{"id":2658,"date":"2024-09-08T23:58:27","date_gmt":"2024-09-08T15:58:27","guid":{"rendered":"http:\/\/www.nufeichuiyun.com\/?p=2658"},"modified":"2025-11-24T21:41:53","modified_gmt":"2025-11-24T13:41:53","slug":"%e5%9c%a8stm32%e5%b7%a5%e7%a8%8b%e4%b8%ad%e4%bd%bf%e7%94%a8mavlink%e4%b8%8e%e9%a3%9e%e6%8e%a7%e9%80%9a%e4%bf%a1","status":"publish","type":"post","link":"http:\/\/www.nufeichuiyun.com\/?p=2658","title":{"rendered":"\u5728STM32\u5de5\u7a0b\u4e2d\u4f7f\u7528Mavlink\u4e0e\u98de\u63a7\u901a\u4fe1"},"content":{"rendered":"\n<p class=\"has-vivid-red-color has-luminous-vivid-amber-background-color has-text-color has-background has-link-color wp-elements-1e6f7efcc80c3ca6522da90d659ede2f\"><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\u53d1\u5e03\uff1a<a href=\"https:\/\/study.163.com\/course\/introduction\/1209568864.htm?share=1&amp;shareId=1448054983\" target=\"_blank\" rel=\"noreferrer noopener\">\u89c6\u9891\u94fe\u63a5<\/a>\u3002\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 class=\"has-vivid-cyan-blue-color has-text-color has-link-color wp-elements-f382569eeb72c04d1361f0b5cb2986fc\"><strong>\u672c\u6587\u53c2\u8003\u94fe\u63a5\uff1a<a href=\"https:\/\/mavlink.io\/zh\/\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/mavlink.io\/zh\/<\/a><\/strong><\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u9700\u6c42\u6765\u6e90\uff1a<\/strong><\/h2>\n\n\n\n<p class=\"has-vivid-red-color has-text-color has-link-color has-medium-font-size wp-elements-73a4c3dff4136b9833087bda676891e7\"><strong>1\u3001\u589e\u7a33\u4e91\u53f0\u91cc\u7684STM32\u5355\u7247\u673a\u9700\u8981\u901a\u8fc7\u4e32\u53e3\u63a5\u6536\u98de\u63a7\u4f20\u6765\u7684\u4e91\u53f0\u4fef\u4ef0\u3001\u6a2a\u6eda\u63a7\u5236\u6307\u4ee4\u548c\u76f8\u673a\u62cd\u7167\u63a7\u5236\u6307\u4ee4\uff1b<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"460\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2024\/09\/image-3-1024x460.png\" alt=\"\" class=\"wp-image-2683\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2024\/09\/image-3-1024x460.png 1024w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2024\/09\/image-3-300x135.png 300w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2024\/09\/image-3-768x345.png 768w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2024\/09\/image-3-1536x691.png 1536w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2024\/09\/image-3.png 1948w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p class=\"has-vivid-red-color has-text-color has-link-color has-medium-font-size wp-elements-4a6659cd81dbbb89942f7526ea246cd9\"><strong>2\u3001\u81ea\u5236\u7684\u6709\u5bb3\u6c14\u4f53\u91c7\u96c6\u5668\u9700\u8981\u63a5\u6536\u98de\u63a7\u4f20\u6765\u7684\u98de\u673a\u5f53\u524d\u7684\u4f4d\u7f6e\u4fe1\u606f\u3002<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"448\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2024\/09\/image-5-1024x448.png\" alt=\"\" class=\"wp-image-2687\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2024\/09\/image-5-1024x448.png 1024w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2024\/09\/image-5-300x131.png 300w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2024\/09\/image-5-768x336.png 768w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2024\/09\/image-5.png 1473w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\"><\/h2>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>Mavlink\u534f\u8bae\u7684\u4f18\u52bf<\/strong>\uff08<strong>\u4e3a\u4ec0\u4e48\u4e0d\u81ea\u5b9a\u4e49\u534f\u8bae<\/strong>\uff09<\/h2>\n\n\n\n<p>1\u3001\u901a\u7528\u6027\u5f3a\uff0c\u7edd\u5927\u90e8\u5206\u98de\u63a7\u548c\u5730\u9762\u7ad9\u90fd\u662f\u4f7f\u7528Mavlink\u534f\u8bae\uff0c\u517c\u5bb9\u6027\u597d\uff1b\u76f8\u6bd4\u4e8e\u81ea\u5b9a\u4e49\u534f\u8bae\uff0c\u5728\u4e0d\u540c\u7684\u98de\u63a7\u548c\u5730\u9762\u7ad9\u4e4b\u95f4\u5207\u6362\u65f6\u4ee3\u4ef7\u66f4\u5c0f\uff1b<\/p>\n\n\n\n<p>2\u3001\u907f\u514d\u4e86\u91cd\u590d\u9020\u8f6e\u5b50\uff0c\u964d\u4f4e\u4e86\u603b\u4f53\u5de5\u4f5c\u91cf\uff0c\u65b9\u4fbf\u5feb\u901f\u5b9e\u73b0\u529f\u80fd\uff1b<\/p>\n\n\n\n<p>3\u3001\u57fa\u4e8eXML\u6587\u4ef6\u5b9a\u4e49\u6d88\u606f\uff0c\u53ef\u8bfb\u6027\u5f3a\uff0c\u7136\u540e\u4f7f\u7528Python\u81ea\u52a8\u751f\u6210\u4ee3\u7801\uff0c\u5e76\u4e14\u53ef\u4ee5\u751f\u6210\u5e38\u89c1\u7684\u5927\u90e8\u5206\u8bed\u8a00\u7684\u4ee3\u7801\uff08C\u3001C++\u3001Java\u3001Python\u3001C#\u7b49\uff09\uff0c\u8fd9\u6781\u5927\u5730\u964d\u4f4e\u4e86\u98de\u63a7\u4e0e\u5730\u9762\u7ad9\u8054\u8c03\u7684\u5de5\u4f5c\u91cf\uff08\u5982APM\u98de\u63a7\u4f7f\u7528\u7684C++\uff0c\u800cMissionPlanner\u5730\u9762\u7ad9\u4f7f\u7528\u7684\u662fC#\uff09\uff0c\u4e5f\u5c31\u662f\u8bf4\u8de8\u5e73\u53f0\u6027\u975e\u5e38\u597d\uff1b<\/p>\n\n\n\n<p>4\u3001\u652f\u6301\u591a\u4e3b\u673a\u548c\u591a\u8282\u70b9\uff08System ID\u3001Component ID\uff09\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>Mavlink\u7684\u5e27\u7ed3\u6784<\/strong><\/h2>\n\n\n\n<pre class=\"wp-block-code\"><code><strong># \u4ee5\u4e0b\u4e3aMavlink2\u7684\u5e27\u7ed3\u6784\uff1a<\/strong>\nuint8_t magic;              \/\/ \u56fa\u5b9a\u5e27\u5934\uff0cMavlink2\u4e3a0xFD\nuint8_t len;                \/\/ \u5e27\u6570\u636e\u957f\u5ea6\nuint8_t incompat_flags;     \/\/ \u4e0d\u517c\u5bb9\u6807\u8bc6\nuint8_t compat_flags;       \/\/ \u517c\u5bb9\u6807\u8bc6\nuint8_t seq;                \/\/ \u5e27\u5e8f\u53f7\nuint8_t sysid;              \/\/ \u7cfb\u7edfID\uff0c\u98de\u884c\u5668\u3001\u5730\u9762\u7ad9\u7b49\u5404\u81ea\u7b97\u4e00\u4e2a\u7cfb\u7edf\u3002\n                            \/\/ \u6b64\u503c\u4e3a0\u8868\u793a\u5e7f\u64ad\uff1b\u98de\u63a7\u7684\u6b64\u503c\u4e00\u822c\u4e3a1\uff1b\u5730\u9762\u7ad9\u7684\u6b64\u503c\u4e00\u822c\u4e3a255\nuint8_t compid;             \/\/ \u7ec4\u4ef6ID\uff0c\u6b64\u503c\u4e3a0\u8868\u793a\u5e7f\u64ad\nuint8_t msgid 0:7;          \/\/ \u6d88\u606fID\uff0cbit0 ~ bit7\nuint8_t msgid 8:15;         \/\/ \u6d88\u606fID\uff0cbit8 ~ bit15\nuint8_t msgid 16:23;        \/\/ \u6d88\u606fID\uff0cbit0 ~ bit7\nuint8_t payload&#91;max 255];   \/\/ \u5e27\u6570\u636e\uff0c\u6700\u591a255\u4e2a\u5b57\u8282\nuint16_t checksum;          \/\/ CRC-16\/MCRF4XX<\/code><\/pre>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"195\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2024\/09\/image-1024x195.png\" alt=\"\" class=\"wp-image-2666\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2024\/09\/image-1024x195.png 1024w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2024\/09\/image-300x57.png 300w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2024\/09\/image-768x146.png 768w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2024\/09\/image.png 1115w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u5b89\u88c5Mavlink\u751f\u6210\u5668<\/strong><\/h2>\n\n\n\n<h3 class=\"wp-block-heading\">1\u3001\u5b89\u88c5Python3<\/h3>\n\n\n\n<p>Microsoft Store\u4e2d\u641c\u7d22Python3\uff0c\u5b89\u88c5\u5927\u4e8ePython3.7\u7684\u7248\u672c\uff08\u662f\u5426\u542bPython3.7\u4e0d\u786e\u5b9a\uff09\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">2\u3001\u83b7\u53d6Mavlink\u4ee3\u7801<\/h3>\n\n\n\n<pre class=\"wp-block-code\"><code># \u65e0\u9700\u5207\u6362\u5206\u652f\n# \u4e0b\u9762\u7684\u201c--recursive\u201d\u5df2\u7ecf\u5305\u542b\u4e86\u66f4\u65b0\u5b50\u6a21\u5757\u7684\u529f\u80fd\ngit clone https:\/\/github.com\/mavlink\/mavlink.git --recursive<\/code><\/pre>\n\n\n\n<p>\u6211\u4e0b\u8f7d\u597d\u653e\u5230\u4e86\u767e\u5ea6\u7f51\u76d8\u4e0a\uff1a<br><strong>\u94fe\u63a5<\/strong>\uff1a<a href=\"https:\/\/pan.baidu.com\/s\/1iCCTlAM7B-VMutP9TDFwsg\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/pan.baidu.com\/s\/1iCCTlAM7B-VMutP9TDFwsg<\/a><br><strong>\u63d0\u53d6\u7801<\/strong>\uff1anfcy<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">3\u3001\u5b89\u88c5\u4f9d\u8d56\u9879<\/h3>\n\n\n\n<pre class=\"wp-block-code\"><code># \u5728mavlink\u6587\u4ef6\u5939\uff0c\u53f3\u952e\uff0c\u201c\u5728\u7ec8\u7aef\u4e2d\u6253\u5f00\u201d\n\npython3 -m pip install -r pymavlink\/requirements.txt -i https:\/\/pypi.tuna.tsinghua.edu.cn\/simple\n\n<strong># \u6ce8\u610f\uff0c\u6709\u9ec4\u8272warning\u4e0d\u7528\u7ba1<\/strong><\/code><\/pre>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u751f\u6210Mavlink\u5934\u6587\u4ef6<\/strong><\/h2>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"432\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2024\/09\/image-1-1024x432.png\" alt=\"\" class=\"wp-image-2674\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2024\/09\/image-1-1024x432.png 1024w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2024\/09\/image-1-300x127.png 300w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2024\/09\/image-1-768x324.png 768w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2024\/09\/image-1.png 1086w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p class=\"has-vivid-red-color has-text-color has-link-color wp-elements-b34333553fa09dd3a892834be8691f71\"><strong>\u4f7f\u7528Mavlink\u7684\u4e00\u5927\u4f18\u52bf\u5c31\u662f\uff1a\u5728\u5927\u90e8\u5206\u60c5\u51b5\u4e0b\uff0c\u4f60\u53ea\u9700\u8981\u5927\u81f4\u4e86\u89e3Mavlink\u5e95\u5c42\u5e27\u7ed3\u6784\u3001\u53ea\u9700\u8981\u5173\u6ce8\u6240\u9700\u4f20\u8f93\u4fe1\u606f\u7684\u6570\u636e\u7c7b\u578b\u3001\u7ec4\u5408\u7ed3\u6784\u5373\u53ef\u3002\u6240\u6709\u7684\u89e3\u5e27\u3001\u7ec4\u5e27\u51fd\u6570\u90fd\u4f1a\u81ea\u52a8\u751f\u6210\uff0c\u53ea\u9700\u8981\u76f4\u63a5\u8c03\u7528\u5c31\u884c\uff0c\u975e\u5e38\u65b9\u4fbf\u3002<\/strong><\/p>\n\n\n\n<pre class=\"wp-block-code\"><code># \u5728mavlink\u6587\u4ef6\u5939\uff0c\u53f3\u952e\uff0c\u201c\u5728\u7ec8\u7aef\u4e2d\u6253\u5f00\u201d\npython3 -m mavgenerate\n\n<strong># XML\u9009\u62e9mavlink\/message_definitions\/v1.0\/ardupilotmega.xml\n# Out\u9009\u62e9\u4e00\u4e2a\u81ea\u5df1\u5efa\u7acb\u7684\u6587\u4ef6\u5939<\/strong>\n\n<strong># Language\u9009\u62e9C\n# Protocol\u9009\u62e92.0<\/strong>\uff0c\u5373\u4f7f\u7528mavlink2<\/code><\/pre>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"593\" height=\"428\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2024\/09\/image-8.png\" alt=\"\" class=\"wp-image-2737\" style=\"width:350px\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2024\/09\/image-8.png 593w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2024\/09\/image-8-300x217.png 300w\" sizes=\"auto, (max-width: 593px) 100vw, 593px\" \/><\/figure>\n\n\n\n<p class=\"has-luminous-vivid-orange-color has-text-color has-link-color has-medium-font-size wp-elements-ab6e969f49d77353e30aae2dcd9a73e3\"><strong>\u6ce8\u610f\uff0cMavlink2\u5df2\u7ecf\u57282017\u5e74\u5f00\u59cb\u53d6\u4ee3Mavlink1\uff0c\u5e76\u4e14Mavlink2\u7684\u89e3\u6790\u51fd\u6570\u662f\u517c\u5bb9Mavlink1\u7684\uff0c\u56e0\u6b64\u6211\u4eec\u8fd9\u91cc\u9009\u7528Mavlink2\u3002<\/strong><\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u8ba4\u8bc6Mavlink\u7684XML\u6587\u4ef6<\/strong><\/h2>\n\n\n\n<p>\u53c2\u8003\u94fe\u63a5\uff1a<a href=\"https:\/\/mavlink.io\/zh\/guide\/xml_schema.html\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/mavlink.io\/zh\/guide\/xml_schema.html<\/a><\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u8ba4\u8bc6\u751f\u6210\u7684\u5934\u6587\u4ef6<\/strong><\/h2>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u5c06Mavlink\u5934\u6587\u4ef6\u96c6\u6210\u5230STM32\u5de5\u7a0b\u4e2d<\/strong><\/h2>\n\n\n\n<p class=\"has-vivid-red-color has-luminous-vivid-amber-background-color has-text-color has-background has-link-color has-medium-font-size wp-elements-f8d174617e0063ac9a7e00a48a8e4367\"><strong>\u793a\u4f8b\u5de5\u7a0b\u94fe\u63a5\uff1a<a href=\"https:\/\/gitee.com\/junzixing\/stm32-mavlink\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/gitee.com\/junzixing\/stm32-mavlink<\/a><\/strong> <strong>\uff08master\u5206\u652f\uff09<\/strong><\/p>\n\n\n\n<h3 class=\"wp-block-heading\">1\u3001\u786c\u4ef6\u4ecb\u7ecd<\/h3>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"239\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2024\/09\/image-7-1024x239.png\" alt=\"\" class=\"wp-image-2726\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2024\/09\/image-7-1024x239.png 1024w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2024\/09\/image-7-300x70.png 300w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2024\/09\/image-7-768x179.png 768w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2024\/09\/image-7-1536x359.png 1536w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2024\/09\/image-7.png 1682w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u6f14\u793a\u7535\u8def\u677f\u539f\u7406\u56fe\u5728STM32\u5de5\u7a0b\u76ee\u5f55\u7684Doc\u6587\u4ef6\u5939\u4e0b\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"557\" height=\"323\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2024\/09\/Image-16.png\" alt=\"\" class=\"wp-image-2787\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2024\/09\/Image-16.png 557w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2024\/09\/Image-16-300x174.png 300w\" sizes=\"auto, (max-width: 557px) 100vw, 557px\" \/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\">2\u3001\u98de\u63a7\u7aef\u8bbe\u7f6e<\/h3>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>SERIAL2_PROTOCOL<\/strong>\uff1a2\uff0c\u98de\u63a7\u4e32\u53e32\u7684\u901a\u4fe1\u534f\u8bae\uff0cmavlink2<\/li>\n\n\n\n<li><strong>SERIAL2_BAUD<\/strong>\uff1a460\uff0c\u98de\u63a7\u4e32\u53e32\u7684\u6ce2\u7279\u7387\uff0c460\u6307\u7684\u662f460800<\/li>\n\n\n\n<li><strong>SERIAL2_OPTIONS<\/strong>\uff1a0\uff0c\u98de\u63a7\u4e32\u53e32\u7684\u989d\u5916\u9009\u578b\uff0c\u8bbe\u7f6e\u4e3a\u9ed8\u8ba4\u503c<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\">3\u3001\u5c06\u751f\u6210\u7684\u4ee3\u7801\u590d\u5236\u5230STM32\u5de5\u7a0b\u4e2d<\/h3>\n\n\n\n<h3 class=\"wp-block-heading\">4\u3001\u5728Keil\u4e2d\u6dfb\u52a0include\u8def\u5f84<\/h3>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"937\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2024\/09\/Image-9-1024x937.png\" alt=\"\" class=\"wp-image-2740\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2024\/09\/Image-9-1024x937.png 1024w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2024\/09\/Image-9-300x275.png 300w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2024\/09\/Image-9-768x703.png 768w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2024\/09\/Image-9-1536x1406.png 1536w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2024\/09\/Image-9.png 1572w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\">5\u3001\u5728\u4ee3\u7801\u4e2d\u5305\u542b\u201c.h\u201d\u6587\u4ef6<\/h3>\n\n\n\n<pre class=\"wp-block-code\"><code>#include &lt;ardupilotmega\/mavlink.h&gt;<\/code><\/pre>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"682\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2024\/09\/Image-10-1024x682.png\" alt=\"\" class=\"wp-image-2744\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2024\/09\/Image-10-1024x682.png 1024w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2024\/09\/Image-10-300x200.png 300w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2024\/09\/Image-10-768x511.png 768w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2024\/09\/Image-10-700x465.png 700w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2024\/09\/Image-10.png 1292w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\">6\u3001Mavlink\u89e3\u5e27\u793a\u4f8b\uff08\u8be6\u89c1\u89c6\u9891\u6559\u7a0b\uff1a<a href=\"https:\/\/study.163.com\/course\/introduction\/1209568864.htm?share=1&amp;shareId=1448054983\" target=\"_blank\" rel=\"noreferrer noopener\">\u94fe\u63a5<\/a>\uff09<\/h3>\n\n\n\n<h3 class=\"wp-block-heading\">7\u3001Mavlink\u7ec4\u5e27\u53d1\u9001\u793a\u4f8b\uff08\u8be6\u89c1\u89c6\u9891\u6559\u7a0b\uff1a<a href=\"https:\/\/study.163.com\/course\/introduction\/1209568864.htm?share=1&amp;shareId=1448054983\" target=\"_blank\" rel=\"noreferrer noopener\">\u94fe\u63a5<\/a>\uff09<\/h3>\n\n\n\n<h3 class=\"wp-block-heading\">8\u3001\u6d88\u9664\u7f16\u8bd1\u65f6\u7684warning<\/h3>\n\n\n\n<figure class=\"wp-block-image size-full is-style-default\"><img loading=\"lazy\" decoding=\"async\" width=\"866\" height=\"204\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2024\/09\/image-11.png\" alt=\"\" class=\"wp-image-2749\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2024\/09\/image-11.png 866w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2024\/09\/image-11-300x71.png 300w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2024\/09\/image-11-768x181.png 768w\" sizes=\"auto, (max-width: 866px) 100vw, 866px\" \/><\/figure>\n\n\n\n<p><strong>\u539f\u7406\uff1a32\u4f4d\u7684int\u7684\u6700\u5927\u503c\u4e3a2^31\uff08\u53bb\u6389\u4e00\u4e2a\u7b26\u53f7\u4f4d\uff09- 1 = 2147483647\uff0c\u800cmavlink\u751f\u6210\u7684\u4ee3\u7801\u91cc\u6700\u5927\u503c\u5df2\u7ecf\u8d85\u8fc7\u4e86\u8fd9\u4e2a\u503c\u3002<\/strong><\/p>\n\n\n\n<p><strong>\u89e3\u51b3\u65b9\u6cd5\uff1a<\/strong><\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>MAV_SYS_STATUS_EXTENSION_USED=2147483646,\nMAV_SYS_STATUS_SENSOR_ENUM_END=2147483647,\n\nHIL_SENSOR_UPDATED_RESET=2147483646,\nHIL_SENSOR_UPDATED_FLAGS_ENUM_END=2147483647,<\/code><\/pre>\n\n\n\n<h3 class=\"wp-block-heading\">9\u3001mavlink\u4e2d\u201c\u6570\u636e\u6d41\u201d\uff08data stream\uff09\u7684\u6982\u5ff5<\/h3>\n\n\n\n<p>\u914d\u7f6eSERIAL2\uff08\u53c2\u6570\u540d\u4e2d\u7b80\u79f0SR2\uff09\u7684\u5404\u4e2a\u6570\u636e\u6d41\u7684\u9891\u7387\u7684\u53c2\u6570\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"343\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2024\/09\/image-12-1024x343.png\" alt=\"\" class=\"wp-image-2754\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2024\/09\/image-12-1024x343.png 1024w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2024\/09\/image-12-300x100.png 300w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2024\/09\/image-12-768x257.png 768w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2024\/09\/image-12.png 1117w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"582\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2024\/09\/image-14-1024x582.png\" alt=\"\" class=\"wp-image-2759\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2024\/09\/image-14-1024x582.png 1024w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2024\/09\/image-14-300x171.png 300w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2024\/09\/image-14-768x437.png 768w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2024\/09\/image-14-1536x873.png 1536w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2024\/09\/image-14-2048x1165.png 2048w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u8fdb\u9636\uff1a\u6dfb\u52a0\u81ea\u5b9a\u4e49Mavlink\u5e27<\/strong><\/h2>\n\n\n\n<p class=\"has-vivid-red-color has-text-color has-link-color wp-elements-eb259418f9444a18d1d500b4dc999188\"><strong>\u6b64\u4f8b\u7a0b\u98de\u63a7\u6e90\u4ee3\u7801\u4e0b\u8f7d\u94fe\u63a5\uff1a<\/strong><\/p>\n\n\n\n<p class=\"has-vivid-red-color has-text-color has-link-color wp-elements-6bc2e3768404119d258e8548b9d22e0d\">\u94fe\u63a5: <a href=\"https:\/\/pan.baidu.com\/s\/1xuTV4CnW0K2_jv6MKyK4Qw\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/pan.baidu.com\/s\/1xuTV4CnW0K2_jv6MKyK4Qw<\/a> <\/p>\n\n\n\n<p class=\"has-vivid-red-color has-text-color has-link-color wp-elements-bca888eb72a01f9c2120a0df1f78067b\">\u63d0\u53d6\u7801: nfcy<\/p>\n\n\n\n<p><strong>\u6ce8\u610f\uff0c\u6b64\u538b\u7f29\u5305\u91cc\u7684\u4ee3\u7801\u5df2\u7ecf\u5207\u6362\u597d\u5206\u652f\u5e76\u4e14\u66f4\u65b0\u597d\u5b50\u6a21\u5757\uff0c\u53ef\u4ee5\u76f4\u63a5\u7f16\u8bd1\u3002<\/strong><\/p>\n\n\n\n<p><strong>1\u3001\u4fee\u6539\u98de\u63a7\u7aefXML\u6587\u4ef6<\/strong><\/p>\n\n\n\n<p>\u98de\u63a7\u4e2d\u7684xml\u6587\u4ef6\u4f4d\u7f6e\uff1amodules\/mavlink\/message_defines\/v1.0\/<\/p>\n\n\n\n<p>\u89c6\u9891\u4e2d\u7684\u793a\u4f8b\u4e2d\u6211\u4eec\u4fee\u6539\u7684\u662fmodules\/mavlink\/message_defines\/v1.0\/cubepilot.xml\uff0c\u6dfb\u52a0\u7684\u5185\u5bb9\u5982\u4e0b\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>    &lt;message id=\"50006\" name=\"NFCY_TEST_MAVLINK\"&gt;\n      &lt;description&gt;test mavlink.&lt;\/description&gt;\n      &lt;field type=\"uint8_t\" name=\"test1\"&gt;Test field 1.&lt;\/field&gt;\n      &lt;field type=\"uint16_t\" name=\"test2\"&gt;Test field 2.&lt;\/field&gt;\n      &lt;field type=\"uint32_t\" name=\"test3\"&gt;Test field 3.&lt;\/field&gt;\n    &lt;\/message&gt;<\/code><\/pre>\n\n\n\n<p><strong>2\u3001\u7f16\u8bd1\u98de\u63a7\u56fa\u4ef6\uff0c\u4ea7\u751f\u5bf9\u5e94\u7684\u5934\u6587\u4ef6<\/strong><\/p>\n\n\n\n<p class=\"has-vivid-red-color has-text-color has-link-color wp-elements-16b97ac6ecb82d9d8a82ddb3e8b177de\">\u4fee\u6539xml\u6587\u4ef6\u540e\u76f4\u63a5\u7f16\u8bd1\u5373\u53ef\uff0c<strong>\u4e0d\u9700\u8981<\/strong>\u91cd\u65b0\u6307\u5b9a\u7f16\u8bd1\u76ee\u6807\uff1b<\/p>\n\n\n\n<p class=\"has-vivid-red-color has-text-color has-link-color wp-elements-5227782c22476e1d42ae09dc8cbf6b9b\">\u98de\u63a7\u4ee3\u7801\u7f16\u8bd1\u540emavlink\u5934\u6587\u4ef6\u4f4d\u7f6e\uff1abuild\/\u98de\u63a7\u540d\/libraries\/GCS_MAVLink\/include\/v2.0\/<\/p>\n\n\n\n<p>\u6ce8\u610f\uff0cxml\u6587\u4ef6\u5939\u4e2d\u7684v1.0\u548c\u5934\u6587\u4ef6\u7684v2.0\u542b\u4e49\u4e0d\u540c\uff08\u5e94\u8be5\u662f\u5386\u53f2\u9057\u7559\u95ee\u9898\uff0c\u8fd9\u91cc\u6211\u4eec\u751f\u6210\u7684\u7684\u786e\u662fmavlink2\uff09\u3002<\/p>\n\n\n\n<p><strong>3\u3001\u5728\u98de\u63a7\u4e2d\u6dfb\u52a0\u81ea\u5b9a\u4e49mavlink\u7684\u53d1\u9001\u7a0b\u5e8f<\/strong><\/p>\n\n\n\n<p>\u5728ArduCopter\/GCS_Mavlink.h\u4e2d\uff0c\u6dfb\u52a0\u53d1\u9001\u51fd\u6570\u7684\u58f0\u660e\uff08<strong>\u6ce8\u610f\uff0c\u5bf9\u4e8e\u56fa\u5b9a\u7ffc\uff0c\u5c31\u662f\u5728ArduPlane\/GCS_Mavlink.h\u4e2d\uff0c\u4e5f\u5c31\u662f\u8bf4\u6bcf\u79cd\u8f7d\u5177\u91cc\u90fd\u6709\u5176\u72ec\u6709\u7684GCS_Mavlink\uff0c\u7136\u540e\u5728libraries\u4e2d\u6709\u5404\u79cd\u8f7d\u5177\u5171\u6709\u7684GCS_Mavlink<\/strong>\uff09<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>    void send_nfcy_test_mavlink() const;<\/code><\/pre>\n\n\n\n<p>\u5728ArduCopter\/GCS_Mavlink.cpp\u4e2d\u6dfb\u52a0\u51fd\u6570\u5b9a\u4e49\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>void GCS_MAVLINK_Copter::send_nfcy_test_mavlink() const\n{\n    mavlink_msg_nfcy_test_mavlink_send(  # \u53d1\u9001\u51fd\u6570\u7684\u540d\u5b57\u90fd\u4e3a\u201cmavlink_msg_\u6d88\u606f\u540d_send\u201d\n        chan, 1, 2, 3);\n}<\/code><\/pre>\n\n\n\n<p>\u5728libraries\/GCS_MAVLink\/ap_message.h\u4e2d\u6dfb\u52a0\u81ea\u5b9a\u4e49\u7684ID\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>MSG_NFCY_TEST,  \/\/ \u6ce8\u610f\uff0c\u8fd9\u4e2a\u5fc5\u987b\u653e\u5728MSG_LAST\u524d\u9762<\/code><\/pre>\n\n\n\n<p>\u5728libraries\/GCS_MAVLink\/GCS_Common.cpp\u4e2d\u6dfb\u52a0\u4e24\u79cdID\u7684\u5bf9\u5e94\u5173\u7cfb\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>\/\/ \u524d\u9762\u4e00\u4e2a\u4e3aMavlink\u81ea\u52a8\u751f\u6210\u7684ID\uff0c\u540e\u9762\u4e00\u4e2a\u4e3a\u4e0a\u4e00\u6b65\u6dfb\u52a0\u7684ID\n\/\/ \u524d\u9762\u7684ID\u683c\u5f0f\u90fd\u662f\u201cMAVLINK_MSG_ID_\u6d88\u606f\u540d\u201d\n{ MAVLINK_MSG_ID_NFCY_TEST_MAVLINK, MSG_NFCY_TEST},<\/code><\/pre>\n\n\n\n<p>\u5728ArduCopter\/GCS_Mavlink.cpp\u4e2d\u6dfb\u52a0\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>\/\/ bool GCS_MAVLINK_Copter::try_send_message(enum ap_message id)\u51fd\u6570\u4e2d\uff1a\n\n case MSG_NFCY_TEST:\n        send_nfcy_test_mavlink();\n        break;<\/code><\/pre>\n\n\n\n<p>\u5728ArduCopter\/Copter.cpp\u4e2d\u6dfb\u52a0\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>\/\/ void Copter::three_hz_loop()\u51fd\u6570\u4e2d\u6dfb\u52a0\uff1a\ngcs().send_message(MSG_NFCY_TEST);<\/code><\/pre>\n\n\n\n<p class=\"has-vivid-red-color has-luminous-vivid-amber-background-color has-text-color has-background has-link-color has-large-font-size wp-elements-e16c65d7b24518cb9c52a23dbf4f7211\"><strong>\u4e3a\u4ec0\u4e48\u8fd9\u4e48\u9ebb\u70e6\uff1f<\/strong><\/p>\n\n\n\n<p class=\"has-vivid-cyan-blue-color has-text-color has-link-color has-medium-font-size wp-elements-5835795409a7d52babcd88a40360bd63\"><strong>\u56e0\u4e3a\u98de\u63a7\u5b9e\u9645\u4e0a\u662f\u5c06\u6253\u7b97\u53d1\u9001\u7684\u5e27\u7684ID\u653e\u5165\u4e86\u4e00\u4e2a\u961f\u5217\u4e2d\uff0c\u7136\u540e\u9010\u4e2a\u53d1\u9001\u51fa\u53bb\uff0c\u907f\u514d\u4e86\u7b49\u5f85\u4e0a\u4e00\u4e2a\u5e27\u53d1\u9001\u5b8c\u6210\u7684\u963b\u585e\u3002<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"842\" height=\"428\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2024\/09\/Image-15.png\" alt=\"\" class=\"wp-image-2777\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2024\/09\/Image-15.png 842w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2024\/09\/Image-15-300x152.png 300w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2024\/09\/Image-15-768x390.png 768w\" sizes=\"auto, (max-width: 842px) 100vw, 842px\" \/><\/figure>\n\n\n\n<p><strong>4\u3001\u5728\u98de\u63a7\u4e2d\u6dfb\u52a0\u89e3\u6790\u81ea\u5b9a\u4e49mavlink\u7684\u7a0b\u5e8f<\/strong><\/p>\n\n\n\n<p>\u8bf7\u6309\u7167\u89c6\u9891\u6559\u7a0b\u4e2d\u7684\u6b65\u9aa4\u64cd\u4f5c\uff1a<a href=\"https:\/\/study.163.com\/course\/introduction\/1209568864.htm?share=1&amp;shareId=1448054983\" target=\"_blank\" rel=\"noreferrer noopener\">\u94fe\u63a5<\/a><\/p>\n\n\n\n<p><strong>5\u3001\u4e3aSTM32\u5de5\u7a0b\u91cd\u65b0\u751f\u6210Mavlink\u5934\u6587\u4ef6\uff08\u5148\u4fee\u6539XML\u6587\u4ef6\uff09<\/strong><\/p>\n\n\n\n<p>\u8bf7\u6309\u7167\u89c6\u9891\u6559\u7a0b\u4e2d\u7684\u6b65\u9aa4\u64cd\u4f5c\uff1a<a href=\"https:\/\/study.163.com\/course\/introduction\/1209568864.htm?share=1&amp;shareId=1448054983\" 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