{"id":277,"date":"2019-11-12T16:39:05","date_gmt":"2019-11-12T08:39:05","guid":{"rendered":"http:\/\/www.nufeichuiyun.com\/?p=277"},"modified":"2022-10-12T09:48:12","modified_gmt":"2022-10-12T01:48:12","slug":"apm%e9%a3%9e%e6%8e%a7%e6%b7%bb%e5%8a%a0%e8%87%aa%e5%ae%9a%e4%b9%89%e9%a3%9e%e8%a1%8c%e6%a8%a1%e5%bc%8f","status":"publish","type":"post","link":"http:\/\/www.nufeichuiyun.com\/?p=277","title":{"rendered":"APM\u98de\u63a7\u6dfb\u52a0\u81ea\u5b9a\u4e49\u98de\u884c\u6a21\u5f0f"},"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<\/strong>\uff1a<a href=\"https:\/\/study.163.com\/course\/introduction\/1209568864.htm?share=1&amp;shareId=1448054983\" target=\"_blank\" rel=\"noreferrer noopener\"><\/a><a href=\"https:\/\/study.163.com\/course\/introduction\/1209568864.htm?share=1&amp;shareId=1448054983\">https:\/\/study.163.com\/course\/introduction\/1209568864.htm?share=1&amp;shareId=1448054983<\/a><\/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\u672c\u8282\u8bfe\uff0c\u901a\u8fc7\u8bb2\u89e3\u5982\u4f55\u6dfb\u52a0\u4e00\u79cd\u81ea\u5b9a\u4e49\u7684\u98de\u884c\u6a21\u5f0f\uff0c\u6765\u5e2e\u52a9\u5927\u5bb6\u6df1\u5165\u4e86\u89e3APM\u56fa\u4ef6\u4e8c\u6b21\u5f00\u53d1\u7684\u6d41\u7a0b\u3002<\/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\" href=\"https:\/\/github.com\/nufeichuiyun\/ardupilot\" target=\"_blank\">https:\/\/github.com\/nufeichuiyun\/ardupilot<\/a><\/strong> \u3000\u5bf9\u5e94git\u5206\u652f\uff08branch\uff09\uff1aTestStarWP<\/p>\n\n\n\n<p class=\"has-vivid-red-color has-luminous-vivid-amber-background-color has-text-color has-background\"><strong>2021\u5e743\u670816\u65e5\u66f4\u65b0\uff1a\u6211\u4eec\u7684\u8bfe\u7a0b\u521a\u5f00\u59cb\u5f55\u5236\u7684\u65f6\u5019\uff0cAPM\u5b98\u7f51\u7a33\u5b9a\u7248\u56fa\u4ef6\u521a\u53d1\u5c55\u5230Copter-3.6.10\uff0c\u5982\u4eca\u6700\u65b0\u7684\u7a33\u5b9a\u7248\u56fa\u4ef6\u5df2\u7ecf\u8d70\u5230\u4e86Copter-4.0.7\u3002\u7531\u4e8eCopter-3.6.x\u4e0eCopter-4.0.x\u5728\u98de\u884c\u6a21\u5f0f\u65b9\u9762\u7684\u67b6\u6784\u53d1\u751f\u4e86\u8f83\u5927\u7684\u53d8\u5316\uff0c\u56e0\u6b64\u6211\u5c06\u672c\u8282\u8bfe\u548c\u4e0b\u8282\u8bfe\u7684\u4f8b\u7a0b\u5728Copter-4.0.7\u7684\u57fa\u7840\u4e0a\u91cd\u65b0\u7f16\u5199\u4e86\u4e00\u4e0b\uff0c\u5e76\u6dfb\u52a0\u4e86\u4e2d\u6587\u6ce8\u91ca\uff0c\u65b9\u4fbf\u5927\u5bb6\u5b66\u4e60\u3002\u5efa\u8bae\u5927\u5bb6\u5148\u628a\u672c\u8282\u8bfe\u89c6\u9891\u770b\u4e00\u904d\uff0c\u7136\u540e\u518d\u4f7f\u7528\u201cGithub Desktop\u8f6f\u4ef6\u201d\u67e5\u770b\u65b0\u7684\u4f8b\u7a0b\u662f\u5982\u4f55\u4fee\u6539\u7684\u3002\u6b64\u4f8b\u7a0b\u7684\u6e90\u4ee3\u7801\u5730\u5740\u4f9d\u7136\u4e3a\uff1a<a href=\"https:\/\/github.com\/nufeichuiyun\/ardupilot\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/github.com\/nufeichuiyun\/ardupilot<\/a>\uff0c\u4f46\u662f\u5206\u652f\u540d\u79f0\u4e3a\u201cCopter-4.0.7-StarWP\u201d\u3002\u540c\u65f6\uff0c\u6211\u4e5f\u5c06\u5207\u6362\u5230\u6b64\u5206\u652f\u5e76\u66f4\u65b0\u597d\u5b50\u6a21\u5757\u7684\u4ee3\u7801\u6253\u5305\u4e0a\u4f20\u5230\u767e\u5ea6\u7f51\u76d8\u91cc\u4e86\uff0c\u6587\u4ef6\u540d\u4e3a\uff1a\u201cardupilot-\u5207\u6362\u5230Copter-4.0.7-StarWP\u5206\u652f-\u5df2\u7ecf\u66f4\u65b0\u5b50\u6a21\u5757-\u89e3\u538b\u540e\u53ef\u4ee5\u76f4\u63a5\u7f16\u8bd1.rar\u201d<\/strong><\/p>\n\n\n\n<p class=\"has-vivid-red-color has-text-color\">\u3000\u3000<strong>\u5927\u5bb6\u89e3\u538b\u7f29\u540e\u53ef\u4ee5\u76f4\u63a5\u7f16\u8bd1\u51fa\u672c\u8282\u8bfe\u7684\u4f8b\u7a0b\u56fa\u4ef6\uff0c\u4e0d\u9700\u8981\u518d\u66f4\u65b0\u5b50\u6a21\u5757\uff08\u4f46\u662f\u5982\u679c\u4f60\u5728\u5176\u57fa\u7840\u4e0a\u5207\u6362\u5230\u5176\u4ed6\u5206\u652f\uff0c\u8fd8\u662f\u9700\u8981\u66f4\u65b0\u5b50\u6a21\u5757\uff09\u3002\u7f51\u76d8\u94fe\u63a5\uff1a<\/strong><\/p>\n\n\n\n<p>\u3000\u3000<strong><a href=\"https:\/\/pan.baidu.com\/s\/18dtYwIFVABnd5g_yty92iA\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/pan.baidu.com\/s\/18dtYwIFVABnd5g_yty92iA<\/a>\u3000\u3000\u63d0\u53d6\u7801\uff1anfcy<\/strong><\/p>\n\n\n\n<p>2022\u5e7410\u670812\u65e5\u66f4\u65b0\uff1a\u5982\u679c\u4f60\u7528\u7684\u662fCopter-4.3.x\u7248\u672c\u7684\u56fa\u4ef6\uff0c\u6e90\u4ee3\u7801\u90e8\u5206\u7ec6\u8282\u53ef\u80fd\u8ddf\u4e4b\u524d\u7684\u7248\u672c\u53c8\u6709\u4e0d\u540c\uff0c\u8bf7\u7ed3\u5408\u7f16\u8bd1\u62a5\u9519\u4fe1\u606f\u548c\u641c\u7d22\u5f15\u64ce\uff0c\u5c1d\u8bd5\u81ea\u884c\u89e3\u51b3\uff08\u90fd\u662f\u5c0f\u7684\u8bed\u6cd5\u95ee\u9898\uff0c\u641e\u5f00\u6e90\u98de\u63a7\uff0c\u8fd9\u4e9b\u662f\u65e5\u5e38\u5de5\u4f5c\uff09\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">\u4e00\u3001\u529f\u80fd\u76ee\u6807<\/h3>\n\n\n\n<p> &nbsp; \u3000\u5f85\u6dfb\u52a0\u7684\u98de\u884c\u6a21\u5f0f\u7684\u7279\u70b9\uff1a\u5207\u5165\u6b64\u6a21\u5f0f\u540e\uff0c\u98de\u63a7\u81ea\u52a8\u6309\u7167\u201c\u4e94\u89d2\u661f\u822a\u7ebf\u201d\u8fdb\u884c\u81ea\u52a8\u98de\u884c\uff0c\u56e0\u6b64\u6211\u4eec\u628a\u8fd9\u4e2a\u6a21\u5f0f\u547d\u540d\u4e3a\u201c\u4e94\u89d2\u661f\u822a\u7ebf\u6a21\u5f0f\u201d\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">\u4e8c\u3001\u5b9e\u73b0\u6b65\u9aa4<\/h3>\n\n\n\n<p> &nbsp;\u3000 1\u3001\u5728Copter-3.6.10\u5206\u652f\u57fa\u7840\u4e0a\u65b0\u5efa\u5206\u652f\uff0c\u547d\u540d\u4e3a\uff1aTestStarWP\uff1b<\/p>\n\n\n\n<p>&nbsp; \u30002\u3001\u7814\u7a76\u5df2\u6709\u6a21\u5f0f\u7684\u4ee3\u7801\uff0c\u6df1\u5165\u4e86\u89e3\u5176\u8fd0\u884c\u89c4\u5f8b\uff1b<\/p>\n\n\n\n<p>\u3000&nbsp; 3\u3001\u590d\u5236\u4e00\u4e2a\u6700\u63a5\u8fd1\u6211\u4eec\u7684\u81ea\u5b9a\u4e49\u6a21\u5f0f\u7279\u5f81\u7684\u6a21\u5f0f\u7684\u4ee3\u7801\uff0c\u5728\u5176\u57fa\u7840\u4e0a\u4fee\u6539\uff1b<\/p>\n\n\n\n<p>\u3000&nbsp; 4\u3001\u6dfb\u52a0\u81ea\u5b9a\u4e49\u6a21\u5f0f\u7279\u6709\u7684\u4ee3\u7801\uff1b<\/p>\n\n\n\n<p>&nbsp;\u3000 5\u3001\u7f16\u8bd1\u3001\u4eff\u771f\u3001debug\u3002<\/p>\n\n\n\n<p>\u3000\u4eff\u771f\u7528\u5230\u7684\u547d\u4ee4\u5982\u4e0b\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>\/\/ \u89e3\u9501\n\/\/ <strong>\u6ce8\u610f\uff0c\u5728AUTO\u6a21\u5f0f\u4e0b\u662f\u7981\u6b62\u89e3\u9501\u7684\uff0c\u5982\u679c\u65e0\u6cd5\u89e3\u9501\uff0c\u8bf7\u5148\u68c0\u67e5\u4e00\u4e0b\u98de\u63a7\u662f\u5426\u5904\u4e8eAUTO\u6a21\u5f0f<\/strong>\n\/\/ <strong>\u6211\u4eec\u53ef\u4ee5\u901a\u8fc7\u201cmode loiter\u201d\u547d\u4ee4\u5c06\u98de\u63a7\u5207\u5230loiter\u6a21\u5f0f\uff0c\u7136\u540e\u89e3\u9501\u8d77\u98de\uff0c\u4e4b\u540e\u518d\u5207\u5230\u5176\u4ed6\u6a21\u5f0f<\/strong>\narm throttle\n\n\/\/ \u5c06\u6cb9\u95e8\u63a8\u5230\u4e00\u4e2a\u8f83\u9ad8\u7684\u4f4d\u7f6e\uff0c\u8d77\u98de\nrc 3 1800\n\n\/\/ \u5c06\u6cb9\u95e8\u653e\u5230\u4e2d\u4f4d\nrc 3 1500\n\n\/\/ \u5207\u6362\u5230\u4e94\u89d2\u661f\u822a\u7ebf\u6a21\u5f0f\nmode 24  \/\/ <strong>\u6ce8\u610f\uff0c\u5bf9\u4e8e\u65b0\u7684Copter-4.0.7-StarWP\u7248\u672c\u4f8b\u7a0b\uff0c\u6b64\u5904\u5e94\u4e3amode 27<\/strong><\/code><\/pre>\n\n\n\n<p class=\"has-vivid-red-color has-luminous-vivid-amber-background-color has-text-color has-background\">\u3000\u3000<strong>\u7279\u522b\u6ce8\u610f\uff0c\u98de\u63a7\u662f\u901a\u8fc7Mavlink\u534f\u8bae\u544a\u77e5\u5730\u9762\u7ad9\u5f53\u524d\u7684\u98de\u884c\u6a21\u5f0f\u7684\uff0c\u5e76\u4e14Mavlink\u8be5\u72b6\u6001\u5e27\u4e2d\u53ea\u5305\u542b\u4e86\u6a21\u5f0f\u7684\u5e8f\u53f7\uff0c\u4e0d\u5305\u542b\u6a21\u5f0f\u7684\u540d\u79f0\uff0c\u56e0\u6b64\u5728\u672c\u4f8b\u7a0b\u4e2d\uff0c\u7531\u4e8e\u6211\u4eec\u53ea\u4fee\u6539\u4e86\u98de\u63a7\u4ee3\u7801\uff0c\u6ca1\u6709\u4fee\u6539\u5730\u9762\u7ad9\u4ee3\u7801\uff0c\u5730\u9762\u7ad9\u5728\u663e\u793a\u65b0\u7684\u98de\u884c\u6a21\u5f0f\u65f6\u4f1a\u9519\u4e71\uff0c\u8fd9\u662f\u6b63\u5e38\u7684\uff0c\u4e0d\u5f71\u54cd\u65b0\u7684\u98de\u884c\u6a21\u5f0f\u7684\u529f\u80fd\u3002\u540c\u7406\uff0c\u5728MissionPlanner\u7684\u5168\u90e8\u53c2\u6570\u5217\u8868\u4e2d\uff0c\u5bf9\u5e94\u53c2\u6570\uff08\u5982FLTMODEx\uff09\u7684\u6ce8\u91ca\u4e5f\u53ef\u80fd\u6ca1\u6cd5\u4e0e\u6211\u4eec\u65b0\u6dfb\u52a0\u7684\u6a21\u5f0f\u7f16\u53f7\u5bf9\u5e94\u4e0a\uff0c\u8fd9\u4e5f\u662f\u6b63\u5e38\u7684\u3002<\/strong><\/p>\n\n\n\n<p class=\"has-vivid-red-color has-luminous-vivid-amber-background-color has-text-color has-background\">\u3000\u3000<strong>\u7279\u522b\u6ce8\u610f\uff0c\u672c\u4f8b\u7a0b\u9700\u8981\u4fee\u6539\u591a\u4e2a\u6e90\u6587\u4ef6\uff0c\u89c6\u9891\u4e2d\u53ef\u80fd\u8bb2\u7684\u4e0d\u662f\u7279\u522b\u6e05\u695a\uff0c\u5bfc\u81f4\u5927\u5bb6\u7f16\u8bd1\u3001\u8fd0\u884c\u65f6\u6709\u53ef\u80fd\u4f1a\u51fa\u9519\uff0c\u8bf7\u5927\u5bb6\u5584\u7528github\u5de5\u5177\uff0c\u5bf9\u6bd4\u7b2c\u4e8c\u8282\u8bfe\u4e2d\u6211\u63d0\u4f9b\u7684\u6e90\u4ee3\u7801\u538b\u7f29\u5305\u91cc\u7684\u7a0b\u5e8f\u6216\u8005\u6211\u7684github\u4e2d\u7684\u7a0b\u5e8f\uff08\u4e8c\u8005\u662f\u540c\u4e00\u4e2a\u4e1c\u897f\uff09\uff0c\u770b\u770b\u81ea\u5df1\u662f\u4e0d\u662f\u6f0f\u6389\u4e86\u54ea\u4e9b\u4fee\u6539\u3002<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"355\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/03\/\u6dfb\u52a0\u81ea\u5b9a\u4e49\u98de\u884c\u6a21\u5f0f-1024x355.png\" alt=\"\" class=\"wp-image-729\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/03\/\u6dfb\u52a0\u81ea\u5b9a\u4e49\u98de\u884c\u6a21\u5f0f-1024x355.png 1024w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/03\/\u6dfb\u52a0\u81ea\u5b9a\u4e49\u98de\u884c\u6a21\u5f0f-300x104.png 300w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/03\/\u6dfb\u52a0\u81ea\u5b9a\u4e49\u98de\u884c\u6a21\u5f0f-768x266.png 768w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/03\/\u6dfb\u52a0\u81ea\u5b9a\u4e49\u98de\u884c\u6a21\u5f0f.png 1267w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\">\u4e09\u3001\u6548\u679c\u56fe<\/h3>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"593\" height=\"564\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2019\/11\/ba8b778da819f534c0a506eb5042922.jpg\" alt=\"\" class=\"wp-image-287\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2019\/11\/ba8b778da819f534c0a506eb5042922.jpg 593w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2019\/11\/ba8b778da819f534c0a506eb5042922-300x285.jpg 300w\" sizes=\"auto, (max-width: 593px) 100vw, 593px\" \/><\/figure>\n\n\n\n<p class=\"has-vivid-red-color has-text-color\"><strong>\u6309\u7167\u4e0b\u56fe\u6240\u793a\u7684\u65b9\u6cd5\u53ef\u4ee5\u8c03\u6574\u5730\u56fe\u4e2d\u98de\u673a\u8f68\u8ff9\u7ebf\u7684\u957f\u5ea6\uff0c\u4ece\u800c\u663e\u793a\u51fa\u5b8c\u6574\u7684\u4e94\u89d2\u661f\uff1a<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/04\/image-3-1024x682.png\" alt=\"\" class=\"wp-image-1639\" width=\"768\" height=\"512\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/04\/image-3-1024x682.png 1024w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/04\/image-3-300x200.png 300w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/04\/image-3-768x511.png 768w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/04\/image-3-1536x1023.png 1536w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/04\/image-3.png 1790w\" sizes=\"auto, (max-width: 768px) 100vw, 768px\" \/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\">\u56db\u3001\u66f4\u8fdb\u4e00\u6b65<\/h3>\n\n\n\n<p>\u30002020\u5e7410\u670817\u65e5\u66f4\u65b0\uff0c\u6709\u5b66\u5458\u63d0\u51fa\u5982\u4e0b\u9700\u6c42\uff1a\u4e94\u89d2\u661f\u822a\u7ebf\u8fd0\u884c\u5b8c\u6210\u540e\u81ea\u52a8\u5207\u6362\u5230\u7279\u5b9a\u7684\u98de\u884c\u6a21\u5f0f\uff0c\u8fd9\u4e2a\u9700\u6c42\u5728\u5f88\u591a\u9879\u76ee\u4e2d\u90fd\u662f\u7528\u5f97\u5230\u7684\uff0c\u6211\u5c06\u4ee3\u7801\u8fdb\u4e00\u6b65\u4fee\u6539\u5982\u4e0b\uff0c\u7ecf\u6d4b\u8bd5\u8fd0\u884c\u6b63\u5e38\uff0c\u4e94\u89d2\u661f\u822a\u7ebf\u5b8c\u6210\u540e\u98de\u63a7\u5411\u5730\u9762\u7ad9\u53d1\u9001\u6d88\u606f\u201cDraw&nbsp;star&nbsp;finished,&nbsp;now&nbsp;go&nbsp;into&nbsp;Loiter&nbsp;Mode.\u201d\uff0c\u7136\u540e\u81ea\u52a8\u5207\u6362\u5230Loiter\u6a21\u5f0f\u3002<\/p>\n\n\n\n<p>\u3000ardupilot\/ArduCopter\/mode_DrawStar.cpp\uff0c62\u884c\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"441\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/10\/image-7-1024x441.png\" alt=\"\" class=\"wp-image-1089\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/10\/image-7-1024x441.png 1024w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/10\/image-7-300x129.png 300w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/10\/image-7-768x331.png 768w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/10\/image-7-1536x662.png 1536w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/10\/image-7-2048x882.png 2048w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\">\u4e94\u3001\u5b9e\u7269\u98de\u884c\u6d4b\u8bd5<\/h3>\n\n\n\n<p>\u3000\u5728\u8fdb\u884c\u5b9e\u7269\u98de\u884c\u4e4b\u524d\uff0c\u6211\u4eec\u9996\u5148\u8981\u89e3\u51b3\u5982\u4f55\u4f7f\u7528\u9065\u63a7\u5668\u5c06\u98de\u884c\u6a21\u5f0f\u5207\u6362\u5230\u6211\u4eec\u65b0\u5efa\u7684\u6a21\u5f0f\u7684\u95ee\u9898\uff0c\u663e\u7136\uff0c\u7531\u4e8e\u6211\u4eec\u5e76\u6ca1\u6709\u4fee\u6539\u5730\u9762\u7ad9\u8f6f\u4ef6MissionPlanner\u7684\u6e90\u4ee3\u7801\uff0c\u56e0\u6b64MissionPlanner\u662f\u65e0\u6cd5\u6b63\u786e\u663e\u793a\u6b64\u98de\u884c\u6a21\u5f0f\u7684\u540d\u79f0\u7684\uff0c\u5e76\u4e14\u5728\u4e0b\u56fe\u7684\u6a21\u5f0f\u8bbe\u7f6e\u754c\u9762\u4e2d\u7684\u4e0b\u62c9\u83dc\u5355\u4e2d\u4e5f\u4e0d\u4f1a\u6709\u6211\u4eec\u65b0\u5efa\u7684\u6a21\u5f0f\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"721\" height=\"335\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/03\/image-15.png\" alt=\"\" class=\"wp-image-1506\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/03\/image-15.png 721w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/03\/image-15-300x139.png 300w\" sizes=\"auto, (max-width: 721px) 100vw, 721px\" \/><\/figure>\n\n\n\n<p>\u3000\u4f46\u662f\u4e8b\u5b9e\u4e0a\uff0c\u4e0a\u56fe\u6240\u793a\u7684\u516d\u79cd\u6a21\u5f0f\u4e0e\u5168\u90e8\u53c2\u6570\u5217\u8868\u4e2d\u7684\u516d\u4e2a\u201cFLTMODEx\u201d\u53c2\u6570\u4e00\u4e00\u5bf9\u5e94\uff0c\u5e76\u4e14\u8fd9\u4e9b\u53c2\u6570\u7684\u503c\u5c31\u662f\u6211\u4eec\u5728\u7a0b\u5e8f\u4e2d\u6dfb\u52a0\u7684\u98de\u884c\u6a21\u5f0f\u5bf9\u5e94\u7684\u6570\u5b57\u3002\u56e0\u6b64\u6211\u4eec\u53ea\u9700\u8981\u5c06\u5bf9\u5e94\u7684\u53c2\u6570\u8bbe\u7f6e\u4e3a\u81ea\u5b9a\u4e49\u6a21\u5f0f\u7684\u6570\u503c\u5373\u53ef\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"909\" height=\"765\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/03\/image-16.png\" alt=\"\" class=\"wp-image-1507\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/03\/image-16.png 909w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/03\/image-16-300x252.png 300w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/03\/image-16-768x646.png 768w\" sizes=\"auto, (max-width: 909px) 100vw, 909px\" \/><\/figure>\n\n\n\n<p><strong>\u3000\u53e6\u5916\uff0c\u8bbe\u7f6e\u5b8c\u6210\u540e\uff0c\u5728\u201c\u521d\u59cb\u8bbe\u7f6e &#8211; \u5fc5\u8981\u786c\u4ef6 &#8211; \u98de\u884c\u6a21\u5f0f\u201d\u4e2d\u4f1a\u65e0\u6cd5\u6b63\u5e38\u663e\u793a\u8be5\u6a21\u5f0f\uff0c\u8fd9\u662f\u6b63\u5e38\u7684\uff0c\u4e0d\u5fc5\u62c5\u5fc3\u3002<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"465\" height=\"338\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/03\/image-17.png\" alt=\"\" class=\"wp-image-1508\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/03\/image-17.png 465w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/03\/image-17-300x218.png 300w\" sizes=\"auto, (max-width: 465px) 100vw, 465px\" \/><\/figure>\n\n\n\n<p><strong>\u3000\u5207\u6362\u5230\u8be5\u6a21\u5f0f\u540e\uff0c\u5728\u59ff\u6001\u7a97\u53e3\u53f3\u4e0b\u89d2\u4f1a\u663e\u793a\u201cUnknown\u201d\uff0c\u8fd9\u540c\u6837\u662f\u6b63\u5e38\u7684\u3002<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"529\" height=\"417\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/03\/image-18.png\" alt=\"\" class=\"wp-image-1509\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/03\/image-18.png 529w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/03\/image-18-300x236.png 300w\" sizes=\"auto, (max-width: 529px) 100vw, 529px\" \/><\/figure>\n\n\n\n<p><strong>\u3000\u4e0a\u8ff0\u65b9\u6cd5\u6211\u8fdb\u884c\u4eff\u771f\u6d4b\u8bd5\u65f6\uff0c\u53d1\u73b0\u8bbe\u7f6e\u201cFLTMODE6\u201d\u7684\u503c\u540e\uff0c\u901a\u8fc7\u201crc 5 1900\u201d\u8fd9\u4e2a\u547d\u4ee4\u5e76\u4e0d\u80fd\u6210\u529f\u89e6\u53d1\u98de\u63a7\u5c06\u6a21\u5f0f\u5207\u6362\u5230\u81ea\u5b9a\u4e49\u7684\u6a21\u5f0f\uff0c\u4f46\u662f\u5173\u95ed\u4eff\u771f\u73af\u5883\u548cMissionPlanner\u540e\uff0c\u91cd\u65b0\u5f00\u59cb\u4eff\u771f\u65f6\uff0c\u53ef\u4ee5\u901a\u8fc7\u8be5\u547d\u4ee4\u5207\u6362\u5230\u81ea\u5b9a\u4e49\u98de\u884c\u6a21\u5f0f\u3002\u5927\u5bb6\u5982\u679c\u9047\u5230\u76f8\u540c\u7684\u95ee\u9898\u4e0d\u59a8\u4e5f\u8fd9\u6837\u8bd5\u8bd5\u3002\u5f53\u7136\uff0c\u5bf9\u4e8e\u5b9e\u7269\u98de\u884c\u6d4b\u8bd5\uff0c\u5e94\u8be5\u4e0d\u9700\u8981\u91cd\u542f\u98de\u63a7\u3002<\/strong><\/p>\n\n\n\n<h3 class=\"has-vivid-red-color has-text-color has-large-font-size wp-block-heading\">\u516d\u3001\u7591\u96be\u89e3\u7b54<\/h3>\n\n\n\n<p class=\"has-vivid-red-color has-text-color\" style=\"font-size:24px\"><strong>1\u3001\u7f16\u8bd1\u62a5\u9519\u201c&#8217;Copter::&lt;anonymous struct&gt; Copter::failsafe&#8217; is private within this context\u201d<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"964\" height=\"263\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/12\/\u5fae\u4fe1\u56fe\u7247_20201224120037.png\" alt=\"\" class=\"wp-image-1221\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/12\/\u5fae\u4fe1\u56fe\u7247_20201224120037.png 964w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/12\/\u5fae\u4fe1\u56fe\u7247_20201224120037-300x82.png 300w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/12\/\u5fae\u4fe1\u56fe\u7247_20201224120037-768x210.png 768w\" sizes=\"auto, (max-width: 964px) 100vw, 964px\" \/><\/figure>\n\n\n\n<p>\u3000\u5982\u679c\u4f60\u662f\u5728Copter4.0.x\u7248\u672c\u57fa\u7840\u4e0a\u6dfb\u52a0\u7684\u81ea\u5b9a\u4e49\u98de\u884c\u6a21\u5f0f\uff0c\u7531\u4e8e\u4eceCopter-4.0.x\u7248\u672c\u4e0eCopter-3.6.x\u7248\u672c\u5728\u98de\u884c\u6a21\u5f0f\u7684\u4ee3\u7801\u7ed3\u6784\u4e0a\u7565\u6709\u5dee\u522b\uff0c\u56e0\u6b64\u5927\u6982\u7387\u4f60\u53ef\u80fd\u4f1a\u5c11\u5199\u4e00\u884c\u7a0b\u5e8f\uff0c\u4ece\u800c\u5bfc\u81f4\u4e0a\u8ff0\u62a5\u9519\uff0c\u89e3\u51b3\u65b9\u6cd5\u5f88\u7b80\u5355\uff0c\u5728\u201cCopter.h\u201d\u6587\u4ef6\u7684213\u884c\u4e0b\u9762\uff0c\u4eff\u7167\u5176\u4ed6\u6a21\u5f0f\uff0c\u5c06\u81ea\u5b9a\u4e49\u6a21\u5f0f\u7684\u7c7b\u6dfb\u52a0\u4e3a\u53cb\u5143\u7c7b\uff08friend class\uff09\u3002\u5982\u679c\u4e0d\u660e\u767d\u4e3a\u4ec0\u4e48\u8981\u8fd9\u4e48\u505a\uff0c\u8bf7\u6253\u5f00\u767e\u5ea6\uff0c\u641c\u7d22\u201cfriend class\u201d\uff0c\u6253\u5f00\u524d\u51e0\u4e2a\u9875\u9762\uff0c\u6328\u4e2a\u770b\u4e00\u904d\uff0c\u7136\u540e\u4f60\u5c31\u660e\u767d\u4e86\uff0c\u5e76\u4e14\u53c8\u5b66\u5230\u4e86\u65b0\u7684\u77e5\u8bc6\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"373\" height=\"545\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/12\/image-3.png\" alt=\"\" class=\"wp-image-1222\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/12\/image-3.png 373w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/12\/image-3-205x300.png 205w\" sizes=\"auto, (max-width: 373px) 100vw, 373px\" \/><\/figure>\n\n\n\n<p class=\"has-vivid-red-color has-text-color\" style=\"font-size:24px\"><strong>2\u3001\u4eff\u771f\u8fd0\u884c\u65f6\u63d0\u793a\u201cAPM: No such mode\u201d<\/strong><\/p>\n\n\n\n<p>\u3000\u5728\u4eff\u771f\u65f6\uff0c\u5f53\u6211\u4eec\u901a\u8fc7\u201cmode 27\u201d\u547d\u4ee4\u5207\u6362\u5230\u81ea\u5b9a\u4e49\u6a21\u5f0f\u65f6\uff0c\u53ef\u80fd\u4f1a\u63d0\u793a\u201cAPM: No such mode\u201d\uff0c\u5e76\u4e14\u6a21\u5f0f\u5e76\u6ca1\u6709\u5207\u6362\u6210\u529f\u3002\u4ea7\u751f\u6b64\u95ee\u9898\u7684\u539f\u56e0\u6709\u5982\u4e0b\u4e24\u4e2a\uff1a<\/p>\n\n\n\n<p>\u30001\u3001\u4e0a\u6b21\u4eff\u771f\u65f6\u6ca1\u6709\u5f7b\u5e95\u9000\u51fa\u540e\u53f0\u4eff\u771f\u7a0b\u5e8f\uff0c\u4ece\u800c\u8fd9\u6b21\u4eff\u771f\u65f6\u5b9e\u9645\u4e0a\u8fd0\u884c\u7684\u8fd8\u662f\u4fee\u6539\u4ee3\u7801\u524d\u7684\u4eff\u771f\u7a0b\u5e8f\u3002\u5982\u679c\u662f\u8fd9\u6837\uff0c\u53ef\u4ee5\u901a\u8fc7\u201c<a href=\"http:\/\/www.nufeichuiyun.com\/?p=256\" target=\"_blank\" rel=\"noreferrer 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