pymavlink简单使用

news2025/2/26 18:44:33

环境

windows10 + python3.11 + pymavlink2.4.40

工具

虚拟串口工具 Virtual Serial Port Driver 6.9
串口/网络调试助手 sscom5.13.1.exe

串口通信

虚拟串口 COM1, COM2
调试助手连接COM2
pymavlink连接COM1

from pymavlink import mavutil
import time

connect = mavutil.mavlink_connection('COM1', source_system=1, source_component=2)

target_system = connect.target_system
target_component = connect.target_component

mission_request_list_message = connect.mav.mission_request_list_encode(target_system, target_component)
# 发送mavlink消息
count = 10
while count > 0:
    connect.mav.send(mission_request_list_message)
    count -= 1
    time.sleep(1)

COM2收到COM1的消息

UDP通信

调试助手建立UDP连接
pymavlink使用UDP发送消息到指定ip和端口

from pymavlink import mavutil
import time

connect = mavutil.mavlink_connection('udpout:127.0.0.1:8000', source_system=1, source_component=2)
# connect = mavutil.mavlink_connection('udpbcast:127.0.0.1:8000', source_system=1, source_component=2)
target_system = connect.target_system
target_component = connect.target_component

mission_request_list_message = connect.mav.mission_request_list_encode(target_system, target_component)
# 发送mavlink消息
count = 10
while count > 0:
    connect.mav.send(mission_request_list_message)
    count -= 1
    time.sleep(1)

调试助手收到消息

使用pymavlink建立udp连接后接收消息

from pymavlink import mavutil

connect = mavutil.mavlink_connection('udpin:127.0.0.1:10000', source_system=1, source_component=2)

while True:
    msg = connect.recv_match(blocking=True)
    # print(list(msg.data))
    print(msg.get_type())

发送消息
接收消息

心跳包

connect.mav.heartbeat_send(mavutil.mavlink.MAV_TYPE_ONBOARD_CONTROLLER,
                                      mavutil.mavlink.MAV_AUTOPILOT_INVALID, 0, 0, 0)

FE 09 00 01 02 00 00 00 00 00 12 08 00 00 03 03 F5

解析 GLOBAL_POSITION_INT

使用网络调试助手通过串口连接pixhawk，得到一条mavlink消息

FE 1C 0A 01 01 21 0B 45 01 00 00 00 00 00 00 00 00 00 92 13 00 00 9E 26 00 00 00 00 02 00 1B 00 97 0A 72 9B

十六进制21对应十进制33
2. 在mavlink官网查看#33的消息结构
在这里插入图片描述

使用pymavlink接收消息并解析
4.1 源码

from pymavlink import mavutil
import time
connect = mavutil.mavlink_connection('udpin:127.0.0.1:10000', source_system=1, source_component=1)

while True:
    msg = connect.recv_match(blocking=True)
    print(msg.get_type())
    print(msg.get_fieldnames())
    print(type(msg))
    print(msg.time_boot_ms)
    print("******")
    print(msg.lat)
    print(msg.lon)
    print(msg.alt)
    print(msg.relative_alt)
    print("-------")
    print(msg.vx)
    print(msg.vy)
    print(msg.vz)
    print(msg.hdg)

4.2 结果
在这里插入图片描述

解析 ATTITUDE

在这里插入图片描述
报文：

FE 1C 1F 01 01 1E 08 46 01 00 41 87 66 3C 19 BC 26 3C DB 4C F2 3E 48 24 B3 38 20 9C 55 B9 9E 57 41 38 C6 84

解析代码

while True:
    msg = connect.recv_match(blocking=True)
    print(msg.get_type())
    print(msg.get_fieldnames())
    print(msg.roll)
    print(msg.pitch)
    print(msg.yaw)