这里给出了一些串口的输出内容中包含的数字和信息的解释说明。
简介
在数据流中经常会包含有大量的数据信息返回到本地PC机上。对于代码调试而言，即使是通过地面设备或本地PC图形界面获取到到这些信息的一些只言片语的解释说明，‘串口打印输出’也是非常有用的。下面将对两段简短的文本信息进行解释，同时包含了对一些标准字符串的值。
例 1
每一行以一个字母开始，剩余部分如你在串口输出数据中看到的格式一样，这里是来自APM alhpa 1版代码的结果。
A:Init ArduPilotMega 1.0.1 Alpha
B:min / max from eeprom 1190 1932
C:Offsets -1.00 37.00 24.00 30.50 4.88 19.46
D:##STABILIZE
E:XXX Startup: AIR
F:!!0|0|0|0|0.0000000000|-32700|0|0|45|-200
F:!!-319940058|1159932525|22805|20|0.0000000000|-9895|0|3561451|45|-23005
F:!!-319940063|1159932552|37647|10|0.0000000000|4947|0|3561451|45|27689
G:init home
F:!!-319940067|1159932564|35375|19|0.0000000000|-2335|0|3561451|45|29961
F:!!-319940065|1159932570|35467|17|0.0000000000|-2243|0|3561451|45|29869
例 1 解释
A:程序开始执行，并给出版本号。
B:?
C:?
D:控制模式(通过无线遥控器的通道拨扭开关位置改变代码预定义的飞行模式)
E: 启动类型：地面启动和空中启动二选一。空中启动？ - 如果想使用地面启动你需要在手动模式（MANUAL，拨到六通道）来启动APM。
F: 处理器和传感器信息。 Intended for groundstation really. 简要格式： (粘贴到你自己的日志中匹配数据长度相当有用) 当前经度；当前纬度；当前高度；地速；空速；相对家的高度；爬升率；航点距离；油门电流；高度误差；current.lat;current.lng;current.alt;grnd_speed;airspeed;alt_above_home;climb_rate;wp_distance;throttle_cruise;alt_err int(* 10**7) int(* 10**7) cm cm/s cm/s cm(m*100) cm/s cm %(target) cm These lines come from serial.print(ln) statements in print_position() procedure (which is in GCS-xxx.pde file). This is called EVERY time there is a new data packet from the GPS - so its fast - about 3Hz Longer format... !! current.latitude;current.longitude;current.altitude;grnd_speed;airspeed(zero if airspeed sensor not installed);current_altitude_now_above_home (current.alt-home.alt);climb_rate;wp_distance(distance to next wapoint);throttle_cruise(target%);alt_err(target-actual)
G: Home point save successful - the altitude and coordinates of your current location have been captured and stored.
例 2
A:Init ArduPilotMega 1.0.1 Alpha
B:min / max from eeprom 1190 1932
C:Offsets 0.05 29.99 25.00 -15.20 41.67 6.21
D:##AUTO
E:XXX Startup: Ground
F:Commands in memory
G:commands total: 4
I:Home:
J:command #: 0 id: 0 p1: 0 p2: 19700 p3: -319938514 p4: 1159930268
K:Commands:
L:command #: 0 id: 64 p1: 5 p2: 19700 p3: -319938514 p4: 1159930268
M:command #: 1 id: 16 p1: 0 p2: 5000 p3: -31 p4: 115
M:command #: 2 id: 16 p1: 0 p2: 5000 p3: -31 p4: 115
M:command #: 3 id: 16 p1: 0 p2: 5000 p3: -31 p4: 115
N:Demo Servos!
N:Demo Servos!
N:Demo Servos!
O:Offsets 0.93 27.31 25.37 -15.82 38.15 6.67
P:NO airspeed
N:Demo Servos!
N:Demo Servos!
N:Demo Servos!
Q:Waiting for GPS. Y:!!0|0|0|0|0.0000000000|-19700|0|0|45|-32636 R:load WP S:PWP: -319931761, 1159943725, 166608 T:CUR: -319931761, 1159943725, 166608 U:NWP:1, -31, 115, 24700 V:wp_distance 3561464 W:??1|-319931761|1159943725|166608|-31|115|24700|3561464|1547|1509
X:command #: 1 id: 16 p1: 0 p2: 5000 p3: -31 p4: 115 Y:!!-319931761|1159943725|166608|104|0.0000000000|15836|0|3561464|45|-10836 Y:!!-319939156|1159930300|6686|62|0.0000000000|-13014|0|3561464|45|18014
例 2 解释
A:The program has begun. Software Version number given.
B:?
C:?
D:The control mode. (Set by the radio control channel switch position with interpretation by code)
E: Startup type : Ground versus AIR are the alternates. GROUND means a normal startup.
F and G: Commands retrieved from memory - loaded previously into EEPROM i.e. using wapoint_writer.pde or similar.
I and J: Home point inserted as command #0 (?)
K: saying the commands now loaded and active are...
L and M: the commands.
L: is home position as a command. Also the RTL target location.
M: the commands you loaded previously. Format - same as the waypoint file. Namely, command # num id param1 2: alt 3: lat 4: long Note: all values in decimal int, so command is converted from hex to decimal e.g. 0x10 = 16 (?) N:Wiggle one servo a little. Indicates program started OR calibration taking place. O: (?) P: NO airspeed sensor (hence we will use approximate info from GPS?) Q: Waiting for start of GPS message stream (?). R: (?) S: previous waypoint (lat, lng, alt) T: current waypoint (lat, lng, alt) U: next waypoint (lat, lng, alt) V: distance from plane to next waypoint from current position (cm(m*100)) W: new waypoint (?? line prefix) wp_index,prev_WP.lat,prev_WP.lng,prev_WP.alt,next_WP.lat,next_WP.lng,next_WP.alt, wp_totalDistance,radio_trim[CH_ROLL],radio_trim[CH_PITCH] X:command #: 1 id: 16 p1: 0 p2: 5000 p3: -31 p4: 115
Y: print statements coming from print_position()procedure (in GCSxxx.pde file) In short form: (useful to paste into your logs to match value lengths) current.lat;current.lng;current.alt;grnd_speed;airspeed;alt_above_home;climb_rate;wp_distance;throttle_cruise;alt_err int(* 10**7) int(* 10**7) cm cm/s cm/s cm(m*100) cm/s cm % cm These lines come from serial.print(ln) statements in print_position() procedure (which is in GCS-xxx.pde file). This is called EVERY time there is a new data packet from the GPS - so its fast - about 3Hz Longer format... !! current.latitude;current.longitude;current.altitude;grnd_speed;airspeed(zero if airspeed sensor not installed);current_altitude_now_above_home (current.alt-home.alt);climb_rate;wp_distance(distance to next wapoint);throttle_cruise(target%);alt_err(target-actual)
通过了解这些信息，你的调试速度可能变快，飞行时间更久。
链接
(over)