参考mavlink通讯协议全文

MAVLink消息设Thesemessagesdefinethecommonmessageset,whichisthereferencemessagesetimplementedbymostgroundcontrolstationsandautopilots.下列消息是通常的消息设置，这些设置已经在大多数的地面站和飞控中得到应用翻译：MAVLinkProtocolVersionThisfilehasprotocolversion:3.Theversionnumbersrangefrom1-本文版本为：3，版本号的范围MAVLinkTypeEnumerationsMAV_AUTOPILOTField Genericautopilot,fullsupporteverything通用飞控，支持全部功 PIXHAWK SLUGS ArduPilotMega/ Genericautopilotonlysupporting MAV_AUTOPILOT_GENERIC_WAYPGenericautopilotsupportingwaypointsOINTS_AND_SIMPLE_NAVIGATION_andothersimplenavigationcommands Genericautopilotsupportingthe Field通用飞控，支持全部指 Novalidautopilot,e.g.aGCSorMAVLinkcomponent无效 PPZUAV- UAVDev PX4AutopilotMAV_TYPE飞行器Field0Genericmicroairvehicle.通用Fixedwingaircraft.固定翼Quadrotor四轴Coaxialhelicopter共Normalhelicopterwithtailrotor.直Groundinstallation地面天Operatorcontrolunitgroundcontrolstation地面站Airship,controlled有控飞balloonuncontrolled自由飞气球火箭Groundrover地面车Surfacevesselboatship水面船Submarine潜艇Hexarotor六轴Octorotor八轴Octorotor【按：勘误Triroter】三Flapwing扑翼12345678MAV_TYPE_9MAV_TYPE_FLAPTheseflagsencodetheMAVmode.MAVLink协议中，用一个单字节字符标识飞行器的各：使能：使能状态并非启动，而是使启动指令可以起作用。当使能信号处于0状态，不论是否Field MAVsafetytoarmed.MotorsarerunningcanstartReadytofly.主发动机使能。准备好起 remoteinputisenabled.输入信 hardwareinloopsimulation.Allmotors/actuatorsareblocked,butinternalsoftwareisfulloperational.HIL硬件环模 stabilizeselectronicallyitsattitude(andoptionallyposition).Itneedshoweverfurthercontrolinputstomove能。在此状态下，飞行器Field要外部操作指令以实现操 guidedenabled,systemfliesMissions/missionitems. modeenabled,systemfindsitsowngoalpositionsGuidedflagcanbesetornot,dependsontheactual前一项“导航使能”可01状态，这取决于具体 systemhastestmodeenabled.Thisflagisintendedfortemporarysystemtestsandshouldnotbeusedforstableimplementations测试模式使 futureuse.Thesevaluesencodethebitpositionsofthedecodeposition.Thesevaluescanbeusedtoreadthevalueofaflagbitbycombiningthebase_modevariablewithANDwiththeflagpositionvalue.Theresultwillbeeither0or1,dependingoniftheflagissetornot.Field First Second Third Fifth Sixth EighthMAV_MODE模Thesedefinesarepredefined binedmodeflags.Thereisnoneedtousevaluesfromthisenum,butitsimplifiestheuseofthemodeflags.Notethatmanualinputisenabledinallmodesasasafetyoverride.Field Systemisnotreadytofly,0000 calibrating,etc.Noflagis航前。系统正在启动、自检、校准、 Systemisallowedtobeactive,0101 assistedRC Systemisallowedtobeactive,1101 assistedRC Systemisallowedtobeactive,0100 manual(RC)control,no Systemisallowedtobeactive,1100 manual(RC)control,no01011000Systemisallowedtobeactive,underautonomouscontrol,manual11011000Systemisallowedtobeactive,underautonomouscontrol,manual导航。系统允许启动，自主控制状态，手设置航点。【按：存疑01011100Systemisallowedtobeactive,underautonomouscontrolandnavigation(thetrajectoryisdecidedonboardandnotpre-programmedby自动驾驶关闭。系统允许启动，自主控制导航状态，（航线由机载设备自主设定非来自预先编制的任务表11011100Systemisallowedtobeactive,underautonomouscontrolandnavigation(thetrajectoryisdecidedonboardandnotpre-programmedby自动驾驶启动。系统允许启动，自主控制导航状态，（航线由机载设备自主设定非来自预先编制的任务表01000100UNDEFINEDmode.Thissolelydependsontheautopilot-usewithcaution,测试模式关闭。此项和飞控密切使用，通常开发调试之用11000100UNDEFINEDmode.Thissolelydependsontheautopilot-usewithcaution,测试模式启动。此项和飞控密切使用，通常开发调试之用MAV_STATE状Field Uninitializedsystem,stateis未初始化，状 Systemisbooting Systemiscalibratingandnotflight-正在校准，未准备好起飞 Systemisgroundedandonstandby.Itcanlaunchedany系统地面待命，随时可以 SystemisactiveandmightbealreadyMotorsare开车/开航。发动机已经启 Systemisinanon-normalflightmode.Ithoweverstill系统处于失常飞行状态，仍能导航 Systemisinanon-normalflightmode.Itcontroloverpartsoroverthewholeairframe.Itisinmaydayandgoingdown.系统处于失常飞行状态，若干设备失灵，坠落状 willshutdown系统刚执行了关机指令，正在关闭PONENTField 全 任务管理 P_ID_PATH 路径管理 地 相机/ 姿态传感器设 系统控制 Field56789MAV_FRAMEField Globalcoordinateframe,WGS84coordinatesystem.Firstvalue/x:latitude,secondvalue/y:longitude,thirdvalue/z:positivealtitudeovermeansealevel(MSL)WGS84坐标纬度，2经度，3海拔高度 Localcoordinateframe,Z-up(x:y:east,z:局部坐标系。Z向上X向北，2Y向东，3Z向 NOTacoordinateframe,indicatesamissioncommand.非坐标帧，标识任务指令 Globalcoordinateframe,coordinatesystem,relativealtitudeovergroundwithrespecttothehomeposition.Firstvalue/x:latitude,secondvalue/y:longitude,third/z:positivealtitudewith0beingatthealtitudeofthehomelocation. east,y:north,z:局部坐标系1，X向东，2，Y向北，3，Z向上MAVLINK_DATA_STREAM_TYPE图像 FieldMAV_GOTOOverridecommand,pausescurrentmissionexecutionandmoves ytoa高优先级指令，暂停指令表的内容，立即执行本Field Holdatthecurrent保持当前位置。【存疑 Continuewiththenextiteminmissionexecution.任务继续 Holdatthecurrentpositionthe保持当前位置 HoldatthepositionspecifiedtheparametersoftheDO_HOLDaction保持在DO_HOLD指定的位置MAV_CMDCommandstobeexecutedbytheMAV.Theycanbeexecutedonuserrequest,oraspartofamissionscript.Iftheactionisusedinamission,theparametermaptothewaypoint/missionmessageisasfollows:Param1,Param2,Param3,Param4,X:Param5,Y:Param6,Z:Param7.ThiscommandlistissimilarwhatARINC424isforcommercialaircraft:Adataformathowtointerpretwaypoint/missiondata.MAV指令列表。这些指令可以立即执行，也可以预编制成任务。指令参数规定为7个。7个参数根据指令的不同而代表不同类型的数据。参照飞机的ARINC424标准CMDField NavigatetoMISSION.MissionParam#1 Holdtimeindecimalseconds.(ignoredbyfixedwing,timetostayatMISSIONforrotarywing)MissionParam#2 Acceptanceradiusinmeters(ifthespherewiththisradiusishit,theMISSIONcountsasreached)MissionParam#3 0topassthroughtheWP,if>0radiusinmeterstopassbyWP.Positivevalueforclockwiseorbit,negativevalueforcounter-clockwiseorbit.AllowstrajectoryMissionParam#4 DesiredyawangleatMISSION(rotary指向设定。仅适用可悬停MissionParam Latitude纬CMDFieldMissionParam Longitude经MissionParam Altitude高 LoiteraroundthisMISSIONunlimitedamountoftime持续MissionParam EmptyMissionParam EmptyMissionParam#3 RadiusaroundMISSION,inmeters.Ifpositiveloiterclockwise,elsecounter-MissionParam Desiredyaw指向设定。仅适用可悬停MissionParam LatitudeMissionParam LongitudeMissionParam Altitude LoiteraroundthisMISSIONforMissionParam Turns圈MissionParam MissionParam#3 RadiusaroundMISSION,inmeters.Ifpositiveloiterclockwise,elsecounter-CMDFieldMissionParam Desiredyaw指向设定。仅适用可悬停MissionParam MissionParam MissionParam LoiteraroundthisMISSIONforMissionParam Secondsdecimal)秒（十进制MissionParam MissionParam#3 RadiusaroundMISSION,inmeters.Ifpositiveloiterclockwise,elsecounter-MissionParam Desiredyaw指向设定。仅适用可悬停MissionParam MissionParam MissionParam ReturntolaunchCMDField 返回起飞MissionParam MissionParam MissionParam MissionParam MissionParam MissionParam MissionParam LandatlocationMissionParam MissionParam MissionParam MissionParam Desiredyawangle.MissionParam MissionParam MissionParam Takeofffromground/地面起飞或手CMDFieldMissionParam#1 Minimumpitch(ifairspeedsensorpresentdesiredpitchwithoutsensorMissionParam MissionParam MissionParam#4 Yawangle(ifmagnetometerpresent),ignoredwithoutmagnetometer指向设定。（有罗盘如无罗盘，则忽略此参数MissionParam MissionParam MissionParam Setstheregionofinterest(ROI)forasensorsetorthevehicleitself.Thiscanthenbeusedbythevehiclescontrolsystemtocontrolthevehicleattitudeandtheattitudeofvarioussensorssuchascameras.MissionParam#1 Regionofinterestmode.(seeMAV_ROIenum)MissionParam#2 MISSIONindex/targetID.(seeMAV_ROIenum)任务索引号/目标代号，参考CMDFieldMissionParamROIindex(allowsavehicletomultipleROI索引号，用于支持多个ROI设MissionParamMissionParamxthelocationofthefixedROI(seeXYZ位置MissionParamyMissionParamzControlautonomouspathnningthe避障或其他航路规划设MissionParam0:Disablelocalobstacleavoidance/localpathnning(withoutresettingmap),1:Enablelocalpathnning,Enableandresetlocalpath0：关闭局部避障/本地路径规划（设地图1：启动本地路2：启动并重置本地路径规MissionParam0:Disablefullpathnningresettingmap),1:Enable,2:andresetmap/occupancygrid,Enableandresetnnedroute,notoccupancy0：关闭全航路规划（无预设地图1：启动全航路规2：启动和重置（有岛3：启动和重置（无岛MissionParamCMDFieldMissionParam#4 Yawangleatgoal,incompassdegrees,0..360目标指向，基于罗盘MissionParam Latitude/XofMissionParam Longitude/YofMissionParam Altitude/Zof NOP-ThiscommandisonlyusedtomarktheupperlimitoftheNAV/ACTIONcommandsinthe Delaymissionstatemachine.秒MissionParam#1 Delayinsecondsdecimal)秒（十进MissionParam MissionParam MissionParam MissionParam MissionParam MissionParam CMDField Ascend/descendatrate.missionstatemachineuntildesiredaltitudereached.MissionParam#1 DescentAscendratem/s)爬升/下MissionParam MissionParam MissionParam MissionParam MissionParam MissionParam FinishAltitude DelaymissionstatemachinewithindesireddistanceofnextNAVMissionParam Distancemeters)距离（米MissionParam MissionParam MissionParam MissionParam CMDFieldMissionParam MissionParam Reachacertaintarget前往设定的航向MissionParam targetangle:[0-360],0isMissionParam#2 speedduringyawchange:[degper转向速率：[度/秒MissionParam#3 positive:clockwise[-1,1]指向：负值逆时针，正值顺时针MissionParam relativeoffsetorabsoluteangle:[相对偏置或绝对角MissionParam MissionParam MissionParam NOP-ThiscommandisonlyusedmarktheupperlimitoftheCONDITIONcommandsinthe Setsystemmode.CMDFieldMissionParam#1 Mode,asdefinedbyENUM模式，参MissionParam MissionParam MissionParam MissionParam MissionParam MissionParam Jumptothedesiredcommandinthemissionlist.Repeatthisactiononlythespecifiednumberoftimes相当于While(i<n);循环。MissionParam Sequencenumber段MissionParam Repeatcount重复次MissionParam MissionParam MissionParam MissionParam MissionParam CMDField Changespeedand/orthrottle改变速度和/或油MissionParam#1 Speedtype(0=Airspeed,1=Ground1,速度类型（0=空速，1=地速2,速度值（米/秒，-1表示无相关设备MissionParam#2 Speed(m/s,-1indicatesnochange)MissionParam#3 Throttle(Percent,-1indicatesnoMissionParam MissionParam MissionParam MissionParam ChangesthehomelocationeitherthecurrentlocationoraspecifiedMissionParam#1 Usecurrent(1=usecurrentlocation,0=usespecifiedlocation)0：设定点CMDField1，使用当前点MissionParam MissionParam MissionParam MissionParam MissionParam MissionParam Setasystemparameter.Caution!ofthiscommandrequiresknowledgeofthenumericenumerationvalueoftheparameter.设定系统参数注意：了解参数的确切含义，然改MissionParam ParameterMissionParam ParameterMissionParam MissionParam MissionParam MissionParam MissionParam CMDField Setarelaytoa设定继电器开关参数MissionParam Relaynumber继电器MissionParam#2 Setting(1=on,0=off,otherspossibledependingonsystemhardware)0=关，1=开。其他数值应参MissionParam MissionParam MissionParam MissionParam MissionParam CyclearelayonandoffforanumberofcycleswithadesiredMissionParam RelaynumberMissionParam Cyclecount循环次MissionParam Cycletime(seconds,周期（十进制，秒MissionParam MissionParam CMDFieldMissionParam MissionParam Setaservotoa 设定舵机舵MissionParam Servonumber舵机MissionParam#2 (microseconds,1000to2000数值（1000～2000微秒，1～2毫秒MissionParam MissionParam MissionParam MissionParam MissionParam Cycleabetweenitsnominalandadesiredforadesirednumberofcycleswithadesired按照设定的位置、周期、次数，抖舵MissionParam Servonumber舵机MissionParam#2 (microseconds,1000to2000数值（1000～2000微秒，1～2毫秒MissionParam Cyclecount循环次CMDFieldMissionParam Cycletimeseconds)周期（秒MissionParam MissionParam MissionParam MAV_CMD_DO_CONTROL_Controlonboardcamera设定机载机、照相MissionParam CameraID(-1for相机号（-1表示所有相机MissionParam#2 Transmission:0:disabled,1:enabledcompressed,2:enabledraw传0：关闭，1：压缩传送，2：RAW传MissionParam Transmissionmode: >0:singleimageseverynseconds模0：流，n：每过n秒传送一MissionParam#4 Recording:0:disabled,1:enabledcompressed,2:enabledraw记0：关闭，1：压缩MissionParam MissionParam MissionParam CMDField NOP-ThiscommandisonlyusedtomarktheupperlimitoftheDOcommandsintheenumerationMissionParam MissionParam MissionParam MissionParam MissionParam MissionParam MissionParam beonlyacceptedifinpre-flight航前设备校准仅在起飞前模式有效MissionParam Gyrocalibration:0:no,1:陀螺仪（0：不校准，1：校准MissionParam#2 Magnetometercalibration:0:no,1:罗盘（0：不校准，1：校准MissionParam Groundpressure:0:no,1:气压高度计（0：不校准，1：校准MissionParam Radiocalibration:0:no,1:CMDFieldMissionParam#5 Accelerometercalibration:0:no,1:MissionParam MissionParam Setsensoroffsets.Thiscommand beonlyacceptedifinpre-flight传感器偏移量设MissionParam#1 Sensortoadjusttheoffsetsfor:0:gyros,1:accelerometer,2:magnetometer,3:barometer,4:opticalflow0陀螺，1加速度计，2罗盘，3MissionParam#2 Xaxisoffset(orgenericdimension1),inthesensor'srawunitsX轴偏置数值，传感器的RAW格式MissionParam#3 Yaxisoffset(orgenericdimension2),inthesensor'srawunitsY轴偏置数值，传感器的RAW格式MissionParam#4 Zaxisoffset(orgenericdimension3),inthesensor'srawunitsZ轴偏置数值，传感器的RAWMissionParam#5 Genericdimension4,inthesensor'srawunits4轴偏置数值，传感器的RAWCMDFieldMissionParam#6 Genericdimension5,inthesensor'srawunits5轴偏置数值，传感器的RAWMissionParam#7 Genericdimension6,inthesensor'srawunits6轴偏置数值，传感器的RAW Requeststorageofparametervaluesandlogs.Thiscommandwillbeonlyacceptedifinpre-flightmode.参数和任务存MissionParam#1 Parameterstorage:0:READFROMFLASH/EEPROM,1:WRITECURRENTTOFLASH/EEPROM参数写MissionParam#2 Missionstorage:0:READFROMFLASH/EEPROM,1:WRITE任务写MissionParam 保留MissionParam 保留MissionParam EmptyMissionParam EmptyMissionParam Empty RequesttherebootorshutdownsystemCMDField MissionParam#1 0:Donothingforautopilot,空1:Rebootautopilot,飞控重启2Shutdownautopilot.飞控关机MissionParam#2 0:Donothingforonboardcomputer,1:Rebootonboardcomputer,1：机载计算机重2：机载计算机关MissionParam MissionParam#4 MissionParam#5 MissionParam MissionParam Hold/continuethecurrent高优先级强制执MissionParam MAV_GOTO_DO_HOLD:hold保continuewithnextiteminmission继续执行下一MissionParam#2 POSITION:Holdatcurrentposition_POSITION:holdatspecified.CMDFieldMissionParam#3 holdpoint坐标格式MissionParam Desiredyawangleindegrees指MissionParam LatitudeXposition纬度/X位MissionParam LongitudeYposition经度/Y位MissionParam AltitudeZposition高度/Z位 startrunninga任务单启动，从n到MissionParam first_item:thefirstmissionitemto第一项n，起始点MissionParam#2 last_item:thelastmissionitemtorun(afterthisitemisrun,themission最后一项m，终点 Arms/Disarmsa MissionParam#1 1toarm0todisarm1，启DatastreamIDs.Adatastreamisnotafixedsetofmessages,butrathera totheautopilotsoftware.Individualautopilotsmayormaynotobeythe Field Enablealldata使能全部数据 EnableIMU_RAW,27，姿态原始数据 GPS_STATUS使能姿态传感器、GPS原始数据、状态 Enable1，状态 CONTROL_STATUS,42，当前任务；62，导航控制器输 使能GPS状态，控制状态，辅助状 Enable35，RC通道RAW格式数 MAV_DATA_STREAM_RAW_CONTROLLER Enable无现 ON_INTField使能局部定位，全局定 Dependentontheautopilot30，姿态 Dependentontheautopilot Dependentontheautopilot飞控自定无现 TheROI(regionofinterest)forthevehicle.Thiscanbebeusedbythevehicleforcamera/vehicleattitudealignment(seeMAV_CMD_NAV_ROI).点可以用于设定相机等设备的自动操作。参考CMDField Noregionofinterest.无 PointtowardnextMISSION. PointtowardgivenMISSION. Pointtowardfixedlocation. Pointtowardofgivenid.MAV_CMD_ACKACK/NACK/ERRORvaluesasaresultofMAV_CMDsandformissionitemACK/NACK/ERROR数值，是对MAV_CMD指令的应答Field Command/missionitemisL theotherreasonsfailsorifnodetailederrorreportingis Thesystemisrefusingtoacceptthiscommandfromthissource/communicationpartner.执 Commandormissionitemissupported,othercommandswouldbeaccepted.不支持 Thecoordinateframeofcommand/missionitemisnot不支持此命令的坐标格E Thecoordinateframeoferror,pleaseusethemore TheXorlatitudevalueisoutFieldrange.纬度数据越 TheYorlongitudevalueisofrange. MAV_PARAM_TYPEField 8-bitunsigned 8-bitsigned 16-bitsigned 32-bitsigned 64-bitsigned 32-bitfloating- 64-bitfloating-MAV_RESULT指令resultfromamavlink MAVLink指令返回CMDField CommandACCEPTEDEXECUTED CommandREJECTED/DENIED暂时 DENIED永久 未知命令/不支持 Commandexecuted,but命令执行失MAV_MISSION_RESULTresultinamavlinkmission MAVLink任务返回Field missionacceptedOK接 genericerror/notacceptingmissioncommandsatallrightnow coordinateframeisnot坐标不支Field commandisnot指令不支 missionitemexceedsstorage任务超出空 oneoftheparametershasaninvalidvalue参数数据 param1hasaninvalid1数据 param2hasaninvalid2数据 param3hasaninvalid3数据 param4hasaninvalid4数据 x/param5hasaninvalidX/5数据 y/param6hasaninvalidY/6数据 param7hasaninvalidZ/7数据 receivedwaypointoutof notacceptinganymissioncommandsfromthiscommunicationpartner接受此传送MAV_SEVERITYIndicatestheseveritylevel,generallyusedforstatusmessagestoindicatetheirrelativeurgency.BasedonRFC-5424usingexpandeddefinitionsat: /kb/info:-syslog-message-指使故障等级，用在状态消息中，指示故障的紧急程度。基于RFC-5424标准Field Systemisunusable.Thisisa"panic"系统不可用，最紧急状态 Actionshouldbetaken y.errorinnon-critical警报。非致命性系统故障，应立即应 Actionmustbetakenimmediay.failureinaprimary警报：主要系统故障，应立即应对 Indicatesanerrorin故障：次系统故障/备份系统故障 Indicatesaboutapossiblefutureerrorifthisnotresolvedwithinagiventimeframe.Examplewouldbealowbatterywarning. Anunusualeventhasoccurred,thoughnoterrorcondition.Thisshouldbeinvestigatedfortherootcause. Normaloperationalmessages.Usefullogging.NoactionisrequiredforField assistindebugging.Theseshouldnotoccurduringnormaloperation.很有用的调试信息。正常操作的时候不该出现MAVLinkMessagesHEARTBEAT#0)Theheartbeatmessageshowsthatasystemispresentandresponding.ThetypeoftheMAVandAutopilothardwareallowthereceivingsystemtotreatfurthermessagesfromthissystemappropriate(e.g.bylayingouttheuserinterfacebasedontheautopilot).Field TypeoftheMAVquadrotorhelicopteretc.,upto15types,definedinMAV_TYPEENUM)飞行器类型 Autopilottype/class.definedinMAV_AUTOPILOTENUM飞控型号 Systemmodebitfield,see系统当前模式，参阅 Abitfieldforuseforautopilot-specific用户自定义模 Systemstatusflag,seeMAV_STATE系统状态，参阅 MAVLinkversion,notwritablebyuser,addedbyprotocolbecauseofmagicdatatype:uint8_t_mavlink_versionSYS_STATUS#1)Thegeneralsystemstate.IfthesystemisfollowingtheMAVLinkstandard,thesystemstateismainlydefinedbythreeorthogonalstates/modes:Thesystemmode,whichiseitherLOCKED(motorsshutdownandlocked),MANUAL(systemunderRCcontrol),GUIDED(systemwithautonomouspositioncontrol,positionsetpointcontrolledmanually)orAUTO(systemguidedbypath/waypointnner).TheNAV_MODEdefinedthecurrentflightstate:LIFTOFF(oftenanopen-loopmaneuver),LANDING,WAYPOINTSorVECTOR.Thisrepresentstheinternalnavigationstatemachine.Thesystemstatusshowsweatherthesystemiscurrentlyactiveornotandifanemergencyoccurred.DuringtheCRITICALandEMERGENCYstatestheMAVisstillconsideredtobeactive,butshouldstartemergencyproceduresautonomously.Afterafailureoccurreditshouldfirstmovefromactivetocriticaltoallowmanualinterventionandthenmovetoemergencyafteracertaintimeout.按照MAVLink标准，系统状态可以表达为三个模锁定LOCKED（马达关闭/锁定手动MANUAL（控制导航GUIDED（手动设置航点，飞控引导飞向航点自动AUTO（系统自动计算航点，自动飞向航点起飞LIFTOFF（开环动作航点Field Bitmaskshowingwhich位编码方式显示各种控制器、传感器 controllersandsensorsare0：无，1： Valueof0:notpresent.Valueof0：三轴陀螺，1：三轴加速度/倾角仪 present.Indices:0:3Dgyro,1:3Dacc, 3Dmag,3:absolutepressure,4: differentialpressure,5:GPS,6:optical flow,7:computervisionposition,8:laser9：外部激光定位（Vicon或 Field (ViconorLeica).Controllers:10:3D angularratecontrol11:attitude14：X/Y位置控制器，15：马达输出控制器 stabilization,12:yawposition,13:FFFFFC0F111111000000 z/altitudecontrol,14:x/ypositionFFFFAC0B111111000000 15:motoroutputs/FFFFFC0B111111000000 Bitmaskshowingwhich0：关闭 controllersandsensorsare1，开 Valueof0:notenabled.Valueof传感器的开启状态 enabled.Indices:0:3Dgyro,1:3D编码方式同上 2:3Dmag,3:absolutepressure,differentialpressure,5:GPS,6:opticalflow,7:computervisionposition,8:laserbasedposition,9:externalground-truth(ViconorLeica).Controllers:10:3Dangularratecontrol11:attitudestabilization,12:yawposition,13:z/altitudecontrol,14:x/ypositioncontrol,15:motoroutputs/control Bitmaskshowingwhich0：故 controllersandsensorsare1：正常【按：译文可能有误 orhaveanerror:Valueof0:not传感器的健康状态 Valueof1:enabled.Indices:0:3D编码方式同上 1:3Dacc,2:3Dmag,3:pressure,4:differentialpressure,5:GPS,6:opticalflow,7:computervisionposition,8:laserbasedposition,9:externalground-truth(ViconorLeica).Controllers:10:3Dangularratecontrol11:attitudestabilization,12:yawposition,13:z/altitudecontrol,14:x/ypositioncontrol,15:motoroutputs/ umusageinpercentof主循环负载，机载计算机负载 mainlooptime,(0%:0,100%:此数据应该始终小于 shouldbealwaysbelowField Batteryvoltage,inmillivolts(1=电池电 Batterycurrent,in10*milliamperes(1 10milliampere),-1:autopilotdoesnotmeasurethecurrent 100),-1:autopilotestimatetheremaining Communicationdropsinpercent,(0%:丢包 100%:10'000),(UART,I2C,SPI,droppedpacketsonalllinks(packetswerecorruptedonreceptiononthe Communicationerrors(UART,I2C, CAN),droppedpacketsonalllinks(packetsthatwerecorruptedonreceptionontheerrors_count1导航仪误差1 uint16_tAutopilot-specificerrorserrors_count2导航仪误差2 uint16_tAutopilot-specificerrorserrors_count3导航仪误差3 uint16_tAutopilot-specificerrorserrors_count4导航仪误差4 uint16_tAutopilot-specificerrorsSYSTEM_TIME#2)Thesystemtimeisthetimeofthemasterclock,typicallythecomputerclockofthemainonboardcomputer.Field Timestampofthemasterclockinmicroseconds（UTC/GMT的午夜）开始所经过的秒数，不考虑 Timestampofthecomponentclocksinceboottime.(#4Amessageeitherrequestingorrespondingtoa.Thisallowstomeasurethesystemlatencies,includingserialport,radiomodemandUDPconnections.用于检测各种消息（串口、无线电Modem、UDP协议）传送的延迟Field sequence序列号 0:requestfromallreceivingsystems,ifthan0:messageisaresponseandnumberisthesystemidoftherequestingsystem于0的数据是系统代号，表示这是一个回送消息。 0:requestfromallreceivingcomponents,ifthan0:messageisaresponseandnumberisthesystemidoftherequestingsystem于0的数据是部件代号，表示这是一个回送消息。CHANGE_OPERATOR_CONTROL#5)RequesttocontrolthisField SystemtheGCSrequestscontrolfor 0:requestcontrolofthisMAV,1:Releasecontrolof0：请求控制权。1：释放控制 0:keyasintext,1-255:future,differenthashing/encryptionvariants.TheGCSshouldingeneralusethesafestmodepossibleinitiallyandthengraduallymovedowntheencryptionlevelifitgetsaNACKmessageindicatinganencryptionmismatch.无法兼容的情况下，使用次一级的。 Password/Key,dependingonversionintextencrypted.25orlesscharacters,NULLterminated.ThecharactersmayinvolveA-Z,a-z,0-9,and"!?,.-"25个字符，NULL为终止字符。字符可以使用A～Z，#6)Accept/denycontrolofthisField IDoftheGCSthismessage地面站代 0:requestcontrolofthisMAV,1:ReleasecontrolofMAV。回送的验证信息 0:ACK,1:NACK:Wrongpasskey,2:NACK:Unsupportedpasskeyencryptionmethod,3:NACK:Alreadyundercontrol0：接受1：不接受。不2：不接受。不3：不接受。已经在受控方AUTH_KEY#7 Emitanencryptedsignature/keyidentifyingthissystem.PLEASENOTE:Thisprotocolhasbeenkeptsimple,sotransmittingthekeyrequiresanencryptedchannelfortruesafety.Field SET_MODE#11)Setthesystemmode,asdefinedbyenumMAV_MODE.Thereisnotargetcomponentidasthemodeisbydefinitionfortheoverallaircraft,notonlyforonecomponent.设置系统模式FieldField Thenewbasemode新的基本 Thenewautopilot-specificmode.Thisfieldcanignoredbyanautopilot.用户自PARAM_REQUEST_READ#20Requesttoreadtheonboardparameterwiththeparam_idstringid.Onboardparametersarestoredaskey[constchar*]->value[float].Thisallowstosendaparametertoanyothercomponent(suchastheGCS)withouttheneedofpreviousknowledgeofpossibleparameternames.ThusthesameGCScanstoredifferentparametersfordifferentautopilots.SeealsoforafullationofQGroundControlandIMU请求机载计算机发送指定参数。机载参数按照“字符串—浮点数”的格式成对。这种方式可以不需要事先知道参数名称的方式参数数据。在地面控制站软件中即可针对不同的飞控对应的参数。参照的关于QGroundControl和IMU的完整Field SystemID系 ComponentID部 islessthan16human-readablecharsandWITHOUTnulltermination(NULL)byteifthelengthisexactly16charsapplicationshavetoprovide16+1bytesstorageiftheIDisstoredasstring字符串格式的参数名称。字符串小16字符NULL结尾的。字符串长度16Field Parameterindex.Send-1tousetheparamIDfieldidentifier(elsetheparamidwillbePARAM_REQUEST_LIST#21)Requestallparametersofthiscomponent.Afterhisrequest,allparametersare请求发送目标部件的所有的参数。请求之后，所有参数发送Field SystemID系 ComponentID部PARAM_VALUE#22)EmitthevalueofaonboardparameterTheinclusionofparam_countandparam_indexinthemessageallowstherecipienttokeeptrackofreceivedparametersandallowshimtore-requestmissingparametersafteralossortimeout.发送机载参数数值。param_count和param_index数据可以被接收方用于对错漏数值的再次请求。Field islessthan16human-readablecharsandWITHOUTnulltermination(NULL)byteifthelengthisexactly16charsapplicationshavetoprovide16+1bytesstorageiftheIDisstoredasstring机载参数号，字符串格字符串长度为16时，无结束符。建议地面站软件的是Field储空间17个 Onboardparametervalue参数数 Onboardparametertype:seetheenumforsupporteddatatypes. Totalnumberofonboardparameters参数总 Indexofthisonboardparameter本参数索PARAM_SET#23)SetaparametervalueTEMPORARILYtoRAM.Itwillberesettodefaultonsystemreboot.SendtheACTIONMAV_ACTION_STORAGE_WRITEtoPERMANENTLYwritetheRAMcontentstoEEPROM.IMPORTANT:Thereceivingcomponentshouldacknowledgethenewparametervaluebysendingaparam_valuemessagetoallcommunicationpartners.ThiswillalsoensurethatmultipleGCSallhaveanup-to-datelistofallparameters.IfthesendingGCSdidnotreceiveaPARAM_VALUEmessagewithinitstimeouttime,itshouldre-sendthePARAM_SETmessage.临时将参数设置改为RAM，则此参数将在系统重启之后被设置为缺省值。发送Field SystemID系 ComponentID部 islessthan16human-readablecharsandWITHOUTnulltermination(NULL)byteifthelengthisexactlyFieldcharsapplicationshavetoprovide16+1bytesstorageiftheIDisstoredasstring机载参数号，字符串格式的参数名称。字符串小于16字符时，以NULL结尾的。储空间17个 Onboardparametervalue参数数 Onboardparametertype:seetheenumforsupporteddatatypes.GPS_RAW_INT#24RAWGPSTheglobalposition,asreturnedbytheGlobalPositioningSystem(GPS).ThisisNOTtheglobalpositionestimateofthesytem,butratheraRAWsensorvalue.SeemessageGLOBAL_POSITIONfortheglobalpositionestimate.Coordinateframeisright-handed,Z-axisup(GPSframe).GPS原始数据。GLOBAL_POSITION消息返回的是加工好的Field microsecondssincesystemUNIX 0-1:nofix,2:2Dfix,3:3Dfix.Someapplicationsnotusethevalueofthisfieldunlessitisatleasttwo,soalwayscorrectlyfillinthefix.01：尚未定位，2：2D定位，3：3D定位 Latitudein1E7degrees1E7格式的纬度FieldLongitudein1E7degrees1E7格式的经度Altitudein1E3metersmillimeters)aboveMSL1E3格式的海拔高度GPSHDOPhorizontaldilutionofpositionincm(m*100).Ifunknown,setto:65535水平定位精度。如果不知道，就设置为GPSVDOPhorizontaldilutionofpositionincm(m*100).Ifunknown,setto:65535垂直定位精度。如果不知道，就设置为【按：英文原文写错了。horizontal应该是verticalGPSgroundspeedm/s*100Ifunknownsetto:65535地速。如果不知道，就设置为65535.Courseoverground(NOTheading,butdirectionofmovement)indegrees*100,0.0..359.99degrees.Ifunknown,setto:方向。注意：这不是机头指向，而是整体移动方向。果不知道，就设置为65535Numberofsalitesvisible.Ifunknown,setto可见数。如果不知道，就设置为GPS_STATUS#25GPSThepositioningstatus,asreportedbyGPS.Thismessageisintendedtodisystatusinformationabouteachsalitevisibletothereceiver.SeemessageGLOBAL_POSITIONfortheglobalpositionestimate.Thismessagecancontaininformationforupto20salites. 。本消息最多包含20颗 FieldNumberofsalitesvisible可见Global liteID0:Sa litenotused1:usedforlocalizationElevation(0:rightontopofreceiver,90:onthehorizon)ofsa 在天空中的仰角，0为天顶，90在地平线处Directionof lite,0:0deg,255:360方位角。0：0度（正北），255：360度Signaltonoiseratioof lite。信噪比，信号强度SCALED_IMU#26)TheRAWIMUreadingsfortheusual9DOFsensorsetup.ThismessageshouldcontainthescaledvaluestothedescribedunitsField 启动上电开始计时的时间 Xacceleration(