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