MAVLink微型飞行器的通信协议

§§§mavlinkcommonmessagesetC§§§§§§git://git.samba.org/tridge/UAV/MAVProxy.git  §§§§§  §§§UCSantaCruzSLUGS§§§§§§§  §§§§§§§§§§§§§§§uint8_t_mavlink_version§§§ROS（统MAVLinkROS桥ETHPIXHAWKMAVLinkROSUART/UDPMAVLinkROS简§$  HOME你录你户MacOS//§/opt/ros/fuerte你ROS请调            载ROSroscd  ROS_PACKAGE_PATH$  HOME  /  .bashrcLinux$  HOME  /  .bash_profileMACROSsource  /opt/ros/fuerte/setup.sh    export  ROS_PACKAGE_PATH=$HOME/src:$ROS_PACKAGE_PATH  MAVLinkROSroscd  CD〜/  src  MAVLinkgit  clone    CD  mavlink_ros  rosmake    协议MAVQGroundControlMAVLINKQGroundControl讯/阅读MAVWAYPOINT_REQUEST_LISTWAYPOINT_COUNT0WAYPOINT_REQUESTwaypointWAYPOINT_ACKWAYPOINT_REQUESTWAYPOINT_ACKMAVWAYPOINT_COUNT0WAYPOINT_REQUESTWAYPOINTWAYPOINT_ACKwaypointWAYPOINT_ACKMAV针对组WAYPOINT_ACK。组WAYPOINT_CLEAR_ALL发设MAVWAYPOINT_CURRENT变，组设跃WAYPOINT_SET_CURRENT达MAV态MAVWAYPOINT_REACHEDACK变飞态MAVWAYPOINT_CURRENTACK图传输协议MAVQGroundControlMAVUNDQGroundControl§图组MAVLink为沟运MAVQGroundControl种图摄图块MAVLink发块图传QGroundControlHUD组§组视频“”MPEG2视频现场摄图FFmpeg视频进编码块观动设备笔记电脑电话...组还发块图QGroundControlMAVlink户。QGroundControlMAVLinkplattform讯mavlinkDATA_TRANSMISSION_HANDSHAKE;ENCAPSULATED_IMAGE1QGroundControlMAVLink§：针对飞ID，§：过0发请请，§ID：ID图每图你设ID§：举mavlink.h库MAVLINK_DATA_STREAM_TYPES§：0为“每帧”0为“每帧”2MAVhandshakeQGroundStation1ACKhandshakeACK§fieldMAVLinkENCAPSULATED_DATA，§payload每载为252节，§size节为单图。3MAVLinkENCAPSULATED_DATAMAVLinkIDDATA_TRANSMISSION_HANDSHAKEACKsizepacketspayloadENCAPSULATED_DATA040DATA_TRANSMISSION_HANDSHAKEACK视频MAVLinkVIDEO_STREAM  §target：飞§START_STOP：1，开0。FFmpegMAVLinkYYUV420rawimageFFMPEGIPrecievingQGroundControlVLCRTPHTTP239.255.12.45HTTPhttp://[QGC-­‐HOST]/MAVLive.mpg.SAP“MAVLive”/MAV1.编译您MAV间：mavconn。2.开对飞这组px_mavlink_bridge_udp  &    px_system_control  -­‐-­‐heartbeat  &    px_camera  -­‐o  lcm  &  3.编译启动QGroundControl4.启动图组输您-v标px_imagestreamer  5.发图开HUD标键单击选择“启实时图”。视频1.执步骤图132.你home录创链：cd  ~    ln  -­‐s  mavconn/src/comm/video/px_videostreamer.sh  px_videostreamer.sh  3.开对MAV视频组px_videostreamer  4.启动视频开HUD键单击选择“启视频饲”。VLCVLC协议RAMEEPROMPIDARM7pxIMULinuxpx_multitrackerMAVLinkV1.0§uint32_t-32举MAVLINK_TYPE_UINT32_T）§int32_t-32举MAVLINK_TYPE_INT32_T）§点-IEEE754单举MAVLINK_TYPE_FLOAT）统组MAVLink/MAVLinktarget_component0MAV_COMP_ID_ALLIDIDMAV_COMP_ID_ALL0QGroundControlID0/MAV_COMP_ID_ALL讯/147544→§读对户说§选载§对动驾驶仪们执该协议证§仅仅码变。PARAM_REQUEST_LIST阅读单_PARAM_REQUEST_READQGroundControl→QGroundControlWriteMAVPARAM_VALUE载储RAMRAMQGroundControlROMQGroundControlQGroundControlQGroundControl图户GUI“_”PID_POS_X_PPID_POS_Y_PPID    MAV_TYPE_GENERIC飞。MAV_TYPE_FIXED_WING飞。MAV_TYPE_QUADROTORMAV_TYPE_COAXIAL轴MAV_TYPE_HELICOPTER带桨。MAV_TYPE_ANTENNA_TRACKERMAV_TYPE_GCS员单/MAV_TYPE_AIRSHIP飞MAV_TYPE_FREE_BALLOONMAV_TYPE_ROCKETMAV_TYPE_GROUND_ROVER动MAV_TYPE_SURFACE_BOAT舰MAV_TYPE_SUBMARINEMAV_MODE_FLAGMAV编128MAV_MODE_FLAG_SAFETY_ARMED0b10000000MAV设电启动/运/启动64MAV_MODE_FLAG_MANUAL_INPUT_ENABLED0b01000000启远输。32MAV_MODE_FLAG_HIL_ENABLED0b00100000电/软运。16MAV_MODE_FLAG_STABILIZE_ENABLED0b00010000统稳电选进输。8MAV_MODE_FLAG_GUIDED_ENABLED0b00001000导启统飞务/MAV_TYPE_HEXAROTORMAV_TYPE_OCTOROTORMAV_TYPE_TRICOPTERMAV_TYPE_FLAPPING_WINGMAV_TYPE_KITE编务。4MAV_MODE_FLAG_AUTO_ENABLED0b00000100启统标实际况设2MAV_MODE_FLAG_TEST_ENABLED0b00000010统启测试标临时统测试稳况应。1MAV_MODE_FLAG_CUSTOM_MODE_ENABLED0b00000001。MAV_MODE_FLAG_DECODE_POSITIONbase_mode01128MAV_MODE_FLAG_DECODE_POSITION_SAFETY1000000064MAV_MODE_FLAG_DECODE_POSITION_MANUAL0100000032MAV_MODE_FLAG_DECODE_POSITION_HIL0010000016MAV_MODE_FLAG_DECODE_POSITION_STABILIZE000100008MAV_MODE_FLAG_DECODE_POSITION_GUIDED000010004MAV_MODE_FLAG_DECODE_POSITION_AUTO000001002MAV_MODE_FLAG_DECODE_POSITION_TEST000000101MAV_MODE_FLAG_DECODE_POSITION_CUSTOM_MODE00000001MAV_GOTO编0MAV_GOTO_DO_HOLD。1MAV_GOTO_DO_CONTINUE继续执务项。2MAV_GOTO_HOLD_AT_CURRENT_POSITION统3MAV_GOTO_HOLD_AT_SPECIFIED_POSITIONDO_HOLD。MAV_MODE0MAV_MODE_PREFLIGHT标设统还备飞导。80MAV_MODE_STABILIZE_DISARMED辅RC统跃。208MAV_MODE_STABILIZE_ARMED辅RC统跃。64MAV_MODE_MANUAL_DISARMED统跃稳192MAV_MODE_MANUAL_ARMED统跃稳88MAV_MODE_GUIDED_DISARMED动设216MAV_MODE_GUIDED_ARMED动设92MAV_MODE_AUTO_DISARMED导态轨载预设。220MAV_MODE_AUTO_ARMED导态轨载预设。66MAV_MODE_TEST_DISARMED义这动驾驶仪（谨发。）194MAV_MODE_TEST_ARMED义这动驾驶仪（谨发。）MAV_STATE编0MAV_STATE_UNINIT统态。编MAV_STATE_BOOT统启动。MAV_STATE_CALIBRATING统飞备。MAV_STATE_STANDBY统处态时。MAV_STATE_ACTIVE统经。MAV_STATE_CRITICAL统飞过导。MAV_STATE_EMERGENCY统飞。MAV_STATE_POWEROFF统闭。MAV_COMPONENT0MAV_COMP_ID_ALL220MAV_COMP_ID_GPS190MAV_COMP_ID_MISSIONPLANNER195MAV_COMP_ID_PATHPLANNER180MAV_COMP_ID_MAPPER100MAV_COMP_ID_CAMERA200MAV_COMP_ID_IMU201MAV_COMP_ID_IMU_2202MAV_COMP_ID_IMU_3240MAV_COMP_ID_UDP_BRIDGE241MAV_COMP_ID_UART_BRIDGE250MAV_COMP_ID_SYSTEM_CONTROL140MAV_COMP_ID_SERVO1141MAV_COMP_ID_SERVO2142MAV_COMP_ID_SERVO3143MAV_COMP_ID_SERVO4144MAV_COMP_ID_SERVO5145MAV_COMP_ID_SERVO6146MAV_COMP_ID_SERVO7147MAV_COMP_ID_SERVO8148MAV_COMP_ID_SERVO9149MAV_COMP_ID_SERVO10150MAV_COMP_ID_SERVO11151MAV_COMP_ID_SERVO12152MAV_COMP_I