"2024-11-21T10:30:10","modified_gmt":"2024-11-21T02:30:10","slug":"mxyjx-4","status":"publish","type":"post","link":"\/\/www.viralrail.com\/blog\/99408.html","title":{"rendered":"MAVLink\u534f\u8bae\u89e3\u6790"},"content":{"rendered":"\n<p>\u3000\u3000<strong>MAVLink(Micro Air Vehicle Link)<\/strong>\u662f\u4e00\u79cd\u4e13\u4e3a\u5c0f\u578b\u65e0\u4eba\u673a\u53ca\u673a\u5668\u4eba\u7cfb\u7edf\u8bbe\u8ba1\u7684\u8f7b\u91cf\u7ea7\u3001\u9ad8\u6548\u3001\u53ef\u9760\u7684\u901a\u4fe1\u534f\u8bae\u3002\u5b83\u4e3b\u8981\u7528\u4e8e\u65e0\u4eba\u673a(UAV)\u4e0e\u5730\u9762\u7ad9(GCS\uff0cGround Control Station)\u4e4b\u95f4\u7684\u53cc\u5411\u901a\u4fe1\uff0c\u4e5f\u53ef\u7528\u4e8e\u5176\u4ed6\u7c7b\u578b\u7684\u673a\u5668\u4eba\u7cfb\u7edf\u548c\u81ea\u52a8\u5316\u63a7\u5236\u8bbe\u5907\u4e4b\u95f4\u7684\u901a\u4fe1\u3002MAVLink\u6700\u521d\u7531<strong>Paparazzi\u65e0\u4eba\u673a\u9879\u76ee<\/strong>\u5f00\u53d1\uff0c\u4f46\u5176\u7b80\u5355\u3001\u7075\u6d3b\u548c\u9ad8\u6548\u7684\u8bbe\u8ba1\u4f7f\u5f97\u5b83\u88ab\u5e7f\u6cdb\u5e94\u7528\u4e8e\u65e0\u4eba\u673a\u884c\u4e1a\u548c\u673a\u5668\u4eba\u9886\u57df\uff0c\u5e76\u6210\u4e3a\u8bb8\u591a\u5f00\u6e90\u98de\u63a7\u7cfb\u7edf(\u5982<strong>PX4<\/strong>\u3001<strong>ArduPilot<\/strong>)\u7684\u6807\u51c6\u901a\u4fe1\u534f\u8bae\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u3000\u3000\u4e00\u3001 MAVLink\u534f\u8bae\u6982\u8ff0<\/h2>\n\n\n\n<p>\u3000\u3000MAVLink\u534f\u8bae\u662f\u4e00\u79cd\u57fa\u4e8e\u6d88\u606f\u7684\u534f\u8bae\uff0c\u6bcf\u6761\u6d88\u606f\u90fd\u6709\u56fa\u5b9a\u7684\u7ed3\u6784\uff0c\u53ef\u4ee5\u643a\u5e26\u5404\u79cd\u7c7b\u578b\u7684\u6570\u636e\uff0c\u5982\u9065\u6d4b\u4fe1\u606f\u3001\u4f20\u611f\u5668\u6570\u636e\u3001\u63a7\u5236\u547d\u4ee4\u7b49\u3002MAVLink\u7684\u8bbe\u8ba1\u76ee\u6807\u662f\u786e\u4fdd\u4f4e\u5ef6\u8fdf\u3001\u9ad8\u53ef\u9760\u6027\u3001\u4f4e\u5e26\u5bbd\u5360\u7528\uff0c\u9002\u5e94\u5b9e\u65f6\u63a7\u5236\u548c\u590d\u6742\u7684\u5d4c\u5165\u5f0f\u7cfb\u7edf\u3002<\/p>\n\n\n\n<p>\u3000\u3000MAVLink\u7684\u901a\u4fe1\u65b9\u5f0f\u652f\u6301\u591a\u79cd\u534f\u8bae\u5c42\uff0c\u5305\u62ec\u4e32\u53e3(\u5982UART)\u3001UDP\u3001TCP\u7b49\u7f51\u7edc\u4f20\u8f93\u65b9\u5f0f\uff0c\u80fd\u9002\u5e94\u4e0d\u540c\u7684\u7f51\u7edc\u73af\u5883\u3002<\/p>\n\n\n\n<p>\u3000\u3000\u6838\u5fc3\u7279\u6027<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u3000\u3000<strong>\u8f7b\u91cf\u7ea7<\/strong>\uff1aMAVLink\u6d88\u606f\u683c\u5f0f\u7b80\u6d01\uff0c\u6570\u636e\u5f00\u9500\u5c0f\uff0c\u9002\u5408\u8d44\u6e90\u53d7\u9650\u7684\u8bbe\u5907(\u5982\u98de\u884c\u63a7\u5236\u5668)\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u53ef\u9760\u6027<\/strong>\uff1aMAVLink\u901a\u8fc7\u786e\u8ba4\u673a\u5236(ACK)\u548c\u91cd\u4f20\u673a\u5236\u4fdd\u8bc1\u6570\u636e\u7684\u53ef\u9760\u6027\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u6269\u5c55\u6027<\/strong>\uff1aMAVLink\u652f\u6301\u5b9a\u5236\u6269\u5c55\uff0c\u5141\u8bb8\u6839\u636e\u5e94\u7528\u9700\u6c42\u6dfb\u52a0\u65b0\u7684\u6d88\u606f\u7c7b\u578b\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u5b9e\u65f6\u6027<\/strong>\uff1aMAVLink\u9002\u5e94\u5b9e\u65f6\u6027\u8981\u6c42\uff0c\u80fd\u591f\u5728\u4f4e\u5e26\u5bbd\u3001\u9ad8\u5ef6\u8fdf\u7684\u65e0\u7ebf\u901a\u4fe1\u73af\u5883\u4e0b\u53ef\u9760\u4f20\u8f93\u6570\u636e\u3002<\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\">\u3000\u3000\u4e8c\u3001 MAVLink\u534f\u8bae\u5de5\u4f5c\u539f\u7406<\/h2>\n\n\n\n<p>\u3000\u3000MAVLink\u534f\u8bae\u7684\u6838\u5fc3\u662f\u6d88\u606f\u4f20\u9012\u673a\u5236\uff0c\u5b83\u57fa\u4e8e\u56fa\u5b9a\u683c\u5f0f\u7684\u4e8c\u8fdb\u5236\u6570\u636e\u5305\u8fdb\u884c\u901a\u4fe1\u3002MAVLink\u7684\u5de5\u4f5c\u539f\u7406\u4e3b\u8981\u5305\u62ec\u6d88\u606f\u7684\u683c\u5f0f\u3001\u4f20\u8f93\u3001\u786e\u8ba4\u3001\u5e8f\u5217\u5316\u4e0e\u53cd\u5e8f\u5217\u5316\u7b49\u51e0\u4e2a\u65b9\u9762\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">\u3000\u30001. \u6d88\u606f\u683c\u5f0f<\/h3>\n\n\n\n<p>\u3000\u3000MAVLink\u6d88\u606f\u683c\u5f0f\u7531\u4e24\u90e8\u5206\u7ec4\u6210\uff1a<strong>\u6d88\u606f\u5934\uff08Header\uff09<\/strong>&nbsp;\u548c&nbsp;<strong>\u6d88\u606f\u4f53\uff08Payload\uff09<\/strong>\u3002<\/p>\n\n\n\n<p>\u3000\u3000<strong>\u6d88\u606f\u5934\uff08Header\uff09<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u3000\u3000<strong>\u6807\u8bc6\u7b26\uff08Message ID\uff09<\/strong>\uff1a\u552f\u4e00\u6807\u8bc6\u6d88\u606f\u7684\u7c7b\u578b\u3002MAVLink\u89c4\u5b9a\u4e86\u5f88\u591a\u6807\u51c6\u7684\u6d88\u606f\u7c7b\u578b\uff0c\u5982GPS\u6570\u636e\u3001\u9065\u6d4b\u4fe1\u606f\u3001\u98de\u884c\u63a7\u5236\u6307\u4ee4\u7b49\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u7cfb\u7edfID\uff08System ID\uff09<\/strong>\uff1a\u8868\u793a\u53d1\u9001\u6d88\u606f\u7684\u7cfb\u7edf\u6807\u8bc6\u7b26\u3002\u6bcf\u4e2a\u7cfb\u7edf(\u5982\u65e0\u4eba\u673a\u3001\u5730\u9762\u7ad9\u7b49)\u90fd\u6709\u4e00\u4e2a\u552f\u4e00\u7684ID\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u7ec4\u4ef6ID\uff08Component ID\uff09<\/strong>\uff1a\u8868\u793a\u8be5\u7cfb\u7edf\u4e2d\u67d0\u4e2a\u5177\u4f53\u7ec4\u4ef6\u7684ID\uff0c\u5982\u98de\u884c\u63a7\u5236\u5668\u3001\u4f20\u611f\u5668\u3001GPS\u6a21\u5757\u7b49\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u5e8f\u5217\u53f7\uff08Sequence Number\uff09<\/strong>\uff1a\u7528\u4e8e\u6807\u8bc6\u6d88\u606f\u7684\u987a\u5e8f\uff0c\u5e2e\u52a9\u63a5\u6536\u65b9\u786e\u4fdd\u6d88\u606f\u987a\u5e8f\u6b63\u786e\uff0c\u9632\u6b62\u4e22\u5931\u6216\u91cd\u590d\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u6821\u9a8c\u548c\uff08Checksum\uff09<\/strong>\uff1a\u7528\u4e8e\u9a8c\u8bc1\u6570\u636e\u5305\u5728\u4f20\u8f93\u8fc7\u7a0b\u4e2d\u662f\u5426\u88ab\u7be1\u6539\u6216\u635f\u574f\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u3000\u3000<strong>\u6d88\u606f\u4f53\uff08Payload\uff09<\/strong><\/p>\n\n\n\n<p>\u3000\u3000\u6d88\u606f\u4f53\u643a\u5e26\u7684\u662f\u5b9e\u9645\u6570\u636e\u5185\u5bb9\uff0c\u5177\u4f53\u5b57\u6bb5\u6839\u636e\u4e0d\u540c\u7684\u6d88\u606f\u7c7b\u578b\u800c\u4e0d\u540c\u3002\u4f8b\u5982\uff0c\u4f20\u611f\u5668\u6570\u636e\u6d88\u606f\u53ef\u80fd\u5305\u542b\u52a0\u901f\u5ea6\u3001\u6e29\u5ea6\u3001\u6e7f\u5ea6\u7b49\u6570\u636e\uff0c\u800c\u63a7\u5236\u547d\u4ee4\u6d88\u606f\u53ef\u80fd\u5305\u62ec\u98de\u884c\u63a7\u5236\u6307\u4ee4(\u5982\u671f\u671b\u7684\u901f\u5ea6\u3001\u822a\u5411\u7b49)\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">\u3000\u30002. \u6d88\u606f\u5e8f\u5217\u5316\u4e0e\u53cd\u5e8f\u5217\u5316<\/h3>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u3000\u3000<strong>\u5e8f\u5217\u5316\uff08Serialization\uff09<\/strong>\uff1a\u53d1\u9001\u65b9\u5c06\u6d88\u606f\u7684\u5404\u4e2a\u5b57\u6bb5(\u5305\u62ec\u6d88\u606f\u5934\u548c\u6d88\u606f\u4f53)\u6309\u4e8c\u8fdb\u5236\u683c\u5f0f\u8f6c\u6362\u6210\u4e00\u4e2a\u6570\u636e\u5305\u3002\u8fd9\u79cd\u683c\u5f0f\u5316\u7684\u4e8c\u8fdb\u5236\u6570\u636e\u6d41\u88ab\u79f0\u4e3a\u201c\u5e8f\u5217\u5316\u6570\u636e\u201d\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u53cd\u5e8f\u5217\u5316\uff08Deserialization\uff09<\/strong>\uff1a\u63a5\u6536\u65b9\u63a5\u6536\u5230\u4e8c\u8fdb\u5236\u6570\u636e\u5305\u540e\uff0c\u6309\u9884\u5b9a\u7684\u683c\u5f0f\u5c06\u6570\u636e\u6d41\u89e3\u7801\uff0c\u8fd8\u539f\u6210\u6d88\u606f\u7684\u5404\u4e2a\u5b57\u6bb5\u3002\u53cd\u5e8f\u5217\u5316\u4e4b\u540e\uff0c\u63a5\u6536\u65b9\u5c31\u80fd\u63d0\u53d6\u51fa\u539f\u59cb\u7684\u6d88\u606f\u5185\u5bb9\u8fdb\u884c\u5904\u7406\u3002<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\">\u3000\u30003. \u6570\u636e\u5305\u4f20\u8f93<\/h3>\n\n\n\n<p>\u3000\u3000MAVLink\u7684\u6d88\u606f\u4f20\u8f93\u901a\u8fc7\u7f51\u7edc\u8fdb\u884c\uff0c\u652f\u6301\u591a\u4e2a\u4f20\u8f93\u534f\u8bae\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u3000\u3000<strong>\u4e32\u53e3\uff08Serial\uff09<\/strong>\uff1a\u7528\u4e8e\u98de\u884c\u63a7\u5236\u5668\u4e0e\u5730\u9762\u7ad9\u4e4b\u95f4\u7684\u901a\u4fe1\uff0c\u901a\u5e38\u4f7f\u7528UART\u8fdb\u884c\u6570\u636e\u4f20\u8f93\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>UDP<\/strong>\uff1a\u7528\u4e8e\u5728\u65e0\u7ebf\u7f51\u7edc\u4e2d\u9ad8\u6548\u4f20\u8f93\u6570\u636e\uff0c\u9002\u7528\u4e8e\u4f4e\u5ef6\u8fdf\u5e94\u7528\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>TCP<\/strong>\uff1a\u9002\u7528\u4e8e\u9700\u8981\u8f83\u9ad8\u53ef\u9760\u6027\u548c\u987a\u5e8f\u4f20\u8f93\u7684\u573a\u5408\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u3000\u3000MAVLink\u534f\u8bae\u7684\u4f20\u8f93\u4f9d\u8d56\u4e8e&nbsp;<strong>\u65e0\u8fde\u63a5\u534f\u8bae<\/strong>(\u5982UDP)\uff0c\u6570\u636e\u5305\u7684\u4f20\u8f93\u8fc7\u7a0b\u5305\u62ec\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u3000\u3000<strong>\u6d88\u606f\u751f\u6210<\/strong>\uff1a\u53d1\u9001\u65b9\u6839\u636eMAVLink\u6d88\u606f\u683c\u5f0f\u6784\u9020\u6570\u636e\u5305\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u6570\u636e\u5305\u4f20\u8f93<\/strong>\uff1a\u6570\u636e\u5305\u901a\u8fc7\u6307\u5b9a\u7684\u901a\u4fe1\u4ecb\u8d28(\u4e32\u53e3\u3001UDP\u3001TCP\u7b49)\u4f20\u8f93\u5230\u63a5\u6536\u65b9\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u6d88\u606f\u63a5\u6536<\/strong>\uff1a\u63a5\u6536\u65b9\u6839\u636e\u4f20\u8f93\u534f\u8bae\u63a5\u6536\u5230\u6570\u636e\u5305\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u6d88\u606f\u89e3\u6790<\/strong>\uff1a\u63a5\u6536\u65b9\u5bf9\u6570\u636e\u5305\u8fdb\u884c\u53cd\u5e8f\u5217\u5316\uff0c\u63d0\u53d6\u51fa\u6d88\u606f\u5185\u5bb9\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u786e\u8ba4\u5e94\u7b54<\/strong>\uff1a\u4e3a\u4fdd\u8bc1\u6d88\u606f\u53ef\u9760\u6027\uff0c\u63a5\u6536\u65b9\u4f1a\u8fd4\u56de\u786e\u8ba4\u6d88\u606f(ACK)\uff0c\u5982\u679c\u6ca1\u6709\u6536\u5230\u786e\u8ba4\uff0c\u53d1\u9001\u65b9\u4f1a\u91cd\u65b0\u53d1\u9001\u6d88\u606f\u3002<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\">\u3000\u30004. \u6d88\u606f\u7c7b\u578b<\/h3>\n\n\n\n<p>\u3000\u3000MAVLink\u534f\u8bae\u652f\u6301\u4e30\u5bcc\u7684\u6d88\u606f\u7c7b\u578b\u3002\u6839\u636e\u5e94\u7528\u9700\u6c42\uff0cMAVLink\u63d0\u4f9b\u4e86\u6807\u51c6\u6d88\u606f\u96c6(<strong>MAVLink Messages<\/strong>)\uff0c\u6bcf\u4e2a\u6d88\u606f\u7c7b\u578b\u90fd\u6709\u56fa\u5b9a\u7684ID\uff0c\u5e76\u4e14\u5305\u62ec\u4e86\u4e0d\u540c\u7c7b\u578b\u7684\u53c2\u6570\u548c\u6570\u636e\u3002<\/p>\n\n\n\n<p>\u3000\u3000\u5e38\u89c1\u7684MAVLink\u6d88\u606f\u7c7b\u578b\u6709\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u3000\u3000<strong>\u5fc3\u8df3\u6d88\u606f\uff08Heartbeat\uff09<\/strong>\uff1a\u7528\u4e8e\u5b9a\u671f\u786e\u8ba4\u7cfb\u7edf\u662f\u5426\u5728\u7ebf\uff0c\u5e76\u62a5\u544a\u7cfb\u7edf\u72b6\u6001(\u5982\u98de\u884c\u6a21\u5f0f\u3001\u786c\u4ef6\u72b6\u6001\u7b49)\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u9065\u6d4b\u6570\u636e\uff08Telemetry\uff09<\/strong>\uff1a\u5305\u62ec\u98de\u884c\u6570\u636e\u3001\u4f20\u611f\u5668\u6570\u636e\u3001GPS\u4f4d\u7f6e\u3001\u98de\u884c\u72b6\u6001\u7b49\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u63a7\u5236\u6307\u4ee4<\/strong>\uff1a\u5982\u8d77\u98de\u3001\u964d\u843d\u3001\u98de\u884c\u6a21\u5f0f\u5207\u6362\u7b49\u63a7\u5236\u547d\u4ee4\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u4f20\u611f\u5668\u6570\u636e<\/strong>\uff1a\u5305\u62ec\u52a0\u901f\u5ea6\u3001\u9640\u87ba\u4eea\u3001\u78c1\u529b\u8ba1\u3001\u6c14\u538b\u8ba1\u3001GPS\u7b49\u4f20\u611f\u5668\u91c7\u96c6\u7684\u6570\u636e\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u72b6\u6001\u62a5\u544a<\/strong>\uff1a\u5982\u7535\u6c60\u7535\u91cf\u3001\u98de\u884c\u5668\u59ff\u6001\u3001\u822a\u5411\u7b49\u7cfb\u7edf\u72b6\u6001\u4fe1\u606f\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u65e5\u5fd7\u548c\u9519\u8bef\u62a5\u544a<\/strong>\uff1a\u7528\u4e8e\u8bb0\u5f55\u7cfb\u7edf\u65e5\u5fd7\u4fe1\u606f\uff0c\u5982\u98de\u884c\u8f68\u8ff9\u3001\u9519\u8bef\u7801\u3001\u4e8b\u4ef6\u65e5\u5fd7\u7b49\u3002<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\">\u3000\u30005. \u6570\u636e\u786e\u8ba4\u4e0e\u91cd\u4f20<\/h3>\n\n\n\n<p>\u3000\u3000MAVLink\u534f\u8bae\u901a\u8fc7&nbsp;<strong>\u786e\u8ba4\u673a\u5236\uff08ACK\uff09<\/strong>&nbsp;\u4fdd\u8bc1\u6570\u636e\u7684\u53ef\u9760\u4f20\u8f93\u3002\u63a5\u6536\u65b9\u63a5\u6536\u5230\u6570\u636e\u540e\uff0c\u4f1a\u8fd4\u56de\u4e00\u4e2a\u786e\u8ba4\u6d88\u606f\uff0c\u544a\u8bc9\u53d1\u9001\u65b9\u6d88\u606f\u5df2\u7ecf\u6210\u529f\u63a5\u6536\u3002\u5982\u679c\u53d1\u9001\u65b9\u6ca1\u6709\u6536\u5230\u786e\u8ba4\u6d88\u606f\uff0c\u5b83\u4f1a\u6839\u636e\u8bbe\u5b9a\u7684\u7b56\u7565\u91cd\u65b0\u53d1\u9001\u6570\u636e\u5305\u3002\u8fd9\u4e2a\u673a\u5236\u5e2e\u52a9MAVLink\u5728\u65e0\u7ebf\u901a\u4fe1\u73af\u5883\u4e0b\u786e\u4fdd\u6570\u636e\u7684\u53ef\u9760\u4f20\u8f93\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">\u3000\u30006. \u5fc3\u8df3\u4e0e\u8fde\u63a5\u7ba1\u7406<\/h3>\n\n\n\n<p>\u3000\u3000MAVLink\u534f\u8bae\u91c7\u7528\u5fc3\u8df3\u673a\u5236\u7528\u4e8e\u8bbe\u5907\u4e4b\u95f4\u7684\u8fde\u63a5\u7ba1\u7406\u548c\u72b6\u6001\u66f4\u65b0\u3002\u6bcf\u4e2aMAVLink\u8bbe\u5907(\u5982\u65e0\u4eba\u673a\u3001\u5730\u9762\u63a7\u5236\u7ad9\u6216\u5176\u4ed6\u5e73\u53f0)\u90fd\u4f1a\u5b9a\u671f\u53d1\u9001\u5fc3\u8df3\u6d88\u606f\uff0c\u4ee5\u901a\u77e5\u7f51\u7edc\u4e2d\u7684\u5176\u4ed6\u8bbe\u5907\u81ea\u5df1\u662f\u5728\u7ebf\u7684\uff0c\u5e76\u62a5\u544a\u81ea\u5df1\u7684\u72b6\u6001(\u4f8b\u5982\u8bbe\u5907\u7c7b\u578b\u3001\u5de5\u4f5c\u6a21\u5f0f\u7b49)\u3002\u901a\u8fc7\u5fc3\u8df3\u6d88\u606f\uff0c\u7cfb\u7edf\u80fd\u591f\u68c0\u6d4b\u51fa\u6389\u7ebf\u7684\u8bbe\u5907\uff0c\u7ef4\u62a4\u5065\u5eb7\u7684\u8fde\u63a5\u72b6\u6001\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u3000\u3000\u4e09\u3001 MAVLink\u7684\u901a\u4fe1\u6a21\u5f0f<\/h2>\n\n\n\n<p>\u3000\u3000MAVLink\u652f\u6301\u4e24\u79cd\u901a\u4fe1\u6a21\u5f0f\uff1a<strong>\u70b9\u5bf9\u70b9\u901a\u4fe1<\/strong>(Peer-to-Peer)\u548c&nbsp;<strong>\u5e7f\u64ad\u901a\u4fe1<\/strong>(Broadcast)\u3002<\/p>\n\n\n\n<p>\u3000\u3000<strong>\u70b9\u5bf9\u70b9\u901a\u4fe1<\/strong>\uff1a\u4e24\u4e2a\u7cfb\u7edf(\u5982\u5730\u9762\u63a7\u5236\u7ad9\u548c\u65e0\u4eba\u673a)\u4e4b\u95f4\u8fdb\u884c\u53cc\u5411\u901a\u4fe1\uff0c\u901a\u5e38\u7528\u4e8e\u7cbe\u786e\u7684\u6307\u4ee4\u4f20\u9012\u548c\u9065\u6d4b\u6570\u636e\u63a5\u6536\u3002<\/p>\n\n\n\n<p>\u3000\u3000<strong>\u5e7f\u64ad\u901a\u4fe1<\/strong>\uff1a\u7cfb\u7edf\u53ef\u4ee5\u5411\u591a\u4e2a\u8bbe\u5907\u5e7f\u64ad\u540c\u4e00\u6761\u6d88\u606f\uff0c\u8fd9\u5bf9\u591a\u5e73\u53f0\u7684\u534f\u8c03\u4f5c\u6218\u975e\u5e38\u6709\u7528\u3002\u4f8b\u5982\uff0c\u4e00\u53f0\u5730\u9762\u7ad9\u53ef\u4ee5\u5c06\u4e00\u6761\u98de\u884c\u6307\u4ee4\u5e7f\u64ad\u7ed9\u591a\u4e2a\u65e0\u4eba\u673a\uff0c\u6240\u6709\u65e0\u4eba\u673a\u90fd\u80fd\u63a5\u6536\u5230\u5e76\u6267\u884c\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u3000\u3000\u56db\u3001 MAVLink\u7684\u4f18\u52bf\u4e0e\u6311\u6218<\/h2>\n\n\n\n<h3 class=\"wp-block-heading\">\u3000\u30001.&nbsp;<strong>\u4f18\u52bf<\/strong><\/h3>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u3000\u3000<strong>\u9ad8\u6548\u6027<\/strong>\uff1aMAVLink\u91c7\u7528\u4e8c\u8fdb\u5236\u683c\u5f0f\uff0c\u76f8\u6bd4\u6587\u672c\u683c\u5f0f\u7684\u534f\u8bae\uff0c\u5b83\u7684\u6d88\u606f\u4f53\u79ef\u66f4\u5c0f\uff0c\u9002\u5408\u5e26\u5bbd\u53d7\u9650\u7684\u65e0\u7ebf\u7f51\u7edc\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u53ef\u9760\u6027<\/strong>\uff1a\u901a\u8fc7\u5fc3\u8df3\u673a\u5236\u3001\u6d88\u606f\u786e\u8ba4\u4e0e\u91cd\u4f20\uff0c\u786e\u4fdd\u5728\u590d\u6742\u73af\u5883\u4e2d\u7684\u6570\u636e\u4f20\u8f93\u53ef\u9760\u6027\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u7075\u6d3b\u6027\u4e0e\u6269\u5c55\u6027<\/strong>\uff1aMAVLink\u652f\u6301\u52a8\u6001\u6d88\u606f\u7c7b\u578b\uff0c\u53ef\u4ee5\u6839\u636e\u5e94\u7528\u9700\u6c42\u81ea\u5b9a\u4e49\u6216\u6269\u5c55\u6d88\u606f\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u517c\u5bb9\u6027<\/strong>\uff1aMAVLink\u88ab\u5e7f\u6cdb\u652f\u6301\uff0c\u517c\u5bb9\u591a\u79cd\u786c\u4ef6\u5e73\u53f0\uff0c\u5982PX4\u3001ArduPilot\u7b49\uff0c\u652f\u6301\u4e0d\u540c\u64cd\u4f5c\u7cfb\u7edf(Linux\u3001Windows\u3001macOS)\u548c\u8bbe\u5907(\u5982\u65e0\u4eba\u673a\u3001\u673a\u5668\u4eba\u3001\u5730\u9762\u63a7\u5236\u7ad9\u7b49)\u3002<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\">\u3000\u30002.&nbsp;<strong>\u6311\u6218<\/strong><\/h3>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u3000\u3000<strong>\u5e26\u5bbd\u9650\u5236<\/strong>\uff1a\u867d\u7136MAVLink\u672c\u8eab\u8bbe\u8ba1\u4e3a\u8f7b\u91cf\u534f\u8bae\uff0c\u4f46\u5728\u9700\u8981\u9ad8\u9891\u7387\u3001\u9ad8\u7cbe\u5ea6\u6570\u636e\u4f20\u8f93\u65f6(\u5982\u4f20\u611f\u5668\u6570\u636e\u66f4\u65b0\u9891\u7e41)\uff0c\u4f9d\u7136\u53ef\u80fd\u53d7\u5230\u5e26\u5bbd\u7684\u9650\u5236\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u5ef6\u8fdf<\/strong>\uff1a\u65e0\u7ebf\u901a\u4fe1\u73af\u5883\u4e0b\u53ef\u80fd\u51fa\u73b0\u5ef6\u8fdf\uff0c\u5c24\u5176\u662f\u5728\u9ad8\u5e72\u6270\u548c\u8fdc\u8ddd\u79bb\u4f20\u8f93\u7684\u60c5\u51b5\u4e0b\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u7f51\u7edc\u73af\u5883\u6ce2\u52a8<\/strong>\uff1a\u65e0\u7ebf\u7f51\u7edc\u7684\u6ce2\u52a8\u3001\u4e22\u5305\u548c\u4fe1\u53f7\u5e72\u6270\u53ef\u80fd\u4f1a\u5f71\u54cd\u6570\u636e\u7684\u4f20\u8f93\u8d28\u91cf\uff0cMAVLink\u9700\u8981\u6709\u6548\u7684\u9519\u8bef\u6062\u590d\u548c\u91cd\u4f20\u673a\u5236\u3002<\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\">\u3000\u3000\u4e94\u3001 MAVLink\u534f\u8bae\u7684\u5e94\u7528<\/h2>\n\n\n\n<p>\u3000\u3000MAVLink\u4e0d\u4ec5\u5e7f\u6cdb\u5e94\u7528\u4e8e\u65e0\u4eba\u673a\u63a7\u5236\u4e2d\uff0c\u8fd8\u5728\u8bb8\u591a\u5176\u4ed6\u9886\u57df\u6709\u6240\u5e94\u7528\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u3000\u3000<strong>\u98de\u884c\u63a7\u5236<\/strong>\uff1a\u65e0\u4eba\u673a\u7684\u98de\u884c\u63a7\u5236\u7cfb\u7edf(\u5982PX4\u3001ArduPilot)\u901a\u8fc7MAVLink\u4e0e\u5730\u9762\u63a7\u5236\u7ad9\u6216\u5176\u4ed6\u8bbe\u5907\u8fdb\u884c\u5b9e\u65f6\u901a\u4fe1\uff0c\u4f20\u8f93\u98de\u884c\u6570\u636e\u3001\u63a7\u5236\u547d\u4ee4\u548c\u9065\u6d4b\u6570\u636e\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u673a\u5668\u4eba\u901a\u4fe1<\/strong>\uff1aMAVLink\u534f\u8bae\u4e5f\u88ab\u7528\u4e8e\u673a\u5668\u4eba\u7cfb\u7edf\u4e4b\u95f4\u7684\u6570\u636e\u4ea4\u6362\uff0c\u5c24\u5176\u662f\u5728\u591a\u673a\u5668\u4eba\u534f\u4f5c\u548c\u63a7\u5236\u4e2d\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u536b\u661f\u901a\u4fe1<\/strong>\uff1aMAVLink\u53ef\u7528\u4e8e\u536b\u661f\u4e0e\u5730\u9762\u7ad9\u4e4b\u95f4\u7684\u901a\u4fe1\uff0c\u5c24\u5176\u662f\u5728\u5c0f\u578b\u536b\u661f\u548c\u6df1\u7a7a\u901a\u4fe1\u9886\u57df\u4e2d\uff0cMAVLink\u63d0\u4f9b\u4e86\u4e00\u79cd\u8f7b\u91cf\u3001\u9ad8\u6548\u7684\u901a\u4fe1\u65b9\u5f0f\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66<\/strong>\uff1aMAVLink\u534f\u8bae\u88ab\u7528\u6765\u5728\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u4e2d\u4ea4\u6362\u4f20\u611f\u5668\u6570\u636e\u3001\u63a7\u5236\u547d\u4ee4\u548c\u72b6\u6001\u4fe1\u606f\u3002<\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\">\u3000\u3000\u516d\u3001 MAVLink\u534f\u8bae\u7684\u6700\u65b0\u7248\u672c\u6709\u54ea\u4e9b\u65b0\u7279\u6027\u548c\u6539\u8fdb?<\/h2>\n\n\n\n<p>\u3000\u3000MAVLink\u534f\u8bae\u7684\u6700\u65b0\u7248\u672c\u662f2.0.\u76f8\u8f83\u4e8e\u65e9\u671f\u7248\u672c\uff0c\u5b83\u5f15\u5165\u4e86\u591a\u9879\u65b0\u7279\u6027\u548c\u6539\u8fdb\u3002\u4ee5\u4e0b\u662fMAVLink 2.0\u7684\u4e3b\u8981\u65b0\u7279\u6027\u548c\u6539\u8fdb\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u3000\u3000<strong>\u6807\u51c6\u5316\u6d88\u606f\u96c6<\/strong>\uff1aMAVLink 2.0\u5b9a\u4e49\u4e86\u4e00\u5957\u6807\u51c6\u5316\u7684\u6d88\u606f\u683c\u5f0f\uff0c\u8fd9\u610f\u5473\u7740\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\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>\uff1aMAVLink 2.0\u5728\u5b89\u5168\u6027\u65b9\u9762\u8fdb\u884c\u4e86\u663e\u8457\u589e\u5f3a\u3002\u4f8b\u5982\uff0c\u5b83\u5f15\u5165\u4e86\u57fa\u4e8e\u54c8\u5e0c\u7684\u6d88\u606f\u8ba4\u8bc1\u7801(HMACs)\uff0c\u7528\u4e8e\u786e\u4fdd\u6d88\u606f\u7684\u5b8c\u6574\u6027\u548c\u8ba4\u8bc1\u3002\u6b64\u5916\uff0cMAVLink 2.0\u8fd8\u652f\u6301\u6d88\u606f\u7b7e\u540d\u529f\u80fd\uff0c\u53ef\u4ee5\u9a8c\u8bc1\u6d88\u606f\u662f\u7531\u4fe1\u4efb\u7cfb\u7edf\u53d1\u9001\u7684\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>24\u4f4d\u6d88\u606fID<\/strong>\uff1aMAVLink 2.0\u4f7f\u752824\u4f4d\u7684\u6d88\u606fID\uff0c\u5141\u8bb8\u5b9a\u4e49\u8d85\u8fc71600\u4e07\u4e2a\u72ec\u7279\u7684\u6d88\u606f\uff0c\u800cMAVLink 1.0\u4ec5\u9650\u4e8e256\u4e2a\u6d88\u606fID\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u6d88\u606f\u6269\u5c55<\/strong>\uff1aMAVLink 2.0\u5141\u8bb8\u5728\u73b0\u6709\u7684MAVLink\u6d88\u606f\u5b9a\u4e49\u4e2d\u6dfb\u52a0\u65b0\u7684\u5b57\u6bb5\uff0c\u4f46\u4e0d\u4f1a\u6253\u7834\u672a\u66f4\u65b0\u7684\u63a5\u6536\u5668\u7684\u4e8c\u8fdb\u5236\u517c\u5bb9\u6027\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u652f\u6301\u591a\u79cd\u7f16\u7a0b\u8bed\u8a00<\/strong>\uff1aMAVLink 2\u4e3aC\u3001C++11\u548cPython\u5f00\u53d1\u4e86\u7ed1\u5b9a\uff0c\u8fd9\u4f7f\u5f97\u5f00\u53d1\u8005\u53ef\u4ee5\u4f7f\u7528\u8fd9\u4e9b\u6d41\u884c\u7684\u7f16\u7a0b\u8bed\u8a00\u6765\u5f00\u53d1\u548c\u5b9e\u73b0MAVLink\u901a\u4fe1\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u52a8\u6001DNA\u7f16\u7801\u6280\u672f<\/strong>\uff1aDMAV\u534f\u8bae\u5229\u7528\u52a8\u6001DNA\u7f16\u7801\u6280\u672f\u5bf9MAVLink\u6570\u636e\u5305\u8fdb\u884c\u52a0\u5bc6\uff0c\u4ee5\u589e\u5f3a\u6570\u636e\u4f20\u8f93\u7684\u5b89\u5168\u6027\u3002\u8fd9\u79cd\u65b9\u6cd5\u901a\u8fc7\u4f7f\u7528\u8f7b\u91cf\u7ea7\u7684GIFT\u7b97\u6cd5\u548c\u52a8\u6001DNA\u7f16\u7801\u6280\u672f\uff0c\u786e\u4fdd\u53ea\u6709\u6388\u6743\u65b9\u624d\u80fd\u8bbf\u95ee\u52a0\u5bc6\u540e\u7684\u6570\u636e\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u3000\u3000MAVLink 2.0\u4e0d\u4ec5\u5728\u901a\u4fe1\u6548\u7387\u548c\u4e00\u81f4\u6027\u65b9\u9762\u8fdb\u884c\u4e86\u4f18\u5316\uff0c\u8fd8\u5728\u5b89\u5168\u6027\u65b9\u9762\u505a\u51fa\u4e86\u91cd\u5927\u6539\u8fdb\uff0c\u7279\u522b\u662f\u5728\u6d88\u606f\u8ba4\u8bc1\u3001\u6d88\u606f\u6269\u5c55\u4ee5\u53ca\u52a8\u6001DNA\u7f16\u7801\u6280\u672f\u7684\u5e94\u7528\u4e0a\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u3000\u3000\u4e03\u3001 \u5982\u4f55\u5728\u4e0d\u540c\u7684\u64cd\u4f5c\u7cfb\u7edf\u548c\u5fae\u63a7\u5236\u5668\u4e0a\u5b9e\u73b0MAVLink\u534f\u8bae?<\/h2>\n\n\n\n<p>\u3000\u3000\u8981\u5728\u4e0d\u540c\u7684\u64cd\u4f5c\u7cfb\u7edf\u548c\u5fae\u63a7\u5236\u5668\u4e0a\u5b9e\u73b0MAVLink\u534f\u8bae\uff0c\u53ef\u4ee5\u53c2\u8003\u4ee5\u4e0b\u6b65\u9aa4\u548c\u65b9\u6cd5\uff1a<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">\u3000\u30001.&nbsp;<strong>\u9009\u62e9\u5408\u9002\u7684\u7f16\u7a0b\u8bed\u8a00\u548c\u5de5\u5177\u94fe<\/strong>\uff1a<\/h3>\n\n\n\n<p>\u3000\u3000MAVLink\u534f\u8bae\u652f\u6301\u591a\u79cd\u7f16\u7a0b\u8bed\u8a00\uff0c\u5305\u62ecC\u3001C++\u3001Python\u3001Java\u7b49\u3002\u56e0\u6b64\uff0c\u53ef\u4ee5\u6839\u636e\u76ee\u6807\u5e73\u53f0\u9009\u62e9\u5408\u9002\u7684\u7f16\u7a0b\u8bed\u8a00\u3002\u4f8b\u5982\uff0c\u5728Linux\u64cd\u4f5c\u7cfb\u7edf\u4e0a\uff0c\u53ef\u4ee5\u9009\u62e9Python\u6216C++;\u5728\u5d4c\u5165\u5f0f\u7cfb\u7edf\u4e0a\uff0c\u53ef\u4ee5\u9009\u62e9C\u6216C++\u3002<\/p>\n\n\n\n<p>\u3000\u3000\u5bf9\u4e8ePython\uff0c\u53ef\u4ee5\u4f7f\u7528pymavlink\u5e93\u6765\u5b9e\u73b0MAVLink\u534f\u8bae\u3002\u5bf9\u4e8eC++\uff0c\u53ef\u4ee5\u4f7f\u7528mavgen\u5e93\u751f\u6210\u4ee3\u7801\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">\u3000\u30002.&nbsp;<strong>\u751f\u6210MAVLink\u4ee3\u7801<\/strong>\uff1a<\/h3>\n\n\n\n<p>\u3000\u3000\u4f7f\u7528MAVLink\u7684XML\u89c4\u8303\u751f\u6210\u4ee3\u7801\u3002MAVLink\u63d0\u4f9b\u4e86\u9488\u5bf9C89\u517c\u5bb9\u7684C\u3001Python\u548cJava\u7684\u4ee3\u7801\u751f\u6210\u5668\uff0c\u8fd9\u4e9b\u751f\u6210\u5668\u4f1a\u5305\u542b\u6240\u6709\u5728XML\u89c4\u8303\u4e2d\u5b9a\u4e49\u7684\u6d88\u606f\u4ee5\u53ca\u6d88\u606f\u6253\u5305\u548c\u89e3\u5305\u51fd\u6570\u3002<\/p>\n\n\n\n<p>\u3000\u3000\u5728\u4f7f\u7528mavgen\u751f\u6210\u4ee3\u7801\u65f6\uff0c\u9700\u8981\u5c06XML\u89c4\u8303\u6587\u4ef6\u4f5c\u4e3a\u8f93\u5165\uff0c\u5e76\u6307\u5b9a\u8f93\u51fa\u8bed\u8a00(\u5982C\u6216Python)\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">\u3000\u30003.&nbsp;<strong>\u914d\u7f6e\u901a\u4fe1\u63a5\u53e3<\/strong>\uff1a<\/h3>\n\n\n\n<p>\u3000\u3000MAVLink\u534f\u8bae\u53ef\u4ee5\u901a\u8fc7\u591a\u79cd\u901a\u4fe1\u63a5\u53e3\u5b9e\u73b0\uff0c\u5305\u62ec\u4e32\u884c(UART)\u3001UDP\u3001WiFi\u7b49\u3002\u6839\u636e\u76ee\u6807\u5e73\u53f0\u9009\u62e9\u5408\u9002\u7684\u901a\u4fe1\u63a5\u53e3\u3002<\/p>\n\n\n\n<p>\u3000\u3000\u5728Raspberry Pi\u4e0a\uff0c\u53ef\u4ee5\u901a\u8fc7USB\u8fde\u63a5\u4f20\u8f93MAVLink\u9065\u6d4b\u5e27\u3002\u5728Pixhawk\u98de\u884c\u5355\u5143\u4e0a\uff0c\u53ef\u4ee5\u901a\u8fc7JST\/TFM\u8fde\u63a5\u5668\u4f7f\u7528MAVLink\u8fde\u63a5\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">\u3000\u30004.&nbsp;<strong>\u79fb\u690d\u548c\u9002\u914d<\/strong>\uff1a<\/h3>\n\n\n\n<p>\u3000\u3000\u5982\u679c\u76ee\u6807\u5e73\u53f0\u4e0d\u76f4\u63a5\u652f\u6301MAVLink\u534f\u8bae\uff0c\u53ef\u80fd\u9700\u8981\u79fb\u690d\u76f8\u5173\u7684\u4ee3\u7801\u3002\u4f8b\u5982\uff0c\u5728ESP32\u4e0a\u5b9e\u73b0Ardupilot\u65f6\uff0c\u9700\u8981\u79fb\u690dArdupilot\u7684\u786c\u4ef6\u62bd\u8c61\u5c42(HAL)\u4ee3\u7801\u3002<\/p>\n\n\n\n<p>\u3000\u3000\u5728\u79fb\u690d\u8fc7\u7a0b\u4e2d\uff0c\u9700\u8981\u786e\u4fdd\u4e0e\u76ee\u6807\u5e73\u53f0\u7684\u786c\u4ef6\u517c\u5bb9\u6027\uff0c\u5e76\u9002\u914d\u4e0d\u540c\u7684\u4f20\u611f\u5668\u548c\u8bbe\u5907\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">\u3000\u30005.&nbsp;<strong>\u96c6\u6210\u548c\u6d4b\u8bd5<\/strong>\uff1a<\/h3>\n\n\n\n<p>\u3000\u3000\u5c06\u751f\u6210\u7684\u4ee3\u7801\u96c6\u6210\u5230\u76ee\u6807\u5e73\u53f0\u7684\u8f6f\u4ef6\u67b6\u6784\u4e2d\u3002\u4f8b\u5982\uff0c\u5728RflySim\u5e73\u53f0\u4e0a\uff0c\u53ef\u4ee5\u901a\u8fc7Simulink\u3001Python\u6216ROS\u5b9e\u73b0MAVLink\u63a7\u5236\u63a5\u53e3\u3002<\/p>\n\n\n\n<p>\u3000\u3000\u8fdb\u884c\u8be6\u7ec6\u7684\u6d4b\u8bd5\u4ee5\u786e\u4fddMAVLink\u534f\u8bae\u5728\u4e0d\u540c\u64cd\u4f5c\u7cfb\u7edf\u548c\u5fae\u63a7\u5236\u5668\u4e0a\u7684\u6b63\u786e\u6027\u548c\u7a33\u5b9a\u6027\u3002\u4f8b\u5982\uff0c\u53ef\u4ee5\u5728Pixhawk\u5e73\u53f0\u4e0a\u9a8c\u8bc1\u4e0ePX4\u548cArduPilot\u56fa\u4ef6\u7684\u517c\u5bb9\u6027\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u3000\u3000\u516b\u3001 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