{"data":{"id":"639397","string_id":"RmsuAg6n","status":"1","parent_id":"0","slug":"sunray_station","order":"2","name":"Sunray\u5730\u9762\u7ad9","type":"1","cover":"","cover_alt":"","desc":null,"website":"","contact":"","seo_title":"","seo_keyword":"","seo_desc":"","author":"\u90b9\u6d77\u534e","published_time":"1763958212","add_time":"1761115634","update_time":"1765201211","corp_auth_id":"0","verify_code_auth_id":"0","editor_type":"1","tags":[],"child":[{"id":"639398","string_id":"bV3cM95v","status":"1","parent_id":"639397","slug":"Sunray-di-mian-zhan-an-zhuang-JMy1","order":"0","name":"Sunray\u5730\u9762\u7ad9\u5b89\u88c5","type":"2","cover":"","cover_alt":"","desc":null,"website":"","contact":"","seo_title":"","seo_keyword":"","seo_desc":"","share_switch":"0","share_code":"","author":"\u90b9\u6d77\u534e","published_time":"1763958216","add_time":"1761115634","update_time":"1765002014","corp_auth_id":"0","verify_code_auth_id":"0","editor_type":"2","file_type":"","auth_id":"[\"-1\"]","content":{"content_id":"639398","content":"### Sunray\u5730\u9762\u7ad9\u8fd0\u884c\u7535\u8111\u914d\u7f6e\u8981\u6c42\n\n\u914d\u7f6e\u8981\u6c42\uff1aWindows10\u6216Windows11\u7cfb\u7edf\n- \u9700\u8981\u4ee5\u7ba1\u7406\u5458\u8eab\u4efd\u8fd0\u884c\n- \u7b2c\u4e00\u6b21\u4f7f\u7528\u9700\u5141\u8bb8\u516c\u7528\u7f51\u7edc\u548c\u4e13\u7528\u7f51\u7edc\u8bbf\u95ee\u6b64\u5e94\u7528\n\n### Sunray\u5730\u9762\u7ad9\u4e0b\u8f7d\n\nSunray\u5730\u9762\u7ad9\uff1a[\u4e0b\u8f7d\u94fe\u63a5](https:\/\/www.wolai.com\/yundrone\/6pMQmvK3h5T2oHrq3JtH9S)\n\n### Sunray\u5730\u9762\u7ad9\u5b89\u88c5\n\n- \u9009\u4e2d\u4e0b\u8f7d\u7684Sunray\u5730\u9762\u7ad9\u8f6f\u4ef6\u538b\u7f29\u5305\uff0c\u89e3\u538b\n\n- \u5728\u89e3\u538b\u540e\u7684\u6587\u4ef6\u5939\u4e2d\uff0c\u9009\u4e2dSunrayStation.exe\/SunrayStation\u5e94\u7528\uff0c\u53f3\u51fb\u9009\u62e9\u5c5e\u6027\n \n $\"\/\"$ \n

\u9009\u62e9\u5c5e\u6027<\/figcaption>\n <\/center>\n\n \n- \u5728\u5c5e\u6027\u8bbe\u7f6e\u91cc\u9009\u62e9\u517c\u5bb9\u6027\uff0c\u52fe\u9009\u4ee5\u7ba1\u7406\u5458\u8eab\u4efd\u8fd0\u884c\u6b64\u7a0b\u5e8f\uff0c\u70b9\u51fb\u786e\u5b9a\n \n $\"\/\"$ \n

\u52fe\u9009\u4ee5\u7ba1\u7406\u5458\u8eab\u4efd\u8fd0\u884c\u6b64\u7a0b\u5e8f<\/figcaption>\n <\/center>\n- \u53cc\u51fbSunrayStation.exe\/SunrayStation\u542f\u52a8\u5730\u9762\u7ad9\n\n- \u8054\u7cfb\u4e91\u7eb5\u79d1\u6280\uff0c\u590d\u5236\u6821\u9a8c\u7801\u7ed9\u4e91\u7eb5\u79d1\u6280\u83b7\u5f97\u8f6f\u4ef6\u8bb8\u53ef\u8bc1\uff0c\u5c06\u83b7\u5f97\u8f6f\u4ef6\u8bb8\u53ef\u8bc1\u586b\u5165\u6846\u5185\uff0c\u70b9\u51fb\u63d0\u4ea4\uff0c\u5f00\u59cb\u4f7f\u7528\u8f6f\u4ef6\n \n $\"\/\"$ \n

\u590d\u5236\u6821\u9a8c\u7801<\/figcaption>\n <\/center>\n\n \n- \u5730\u9762\u7ad9\u754c\u9762\u6253\u5f00\u5982\u4e0b\uff08\u968f\u7740\u7248\u672c\u66f4\u65b0\uff0c\u7248\u672c\u53f7\u548c\u90e8\u5206\u754c\u9762\u4f1a\u6709\u5dee\u5f02\uff09\n \n $\"\/\"$ \n

\u5730\u9762\u7ad9\u754c\u9762<\/figcaption>\n <\/center>","pure_content":"Sunray\u5730\u9762\u7ad9\u8fd0\u884c\u7535\u8111\u914d\u7f6e\u8981\u6c42\n\u914d\u7f6e\u8981\u6c42\uff1aWindows10\u6216Windows11\u7cfb\u7edf\n\n\u9700\u8981\u4ee5\u7ba1\u7406\u5458\u8eab\u4efd\u8fd0\u884c\n\u7b2c\u4e00\u6b21\u4f7f\u7528\u9700\u5141\u8bb8\u516c\u7528\u7f51\u7edc\u548c\u4e13\u7528\u7f51\u7edc\u8bbf\u95ee\u6b64\u5e94\u7528\n\nSunray\u5730\u9762\u7ad9\u4e0b\u8f7d\nSunray\u5730\u9762\u7ad9\uff1a\u4e0b\u8f7d\u94fe\u63a5\nSunray\u5730\u9762\u7ad9\u5b89\u88c5\n\n\n\u9009\u4e2d\u4e0b\u8f7d\u7684Sunray\u5730\u9762\u7ad9\u8f6f\u4ef6\u538b\u7f29\u5305\uff0c\u89e3\u538b\n\n\n\u5728\u89e3\u538b\u540e\u7684\u6587\u4ef6\u5939\u4e2d\uff0c\u9009\u4e2dSunrayStation.exe\/SunrayStation\u5e94\u7528\uff0c\u53f3\u51fb\u9009\u62e9\u5c5e\u6027\n\n \n \u9009\u62e9\u5c5e\u6027\n\n\n\n\u5728\u5c5e\u6027\u8bbe\u7f6e\u91cc\u9009\u62e9\u517c\u5bb9\u6027\uff0c\u52fe\u9009\u4ee5\u7ba1\u7406\u5458\u8eab\u4efd\u8fd0\u884c\u6b64\u7a0b\u5e8f\uff0c\u70b9\u51fb\u786e\u5b9a\n\n \n \u52fe\u9009\u4ee5\u7ba1\u7406\u5458\u8eab\u4efd\u8fd0\u884c\u6b64\u7a0b\u5e8f\n\n\n\n\u53cc\u51fbSunrayStation.exe\/SunrayStation\u542f\u52a8\u5730\u9762\u7ad9\n\n\n\u8054\u7cfb\u4e91\u7eb5\u79d1\u6280\uff0c\u590d\u5236\u6821\u9a8c\u7801\u7ed9\u4e91\u7eb5\u79d1\u6280\u83b7\u5f97\u8f6f\u4ef6\u8bb8\u53ef\u8bc1\uff0c\u5c06\u83b7\u5f97\u8f6f\u4ef6\u8bb8\u53ef\u8bc1\u586b\u5165\u6846\u5185\uff0c\u70b9\u51fb\u63d0\u4ea4\uff0c\u5f00\u59cb\u4f7f\u7528\u8f6f\u4ef6\n \n \n \u590d\u5236\u6821\u9a8c\u7801\n\n\n\n\u5730\u9762\u7ad9\u754c\u9762\u6253\u5f00\u5982\u4e0b\uff08\u968f\u7740\u7248\u672c\u66f4\u65b0\uff0c\u7248\u672c\u53f7\u548c\u90e8\u5206\u754c\u9762\u4f1a\u6709\u5dee\u5f02\uff09\n\n \n \u5730\u9762\u7ad9\u754c\u9762","is_draft":"0","editor_type":"2","file_path":"","add_time":"1761115634","update_time":"1763958216"},"pure_content":"Sunray\u5730\u9762\u7ad9\u8fd0\u884c\u7535\u8111\u914d\u7f6e\u8981\u6c42\n\u914d\u7f6e\u8981\u6c42\uff1aWindows10\u6216Windows11\u7cfb\u7edf\n\n\u9700\u8981\u4ee5\u7ba1\u7406\u5458\u8eab\u4efd\u8fd0\u884c\n\u7b2c\u4e00\u6b21\u4f7f\u7528\u9700\u5141\u8bb8\u516c\u7528\u7f51\u7edc\u548c\u4e13\u7528\u7f51\u7edc\u8bbf\u95ee\u6b64\u5e94\u7528\n\nSunray\u5730\u9762\u7ad9\u4e0b\u8f7d\nSunray\u5730\u9762\u7ad9\uff1a\u4e0b\u8f7d\u94fe\u63a5\nSunray\u5730\u9762\u7ad9\u5b89\u88c5\n\n\n\u9009\u4e2d\u4e0b\u8f7d\u7684Sunray\u5730\u9762\u7ad9\u8f6f\u4ef6\u538b\u7f29\u5305\uff0c\u89e3\u538b\n\n\n\u5728\u89e3\u538b\u540e\u7684\u6587\u4ef6\u5939\u4e2d\uff0c\u9009\u4e2dSunrayStation.exe\/SunrayStation\u5e94\u7528\uff0c\u53f3\u51fb\u9009\u62e9\u5c5e\u6027"},{"id":"639399","string_id":"9dvdC8GS","status":"1","parent_id":"639397","slug":"Sunray-di-mian-zhan-jie-mian-shuo-ming","order":"0","name":"Sunray\u5730\u9762\u7ad9\u754c\u9762\u8bf4\u660e","type":"2","cover":"","cover_alt":"","desc":null,"website":"","contact":"","seo_title":"","seo_keyword":"","seo_desc":"","share_switch":"0","share_code":"","author":"\u90b9\u6d77\u534e","published_time":"1763958202","add_time":"1761115635","update_time":"1765002014","corp_auth_id":"0","verify_code_auth_id":"0","editor_type":"2","file_type":"","auth_id":"[\"-1\"]","content":{"content_id":"639399","content":"### Sunray\u5730\u9762\u7ad9\u4e3b\u754c\u97621\n\n \n $\"\/\"$ \n

Sunray\u5730\u9762\u7ad9\u4e3b\u754c\u97621<\/figcaption>\n <\/center>\n\n- **\u6807\u6ce81\uff1a** \u4ece\u4e0a\u5230\u4e0b\u5206\u522b\u662f\u5207\u6362\u667a\u80fd\u4f53\u7c7b\u578b\uff0c\u667a\u80fd\u4f53\u72b6\u6001\u706f\u548c\u9009\u62e9\u667a\u80fd\u4f53\u4e0b\u62c9\u6846\uff0c\u65ad\u5f00\u667a\u80fd\u4f53\u8fde\u63a5\u6309\u94ae\u3002\n - \u667a\u80fd\u4f53\u72b6\u6001\u706f\u6709\u7ea2\u7eff\u4e24\u79cd\u72b6\u6001\uff0c\u7ea2\u8272\u4e3a\u672a\u8fde\u63a5\u5f53\u524d\u667a\u80fd\u4f53\uff0c\u7eff\u8272\u4e3a\u5df2\u8fde\u63a5\u5f53\u524d\u667a\u80fd\u4f53\u3002\n - \u9009\u62e9\u667a\u80fd\u4f53\u4e0b\u62c9\u6846\u53ef\u4ee5\u5207\u6362\u5f53\u524d\u63a7\u5236\u7684\u667a\u80fd\u4f53\u3002\n - \u65ad\u5f00\u8fde\u63a5\u6309\u94ae\u6309\u4e0b\u53ef\u4ee5\u65ad\u5f00\u5f53\u524d\u63a7\u5236\u667a\u80fd\u4f53\u7684\u8fde\u63a5\u3002\n\n\n \n- **\u6807\u6ce82\uff1a** \u65e0\u4eba\u673a\u57fa\u672c\u72b6\u6001\u4fe1\u606f\uff08\u5bf9\u5e94\u673a\u8f7d\u7a0b\u5e8f\u4e2d\u7684`~\/sunray\/uav_state`\u8bdd\u9898\uff09\uff0c\u5305\u62ec\u4e86\u65e0\u4eba\u673aID\uff08`uav_id`\uff09\u3001\u7535\u91cf\uff08`battery_state` `battery_percetage`\uff09\u3001\u8fde\u63a5\u72b6\u6001\uff08`connected`\uff09\u3001\u89e3\u9501\u72b6\u6001\uff08`armed`\uff09\u3001\u63a7\u5236\/\u6307\u4ee4\u6a21\u5f0f\uff08`control_mode`\uff09\u3001PX4\u6a21\u5f0f\uff08`move_mode`\uff09\u3001\u65e0\u4eba\u673a\u7684\u5b9a\u4f4d\u6765\u6e90\uff08`location_source`\uff09\u3001\u5b9a\u4f4d\u6e90\u72b6\u6001\uff08`odom_valid`\uff09\u3001\u4f4d\u7f6e\uff08`position`\uff09\u3001\u901f\u5ea6\uff08`velocity`\uff09\u3001\u59ff\u6001\uff08`attitude`\uff09\u3001\u671f\u671b\u4f4d\u7f6e\uff08`pos_setpoint`\uff09\u3001\u671f\u671b\u901f\u5ea6\uff08`vel_setpoint`\uff09\u3001\u671f\u671b\u59ff\u6001\uff08`att_setpoint`\uff09\u3001\u964d\u843d\u72b6\u6001\uff08`landed_state`\uff09\u3001\u79fb\u52a8\u6a21\u5f0f\uff08`move_mode`\uff09\u6570\u636e\u3002\n - \u8fde\u63a5\u72b6\u6001\u6307\u7684\u662f\u673a\u8f7d\u7535\u8111\u548c\u98de\u63a7\u7684\u8fde\u63a5\u72b6\u6001\u3002\n - \u4f4d\u7f6e\u3001\u901f\u5ea6\u3001\u59ff\u6001\u90fd\u662fpx4\u878d\u5408\u51fa\u6765\u7684\u6570\u636e\u3002\n - \u671f\u671b\u4f4d\u7f6e\u3001\u671f\u671b\u901f\u5ea6\u3001\u671f\u671b\u59ff\u6001\u90fd\u662fPX4\u56de\u4f20\u7684\u6570\u636e\u3002\n - \u5f53\u671f\u671b\u4f4d\u7f6e\u663e\u793a\u4e3aNULL\u65f6\u8868\u793aPX4\u5f53\u524d\u6ca1\u6709\u5904\u4e8e\u4f4d\u7f6e\u63a7\u5236\u72b6\u6001\u3002\n - \u63a7\u5236\u6a21\u5f0f\u663e\u793a\u5982\u88681-1\uff0c\u6307\u4ee4\u6a21\u5f0f\u663e\u793a\u5982\u88681-2\uff0cPX4\u6a21\u5f0f\u663e\u793a\u5982\u88681-3\uff0c\u5b9a\u4f4d\u6765\u6e90\u5982\u88681-4\u3002\n\n\n\n

\n \n \n \n \n \n

\u63a7\u5236\u6a21\u5f0f<\/th>\n

\u663e\u793a<\/th>\n <\/tr>\n <\/thead>\n \n

\u60ef\u6027\u7cfb\u5b9a\u70b9\u63a7\u5236<\/td>

XyzPos<\/td><\/tr>\n

\u60ef\u6027\u7cfb\u901f\u5ea6\u63a7\u5236<\/td>

XyzVel<\/td><\/tr>\n

\u60ef\u6027\u7cfb\u5b9a\u9ad8\u901f\u5ea6\u63a7\u5236<\/td>

XyVelZPos<\/td><\/tr>\n

\u60ef\u6027\u7cfb\u5b9a\u70b9\u63a7\u5236\u5e26\u504f\u822a\u89d2<\/td>

XyzPosYaw<\/td><\/tr>\n

\u60ef\u6027\u7cfb\u5b9a\u70b9\u63a7\u5236\u5e26\u504f\u822a\u89d2\u901f\u7387<\/td>

XyzPosYawrate<\/td><\/tr>\n

\u60ef\u6027\u7cfb\u901f\u5ea6\u63a7\u5236\u5e26\u504f\u822a\u89d2<\/td>

XyzVelYaw<\/td><\/tr>\n

\u60ef\u6027\u7cfb\u901f\u5ea6\u63a7\u5236\u5e26\u504f\u822a\u89d2\u901f\u7387<\/td>

XyzVelYawrate<\/td><\/tr>\n

\u60ef\u6027\u7cfb\u5b9a\u9ad8\u901f\u5ea6\u63a7\u5236\u5e26\u504f\u822a\u89d2<\/td>

XyVelZPosYaw<\/td><\/tr>\n

\u60ef\u6027\u7cfb\u5b9a\u9ad8\u901f\u5ea6\u63a7\u5236\u504f\u822a\u89d2\u901f\u7387<\/td>

XyVelZPosYawrate<\/td><\/tr>\n

\u60ef\u6027\u7cfb\u4f4d\u7f6e\u901f\u5ea6\u590d\u5408\u63a7\u5236\u5e26\u504f\u822a\u89d2<\/td>

XyzPosVelYaw<\/td><\/tr>\n

\u60ef\u6027\u7cfb\u4f4d\u7f6e\u901f\u5ea6\u590d\u5408\u63a7\u5236\u504f\u822a\u89d2\u901f\u7387<\/td>

XyzPosVelYawrate<\/td><\/tr>\n

\u60ef\u6027\u7cfb\u4f4d\u7f6e\u901f\u5ea6\u52a0\u901f\u5ea6\u590d\u5408\u63a7\u5236\u5e26\u504f\u822a\u89d2<\/td>

PosVelAccYaw<\/td><\/tr>\n

\u60ef\u6027\u7cfb\u4f4d\u7f6e\u901f\u5ea6\u52a0\u901f\u5ea6\u590d\u5408\u63a7\u5236\u504f\u822a\u89d2\u901f\u7387<\/td>

PosVelAccYawrate<\/td><\/tr>\n

\u673a\u4f53\u7cfb\u4f4d\u7f6e\u63a7\u5236<\/td>

XyzPosYawBody<\/td><\/tr>\n

\u673a\u4f53\u7cfb\u901f\u5ea6\u63a7\u5236<\/td>

XyzVelYawBody<\/td><\/tr>\n

\u673a\u4f53\u7cfb\u5b9a\u9ad8\u901f\u5ea6\u63a7\u5236<\/td>

XyVelZPosYawBody<\/td><\/tr>\n

\u7ecf\u7eac\u5ea6<\/td>

GlobalPos<\/td><\/tr>\n

\u88681-1 \u63a7\u5236\u6a21\u5f0f\u4e0e\u663e\u793a\u5bf9\u5e94\u5173\u7cfb<\/td><\/tr>\n <\/tbody>\n <\/table>\n<\/div>\n\n\n\n\n

\n \n \n \n \n

\u6307\u4ee4\u6a21\u5f0f<\/th>\n

\u663e\u793a<\/th>\n <\/tr>\n <\/thead>\n

\u521d\u59cb\u6a21\u5f0f<\/td>

INIT<\/td><\/tr>\n

\u9065\u63a7\u5668\u63a7\u5236\u6a21\u5f0f<\/td>

RC_CONTROL<\/td><\/tr>\n

\u5916\u90e8\u6307\u4ee4\u63a7\u5236\u6a21\u5f0f<\/td>

CMD_CONTROL<\/td><\/tr>\n

\u964d\u843d\u6a21\u5f0f<\/td>

LAND_CONTROL<\/td><\/tr>\n

\u88681-2 \u6307\u4ee4\u6a21\u5f0f\u4e0e\u663e\u793a\u5bf9\u5e94\u5173\u7cfb<\/td><\/tr>\n <\/tbody>\n <\/table>\n<\/div>\n\n\n\n

\n \n \n \n \n

PX4\u6a21\u5f0f<\/th>\n

\u663e\u793a<\/th>\n <\/tr>\n <\/thead>\n

\u624b\u52a8\u6a21\u5f0f<\/td>

MANUAL<\/td><\/tr>\n

\u7a33\u5b9a\u6a21\u5f0f<\/td>

STABILIZED<\/td><\/tr>\n

\u7279\u6280\u98de\u884c\u6a21\u5f0f<\/td>

ACRO<\/td><\/tr>\n

\u59ff\u6001\u6a21\u5f0f<\/td>

RATTITUDE<\/td><\/tr>\n

\u5b9a\u9ad8\u6a21\u5f0f<\/td>

ALTITUDE<\/td><\/tr>\n

\u5916\u90e8\u63a7\u5236\u6a21\u5f0f<\/td>

OFFBOARD<\/td><\/tr>\n

\u4f4d\u7f6e\u6a21\u5f0f<\/td>

POSITION<\/td><\/tr>\n

\u60ac\u505c\u6a21\u5f0f<\/td>

HOLD<\/td><\/tr>\n

\u4efb\u52a1\u6a21\u5f0f<\/td>

MISSION<\/td><\/tr>\n

\u8fd4\u822a\u6a21\u5f0f<\/td>

RETURN<\/td><\/tr>\n

\u8ddf\u968f\u6a21\u5f0f<\/td>

FOLLOW ME<\/td><\/tr>\n

\u7cbe\u786e\u964d\u843d\u6a21\u5f0f<\/td>

PRECISION LAND<\/td><\/tr>\n

\u88681-3 PX4\u6a21\u5f0f\u4e0e\u663e\u793a\u5bf9\u5e94\u5173\u7cfb<\/td><\/tr>\n <\/tbody>\n <\/table>\n<\/div>\n\n\n\n

\n \n \n \n \n

\u5b9a\u4f4d\u6765\u6e90<\/th>\n

\u663e\u793a<\/th>\n <\/tr>\n <\/thead>\n

\u91cc\u7a0b\u8ba1<\/td>

ODOM<\/td><\/tr>\n

\u59ff\u6001<\/td>

POSE<\/td><\/tr>\n

\u4eff\u771f<\/td>

GAZEBO<\/td><\/tr>\n

\u52a8\u6355<\/td>

MOCAP<\/td><\/tr>\n

Viobot<\/td>

VIOBOT<\/td><\/tr>\n

GPS<\/td>

GPS<\/td><\/tr>\n

RTK<\/td>

RTK<\/td><\/tr>\n

VINS<\/td>

VINS<\/td><\/tr>\n

\u88681-4 \u5b9a\u4f4d\u6765\u6e90\u4e0e\u663e\u793a\u5bf9\u5e94\u5173\u7cfb<\/td><\/tr>\n <\/tbody>\n <\/table>\n<\/div>\n\n \n $\"\/\"$ \n

\u6807\u6ce82\u4e0b\u6ed1\u754c\u9762<\/figcaption>\n <\/center>\n\n- **\u6807\u6ce82\u4e0b\u6ed1\u754c\u9762\uff1a** \u5728\u6807\u6ce82\u7684\u65e0\u4eba\u673a\u72b6\u6001\u680f\u7528\u9f20\u6807\u5f80\u4e0b\u6ed1\u52a8\u7a97\u53e3\u4f1a\u663e\u793aPX4\u72b6\u6001\u3002\n\n - PX4\u72b6\u6001\u4fe1\u606f\uff08\u5bf9\u5e94\u673a\u8f7d\u7a0b\u5e8f\u4e2d\u7684`~\/sunray\/px4_state`\u8bdd\u9898\uff09,\u5305\u62ec\u4e86GPS\u536b\u661f\u6570\u91cf\uff08`satellites`\uff09\uff0cGPS\u536b\u661f\u72b6\u6001\uff08`gps_status`\uff09\uff0cGPS\u670d\u52a1\uff08`gps_service`\uff09\uff0c\u7ecf\u7eac\u9ad8\u4ece\u5de6\u5f80\u53f3\u4e3a\u7ecf\u5ea6\uff08`longitude`\uff09\u3001\u7eac\u5ea6\uff08`latitude`\uff09\u3001\u6d77\u62d4\u9ad8\u5ea6\uff08`altitude_amsl`\uff09\uff0c\u692d\u7403\u9ad8\u5ea6\uff08`altitude`\uff09\u3002\n\n- **\u6807\u6ce83\uff1a** \u8fde\u63a5\u6309\u94ae\u548c\u8bbe\u7f6e\u6309\u94ae\u3002\n - \u70b9\u51fb\u8fde\u63a5\u6309\u94ae\u4f1a\u5f39\u51fa\u5bf9\u5e94\u7684\u5f39\u7a97\u3002\n - \u70b9\u51fb\u8bbe\u7f6e\u6309\u94ae\uff0c\u6807\u6ce87\u30018\u30019\u533a\u57df\u4f1a\u5207\u6362\u5230\u8bbe\u7f6e\u754c\u9762\uff0c\u8bbe\u7f6e\u6309\u94ae\u4f1a\u53d8\u6210\u7eff\u8272\uff1b\u518d\u6b21\u70b9\u51fb\u8bbe\u7f6e\u6309\u94ae\uff0c\u8bbe\u7f6e\u754c\u9762\u4f1a\u5207\u56de\u6807\u6ce87\u30018\u30019\u533a\u57df\uff0c\u8bbe\u7f6e\u6309\u94ae\u53d8\u7eff\u8272\uff1b\n - \u7248\u672c\u53f7\u3002\n - \u811a\u672c\u914d\u7f6e\u6309\u94ae\uff0c\u70b9\u51fb\u65f6\u4f1a\u5f39\u51fa\u811a\u672c\u914d\u7f6e\u5f39\u7a97\u3002\n - UDP\u7aef\u53e3\u914d\u7f6e\u6309\u94ae\uff0c\u70b9\u51fb\u65f6\u4f1a\u5f39\u51faUDP\u7aef\u53e3\u914d\u7f6e\u5f39\u7a97\u3002\n - \u7535\u5b50\u56f4\u680f\u914d\u7f6e\u6309\u94ae\uff0c\u70b9\u51fb\u65f6\u4f1a\u5f39\u51fa\u7535\u5b50\u56f4\u680f\u914d\u7f6e\u5f39\u7a97\u3002\n - \u7535\u5b50\u56f4\u680f\u663e\u793a\u5f00\u5173\uff0c\u53ef\u4ee5\u5f00\u542f\u548c\u5173\u95ed\u5e73\u9762\u5730\u56fe\u4e0a\u7684\u7535\u5b50\u56f4\u680f\u663e\u793a\u3002\n\n \n $\"\/\"$ \n

Sunray\u5730\u9762\u7ad9\u8bbe\u7f6e\u754c\u9762<\/figcaption>\n <\/center>\n\n- **\u6807\u6ce84\uff1a** \u5207\u6362\u529f\u80fd\u533a\u6309\u94ae\u3002\n - \u56de\u4f20\u89c6\u9891\uff0c\u62c9\u53d6\u667a\u80fd\u4f53\u89c6\u9891\u6d41\u5e76\u663e\u793a\u3002\n - **\u6807\u6ce85-2\uff1a** \u663e\u793a\u89c6\u9891\u3002\n - **\u6807\u6ce86-2\uff1a** \u6d41\u5a92\u4f53\u670d\u52a1\u5668\u5f00\u5173\u5728\u5f00\u542f\u7684\u72b6\u6001\u4e0b\uff0c\u5728\u8f93\u5165\u6846\u8f93\u5165\u62c9\u6d41\u5730\u5740\uff0c\u70b9\u51fb\u786e\u8ba4\uff0c\u5f00\u59cb\u62c9\u53d6\u89c6\u9891\u6d41\uff08\u89c6\u9891\u6709\u5ef6\u65f6\uff09\u3002\n - **\u6807\u6ce87-2\uff1a** \u5728\u4e0b\u62c9\u6846\u4e2d\u9009\u4e2d\u8981\u5173\u95ed\u7684\u89c6\u9891\uff0c\u70b9\u51fb\u505c\u6b62\u62c9\u6d41\uff0c\u5173\u95ed\u9009\u4e2d\u7684\u89c6\u9891\u3002\n - \u5168\u90e8\u505c\u6b62\u6309\u94ae\u4f1a\u5173\u95ed\u73b0\u5728\u7684\u5168\u90e8\u89c6\u9891\u3002\n - \u89c6\u9891\u6570\u91cf\u53ef\u4ee5\u9009\u62e9\u8981\u540c\u65f6\u62c9\u53d6\u7684\u89c6\u9891\u6d41\u6570\u91cf\uff0c\u67091\u8def\uff0c2\u8def\uff0c4\u8def\uff0c6\u8def\u56db\u79cd\u6a21\u5f0f\u3002\n - \u89c6\u9891\u89e3\u7801\u91c7\u7528\u7684\u8f6f\u89e3\u4f1a\u5bf9\u7535\u8111\u786c\u4ef6\u6709\u8f83\u9ad8\u7684\u8981\u6c42\uff0c\u7279\u522b\u662f\u540c\u65f6\u62c9\u53d6\u516d\u8def\u89c6\u9891\u6d41\u3002\n - \u6d41\u5a92\u4f53\u670d\u52a1\u5668\u5f00\u5173\u548c\u670d\u52a1\u5668\u7ec8\u7aef\u5f00\u5173\u8fd9\u4e24\u4e2a\u8bbe\u7f6e\uff0c\u91cd\u542f\u8f6f\u4ef6\u540e\u751f\u6548\u3002\n - \u670d\u52a1\u5668\u7ec8\u7aef\u4e00\u822c\u4e0d\u5f00\u542f\uff0c\u5728\u8c03\u8bd5\u6a21\u5f0f\u4e2d\u624d\u5f00\u542f\u3002\n\n \n $\"\/\"$ \n

\u56de\u4f20\u89c6\u9891\u754c\u9762<\/figcaption>\n <\/center>\n\n \n $\"\/\"$ \n

\u516d\u8def\u5e76\u884c\u62c9\u6d41\u754c\u9762<\/figcaption>\n <\/center>\n\n \n $\"\/\"$ \n

\u6d41\u5a92\u4f53\u670d\u52a1\u5668\u7ec8\u7aef\u663e\u793a<\/figcaption>\n <\/center>\n\n\n - \u6570\u636e\u76d1\u63a7\uff0c\u663e\u793a\u63a5\u6536\u7684\u539f\u59cb\u6570\u636e\u3002\n - **\u6807\u6ce85-3\uff1a** \u5207\u6362\u6570\u636e\u7c7b\u578b\u3002\n - **\u6807\u6ce86-3\uff1a** \u663e\u793a\u63a5\u6536\u7684\u539f\u59cb\u6570\u636e\u3002\n\n \n $\"\/\"$ \n

\u6570\u636e\u76d1\u63a7\u754c\u9762<\/figcaption>\n <\/center>\n\n\n - \u96c6\u7fa4\u63a7\u5236\uff0c\u63a7\u5236\u6574\u4e2a\u667a\u80fd\u4f53\u96c6\u7fa4\u3002\n - **\u6807\u6ce85-4\uff1a** \u4e00\u952e\u63a7\u5236\uff0c\u4e00\u952e\u63a7\u5236\u6240\u6709\u5df2\u8fde\u63a5\u7684\u5728\u7ebf\u667a\u80fd\u4f53\u3002\u81ea\u5b9a\u4e49\u6d88\u606f`sunray_msgs::Formation`\u4e0e\u4e00\u952e\u63a7\u5236\u6309\u94ae\u7684\u5bf9\u5e94\u5173\u7cfb\uff1a\u4e00\u952e\u8d77\u98de<\/u>\uff08`sunray_msgs::Formation::TAKEOFF`\uff09\u3001\u8bbe\u7f6e\u539f\u70b9<\/u>\uff08`sunray_msgs::Formation::SET_HOME`\uff09\u3001\u4e00\u952e\u505c\u6b62<\/u>\uff08`sunray_msgs::Formation::HOVER`\uff09\u3001\u4e00\u952e\u964d\u843d<\/u>\uff08`sunray_msgs::Formation::LAND`\uff09\u3001\u4e00\u952e\u8fd4\u822a<\/u>\uff08`sunray_msgs::Formation::RETURN_HOME`\uff09\u3002\n - **\u6807\u6ce86-4\uff1a** \u96c6\u7fa4\u7f16\u961f\uff0c\u63a7\u5236\u667a\u80fd\u4f53\u96c6\u7fa4\u7f16\u961f\u3002\u81ea\u5b9a\u4e49\u6d88\u606f`sunray_msgs::Formation`\u4e0e\u96c6\u7fa4\u7f16\u961f\u6309\u94ae\u7684\u5bf9\u5e94\u5173\u7cfb\uff1a\u4e09\u89d2\u5f62<\/u>\uff08`sunray_msgs::Formation::STATIC` `sunray_msgs::Formation::name=triangle`\uff09\u3001\u6a2a\u5411\u4e00\u5b57\u9635\u578b<\/u>\uff08`sunray_msgs::Formation::STATIC` `sunray_msgs::Formation::name=line_horizontal`\uff09\u3001\u52a8\u6001\u5706\u5f62\u9635\u578b<\/u>\uff08`sunray_msgs::Formation::DYNAMIC` `sunray_msgs::Formation::name=circle`\uff09\u3001\u9886\u961f\u6a21\u5f0f<\/u>\uff08`sunray_msgs::Formation::LEADER`\uff09\u3001\u56db\u8fb9\u5f62<\/u>\uff08`sunray_msgs::Formation::STATIC` `sunray_msgs::Formation::name=square`\uff09\u3001\u7eb5\u5411\u4e00\u5b57\u9635\u578b<\/u>\uff08`sunray_msgs::Formation::STATIC` `sunray_msgs::Formation::name=line_vertical`\uff09\u3001\u52a8\u6001\u516b\u5b57\u9635\u578b<\/u>\uff08`sunray_msgs::Formation::DYNAMIC` `sunray_msgs::Formation::name=figure_eight`\uff09\u3002\n\n \n $\"\/\"$ \n

\u96c6\u7fa4\u63a7\u5236\u754c\u9762<\/figcaption>\n <\/center>\n\n\n \n- **\u6807\u6ce85\uff1a** \u4ece\u5de6\u5f80\u53f3\u4e3a\uff1a\n - \u6307\u70b9\u7c7b\u578b\uff08XyzPosYaw\/\u8def\u5f84\u89c4\u5212\u76ee\u6807\uff09\u7684\u5355\u9009\u6846\u3002\n - \u6307\u70b9\u7684\u9ad8\u5ea6\u8f93\u5165\u6846\u3002\n - \u6307\u70b9\u7684\u504f\u822a\u89d2\u8f93\u5165\u6846\uff08-180~180\uff09\u3002\n - Viobot\u7b97\u6cd5\u72b6\u6001\u7684\u663e\u793a\u548c\u5f00\u5173\u3002\n - FAC\u6bd4\u8d5b\u5730\u56fe\u663e\u793a\u7684\u5f00\u5173\u3002\n - \u5e73\u9762\u5730\u56fe\u7684\u667a\u80fd\u4f53\u4f4d\u7f6e\u6570\u636e\u7684\u663e\u793a\u5f00\u5173\u3002\n - \u5e73\u9762\u5730\u56fe\u7684\u667a\u80fd\u4f53\u8f68\u8ff9\u7684\u663e\u793a\u5f00\u5173\u3002\n - +\u53f7\u6309\u94ae\u6309\u4e0b\u5e73\u9762\u5730\u56fe\u7f29\u5c0f\u3002\n - -\u53f7\u6309\u94ae\u6309\u4e0b\u5e73\u9762\u5730\u56fe\u653e\u3002\n\n- **\u6807\u6ce86\uff1a** \u5e73\u9762\u5730\u56fe\u533a\u57df\u3002\n - \u9f20\u6807\u6eda\u8f6e\u5411\u540e\uff0c\u7f29\u5c0f\u5730\u56fe\u3002\n - \u9f20\u6807\u6eda\u8f6e\u5411\u524d\uff0c\u653e\u5927\u5730\u56fe\u3002\n\n \n $\"\/\"$ \n

\u5e73\u9762\u5730\u56fe\u754c\u9762<\/figcaption>\n <\/center>\n\n\n\n- **\u6807\u6ce87\uff1a** \u65e0\u4eba\u673a\u8bbe\u7f6e\u3002\n - \u81ea\u5b9a\u4e49\u6d88\u606f`sunray_msgs::UAVSetup`\u4e0e\u63a7\u5236\u6309\u94ae\u7684\u5bf9\u5e94\u5173\u7cfb\uff1a\u89e3\u9501<\/u>\uff08`sunray_msgs::UAVSetup::DISARM`\uff09\u3001\u4e0a\u9501<\/u>\uff08`sunray_msgs::UAVSetup::ARM`\uff09\u3001\u6307\u4ee4\u63a7\u5236<\/u>\uff08`sunray_msgs::UAVSetup::SET_CONTROL_MODE`\uff09\u3001\u7d27\u6025\u4e0a\u9501<\/u>\uff08`sunray_msgs::UAVSetup::EMERGENCY_KILL`\uff09\u3002\n- **\u6807\u6ce88\uff1a** \u65e0\u4eba\u673a\u63a7\u5236\u3002\n - \u81ea\u5b9a\u4e49\u6d88\u606f`sunray_msgs::UAVControlCMD`\u4e0e\u63a7\u5236\u6309\u94ae\u7684\u5bf9\u5e94\u5173\u7cfb\uff1a\u8d77\u98de<\/u>\uff08`sunray_msgs::UAVControlCMD::Takeoff`\uff09\u3001\u964d\u843d<\/u>\uff08`sunray_msgs::UAVControlCMD::Land`\uff09\u3001\u60ac\u505c<\/u>\uff08`sunray_msgs::UAVControlCMD::Hover`\uff09\u3001\u8fd4\u822a<\/u>\uff08`sunray_msgs::UAVControlCMD::Return`\uff09\u3002\n - \u822a\u70b9\u8bbe\u7f6e<\/u>\u3002\u70b9\u51fb\u4f1a\u5f39\u51fa\u822a\u70b9\u8bbe\u7f6e\u5f39\u7a97\u3002\n - \u822a\u70b9\u72b6\u6001<\/u>\u3002\u70b9\u51fb\u4f1a\u5f39\u51fa\u822a\u70b9\u72b6\u6001\u5f39\u7a97\n\n- **\u6807\u6ce89\uff1a** \u79fb\u52a8\u6a21\u5f0f\n - \u5f53\u524d\u65e0\u4eba\u8f66\u7684\u79fb\u52a8\u6a21\u5f0f\u63a7\u5236\uff0c\u79fb\u52a8\u6a21\u5f0f\u4e0b\u62c9\u6846\u3002\n - \u65c1\u8fb9\u7684\uff1f\u9f20\u6807\u79fb\u52a8\u5230\u90a3\u4f1a\u663e\u793a\u9009\u4e2d\u7684\u79fb\u52a8\u6a21\u5f0f\u5bf9\u5e94\u7684\u89e3\u91ca\uff0c\u4e0d\u540c\u7684\u79fb\u52a8\u6a21\u5f0f\u8be6\u89c1\u4e0b\u88681-5\u3002\n\n\n \n

\n \n \n \n \n \n

\u79fb\u52a8\u6a21\u5f0f<\/th>\n

\u4e0b\u62c9\u6846<\/th>\n <\/tr>\n <\/thead>\n \n

\u60ef\u6027\u7cfb\u5b9a\u70b9\u63a7\u5236<\/td>

XyzPos<\/td><\/tr>\n

\u60ef\u6027\u7cfb\u901f\u5ea6\u63a7\u5236<\/td>

XyzVel<\/td><\/tr>\n

\u60ef\u6027\u7cfb\u5b9a\u9ad8\u901f\u5ea6\u63a7\u5236<\/td>

XyVelZPos<\/td><\/tr>\n

\u60ef\u6027\u7cfb\u5b9a\u70b9\u63a7\u5236\u5e26\u504f\u822a\u89d2<\/td>

XyzPosYaw<\/td><\/tr>\n

\u60ef\u6027\u7cfb\u901f\u5ea6\u63a7\u5236\u5e26\u504f\u822a\u89d2<\/td>

XyzVelYaw<\/td><\/tr>\n

\u60ef\u6027\u7cfb\u5b9a\u9ad8\u901f\u5ea6\u63a7\u5236\u5e26\u504f\u822a\u89d2<\/td>

XyVelZPosYaw<\/td><\/tr>\n

\u673a\u4f53\u7cfb\u4f4d\u7f6e\u63a7\u5236<\/td>

XyzPosYawBody<\/td><\/tr>\n

\u673a\u4f53\u7cfb\u901f\u5ea6\u63a7\u5236<\/td>

XyzVelYawBody<\/td><\/tr>\n

\u673a\u4f53\u7cfb\u5b9a\u9ad8\u901f\u5ea6\u63a7\u5236<\/td>

XyVelZPosYawBody<\/td><\/tr>\n

\u7ecf\u7eac\u5ea6<\/td>

GlobalPos<\/td><\/tr>\n

\u8def\u5f84\u89c4\u5212\u7684\u76ee\u6807\u70b9<\/td>

Point<\/td><\/tr>\n

\u60ef\u6027\u7cfb\u5b9a\u70b9\u63a7\u5236\u5e26\u504f\u822a\u89d2<\/td>

CTRLXyzPos<\/td><\/tr>\n

\u88681-5 \u79fb\u52a8\u6a21\u5f0f\u4e0e\u4e0b\u62c9\u6846\u5bf9\u5e94\u5173\u7cfb<\/td><\/tr>\n <\/tbody>\n <\/table>\n<\/div>\n\n\n- **\u6807\u6ce810\uff1a** \u542f\u52a8\u811a\u672c \n - \u9009\u62e9\u4e0b\u62c9\u6846\u4e2d\u7684\u811a\u672c\u9009\u9879\u3002\n - \u9f20\u6807\u79fb\u52a8\u5230\u65c1\u8fb9\u7684\u95ee\u53f7\u4f1a\u663e\u793a\u5f53\u524d\u9009\u4e2d\u7684\u811a\u672c\u540d\u5b57\u3002\n - \u771f\u673a\u4e3a\u673a\u8f7dscripts_exp\u6587\u4ef6\u5939\u4e0b\u7684\u811a\u672c\uff0c\u4eff\u771f\u4e3a\u673a\u8f7dscripts_sim\u6587\u4ef6\u5939\u4e0b\u7684\u811a\u672c\u3002\n - \u70b9\u51fb\u6267\u884c\u811a\u672c\uff0c\u4f1a\u5728\u5f53\u524d\u9009\u4e2d\u667a\u80fd\u4f53\u7684\u673a\u8f7d\u4e0a\u6267\u884c\u811a\u672c\u3002\n - kill\u6309\u94ae\u4f1a\u6267\u884ckill_node.sh\u811a\u672c\uff0c\u5173\u95ed\u9664\u767d\u540d\u5355\u4ee5\u5916\u7684\u8282\u70b9\u3002\n\n \n $\"\/\"$ \n

\u542f\u52a8\u811a\u672c\u754c\u9762<\/figcaption>\n<\/center>\n\n\n\n- **\u6807\u6ce811\uff1a** \u673a\u8f7d\u7535\u8111ROS\u8282\u70b9\n - \u5f53\u524d\u9009\u4e2d\u667a\u80fd\u4f53\u7684\u673a\u8f7d\u7535\u8111\u5728\u7ebfROS\u8282\u70b9\u3002\n\n- **\u6807\u6ce812\uff1a** \u663e\u793a\u673a\u8f7d\u7535\u8111\u6027\u80fd\n - \u663e\u793a\u5f53\u524d\u9009\u4e2d\u667a\u80fd\u4f53\u7684\u673a\u8f7d\u7535\u8111\u6027\u80fd\n - \u865a\u62df\u673a\u4e2d\u65e0\u6cd5\u83b7\u53d6\u5230CPU\u6e29\u5ea6\u3002\n\n### Sunray\u5730\u9762\u7ad9\u4e3b\u754c\u97622\n\n \n $\"\/\"$ \n

Sunray\u5730\u9762\u7ad9\u4e3b\u754c\u97621<\/figcaption>\n <\/center>\n\n\n\n- **\u6807\u6ce813\uff1a** \u65e0\u4eba\u8f66\u57fa\u672c\u72b6\u6001\u4fe1\u606f\uff08\u5bf9\u5e94\u673a\u8f7d\u7a0b\u5e8f\u4e2d\u7684`~\/sunray_ugv\/ugv_state`\u8bdd\u9898\uff09\uff0c\u5305\u62ec\u4e86\u65e0\u4eba\u8f66ID\uff08`ugv_id`\uff09\u3001\u7535\u91cf\uff08`battery_state` `battery_percetage`\uff09\u3001\u8fde\u63a5\u72b6\u6001\uff08`connected`\uff09\u3001\u63a7\u5236\u6a21\u5f0f\uff08`control_mode`\uff09\u3001\u65e0\u4eba\u8f66\u5b9a\u4f4d\u6765\u6e90\uff08`location_source`\uff09\u3001\u5b9a\u4f4d\u6e90\u72b6\u6001\uff08`odom_valid`\uff09\u3001\u4f4d\u7f6e\uff08`position`\uff09\u3001\u901f\u5ea6\uff08`velocity`\uff09\u3001\u59ff\u6001\uff08`attitude`\uff09\u3001\u671f\u671b\u4f4d\u7f6e\uff08`pos_setpoint`\uff09\u3001\u671f\u671b\u901f\u5ea6\uff08`vel_setpoint`\uff09\u3001\u671f\u671b\u59ff\u6001\uff08`att_setpoint`\uff09\u6570\u636e\u3002\n- **\u6807\u6ce814\uff1a** \u505c\u6b62\u548c\u79fb\u52a8\u6a21\u5f0f\u3002\n - \u81ea\u5b9a\u4e49\u6d88\u606f`sunray_msgs::UGVControlCMD`\u4e0e\u63a7\u5236\u6309\u94ae\u7684\u5bf9\u5e94\u5173\u7cfb\uff1a\u505c\u6b62<\/u>\uff08`sunray_msgs::UGVControlCMD::HOLD`\uff09\u3002\n - \u79fb\u52a8\u6a21\u5f0f\n - \u5f53\u524d\u65e0\u4eba\u673a\u7684\u79fb\u52a8\u6a21\u5f0f\u63a7\u5236\uff0c\u79fb\u52a8\u6a21\u5f0f\u4e0b\u62c9\u6846\u3002\n - \u65c1\u8fb9\u7684\uff1f\u9f20\u6807\u79fb\u52a8\u5230\u90a3\u4f1a\u663e\u793a\u9009\u4e2d\u7684\u79fb\u52a8\u6a21\u5f0f\u5bf9\u5e94\u7684\u89e3\u91ca\uff0c\u4e0d\u540c\u7684\u79fb\u52a8\u6a21\u5f0f\u8be6\u89c1\u4e0b\u88681-6\u3002\n\n \n\n\n\n

\n \n \n \n \n \n

\u79fb\u52a8\u6a21\u5f0f<\/th>\n	\u4e0b\u62c9\u6846<\/th>\n <\/tr>\n <\/thead>\n \n
\u60ef\u6027\u7cfb\u4f4d\u7f6e\u63a7\u5236<\/td>	PosControl<\/td><\/tr>\n
\u60ef\u6027\u7cfb\u901f\u5ea6\u63a7\u5236<\/td>	VelControl<\/td><\/tr>\n
\u8f66\u4f53\u7cfb\u901f\u5ea6\u63a7\u5236<\/td>	VelControlBody<\/td><\/tr>\n
Astar\u907f\u969c\u63a7\u5236<\/td>	PointControlWithAstar<\/td><\/tr>\n
\u60ef\u6027\u7cfb\u4f4d\u7f6e\u901f\u5ea6\u590d\u5408\u63a7\u5236<\/td>	PosVelControl<\/td><\/tr>\n
\u88681-6 \u79fb\u52a8\u6a21\u5f0f\u4e0e\u4e0b\u62c9\u6846\u5bf9\u5e94\u5173\u7cfb<\/td><\/tr>\n <\/tbody>\n <\/table>\n<\/div>\n \n#### \u8bbe\u5907\u5217\u8868\u754c\u9762\u8bf4\u660e\n\n $\"\/\"$ \n \u8bbe\u5907\u5217\u8868\u754c\u9762<\/figcaption>\n <\/center>\n\n- \u6807\u6ce81\uff1a \u641c\u7d22\u65e0\u4eba\u673a\u6309\u94ae\u3002\n - \u663e\u793a\u641c\u7d22\u65e0\u4eba\u673a\u72b6\u6001\uff08\u7eff\u8272\u7684\u4e24\u4e2a\u7bad\u5934\u65cb\u8f6c\u65f6\u5c31\u8868\u793a\u73b0\u5728\u6b63\u5728\u641c\u7d22\u5728\u7ebf\u65e0\u4eba\u673a\uff0c\u7eff\u8272\u7684\u4e24\u4e2a\u7bad\u5934\u9759\u6b62\u4e0d\u52a8\u65f6\u5c31\u8868\u793a\u662f\u6ca1\u6709\u5728\u641c\u7d22\u5728\u7ebf\u65e0\u4eba\u673a\uff09\u3002\n - \u754c\u9762\u5f39\u51fa\u65f6\u4f1a\u81ea\u52a8\u641c\u7d22\u5728\u7ebf\u65e0\u4eba\u673a10\u79d2\u5de6\u53f3\u3002\n - \u9700\u8981\u91cd\u65b0\u641c\u7d22\u65f6\u53ef\u4ee5\u70b9\u51fb\u8fd9\u4e2a\u641c\u7d22\u65e0\u4eba\u673a\u6309\u94ae\uff0c\u4f1a\u5f00\u59cb\u641c\u7d22\u5728\u7ebf\u65e0\u4eba\u673a10\u79d2\u3002\n- \u6807\u6ce82\uff1a \u663e\u793a\u5f53\u524dUDP\u76d1\u542c\u7aef\u53e3\u548c\u5f53\u524dUDP\u76ee\u6807\uff08\u673a\u8f7d\uff09\u7aef\u53e3\u3002\n - UDP\u76d1\u542c\u7aef\u53e3\u9700\u8981\u548cground\\_control.launch\u6587\u4ef6\u91cc\u7684udp\\_ground\\_port\u53c2\u6570\u4e00\u6837\u3002\n - UDP\u76ee\u6807\uff08\u673a\u8f7d\uff09\u7aef\u53e3\u9700\u8981\u548cground\\_control.launch\u6587\u4ef6\u91cc\u7684udp\\_port\u53c2\u6570\u4e00\u6837\u3002\n - \u5f53\u6709\u4efb\u610f\u4e00\u4e2a\u7aef\u53e3\u4e0d\u4e00\u6837\u65f6\uff0c\u5c31\u65e0\u6cd5\u641c\u7d22\u5230\u65e0\u4eba\u673a\u8fdb\u800c\u5efa\u7acb\u8fde\u63a5\u3002\u9700\u8981\u5728UDP\u7aef\u53e3\u914d\u7f6e\u754c\u9762\u91cd\u65b0\u914d\u7f6eUDP\u7aef\u53e3\u3002\n- \u6807\u6ce83\uff1a\u641c\u7d22\u5230\u7684\u5728\u7ebf\u65e0\u4eba\u673a\u5217\u8868\uff0c\u663e\u793a\u5728\u7ebf\u65e0\u4eba\u673a\u7684ID\u3001IP\u3001TCP\u7aef\u53e3\u3002\n- \u6807\u6ce84\uff1a\n - \u8fde\u63a5<\/u>\uff0c\u5728\u6807\u6ce83\u533a\u57df\u7684\u65e0\u4eba\u673a\u5217\u8868\u4e0a\u9f20\u6807\u70b9\u51fb\u8981\u8fde\u63a5\u7684\u5728\u7ebf\u65e0\u4eba\u673a\uff0c\u7136\u540e\u70b9\u51fb\u8fde\u63a5<\/u>\uff0c\u8bbe\u5907\u5217\u8868\u754c\u9762\u5173\u95ed\uff0c\u4f1a\u6709\u63d0\u793a\u6846\u63d0\u793a\u8fde\u63a5\u7ed3\u679c\u3002\n - \u53d6\u6d88<\/u>\uff0c\u5173\u95ed\u8fde\u63a5\u754c\u9762\u3002\n\n#### UDP\u914d\u7f6e\u754c\u9762\n\n $\"\/\"$ \n UDP\u914d\u7f6e\u754c\u9762<\/figcaption>\n<\/center>\n\n- \u6807\u6ce81\uff1a UDP\u76d1\u542c\u7aef\u53e3\u8f93\u5165\u6846\uff0c\u7070\u8272\u7684\u5b57\u4f53\u4e3a\u63d0\u793a\u5f53\u524d\u76d1\u542c\u7aef\u53e3\u3002\n - \u8f93\u5165\u7684\u7aef\u53e3\u53f7\u9700\u8981\u548cground\\_control.launch\u6587\u4ef6\u91cc\u7684udp\\_ground\\_port\u53c2\u6570\u4e00\u6837\u3002\n - \u53ea\u4f7f\u7528\u6ce8\u518c\u7aef\u53e31024 \u5230 49151\u3002\n - \u7aef\u53e3\u8303\u56f40 \u5230 65535\uff0c0 \u5230 1023\u4e3a\u516c\u8ba4\u7aef\u53e3\uff0c1024 \u5230 49151\u4e3a\u6ce8\u518c\u7aef\u53e3\uff0c 49152 \u5230 65535\u4e3a\u79c1\u6709\u7aef\u53e3\u3002\n- \u6807\u6ce82\uff1a UDP\u76ee\u7684\uff08\u673a\u8f7d\uff09\u7aef\u53e3\u8f93\u5165\u6846\uff0c\u7070\u8272\u7684\u5b57\u4f53\u4e3a\u63d0\u793a\u5f53\u524d\u76ee\u7684\u7aef\u53e3\u3002\n - \u8f93\u5165\u7684\u7aef\u53e3\u53f7\u9700\u8981\u548cground\\_control.launch\u6587\u4ef6\u91cc\u7684udp\\_port\u53c2\u6570\u4e00\u6837\u3002\n - \u53ea\u4f7f\u7528\u6ce8\u518c\u7aef\u53e31024 \u5230 49151\u3002\n- \u6807\u6ce83\uff1a \u914d\u7f6e<\/u>\u70b9\u51fb\u540e\u4f1a\u914d\u7f6e\u5bf9\u5e94\u7aef\u53e3\uff0c\u5e76\u5c06\u914d\u7f6e\u7684\u7aef\u53e3\u4fdd\u5b58\u5230\u672c\u5730\u6587\u4ef6\uff0c\u53ef\u4ee5\u5355\u72ec\u914d\u7f6e\u4e00\u79cd\u7aef\u53e3\uff0c\u4e5f\u53ef\u4ee5\u4e24\u79cd\u7aef\u53e3\u4e00\u8d77\u914d\u7f6e\u3002\u53d6\u6d88\u6309\u94ae\uff0c\u5173\u95edUDP\u7aef\u53e3\u914d\u7f6e\u754c\u9762\u3002\n \n#### \u811a\u672c\u914d\u7f6e\u754c\u9762\n\n $\"\/\"$ \n Node\u914d\u7f6e\u754c\u9762<\/figcaption>\n<\/center>\n\n- \u6807\u6ce81\uff1a\u4ece\u5de6\u5f80\u53f3\u5206\u522b\u662f\uff1a+<\/u>\u6dfb\u52a0\u811a\u672c\u547d\u4ee4\uff1b\u9009\u62e9\u811a\u672c\u7c7b\u578b\uff1b\u811a\u672c\u6587\u4ef6\u540d\u8f93\u5165\u6846\u3002\n - ID\u4e0d\u7528\u8f93\uff0c\u81ea\u52a8\u751f\u6210\u3002\n - \u811a\u672c\u7c7b\u578b\uff0c\u771f\u673a\u4e3a\u673a\u8f7dscripts_exp\u6587\u4ef6\u5939\u4e0b\u7684\u811a\u672c\uff0c\u4eff\u771f\u4e3a\u673a\u8f7dscripts_sim\u6587\u4ef6\u5939\u4e0b\u7684\u811a\u672c\u3002\n - \u9009\u62e9\u811a\u672c\u7c7b\u578b\uff0c\u8f93\u5165\u811a\u672c\u6587\u4ef6\u540d\uff0c\u70b9\u51fb+\u53f7\u6309\u94ae\u6dfb\u52a0\u547d\u4ee4\u5230\u6807\u6ce82\u533a\u57df\u7684\u547d\u4ee4\u5217\u8868\u91cc\uff1b\n - \u5168\u90e8\u6dfb\u52a0\u5b8c\u6210\uff0c\u70b9\u51fb\u786e\u8ba4<\/u>\uff0c\u4fdd\u5b58\u3002\n- \u6807\u6ce82\uff1a \u811a\u672c\u5217\u8868\uff0c\u663e\u793a\u6dfb\u52a0\u7684\u811a\u672c\u3002\n- \u6807\u6ce83\n - \u5220\u9664<\/u>\uff0c\u5728\u6807\u6ce82\u7684\u811a\u672c\u5217\u8868\u91cc\u9009\u62e9\u8981\u5220\u9664\u7684\u811a\u672c\uff0c\u53ef\u4ee5\u5355\u9009\u4e5f\u53ef\u4ee5\u591a\u9009\uff0c\u7136\u540e\u6309\u4e0b\u5220\u9664<\/u>\uff0c\u5220\u9664\u5bf9\u5e94\u7684\u547d\u4ee4\u3002\n - \u786e\u8ba4<\/u>\u6309\u4e0b\u540e\u5173\u95ed\u811a\u672c\u914d\u7f6e\u754c\u9762\uff0c\u4fdd\u5b58\u5230\u672c\u5730\u6587\u4ef6\uff0c\u540c\u65f6\u5c06\u811a\u672c\u547d\u4ee4\u540c\u6b65\u5230\u811a\u672c\u4e0b\u62c9\u6846\u3002\n\n#### \u822a\u70b9\u914d\u7f6e\u754c\u9762\n\n $\"\/\"$ \n \u822a\u70b9\u914d\u7f6e\u754c\u9762<\/figcaption>\n<\/center>\n\n - \u6ce8\u610f\uff01\u822a\u70b9\u7a0b\u5e8f\u65e0\u907f\u969c\u529f\u80fd\uff01<\/span>\n- \u65e0\u4eba\u673a\u822a\u70b9\uff08\u5bf9\u5e94\u673a\u8f7d\u7a0b\u5e8f\u4e2d\u7684`~\/sunray\/uav_waypoint`\u8bdd\u9898\uff09\uff0c\u5305\u62ec\u4e86\u504f\u822a\u89d2\u7c7b\u578b\uff08`wp_yaw_type`\uff09\u3001\u7ed3\u675f\u4e8b\u4ef6\uff08`wp_end_type`\uff09\u3001\u79fb\u52a8\u901f\u5ea6\uff08`wp_move_vel`\uff09\u3001\u822a\u70b9X\u3001Y\u3001Z\u3001Yaw\uff08`wp_points`\uff09\u3002\n- \u6807\u6ce81\uff1a \u4ece\u5de6\u5f80\u53f3\u4f9d\u6b21\u4e3a\uff1a\u822a\u70b9\u7c7b\u578b\u4e0b\u62c9\u6846\u3001\u7ed3\u675f\u4e8b\u4ef6\u4e0b\u62c9\u6846\u3001\u79fb\u52a8\u901f\u5ea6\u8f93\u5165\u6846\u3002\n - \u7ed3\u675f\u4e8b\u4ef6\u4e0b\u62c9\u6846\u6709\u60ac\u505c\u3001\u964d\u843d\u3001\u8fd4\u822a\u4e09\u79cd\u9009\u9879\u3002\n - \u79fb\u52a8\u901f\u5ea6\u8f93\u5165\u6846\u9ed8\u8ba4\u503c\u4e3a1\uff0c\u4e14\u4e0d\u80fd\u4e3a\u7a7a\u3002\n- \u6807\u6ce82\uff1a \u4ece\u5de6\u5f80\u53f3\u4f9d\u6b21\u4e3a\uff1a-<\/u>\u3001+<\/u>\u3001\u51c6\u5907\u6dfb\u52a0\u7684\u822a\u70b9\u3001\u5bf9\u5e94\u7684X\u3001Y\u3001Z\u3001Yaw\u56db\u4e2a\u8f93\u5165\u6846\u3002\n - Yaw\u8f93\u5165\u6846\u9ed8\u8ba4\u503c\u4e3a0\uff0c\u8f93\u5165\u8303\u56f4\u4e3a-180\u00b0\\~180\u00b0\u3002\n - X\u3001Y\u3001Z\u4e09\u4e2a\u8f93\u5165\u6846\u53c2\u6570\u4e0d\u80fd\u4e3a\u7a7a\u3002\n - \u586b\u5b8c\u4e09\u4e2a\u6216\u56db\u4e2a\u53c2\u6570\u540e\u70b9\u51fb+\u53f7\u6309\u94ae\u5c06\u822a\u70b9\u6dfb\u52a0\u5230\u6807\u6ce84\u533a\u57df\u7684\u822a\u70b9\u5217\u8868\u91cc\u3002\n - \u6dfb\u52a0\u7684\u822a\u70b9\u4e0a\u7ebf\u4e3a100\u4e2a\u822a\u70b9\u3002 \n - -<\/u>\u6309\u4e0b\u4f1a\u5220\u9664\u6700\u540e\u7684\u4e00\u4e2a\u822a\u70b9\uff0c\u6807\u6ce83\u533a\u57df\u7684\u822a\u70b9\u5217\u8868\u4e5f\u4f1a\u51cf\u5c11\u5bf9\u5e94\u7684\u822a\u70b9\u3002\n- \u6807\u6ce83\uff1a \u822a\u70b9\u5217\u8868,\u663e\u793a\u5df2\u6dfb\u52a0\u7684\u822a\u70b9\u53c2\u6570\u3002\n- \u6807\u6ce84\uff1a\n - \u4e0a\u4f20\u5e76\u4fdd\u5b58<\/u>\u4f1a\u5c06\u822a\u70b9\u6570\u636e\u53d1\u9001\u7ed9\u5f53\u524d\u63a7\u5236\u7684\u65e0\u4eba\u673a\uff0c\u540c\u65f6\u4fdd\u5b58\u5230\u672c\u5730\u6587\u4ef6\uff0c\u5e76\u5173\u95ed\u754c\u9762\uff1b\n - \u53d6\u6d88<\/u>\u4f1a\u6e05\u7a7a\u8fd9\u6b21\u7f16\u8f91\u6570\u636e\uff0c\u4e0d\u53d1\u9001\u7ed9\u65e0\u4eba\u673a\uff0c\u4e5f\u4e0d\u4fdd\u5b58\u5230\u672c\u5730\uff0c\u7136\u540e\u5173\u95ed\u754c\u9762\u3002\n\n#### \u822a\u70b9\u72b6\u6001\u754c\u9762\n\n $\"\/\"$ \n \u822a\u70b9\u914d\u7f6e\u754c\u9762<\/figcaption>\n<\/center>\n\n- \u822a\u70b9\u72b6\u6001\u4fe1\u606f\uff08\u5bf9\u5e94\u673a\u8f7d\u7a0b\u5e8f\u4e2d\u7684`~\/sunray\/uav_waypoint_state`\u8bdd\u9898\uff09\uff0c\u5305\u62ec\u4e86\u822a\u70b9\u72b6\u6001\uff08`wp_state`\uff09\u3001\u822a\u70b9\u6570\u91cf\uff08`wp_num` \uff09\u3001\u822a\u70b9\u5e8f\u53f7\uff08`wp_index`\uff09\u3001\u822a\u70b9\uff08`waypoint`\uff09\u3001\u901f\u5ea6\uff08`velocity`\uff09\u3001\u504f\u822a\u89d2\uff08`yaw`\uff09\u3002","pure_content":"Sunray\u5730\u9762\u7ad9\u4e3b\u754c\u97621\n \n \n Sunray\u5730\u9762\u7ad9\u4e3b\u754c\u97621\n \n\n\n\u6807\u6ce81\uff1a \u4ece\u4e0a\u5230\u4e0b\u5206\u522b\u662f\u5207\u6362\u667a\u80fd\u4f53\u7c7b\u578b\uff0c\u667a\u80fd\u4f53\u72b6\u6001\u706f\u548c\u9009\u62e9\u667a\u80fd\u4f53\u4e0b\u62c9\u6846\uff0c\u65ad\u5f00\u667a\u80fd\u4f53\u8fde\u63a5\u6309\u94ae\u3002\n\n\u667a\u80fd\u4f53\u72b6\u6001\u706f\u6709\u7ea2\u7eff\u4e24\u79cd\u72b6\u6001\uff0c\u7ea2\u8272\u4e3a\u672a\u8fde\u63a5\u5f53\u524d\u667a\u80fd\u4f53\uff0c\u7eff\u8272\u4e3a\u5df2\u8fde\u63a5\u5f53\u524d\u667a\u80fd\u4f53\u3002\n\u9009\u62e9\u667a\u80fd\u4f53\u4e0b\u62c9\u6846\u53ef\u4ee5\u5207\u6362\u5f53\u524d\u63a7\u5236\u7684\u667a\u80fd\u4f53\u3002\n\u65ad\u5f00\u8fde\u63a5\u6309\u94ae\u6309\u4e0b\u53ef\u4ee5\u65ad\u5f00\u5f53\u524d\u63a7\u5236\u667a\u80fd\u4f53\u7684\u8fde\u63a5\u3002\n\n\n\n\u6807\u6ce82\uff1a \u65e0\u4eba\u673a\u57fa\u672c\u72b6\u6001\u4fe1\u606f\uff08\u5bf9\u5e94\u673a\u8f7d\u7a0b\u5e8f\u4e2d\u7684~\/sunray\/uav_state\u8bdd\u9898\uff09\uff0c\u5305\u62ec\u4e86\u65e0\u4eba\u673aID\uff08uav_id\uff09\u3001\u7535\u91cf\uff08battery_state battery_percetage\uff09\u3001\u8fde\u63a5\u72b6\u6001\uff08connected\uff09\u3001\u89e3\u9501\u72b6\u6001\uff08armed\uff09\u3001\u63a7\u5236\/\u6307\u4ee4\u6a21\u5f0f\uff08control_mode\uff09\u3001PX4\u6a21\u5f0f\uff08move_mode\uff09\u3001\u65e0\u4eba\u673a\u7684\u5b9a\u4f4d\u6765\u6e90\uff08location_source\uff09\u3001\u5b9a\u4f4d\u6e90\u72b6\u6001\uff08odom_valid\uff09\u3001\u4f4d\u7f6e\uff08position\uff09\u3001\u901f\u5ea6\uff08velocity\uff09\u3001\u59ff\u6001\uff08attitude\uff09\u3001\u671f\u671b\u4f4d\u7f6e\uff08pos_setpoint\uff09\u3001\u671f\u671b\u901f\u5ea6\uff08vel_setpoint\uff09\u3001\u671f\u671b\u59ff\u6001\uff08att_setpoint\uff09\u3001\u964d\u843d\u72b6\u6001\uff08landed_state\uff09\u3001\u79fb\u52a8\u6a21\u5f0f\uff08move_mode\uff09\u6570\u636e\u3002\n\n\u8fde\u63a5\u72b6\u6001\u6307\u7684\u662f\u673a\u8f7d\u7535\u8111\u548c\u98de\u63a7\u7684\u8fde\u63a5\u72b6\u6001\u3002\n\u4f4d\u7f6e\u3001\u901f\u5ea6\u3001\u59ff\u6001\u90fd\u662fpx4\u878d\u5408\u51fa\u6765\u7684\u6570\u636e\u3002\n\u671f\u671b\u4f4d\u7f6e\u3001\u671f\u671b\u901f\u5ea6\u3001\u671f\u671b\u59ff\u6001\u90fd\u662fPX4\u56de\u4f20\u7684\u6570\u636e\u3002\n\u5f53\u671f\u671b\u4f4d\u7f6e\u663e\u793a\u4e3aNULL\u65f6\u8868\u793aPX4\u5f53\u524d\u6ca1\u6709\u5904\u4e8e\u4f4d\u7f6e\u63a7\u5236\u72b6\u6001\u3002\n\u63a7\u5236\u6a21\u5f0f\u663e\u793a\u5982\u88681-1\uff0c\u6307\u4ee4\u6a21\u5f0f\u663e\u793a\u5982\u88681-2\uff0cPX4\u6a21\u5f0f\u663e\u793a\u5982\u88681-3\uff0c\u5b9a\u4f4d\u6765\u6e90\u5982\u88681-4\u3002\n\n\n\n\n\n \n \n \n \n \u63a7\u5236\u6a21\u5f0f\n \u663e\u793a\n \n \n \n \n \u60ef\u6027\u7cfb\u5b9a\u70b9\u63a7\u5236 XyzPos\n \u60ef\u6027\u7cfb\u901f\u5ea6\u63a7\u5236 XyzVel\n \u60ef\u6027\u7cfb\u5b9a\u9ad8\u901f\u5ea6\u63a7\u5236 XyVelZPos\n \u60ef\u6027\u7cfb\u5b9a\u70b9\u63a7\u5236\u5e26\u504f\u822a\u89d2 XyzPosYaw\n \u60ef\u6027\u7cfb\u5b9a\u70b9\u63a7\u5236\u5e26\u504f\u822a\u89d2\u901f\u7387 XyzPosYawrate\n \u60ef\u6027\u7cfb\u901f\u5ea6\u63a7\u5236\u5e26\u504f\u822a\u89d2 XyzVelYaw\n \u60ef\u6027\u7cfb\u901f\u5ea6\u63a7\u5236\u5e26\u504f\u822a\u89d2\u901f\u7387 XyzVelYawrate\n \u60ef\u6027\u7cfb\u5b9a\u9ad8\u901f\u5ea6\u63a7\u5236\u5e26\u504f\u822a\u89d2 XyVelZPosYaw\n \u60ef\u6027\u7cfb\u5b9a\u9ad8\u901f\u5ea6\u63a7\u5236\u504f\u822a\u89d2\u901f\u7387 XyVelZPosYawrate\n \u60ef\u6027\u7cfb\u4f4d\u7f6e\u901f\u5ea6\u590d\u5408\u63a7\u5236\u5e26\u504f\u822a\u89d2 XyzPosVelYaw\n \u60ef\u6027\u7cfb\u4f4d\u7f6e\u901f\u5ea6\u590d\u5408\u63a7\u5236\u504f\u822a\u89d2\u901f\u7387 XyzPosVelYawrate\n \u60ef\u6027\u7cfb\u4f4d\u7f6e\u901f\u5ea6\u52a0\u901f\u5ea6\u590d\u5408\u63a7\u5236\u5e26\u504f\u822a\u89d2 PosVelAccYaw\n \u60ef\u6027\u7cfb\u4f4d\u7f6e\u901f\u5ea6\u52a0\u901f\u5ea6\u590d\u5408\u63a7\u5236\u504f\u822a\u89d2\u901f\u7387 PosVelAccYawrate\n \u673a\u4f53\u7cfb\u4f4d\u7f6e\u63a7\u5236 XyzPosYawBody\n \u673a\u4f53\u7cfb\u901f\u5ea6\u63a7\u5236 XyzVelYawBody\n \u673a\u4f53\u7cfb\u5b9a\u9ad8\u901f\u5ea6\u63a7\u5236 XyVelZPosYawBody\n \u7ecf\u7eac\u5ea6 GlobalPos\n \u88681-1 \u63a7\u5236\u6a21\u5f0f\u4e0e\u663e\u793a\u5bf9\u5e94\u5173\u7cfb\n \n \n\n\n\n \n \n \n \u6307\u4ee4\u6a21\u5f0f\n \u663e\u793a\n \n \n \n \u521d\u59cb\u6a21\u5f0f INIT\n \u9065\u63a7\u5668\u63a7\u5236\u6a21\u5f0f RC_CONTROL\n \u5916\u90e8\u6307\u4ee4\u63a7\u5236\u6a21\u5f0f CMD_CONTROL\n \u964d\u843d\u6a21\u5f0f LAND_CONTROL\n \u88681-2 \u6307\u4ee4\u6a21\u5f0f\u4e0e\u663e\u793a\u5bf9\u5e94\u5173\u7cfb\n \n \n\n\n\n \n \n \n PX4\u6a21\u5f0f\n \u663e\u793a\n \n \n \n \u624b\u52a8\u6a21\u5f0f MANUAL\n \u7a33\u5b9a\u6a21\u5f0f STABILIZED\n \u7279\u6280\u98de\u884c\u6a21\u5f0f ACRO\n \u59ff\u6001\u6a21\u5f0f RATTITUDE\n \u5b9a\u9ad8\u6a21\u5f0f ALTITUDE\n \u5916\u90e8\u63a7\u5236\u6a21\u5f0f OFFBOARD\n \u4f4d\u7f6e\u6a21\u5f0f POSITION\n \u60ac\u505c\u6a21\u5f0f HOLD\n \u4efb\u52a1\u6a21\u5f0f MISSION\n \u8fd4\u822a\u6a21\u5f0f RETURN\n \u8ddf\u968f\u6a21\u5f0f FOLLOW ME\n \u7cbe\u786e\u964d\u843d\u6a21\u5f0f PRECISION LAND\n \u88681-3 PX4\u6a21\u5f0f\u4e0e\u663e\u793a\u5bf9\u5e94\u5173\u7cfb\n \n \n\n\n\n \n \n \n \u5b9a\u4f4d\u6765\u6e90\n \u663e\u793a\n \n \n \n \u91cc\u7a0b\u8ba1 ODOM\n \u59ff\u6001 POSE\n \u4eff\u771f GAZEBO\n \u52a8\u6355 MOCAP\n Viobot VIOBOT\n GPS GPS\n RTK RTK\n VINS VINS\n \u88681-4 \u5b9a\u4f4d\u6765\u6e90\u4e0e\u663e\u793a\u5bf9\u5e94\u5173\u7cfb\n \n \n\n \n \n \u6807\u6ce82\u4e0b\u6ed1\u754c\u9762\n \n\n\n\u6807\u6ce82\u4e0b\u6ed1\u754c\u9762\uff1a \u5728\u6807\u6ce82\u7684\u65e0\u4eba\u673a\u72b6\u6001\u680f\u7528\u9f20\u6807\u5f80\u4e0b\u6ed1\u52a8\u7a97\u53e3\u4f1a\u663e\u793aPX4\u72b6\u6001\u3002\n\nPX4\u72b6\u6001\u4fe1\u606f\uff08\u5bf9\u5e94\u673a\u8f7d\u7a0b\u5e8f\u4e2d\u7684~\/sunray\/px4_state\u8bdd\u9898\uff09,\u5305\u62ec\u4e86GPS\u536b\u661f\u6570\u91cf\uff08satellites\uff09\uff0cGPS\u536b\u661f\u72b6\u6001\uff08gps_status\uff09\uff0cGPS\u670d\u52a1\uff08gps_service\uff09\uff0c\u7ecf\u7eac\u9ad8\u4ece\u5de6\u5f80\u53f3\u4e3a\u7ecf\u5ea6\uff08longitude\uff09\u3001\u7eac\u5ea6\uff08latitude\uff09\u3001\u6d77\u62d4\u9ad8\u5ea6\uff08altitude_amsl\uff09\uff0c\u692d\u7403\u9ad8\u5ea6\uff08altitude\uff09\u3002\n\n\n\n\u6807\u6ce83\uff1a 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\n \n Sunray\u5730\u9762\u7ad9\u8bbe\u7f6e\u754c\u9762\n \n\n\n\u6807\u6ce84\uff1a \u5207\u6362\u529f\u80fd\u533a\u6309\u94ae\u3002\n\n\u56de\u4f20\u89c6\u9891\uff0c\u62c9\u53d6\u667a\u80fd\u4f53\u89c6\u9891\u6d41\u5e76\u663e\u793a\u3002\n\n\n\u6807\u6ce85-2\uff1a \u663e\u793a\u89c6\u9891\u3002\n\n\u6807\u6ce86-2\uff1a \u6d41\u5a92\u4f53\u670d\u52a1\u5668\u5f00\u5173\u5728\u5f00\u542f\u7684\u72b6\u6001\u4e0b\uff0c\u5728\u8f93\u5165\u6846\u8f93\u5165\u62c9\u6d41\u5730\u5740\uff0c\u70b9\u51fb\u786e\u8ba4\uff0c\u5f00\u59cb\u62c9\u53d6\u89c6\u9891\u6d41\uff08\u89c6\u9891\u6709\u5ef6\u65f6\uff09\u3002\n\n\u6807\u6ce87-2\uff1a 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\u822a\u70b9\u5217\u8868,\u663e\u793a\u5df2\u6dfb\u52a0\u7684\u822a\u70b9\u53c2\u6570\u3002\n\n\u6807\u6ce84\uff1a\n\n\n\u4e0a\u4f20\u5e76\u4fdd\u5b58\u4f1a\u5c06\u822a\u70b9\u6570\u636e\u53d1\u9001\u7ed9\u5f53\u524d\u63a7\u5236\u7684\u65e0\u4eba\u673a\uff0c\u540c\u65f6\u4fdd\u5b58\u5230\u672c\u5730\u6587\u4ef6\uff0c\u5e76\u5173\u95ed\u754c\u9762\uff1b\n\n\u53d6\u6d88\u4f1a\u6e05\u7a7a\u8fd9\u6b21\u7f16\u8f91\u6570\u636e\uff0c\u4e0d\u53d1\u9001\u7ed9\u65e0\u4eba\u673a\uff0c\u4e5f\u4e0d\u4fdd\u5b58\u5230\u672c\u5730\uff0c\u7136\u540e\u5173\u95ed\u754c\u9762\u3002\n\n\n\n\u822a\u70b9\u72b6\u6001\u754c\u9762\n\n \n \u822a\u70b9\u914d\u7f6e\u754c\u9762\n\n\n\u822a\u70b9\u72b6\u6001\u4fe1\u606f\uff08\u5bf9\u5e94\u673a\u8f7d\u7a0b\u5e8f\u4e2d\u7684~\/sunray\/uav_waypoint_state\u8bdd\u9898\uff09\uff0c\u5305\u62ec\u4e86\u822a\u70b9\u72b6\u6001\uff08wp_state\uff09\u3001\u822a\u70b9\u6570\u91cf\uff08wp_num \uff09\u3001\u822a\u70b9\u5e8f\u53f7\uff08wp_index\uff09\u3001\u822a\u70b9\uff08waypoint\uff09\u3001\u901f\u5ea6\uff08velocity\uff09\u3001\u504f\u822a\u89d2\uff08yaw\uff09\u3002","is_draft":"0","editor_type":"2","file_path":"","add_time":"1761115635","update_time":"1763958202"},"pure_content":"Sunray\u5730\u9762\u7ad9\u4e3b\u754c\u97621\n \n \n Sunray\u5730\u9762\u7ad9\u4e3b\u754c\u97621\n \n\n\n\u6807\u6ce81\uff1a \u4ece\u4e0a\u5230\u4e0b\u5206\u522b\u662f\u5207\u6362\u667a\u80fd\u4f53\u7c7b\u578b\uff0c\u667a\u80fd\u4f53\u72b6\u6001\u706f\u548c\u9009\u62e9\u667a\u80fd\u4f53\u4e0b\u62c9\u6846\uff0c\u65ad\u5f00\u667a\u80fd\u4f53\u8fde\u63a5\u6309\u94ae\u3002\n\n\u667a\u80fd\u4f53\u72b6\u6001\u706f\u6709\u7ea2\u7eff\u4e24\u79cd\u72b6\u6001\uff0c\u7ea2\u8272\u4e3a\u672a\u8fde\u63a5\u5f53\u524d\u667a\u80fd\u4f53\uff0c\u7eff\u8272\u4e3a\u5df2\u8fde\u63a5\u5f53\u524d\u667a\u80fd\u4f53\u3002\n\u9009\u62e9\u667a\u80fd\u4f53\u4e0b\u62c9\u6846\u53ef\u4ee5\u5207\u6362\u5f53\u524d\u63a7\u5236\u7684\u667a\u80fd\u4f53\u3002\n\u65ad\u5f00\u8fde\u63a5\u6309\u94ae\u6309\u4e0b\u53ef\u4ee5\u65ad\u5f00\u5f53\u524d\u63a7\u5236\u667a\u80fd\u4f53\u7684\u8fde\u63a5\u3002\n\n\n\n\u6807\u6ce82\uff1a \u65e0\u4eba\u673a\u57fa\u672c\u72b6\u6001\u4fe1\u606f\uff08\u5bf9\u5e94\u673a\u8f7d"},{"id":"639400","string_id":"t7P2F2aV","status":"1","parent_id":"639397","slug":"Sunray-di-mian-zhan-shi-yong-shuo-ming-bIrs","order":"0","name":"Sunray\u5730\u9762\u7ad9\u4f7f\u7528\u8bf4\u660e","type":"2","cover":"","cover_alt":"","desc":null,"website":"","contact":"","seo_title":"","seo_keyword":"","seo_desc":"","share_switch":"0","share_code":"","author":"\u90b9\u6d77\u534e","published_time":"1763958208","add_time":"1761115636","update_time":"1765002014","corp_auth_id":"0","verify_code_auth_id":"0","editor_type":"2","file_type":"","auth_id":"[\"-1\"]","content":{"content_id":"639400","content":"## Sunray\u5730\u9762\u7ad9\u67b6\u6784\u548cROS\u529f\u80fd\u5305\n\n> Sunray\u5730\u9762\u7ad9\u540c\u65f6\u9002\u7528\u4e8e\u771f\u5b9e\u98de\u884c\u5b9e\u9a8c\u548c\u4eff\u771f\u98de\u884c\u5b9e\u9a8c\n\nSunray\u5730\u9762\u7ad9\u7684\u7ec4\u6210\uff1a\n1. \u673a\u8f7d\u7aef\u7684`sunray_ground`\u529f\u80fd\u5305\uff1a\u8d1f\u8d23\u901a\u8fc7ROS\u8bdd\u9898\u4e0eSunray\u4ee3\u7801\u4e2d\u7684\u5176\u4ed6\u8282\u70b9\u8fdb\u884c\u901a\u4fe1\n2. \u5730\u9762\u7aef\u7684Sunray\u5730\u9762\u7ad9\u8f6f\u4ef6\uff1a\u901a\u8fc7TCP\/UDP\u4e0e`sunray_ground`\u529f\u80fd\u5305\u8fdb\u884c\u901a\u4fe1\uff0c\u6570\u636e\u4e0b\u884c\u9ed8\u8ba4\u4e3aUDP\uff08\u673a\u8f7d\u7aef->\u5730\u9762\u7aef\uff09\uff0c\u6570\u636e\u4e0a\u884c\u9ed8\u8ba4\u4e3aTCP\uff08\u5730\u9762\u7aef->\u673a\u8f7d\u7aef\uff09\n\n\n $\"\/\"$ \n Sunray\u5730\u9762\u7ad9\u901a\u4fe1\u903b\u8f91<\/figcaption>\n<\/center>\n\n\u57fa\u672c\u4f7f\u7528\u6b65\u9aa4\uff1a\n1. \u5728\u673a\u8f7d\u7aef\u542f\u52a8\u5bf9\u5e94`sunray_ground`\u7684\u542f\u52a8\u811a\u672c\n2. \u5728\u5730\u9762\u7aef\u6253\u5f00\u5730\u9762\u7ad9\uff0c\u5e76\u8fde\u63a5\u6307\u5b9a\u65e0\u4eba\u673a\n3. \u786e\u8ba4\u80fd\u591f\u6536\u5230\u65e0\u4eba\u673a\u7684\u72b6\u6001\u4fe1\u606f\n \n\n### Comunication_Module\u529f\u80fd\u5305\n\n- Comunication_Module\u529f\u80fd\u5305\u4e3b\u8981\u529f\u80fd\n - \u5c06\u673a\u8f7d\u7aef\u7684ROS\u8bdd\u9898\u8f6c\u6362\u6210\u6570\u636e\u53d1\u9001\u81f3\u5730\u9762\u7aef\u5730\u9762\u7ad9\u76d1\u6d4b\n - \u5c06\u63a5\u6536\u5230\u7684\u5730\u9762\u7aef\u5730\u9762\u7ad9\u63a7\u5236\u6307\u4ee4\u8f6c\u6362\u6210ROS\u8bdd\u9898\u53d1\u5e03\uff0c\u4ece\u800c\u9a71\u52a8\u5176\u4ed6ROS\u8282\u70b9\u8fdb\u884c\u63a7\u5236\n\n- \u6267\u884c\u542f\u52a8\u811a\u672c\uff1a\n ```\n roslaunch sunray_communication_bridge sunray_communication_bridge.launch\n ```\n\n\n $\"\/\"$ \n sunray_communication_bridge.launch<\/figcaption>\n <\/center>\n\n- is_simulation\uff1a\u662f\u5426\u5904\u4e8e\u4eff\u771f\u72b6\u6001\n- multiClientSwitch\uff1a\u662f\u5426\u5904\u4e8e\u591a\u79cd\u5ba2\u6237\u7aef\u72b6\u6001 \n- uav_id\uff1a\u5f53\u524d\u65e0\u4eba\u673aid\uff0c\u9700\u5927\u4e8e0\uff0c\u9ed8\u8ba4\u503c\u4e3a1\n- uav_experiment_num\uff1a\u65e0\u4eba\u673a\u771f\u673a\u6570\u91cf\n- uav_simulation_num\uff1a\u4eff\u771f\u65e0\u4eba\u673a\u6570\u91cf\n- ugv_id\uff1a\u5f53\u524d\u65e0\u4eba\u8f66id\uff0c\u9700\u5927\u4e8e0\uff0c\u9ed8\u8ba4\u503c\u4e3a1\n- ugv_experiment_num\uff1a\u65e0\u4eba\u8f66\u771f\u8f66\u6570\u91cf\n- ugv_simulation_num\uff1a\u4eff\u771f\u65e0\u4eba\u8f66\u6570\u91cf\n- tcp_port\uff1a\u673a\u8f7d\u7aefTCP\u7684\u7ed1\u5b9a\u7aef\u53e3\u53f7\n- udp_port\uff1a\u673a\u8f7d\u7aefUDP\u7684\u7ed1\u5b9a\u7aef\u53e3\u53f7\uff0cUDP\u7aef\u53e3\u5305\u62ec\u7ed1\u5b9a\u76d1\u542c\u3001\u7ec4\u64ad\u76ee\u6807\u7aef\u53e3\uff0c\u673a\u8f7d\u7aef\u53e3\u8981\u4e00\u81f4\n- udp_ground_port\uff1a\u76ee\u6807\u5730\u9762\u7ad9\u7aef\u53e3\uff0c\u7528\u4e8e\u548c\u5730\u9762\u7ad9\u901a\u4fe1\uff0c\u8981\u548c\u5730\u9762\u7ad9\u76d1\u542c\u7aef\u53e3\u4e00\u81f4\n- PX4StateTransmitEnabled\uff1aPX4\u72b6\u6001\u4fe1\u606f\u4f20\u8f93\u5f00\u5173\uff08\u673a\u95f4\u901a\u4fe1\u548c\u5730\u9762\u7ad9\uff09\uff0c\u9ed8\u8ba4\u5173\u95ed\n- PX4StateFrameRate\uff1aPX4\u72b6\u6001\u4f20\u8f93\u5230\u5730\u9762\u7ad9\u5e27\u6570\uff0c\u9ed8\u8ba4\u503c30\u5e27\n- UAVStateTransmitEnabled\uff1a\u65e0\u4eba\u673a\u72b6\u6001\u4fe1\u606f\u4f20\u8f93\u5f00\u5173\uff08\u673a\u95f4\u901a\u4fe1\u548c\u5730\u9762\u7ad9\uff09\uff0c\u9ed8\u8ba4\u5f00\u542f\n- UAVStateFrameRate\uff1a\u65e0\u4eba\u673a\u72b6\u6001\u4f20\u8f93\u5230\u5730\u9762\u7ad9\u5e27\u6570\uff0c\u9ed8\u8ba4\u503c30\u5e27\n- \u6ce8\u610f\uff01\u7aef\u53e3\u6ca1\u62a5\u9519\u4e0d\u9700\u8981\u6539\u52a8\uff01udp_port\u9700\u8981\u548c\u5730\u9762\u7ad9\u7684\u76ee\u7684\u7aef\u53e3\u4e00\u81f4<\/span>\n\n\n\n $\"\/\"$ \n communication_bridge_node\u8282\u70b9\u8fd0\u884c\u622a\u56fe<\/figcaption>\n <\/center>\n\n\n - \u201cTCP \u521d\u59cb\u5316\u5957\u63a5\u5b57\u6b63\u5e38\u201d\u201cTCP \u7ed1\u5b9a\u7aef\u53e3\u53f7\u6210\u529f\u201d\u201cTCP \u76d1\u542c\u7f51\u7edc\u7aef\u53e3\u6210\u529f\u201d \u5747\u8868\u793a TCP socket \u5957\u63a5\u5b57\u7684\u521d\u59cb\u5316\u3001\u7aef\u53e3\u7ed1\u5b9a\u53ca\u7f51\u7edc\u7aef\u53e3\u76d1\u542c\u5747\u6b63\u5e38\uff0cTCP \u5df2\u5c31\u7eea\u3002\n - \u201cUDP port bound successfully!\u201d\u8868\u793aUDP socket\u5957\u63a5\u5b57\u7ed1\u5b9a\u7aef\u53e3\u6b63\u5e38\uff0cUDP\u5df2\u5c31\u7eea\u3002\n - \u9002\u914d\u5730\u9762\u7ad9\u7248\u672c\u662f\u6307\u8be5 Comunication_Module \u529f\u80fd\u5305\u6240\u9002\u914d\u7684\u5730\u9762\u7ad9\uff0c\u5176\u8981\u6c42\u4f7f\u7528\u7684\u5730\u9762\u7ad9\u7248\u672c\u53f7\u9700\u6ee1\u8db3\uff1a\u7b2c\u4e00\u4e2a\u6570\u5b57\u4e0e\u9002\u914d\u7248\u672c\u4e00\u81f4\uff0c\u7b2c\u4e8c\u4e2a\u6570\u5b57\u5927\u4e8e\u6216\u7b49\u4e8e\u9002\u914d\u7248\u672c\u3002\n\n## Sunray\u5730\u9762\u7ad9\u4f7f\u7528\u8bf4\u660e\n---\n \n $\"\/\"$ \n Sunray\u5730\u9762\u7ad9\u4e3b\u754c\u9762<\/figcaption>\n <\/center>\n\n\n### \u8fde\u63a5\u667a\u80fd\u4f53\n- \u70b9\u51fb\u4e3b\u754c\u9762\u6807\u6ce83\u8fde\u63a5\u56fe\u6807\uff0c\u5f39\u51fa\u8bbe\u5907\u5217\u8868\u754c\u9762\u3002\n\n- \u9009\u62e9\u8981\u8fde\u63a5\u7684\u667a\u80fd\u4f53\uff0c\u70b9\u51fb\u8fde\u63a5<\/u>\u3002\n\n\n $\"\/\"$ \n \u9009\u62e9\u667a\u80fd\u4f53UAV1<\/figcaption>\n<\/center>\n\n- \u70b9\u51fb\u6807\u6ce81\u7eff\u8272\u7684\u641c\u7d22\u56fe\u6807\uff0c\u641c\u7d22\u5728\u7ebf\u667a\u80fd\u4f53\uff0c\u5237\u65b0\u8bbe\u5907\u5217\u8868\u3002\n- \u5f53\u81ea\u52a8\u641c\u7d22\u667a\u80fd\u4f53\u641c\u7d22\u4e0d\u5230\u65f6\uff0c\u53ef\u4ee5\u5c1d\u8bd5\u624b\u52a8\u8f93\u5165\u667a\u80fd\u4f53ip\u641c\u7d22\u3002\n\n\n $\"\/\"$ \n \u667a\u80fd\u4f53IP\u8f93\u5165\u6846<\/figcaption>\n<\/center>\n\n### \u667a\u80fd\u4f53\u5207\u6362\n - \u4e3b\u754c\u9762\u6807\u6ce81\u7684\u7b2c\u4e00\u4e2a\u5f00\u5173\u662f\u7528\u6765\u5207\u6362\u667a\u80fd\u4f53\u7c7b\u578b\u3002\n - \u4e3b\u754c\u9762\u6807\u6ce81\u7684\u7ea2\u70b9\u90e8\u5206\u662f\u7528\u6765\u663e\u793a\u667a\u80fd\u4f53\u7684\u8fde\u63a5\u72b6\u6001\uff0c\u7ea2\u8272\u7684\u4e3a\u672a\u8fde\u63a5\uff0c\u7eff\u8272\u4e3a\u5df2\u8fde\u63a5\n - \u4e3b\u754c\u9762\u6807\u6ce81\u7684UAV1\u4e0b\u62c9\u6846<\/u>\u7528\u6765\u9009\u62e9\u65e0\u4eba\u673a\n - \u4e3b\u754c\u9762\u6807\u6ce81\u7684\u65ad\u5f00\u8fde\u63a5<\/u>\u4f1a\u65ad\u5f00\u5f53\u524d\u9009\u4e2d\u7684\u667a\u80fd\u4f53\u8fde\u63a5\n\n\n $\"\/\"$ \n \u65e0\u4eba\u673a\u5728\u7ebf\u793a\u4f8b<\/figcaption>\n<\/center>\n\n### \u542f\u52a8\u811a\u672c\n \n $\"\/\"$ \n \u542f\u52a8\u811a\u672c\u754c\u9762\uff08\u4e3b\u754c\u9762\u6807\u6ce810\uff09<\/figcaption>\n<\/center>\n\n- \u9009\u62e9\u811a\u672c\u547d\u4ee4\uff1a \u5728\u811a\u672c\u4e0b\u62c9\u6846\u4e2d\u9009\u62e9\u8981\u5f00\u542f\u7684\u811a\u672c\u3002\n- \u64cd\u4f5c\uff1a\n - \u70b9\u51fb\u6267\u884c\u811a\u672c<\/u>\uff0c\u901a\u8fc7\u811a\u672c\u547d\u4ee4\uff0c\u542f\u52a8\u673a\u8f7d\u7aef\u5bf9\u5e94\u7684\u8282\u70b9\u3002\n - \u70b9\u51fb\u6267\u884c\u811a\u672c<\/u>\uff0c\u4f1a\u6267\u884ckill_node.sh\u811a\u672c\uff0c\u5173\u95ed\u9664\u767d\u540d\u5355\u4ee5\u5916\u7684\u8282\u70b9\n \n### \u65e0\u4eba\u673a\u5355\u673a\u63a7\u5236\n\n $\"\/\"$ \n \u65e0\u4eba\u673a\u5355\u673a\u63a7\u5236\u6a21\u5757<\/figcaption>\n<\/center>\n\n - \u6ce8\u610f\uff01\u7d27\u6025\u4e0a\u9501<\/u>\u529f\u80fd\u6267\u884c\u7684\u662fkill\u6307\u4ee4\uff0c\u4f1a\u9020\u6210\u65e0\u4eba\u673a\u9501\u6868\u5931\u53bb\u52a8\u529b\u5760\u843d\uff0c\u53ea\u80fd\u5728\u7d27\u6025\u60c5\u51b5\u4e0b\u4f7f\u7528\u3002<\/span>\n\n - \u8fde\u63a5\u65e0\u4eba\u673a\u6210\u529f\u540e\uff0c\u70b9\u51fb\u89e3\u9501<\/u>\uff0c\u7136\u540e\u70b9\u51fb\u8d77\u98de<\/u>\uff0c\u8d77\u98de\u65e0\u4eba\u673a\n - \u63a7\u5236\u5f53\u524d\u65e0\u4eba\u673a\u7684\u89e3\u9501<\/u>\u3001\u8d77\u98de<\/u>\u3001\u964d\u843d<\/u>\u3001\u4e0a\u9501<\/u>\u3001\u7d27\u6025\u4e0a\u9501<\/u>\u3001\u60ac\u505c<\/u>\u3001\u8fd4\u822a<\/u>\u3001\u5207\u6362\u5230\u6307\u4ee4\u63a7\u5236<\/u>\u3002\n - \u822a\u70b9\u8bbe\u7f6e<\/u>\u53ef\u4ee5\u5f39\u51fa\u822a\u70b9\u8bbe\u7f6e\u5f39\u7a97\u3002\n - \u822a\u70b9\u72b6\u6001<\/u>\u53ef\u4ee5\u5f39\u51fa\u5f39\u7a97\u663e\u793a\u822a\u70b9\u72b6\u6001\u3002\n - \u5f53\u524d\u65e0\u4eba\u673a\u7684\u79fb\u52a8\u6a21\u5f0f\u63a7\u5236\uff0c\u79fb\u52a8\u6a21\u5f0f\u4e0b\u62c9\u6846\uff0c\u65c1\u8fb9\u7684\uff1f\u9f20\u6807\u79fb\u52a8\u5230\u90a3\u4f1a\u663e\u793a\u9009\u4e2d\u7684\u79fb\u52a8\u6a21\u5f0f\u5bf9\u5e94\u7684\u89e3\u91ca\uff1b\n - \u5f53\u65e0\u4eba\u673a\u5904\u4e8e\u6307\u4ee4\u6a21\u5f0f\u65f6\uff0c\u53d1\u9001\u6307\u4ee4\u6309\u94ae\u624d\u80fd\u751f\u6548\u3002\n\n### \u4e8c\u7ef4\u5730\u56fe\u6307\u70b9\u63a7\u5236\n\n $\"\/\"$ \n \u4e8c\u7ef4\u5730\u56fe\u6307\u70b9\u754c\u9762<\/figcaption>\n<\/center>\n\n - \u6ce8\u610f\uff01\u4e8c\u7ef4\u5730\u56fe\u4e0d\u663e\u793a\u969c\u788d\u7269\uff0c\u6307\u70b9\u64cd\u4f5c\u524d\u8bf7\u52a1\u5fc5\u68c0\u67e5\u76f8\u5173\u53c2\u6570\uff0c\u907f\u514d\u53d1\u751f\u610f\u5916\uff01<\/span>\n - \u5728\u8fdb\u884c\u65e0\u4eba\u673a\u4e8c\u7ef4\u5730\u56fe\u6307\u70b9\u63a7\u5236\u524d\uff0c\u9700\u8981\u5148\u9605\u8bfb[Sunray-300-\u6807\u51c6\u6b3e\u9ad8\u9636\u529f\u80fd](https:\/\/wiki.yundrone.cn\/docs\/sunray_150)\n - \u5148\u9009\u62e9\u4e0a\u65b9\u7684\u6307\u70b9\u7c7b\u578b\uff1a\n - XyzPosYaw\u4e3a\u60ef\u6027\u7cfb\u5b9a\u70b9\u63a7\u5236\u5e26\u504f\u822a\u89d2\u63a7\u5236\u6a21\u5f0f\n - \u8def\u5f84\u89c4\u5212\u76ee\u6807\u70b9\uff1a\u9700\u5728\u673a\u8f7d\u7535\u8111\u4e0a\u540c\u65f6\u8fd0\u884c\u63a7\u5236\u8282\u70b9\u4e0e\u76f8\u5173\u8def\u5f84\u89c4\u5212\u8282\u70b9\uff0c\u8be5\u529f\u80fd\u65b9\u53ef\u751f\u6548\n - \u5728 \u201c\u9ad8\u5ea6\u8f93\u5165\u6846\u201d\uff08\u9ed8\u8ba4 1m\uff09\u4e2d\u586b\u5199\u76ee\u6807\u9ad8\u5ea6\uff0c\u5728 \u201c\u504f\u822a\u89d2\u8f93\u5165\u6846\u201d\uff08\u8303\u56f4 - 180~180\u00b0\uff0c\u9ed8\u8ba4 0\u00b0\uff09\u4e2d\u586b\u5199\u76ee\u6807\u504f\u822a\u89d2\n - \u64cd\u4f5c\u9f20\u6807\uff1a\u5728\u4e8c\u7ef4\u5730\u56fe\u4e0a\u53f3\u51fb\u9009\u70b9 \u2192 \u9009\u62e9\u667a\u80fd\u4f53\u7c7b\u578b\uff08UAV\/UGV\uff09\u2192 \u9009\u4e2d\u5177\u4f53\u667a\u80fd\u4f53\uff08\u5982 UAV1\/UGV1 \u7b49\uff09\u4ee5\u53d1\u9001\u76ee\u6807\u70b9\n - \u5de6\u51fb\u9f20\u6807\u9000\u51fa\u6307\u70b9\u6a21\u5f0f\n\n\n\n### \u811a\u672c\u914d\u7f6e\u529f\u80fd\n\n $\"\/\"$ \n \u811a\u672c\u914d\u7f6e\u754c\u9762<\/figcaption>\n<\/center>\n\n- \u529f\u80fd\u8bf4\u660e\uff1a \u7528\u4e8e\u914d\u7f6e\u811a\u672c\u547d\u4ee4\uff0c\u914d\u7f6e\u5b8c\u6210\u7684\u547d\u4ee4\u4f1a\u540c\u6b65\u5230\u811a\u672c\u4e0b\u62c9\u6846\uff0c\u540c\u65f6\u4fdd\u5b58\u5230\u672c\u5730\u6587\u4ef6\u3002\n- \u53c2\u6570\u8f93\u5165\uff08\u6807\u6ce81\uff09\n - \u6dfb\u52a0\u811a\u672c\u547d\u4ee4\uff1a\u70b9\u51fb+<\/u>\u53ef\u6dfb\u52a0\u811a\u672c\u547d\u4ee4\u3002\n - \u811a\u672c\u7c7b\u578b\u5f00\u5173\uff1a\u7528\u4e8e\u9009\u62e9\u811a\u672c\u7c7b\u578b\uff0c\u9ed8\u8ba4\u662f\u4eff\u771f\u7c7b\u578b\u3002\n - \u771f\u673a\u4e3a\u673a\u8f7dscripts_exp\u6587\u4ef6\u5939\u4e0b\u7684\u811a\u672c\uff0c\u4eff\u771f\u4e3a\u673a\u8f7dscripts_sim\u6587\u4ef6\u5939\u4e0b\u7684\u811a\u672c\u3002\n - \u811a\u672c\u6587\u4ef6\u540d\u8f93\u5165\u6846\uff1a\u7528\u4e8e\u8f93\u5165\u811a\u672c\u6587\u4ef6\u540d\u3002\n - \u9009\u62e9\u811a\u672c\u7c7b\u578b\u548c\u8f93\u5165\u811a\u672c\u540d\u5b8c\u6210\u540e\uff0c\u70b9\u51fb+<\/u>\uff0c\u53ef\u5c06\u811a\u672c\u6dfb\u52a0\u5230\u811a\u672c\u5217\u8868\u3002\n- \u811a\u672c\u5217\u8868\uff08\u6807\u6ce82\uff09 \u811a\u672c\u5217\u8868\uff0c\u7528\u4e8e\u663e\u793a\u5df2\u6dfb\u52a0\u7684\u811a\u672c\u3002\n- \u811a\u672c\u5220\u9664\u4e0e\u786e\u8ba4\u64cd\u4f5c\uff1a\n - \u5220\u9664\uff1a\u5728\u811a\u672c\u5217\u8868\u4e2d\u5355\u9009\u6216\u591a\u9009\u8981\u5220\u9664\u7684\u811a\u672c\uff0c\u70b9\u51fb\u5220\u9664<\/u>\uff0c\u53ef\u5220\u9664\u5bf9\u5e94\u811a\u672c\u3002\n - \u786e\u8ba4\uff1a\u70b9\u51fb\u786e\u8ba4<\/u>\uff0c\u5173\u95ed\u811a\u672c\u914d\u7f6e\u754c\u9762\uff0c\u5c06\u811a\u672c\u4fdd\u5b58\u5230\u672c\u5730\u6587\u4ef6\uff0c\u5e76\u540c\u6b65\u5230\u811a\u672c\u4e0b\u62c9\u6846\u3002\n\n### \u822a\u70b9\u914d\u7f6e\u529f\u80fd\n\n $\"\/\"$ \n \u822a\u70b9\u914d\u7f6e\u754c\u9762<\/figcaption>\n<\/center>\n\n - \u6ce8\u610f\uff01\u822a\u70b9\u7a0b\u5e8f\u65e0\u907f\u969c\u529f\u80fd\uff01<\/span>\n- \u57fa\u7840\u53c2\u6570\u8bbe\u7f6e\uff08\u6807\u6ce81\uff09\uff1a\n - \u7ed3\u675f\u4e8b\u4ef6<\/u>\u4e0b\u62c9\u6846\u4e2d\uff0c\u63d0\u4f9b\u60ac\u505c\u3001\u964d\u843d\u3001\u8fd4\u822a\u9009\u9879 \uff1b\n - \u201c\u79fb\u52a8\u901f\u5ea6\u201d\u9ed8\u8ba4\u503c\u4e3a1\uff0c\u4e14\u4e0d\u5141\u8bb8\u4e3a\u7a7a\u3002\n- \u504f\u822a\u89d2\u8bbe\u7f6e\uff08\u6807\u6ce81\uff09\uff1a\n - \u504f\u822a\u89d2\u7c7b\u578b<\/u>\u4e0b\u62c9\u6846\u9009\u9879\uff1a\n - \u56fa\u5b9a\u503c\uff1a\u9009\u62e9\u6b64\u9009\u9879\u65f6\uff0c\u9700\u8f93\u5165Yaw\u503c\uff08\u504f\u822a\u89d2\uff09\u3002\n - \u4e0b\u4e00\u822a\u70b9\uff1a\u9009\u62e9\u6b64\u9009\u9879\u540e\uff0c\u65e0\u4eba\u673a\u673a\u5934\u5c06\u59cb\u7ec8\u671d\u5411\u4e0b\u4e00\u4e2a\u822a\u70b9\u3002\n- \u822a\u70b9\u6dfb\u52a0\u4e0e\u5220\u9664\uff08\u6807\u6ce82\uff09\n - \u6dfb\u52a0\u822a\u70b9\uff1a\u51c6\u5907\u6dfb\u52a0\u822a\u70b9\u65f6\uff0c\u9700\u586b\u5199X\u3001Y\u3001Z\u503c\uff08\u8fd9\u4e09\u4e2a\u503c\u4e0d\u80fd\u4e3a\u7a7a\uff09\uff0cYaw\u9ed8\u8ba4\u503c\u4e3a0\uff0c\u53d6\u503c\u8303\u56f4\u4e3a-180\u00b0\u5230180\u00b0\u3002\u586b\u5199\u81f3\u5c11\u4e09\u4e2a\u53c2\u6570\u540e\uff0c\u70b9\u51fb+<\/u>\u53f7\uff0c\u5373\u53ef\u6dfb\u52a0\u822a\u70b9\uff0c\u6700\u591a\u80fd\u6dfb\u52a0100\u4e2a\u822a\u70b9\u3002\n - \u5220\u9664\u822a\u70b9 \u70b9\u51fb-<\/u>\u53f7\uff0c\u53ef\u5220\u9664\u6700\u540e\u4e00\u4e2a\u822a\u70b9\u3002\n- \u822a\u70b9\u6570\u636e\u663e\u793a\uff08\u6807\u6ce83\uff09\uff1a \u822a\u70b9\u5217\u8868,\u663e\u793a\u5df2\u6dfb\u52a0\u7684\u822a\u70b9\u53c2\u6570\u3002\n- \u64cd\u4f5c\u786e\u8ba4\uff08\u6807\u6ce84\uff09\n - \u4e0a\u4f20\uff1a\u70b9\u51fb\u4e0a\u4f20\u5e76\u4fdd\u5b58<\/u>\uff0c\u822a\u70b9\u6570\u636e\u4f1a\u88ab\u53d1\u9001\u81f3\u5f53\u524d\u63a7\u5236\u7684\u65e0\u4eba\u673a\uff0c\u540c\u65f6\u4fdd\u5b58\u5230\u672c\u5730\u6587\u4ef6\uff0c\u968f\u540e\u5173\u95ed\u754c\u9762\u3002\n - \u53d6\u6d88\uff1a\u70b9\u51fb\u53d6\u6d88<\/u>\uff0c\u672c\u6b21\u7f16\u8f91\u7684\u6570\u636e\u5c06\u88ab\u6e05\u7a7a\uff0c\u65e2\u4e0d\u4f1a\u53d1\u9001\u81f3\u65e0\u4eba\u673a\uff0c\u4e5f\u4e0d\u4f1a\u4fdd\u5b58\u5230\u672c\u5730\uff0c\u968f\u540e\u5173\u95ed\u754c\u9762\u3002\n\n#### \u822a\u70b9\u72b6\u6001\u754c\u9762\n\n $\"\/\"$ \n \u822a\u70b9\u914d\u7f6e\u754c\u9762<\/figcaption>\n<\/center>\n\n- \u822a\u70b9\u72b6\u6001\u4fe1\u606f\uff08\u5bf9\u5e94\u673a\u8f7d\u7a0b\u5e8f\u4e2d\u7684`~\/sunray\/uav_waypoint_state`\u8bdd\u9898\uff09\uff0c\u5305\u62ec\u4e86\u822a\u70b9\u72b6\u6001\uff08`wp_state`\uff09\u3001\u822a\u70b9\u6570\u91cf\uff08`wp_num` \uff09\u3001\u822a\u70b9\u5e8f\u53f7\uff08`wp_index`\uff09\u3001\u822a\u70b9\uff08`waypoint`\uff09\u3001\u901f\u5ea6\uff08`velocity`\uff09\u3001\u504f\u822a\u89d2\uff08`yaw`\uff09\u3002\n\n\n### UDP\u914d\u7f6e\u529f\u80fd\n\n $\"\/\"$ \n UDP\u914d\u7f6e\u754c\u9762<\/figcaption>\n<\/center>\n \n- \u4f7f\u7528\u5efa\u8bae\uff1a\u4ec5\u5f53\u8f6f\u4ef6\u62a5UDP\u7aef\u53e3\u95ee\u9898\uff0c\u624d\u4f7f\u7528UDP\u914d\u7f6e\u529f\u80fd\uff1b\u529f\u80fd\u6b63\u5e38\u60c5\u51b5\u4e0b\uff0c\u5f3a\u70c8\u5efa\u8bae\u4e0d\u4f7f\u7528\u6b64\u529f\u80fd\uff01<\/span>\n- \u53c2\u6570\u6620\u5c04\u5173\u7cfb\n - UDP \u76d1\u542c\u7aef\u7684\u53c2\u6570\u8981\u548c\u673a\u8f7d\u7aef`ground_control.launch`\u6587\u4ef6\u91cc\u7684`udp_ground_port`\u53c2\u6570\u4fdd\u6301\u4e00\u81f4\u3002\n - UDP\u76ee\u7684\uff08\u673a\u8f7d\uff09\u7aef\u53e3\u53c2\u6570\u8981\u548c\u673a\u8f7d\u7aef\u7684`ground_control.launch`\u6587\u4ef6\u91cc\u7684`udp_port`\u53c2\u6570\u4fdd\u6301\u4e00\u81f4\u3002\n - \u9ed8\u8ba4\u60c5\u51b5\u4e0b\u4ee5\u4e0a\u53c2\u6570\u5df2\u6b63\u786e\u914d\u7f6e\u3002\n- UDP\u76d1\u542c\u7aef\u53e3\uff08\u6807\u6ce81\uff09\n - \u8f93\u5165\u6846\u4e2d\u7070\u8272\u5b57\u4f53\u63d0\u793a\u5f53\u524d\u76d1\u542c\u7aef\u53e3\u3002\n - \u7aef\u53e3\u8bbe\u7f6e\u8303\u56f4\u4e3a1024 - 49151\u7684\u6ce8\u518c\u7aef\u53e3\u3002\n- UDP\u76ee\u7684\uff08\u673a\u8f7d\uff09\u7aef\u53e3\uff08\u6807\u6ce82\uff09\n - \u8f93\u5165\u6846\u4e2d\u7070\u8272\u5b57\u4f53\u63d0\u793a\u5f53\u524d\u76ee\u7684\u7aef\u53e3\u3002\n - \u7aef\u53e3\u8bbe\u7f6e\u8303\u56f4\u4e3a1024 - 49151\u7684\u6ce8\u518c\u7aef\u53e3\u3002 \n- \u64cd\u4f5c\u6309\u94ae\uff08\u6807\u6ce83\uff09\n - \u914d\u7f6e\uff1a\u70b9\u51fb\u53ef\u914d\u7f6e\u7aef\u53e3\u5e76\u4fdd\u5b58\u5230\u672c\u5730\u6587\u4ef6\uff0c\u53ef\u5355\u72ec\u6216\u540c\u65f6\u914d\u7f6e\u4e24\u79cd\u7aef\u53e3\u3002\n - \u53d6\u6d88\uff1a\u70b9\u51fb\u5173\u95edUDP\u7aef\u53e3\u914d\u7f6e\u754c\u9762\u3002","pure_content":"Sunray\u5730\u9762\u7ad9\u67b6\u6784\u548cROS\u529f\u80fd\u5305\n\nSunray\u5730\u9762\u7ad9\u540c\u65f6\u9002\u7528\u4e8e\u771f\u5b9e\u98de\u884c\u5b9e\u9a8c\u548c\u4eff\u771f\u98de\u884c\u5b9e\u9a8c\n\nSunray\u5730\u9762\u7ad9\u7684\u7ec4\u6210\uff1a\n\n\u673a\u8f7d\u7aef\u7684sunray_ground\u529f\u80fd\u5305\uff1a\u8d1f\u8d23\u901a\u8fc7ROS\u8bdd\u9898\u4e0eSunray\u4ee3\u7801\u4e2d\u7684\u5176\u4ed6\u8282\u70b9\u8fdb\u884c\u901a\u4fe1\n\u5730\u9762\u7aef\u7684Sunray\u5730\u9762\u7ad9\u8f6f\u4ef6\uff1a\u901a\u8fc7TCP\/UDP\u4e0esunray_ground\u529f\u80fd\u5305\u8fdb\u884c\u901a\u4fe1\uff0c\u6570\u636e\u4e0b\u884c\u9ed8\u8ba4\u4e3aUDP\uff08\u673a\u8f7d\u7aef->\u5730\u9762\u7aef\uff09\uff0c\u6570\u636e\u4e0a\u884c\u9ed8\u8ba4\u4e3aTCP\uff08\u5730\u9762\u7aef->\u673a\u8f7d\u7aef\uff09\n\n\n \n Sunray\u5730\u9762\u7ad9\u901a\u4fe1\u903b\u8f91\n\n\u57fa\u672c\u4f7f\u7528\u6b65\u9aa4\uff1a\n\n\u5728\u673a\u8f7d\u7aef\u542f\u52a8\u5bf9\u5e94sunray_ground\u7684\u542f\u52a8\u811a\u672c\n\u5728\u5730\u9762\u7aef\u6253\u5f00\u5730\u9762\u7ad9\uff0c\u5e76\u8fde\u63a5\u6307\u5b9a\u65e0\u4eba\u673a\n\u786e\u8ba4\u80fd\u591f\u6536\u5230\u65e0\u4eba\u673a\u7684\u72b6\u6001\u4fe1\u606f\n\nComunication_Module\u529f\u80fd\u5305\n\n\nComunication_Module\u529f\u80fd\u5305\u4e3b\u8981\u529f\u80fd\n\n\u5c06\u673a\u8f7d\u7aef\u7684ROS\u8bdd\u9898\u8f6c\u6362\u6210\u6570\u636e\u53d1\u9001\u81f3\u5730\u9762\u7aef\u5730\u9762\u7ad9\u76d1\u6d4b\n\u5c06\u63a5\u6536\u5230\u7684\u5730\u9762\u7aef\u5730\u9762\u7ad9\u63a7\u5236\u6307\u4ee4\u8f6c\u6362\u6210ROS\u8bdd\u9898\u53d1\u5e03\uff0c\u4ece\u800c\u9a71\u52a8\u5176\u4ed6ROS\u8282\u70b9\u8fdb\u884c\u63a7\u5236\n\n\n\n\u6267\u884c\u542f\u52a8\u811a\u672c\uff1a\nroslaunch sunray_communication_bridge sunray_communication_bridge.launch\n\n\n\n\n \n sunray_communication_bridge.launch\n \n\nis_simulation\uff1a\u662f\u5426\u5904\u4e8e\u4eff\u771f\u72b6\u6001\nmultiClientSwitch\uff1a\u662f\u5426\u5904\u4e8e\u591a\u79cd\u5ba2\u6237\u7aef\u72b6\u6001\nuav_id\uff1a\u5f53\u524d\u65e0\u4eba\u673aid\uff0c\u9700\u5927\u4e8e0\uff0c\u9ed8\u8ba4\u503c\u4e3a1\nuav_experiment_num\uff1a\u65e0\u4eba\u673a\u771f\u673a\u6570\u91cf\nuav_simulation_num\uff1a\u4eff\u771f\u65e0\u4eba\u673a\u6570\u91cf\nugv_id\uff1a\u5f53\u524d\u65e0\u4eba\u8f66id\uff0c\u9700\u5927\u4e8e0\uff0c\u9ed8\u8ba4\u503c\u4e3a1\nugv_experiment_num\uff1a\u65e0\u4eba\u8f66\u771f\u8f66\u6570\u91cf\nugv_simulation_num\uff1a\u4eff\u771f\u65e0\u4eba\u8f66\u6570\u91cf\ntcp_port\uff1a\u673a\u8f7d\u7aefTCP\u7684\u7ed1\u5b9a\u7aef\u53e3\u53f7\nudp_port\uff1a\u673a\u8f7d\u7aefUDP\u7684\u7ed1\u5b9a\u7aef\u53e3\u53f7\uff0cUDP\u7aef\u53e3\u5305\u62ec\u7ed1\u5b9a\u76d1\u542c\u3001\u7ec4\u64ad\u76ee\u6807\u7aef\u53e3\uff0c\u673a\u8f7d\u7aef\u53e3\u8981\u4e00\u81f4\nudp_ground_port\uff1a\u76ee\u6807\u5730\u9762\u7ad9\u7aef\u53e3\uff0c\u7528\u4e8e\u548c\u5730\u9762\u7ad9\u901a\u4fe1\uff0c\u8981\u548c\u5730\u9762\u7ad9\u76d1\u542c\u7aef\u53e3\u4e00\u81f4\nPX4StateTransmitEnabled\uff1aPX4\u72b6\u6001\u4fe1\u606f\u4f20\u8f93\u5f00\u5173\uff08\u673a\u95f4\u901a\u4fe1\u548c\u5730\u9762\u7ad9\uff09\uff0c\u9ed8\u8ba4\u5173\u95ed\nPX4StateFrameRate\uff1aPX4\u72b6\u6001\u4f20\u8f93\u5230\u5730\u9762\u7ad9\u5e27\u6570\uff0c\u9ed8\u8ba4\u503c30\u5e27\nUAVStateTransmitEnabled\uff1a\u65e0\u4eba\u673a\u72b6\u6001\u4fe1\u606f\u4f20\u8f93\u5f00\u5173\uff08\u673a\u95f4\u901a\u4fe1\u548c\u5730\u9762\u7ad9\uff09\uff0c\u9ed8\u8ba4\u5f00\u542f\nUAVStateFrameRate\uff1a\u65e0\u4eba\u673a\u72b6\u6001\u4f20\u8f93\u5230\u5730\u9762\u7ad9\u5e27\u6570\uff0c\u9ed8\u8ba4\u503c30\u5e27\n\n\u6ce8\u610f\uff01\u7aef\u53e3\u6ca1\u62a5\u9519\u4e0d\u9700\u8981\u6539\u52a8\uff01udp_port\u9700\u8981\u548c\u5730\u9762\u7ad9\u7684\u76ee\u7684\u7aef\u53e3\u4e00\u81f4\n\n\n\n \n communication_bridge_node\u8282\u70b9\u8fd0\u884c\u622a\u56fe\n \n\n\u201cTCP \u521d\u59cb\u5316\u5957\u63a5\u5b57\u6b63\u5e38\u201d\u201cTCP \u7ed1\u5b9a\u7aef\u53e3\u53f7\u6210\u529f\u201d\u201cTCP \u76d1\u542c\u7f51\u7edc\u7aef\u53e3\u6210\u529f\u201d \u5747\u8868\u793a TCP socket \u5957\u63a5\u5b57\u7684\u521d\u59cb\u5316\u3001\u7aef\u53e3\u7ed1\u5b9a\u53ca\u7f51\u7edc\u7aef\u53e3\u76d1\u542c\u5747\u6b63\u5e38\uff0cTCP \u5df2\u5c31\u7eea\u3002\n\u201cUDP port bound successfully!\u201d\u8868\u793aUDP socket\u5957\u63a5\u5b57\u7ed1\u5b9a\u7aef\u53e3\u6b63\u5e38\uff0cUDP\u5df2\u5c31\u7eea\u3002\n\u9002\u914d\u5730\u9762\u7ad9\u7248\u672c\u662f\u6307\u8be5 Comunication_Module \u529f\u80fd\u5305\u6240\u9002\u914d\u7684\u5730\u9762\u7ad9\uff0c\u5176\u8981\u6c42\u4f7f\u7528\u7684\u5730\u9762\u7ad9\u7248\u672c\u53f7\u9700\u6ee1\u8db3\uff1a\u7b2c\u4e00\u4e2a\u6570\u5b57\u4e0e\u9002\u914d\u7248\u672c\u4e00\u81f4\uff0c\u7b2c\u4e8c\u4e2a\u6570\u5b57\u5927\u4e8e\u6216\u7b49\u4e8e\u9002\u914d\u7248\u672c\u3002\n\nSunray\u5730\u9762\u7ad9\u4f7f\u7528\u8bf4\u660e\n\n \n \n Sunray\u5730\u9762\u7ad9\u4e3b\u754c\u9762\n \n\u8fde\u63a5\u667a\u80fd\u4f53\n\n\n\u70b9\u51fb\u4e3b\u754c\u9762\u6807\u6ce83\u8fde\u63a5\u56fe\u6807\uff0c\u5f39\u51fa\u8bbe\u5907\u5217\u8868\u754c\u9762\u3002\n\n\n\u9009\u62e9\u8981\u8fde\u63a5\u7684\u667a\u80fd\u4f53\uff0c\u70b9\u51fb\u8fde\u63a5\u3002\n\n\n\n \n \u9009\u62e9\u667a\u80fd\u4f53UAV1\n\n\n\u70b9\u51fb\u6807\u6ce81\u7eff\u8272\u7684\u641c\u7d22\u56fe\u6807\uff0c\u641c\u7d22\u5728\u7ebf\u667a\u80fd\u4f53\uff0c\u5237\u65b0\u8bbe\u5907\u5217\u8868\u3002\n\u5f53\u81ea\u52a8\u641c\u7d22\u667a\u80fd\u4f53\u641c\u7d22\u4e0d\u5230\u65f6\uff0c\u53ef\u4ee5\u5c1d\u8bd5\u624b\u52a8\u8f93\u5165\u667a\u80fd\u4f53ip\u641c\u7d22\u3002\n\n\n \n \u667a\u80fd\u4f53IP\u8f93\u5165\u6846\n\n\u667a\u80fd\u4f53\u5207\u6362\n\n\u4e3b\u754c\u9762\u6807\u6ce81\u7684\u7b2c\u4e00\u4e2a\u5f00\u5173\u662f\u7528\u6765\u5207\u6362\u667a\u80fd\u4f53\u7c7b\u578b\u3002\n\u4e3b\u754c\u9762\u6807\u6ce81\u7684\u7ea2\u70b9\u90e8\u5206\u662f\u7528\u6765\u663e\u793a\u667a\u80fd\u4f53\u7684\u8fde\u63a5\u72b6\u6001\uff0c\u7ea2\u8272\u7684\u4e3a\u672a\u8fde\u63a5\uff0c\u7eff\u8272\u4e3a\u5df2\u8fde\u63a5\n\u4e3b\u754c\u9762\u6807\u6ce81\u7684UAV1\u4e0b\u62c9\u6846\u7528\u6765\u9009\u62e9\u65e0\u4eba\u673a\n\u4e3b\u754c\u9762\u6807\u6ce81\u7684\u65ad\u5f00\u8fde\u63a5\u4f1a\u65ad\u5f00\u5f53\u524d\u9009\u4e2d\u7684\u667a\u80fd\u4f53\u8fde\u63a5\n\n\n \n \u65e0\u4eba\u673a\u5728\u7ebf\u793a\u4f8b\n\n\u542f\u52a8\u811a\u672c\n \n \n \u542f\u52a8\u811a\u672c\u754c\u9762\uff08\u4e3b\u754c\u9762\u6807\u6ce810\uff09\n\n\n\n\u9009\u62e9\u811a\u672c\u547d\u4ee4\uff1a \u5728\u811a\u672c\u4e0b\u62c9\u6846\u4e2d\u9009\u62e9\u8981\u5f00\u542f\u7684\u811a\u672c\u3002\n\n\u64cd\u4f5c\uff1a\n\n\u70b9\u51fb\u6267\u884c\u811a\u672c\uff0c\u901a\u8fc7\u811a\u672c\u547d\u4ee4\uff0c\u542f\u52a8\u673a\u8f7d\u7aef\u5bf9\u5e94\u7684\u8282\u70b9\u3002\n\u70b9\u51fb\u6267\u884c\u811a\u672c\uff0c\u4f1a\u6267\u884ckill_node.sh\u811a\u672c\uff0c\u5173\u95ed\u9664\u767d\u540d\u5355\u4ee5\u5916\u7684\u8282\u70b9\n\n\n\n\u65e0\u4eba\u673a\u5355\u673a\u63a7\u5236\n\n \n \u65e0\u4eba\u673a\u5355\u673a\u63a7\u5236\u6a21\u5757\n\n\n\n\u6ce8\u610f\uff01\u7d27\u6025\u4e0a\u9501\u529f\u80fd\u6267\u884c\u7684\u662fkill\u6307\u4ee4\uff0c\u4f1a\u9020\u6210\u65e0\u4eba\u673a\u9501\u6868\u5931\u53bb\u52a8\u529b\u5760\u843d\uff0c\u53ea\u80fd\u5728\u7d27\u6025\u60c5\u51b5\u4e0b\u4f7f\u7528\u3002\n\n\n\u8fde\u63a5\u65e0\u4eba\u673a\u6210\u529f\u540e\uff0c\u70b9\u51fb\u89e3\u9501\uff0c\u7136\u540e\u70b9\u51fb\u8d77\u98de\uff0c\u8d77\u98de\u65e0\u4eba\u673a\n\n\n\u63a7\u5236\u5f53\u524d\u65e0\u4eba\u673a\u7684\u89e3\u9501\u3001\u8d77\u98de\u3001\u964d\u843d\u3001\u4e0a\u9501\u3001\u7d27\u6025\u4e0a\u9501\u3001\u60ac\u505c\u3001\u8fd4\u822a\u3001\u5207\u6362\u5230\u6307\u4ee4\u63a7\u5236\u3002\n\n\n\u822a\u70b9\u8bbe\u7f6e\u53ef\u4ee5\u5f39\u51fa\u822a\u70b9\u8bbe\u7f6e\u5f39\u7a97\u3002\n\n\n\u822a\u70b9\u72b6\u6001\u53ef\u4ee5\u5f39\u51fa\u5f39\u7a97\u663e\u793a\u822a\u70b9\u72b6\u6001\u3002\n\n\n\u5f53\u524d\u65e0\u4eba\u673a\u7684\u79fb\u52a8\u6a21\u5f0f\u63a7\u5236\uff0c\u79fb\u52a8\u6a21\u5f0f\u4e0b\u62c9\u6846\uff0c\u65c1\u8fb9\u7684\uff1f\u9f20\u6807\u79fb\u52a8\u5230\u90a3\u4f1a\u663e\u793a\u9009\u4e2d\u7684\u79fb\u52a8\u6a21\u5f0f\u5bf9\u5e94\u7684\u89e3\u91ca\uff1b\n\n\n\u5f53\u65e0\u4eba\u673a\u5904\u4e8e\u6307\u4ee4\u6a21\u5f0f\u65f6\uff0c\u53d1\u9001\u6307\u4ee4\u6309\u94ae\u624d\u80fd\u751f\u6548\u3002\n\n\n\u4e8c\u7ef4\u5730\u56fe\u6307\u70b9\u63a7\u5236\n\n 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