{"id":28,"date":"2019-11-04T19:28:10","date_gmt":"2019-11-04T11:28:10","guid":{"rendered":"http:\/\/www.nufeichuiyun.com\/?p=28"},"modified":"2023-12-14T12:45:41","modified_gmt":"2023-12-14T04:45:41","slug":"apm%ef%bc%88pixhawk%ef%bc%89%e9%a3%9e%e6%8e%a7%e7%96%91%e9%9a%be%e6%9d%82%e7%97%87%e8%a7%a3%e5%86%b3%e6%96%b9%e6%b3%95%e6%b1%87%e6%80%bb%ef%bc%88%e6%8c%81%e7%bb%ad%e6%9b%b4%e6%96%b0%ef%bc%89","status":"publish","type":"post","link":"http:\/\/www.nufeichuiyun.com\/?p=28","title":{"rendered":"APM\uff08pixhawk\uff09\u98de\u63a7\u7591\u96be\u6742\u75c7\u89e3\u51b3\u65b9\u6cd5\u6c47\u603b\uff08\u6301\u7eed\u66f4\u65b0\uff09"},"content":{"rendered":"\n<p><strong>\u65e0\u4eba\u673a\u8c03\u8bd5\u95ee\u9898\uff0c\u98de\u63a7\u786c\u4ef6\u5b9a\u5236\uff0c\u56fa\u4ef6\u4fee\u6539\uff0clog\u65e5\u5fd7\u5206\u6790\uff0c\u98de\u63a7\u9a71\u52a8\u6dfb\u52a0\uff0c \u8bf7QQ\u8054\u7cfb\uff1a3500985284<\/strong><\/p>\n\n\n\n<p class=\"has-vivid-red-color 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href=\"https:\/\/study.163.com\/course\/introduction\/1209568864.htm?share=1&amp;shareId=1448054983\" target=\"_blank\" rel=\"noreferrer noopener\"><strong>https:\/\/study.163.com\/course\/introduction\/1209568864.htm?share=1&amp;shareId=1448054983<\/strong><\/a><\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e00\u3001\u65e0\u6cd5\u89e3\u9501\uff08\u9ec4\u706f\u95ea\u70c1\uff09<\/h2>\n\n\n\n<p> &nbsp; &nbsp; \u65e0\u6cd5\u89e3\u9501\u7684\u539f\u56e0\u4f1a\u6709\u591a\u79cd\uff0c\u4e00\u822c\u60c5\u51b5\u4e0b\uff0c\u98de\u63a7\u4f1a\u5728\u4f60\u5c1d\u8bd5\u89e3\u9501\u65f6\u628a\u62d2\u7edd\u89e3\u9501\u7684\u539f\u56e0\u5728\u5730\u9762\u7ad9MissionPlanner\u7684\u59ff\u6001\u7a97\u53e3\u4e2d\u663e\u793a\uff08\u82f1\u6587\u7684\uff0c\u5e76\u4e14\u5305\u542b\u4e86\u4e0d\u5c11\u7b80\u79f0\uff09\uff0c\u901a\u8fc7\u8fd9\u4e9b\u63d0\u793a\u53ef\u4ee5\u5feb\u901f\u5b9a\u4f4d\u95ee\u9898\u3002\u5e38\u89c1\u95ee\u9898\u89e3\u51b3\u65b9\u6cd5\u5982\u4e0b\uff1a<\/p>\n\n\n\n<h3 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class=\"wp-block-heading\">\u4e09\u3001\u60ac\u505c\u6389\u9ad8\uff08\u6216\u8005\u53eb\u5b9a\u9ad8\u4e0d\u597d\uff0c\u4e0a\u4e0b\u6d6e\u52a8\uff09<\/h2>\n\n\n\n<p> &nbsp; &nbsp;\u5b9a\u9ad8\u4e0d\u597d\uff0c\u53ef\u80fd\u662f\u7531\u4ee5\u4e0b\u4e24\u4e2a\u539f\u56e0\u9020\u6210\u7684\uff1a<\/p>\n\n\n\n<p>&nbsp; 1\u3001\u673a\u67b6\u9707\u52a8\u5927\uff0c\u98de\u63a7\u51cf\u9707\u4e0d\u8db3\uff0c\u5bfc\u81f4\u98de\u63a7Z\u8f74\u52a0\u901f\u5ea6\u51fa\u73b0\u8f83\u5927\u5947\u5f02\u503c\uff0c\u4ece\u800c\u5bfc\u81f4\u98de\u63a7\u5728\u67d0\u4e9b\u65f6\u523b\u5bf9\u81ea\u8eab\u9ad8\u5ea6\u3001\u901f\u5ea6\u3001\u52a0\u901f\u5ea6\u7684\u4f30\u8ba1\u51fa\u73b0\u9519\u8bef\uff0c\u660e\u660e\u98de\u673a\u6ca1\u6709\u5411\u4e0a\u8d70\uff0c\u4f46\u662f\u98de\u63a7\u8ba4\u4e3a\u98de\u673a\u5728\u5feb\u901f\u5411\u4e0a\u8d70\uff0c\u4e8e\u662f\u63a7\u5236\u98de\u673a\u731b\u6536\u6cb9\u95e8\uff0c\u4ece\u800c\u98de\u673a\u731b\u5730\u5411\u4e0b\u6389\u4e00\u4e0b\uff0c\u53cd\u4e4b\uff0c\u6709\u65f6\u98de\u63a7\u9519\u8bef\u5730\u8ba4\u4e3a\u98de\u673a\u5728\u6389\u9ad8\uff0c\u4e8e\u662f\u4e3b\u52a8\u731b\u52a0\u6cb9\u95e8\u5bfc\u81f4\u7a9c\u9ad8\u3002<strong>\u89e3\u51b3\u65b9\u6cd5\uff1a<\/strong>\u7528\u51cf\u9707\u795e\u5668\uff01<\/p>\n\n\n\n<p>&nbsp; 2\u3001\u6c14\u538b\u8ba1\u53d7\u81ea\u8eab\u87ba\u65cb\u6868\u6c14\u6d41\u5f71\u54cd\u5bfc\u81f4\u9ad8\u5ea6\u4f30\u8ba1\u95ee\u9898\u3002\u5927\u5bb6\u4e00\u822c\u4f1a\u5728\u6c14\u538b\u8ba1\u4e0a\u52a0\u4e00\u5757\u6d77\u7ef5\uff0c\u4f46\u5176\u5b9e\u5bf9\u4e8e\u5927\u98de\u673a\u8fd9\u4e2a\u662f\u4e0d\u591f\u7684\uff0c\u6700\u597d\u518d\u589e\u52a02\u5c42\u906e\u6321\u7269\uff1a\u4e00\u3001\u98de\u63a7\u52a0\u5916\u58f3\uff0c\u907f\u514d\u4f7f\u7528\u88f8\u677f\u98de\u63a7\uff0c\u5916\u58f3\u900f\u6c14\u5b54\u5c3d\u91cf\u5c0f\u4e00\u70b9\uff0c\u5982\u679c\u98de\u63a7\u5916\u58f3\u56db\u9762\u900f\u98ce\u5c31\u610f\u4e49\u4e0d\u5927\u4e86\uff1b\u4e8c\u3001\u5c06\u98de\u63a7\u88c5\u5728\u673a\u8eab\u5185\u90e8\uff0c\u5e76\u4e14\u5c3d\u91cf\u4f7f\u5f97\u673a\u8eab\u5c01\u95ed\uff08\u4e00\u822c\u5f88\u96be\u505a\u5230\u5b8c\u5168\u5c01\u95ed\uff0c\u4ece\u800c\u4e0d\u5f71\u54cd\u6c14\u538b\u8ba1\u68c0\u6d4b\u5916\u754c\u6c14\u538b\u503c\uff09\uff0c\u8fd9\u4e2a\u53ef\u80fd\u6bd4\u7b2c\u4e00\u6761\u8fd8\u5173\u952e\u3002<\/p>\n\n\n\n<p>3\u3001\u5982\u679c\u662f\u7f13\u6162\u7684\u9ad8\u5ea6\u53d8\u5316\uff0c\u5e76\u4e14\u53d8\u5316\u8303\u56f4\u57280.5m\u4ee5\u5185\uff0c\u90a3\u4e48\uff0c\u53ef\u4ee5\u8ba4\u4e3a\u662f\u6b63\u5e38\u7684\uff0c\u56e0\u4e3a\u98de\u63a7\u5bf9\u81ea\u8eab\u9ad8\u5ea6\u7684\u4f30\u8ba1\u4e3b\u8981\u6765\u6e90\u4e8e\u6c14\u538b\u9ad8\u5ea6\u8ba1\uff0c\u800c\u6c14\u538b\u968f\u7740\u6c14\u6e29\u4f1a\u7f13\u6162\u53d8\u5316\uff08\u540c\u65f6\u98de\u63a7\u81ea\u8eab\u53d1\u70ed\u4e5f\u4f1a\u5bfc\u81f4\u6c14\u538b\u9ad8\u5ea6\u6d4b\u91cf\u4e0d\u51c6\u786e\uff09\uff0c\u518d\u52a0\u4e0a\u98de\u63a7\u65cb\u7ffc\u6c14\u6d41\u5f71\u54cd\u4ee5\u53ca\u5404\u79cd\u6d4b\u91cf\u566a\u58f0\uff0c\u98de\u63a7\u5bf9\u81ea\u5df1\u7684\u9ad8\u5ea6\u7684\u4f30\u8ba1\u4f1a\u7f13\u6162\u53d8\u5316\uff0c\u4ece\u800c\u5bfc\u81f4\u9ad8\u5ea6\u63a7\u5236\u51fa\u73b0\u6f02\u79fb\u3002\u5982\u679c\u60f3\u63d0\u9ad8\u5b9a\u9ad8\u6548\u679c\uff0c\u53ea\u80fd\u8003\u8651\u6dfb\u52a0\u201c\u76f8\u5bf9\u9ad8\u5ea6\u8ba1\u201d\uff0c\u5982\u8d85\u58f0\u6ce2\u3001\u6beb\u7c73\u6ce2\u96f7\u8fbe\u3001\u6fc0\u5149\u6d4b\u8ddd\u4eea\u7b49\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u56db\u3001\u5b9a\u70b9\u5b9a\u4e0d\u4f4f<\/h2>\n\n\n\n<p> &nbsp; &nbsp; \u5b9a\u70b9\u5b9a\u4e0d\u4f4f\uff0c\u53ef\u80fd\u662f\u7531\u5982\u4e0b\u539f\u56e0\u9020\u6210\u7684\uff1a<\/p>\n\n\n\n<p>&nbsp; &nbsp; 1\u3001\u786e\u8ba4\u81ea\u5df1\u5df2\u7ecf\u6210\u529f\u5207\u5230PosHold\u6216\u8005Loiter\u6a21\u5f0f\uff01\uff08\u4f60\u4ee5\u4e3a\u4f60\u5207\u4e86\uff0c\u5b9e\u9645\u4e0a\u6ca1\u5207\uff0c\u6216\u8005\u7531\u4e8eGPS\u3001\u78c1\u7f57\u76d8\u7b49\u95ee\u9898\u98de\u63a7\u62d2\u7edd\u5207\u5230\u5b9a\u70b9\u6a21\u5f0f\uff09\u4e00\u5b9a\u8981\u901a\u8fc7\u5730\u9762\u7ad9\u770b\u6a21\u5f0f\uff0c\u53cd\u590d\u786e\u8ba4\uff1b<\/p>\n\n\n\n<p>&nbsp; &nbsp; 2\u3001GPS\u4fe1\u53f7\u5dee\uff0c\u5982\u679c\u6709\u4e25\u91cd\u906e\u6321\uff0cGPS\u5b9a\u4f4d\u4f1a\u51fa\u73b0\u8f83\u5927\u5e45\u5ea6\u7684\u6f02\u79fb\uff0c\u8fdb\u800c\u5bfc\u81f4\u5b9a\u70b9\u5b9a\u4e0d\u4f4f\uff1b\u8bf7\u5c06\u98de\u673a\u653e\u5728\u7a7a\u65f7\u65e0\u906e\u6321\u7684\u5730\u65b9\u518d\u8bd5\u8bd5\uff1b\u53e6\u5916\uff0c\u5efa\u8bae\u6b21\u91c7\u8d2dGPS\u6a21\u5757\u7684\u65f6\u5019\uff0c\u81f3\u5c11\u4f7f\u7528Ublox M8N\u914d\u7f6e\u7684\uff1b<\/p>\n\n\n\n<p>&nbsp; &nbsp; 3\u3001\u9065\u63a7\u5668\u6709\u504f\u79fb\u503c\u3002\u8981\u4e48\u4f60\u6ca1\u6709\u6821\u51c6\u9065\u63a7\u5668\uff0c\u8981\u4e48\u4e0d\u5c0f\u5fc3\u62e8\u52a8\u4e86\u9065\u63a7\u5668\u5fae\u8c03\uff0c\u8981\u4e48\u6e29\u5ea6\u53d8\u5316\u5bfc\u81f4\u9065\u63a7\u5668\u81ea\u5df1\u884c\u7a0b\u98d8\u4e86\uff0c\u5bfc\u81f4\u6447\u6746\u5904\u4e8e\u4e2d\u4f4d\u65f6\u98de\u63a7\u6536\u5230\u7684\u662f\u5411\u4e00\u8fb9\u6253\u6746\u7684\u63a7\u5236\u6307\u4ee4\u2026\u2026\u8bf7\u91cd\u65b0\u6821\u51c6\u9065\u63a7\u5668\u540e\u518d\u8bd5\u8bd5\uff1b<\/p>\n\n\n\n<p>&nbsp; &nbsp; 4\u3001\u78c1\u822a\u5411\u4e0d\u6b63\u3002\u78c1\u7f57\u76d8\u6ca1\u6709\u6821\u51c6\uff0c\u6216\u8005\u78c1\u7f57\u76d8\u6b6a\u4e86\uff0c\u6216\u8005\u78c1\u7f57\u76d8\u53d7\u5230\u5e72\u6270\uff0c\u5bfc\u81f4\u98de\u63a7\u5bf9\u673a\u5934\u65b9\u5411\u7684\u4f30\u8ba1\u4e0e\u5b9e\u9645\u822a\u5411\u4e0d\u4e00\u81f4\uff0c\u8fdb\u800c\u5bfc\u81f4\u4f4d\u7f6e\u63a7\u5236\u65f6\u51fa\u73b0\u5237\u9505\u98de\u884c\u7684\u60c5\u51b5\uff08\u98de\u673a\u673a\u5934\u6307\u5411\u4e0d\u53d8\uff0c\u98de\u884c\u8f68\u8ff9\u5448\u73b0\u5237\u9505\u7684\u611f\u89c9\uff09\u3002a\u3001\u7531\u4e8e\u4e00\u822c\u60c5\u51b5\u4e0b\u5916\u7f6e\u78c1\u7f57\u76d8\u662f\u505a\u5728GPS\u6a21\u5757\u91cc\u7684\uff0c\u5e76\u4e14\u5927\u90e8\u5206GPS\u662f\u8d34\u5728GPS\u652f\u67b6\u4e0a\u7684\uff0c\u5f88\u6709\u53ef\u80fd\u5e16\u6b6a\u4e86\uff0c\u5bfc\u81f4\u98de\u63a7\u6d4b\u5f97\u7684\u822a\u5411\u4e0d\u5bf9\uff0c\u9996\u5148\u68c0\u67e5\u8fd9\u4e2a\uff1bb\u3001\u5176\u6b21\uff0c\u4e3b\u4f9b\u7535\u7ebf\u4e0a\u7684\u76f4\u7ebf\u7535\u6d41\u4ea7\u751f\u73af\u884c\u78c1\u573a\uff0c\u7535\u673a\u5185\u542b\u6709\u78c1\u94c1\uff0c\u8fd9\u4e24\u4e2a\u662f\u5e72\u6270\u78c1\u7f57\u76d8\u7684\u4e3b\u8981\u539f\u56e0\uff0c\u5982\u679c\u4f60\u6709\u5916\u7f6e\u78c1\u7f57\u76d8\uff0c\u5c31\u628a\u5185\u7f6e\u78c1\u7f57\u76d8\u5173\u95ed\uff0c\u5e76\u4e14\u4fdd\u8bc1\u5916\u7f6e\u78c1\u7f57\u76d8\u8fdc\u79bb\u4e3b\u4f9b\u7535\u7ebf\u3001\u7535\u6c60\u3001\u7535\u673a\u7b49\u5e72\u6270\u6e90\uff1bc\u3001\u4ee5\u4e0a\u4e24\u6761\u68c0\u67e5\u540e\uff0c\u91cd\u65b0\u6821\u51c6\u78c1\u7f57\u76d8\u8bd5\u8bd5\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e94\u3001\u5237\u54ea\u79cd\u56fa\u4ef6\uff1fPX4\u56fa\u4ef6\uff1fAPM\u56fa\u4ef6\uff1f<\/h2>\n\n\n\n<p> &nbsp; &nbsp; \u9996\u5148\u5e94\u8be5\u660e\u767dPixHawk\u3001PX4\u56fa\u4ef6\u3001APM\u56fa\u4ef6\u4e09\u8005\u7684\u5173\u7cfb\uff1a<\/p>\n\n\n\n<p>&nbsp; &nbsp; PixHawk\u6307\u7684\u662f\u98de\u63a7\u786c\u4ef6\uff0c\u76f8\u6bd4\u4e4b\u524d\u5927\u591a\u6570\u5f00\u6e90\u98de\u63a7\u4f7f\u7528\u7684AVR\u5355\u7247\u673a\uff0cPixhawk\u98de\u63a7\u5728\u786c\u4ef6\u6027\u80fd\u4e0a\u6709\u4e86\u5f88\u5927\u7684\u63d0\u5347\uff0c\u5b83\u91c7\u7528\u7684STM32F427VIT6\u4f5c\u4e3a\u4e3b\u63a7\uff0c32\u4f4d\uff0c\u4e3b\u9891168MHz\uff0c\u53ef\u4ee5\u8bf4\u662f\u76f8\u5f53\u7684\u725b\u903c\u3002<\/p>\n\n\n\n<p>&nbsp; &nbsp; PX4\u56fa\u4ef6\u548cAPM\u56fa\u4ef6\u6307\u7684\u662f\u8f6f\u4ef6\uff0c\u5b83\u4eec\u90fd\u662f\u8fd0\u884c\u5728PixHawk\u786c\u4ef6\u4e4b\u4e0a\u7684\uff0c\u662f\u4e24\u79cd\u4e0d\u540c\u98de\u63a7\u7a0b\u5e8f\u3002\u5bf9\u4e8e\u5237\u54ea\u4e2a\u56fa\u4ef6\uff0c\u8bf7\u770b\u4e0b\u9762\u7684\u5bf9\u6bd4\uff1a<\/p>\n\n\n\n<p>&nbsp;&nbsp; &nbsp; 1\u3001PX4\u56fa\u4ef6\u7684\u6e90\u4ee3\u7801\u7ed3\u6784\u660e\u4e86\uff0c\u5bf9\u4e8e\u5b66\u4e60\u98de\u63a7\u7a0b\u5e8f\u7684\u4eba\u6765\u8bf4\uff0c\u53ef\u80fd\u5165\u624b\u66f4\u5feb\u4e00\u70b9\uff1b\u76f8\u6bd4\u4e4b\u4e0b\uff0cAPM\u4ee3\u7801\u7565\u5fae\u6709\u70b9\u590d\u6742\uff1b\u4f46\u662f\uff0c\u8bf7\u6ce8\u610f\uff0c\u8fd9\u91cc\u7684\u590d\u6742\u662f\u76f8\u5bf9\u800c\u8a00\u7684\uff0c\u6839\u636e\u6211\u4e2a\u4eba\u7684\u7ecf\u9a8c\u6765\u770b\uff0cAPM\u7684\u4ee3\u7801\u6bd4\u6211\u89c1\u8fc7\u7684\u6240\u6709\u81ea\u5df1\u5199\u7684\u4ee3\u7801\uff08\u81ea\u5df1\u5199\u7684\u3001\u9879\u76ee\u7528\u7684\u3001\u5b9e\u9a8c\u5ba4\u9057\u7559\u7684\uff09\u76f8\u6bd4\uff0c\u7f16\u5199\u89c4\u8303\u3001\u547d\u540d\u89c4\u5219\u3001\u5b9e\u73b0\u65b9\u6cd5\u90fd\u8981\u597d\u975e\u5e38\u591a\u3002&nbsp; &nbsp;\u5bf9\u4e8e\u53ea\u662f\u4f7f\u7528\u98de\u63a7\uff0c\u800c\u4e0d\u7814\u7a76\u4ee3\u7801\u7684\u4eba\u6765\u8bb2\uff0cPX4\u56fa\u4ef6\u5728\u8fd9\u4e00\u70b9\u4e0a\u6ca1\u6709\u4f18\u52bf\u3002<\/p>\n\n\n\n<p>&nbsp; &nbsp; 2\u3001APM\u56fa\u4ef6\u5386\u53f2\u60a0\u4e45\uff0c\u529f\u80fd\u66f4\u52a0\u5b8c\u5584\uff0c\u6f0f\u6d1e\u66f4\u5c11\uff0c\u98de\u884c\u66f4\u7a33\u5b9a\uff08\u8fd9\u91cc\u7684\u7a33\u5b9a\u6307\u7684\u662f\u4e0d\u4f1a\u56e0\u4e3a\u7a0b\u5e8f\u6f0f\u6d1e\u5bfc\u81f4\u83ab\u540d\u5176\u5999\u5730\u6454\u673a\uff09\uff1b\u76f8\u6bd4\u4e4b\u4e0b\uff0cPX4\u56fa\u4ef6\u6709\u70b9\u8584\u5f31\uff0c\u6709\u5f88\u591a\u5751\u9700\u8981\u586b\u3002&nbsp; &nbsp; &nbsp;\u5bf9\u4e8e\u4e00\u4e2a\u65e0\u4eba\u673a\u6765\u8bb2\uff0c\u80fd\u7a33\u5b9a\u53ef\u9760\u5730\u98de\u884c\u662f\u7b2c\u4e00\u4f4d\u7684\uff0c\u5982\u679c\u4e0d\u80fd\u7a33\u5b9a\u53ef\u9760\u5730\u98de\u884c\uff0c\u5176\u4f59\u4f18\u52bf\u90fd\u662f\u626f\u6de1\u3002<\/p>\n\n\n\n<p>&nbsp; &nbsp; \u56e0\u6b64\uff0c\u5bf9\u4e8e\u53ea\u7528\u98de\u63a7\u4e0d\u6539\u7a0b\u5e8f\u7684\u4eba\uff0c\u6211\u63a8\u8350\u5237APM\u56fa\u4ef6\uff1b\u800c\u5bf9\u4e8e\u9700\u8981\u6539\u7a0b\u5e8f\u7684\u4eba\uff0c\u6211\u4e5f\u63a8\u8350APM\u56fa\u4ef6\uff0c\u4f46\u662f\u5982\u679c\u662f\u516c\u53f8\u7528\u6237\uff0c\u8bf7\u8003\u8651\u4e00\u4e0bAPM\u56fa\u4ef6\u548cPX4\u56fa\u4ef6\u5f00\u6e90\u534f\u8bae\u7684\u533a\u522b\uff0c\u914c\u60c5\u8003\u8651\uff08\u5173\u4e8e\u8fd9\u4e00\u70b9\uff0c\u8bf7\u6ce8\u610f\uff1a\u4e0d\u8981\u655d\u5e1a\u81ea\u73cd\uff0c\u4e00\u4e2a\u65e0\u4eba\u673a\u516c\u53f8\u7684\u7ade\u4e89\u4f18\u52bf\u662f\u5168\u65b9\u4f4d\u7684\uff0c\u65e2\u7136\u7528\u4e86\u5f00\u6e90\u98de\u63a7\uff0c\u5373\u4f7f\u4f60\u52a0\u4e0a\u4e86\u81ea\u5df1\u7279\u6709\u7684\u529f\u80fd\uff0c\u5728\u98de\u63a7\u4ee3\u7801\u4e0a\u4e5f\u4e0d\u4f1a\u6bd4\u522b\u4eba\u5f3a\u592a\u591a\u3002\u90a3\u4e9b\u4e0d\u4f1a\u6539\u98de\u63a7\u4ee3\u7801\u7684\u7ade\u4e89\u5bf9\u624b\u7ed9\u4ed6\u7a0b\u5e8f\u4ed6\u4e5f\u7528\u4e0d\u4e86\uff0c\u90a3\u4e9b\u4f1a\u6539\u4ee3\u7801\u7684\u516c\u53f8\u4e5f\u4e0d\u5c51\u4e8e\u6284\u4f60\uff09\u3002<\/p>\n\n\n\n<p>&nbsp; \u4e0a\u8ff0\u8bba\u8ff0\u53ef\u80fd\u6709\u5931\u516c\u5141\uff0c\u6bd5\u7adf\uff0c\u6211\u662f\u7528APM\u7684\u4eba \ud83d\ude42<\/p>\n\n\n\n<p>&nbsp; 2019\u5e7408\u670809\u65e5\u66f4\u65b0\uff1a<\/p>\n\n\n\n<p>&nbsp; \u6709\u4e0d\u5c11\u540c\u5b66\u8fd8\u5728\u7528APM2.x\u8fd9\u6b3e\u786c\u4ef6\uff08\u4ee5AVR\u5355\u7247\u673a\u4f5c\u4e3a\u4e3b\u63a7\uff09\uff0c\u8fd9\u79cd\u786c\u4ef6\u5df2\u7ecf\u88ab\u6dd8\u6c70\uff0c\u6700\u65b0\u7248\u56fa\u4ef6\u5df2\u7ecf\u4e0d\u518d\u652f\u6301\u8fd9\u6b3e\u786c\u4ef6\u3002APM2.0\u786c\u4ef6\u6700\u9ad8\u652f\u6301\u7684\u56fa\u4ef6\u7248\u672c\u5982\u4e0b\uff1a\u591a\u65cb\u7ffc\uff1a3.2.1\uff0c\u56fa\u5b9a\u7ffc\uff1a3.3.0\uff0c\u65e0\u4eba\u8f66\uff1a2.5.1\u3002\u76ee\u524d\u6dd8\u5b9d\u4e0a\u6709\u4e0d\u5c11pixhawk\u5df2\u7ecf\u628a\u4ef7\u683c\u505a\u5230\u548cAPM2.x\u975e\u5e38\u63a5\u8fd1\u7684\u4ef7\u683c\u4e86\uff0c\u5f3a\u70c8\u5efa\u8bae\u76f4\u63a5\u4e0aPixhawk\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u516d\u3001\u8d77\u98de\u77ac\u95f4\u98de\u673a\u8f6c\u5934<\/h2>\n\n\n\n<p> &nbsp; &nbsp; \u65b0\u88c5\u7684\u98de\u673a\u7b2c\u4e00\u6b21\u8bd5\u98de\u65f6\u8d77\u98de\u77ac\u95f4\u673a\u5934\u5411\u4e00\u4e2a\u65b9\u5411\u65cb\u8f6c\uff0c\u8d76\u7d27\u6536\u6cb9\u95e8\u3002\u8fd9\u65f6\u5019\uff0c\u5e94\u8be5\u6309\u7167\u5982\u4e0b\u6b65\u9aa4\u8fdb\u884c\u68c0\u67e5\uff1a<\/p>\n\n\n\n<p>&nbsp; &nbsp; 1\u3001\u68c0\u67e5\u6868\u662f\u4e0d\u662f\u88c5\u9519\u4e86\uff0c\u5404\u4e2a\u673a\u81c2\u4e0a\u201c\u6b63\u53cd\u6868\u201d\u4e25\u683c\u6309\u7167\u5b98\u7f51\u6307\u793a\u56fe\u8fdb\u884c\u68c0\u67e5\uff1b\u5982\u679c\u6ca1\u6709\u95ee\u9898\uff0c\u770b\u4e0b\u4e00\u6b65\u3002<\/p>\n\n\n\n<p>&nbsp; &nbsp; 2\u3001\u628a\u6868\u5378\u6389\uff0c\u89e3\u9501\uff0c\u68c0\u67e5\u5404\u4e2a\u7535\u673a\u8f6c\u5411\uff0c\u6ce8\u610f\uff0c\u662f\u4e25\u683c\u6309\u7167\u5b98\u65b9\u7535\u673a\u8f6c\u5411\u8fdb\u884c\u68c0\u67e5\uff0c\u5e76\u4e14\u6ce8\u610f\u7535\u673a\u76841\u30012\u30013\u30014\u53ef\u4e0d\u662f\u6309\u7167\u987a\u65f6\u9488\u6392\u5e03\u7684\uff1b\u5982\u679c\u6ca1\u6709\u95ee\u9898\uff0c\u770b\u4e0b\u4e00\u6b65\u3002<\/p>\n\n\n\n<p>&nbsp; &nbsp; 3\u3001\u8fde\u4e0a\u5730\u9762\u7ad9\uff0c\u770b\u770b\u98de\u673a\u7684\u4fef\u4ef0\u3001\u6a2a\u6eda\u3001\u504f\u822a\u6709\u6ca1\u6709\u53cd\u7684\u3002<\/p>\n\n\n\n<p>&nbsp; &nbsp; 4\u3001\u5982\u679c\u81f3\u6b64\u90fd\u6ca1\u6709\u95ee\u9898\uff0c\u90a3\u4e48\uff0c\u6211\u53ef\u4ee5\u544a\u8bc9\u4f60\uff0c\u6709\u4e00\u90e8\u5206\u98de\u673a\u5728\u8c03\u53c2\u4e0d\u597d\u3001\u673a\u67b6\u521a\u6027\u4e0d\u597d\u3001\u52a8\u529b\u4e0d\u597d\u7684\u60c5\u51b5\u4e0b\uff0c\u4f1a\u51fa\u73b0\u8d77\u98de\u77ac\u95f4\u673a\u5934\u504f\u8f6c\u7684\u95ee\u9898\uff0c\u79bb\u5730\u540e\u673a\u5934\u5c31\u4e0d\u518d\u504f\u8f6c\u4e86\uff0c\u5e76\u4e14\u8fd9\u8fd8\u8ddf\u8d77\u98de\u77ac\u95f4\u63a8\u6cb9\u95e8\u662f\u5426\u679c\u65ad\u76f8\u5173\u3002&nbsp; &nbsp; \u8fd9\u65f6\uff0c\u5982\u679c\u4f60\u662f\u4e2a\u8001\u624b\uff0c\u80c6\u5b50\u8fd8\u5f88\u5927\uff0c\u8bd5\u98de\u573a\u5730\u5f88\u5bbd\u5e7f\u5e76\u6ca1\u6709\u56f4\u89c2\u4eba\u7fa4\uff0c\u90a3\u4e48\u5927\u80c6\u8d77\u98de\u5427\uff0c\u98de\u9ad81\u7c73\u770b\u770b\uff0c\u4f46\u662f\u65f6\u523b\u51c6\u5907\u6536\u6cb9\u95e8\u3002&nbsp; &nbsp; 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\u5730\u9762\u7ad9\u5931\u63a7\u4fdd\u62a4\uff0c\u987e\u540d\u601d\u4e49\uff0c\u5f53\u5730\u9762\u7ad9\u8ddf\u98de\u673a\u5931\u53bb\u8fde\u63a5\u540e\u89e6\u53d1\u5931\u63a7\u4fdd\u62a4\u3002\u4f46\u662f\u5982\u679c\u4f60\u4ee5\u4e3a\u5728MissionPlanner\u4e2d\u7684\u8bbe\u7f6e\u91cc\u76f4\u63a5\u70b9\u4e0a\u5730\u9762\u7ad9\u5931\u63a7\u4fdd\u62a4\u5c31\u884c\u4e86\u7684\u8bdd\uff0c\u90a3\u4f60\u5c31\u60f3\u7b80\u5355\u4e86\uff0c\u4f60\u4f1a\u53d1\u73b0\u81ea\u52a8\u6a21\u5f0f\u4e0b\uff0c\u5373\u4f7f\u628a\u5730\u9762\u7535\u53f0\u62d4\u6389\u4e86\uff0c\u98de\u673a\u4e5f\u4e0d\u4f1a\u8fd4\u822a\u3002\u8fd9\u662f\u4e3a\u4ec0\u4e48\u5462\uff1f\u8fd9\u662f\u56e0\u4e3a\u8fd9\u4e2a\u5931\u63a7\u4fdd\u62a4\u7684\u662f\u4e3a\u201c\u4f7f\u7528\u6e38\u620f\u624b\u67c4\u63a7\u5236\u98de\u673a\u98de\u884c\u65f6\u201d\u8bbe\u7f6e\u7684\uff08\u53c2\u8003\u5b98\u65b9\u6587\u6863\uff1a\u94fe\u63a5\uff09\u3002<\/p>\n\n\n\n<p>&nbsp; &nbsp; 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&nbsp; 1\u3001\u5f00\u542f\u4e86\u6e38\u620f\u624b\u67c4\u63a7\u5236\u98de\u673a\u529f\u80fd\uff0c\u5e76\u4e14\u5728\u4f7f\u7528\u4e2d\uff1b<\/p>\n\n\n\n<p>&nbsp; &nbsp; 2\u3001\u5904\u4e8e\u81ea\u52a8\u6a21\u5f0f\u4e2d\uff1b<\/p>\n\n\n\n<p>&nbsp; &nbsp; 3\u3001\u5730\u9762\u7ad9\u5df2\u7ecf\u67095\u79d2\u949f\u6ca1\u6709\u8ddf\u98de\u673a\u901a\u4fe1\u4e86\uff1b<\/p>\n\n\n\n<p>&nbsp; &nbsp; 4\u3001\u98de\u63a7\u53c2\u6570\u4e2dFS_GCS_ENABLE\u8bbe\u7f6e\u4e3a1\u3002<\/p>\n\n\n\n<p>&nbsp; &nbsp; \u7531\u6b64\u53ef\u77e5\uff0c\u5982\u679c\u4f60\u60f3\u5b9e\u73b0\u8d85\u89c6\u8ddd\u98de\u884c\u4e2d\u7535\u53f0\u65ad\u4e86\u98de\u673a\u81ea\u52a8\u8fd4\u822a\uff0c\u53ea\u80fd\u6539\u98de\u63a7\u4ee3\u7801\u3002\u4e0d\u8fc7\uff0c\u597d\u5728\u8fd9\u4e2a\u5730\u65b9\u6ca1\u6709\u90a3\u4e48\u590d\u6742\uff0c\u6bd4\u8f83\u597d\u6539\uff0c\u81ea\u5df1\u6539\u6539\u5c31\u884c\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u516b\u3001\u7eff\u706f\u5feb\u95ea<\/h2>\n\n\n\n<p> &nbsp; &nbsp; \u7eff\u706f\u6162\u95ea\u8868\u793aGPS\u5df2\u5b9a\u4f4d\uff0c\u5e76\u4e14\u6ca1\u6709\u522b\u7684\u6545\u969c\uff0c\u98de\u63a7\u5141\u8bb8\u89e3\u9501\uff1b\u90a3\u4e48\u7eff\u706f\u5feb\u95ea\u662f\u4ec0\u4e48\u610f\u601d\u5462\uff1f\u5b98\u7f51\u7684\u89e3\u91ca\u662f\uff1aGPS is using SBAS(so should have better position estimate)\u3002\u8fd9\u4e2a\u7684\u610f\u601d\u662f\u7eff\u706f\u5feb\u95ea\u60c5\u51b5\u4e0b\uff0cGPS\u4f7f\u7528\u4e86&#8221;\u661f\u57fa\u589e\u5f3a\u7cfb\u7edf&#8221;\u7684\u4fe1\u53f7\uff0c\u8fd9\u65f6GPS\u5b9a\u4f4d\u4f1a\u66f4\u597d\uff0c\u56e0\u6b64\uff0c\u5728\u7eff\u706f\u5feb\u95ea\u7684\u60c5\u51b5\u4e0b\uff0c\u5b9a\u70b9\u4f1a\u5b9a\u7684\u66f4\u597d\u4e00\u70b9\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e5d\u3001\u63a8\u6cb9\u95e8\u98de\u673a\u8d77\u4e0d\u6765<\/h2>\n\n\n\n<p> &nbsp; &nbsp; \u6709\u65f6\u4f60\u4f1a\u9047\u5230\u5373\u4f7f\u628a\u6cb9\u95e8\u63a8\u5012\u9876\uff0c\u98de\u673a\u90fd\u6ca1\u6cd5\u79bb\u5730\u7684\u60c5\u51b5\uff0c\u6839\u636e\u6211\u591a\u5e74\u8e29\u5751\u7ecf\u9a8c\uff0c\u6709\u5982\u4e0b\u51e0\u79cd\u53ef\u80fd\uff1a<\/p>\n\n\n\n<p>&nbsp; &nbsp; 1\u3001\u7535\u6c60\u6ca1\u7535\u4e86\uff0c\u5e76\u4e14\u662f\u5f7b\u5e95\u6ca1\u7535\u4e86\uff0c\u5e76\u4e14\u662f\u4f60\u4ee5\u4e3a\u8fd8\u6709\u7535\uff0c\u751a\u662f\u662f\u6ee1\u7535\uff0c\u4f46\u662f\u5c31\u662f\u6ca1\u7535\u4e86\uff01&nbsp; &nbsp; &nbsp;\u4e0d\u8981\u76f8\u4fe1\u81ea\u5df1\u7684\u8bb0\u6027\uff0c\u4e0d\u8981\u4ee5\u4e3a\u6628\u665a\u521a\u5145\u6ee1\u7684\u51e0\u5757\u7535\u6c60\uff0c\u600e\u4e48\u53ef\u80fd\u6ca1\u7535\uff0c\u95ee\u9898\u662f\u504f\u504f\u51e0\u5757\u5145\u6ee1\u7684\u7535\u6c60\u653e\u5728\u90a3\u91cc\uff0c\u4f60\u968f\u624b\u62ff\u4e86\u4e00\u5757\u6ca1\u6709\u5145\u7535\u7684\u6216\u8005\u5e72\u8106\u5df2\u7ecf\u574f\u6389\u7684\u7535\u6c60\uff01\u4f60\u552f\u4e00\u53ef\u4ee5\u76f8\u4fe1\u7684\u53ea\u6709BB\u54cd\uff08\u53c8\u79f0\u7535\u663e\uff09\uff01<\/p>\n\n\n\n<p>&nbsp; &nbsp; 2\u3001\u56db\u4e2a\u6868\u7684\u8f6c\u5411\u53cd\u4e86\uff0c\u63a8\u6cb9\u95e8\u98ce\u662f\u5411\u4e0a\u5439\u7684\uff0c\u98de\u673a\u7a33\u7a33\u5730\u8db4\u5728\u5730\u4e0a\u3002<\/p>\n\n\n\n<p>&nbsp; &nbsp; 3\u3001\u7535\u8c03\u6ca1\u6709\u8fdb\u884c\u884c\u7a0b\u6821\u51c6\uff01\u5bfc\u81f4\u9065\u63a7\u5668\u7ed9\u7684\u662f\u6ee1\u6cb9\u95e8\uff0c\u98de\u63a7\u7ed9\u7684\u4e5f\u662f\u6ee1\u6cb9\u95e8\uff0c\u53ef\u504f\u504f\u7535\u8c03\u8ba4\u4e3a\u4f60\u7ed9\u7684\u662f20%\u6cb9\u95e8\u3002\u6ce8\u610f\uff0c\u65b0\u88c5\u7684\u98de\u673a\uff0c\u4e00\u5b9a\u8981\u8fdb\u884c\u7535\u8c03\u884c\u7a0b\u6821\u51c6\uff0c\u5e76\u4e14\u6ce8\u610f\uff0c\u662f\u5148\u6821\u51c6\u9065\u63a7\u5668\uff0c\u540e\u6821\u51c6\u7535\u8c03\u3002\uff08\u73b0\u5728\u4e0d\u5c11FOC\u7535\u8c03\u662f\u56fa\u5b9a\u6cb9\u95e8\u7684\uff0c\u90a3\u4e48\u5c31\u9700\u8981\u4fee\u6539\u9065\u63a7\u5668\u548c\u98de\u63a7\u7684\u884c\u7a0b\u53bb\u9002\u5e94\u7535\u8c03\u4e86\uff09<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u5341\u3001\u8d77\u98de\u77ac\u95f4\u4fa7\u7ffb<\/h2>\n\n\n\n<p>\u3000\u65b0\u98de\u673a\u88c5\u597d\u540e\uff0c\u5404\u79cd\u6821\u51c6\u5b8c\u6210\u540e\uff0c\u7b2c\u4e00\u6b21\u98de\u884c\uff0c\u98de\u673a\u4fa7\u7ffb\uff08\u5411\u524d\u7ffb\u3001\u5411\u540e\u7ffb\u3001\u5411\u5de6\u7ffb\u3001\u5411\u540e\u7ffb\uff09\u3002\u8bf7\u6309\u7167\u5982\u4e0b\u6b65\u9aa4\u68c0\u6d4b\u98de\u673a\uff1a<\/p>\n\n\n\n<p>\u30001\u3001\u68c0\u67e5\u87ba\u65cb\u6868\u7684\u8f6c\u5411\u662f\u5426\u6b63\u786e\uff0c\u87ba\u65cb\u6868\u7684\u8f6c\u5411\u56fe\u53c2\u8003\u8fd9\u4e2a\u94fe\u63a5\uff1a<a href=\"http:\/\/www.nufeichuiyun.com\/?p=1004\" target=\"_blank\" rel=\"noreferrer noopener\">http:\/\/www.nufeichuiyun.com\/?p=1004<\/a>\uff0c\u6ce8\u610f\u5927\u90e8\u5206\u4eba\u90fd\u662f\u8fd9\u4e2a\u95ee\u9898\uff1b<\/p>\n\n\n\n<p>\u30002\u3001\u68c0\u67e5\u5404\u4e2a\u7535\u8c03\u4fe1\u53f7\u7ebf\u4e0e\u98de\u63a7\u8fde\u63a5\u7684\u7ebf\u5e8f\u662f\u5426\u6b63\u786e\uff0c\u4ee5\u56db\u8f74\u4e3a\u4f8b\uff0c\u53f3\u524d\u4e3a1\u53f7\u7535\u673a\uff0c\u5de6\u540e\u4e3a2\u53f7\u7535\u673a\uff0c\u5de6\u524d\u4e3a3\u53f7\u7535\u673a\uff0c\u53f3\u540e\u4e3a4\u53f7\u7535\u673a\uff0c<strong>\u6ce8\u610f\u4e0d\u662f\u987a\u65f6\u9488\u76841\u30012\u30013\u30014<\/strong>\u3002\u5404\u79cd\u98de\u673a\u7684\u7535\u673a\u5e8f\u53f7\u56fe\u53ef\u4ee5\u770b\u8fd9\u4e2a\u94fe\u63a5\uff1a<a href=\"http:\/\/www.nufeichuiyun.com\/?p=1004\" target=\"_blank\" rel=\"noreferrer noopener\">http:\/\/www.nufeichuiyun.com\/?p=1004<\/a><\/p>\n\n\n\n<p>\u30003\u3001<strong>\u5c06\u87ba\u65cb\u6868\u90fd\u62c6\u6389<\/strong>\uff0c\u5728\u589e\u7a33\u6a21\u5f0f\uff08Stablize\uff09\u4e0b\u89e3\u9501\u98de\u673a\uff0c\u4e0d\u8981\u63a8\u6cb9\u95e8\uff0c\u5728\u6020\u901f\u4e0b\u68c0\u67e5\u6240\u6709\u7535\u673a\u7684\u8f6c\u5411\u662f\u5426\u6709\u53cd\u7684\uff0c\u5982\u679c\u6709\u53cd\u7684\uff0c\u5c06\u8be5\u7535\u673a\u7684\u8f6c\u5411\u8c03\u6574\u4e00\u4e0b\uff08\u8c03\u8f6c\u5411\u7684\u65b9\u6cd5\u4ece\u7535\u8c03\u7684\u8bf4\u660e\u4e66\u91cc\u627e\uff09\uff1b&nbsp; <\/p>\n\n\n\n<p>\u30004\u3001\u91cd\u65b0\u6821\u51c6\u4e00\u4e0b\u7535\u8c03\u7684\u884c\u7a0b\u8bd5\u8bd5\uff0c\u5982\u679c\u7535\u8c03\u7684\u884c\u7a0b\u4e0d\u540c\uff0c\u53ef\u80fd\u5bfc\u81f4\u67d0\u4e9b\u7535\u673a\u5148\u542f\u52a8\uff1b<\/p>\n\n\n\n<p>\u30005\u3001\u5982\u679c\u8fd8\u4e0d\u884c\uff0c\u770b\u770b\u98de\u63a7\u662f\u4e0d\u662f\u88c5\u53cd\u4e86\uff0c\u4e0a\u4e0b\u98a0\u5012\u3001\u6216\u8005\u822a\u5411\u8f6c\u4e86\u7279\u5b9a\u89d2\u5ea6\uff0c\u6216\u8005\u53c2\u6570\u4e2d\u8bbe\u7f6e\u4e86\u98de\u63a7\u7684\u65cb\u8f6c\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u5341\u4e00\u3001\u8235\u9762\u8f93\u51fa\u53cd\u5411<\/h2>\n\n\n\n<p> &nbsp; \u5bf9\u4e8e\u56fa\u5b9a\u7ffc\u98de\u673a\u6216\u8005\u65e0\u4eba\u8239\uff0c\u53ef\u80fd\u4f1a\u9047\u5230\u5982\u4e0b\u95ee\u9898\uff1a\u9065\u63a7\u5668\u5404\u4e2a\u901a\u9053\u8bbe\u7f6e\u6b63\u786e\uff0c\u4ece\u5730\u9762\u7ad9\u4e0a\u770b\u98de\u63a7\u63a5\u6536\u7684\u5404\u4e2a\u901a\u9053\u7684\u65b9\u5411\u4e5f\u6b63\u786e\uff0c\u4f46\u662f\u67d0\u4e9b\u8235\u9762\u8f93\u51fa\u662f\u53cd\u5411\u7684\u3002\u8fd9\u79cd\u95ee\u9898\u5f80\u5f80\u662f\u7531\u4e8e\u8235\u673a\u5b9e\u9645\u8fd0\u52a8\u65b9\u5411\u4e0e\u53d7\u63a7\u65b9\u5411\u76f8\u53cd\u5bfc\u81f4\u7684\u3002\u89e3\u51b3\u65b9\u6cd5\u5982\u4e0b\uff1a<\/p>\n\n\n\n<p>&nbsp; \u6bd4\u5982\u53cd\u5411\u7684\u8235\u673a\u8fde\u63a5\u7684\u662f\u98de\u63a7\u7684CH1\uff0c\u90a3\u4e48\u5728\u5168\u90e8\u53c2\u6570\u5217\u8868\u4e2d\uff0c\u641c\u7d22RC1_REVERSED\uff0c\u5c06\u8fd9\u4e2a\u503c\u8bbe\u7f6e\u4e3a1\uff0c\u5373\u53ef\u3002<\/p>\n\n\n\n<p>&nbsp; \u6ce8\u610f\uff0c\u8fd9\u79cd\u95ee\u9898\u4e0d\u80fd\u901a\u8fc7\u5728\u9065\u63a7\u5668\u4e0a\u8bbe\u7f6e\u53cd\u5411\u6765\u89e3\u51b3\u3002\u4ee5\u65b9\u5411\u8235\u4e3a\u4f8b\uff0c\u6211\u4eec\u9700\u8981\u7684\u8fd0\u4f5c\u6a21\u5f0f\u662f\uff1a\u9065\u63a7\u5668\u65b9\u5411\u6447\u6746\u5411\u5de6\u6253\uff0c\u98de\u673a\u822a\u5411\u5c31\u5411\u5de6\u8f6c\uff0c\u5176\u4e2d\u7684\u63a7\u5236\u6307\u4ee4\u6d41\u7a0b\u662f\uff1a\u9065\u63a7\u5668\u6447\u6746\u5411\u5de6\u6253\u2014&gt;\u98de\u63a7\u6536\u5230\u822a\u5411\u9700\u8981\u5411\u5de6\u8f6c\u7684\u6307\u4ee4\u2014&gt;\u98de\u63a7\u901a\u8fc7\u4e00\u7cfb\u5217PID\u8fd0\u7b97\u5f97\u51fa\u8235\u673a\u63a7\u5236PWM\u503c\u2014&gt;\u8235\u673a\u6536\u5230\u8be5PWM\u503c\u2014&gt;\u8235\u673a\u8f6c\u5230\u5bf9\u5e94\u7684\u89d2\u5ea6\u2014&gt;\u8235\u9762\u5728\u8235\u673a\u8fde\u6746\u7684\u62c9\u52a8\u4e0b\u8f6c\u52a8\uff0c\u7531\u4e8e\u4e0d\u540c\u98de\u673a\u8235\u673a\u548c\u8235\u9762\u7684\u5b89\u88c5\u65b9\u5f0f\u4e0d\u540c\uff0c\u4f1a\u5bfc\u81f4\u5b9e\u9645\u8235\u9762\u8fd0\u52a8\u65b9\u5411\u4e0e\u6211\u4eec\u9700\u8981\u7684\u65b9\u5411\u76f8\u53cd\uff0c\u56e0\u6b64\u9700\u8981\u5728\u98de\u63a7\u8f93\u51faPMW\u4fe1\u53f7\u65f6\u8fdb\u884c\u53cd\u5411\u3002\u5982\u679c\u5728\u9065\u63a7\u5668\u91cc\u8bbe\u7f6e\u4e86\u53cd\u5411\uff0c\u5728\u624b\u52a8\u63a7\u5236\u6a21\u5f0f\u4e0b\u53ef\u80fd\u8f93\u51fa\u662f\u5bf9\u7684\uff0c\u4f46\u662f\u5728\u5b9a\u70b9\u6a21\u5f0f\u6216\u8005\u81ea\u52a8\u6a21\u5f0f\u4e0b\uff0c\u98de\u63a7\u6536\u5230\u7684\u63a7\u5236\u6307\u4ee4\u5c06\u662f\u53cd\u7684\uff0c\u4ece\u800c\u5728\u8fdb\u884cPID\u63a7\u5236\u65f6\u662f\u53cd\u7684\uff0c\u6700\u7ec8\u5c31\u4e71\u6389\u4e86\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u5341\u4e8c\u3001\u98de\u63a7\u4e0d\u542f\u52a8<\/h2>\n\n\n\n<p> &nbsp; \u6709\u65f6\u5019\uff0c\u540c\u4e00\u4e2a\u98de\u63a7\uff0c\u4e4b\u524d\u7528\u7684\u597d\u597d\u7684\uff0c\u7a81\u7136\u6709\u4e00\u5929\u4e0a\u7535\u540e\u98de\u63a7\u6ca1\u6cd5\u5b8c\u5168\u542f\u52a8\uff0c\u4e0a\u7535\u540e\u51e0\u4e2a\u5c0f\u7684LED\u4e5f\u662f\u4eae\u7684\uff0c\u4f46\u662fRGB LED\u4e0d\u95ea\u70c1\uff0c\u7528USB\u8fde\u63a5\u7535\u8111\uff0c\u8bbe\u5907\u7ba1\u7406\u5668\u4e2d\u4e5f\u80fd\u770b\u5230\u98de\u63a7\u7684\u4e32\u53e3\uff0c\u4f46\u662f\u7528\u5730\u9762\u7ad9\u8fde\u4e0d\u4e0a\u98de\u63a7\u3002\u9047\u5230\u8fd9\u79cd\u95ee\u9898\uff0c\u5728\u786e\u5b9a\u98de\u63a7\u786c\u4ef6\u5f7b\u5e95\u574f\u4e86\u7684\u4e4b\u524d\uff0c\u5c1d\u8bd5\u4e00\u4e0b\u5982\u4e0b\u6b65\u9aa4\uff0c\u53ef\u80fd\u5c31\u89e3\u51b3\u4e86\uff1a<\/p>\n\n\n\n<p>&nbsp; 1\u3001\u79fb\u9664\u6240\u6709\u5916\u8bbe\u8fde\u63a5\u7ebf\uff08GPS\u3001\u9065\u63a7\u5668\u63a5\u6536\u673a\u3001\u6570\u4f20\u7535\u53f0\u3001\u7535\u8c03\u4fe1\u53f7\u7ebf\u3001\u5916\u7f6e\u7535\u6e90\u6a21\u5757\u7ebf\u7b49\uff09\uff0c\u4f7f\u7528USB\u8fde\u63a5\u98de\u63a7\uff0c\u770b\u770b\u98de\u63a7\u662f\u5426\u542f\u52a8\u6b63\u5e38\uff0c\u662f\u5426\u80fd\u8fde\u4e0a\u5730\u9762\u7ad9\uff0c\u5982\u679c\u80fd\uff0c\u8bf4\u660e\u53ef\u80fd\u662f\u54ea\u4e2a\u5916\u8bbe\u6709\u95ee\u9898\uff0c\u5982\u679c\u4e0d\u80fd\uff0c\u4e0b\u4e00\u6b65\uff1b<\/p>\n\n\n\n<p>&nbsp; 2\u3001\u5237\u6700\u65b0\u7684\u56fa\u4ef6\u8bd5\u8bd5\uff0c\u5982\u679c\u4e0d\u884c\uff0c\u4e0b\u4e00\u6b65\uff1b<\/p>\n\n\n\n<p>&nbsp; 3\u3001\u5c06SD\u5361\u91cd\u65b0\u683c\u5f0f\u5316\u4e00\u4e0b\uff08windows\u9ed8\u8ba4\u683c\u5f0f\uff09\uff0c\u91cd\u65b0\u63d2\u5165\u98de\u63a7\uff0c\u4e0a\u7535\u8bd5\u4e00\u4e0b\uff0c\u8fd9\u4e00\u6b65\u5927\u591a\u6570\u60c5\u51b5\u4e0b\u5c31\u80fd\u89e3\u51b3\u95ee\u9898\uff0c\u5982\u679c\u8fd8\u4e0d\u884c\uff0c\u4e0b\u4e00\u6b65\uff1b<\/p>\n\n\n\n<p>&nbsp; 4\u3001\u66f4\u6362\u4e00\u4e2aSD\uff0c\u91cd\u65b0\u4e0a\u7535\u8bd5\u8bd5\uff0c\u5982\u679c\u8fd8\u4e0d\u884c\uff0c\u6211\u4e5f\u6ca1\u529e\u6cd5\u4e86\uff0c\u8fdc\u7a0b\u53ea\u80fd\u5e2e\u4f60\u5230\u8fd9\u4e2a\u5730\u65b9\uff0c\u4e0d\u884c\u7684\u8bdd\u628a\u98de\u63a7\u5bc4\u7ed9\u6211\u770b\u770b\u5427\uff0c\u6216\u8005\u8fd4\u5382\u5427\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u5341\u4e09\u3001\u98de\u63a7\u81ea\u52a8\u9501\u5b9a\u65f6\u95f4\u592a\u957f\u6216\u8005\u592a\u77ed<\/h2>\n\n\n\n<p> &nbsp; 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1\u3001\u68c0\u67e5\u9065\u63a7\u5668\u63a5\u6536\u673a\u4e0a\u7684\u706f\u662f\u4e0d\u662f\u4eae\u7684\uff0c\u5982\u679c\u6ca1\u6709\u4eae\uff0c\u5e94\u8be5\u662f\u63a5\u6536\u673a\u6ca1\u6709\u4f9b\u4e0a\u7535\uff1b<\/p>\n\n\n\n<p>&nbsp; 2\u3001\u68c0\u67e5\u9065\u63a7\u5668\u63a5\u6536\u673a\u662f\u4e0d\u662f\u4eae\u7684\u7eff\u706f\uff0c\u5bf9\u4e8e\u5927\u90e8\u5206\u63a5\u6536\u673a\uff0c\u4e0a\u7535\u540e\u5982\u679c\u6ca1\u6709\u63a5\u6536\u5230\u9065\u63a7\u5668\u4fe1\u53f7\uff0c\u4f1a\u4eae\u7ea2\u706f\uff0c\u5426\u5219\u624d\u4f1a\u4eae\u7eff\u706f\u3002\u5982\u679c\u662f\u7ea2\u706f\uff0c\u5c1d\u8bd5\u8ddf\u9065\u63a7\u5668\u91cd\u65b0\u5bf9\u9891\uff1b<\/p>\n\n\n\n<p>&nbsp; 3\u3001\u786e\u4fdd\u4f60\u7684\u63a5\u6536\u673a\u662f\u8ddf\u4f60\u624b\u91cc\u7684\u9065\u63a7\u5668\u5bf9\u7684\u9891\uff0c\u6211\u9047\u5230\u8fc7\u6211\u7684\u63a5\u6536\u673a\u8ddf\u5c4b\u5b50\u91cc\u53e6\u5916\u4e00\u4e2a\u9065\u63a7\u5668\u5bf9\u4e0a\u9891\u7684\u60c5\u51b5\uff0c\u800c\u90a3\u4e2a\u9065\u63a7\u5668\u4e5f\u5f00\u7740\u673a\u3002<\/p>\n\n\n\n<p>&nbsp; 4\u3001\u5982\u679c\u4f7f\u7528\u7684\u662f\u63a5\u6536\u673a\u7684SBUS\u63a5\u53e3\uff0c\u786e\u4fdd\u63d2\u5bf9\u53e3\u4e86\u3002\u5982\u679c\u7528\u7684\u662fFutaba\u76847008SB\uff0c\u6ce8\u610f\u8981\u63d2\u7684\u662f\u5e95\u4e0b\u6a2a\u7740\u7684sbus2\u63a5\u53e3\uff1b<\/p>\n\n\n\n<p>&nbsp; 5\u3001\u786e\u4fdd\u98de\u63a7\u7aef\u63d2\u7684\u662fRC IN\u63a5\u53e3\u3002\u5bf9\u4e8e\u539f\u7248Pixhawk\uff0c\u4e0a\u9762\u7684sbus\u5b57\u6837\u7684\u63a5\u53e3\u662f\u98de\u63a7sbus\u4fe1\u53f7\u8f93\u51fa\u7684\uff0c\u4e0d\u662f\u63d2\u90a3\u4e2a\uff1b<\/p>\n\n\n\n<p>&nbsp; 6\u3001\u68c0\u67e5\u63a5\u6536\u673a\u7ebf\u7684\u4e24\u7aef\u6709\u6ca1\u6709\u63d2\u53cd\uff0c\u4f1a\u4e0d\u4f1a\u201c\u5730\u201d\u548c\u201c\u4fe1\u53f7\u201d\u53cd\u4e86\uff1b<\/p>\n\n\n\n<p>&nbsp; 7\u3001\u8fd8\u4e0d\u884c\uff0c\u6362\u6839\u63a5\u6536\u673a\u8fde\u63a5\u7ebf\u8bd5\u8bd5\uff1b<\/p>\n\n\n\n<p>&nbsp; 8\u3001\u8fd8\u4e0d\u884c\uff0c\u91cd\u5237\u6700\u65b0\u56fa\u4ef6\u8bd5\u8bd5\uff1b<\/p>\n\n\n\n<p>&nbsp; 9\u3001\u8fd8\u4e0d\u884c\uff0c\u53ef\u80fd\u5c31\u662f\u98de\u63a7\u574f\u4e86\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u5341\u4e94\u3001\u673a\u5934\u65b9\u5411\u548c\u98de\u63a7\u524d\u5411\u4e0d\u4e00\u81f4<\/h2>\n\n\n\n<p> &nbsp; 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<a aria-label=\" (opens in a new tab)\" rel=\"noreferrer noopener\" href=\"http:\/\/www.nufeichuiyun.com\/?p=62\" target=\"_blank\">http:\/\/www.nufeichuiyun.com\/?p=62<\/a> 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class=\"wp-block-heading\">\u4e8c\u5341\u4e00\u3001\u56fa\u5b9a\u7ffc\u8235\u673a\u6296\u52a8<\/h2>\n\n\n\n<p>\u3000\u5982\u679c\u4f60\u5728\u8c03\u8bd5\u56fa\u5b9a\u7ffc\u7684\u65f6\u5019\uff0c\u51fa\u73b0\u8235\u673a\u5947\u602a\u6296\u52a8\u73b0\u8c61\uff0c\u90a3\u4e48\u8bf7\u6309\u7167\u5982\u4e0b\u6b65\u9aa4\u4e00\u6b65\u6b65\u68c0\u6d4b\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u6570\u4f20\u7535\u53f0\u3001\u56fe\u4f20\u7535\u53f0\u7684\u5929\u7ebf\u662f\u5426\u4e0e\u8235\u673a\u4fe1\u53f7\u7ebf\u6328\u5f97\u592a\u8fd1\uff0c\u6211\u7ecf\u8fc7\u5927\u91cf\u6d4b\u8bd5\u53d1\u73b0\uff0c\u7535\u53f0\u5929\u7ebf\u8ddd\u79bb\u8235\u673a\u4fe1\u53f7\u592a\u8fd1\uff0c\u7279\u522b\u662f\u4e8c\u8005\u5e73\u884c\u653e\u7f6e\u65f6\uff0c\u7535\u53f0\u53d1\u5c04\u51fa\u7684\u4fe1\u53f7\u4f1a\u5927\u91cf\u8026\u5408\u5230\u8235\u673a\u4fe1\u53f7\u7ebf\u4e2d\uff0c\u8fd9\u65f6\u901a\u8fc7\u793a\u6ce2\u5668\u770b\u8235\u673a\u4fe1\u53f7\u7ebf\u4e0a\u7684PWM\u6ce2\uff0c\u4f1a\u53d1\u73b0\u5b83\u5b8c\u5168\u88ab\u5e72\u6270\u6210\u4e86\u975e\u5e38\u6742\u4e71\u7684\u6ce2\u5f62\uff0c\u4ece\u800c\u8235\u673a\u7684\u63a7\u5236\u7535\u8def\u4f1a\u63a5\u6536\u5230\u9519\u8bef\u7684\u63a7\u5236\u4fe1\u606f\uff0c\u8fdb\u800c\u53d1\u751f\u8235\u673a\u6296\u52a8\u7684\u60c5\u51b5\u3002\u56e0\u6b64\uff0c\u8bf7\u5c3d\u91cf\u5c06\u56fe\u4f20\u5929\u7ebf\u3001\u6570\u4f20\u5929\u7ebf\u548c\u8235\u673a\u7ebf\u7684\u8ddd\u79bb\u4fdd\u6301\u57285cm\u4ee5\u4e0a\uff0c\u5e76\u4e14\u6700\u597d\u4e8c\u8005\u5904\u4e8e\u5782\u76f4\u5173\u7cfb\uff08\u5bf9\u4e8e\u97ad\u72b6\u5929\u7ebf\uff0c\u6b64\u65f6\u8026\u5408\u80fd\u91cf\u6700\u5c11\uff09\u3002\u6ce8\u610f\uff0c\u5bf9\u4e8e\u7535\u8c03\u4fe1\u53f7\u7ebf\uff0c\u8fd9\u4e2a\u5e72\u6270\u540c\u6837\u5b58\u5728\uff0c\u53ea\u4e0d\u8fc7\u4e00\u822c\u4e0d\u4f1a\u88ab\u5927\u5bb6\u6ce8\u610f\u5230\uff0c\u5927\u5bb6\u5e03\u7ebf\u65f6\u540c\u6837\u8981\u6ce8\u610f\u8fd9\u4e00\u70b9\uff1b<\/li>\n\n\n\n<li>\u8fde\u63a5\u5730\u9762\u7ad9\uff0c\u5728MissionPlanner\u4e2d\u9065\u63a7\u5668\u6821\u51c6\u9875\u9762\u67e5\u770b\u9065\u63a7\u5668\u5404\u4e2a\u901a\u9053\u7684\u8f93\u5165\u503c\u662f\u5426\u5728\u8df3\u52a8\uff0c\u5982\u679c\u5728\u8df3\u52a8\uff0c\u8bf7\u68c0\u67e5\u9065\u63a7\u5668\u63a5\u6536\u673a\u8fde\u7ebf\u662f\u5426\u677e\u52a8\u3001\u9065\u63a7\u5668\u672c\u8eab\u662f\u5426\u635f\u574f\uff1b\u5982\u679c\u98de\u63a7\u6536\u5230\u7684\u9065\u63a7\u5668\u7684\u8f93\u5165\u503c\u6ca1\u6709\u8df3\u52a8\uff0c\u8bf4\u660e\u95ee\u9898\u51fa\u5728\u201c\u98de\u63a7\u201d-&gt;\u201c\u8235\u673a\u4fe1\u53f7\u7ebf\u201d-&gt;\u201c\u8235\u673a\u201d\u8fd9\u4e00\u6bb5\uff1aa\u3001\u68c0\u67e5\u98de\u63a7\u5404\u4e2a\u8f93\u51fa\u901a\u9053\u7684\u6700\u5927\u503c\u548c\u6700\u5c0f\u503c\u662f\u5426\u8bbe\u7f6e\u6b63\u786e\uff0c\u6709\u7684\u6a21\u53cb\u51fa\u73b0\u8fc7\u8235\u673a\u63a7\u5236\u901a\u9053\u6700\u5927\u503c\u8bbe\u7f6e\u4e3a1515\uff0c\u6700\u5c0f\u503c\u8bbe\u7f6e\u4e3a1514\u7684\u60c5\u51b5\uff0c\u6b64\u65f6\u5bf9\u98de\u63a7\u6765\u8bb2\u8f93\u51fa\u901a\u9053\u7684\u884c\u7a0b\u53ea\u67091\uff0c\u4ece\u800c\u5bfc\u81f4\u7a0b\u5e8f\u6df7\u4e71\uff0c\u98de\u63a7\u8f93\u51fa\u4fe1\u53f7\u672c\u8eab\u5c31\u5728\u4e0d\u65ad\u8df3\u52a8\uff0c\u5c06\u8fd9\u4e2a\u901a\u9053\u8bbe\u7f6e\u4e3a\u6b63\u5e38\u76841100~1900\u8303\u56f4\u540e\u8235\u673a\u4e0d\u518d\u8df3\u52a8\uff1bb\u3001\u8235\u673a\u4fe1\u53f7\u7ebf\u662f\u5426\u865a\u63a5\uff1fc\u3001\u8235\u673a\u672c\u8eab\u574f\u4e86\uff1f\u6362\u4e2a\u8235\u673a\u8bd5\u8bd5\uff1b<\/li>\n\n\n\n<li>\u4f1a\u4e0d\u4f1a\u662f\u4f9b\u7535\u4e0d\u8db3\u5bfc\u81f4\u7684\uff1f\u5bf9\u4e8e\u8f83\u5927\u7ffc\u5c55\u7684\u98de\u673a\uff0c\u4f7f\u7528\u4e86\u591a\u4e2a\u8f83\u5927\u529f\u7387\u7684\u8235\u673a\uff0c\u540c\u65f6\u4f7f\u7528\u4e86\u8f83\u5c0f\u7684\u7535\u6e90\u6a21\u5757\uff0c\u5bfc\u81f4\u5cf0\u503c\u529f\u7387\u4e0d\u8db3\uff0c\u7535\u6e90\u6a21\u5757\u53cd\u590d\u4fdd\u62a4\u91cd\u542f\uff1f\u5148\u53ea\u4fdd\u7559\u4e00\u4e2a\u8235\u673a\u8bd5\u8bd5\uff1f  \u66f4\u6362\u66f4\u5927\u7684\u7535\u6e90\u6a21\u5757\u8bd5\u8bd5\u3002<\/li>\n<\/ol>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e8c\u5341\u4e8c\u3001MissionPlanner\u5168\u90e8\u53c2\u6570\u5217\u8868\u6ce8\u91ca\u6d88\u5931<\/h2>\n\n\n\n<p>\u3000\u5982\u679c\u9047\u5230\u4ee5\u524d\u6b63\u5e38\u4f7f\u7528\u7684MissionPlanner\uff0c\u6709\u4e00\u5929\u8fde\u4e0a\u98de\u63a7\u540e\u5168\u90e8\u53c2\u6570\u5217\u8868\u4e2d\u7684\u6ce8\u91ca\u5168\u90e8\u6d88\u5931\u4e86\uff0c\u6839\u636e\u6211\u7684\u7ecf\u9a8c\uff0c\u6309\u5982\u4e0b\u6b65\u9aa4\u64cd\u4f5c\u53ef\u4ee5\u89e3\u51b3\uff1a<\/p>\n\n\n\n<p>\u30001\u3001\u5173\u95edMissionPlanner\uff1b<\/p>\n\n\n\n<p>\u30002\u3001\u5220\u9664\u201c\u6b64\u7535\u8111\u201d -&gt; \u201c\u6587\u6863\u201d -&gt; \u201cMission Planner\u201d\u6587\u4ef6\u5939\uff08\u5982\u679c\u4f60\u6ca1\u6709\u5c06MissionPlanner\u5b89\u88c5\u5728C\u76d8\u9ed8\u8ba4\u8def\u5f84\u4e0b\u9762\uff0c\u8fd9\u4e2a\u6587\u4ef6\u5939\u53ef\u80fd\u4e0d\u5728\u8fd9\u4e2a\u4f4d\u7f6e\uff0c\u5177\u4f53\u5728\u54ea\u91cc\u8bf7\u81ea\u884c\u67e5\u627e\uff09\u3002<strong>\u6ce8\u610f\uff0c\u6211\u4eec\u5e73\u5e38\u4e0b\u8f7d\u7684\u98de\u63a7\u65e5\u5fd7\u5c31\u5728\u6b64\u6587\u4ef6\u5939\u4e0b\u7684\u201clogs\u201d\u6587\u4ef6\u5939\u4e0b\uff0c\u5982\u679c\u8fd9\u4e9b\u65e5\u5fd7\u6709\u7528\uff0c\u8bf7\u5148\u5907\u4efd\u201clogs\u201d\u6587\u4ef6\u5939<\/strong>\uff1b<\/p>\n\n\n\n<figure class=\"wp-block-image size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"766\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/07\/7RTDYVEU55CKDL5HYF9SGX-1024x766.png\" alt=\"\" class=\"wp-image-895\" style=\"width:512px;height:383px\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/07\/7RTDYVEU55CKDL5HYF9SGX-1024x766.png 1024w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/07\/7RTDYVEU55CKDL5HYF9SGX-300x224.png 300w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/07\/7RTDYVEU55CKDL5HYF9SGX-768x574.png 768w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/07\/7RTDYVEU55CKDL5HYF9SGX.png 1308w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u30003\u3001\u6253\u5f00MissionPlanner\uff0c\u4f60\u4f1a\u53d1\u73b0MissionPlanner\u5c31\u4f1a\u6309\u7167\u9996\u6b21\u5b89\u88c5\u65f6\u90a3\u6837\u5f39\u51fa\u4e00\u4e9b\u8bbe\u7f6e\u7a97\u53e3\uff0c\u6309\u7167\u9ed8\u8ba4\u8bbe\u7f6e\u5373\u53ef\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e8c\u5341\u4e09\u3001MissionPlanner\u65e0\u6cd5\u663e\u793a\u98de\u63a7\u7684\u6a21\u5f0f<\/h2>\n\n\n\n<p>\u3000\u5982\u4e0b\u56fe\u6240\u793a\uff0c\u6709\u7684\u65f6\u5019\u6211\u4eec\u4f1a\u9047\u5230MissionPlanner\u65e0\u6cd5\u663e\u793a\u98de\u884c\u6a21\u5f0f\u7684\u60c5\u51b5\uff0c\u6240\u6709\u7684\u6a21\u5f0f\u90fd\u663e\u793a\u4e3a\u201c<strong>Unknown<\/strong>\u201d\uff0c\u8fd9\u662f\u7531\u4e8eMissionPlanner\u7684\u914d\u7f6e\u6587\u4ef6\u635f\u574f\u5bfc\u81f4\u7684\uff08\u4e0e\u98de\u63a7\u65e0\u5173\uff09\uff0c\u6211\u4eec\u53ef\u4ee5\u5220\u9664\u6b64\u914d\u7f6e\u6587\u4ef6\uff0cMissionPlanner\u4f1a\u5728\u4e0b\u6b21\u6253\u5f00\u65f6\u81ea\u52a8\u65b0\u5efa\u6b64\u914d\u7f6e\u6587\u4ef6\uff0c\u4ece\u800c\u53ef\u4ee5\u89e3\u51b3\u95ee\u9898\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"935\" height=\"981\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/07\/B7FC6B3046DE7065B983323DBC2ACE79.jpg\" alt=\"\" class=\"wp-image-892\" style=\"width:234px;height:245px\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/07\/B7FC6B3046DE7065B983323DBC2ACE79.jpg 935w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/07\/B7FC6B3046DE7065B983323DBC2ACE79-286x300.jpg 286w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/07\/B7FC6B3046DE7065B983323DBC2ACE79-768x806.jpg 768w\" sizes=\"auto, (max-width: 935px) 100vw, 935px\" \/><\/figure>\n\n\n\n<p>\u3000\u89e3\u51b3\u6b65\u9aa4\u5982\u4e0b\uff1a<\/p>\n\n\n\n<p>\u30001\u3001\u5173\u95edMissionPlanner\uff1b<\/p>\n\n\n\n<p>\u30002\u3001\u5220\u9664\u201c\u6b64\u7535\u8111\u201d -&gt; \u201c\u6587\u6863\u201d -&gt; \u201cMission Planner\u201d\u6587\u4ef6\u5939\uff08\u5982\u679c\u4f60\u6ca1\u6709\u5c06MissionPlanner\u5b89\u88c5\u5728C\u76d8\u9ed8\u8ba4\u8def\u5f84\u4e0b\u9762\uff0c\u8fd9\u4e2a\u6587\u4ef6\u5939\u53ef\u80fd\u4e0d\u5728\u8fd9\u4e2a\u4f4d\u7f6e\uff0c\u5177\u4f53\u5728\u54ea\u91cc\u8bf7\u81ea\u884c\u67e5\u627e\uff09\u3002<strong>\u6ce8\u610f\uff0c\u6211\u4eec\u5e73\u5e38\u4e0b\u8f7d\u7684\u98de\u63a7\u65e5\u5fd7\u5c31\u5728\u6b64\u6587\u4ef6\u5939\u4e0b\u7684\u201clogs\u201d\u6587\u4ef6\u5939\u4e0b\uff0c\u5982\u679c\u8fd9\u4e9b\u65e5\u5fd7\u6709\u7528\uff0c\u8bf7\u5148\u5907\u4efd\u201clogs\u201d\u6587\u4ef6\u5939<\/strong>\uff1b<\/p>\n\n\n\n<p>\u30003\u3001\u6253\u5f00MissionPlanner\uff0c\u4f60\u4f1a\u53d1\u73b0MissionPlanner\u5c31\u4f1a\u6309\u7167\u9996\u6b21\u5b89\u88c5\u65f6\u90a3\u6837\u5f39\u51fa\u4e00\u4e9b\u8bbe\u7f6e\u7a97\u53e3\uff0c\u6309\u7167\u9ed8\u8ba4\u8bbe\u7f6e\u5373\u53ef\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e8c\u5341\u56db\u3001\u89e3\u9501\u540e\u7535\u673a\u4e0d\u8f6c\uff0c\u5e76\u4e14\u53d1\u51fa\u201c\u6ef4\u2014\u2014\u6ef4\u2014\u2014\u201d\u7684\u58f0\u97f3<\/h2>\n\n\n\n<p>\u3000\u89e3\u9501\u540e\u7535\u673a\u4e0d\u8f6c\uff0c\u5e76\u4e14\u53d1\u51fa\u201c\u6ef4\u2014\u2014\u6ef4\u2014\u2014\u201d\u7684\u58f0\u97f3\uff0c\u8bf7\u6309\u7167\u5982\u4e0b\u6b65\u9aa4\u68c0\u67e5\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u662f\u5426\u771f\u7684\u89e3\u9501\u4e86\uff1f\u901a\u8fc7\u5730\u9762\u7ad9\u3001RGB LED\u786e\u5b9a\u4e00\u4e0b\uff0c\u53ef\u80fd\u4f60\u6839\u672c\u5c31\u6ca1\u6709\u6210\u529f\u89e3\u9501\uff1b\u5728\u7279\u5b9a\u6a21\u5f0f\u4e0b\uff0c\u5982\u679c\u4e0d\u6ee1\u8db3\u89e3\u9501\u6761\u4ef6\uff0c\u98de\u63a7\u662f\u62d2\u7edd\u89e3\u9501\u7684\uff1b\u53e6\u5916\uff0c\u5982\u679c\u4f60\u88c5\u4e86\u5b89\u5168\u5f00\u5173\uff0c\u8bf7\u5148\u957f\u6309\u5b89\u5168\u5f00\u5173\u540e\u518d\u89e3\u9501\uff0c\u5982\u679c\u4f60\u6ca1\u6709\u88c5\u5b89\u5168\u5f00\u5173\uff0c\u8bf7\u5728\u5168\u90e8\u53c2\u6570\u5217\u8868\u4e2d\u5c06\u201cBRD_SAFETYENABLE\u201d\u53c2\u6570\u8bbe\u7f6e\u4e3a0\uff0c\u4ece\u800c\u7981\u7528\u5b89\u5168\u5f00\u5173\uff1b<\/li>\n\n\n\n<li>\u68c0\u67e5\u4e00\u4e0b\uff0c\u770b\u770b\u7535\u8c03\u7684\u4fe1\u53f7\u7ebf\u662f\u4e0d\u662f\u63d2\u53cd\u4e86\uff0c\u7535\u8c03\u4fe1\u53f7\u7ebf\u675c\u90a6\u5934\u63d2\u7684\u65f6\u5019\u8f6c\u4e86180\u5ea6\uff0c\u4ece\u800c\u7535\u8c03\u63a5\u6536\u4e0d\u5230\u98de\u63a7\u53d1\u8fc7\u6765\u7684\u63a7\u5236\u4fe1\u53f7\uff08\u5927\u90e8\u5206\u60c5\u51b5\u4e0b\u90fd\u662f\u8fd9\u4e2a\u539f\u56e0\uff09\u3002<\/li>\n<\/ol>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e8c\u5341\u4e94\u3001\u5730\u9762\u7ad9\u63d0\u793a\u201cPreARM:RC12 minimum is greater than trim\u201d<\/h2>\n\n\n\n<p>\u3000\u6709\u65f6\u5019\uff0c\u6821\u51c6\u8fc7\u9065\u63a7\u5668\u540e\u5730\u9762\u7ad9\u59ff\u6001\u7a97\u53e3\u4f1a\u4e0d\u65ad\u5f39\u51fa\u4e0a\u8ff0\u63d0\u793a\uff0c\u8fd9\u4e2a\u63d0\u793a\u7684\u610f\u601d\u662f\u201c\u9065\u63a7\u5668\u7b2c12\u901a\u9053\u7684\u6700\u5c0f\u503c\u5927\u4e8e\u5176\u4e2d\u4f4d\u503c\u201d\uff0c\u5f53\u7136\uff0c\u6709\u65f6\u5019\u8fd9\u91cc\u4e0d\u662fRC12\uff0c\u4e5f\u53ef\u80fd\u4e3aRC5~RC16\u4e2d\u7684\u4efb\u4f55\u4e00\u4e2a\uff0c\u8fd9\u662f\u7531\u4e8e\u6821\u51c6\u9065\u63a7\u5668\u540e\uff0c\u6709\u4e9b\u6ca1\u6709\u7528\u5230\u7684\u901a\u9053\u7684\u6821\u51c6\u503c\u51fa\u73b0\u4e86\u9519\u8bef\uff0c\u5bfc\u81f4\u98de\u63a7\u8bb0\u5f55\u4e86\u4e00\u4e2a\u9519\u8bef\u7684\u8be5\u901a\u9053\u7684\u6700\u5c0f\u503c\uff0c\u5e76\u4e14\u6b64\u503c\u5927\u4e8e\u98de\u63a7\u8bb0\u5f55\u7684\u8be5\u901a\u9053\u7684\u4e2d\u4f4d\u503c\uff0c\u8fd9\u5c31\u4ea7\u751f\u4e86\u903b\u8f91\u9519\u8bef\uff0c\u5904\u7406\u65b9\u6cd5\u5f88\u7b80\u5355\uff0c\u5728\u5168\u90e8\u53c2\u6570\u5217\u8868\u4e2d\u624b\u52a8\u5199\u4e00\u4e2a\u5408\u7406\u7684\u503c\u5c31\u884c\uff0c\u7531\u4e8e\u8fd9\u4e2a\u901a\u9053\u7528\u4e0d\u4e0a\uff0c\u56e0\u6b64\u4e0d\u9700\u8981\u5728\u610f\u5177\u4f53\u7684\u6570\u503c\uff0c\u5e76\u4e14\u4e00\u822c\u60c5\u51b5\u4e0b\u5bf9\u98de\u63a7\u98de\u884c\u5b89\u5168\u6ca1\u6709\u4efb\u4f55\u5f71\u54cd\u3002\u4e0b\u9762\u662f\u4ee5\u901a\u905312\u4e3a\u4f8b\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>RC12_DZ\uff1a0\uff1b\u7b2c12\u901a\u9053\u7684\u6b7b\u533a\u5bbd\u5ea6\uff1b<\/li>\n\n\n\n<li>RC12_MAX\uff1a1900\uff1b\u7b2c12\u901a\u9053\u7684\u6700\u5927\u503c\uff1b<\/li>\n\n\n\n<li>RC12_MIN\uff1a1100\uff1b\u7b2c12\u901a\u9053\u7684\u6700\u5c0f\u503c\uff1b<\/li>\n\n\n\n<li>RC12_OPTION\uff1a0\uff1b\u7b2c12\u901a\u9053\u7684\u529f\u80fd\uff0c\u6ce8\u610f\u8bbe\u4e3a0\u8868\u793a\u7b2c12\u901a\u9053\u4ec0\u4e48\u4e5f\u4e0d\u5e72\uff1b<\/li>\n\n\n\n<li>RC12_REVERSED\uff1a0\uff1b\u7b2c12\u901a\u9053\u662f\u5426\u53cd\u76f8\uff1b<\/li>\n\n\n\n<li>RC12_TRIM\uff1a1500\uff1b\u7b2c12\u901a\u9053\u7684\u4e2d\u4f4d\u503c\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u3000\u6309\u7167\u4e0a\u8ff0\u53c2\u6570\u7684\u503c\u5c06\u4f60\u6709\u95ee\u9898\u7684\u901a\u9053\u7684\u5bf9\u5e94\u53c2\u6570\u8bbe\u7f6e\u4e00\u4e0b\u5373\u53ef\uff0c<strong>\u7136\u540e\u7ed9\u98de\u63a7\u91cd\u65b0\u4e0a\u7535<\/strong>\u3002<\/p>\n\n\n\n<p>\u3000\u4e0a\u8ff0\u53c2\u6570\u503c\u7684\u903b\u8f91\u4e5f\u5f88\u660e\u663e\uff0c\u6b63\u786e\u7684\u903b\u8f91\u662f\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\"><strong>\u6700\u5c0f\u503c\uff08RC12_MIN\uff1a1100\uff09 &lt; \u4e2d\u4f4d\u503c\uff08RC12_TRIM\uff1a1500\uff09 &lt; \u6700\u5927\u503c\uff08RC12_MAX\uff1a1900\uff09<\/strong><\/pre>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e8c\u5341\u516d\u3001\u5730\u9762\u7ad9\u65e0\u6cd5\u901a\u8fc7USB\u7ebf\u8fde\u63a5\u98de\u63a7<\/h2>\n\n\n\n<p>\u3000\u5730\u9762\u7ad9\u901a\u8fc7USB\u7ebf\u8fde\u63a5\u98de\u63a7\u65f6\uff0c\u5982\u679c\u9047\u5230\u65e0\u6cd5\u8fde\u63a5\u7684\u60c5\u51b5\uff0c\u8bf7\u6309\u7167\u5982\u4e0b\u6b65\u9aa4\u627e\u539f\u56e0\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u68c0\u67e5\u662f\u5426\u9009\u62e9\u4e86\u6b63\u786e\u7684\u4e32\u53e3\uff1b<\/li>\n\n\n\n<li>\u5728\u8bbe\u5907\u7ba1\u7406\u5668\u91cc\u67e5\u770b\u98de\u63a7\u662f\u5426\u6210\u529f\u88ab\u8bc6\u522b\u6210\u4e00\u4e2a\u6216\u8005\u4e24\u4e2a\u4e32\u53e3\uff1b<\/li>\n\n\n\n<li>\u6362\u6839USB\u7ebf\u8bd5\u8bd5\uff0c\u6ce8\u610f\u6709\u7684USB\u7ebf\u53ea\u5177\u5907\u5145\u7535\u529f\u80fd\uff0c\u4e0d\u5177\u5907\u6570\u636e\u4f20\u8f93\u529f\u80fd\uff0c\u4e0d\u80fd\u7528\u6765\u8fde\u63a5\u98de\u63a7\uff08\u5145\u7535\u5b9d\u9001\u7684USB\u591a\u662f\u5982\u6b64\uff09\uff1b<\/li>\n\n\n\n<li>\u91cd\u88c5MissionPlanner\u8bd5\u8bd5\uff0c\u6ce8\u610f\u5b89\u88c5\u7684\u65f6\u5019\u8be2\u95ee\u662f\u5426\u5b89\u88c5\u9a71\u52a8\u7684\u6b65\u9aa4\u4e00\u5b9a\u5168\u90e8\u9009\u540c\u610f\u3002MissionPlanner\u4e0b\u8f7d\u94fe\u63a5\u53ef\u4ee5\u5728\u8fd9\u91cc\u627e\uff1a<a href=\"http:\/\/www.nufeichuiyun.com\/?p=62\" target=\"_blank\" rel=\"noreferrer noopener\">http:\/\/www.nufeichuiyun.com\/?p=62<\/a><\/li>\n\n\n\n<li>\u5982\u679c\u8fd8\u4e0d\u884c\uff0c\u6362\u53f0\u7535\u8111\u8bd5\u8bd5\uff0c\u6709\u7684Ghost\u7248\u7684\u7cfb\u7edf\u5220\u9664\u4e86\u90e8\u5206USB\u9a71\u52a8\uff0c\u975e\u5e38\u9ebb\u70e6\uff1b<\/li>\n\n\n\n<li>\u8981\u662f\u8fd8\u4e0d\u884c\uff0c\u8003\u8651\u662f\u5426\u662f\u98de\u63a7\u4e0a\u7684USB\u5ea7\u865a\u710a\u4e86\uff0c\u6709\u6761\u4ef6\u7684\u8bdd\u53ef\u4ee5\u81ea\u5df1\u8865\u710a\u4e00\u4e0b\uff0c\u5426\u5219\u5c31\u627e\u5356\u5bb6\u5904\u7406\u5427\u3002<\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e8c\u5341\u4e03\u3001\u5730\u9762\u7ad9\u65e0\u6cd5\u901a\u8fc7\u6570\u4f20\u7535\u53f0\u8fde\u63a5\u98de\u63a7<\/h2>\n\n\n\n<p>\u5730\u9762\u7ad9\u8f6f\u4ef6\u6210\u529f\u8fde\u63a5\u4e0a\u98de\u63a7\u9700\u8981\u5982\u4e0b\u901a\u8def\u7545\u901a\uff0c\u5176\u4e2d\u4e0d\u80fd\u6709\u4efb\u4f55\u786c\u4ef6\u95ee\u9898\u6216\u8005\u53c2\u6570\u8bbe\u7f6e\u95ee\u9898\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"594\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/03\/image-14-1024x594.png\" alt=\"\" class=\"wp-image-1498\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/03\/image-14-1024x594.png 1024w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/03\/image-14-300x174.png 300w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/03\/image-14-768x445.png 768w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/03\/image-14.png 1095w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u56e0\u6b64\uff0c\u5982\u679c\u9047\u5230\u65e0\u6cd5\u901a\u8fc7\u6570\u4f20\u7535\u53f0\u8fde\u63a5\u98de\u63a7\u7684\u60c5\u51b5\uff0c\u8bf7\u6309\u7167\u5982\u4e0b\u6b65\u9aa4\u8fdb\u884c\u6392\u67e5\uff1a<\/p>\n\n\n\n<ol 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