飞控APM发送自定义mavlink消息已经实现了，如何编写接收自定义的mavlink处理函数呢，具体步骤不太清楚。
1条回答 默认 最新
关注【相关推荐】
- 请看👉 ：STM32控制APM飞控（四）MAVLINK协议深入理解之数据结构
- 除此之外, 这篇博客: STM32控制APM飞控（三）MAVLINK整合并适配stm32串口的收发中的 5.添加define.h函数，这里是上层函数的一些结构类型定义，为避免上层报错就添加上(有兴趣可以自己精简) 部分也许能够解决你的问题, 你可以仔细阅读以下内容或跳转源博客中阅读:
#ifndef _DEFINES_H//
#define _DEFINES_H
// this avoids a very common config error
#define ENABLE ENABLED
#define DISABLE DISABLED
// Flight modes
// ------------
#define YAW_HOLD 0
#define YAW_ACRO 1
#define YAW_AUTO 2
#define YAW_LOOK_AT_HOME 3
#define YAW_TOY 4 // THOR This is the Yaw mode
#define ROLL_PITCH_STABLE 0
#define ROLL_PITCH_ACRO 1
#define ROLL_PITCH_AUTO 2
#define ROLL_PITCH_STABLE_OF 3
#define ROLL_PITCH_TOY 4 // THOR This is the Roll and Pitch
// mode
#define THROTTLE_MANUAL 0
#define THROTTLE_HOLD 1
#define THROTTLE_AUTO 2
// active altitude sensor
// ----------------------
#define SONAR 0
#define BARO 1
#define SONAR_SOURCE_ADC 1
#define SONAR_SOURCE_ANALOG_PIN 2
// CH 7 control
#define CH7_DO_NOTHING 0
#define CH7_SET_HOVER 1
#define CH7_FLIP 2
#define CH7_SIMPLE_MODE 3
#define CH7_RTL 4
#define CH7_AUTO_TRIM 5
#define CH7_ADC_FILTER 6
#define CH7_SAVE_WP 7
#define CH7_MULTI_MODE 8
// Frame types
#define QUAD_FRAME 0
#define TRI_FRAME 1
#define HEXA_FRAME 2
#define Y6_FRAME 3
#define OCTA_FRAME 4
#define HELI_FRAME 5
#define OCTA_QUAD_FRAME 6
#define PLUS_FRAME 0
#define X_FRAME 1
#define V_FRAME 2
// LED output
#define NORMAL_LEDS 0
#define AUTO_TRIM_LEDS 1
#define CH_7_PWM_TRIGGER 1800
#define CH_6_PWM_TRIGGER_HIGH 1800
#define CH_6_PWM_TRIGGER 1500
#define CH_6_PWM_TRIGGER_LOW 1200
// Internal defines, don't edit and expect things to work
// -------------------------------------------------------
#define TRUE 1
#define FALSE 0
#define ToRad(x) (x*0.01745329252) // *pi/180
#define ToDeg(x) (x*57.2957795131) // *180/pi
#define DEBUG 0
#define LOITER_RANGE 60 // for calculating power outside of loiter radius
#define T6 1000000
#define T7 10000000
// GPS type codes - use the names, not the numbers
#define GPS_PROTOCOL_NONE -1
#define GPS_PROTOCOL_NMEA 0
#define GPS_PROTOCOL_SIRF 1
#define GPS_PROTOCOL_UBLOX 2
#define GPS_PROTOCOL_IMU 3
#define GPS_PROTOCOL_MTK 4
#define GPS_PROTOCOL_HIL 5
#define GPS_PROTOCOL_MTK16 6
#define GPS_PROTOCOL_AUTO 7
#define CH_ROLL CH_1
#define CH_PITCH CH_2
#define CH_THROTTLE CH_3
#define CH_RUDDER CH_4
#define CH_YAW CH_4
#define RC_CHANNEL_ANGLE 0
#define RC_CHANNEL_RANGE 1
#define RC_CHANNEL_ANGLE_RAW 2
// HIL enumerations
#define HIL_MODE_DISABLED 0
#define HIL_MODE_ATTITUDE 1
#define HIL_MODE_SENSORS 2
#define ASCENDING 1
#define DESCENDING -1
#define REACHED_ALT 0
// Auto Pilot modes
// ----------------
#define STABILIZE 0 // hold level position
#define ACRO 1 // rate control
#define ALT_HOLD 2 // AUTO control
#define AUTO 3 // AUTO control
#define GUIDED 4 // AUTO control
#define LOITER 5 // Hold a single location
#define RTL 6 // AUTO control
#define CIRCLE 7 // AUTO control
#define POSITION 8 // AUTO control
#define LAND 9 // AUTO control
#define OF_LOITER 10 // Hold a single location using optical flow
// sensor
#define TOY_A 11 // THOR Enum for Toy mode
#define TOY_M 12 // THOR Enum for Toy mode
#define NUM_MODES 13
#define SIMPLE_1 1
#define SIMPLE_2 2
#define SIMPLE_3 4
#define SIMPLE_4 8
#define SIMPLE_5 16
#define SIMPLE_6 32
// CH_6 Tuning
// -----------
#define CH6_NONE 0
// Attitude
#define CH6_STABILIZE_KP 1
#define CH6_STABILIZE_KI 2
#define CH6_STABILIZE_KD 29 // duplicate with CH6_DAMP
#define CH6_YAW_KP 3
#define CH6_YAW_KI 24
// Rate
#define CH6_ACRO_KP 25
#define CH6_RATE_KP 4
#define CH6_RATE_KI 5
#define CH6_RATE_KD 21
#define CH6_YAW_RATE_KP 6
#define CH6_YAW_RATE_KD 26
// Altitude rate controller
#define CH6_THROTTLE_KP 7
// Extras
#define CH6_TOP_BOTTOM_RATIO 8
#define CH6_RELAY 9
// Navigation
#define CH6_TRAVERSE_SPEED 10 // maximum speed to next way point
#define CH6_NAV_KP 11
#define CH6_LOITER_KP 12
#define CH6_LOITER_KI 27
// Trad Heli specific
#define CH6_HELI_EXTERNAL_GYRO 13
// altitude controller
#define CH6_THR_HOLD_KP 14
#define CH6_Z_GAIN 15
#define CH6_DAMP 16 // duplicate with CH6_YAW_RATE_KD
// optical flow controller
#define CH6_OPTFLOW_KP 17
#define CH6_OPTFLOW_KI 18
#define CH6_OPTFLOW_KD 19
#define CH6_NAV_I 20
#define CH6_LOITER_RATE_KP 22
#define CH6_LOITER_RATE_KI 28
#define CH6_LOITER_RATE_KD 23
#define CH6_AHRS_YAW_KP 30
#define CH6_AHRS_KP 31
// nav byte mask
// -------------
#define NAV_LOCATION 1
#define NAV_ALTITUDE 2
#define NAV_DELAY 4
// Commands - Note that APM now uses a subset of the MAVLink protocol
// commands. See enum MAV_CMD in the GCS_Mavlink library
#define CMD_BLANK 0 // there is no command stored in the mem location
// requested
#define NO_COMMAND 0
#define LOITER_MODE 1
#define WP_MODE 2
#define CIRCLE_MODE 3
#define NO_NAV_MODE 4
#define TOY_MODE 5 // THOR This mode defines the Virtual
// WP following mode
// TOY mixing options
#define TOY_LOOKUP_TABLE 0
#define TOY_LINEAR_MIXER 1
#define TOY_EXTERNAL_MIXER 2
// Waypoint options
#define MASK_OPTIONS_RELATIVE_ALT 1
#define WP_OPTION_ALT_CHANGE 2
#define WP_OPTION_YAW 4
#define WP_OPTION_ALT_REQUIRED 8
#define WP_OPTION_RELATIVE 16
//#define WP_OPTION_ 32
//#define WP_OPTION_ 64
#define WP_OPTION_NEXT_CMD 128
//repeating events
#define NO_REPEAT 0
#define CH_5_TOGGLE 1
#define CH_6_TOGGLE 2
#define CH_7_TOGGLE 3
#define CH_8_TOGGLE 4
#define RELAY_TOGGLE 5
#define STOP_REPEAT 10
// GCS Message ID's
/// NOTE: to ensure we never block on sending MAVLink messages
/// please keep each MSG_ to a single MAVLink message. If need be
/// create new MSG_ IDs for additional messages on the same
/// stream
enum ap_message {
MSG_HEARTBEAT,
MSG_ATTITUDE,
MSG_LOCATION,
MSG_EXTENDED_STATUS1,
MSG_EXTENDED_STATUS2,
MSG_NAV_CONTROLLER_OUTPUT,
MSG_CURRENT_WAYPOINT,
MSG_VFR_HUD,
MSG_RADIO_OUT,
MSG_RADIO_IN,
MSG_RAW_IMU1,
MSG_RAW_IMU2,
MSG_RAW_IMU3,
MSG_GPS_STATUS,
MSG_GPS_RAW,
MSG_SERVO_OUT,
MSG_NEXT_WAYPOINT,
MSG_NEXT_PARAM,
MSG_STATUSTEXT,
MSG_LIMITS_STATUS,
MSG_AHRS,
MSG_SIMSTATE,
MSG_HWSTATUS,
MSG_RETRY_DEFERRED // this must be last
};
enum gcs_severity {
SEVERITY_LOW=1,
SEVERITY_MEDIUM,
SEVERITY_HIGH,
SEVERITY_CRITICAL
};
// Logging parameters
#define TYPE_AIRSTART_MSG 0x00
#define TYPE_GROUNDSTART_MSG 0x01
#define LOG_ATTITUDE_MSG 0x01
#define LOG_GPS_MSG 0x02
#define LOG_MODE_MSG 0x03
#define LOG_CONTROL_TUNING_MSG 0x04
#define LOG_NAV_TUNING_MSG 0x05
#define LOG_PERFORMANCE_MSG 0x06
#define LOG_RAW_MSG 0x07
#define LOG_CMD_MSG 0x08
#define LOG_CURRENT_MSG 0x09
#define LOG_STARTUP_MSG 0x0A
#define LOG_MOTORS_MSG 0x0B
#define LOG_OPTFLOW_MSG 0x0C
#define LOG_DATA_MSG 0x0D
#define LOG_PID_MSG 0x0E
#define LOG_ITERM_MSG 0x0F
#define LOG_DMP_MSG 0x10
#define LOG_INDEX_MSG 0xF0
#define MAX_NUM_LOGS 50
#define MASK_LOG_ATTITUDE_FAST (1<<0)
#define MASK_LOG_ATTITUDE_MED (1<<1)
#define MASK_LOG_GPS (1<<2)
#define MASK_LOG_PM (1<<3)
#define MASK_LOG_CTUN (1<<4)
#define MASK_LOG_NTUN (1<<5)
#define MASK_LOG_MODE (1<<6)
#define MASK_LOG_RAW (1<<7)
#define MASK_LOG_CMD (1<<8)
#define MASK_LOG_CUR (1<<9)
#define MASK_LOG_MOTORS (1<<10)
#define MASK_LOG_OPTFLOW (1<<11)
#define MASK_LOG_PID (1<<12)
#define MASK_LOG_ITERM (1<<13)
// Waypoint Modes
// ----------------
#define ABS_WP 0
#define REL_WP 1
// Command Queues
// ---------------
#define COMMAND_MUST 0
#define COMMAND_MAY 1
#define COMMAND_NOW 2
// Events
// ------
#define EVENT_WILL_REACH_WAYPOINT 1
#define EVENT_SET_NEW_WAYPOINT_INDEX 2
#define EVENT_LOADED_WAYPOINT 3
#define EVENT_LOOP 4
// Climb rate calculations
#define ALTITUDE_HISTORY_LENGTH 8 //Number of (time,altitude) points to
// regress a climb rate from
#define BATTERY_VOLTAGE(x) (x*(g.input_voltage/1024.0))*g.volt_div_ratio
#define CURRENT_AMPS(x) ((x*(g.input_voltage/1024.0))-CURR_AMPS_OFFSET)*g.curr_amp_per_volt
//#define BARO_FILTER_SIZE 8
/* ************************************************************** */
/* Expansion PIN's that people can use for various things. */
// AN0 - 7 are located at edge of IMU PCB "above" pressure sensor and
// Expansion port
// AN0 - 5 are also located next to voltage dividers and sliding SW2 switch
// AN0 - 3 has 10kOhm resistor in serial, include 3.9kOhm to make it as
// voltage divider
// AN4 - 5 are direct GPIO pins from atmega1280 and they are the latest pins
// next to SW2 switch
// Look more ArduCopter Wiki for voltage dividers and other ports
#define AN0 54 // resistor, vdiv use, divider 1 closest to relay
#define AN1 55 // resistor, vdiv use, divider 2
#define AN2 56 // resistor, vdiv use, divider 3
#define AN3 57 // resistor, vdiv use, divider 4 closest to SW2
#define AN4 58 // direct GPIO pin, default as analog input, next to SW2
// switch
#define AN5 59 // direct GPIO pin, default as analog input, next to SW2
// switch
#define AN6 60 // direct GPIO pin, default as analog input, close to
// Pressure sensor, Expansion Ports
#define AN7 61 // direct GPIO pin, default as analog input, close to
// Pressure sensor, Expansion Ports
// AN8 - 15 are located at edge of IMU PCB "above" pressure sensor and
// Expansion port
// AN8 - 15 PINs are not connected anywhere, they are located as last 8 pins
// on edge of the board above Expansion Ports
// even pins (8,10,12,14) are at edge of board, Odd pins (9,11,13,15) are on
// inner row
#define AN8 62 // NC
#define AN9 63 // NC
#define AN10 64 // NC
#define AN11 65 // NC
#define AN12 66 // NC
#define AN13 67 // NC
#define AN14 68 // NC
#define AN15 69 // NC
#define RELAY_PIN 47
#define PIEZO_PIN AN5 //Last pin on the back ADC connector
// sonar
//#define SonarToCm(x) (x*1.26) // Sonar raw value to centimeters
// RADIANS
#define RADX100 0.000174532925
#define DEGX100 5729.57795
// EEPROM addresses
#define EEPROM_MAX_ADDR 4096
// parameters get the first 1536 bytes of EEPROM, remainder is for waypoints
#define WP_START_BYTE 0x600 // where in memory home WP is stored + all other
// WP
#define WP_SIZE 15
#define ONBOARD_PARAM_NAME_LENGTH 15
// fence points are stored at the end of the EEPROM
#define MAX_FENCEPOINTS 6
#define FENCE_WP_SIZE sizeof(Vector2l)
#define FENCE_START_BYTE (EEPROM_MAX_ADDR-(MAX_FENCEPOINTS*FENCE_WP_SIZE))
#define MAX_WAYPOINTS ((FENCE_START_BYTE - WP_START_BYTE) / WP_SIZE) - 1 // -
// 1
// to
// be
// safe
// mark a function as not to be inlined
#define NOINLINE __attribute__((noinline))
// IMU selection
#define CONFIG_IMU_OILPAN 1
#define CONFIG_IMU_MPU6000 2
// APM Hardware selection
#define APM_HARDWARE_APM1 1
#define APM_HARDWARE_APM2 2
#define AP_BARO_BMP085 1
#define AP_BARO_MS5611 2
#define LOGGING_SIMPLE 1
#define LOGGING_VERBOSE 2
// Channel Config selection
#define CHANNEL_CONFIG_DEFAULT 1
#define CHANNEL_CONFIG_CUSTOM 2
#endif // _DEFINES_H
如果你已经解决了该问题, 非常希望你能够分享一下解决方案, 写成博客, 将相关链接放在评论区, 以帮助更多的人 ^-^解决 无用评论 打赏举报
分享
问题事件
创建了问题
12月27日
悬赏问题
- ¥15 如何批量抓取网站信息
- ¥15 为什么我的自定义客户端验证不起作用
- ¥15 Spring Boot离线人脸识别
- ¥15 NRF24L01能发送但是不能接收
- ¥15 想问一下这种情况怎么解决呢(关键词-file)
- ¥15 python Flassk 模块部署 服务器时报错
- ¥15 Opencv（C++）异常
- ¥15 VScode上配置C语言环境
- ¥15 汇编语言没有主程序吗？
- ¥15 这个函数为什么会爆内存