mavlinktest

最新推荐文章于 2024-07-25 16:02:28 发布

pl9632008

最新推荐文章于 2024-07-25 16:02:28 发布

阅读量385

点赞数 6

文章标签：性能优化

本文链接：https://blog.csdn.net/m0_49376111/article/details/135230615

版权

#include <common/mavlink.h>
#include<iostream>
int main(){


char buffer[2048]={};

// buffer[0]=0xFE;
// buffer[1]=0x06;
// buffer[2]=0x00;
// buffer[3]=0x00;
// buffer[4]=0x8E;
// buffer[5]=0x01;
// buffer[6]=0x01;
// buffer[7]=0x0B;
// buffer[8]=0x00;
// buffer[9]=0x00;
// buffer[10]=0x00;
// buffer[11]=0x00;
// buffer[12]=0x00;
// buffer[13]=0x00;
// buffer[14]=0x00;
// buffer[15]=0x00;
// buffer[16]=0x00;
// buffer[17]=0x00;

buffer[0]=0xFE;
buffer[1]=0x1C;
buffer[2]=0x8F;
buffer[3]=0x01;
buffer[4]=0x01;
buffer[5]=0x1E;
buffer[6]=0x57;
buffer[7]=0xDC;
buffer[8]=0x03;
buffer[9]=0x00;
buffer[10]=0x90;
buffer[11]=0xB5;
buffer[12]=0xA5;
buffer[13]=0x3D;
buffer[14]=0x2B;
buffer[15]=0xAE;
buffer[16]=0xD4;
buffer[17]=0x3D;
buffer[18]=0xF1;
buffer[19]=0x01;
buffer[20]=0xC5;
buffer[21]=0xBF;
buffer[22]=0x27;
buffer[23]=0xFB;
buffer[24]=0xD6;
buffer[25]=0x3D;
buffer[26]=0x12;
buffer[27]=0x8E;
buffer[28]=0x46;
buffer[29]=0x3E;
buffer[30]=0x2C;
buffer[31]=0x51;
buffer[32]=0xBB;
buffer[33]=0xBE;
buffer[34]=0xA2;
buffer[35]=0xBC;




buffer[36]=0xFE;
buffer[37]=0x16;
buffer[38]=0x90;
buffer[39]=0x01;
buffer[40]=0x01;
buffer[41]=0x23;
buffer[42]=0x00;
buffer[43]=0x00;
buffer[44]=0x00;
buffer[45]=0x00;
buffer[46]=0x00;
buffer[47]=0x00;
buffer[48]=0x00;
buffer[49]=0x00;
buffer[50]=0x00;
buffer[51]=0x00;
buffer[52]=0x00;
buffer[53]=0x00;
buffer[54]=0x00;
buffer[55]=0x00;
buffer[56]=0x00;
buffer[57]=0x00;
buffer[58]=0x00;
buffer[59]=0x00;
buffer[60]=0x00;
buffer[61]=0x00;
buffer[62]=0x00;
buffer[63]=0x00;
buffer[64]=0x75;
buffer[65]=0x03;



buffer[66]=0xFE;
buffer[67]=0x1E;
buffer[68]=0x97;
buffer[69]=0x01;
buffer[70]=0x01;
buffer[71]=0x18;
buffer[72]=0xCB;
buffer[73]=0xDD;
buffer[74]=0x03;
buffer[75]=0x00;
buffer[76]=0x00;
buffer[77]=0x00;
buffer[78]=0x00;
buffer[79]=0x00;
buffer[80]=0x00;
buffer[81]=0x00;
buffer[82]=0x00;
buffer[83]=0x00;
buffer[84]=0x00;
buffer[85]=0x00;
buffer[86]=0x00;
buffer[87]=0x00;
buffer[88]=0x00;
buffer[89]=0x00;
buffer[90]=0x00;
buffer[91]=0x00;
buffer[92]=0x63;
buffer[93]=0x00;
buffer[94]=0x63;
buffer[95]=0x00;
buffer[96]=0x00;
buffer[97]=0x00;
buffer[98]=0xFF;
buffer[99]=0xFF;
buffer[100]=0x01;
buffer[101]=0x00;
buffer[102]=0x7C;
buffer[103]=0xF3;




mavlink_status_t status;
mavlink_message_t msg;
int chan = MAVLINK_COMM_0;

mavlink_attitude_t attitute;
mavlink_gps_raw_int_t gps_raw_int;
for(int i = 0 ; i <2048 ; i++)
{

  if (mavlink_parse_char(chan, buffer[i], &msg, &status)){
    printf("Received message with ID %d, sequence: %d from component %d of system %d\n", msg.msgid, msg.seq, msg.compid, msg.sysid);

    switch (msg.msgid)
    {
    case MAVLINK_MSG_ID_ATTITUDE:

        mavlink_msg_attitude_decode(&msg,&attitute);
        break;
    
    case MAVLINK_MSG_ID_GPS_RAW_INT:

        mavlink_msg_gps_raw_int_decode(&msg,&gps_raw_int);
        break;

    default:
        break;
    }

    }
}

    printf("roll = %f, pitch = %f, yaw = %f, rollspeed = %f, pitchspeed = %f, yawspeed = %f\n ",
        attitute.roll,attitute.pitch,attitute.yaw,attitute.rollspeed,attitute.pitchspeed,attitute.yawspeed);


       printf("lat = %d, lon = %d, alt = %d\n ",
        gps_raw_int.lat,gps_raw_int.lon,gps_raw_int.alt);



}