{"id":283,"date":"2019-11-12T16:55:24","date_gmt":"2019-11-12T08:55:24","guid":{"rendered":"http:\/\/www.nufeichuiyun.com\/?p=283"},"modified":"2025-11-26T18:59:31","modified_gmt":"2025-11-26T10:59:31","slug":"apm%e9%a3%9e%e6%8e%a7%e6%b7%bb%e5%8a%a0%e8%87%aa%e5%ae%9a%e4%b9%89%e5%8f%82%e6%95%b0","status":"publish","type":"post","link":"http:\/\/www.nufeichuiyun.com\/?p=283","title":{"rendered":"APM\u98de\u63a7\u6dfb\u52a0\u81ea\u5b9a\u4e49\u53c2\u6570"},"content":{"rendered":"\n<p class=\"has-text-color has-background has-vivid-red-color has-very-light-gray-background-color\"><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\"><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><\/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 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> \uff0c<strong>\u672c\u7ae0\u8282\u5bf9\u5e94git\u5206\u652f\uff08branch\uff09\uff1a TestStarWP<\/strong><\/p>\n\n\n\n<h3 class=\"wp-block-heading\">\u4e00\u3001\u529f\u80fd\u76ee\u6807<\/h3>\n\n\n\n<p>\u3000\u4e0a\u8282\u8bfe\u4e2d\u6211\u4eec\u5b9e\u73b0\u4e86\u4e00\u952e\u81ea\u52a8\u98de\u884c\u4e94\u89d2\u661f\u822a\u7ebf\u7684\u529f\u80fd\uff0c\u4f46\u662f\u4e94\u89d2\u661f\u7684\u5927\u5c0f\u662f\u5728\u98de\u63a7\u4ee3\u7801\u4e2d\u662f\u56fa\u5b9a\u4e0d\u53d8\u7684\uff0c\u5982\u679c\u60f3\u8c03\u6574\u4e94\u89d2\u661f\u7684\u5927\u5c0f\uff0c\u9700\u8981\u91cd\u65b0\u7f16\u8bd1\u56fa\u4ef6\uff0c\u975e\u5e38\u4e0d\u65b9\u4fbf\u3002\u672c\u8282\u8bfe\u4e2d\uff0c\u6211\u4eec\u5c06\u4e94\u89d2\u661f\u7684\u5927\u5c0f\u5b9a\u4e49\u4e3a\u4e00\u4e2a\u53c2\u6570\uff0c\u5e76\u4e14\u53ef\u4ee5\u5728MissionPlanner\u4e2d\u4fee\u6539\u5b83\uff0c\u4ece\u800c\u63a7\u5236\u4e94\u89d2\u661f\u7684\u5927\u5c0f\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">\u4e8c\u3001\u5b9e\u73b0\u6b65\u9aa4<\/h3>\n\n\n\n<p>\u30001\u3001\u6dfb\u52a0\u53c2\u6570\u53d8\u91cf\uff1b<\/p>\n\n\n\n<p>\u30002\u3001\u6dfb\u52a0\u53c2\u6570\u5b9a\u4e49\uff1b<\/p>\n\n\n\n<p>\u30003\u3001\u4f7f\u7528\u53c2\u6570\u63a7\u5236\u4e94\u89d2\u661f\u5927\u5c0f\uff1b<\/p>\n\n\n\n<p>\u30004\u3001\u4eff\u771f\u98de\u884c\uff0c\u5728MissionPlanner\u4e2d\u53ef\u4ee5\u76f4\u63a5\u770b\u5230\u5e76\u4fee\u6539\u6b64\u53c2\u6570\u3002<\/p>\n\n\n\n<p class=\"has-vivid-red-color has-text-color has-link-color wp-elements-7928fa2d4ba046b297baa4e4f3034ec9\"><strong>2025\u5e7411\u670826\u65e5\u66f4\u65b0\uff1a<\/strong><\/p>\n\n\n\n<p>\u3000\u5982\u4e0b\u5185\u5bb9\u5e94\u8be5\u53ef\u4ee5\u66f4\u52a0\u51c6\u786e\u5730\u89e3\u51b3\u5927\u5bb6\u5e38\u89c1\u7684\u7591\u60d1\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u200b<strong>\u6dfb\u52a0\u65b0\u53c2\u6570<\/strong>\u200b\uff1a\u53c2\u6570\u4f1a\u81ea\u52a8\u51fa\u73b0\u5728Mission 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Planner\u5730\u9762\u7ad9\u7684\u663e\u793a\u903b\u8f91\u4e25\u91cd\u4f9d\u8d56\u4e8e\u5176\u5185\u7f6e\u7684\u4e00\u4efd\u201c\u53c2\u6570\u5143\u6570\u636e\u201d\u6587\u4ef6<\/strong>\u3002<\/p>\n\n\n\n<p>\u3000\u8fd9\u4efd\u6587\u4ef6\u662f\u4e00\u4e2a\u9759\u6001\u6570\u636e\u5e93\uff0c\u5b83\u9884\u5148\u5b9a\u4e49\u4e86\u51e0\u4e4e\u6240\u6709\u53c2\u6570\u7684\u540d\u5b57\u3001\u8be6\u7ec6\u63cf\u8ff0\u3001\u5355\u4f4d\u3001\u4ee5\u53ca<strong>\u679a\u4e3e\u503c\u5217\u8868<\/strong>\u7b49\u5bcc\u6587\u672c\u4fe1\u606f\u3002<\/p>\n\n\n\n<ul 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Planner\u8f6f\u4ef6\u5185\u7684\u53c2\u6570\u5143\u6570\u636e\u6587\u4ef6\uff0c\u8fd9\u901a\u5e38\u9700\u8981\u7b49\u5f85\u5b98\u65b9\u96c6\u6210\u6216\u81ea\u884c\u7f16\u8bd1MP\u3002<\/p>\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=\"464\" height=\"764\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2019\/11\/24a438a620c46115e920764535d89b0.jpg\" alt=\"\" class=\"wp-image-289\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2019\/11\/24a438a620c46115e920764535d89b0.jpg 464w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2019\/11\/24a438a620c46115e920764535d89b0-182x300.jpg 182w\" sizes=\"auto, (max-width: 464px) 100vw, 464px\" \/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\">\u56db\u3001\u6269\u5c55\u8bb2\u89e3<\/h3>\n\n\n\n<p>\u3000\u4e8b\u5b9e\u4e0a\uff0cAPM\u7684\u53c2\u6570\u5b9a\u4e49\u4e0d\u6b62\u51fa\u73b0\u5728Parameters.cpp\/Parameters.h\u8fd9\u4e24\u4e2a\u6587\u4ef6\u4e2d\uff0c\u8fd8\u6709\u4e0d\u5c11\u53c2\u6570\u662f\u5728\u5404\u4e2a\u5e93\u6587\u4ef6\u4e2d\u7684\u3002\u603b\u7684\u6765\u8bf4\uff0c\u5bf9\u4e8e\u4e0e\u8f7d\u5177\u7279\u6027\u76f8\u5173\u7684\u53c2\u6570\uff0c\u662f\u51fa\u73b0\u7684\u5728\u5bf9\u5e94\u8f7d\u5177\u9876\u5c42\u6587\u4ef6\u5939\u4e2d\u7684\uff08\u4e5f\u4e0d\u7edd\u5bf9\uff0c\u6bd5\u7adf\u641e\u56fa\u5b9a\u7ffc\u7684\u662f\u6ca1\u6cd5\u8981\u6c42\u641e\u591a\u65cb\u7ffc\u7684\u8ddf\u4ed6\u534f\u8c03\u7684\uff0c\u6bd5\u7adf\u5927\u5bb6\u6ca1\u6709\u9876\u5c42\u4ee3\u7801\u540c\u6b65\u5f00\u53d1\u7684\u9700\u6c42\uff09\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5bf9\u4e8e\u591a\u65cb\u7ffc\uff0c\u4e0e\u8f7d\u5177\u7279\u6027\u76f8\u5173\u7684\u53c2\u6570\u5728ArduCopter\/Parameters.cpp\u4e2d\uff1b<\/li>\n\n\n\n<li>\u5bf9\u4e8e\u56fa\u5b9a\u7ffc\u548c\u5782\u76f4\u8d77\u964d\u56fa\u5b9a\u7ffc\uff0c\u4e0e\u8f7d\u5177\u7279\u6027\u76f8\u5173\u7684\u53c2\u6570\u5728ArduPlane\/Parameters.cpp\u4e2d\uff1b <\/li>\n\n\n\n<li>\u5bf9\u4e8e\u65e0\u4eba\u8f66\uff0c \u4e0e\u8f7d\u5177\u7279\u6027\u76f8\u5173\u7684\u53c2\u6570\u5728APMrover2\/Parameters.cpp\u4e2d \u3002<\/li>\n<\/ul>\n\n\n\n<p>\u3000\u5bf9\u4e8e\u5404\u79cd\u8f7d\u5177\u5171\u7528\u7684\u5e93\u6587\u4ef6\uff0c\u4e0d\u540c\u6a21\u5757\u7684\u53c2\u6570\u662f\u653e\u5728\u4e0d\u540c\u6a21\u5757\u5185\u7684\uff0c\u6bd4\u5982\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>libraries\/AP_GPS\/AP_GPS.cpp\u6587\u4ef6\u7684\u9876\u90e8\uff0c\u5c31\u5b9a\u4e49\u4e86\u4e0eGPS\u76f8\u5173\u7684\u53c2\u6570\uff08\u5982GPS\u7c7b\u578b\u7b49\uff09\uff1b<\/li>\n\n\n\n<li>libraries\/AP_RangeFinder\/ AP_RangeFinder.cpp\u6587\u4ef6\u7684\u9876\u90e8\uff0c\u5c31\u5b9a\u4e49\u4e86\u4e0e\u6d4b\u9ad8\u8bbe\u5907\u76f8\u5173\u7684\u53c2\u6570\u3002<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"649\" height=\"367\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/03\/image-5.png\" alt=\"\" class=\"wp-image-1422\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/03\/image-5.png 649w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/03\/image-5-300x170.png 300w\" sizes=\"auto, (max-width: 649px) 100vw, 649px\" \/><\/figure>\n\n\n\n<p>\u3000\u8fd9\u4e9b\u5e93\u91cc\u7684\u53c2\u6570\u5b9a\u4e49\u65b9\u6cd5\u4e0e\u9876\u5c42\u7684\u53c2\u6570\u5b9a\u4e49\u65b9\u6cd5\u7565\u6709\u4e0d\u540c\uff0c\u4f46\u662f\u4e5f\u5927\u5dee\u4e0d\u5dee\uff0c\u5927\u5bb6\u53ef\u4ee5\u7167\u732b\u753b\u864e\u81ea\u5df1\u63a2\u7d22\u4e00\u4e0b\u3002<strong>\u54b1\u4eec\u8fd9\u4e2a\u89c6\u9891\u6559\u7a0b\u66f4\u6838\u5fc3\u7684\u610f\u56fe\u662f\u6559\u4f1a\u5927\u5bb6\u5982\u4f55\u901a\u8fc7\u7814\u7a76\u98de\u63a7\u4e2d\u73b0\u6709\u7684\u4ee3\u7801\uff0c\u53bb\u5199\u51fa\u81ea\u5df1\u7684\u4ee3\u7801\uff0c\u6765\u5b9e\u73b0\u81ea\u5df1\u9700\u8981\u7684\u529f\u80fd\uff0c\u800c\u4e0d\u662f\u628a\u6211\u7684\u90a3\u4e9b\u4f8b\u7a0b\u6284\u4e00\u904d\u3002<\/strong><\/p>\n\n\n\n<p class=\"has-vivid-red-color has-text-color\">\u3000<strong>\u4e0a\u56fe\u4e2d\u6709\u4e2a\u95ee\u9898\uff1a\u8fd9\u91cc\u5b9a\u4e49\u7684\u662fGPS\u7684\u7c7b\u578b\uff0c\u4f46\u662f\u6211\u4eec\u5728MissionPlanner\u7684\u5168\u90e8\u53c2\u6570\u5217\u8868\u4e2d\u627e\u5230\u5bf9\u5e94\u53c2\u6570\u662f\u201cGPS_TYPE\u201d\u548c\u201cGPS_TYPE1\u201d\u8fd9\u4e24\u4e2a\u53c2\u6570\uff0c\u90a3\u4e48\u8bf7\u95ee\u5176\u4e2d\u7684\u53c2\u6570\u540d\u524d\u7f00\u201cGPS_\u201d\u662f\u5728\u54ea\u91cc\u5b9a\u4e49\u7684\u5462\uff1f\u5bf9\u4e8e\u591a\u65cb\u7ffc\uff0c\u5728\u201cArduCopter\/Parameters.cpp\u201d\u4e2d\u53ef\u4ee5\u627e\u5230\u4e0b\u56fe\u6240\u793a\u5185\u5bb9\uff0c\u8fd9\u91cc\u9762\u5c31\u5b9a\u4e49\u4e86\u201cGPS_\u201d\uff0c\u5e76\u4e14\u4e0e\u201cAP_GPS\u201d\u8fd9\u4e2a\u7c7b\u5173\u8054\u4e86\u8d77\u6765\uff0c\u4ece\u800c\u4e00\u5207\u90fd\u8bf4\u5f97\u901a\u4e86\u3002<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"642\" height=\"327\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/11\/Image.png\" alt=\"\" class=\"wp-image-2010\" style=\"width:642px;height:327px\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/11\/Image.png 642w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/11\/Image-300x153.png 300w\" sizes=\"auto, (max-width: 642px) 100vw, 642px\" \/><\/figure>\n\n\n\n<p>\u3000<strong>\u8fd8\u6709\u4e00\u4e2a\u95ee\u9898\uff1a\u6211\u6700\u521d\u63a2\u7d22APM\u4ee3\u7801\u7684\u65f6\u5019\uff0c\u9047\u5230\u7684\u4e86\u5728\u6e90\u4ee3\u7801\u4e2d\u5168\u5c40\u641c\u7d22\u65f6\u627e\u4e0d\u5230\u201cGPS_TYPE\u201d\u8fd9\u4e2a\u53c2\u6570\u7684\u95ee\u9898\u3002\u9047\u5230\u8fd9\u79cd\u60c5\u51b5\uff0c\u6211\u4eec\u8be5\u5982\u4f55\u89e3\u51b3\u5462\uff1f<\/strong><\/p>\n\n\n\n<p>\u3000<strong>1\u3001\u9996\u5148\uff0c\u6211\u4eec\u53bbAP_GPS\u4e2d\u627e\uff0c\u53d1\u73b0\u80fd\u627e\u5230\u201cTYPE\u201d\u3001\u201cTPYE1\u201d\u4e4b\u7c7b\u5927\u6982\u80fd\u8ddf\u5168\u90e8\u53c2\u6570\u5217\u8868\u5bf9\u5e94\u7684\u4e0a\u7684\u4ee3\u7801\uff0c\u6839\u636e\u6ce8\u91ca\u53ef\u4ee5\u786e\u5b9a\u8fd9\u5c31\u662f\u90a3\u4e9b\u53c2\u6570\u7684\u771f\u6b63\u5b9a\u4e49\u7684\u5730\u65b9\u3002\u90a3\u4e48\u6b64\u65f6\u95ee\u9898\u5c31\u53d8\u6210\u4e86\u201cGPS_\u201d\u8fd9\u4e2a\u524d\u7f00\u5728\u54ea\u6765\u5b9a\u4e49\u7684\u5462\uff1f<\/strong><\/p>\n\n\n\n<p>\u3000<strong>2\u3001\u4e8e\u662f\u6211\u5168\u5c40\u641c\u7d22\u201cGPS\u201d\uff0c\u7ed3\u679c\u51fa\u6765\u4e86\u4e00\u5806\u4e1c\u897f\uff0c\u592a\u591a\u4e86\u3002\u7136\u540e\u641c\u7d22\u201cGPS_\u201d\uff0c\u7136\u540e\u5c31\u627e\u5230\u4e86\u4e0a\u56fe\u6240\u793a\u7684\u4ee3\u7801\uff0c\u7136\u540e\u5c31\u8c41\u7136\u5f00\u6717\u4e86\u3002<\/strong><\/p>\n\n\n\n<p class=\"has-vivid-red-color has-luminous-vivid-amber-background-color has-text-color has-background\"><strong>\u4e0a\u8ff0\u89e3\u51b3\u95ee\u9898\u7684\u65b9\u6cd5\u5e0c\u671b\u5927\u5bb6\u80fd\u591f\u638c\u63e1\u3002<\/strong><\/p>\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\u65f6\u5019\uff0c\u6211\u4eec\u6709\u8fd9\u6837\u7684\u9700\u6c42\uff1a\u98de\u63a7\u7a0b\u5e8f\u8fd0\u884c\u4e2d\uff0c\u5728\u67d0\u79cd\u72b6\u6001\u4e0b\u81ea\u52a8\u8c03\u8282\u67d0\u4e2a\u53c2\u6570\u7684\u503c\u5e76\u4fdd\u5b58\uff0c\u4e0b\u6b21\u91cd\u65b0\u4e0a\u7535\u65f6\u8fd9\u4e2a\u53c2\u6570\u7684\u503c\u4fdd\u6301\u4e3a\u4fee\u6539\u540e\u7684\u72b6\u6001\uff0c\u5176\u6548\u679c\u7b49\u540c\u4e8e\u5e73\u5e38\u6211\u4eec\u4f7f\u7528MissionPlanner\u5728\u5168\u90e8\u53c2\u6570\u8868\u4e2d\u4fee\u6539\u53c2\u6570\u3002\u4e0b\u9762\u4ee5\u672c\u8282\u8bfe\u6dfb\u52a0\u7684\u201cstar_radius_cm\u201d\u53d8\u91cf\u5bf9\u5e94\u7684\u201cSRAT_R_CM\u201d\u53c2\u6570\u4e3a\u4f8b\uff0c\u8bb2\u8ff0\u4e24\u79cd\u5728\u7a0b\u5e8f\u4e2d\u4fee\u6539\u53c2\u6570\u7684\u65b9\u6cd5\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>\/\/ \u65b9\u6cd5\u4e00\uff0c\u76f4\u63a5\u4fee\u6539star_radius_cm\u53d8\u91cf\u7684\u503c\uff0c\u4fee\u6539\u540e\u7684\u503c\u53ea\u5728\u98de\u63a7\u672c\u6b21\u65ad\u7535\u4e4b\u524d\u6709\u6548\uff0c\u5e76\u4e0d\u4f1a\u5199\u5165\u98de\u63a7\u7684\u975e\u6613\u5931\u5b58\u50a8\u5668\u4e2d\uff0c\u91cd\u65b0\u4e0a\u7535\u540e\u6b64\u503c\u88ab\u6062\u590d\u4e3a\u4fee\u6539\u524d\u7684\u503c\ng2.star_radius_cm.set(1);\n\n\/\/ \u65b9\u6cd5\u4e8c\uff0c\u76f4\u63a5\u4fee\u6539star_radius_cm\u53d8\u91cf\u7684\u503c\uff0c\u5e76\u5c06\u6b64\u503c\u4fdd\u5b58\u5728\u98de\u63a7\u7684\u975e\u6613\u5931\u5b58\u50a8\u5668\u4e2d\uff0c\u91cd\u65b0\u4e0a\u7535\u540e\u5bf9\u5e94\u53c2\u6570\u7684\u503c\u8fd8\u4fdd\u6301\u4e3a\u672c\u6b21\u4fee\u6539\u540e\u7684\u503c\ng2.star_radius_cm.set_and_save(1);<\/code><\/pre>\n\n\n\n<h3 class=\"wp-block-heading has-vivid-red-color has-text-color\">\u4e94\u3001\u7591\u96be\u89e3\u7b54<\/h3>\n\n\n\n<p class=\"has-vivid-red-color has-text-color\"><strong>1\u3001\u6dfb\u52a0\u5b8c\u67d0\u4e2a\u53c2\u6570\u4e4b\u540e\u98de\u63a7\u65e0\u6cd5\u6b63\u5e38\u542f\u52a8\uff0c\u5730\u9762\u7ad9\u4e5f\u8fde\u4e0d\u4e0a<\/strong><\/p>\n\n\n\n<p>\u3000\u3000\u9020\u6210\u8fd9\u79cd\u60c5\u51b5\u7684\u539f\u56e0\u6709\u5982\u4e0b\u51e0\u79cd\uff1a<\/p>\n\n\n\n<p>\u3000\u3000a\u3001\u5982\u4e0b\u56fe\u6240\u793a\uff0c\u5e8f\u53f7\u4e0d\u5bf9\uff0c\u6240\u6709\u5e8f\u53f7\u5e94\u8be5\u4ece\u4e0a\u5f80\u4e0b\u4f9d\u6b21\u589e\u52a0\uff0c\u7531\u4e8e\u6211\u4eec\u6dfb\u52a0\u65b0\u7684\u53c2\u6570\u65f6\u4e00\u822c\u662f\u590d\u5236\u7c98\u8d34\u7684\uff0c\u56e0\u6b64\u7ecf\u5e38\u53ef\u80fd\u4f1a\u5fd8\u6389\u5c06\u5e8f\u53f7\u52a0\u4e00\uff0c\u8fd9\u91cc\u8bf7\u614e\u4e4b\u53c8\u614e\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"586\" height=\"284\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/03\/image-1.png\" alt=\"\" class=\"wp-image-1414\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/03\/image-1.png 586w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/03\/image-1-300x145.png 300w\" sizes=\"auto, (max-width: 586px) 100vw, 586px\" \/><\/figure>\n\n\n\n<p>\u3000\u3000b\u3001\u53c2\u6570\u540d\u8fc7\u957f\u3002APM\u89c4\u5b9a\u53c2\u6570\u540d\u7684\u603b\u957f\u4e0d\u80fd\u8d85\u8fc716\u4e2a\u5b57\u7b26\uff0c\u5426\u5219\u5c31\u4f1a\u5bfc\u81f4\u98de\u63a7\u65e0\u6cd5\u542f\u52a8\u3002\u8fd9\u79cd\u60c5\u51b5\u53c8\u5206\u4e24\u79cd\u72b6\u51b5\uff1a<\/p>\n\n\n\n<p>\u3000\u3000\u3000<strong>\uff08i\uff09\u5728\u9876\u5c42\u6587\u4ef6\u5939\u4e2d\u7684Parameters.cpp\u4e2d\u6dfb\u52a0\u53c2\u6570\uff0c\u8fd9\u91cc\u7684\u53c2\u6570\u540d\u76f4\u63a5\u5c31\u662f\u4ee3\u7801\u91cc\u5199\u7684\uff0c\u5176\u957f\u5ea6\u8d85\u8fc716\u5c31\u4f1a\u5d29\u6e83\uff1a<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"716\" height=\"238\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/03\/image-2.png\" alt=\"\" class=\"wp-image-1415\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/03\/image-2.png 716w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/03\/image-2-300x100.png 300w\" sizes=\"auto, (max-width: 716px) 100vw, 716px\" \/><\/figure>\n\n\n\n<p>\u3000\u3000\u3000<strong>\uff08ii\uff09\u5728\u5e93\u6587\u4ef6\u4e2d\u6dfb\u52a0\u53c2\u6570\uff0c\u7531\u4e8e\u9690\u542b\u7684\u6709\u524d\u7f00\uff0c\u5e94\u8be5\u662f\u603b\u957f\u4e0d\u80fd\u8d85\u8fc716<\/strong>\u3002\u5982\u4e0b\u56fe\u6240\u793a\uff0c\u5728libraries\/AP_Camera\/AP_Camera.cpp\u6587\u4ef6\u4e2d\uff0c\u867d\u7136\u4ee3\u7801\u91cc\u663e\u793a\u7684\u53ea\u662f\u201cTYPE\u201d\uff0c\u4f46\u662f\u5b9e\u9645\u4e0a\u5728MissionPlanner\u4e2d\u4f1a\u52a0\u4e0a\u524d\u7f00\u201cCAM_\u201d\uff0c\u7ec4\u6210\u201cCAM_TYPE\u201d\uff0c\u5982\u679c\u8fd9\u4e2a\u201cCAM_TYPE\u201d\u603b\u957f\u8d85\u8fc716\uff0c\u4f1a\u5f15\u8d77\u5d29\u6e83\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"593\" height=\"118\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/03\/image-3.png\" alt=\"\" class=\"wp-image-1416\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/03\/image-3.png 593w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/03\/image-3-300x60.png 300w\" sizes=\"auto, (max-width: 593px) 100vw, 593px\" \/><\/figure>\n\n\n\n<p>\u3000\u3000<strong>\u6ce8\u610f\uff0c\u5982\u4e0b\u56fe\u6240\u793a\uff0c\u4ee5\u591a\u65cb\u7ffc\u4e3a\u4f8b\uff0c\u8fd9\u4e2a\u201cCAM_\u201d\u524d\u7f00\u662f\u5728ardupilot\/ArduCopter\/Parameters.cpp\u4e2d\u5b9a\u4e49\u7684\uff1a<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"468\" height=\"100\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/03\/image-4.png\" alt=\"\" class=\"wp-image-1420\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/03\/image-4.png 468w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/03\/image-4-300x64.png 300w\" sizes=\"auto, (max-width: 468px) 100vw, 468px\" \/><\/figure>\n\n\n\n<p 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