Question

我需要帮助搞清楚如何在AUTO模式下设置地速（这显然是使用Mavlink命令“MAV_CMD_DO_CHANGE_SPEED”实现的 - 但我找不到任何这方面的例子）。我认为会起作用：

vehicle.commands.add(Command( 0, 0, 0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_DO_CHANGE_SPEED, 0, 0, 1, 0.25, 0, 0, 0, 0, 0))

基于： https://pixhawk.ethz.ch/mavlink/ 和 https://github.com/mavlink/mavlink/blob/master/message_definitions/v1.0/common.xml

但它不起作用。

任何人都可以帮助我吗？

Answer 1

msg = vehicle.message_factory.command_long_encode(
    0, 0,    # target system, target component
    mavutil.mavlink.MAV_CMD_DO_CHANGE_SPEED, #command
    0, #confirmation
    0, #speed type, ignore on ArduCopter
    speed, # speed
    0, 0, 0, 0, 0 #ignore other parameters
    )

# send command to vehicle
vehicle.send_mavlink(msg)
vehicle.flush()

Answer 2

您可以设置参数＆＃39; WPNAV_SPEED＆＃39;在将模式设置为AUTO之前，以所需的速度（以cm为单位）。像这样：

vehicle.parameters['WPNAV_SPEED'] = 500

Answer 3

以下将起作用：

speed_type = 1  # 0 is airspeed (for plane with airspeed sensor), 1 is groundspeed
speed = 15
throttle_setting = 0
cmds.add( Command( 0, 0, 0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_DO_CHANGE_SPEED, 0, 0, speed_type, speed, throttle_setting, 0, 0, 0, 0) )

您可以通过运行代码再次检查它，然后连接到GCS并从车辆下载任务。

DroneKit：在AUTO模式下更改地面速度/实施“MAV_CMD_DO_CHANGE_SPEED”

3 个答案: