{"id":389,"date":"2019-11-25T18:13:46","date_gmt":"2019-11-25T10:13:46","guid":{"rendered":"http:\/\/www.nufeichuiyun.com\/?p=389"},"modified":"2020-11-19T23:13:41","modified_gmt":"2020-11-19T15:13:41","slug":"%e7%bb%86%e8%ae%b2apm%e9%a3%9e%e6%8e%a7%e6%97%a5%e5%bf%97%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=389","title":{"rendered":"\u7ec6\u8bb2APM\u98de\u63a7\u65e5\u5fd7\uff08\u6301\u7eed\u66f4\u65b0\uff09"},"content":{"rendered":"\n

\u3000\u98de\u63a7\u7684\u65e5\u5fd7\u529f\u80fd\u662f\u98de\u63a7\u7cfb\u7edf\u7684\u91cd\u8981\u7ec4\u6210\u90e8\u5206\uff0c\u5728\u6211\u4eec\u5206\u6790\u98de\u63a7\u95ee\u9898\u65f6\u975e\u5e38\u6709\u7528\u3002\u672c\u6587\u5c06\u8be6\u7ec6\u8bb2\u8ff0APM\u98de\u63a7\u65e5\u5fd7\u7684\u65b9\u65b9\u9762\u9762\uff0c\u5e76\u6839\u636e\u5927\u5bb6\u7684\u53cd\u9988\u6301\u7eed\u66f4\u65b0\u3002<\/p>\n\n\n\n

\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<\/strong>\uff0c\u8bf7QQ\u8054\u7cfb\uff1a3500985284<\/strong> \u3002<\/p>\n\n\n\n

\u7ecf\u8fc7\u4e09\u4e2a\u6708\u7684\u5236\u4f5c\uff0c\u6211\u7684\u300a\u65e0\u4eba\u673a\u98de\u63a7\u56fa\u4ef6\u5f00\u53d1\u6559\u7a0b\u300b\u7cfb\u5217\u89c6\u9891\u7ec8\u4e8e\u5728\u201c\u7f51\u6613\u4e91\u8bfe\u5802\u201d\u4e0a\u7ebf\u4e86\uff0c\u672c\u6559\u7a0b\u57fa\u4e8eAPM\u56fa\u4ef6\u548cPixhawk\u786c\u4ef6\uff0c\u8bb2\u8ff0\u5982\u4f55\u642d\u5efa\u98de\u63a7\u56fa\u4ef6\u5f00\u53d1\u73af\u5883\u3001\u5982\u4f55\u7f16\u8bd1\u70e7\u5199\u56fa\u4ef6\u3001\u5982\u4f55\u4fee\u6539\u56fa\u4ef6\u3001\u5982\u4f55\u5efa\u7acb\u98de\u63a7\u4eff\u771f\u73af\u5883\u3001\u5982\u4f55\u6dfb\u52a0\u81ea\u5b9a\u4e49\u4fe1\u606f\u3001\u81ea\u5b9a\u4e49\u65e5\u5fd7\u3001\u5982\u4f55\u6dfb\u52a0\u5916\u8bbe\u9a71\u52a8\u7a0b\u5e8f\u3001\u5982\u4f55\u4f7f\u7528OpenMV\u56fe\u50cf\u8bc6\u522b\u8bbe\u5907\u5f15\u5bfc\u98de\u673a\u98de\u884c\u7b49\uff0c\u656c\u8bf7\u652f\u6301<\/strong>\u3002https:\/\/study.163.com\/course\/introduction\/1209568864.htm?share=1&shareId=1448054983<\/a><\/a><\/p>\n\n\n\n

\u4e00\u3001APM\u98de\u63a7\u65e5\u5fd7\u662f\u5982\u4f55\u4ea7\u751f\u7684<\/h3>\n\n\n\n

\u3000\u5bf9\u4e8ePixhawk\u786c\u4ef6\uff0cAPM\u56fa\u4ef6\u7684\u65e5\u5fd7\u5b58\u50a8\u5728MicroSD\u5361\uff08\u53c8\u540dTF\u5361\uff09\u4e2d\u7684\u3002\u5f53\u6211\u4eec\u5c06\u4e00\u5f20\u65b0\u7684SD\u5361\u63d2\u5165\u98de\u63a7\u540e\uff0c\u7b2c\u4e00\u6b21\u4e0a\u7535\u540e\uff0c\u98de\u63a7\u4f1a\u81ea\u52a8\u5728\u6839\u76ee\u5f55\u4e0b\u9762\u521b\u5efa\u4e00\u4e2a\u540d\u4e3a\u201cAPM\u201d\u7684\u6587\u4ef6\u5939\uff0c\u5982\u679c\u98de\u63a7\u4ea7\u751f\u8fc7\u65e5\u5fd7\uff0c\u201cAPM\u201d\u6587\u4ef6\u5939\u5185\u90e8\u8fd8\u4f1a\u81ea\u52a8\u4ea7\u751f\u201cLOGS\u201d\u6587\u4ef6\u5939\uff0c\u65e5\u5fd7\u5c31\u5b58\u50a8\u5728\u8fd9\u4e2a\u6587\u4ef6\u5939\u4e0b\u3002\u65e5\u5fd7\u6587\u4ef6\u5728SD\u5361\u4e2d\u4ee5\u201cXXXXXX.bin\u201d\u7684\u683c\u5f0f\u5b58\u50a8\uff0c\u5982\u201c0000001.bin\u300100000002.bin\u2026\u2026\u201d\uff0c\u6bcf\u65b0\u5efa\u4e00\u4e2a\u65e5\u5fd7\uff0c\u6587\u4ef6\u540d\u5c31\u4f1a\u52a01\uff0c\u540c\u65f6LOGS\u6587\u4ef6\u5939\u4e0b\u8fd8\u6709\u4e00\u4e2a\u201cLASTLOG.TXT\u201d\u6587\u4ef6\uff0c\u8fd9\u4e2a\u6587\u4ef6\u8bb0\u5f55\u4e86\u6700\u540e\u4e00\u4e2a\u65e5\u5fd7\u7684\u6570\u5b57\u5e8f\u53f7\u3002\u5982\u4e0b\u56fe\u6240\u793a\uff0c\u5728APM\/LOGS\u6587\u4ef6\u5939\u5185\u90e8\uff0c\u6709\u56db\u4e2a\u65e5\u5fd7\u6587\u4ef6\uff0c\u540c\u65f6\u8fd8\u6709\u201c LASTLOG.TXT \u201d\u6587\u4ef6\uff0c\u8be5\u6587\u4ef6\u6253\u5f00\u540e\u5185\u5bb9\u53ea\u6709\u4e00\u4e2a\u6570\u5b57\u201c4\u201d\uff0c\u5982\u679c\u4e0b\u6b21\u89e3\u9501\u540e\u98de\u63a7\u65b0\u5efa\u4e86\u4e00\u4e2a\u65e5\u5fd7\uff0c\u8fd9\u4e2a\u6570\u5b57\u5c31\u4f1a\u53d8\u62105\u3002<\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n

\u3000\u4e00\u822c\u60c5\u51b5\u4e0b\uff0c\u4e00\u6b21\u4e0a\u7535\u540e\uff0c\u7b2c\u4e00\u6b21\u89e3\u9501\u65f6\uff0c\u98de\u63a7\u4f1a\u65b0\u5efa\u4e00\u4e2a\u65e5\u5fd7\u6587\u4ef6\uff0c\u4e4b\u540e\u9501\u5b9a\u540e\uff0c\u505c\u6b62\u8bb0\u5f55\u65e5\u5fd7\uff0c\u5728\u6ca1\u6709\u65ad\u7535\u7684\u60c5\u51b5\u4e0b\uff0c\u91cd\u65b0\u89e3\u9501\uff0c\u5219\u7ee7\u7eed\u5728\u6b64\u65e5\u5fd7\u6587\u4ef6\u57fa\u7840\u4e0a\u8bb0\u5f55\u65e5\u5fd7\u3002\u5982\u679c\u91cd\u65b0\u4e0a\u7535\u5e76\u89e3\u9501\uff0c\u5219\u65b0\u5efa\u4e00\u4e2a\u65e5\u5fd7\u6587\u4ef6\u2026\u2026<\/p>\n\n\n\n

\u3000\u6ce8\u610f\u4e8b\u9879\uff1a<\/strong><\/p>\n\n\n\n

\u30001\u3001SD\u5361\u63d2\u5165\u98de\u63a7\u524d\u5fc5\u987b\u6309\u7167\u5982\u4e0b\u683c\u5f0f\u683c\u5f0f\u5316\uff0c\u683c\u5f0f\u5316\u8bbe\u7f6e\u5982\u4e0b\u56fe\u6240\u793a\uff1a<\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n

\u30002\u3001\u4ece\u53ef\u9760\u6027\u89d2\u5ea6\u8bb2\uff0c\u5efa\u8bae\u63d2\u5165SD\u5361\u540e\uff0c\u5728SD\u5361\u5ea7\u4e0eSD\u5361\u95f4\u70b9\u4e0a\u4e00\u70b9\u7845\u6a61\u80f6\uff0c\u4ee5\u51cf\u5c0f\u9707\u52a8\u60c5\u51b5\u4e0bSD\u5361\u865a\u63a5\u7684\u6982\u7387\uff0c\u5426\u5219\u6709\u65f6\u5730\u9762\u7ad9\u59ff\u6001\u7a97\u53e3\u4f1a\u6709\u201cBad logging\u201d\u7684\u63d0\u793a\uff0c\u98de\u884c\u540e\u4f1a\u53d1\u73b0\u98de\u63a7\u5e76\u6ca1\u6709\u8bb0\u5f55\u65e5\u5fd7\uff1b<\/p>\n\n\n\n

\u30003\u3001\u98de\u63a7\u5411SD\u5361\u4e2d\u5199\u5165\u6570\u636e\u662f\u6709\u7f13\u5b58\u673a\u5236\u7684\uff0c\u5982\u679c\u98de\u884c\u4e2d\u51fa\u73b0\u610f\u5916\uff0c\u98de\u673a\u5728\u8bb0\u5f55\u65e5\u5fd7\u65f6\u65ad\u7535\u4e86\uff0c\u5219\u5f88\u6709\u53ef\u80fd\u4f1a\u4e22\u5931\u65ad\u7535\u524d10\u79d2\u5185\u7684\u65e5\u5fd7\uff08\u6ce8\uff1a\u4e0d\u4e00\u5b9a\u662f10\u79d2\uff0c\u53ef\u80fd\u66f4\u957f\u6216\u8005\u66f4\u77ed\uff09\uff1b<\/p>\n\n\n\n

\u30004\u3001\u5982\u679c\u60f3\u5728\u672a\u89e3\u9501\u60c5\u51b5\u4e0b\u8bb0\u5f55\u65e5\u5fd7\uff0c\u5c06 LOG_DISARMED \u8fd9\u4e2a\u53c2\u6570\u8bbe\u7f6e\u4e3a1\u5373\u53ef\uff0c\u8fd9\u6837\u4efb\u4f55\u4e00\u6b21\u4e0a\u7535\uff0c\u98de\u63a7\u90fd\u4f1a\u65b0\u5efa\u4e00\u4e2a\u65e5\u5fd7\u6587\u4ef6\uff0c\u5e76\u4e00\u76f4\u8bb0\u5f55\u65e5\u5fd7\uff0c\u76f4\u5230\u65ad\u7535\u4e3a\u6b62\u3002<\/p>\n\n\n\n

\u4e8c\u3001\u5e38\u89c1\u65e5\u5fd7\u5206\u6790\u65b9\u6cd5<\/h3>\n\n\n\n

1\u3001\u67e5\u770b\u7535\u673a\u662f\u5426\u6c34\u5e73<\/h4>\n\n\n\n

\u3000\u4e00\u822c\u60c5\u51b5\u4e0b\uff0c\u6211\u4eec\u7684\u673a\u81c2\u90fd\u662f\u78b3\u7ba1\uff0c\u8fd9\u79cd\u7ba1\u72b6\u7ed3\u6784\u6709\u4e2a\u95ee\u9898\u662f\u7535\u673a\u5ea7\u4e0d\u6613\u505a\u5230\u8f83\u9ad8\u7cbe\u5ea6\u7684\u6c34\u5e73\uff0c\u5982\u679c\u7535\u673a\u4e0d\u6c34\u5e73\uff0c\u5b83\u7ed5\u7740\u673a\u81c2\u8f74\u7ebf\u65b9\u5411\u6709\u4e2a\u626d\u8f6c\u89d2\u5ea6\uff0c\u5c31\u4f1a\u5bfc\u81f4\u5176\u5347\u529b\u5728\u6c34\u5e73\u65b9\u5411\u6709\u4e00\u4e2a\u5206\u529b\uff0c\u8fd9\u4e2a\u5206\u529b\u7684\u65b9\u5411\u521a\u597d\u662f\u5e26\u52a8\u98de\u673a\u5728\u6c34\u5e73\u65b9\u5411\u8f6c\u5934\uff0c\u8fd9\u4e2a\u5206\u529b\u7684\u5927\u5c0f\u4e3aF*sin\uff08a\uff09\uff0c\u5176\u4e2dF\u4e3a\u5347\u529b\uff0ca\u4e3a\u626d\u8f6c\u89d2\u5ea6\uff0c\u4ee5F = 1kg\uff0ca = 5\u5ea6\u4e3a\u4f8b\uff0c1 * sin(5) = 0.087kg\uff0c\u8fd9\u4e2a\u503c\u770b\u4f3c\u4e0d\u5927\uff0c\u4f46\u662f\u7531\u4e8e\u98de\u673a\u822a\u5411\u662f\u9760\u7535\u673a\u53cd\u626d\u6765\u63a7\u5236\u7684\uff0c\u800c\u7535\u673a\u53cd\u626d\u529b\u5ea6\u4e00\u822c\u4e0d\u4f1a\u592a\u5927\uff0c\u56e0\u6b64\u5982\u679c\u7535\u673a\u4e0d\u5e73\uff0c\u5927\u90e8\u5206\u60c5\u51b5\u4e0b\u5c31\u4f1a\u5bfc\u81f4\u98de\u673a\u9501\u5934\u80fd\u529b\u4e0d\u8db3\uff0c\u6216\u8005\u53eb\u822a\u5411\u63a7\u5236\u80fd\u529b\u4e0d\u8db3\u3002<\/p>\n\n\n\n

\u3000\u6211\u4eec\u53ef\u4ee5\u901a\u8fc7\u65e5\u5fd7\u4e2d\u7684\u201cRCOU\u201d\u9879\u76ee\u6765\u67e5\u770b\u7535\u673a\u662f\u5426\u6c34\u5e73\uff0c\u201cRCOU\u201d\u5168\u79f0\u662f\u201cRC output\u201d\uff0c\u6307\u7684\u662f\u98de\u63a7\u53d1\u9001\u7ed9\u5404\u4e2a\u7535\u8c03\u7684\u63a7\u5236\u8f93\u51fa\uff0c\u5982\u679c\u51fa\u73b0\u4e86\u7535\u673a\u4e0d\u5e73\u7684\u60c5\u51b5\uff0c\u5e76\u4e14\u8fd9\u4e2a\u6c34\u5e73\u5206\u529b\u662f\u5bfc\u81f4\u98de\u673a\u5411\u53f3\u8f6c\u5934\u7684\uff0c\u90a3\u4e48\u98de\u63a7\u4e3a\u4e86\u9501\u5934\uff0c\u5c31\u4f1a\u81ea\u52a8\u589e\u5927\u53cd\u626d\u662f\u8ba9\u98de\u673a\u5411\u5de6\u8f6c\u5934\u7684\u51e0\u4e2a\u7535\u673a\u7684\u6cb9\u95e8\uff0c\u540c\u65f6\u51cf\u5c0f\u53cd\u626d\u662f\u8ba9\u98de\u673a\u5411\u53f3\u8f6c\u5934\u7684\u51e0\u4e2a\u7535\u673a\u7684\u6cb9\u95e8\uff0c\u4ece\u800c\u5c31\u4f1a\u51fa\u73b0\u660e\u663e\u7684\u7535\u673a\u8f93\u51fa\u5206\u5c42\u7684\u73b0\u8c61\uff0c\u5e76\u4e14\u8f93\u51fa\u9ad8\u7684\u7535\u673a\u7684\u8f6c\u5411\u662f\u76f8\u540c\u7684\uff08\u6b63\u8f6c\u6216\u8005\u53cd\u8f6c\uff09\u3002<\/p>\n\n\n\n

\u3000\u4e0b\u56fe\u662f\u4e00\u4e2a\u5178\u578b\u7684\u7535\u673a\u4e0d\u5e73\u5bfc\u81f4\u7684\u8f93\u51fa\u5206\u5c42\u7684\u73b0\u8c61\uff0c\u8fd9\u662f\u4e00\u4e2aX8\u7ed3\u6784\u7684\u591a\u65cb\u7ffc\uff0c\u5927\u5bb6\u53ef\u4ee5\u770b\u5230\uff0c\u6709\u56db\u4e2a\u7535\u673a\u660e\u663e\u63a5\u8fd1\u4e86\u6ee1\u6cb9\u95e8\uff0c\u800c\u53e6\u59164\u4e2a\u7535\u673a\u4e00\u76f4\u5904\u4e8e\u8f83\u4f4e\u6cb9\u95e8\uff1a<\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n

\u3000\u4f46\u662f\uff0c\u6ce8\u610f\uff0c\u5728\u6709\u6301\u7eed\u7684\u5927\u98ce\u4e2d\u98de\u884c\u65f6\uff0c\u4e5f\u4f1a\u51fa\u73b0\u201cRCOU\u201d\u5206\u5c42\u7684\u73b0\u8c61\uff0c\u8fd9\u662f\u6b63\u5e38\u7684\uff0c\u5176\u7279\u5f81\u662f\u8fce\u98ce\u4fa7\u7535\u673a\u8f93\u51fa\u8f83\u4f4e\u3002\u6bd4\u5982\u4e00\u4e2a\u56db\u8f74\uff0c\u6b63\u5de6\u4fa7\u6709\u6301\u7eed\u98ce\u5439\u6765\uff0c\u5c31\u4f1a\u5bfc\u81f4\u5de6\u4fa7\u7684\u4e24\u4e2a\u7535\u673a\uff082\u53f7\u30013\u53f7\u7535\u673a\uff09\u8f93\u51fa\u90fd\u504f\u4f4e\uff0c\u53f3\u4fa7\u4e24\u4e2a\u7535\u673a\uff081\u53f7\u30014\u53f7\u7535\u673a\uff09\u8f93\u51fa\u90fd\u504f\u9ad8\uff0c\u800c\u5982\u679c\u662f\u7535\u673a\u4e0d\u5e73\uff0c\u90a3\u4e48\u5c31\u662f1\u53f7\u30012\u53f7\u7535\u673a\u5171\u540c\u504f\u9ad8\u6216\u8005\u504f\u4f4e\u3002<\/p>\n\n\n\n

\u672a\u5b8c\u5f85\u7eed\u2026\u2026<\/p>\n\n\n\n

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