C语言实现mavlink库与px4通信仿真

参照网址：http://mavlink.io/en/mavgen_c/

1. 首先从github上下载对应的C_uart_interface_example，对应的github仓库网址为https://github.com/mavlink/c_uart_interface_example
2. 按照github教程，完成编译和下载。这里，他们改写了makefile文件，使得在make的时候还需要从github上面下载对应的mavlink_library_v2.
3. 对应编译的主要存在mavlink_control.cpp中。代码见下文。
4. 然后打开px4固件，启动gazebo。验证程序就可以了。

/****************************************************************************
 *
 *   Copyright (c) 2014 MAVlink Development Team. All rights reserved.
 *   Author: Trent Lukaczyk, <aerialhedgehog@gmail.com>
 *           Jaycee Lock,    <jaycee.lock@gmail.com>
 *           Lorenz Meier,   <lm@inf.ethz.ch>
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name PX4 nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
 * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/

/**
 * @file mavlink_control.cpp
 *
 * @brief An example offboard control process via mavlink
 *
 * This process connects an external MAVLink UART device to send an receive data
 *
 * @author Trent Lukaczyk, <aerialhedgehog@gmail.com>
 * @author Jaycee Lock,    <jaycee.lock@gmail.com>
 * @author Lorenz Meier,   <lm@inf.ethz.ch>
 *
 */



// ------------------------------------------------------------------------------
//   Includes
// ------------------------------------------------------------------------------

#include "mavlink_control.h"


// ------------------------------------------------------------------------------
//   TOP
// ------------------------------------------------------------------------------
int
top (int argc, char **argv)
{
   

	// --------------------------------------------------------------------------
	//   PARSE THE COMMANDS
	// --------------------------------------------------------------------------

	// Default input arguments
#ifdef __APPLE__
	char *uart_name = (char*)"/dev/tty.usbmodem1";
#else
	char *uart_name = (char*)"/dev/ttyUSB0";
#endif
	int baudrate = 57600;

	bool use_udp = false;
	char *udp_ip = (char*)"127.0.0.1";
	int udp_port = 14540;
	bool autotakeoff = false;

	// do the parse, will throw an int if it fails
	parse_commandline(argc, argv, uart_name, baudrate, use_udp, udp_ip, udp_port, autotakeoff);


	// --------------------------------------------------------------------------
	//   PORT and THREAD STARTUP
	// --------------------------------------------------------------------------

	/*
	 * Instantiate a generic port object
	 *
	 * This object handles the opening and closing of the offboard computer's
	 * port over which it will communicate to an autopilot.  It has
	 * methods to read and write a mavlink_message_t object.  To help with read
	 * and write in the context of pthreading, it gaurds port operations with a
	 * pthread mutex lock. It can be a serial or an UDP port.
	 *
	 */
	Generic_Port *port;
	if(use_udp)
	{
   
		port = new UDP_Port(udp_ip, udp_port);
	}
	else
	{
   
		port = new Serial_Port(uart_name, baudrate);
	}


	/*
	 * Instantiate an autopilot interface object
	 *
	 * This starts two threads for read and write over MAVlink. The read thread
	 * listens for any MAVlink message and pushes it to the current_messages
	 * attribute.  The write thread at the moment only streams a position target
	 * in the local NED frame (mavlink_set_position_target_local_ned_t), which
	 * is changed by using the method update_setpoint().  Sending these messages
	 * are only half the requirement to get response from the autopilot, a signal
	 * to enter "offboard_control" mode is sent by using the enable_offboard_control()
	 * method.  Signal the exit of this mode with disable_offboard_control().  It's
	 * important that one way or another this program signals offboard mode exit,
	 * otherwise the vehicle will go into failsafe.
	 *
	 */
	Autopilot_Interface autopilot_interface(port);

	/*
	 * Setup interrupt signal handler
	 *
	 * Responds to early exits signaled with Ctrl-C.  The handler will command
	 * to exit offboard mode if required, and close threads and the port.
	 * The handler in this example needs references to the above objects.
	 *
	 */
	port_quit         = port;
	autopilot_interface_quit = &autopilot_interface;
	signal(SIGINT,quit_handler