无人机发送mavlink消息(消息ID=11,即MAVLINK_MSG_ID_SET_MODE),该消息包含了模式设置信息mavlink_set_mode_t结构体定义消息如下: typedefstruct__mavlink_set_mode_t{uint32_tcustom_mode;uint8_ttarget_system;uint8_tbase_mode;}mavlink_set_mode_t; custom_mode取值 模式信息主要包含在了结构体中的custom_m...
接下来，我们利用VEHICLE_COMMAND消息来切换并解锁OFFBOARD模式。具体来说，我们将COMMAND成员设置为VEHICLE_CMD_DO_SET_MODE，PARAM1赋值为0F，PARAM2赋值为PX4_CUSTOM_MAIN_MODE_OFFBOARD，从而切换到OFFBOARD模式。解锁则通过将COMMAND设置为VEHICLE_CMD_COMPONENT_ARM_DISARM，PARAM1赋值为0F并再次发布来实现。值得注意...
sleep(); } // 设定无人机工作模式 offboard mavros_msgs::SetMode offb_set_mode; offb_set_mode.request.custom_mode = "OFFBOARD"; // 无人机解锁 mavros_msgs::CommandBool arm_cmd; arm_cmd.request.value = true; // 记录当前时间 ros::Time last_request = ros::Time::now(); // 用于走...
qDebug()<<“主模式”<<heartbeat.base_mode; qDebug()<<“从模式”<<heartbeat.custom_mode; 编译qgc并链接无人机 切换无人机的模式并在如下窗口观察,就可以知道不同模式下的mode值
elif key=='7':print("Vehicle Takeoff")setModeServer(custom_mode='AUTO.TAKEOFF')#长期识别到不明键值,相关变量置0else:count=count+1ifcount>4:x=0y=0z=0th=0if(key=='\x03'):break#根据速度与方向计算目标速度 target_speed=speed*x
offb_set_mode.request.custom_mode = "OFFBOARD"; mavros_msgs::CommandBool arm_cmd; arm_cmd.request.value = true; ros::Time last_request = ros::Time::now(); while(ros::ok()){ if( current_state.mode != "OFFBOARD" && (ros::Time::now() - last_request > ros::Duration(5.0))){...
mavros_msgs::SetMode offb_set_mode; offb_set_mode.request.custom_mode = "OFFBOARD"; mavros_msgs::CommandBool arm_cmd; arm_cmd.request.value = true; ros::Time last_request = ros::Time::now(); while(ros::ok()){ if( current_state.mode != "OFFBOARD" && ...
mavros_msgs::SetMode offb_set_mode; offb_set_mode.request.custom_mode = "OFFBOARD"; mavros_msgs::CommandBool arm_cmd; arm_cmd.request.value = true; ros::Time last_request = ros::Time::now(); while(ros::ok()){ if( current_state.mode != "OFFBOARD" && ...
mavros_msgs::SetMode offb_set_mode; offb_set_mode.request.custom_mode ="OFFBOARD"; mavros_msgs::CommandBool arm_cmd; arm_cmd.request.value =true; ros::Time last_request = ros::Time::now();while(ros::ok()){if( current_state.mode !="OFFBOARD"&& ...
<field type="uint32_t" name="custom_mode">A bitfield for use for autopilot-specific flags.</field> <field type="uint8_t" name="system_status">System status flag, see MAV_STATE ENUM</field> <field type="uint8_t_mavlink_version" name="mavlink_version">MAVLink version, not writable ...