ardupilot开发 --- 测试 mav_cmd 篇

1. 参考

https://ardupilot.org/dev/docs/mavlink-commands.html

2. 通过 COMMAND_LONG 和 COMMAND_INT 发送 MAV_CMD

• COMMAND_LONG消息格式：
  

• COMMAND_INT消息格式：
  
  https://mavlink.io/en/messages/common.html#COMMAND_LONG

• 响应：
  

3. 测试

3.1 格式

message COMMAND_LONG  target_system(uint8_t)  target_component(uint8_t) command(MAV_CMD) confirmation(uint8_t)  param1(float)  param2(float)  param3(float)  param4(float)  param5(float)  param6(float)  param7(float) 

3.2 Requesting Data From The Autopilot

目的：获取所有参数；
使用REQUEST_MESSAGE命令，通过COMMAND_LONG发送：

message COMMAND_LONG  1 0 512 0 33 0 0 0 0 0 0

3.3 Getting and Setting Parameters

参考：https://ardupilot.org/dev/docs/mavlink-commands.html

3.3.1 Getting Parameters

• Retrieving All Parameters
• Retrieving a Parameter
• Setting a Parameter

3.3.2 Setting Parameters

…

3.4 Copter Commands in Guided Mode

• 必须要在 Guided ；
• Movement massage
• 基于 COMMAND_LONG 或 COMMAND_INT 的 MAV_CMDs

3.4.1 Movement massage

直接发送下面的massage就可以move the vehicle

• SET_POSITION_TARGET_LOCAL_NED
• SET_POSITION_TARGET_GLOBAL_INT
• SET_ATTITUDE_TARGET (supported in Guided and Guided_NoGPS modes)

3.4.2 基于 COMMAND_LONG 或 COMMAND_INT 的 MAV_CMDs

These MAV_CMDs can be processed if packaged within a COMMAND_LONG message.
MAV_CMD_CONDITION_YAW
MAV_CMD_DO_CHANGE_SPEED
MAV_CMD_DO_FLIGHTTERMINATION - disarms motors immediately (Copter falls!).
MAV_CMD_DO_PARACHUTE
MAV_CMD_DO_SET_ROI
MAV_CMD_NAV_TAKEOFF
MAV_CMD_NAV_LOITER_UNLIM
MAV_CMD_NAV_RETURN_TO_LAUNCH
MAV_CMD_NAV_LAND
MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN
These MAV_CMDs can be processed if packaged within a COMMAND_INT message
MAV_CMD_DO_REPOSITION

3.5 测试步骤

• 启动仿真器，进入guided模式并起飞；
  sim_vehicle.py -v ArduCopter --console --map --no-mavproxy
  module load message
  GUIDED
  arm throttle
  message COMMAND_LONG 1 0 22 0 0 0 0 180 -35.3631735 149.1719341 150

• 移动到指定位置；
  message SET_POSITION_TARGET_LOCAL_NED 0 0 0 1 3576 100 0 -10 0 0 0 0 0 0 0 0

• 参考：https://ardupilot.org/dev/docs/copter-commands-in-guided-mode.html