mavlink代码V2.0

帧组成

V1 帧组成

STX：数据包起始标志，0xFE；

V2 帧组成

STX：数据包起始标志，0xFD；
LEN：PAYLOAD的长度；
SEQ：数据包序号，0~255，每次发送一个数据包，序号就会累加，循环往复，用于检测丢包；
SYS ID：设备系统级的ID，表明自己的ID身份！
COMP ID：设备组件级的ID，一个相同系统可能有多个不同组件都使用MAVLink进行通信；
PAYLOAD：存放通信数据，可能是信息、命令等；

帧结构体

V1 head

MAVPACKED(
typedef struct __mavlink_message {
	uint16_t checksum; ///< sent at end of packet
	uint8_t magic;   ///< protocol magic marker
	uint8_t len;     ///< Length of payload
	uint8_t seq;     ///< Sequence of packet
	uint8_t sysid;   ///< ID of message sender system/aircraft
	uint8_t compid;  ///< ID of the message sender component
	uint8_t msgid;   ///< ID of message in payload
	uint64_t payload64[(MAVLINK_MAX_PAYLOAD_LEN+MAVLINK_NUM_CHECKSUM_BYTES+7)/8];
}) mavlink_message_t;

V2 head

MAVPACKED(
typedef struct __mavlink_message {
	uint16_t checksum;      ///< sent at end of packet
	uint8_t magic;          ///< protocol magic marker
	uint8_t len;            ///< Length of payload
	uint8_t incompat_flags; ///< flags that must be understood
	uint8_t compat_flags;   ///< flags that can be ignored if not understood
	uint8_t seq;            ///< Sequence of packet
	uint8_t sysid;          ///< ID of message sender system/aircraft
	uint8_t compid;         ///< ID of the message sender component
	uint32_t msgid:24;      ///< ID of message in payload
	uint64_t payload64[(MAVLINK_MAX_PAYLOAD_LEN+MAVLINK_NUM_CHECKSUM_BYTES+7)/8];
	uint8_t ck[2];          ///< incoming checksum bytes
	uint8_t signature[MAVLINK_SIGNATURE_BLOCK_LEN];
}) mavlink_message_t;

mavlink

0.mavlink github
git clone https://github.com/mavlink/mavlink.git

1.ModuleNotFoundError: No module named ‘pymavlink.generator’ 
# https://blog.youkuaiyun.com/qq_41256129/article/details/117202591
pip install pymavlink

pip如果需要升级
python -m pip install --upgrade pip -i https://pypi.tuna.tsinghua.edu.cn/simple/
python mavgenerate.py

参考 MAVLink系列——生成MAVLink库

推荐参考代码

• c_uart_interface_example

相关资料

• https://github.com/PX4
• MAVSDK每个组件详细例子
• MAVLink系列——基础介绍
• gimbal 重要文档
• PX4云台控制
• 【无人机开发】通讯协议MavLink详解

参考博客

• MAVLink系列——生成MAVLink库