APM 2.0 命令集
APM 2.0版本已经采用部分MAVLink消息协议。这里有一份“傻瓜式指南”直接对MAVLink进行操作。
APM命令集以14个字节形式存储，字节对应的含义如下表所示：
| Byte # | Address | Data type | Function |
|---|---|---|---|
| 0 | 0x00 | byte | Command ID |
| 1 | 0x01 | byte | Options |
| 2 | 0x02 | byte | Parameter 1 |
| 3 | 0x03 | long | Parameter 2 |
| 4 | 0x04 | .. | |
| 5 | 0x05 | .. | |
| 6 | 0x06 | .. | |
| 7 | 0x07 | long | Parameter 3 |
| 8 | 0x08 | .. | |
| 9 | 0x09 | .. | |
| 10 | 0x0A | .. | |
| 11 | 0x0B | long | Parameter 4 |
| 12 | 0x0C | .. | |
| 13 | 0x0D | .. | |
| 14 | 0x0E | .. |
导航命令-这些参数都包含有lat和lon
导航参数具有最高的优先级。对于ID比导航命令更高的命令，当下次导航命令接收到时未被执行的命令将直接被丢弃，所以规划/队列命令集具有差异。
例如，当航点到达时，正准备执行CMD_MAV_CONDITION命令时又紧接着接收到||ox10命令（导航命令），这时未被执行的CMD_MAV_CONDITION和CMD_MAV_DO命令会直接跳过，加载下一个导航命令。
| Command ID hex/decimal | Name | Parameter 1 | Altitude | Latitude | Longitude | notes |
|---|---|---|---|---|---|---|
| 0x10 / 16 | MAV_CMD_NAV_WAYPOINT | - | altitude | lat | lon | |
| 0x11 / 17 | MAV_CMD_NAV_LOITER_UNLIM | (indefinitely) | altitude | lat | lon | |
| 0x12 / 18 | MAV_CMD_NAV_LOITER_TURNS | turns | altitude | lat | lon | |
| 0x13 / 19 | MAV_CMD_NAV_LOITER_TIME | time (seconds*10) | altitude | lat | lon | |
| 0x14 / 20 | MAV_CMD_NAV_RETURN_TO_LAUNCH | - | altitude | lat | lon | |
| 0x15 / 21 | MAV_CMD_NAV_LAND | - | altitude | lat | lon | |
| 0x16 / 22 | MAV_CMD_NAV_TAKEOFF | takeoff pitch | altitude | - | - | NOTE: for command 0x16 the value takeoff pitch specifies the minimum pitch for the case with airspeed sensor and the target pitch for the case without. |
| 0x17 / 23 | MAV_CMD_NAV_TARGET | - | altitude | lat | lon |
微型飞行器相关命令-这些命令具有终止和完成任务标准，例如“到达航点”或者“到达指定高度”
| Command ID | Name | Parameter 1 | Parameter 2 | Parameter 3 | Parameter 4 | notes |
|---|---|---|---|---|---|---|
| 0x70 / 112 | MAV_CMD_CONDITION_DELAY | - | - | time (seconds) | - | |
| 0x71 / 113 | MAV_CMD_CONDITION_CHANGE_ALT | rate (cm/sec) | alt (finish) | - | - | Note: rate must be > |
| 10 cm/sec due to integer math | ||||||
| 0x72 / 114 | MAV_CMD_CONDITION_DISTANCE | - | - | distance (meters) | - |
实时命令（Now Comands）-这些命令集如果检测到存在新的可用实时命令将立刻执行
注意：当前DO_XXX命令集需要该命令之后存在一个缓冲航点
| Command ID | Name | Parameter 1 | Parameter 2 | Parameter 3 | Parameter 4 | notes |
|---|---|---|---|---|---|---|
| 0xB1 / 177 | MAV_CMD_DO_JUMP | index | - | repeat count | - | Note: The repeat count must be greater than 1 for the command to execute. Use a repeat count of 1 if you intend a single use. |
| 0xB2 / 178 | MAV_CMD_DO_CHANGE_SPEED | Speed type | Speed (m/s) | Throttle (Percent) | - | "(0Airspeed |
| Ground Speed)(-1 indicates no change)(-1 indicates no change) | ||||||
| 0xB3 / 179 | MAV_CMD_DO_SET_HOME | Use current | altitude | lat | lon | "(1use current location |
| use specified location) | ||||||
| 0xB4 / 180 | MAV_CMD_DO_SET_PARAMETER | Param number | Param value | (NOT CURRENTLY IMPLEMENTED IN APM) | ||
| 0xB5 / 181 | MAV_CMD_DO_SET_RELAY | Relay number | On/off (1/0) | - | - | |
| 0xB6 / 182 | MAV_CMD_DO_REPEAT_RELAY | Relay number | Cycle count | Cycle time (sec) | - | "Note: Max cycle time = 60 sec |
| 0xB7 / 183 | MAV_CMD_DO_SET_SERVO | Servo number (5-8) | On/off (1/0) | - | - | |
| 0xB6 / 184 | MAV_CMD_DO_REPEAT_SERVO | Servo number (5-8) | Cycle count | Cycle time (sec) | - | "Note: Max cycle time = 60 sec |
链接
(over)