{"id":2532,"date":"2023-07-30T13:37:01","date_gmt":"2023-07-30T05:37:01","guid":{"rendered":"http:\/\/www.nufeichuiyun.com\/?p=2532"},"modified":"2023-10-31T16:43:38","modified_gmt":"2023-10-31T08:43:38","slug":"%e8%87%aa%e5%88%b6%e5%9f%ba%e4%ba%8euavcan%e7%9a%84gnss%e6%a8%a1%e5%9d%97","status":"publish","type":"post","link":"http:\/\/www.nufeichuiyun.com\/?p=2532","title":{"rendered":"\u81ea\u5236\u57fa\u4e8eUAVCAN\uff08DroneCAN\uff09\u7684GNSS\u6a21\u5757"},"content":{"rendered":"\n<p class=\"has-vivid-red-color has-luminous-vivid-amber-background-color has-text-color has-background\"><strong>\u672c\u6587\u4e3a\u300a\u65e0\u4eba\u673a\u98de\u63a7\u56fa\u4ef6\u5f00\u53d1\u6559\u7a0b\u300b\u7cfb\u5217\u89c6\u9891\u7684\u8f85\u52a9\u8d44\u6599\uff0c\u5df2\u7ecf\u5728\u201c\u7f51\u6613\u4e91\u8bfe\u5802\u201d\u4e0a\u7ebf<\/strong>&nbsp;<strong>\uff0c \u94fe\u63a5\u5982\u4e0b\uff1a<\/strong>&nbsp;<a href=\"https:\/\/study.163.com\/course\/introduction\/1209568864.htm?share=1&amp;shareId=1448054983\" target=\"_blank\" rel=\"noreferrer noopener\"><\/a><a href=\"https:\/\/study.163.com\/course\/introduction\/1209568864.htm?share=1&amp;shareId=1448054983\">https:\/\/study.163.com\/course\/introduction\/1209568864.htm?share=1&amp;shareId=1448054983<\/a>\uff0c<strong>\u65e0\u4eba\u673a\u8c03\u8bd5\uff0c\u98de\u63a7\u786c\u4ef6\u5b9a\u5236\u3001\u56fa\u4ef6\u4fee\u6539\uff0c\u65e5\u5fd7\u5206\u6790\uff0c\u8bf7QQ\u8054\u7cfb\uff1a3500985284<\/strong><\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e00\u3001\u6a21\u5757\u786c\u4ef6\u4ecb\u7ecd<\/h2>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>GNSS\u6a21\u5757<\/strong>\uff1au-blox M9N\uff0c\u652f\u6301\u5317\u6597\u3001GPS\u3001\u683c\u6d1b\u7eb3\u65af\u548c\u4f3d\u5229\u7565\u56db\u7cfb\u7edf\u5e76\u53d1\u5904\u7406<\/li>\n\n\n\n<li><strong>\u9676\u74f7\u5929\u7ebf<\/strong>\uff1a\u592a\u76dfPA025AZ009\uff0c\u652f\u6301\u5317\u6597\u3001GPS\u3001\u683c\u6d1b\u7eb3\u65af\u4e09\u7cfb\u7edf\u3002\u6839\u636e\u592a\u76df\u7684\u56de\u590d\uff0c25*25*4\u5c3a\u5bf8\u7684\u9676\u74f7\u5929\u7ebf\u65e0\u6cd5\u505a\u5230\u5b8c\u7f8e\u7684\u56db\u7cfb\u7edf\u517c\u5bb9\uff0c\u56e0\u6b64\u780d\u6389\u4e86\u56fd\u5185\u4e0d\u5e38\u7528\u7684\u4f3d\u5229\u7565\u7cfb\u7edf\u652f\u6301\uff0c\u5982\u679c\u5f3a\u884c\u652f\u6301\u4f3d\u5229\u7565\u7cfb\u7edf\uff0c\u4f1a\u5bfc\u81f4\u5176\u4ed6\u4e09\u7cfb\u7edf\u7684\u6548\u679c\u53d8\u5dee<\/li>\n\n\n\n<li><strong>\u4e3b\u5904\u7406\u5668<\/strong>\uff1aSTM32F412\uff0cCortex- M4\u5185\u6838<\/li>\n\n\n\n<li><strong>\u78c1\u7f57\u76d8<\/strong>\uff1aIST8310<\/li>\n\n\n\n<li><strong>RGB LED<\/strong>\uff1a7\u4e2a\u9ad8\u4eae\u5ea6RGB LED\u73af\u7ed5\u6392\u5217<\/li>\n\n\n\n<li><strong>\u5bf9\u5916\u63a5\u53e3<\/strong>\uff1a4pin GH\u8fde\u63a5\u5668\uff0cCAN\u603b\u7ebf\uff0cUAVCAN\u534f\u8bae\uff08\u53c8\u540dDroneCAN\uff09<\/li>\n\n\n\n<li><strong>\u9002\u914d\u98de\u63a7\u56fa\u4ef6<\/strong>\uff1aAPM\uff08ardupilot\uff09\uff0c\u5df2\u7ecf\u5728\u591a\u65cb\u7ffc\u3001\u56fa\u5b9a\u7ffc\u3001\u65e0\u4eba\u8f66\u4e0a\u6d4b\u8bd5\u8fc7<\/li>\n\n\n\n<li><strong>\u5f00\u6e90\u8d44\u6599\u4e0b\u8f7d\u5730\u5740<\/strong>\uff1a<a href=\"https:\/\/gitee.com\/junzixing\/nfcy-gnss\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/gitee.com\/junzixing\/nfcy-gnss<\/a><\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"564\" height=\"554\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2023\/07\/PCB\u6b63\u9762\u89c6\u56fe.png\" alt=\"\" class=\"wp-image-2535\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2023\/07\/PCB\u6b63\u9762\u89c6\u56fe.png 564w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2023\/07\/PCB\u6b63\u9762\u89c6\u56fe-300x295.png 300w\" sizes=\"auto, (max-width: 564px) 100vw, 564px\" \/><\/figure>\n\n\n\n<p>RGB LED\u8fd0\u884c\u6548\u679c\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"480\" height=\"270\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2023\/10\/IMG_6745.gif\" alt=\"\" class=\"wp-image-2584\"\/><\/figure>\n\n\n\n<p class=\"has-medium-font-size\"><strong>\u6d4b\u8bd5\u73af\u5883<\/strong>\uff1a\u6b63\u5317\u65b9\u5411150\u7c73\u548c\u6b63\u4e1c\u65b9\u5411100\u7c73\u5904\u90fd\u662f20\u5c42\u4ee5\u4e0a\u9ad8\u697c\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1702\" height=\"1276\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2023\/10\/GNSS_TEST.jpg\" alt=\"\" class=\"wp-image-2578\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2023\/10\/GNSS_TEST.jpg 1702w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2023\/10\/GNSS_TEST-300x225.jpg 300w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2023\/10\/GNSS_TEST-1024x768.jpg 1024w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2023\/10\/GNSS_TEST-768x576.jpg 768w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2023\/10\/GNSS_TEST-1536x1152.jpg 1536w\" sizes=\"auto, (max-width: 1702px) 100vw, 1702px\" \/><\/figure>\n\n\n\n<p class=\"has-vivid-red-color has-luminous-vivid-amber-background-color has-text-color has-background\"><strong>\u6d4b\u8bd5\u6548\u679c\uff1a\u906e\u6321\u73af\u5883\u4e0b\u8f7b\u677e28\u9897\u661f\uff0c\u7a7a\u65f7\u5730\u5e26\u5219\u6700\u9ad8\u89c2\u6d4b\u5230\u8fc732\u9897\u661f<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"509\" height=\"741\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2023\/10\/GNSS_FIX.png\" alt=\"\" class=\"wp-image-2579\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2023\/10\/GNSS_FIX.png 509w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2023\/10\/GNSS_FIX-206x300.png 206w\" sizes=\"auto, (max-width: 509px) 100vw, 509px\" \/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e8c\u3001\u786c\u4ef6\u8bbe\u8ba1\u6ce8\u610f\u4e8b\u9879<\/h2>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u9676\u74f7\u5929\u7ebf\u5e95\u90e8\u5927\u9762\u79ef\u63a5\u5730\u8986\u94dc\uff1a\u4fdd\u8bc1\u8986\u94dc\u7684\u5b8c\u6574\u6027<\/li>\n\n\n\n<li>\u524d\u7aef\u4f4e\u566a\u58f0\u653e\u5927\u5668\u7684\u653e\u5927\u500d\u6570\u5e76\u4e0d\u662f\u8d8a\u5927\u8d8a\u597d\uff0c\u53c2\u8003\u6587\u6863\uff1a<a href=\"https:\/\/content.u-blox.com\/sites\/default\/files\/products\/documents\/GNSS-Antennas_AppNote_%28UBX-15030289%29.pdf\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/content.u-blox.com\/sites\/default\/files\/products\/documents\/GNSS-Antennas_AppNote_%28UBX-15030289%29.pdf<\/a><\/li>\n\n\n\n<li>RGB LED\u63a7\u5236\u4fe1\u53f7\u7535\u5e73\u8f6c\u6362\uff1a\u5b9e\u6d4b3.3V\u76f4\u63a5\u63a7\u5236\u4f1a\u5bfc\u81f4\u706f\u65f6\u597d\u65f6\u574f<\/li>\n<\/ol>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e09\u3001\u56fa\u4ef6\u79fb\u690d<\/h2>\n\n\n\n<h3 class=\"wp-block-heading\">1\u3001\u5207\u6362\u5230\u5916\u8bbe\u7a33\u5b9a\u7248\u5206\u652f<\/h3>\n\n\n\n<pre class=\"wp-block-code\"><code># \u5207\u6362\u5230\u6700\u65b0\u7684\u7a33\u5b9a\u7248\u5916\u8bbe\u4ee3\u7801\u5206\u652f\ngit checkout -b My_AP_Periph-1.5.1 AP_Periph-1.5.1\n\n# \u66f4\u65b0\u5b50\u6a21\u5757\uff0c\u8fd9\u4e00\u6b65\u4e0d\u80fd\u7701\uff01\ngit submodule update --init --recursive<\/code><\/pre>\n\n\n\n<p>\u5df2\u7ecf\u5207\u6362\u597d\u5206\u652f\u3001\u66f4\u65b0\u597d\u5b50\u6a21\u5757\u3001\u53ef\u4ee5\u76f4\u63a5\u7f16\u8bd1\u7684\u4ee3\u7801\u538b\u7f29\u5305\uff1a<\/p>\n\n\n\n<p>\u94fe\u63a5\uff1a<a href=\"https:\/\/pan.baidu.com\/s\/1RnhJPWQkCa9P03TqBYymog\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/pan.baidu.com\/s\/1RnhJPWQkCa9P03TqBYymog<\/a><br>\u63d0\u53d6\u7801\uff1anfcy<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">2\u3001\u4ee3\u7801\u7ed3\u6784<\/h3>\n\n\n\n<p>\u3000a\u3001\u9876\u5c42\u4ee3\u7801\u4f4d\u7f6e\uff1aardupilot\/Tools\/AP_Periph\u6587\u4ef6\u5939<\/p>\n\n\n\n<p>\u3000b\u3001\u4e3b\u7a0b\u5e8f\uff1aAP_periph.cpp\uff08\u4ee3\u7801\u4e0d\u591a\uff0c\u5efa\u8bae\u5927\u5bb6\u5c06AP_Periph\u6587\u4ef6\u5939\u4e0b\u7684\u4ee3\u7801\u90fd\u8fc7\u4e00\u904d\uff09<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">3\u3001HW\u6587\u4ef6\u521b\u5efa\u4e0e\u4fee\u6539<\/h3>\n\n\n\n<p>\u3000a\u3001HW\u6587\u4ef6\u7684\u4f4d\u7f6e\u8ddf\u98de\u63a7HW\u6587\u4ef6\u7684\u4f4d\u7f6e\u4e00\u6837\uff0c\u90fd\u662fardupilot\/libraries\/AP_HAL_ChibiOS\/hwdef<\/p>\n\n\n\n<p>\u3000b\u3001HW\u6587\u4ef6\u7684\u8bed\u6cd5\u89c4\u5219\u4e0e\u98de\u63a7\u7684HW\u6587\u4ef6\u76f8\u540c<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">4\u3001\u4fee\u6539\u4ee3\u7801\uff0c\u89e3\u51b3RGB LED\u5728\u7b49\u5f85\u5206\u914dCAN ID\u65f6\u4e0d\u4eae\u7684\u95ee\u9898<\/h3>\n\n\n\n<p>\u3000\u6b63\u5e38\u60c5\u51b5\u4e0b\uff0c\u4ece\u521a\u4e0a\u7535\u5230\u98de\u63a7\u7ed9GNSS\u6a21\u5757\u5206\u914dCAN ID\u8fd9\u6bb5\u65f6\u95f4\uff0cGNSS\u6a21\u5757\u4e0a\u7684RGB LED\u5e94\u8be5\u95ea\u70c1\u5f69\u8679\u706f\uff08\u6301\u7eed1.5\u79d2\uff09\uff0c\u4f46\u662f\u7531\u4e8e\u4ee3\u7801\u6709\u5c0fbug\uff0c\u5f53RGB LED\u6570\u91cf\u4e0d\u4e3a8\u65f6\uff0c\u6b64\u529f\u80fd\u4e0d\u751f\u6548\uff0c\u56e0\u6b64\u9700\u8981\u4fee\u6539\u4ee3\u7801\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">5\u3001\u7f16\u8bd1<\/h3>\n\n\n\n<pre class=\"wp-block-code\"><code># \u4f60\u7684\u7f16\u8bd1\u73af\u5883\u5927\u6982\u7387\u4f1a\u7f3a\u51e0\u4e2apython\u5305\uff0c\u6211\u4eec\u5148\u5b89\u88c5\u4e00\u4e0b\n# \u5373\u4f7f\u4e0d\u7f3a\uff0c\u5b89\u88c5\u65f6\u4e5f\u4f1a\u63d0\u793a\uff0c\u56e0\u6b64\u4e3a\u4e86\u540e\u9762\u4e0d\u51fa\u9519\uff0c\u5efa\u8bae\u90fd\u5b89\u88c5\u4e00\u4e0b\u3002\u4e0d\u8981\u5934\u94c1\uff0c\u8fd8\u662f\u88c5\u4e00\u4e0b\u5427\npip3 install empy -i https:\/\/pypi.tuna.tsinghua.edu.cn\/simple\npip3 install serial -i https:\/\/pypi.tuna.tsinghua.edu.cn\/simple\npip3 install pexpect -i https:\/\/pypi.tuna.tsinghua.edu.cn\/simple\npip3 install intelhex -i https:\/\/pypi.tuna.tsinghua.edu.cn\/simple\n\n# \u6307\u5b9a\u7f16\u8bd1\u76ee\u6807\u4e3a\u6012\u98de\u5782\u4e91GNSS\u6a21\u5757\u7684BootLoader\n.\/waf configure --board NFCY_GNSS --bootloader\n\n# \u7f16\u8bd1BootLoader\uff0c<strong>\u8fd9\u4e00\u6b65\u5982\u679c\u62a5\u9519\uff0c\u8bf7\u770b\u672c\u6587\u6700\u5e95\u90e8\u7684\u201c\u7591\u96be\u89e3\u7b54\u201d\u90e8\u5206<\/strong>\n.\/waf bootloader\n\n# \u5c06\u7f16\u8bd1\u751f\u6210\u7684BootLoader\uff08ardupilot\/build\/NFCY_GNSS\/bin\/AP_Bootloader.bin\u8fd9\u4e2a\u6587\u4ef6\uff09\n# \u653e\u5165ardupilot\/Tools\/bootloaders\u6587\u4ef6\u5939\uff0c\u7136\u540e\u91cd\u547d\u540d\u4e3aNFCY_GNSS_bl.bin\n\n# \u6e05\u7406\u4e4b\u524d\u7684\u7f16\u8bd1\u6587\u4ef6\uff0c\u4e3a\u4e0b\u4e00\u6b65\u7f16\u8bd1\u56fa\u4ef6\u505a\u51c6\u5907\n.\/waf distclean\n\n# \u6307\u5b9a\u4e3a\u7f16\u8bd1\u6012\u98de\u5782\u4e91GNSS\u6a21\u5757\u7684\u56fa\u4ef6\n.\/waf configure --board NFCY_GNSS\n\n# \u7f16\u8bd1\u6012\u98de\u5782\u4e91GNSS\u6a21\u5757\u7684\u56fa\u4ef6\n<strong># \u6ce8\u610f\uff0c\u8fd9\u4e00\u6b65\u53ef\u80fd\u4f1a\u63d0\u793a\u7f3a\u5c11python\u5305\uff0c\u5904\u7406\u65b9\u6cd5\u89c1\u672c\u7ae0\u8282\u5e95\u90e8\u7684\u201c\u7591\u96be\u89e3\u7b54\u201d\u7684\u7b2c\u4e00\u6761<\/strong>\n.\/waf AP_Periph<\/code><\/pre>\n\n\n\n<h2 class=\"wp-block-heading\">\u56db\u3001\u56fa\u4ef6\u70e7\u5199<\/h2>\n\n\n\n<p>\u65b9\u6cd5\u4e0e\u201c\u8bfe\u65f616\u201d\u4e2d\u70e7\u5199\u98de\u63a7\u56fa\u4ef6\u7684\u65b9\u6cd5\u76f8\u540c\uff0c\u6559\u7a0b\u91cc\u4f7f\u7528\u7684\u662f\u201c\u6b63\u70b9\u539f\u5b50Mini-Pro\u8131\u673a\u4e0b\u8f7d\u5668\u201d\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e94\u3001\u98de\u63a7\u53c2\u6570\u8bbe\u7f6e<\/h2>\n\n\n\n<ul class=\"wp-block-list\">\n<li>CAN_P1_DRIVER\uff1a1\uff08\u5982\u679cGNSS\u6a21\u5757\u63a5\u5230\u98de\u63a7\u7684CAN1\u63a5\u53e3\u4e0a\uff09<\/li>\n\n\n\n<li>CAN_P2_DRIVER\uff1a1\uff08\u5982\u679cGNSS\u6a21\u5757\u63a5\u5230\u98de\u63a7\u7684CAN2\u63a5\u53e3\u4e0a\uff09<\/li>\n\n\n\n<li>NTF_LED_TYPES\uff1a\u53cc\u51fb\u539f\u6709\u503c\uff0c\u5728\u5f39\u51fa\u5c0f\u7a97\u53e3\u4e2d\u52fe\u9009\u201cDroneCAN\u201d<\/li>\n\n\n\n<li>GPS_TYPE\uff1a9<\/li>\n<\/ul>\n\n\n\n<p class=\"has-vivid-red-color has-luminous-vivid-amber-background-color has-text-color has-background\"><strong>\u6ce8\u610f\uff1a\u91cd\u65b0\u4e0a\u7535\u751f\u6548<\/strong>\uff08USB\u62d4\u6389\uff0c\u5982\u679c\u98de\u673a\u7535\u6c60\u4e5f\u63d2\u7740\u7684\u8bdd\uff0c\u7535\u6c60\u4e5f\u5e94\u8be5\u62d4\u6389\uff09<\/p>\n\n\n\n<p class=\"has-vivid-red-color has-luminous-vivid-amber-background-color has-text-color has-background\"><strong>\u6ce8\u610f\uff1a\u91cd\u65b0\u4e0a\u7535\u751f\u6548<\/strong>\uff08USB\u62d4\u6389\uff0c\u5982\u679c\u98de\u673a\u7535\u6c60\u4e5f\u63d2\u7740\u7684\u8bdd\uff0c\u7535\u6c60\u4e5f\u5e94\u8be5\u62d4\u6389\uff09<\/p>\n\n\n\n<p class=\"has-vivid-red-color has-luminous-vivid-amber-background-color has-text-color has-background\"><strong>\u6ce8\u610f\uff1a\u91cd\u65b0\u4e0a\u7535\u751f\u6548<\/strong>\uff08USB\u62d4\u6389\uff0c\u5982\u679c\u98de\u673a\u7535\u6c60\u4e5f\u63d2\u7740\u7684\u8bdd\uff0c\u7535\u6c60\u4e5f\u5e94\u8be5\u62d4\u6389\uff09<\/p>\n\n\n\n<p>\uff08\u5bb9\u6613\u51fa\u9519\u7684\u5730\u65b9\u8bf4100\u904d\uff0c\u6b64\u5904\u7701\u756597\u904d\uff09<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u516d\u3001\u7591\u96be\u89e3\u7b54<\/h2>\n\n\n\n<p>\u5b66\u5458\u5173\u4e8e\u672c\u8282\u8bfe\u63d0\u51fa\u7684\u95ee\u9898\u5c06\u9010\u6b65\u6c47\u603b\u5230\u8fd9\u91cc\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading has-vivid-red-color has-text-color\"><strong>1\u3001\u63d0\u793a\u201cModuleNotFoundError: No module named &#8216;future&#8217;\u201d<\/strong><\/h3>\n\n\n\n<p>\u8fd9\u4e2a\u63d0\u793a\u7684\u610f\u601d\u662fcygwin64\u8fd9\u4e2a\u73af\u5883\u5185\u90e8\u7f3a\u5c11\u540d\u4e3a\u201cfuture\u201d\u7684\u5305\uff0c\u4f7f\u7528\u4e0b\u9762\u7684\u547d\u4ee4\u5b89\u88c5\u5373\u53ef\u3002<\/p>\n\n\n\n<p><strong>\u6ce8\u610f\uff1a\u52a0-i https:\/\/pypi.tuna.tsinghua.edu.cn\/simple\u662f\u4e3a\u4e86\u4f7f\u7528\u56fd\u5185\u6e90\uff0c\u4ece\u800c\u4e0b\u8f7d\u901f\u5ea6\u98de\u8d77<\/strong><\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>pip3 install future -i https:\/\/pypi.tuna.tsinghua.edu.cn\/simple\n\n# \u6ce8\u610f\uff0c\u7f3a\u5305\u662f\u6b63\u5e38\u7684\uff0c\u7f3a\u5565\u88c5\u5565\u5373\u53ef\uff0c\u4e0d\u8981\u62c5\u5fc3\n# \u751a\u81f3\u5b89\u88c5\u8fd9\u4e9b\u5305\u7684\u8fc7\u7a0b\u4e2d\u4e5f\u4f1a\u51fa\u9519\uff0c\u90a3\u5c31\u91cd\u65b0\u5b89\u88c5\u8fd9\u4e2a\u5305\u5373\u53ef<\/code><\/pre>\n\n\n\n<h3 class=\"wp-block-heading has-vivid-red-color has-text-color\"><strong>2\u3001\u63d0\u793a\u201cyou need to install empy with &#8216;python -m pip install empy&#8217;\u201d<\/strong><\/h3>\n\n\n\n<p>\u8fd9\u4e2a\u63d0\u793a\u8ddf\u4e0a\u4e00\u6761\u662f\u7c7b\u4f3c\u7684\uff0c\u6307\u7684\u662f\u4f60\u7684cygwin64\u73af\u5883\u5185\u7f3a\u5c11\u540d\u4e3a\u201cempy\u201d\u7684python\u5305\uff0c\u4f7f\u7528\u5982\u4e0b\u547d\u4ee4\u5b89\u88c5\u5373\u53ef\u3002<\/p>\n\n\n\n<p><strong>\u6ce8\u610f\uff1a\u52a0-i https:\/\/pypi.tuna.tsinghua.edu.cn\/simple\u662f\u4e3a\u4e86\u4f7f\u7528\u56fd\u5185\u6e90\uff0c\u4ece\u800c\u4e0b\u8f7d\u901f\u5ea6\u98de\u8d77<\/strong><\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>pip3 install empy -i https:\/\/pypi.tuna.tsinghua.edu.cn\/simple\n\n# \u6ce8\u610f\uff0c\u8fd8\u6709\u53ef\u80fd\u63d0\u793a\u7f3a\u5176\u4ed6\u5305\uff0c\u6bd4\u5982serial\uff0c\u5219\u4f7f\u7528\u4e0b\u9762\u7684\u547d\u4ee4\u5b89\u88c5\u5b83\u5373\u53ef\uff0c\u5176\u4ed6\u5305\u4e5f\u4e00\u6837\npip3 install serial -i https:\/\/pypi.tuna.tsinghua.edu.cn\/simple\n\n# \u7f3apexpect\u5305\npip3 install pexpect -i https:\/\/pypi.tuna.tsinghua.edu.cn\/simple<\/code><\/pre>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"258\" height=\"283\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2019\/11\/\u516c\u4f17\u53f7.jpg\" alt=\"\" class=\"wp-image-335\"\/><\/figure>\n","protected":false},"excerpt":{"rendered":"<p>\u672c\u8282\u8bfe\u8bb2\u8ff0\u5982\u4f55\u81ea\u5236\u57fa\u4e8eUAVCAN\u534f\u8bae\u7684GNSS\u6a21\u5757\uff0c\u5305\u542b\u4e86\u4e00\u6b3e\u5f00\u6e90\u786c\u4ef6\u7684\u8bbe\u8ba1\u8981\u70b9\u548c\u56fa\u4ef6\u79fb\u690d\u65b9\u6cd5\u3002\u8fd9\u6b3eGNSS\u6a21\u5757\u652f\u6301\u5317\u6597\u3001GPS\u3001\u683c\u6d1b\u7eb3\u65af\u4e09\u7cfb\u7edf\u8054\u5408\u5b9a\u4f4d\uff0c\u7a7a\u65f7\u5730\u5e26\u5b9a\u4f4d\u536b\u661f\u6570\u8f7b\u677e\u8fbe\u523032\u9897\u3002<\/p>\n","protected":false},"author":1,"featured_media":2611,"comment_status":"closed","ping_status":"open","sticky":true,"template":"","format":"standard","meta":{"_jetpack_memberships_contains_paid_content":false,"footnotes":""},"categories":[16],"tags":[],"class_list":["post-2532","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-16"],"yoast_head":"<!-- This site is optimized with the Yoast 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