MAVLINK Common Message Set MAVLink ????
MAVLINK Common Message Set MAVLink ????
These messages define the common message set, which is the reference message set implemented by most ground control stations and autopilots.
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??:??? 2012/12/22 ??:V1.0
?????:https://pixhawk.ethz.ch/mavlink/
MAVLink Protocol Version ?? This file has protocol version: 3. The version numbers range from 1-255.
?????:3,???????:1~255
MAVLink Type Enumerations ???
MAV_AUTOPILOT ????
Micro air vehicle / autopilot classes. This identifies the individual model.?????????
?????CMD ID
???Field Name
????Descriptio
????0 MAV_AUTOPILOT_GENERIC
1 MAV_AUTOPILOT_PIXHAWK
2 MAV_AUTOPILOT_SLUGS
3 MAV_AUTOPILOT_ARDUPILOTMEGA
4 MAV_AUTOPILOT_OPENPILOT
5 MAV_AUTOPILOT_GENERIC_WAYP
OINTS_ONL Y
6 MAV_AUTOPILOT_GENERIC_WAYP OINTS_AND_SIMPLE_NAVIGATION_ ONLY
7 MAV_AUTOPILOT_GENERIC_MISSIO N_FULL
Generic autopilot, full support for everything ????,??????
PIXHAWK autopilot, http://pixhawk.ethz.ch
SLUGS autopilot, http://slugsuav.soe.ucsc.edu
ArduPilotMega / ArduCopter, http://diydrones.com
OpenPilot, http://openpilot.org
Generic autopilot only supporting simple waypoints
Generic autopilot supporting waypoints and other simple navigation commands ????,????????????
Generic autopilot supporting the full mission command set
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?????CMD ID
???Field Name
????Descriptio
????????8 MAV_AUTOPILOT_INVALID
9 MAV_AUTOPILOT_PPZ
10 MAV_AUTOPILOT_UDB
11 MAV_AUTOPILOT_FP
12 MAV_AUTOPILOT_PX4
????,??????
No valid autopilot, e.g. a GCS or other MAVLink component ????
PPZ UAV – http://nongnu.org/paparazzi UAV Dev Board
FlexiPilot
PX4 Autopilot – http://pixhawk.ethz.ch/px4/
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MAV_TYPE ?????
?????CMD
????Field Name
????Description
0 1 2 3 4 5 6
7
8
9
10
11
12
13
14
15
16
17
MAV_TYPE_GENERIC MAV_TYPE_FIXED_WING MAV_TYPE_QUADROTOR MAV_TYPE_COAXIAL MAV_TYPE_HELICOPTER MAV_TYPE_ANTENNA_TRACKER MAV_TYPE_GCS
MAV_TYPE_AIRSHIP MAV_TYPE_FREE_BALLOON MAV_TYPE_ROCKET MAV_TYPE_GROUND_ROVER MAV_TYPE_SURFACE_BOAT MAV_TYPE_SUBMARINE MAV_TYPE_HEXAROTOR MAV_TYPE_OCTOROTOR MAV_TYPE_TRICOPTER MAV_TYPE_FLAPPING_WING MAV_TYPE_KITE
ID
Generic micro air vehicle. ??
Fixed wing aircraft. ???
Quadrotor ??
Coaxial helicopter ??
Normal helicopter with tail rotor. ??
Ground installation ??????
Operator control unit / ground control station ???
Airship, controlled ????
Free balloon, uncontrolled ????? Rocket ??
Ground rover ????
Surface vessel, boat, ship ???? Submarine ??
Hexarotor ??
Octorotor ??
Octorotor??:?? Triroter? ?? Flapping wing ???
Flapping wing??:?? Kite???
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MAV_MODE_FLAG ?????
These flags encode the MAV mode. ? MAVLink ???,??????????????? ???(Mode)???? 8 ???????????????????,????