ΠΡΠΎ ΡΠΎΠ»ΡΠΊΠΎ ΡΡΠ΅Π΄ΡΡΠ²ΠΎ ΠΎΡΡΠ»Π΅ΠΆΠΈΠ²Π°Π½ΠΈΡ ΠΎΡΠΈΠ±ΠΎΠΊ ΠΈ ΡΡΠ½ΠΊΡΠΈΠΉ, ΠΏΠΎΠΆΠ°Π»ΡΠΉΡΡΠ°, ΠΈΡΠΏΠΎΠ»ΡΠ·ΡΠΉΡΠ΅ Π΅Π³ΠΎ
ΡΠΎΠΎΠ±ΡΠ°ΡΡ ΠΎΠ± ΠΎΡΠΈΠ±ΠΊΠ°Ρ
ΠΈΠ»ΠΈ Π·Π°ΠΏΡΠ°ΡΠΈΠ²Π°ΡΡ ΡΡΠ½ΠΊΡΠΈΠΈ.
ΠΡΠΈ ΠΏΠΎΠΏΡΡΠΊΠ΅ Π·Π°Π³ΡΡΠ·ΠΈΡΡ .px4log ΡΠ΅ΡΠ΅Π· mavftp Ρ ΠΏΠΎΠ»ΡΡΠ°Ρ ΡΠ»Π΅Π΄ΡΡΡΡΡ ΠΎΡΠΈΠ±ΠΊΡ:
ubuntu<strong i="10">@ubuntu</strong>:~$ rosrun mavros mavftp download /fs/microsd/log/2016-11-01/21_43_29.px4log
Prigressbar disabled. install python-progressbar
Traceback (most recent call last):
File "/opt/ros/indigo/lib/mavros/mavftp", line 296, in <module>
main()
File "/opt/ros/indigo/lib/mavros/mavftp", line 292, in main
args.func(args)
File "/opt/ros/indigo/lib/mavros/mavftp", line 152, in do_download
buf = from_fd.read(FTP_PAGE_SIZE)
File "/opt/ros/indigo/lib/python2.7/dist-packages/mavros/ftp.py", line 107, in read
_check_raise_errno(ret)
File "/opt/ros/indigo/lib/python2.7/dist-packages/mavros/ftp.py", line 39, in _check_raise_errno
raise IOError(ret.r_errno, os.strerror(ret.r_errno))
IOError: [Errno 110] Connection timed out
ΠΡΠ°ΠΊ, Ρ ΠΌΠΎΠ³Ρ ΠΎΡΠΊΡΡΡΡ ΡΠ°ΠΉΠ», ΠΏΠΎΡΠΊΠΎΠ»ΡΠΊΡ ΠΎΡΠΎΠ±ΡΠ°ΠΆΠ°Π΅ΡΡΡ Π³Π»Π°Π²Π½ΠΎΠ΅ ΠΎΠΊΠ½ΠΎ roslaunch mavros:
[ INFO] [1491328759.740312395]: FTP:Open /fs/microsd/log/2016-11-01/21_43_29.px4log: success, session 0, size 263247
ΠΠΎ Ρ ΠΏΠΎΠ»ΡΡΠ°Ρ [Errno 110] ΠΡΠΈΠ±ΠΊΠ° ΠΏΡΠ΅Π²ΡΡΠ΅Π½ΠΈΡ Π²ΡΠ΅ΠΌΠ΅Π½ΠΈ ΠΎΠΆΠΈΠ΄Π°Π½ΠΈΡ ΡΠΎΠ΅Π΄ΠΈΠ½Π΅Π½ΠΈΡ ΠΏΡΠΈ ΡΡΠ΅Π½ΠΈΠΈ ΡΠ°ΠΉΠ»Π°.
ΠΠ°Π²ΡΠΎΡ: 0,17,4
ROS: ΠΠ½Π΄ΠΈΠ³ΠΎ
Ubuntu: 14.04
[] ArduPilot
[X] PX4
ΠΠ΅ΡΡΠΈΡ: 1.1
ubuntu<strong i="26">@ubuntu</strong>:~$ roslaunch mavros px4.launch fcu_url:="/dev/ttyUSB0:921600"
... logging to /home/ubuntu/.ros/log/4bfe2358-1960-11e7-a396-54ee75c35d17/roslaunch-ubuntu-10479.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://ubuntu:40096/
SUMMARY
========
CLEAR PARAMETERS
* /mavros/
PARAMETERS
* /mavros/cmd/use_comp_id_system_control: False
* /mavros/conn/heartbeat_rate: 1.0
* /mavros/conn/system_time_rate: 1.0
* /mavros/conn/timeout: 10.0
* /mavros/conn/timesync_rate: 10.0
* /mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
* /mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
* /mavros/distance_sensor/hrlv_ez4_pub/id: 0
* /mavros/distance_sensor/hrlv_ez4_pub/orientation: ROLL_180
* /mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
* /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
* /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
* /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
* /mavros/distance_sensor/laser_1_sub/id: 3
* /mavros/distance_sensor/laser_1_sub/orientation: ROLL_180
* /mavros/distance_sensor/laser_1_sub/subscriber: True
* /mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
* /mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
* /mavros/distance_sensor/lidarlite_pub/id: 1
* /mavros/distance_sensor/lidarlite_pub/orientation: ROLL_180
* /mavros/distance_sensor/lidarlite_pub/send_tf: True
* /mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
* /mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
* /mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
* /mavros/distance_sensor/sonar_1_sub/id: 2
* /mavros/distance_sensor/sonar_1_sub/orientation: ROLL_180
* /mavros/distance_sensor/sonar_1_sub/subscriber: True
* /mavros/fcu_url: /dev/ttyUSB0:921600
* /mavros/gcs_url:
* /mavros/global_position/frame_id: fcu
* /mavros/global_position/rot_covariance: 99999.0
* /mavros/global_position/tf/child_frame_id: fcu_utm
* /mavros/global_position/tf/frame_id: local_origin
* /mavros/global_position/tf/send: False
* /mavros/image/frame_id: px4flow
* /mavros/imu/angular_velocity_stdev: 0.000349065850399
* /mavros/imu/frame_id: fcu
* /mavros/imu/linear_acceleration_stdev: 0.0003
* /mavros/imu/magnetic_stdev: 0.0
* /mavros/imu/orientation_stdev: 1.0
* /mavros/local_position/frame_id: fcu
* /mavros/local_position/tf/child_frame_id: fcu
* /mavros/local_position/tf/frame_id: local_origin
* /mavros/local_position/tf/send: False
* /mavros/local_position/tf/send_fcu: False
* /mavros/mission/pull_after_gcs: True
* /mavros/mocap/use_pose: True
* /mavros/mocap/use_tf: False
* /mavros/plugin_blacklist: ['safety_area', '...
* /mavros/plugin_whitelist: []
* /mavros/px4flow/frame_id: px4flow
* /mavros/px4flow/ranger_fov: 0.0
* /mavros/px4flow/ranger_max_range: 5.0
* /mavros/px4flow/ranger_min_range: 0.3
* /mavros/safety_area/p1/x: 1.0
* /mavros/safety_area/p1/y: 1.0
* /mavros/safety_area/p1/z: 1.0
* /mavros/safety_area/p2/x: -1.0
* /mavros/safety_area/p2/y: -1.0
* /mavros/safety_area/p2/z: -1.0
* /mavros/setpoint_accel/send_force: False
* /mavros/setpoint_attitude/reverse_throttle: False
* /mavros/setpoint_attitude/tf/child_frame_id: attitude
* /mavros/setpoint_attitude/tf/frame_id: local_origin
* /mavros/setpoint_attitude/tf/listen: False
* /mavros/setpoint_attitude/tf/rate_limit: 10.0
* /mavros/setpoint_position/tf/child_frame_id: setpoint
* /mavros/setpoint_position/tf/frame_id: local_origin
* /mavros/setpoint_position/tf/listen: False
* /mavros/setpoint_position/tf/rate_limit: 50.0
* /mavros/startup_px4_usb_quirk: True
* /mavros/sys/disable_diag: False
* /mavros/sys/min_voltage: 10.0
* /mavros/target_component_id: 1
* /mavros/target_system_id: 1
* /mavros/tdr_radio/low_rssi: 40
* /mavros/time/time_ref_source: fcu
* /mavros/time/timesync_avg_alpha: 0.6
* /mavros/vibration/frame_id: vibration
* /mavros/vision_pose/tf/child_frame_id: vision
* /mavros/vision_pose/tf/frame_id: local_origin
* /mavros/vision_pose/tf/listen: False
* /mavros/vision_pose/tf/rate_limit: 10.0
* /mavros/vision_speed/listen_twist: False
* /rosdistro: indigo
* /rosversion: 1.11.20
NODES
/
mavros (mavros/mavros_node)
auto-starting new master
process[master]: started with pid [10491]
ROS_MASTER_URI=http://localhost:11311/
setting /run_id to 4bfe2358-1960-11e7-a396-54ee75c35d17
process[rosout-1]: started with pid [10504]
started core service [/rosout]
process[mavros-2]: started with pid [10522]
[ INFO] [1491328704.639977423]: FCU URL: /dev/ttyUSB0:921600
[ INFO] [1491328704.640148669]: serial0: device: /dev/ttyUSB0 @ 921600 bps
[ INFO] [1491328704.640857865]: GCS bridge disabled
[ INFO] [1491328704.678791638]: Plugin 3dr_radio loaded and initialized
[ INFO] [1491328704.681584591]: Plugin actuator_control loaded and initialized
[ INFO] [1491328704.682806790]: Plugin altitude loaded and initialized
[ INFO] [1491328704.734773858]: Plugin cam_imu_sync loaded and initialized
[ INFO] [1491328704.741470118]: Plugin command loaded and initialized
[ INFO] [1491328704.741573052]: Plugin distance_sensor blacklisted
[ INFO] [1491328704.755546619]: Plugin ftp loaded and initialized
[ INFO] [1491328704.766173170]: Plugin global_position loaded and initialized
[ INFO] [1491328704.767192333]: Plugin hil_controls loaded and initialized
[ INFO] [1491328704.767303516]: Plugin image_pub blacklisted
[ INFO] [1491328704.778053521]: Plugin imu_pub loaded and initialized
[ INFO] [1491328704.784409686]: Plugin local_position loaded and initialized
[ INFO] [1491328704.785040013]: Plugin manual_control loaded and initialized
[ INFO] [1491328704.789160066]: IMU: High resolution IMU detected!
[ INFO] [1491328704.793286286]: Plugin mocap_pose_estimate loaded and initialized
[ INFO] [1491328704.795783133]: Plugin param loaded and initialized
[ INFO] [1491328704.803470692]: Plugin px4flow loaded and initialized
[ INFO] [1491328704.810457093]: Plugin rc_io loaded and initialized
[ INFO] [1491328704.810504287]: Plugin safety_area blacklisted
[ INFO] [1491328704.814195357]: Plugin setpoint_accel loaded and initialized
[ INFO] [1491328704.833646784]: Plugin setpoint_attitude loaded and initialized
[ INFO] [1491328704.843787243]: Plugin setpoint_position loaded and initialized
[ INFO] [1491328704.854228533]: Plugin setpoint_raw loaded and initialized
[ INFO] [1491328704.857035208]: Plugin setpoint_velocity loaded and initialized
[ INFO] [1491328704.868906236]: Plugin sys_status loaded and initialized
[ INFO] [1491328704.872289296]: Plugin sys_time loaded and initialized
[ INFO] [1491328704.873499821]: Plugin vfr_hud loaded and initialized
[ INFO] [1491328704.873528131]: Plugin vibration blacklisted
[ INFO] [1491328704.886149274]: Plugin vision_pose_estimate loaded and initialized
[ INFO] [1491328704.892185325]: Plugin vision_speed_estimate loaded and initialized
[ INFO] [1491328704.898632965]: Plugin waypoint loaded and initialized
[ INFO] [1491328704.899156813]: Autostarting mavlink via USB on PX4
[ INFO] [1491328704.899568244]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1491328704.899737606]: Built-in MAVLink package version: 2016.5.20
[ INFO] [1491328704.899814667]: Built-in MAVLink dialect: ardupilotmega
[ INFO] [1491328704.899913235]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ WARN] [1491328704.977042906]: TM: Clock skew detected (-1491328273.724662542 s). Hard syncing clocks.
[ INFO] [1491328705.728264902]: CON: Got HEARTBEAT, connected. FCU: PX4
[ INFO] [1491328705.730098822]: IMU: High resolution IMU detected!
[ INFO] [1491328706.741017002]: VER: 1.1: Capabilities 0x00000000000004eb
[ INFO] [1491328706.741277778]: VER: 1.1: Flight software: 00000000 (328018937301dc7e)
[ INFO] [1491328706.741430544]: VER: 1.1: Middleware software: 00000000 (328018937301dc7e)
[ INFO] [1491328706.741573285]: VER: 1.1: OS software: 00000000 (0000000000000000)
[ INFO] [1491328706.741672549]: VER: 1.1: Board hardware: 00000000
[ INFO] [1491328706.741741415]: VER: 1.1: VID/PID: 26ac:0011
[ INFO] [1491328706.741793858]: VER: 1.1: UID: 3135511735333436
[ WARN] [1491328716.730309039]: PR: request list timeout, retries left 2
[ WARN] [1491328717.730709455]: PR: request list timeout, retries left 1
[ WARN] [1491328718.731847404]: PR: request list timeout, retries left 0
[ INFO] [1491328720.737982744]: WP: mission received
[ WARN] [1491328740.830436979]: TM: Clock skew detected (0.024262897 s). Hard syncing clocks.
[ INFO] [1491328759.740312395]: FTP:Open /fs/microsd/log/2016-11-01/21_43_29.px4log: success, session 0, size 263247
header:
seq: 27
stamp:
secs: 1491329484
nsecs: 383406366
frame_id: ''
status:
-
level: 0
name: mavros: FCU connection
message: connected
hardware_id: /dev/ttyUSB0:921600
values:
-
key: Received packets:
value: 8489
-
key: Dropped packets:
value: 0
-
key: Buffer overruns:
value: 0
-
key: Parse errors:
value: 0
-
key: Rx sequence number:
value: 177
-
key: Tx sequence number:
value: 138
-
key: Rx total bytes:
value: 346726
-
key: Tx total bytes:
value: 22004
-
key: Rx speed:
value: 17138.000000
-
key: Tx speed:
value: 709.000000
-
level: 2
name: mavros: GPS
message: No satellites
hardware_id: /dev/ttyUSB0:921600
values:
-
key: Satellites visible
value: 0
-
key: Fix type
value: 0
-
key: EPH (m)
value: Unknown
-
key: EPV (m)
value: Unknown
-
level: 0
name: mavros: Heartbeat
message: Normal
hardware_id: /dev/ttyUSB0:921600
values:
-
key: Heartbeats since startup
value: 29
-
key: Frequency (Hz)
value: 0.962921
-
key: Vehicle type
value: VTOL-Quadrotor
-
key: Autopilot type
value: PX4
-
key: Mode
value: MANUAL
-
key: System status
value: Uninit
-
level: 0
name: mavros: System
message: Normal
hardware_id: /dev/ttyUSB0:921600
values:
-
key: Sensor present
value: 0x00000000
-
key: Sensor enabled
value: 0x00000000
-
key: Sensor helth
value: 0x00000000
-
key: CPU Load (%)
value: 74.6
-
key: Drop rate (%)
value: 0.0
-
key: Errors comm
value: 0
-
key: Errors count #1
value: 0
-
key: Errors count #2
value: 0
-
key: Errors count #3
value: 0
-
key: Errors count #4
value: 0
-
level: 1
name: mavros: Battery
message: Low voltage
hardware_id: /dev/ttyUSB0:921600
values:
-
key: Voltage
value: 0.00
-
key: Current
value: 0.0
-
key: Remaining
value: -1.0
-
level: 0
name: mavros: Time Sync
message: Normal
hardware_id: /dev/ttyUSB0:921600
values:
-
key: Timesyncs since startup
value: 155
-
key: Frequency (Hz)
value: 9.999546
-
key: Last dt (ms)
value: -1.344876
-
key: Mean dt (ms)
value: 0.008980
-
key: Last system time (s)
value: 1210.658179000
-
key: Time offset (s)
value: 1491328273.698000193
---
OK. I got messages from 1:1.
---
Received 4327 messages, from 1 addresses
sys:comp list of messages
1:1 32, 1, 2, 36, 147, 105, 74, 140, 141, 111, 76, 241, 83, 245, 251, 44, 30, 0
ΠΡΡΠ½Π°Π»Ρ ΠΏΠΎΠ»Π΅ΡΠΎΠ² ΡΠ°ΡΡΠΎ ΡΠ»ΠΈΡΠΊΠΎΠΌ Π²Π΅Π»ΠΈΠΊΠΈ Π΄Π»Ρ FTP, ΡΠ°ΠΊΠΆΠ΅ ΠΏΠΎΡΠ΅ΠΌΡ-ΡΠΎ ΡΡΠ°Π±ΠΈΠ»ΡΠ½ΠΎ ΡΠ°Π±ΠΎΡΠ°Π΅Ρ ΡΠΎΠ»ΡΠΊΠΎ ΠΏΡΠΈ USB-ΠΏΠΎΠ΄ΠΊΠ»ΡΡΠ΅Π½ΠΈΠΈ (usb Π½Π° pihxawk - ttyACM% d).
ΠΠ° UART ΡΡΠΎ ΠΏΠΎΠ΄Ρ
ΠΎΠ΄ΠΈΡ ΡΠΎΠ»ΡΠΊΠΎ ΡΠΎΠ³Π΄Π°, ΠΊΠΎΠ³Π΄Π° Π²Π°ΠΌ Π½ΡΠΆΠ½ΠΎ ΠΈΠ·ΠΌΠ΅Π½ΠΈΡΡ Π΄ΠΎΠΏΠΎΠ»Π½ΠΈΡΠ΅Π»ΡΠ½ΡΠΉ rc ΠΈΠ»ΠΈ ΡΠ°ΠΉΠ» ΠΌΠΈΠΊΡΠ΅ΡΠ°.
Π’Π°ΠΊΠΆΠ΅ ΠΏΠΎΡΠ»Π΅ Π·Π°Π³ΡΡΠ·ΠΊΠΈ ΡΠ°ΠΉΠ»Π° ΡΠΊΡΠΈΠΏΡ ΡΠΊΠ°ΠΆΠ΅Ρ FCU Π²ΡΡΠΈΡΠ»ΠΈΡΡ CRC32 Π²ΡΠ΅Π³ΠΎ ΡΠ°ΠΉΠ»Π°, ΠΈ Π·Π΄Π΅ΡΡ ΡΠ°ΠΊΠΆΠ΅ ΠΌΠΎΠΆΠ΅Ρ Π±ΡΡΡ ΡΠ°ΠΉΠΌ-Π°ΡΡ.
ΠΡΠΈΠΌΠ΅ΡΠ°Π½ΠΈΠ΅: FTP ΠΌΠ΅Π΄Π»Π΅Π½Π½ΡΠΉ, Π½ΠΎ ΡΠ΅Π°Π»ΠΈΠ·Π°ΡΠΈΡ Π·Π°Π³ΡΡΠ·ΠΊΠΈ QGC Π² Π΄Π²Π° ΡΠ°Π·Π° Π±ΡΡΡΡΠ΅Π΅, ΡΠ΅ΠΌ mavros.
ΠΡΠΈΠΌΠ΅ΡΠ°Π½ΠΈΠ΅: FTP ΠΌΠ΅Π΄Π»Π΅Π½Π½ΡΠΉ, Π½ΠΎ ΡΠ΅Π°Π»ΠΈΠ·Π°ΡΠΈΡ Π·Π°Π³ΡΡΠ·ΠΊΠΈ QGC Π² Π΄Π²Π° ΡΠ°Π·Π° Π±ΡΡΡΡΠ΅Π΅, ΡΠ΅ΠΌ mavros.
Π ΡΠ΅ΠΌ ΠΌΠΎΠΆΠ΅Ρ Π±ΡΡΡ ΡΠ°Π·Π½ΠΈΡΠ° @vooon?
QGC ΠΏΠΎΠ΄Π΄Π΅ΡΠΆΠΈΠ²Π°Π΅Ρ ΠΏΠΎΡΠΎΠΊΠΎΠ²ΡΡ Π·Π°Π³ΡΡΠ·ΠΊΡ, Π΄Π»Ρ ΠΏΠ΅ΡΠ΅Π΄Π°ΡΠΈ Π²ΡΠ΅Π³ΠΎ ΡΠ°ΠΉΠ»Π° ΡΡΠ΅Π±ΡΠ΅ΡΡΡ ΡΠΎΠ»ΡΠΊΠΎ ΠΎΠ΄Π½ΠΎ ΡΠΎΠΎΠ±ΡΠ΅Π½ΠΈΠ΅ Π·Π°ΠΏΡΠΎΡΠ°.
Π ΡΠΎ Π²ΡΠ΅ΠΌΡ ΠΊΠ°ΠΊ ΠΌΠΎΠΉ ΠΈΡΠΏΠΎΠ»ΡΠ·ΡΠ΅Ρ Π±ΠΎΠ»Π΅Π΅ ΡΡΠ°ΡΡΠΉ Π±ΡΡΠ΅Ρ Π·Π°ΠΏΡΠΎΡΠΎΠ², ΠΏΠΎΡΡΠΎΠΌΡ Π΄Π»Ρ ΠΏΠ΅ΡΠ΅Π΄Π°ΡΠΈ ΡΠ°ΠΉΠ»Π° ΠΌΠ½Π΅ Π½ΡΠΆΠ½ΠΎ Π·Π°ΠΏΡΠΎΡΠΈΡΡ ΠΊΡΡΡ 239-Π±Π°ΠΉΡΠΎΠ²ΡΡ
ΠΎΡΠ²Π΅ΡΠΎΠ².
Π― Π½Π΅ ΡΠΎΠ±ΠΈΡΠ°ΡΡΡ ΡΠ΅Π°Π»ΠΈΠ·ΠΎΠ²ΡΠ²Π°ΡΡ ΡΡΠΎΡ ΡΠ΅ΠΆΠΈΠΌ, ΠΏΡΠΎΡΡΠΎ ΠΈΡΠΏΠΎΠ»ΡΠ·ΡΡ QGC.
Π― Π½Π΅ ΡΠΎΠ±ΠΈΡΠ°ΡΡΡ ΡΠ΅Π°Π»ΠΈΠ·ΠΎΠ²ΡΠ²Π°ΡΡ ΡΡΠΎΡ ΡΠ΅ΠΆΠΈΠΌ, ΠΏΡΠΎΡΡΠΎ ΠΈΡΠΏΠΎΠ»ΡΠ·ΡΡ QGC.
Π― Π΄ΡΠΌΠ°Ρ, ΡΡΠΎ ΡΡΠΎ Π½Π΅ΠΎΠ±Ρ ΠΎΠ΄ΠΈΠΌΠΎ, ΡΡΠΈΡΡΠ²Π°Ρ, ΡΡΠΎ ΠΌΡ ΠΏΡΠ΅Π΄Π»Π°Π³Π°Π΅ΠΌ Π²ΠΎΠ·ΠΌΠΎΠΆΠ½ΠΎΡΡΡ FTP Π½Π° MAVROS. Π― ΠΈΠ·ΡΡΡ ΡΡΠΎ ΠΈ Π²Π΅ΡΠ½ΡΡΡ Ρ Π½ΠΎΠ²ΠΎΡΡΡΠΌΠΈ (ΠΈ PR).
@ TSC21, ΠΏΠΎΡΠΎΠΌΡ ΡΡΠΎ FTP ΡΡΠ°Π±ΠΈΠ»Π΅Π½ ΡΠΎΠ»ΡΠΊΠΎ ΡΠ΅ΡΠ΅Π· USB, ΠΈ ΠΎΡΠ½ΠΎΠ²Π½ΠΎΠ΅ ΠΈΡΠΏΠΎΠ»ΡΠ·ΠΎΠ²Π°Π½ΠΈΠ΅ mavros ΡΠ΅ΡΠ΅Π· TELEMx, Π½Π΅Ρ ΠΏΡΠΈΡΠΈΠ½ Π΄Π»Ρ ΡΠ΅Π°Π»ΠΈΠ·Π°ΡΠΈΠΈ ΡΡΠΎΠ³ΠΎ ΡΠ΅ΠΆΠΈΠΌΠ°, ΠΈ ΠΎΠ½ Π½Π΅ΡΠΎΠ²ΠΌΠ΅ΡΡΠΈΠΌ Ρ ΡΠ΅ΠΊΡΡΠΈΠΌ ΠΈΠ½ΡΠ΅ΡΡΠ΅ΠΉΡΠΎΠΌ, ΠΏΠΎΠ΄ΠΎΠ±Π½ΡΠΌ ΠΏΡΠ΅Π΄ΠΎΡ ΡΠ°Π½ΠΈΡΠ΅Π»Ρ.
Π’Π°ΠΊ:
@vooon ΠΊΠ°ΠΊ Ρ ΠΎΡΠ΅ΡΡ. Π― Π΄ΡΠΌΠ°Ρ, ΡΡΠΎ ΠΎΠ΄Π½ΠΈΠΌ ΠΈΠ· ΠΎΡΠ½ΠΎΠ²Π½ΡΡ ΠΏΡΠΈΠΌΠ΅Π½Π΅Π½ΠΈΠΉ MAVROS Π΄Π»Ρ Π½Π΅ΠΊΠΎΡΠΎΡΡΡ Π»ΡΠ΄Π΅ΠΉ ΡΠ²Π»ΡΠ΅ΡΡΡ ΠΈΡΠΏΠΎΠ»ΡΠ·ΠΎΠ²Π°Π½ΠΈΠ΅ Π΅Π³ΠΎ Π² ΠΊΠ°ΡΠ΅ΡΡΠ²Π΅ Π·Π°ΠΌΠ΅Π½Ρ QGC. Π’Π΅ΠΌ Π½Π΅ ΠΌΠ΅Π½Π΅Π΅, Π½Π°ΠΌ Π½Π΅ Ρ Π²Π°ΡΠ°Π΅Ρ ΠΏΠΎΠ΄Π΄Π΅ΡΠΆΠΊΠΈ ΠΏΠΎΡΠΎΠΊΠΎΠ²ΠΎΠΉ ΠΏΠ΅ΡΠ΅Π΄Π°ΡΠΈ ULog.
ΠΡΠΎ ΡΠ΄ΠΎΠ±ΡΡΠ²ΠΎ ΠΈΡΠΏΠΎΠ»ΡΠ·ΠΎΠ²Π°Π½ΠΈΡ. ΠΠ΅ΡΠ΅Π΄Π°ΡΠ° ΡΠ°ΠΉΠ»ΠΎΠ² ΠΏΠΎ ΡΠ΅Π»Π΅ΠΌΠ΅ΡΡΠΈΠΈ ΡΠΌΠ΅Ρ ΠΎΡΠ²ΠΎΡΠ½ΠΎ ΠΌΠ΅Π΄Π»Π΅Π½Π½Π°, ΠΈ ΠΏΠΎΠ»ΡΡΠ΅Π½ΠΈΠ΅ ΠΆΡΡΠ½Π°Π»Π° Π»ΡΠ±ΠΎΠ³ΠΎ ΠΏΡΠΈΠ»ΠΈΡΠ½ΠΎΠ³ΠΎ ΡΠ°Π·ΠΌΠ΅ΡΠ° (10-15 ΠΠ) Π·Π°ΠΉΠΌΠ΅Ρ ΡΠ»ΠΈΡΠΊΠΎΠΌ ΠΌΠ½ΠΎΠ³ΠΎ Π²ΡΠ΅ΠΌΠ΅Π½ΠΈ Π΄Π°ΠΆΠ΅ ΠΏΡΠΈ ΠΎΠΏΡΠΈΠΌΠΈΠ·ΠΈΡΠΎΠ²Π°Π½Π½ΠΎΠΉ ΡΠ΅Π°Π»ΠΈΠ·Π°ΡΠΈΠΈ.
Π§ΡΠΎ ΠΊΠ°ΡΠ°Π΅ΡΡΡ ΠΏΠΎΡΠΎΠΊΠΎΠ²ΠΎΠΉ ΠΏΠ΅ΡΠ΅Π΄Π°ΡΠΈ ULog - Π΄Π°, ΡΡΠΎ Π½Π΅ΠΏΠ»ΠΎΡ
ΠΎ, Π½ΠΎ Π²Ρ ΠΌΠΎΠΆΠ΅ΡΠ΅ ΠΏΡΠΎΡΡΠΎ ΠΈΡΠΏΠΎΠ»ΡΠ·ΠΎΠ²Π°ΡΡ mavlink-router
. (https://github.com/01org/mavlink-router).
Π§ΡΠΎ ΠΊΠ°ΡΠ°Π΅ΡΡΡ ΠΏΠΎΡΠΎΠΊΠΎΠ²ΠΎΠΉ ΠΏΠ΅ΡΠ΅Π΄Π°ΡΠΈ ULog - Π΄Π°, ΡΡΠΎ Π½Π΅ΠΏΠ»ΠΎΡ ΠΎ, Π½ΠΎ Π²Ρ ΠΌΠΎΠΆΠ΅ΡΠ΅ ΠΏΡΠΎΡΡΠΎ ΠΈΡΠΏΠΎΠ»ΡΠ·ΠΎΠ²Π°ΡΡ mavlink-router. (https://github.com/01org/mavlink-router).
ΠΡΠ°Π²Π΄Π°. Π’Π΅ΠΌ Π½Π΅ ΠΌΠ΅Π½Π΅Π΅, Ρ Π΄ΡΠΌΠ°Ρ, ΡΡΠΎ ΠΌΡ, ΠΊΠ°ΠΊ ΡΠ°Π·ΡΠ°Π±ΠΎΡΡΠΈΠΊΠΈ ΠΈ ΡΠΎΠΏΡΠΎΠ²ΠΎΠΆΠ΄Π°ΡΡΠΈΠ΅ MAVROS, Ρ ΠΎΡΠΈΠΌ, ΡΡΠΎΠ±Ρ ΠΎΠ½ Π±ΡΠ» ΠΏΠΎΠ»Π½ΠΎΡΡΠ½ΠΊΡΠΈΠΎΠ½Π°Π»ΡΠ½ΡΠΌ.
ΠΠ° ΡΠ°ΠΌΠΎΠΌ Π΄Π΅Π»Π΅ Π΄Π»Ρ Π±ΠΎΠ»Π΅Π΅ Π½ΠΎΠ²ΠΎΠ³ΠΎ Π΄ΡΠΎΠ½Π° Ρ Π±ΡΠ΄Ρ ΡΡΡΠ°Π½Π°Π²Π»ΠΈΠ²Π°ΡΡ ΠΌΠ°ΡΡΡΡΡΠΈΠ·Π°ΡΠΎΡ ΠΌΠ΅ΠΆΠ΄Ρ tty ΠΈ mavros.
ΠΠΎΡΠΎΠΌΡ ΡΡΠΎ TELEM1 Π±ΡΠ΄Π΅Ρ Π·Π°Π½ΡΡ RFD ΠΈ TELEM2. Π’Π°ΠΊ ΡΡΠΎ ΠΌΠ½Π΅ ΡΠΎΠΆΠ΅ Π½ΡΠΆΠ΅Π½ ΡΠΎΡΡΠ΅Ρ Π²Π½ΡΡΡΠΈ FCU.
Π Ρ Π½Π΅ Π΄ΡΠΌΠ°Ρ, ΡΡΠΎ mavros Π·Π°ΠΌΠ΅Π½ΡΠ΅Ρ ΠΊΠ°ΠΊΠΎΠΉ-Π»ΠΈΠ±ΠΎ GCS, ΡΡΠΎ Π½Π°Π±ΠΎΡ API Π΄Π»Ρ Π½Π°ΠΏΠΈΡΠ°Π½ΠΈΡ Π²Π°ΡΠ΅Π³ΠΎ ΠΏΡΠΎΠ³ΡΠ°ΠΌΠΌΠ½ΠΎΠ³ΠΎ ΠΎΠ±Π΅ΡΠΏΠ΅ΡΠ΅Π½ΠΈΡ Π΄Π»Ρ Π°Π²ΡΠΎΠ½ΠΎΠΌΠ½ΠΎΠ³ΠΎ ΡΠΏΡΠ°Π²Π»Π΅Π½ΠΈΡ.
Π Π»ΡΠ±ΠΎΠΌ ΡΠ»ΡΡΠ°Π΅ Π²Π°ΠΌ ΠΏΠΎΠ½Π°Π΄ΠΎΠ±ΠΈΡΡΡ GCS Π΄Π»Ρ Π½Π°ΡΡΡΠΎΠΉΠΊΠΈ ΠΏΡΠΎΡΠΈΠ²ΠΊΠΈ.
Π‘Π°ΠΌΡΠΉ ΠΏΠΎΠ»Π΅Π·Π½ΡΠΉ ΠΊΠΎΠΌΠΌΠ΅Π½ΡΠ°ΡΠΈΠΉ
@ TSC21, ΠΏΠΎΡΠΎΠΌΡ ΡΡΠΎ FTP ΡΡΠ°Π±ΠΈΠ»Π΅Π½ ΡΠΎΠ»ΡΠΊΠΎ ΡΠ΅ΡΠ΅Π· USB, ΠΈ ΠΎΡΠ½ΠΎΠ²Π½ΠΎΠ΅ ΠΈΡΠΏΠΎΠ»ΡΠ·ΠΎΠ²Π°Π½ΠΈΠ΅ mavros ΡΠ΅ΡΠ΅Π· TELEMx, Π½Π΅Ρ ΠΏΡΠΈΡΠΈΠ½ Π΄Π»Ρ ΡΠ΅Π°Π»ΠΈΠ·Π°ΡΠΈΠΈ ΡΡΠΎΠ³ΠΎ ΡΠ΅ΠΆΠΈΠΌΠ°, ΠΈ ΠΎΠ½ Π½Π΅ΡΠΎΠ²ΠΌΠ΅ΡΡΠΈΠΌ Ρ ΡΠ΅ΠΊΡΡΠΈΠΌ ΠΈΠ½ΡΠ΅ΡΡΠ΅ΠΉΡΠΎΠΌ, ΠΏΠΎΠ΄ΠΎΠ±Π½ΡΠΌ ΠΏΡΠ΅Π΄ΠΎΡ ΡΠ°Π½ΠΈΡΠ΅Π»Ρ.
Π’Π°ΠΊ: