gcs().send_text(MAV_SEVERITY_INFO,"%d",(int16_t)g.my_new_parameter); } 1. 2. 3. 4. 五、测试 编译烧录到飞控,然后连上地面站 可以在参数列表里搜索到参数 地面站会实时打印当前的参数值
AP_Notify::flags.vehicle_lost = true; gcs_send_text(MAV_SEVERITY_NOTICE,"Locate Copter alarm"); } } else { soundalarm_counter++; } } else { soundalarm_counter = 0; if (AP_Notify::flags.vehicle_lost == true) { AP_Notify::flags.vehicle_lost = false; } } } Ardupilot(PX4)飞控驱...
首次融合光流传感器数据,会提示:"EKF3 IMU%u fusing optical flow"。 void NavEKF3_core::FuseOptFlow(){...// notify first time onlyif (!flowFusionActive) {flowFusionActive = true;gcs().send_text(MAV_SEVERITY_INFO, "EKF3 IMU%u fusing optical flow",(unsigned)imu_index);}...}...
copter.flightmode->has_manual_throttle() && new_flightmode->get_pilot_desired_throttle() > copter.get_non_takeoff_throttle()) {gcs().send_text(MAV_SEVERITY_WARNING,"Mode change failed: throttle too high"); AP::logger().Write_Error(LogErrorSubsystem::FLIGHT_MODE,LogErrorCode(mode));returnf...
gcs().send_text(MAV_SEVERITY_NOTICE,"Locate Copter alarm"); } } else { soundalarm_counter++; } } else { soundalarm_counter = 0; if (AP_Notify::flags.vehicle_lost == true) { AP_Notify::flags.vehicle_lost = false; } } }©...
(guided_angle_state.ang_vel.z)*100.0f); + GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "R %.2f, P %.2f YR %.2f, yrcds %f \n", roll_rad, pitch_rad, guided_angle_state.ang_vel.z, guided_angle_state.yaw_rate_cds ); + //attitude_control->input_quaternion(guided_angle_state.attitude_...
gcs().send_text(MAV_SEVERITY_NOTICE, 'FBWA tdrag off'); auto_state.fbwa_tdrag_takeoff_mode = false; } return 0; } #if LANDING_GEAR_ENABLED == ENABLED /* 更新起落架 */ void Plane::landing_gear_update(void) { g2.landing_gear.update(relative_ground_altitude(g.rangefinder_landing));...
gcs().send_text(MAV_SEVERITY_INFO, 'Rangefinder engaged at %.2fm', (double)rangefinder_state.height_estimate); } } rangefinder_state.last_distance = distance; } else { rangefinder_state.in_range_count = 0; rangefinder_state.in_range = false; ...
├──> gcs().send_text(MAV_SEVERITY_CRITICAL, "Internal Errors 0x%x", (unsigned)new_internal_errors); └──> _last_internal_errors = new_internal_errors; 4. ArduCopter任务 ArduCopter任务的调用栈逻辑依次是: AP_Vehicle::loop └──> scheduler.loop ...
GCS通信链路异常 或者出现DeadReckon异常,则触发FAILSAFE策略。 Copter::three_hz_loop // 3.3Hz task ├──> Copter::failsafe_gcs_check │ └──> Copter::failsafe_gcs_on_event │ └──> Copter::do_failsafe_action └──> Copter::failsafe_deadreckon_check ...