{"id":366,"date":"2019-11-17T21:45:01","date_gmt":"2019-11-17T13:45:01","guid":{"rendered":"http:\/\/www.nufeichuiyun.com\/?p=366"},"modified":"2021-04-01T21:42:43","modified_gmt":"2021-04-01T13:42:43","slug":"%e6%b7%b1%e5%85%a5%e8%ae%b2%e8%a7%a3apm%e9%a3%9e%e6%8e%a7%e9%a9%b1%e5%8a%a8%e7%a8%8b%e5%ba%8f","status":"publish","type":"post","link":"http:\/\/www.nufeichuiyun.com\/?p=366","title":{"rendered":"\u6df1\u5165\u8bb2\u89e3APM\/Pixhawk\u98de\u63a7\u9a71\u52a8\u7a0b\u5e8f"},"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>\uff0c<strong>\u89c6\u9891\u94fe\u63a5\uff1a<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><\/strong><\/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\u6587\u4ee5APM\u98de\u63a7\u7684GPS\u9a71\u52a8\u4e3a\u4f8b\uff0c\u6df1\u5165\u8bb2\u89e3APM\u98de\u63a7\u9a71\u52a8\u7a0b\u5e8f\u7684\u7ed3\u6784\u548c\u8fd0\u884c\u539f\u7406\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">\u4e00\u3001APM\u5e93\u7684\u7ed3\u6784<\/h3>\n\n\n\n<p>\u3000APM\u98de\u63a7\u7684\u9a71\u52a8\u7684\u7a0b\u5e8f\u90fd\u5728ardupilot\/libraries\u6587\u4ef6\u5939\u4e0b\u9762\uff0c\u6b64\u6587\u4ef6\u5939\u4e0b\u6709\u591a\u4e2a\u5b50\u6587\u4ef6\u5939\uff0c\u5176\u4e2d\u6bcf\u4e2a\u6587\u4ef6\u5939\u5bf9\u5e94\u4e00\u79cd\u9a71\u52a8\u7a0b\u5e8f\uff0c\u4e0b\u9762\u5217\u51fa\u4e86\u51e0\u79cd\u5e38\u89c1\u9a71\u52a8\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\"><li>AC_AttitudeControl\uff1a\u59ff\u6001\u63a7\u5236<\/li><li>AC_Fence\uff1a\u5730\u7406\u56f4\u680f<\/li><li>AC_PrecLand\uff1a\u7cbe\u51c6\u964d\u843d<\/li><li>AC_WPNav\uff1a\u822a\u70b9\u5bfc\u822a<\/li><li>AP_Airspeed\uff1a\u7a7a\u901f\u8ba1<\/li><li>AP_Baro\uff1a\u6c14\u538b\u9ad8\u5ea6\u8ba1<\/li><li>AP_Camera\uff1a\u76f8\u673a\u63a7\u5236<\/li><li>AP_Compass\uff1a\u78c1\u7f57\u76d8<\/li><li>AP_GPS\uff1aGPS\u6a21\u5757<\/li><li>AP_HAL\uff1a\u786c\u4ef6\u62bd\u8c61\uff0c\u5bf9\u5e94\u5e95\u5c42\u7684SPI\u63a5\u53e3\u3001\u4e32\u53e3\u3001CAN\u63a5\u53e3\u3001IIC\u63a5\u53e3\u7b49<\/li><li>AP_HAL_PX4\uff1aPX4\u786c\u4ef6\u786c\u4ef6\u62bd\u8c61<\/li><li>AP_Mission\uff1a\u81ea\u52a8\u4efb\u52a1<\/li><li>AP_Motors\uff1a\u7535\u673a\u63a7\u5236\uff0c\u591a\u65cb\u7ffc\u7684\u6df7\u63a7\u4e5f\u5728\u8fd9\u91cc\u9762<\/li><li>AP_OpticalFlow\uff1a\u5149\u6d41\u6a21\u5757<\/li><li>AP_Parachute\uff1a\u964d\u843d\u4f1e\u63a7\u5236<\/li><li>AP_RangeFinder\uff1a\u5b9a\u9ad8\u8bbe\u5907\u9a71\u52a8\uff0c\u5982\u8d85\u58f0\u6ce2\u3001\u6fc0\u5149\u6d4b\u8ddd\u4eea\u3001\u6beb\u7c73\u6ce2\u96f7\u8fbe\u7b49<\/li><\/ul>\n\n\n\n<h3 class=\"wp-block-heading\">\u4e8c\u3001GPS\u5e93\u7684\u8c03\u7528\u5173\u7cfb<\/h3>\n\n\n\n<p> \u3000<strong>\u5c0f\u77e5\u8bc6\u70b9\uff1a\u5176\u5b9e\uff0c\u6211\u4eec\u98de\u63a7\u7684\u201cGPS\u6a21\u5757\u201d\uff0c\u66f4\u4e13\u4e1a\u7684\u53eb\u6cd5\u5e94\u8be5\u53eb\u201cGNSS\u6a21\u5757\u201d<\/strong>\u3002GPS\uff08Global Positioning System\uff09\u4e2d\u6587\u5168\u79f0\u662f\u201c\u5168\u7403\u5b9a\u4f4d\u7cfb\u7edf\u201d\uff0c\u4e13\u6307\u7f8e\u56fd\u7684GPS\u7cfb\u7edf\uff0c\u56e0\u4e3a\u662f\u7f8e\u56fd\u6700\u5148\u505a\u7684\u5168\u7403\u5b9a\u4f4d\u7cfb\u7edf\uff0c\u56e0\u6b64\u8fd9\u4e2a\u540d\u5b57\u5c31\u88ab\u8d4b\u4e88\u4e86\u7f8e\u56fd\u7684\u90a3\u5957\u536b\u661f\u5b9a\u4f4d\u7cfb\u7edf\u3002\u800c\u540e\u6765\u4fc4\u7f57\u65af\u51fa\u4e86\u201c\u683c\u6d1b\u7eb3\u65af\uff08GLONASS\uff09\u201d\u3001\u6211\u56fd\u51fa\u4e86\u201c\u5317\u6597\uff08Compass\uff09\u201d\u3001\u6b27\u6d32\u51fa\u4e86\u201c\u4f3d\u5229\u7565\u536b\u661f\u5bfc\u822a\u7cfb\u7edf\u201d\uff0c\u4ece\u800c\uff0c\u8fd9\u4e9b\u5e73\u884c\u5e76\u4e14\u7ade\u4e89\u5173\u7cfb\u7684\u7cfb\u7edf\u7edf\u79f0\u4e3a\u201cGNSS\uff08Global Navigation Satellite System\uff09\u201d\uff0c\u4e2d\u6587\u5168\u79f0\u662f\u201c\u5168\u7403\u5bfc\u822a\u536b\u661f\u7cfb\u7edf\u201d\u3002\u73b0\u5728\u6211\u4eec\u5927\u90e8\u5206\u63a5\u6536\u673a\u90fd\u652f\u6301\u53cc\u7cfb\u7edf\u3001\u4e09\u7cfb\u7edf\u3001\u751a\u81f3\u56db\u7cfb\u7edf\u8054\u5408\u5b9a\u4f4d\uff0c\u56e0\u6b64\u53eb\u201cGPS\u201d\u5c31\u4e0d\u5408\u9002\u4e86\u3002\u5f53\u7136\uff0c\u4e60\u60ef\u7684\u529b\u91cf\u662f\u5f3a\u5927\u7684\uff0c\u6211\u4eec\u7ee7\u7eed\u53eb\u5b83\u201cGPS\u6a21\u5757\u201d\u662f\u6ca1\u6709\u95ee\u9898\u7684\uff0c\u5fc3\u91cc\u77e5\u9053\u600e\u4e48\u56de\u4e8b\u5373\u53ef\u3002 <\/p>\n\n\n\n<p>\u3000\u4ee5AP_GPS\u6587\u4ef6\u5939\u4e3a\u4f8b\uff0c\u6b64\u6587\u4ef6\u5939\u4e0b\u9762\u7684AP_GPS.cpp\u548cAP_GPS.h\u4e24\u4e2a\u6587\u4ef6\u5b9a\u4e49\u4e86GPS\u7c7b\u9a71\u52a8\u7a0b\u5e8f\u7edf\u4e00\u7684\u5bf9\u5916\u63a5\u53e3\uff0c\u8fd9\u6837\u5bf9\u4e8e\u9876\u5c42\u4ee3\u7801\u6765\u8bb2\uff0c\u4e0d\u7ba1\u98de\u63a7\u8fde\u63a5\u7684\u662f\u54ea\u79cd\u534f\u8bae\u7684GPS\u6a21\u5757\u3001\u4e0d\u7ba1\u63a5\u4e86\u51e0\u4e2aGPS\u6a21\u5757\uff0c\u90fd\u901a\u8fc7\u7edf\u4e00\u7684\u63a5\u53e3\u5b9a\u65f6\u63d0\u53d6\u4f4d\u7f6e\u548c\u901f\u5ea6\u4fe1\u606f\u3002GPS_Backend.cpp\u548cGPS_Backend.h\u4e24\u4e2a\u6587\u4ef6\u5b9a\u4e49\u7684GPS\u7c7b\u9a71\u52a8\u7a0b\u5e8f\u7edf\u4e00\u7684\u5185\u90e8\u63a5\u53e3\uff0c\u5404\u79cd\u7c7b\u578b\u7684GPS\u6a21\u5757\u7684\u9a71\u52a8\u90fd\u662f\u5728\u6b64\u57fa\u7840\u4e0a\u201c\u6d3e\u751f\u201d\u51fa\u6765\u7684\uff0c\u53ea\u662f\u5177\u4f53\u5b9e\u73b0\u4e0d\u540c\u800c\u5df2\u3002\u8fd9\u79cd\u201cBackend\u201d\u67b6\u6784\uff0c\u5229\u4e8e\u5b9e\u73b0\u98de\u63a7\u4e0a\u540c\u65f6\u8fde\u63a5\u591a\u4e2a\u4e0d\u540c\u7c7b\u578b\u7684GPS\uff0c\u975e\u5e38\u65b9\u4fbf\u3002<\/p>\n\n\n\n<p>\u3000AP_GPS\u6587\u4ef6\u5939\u4e2d\u652f\u6301\u7684GPS\u5916\u8bbe\u5982\u4e0b\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\"><li>AP_GPS_ERB\uff1a\u57fa\u4e8eERB\u534f\u8bae\u7684GNSS\u8bbe\u5907\uff1b<\/li><li>AP_GPS_GSOF\uff1aTrimble\uff08\u5929\u5b9d\uff09\u516c\u53f8\u7684GNSS\u8bbe\u5907\uff1b<\/li><li>AP_MAV\uff1a\u57fa\u4e8eMavlink\u901a\u4fe1\u534f\u8bae\u7684GNSS\u8bbe\u5907\uff1b<\/li><li>AP_MTK\uff1a\u8054\u53d1\u79d1GNSS\u8bbe\u5907\uff1b<\/li><li>AP_MTK19\uff1a\u8054\u53d1\u79d1\u57fa\u4e8e\u5176V1.6~V1.9\u7248\u672c\u901a\u4fe1\u534f\u8bae\u7684GNSS\u8bbe\u5907\uff1b<\/li><li>AP_NMEA\uff1a\u57fa\u4e8eNMEA\u534f\u8bae\u7684GNSS\u8bbe\u5907\uff1b<\/li><li>AP_NOVA\uff1a\u57fa\u4e8e\u8bfa\u74e6\u6cf0\u534f\u8bae\u7684GNSS\u8bbe\u5907\uff0c\u6ce8\u610f\uff0c\u5e38\u7528\u7684\u591a\u4e2a\u54c1\u724c\u7684RTK\u8bbe\u5907\uff08\u8bfa\u74e6\u6cf0\u3001\u53f8\u5357\u5bfc\u822a\u3001\u548c\u82af\u661f\u901a\u7b49\u7b49\uff09\u5747\u91c7\u7528\u8fd9\u4e2a\u534f\u8bae\uff1b<\/li><li>AP_SBF\uff1a Septentrio \u54c1\u724c\u7684GNSS\u8bbe\u5907\uff1b<\/li><li>AP_SBP\uff1a Swift&nbsp;Navigation \u54c1\u724c\u7684GNSS\u8bbe\u5907\uff1b<\/li><li>AP_SBP2\uff1a Swift&nbsp;Navigation \u54c1\u724c\u7684GNSS\u8bbe\u5907\uff08\u4f30\u8ba1\u662f\u5347\u7ea7\u7248\u672c\u7684\u534f\u8bae\uff09\uff1b<\/li><li> AP_SIRF\uff1aSIRF\u516c\u53f8\u7684GNSS\u8bbe\u5907\uff1b<\/li><li>AP_GPS_UAVCAN\uff1a\u57fa\u4e8eUAVCAN\u534f\u8bae\u7684GNSS\u534f\u8bae\uff0c\u6570\u636e\u8d70\u7684\u4e0d\u662f\u4e32\u53e3\uff0c\u800c\u662fCAN\u603b\u7ebf\uff1b<\/li><li>AP_GPS_UBLOX\uff1aublox\u516c\u53f8\u7684GNSS\u901a\u4fe1\u534f\u8bae\uff0c\u6211\u4eec\u5e38\u7528\u7684ublox-M8N\u5c31\u662f\u7528\u7684\u8fd9\u4e2a\u534f\u8bae\uff0c\u8fd9\u4e2a\u534f\u8bae\u5728ublox\u5b98\u65b9\u6587\u6863\u4e2d\u88ab\u547d\u540d\u4e3a\u201cUBX\u201d\u534f\u8bae\u3002<\/li><\/ul>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"884\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2019\/11\/AP_GPS--1024x884.png\" alt=\"\" class=\"wp-image-368\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2019\/11\/AP_GPS--1024x884.png 1024w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2019\/11\/AP_GPS--300x259.png 300w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2019\/11\/AP_GPS--768x663.png 768w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2019\/11\/AP_GPS--1536x1326.png 1536w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2019\/11\/AP_GPS-.png 1827w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u3000GPS\u9a71\u52a8\u5728\u521d\u59cb\u5316\u7684\u65f6\u5019\uff0c\u4f1a\u6839\u636e\u98de\u63a7\u53c2\u6570\u8bbe\u7f6e\uff0c\u52a8\u6001\u5730\u6dfb\u52a0\u4e0d\u540c\u7c7b\u578b\u7684GPS\u9a71\u52a8\uff0c\u751f\u6210\u4e00\u4e2a\u4e2a\u7684\u5b9e\u4f8b\uff08instance\uff09\uff0c\u7ec4\u6210\u4e00\u4e2a\u5b9e\u4f8b\u6570\u7ec4\uff0c\u7136\u540e\u4f1a\u5b9a\u65f6\u4f9d\u6b21\u8c03\u7528\u5404\u4e2a\u5b9e\u4f8b\u4e0b\u7684\u89e3\u6790\u5904\u7406\u51fd\u6570\uff0c\u5b9e\u73b0\u591a\u4e2a\u4e0d\u540c\u7c7b\u578b\u7684GPS\u7684\u540c\u65f6\u5de5\u4f5c\uff08\u4e5f\u53ef\u4ee5\u662f\u591a\u4e2a\u76f8\u540c\u7c7b\u578b\u7684GPS\u540c\u65f6\u5de5\u4f5c\uff09\uff0c\u5176\u7ed3\u6784\u56fe\u5982\u4e0b\uff1a<\/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\/2020\/01\/GPS\u4ee3\u7801\u7ed3\u6784-1024x738.jpg\" alt=\"\" class=\"wp-image-523\" width=\"1024\" height=\"738\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/01\/GPS\u4ee3\u7801\u7ed3\u6784-1024x738.jpg 1024w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/01\/GPS\u4ee3\u7801\u7ed3\u6784-300x216.jpg 300w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/01\/GPS\u4ee3\u7801\u7ed3\u6784-768x554.jpg 768w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/01\/GPS\u4ee3\u7801\u7ed3\u6784-1536x1107.jpg 1536w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/01\/GPS\u4ee3\u7801\u7ed3\u6784-2048x1477.jpg 2048w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/01\/GPS\u4ee3\u7801\u7ed3\u6784-120x85.jpg 120w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><\/p>\n\n\n\n<h3 class=\"wp-block-heading\">\u4e09\u3001\u6211\u4eec\u6765\u60ca\u53f9\u4e00\u4e0bGPS\u5e93\u4e2d\u795e\u5947\u7684\u89e3\u5e27\u65b9\u6cd5<\/h3>\n\n\n\n<p>\u3000packed union\uff01\u6211\u5f53\u5e74\u4e0a\u5927\u5b66\u7684\u65f6\u5019\uff0cC\u8bed\u8a00\u8bfe\u7a0b\u4e0a\uff0c\u4e00\u76f4\u6ca1\u6709\u641e\u660e\u767dunion\u6709\u4ec0\u4e48\u7528\uff0c\u76f4\u5230\u6211\u770b\u4e86APM\u4e2dGPS\u7684\u89e3\u5e27\u65b9\u6cd5\uff0c\u6211\u624d\u660e\u767dunion\u662f\u591a\u4e48\u6709\u7528\uff01<\/p>\n\n\n\n<p>\u3000\u6559\u5b66\u89c6\u9891\u4e2d\uff0c\u6211\u4eec\u5c06\u4ee5AP_NOVA\u4e3a\u4f8b\uff0c\u8be6\u7ec6\u8bb2\u4e00\u4e0b\u8fd9\u4e2a\u795e\u5947\u7684\u89e3\u5e27\u65b9\u6cd5\u7684\u5177\u4f53\u5b9e\u73b0\u8fc7\u7a0b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"677\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/01\/Packed\u7528\u6cd5-1024x677.jpg\" alt=\"\" class=\"wp-image-534\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/01\/Packed\u7528\u6cd5-1024x677.jpg 1024w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/01\/Packed\u7528\u6cd5-300x198.jpg 300w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/01\/Packed\u7528\u6cd5-768x508.jpg 768w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/01\/Packed\u7528\u6cd5-1536x1015.jpg 1536w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/01\/Packed\u7528\u6cd5-2048x1353.jpg 2048w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p class=\"has-vivid-red-color has-very-light-gray-background-color has-text-color has-background\">\u3000<strong>\u5927\u5bb6\u53ef\u4ee5\u770b\u5230\uff0c\u5728AP_NOVA\u4e2d\uff0c\u5e27\u5934\uff08 nova_header \uff09\u3001\u5e27\u6570\u636e\uff08 msgbuffer 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