Robot XF(A5) V2.0.5 GCU Prótacal Príobháideach
Sonraíochtaí
- Doiciméad Leagan: V2.0.5
- Prótacal Leagan: v0.1
Eolas Táirge
Feidhmíonn an GCU (Aonad Rialaithe Cineálach) ar phrótacal príobháideach agus cuireann sé gnéithe agus feabhsuithe éagsúla ar fáil de réir na staire athbhreithnithe:
Gnéithe:
- Athraíonn UART baudrate go féin-oiriúnaitheach
- Cuir modh Freastalaí TCP leis i gcumarsáid Líonra
- Cuir leagan prótacail isteach sa phacáiste sonraí
- Feabhsuithe ar fhrámaí sonraí don óstríomhaire agus don GCU araon
- Feabhsuithe Ordú & Aiseolais
- Example athnuachan pacáiste sonraí
Treoracha Úsáide Táirge
Príomhfhráma Sonraí ó Ríomhaire Óstach
- Cuir an uillinn Euler atá ag teastáil agus an uillinn choibhneasta inmhianaithe leis an luach rialaithe rolla/pitse/yaw (beart 5~10)
- Cuir éifeachtúlacht na gcainníochtaí rialaithe (giotán B2) sa dealbh (beart 11)
Príomhfhráma Sonraí ó GCU
- Cuir modh FPV agus modh rialaithe uillinn Euler isteach sa dealbh pod (beart 5)
- Scrios mód nochta (giotán B11) ó dhealbh an cheamara (beart 6~7)
Fo-Fhráma Sonraí ó Ríomhaire Óstach
- Scrios fad ón mBaile (beart 57~60)
- Cuir airde choibhneasta leis (beart 57~60)
Stair Athbhreithnithe
| Dáta | Leagan Doiciméid | Leagan Prótacail |
| 2023.06.19 | v2.0 | – |
| Dáta | Leagan Doiciméid | Leagan Prótacail |
| 2023.08.09
1. UART baudrate cha |
v2.0.1
nges isteach féin-oiriúnaitheach. Ad |
v0.0
d Mód Freastalaí TCP i |
- Athraíonn UART baudrate go féin-oiriúnaitheach. Cuir modh Freastalaí TCP leis i gcumarsáid Líonra. [P1]
- Cuir leagan prótacail isteach sa phacáiste sonraí. Ceartaigh an botún ceanntásca sa phacáiste ó GCU. [P2]
- Príomhfhráma sonraí ón ríomhaire óstach:
- Cuir an uillinn Euler inmhianaithe agus an uillinn choibhneasta atá ag teastáil isteach i luach rialaithe rolla/pitse/yaw (beart 5~10); [P3]
- Cuir éifeachtúlacht na gcainníochtaí rialaithe (giotán B2) sa dealbh (beart 11). [P3]
- Fo-fhráma sonraí ón ríomhaire óstach:
- Scrios fad ón mBaile (beart 57~60); [P4]
- Cuir airde coibhneasta (beart 57~60). [P4]
- Príomhfhráma sonraí ó GCU:
- Cuir modh FPV agus modh rialaithe uillinn Euler isteach sa dealbh pod (beart 5); [P5]
- Scrios mód nochta (giotán B11) ón dealbh ceamara (beart 6~7). [P5]
- Fo-fhráma sonraí ó GCU:
- Scrios inneachar beart 59~61; [P6]
- Cuir isteach an ráta súmáil reatha ceamara 1 (beart 59~60) agus ceamara 2 (beart 61~62). [P6]
- Ordú & Aiseolas:
- Cuir cur síos ar ordú null; [P7]
- Cuir ordú modh FPV, modh rialaithe uillinn Euler, modh rianaithe seachtrach agus OSD; [P7~P9]
- Cur síos mionsonraithe ar mhodh gaze; [P8]
- Athraigh paraiméadair cróluas, taifead, fócas, pailéad agus ordú fís Oíche. [P8~P9]
- Athnuaigh example pacáiste sonraí. [P11~P16]
| Dáta | Leagan Doiciméid | Leagan Prótacail |
| 2023.10.12 | v2.0.2 | v0.1 |
- Cuir míniú ar ord beart an phrótacail leis. [P2]
- Príomhfhráma sonraí ón ríomhaire óstach:
- Cuir sainmhíniú ar an gcóras comhordanáidí isteach sa chur síos ar an rolla iomlán, ar uillinn tuinairde agus ar uillinn an iompróra yaw (beart 12~17). [P3]
- Príomhfhráma sonraí ó GCU:
- Cuir dealbh soilsithe (giotán B10) isteach sa dealbh ceamara (giotán B10). [P5]
- Ceartaigh an botún maidir le treo na haise comhordanáidí (“aníos mar dheimhneach” → “anuas mar dheimhneach”) an sprioc ingearach atá in easnamh (beart 10~11). [P5]
- Cuir raon luacha isteach sa chur síos ar bharda X/Barda Y a bhfuil an sprioc in easnamh (beart 8~11). [P5]
- Cuir sainmhíniú comhordanáidí an chórais leis agus cuir ord rothlaigh isteach sa chur síos ar X-ais/ais-Y/ ais Z-treoluas uilleach absalóideach an cheamara (beart 24~29). [P5]
- Ordú & Aiseolas:
- Mínithe ar luachanna rialaithe a mhionathrú i gcur síos ar mhodh FPV, modh glasála cloigeann agus mód ceann leantach. [P7]
- Ceartaigh an botún maidir le haiseolas bréagach (“0x015 0x01″→”0x15 0x01”) den mhodh gaze (treoir geo-chomhordanáidí). [P8]
- Cuir comhordanáidí cúinne barr-chlé an spriocfhráma agus an chúinne íochtair ar dheis leis an gcur síos ar mhodh an riain. [P8]
- Cuir comhordanáidí chúinne barr-chlé an scáileáin agus cúinne íochtair ar dheis leis mar chur síos ar an ordú cliceáil chun aidhm. [P8]
- Cuir lár an scáileáin ar iarraidh, an chúinne uachtarach ar chlé agus an chúinne íochtair ar dheis mar chur síos ar mhodh an riain sheachtraigh. [P9]
- Cuir aguisín 1 leis: example claochlú an fhráma sonraí ó ríomhaire óstach. [P12]
- Cuir aguisín 2 leis: sainmhíniú ar chóras comhordaithe an iompróra. [P13]
- Cuir aguisín 3 leis: sainmhíniú ar chóras comhordanáidí ceamara agus ord uainíochta. [P14]
- Cuir aguisín 5 leis: Am GPS & feidhm chomhshó UTC.[P21]
| Dáta | Leagan Doiciméid | Leagan Prótacail |
| 2024.06.20 | v2.0.5 | v0.1 |
- Príomhfhráma Sonraí ó Ríomhaire Óstach:
- Cuir míniú leis ar éifeachtúlacht luach rialaithe (giotán B2) sa chur síos ar an dealbh (beart 11) . [P3]
- Príomhfhráma Sonraí ó GCU:
- Athainmnigh FPV go rialú uillinn 1 agus cuir rialú uillinn 2 leis i mód oibriúcháin pod (beart 5). [P5]
- Athainmnigh dealbh ceamara (beart 6~7) go dealbh pod. [P5]
- Fráma Foshonraí ó GCU:
- Cuir cód earráide leis (beart 41~42). [P6]
- Cuir dealbh ceamara teirmeach leis (beart 63). [P6]
- Cuir dealbh ceamara leis (beart 64~65). [P7]
- Cuir crios ama leis (beart 66). [P7]
- Ordú & Aiseolas:
- Cuir orduithe de chomhordanáid OSD, aisiompú uathoibríoch íomhá agus socrú crios ama leis. [P8]
- Athraigh an cur síos ar rialú uillinne 1 (bun FPV), ceann leantach agus rialú uillinne Euler. [P8]
- Cuir ordú rialaithe uillinne 2 leis. [P10]
- Athraigh raon paraiméadar an phailléid ([0,100] ->[0,10]). [P11]
- Cuir leis na horduithe maidir le tomhas teochta limistéir, foláireamh teochta, isotherm agus tomhas teocht an láthair. [P11~P12]
- Cuir feidhm an aistrithe go mód sonraithe leis i bpic-i-phic. [P12]
- Cuir orduithe braite sprice agus súmáil digiteach ceamara súmáil isteach. [P13]
- Cuir Aguisín 2 leis: Example de Chlaochlú an Fhráma Sonraí ó GCU. [P16~P18]
- Aguisín 5 a athnuachan: Example Pacáiste Sonraí. [P20~P28]
- Cuir Aguisín 7 leis: Pod Code. [P30]
Cumraíocht Port
Cumraíocht UART
- Leibhéal UART: TTL
- Giotán sonraí: 8
- Giotán stad: 1
- Paireacht: Dada
- Modh cumarsáide: Déphléacsach iomlán
- Baudrate: 115200, 250000, 500000 agus 1000000.
- Minicíocht cumarsáide: Is é an raon minicíochta cumarsáide molta 30~50Hz. Dá airde an minicíocht, is amhlaidh is fearr an éifeacht rialaithe. Níor cheart go mbeadh minicíocht ró-íseal nó stad sonraí. Níor cheart go mbeadh BUS díomhaoin i bpacáiste sonraí amháin.
Cumraíocht Líonra
- Modh UDP: Is é 2337 an calafort foinse agus is é an seoladh craolta LAN an ceann scríbe réamhshocraithe. Is é 2338 an spriocphort.
- Mód Freastalaí TCP: Ba cheart an taobh eile a shocrú go mód TCP Clint.
Ba cheart go mbeadh an seoladh IP iargúlta mar an gcéanna le GCU, agus ba cheart go mbeadh an calafort iargúlta 2332.
Achoimre
- Úsáideann an chumarsáid modh Q&A. Tarchuireann an ríomhaire óstach pacáiste sonraí ar dtús. Tar éis an pacáiste ceart a fháil, filleann an GCU a phacáiste. Tá pacáiste sonraí iomlán comhdhéanta de cheanntásc prótacail, fad pacáiste, príomhfhráma sonraí, fráma fo-sonraí, sonraí ordú/aiseolais agus CRC.
- Is é S bytes fad an phacáiste. Tá fad an chuid ordaithe / aiseolais athraitheach.
- Áiríonn an chuid ordú / aiseolais ordú agus paraiméadar. Léarscáileanna ord éagsúla paraiméadair éagsúla. Sonraí mar atá sa chaibidil Fráma Sonraí sa doiciméad seo.
- Ní fhorghníomhóidh an GCU ach uair amháin agus é ag fáil orduithe leis an ord céanna go leanúnach (fiú má tá na paraiméadair difriúil). Chun feidhm chéanna amháin a spreagadh, ba cheart na pacáistí sonraí a dheighilt le pacáiste le hordú null (Seachas ordú rian Seachtrach).
Léirítear struchtúr an phacáiste sonraí mar atá thíos.
| Alt | Beart(í) | Cur síos | Cineál Sonraí | Sonraí |
|---|---|---|---|---|
| Ó Ríomhaire Óstach | ||||
| Ceanntásc | 0 | Príomhshonraí | U16 | |
| 1 | Fo-Sonraí | U8 | ||
| Fad agus Leagan | 2–3 | Eolas Fad & Leagan | ||
| Sonraí Fráma | 4 | Fráma | ||
| Sonraí Fráma | 5–36 | Príomhshonraí | 32 beart | |
| Sonraí Fráma | 37–68 | Fo-Sonraí | 32 beart | |
| Ó GCU | ||||
| Ceanntásc | 0 | 0x8A | ||
| 1 | 0x5E | |||
| Fad agus Leagan | 2–3 | Eolas Fad & Leagan | ||
| Sonraí Fráma | 4 | Fráma | ||
| Sonraí Fráma | 5–36 | Príomhshonraí | 32 beart | |
| Sonraí Fráma | 37–68 | Fo-Sonraí | 32 beart | |
| Sonraí Ordú | 69–S-3 | Ordú (Fad Athraitheach) | ||
| Sonraí Aiseolais | 69–S-3 | Aiseolas (Fad Athraitheach) | ||
| CRC Ard Beart | S-2 | CRC Ard Beart | U16 | |
| CRC Íseal Beart | S-1 | CRC Íseal Beart | U16 |
- Is iad na sonraí a sheiceáil CRC ná Beart 0~S-3.
- Úsáideann an prótacal seo ordú beart beag-endian (seachas CRC).
Fráma Sonraí
Príomhfhráma Sonraí ó Ríomhaire Óstach
| Beart(í) | Ábhar | Cur síos | Cineál Sonraí | Sonraí |
|---|---|---|---|---|
| 5–6 | Modhanna eile, ráta súmála (céim/s) | Nuair a bhíonn an luach rialaithe ag teastáil uillinn Euler. | Taifeach: 0.01 deg; Raon: 8000 go 18000 | |
| 7–8 | Luach rialaithe pitch | Nuair a bhíonn an luach rialaithe ag teastáil uillinn choibhneasta idir pod agus iompróir. | S16 | Taifeach: 0.01 deg; Raon: [-18000, 18000] |
| 9–10 | Luach rialaithe yaw | Luach rialaithe don uillinn yaw. | S16 | Taifeach: 0.01 deg; Raon: [-18000, 18000] |
| B7–B3 | Curtha in áirithe | Giotán in áirithe. | Is é 0 na giotán seo | |
| B2 | Bailíocht luach rialaithe | 0 – Luach rialaithe neamhbhailí; 1 – Luach rialaithe bailí. | U8 | |
| B1 | Curtha in áirithe | Is é 0 an giotán seo | ||
| B0 | Bailíocht INS an iompróra | 0 – INS an iompróra neamhbhailí; 1 – INS an iompróra bailí. | U8 | |
| 11 | Stádas | Léiríonn sé an bhfuil luach rialaithe bailí. | U8 | 0 – Neamhbhailí, 1 – Bailí |
| 12–13 | Uillinn rolla iomlán an iompróra | Uillinn rolla iomlán an iompróra in uillinn Euler. | S16 | Taifeach: 0.01 deg; Raon: [-9000, 9000] |
| 14–15 | Uillinn thuisce iomlán an iompróra | Uillinn thuinne iomlán an iompróra in uillinn Euler. | S16 | Taifeach: 0.01 deg; Raon: [-9000, 9000] |
| 16–17 | Uillinn iomlán yaw an iompróra | Uillinn iomlán yaw an iompróra in uillinn Euler. | U16 | Taifeach: 0.01 deg; Raon: [0, 36000] |
| 18–19 | Luasghéarú an iompróra ó thuaidh | Luasghéarú thuaidh an iompróra. | S16 | Taifeach: 0.01 m/s²; Ó thuaidh dearfach |
| 20–21 | Luasghéarú soir an iompróra | Luasghéarú soir an iompróra. | S16 | Taifeach: 0.01 m/s²; Tá soir dearfach |
| 22–23 | Luasghéarú aníos iompróra | Luasghéarú aníos an iompróra. | S16 | Taifeach: 0.01 m/s²; Aníos dearfach |
| 24–25 | Treoluas an iompróra ó thuaidh | Treoluas ó thuaidh an iompróra. | S16 | Taifeach: 0.1 m/s; Ó thuaidh dearfach |
| 26–27 | Treoluas soir an iompróra | Treoluas soir an iompróra. | S16 | Taifeach: 0.1 m/s; Tá soir dearfach |
| 28–29 | Treoluas an iompróra aníos | Treoluas aníos an iompróra. | S16 | Taifeach: 0.1 m/s; Aníos dearfach |
| 30 | Iarr cód fo-fhráma | Cód don fho-fhráma iarrtha ó GCU. | U8 | |
| 31–36 | Curtha in áirithe | Bearta forchoimeádta. | ||
| 37 | Ceannteideal an fhráma fo-sonraí iarrtha ó GCU | Ceanntásc iarratais fo-fhráma GCU (Ox00). | U8 |
Tá Beart 12~29 an-tábhachtach. Cruthóidh sonraí míchearta earráid agus airde an choda á ríomh
Fo-Fhráma Sonraí ó Ríomhaire Óstach
| Beart(í) | Ábhar | Cur síos | Cineál Sonraí | Rún |
|---|---|---|---|---|
| 37 | 0x01 | Ceanntásc | U8 | |
| 38–41 | Domhanfhad an iompróra | Domhanfhad an iompróra | S32 | Taifeach: 1e-7 deg |
| 42–45 | Domhanleithead an iompróra | Domhanleithead an iompróra | S32 | Taifeach: 1e-7 deg |
| 46–49 | Airde an iompróra | Airde an iompróra | S32 | Taifeach: 1 mm |
| 50 | Satailítí atá ar fáil | Líon na satailítí atá ar fáil | U8 | |
| 51–54 | GNSS micreasecond | GNSS micreasecond | U32 | |
| 55–56 | seachtain GNSS | seachtain GNSS | S16 | |
| 57–60 | Airde coibhneasta | Airde coibhneasta | S32 | Taifeach: 1 mm |
| 61–68 | Curtha in áirithe | Bearta forchoimeádta | Ocs00 |
Tá beart 37~68 ar fad 0x00 mura bhfuil sonraí fo-fhráma ann.
Príomhfhráma Sonraí ó GCU
| Beart(í) | Ábhar | Cur síos | Cineál Sonraí | Rún |
|---|---|---|---|---|
| 5 | Modh oibriúcháin pod | Modh oibríochta le haghaidh an pod | U8 | Luachanna féideartha: 0x10 go 0x1C (liostaithe thíos) |
| 6–7 | Pod dealbh | Stádas an phota | U16 | B15–B13: Curtha in áirithe. B12: Stádas cumhachta ar aghaidh. B10: Soilsiú. B9: Fís oíche. B8: Réimniú. B7: Comhordú a dhéanamh ar bhailíocht. B0: Stádas rianaithe. |
| 8–9 | Spriocanna cothrománach ar iarraidh | Suíomh sprice cothrománach i gcoibhneas le lár an scáileáin | S16 | Raon: [-1000, 1000]; Ar dheis dearfach |
| 10–11 | Sprioc ingearach in easnamh | Suíomh sprice ingearach i gcoibhneas le lár an scáileáin | S16 | Raon: [-1000, 1000]; Anuas dearfach |
| 12–13 | Uillinn choibhneasta an cheamara X-ais | Uillinn choibhneasta X-ais an cheamara | S16 | Raon: [-18000, 18000]; Taifeach: 0.01 deg |
| 14–15 | Uillinn choibhneasta an cheamara Y-ais | Uillinn choibhneasta Y-ais an cheamara | S16 | Raon: [-9000, 9000]; Taifeach: 0.01 deg |
| 16–17 | Uillinn choibhneasta an cheamara Z-ais | Uillinn Z-ais choibhneasta an cheamara | S16 | Raon: [-18000, 18000]; Taifeach: 0.01 deg |
| 18–19 | Uillinn rolla iomlán an cheamara | Uillinn rolla iomlán an cheamara (uillinn Euler) | S16 | Raon: [-9000, 9000]; Taifeach: 0.01 deg |
| 20–21 | Uillinn pháirce iomlán an cheamara | Uillinn thuinne iomlán an cheamara (uillinn Euler) | S16 | Raon: [-18000, 18000]; Taifeach: 0.01 deg |
| 22–23 | Uillinn iomlán yaw an cheamara | Uillinn yaw iomlán an cheamara (uillinn Euler) | U16 | Raon: [0, 36000]; Taifeach: 0.01 deg |
| 24–25 | X-ais treoluas uilleach absalóideach an cheamara | Treoluas uilleach X-ais an cheamara | S16 | Taifeach: 0.01 deg/s |
| 26–27 | Ais-Y treoluas uilleach iomlán an cheamara | Treoluas uilleach Y-ais an cheamara | S16 | Taifeach: 0.01 deg/s |
| 28–29 | Z-ais treoluas uilleach iomlán an cheamara | Treoluas uilleach Z-ais an cheamara | S16 | Taifeach: 0.01 deg/s |
| 30–36 | Curtha in áirithe | Bearta forchoimeádta |
Mód Oibriúcháin Pod Luachanna Féideartha:
- 0x10 – Rialú uillinn 1
- 0x11 - glas ceann
- 0x12 - Lean an ceann
- 0x13 – Orthoview
- 0x14 – Modh rialaithe uillinn Euler
- 0x16 – Súil
- 0x17 – Rian
- 0x1C – Rialú uillinn 2
Fo-Fhráma Sonraí ó GCU
| Beart(í) | Ábhar | Cur síos | Cineál Sonraí | Rún |
|---|---|---|---|---|
| 37 | 0x01 | Ceanntásc | U8 | |
| 38 | Leagan crua-earraí | Leagan crua-earraí | U8 | |
| 39 | Leagan firmware | Leagan firmware | U8 | |
| 40 | Cóid pod | Cóid le haghaidh an luch | U8 | Sonraí mar atá in Aguisín 7 |
| 41–42 | Aimhrialtacht cód earráide | Cóid earráide le haghaidh aon aimhrialtachtaí | S32 | |
| 43–46 | Fad ón sprioc | An fad ón sprioc a thomhas | S32 | Taifeach: 0.1 m (neamhbhailí más -1m nó 0m) |
| 47–50 | Domhanfhad na sprice | Domhanfhad an sprioc | S32 | Taifeach: 1e-7 deg |
| 51–54 | Domhanleithead na sprice | Domhanleithead na sprice | S32 | Taifeach: 1e-7 deg |
| 55–58 | Airde an sprice | Airde an sprice | S32 | Taifeach: 1 mm |
| 59–60 | Ráta súmála reatha an cheamara | Ráta súmáil reatha an cheamara (ceamara le solas infheicthe) | U16 | Taifeach: 0.1x |
| 61–62 | Ráta súmála reatha an cheamara | Ráta súmáil reatha an cheamara (ceamara teirmeach) | U16 | Taifeach: 0.1x |
| 63 | Dealbh ceamara teirmeach | Stádas ceamara teirmeach | U8 | B7: Tomhas teochta, B6: Teocht an limistéir, etc. |
Stádas Ceamara Teirmeach (Beart 63)
- B7: 0 – Níl fáil ar thomhas teochta; 1 - Tomhas teochta ar fáil
- B6: 0 – Tomhas teocht an limistéir as; 1 – Tomhas teocht an limistéir ar
- B5: 0 – Múchadh an foláireamh teochta; 1 – Foláireamh teochta ar siúl
- B4: 0 – Isotherm as; 1 – Isotherm ar siúl
- B3: 0 – Tomhas teocht spota as; 1 – Tomhas teochta spota ar
- B2: in áirithe
- B1: Foláireamh teocht ard
- B0: Foláireamh teocht íseal
| Beart(í) | Ábhar | Cur síos | Cineál Sonraí | Rún |
|---|---|---|---|---|
| 64–65 | Dealbh ceamara | Stádas an cheamara | U16 | B15: Braite sprice ar siúl/as; B14: Súmáil dhigiteach ar siúl/as, etc. |
| 66 | Crios ama | Socrú crios ama | U8 | |
| 67–68 | Curtha in áirithe | Curtha in áirithe le húsáid sa todhchaí | – |
Dealbh Ceamara (Bearta 64-65)
- B15: 0 – Díchumasaíodh braite sprice; 1 – Brath spriocanna ar
- B14: 0 – súmáil digiteach as; 1 - Súmáil dhigiteach ar siúl
- B13: 0 – OSD (Taispeántas Ar-Scáileán) as; 1 - OSD ar siúl
- B12: 0 – Taispeánann OSD comhordanáid an iompróra; 1 - Taispeánann OSD comhordanáid na sprice
- B11: 0 – Cúlú uathoibríoch ar an íomhá; 1 – Uathfhreasú ar an íomhá
- B10–B5: in áirithe
- B4: 0 – Gan taifeadadh; 1 – Taifeadadh
- B3: in áirithe
- B2–B0: uint_t – Mód pic-i-phic
Tá Beart 37~68 ar fad 0x00 agus iarrtar ceanntásc mídhleathach fo-fhráma.
Ordú & Aiseolas
| Feidhm | Cód | Cur síos | Rath | Teip |
|---|---|---|---|---|
| Null | 0x00 | Scarann sé orduithe leis an ord céanna | 0x01 0x00 | 0x01 0x01 |
| Calabrú | 0x01 | Ba chóir go bhfanfadh pod statach agus é ag calabrú, ag maireachtáil cúpla soicind. | 0x01 0x00 | 0x01 0x01 |
| Ordú Parm | 0x00 | |||
| Aiseolas | 0x03 | Aiseolas le linn oibríochta | 0x03 0x00 | 0x03 0x01 |
| OSD | 0x06 | Taispeánann OSD córas comhordanáidí: 0x00 le haghaidh Iompróir, 0x01 le haghaidh Spriocanna | 0x06 0x00 | 0x06 0x01 |
| Comhordú | 0x07 | 0x07 0x00 | 0x07 0x01 | |
| Droim ar ais uathoibríoch íomhá | 0x08 | Rialaíonn sé aisiompú uathoibríoch na híomhá. 0x00 ar aghaidh, 0x01 as | 0x08 0x00 | 0x08 0x01 |
| Crios ama | 0x10 | Rialaíonn sé socrú crios ama | 0x10 0x00 | 0x10 0x01 |
| Rialú uillinn 1 | 0x10 | Rialaíonn sé uillinn an phoda (tá gá le luachanna rialaithe ar leith). | 0x10 0x00 | 0x10 0x01 |
| Glas ceann | 0x11 | Filleann an pod go dtí suíomh neodrach gan an modh oibríochta a athrú (modh glasála). | 0x11 0x00 | 0x11 0x01 |
| Ceann a leanúint | 0x12 | Filleann an pod go dtí suíomh neodrach yaw agus an sprioc nó an ceannteideal á leanúint. | 0x12 0x00 | 0x12 0x01 |
| Orthoview mód | 0x13 | Filleann suíomh neodrach yaw gan an modh oibríochta a athrú. | N/B | N/B |
| Modh rian | 0x14 | Filleann Pod suíomh neodrach agus fágann sé an rian agus an sprioc á rianú. | N/B | N/B |
| Mód FPV | 0x15 | Níl aon fhreagra ón pod i mód FPV. | N/B | N/B |
| Rialú uillinn Euler | 0x16 | Glasann Pod uillinneacha Euler agus ní fhreagraíonn sé do rialú. | N/B | N/B |
| Mód Súile | 0x17 | Ní fhreagraíonn Pod do rialú i mód Gaze. | N/B | N/B |
Cur síos ar Mhodhanna Sonracha:
- Ceann Lock & Ceann Lean Mód: Coinníonn an pod a seasamh neodrach (yaw nó pitch) gan modhanna a athrú.
- Orthoview Mód: Níl ach uillinn yaw ar ais, agus ní athraíonn an pod modhanna.
- Mód Rian: Cuirtear suímh neodracha don pháirc agus do mheá ar ais agus iad ag fágáil an mhodh rianaithe.
- Mód FPV, Rialú Uillinn Euler, agus Mód Gaze: Ní fhreagraíonn an pod sna modhanna seo, mar a shonraítear.
| Feidhm | Cód | Cur síos | Rath | Teip |
|---|---|---|---|---|
| Orthoview | 0x13 | Soláthraítear uillinneacha inmhianaithe Euler, agus glasann an pod a uillinneacha Euler reatha nuair a bhíonn na luachanna rialaithe neamhbhailí. | 0x13 0x00 | 0x13 0x01 |
| Rialú uillinn Euler | 0x14 | Uillinneacha inmhianaithe Euler chun páirc agus geáitsíocht a rialú. | 0x14 0x00 | 0x14 0x01 |
| Gaze (Treoir Geo-chomhordanáidí) | 0x15 | Dírítear an pod chuig pointe spéise ar leith agus úsáid á baint as a chomhordanáidí geografacha (domhanfhad, domhanleithead, airde) a sholáthraítear sna luachanna rialaithe. | 0x15 0x00 | 0x15 0x01 |
| Gaze (Geo-chomhordanáidí Glas) | 0x16 | Glasann an pod a shuíomh bunaithe ar chomhordanáidí geografacha (domhanfhad, domhanleithead, airde) agus coinníonn sé radharc seasta. Teastaíonn sonraí bailí INS an iompróra. | 0x16 0x00 | 0x16 0x01 |
| Rian | 0x17 | Cuirtear modh rian i ngníomh trí chomhordanáidí rianaithe a sholáthar agus na luachanna rialaithe a shocrú chun sprioc a rianú. | 0x17 0x00 | 0x17 NN |
Cur síos ar Fheidhmeanna Sonracha:
- Orthoview: Glasáil uillinneacha Euler reatha an choda nuair a bhíonn luachanna rialaithe neamhbhailí.
- Rialú uillinn Euler: Rialú uillinneacha Euler an pod (pit, yaw) go dtí na poist atá ag teastáil.
- Gaze (Treoir Geo-chomhordanáidí): Dírigh an pod i dtreo pointe geografach ar leith agus úsáid á baint as a chomhordanáidí (domhanfhad, domhanleithead, airde). Soláthraítear luachanna rialaithe (PP, QQ, RR) le haghaidh suíomh cruinn.
- Gaze (Geo-chomhordanáidí Glas): Glais sé radharc an choda ar phointe geografach agus rianaíonn sé a shuíomh reatha. Teastaíonn sonraí bailí INS (Córas Támhloingseoireachta) ón iompróir.
- Rian: Tosaíonn nó scoireann rianú sprioc trí chomhordanáidí a shonrú (XO, YO, X1, Y1). Sainmhíníonn na comhordanáidí na hachair chothrománacha agus ingearacha sa spriocfhráma, leis an gcúinne uachtarach ar chlé mar bhunús.
Nótaí:
- Le haghaidh RianIs comhordanáidí iad luachanna , “OX” agus “YO” a sheasann do choirnéil bharr-chlé agus íochtair fhráma an sprice ar an scáileán. Sainmhínítear iad seo i luachanna U16, áit arb é 0 an tionscnamh, agus bogann luachanna dearfacha ar dheis (ais X) agus síos (ais Y).
- Gaze (Geo-chomhordanáidí): Tá sonraí bailí INS iompróra ag teastáil ón pod chun feidhmiú i gceart sna modhanna seo.
Is é an KK/NN(U8) gnáthcheamaraí spreagtha/teip oibríochta. Freagraíonn B7~BO ceamara 8~1. Ciallaíonn giotán áirithe a bheith 1 gurb é an ceamara comhfhreagrach tagged. Le haghaidh example, ciallaíonn 0x03 (00000011) ceamara 1 agus ceamara 2. Is ceamara súmáil solas infheicthe é ceamara 1 de réir réamhshocraithe agus is ceamara teirmeach é ceamara 2 de réir réamhshocraithe.
| Feidhm | Cód | Cur síos | Rath | Teip |
|---|---|---|---|---|
| Cliceáil chun Aidhm | 0x1A | Tá sé mar aidhm ag an pod sprioc atá bunaithe ar chomhordanáidí cothrománacha (XO) agus ingearach (YO) a sholáthraítear. Tá comhordanáidí in U16, áit a bhfuil (0,0) ar bharr na láimhe clé den scáileán agus (10000,10000) ar an mbun ar dheis. | 0x1A 0x00 | 0x1A NN |
| Rian Seachtrach | 0x1B | Rianaíonn an pod an sprioc bunaithe ar luachanna achair chothrománacha agus ingearacha (PP, WW). Léiríonn na luachanna seo suíomh an sprice i gcoibhneas le lár an scáileáin. | 0x1B 0x00 | 0x1B NN |
| Rialú Uillinn 2 | 0×1C | Coigeartaíonn an pod a uillinneacha coibhneasta leis an iompróir, ag leanúint an iompróra fad a bhíonn na luachanna rialaithe neamhbhailí. | 0x1C 0x00 | 0x1C 0x01 |
| Comhla (Taifead Tosaigh) | 0x20 | Tosaíonn taifeadadh. | 0x20 0x00 | 0x20 0x01 |
| Comhla (Stop Recording) | 0x21 | Stopann an taifeadadh. | 0x21 0x00 | 0x21 0x01 |
| Súmáil Isteach go Leanúnach | 0x22 | Súmáil isteach go leanúnach. | 0x22 0x00 | 0x22 NN |
| Súmáil Amach go Leanúnach | 0x23 | Go leanúnach zúmáil amach. | 0x23 0x00 | 0x23 NN |
| Zoom Stop | 0x24 | Stopann an fheidhm súmáil. | 0x24 0x00 | 0x24 NN |
Cur síos ar Fheidhmeanna Sonracha:
- Cliceáil chun Aidhm (0x1A): Tá sé mar aidhm ag an pod sprioc ar leith atá bunaithe ar chomhordanáidí. Soláthraítear na comhordanáidí seo mar luachanna U16, áit a bhfuil (0,0) an barr ar chlé agus (10000,10000) an cúinne ag bun ar dheis an scáileáin.
- Rian Seachtrach (0x1B): Rianaíonn an pod an sprioc bunaithe ar na luachanna missistance (PP agus WW), a léiríonn cé chomh fada agus atá an sprioc ó lár an scáileáin. Tosaíonn an modh rianaithe leis an ordú “Tosaigh rianú” (0x02) agus féadann sé imeacht le “Rianú scoir” (0x00).
- Rialú Uillinn 2 (0x1C): Coigeartaíonn an pod a uillinneacha coibhneasta leis an iompróir, rud a ligeann dó gluaiseacht an iompróra a leanúint agus na luachanna rialaithe neamhbhailí.
- Comhla (Taifead Tosaigh - 0x20): Tosaíonn sé ag taifeadadh an fotha físeáin.
- Comhla (Stop Taifeadadh - 0x21): Stopann sé ag taifeadadh an fhotha físeáin.
- Súmáil Isteach go Leanúnach (0x22): Súmálann an pod isteach go leanúnach.
- Súmáil Amach go Leanúnach (0x23): Súmálann an pod amach go leanúnach.
- Stad Zúmála (0x24): Cuireann sé stop leis an bhfeidhm súmáil, rud a chuireann deireadh le haon oibríochtaí súmáil isteach nó amach.
Nótaí:
- Rian Seachtrach (0x1B): Is ionann na luachanna PP agus WW agus achar mícheart cothrománach agus ingearach an sprice. Tá an tionscnamh ag lár an scáileáin, agus léiríonn na luachanna suíomh coibhneasta.
- Feidhmeanna Súmála (0x22, 0x23, 0x24): Ligeann siad seo súmáil isteach nó amach go leanúnach agus stop a chur leis an oibríocht súmáil.
Is é an KK/NN(U8) gnáthcheamaraí spreagtha/teip oibríochta. Freagraíonn B7~B0 ceamara 8~1. Ciallaíonn giotán áirithe a bheith 1 gurb é an ceamara comhfhreagrach tagged. Le haghaidh example, ciallaíonn 0x03 (00000011) ceamara 1 agus ceamara 2 is ceamara súmáil infheicthe-éadrom de réir réamhshocraithe agus ceamara 2 ceamara teirmeach de réir réamhshocraithe.
| Feidhm | Ordú Parm | Cur síos | Rath | Teip |
|---|---|---|---|---|
| Súmáil go Ráta Sonraithe | 0x25 | Súmáil ag ráta sonraithe, le luachanna idir -32768 (uas-súmáil) go 10000 (íosmhéid súmáil). Léiríonn luachanna diúltacha rátaí súmáil (m.sh., -10 le haghaidh 1x, -150 le haghaidh 15x, -300 le haghaidh 30x). | 0x25 0x00 | 0x25 NN |
| Fócas | 0x26 | Feidhmiúlacht rialaithe fócas. | 0x26 0x00 | 0x26 0x01 |
| Mód Pailéad | 0x2A | Coigeartaigh an modh pailéad atá ag teastáil, áit a gcomhfhreagraíonn 0x00 don chéad rogha pailéad eile, 0x01 le haghaidh mód ar leith, etc. | 0x2A 0x00 | 0x2A 0x02 |
| Fís Oíche | 0x2B | Rialú mód fís oíche. 0x00 le haghaidh as, 0x01 ar aghaidh, agus 0x02 le haghaidh gluaisteán. | 0x2B 0x00 | 0x2B 0x01 |
| Tomhas Teochta Limistéir | 0x30 | Tomhas teocht an limistéir rialaithe. 0x00 le haghaidh as, 0x01 le haghaidh ar. | 0x30 0x00 | 0x30 NN |
| Foláireamh Teochta | 0x31 | Socraigh tairseacha foláirimh teochta. Áirítear leis seo teochtaí airde (HH) agus íseal (LL) le taifeach 0.1°C. | 0x31 0x00 | 0x31 NN |
| Isotherm | 0x32 | Cumasaigh nó díchumasaigh mód isotherm. 0x00 le haghaidh as, 0x01 le haghaidh seach-eatramh, agus 0x02 le haghaidh mód eatraimh. Socraítear tairseacha teochta ard/íseal (HH, LL) le taifeach 0.1°C. | 0x32 0x00 | 0x32 NN |
| Tomhas Teochta Spota | 0x33 | Rialú tomhas teocht an láthair. 0x00 le haghaidh as, 0x01 le haghaidh ar. Sainmhíníonn comhordanáidí (XO, YO) an pointe tomhais. | 0x33 0x00 | 0x33 NN |
| OSD (Taispeántas Ar-Scáileán) | 0x73 | Rialú ar an taispeáint ar an scáileán. 0x00 le taispeáint, 0x01 le cur i bhfolach. | 0x73 0x00 | 0x73 0x01 |
| Pic-i-Pic | 0x74 | Rialú mód pictiúr-i-pictiúr (PIP). Freagraíonn luachanna idir 0x00 agus 0x04 do na modhanna PIP atá ar fáil. | 0x74 0x00 | 0x74 0x01 |
Cur síos ar Fheidhmeanna Sonracha:
- Súmáil go Ráta Sonraithe (0x25): Rialaíonn sé an leibhéal súmáil isteach, agus an ráta curtha ar fáil i bhformáid ar leith áit a léiríonn luachanna diúltacha rátaí súmáil (m.sh., -10 le haghaidh súmáil isteach 1x, -150 le haghaidh súmáil 15x, etc.), agus sainmhíníonn luachanna dearfacha an raon ráta súmáil isteach.
- Fócas (0x26): Coigeartaíonn fócas an chórais.
- Mód Pailéad (0x2A): Athraíonn sé an modh pailéad a úsáideann an córas. Roghnaítear an modh de réir roghanna uimhriúla cosúil le 0x00 don chéad rogha pailéad eile agus 0x01 don mhodh reatha.
- Fís Oíche (0x2B): Rialaíonn sé an ghné fís oíche, rud a chumasú i modhanna éagsúla (as, ar, nó uathoibríoch).
- Tomhas Teochta Achair (0x30): Ceadaíonn sé do thomhas teochta thar limistéar sonraithe, arna rialú ag comhordanáidí (XO, YO, etc.).
- Foláireamh Teochta (0x31): Socraíonn sé na tairseacha teocht ard agus íseal le haghaidh foláirimh.
- Isotherm (0x32): Cumasaíonn sé mód isotherm, a dhéanann monatóireacht ar réimsí laistigh de raon teochta sonraithe, le modhanna eatramh agus tairseacha.
- Tomhas Teochta Spota (0x33): Cumasaíonn sé tomhas teochta spot ag pointe ar leith ar an scáileán.
- OSD (0x73): Rialaíonn sé infheictheacht an taispeántais ar an scáileán (taispeáin/folaigh).
- Pic i bPic (0x74): Rialaíonn sé an fheidhmiúlacht pictiúr-i-pictiúr, ag tairiscint modhanna éagsúla taispeána.
Is é an KK/NN(U8) gnáthcheamaraí spreagtha/teip oibríochta. B7~B0 Ceamara súmáil infheicthe is ea Ceamara 1 de réir réamhshocraithe agus ceamara teirmeach is ea ceamara 2 de réir réamhshocraithe.
Seo tábla a dhéanann achoimre ar na feidhmeanna nua agus ar a sonraí:
| Feidhm | Ordú Parm | Cur síos | Rath | Teip |
|---|---|---|---|---|
| Brath Sprioc | 0x75 | Cumasaigh nó díchumasaigh braite sprice. 0x00 le haghaidh as, 0x01 le haghaidh ar. | 0x75 0x00 | 0x75 0x01 |
| Ceamara Zúmáil | 0x76 | Rialú súmáil digiteach. 0x00 le haghaidh as, 0x01 le haghaidh ar. | 0x76 0x00 | 0x76 0x01 |
| Déine Soilsiú | 0x80 | Coigeartaigh an déine soilsithe. Luachanna ó 0 go 255, le 0 gan soilsiú agus 255 mar uasdéine. | 0x80 0x00 | 0x80 0x01 |
| Rangú | 0x81 | Cumasaigh nó díchumasaigh raon. 0x00 le haghaidh as, 0x02 le haghaidh ar. | 0x81 0x00 | 0x81 0x01 |
Cur síos ar Fheidhmeanna Sonracha:
- Brath sprice (0x75): Rialaíonn an bhfuil braite sprice gníomhach nó neamhghníomhach. Úsáidtear an ghné seo chun rudaí nó réimsí sonracha a bhrath, ag brath ar chumais an chórais.
0x00– Tá braite sprice múchta.0x01– Tá braite sprice ar siúl.
- Ceamara Súmála (0x76): Gníomhachtaíonn nó díghníomhachtaítear súmáil digiteach le haghaidh feidhmiúlacht ceamara.
0x00– Tá súmáil digiteach múchta.0x01– Tá súmáil digiteach ar siúl.
- Déine Soilsiú (0x80): Coigeartaíonn sé déine an soilsithe. Socraítear an déine le luach 8-giotán, ag réimsiú ó
0(gan solas) chun255(déine uasta).- Luachanna:
0– Gan soilsiú;255– Soilsiú uasta.
- Luachanna:
- Raon (0x81): Gníomhachtaíonn nó díghníomhaíonn sé feidhmiúlacht raon. Is féidir raonta a úsáid chun faid a thomhas nó chun limistéir a léarscáiliú.
0x00– Tá an raon múchta.0x02– Tá an raon ar siúl.
Má chuirtear solas ar siúl, cuirfear fís oíche ar siúl ag an am céanna. Ní mhúchfar solas oíche.
Feidhm CRC
uint16_t CalculateCrc16(uint8_t *ptr,uint8_t len) { uint16_t crc; uint8_t da; uint16_t crc_ta[16]={ 0x0000,0x1021,0x2042,0x3063,0x4084,0x50a5,0x60c6,0x70e7, 0x8108,0x9129,0xa14a,0xb16b,0xc18c,0xd1ad,0xe1ce,0xf1ef, }; crc=0; while(len–!=0)
{ da=crc>> 12; crc<<=4; crc^=crc_ta[da^(*ptr>>4)]; da=crc>>12; crc<<=4; crc^=crc_ta[da^(*ptr&0x0F)]; ptr++; } tuairisceán(crc);
Foscríbhinn 1 Example of Claochlú Fráma Sonraí ó Ríomhaire Óstach
| Beart | 0 | 1 | 2-3 | 4 | 5-6 | 7-8 | 9-10 | 11 | 12-13 | 14-15 | 16-17 | 18-19 | 20-21 | 22-23 | 24-25 | 26-27 | 28-29 | 30 | 31-36 | 37 | 38-41 | 42-45 | 46-49 | Ábhar |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Sonraí Bunaidh | OXA8 | Ceanntásc | 0xE5 | Fad Pacáiste | 72 | Leagan Prótacail | 0x01 | Luach Rialaithe Rolla | 100 | Luach Rialaithe Pitch | -100 | Luach Rialaithe Yaw | 0x05 | Rialú Luach Bailí | dealbh | INS an iompróra Bailí | Uillinn Rolla Absalóideach | -11.3213° | Uillinn pháirc iomlán | 1.01° | Uillinn Yaw Absalóideach | 240° | Luasghéarú Iompróir | 1.123m/s² |
| Beart | Ábhar | Sonraí Bunaidh | Cruinneas nó Tiontú Dénártha (Little-endian) | Heicsidheachúlach (Little-endian) | Heicsidheachúlach (Big-endian) |
|---|---|---|---|---|---|
| 50 | Satailítí ar Fáil | 19 | 19 | 13 | 19 |
| 51-54 | Micreasecond GNSS | 352718000 | 352718000 | 00 06 15 B0 | 00 06 15 B0 |
| 55-56 | Seachtain GNSS | 2278 | 2278 | E6 08 | E6 08 |
| 57-60 | Airde Coibhneasta | 12.12m | 12120 | 58 2F 00 00 | 58 2F 00 00 |
| 61-68 | Curtha in áirithe | 00 00 00 00 00 00 | 00 00 00 00 00 00 | 00 00 00 00 00 00 | 00 00 00 00 00 00 |
| 69 | Ordú Neamhspleách | 0x00 | 00 | 00 | 00 |
| 70-71 | CRC | N/B | N/B | E9 D4 | E9 D4 |
An pacáiste sonraí iomlán ón ríomhaire óstach: A8 E5 48 00 01 00 00 64 00 9C FF 05 94 FB 65 00 C0 5D 70 00 90 FF 70 00 40 80 C0 F7 40 80 01 00 00 00DF 00 00 00 01 EE AA 24 A2 A65 16 16 3 B0 00C 00 13 E0 0 06 15F 6 08 58 2 00 00 00 00 00 00 00 E00 D00
Foscríbhinn 2 Example de Chlaochlú an Fhráma Sonraí ó GCU
An pacáiste sonraí iomlán ó GCU: 8A 5E 49 00 02 12 01 80 0C FE F4 01 LL FC 20 00 4A 18 FF FF A5 03 47 18 FF FF 01 00 FE FF 00 00 00 00 00 00 00 01 1F 32 29 00 00 06 17 F00 DF 00 24 EE AA 2 A65 A16 16 3 0B 00 00 2 01 14 00 00 00 00 08 00 EC 00
| Beart | Ábhar | Sonraí Bunaidh (Heicsidheachúlach) | Sonraí Parsáilte |
|---|---|---|---|
| 1 | Ceanntásc | A8 | A8 |
| 2~3 | Fad Pacáiste | 5E 49 | 73 |
| 4 | Leagan Prótacail | 00 | 0.2 |
| 5 | Modh Oibriúcháin Pod | 02 | Ceann a leanúint |
| 6~7 | Dealbh Pod | 01 80 | 0000 0001 1000 0000 |
| 8-9 | Spriocanna cothrománach ar iarraidh | OC FE | Ag dul ar aghaidh. |
| 10~11 | Sprioc ingearach in easnamh | f4 01 | Raon agus comhordanáidí sprice bailí |
| 12~13 | Uillinn choibhneasta an cheamara X-ais | DD FC | -500 |
| 14~15 | Uillinn choibhneasta an cheamara Y-ais | 20 00 | 500 |
| 16~17 | Uillinn choibhneasta an cheamara Z-ais | 4A 18 | -8.03° |
| 18~19 | Uillinn rolla iomlán an cheamara | FF FF | 0.32° |
| 20~21 | Uillinn pháirce iomlán an cheamara | A5 03 | 62.18° |
| 22~23 | Uillinn iomlán yaw an cheamara | 47 18 | -0.01° |
| 24~25 | X-ais treoluas uilleach absalóideach an cheamara | FF FF | 19.33° |
| 26~27 | Ais-Y treoluas uilleach iomlán an cheamara | 01 00 | 62.15° |
| 28~29 | Z-ais treoluas uilleach iomlán an cheamara | FE FF | -0.1 céim/s |
| 30~36 | Curtha in áirithe | 00 00 00 00 00 00 | 0.1 céim/s |
| 37 | Fo-cheannteideal | 00 | -0.2 céim/s |
| 38 | Leagan crua-earraí | 00 | 5.0 |
| 39 | Leagan firmware | 00 | D-90AI |
| 40 | Cóid pod | 00 | 589.4m |
| 41~42 | Cód earráide | 00 00 | 170.917533212 |
| 43~46 | Fad ón sprioc | 01 2B 01 | 38.030082231 |
| 47~50 | Domhanfhad na sprice | 00 00 00 00 | 41.1231m |
| 51~55 | Domhanleithead na sprice | 00 00 00 00 | 29.9x |
| 55~58 | Airde an sprice | 06 17 00 00 | |
| 59~60 | Ráta súmála reatha an cheamara | 24 F2 DF 65 | |
| 61~62 | Curtha in áirithe | 16 EE AA 16 |
| Beart | Ábhar | Sonraí Bunaidh (Heicsidheachúlach) | Sonraí Parsáilte |
|---|---|---|---|
| 61~62 | Ráta reatha súmála ceamara 2 | 14 00 | 2x |
| 63 | Dealbh ceamara teirmeach | 00 | UTC+8 |
| 64~65 | Dealbh ceamara | 00 00 | Rath cróluas |
| 66 | Crios ama | 08 | |
| 67~68 | Curtha in áirithe | 00 00 | |
| 69~70 | Aiseolas | 20 00 | |
| 71~72 | CRC | CE 85 |
Aguisín 3 Sainmhíniú ar Chóras Comhordaithe an Iompróra
Aguisín 4 Sainmhíniú ar Chóras Comhordanáidí an Cheamara agus Ordú Rothlaigh
- Comhordú a dhéanamh ar shainmhíniú an chórais
Ba cheart go dtarraingeodh calafort rialaithe an phota go barda diúltach X an iompróra. Tá an dampBa chóir go mbeadh an t-ardán comhthreomhar le plána XOY an iompróra. Ba chóir an pod a fheistiú chomh gar agus is féidir do CG an iompróra. - Ordú rothlaigh: Z → Y → X.
- claochlú uillinneacha:
- Sainmhínigh:
- CamPHi: Uillinn rolla iomlán an cheamara (Príomhfhráma sonraí ó GCU, beart 18~19)
- CamThe: Uillinn tuinne iomlán an cheamara (Príomhfhráma sonraí ó GCU, beart 20~21)
- CamPsi: Uillinn iomlán an cheamara yaw (Príomhfhráma sonraí ó GCU, beart 22~23)
- UillinnX: X-ais uillinn iomlán an cheamara
- Uillinn: Y-ais uillinn iomlán an cheamara
- AngleZ: Z-ais uillinn iomlán an cheamara
- Déantar na paraiméadair thuas a chlaochlú mar atá thíos
- UillinnZ += 90;
- WARP (AngleZ , 360);
- CamPhi = +AngleY;
- CamThe = -AngleX;
- CamPsi = +AngleZ;
- Sainmhínigh:
Foscríbhinn 5 Example Pacáiste Sonraí
- Ordú null
A8 E5 48 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 FD 00 - Rialú pitch (coimeád modh rialaithe reatha, luach rialaithe 100)
A8 E5 48 00 02 00 00 64 00 00 00 04 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 E00 00F - Rialú pitch (coimeád modh rialaithe reatha, luach rialaithe -100)
A8 E5 48 00 02 00 00 9C FF 00 00 04 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00F 00E - Rialú yaw (coimeád modh rialaithe reatha, luach rialaithe 1000)
A8 E5 48 00 02 00 00 00 00 E8 03 04 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 DC 00 - Neodrach
A8 E5 48 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 CD 00 - Taispeánann OSD comhordanáid an iompróra
A8 E5 49 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 E - Taispeánann OSD comhordanáid na sprice
A8 E5 49 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 F - Cúlú uathoibríoch ar an íomhá
A8 E5 49 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 D - Uath-aisiompú an íomhá
A8 E5 49 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 C - Socrú crios ama (UTC-2)
A8 E5 49 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 FE CA D00 - Rialú uillinne 1 (luachanna rialaithe neamhbhailí)
A8 E5 48 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 - Rialú uillinn 1 (uillinn Euler: rolla 0° , páirc 45° , yaw 60° )
A8 E5 48 00 02 00 00 94 11 70 17 04 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00A - Rialú uillinn 1 (uillinn Euler: rolla 20° , páirc 0° , yaw 0° )
A8 E5 48 00 02 D0 07 00 00 00 00 04 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 F00 - Glas cinn (luachanna rialaithe neamhbhailí)
A8 E5 48 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 - Glas cinn (treoluas uilleach coibhneasta +10° /s)
A8 E5 48 00 02 00 00 00 00 E8 03 04 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 DE 00 - Lean ceann (luachanna rialaithe neamhbhailí)
A8 E5 48 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 CF 00 - Orthoview (luachanna rialaithe neamhbhailí)
A8 E5 48 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 DF 00 - Rialú uillinne Euler (luachanna rialaithe neamhbhailí)
A8 E5 48 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 - Rialú uillinn Euler (uillinn Euler: rolla 0° , páirc -45° , yaw 0° )
A8 E5 48 00 02 00 00 6C EE 00 00 04 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 A00 00A - Tosaigh rianú (X0=100, Y0=100, X1=105, Y1=105)
A8 E5 52 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 17 01 01 64 00 64 - Rianú scoir
A8 E5 52 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 17 01 CB 00 - Cliceáil chun aidhm (X=100, Y=100)
A8 E5 4D 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00A 00 00 00 AF - Cliceáil chun aidhm (X=5000, Y=5000)
A8 E5 4D 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00A 00 00 EE - Cliceáil chun aidhm (X=10000, Y=10000)
A8 E5 4D 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 - Cliceáil chun aidhm (X=10000, Y=5000)
A8 E5 4D 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 F - Rian seachtrach (X=100, Y=20)
A8 E5 4E 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00B 00 FF00 - Rialú uillinne 2 (luachanna rialaithe neamhbhailí)
A8 E5 48 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00C 00E AE - Comhla
A8 E5 49 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00B00 - Tosaigh/stop an taifeadadh
A8 E5 49 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 - Déanann ceamara 1 zúmáil isteach go leanúnach
A8 E5 49 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 - Déanann ceamara 1 súmáil amach go leanúnach
A8 E5 49 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00E - Stopadh ceamara 1 ag súmáil
A8 E5 49 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 - Súmálann ceamara 1 go dtí an ráta sonraithe (5000, comhfhreagraíonn sé do leath an uasráta)
A8 E5 4B 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00C - Súmáileann gach ceamara go ráta sonraithe (1.0x)
A8 E5 4B 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 F00 FF00 F00 - Súmáileann gach ceamara go ráta sonraithe (5.5x)
A8 E5 4B 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 E00 CFF00 FF00 - Súmálann ceamara 1 go dtí an ráta sonraithe (60.3x)
A8 E5 4B 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 DC - Fócas
A8 E5 49 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 CA - An chéad rogha pailéad eile
A8 E5 4A 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00B 00 E - Modh pailéad 3
A8 E5 4A 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00A 00 BB 00 - Fís oíche ar
A8 E5 4A 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00B 00 A - Fís oíche múchta
A8 E5 4A 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 E00 00 - Tomhas teocht an achair ar (X0=4000, Y0=4000, X1=6000, Y1=6000)
A8 E5 52 00 02 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00F00 A00 BE 00D - Tomhas teocht an limistéir as
A8 E5 52 00 02 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 30 02 00 00 00 00 - Rabhadh teochta ar (teocht ard-rabhaidh 30.2 ° C, teocht íseal airdeall 20.0 ° C)
A8 E5 4E 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 E 00 - Múchadh an foláireamh teochta
A8 E5 4E 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 C - Isotherm ar (modh eatramh, 15.0° C ~ 25.2° C)
A8 E5 4E 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 FC00 FA - Isotherm as
A8 E5 4E 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 FC - Tomhas teochta spota ar (X=4000, Y=5000)
A8 E5 4E 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00D - Tá tomhas teochta spota múchta
A8 E5 4E 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00B - OSD ar
A8 E5 49 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 B - OSD as
A8 E5 49 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 A - An chéad rogha eile pic-i-phic
A8 E5 49 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 - Mód pic-i-phic 3
A8 E5 49 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 B - Brath spriocanna ar
A8 E5 49 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 AA - Díchumasaíodh braite sprice
A8 E5 49 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 BA - Súmáil ceamara digiteach súmáil ar
A8 E5 49 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 FF - Ceamara súmáil súmáil digiteach as
A8 E5 49 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 - 00 EF 54
- Soilsiú ar siúl (255)
A8 E5 49 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 FF - Lasadh as
A8 E5 49 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 - Leanúnach ag réimsiú ar
A8 E5 49 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 - Go leanúnach ag raon amach
A8 E5 49 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
Aguisín 6 Feidhm tiontaithe ama GPS & UTC (gan próiseáil an dara léim)
const statach uint16_t gpst0[] = {1980, 1, 6, 0, 0, 0}; uint64_t epoch2time(const uint16_t *ep) { const uint16_t _day[] = {1, 32, 60, 91, 121, 152, 182, 213, 244, 274, 305, 335}; uint64_t soicind = 0; uint16_t lá, bliain = ep[0], mon = ep[1], lá = ep[2]; más rud é (bliain < 1970 || 2099 < bliain || mon < 1 || 12 < mon) soicind fillte; /* bliain bhisigh más bliain% 4==0 i 1901-2099 */ laethanta=(bliain-1970)*365+(bliain-1969)/4+_lá[mon-1]+lá-2+(bliain%4==0 &&mon>=3?1:0); soicind = urlár (ep[5]); soicind = (uint64_t)laethanta * 86400 + ep[3] * 3600 + seal[4] * 60 + soicind; soicind ar ais; } uint64_t gpst2time(int16_t seachtain, uint32_t sec){ uint64_t t = epoch2time(gpst0); má tá (soic < -1E9 || 1E9 < soic) soic = 0.0; t += 86400 * 7 * seachtain + soic; filleadh t; } uint8_t time2gps(am uint64_t, int16_t *seachtain, uint32_t *msec){ uint64_t t = epoch2time(gpst0); t = am – t; * seachtain = t / 604800; // 604800=7*86400 *msec = (t % 604800) * 1000; filleadh 1; }
Aguisín 7 Cód an Phoill
| Cód | Múnla |
|---|---|
| 0 | Z-6A |
| 2 | Z-6C |
| 3 | M-2400G2 |
| 21 | Z-8TA |
| 22 | Z-8TB |
| 24 | Z-8RA |
| 25 | Z-8RB |
| 26 | Z-8RC |
| 27 | Z-8LA |
| 30 | Z-9A |
| 31 | Z-9B |
| 40 | D-80AI |
| 41 | D-90AI |
| 44 | D-80Pro |
| 45 | D-90Pro |
| 49 | Z-1PRO |
| 50 | Z-1MINI |
| 51 | Z-2PRO |
| 52 | Z-2MINI |
| 53 | D-125AI |
| 54 | D-150AI |
| 55 | D-90DE |
| 56 | D-115AI |
Nanjing XIANFEI CO TEICNEOLAÍOCHTA robot, TEO.
CCanna
C: Cad é cuspóir an phrótacail phríobháideach a úsáideann an GCU?
A: Cinntíonn an prótacal príobháideach cumarsáid shlán agus éifeachtach idir an GCU agus feistí nasctha.
C: Conas is féidir liom an leagan prótacail den GCU a nuashonrú?
A: Chun an leagan prótacail a nuashonrú, féach ar an lámhleabhar táirge le haghaidh treoracha sonracha a sholáthraíonn an monaróir.
Doiciméid / Acmhainní
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Robot XF(A5) V2.0.5 GCU Prótacal Príobháideach [pdfTreoir Úsáideora XF A5 V2.0.5, XF A5 V2.0.1, XF A5 V2.0.2, XF A5 V2.0.5 GCU Prótacal Príobháideach, XF A5 V2.0.5, Prótacal Príobháideach GCU, Prótacal Príobháideach, Prótacal |