摘要
MAVLink微型无人机通信协议广泛应用于地面控制站与PIXHAWK、SLUGS和ArduPilot等无人机飞控平台的通信。MAVLink已被证明能够工作在ARM7、ATmega、STM32等微控制器上,并能在Windows、Linux和MacOS操作系统下开发。由于MAVLink与DSP不兼容,故本文提出一种将MAVLink移植到DSP,并通过WiFi与地面控制站软件QGroundControl进行通信的方法。实验证明,该方法能够使MAVLink有效兼容DSP,并且通过SPI转WiFi连接,减小了CPU开销,提高了数据传输速率,减少了数据的丢失情况。
MAVLink micro unmanned air vehicle communication protocol is widely used in communications between the ground control station and unmanned air vehicle flight control platform such as PIXHAWK, SLUGS and ArduPilot. MAVLink has been proven to work on ARM7, ATmega and STM32 microcontrollers and it can be developed under Windows, Linux and MacOS operating systems. Because of MAVLink incompatibility with DSP, a method is proposed to transplant MAVLink to DSP and communicate with ground control station software QGroundControl via WiFi. Experimental results show that this method can effectively make MAVLink compati ble with DSP, reduce CPU consumption via SPI-to-WiFi, improve data transmission rates and reduce data loss.
出处
《单片机与嵌入式系统应用》
2014年第11期3-5,8,共4页
Microcontrollers & Embedded Systems
