{"id":256,"date":"2019-11-12T15:57:55","date_gmt":"2019-11-12T07:57:55","guid":{"rendered":"http:\/\/www.nufeichuiyun.com\/?p=256"},"modified":"2026-01-08T23:30:56","modified_gmt":"2026-01-08T15:30:56","slug":"%e5%bb%ba%e7%ab%8bapm%e9%a3%9e%e6%8e%a7%e8%bd%af%e4%bb%b6%e4%bb%bf%e7%9c%9f%e7%8e%af%e5%a2%83","status":"publish","type":"post","link":"http:\/\/www.nufeichuiyun.com\/?p=256","title":{"rendered":"\u5efa\u7acbAPM\u98de\u63a7\u8f6f\u4ef6\u4eff\u771f\u73af\u5883"},"content":{"rendered":"\n<p class=\"has-vivid-red-color has-very-light-gray-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> <strong>\uff0c \u94fe\u63a5\u5982\u4e0b\uff1a<\/strong> <a href=\"https:\/\/study.163.com\/course\/introduction\/1209568864.htm?share=1&amp;shareId=1448054983\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/study.163.com\/course\/introduction\/1209568864.htm?share=1&amp;shareId=1448054983<\/a><\/p>\n\n\n\n<p class=\"has-vivid-red-color has-very-light-gray-background-color has-text-color has-background\"> <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<p>\u3000\u65e0\u4eba\u673a\u56fa\u4ef6\u7f16\u7a0b\u4e0e\u5e73\u5e38\u7684\u7eaf\u8f6f\u4ef6\u7f16\u7a0b\u4e0d\u540c\uff0c\u5b83\u7684\u6d4b\u8bd5\u53d7\u9650\u4e8e\u5929\u6c14\u3001\u5149\u7ebf\u3001\u7a7a\u57df\u7b49\u56e0\u7d20\uff0c\u6d4b\u8bd5\u6210\u672c\u975e\u5e38\u9ad8\uff0c\u56e0\u6b64\u5bf9\u4e8e\u98de\u63a7\u4ee3\u7801\u7684\u63a7\u5236\u903b\u8f91\u7684\u6d4b\u8bd5\uff0c\u5e94\u8be5\u5148\u5728\u4eff\u771f\u73af\u5883\u4e0a\u6d4b\u8bd5\uff0c\u7136\u540e\u518d\u8fdb\u884c\u5b9e\u9645\u98de\u884c\u6d4b\u8bd5\uff0c\u8fd9\u6837\u53ef\u4ee5\u5927\u5927\u63d0\u9ad8\u5de5\u4f5c\u6548\u7387\u3002\u672c\u6587\u8bb2\u8ff0\u5982\u4f55\u5efa\u7acbAPM\u8f6f\u4ef6\u4eff\u771f\u73af\u5883\u3002<\/p>\n\n\n\n<p class=\"has-black-color has-pale-cyan-blue-background-color has-text-color has-background\"><strong>2021\u5e743\u67086\u65e5\u66f4\u65b0\uff1a\u6700\u8fd1\u6211\u5728\u65e5\u5e38\u7684\u65e0\u4eba\u673a\u7814\u53d1\u4e2d\u53d1\u73b0\uff0c\u719f\u7ec3\u638c\u63e1\u672c\u8282\u8bfe\u7684\u8f6f\u4ef6\u4eff\u771f\u65b9\u6cd5\uff0c\u6781\u5927\u5730\u8282\u7701\u4e86\u5916\u573a\u6d4b\u8bd5\u4eba\u5458\u7684\u5de5\u4f5c\u91cf\uff0c\u7edd\u5927\u90e8\u5206\u60c5\u51b5\u4e0b\u4eff\u771f\u6ca1\u6709\u95ee\u9898\u7684\u56fa\u4ef6\uff0c\u5916\u573a\u5b9e\u9645\u6d4b\u8bd5\u7684\u6548\u679c\u90fd\u4e0d\u4f1a\u592a\u5dee\u3002\u5728\u6709\u7a7a\u8c03\u6216\u8005\u6696\u6c14\u7684\u623f\u95f4\u91cc\u901a\u8fc7\u4eff\u771f\u627e\u51fa\u903b\u8f91\u4e0a\u7684\u5927\u90e8\u5206bug\uff0c\u8fdc\u6bd4\u5728\u70c8\u65e5\u4e0b\u6216\u8005\u5bd2\u98ce\u4e2d\u6539\u4ee3\u7801\u8212\u670d\u3002<\/strong><\/p>\n\n\n\n<h3 class=\"wp-block-heading\"> \u4e00\u3001\u521b\u5efa\u81ea\u52a8\u8fd0\u884c\u811a\u672c<\/h3>\n\n\n\n<p>\u30001\u3001\u5728C:\\cygwin64\\home\\\u8ba1\u7b97\u673a\u7528\u6237\u540d\\\u76ee\u5f55\u4e0b\u521b\u5efa\u4e00\u4e2a\u65b0\u7684\u6587\u4ef6\u5939\uff0c\u91cd\u547d\u540d\u4e3a\u201csim\u201d\uff1b<\/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\uff0c\u4ee5\u4f60\u7684\u8ba1\u7b97\u673a\u7528\u6237\u540d\u4e3a\u201cAS123\u201d\u4e3a\u4f8b\uff0c\u5982\u679c\u4f60\u6253\u5f00\u201c C:\\cygwin64\\home\\ \u201d\u6587\u4ef6\u5939\uff0c\u4f60\u4f1a\u53d1\u73b0\u91cc\u9762\u5df2\u7ecf\u6709\u4e00\u4e2a\u540d\u79f0\u4e3a\u201cAS123\u201d\u7684\u6587\u4ef6\u5939\uff08\u8fd9\u4e2a\u6587\u4ef6\u5939\u5e94\u8be5\u662f\u4f60\u7b2c\u4e00\u6b21\u6253\u5f00cygwin64\u8f6f\u4ef6\u65f6\u7cfb\u7edf\u81ea\u52a8\u521b\u5efa\u7684\uff09\uff0c\u4f60\u9700\u8981\u505a\u7684\u662f\u5728 \u201c C:\\cygwin64\\home\\ AS123\u201d\u6587\u4ef6\u5939\u91cc\u65b0\u5efa\u4e00\u4e2a\u201csim\u201d\u6587\u4ef6\u5939\u3002\u89c6\u9891\u6559\u7a0b\u4e2d\uff0c\u6211\u7684\u90a3\u4e2a\u865a\u62df\u673a\u7684\u7528\u6237\u540d\u662f\u201cFC\u201d\uff0c\u4ece\u800c\u6211\u662f\u5728 \u201c C:\\cygwin64\\home\\FC\u201d\u6587\u4ef6\u5939\u4e0b\u65b0\u5efa\u201csim\u201d\u6587\u4ef6\u5939\u3002  <\/strong><\/p>\n\n\n\n<p>\u30002\u3001\u5728sim\u6587\u4ef6\u5939\u4e2d\u65b0\u5efa\u4e00\u4e2atxt\u6587\u4ef6\uff0c\u8f93\u5165\u5982\u4e0b\u5185\u5bb9\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code># \u7279\u522b\u6ce8\u610f\uff0c\u5f53\u4f60\u5728\u5c06\u4e0b\u9762\u7684\u4e00\u884c\u547d\u4ee4\u590d\u5236\u5230txt\u6587\u4ef6\u4e2d\u65f6\uff0c\u4e00\u5b9a<strong>\u4e0d\u8981<\/strong>\u5728\u5176\u4e0b\u9762\u518d\u6dfb\u52a0\u4e00\u4e2a<strong>\u7a7a\u884c<\/strong>\uff0c\n# \u5426\u5219\u4f1a\u88ab\u8bc6\u522b\u6210\u4e24\u884c\u547d\u4ee4\uff0c\u5e76\u4e14\u7531\u4e8e\u7b2c\u4e8c\u884c\u662f\u4e00\u4e2a\u7a7a\u884c\uff0c\u6ca1\u6709\u5b9e\u9645\u7684\u547d\u4ee4\uff0c\u4ece\u800c\u8fd0\u884c\u65f6\u62a5\u9519\n\/cygdrive\/d\/ardupilot\/Tools\/autotest\/sim_vehicle.py -v ArduCopter\n<\/code><\/pre>\n\n\n\n<p>\u3000<strong>\u6ce8\uff1a\u8fd9\u53e5\u8bdd\u7684\u610f\u601d\u5c31\u662f\uff1a\u8fd0\u884c\u201c\/cygdrive\/d\/ardupilot\/Tools\/autotest\/\u201d\u6587\u4ef6\u5939\u4e0b\u7684\u201csim_vehicle.py\u201d\u6587\u4ef6\uff0c\u8f93\u5165\u53c2\u6570\u201c-v ArduCopter\u201d\u6307\u5b9a\u4e86\u6211\u4eec\u8fd0\u884c\u7684\u662f\u591a\u65cb\u7ffc\u4eff\u771f\u3002<\/strong><\/p>\n\n\n\n<p><\/p>\n\n\n\n<p>\u3000<strong>\u5982\u679c\u5927\u5bb6\u8981\u4eff\u771f\u201c\u76f4\u5347\u673a\u201d\u56fa\u4ef6\uff0c\u7531\u4e8e\u76f4\u5347\u673a\u548c\u591a\u65cb\u7ffc\u5171\u7528\u4e00\u5957\u4ee3\u7801\uff0c\u5e76\u4e14\u63a7\u5236\u903b\u8f91\u5341\u5206\u76f8\u8fd1\uff0c\u56e0\u6b64\u4eff\u771f\u65f6\u53ea\u9700\u8981\u5728\u4e0a\u8ff0\u591a\u65cb\u7ffc\u4eff\u771f\u547d\u4ee4\u7684\u7ed3\u5c3e\u52a0\u4e0a\u201c-f heli\u201d\u5373\u53ef\uff0c\u4e5f\u5c31\u662f\u544a\u8bc9\u4eff\u771f\u73af\u5883\uff0c\u8981\u4eff\u771f\u7684\u673a\u67b6\u7c7b\u578b\u4e3a\u76f4\u5347\u673a\u3002<\/strong><\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>\/cygdrive\/d\/ardupilot\/Tools\/autotest\/sim_vehicle.py -v ArduCopter -f heli<\/code><\/pre>\n\n\n\n<p>\u3000<strong>\u5982\u679c\u5927\u5bb6\u8981\u4eff\u771f\u56fa\u5b9a\u7ffc\u56fa\u4ef6\uff0c\u5c31\u5c06\u201cArduCopter\u201d\u6539\u4e3a\u201cArduPlane\u201d\uff0c\u4fee\u6539\u540e\u6587\u4ef6\u5185\u5bb9\u5982\u4e0b\uff1a<\/strong><\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>\/cygdrive\/d\/ardupilot\/Tools\/autotest\/sim_vehicle.py -v ArduPlane<\/code><\/pre>\n\n\n\n<p>\u3000<strong>\u5982\u679c\u4eff\u771f\u7684\u662f\u201c\u65e0\u4eba\u8f66\u201d\uff0c\u90a3\u4e48\u4fee\u6539\u65b9\u6cd5\u5982\u4e0b\uff1a<\/strong><\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>\/cygdrive\/d\/ardupilot\/Tools\/autotest\/sim_vehicle.py -v APMrover2<\/code><\/pre>\n\n\n\n<p class=\"has-vivid-red-color has-luminous-vivid-amber-background-color has-text-color has-background\"><strong>\u4eff\u771f\u65f6\u8fd8\u652f\u6301\u5f88\u591a\u673a\u67b6\u7c7b\u578b\uff0c\u5927\u5bb6\u53ef\u4ee5\u901a\u8fc7\u67e5\u770b\u201cardupilot\/Tools\/autotest\/pysim\/vehicleinfo.py\u201d\u76841~281\u884c\u770b\u770b\u8fd8\u652f\u6301\u54ea\u79cd\u7c7b\u578b\u8bbe\u5907\u7684\u4eff\u771f\u3002<\/strong><\/p>\n\n\n\n<p class=\"has-vivid-red-color has-text-color\">\u3000<strong>\u6ce8\u610f\uff0c\u4e0a\u8ff0\u547d\u4ee4\u4e2d\u201c\/cygdrive\/d\u201d\u4e2d\u7684\u201cd\u201d\u6307\u7684\u662f\u201c\u7535\u8111\u7684D\u76d8\u201d\uff0c\u5982\u679c\u4f60\u628a\u98de\u63a7\u6e90\u4ee3\u7801\u653e\u5230\u4e86E\u76d8\u6839\u76ee\u5f55\u4e0b\uff0c\u90a3\u4e48\u8fd9\u4e2a\u201cd\u201d\u5e94\u8be5\u6539\u4e3a\u201ce\u201d\uff08\u6ce8\u610f\u662f\u5c0f\u5199\uff01\uff09\u3002<\/strong><\/p>\n\n\n\n<p>\u30003\u3001\u5c06\u8fd9\u4e2a\u6587\u4ef6\u4fdd\u5b58\u4e3a\u201cs\u201d\uff0c\u5e76\u5220\u9664\u201c.txt\u201d\u540e\u7f00\uff0c\u6211\u4eec\u5c06\u8fd9\u7c7b\u6587\u4ef6\u79f0\u4e3a\u201c<strong>\u811a\u672c\u6587\u4ef6<\/strong>\u201d\uff1b<\/p>\n\n\n\n<p>\u30004\u3001\u6253\u5f00Cygwin64 Terminal\uff0c\u8f93\u5165\u5982\u4e0b\u547d\u4ee4\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>\/\/ \u8fdb\u5165sim\u76ee\u5f55\ncd sim\n\n\/\/ \u8fd0\u884c\u540d\u79f0\u4e3a\u201cs\u201d\u7684\u811a\u672c\u6587\u4ef6\n .\/s<\/code><\/pre>\n\n\n\n<p>\u30005\u3001\u7cfb\u7edf\u5c06\u81ea\u52a8\u5f00\u59cb\u7f16\u8bd1\u4eff\u771f\u4ee3\u7801\uff0c\u7f16\u8bd1\u5b8c\u6210\u540e\uff0c\u4eff\u771f\u4ee3\u7801\u5c06\u81ea\u52a8\u8fd0\u884c\u3002<\/p>\n\n\n\n<p class=\"has-vivid-red-color has-luminous-vivid-amber-background-color has-text-color has-background\" style=\"font-size:30px\"><strong>\u5982\u679c\u8fd9\u4e00\u6b65\u62a5\u9519\uff08\u6bd4\u5982<strong>No module named pymavlink<\/strong>\u3001<strong>task in &#8216;objs\/AP_NavEKF2&#8217; failed<\/strong>\u3001<strong>\u9519\u8befH_MAG[16]<\/strong>\u7b49\u7b49\uff09\uff0c\u8bf7\u770b\u770b\u672c\u9875\u9762\u5e95\u90e8\u7684\u201c\u7591\u96be\u89e3\u7b54\u201d\u7ae0\u8282\uff0c\u57fa\u672c\u4e0a\u672c\u7ae0\u8282\u91cc\u5927\u5bb6\u5e38\u9047\u5230\u7684\u95ee\u9898\u7684\u89e3\u51b3\u65b9\u6cd5\u90fd\u5728\u91cc\u9762\u3002\u4ee5\u540e\u7684\u6240\u6709\u7ae0\u8282\u5bf9\u5e94\u7684\u7f51\u9875\u8d44\u6599\u91cc\u5e95\u90e8\u4e5f\u90fd\u662f\u5bf9\u5e94\u7ae0\u8282\u5185\u5bb9\u7684\u201c\u7591\u96be\u89e3\u7b54\u201d\u3002<\/strong>\u4e3a\u4e86\u8ba9\u4f60\u770b\u5230\u8fd9\u6bb5\u6587\u5b57\uff0c\u6211\u628a\u8fd9\u6bb5\u8bdd\u7684\u5b57\u4f53\u8c03\u7684\u5df2\u7ecf\u5f88\u5927\u4e86\uff0c\u4e0d\u80fd\u518d\u5927\u4e86\u3002<\/p>\n\n\n\n<p class=\"has-vivid-red-color has-luminous-vivid-amber-background-color has-text-color has-background\"><strong>\u5982\u679c\u91cc\u9762\u6ca1\u6709\u4f60\u9047\u5230\u95ee\u9898\uff0c\u5e76\u4e14\u7ecf\u8fc7\u4e00\u5b9a\u7684\u72ec\u7acb\u5c1d\u8bd5\u540e\u4f9d\u7136\u65e0\u6cd5\u89e3\u51b3\u95ee\u9898\uff0c\u8bf7\u5230\u6211\u4eec\u7684\u5fae\u4fe1\u7fa4\u91cc\u63d0\u95ee\u3002<\/strong><\/p>\n\n\n\n<p>\u3000<strong>\u6ce8\u610f\uff1a\u4eff\u771f\u65f6\uff0c\u5176\u5b9e\u662f\u91cd\u65b0\u7f16\u8bd1\u4e86\u4e00\u6b21\u56fa\u4ef6\uff0c\u4e0d\u8fc7\u8fd9\u4e2a\u56fa\u4ef6\u7684\u7f16\u8bd1\u76ee\u6807\u662fSITL\uff0c\u8fd9\u4e2a\u56fa\u4ef6\u8ddf\u5b9e\u7269\u56fa\u4ef6\u4f7f\u7528\u7684\u662f\u540c\u4e00\u5957\u6e90\u4ee3\u7801\uff0c\u4e8c\u8005\u5173\u7cfb\u5982\u4e0b\u56fe\u6240\u793a\uff1a<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"623\" height=\"418\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/01\/image-1.png\" alt=\"\" class=\"wp-image-493\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/01\/image-1.png 623w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/01\/image-1-300x201.png 300w\" sizes=\"auto, (max-width: 623px) 100vw, 623px\" \/><\/figure>\n\n\n\n<p class=\"has-vivid-red-color has-luminous-vivid-amber-background-color has-text-color has-background\"><strong>\u6ce8\u610f\uff0c\u6309\u7167\u4e0a\u9762\u7684\u811a\u672c\u6587\u4ef6\u8fd0\u884c\u65f6\uff0c\u4f1a\u81ea\u52a8\u91cd\u65b0\u7f16\u8bd1\u751f\u6210\u201c\u4eff\u771f\u4e13\u7528\u56fa\u4ef6\u201d\uff0c\u7136\u540e\u518d\u81ea\u52a8\u8fd0\u884c\u6b64\u201c\u4eff\u771f\u4e13\u7528\u56fa\u4ef6\u201d\uff0c\u56e0\u6b64\u5982\u679c\u4f60\u4fee\u6539\u4e86\u98de\u63a7\u7a0b\u5e8f\uff0c\u8fd0\u884c\u4e0a\u8ff0\u811a\u672c\u6587\u4ef6\u540e\uff0c\u4f60\u4fee\u6539\u7684\u5730\u65b9\u5c31\u4f1a\u88ab\u7f16\u8bd1\u5e76\u4eff\u771f\u8d77\u6765\uff0c\u4e0d\u9700\u8981\u8fdb\u884c\u989d\u5916\u7684\u64cd\u4f5c\u3002<\/strong><\/p>\n\n\n\n<p class=\"has-vivid-red-color has-text-color\">\u3000\u3000<strong>\u4f46\u662f\u5982\u679c\u4f60\u4e0d\u60f3\u6bcf\u6b21\u90fd\u91cd\u65b0\u7f16\u8bd1\u4e00\u904d\uff0c\u53ef\u4ee5\u5728\u4e0a\u8ff0\u811a\u672c\u540e\u9762\u52a0\u4e0a\u201c-N\u201d\u53c2\u6570\uff0c\u8fd9\u6837\u4eff\u771f\u73af\u5883\u4f1a\u76f4\u63a5\u8fd0\u884c\u4e0a\u6b21\u7f16\u8bd1\u51fa\u7684\u4eff\u771f\u56fa\u4ef6\uff0c\u8282\u7701\u4e0d\u5c11\u65f6\u95f4<\/strong>\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>\/\/ \u6ce8\u610f\uff0c\u4e0b\u9762\u7684\u547d\u4ee4\u53ea\u662f\u5728\u524d\u9762\u7684\u547d\u4ee4\u7ed3\u5c3e\u52a0\u4e86\u201c-N\u201d\n\/cygdrive\/d\/ardupilot\/Tools\/autotest\/sim_vehicle.py -v ArduCopter -N\n\n\/\/ \u6211\u4e60\u60ef\u7684\u7528\u6cd5\u662f\uff1a\u4eff\u7167\u524d\u9762\u7684\u505a\u6cd5\uff0c\u65b0\u5efa\u4e00\u4e2asn\u6587\u4ef6\uff0c\u586b\u5165\u8fd9\u4e2a\u7ed3\u5c3e\u52a0\u4e86\u201c-N\u201d\u7684\u547d\u4ee4\uff0c\u5f53\u6211\u6ca1\u6709\u4fee\u6539\u4ee3\u7801\uff0c\u53ea\u662f\u60f3\u8fd0\u884c\u4e4b\u524d\u7f16\u8bd1\u8fc7\u7684\u4eff\u771f\u56fa\u4ef6\u65f6\uff0c\u76f4\u63a5\u6267\u884c\u6b64\u811a\u672c\u5373\u53ef\uff1a\n.\/sn<\/code><\/pre>\n\n\n\n<h3 class=\"wp-block-heading\">\u4e8c\u3001\u8fdb\u884c\u4eff\u771f\u98de\u884c<\/h3>\n\n\n\n<p>\u30001\u3001\u6253\u5f00MissionPlanner\uff0c\u8f6f\u4ef6\u5c06\u81ea\u52a8\u8fde\u63a5\u865a\u62df\u65e0\u4eba\u673a\uff08\u5982\u679c\u6ca1\u6709\u81ea\u52a8\u8fde\u63a5\uff0c\u5220\u9664\u98de\u63a7\u6e90\u4ee3\u7801\u6587\u4ef6\u5939ardupilot\u4e0b\u7684build\u6587\u4ef6\u5939\uff0c\u91cd\u65b0\u4ece\u672c\u6587\u7b2c\u4e00\u6b65\u7684\u7b2c4\u6b65\u8fd0\u884c\uff09\uff1b<\/p>\n\n\n\n<p>\u30002\u3001\u89c4\u5212\u4e00\u4e2a\u81ea\u52a8\u822a\u7ebf<\/p>\n\n\n\n<p>\u30003\u3001\u8f93\u5165\u89e3\u9501\u547d\u4ee4\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>arm throttle<\/code><\/pre>\n\n\n\n<p class=\"has-vivid-red-color has-text-color\">\u3000<strong>\u6ce8\u610f\uff0cAPM\u56fa\u4ef6\u4e0d\u5141\u8bb8\u5728\u201cAUTO\u6a21\u5f0f\u201d\u4e0b\u8d77\u98de\uff0c\u5982\u679c\u5728AUTO\u6a21\u5f0f\u4e0b\u8f93\u5165\u201carm throttle\u201d\uff0c\u4eff\u771f\u73af\u5883\u5c06\u63d0\u793a\u201cAPM: PreArm: Mode not armable\u201d\u3002\u6b63\u786e\u7684\u505a\u6cd5\u662f\u5148\u5c06\u98de\u63a7\u5207\u6362\u5230\u201cLoiter\u6a21\u5f0f\u201d\u3001\u201cAltHold\u6a21\u5f0f\u201d\u3001\u201cStablized\u6a21\u5f0f\u201d\u8fd9\u4e09\u79cd\u6a21\u5f0f\u4e2d\u7684\u4efb\u610f\u4e00\u79cd\uff0c\u7136\u540e\u89e3\u9501\u8d77\u98de\uff0c\u8d77\u98de\u540e\u518d\u5207\u5230\u201cAUTO\u6a21\u5f0f\u201d\u3002<\/strong><\/p>\n\n\n\n<p>\u30003\u3001\u63a8\u6cb9\u95e8\u4e2d\u4f4d\u4ee5\u4e0a\uff0c\u8d77\u98de<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>rc 3 1700<\/code><\/pre>\n\n\n\n<p>\u30004\u3001\u5207\u6362\u81ea\u52a8\u6a21\u5f0f<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>mode auto<\/code><\/pre>\n\n\n\n<p><strong>\u5982\u679c\u4eff\u771f\u4e2d\u51fa\u73b0\u5982\u4e0b\u56fe\u6240\u793a\u201cre-requesting WPS [0, 1, 2, 3 ,4]\u201d\uff0c\u4e0d\u7528\u7ba1\u5b83\uff0c\u8fd9\u662f\u6b63\u5e38\u7684\uff0c\u5e76\u4e14\u76ee\u524d\u6ca1\u6709\u627e\u5230\u53ef\u4ee5\u5173\u6389\u8fd9\u4e2a\u63d0\u793a\u7684\u65b9\u6cd5\u3002<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"883\" height=\"906\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/09\/\u4eff\u771f\u81ea\u52a8\u8bfb\u53d6\u822a\u70b9.png\" alt=\"\" class=\"wp-image-1929\" style=\"width:442px;height:453px\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/09\/\u4eff\u771f\u81ea\u52a8\u8bfb\u53d6\u822a\u70b9.png 883w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/09\/\u4eff\u771f\u81ea\u52a8\u8bfb\u53d6\u822a\u70b9-292x300.png 292w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/09\/\u4eff\u771f\u81ea\u52a8\u8bfb\u53d6\u822a\u70b9-768x788.png 768w\" sizes=\"auto, (max-width: 883px) 100vw, 883px\" \/><\/figure>\n\n\n\n<p><\/p>\n\n\n\n<p class=\"has-vivid-red-color has-luminous-vivid-amber-background-color has-text-color has-background\"><strong>\u4e0a\u8ff0\u51e0\u4e2a\u547d\u4ee4\u5728\u666e\u901a\u529f\u80fd\u4eff\u771f\u4e2d\u57fa\u672c\u591f\u7528\uff0c\u4f46\u662f\u4eff\u771f\u98de\u884c\u7684\u547d\u4ee4\u8fdc\u4e0d\u6b62\u8fd9\u51e0\u4e2a\uff0c\u66f4\u591a\u529f\u80fd\u8bf7\u5927\u5bb6\u81ea\u884c\u7814\u7a76APM\u5b98\u7f51\u5bf9\u5e94\u9875\u9762\uff0c\u94fe\u63a5\u5982\u4e0b\uff1a<\/strong><\/p>\n\n\n\n<p class=\"has-very-light-gray-background-color has-background\"><a href=\"https:\/\/ardupilot.org\/dev\/docs\/using-sitl-for-ardupilot-testing.html\" target=\"_blank\" rel=\"noreferrer noopener\" aria-label=\" (opens in a new tab)\">https:\/\/ardupilot.org\/dev\/docs\/using-sitl-for-ardupilot-testing.html<\/a><\/p>\n\n\n\n<p>\u3000\u4e0a\u9762\u8fd9\u4e2a\u94fe\u63a5\u662fAPM\u5b98\u7f51\u7684\u5f00\u53d1\u8005\u9875\u9762\uff0c\u7eaf\u82f1\u6587\u7684\uff0c\u4f46\u662f\u96be\u5ea6\u4e0d\u5927\uff0c\u8fd9\u4e2a\u9875\u9762\u4e2d\u5305\u542b\u4e86\u4e0d\u5c11\u6709\u8da3\u7684\u4eff\u771f\u6280\u5de7\uff0c\u8bf7\u5927\u5bb6\u4e3b\u52a8\u63a2\u7d22\u4e00\u4e0b\u3002<\/p>\n\n\n\n<p class=\"has-luminous-vivid-orange-color has-very-light-gray-background-color has-text-color has-background\">\u3000\u53e6\u5916\uff0c\u8bf7\u5927\u5bb6\u4e0d\u8981\u9677\u5165\u8fd9\u6837\u4e00\u4e2a\u8bef\u533a\uff1a\u6211\u8bb2\u8fc7\u4ec0\u4e48\uff0c\u4f60\u4f1a\u4ec0\u4e48\uff0c\u6211\u6ca1\u8bb2\u8fc7\u7684\uff0c\u4f60\u8fde\u4e3b\u52a8\u51fa\u51fb\u53bb\u63a2\u7d22\u7684\u5174\u8da3\u90fd\u6ca1\u6709\uff0c\u90a3\u5c06\u662f\u6211\u7684\u5931\u8d25\uff0c\u4f60\u7684\u60b2\u54c0\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">\u4e09\u3001\u4eff\u771f\u6280\u5de7<\/h3>\n\n\n\n<p><strong>1\u3001\u5217\u51fa\u4eff\u771f\u4e2d\u6240\u6709\u53ef\u7528\u547d\u4ee4<\/strong><\/p>\n\n\n\n<p>\u3000\u5982\u4e0b\u56fe\u6240\u793a\uff0c\u4eff\u771f\u73af\u5883\u8fd0\u884c\u8d77\u6765\u540e\uff0c\u8f93\u5165\u201chelp\u201d\u547d\u4ee4\u5e76\u6309\u56de\u8f66\u540e\uff0c\u4f1a\u81ea\u52a8\u5217\u51fa\u6240\u6709\u53ef\u7528\u547d\u4ee4\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"552\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/04\/image-1-1024x552.png\" alt=\"\" class=\"wp-image-1613\" style=\"width:768px;height:414px\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/04\/image-1-1024x552.png 1024w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/04\/image-1-300x162.png 300w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/04\/image-1-768x414.png 768w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/04\/image-1-1536x828.png 1536w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/04\/image-1.png 1580w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u3000\u5982\u4e0b\u56fe\u6240\u793a\uff0c\u5728\u67d0\u4e2a\u547d\u4ee4\u540e\u9762\u6dfb\u52a0\u201chelp\u201d\u53c2\u6570\uff0c\u7cfb\u7edf\u4f1a\u81ea\u52a8\u5217\u51fa\u8be5\u547d\u4ee4\u53ef\u63a5\u53d7\u7684\u53c2\u6570\u5217\u8868\uff0c\u975e\u5e38\u65b9\u4fbf\uff0c\u8fd9\u65f6\u5019\u6839\u636e\u5404\u4e2a\u53c2\u6570\u540d\u57fa\u672c\u53ef\u4ee5\u63a8\u65ad\u51fa\u5176\u7528\u6cd5\uff0c\u8bf7\u5927\u5bb6\u5927\u80c6\u5c1d\u8bd5\uff0c\u641e\u7814\u7a76\u5c31\u662f\u8fd9\u6837\u7684\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"55\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/04\/image-2-1024x55.png\" alt=\"\" class=\"wp-image-1616\" style=\"width:768px;height:41px\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/04\/image-2-1024x55.png 1024w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/04\/image-2-300x16.png 300w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/04\/image-2-768x42.png 768w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/04\/image-2-1536x83.png 1536w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/04\/image-2.png 1938w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>2\u3001\u8bbe\u7f6e\u4eff\u771f\u8d77\u59cb\u4f4d\u7f6e\u548c\u521d\u59cb\u822a\u5411<\/strong><\/p>\n\n\n\n<p>\u3000\u6211\u4eec\u53ef\u4ee5\u5c06\u4eff\u771f\u7684\u8d77\u59cb\u4f4d\u7f6e\u4fee\u6539\u4e3a\u5730\u7403\u4e0a\u7684\u4efb\u4f55\u4e00\u4e2a\u4f4d\u7f6e\uff0c\u540c\u65f6\u8fd8\u53ef\u4ee5\u4fee\u6539\u521d\u59cb\u822a\u5411\uff0c\u65b9\u6cd5\u5982\u4e0b\uff1a<\/p>\n\n\n\n<p>\u3000a\u3001\u6253\u5f00\u201cardupilot\\Tools\\autotest\u201d\u6587\u4ef6\u5939\u4e0b\u7684\u201clocations.txt\u201d\u6587\u4ef6\uff0c\u5728\u7b2c\u4e8c\u884c\u6dfb\u52a0\u4e00\u4e2a\u65b0\u7684\u4f4d\u7f6e\u70b9\u3002\u6ce8\u610f\uff0c\u5982\u4e0b\u56fe\u6240\u793a\uff0c\u8fd9\u4e2a\u6587\u4ef6\u7ed9\u51fa\u4e86\u5f88\u660e\u786e\u7684\u6ce8\u91ca\uff0c\u6bcf\u4e00\u884c\u8868\u793a\u4e00\u4e2a\u4f4d\u7f6e\u70b9\u3002\u6211\u8fd9\u91cc\u6dfb\u52a0\u4e86\u4e00\u4e2a\u540d\u79f0\u4e3a\u201cNFCY_Home\u201d\u3001\u7eac\u5ea6\u4e3a\u201c36.123456\u201d\u3001\u7ecf\u5ea6\u4e3a\u201c112.56789\u201d\u3001\u6d77\u62d4\u9ad8\u5ea6\u4e3a200\u7c73\u3001\u521d\u59cb\u822a\u5411\u4e3a30\u5ea6\u7684\u4f4d\u7f6e\u70b9\uff08\u7eac\u5ea6\uff1a\u5317\u7eac\u4e3a\u6b63\uff0c\u5357\u7eac\u4e3a\u8d1f\uff1b\u7ecf\u5ea6\uff1a\u4e1c\u7ecf\u4e3a\u6b63\uff0c\u897f\u7ecf\u4e3a\u8d1f\uff09\uff1b<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"463\" height=\"180\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/06\/image-1.png\" alt=\"\" class=\"wp-image-875\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/06\/image-1.png 463w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/06\/image-1-300x117.png 300w\" sizes=\"auto, (max-width: 463px) 100vw, 463px\" \/><\/figure>\n\n\n\n<p class=\"has-vivid-red-color has-luminous-vivid-amber-background-color has-text-color has-background\"><strong>\u6ce8\u610f\uff1a1\u3001\u4e0a\u8ff0\u7ecf\u7eac\u9ad8\u4ee5\u53ca\u822a\u5411\u6570\u636e\u95f4\u662f\u7528\u201c\u82f1\u6587\u9017\u53f7\u201d\u9694\u5f00\u7684\uff0c\u6ce8\u610f\u4e0d\u80fd\u7528\u201c\u4e2d\u6587\u9017\u53f7\u201d\u6216\u8005\u201c\u7a7a\u683c\u201d\u9694\u5f00\u30022\u3001\u201c=\u201d\u524d\u540e\u4e0d\u80fd\u6709\u7a7a\u683c\u3002\u5bf9\u4e8e\u683c\u5f0f\u95ee\u9898\uff0c\u8bf7\u5c3d\u91cf\u4e25\u683c\u6309\u7167\u5df2\u6709\u7684\u4f8b\u5b50\u7684\u65b9\u5f0f\u5199\uff0c\u4e0d\u8981\u81ea\u5df1\u60f3\u5f53\u7136\uff0c\u5426\u5219\u4f1a\u7ecf\u5e38\u81ea\u5df1\u5751\u5230\u81ea\u5df1<\/strong>\u3002<\/p>\n\n\n\n<p>\u3000b\u3001\u6253\u5f00\u672c\u8282\u8bfe\u4e2d\u6211\u4eec\u5efa\u7acb\u7684\u90a3\u4e2a\u540d\u79f0\u4e3a\u201cs\u201d\u7684\u4eff\u771f\u811a\u672c\u6587\u4ef6\uff0c\u5728\u90a3\u4e00\u884c\u547d\u4ee4\u7684\u7ed3\u5c3e\u6dfb\u52a0\u4e00\u4e2a\u547d\u4ee4\uff1a\u201c-L \u4f60\u7684\u4f4d\u7f6e\u540d\u79f0\u201d\uff0c\u4ee5\u6211\u4eec\u7684\u8fd9\u4e2a\u4f8b\u5b50\u4e3a\u4f8b\uff0c\u6dfb\u52a0\u5b8c\u540e\u811a\u672c\u547d\u4ee4\u5982\u4e0b\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>\/cygdrive\/d\/ardupilot\/Tools\/autotest\/sim_vehicle.py -v ArduCopter -L NFCY_Home<\/code><\/pre>\n\n\n\n<p>\u3000c\u3001\u91cd\u65b0\u5f00\u59cb\u4eff\u771f\uff0c\u8fde\u63a5MissionPlanner\u540e\u53ef\u80fd\u4e0d\u4f1a\u663e\u793a\u6b63\u786e\u7684home\u70b9\uff0c\u5728\u201c\u98de\u884c\u8ba1\u5212\u201d\u9875\u9762\uff0c\u70b9\u51fb\u53f3\u4fa7\u8fb9\u680f\u4e2d\u7684\u201c\u8d77\u59cb\u4f4d\u7f6e\u201d\u56db\u4e2a\u5b57\uff0c\u5373\u53ef\u8df3\u8f6c\u5230\u521a\u624d\u8bbe\u7f6e\u7684\u4f4d\u7f6e\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"363\" height=\"494\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/06\/image.png\" alt=\"\" class=\"wp-image-874\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/06\/image.png 363w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/06\/image-220x300.png 220w\" sizes=\"auto, (max-width: 363px) 100vw, 363px\" \/><\/figure>\n\n\n\n<p><strong>3\u3001\u5728\u4eff\u771f\u98de\u884c\u4e2d\u4f7f\u7528\u201c\u5b9a\u9ad8\u8bbe\u5907\u201d\uff08\u6a21\u62df\u51fa\u8d85\u58f0\u6ce2\u6216\u8005\u6beb\u7c73\u6ce2\u96f7\u8fbe\u7684\u6548\u679c\uff09<\/strong><\/p>\n\n\n\n<p>\u3000\u5982\u679c\u60f3\u5728\u4eff\u771f\u98de\u884c\u4e2d\u6dfb\u52a0\u201c\u5b9a\u9ad8\u8bbe\u5907\u201d\u7684\u529f\u80fd\uff0c\u6a21\u62df\u51fa\u8d85\u58f0\u6ce2\u6216\u8005\u6beb\u7c73\u6ce2\u96f7\u8fbe\u7684\u5b9a\u9ad8\u6548\u679c\uff0c\u53ef\u4ee5\u5728\u8fd0\u884c\u4eff\u771f\u7a0b\u5e8f\u5e76\u901a\u8fc7MissionPlanner\u8fde\u63a5\u4e0a\u6a21\u62df\u5668\u540e\uff0c\u5728\u5168\u90e8\u53c2\u6570\u5217\u8868\u4e2d\u5c06\u5982\u4e0b\u53c2\u6570\u8bbe\u7f6e\u4e00\u4e0b\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>SIM_SONAR_SCALE 10  \/\/ \u6ce8\u610f\uff0c\u8fd9\u4e2a\u53c2\u6570\u662f\u4eff\u771f\u56fa\u4ef6\u7279\u6709\u7684\uff0c\u5b9e\u7269\u56fa\u4ef6\u4e2d\u6ca1\u6709\u8fd9\u4e2a\u53c2\u6570\nRNGFNDA_TYPE  1  \/\/ \u8bbe\u7f6e\u5b9a\u9ad8\u8bbe\u5907\u7c7b\u578b\uff0c\u8bf7\u8bbe\u7f6e\u4e3a1\uff0c\u5728\u4eff\u771f\u73af\u5883\u4e0b\u6307\u5b9a\u4e3a\u5176\u4ed6\u7c7b\u578b\u7684\u5b9a\u9ad8\u8bbe\u5907\u7c7b\u578b\u662f\u6ca1\u6709\u610f\u4e49\u7684\uff0c\u672c\u8d28\u4e0a\u6a21\u62df\u5668\u53ea\u662f\u6a21\u62df\u51fa\u4e86\u4e00\u4e2a\u9ad8\u5ea6\u503c\uff0c\u8ddf\u5916\u8bbe\u7c7b\u578b\u6ca1\u6709\u5173\u7cfb\nRNGFNDA_SCALING 10  \/\/ \u5c31\u6309\u7167\u8fd9\u4e2a\u8bbe\u7f6e\u5c31\u884c\uff0c\u4e0e\u4e0a\u9762\u7684SIM_SONAR_SCALE\u5bf9\u5e94\nRNGFNDA_PIN  0  \/\/ \u540c\u7406\uff0c\u4eff\u771f\u73af\u5883\uff0c\u4e0d\u8981\u5f53\u771f\nRNGFNDA_MAX_CM  5000  \/\/ \u5b9a\u9ad8\u8bbe\u5907\u6700\u8fdc\u63a2\u6d4b\u8ddd\u79bb\uff0c\u5355\u4f4d\uff1a\u5398\u7c73\uff0c\u8fd9\u4e2a\u53c2\u6570\u53ef\u4ee5\u81ea\u884c\u8c03\u6574\nRNGFNDA_MIN_CM  0     \/\/ \u5b9a\u9ad8\u8bbe\u5907\u6700\u8fd1\u63a2\u6d4b\u8ddd\u79bb\uff0c\u5355\u4f4d\uff1a\u5398\u7c73\uff0c\u8fd9\u4e2a\u53c2\u6570\u53ef\u4ee5\u81ea\u884c\u8c03\u6574<\/code><\/pre>\n\n\n\n<p class=\"has-vivid-red-color has-text-color\"><strong>\u6ce8\u610f\uff1a<\/strong><\/p>\n\n\n\n<p class=\"has-vivid-red-color has-text-color\"><strong>\u30001\u3001\u53c2\u6570\u4fee\u6539\u540e\u4e0d\u8981\u5fd8\u4e86\u70b9\u51fb\u53f3\u4e0a\u89d2\u7684\u201c\u5199\u5165\u53c2\u6570\u201d\u6309\u94ae\uff01<\/strong><\/p>\n\n\n\n<p class=\"has-vivid-red-color has-text-color\"><strong>\u30002\u3001\u53c2\u6570\u4fee\u6539\u540e\uff0c\u8bf7\u5173\u95edMissionPlanner\u3001\u5173\u95ed\u4eff\u771f\u73af\u5883\uff0c\u7136\u540e\u91cd\u65b0\u8fd0\u884c\u4eff\u771f\u73af\u5883\uff0c\u8fd9\u65f6\u5b9a\u9ad8\u8bbe\u5907\u624d\u4f1a\u751f\u6548\u3002<\/strong><\/p>\n\n\n\n<p><strong>4\u3001\u5206\u6790\u4eff\u771f\u98de\u884c\u7684\u65e5\u5fd7<\/strong><\/p>\n\n\n\n<p>\u3000\u4eff\u771f\u98de\u884c\u8ddf\u5b9e\u7269\u98de\u884c\u4e00\u6837\uff0c\u90fd\u4f1a\u4ea7\u751f\u6807\u51c6\u7684\u65e5\u5fd7\uff0c\u4e0d\u8fc7\u4eff\u771f\u98de\u884c\u7684\u65e5\u5fd7\u662f\u76f4\u63a5\u4fdd\u5b58\u5728\u7535\u8111\u91cc\u7684\uff0c\u4e0d\u9700\u8981\u518d\u901a\u8fc7MissionPlanner\u4e0b\u8f7d\u3002\u65e5\u5fd7\u5728\u672c\u8282\u8bfe\u7b2c\u4e00\u6b65\u6211\u4eec\u521b\u5efa\u7684\u90a3\u4e2a\u81ea\u52a8\u5316\u8fd0\u884c\u811a\u672c\u6240\u5728\u6587\u4ef6\u5939\u4e2d\u7684\u201clogs\u201d\u6587\u4ef6\u5939\u4e2d\uff0c\u5176\u5185\u90e8\u7684\u65e5\u5fd7\u6309\u7167\u987a\u5e8f\u4f9d\u6b21\u6392\u5217\uff0c\u540d\u79f0\u6700\u5927\u7684\u65e5\u5fd7\u5c31\u662f\u6700\u540e\u4e00\u6b21\u4eff\u771f\u751f\u6210\u7684\u65e5\u5fd7\u3002<\/p>\n\n\n\n<p>\u3000\u65e5\u5fd7\u5206\u6790\u6559\u7a0b\u89c1\u5982\u4e0b\u7f51\u9875\uff1a<a href=\"https:\/\/www.bilibili.com\/video\/BV1Bg4y1B7cU\/\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/www.bilibili.com\/video\/BV1Bg4y1B7cU\/<\/a><\/p>\n\n\n\n<p><strong>5\u3001\u7528MAVProxy\u8fdb\u884cUDP\u8f6c\u53d1\u8fde\u63a5\u591a\u4e2a\u5730\u9762\u7ad9<\/strong><\/p>\n\n\n\n<p>\u3000SITL\u4eff\u771f\u652f\u6301\u901a\u8fc7MAVProxy\u7684UDP\u8f6c\u53d1\u529f\u80fd\uff0c\u8fde\u63a5\u5230\u591a\u4e2a\u5730\u9762\u7ad9\uff08GCS\uff09\u3002\u8fd9\u5bf9\u4e8e\u5728\u5c40\u57df\u7f51\u5185\u7684\u5176\u4ed6\u7535\u8111\uff08\u5982Windows\u4e3b\u673a\uff09\u6216\u79fb\u52a8\u8bbe\u5907\uff08\u5982Android\u5e73\u677f\uff09\u4e0a\u76d1\u63a7\u548c\u63a7\u5236\u4eff\u771f\u975e\u5e38\u6709\u7528\u3002<\/p>\n\n\n\n<p>\u3000\u64cd\u4f5c\u6b65\u9aa4\uff1a<\/p>\n\n\n\n<p>\u30001\u3001<strong>\u83b7\u53d6GCS\u7684IP\u5730\u5740<\/strong>\uff1a\u9996\u5148\u9700\u8981\u77e5\u9053\u8fd0\u884c\u5730\u9762\u7ad9\u7684\u8bbe\u5907\u7684IP\u5730\u5740\uff08\u5728Windows\u4e0a\u53ef\u4f7f\u7528<code>ipconfig<\/code>\u547d\u4ee4\u67e5\u8be2\uff09\u3002<\/p>\n\n\n\n<p>\u3000<strong>2\u3001\u5728MAVProxy\u4e2d\u6dfb\u52a0\u8f93\u51fa<\/strong>\uff1a\u5047\u8bbeGCS\u7684IP\u5730\u5740\u662f<code>192.168.1.82<\/code>\uff0c\u5728MAVProxy\u7684\u547d\u4ee4\u63d0\u793a\u7b26\u4e0b\u8f93\u5165\u4ee5\u4e0b\u547d\u4ee4\u6765\u6dfb\u52a0\u4e00\u4e2aUDP\u8f93\u51fa\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>output add 192.168.1.82:14550<\/code><\/pre>\n\n\n\n<p>\u30003\u3001<strong>\u5728\u5730\u9762\u7ad9\u8fde\u63a5<\/strong>\uff1a\u5728\u53e6\u4e00\u53f0\u8bbe\u5907\u7684\u5730\u9762\u7ad9\u8f6f\u4ef6\u4e2d\uff0c\u8bbe\u7f6e\u901a\u8fc7UDP\u8fde\u63a5\uff0c\u5e76\u76d1\u542c\u7aef\u53e3<code>14550<\/code>\uff08\u6216MAVProxy\u8f6c\u53d1\u7684\u5176\u4ed6\u7aef\u53e3\uff09\uff0c\u5373\u53ef\u8fde\u63a5\u5230SITL\u4eff\u771f<\/p>\n\n\n\n<p>\u3000<strong>\u63d0\u793a\uff1a<\/strong><\/p>\n\n\n\n<p>\u3000\u5982\u679c\u5730\u9762\u7ad9\u4e0eSITL\u8fd0\u884c\u5728\u540c\u4e00\u53f0\u7535\u8111\u4e0a\uff0cMAVProxy\u53ef\u80fd\u5df2\u7ecf\u521b\u5efa\u4e86\u672c\u5730\u8f93\u51fa\uff08\u5982<code>127.0.0.1:14550<\/code>\u548c<code>127.0.0.1:14551<\/code>\uff09\u3002\u4f60\u53ef\u4ee5\u76f4\u63a5\u8ba9\u7b2c\u4e8c\u4e2a\u5730\u9762\u7ad9\u8f6f\u4ef6\u8fde\u63a5\u5230\u672a\u88ab\u5360\u7528\u7684\u7aef\u53e3\u3002<\/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\uff0cAPM\u652f\u6301\u5f88\u591a\u79cd\u4eff\u771f\u65b9\u6cd5\uff0c\u672c\u8bfe\u7a0b\u53ea\u8bb2\u8ff0\u4e86\u5176\u4e2d\u6700\u7b80\u5355\u4e5f\u6700\u5e38\u7528\u7684\u65b9\u6cd5\uff0c\u5927\u5bb6\u6709\u5174\u8da3\u7684\u8bdd\u53ef\u4ee5\u5230APM\u5b98\u7f51\u7684\u5f00\u53d1\u8005\u9875\u9762\u81ea\u884c\u63a2\u7d22\uff1a<a href=\"https:\/\/ardupilot.org\/dev\/docs\/simulation-2.html\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/ardupilot.org\/dev\/docs\/simulation-2.html<\/a><\/strong><\/p>\n\n\n\n<h3 class=\"wp-block-heading has-vivid-red-color has-text-color\">\u56db\u3001\u7591\u96be\u89e3\u7b54<\/h3>\n\n\n\n<p class=\"has-vivid-red-color has-text-color\" style=\"font-size:24px\">\u3000<strong>1\u3001\u7f16\u8bd1\u8fc7\u4eff\u771f\u4ee3\u7801\u540e\uff0c\u98de\u63a7\u6574\u4e2a\u4ee3\u7801\u5de5\u7a0b\u7684\u7f16\u8bd1\u76ee\u6807\u5c31\u53d8\u6210\u4e86\u201c\u4eff\u771f\u56fa\u4ef6\u201d\uff0c\u800c\u4e0d\u662f\u6211\u4eec\u4e4b\u524d\u7ae0\u8282\u4e2d\u8bbe\u7f6e\u7684\u9488\u5bf9\u67d0\u6b3e\u98de\u63a7\u786c\u4ef6\uff08\u6bd4\u5982fmuv3\uff09\u8bbe\u7f6e\u7684\u7f16\u8bd1\u76ee\u6807\u3002\u56e0\u6b64\uff0c\u6211\u4eec\u901a\u5e38\u7684\u505a\u6cd5\u662f\u5728Eclipse\u4e2d\u6dfb\u52a0\u4e00\u4e2a\u7f16\u8bd1\u76ee\u6807\u8bbe\u7f6e\u547d\u4ee4\uff0c\u6bcf\u6b21\u5982\u679c\u7f16\u8bd1\u8fc7\u4eff\u771f\u4ee3\u7801\uff0c\u5728\u7f16\u8bd1\u5b9e\u7269\u786c\u4ef6\u4ee3\u7801\u524d\uff0c\u5148\u8fd0\u884c\u4e00\u4e0b\u8fd9\u4e2a\u8bbe\u7f6e\u547d\u4ee4\uff0c\u547d\u4ee4\u5982\u4e0b\uff1a<\/strong><\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>configure --board fmuv3<\/code><\/pre>\n\n\n\n<p>\u3000\u8bbe\u7f6e\u5b8c\u540e\uff0cEclipse\u53f3\u4fa7\u754c\u9762\u5982\u4e0b\u56fe\u6240\u793a\uff08\u6ce8\u610f\uff0c\u6dfb\u52a0\u8fd9\u4e2a\u547d\u4ee4\u7684\u65b9\u6cd5\u8ddf\u6dfb\u52a0\u201ccopter\u201d\u7684\u65b9\u6cd5\u662f\u4e00\u6837\u7684\uff09\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"491\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/02\/Image-1024x491.png\" alt=\"\" class=\"wp-image-623\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/02\/Image-1024x491.png 1024w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/02\/Image-300x144.png 300w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/02\/Image-768x368.png 768w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/02\/Image.png 1107w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"323\" height=\"424\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/03\/Image-2.png\" alt=\"\" class=\"wp-image-733\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/03\/Image-2.png 323w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/03\/Image-2-229x300.png 229w\" sizes=\"auto, (max-width: 323px) 100vw, 323px\" \/><\/figure>\n<\/div>\n\n\n<p class=\"has-vivid-red-color has-luminous-vivid-amber-background-color has-text-color has-background\"><strong>\u3000a\u3001\u8fd9\u6837\uff0c\u53cc\u51fb\u201cconfigure &#8211;board fmuv3\u201d\u540e\uff0c\u7b49\u6548\u4e8e\u5728cygwin64\u547d\u4ee4\u884c\u4e2d\u8fd0\u884c\u4e86\u201c.\/waf configure &#8211;board fmuv3\u201d\uff0c\u5373\u5c06\u7f16\u8bd1\u76ee\u6807\u8bbe\u7f6e\u4e3afmuv3\u3002<\/strong><\/p>\n\n\n\n<p class=\"has-vivid-red-color has-very-light-gray-background-color has-text-color has-background\"><strong>\u6ce8\u610f\uff0c\u89c6\u9891\u6559\u7a0b\u4e2d\u8fd9\u4e2a\u547d\u4ee4\u540e\u9762\u8fd8\u591a\u4e86\u201c&#8211;no-submodule-update\u201d\uff0c\u8fd9\u4e2a\u662f\u4e0d\u9700\u8981\u7684\uff0c\u4ee5\u672c\u7f51\u9875\u4e3a\u51c6\u3002\uff08\u6ce8\u610f\uff0c\u7531\u4e8e\u89c6\u9891\u526a\u8f91\u4e00\u6b21\u6bd4\u8f83\u9ebb\u70e6\uff0c\u56e0\u6b64\u6709\u66f4\u65b0\u65f6\u6211\u4f1a\u4f18\u5148\u66f4\u65b0\u5230\u7f51\u9875\u4e2d\uff0c\u5927\u5bb6\u9047\u5230\u4e8c\u8005\u51b2\u7a81\u7684\u5730\u65b9\uff0c\u90fd\u4ee5\u7f51\u9875\u4e3a\u51c6\uff09<\/strong><\/p>\n\n\n\n<p class=\"has-vivid-red-color has-luminous-vivid-amber-background-color has-text-color has-background\">\u3000<strong>b\u3001\u7136\u540e\uff0c\u518d\u53cc\u51fb\u201ccopter\u201d\uff0c\u7b49\u6548\u4e8e\u8fd0\u884c\u4e86\u201c.\/waf copter\u201d\uff0c\u5c31\u5f00\u59cb\u7f16\u8bd1\u591a\u65cb\u7ffc\u56fa\u4ef6\u4e86\u3002<\/strong><\/p>\n\n\n\n<p><\/p>\n\n\n\n<p class=\"has-vivid-red-color has-text-color\" style=\"font-size:24px\">\u3000<strong>2\u3001\u89e3\u9501\u65f6\uff0c\u63d0\u793a\u201cPreArm\uff1aThrottle too high\u201d\u7684\u89e3\u51b3\u529e\u6cd5<\/strong><\/p>\n\n\n\n<p>\u3000\u5982\u679c\u4f60\u5c1d\u8bd5\u89e3\u9501\u65f6\uff0c\u63d0\u793a\u201c <strong>PreArm\uff1aThrottle too high<\/strong> \u201d\uff0c\u8fd9\u4e2a\u610f\u601d\u662f\u8bf4\u201c\u89e3\u9501\u524d\u81ea\u68c0\uff0c\u53d1\u73b0\u6cb9\u95e8\u8fc7\u9ad8\uff0c\u7981\u6b62\u89e3\u9501\u201d\uff0c\u4e00\u822c\u60c5\u51b5\u4e0b\uff0c\u98de\u63a7\u9ed8\u8ba4\u53c2\u6570\u4e0b\u6cb9\u95e8\u901a\u9053\u7684PWM\u503c\u8303\u56f4\u4e3a1100~1900\uff0c\u53ef\u80fd\u4f60\u7684\u6a21\u62df\u5668\u4e2d\u9ed8\u8ba4\u7684\u521d\u59cb\u6cb9\u95e8\u662f1500\uff0c\u4ece\u800c\u89e3\u9501\u65f6\u98de\u63a7\u53d1\u73b0\u6cb9\u95e8\u4e0d\u4e3a\u6700\u4f4e\uff0c\u7981\u6b62\u89e3\u9501\uff1b\u53e6\u5916\uff0c\u4e5f\u6709\u53ef\u80fd\u662f\u4f60\u521a\u4eff\u771f\u7684\u65f6\u5019\uff0c\u5c06\u6cb9\u95e8\u63a8\u5230\u4e86\u4e00\u4e2a\u8f83\u5927\u7684\u503c\uff0c\u7136\u540e\u81ea\u52a8\u8fd4\u822a\u964d\u843d\u540e\uff0c\u9065\u63a7\u5668\u6cb9\u95e8\u901a\u9053\u5fd8\u8bb0\u624b\u52a8\u6536\u5230\u96f6\u4f4d\u4e86\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"739\" height=\"439\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2019\/11\/@OM3AHN5@ALCD_CELM.png\" alt=\"\" class=\"wp-image-377\" style=\"width:370px;height:220px\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2019\/11\/@OM3AHN5@ALCD_CELM.png 739w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2019\/11\/@OM3AHN5@ALCD_CELM-300x178.png 300w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2019\/11\/@OM3AHN5@ALCD_CELM-445x265.png 445w\" sizes=\"auto, (max-width: 739px) 100vw, 739px\" \/><\/figure>\n\n\n\n<p>\u3000\u89e3\u51b3\u529e\u6cd5\uff1a\u5728\u89e3\u9501\u524d\uff0c\u5148\u8f93\u5165\u5982\u4e0b\u547d\u4ee4\uff0c\u628a\u6cb9\u95e8\u901a\u9053\u8bbe\u7f6e\u4e3a\u96f6\u6cb9\u95e8\uff08\u4e00\u4e2a\u5c0f\u4e8e1100\u7684\u503c\uff0c\u4f46\u662f\u4e5f\u4e0d\u80fd\u592a\u5c0f\uff0c\u6709\u4e9b\u60c5\u51b5\u4e0b\uff0c\u98de\u63a7\u7684\u9065\u63a7\u5668\u7684\u5931\u63a7\u4fdd\u62a4\u95e8\u9650\u662f\u6cb9\u95e8\u5c0f\u4e8e950\uff09\u3002<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>rc 3 1000<\/code><\/pre>\n\n\n\n<p class=\"has-vivid-red-color has-text-color\" style=\"font-size:24px\">\u3000<strong>3\u3001\u6709\u65f6\u6253\u5f00MissionPlanner\u540e\u4e0d\u4f1a\u81ea\u52a8\u8fde\u63a5\u4eff\u771f\u73af\u5883<\/strong><\/p>\n\n\n\n<p>\u3000\u6709\u65f6\u5019\u6253\u5f00MissionPlanner\u540e\u4e0d\u4f1a\u81ea\u52a8\u8fde\u63a5\u4eff\u771f\u73af\u5883\uff0c\u8bf7\u6309\u7167\u5982\u4e0b\u6b65\u9aa4\u5c1d\u8bd5\u89e3\u51b3\uff1a<\/p>\n\n\n\n<p>\u3000a\u3001\u5728\u4eff\u771f\u73af\u5883\u5df2\u7ecf\u8fd0\u884c\u8d77\u6765\u540e\uff0c\u6253\u5f00MissionPlanner\uff0c\u6309\u7167\u4e0b\u56fe\u6240\u793a\u9009\u62e9UDP\uff0c\u5e76\u70b9\u51fb\u201c\u8fde\u63a5\u201d\u6309\u94ae\uff1b\u7136\u540e\u4f1a\u5f39\u51fa\u9009\u62e9\u7aef\u53e3\u7684\u7a97\u53e3\uff0c\u76f4\u63a5\u70b9\u51fb\u201cOK\u201d\uff0c\u4e00\u822c\u60c5\u51b5\u4e0b\u5c31\u80fd\u8fde\u63a5\u6210\u529f\uff1b<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"299\" height=\"62\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/01\/\u4eff\u771f\u9009UDP-1.png\" alt=\"\" class=\"wp-image-607\"\/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"398\" height=\"137\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/01\/\u4eff\u771f\u9009\u62e9UDP\u7aef\u53e3-1.png\" alt=\"\" class=\"wp-image-608\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/01\/\u4eff\u771f\u9009\u62e9UDP\u7aef\u53e3-1.png 398w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/01\/\u4eff\u771f\u9009\u62e9UDP\u7aef\u53e3-1-300x103.png 300w\" sizes=\"auto, (max-width: 398px) 100vw, 398px\" \/><\/figure>\n\n\n\n<p><\/p>\n\n\n\n<p>\u3000b\u3001\u4e0a\u4e00\u6b65\u5982\u679c\u4e0d\u884c\uff0c\u5173\u95edMissionPlanner\uff0c\u5e76\u5173\u95ed\u4eff\u771f\u73af\u5883\uff0c\u5220\u9664\u6e90\u4ee3\u7801\u4e2d\u201cardupilot\/build\u201d\u6587\u4ef6\u5939\uff0c\u91cd\u65b0\u8fd0\u884c\u4eff\u771f\u73af\u5883\u518d\u8bd5\u8bd5\u3002<\/p>\n\n\n\n<p class=\"has-vivid-red-color has-text-color\" style=\"font-size:24px\">\u3000<strong>4\u3001\u5f00\u59cb\u4eff\u771f\u65f6\u63d0\u793a\u201cImportError: No module named pymavlink\u201d<\/strong><\/p>\n\n\n\n<p>\u3000\u8fd9\u4e2a\u63d0\u793a\u7684\u610f\u601d\u662f\u6211\u4eec\u7f3a\u5c11\u4e00\u4e2a\u540d\u4e3a\u201cpymavlink\u201d\u7684python\u5e93\uff0c\u89e3\u51b3\u65b9\u6cd5\u662f\uff1a\u6253\u5f00cygwin64\uff0c\u7136\u540e\u8f93\u5165\u5982\u4e0b\u4ee3\u7801\uff0c\u81ea\u52a8\u4e0b\u8f7d\u201cpymavlink\u201d\u5e93\uff0c\u7136\u540e\u5c31\u53ef\u4ee5\u6b63\u5e38\u4eff\u771f\u4e86\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>pip install pymavlink\n\n# \u5982\u679c\u8fd0\u884c\u4e0a\u8ff0\u547d\u4ee4\u540e\u8fd8\u4e0d\u884c\uff0c\u5219\u5c1d\u8bd5\u8fd0\u884c\u4e0b\u9762\u8fd9\u6761\u547d\u4ee4\npip3 install pymavlink<\/code><\/pre>\n\n\n\n<p class=\"has-vivid-red-color has-luminous-vivid-amber-background-color has-text-color has-background\"><strong>\u5982\u679c\u5176\u4e2d\u7684\u4e0b\u8f7d\u6b65\u9aa4\u975e\u5e38\u6162\uff0c\u8bf7\u53c2\u8003\u5982\u4e0b\u94fe\u63a5\uff0c\u4f53\u4f1a\u4e00\u4e0b\u4e0b\u8f7d\u901f\u5ea6\u98de\u4e00\u822c\u7684\u611f\u89c9\uff1a<\/strong><\/p>\n\n\n\n<p class=\"has-vivid-red-color has-very-light-gray-background-color has-text-color has-background\"><a href=\"https:\/\/jingyan.baidu.com\/article\/2f9b480d5480c500ca6cc24b.html\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/jingyan.baidu.com\/article\/2f9b480d5480c500ca6cc24b.html<\/a><\/p>\n\n\n\n<p class=\"has-vivid-red-color has-text-color\"><strong>\u3000\u8bf7\u5927\u5bb6\u660e\u767d\u9047\u5230\u95ee\u9898\u540e\u89e3\u51b3\u95ee\u9898\u7684\u57fa\u672c\u601d\u8def\uff1a<\/strong><\/p>\n\n\n\n<p>\u3000\u30001\u3001\u53d1\u73b0pip\u4e0b\u8f7d\u901f\u5ea6\u6162\uff1b<\/p>\n\n\n\n<p>\u3000\u30002\u3001\u53cd\u590d\u5c1d\u8bd5\u90fd\u662f\u4e0b\u8f7d\u5931\u8d25\uff1b<\/p>\n\n\n\n<p>\u3000\u30003\u3001\u6000\u7591\u662f\u4e0d\u662f\u7f51\u7edc\u7684\u95ee\u9898\uff0c\u53d1\u73b0\u4e0b\u8f7d\u5176\u4ed6\u4e1c\u897f\u5f88\u5feb\uff0c\u5c31\u662f\u8fd9\u4e2a\u901f\u5ea6\u6162\uff1b<\/p>\n\n\n\n<p>\u3000\u30004\u3001\u6253\u5f00\u767e\u5ea6\uff0c\u8f93\u5165\u201cpip \u4e0b\u8f7d\u901f\u5ea6\u6162\u201d\uff0c\u7136\u540e\u6309\u56de\u8f66\uff0c\u53d1\u73b0\u7b2c\u4e00\u4e2a\u94fe\u63a5\u91cc\u7684\u65b9\u6cd5\u5c31\u5b8c\u7f8e\u89e3\u51b3\u4e86\u6b64\u95ee\u9898\u3002<\/p>\n\n\n\n<p class=\"has-vivid-red-color has-text-color\" style=\"font-size:24px\">\u3000<strong>5\u3001\u4eff\u771f\u65f6\u63d0\u793a\u201cMAV -&gt; link 1 down\u201d<\/strong><\/p>\n\n\n\n<p>\u3000\u5982\u4e0b\u56fe\u6240\u793a\uff0c\u4eff\u771f\u65f6\u53ef\u80fd\u9047\u5230\u5361\u4f4f\u4e00\u6bb5\u65f6\u95f4\u540e\u63d0\u793a\u201cMAV -&gt; link 1 down\u201d\u7684\u60c5\u51b5\u3002\u6211\u53d1\u73b0\u5728\u4eff\u771f\u65f6\uff0c\u5c06\u53c2\u6570\u201cRCx_OPTION\u201d\u4fee\u6539\u4e3a\u4e00\u4e2a\u975e\u9ed8\u8ba4\u503c\u540e\uff08\u6bd4\u5982\u5c06RC7_OPTION\u6539\u4e3a\u81ea\u5b9a\u4e49\u7684\u503c102\uff09\uff0c\u4e0b\u4e00\u6b21\u4eff\u771f\u65f6\u5c31\u4f1a\u51fa\u73b0\u8fd9\u79cd\u95ee\u9898\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"512\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/04\/\u4eff\u771flink1down-1024x512.png\" alt=\"\" class=\"wp-image-805\" style=\"width:512px;height:256px\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/04\/\u4eff\u771flink1down-1024x512.png 1024w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/04\/\u4eff\u771flink1down-300x150.png 300w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/04\/\u4eff\u771flink1down-768x384.png 768w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/04\/\u4eff\u771flink1down.png 1289w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p class=\"has-vivid-green-cyan-color has-text-color\">\u3000<strong>\u89e3\u51b3\u65b9\u6cd5\u5982\u4e0b\uff1a<\/strong><\/p>\n\n\n\n<p>\u30001\u3001\u5982\u679c\u5728\u67d0\u6b21\u6b63\u5e38\u4eff\u771f\u65f6\u4fee\u6539\u8fc7\u201cRCx_OPTION\u201d\u4e4b\u7c7b\u7684\u53c2\u6570\uff0c\u90a3\u4e48\u5728\u5173\u95ed\u4eff\u771f\u73af\u5883\u4e4b\u524d\u5c06\u8fd9\u4e2a\u53c2\u6570\u6539\u4e3a\u9ed8\u8ba4\u503c\uff0c\u8fd9\u6837\u4e0b\u6b21\u4eff\u771f\u65f6\u5c31\u6ca1\u6709\u95ee\u9898\uff08<strong>\u7279\u522b\u6ce8\u610f\uff0cRC7_OPTION\u7684\u9ed8\u8ba4\u503c\u4e0d\u662f0\uff0c\u800c\u662f7<\/strong>\uff09\uff1b<\/p>\n\n\n\n<p>\u30002\u3001\u5982\u679c\u5df2\u7ecf\u4e0d\u5c0f\u5fc3\u5173\u95ed\u4e86\u4eff\u771f\u73af\u5883\uff0c\u5c31\u5c06\u201cC:\\cygwin64\\home\\\u8ba1\u7b97\u673a\u7528\u6237\u540d\\sim\u201d\u6587\u4ef6\u5939\u4e0b\u7684\u201ceeprom.bin\u201d\u6587\u4ef6\u5220\u9664\uff0c\u8fd9\u6837\u7b49\u6548\u4e8e\u5c06\u5b9e\u7269\u98de\u63a7\u7684FRAM\u5b58\u50a8\u5668\u82af\u7247\u5168\u7247\u64e6\u9664\uff0c\u4e0b\u6b21\u91cd\u65b0\u5f00\u59cb\u4eff\u771f\u65f6\u7cfb\u7edf\u4f1a\u81ea\u52a8\u65b0\u5efa\u8fd9\u4e2a\u6587\u4ef6\u5e76\u5c06\u5404\u4e2a\u53c2\u6570\u6062\u590d\u9ed8\u8ba4\u503c\uff08\u4e4b\u524d\u4fee\u6539\u7684\u53c2\u6570\u90fd\u6ca1\u6709\u4e86\uff0c\u56e0\u6b64\u5373\u4f7f\u662f\u4eff\u771f\u7cfb\u7edf\uff0c\u4e5f\u8bf7\u7ecf\u5e38\u53ca\u65f6\u5907\u4efd\u53c2\u6570\uff0c\u597d\u7684\u4e60\u60ef\u5c06\u4f7f\u4f60\u53d7\u76ca\u65e0\u7a77\uff09\uff1b<\/p>\n\n\n\n<p>\u30003\u3001\u6709\u65f6\u5019\uff0c\u5076\u53d1\u8fd9\u4e2alink 1 down\u7684\u95ee\u9898\uff0c\u8fd9\u65f6\u5019\u91cd\u542f\u4e00\u4e0b\u7535\u8111\u53ef\u80fd\u89e3\u51b3\u95ee\u9898\uff1b<\/p>\n\n\n\n<p>\u30004\u3001\u6709\u65f6\u5019\uff0c\u4e5f\u53ef\u80fd\u662f\u4f60\u6309\u7167\u7b2c\u4e00\u8282\u8bfe\u4e2d\u7684\u65b9\u6cd5\u5efa\u7acb\u7684\u7f16\u8bd1\u73af\u5883\u4e0d\u5b8c\u6574\uff08\u7f51\u7edc\u4e0d\u7a33\u5b9a\u5bfc\u81f4\u7684\uff09\uff0c\u5bfc\u81f4\u4eff\u771f\u51fa\u95ee\u9898\uff0c\u8fd9\u65f6\u5019\u4f7f\u7528\u7b2c\u4e00\u8282\u8bfe\u4e2d\u7684\u811a\u672c\u6587\u4ef6\u91cd\u65b0\u5efa\u7acb\u7f16\u8bd1\u73af\u5883\uff0c\u53ef\u80fd\u5c31\u89e3\u51b3\u95ee\u9898\u4e86\u3002<\/p>\n\n\n\n<p class=\"has-vivid-red-color has-text-color\" style=\"font-size:24px\">\u3000<strong>6\u3001\u63d0\u793a\u201c\u9519\u8bef\uff1a&#8217;H_MAG[16]&#8217; &#8230; \u6709\u4e9b\u8b66\u544a\u88ab\u5f53\u4f5c\u662f\u9519\u8bef\u201d \u6216\u8005 \u201ctask in &#8216;objs\/AP_NavEKF2&#8217; failed \u201d<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"812\" height=\"493\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/10\/\u4eff\u771f\u7f16\u8bd1\u51fa\u9519.png\" alt=\"\" class=\"wp-image-1067\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/10\/\u4eff\u771f\u7f16\u8bd1\u51fa\u9519.png 812w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/10\/\u4eff\u771f\u7f16\u8bd1\u51fa\u9519-300x182.png 300w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/10\/\u4eff\u771f\u7f16\u8bd1\u51fa\u9519-768x466.png 768w\" sizes=\"auto, (max-width: 812px) 100vw, 812px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"724\" height=\"402\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/10\/image-6.png\" alt=\"\" class=\"wp-image-1081\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/10\/image-6.png 724w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/10\/image-6-300x167.png 300w\" sizes=\"auto, (max-width: 724px) 100vw, 724px\" \/><\/figure>\n\n\n\n<p>\u3000\u4e0a\u8ff0\u4e24\u79cd\u62a5\u9519\u90fd\u662f\u7531\u4e8ecygwin64\u73af\u5883\u5185\u90e8\u4f7f\u7528\u4e86\u8f83\u65b0\u7684gcc\u5bfc\u81f4\u7684\uff0c\u8fd9\u65f6\u4f1a\u51fa\u73b0\u7f16\u8bd1\u5b9e\u7269\u56fa\u4ef6\u65f6\u53ef\u4ee5\u7f16\u8bd1\u6210\u529f\uff0c\u4f46\u662f\u4eff\u771f\u65f6\u4e0d\u884c\uff0c\u8fd9\u662f\u7531\u4e8e\u4eff\u771f\u65f6\u662f\u4f7f\u7528cygwin64\u73af\u5883\u5185\u90e8\u7684gcc\uff0c\u800c\u7f16\u8bd1\u5b9e\u7269\u98de\u63a7\u56fa\u4ef6\u65f6\u4f7f\u7528\u7684\u662f\u6211\u4eec\u5efa\u7acb\u7f16\u8bd1\u73af\u5883\u65f6\u5355\u72ec\u5b89\u88c5\u7684\u90a3\u4e2agcc\u3002\uff08<strong>\u6ce8\u610f\uff0c\u7531\u4e8eCygwin64\u4e0d\u652f\u6301\u901a\u8fc7\u811a\u672c\u6587\u4ef6\u5b89\u88c5\u8f6f\u4ef6\u5305\u65f6\u6307\u5b9a\u8f6f\u4ef6\u5305\u7684\u7248\u672c\uff0c\u56e0\u6b64\u4f7f\u7528\u7b2c\u4e00\u8282\u8bfe\u7684\u811a\u672c\u5efa\u7acb\u7f16\u8bd1\u73af\u5883\u65f6\u65e0\u6cd5\u907f\u5f00\u8fd9\u4e2a\u5751<\/strong>\uff09<\/p>\n\n\n\n<p>\u3000<strong>\u89e3\u51b3\u65b9\u6cd5\u5f88\u7b80\u5355\uff0c\u5c06cygwin64\u73af\u5883\u5185\u7684gcc\u7248\u672c\u53f7\u964d\u7ea7\u5373\u53ef\uff0c\u6b65\u9aa4\u5982\u4e0b\uff1a<\/strong><\/p>\n\n\n\n<p>\uff081\uff09\u4e0b\u8f7dcygwin64\u5b89\u88c5\u5de5\u5177\uff1a<a href=\"https:\/\/cygwin.com\/setup-x86_64.exe\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/cygwin.com\/setup-x86_64.exe<\/a>\uff0c\u4e0b\u8f7d\u540e\u7684\u6587\u4ef6\u540d\u4e3a\u201csetup-x86_64.exe\u201d\uff1b<\/p>\n\n\n\n<p>\uff082\uff09\u53cc\u51fb\u5b83\uff0c\u7136\u540e\u4e00\u8def\u70b9\u51fb\u201c\u4e0b\u4e00\u6b65\u201d\uff0c\u5982\u679c\u4e2d\u9014\u51fa\u73b0\u201c<strong>Could not download mirror sites list<\/strong>\u201d\uff0c\u70b9\u51fb\u201c\u786e\u5b9a\u201d\u5373\u53ef\uff1b<\/p>\n\n\n\n<p>\uff083\uff09\u51fa\u73b0\u4e0b\u56fe\u6240\u793a\u7a97\u53e3\u540e\uff0c\u5728\u201cUser URL\u201d\u540e\u9762\u7684\u6846\u91cc\u8f93\u5165\u4e0b\u9762\u7684\u94fe\u63a5\uff0c\u7136\u540e\u70b9\u51fb\u201cAdd\u201d\u6309\u94ae\uff0c\u7136\u540e\u9009\u4e2d\u521a\u6dfb\u52a0\u7684\u94fe\u63a5\uff0c\u518d\u70b9\u51fb\u201c\u4e0b\u4e00\u6b65\u201d\uff1b<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>http:&#47;&#47;mirrors.163.com\/cygwin\/<\/code><\/pre>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"536\" height=\"494\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/10\/image-2.png\" alt=\"\" class=\"wp-image-1070\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/10\/image-2.png 536w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/10\/image-2-300x276.png 300w\" sizes=\"auto, (max-width: 536px) 100vw, 536px\" \/><\/figure>\n\n\n\n<p>\uff084\uff09\u5728\u4e0b\u56fe\u7a97\u53e3\u4e2d\uff0c\u5148\u5c06\u201cView\u201d\u4ece\u201cPending\u201d\u6539\u4e3a\u201cFull\u201d\uff0c\u7136\u540e\u5728Search\u6846\u4e2d\u8f93\u5165\u201cgcc\u201d\uff0c\u4e4b\u540e\u5728\u641c\u7d22\u51fa\u7684\u5217\u8868\u4e2d\u5c06\u201cgcc-core\u201d\u3001\u201cgcc-g++\u201d\u3001\u201clibgcc1\u201d\u4e09\u4e2a\u5305\u7684\u7248\u672c\u53f7\u6539\u4e3a\u201c9.3.0-2\u201d\uff0c\u4e4b\u540e\u4e00\u8def\u70b9\u51fb\u201c\u4e0b\u4e00\u6b65\u201d\u5230\u7ed3\u5c3e\u5373\u53ef\uff1b<\/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\uff1acygwin\u8f6f\u4ef6\u5728\u4e0d\u65ad\u66f4\u65b0\uff0c\u5982\u679c\u5927\u5bb6\u53d1\u73b0\u4e0b\u9762\u7684\u7248\u672c\u53f7\u4e2d\u6ca1\u6709\u201c9.3.0-2\u201d\uff0c\u90a3\u4e48\u9009\u62e9\u201c7.4.0-1\u201d\u7248\u672c\u4e5f\u662f\u53ef\u4ee5\u7684\u3002<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"576\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/10\/image-4-1024x576.png\" alt=\"\" class=\"wp-image-1072\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/10\/image-4-1024x576.png 1024w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/10\/image-4-300x169.png 300w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/10\/image-4-768x432.png 768w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/10\/image-4.png 1155w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\uff085\uff09\u6700\u540e\u5f39\u51fa\u7684\u7a97\u53e3\u4e2d\uff0c\u52fe\u9009\u201cCreate icon on Desktop\u201d\u548c\u201cAdd icon to Start Menu\u201d\uff0c\u7136\u540e\u70b9\u51fb\u201c\u5b8c\u6210\u201d\uff1b<\/p>\n\n\n\n<p>\uff086\uff09<strong>\u5220\u9664\u201cardupilot\/build\u201d\u6587\u4ef6\u5939\uff0c\u9632\u6b62\u4e4b\u524d\u7f16\u8bd1\u4ea7\u751f\u7684\u4e34\u65f6\u6587\u4ef6\u5f71\u54cd\u7f16\u8bd1\u7ed3\u679c<\/strong>\uff1b<\/p>\n\n\n\n<p>\uff087\uff09<strong>\u91cd\u542f\u4e00\u4e0b\u7535\u8111\uff0c\u907f\u514d\u67d0\u4e9b\u4fee\u6539\u6ca1\u6709\u751f\u6548\u3002<\/strong><\/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\uff0c\u8fd9\u91cc\u5c06GCC\u964d\u7ea7\uff0c\u5e76\u4e0d\u4f1a\u5f71\u54cd\u5b9e\u7269\u98de\u63a7\u56fa\u4ef6\u7684\u7f16\u8bd1\uff01\u653e\u5fc3\u964d\u7ea7\u5373\u53ef\u3002\uff08\u672c\u8d28\u4e0a\uff0c\u7f16\u8bd1\u5b9e\u7269\u98de\u63a7\u56fa\u4ef6\u65f6\uff0c\u4f7f\u7528\u7684\u662farm\u7248GCC\uff0c\u800c\u7f16\u8bd1\u4eff\u771f\u56fa\u4ef6\u65f6\uff0c\u4f7f\u7528\u7684\u662fPC\u7248GCC\u3002\u8fd9\u4e5f\u662f\u5bfc\u81f4\u5b9e\u7269\u56fa\u4ef6\u7f16\u8bd1\u6ca1\u95ee\u9898\uff0c\u4f46\u662f\u4eff\u771f\u56fa\u4ef6\u7f16\u8bd1\u51fa\u9519\u7684\u672c\u8d28\u539f\u56e0\uff09<\/strong><\/p>\n\n\n\n<p class=\"has-vivid-red-color has-text-color\" style=\"font-size:24px\">\u3000<strong>7\u3001\u4eff\u771f\u73af\u5883\u8fde\u63a5MissionPlanner\u65f6\u5361\u5728\u201cChecking for Param MAVFTP\u201d\u4e00\u76f4\u8fc7\u4e0d\u53bb<\/strong><\/p>\n\n\n\n<p>\u3000\u6700\u65b0\u7248\u7684\u98de\u63a7\u56fa\u4ef6\u4eff\u771f\u65f6\uff0c\u8fde\u63a5MissionPlanner\u65f6\u4f1a\u5361\u5728\u4e0b\u56fe\u6240\u793a\u7684\u5c0f\u7a97\u53e3\u5904\uff0c\u8fd9\u662f\u98de\u63a7\u7684\u65b0\u7684\u529f\u80fd\uff0c\u4f46\u662f\u4eff\u771f\u73af\u5883\u597d\u50cf\u4e0d\u652f\u6301\u5b83\uff0c\u56e0\u6b64\u5361\u4f4f\u4e86\u3002\u5904\u7406\u529e\u6cd5\uff1a\u76f4\u63a5\u70b9\u51fb\u8fd9\u4e2a\u5c0f\u7a97\u53e3\u91cc\u7684\u201c\u53d6\u6d88\u201d\u6309\u94ae\uff0c\u7136\u540e\u7b49\u5f85\u51e0\u79d2\u5c31\u53ef\u4ee5\u8fde\u4e0a\u4e86\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"449\" height=\"244\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/04\/image.png\" alt=\"\" class=\"wp-image-1597\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/04\/image.png 449w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/04\/image-300x163.png 300w\" sizes=\"auto, (max-width: 449px) 100vw, 449px\" \/><\/figure>\n\n\n\n<p class=\"has-vivid-red-color has-text-color\" style=\"font-size:24px\">\u3000<strong>8\u3001\u4eff\u771f\u65f6\u4fee\u6539\u7684\u4ee3\u7801\u7591\u4f3c\u6ca1\u6709\u751f\u6548<\/strong><\/p>\n\n\n\n<p>\u3000\u5982\u679c\u6211\u4eec\u5728\u4e00\u6b21\u4eff\u771f\u540e\u76f4\u63a5\u5173\u95ed\u4eff\u771f\u73af\u5883\uff0c\u7136\u540e\u4fee\u6539\u4e86\u90e8\u5206\u4ee3\u7801\uff0c\u4e4b\u540e\u91cd\u65b0\u5f00\u59cb\u4eff\u771f\uff0c\u8fd9\u65f6\u5019\u6709\u4e00\u5b9a\u7684\u6982\u7387\u4f1a\u53d1\u73b0\u4fee\u6539\u7684\u4ee3\u7801\u6ca1\u6709\u751f\u6548\uff0c\u4eff\u771f\u73af\u5883\u597d\u50cf\u8fd8\u662f\u5728\u8fd0\u884c\u4fee\u6539\u4e4b\u524d\u7684\u4ee3\u7801\u3002\u8fd9\u53ef\u80fd\u662f\u7531\u4e8e\u4e0a\u6b21\u4eff\u771f\u7684\u540e\u53f0\u7a0b\u5e8f\u6ca1\u6709\u771f\u6b63\u9000\u51fa\u5bfc\u81f4\u7684\u3002<\/p>\n\n\n\n<p>\u3000<strong>\u89e3\u51b3\u65b9\u6cd5\uff1a<\/strong>\u5982\u4e0b\u56fe\u6240\u793a\uff0c\u5728windows\u7684\u201c\u4efb\u52a1\u7ba1\u7406\u5668\u201d\u4e2d\u624b\u52a8\u5c06\u4eff\u771f\u8fdb\u7a0b\u7ed3\u675f\u6389\u5373\u53ef<strong>\u3002<\/strong>\uff08<strong>\u6ce8\u610f\uff0c\u5982\u679c\u4f60\u4eff\u771f\u7684\u662f\u56fa\u5b9a\u7ffc\u7a0b\u5e8f\uff0c\u8fd9\u4e2a\u8fdb\u7a0b\u540d\u53ef\u80fd\u53eb\u201carduplane.exe\u201d\uff0c\u5176\u4ed6\u7c7b\u578b\u7684\u7a0b\u5e8f\u4ee5\u6b64\u7c7b\u63a8<\/strong>\uff09<\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"847\" height=\"593\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2022\/05\/Image.png\" alt=\"\" class=\"wp-image-2199\" style=\"width:635px;height:445px\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2022\/05\/Image.png 847w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2022\/05\/Image-300x210.png 300w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2022\/05\/Image-768x538.png 768w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2022\/05\/Image-120x85.png 120w\" sizes=\"auto, (max-width: 847px) 100vw, 847px\" \/><\/figure>\n\n\n\n<p class=\"has-vivid-red-color has-text-color\" style=\"font-size:24px\"><strong>\u30009\u3001\u8fd0\u884c\u4eff\u771f\u811a\u672c\u65f6\u62a5\u9519\uff1a\u201ca bytes-like object is required,  not &#8216;str&#8217;\u201d<\/strong><\/p>\n\n\n\n<p>\u3000\u51fa\u73b0\u8fd9\u4e2a\u62a5\u9519\uff0c\u539f\u56e0\u6709\u5982\u4e0b\u51e0\u79cd\u53ef\u80fd\uff0c\u8bf7\u9010\u4e2a\u5c1d\u8bd5\uff1a<\/p>\n\n\n\n<p>\u30001\u3001\u6709\u65f6\u5019\u660e\u660e\u4e4b\u524d\u4eff\u771f\u6b63\u5e38\uff0c\u7a81\u7136\u67d0\u6b21\u4eff\u771f\u7684\u65f6\u5019\u5c31\u62a5\u8fd9\u4e2a\u9519\u8bef\uff0c\u5e76\u4e14\u5f80\u4e0a\u7ffb\u627e\u540e\u6ca1\u6709\u53d1\u73b0\u5176\u4ed6\u62a5\u9519\uff0c\u8fd9\u65f6\u5019\u53ea\u9700\u8981\u5c06ardupilot\/build\u6587\u4ef6\u5939\u5220\u6389\u7136\u540e\u91cd\u65b0\u5f00\u59cb\u4eff\u771f\u5373\u53ef\u3002\u5bfc\u81f4\u8fd9\u4e2a\u62a5\u9519\u7684\u53ef\u80fd\u539f\u56e0\u662fbuild\u6587\u4ef6\u5939\u4e2d\u4e4b\u524d\u7f16\u8bd1\u7684\u4e2d\u95f4\u6587\u4ef6\u4e0e\u672c\u6b21\u7f16\u8bd1\u51b2\u7a81\uff0c\u5bfc\u81f4\u51fa\u7684\u95ee\u9898\uff1b<\/p>\n\n\n\n<p>\u30002\u3001APM\u5b98\u65b9\u4eceCopter-4.1.0\u5f00\u59cb\u66f4\u6362\u4e86\u7f16\u8bd1\u5668\u7684\u7248\u672c\uff0c\u4ece\u800c\u4f7f\u7528Copter-4.1.0\u4e4b\u524d\u7684\u811a\u672c\u5efa\u7acb\u7684\u7f16\u8bd1\u73af\u5883\u65e0\u6cd5\u7f16\u8bd1Copter-4.1.0\u4e4b\u540e\u7684\u6e90\u4ee3\u7801\uff0c\u540c\u6837\u4f7f\u7528Copter-4.1.0\u4e4b\u540e\u7684\u811a\u672c\u5efa\u7acb\u7684\u7f16\u8bd1\u73af\u5883\u4e5f\u65e0\u6cd5\u7f16\u8bd1Copter-4.1.0\u4e4b\u524d\u7684\u6e90\u4ee3\u7801\uff08\u8be6\u89c1\u8bfe\u65f61\uff09\u3002\u5426\u5219\u5c31\u4f1a\u62a5\u201c<strong>a bytes-like object is required,  not &#8216;str&#8217;<\/strong>\u201d\u7684\u9519\u8bef\uff0c\u56e0\u6b64\u8bf7\u68c0\u67e5\u4e00\u4e0b\u81ea\u5df1\u7684\u7f16\u8bd1\u73af\u5883\u7248\u672c\u4e0e\u6e90\u4ee3\u7801\u7248\u672c\u662f\u5426\u5bf9\u5e94\uff1b<\/p>\n\n\n\n<p>\u30003\u3001\u8fd0\u884c\u4eff\u771f\u811a\u672c\u65f6\uff0c\u5982\u679c\u51fa\u73b0\u5982\u4e0b\u56fe\u6240\u793a\u7684\u62a5\u9519\uff0c\u4e5f\u53ef\u80fd\u662f\u7531\u4e8e\u4f60\u5728\u521b\u5efa\u4eff\u771f\u811a\u672c\u6587\u4ef6\u65f6\u591a\u6253\u4e86\u4e00\u4e2a\u56de\u8f66\uff0c\u4ece\u800c\u5728\u7b2c\u4e8c\u884c\u4ea7\u751f\u4e86\u4e00\u4e2a\u7a7a\u884c\uff0c\u8fdb\u800c\u8fd0\u884c\u73af\u5883\u5c06\u5176\u8bc6\u522b\u6210\u4e24\u884c\u547d\u4ee4\uff0c\u800c\u7b2c\u4e8c\u884c\u547d\u4ee4\u53c8\u662f\u4e00\u4e2a\u7a7a\u547d\u4ee4\uff0c\u968f\u5373\u62a5\u9519\u3002<strong>\u89e3\u51b3\u65b9\u6cd5\u5f88\u7b80\u5355\uff0c\u5220\u9664\u6b64\u7a7a\u884c\u5373\u53ef\u3002<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"382\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2022\/04\/Image-1-1024x382.png\" alt=\"\" class=\"wp-image-2128\" style=\"width:768px;height:287px\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2022\/04\/Image-1-1024x382.png 1024w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2022\/04\/Image-1-300x112.png 300w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2022\/04\/Image-1-768x286.png 768w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2022\/04\/Image-1.png 1113w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p class=\"has-vivid-red-color has-text-color\" style=\"font-size:24px\"><strong>10\u3001\u8fd0\u884c\u4eff\u771f\u811a\u672c\u65f6\u63d0\u793a\uff1a\u201cNo such file or directory\u201d<\/strong><\/p>\n\n\n\n<p>\u3000\u5982\u4e0b\u56fe\u6240\u793a\uff0c\u8fd0\u884c\u4eff\u771f\u811a\u672c\u65f6\u63d0\u793a\u6ca1\u6709\u627e\u5230\u201csim_vehicle.py\u201d\u8fd9\u4e2a\u6587\u4ef6\u3002\u7ecf\u68c0\u67e5\u53d1\u73b0\uff0c\u662f\u7531\u4e8e\u5efa\u7acb\u4eff\u771f\u811a\u672c\u65f6\uff0c\u6f0f\u6389\u4e86\u7b2c\u4e00\u4e2a\u5b57\u7b26\u201c\/\u201d\uff0c\u4ece\u800c\u7531\u7edd\u5bf9\u8def\u5f84\u53d8\u6210\u4e86\u76f8\u5bf9\u8def\u5f84\uff0c\u4e0b\u56fe\u4e2d\u5df2\u7ecf\u5728\u201c~\/sim\u201d\u76ee\u5f55\u4e0b\uff0c\u4ece\u800c\u8c03\u7528\u65f6\u5b9e\u9645\u4e0a\u662f\u53bb\u201c~\/sim\/cygdrive\/d\/ardupilot\/Tools\/autotest\u201d\u76ee\u5f55\u4e0b\u627e\u201csim_vehicle.py\u201d\u6587\u4ef6\uff0c\u5f53\u7136\u627e\u4e0d\u5230\u3002<\/p>\n\n\n\n<p>\u3000<strong>\u89e3\u51b3\u65b9\u6cd5<\/strong>\uff1a\u5728\u4eff\u771f\u6587\u4ef6\u5934\u90e8\u52a0\u4e0a\u90a3\u4e2a\u201c\/\u201d\uff0c\u5e76\u4e14\u4ee5\u540e\u590d\u5236\u4ee3\u7801\u65f6\u770b\u6e05\u695a\u4e86\uff0c\u4e0d\u8981\u518d\u6f0f\u6389\u4efb\u4f55\u5b57\u7b26\u4e86\uff08\u4e3e\u4e00\u53cd\u4e09\uff1a\u4e5f\u4e0d\u8981\u591a\u590d\u5236\u5b57\u7b26\uff09\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"744\" height=\"227\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2022\/04\/Image-12.png\" alt=\"\" class=\"wp-image-2168\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2022\/04\/Image-12.png 744w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2022\/04\/Image-12-300x92.png 300w\" sizes=\"auto, (max-width: 744px) 100vw, 744px\" \/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading has-vivid-red-color has-text-color\" style=\"font-size:24px\"><strong>11\u3001\u63d0\u793a\u201c\u7531\u4e8e\u76ee\u6807\u8ba1\u7b97\u673a\u79ef\u6781\u62d2\u7edd\uff0c\u65e0\u6cd5\u8fde\u63a5\u3002sleeping\u201d<\/strong><\/h2>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"519\" height=\"118\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2022\/08\/image.png\" alt=\"\" class=\"wp-image-2243\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2022\/08\/image.png 519w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2022\/08\/image-300x68.png 300w\" sizes=\"auto, (max-width: 519px) 100vw, 519px\" \/><\/figure>\n\n\n\n<p>\u3000\u8fd9\u662f\u7531\u4e8e\u4eff\u771f\u7a0b\u5e8f\u65e0\u6cd5\u6253\u5f00\u56fe\u5f62\u7a97\u53e3\u5bfc\u81f4\u7684\uff0c\u5e94\u8be5\u662f\u7f16\u8bd1\u4eff\u771f\u73af\u5883\u5efa\u7acb\u8fc7\u7a0b\u4e2d\u7f3a\u5c11\u4e86\u67d0\u4e9b\u529f\u80fd\uff0c\u53ef\u4ee5\u901a\u8fc7\u624b\u52a8\u5b89\u88c5\u201cxming\u201d\u6765\u89e3\u51b3\uff0c\u201cxming\u201d\u5b89\u88c5\u7a0b\u5e8f\u5982\u4e0b\uff1a<\/p>\n\n\n\n<p>\u3000\u94fe\u63a5\uff1a<a href=\"https:\/\/pan.baidu.com\/s\/116hlseBcEZoDVNBbrfedww\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/pan.baidu.com\/s\/116hlseBcEZoDVNBbrfedww<\/a><br>\u3000\u63d0\u53d6\u7801\uff1anfcy<br><strong>\u6ce8\u610f\uff0c\u5b89\u88c5\u201cxming\u201d\u540e\u91cd\u542f\u4e00\u4e0b\u7535\u8111\u540e\u751f\u6548\u3002<\/strong><\/p>\n\n\n\n<h2 class=\"wp-block-heading has-vivid-red-color has-text-color has-link-color wp-elements-3ec659806116c9c0c880b95a5af9046a\" style=\"font-size:24px\"><strong>12\u3001\u4eff\u771f\u65f6\u63d0\u793a\u7f16\u8bd1\u5b8c\u6210\uff0c\u4f46\u662f\u542f\u52a8\u4eff\u771f\u65f6\u62a5\u9519\uff08\u5982\u4e0b\u56fe\u6240\u793a\uff09<\/strong><\/h2>\n\n\n\n<p>\u3000\u8fd9\u79cd\u60c5\u51b5\u4e0b\uff0c\u901a\u8fc7\u91cd\u88c5\u201cmavproxy\u201d\u8fd9\u4e2a\u8f6f\u4ef6\u5373\u53ef\u89e3\u51b3\uff08\u8fd9\u4e2a\u8f6f\u4ef6\u5728\u7b2c\u4e00\u8282\u8bfe\u91cc\u5b89\u88c5\u8fc7\uff09\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"638\" height=\"1024\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2024\/01\/Image-1-638x1024.png\" alt=\"\" class=\"wp-image-2627\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2024\/01\/Image-1-638x1024.png 638w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2024\/01\/Image-1-187x300.png 187w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2024\/01\/Image-1-768x1233.png 768w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2024\/01\/Image-1.png 900w\" sizes=\"auto, (max-width: 638px) 100vw, 638px\" \/><\/figure>\n\n\n\n<hr class=\"wp-block-separator has-css-opacity is-style-wide\"\/>\n\n\n\n<p class=\"has-vivid-red-color has-very-light-gray-background-color has-text-color has-background\"><strong>\u65e0\u4eba\u673a\u8c03\u8bd5\uff0c\u98de\u63a7\u786c\u4ef6\u5b9a\u5236\uff0c\u56fa\u4ef6\u4fee\u6539\uff0clog\u65e5\u5fd7\u5206\u6790\uff0c\u98de\u63a7\u9a71\u52a8\u6dfb\u52a0<br>\u8bf7QQ\u8054\u7cfb\uff1a3500985284<\/strong><\/p>\n\n\n\n<p class=\"has-vivid-red-color has-very-light-gray-background-color has-text-color has-background\"><strong>\u5fae\u4fe1\u516c\u4f17\u53f7\uff1a\u201c\u6012\u98de\u5782\u4e91\u201d\uff0c\u626b\u63cf\u4e0b\u56fe\u6dfb\u52a0<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"258\" height=\"258\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2019\/11\/qrcode_for_gh_5eab44823515_258.jpg\" alt=\"\" class=\"wp-image-311\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2019\/11\/qrcode_for_gh_5eab44823515_258.jpg 258w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2019\/11\/qrcode_for_gh_5eab44823515_258-150x150.jpg 150w\" sizes=\"auto, (max-width: 258px) 100vw, 258px\" 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