568 lines
23 KiB
C++
568 lines
23 KiB
C++
#include "FoodDeliveryBase.h"
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/*项目对象*/
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//char* ssid = "szdot"; //wifi帐号
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//char* password = "Ttaj@#*.com"; //wifi密码
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char* ssid = "flicube"; //wifi帐号
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char* password = "fxmf0622"; //wifi密码
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char* mqttServer = "szdot.top"; //mqtt地址
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int mqttPort = 1883; //mqtt端口
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char* mqttName = "admin"; //mqtt帐号
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char* mqttPassword = "123456"; //mqtt密码
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uint8_t mavlinkSerial = 2; //飞控占用的串口号
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uint8_t voiceSerial = 1; //声音模块占用串口
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char* udpServerIP = "192.168.3.92"; //云台相机ip
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uint32_t udpServerPort = 37260; //云台相机端口
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FoodCube fc(ssid, password, mqttServer, mqttPort, mqttName, mqttPassword, mavlinkSerial, voiceSerial, udpServerIP, udpServerPort); //创建项目对象
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/*订阅 主题*/
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//0:飞行航点任务 1：设置飞机状态 2:获取飞机状态 3:设置飞机初始状态 4:油门通道1 5:油门通道2 6:油门通道3 7:油门通道4 8:钩子控制 9:云台相机控制
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String topicSub[] = { "questAss", "setPlaneState", "getPlaneState", "resetState", "chan1", "chan2", "chan3", "chan4", "hookConteroller", "cameraController" }; //订阅主题
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int topicSubCount = sizeof(topicSub) / sizeof(topicSub[0]); //订阅主题总数
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/* 发布 主题 ps:以下是登记发布json内容的组成元素 */
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//登记 json成员名字
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//0:心跳信息 1:电压信息 2:电流信息 3:电池电量 4:高度信息 5:对地速度 6:卫星数量 7:纬度 8:经度 9:定位状态 10:飞机状态 11:网速测试 12:飞机模式 13:重量 14:钩子状态 15:飞机海拔高度
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String topicPub[] = { "heartBeat", "voltagBattery", "currentBattery", "batteryRemaining", "positionAlt", "groundSpeed", "satCount", "latitude", "longitude", "fixType", "planeState", "pingNet", "getPlaneMode", "loadweight", "hookstatus", "altitude" };
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int topicPubCount = sizeof(topicPub) / sizeof(topicPub[0]); //登记 json成员总数
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String topicPubMsg[16]; //登记 json成员的值 对应topicPub
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String oldMsg[16]; //记录旧的值 用来对比有没有更新
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/*触发发送 主题*/
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//0:对频信息
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String topicHandle[] = { "crosFrequency" };
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boolean isPush = false; //记得删除 板子按钮状态 ps:D3引脚下拉微动开关
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/*异步线程对象*/
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Ticker pubTicker; //定时发布主题 线程
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Ticker mavTicker; //定时 指定飞控mavlink 串口返回的数据类别 防止飞控启动滞后
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Ticker flashTicker; //单片机主动 按钮主动发布主题 线程
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Ticker chanTicker; //定时向飞控 发送油门指定
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void setup() {
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Serial.begin(115200); //日志串口
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Serial1.begin(115200, SERIAL_8N1, 18, 5); //声音模块引串口脚映射
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/*初始化*/
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fc.connectWifi(); //连接wifi
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fc.connectMqtt(topicSub, topicSubCount); //连接mqtt
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fc.mqttClient->setCallback(mqtt_receiveCallback); //设置订阅成功 回调
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fc.mav_request_data(); //指定飞控串口返回的数据类别(飞控启动之后发送才有意义)
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/*异步线程*/
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pubTicker.attach(1, pubThread); //定时 发布主题
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mavTicker.attach(10, mavThread); //定时 指定飞控mavlink 串口返回的数据类别 防止飞控启动滞后
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flashTicker.attach_ms(50, flashThread); //监听 按flash键时 主动发布对频主题
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pinMode(23, INPUT_PULLUP); // 记得删除
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}
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void loop() {
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/*从飞控拿数据*/
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fc.comm_receive(mavlink_receiveCallback);
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/*保持mqtt心跳*/
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fc.mqttLoop(topicSub, topicSubCount);
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}
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/**
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* @description: mqtt订阅主题 收到信息 的回调函数
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* @param {char*} topic 主题名称
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* @param {byte*} topic 订阅获取的内容
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* @param {unsigned int} length 内容的长度
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*/
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void mqtt_receiveCallback(char* topic, byte* payload, unsigned int length) {
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/*获取 "订阅主题/macadd" 截取/macadd后的长度 */
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int count = strlen(topic);
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String cutTopic = ""; //记录订阅主题
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for (int i = 0; i < count - 13; i++) {
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cutTopic += topic[i];
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}
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/*解构mqtt发过来的内容*/
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String topicStr = "";
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for (int i = 0; i < length; i++) {
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topicStr += (char)payload[i];
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}
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/*订阅回调主体*/
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if (cutTopic == topicSub[0]) { //0:飞行航点任务 questAss
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writeRoute(topicStr); //写入航点
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} else if (cutTopic == topicSub[1]) { //1:设置飞机状态 setPlaneState
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/*
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*其中topicPubMsg[10]既飞机状态的值
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*二进制0000 0000 0000 0000
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*第0位：初始状态
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*第1位：是否正在写入航线
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*第2位：是否已经写入航点
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*第3位：是否正在解锁
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*第4位：解锁是否成功
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*第5位：执行航点任务
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*第6位：起飞
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*第7位: 悬停
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*第8位：降落
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*第9位：返航
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*第10位：航点继续
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*第11位：磁罗盘校准
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*/
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//解构参数
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DynamicJsonDocument doc(0x2FFF);
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deserializeJson(doc, topicStr);
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JsonObject obj = doc.as<JsonObject>();
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uint8_t n = obj["bit"]; //状态位数
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uint8_t state = obj["state"]; //标记飞机状态 0 or 1
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uint8_t count = obj["count"]; //传过来
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//解构val数组参数
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uint16_t param[count];
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for (int i = 0; i < count; i++) {
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param[i] = obj["param"][i];
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}
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//标记飞机状态
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topicPubMsg[10] = fc.setNBit(topicPubMsg[10], n, state);
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//飞控执行
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if (n == 3) { //3操作飞机加解锁
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uint16_t chan[] = { 1500, 1500, 1100, 1500 }; //加解锁 油门到底
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fc.mav_channels_override(chan); //控制油门
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fc.mav_set_mode(2); //飞控设置成AltHold定高
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fc.mav_command(n, param);
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} else {
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uint16_t chan[] = { 1500, 1500, 1500, 1500 }; //除了加解锁模式 油门全部控制居中
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fc.mav_channels_override(chan); //控制油门
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}
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if (n == 6) { //6测试起飞
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fc.mav_set_mode(4); //飞控设置成Guided引导模式
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fc.mav_command(n, param); //起飞
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} else if (n == 7) { //7 悬停
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fc.mav_set_mode(5); //飞控设置成Loiter留待模式
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} else if (n == 5) { //5 航点执行
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fc.mav_set_mode(3); //飞控设置成auto自动模式
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} else if (n == 8) { //8降落*
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fc.mav_command(n, param);
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} else if (n == 9) { //9返航
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fc.mav_set_mode(6); //飞控设置成RTL返航
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} else if (n == 11) { //11磁罗盘校准
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fc.mav_command(n, param);
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}
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} else if (cutTopic == topicSub[2]) { //2:获取飞机状态 getPlaneState
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fc.pubMQTTmsg("planeState", topicPubMsg[10]); //终端主动get飞机状态
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} else if (cutTopic == topicSub[3]) { //3:恢复飞机为初始状态 resetState
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topicPubMsg[10] = "1"; //恢复初始状态
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} else if (cutTopic == topicSub[4]) { //4:油门通道1
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uint16_t strInt = (uint16_t)topicStr.toInt(); //强制转换一下
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fc.channels[0] = strInt; //恢复初始状态
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fc.mav_channels_override(fc.channels); //油门控制
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} else if (cutTopic == topicSub[5]) { //5:油门通道2
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uint16_t strInt = (uint16_t)topicStr.toInt(); //强制转换一下
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fc.channels[1] = strInt; //恢复初始状态
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fc.mav_channels_override(fc.channels); //油门控制
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} else if (cutTopic == topicSub[6]) { //6:油门通道3
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uint16_t strInt = (uint16_t)topicStr.toInt(); //强制转换一下
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fc.channels[2] = strInt; //恢复初始状态
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fc.mav_channels_override(fc.channels); //油门控制
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} else if (cutTopic == topicSub[7]) { //7:油门通道4
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uint16_t strInt = (uint16_t)topicStr.toInt(); //强制转换一下
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fc.channels[3] = strInt; //恢复初始状态
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fc.mav_channels_override(fc.channels); //油门控制
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} else if (cutTopic == topicSub[8]) { //8:钩子控制 hookConteroller
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//topicStr 0:收 1:放 2:暂停 3:继续
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} else if (cutTopic == topicSub[9]) { //9:云台相机控制 cameraController
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// json 反序列化
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DynamicJsonDocument doc(0x2FFF);
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deserializeJson(doc, topicStr);
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JsonObject obj = doc.as<JsonObject>();
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int8_t item = obj["item"];
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int8_t val = obj["val"];
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int8_t pitch = obj["pitch"];
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int8_t yaw = obj["yaw"];
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//相机控制
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if (item == 0) { //0:一键回中
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uint8_t command[] = { 0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x08, 0x01 };
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size_t len = sizeof(command);
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fc.udpSendToCamera(command, len);
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} else if (item == 1) { //1:变焦
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uint8_t command[] = { 0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x05, 0x00 };
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command[8] = val;
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size_t len = sizeof(command);
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fc.udpSendToCamera(command, len);
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} else if (item == 2) { //2:俯仰 旋转
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uint8_t command[] = { 0x55, 0x66, 0x01, 0x02, 0x00, 0x00, 0x00, 0x07, 0x00, 0x00 };
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command[9] = pitch;
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command[8] = yaw;
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size_t len = sizeof(command);
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fc.udpSendToCamera(command, len);
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}
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}
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}
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/**
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* @description: 写入航点
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* @param {String} topicStr mqtt订阅执行任务的Json字符串
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*/
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void writeRoute(String topicStr) {
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if (fc.writeState) // 如果正在写入状态 跳出
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{
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fc.logln("正在写航点"); // 提示正在写入中
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return;
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}
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//改变飞机状态 PS:mqtt发送写在这里 同步执行下面while循环时 写在loop函数里面 不会被执行到
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topicPubMsg[10] = fc.setNBit(topicPubMsg[10], 1, 1); //正在写入航点
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topicPubMsg[10] = fc.setNBit(topicPubMsg[10], 0, 0); //结束初始状态
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fc.pubMQTTmsg("planeState", topicPubMsg[10]); //发送正在写入的飞机状态
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// json 反序列化
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DynamicJsonDocument doc(0x2FFF);
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deserializeJson(doc, topicStr);
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JsonObject obj = doc.as<JsonObject>();
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// 写入航点
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uint8_t taskcount = obj["taskcount"]; //获取航点总数
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fc.mav_mission_count(taskcount); //向飞控请求写入航点的数量
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fc.writeState = true; //锁定写入状态
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//监听飞控航点写入情况
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while (true) {
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topicPubMsg[10] = fc.setNBit(topicPubMsg[10], 1, 1); //正在写入航点
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fc.comm_receive(mavlink_receiveCallback);
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if (fc.missionArkType == 0) { //写入成功
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fc.missionArkType = -1; //“航点写入是否成功” 改成-1默认状态
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fc.logln("misson_bingo...");
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//改变飞机状态
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topicPubMsg[10] = fc.setNBit(topicPubMsg[10], 2, 1); //航点写入成功状态
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topicPubMsg[10] = fc.setNBit(topicPubMsg[10], 1, 0); //结束写入状态
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topicPubMsg[10] = fc.setNBit(topicPubMsg[10], 0, 0); //结束初始状态
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break;
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} else if (fc.missionArkType > 0) { //写入失败
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fc.missionArkType = -1; //“航点写入是否成功” 改成-1默认状态
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fc.logln("misson_error...");
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//改变飞机状态
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topicPubMsg[10] = fc.setNBit(topicPubMsg[10], 2, 0); //航点写入失败状态
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topicPubMsg[10] = fc.setNBit(topicPubMsg[10], 1, 0); //结束写入状态
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//当有成果反馈之后 初始化下列数据
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return; //写入失败 中断函数
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}
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//飞控返回 新的写入航点序号
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if (fc.writeSeq == fc.futureSeq && fc.writeSeq != -1) {
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//从订阅信息里拿航点参数
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uint8_t frame = obj["tasks"][fc.writeSeq]["frame"];
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uint8_t command = obj["tasks"][fc.writeSeq]["command"];
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uint8_t current = obj["tasks"][fc.writeSeq]["current"];
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uint8_t autocontinue = obj["tasks"][fc.writeSeq]["autocontinue"];
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double param1 = obj["tasks"][fc.writeSeq]["param1"];
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double param2 = obj["tasks"][fc.writeSeq]["param2"];
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double param3 = obj["tasks"][fc.writeSeq]["param3"];
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double param4 = obj["tasks"][fc.writeSeq]["param4"];
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double x = obj["tasks"][fc.writeSeq]["x"];
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double y = obj["tasks"][fc.writeSeq]["y"];
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double z = obj["tasks"][fc.writeSeq]["z"];
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String str = obj["tasks"][fc.writeSeq]["sound"];
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if (str != "") {
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fc.questVoiceStr = str;
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}
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fc.logln("frame--");
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fc.logln(frame);
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//写入航点
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fc.mav_mission_item(fc.writeSeq, frame, command, current, autocontinue, param1, param2, param3, param4, x, y, z);
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fc.futureSeq++; //下一个航点序号
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}
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delay(200);
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}
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}
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/**
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* @description: 从串口拿到mavlink缓存数据之后 解析数据执行的回调
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* @param {mavlink_message_t*} pMsg mavlink数据信息指针
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* @param {mavlink_status_t*} pStatus
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* @param {uint8_t} c 串口读取的缓存
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*/
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void mavlink_receiveCallback(uint8_t c) {
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mavlink_message_t msg;
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mavlink_status_t status;
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// 尝试从数据流里 解析数据
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if (mavlink_parse_char(MAVLINK_COMM_0, c, &msg, &status)) { // MAVLink解析是按照一个一个字符进行解析，我们接收到一个字符，就对其进行解析，直到解析完（根据返回标志判断）一帧数据为止。
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// 通过msgid来判断 数据流的类别
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char buf[10];
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switch (msg.msgid) {
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case MAVLINK_MSG_ID_HEARTBEAT: // #0: Heartbeat 心跳
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{
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mavlink_heartbeat_t heartbeat; // 解构的数据放到这个对象
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mavlink_msg_heartbeat_decode(&msg, &heartbeat); // 解构msg数据
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sprintf(buf, "%d", heartbeat.base_mode); //飞控心跳状态
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topicPubMsg[0] = buf; //心跳主题
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//从心跳里判断 飞机是否解锁 解锁改变飞机状态
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if (heartbeat.base_mode & 128) { //从心跳里面 判断已经解锁
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topicPubMsg[10] = fc.setNBit(topicPubMsg[10], 4, 1); //设置飞机状态为已解锁状态 1xxxx 第四位为1 代表已解锁
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} else { //心跳里面 判断没有解锁
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topicPubMsg[10] = fc.setNBit(topicPubMsg[10], 4, 0); //设置飞机状态为已解锁状态 0xxxx 第四位为0 代表未解锁
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if ((uint8_t)topicPubMsg[10].toInt() & 4) { //如果已经写入了航点
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topicPubMsg[10] = fc.setNBit(topicPubMsg[10], 2, 1); //设置为航点写入成功状态
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} else {
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topicPubMsg[10] = "1"; //没写航点 设置为初始化状态
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}
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}
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//从心跳里面 判断飞机当前的模式
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switch (heartbeat.custom_mode) {
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case 0:
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{
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topicPubMsg[12] = "Stabilize自稳";
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}
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break;
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case 2:
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{
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topicPubMsg[12] = "AltHold定高";
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}
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break;
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case 3:
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{
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topicPubMsg[12] = "Auto自动";
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}
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break;
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case 4:
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{
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topicPubMsg[12] = "Guided引导";
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}
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break;
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case 5:
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{
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topicPubMsg[12] = "Loiter留待";
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}
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break;
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case 6:
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{
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topicPubMsg[12] = "RTL返航";
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}
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break;
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case 9:
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{
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topicPubMsg[12] = "Land降落";
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}
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break;
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case 16:
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{
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topicPubMsg[12] = "PosHold定点";
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}
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break;
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default:
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{
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topicPubMsg[12] = "Unknown未知";
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}
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break;
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}
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}
|
||
break;
|
||
|
||
case MAVLINK_MSG_ID_SYS_STATUS: // #1: SYS_STATUS
|
||
{
|
||
mavlink_sys_status_t sys_status; // 解构的数据放到这个对象
|
||
mavlink_msg_sys_status_decode(&msg, &sys_status); // 解构msg数据
|
||
// 电压
|
||
sprintf(buf, "%.2f", (double)sys_status.voltage_battery / 1000);
|
||
if (topicPubMsg[1] != buf) { // 有更新 则更新数据
|
||
topicPubMsg[1] = buf;
|
||
}
|
||
// 电流
|
||
sprintf(buf, "%.2f", (double)sys_status.current_battery / 100);
|
||
if (topicPubMsg[2] != buf) {
|
||
topicPubMsg[2] = buf;
|
||
}
|
||
// 电池电量
|
||
sprintf(buf, "%d", sys_status.battery_remaining);
|
||
if (topicPubMsg[3] != buf) {
|
||
topicPubMsg[3] = buf;
|
||
}
|
||
}
|
||
break;
|
||
|
||
case MAVLINK_MSG_ID_PARAM_VALUE: // #22: PARAM_VALUE
|
||
{
|
||
mavlink_param_value_t param_value;
|
||
mavlink_msg_param_value_decode(&msg, ¶m_value);
|
||
}
|
||
break;
|
||
|
||
case MAVLINK_MSG_ID_RAW_IMU: // #27: RAW_IMU
|
||
{
|
||
mavlink_raw_imu_t raw_imu;
|
||
mavlink_msg_raw_imu_decode(&msg, &raw_imu);
|
||
}
|
||
break;
|
||
|
||
case MAVLINK_MSG_ID_GLOBAL_POSITION_INT: // #33 位置
|
||
{
|
||
mavlink_global_position_int_t global_position_int;
|
||
mavlink_msg_global_position_int_decode(&msg, &global_position_int);
|
||
// 高度
|
||
sprintf(buf, "%.2f", (double)global_position_int.relative_alt / 1000);
|
||
if (topicPubMsg[4] != buf) {
|
||
topicPubMsg[4] = buf;
|
||
}
|
||
//海拔高度
|
||
sprintf(buf, "%.2f", (double)global_position_int.alt / 1000);
|
||
if (topicPubMsg[15] != buf) {
|
||
topicPubMsg[15] = buf;
|
||
}
|
||
}
|
||
break;
|
||
|
||
case MAVLINK_MSG_ID_VFR_HUD: // #74 hud仪表盘
|
||
{
|
||
mavlink_vfr_hud_t vfr_hud;
|
||
mavlink_msg_vfr_hud_decode(&msg, &vfr_hud);
|
||
// 对地速度 ps:飞行速度
|
||
sprintf(buf, "%.2f", vfr_hud.groundspeed);
|
||
if (topicPubMsg[5] != buf) {
|
||
topicPubMsg[5] = buf;
|
||
}
|
||
}
|
||
break;
|
||
|
||
case MAVLINK_MSG_ID_GPS_RAW_INT: // #24 GPS
|
||
{
|
||
mavlink_gps_raw_int_t gps_raw_int;
|
||
mavlink_msg_gps_raw_int_decode(&msg, &gps_raw_int);
|
||
// 卫星数
|
||
sprintf(buf, "%d", gps_raw_int.satellites_visible);
|
||
if (topicPubMsg[6] != buf) {
|
||
topicPubMsg[6] = buf;
|
||
}
|
||
// 纬度
|
||
sprintf(buf, "%.7f", (double)gps_raw_int.lat / 10000000);
|
||
if (topicPubMsg[7] != buf) {
|
||
topicPubMsg[7] = buf;
|
||
}
|
||
// 经度
|
||
sprintf(buf, "%.7f", (double)gps_raw_int.lon / 10000000);
|
||
if (topicPubMsg[8] != buf) {
|
||
topicPubMsg[8] = buf;
|
||
}
|
||
// 卫星状态
|
||
switch (gps_raw_int.fix_type) {
|
||
case 0:
|
||
{
|
||
topicPubMsg[9] = "No Fix";
|
||
}
|
||
break;
|
||
case 1:
|
||
{
|
||
topicPubMsg[9] = "No Fix";
|
||
}
|
||
break;
|
||
case 2:
|
||
{
|
||
topicPubMsg[9] = "Fix 2D";
|
||
}
|
||
break;
|
||
case 3:
|
||
{
|
||
topicPubMsg[9] = "Fix 3D";
|
||
}
|
||
break;
|
||
case 4:
|
||
{
|
||
topicPubMsg[9] = "Low GPS";
|
||
}
|
||
break;
|
||
case 5:
|
||
{
|
||
topicPubMsg[9] = "Float";
|
||
}
|
||
break;
|
||
default:
|
||
{
|
||
topicPubMsg[9] = "Fixed";
|
||
}
|
||
break;
|
||
}
|
||
}
|
||
break;
|
||
|
||
case MAVLINK_MSG_ID_MISSION_REQUEST: // #40: 写航点反馈
|
||
{
|
||
mavlink_mission_request_t mission_request; // 解构的数据放到这个对象
|
||
mavlink_msg_mission_request_decode(&msg, &mission_request); // 解构msg数据
|
||
//日志
|
||
fc.logln("MsgID:");
|
||
fc.logln(msg.msgid);
|
||
fc.logln("No:");
|
||
fc.logln(mission_request.seq);
|
||
//飞控 反馈当前要写入航点的序号
|
||
fc.writeSeq = mission_request.seq;
|
||
}
|
||
break;
|
||
|
||
case MAVLINK_MSG_ID_MISSION_ACK: // #47: 航点提交成果反馈
|
||
{
|
||
mavlink_mission_ack_t mission_ark; // 解构的数据放到这个对象
|
||
mavlink_msg_mission_ack_decode(&msg, &mission_ark); // 解构msg数据
|
||
/*日志*/
|
||
fc.logln("MsgID:");
|
||
fc.logln(msg.msgid);
|
||
fc.logln("re:");
|
||
fc.logln(mission_ark.type);
|
||
/*记录航点的写入状态 */
|
||
fc.missionArkType = mission_ark.type; //0：写入成功 非0表示失败
|
||
/*当有成果反馈之后 初始化下列数据*/
|
||
fc.writeState = false; //是否是写入状态
|
||
fc.writeSeq = -1; //飞控反馈 需写入航点序列号
|
||
fc.futureSeq = 0; //记录将来要写入 航点序列号
|
||
}
|
||
break;
|
||
|
||
default:
|
||
break;
|
||
}
|
||
}
|
||
}
|
||
|
||
/**
|
||
* @description: 发送主题线程
|
||
*/
|
||
void pubThread() {
|
||
/*解析mavlink 数据流等 此函数内会把解析的数据按信息类型 发布到mqtt服务器 planeState/macadd主题 */
|
||
// 创建一个JSON对象
|
||
DynamicJsonDocument doc(200); // 200字节 缓冲区
|
||
//遍历 有更新的数据 组成一个json对象
|
||
for (int i = 0; i < topicPubCount; i++) {
|
||
if (topicPubMsg[i] != oldMsg[i]) {
|
||
if (i == 0) { //心跳包 每每向心跳主题发布信息
|
||
//启动飞控 第一次心跳 ps:防止飞控 滞后启动 拿不到数据
|
||
if (fc.getIsInit()) {
|
||
fc.setIsInit(false);
|
||
fc.mav_request_data(); //再向飞控请求一次 设定飞控输出数据流内容
|
||
}
|
||
//设置对象成员 ps:心跳
|
||
doc[topicPub[0]] = topicPubMsg[0];
|
||
} else { //非心跳 有更新 录入成员
|
||
doc[topicPub[i]] = topicPubMsg[i];
|
||
oldMsg[i] = topicPubMsg[i];
|
||
}
|
||
}
|
||
}
|
||
// 将JSON对象序列化为JSON字符串
|
||
String jsonString;
|
||
serializeJson(doc, jsonString);
|
||
fc.pubMQTTmsg("planeState", jsonString);
|
||
/*更新4G网络测速ping值*/
|
||
//pingNetTest();
|
||
}
|
||
|
||
/**
|
||
* @description: FLASH按钮点击 向MQTT 发送飞机的注册信息 ps:对频
|
||
*/
|
||
void flashThread() {
|
||
if (digitalRead(23) == LOW) {
|
||
if (isPush) { //点击之后
|
||
//请求注册 ps:发送esp8266的物理地址 到对频主题
|
||
fc.pubMQTTmsg(topicHandle[0], fc.getMacAdd());
|
||
}
|
||
isPush = false; //复位按钮
|
||
} else {
|
||
//FLASH按下状态
|
||
isPush = true;
|
||
}
|
||
}
|
||
|
||
/**
|
||
* @description: 定时 指定飞控mavlink 串口返回的数据类别 防止飞控启动滞后
|
||
*/
|
||
void mavThread() {
|
||
fc.mav_request_data();
|
||
}
|
||
|
||
/**
|
||
* @description: 向飞控 发送油门指令
|
||
*/
|
||
void chanThread() {
|
||
//mav_channels_override(channels);
|
||
}
|