├──> PX4_INFO_RAW("DeviceID: %" PRId32 "\n", adc.device_id) ├──> PX4_INFO_RAW("Resolution: %" PRId32 "\n", adc.resolution) ├──> PX4_INFO_RAW("Voltage Reference: %f\n", (double)adc.v_ref) ├──> <for (unsigned l = 0; l < 20; ++l)> // 更新20次ADC数据...
// /mavros/setpoint_raw/attitude 对应有两种方式控制：1.姿态+油门；2.机体角速度+油门 fsm.ct...
voidUavcanBatteryBridge::battery_sub_cb(constuavcan::ReceivedDataStructure<uavcan::equipment::power::BatteryInfo> &msg) 根据得到的电池信息进行赋值 _battery_status[instance].timestamp = hrt_absolute_time();_battery_status[instance].voltage_v = msg...
*/#include<px4_platform_common/log.h>__EXPORTintpx4_simple_app_main(intargc,char*argv[]);intpx4_simple_app_main(intargc,char*argv[]){PX4_INFO("Hello Sky!");returnOK;} main函数必须命名为<module_name>_main并从模块中导出(__EXPORT),如上面示。 PX4_INFO相当于PX4 shell的printf(包含在px4...
{ PX4_INFO_RAW("ekf2:%d EKF dt: %.4fs, attitude: %d, local position: %d, global position: %d\n", _instance, (double)_ekf.get_dt_ekf_avg(), _ekf.attitude_valid(), _ekf.local_position_is_valid(), _ekf.global_position_is_valid()); perf_print_counter(_ekf_update_perf); ...
.github .vscode Documentation ROMFS Tools boards cmake integrationtests launch msg platforms posix-configs src srv test test_data validation .clang-tidy .editorconfig .gitattributes .gitignore .gitmodules CMakeLists.txt CODE_OF_CONDUCT.md CONTRIBUTING.md ...
wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh sudo bash ./install_geographiclib_datasets.sh 3. 仿真环境 仿真工具通常使用 Gazebo, Airsim,jMAVSim 等,下面讲解编译仿真模型的方法 首先cd 到 PX4-Autopilot 目录下: ...
本节实现 PX4(mavlink守护进程) <--uORB--> raw_serial_rtx,从而打通整个数据链路 技术点:uORB消息的定义,发布和订阅 未加说明下文中文件路径均以PX4-Framework项目根路径作为起始路径的相对路径。 3.1 自定义uORB消息 依据上节自定义的mavlink消息,参考 msg/qshell_req.msg,在msg目录创建raw_serial_rx.msg和raw...
loginfo('%.2f\r',sita) current_state = State() # 回调函数:订阅mavros状态 def state_cb(state): global current_state current_state = state #主函数 if __name__=="__main__": settings = termios.tcgetattr(sys.stdin) #获取键值初始化,读取终端相关属性 rospy.init_node...
att.yaw = raw.accelerometer_m_s2[2]; orb_publish(ORB_ID(vehicle_attitude), att_pub, &att); } /* there could be more file descriptors here, in the form like: * if (fds[1..n].revents & POLLIN) {} */ } } PX4_INFO("exiting"); ...