{"id":2511,"date":"2023-03-20T23:22:56","date_gmt":"2023-03-20T15:22:56","guid":{"rendered":"http:\/\/www.nufeichuiyun.com\/?p=2511"},"modified":"2026-03-08T13:56:38","modified_gmt":"2026-03-08T05:56:38","slug":"apm%e9%a3%9e%e6%8e%a7%e5%9b%ba%e4%bb%b6%e7%9a%84%e4%b8%a4%e7%a7%8d%e8%be%93%e5%87%ba%e8%b0%83%e8%af%95%e4%bf%a1%e6%81%af%e7%9a%84%e6%96%b9%e6%b3%95","status":"publish","type":"post","link":"http:\/\/www.nufeichuiyun.com\/?p=2511","title":{"rendered":"APM\u98de\u63a7\u56fa\u4ef6\u7684\u4e24\u79cd\u8f93\u51fa\u8c03\u8bd5\u4fe1\u606f\u7684\u65b9\u6cd5"},"content":{"rendered":"\n<p>&nbsp;&nbsp;&nbsp;&nbsp;\u5728\u65e0\u4eba\u673a\u98de\u63a7\u56fa\u4ef6\u5f00\u53d1\u8fc7\u7a0b\u4e2d\uff0c\u6211\u4eec\u7ecf\u5e38\u9700\u8981\u5b9e\u65f6\u8f93\u51fa\u4e00\u4e9b\u8c03\u8bd5\u4fe1\u606f\uff08\u5982\u4e00\u4e9b\u53d8\u91cf\u7684\u503c\u3001\u72b6\u6001\u673a\u5207\u6362\u63d0\u793a\u7b49\uff09\uff0c\u5728APM\u56fa\u4ef6\u4e2d\u6709\u5982\u4e0b\u4e24\u79cd\u5e38\u7528\u7684\u8f93\u51fa\u8c03\u8bd5\u4fe1\u606f\u7684\u65b9\u6cd5\uff1a<\/p>\n\n\n\n<p><strong>\u4e00\u3001\u4f7f\u7528Mavlink\u7684\u201cSTATUS TEXT\u201d\u5e27\u6765\u53d1\u9001\u8c03\u8bd5\u4fe1\u606f<\/strong><\/p>\n\n\n\n<p>\u00a0\u00a0\u00a0\u00a0\u8fd9\u4e2aMavlink\u5e27\u7684ID\u53f7\u4e3a253\uff0c\u5185\u90e8\u5305\u542b\u4e8650\u4e2a\u5b57\u8282\u7684\u5b9a\u957f\u6570\u636e\u6bb5\uff0c\u4e5f\u5c31\u662f\u8bf4\u6211\u4eec\u4f7f\u7528\u8fd9\u4e2a\u5e27\u6700\u591a\u4e00\u6b21\u53ea\u80fd\u8f93\u51fa50\u4e2a\u5b57\u8282\u7684\u5b57\u7b26\u3002\u5176\u8c03\u7528\u65b9\u6cd5\u5982\u4e0b\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>gcs().send_text(MAV_SEVERITY_CRITICAL,&nbsp;\"NFCY&nbsp;test!&nbsp;%.2f\",&nbsp;1.234f);<\/code><\/pre>\n\n\n\n<p>&nbsp;&nbsp;&nbsp;&nbsp;\u5176\u4e2d\u7b2c\u4e00\u4e2a\u53c2\u6570\u5b9a\u4e49\u7684\u662f\u8981\u53d1\u9001\u7684\u6570\u636e\u7684\u7d27\u6025\u7a0b\u5ea6\uff0c\u5982\u679c\u5b9a\u4e49\u7684\u662f\u201cMAV_SEVERITY_CRITICAL\u201d\uff0c\u5219\u8981\u663e\u793a\u7684\u4fe1\u606f\u4f1a\u540c\u65f6\u5728MissionPlanner\u7684\u59ff\u6001\u7a97\u53e3\u548c\u6d88\u606f\u7a97\u53e3\u4e2d\u663e\u793a\u3002\u8fd9\u4e2a\u51fd\u6570\u540e\u9762\u4e24\u4e2a\u53c2\u6570\u7684\u7528\u6cd5\u4e0eC\u8bed\u8a00\u4e2d\u7684printf\u662f\u4e00\u6837\u7684\u3002<\/p>\n\n\n\n<p>\u00a0\u00a0\u00a0\u00a0\u6700\u7ec8\u7684\u663e\u793a\u6548\u679c\u5982\u4e0b\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"647\" height=\"635\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2023\/03\/640.png\" alt=\"\" class=\"wp-image-2512\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2023\/03\/640.png 647w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2023\/03\/640-300x294.png 300w\" sizes=\"auto, (max-width: 647px) 100vw, 647px\" \/><\/figure>\n\n\n\n<p><strong>\u4e8c\u3001\u4f7f\u7528\u201chal.console-&gt;printf\u201d\u6765\u53d1\u9001\u8c03\u8bd5\u4fe1\u606f<\/strong><\/p>\n\n\n\n<p>\u00a0\u00a0\u00a0\u00a0\u76f8\u5bf9\u4e8e\u7b2c\u4e00\u79cd\u65b9\u6cd5\uff0c\u8fd9\u79cd\u65b9\u6cd5\u5728\u6548\u7387\u548c\u7075\u6d3b\u6027\u4e0a\u66f4\u63a5\u8fd1C\u8bed\u8a00\u7684printf\uff0c\u5176\u8f93\u51fa\u76f4\u63a5\u53d1\u9001\u5230\u98de\u63a7USB\u865a\u62df\u51fa\u7684\u4e32\u53e3\u4e0a\uff0c\u56e0\u6b64\u4e00\u822c\u76f4\u63a5\u7528\u4e32\u53e3\u8c03\u8bd5\u52a9\u624b\u67e5\u770b\u5176\u8f93\u51fa\u3002\u5176\u7528\u6cd5\u793a\u4f8b\u5982\u4e0b\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>hal.console-&gt;printf(\"\\n\\n NFCY test! %.2f \\n\\n\", 1.234f)<\/code><\/pre>\n\n\n\n<p>\u00a0\u00a0\u00a0\u00a0\u6700\u7ec8\u7684\u663e\u793a\u6548\u679c\u5982\u4e0b\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"443\" height=\"953\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2023\/03\/6401.png\" alt=\"\" class=\"wp-image-2513\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2023\/03\/6401.png 443w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2023\/03\/6401-139x300.png 139w\" sizes=\"auto, (max-width: 443px) 100vw, 443px\" 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