{"id":273,"date":"2019-11-12T16:30:34","date_gmt":"2019-11-12T08:30:34","guid":{"rendered":"http:\/\/www.nufeichuiyun.com\/?p=273"},"modified":"2024-08-08T10:22:22","modified_gmt":"2024-08-08T02:22:22","slug":"%e9%a3%9e%e6%8e%a7%e5%8f%91%e9%80%81%e8%87%aa%e5%ae%9a%e4%b9%89%e4%bf%a1%e6%81%af%e5%88%b0%e5%9c%b0%e9%9d%a2%e7%ab%99","status":"publish","type":"post","link":"http:\/\/www.nufeichuiyun.com\/?p=273","title":{"rendered":"\u98de\u63a7\u53d1\u9001\u81ea\u5b9a\u4e49\u4fe1\u606f\u5230\u5730\u9762\u7ad9"},"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\u7531\u4e8e\u98de\u63a7\u7cfb\u7edf\u7684\u7279\u6b8a\u6027\uff0c\u641e\u98de\u63a7\u7684\u65f6\u5019\u5927\u5bb6\u57fa\u672c\u53ef\u4ee5\u5fd8\u8bb0ST-Link+Keil\u90a3\u79cd\u6253\u65ad\u70b9\u8c03\u8bd5\u65b9\u6cd5\u4e86\u3002\u5982\u679c\u4f60\u6253\u4e86\u786c\u4ef6\u65ad\u70b9\uff0c\u98de\u63a7\u7684\u59ff\u6001\u89e3\u7b97\u90e8\u5206\u5927\u6982\u7387\u4f1a\u4e71\u6389\u3002\u56e0\u6b64\uff0c\u5bf9\u6211\u4eec\u6765\u8bf4\u5927\u90e8\u5206\u65f6\u95f4\u662f\u201c\u7f16\u8bd1\u2014\u2014\u4eff\u771f\u8fd0\u884c\u2014\u2014\u6709\u95ee\u9898\u2014\u2014\u4fee\u6539\u4ee3\u7801\u2014\u2014\u7f16\u8bd1\u2014\u2014\u4eff\u771f\u8fd0\u884c\u2014\u2014\u6ca1\u95ee\u9898\u2014\u2014\u5b9e\u9645\u98de\u884c\u201d\u8fd9\u79cd\u5957\u8def\u3002\u800c\u5728\u8fd9\u4e2a\u8fc7\u7a0b\u4e2d\uff0c\u5982\u679c\u80fd\u5b9e\u65f6\u770b\u5230\u98de\u63a7\u4e2d\u53d8\u91cf\u7684\u503c\uff0c\u5c06\u5bf9\u6211\u4eec\u7684\u8c03\u8bd5\u5de5\u4f5c\u5e26\u6765\u5de8\u5927\u7684\u4fbf\u5229\uff0c\u672c\u7ae0\u8282\u6211\u4eec\u8bb2\u8ff0\u5982\u4f55\u53d1\u9001\u81ea\u5b9a\u4e49\u4fe1\u606f\u5230\u5730\u9762\u7ad9\u3002<\/p>\n\n\n\n<p>&nbsp;\u3000\u7531\u4e8e\u98de\u63a7\u4e0e\u5730\u9762\u7ad9\u4e4b\u95f4\u7684\u901a\u4fe1\u94fe\u8def\u5e26\u5bbd\u6709\u9650\uff0c\u4e00\u822c\u662f57600\u6ce2\u7279\u7387\u7684\u4e32\u53e3\uff0c\u56e0\u6b64\u6211\u4eec\u4e0d\u53ef\u80fd\u4e00\u76f4\u53d1\u9001\u4fe1\u606f\uff0c\u5fc5\u7136\u662f\u6ee1\u8db3\u67d0\u79cd\u89e6\u53d1\u6761\u4ef6\u7684\u65f6\u5019\u53d1\u9001\u4fe1\u606f\uff0c\u6bd4\u5982\uff1a1\u3001\u72b6\u6001\u53d8\u5316\u65f6\u53d1\u9001\u4e00\u6b21\u4fe1\u606f\uff08\u5982\u6a21\u5f0f\u5207\u6362\u3001\u89e6\u53d1\u5931\u63a7\u4fdd\u62a4\u77ac\u95f4\uff09\uff1b2\u3001\u5b9a\u65f6\u53d1\u9001\uff0c\u6bcf\u9694\u56fa\u5b9a\u65f6\u95f4\u95f4\u9694\u53d1\u9001\u4e00\u6b21\u3002\u4e0b\u9762\uff0c\u6211\u4eec\u901a\u8fc7\u5982\u4e0b\u4f8b\u5b50\u8bb2\u8ff0\u5982\u4f55\u53d1\u9001\u81ea\u5b9a\u4e49\u4fe1\u606f\u5230\u5730\u9762\u7ad9\uff1a<\/p>\n\n\n\n<p class=\"has-very-light-gray-background-color has-background\"><strong>\u672c\u7ae0\u8282\u6e90\u7a0b\u5e8f\u5730\u5740\uff1a<a rel=\"noreferrer noopener\" aria-label=\" (opens in a new tab)\" href=\"https:\/\/github.com\/nufeichuiyun\/ardupilot\" target=\"_blank\">https:\/\/github.com\/nufeichuiyun\/ardupilot<\/a><\/strong><\/p>\n\n\n\n<p class=\"has-vivid-red-color has-very-light-gray-background-color has-text-color has-background\"><strong>\u672c\u7ae0\u8282\u5bf9\u5e94git\u5206\u652f\uff08branch\uff09\uff1aTestSentMessage<\/strong><\/p>\n\n\n\n<p>\u3000\u5728\u6211\u63d0\u4f9b\u7684\u6e90\u4ee3\u7801\u4e2d\uff0c\u4f7f\u7528\u5982\u4e0b\u547d\u4ee4\u53ef\u4ee5\u5207\u6362\u5230\u8fd9\u4e2a\u5206\u652f\uff08<strong>\u5207\u6362\u5206\u652f\u540e\u6ce8\u610f\u66f4\u65b0\u5b50\u6a21\u5757\uff01<\/strong>\uff09\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>git checkout TestSentMessage<\/code><\/pre>\n\n\n\n<h4 class=\"wp-block-heading\">\u4e00\u3001\u76ee\u6807<\/h4>\n\n\n\n<p>\u3000\u98de\u63a7\u6bcf\u96941\u79d2\u949f\u53d1\u9001\u4e00\u6b21\u5f53\u524d\u9ad8\u5ea6\u5230\u5730\u9762\u7ad9\u3002<\/p>\n\n\n\n<h4 class=\"wp-block-heading\"> \u4e8c\u3001\u5b9e\u73b0\u65b9\u6cd5\uff1a<\/h4>\n\n\n\n<p> &nbsp; \u30001\u3001\u5728Copter-3.6.10\u5206\u652f\u57fa\u7840\u4e0a\u65b0\u5efa\u4e00\u4e2a\u5206\u652f\uff0c\u547d\u540d\u4e3aTestSendMsg\uff08<strong>\u5982\u679c\u4f60\u662f2021\u5e744\u670810\u65e5\u4e4b\u540e\u770b\u7684\u672c\u6559\u7a0b\uff0c\u5efa\u8bae\u5728Copter-4.0.7\u6216\u8005\u540e\u7eed\u66f4\u52a0\u65b0\u7684\u7a33\u5b9a\u7248\u57fa\u7840\u4e0a\u4fee\u6539\u7a0b\u5e8f<\/strong>\uff09\uff1b<\/p>\n\n\n\n<p>\u00a0 \u30002\u3001\u5728ArduCopter.cpp\u6587\u4ef6\u4e2d\uff08\u6ce8\u610f\uff1a\u65b0\u7684\u4ee3\u7801\u8fd9\u4e2a\u6587\u4ef6\u540d\u6539\u4e3a\u4e86Copter.cpp\uff09\uff0c\u5728one_hz_loop()\u51fd\u6570\u7684\u7b2c\u4e00\u884c\u6dfb\u52a0\u5982\u4e0b\u4ee3\u7801\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>gcs().send_text(MAV_SEVERITY_CRITICAL, \n                 \"Current altitude: %.1fm\", \n                 copter.flightmode-&gt;get_alt_above_ground()\/100.0f);<\/code><\/pre>\n\n\n\n<p><strong>2021\u5e744\u670810\u65e5\u66f4\u65b0\uff1a<\/strong><\/p>\n\n\n\n<p>\u3000<strong>\u5982\u679c\u4f60\u662f\u5728Copter-4.0.x\uff08\u6bd4\u5982Copter-4.0.7\uff09\u57fa\u7840\u4e0a\u4fee\u6539\u7684<\/strong>\uff0c\u7531\u4e8eAPM\u56fa\u4ef6Copter-3.6.x\u7248\u672c\u4e0eCopter-4.0.x\u7248\u672c\u90e8\u5206\u51fd\u6570\u540d\u6709\u6240\u4e0d\u540c\uff0c\u4e0a\u9762\u7684\u4ee3\u7801\u662f\u4f1a\u62a5\u9519\u7684\uff0c\u8bf7\u4f7f\u7528\u4e0b\u9762\u7684\u4ee3\u7801\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>gcs().send_text(MAV_SEVERITY_CRITICAL, \n                \"Current altitude: %.1fm\",\n                 copter.flightmode-&gt;get_alt_above_ground_cm() \/ 100.0f);<\/code><\/pre>\n\n\n\n<p>\u3000\u4e24\u8005\u552f\u4e00\u7684\u533a\u522b\u662f\u201cget_alt_above_ground()\u201d\u51fd\u6570\u540d\u6539\u4e3a\u4e86\u201cget_alt_above_ground_cm()\u201d\uff0c\u5728\u51fd\u6570\u540d\u5c3e\u90e8\u6dfb\u52a0\u4e86\u201c_cm\u201d\uff0c\u7528\u6765\u6307\u793a\u8fd4\u56de\u503c\u7684\u5355\u4f4d\u3002\u8fd9\u662f\u4e00\u79cd\u975e\u5e38\u597d\u7684\u7f16\u7a0b\u4e60\u60ef\uff0c\u80fd\u6709\u6548\u907f\u514d\u51fd\u6570\u8c03\u7528\u7684\u65f6\u5019\u628a\u5355\u4f4d\u5f04\u9519\uff0c\u5e0c\u671b\u5927\u5bb6\u5e73\u5e38\u7f16\u7a0b\u7684\u65f6\u5019\u4e5f\u5c3d\u91cf\u8fd9\u6837\u5199\uff0c\u4f1a\u7701\u53bb\u5f88\u591a\u81ea\u5df1\u6316\u5751\u81ea\u5df1\u8df3\u7684\u9ebb\u70e6\uff0c\u771f\u7684\u3002<\/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\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\" \/><\/figure>\n\n\n\n<p><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u672c\u6587\u8bb2\u8ff0APM\u98de\u63a7\u56fa\u4ef6\u5982\u4f55\u53d1\u9001\u81ea\u5b9a\u4e49\u4fe1\u606f\u5230\u5730\u9762\u7ad9\uff0c\u4ece\u800c\u5229\u4e8e\u5728\u98de\u884c\u4e2d\u5b9e\u65f6\u89c2\u5bdf\u98de\u63a7\u7684\u72b6\u6001\u548c\u5185\u90e8\u53d8\u91cf\u7684\u503c\u3002<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_jetpack_memberships_contains_paid_content":false,"footnotes":""},"categories":[16],"tags":[],"class_list":["post-273","post","type-post","status-publish","format-standard","hentry","category-16"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v24.9 - 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content=\"summary_large_image\" \/>\n<meta name=\"twitter:label1\" content=\"\u4f5c\u8005\" \/>\n\t<meta name=\"twitter:data1\" content=\"\u6012\u98de\u5782\u4e91\" \/>\n\t<meta name=\"twitter:label2\" content=\"\u9884\u8ba1\u9605\u8bfb\u65f6\u95f4\" \/>\n\t<meta name=\"twitter:data2\" content=\"1 \u5206\" \/>\n<script type=\"application\/ld+json\" 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