Pròtacal Prìobhaideach Robot XF(A5) V2.0.5 GCU
Sònrachaidhean
- Sgrìobhainn Tionndadh: v2.0.5
- Pròtacal Tionndadh: v0.1
Fiosrachadh toraidh
Bidh an GCU (Aonad Smachd Coitcheann) ag obair air protocol prìobhaideach agus a’ tabhann grunn fheartan agus leasachaidhean a rèir eachdraidh an ath-sgrùdaidh:
Feartan:
- Bidh UART baudrate ag atharrachadh gu fèin-fhreagarrach
- Cuir modh TCP Server ann an conaltradh lìonra
- Cuir dreach protocol a-steach don phasgan dàta
- Leasachaidhean ann am frèaman dàta airson gach cuid coimpiutair aoigheachd agus GCU
- Leasachaidhean àithne & fios air ais
- Example ath-nuadhachadh pacaid dàta
Stiùireadh airson cleachdadh bathar
Prìomh Frèam Dàta bho Host Computer
- Cuir ris a’ cheàrn Euler a tha thu ag iarraidh agus an ceàrn càirdeach a tha thu ag iarraidh a-steach do luach smachd rolla / pitch / yaw (byte 5 ~ 10)
- Cuir èifeachdas meud smachd (beagan B2) san ìomhaigh (byte 11)
Prìomh fhrèam dàta bho GCU
- Cuir modh FPV agus modh smachd ceàrn Euler a-steach don ìomhaigh pod (byte 5)
- Thoir às am modh nochdaidh (bit B11) bho ìomhaigh camara (byte 6 ~ 7)
Frèam fo-dàta bho Host Computer
- Sguab às an astar bhon Dachaigh (byte 57 ~ 60)
- Cuir àirde coimeasach ris (byte 57 ~ 60)
Eachdraidh Ath-sgrùdaidh
| Ceann-latha | Tionndadh Sgrìobhainn | Tionndadh protocol |
| 2023.06.19 | v2.0 | – |
| Ceann-latha | Tionndadh Sgrìobhainn | Tionndadh protocol |
| 2023.08.09
1. UART baudrate cha |
v2.0.1
steach gu fèin-fhreagarrach. Ad |
v0.0
d Modh frithealaiche TCP a-steach |
- Bidh UART baudrate ag atharrachadh gu fèin-fhreagarrach. Cuir modh TCP Server ann an conaltradh lìonra. [P1]
- Cuir dreach protocol a-steach don phasgan dàta. Ceartaich mearachd bann-cinn sa phacaid bho GCU. [P2]
- Prìomh fhrèam dàta bhon choimpiutair aoigheachd:
- Cuir ris a’ cheàrn Euler a tha thu ag iarraidh agus an ceàrn càirdeach a tha thu ag iarraidh a-steach do luach smachd rolla / pitch / yaw (byte 5 ~ 10); [P3]
- Cuir èifeachd tomhasan smachd (beagan B2) san ìomhaigh (byte 11). [P3]
- Frèam fo-dàta bhon choimpiutair aoigheachd:
- Sguab às astar bhon Dachaigh (byte 57 ~ 60); [P4]
- Cuir àirde coimeasach ris (byte 57 ~ 60). [P4]
- Prìomh fhrèam dàta bho GCU:
- Cuir modh FPV agus modh smachd ceàrn Euler a-steach don ìomhaigh pod (byte 5); [P5]
- Thoir às am modh nochdaidh (bit B11) bho ìomhaigh camara (byte 6 ~ 7). [P5]
- Frèam fo-dàta bho GCU:
- Sguab às susbaint byte 59~61; [P6]
- Cuir ris an ìre zoom gnàthach de chamara 1 (byte 59 ~ 60) agus camara 2 (byte 61 ~ 62). [P6]
- Òrdugh & Fios air ais:
- Cuir ris tuairisgeul air àithne null; [P7]
- Cuir òrdugh air modh FPV, modh smachd ceàrn Euler, modh tracadh taobh a-muigh agus OSD; [P7~P9]
- Tuairisgeul mionaideach air modh seallaidh; [P8]
- Atharraich crìochan còmhlachan, clàr, fòcas, paileas agus àithne lèirsinn oidhche. [P8~P9]
- Ath-nuadhaich example pasgan dàta. [P11~P16]
| Ceann-latha | Tionndadh Sgrìobhainn | Tionndadh protocol |
| 2023.10.12 | v2.0.2 | v0.1 |
- Cuir mìneachadh a-steach air òrdugh byte den phròtacal. [P2]
- Prìomh fhrèam dàta bhon choimpiutair aoigheachd:
- Cuir mìneachadh siostam co-òrdanachaidh ris an tuairisgeul air làn rolla, pitch agus yaw ceàrn an neach-giùlain (byte 12 ~ 17). [P3]
- Prìomh fhrèam dàta bho GCU:
- Cuir ìomhaigh solais (bit B10) a-steach don ìomhaigh camara (bit B10). [P5]
- Ceartaich am mearachd a thaobh stiùireadh axis co-òrdanachaidh (“suas mar adhartach” → “sìos mar adhartach”) de targaid dìreach a dhìth (byte 10 ~ 11). [P5]
- Cuir raon luach ris an tuairisgeul air targaid X-ward / Y-ward a tha a dhìth (byte 8 ~ 11). [P5]
- Cuir a-steach mìneachadh siostam co-òrdanachaidh agus cuir òrdugh cuairteachaidh gu tuairisgeul air astar ceàrnach iomlan a’ chamara X-axis / Y-axis / Z-axis (byte 24 ~ 29). [P5]
- Òrdugh & Fios air ais:
- Atharraich mìneachaidhean air luachan smachd ann an tuairisgeulan air modh FPV, modh glas-cinn agus modh leanmhainn cinn. [P7]
- Ceartaich mearachd fios-air-ais meallta (“0x015 0x01″→”0x15 0x01”) ann am modh seallaidh (treòr co-chomharran geo). [P8]
- Cuir co-chomharran oisean clì gu h-àrd am frèam targaid agus oisean gu h-ìosal air an làimh dheis a-steach don tuairisgeul air modh slighe. [P8]
- Cuir co-chomharran ris an oisean gu h-àrd air an taobh chlì agus an oisean gu h-ìosal air an làimh dheis ann an tuairisgeul air àithne cliog gus amas. [P8]
- Cuir ris na tha a dhìth air meadhan an sgrion, an oisean gu h-àrd air an taobh chlì agus an oisean gu h-ìosal air an làimh dheis ann an tuairisgeul air modh slighe a-muigh. [P9]
- Cuir pàipear-taice 1 ris: example cruth-atharrachadh frèam dàta bho choimpiutair aoigheachd. [P12]
- Cuir pàipear-taice 2 ris: mìneachadh air siostam co-òrdanachaidh neach-giùlain. [P13]
- Cuir pàipear-taice 3 ris: mìneachadh air siostam co-òrdanachaidh a’ chamara agus òrdugh cuairteachaidh. [P14]
- Cuir pàipear-taice 5 ris: Ùine GPS & gnìomh tionndaidh UTC.[P21]
| Ceann-latha | Tionndadh Sgrìobhainn | Tionndadh protocol |
| 2024.06.20 | v2.0.5 | v0.1 |
- Prìomh fhrèam dàta bho choimpiutair aoigheachd:
- Cuir a-steach mìneachadh mu èifeachd luach smachd (bit B2) ann an tuairisgeul air an ìomhaigh (byte 11). [P3]
- Prìomh fhrèam dàta bho GCU:
- Ath-ainmich FPV gu smachd ceàrn 1 agus cuir smachd ceàrn 2 ann am modh obrachaidh pod (byte 5). [P5]
- Ath-ainmich ìomhaigh camara (byte 6 ~ 7) gu ìomhaigh pod. [P5]
- Frèam fo-dàta bho GCU:
- Cuir còd mearachd ris (byte 41 ~ 42). [P6]
- Cuir ìomhaigh camara teirmeach ris (byte 63). [P6]
- Cuir ìomhaigh camara ris (byte 64 ~ 65). [P7]
- Cuir sòn ùine ris (byte 66). [P7]
- Òrdugh & Fios air ais:
- Cuir òrdughan co-òrdanachaidh OSD, cùl ìomhaigh fèin-ghluasadach agus suidheachadh sòn ùine. [P8]
- Atharraich tuairisgeulan air smachd ceàrn 1 (FPV tùsail), lean ceann agus smachd ceàrn Euler. [P8]
- Cuir ris àithne smachd ceàrn 2. [P10]
- Atharraich an raon paramadair de palatte ([0,100] -> [0,10]). [P11]
- Cuir a-steach òrdughan mu thomhas teòthachd sgìre, rabhadh teòthachd, isotherm agus tomhas teòthachd spot. [P11~P12]
- Cuir gnìomh gluasad gu modh sònraichte ann am pic-in-pic. [P12]
- Cuir òrdughan lorg targaid agus zoom camara didseatach zoom. [P13]
- Cuir Pàipear-taice 2 ris: Example de Atharrachadh Frèam Dàta bho GCU. [P16~P18]
- Ath-nuadhaich Pàipear-taice 5: Example Pasgan Dàta. [P20~P28]
- Cuir Pàipear-taice 7 ris: Còd Pod. [P30]
Rèiteachadh Port
Rèiteachadh UART
- Ìre UART: TTL
- Feartan dàta: 8
- Pàirtean stad: 1
- Co-ionannachd: Chan eil
- Modh conaltraidh: làn duplex
- Ìre: 115200, 250000, 500000 agus 1000000.
- Tricead conaltraidh: Is e an raon tricead conaltraidh a thathar a’ moladh 30 ~ 50Hz. Mar as àirde am tricead, is ann as fheàrr a bhios a’ bhuaidh smachd. Cha bu chòir tricead ro ìosal no stad dàta a bhith ann. Cha bu chòir gum biodh BUS leisg ann an aon phasgan dàta.
Rèiteachadh lìonra
- Modh UDP: Is e am port stòr 2337 agus is e an ceann-uidhe bunaiteach an seòladh craolaidh LAN. Is e am port targaid 2338.
- Modh TCP Server: Bu chòir an ceann eile a shuidheachadh gu modh TCP Clint.
Bu chòir an seòladh IP iomallach a bhith co-ionann ri GCU, agus bu chòir gum biodh am port iomallach aig 2332.
Geàrr-chunntas
- Bidh an conaltradh a’ cleachdadh modh Q&A. Bidh an coimpiutair aoigheachd a 'toirt seachad pasgan dàta an toiseach. Às deidh dha am pasgan ceart fhaighinn, tillidh an GCU a phacaid. Tha pasgan dàta iomlan air a dhèanamh suas de bhann-cinn protocol, fad pacaid, prìomh fhrèam dàta, frèam fo-dàta, àithne / fios air ais agus dàta CRC.
- Is e fad a’ phacaid S bytes. Tha fad a’ phàirt àithne / fios air ais caochlaideach.
- Tha am pàirt àithne / fios air ais a’ toirt a-steach òrdugh agus paramadair. Bidh òrdugh eadar-dhealaichte a’ mapadh paramadair eadar-dhealaichte. Mion-fhiosrachadh a rèir caibideil Frèam Dàta san sgrìobhainn seo.
- Cha chuir an GCU an gnìomh ach aon turas fhad ‘s a gheibh e òrdughan leis an aon òrdugh gu leantainneach (eadhon ged a tha na paramadairean eadar-dhealaichte). Gus an aon ghnìomh a bhrosnachadh, bu chòir na pacaidean dàta a bhith air an sgaradh le pasgan le àithne null (Ach a-mhàin àithne slighe a-muigh).
Tha structar a’ phacaid dàta air a shealltainn mar gu h-ìosal.
| Earrann | Byte(s) | Tuairisgeul | Seòrsa dàta | Mion-fhiosrachadh |
|---|---|---|---|---|
| Bho Host Computer | ||||
| Ceann-cinnidh | 0 | Prìomh Dàta | U16 | |
| 1 | Fo-dàta | U8 | ||
| Fad agus Tionndadh | 2–3 | Fiosrachadh Fad & Tionndadh | ||
| Dàta frèam | 4 | Frèam | ||
| Dàta frèam | 5–36 | Prìomh Dàta | 32 bytes | |
| Dàta frèam | 37–68 | Fo-dàta | 32 bytes | |
| Bho GCU | ||||
| Ceann-cinnidh | 0 | 0x8A | ||
| 1 | 0x5E | |||
| Fad agus Tionndadh | 2–3 | Fiosrachadh Fad & Tionndadh | ||
| Dàta frèam | 4 | Frèam | ||
| Dàta frèam | 5–36 | Prìomh Dàta | 32 bytes | |
| Dàta frèam | 37–68 | Fo-dàta | 32 bytes | |
| Dàta àithne | 69-S-3 | Òrdugh (Fad caochlaideach) | ||
| Dàta Fios-air-ais | 69-S-3 | Beachdan air ais (fad caochlaideach) | ||
| CRC High Byte | S-2 | CRC High Byte | U16 | |
| CRC Low Byte | S-1 | CRC Low Byte | U16 |
- Is e an dàta a chaidh a sgrùdadh le CRC Byte 0 ~ S-3.
- Bidh am protocol seo a’ cleachdadh òrdugh byte beag-endian (ach a-mhàin CRC).
Frèam dàta
Prìomh Frèam Dàta bho Host Computer
| Byte(s) | Susbaint | Tuairisgeul | Seòrsa dàta | Mion-fhiosrachadh |
|---|---|---|---|---|
| 5–6 | Modhan eile, ìre Zoom (deg/s) | Nuair a thathar ag iarraidh an luach smachd ceàrn Euler. | Fuasgladh: 0.01 deg; Raon: 8000 gu 18000 | |
| 7–8 | Luach smachd pitch | Nuair a thathar ag iarraidh an luach smachd ceàrn coimeasach eadar pod agus neach-giùlain. | S16 | Fuasgladh: 0.01 deg; Raon: [-18000, 18000] |
| 9–10 | Luach smachd yaw | Luach smachd airson ceàrn yaw. | S16 | Fuasgladh: 0.01 deg; Raon: [-18000, 18000] |
| B7 – B3 | Glèidhte | Pìosan glèidhte. | Tha na pìosan seo 0 | |
| B2 | Dligheachd luach smachd | 0 - Luach smachd neo-dhligheach; 1 - Luach smachd dligheach. | U8 | |
| B1 | Glèidhte | Tha am pìos seo 0 | ||
| B0 | Dligheachas INS an neach-giùlain | 0 - INS neach-giùlain neo-dhligheach; 1 - INS an neach-giùlain dligheach. | U8 | |
| 11 | Inbhe | A’ nochdadh a bheil luach smachd dligheach. | U8 | 0 – Neo-dhligheach, 1 – Dligheach |
| 12–13 | Ceàrn rolla iomlan an neach-giùlain | Ceàrn rolla iomlan an neach-giùlain ann an ceàrn Euler. | S16 | Fuasgladh: 0.01 deg; Raon: [-9000, 9000] |
| 14–15 | Ceàrn iomlan an neach-giùlain | Ceàrn iomlan an neach-giùlain ann an ceàrn Euler. | S16 | Fuasgladh: 0.01 deg; Raon: [-9000, 9000] |
| 16–17 | Ceàrn iomlan an neach-giùlain yaw | Ceàrn iomlan yaw giùlain ann an ceàrn Euler. | U16 | Fuasgladh: 0.01 deg; Raon: [0, 36000] |
| 18–19 | Luathachadh giùlain gu tuath | Luathachadh an neach-giùlain gu tuath. | S16 | Fuasgladh: 0.01 m/s²; Tha tuath adhartach |
| 20–21 | Luathachadh luchd-giùlain chun an ear | Luathachadh an ear air an neach-giùlain. | S16 | Fuasgladh: 0.01 m/s²; Tha an taobh an ear deimhinneach |
| 22–23 | Luathachadh an neach-giùlain suas | Luathachadh an neach-giùlain gu h-àrd. | S16 | Fuasgladh: 0.01 m/s²; Gu h-àrd tha deimhinneach |
| 24–25 | Luas an neach-giùlain gu tuath | Luas an neach-giùlain gu tuath. | S16 | Fuasgladh: 0.1 m/s; Tha tuath adhartach |
| 26–27 | Luas an neach-giùlain chun an ear | Luas an neach-giùlain chun an ear. | S16 | Fuasgladh: 0.1 m/s; Tha an taobh an ear deimhinneach |
| 28–29 | Luas an neach-giùlain suas | Luas an neach-giùlain suas. | S16 | Fuasgladh: 0.1 m/s; Gu h-àrd tha deimhinneach |
| 30 | Iarr còd fo-fhrèam | Còd airson fo-fhrèam iarraidh bho GCU. | U8 | |
| 31–36 | Glèidhte | Bytes glèidhte. | ||
| 37 | Ceannard frèam fo-dàta a chaidh iarraidh bho GCU | Ceann iarrtas fo-fhrèam GCU (Ox00). | U8 |
Tha Byte 12 ~ 29 glè chudromach. Bidh dàta ceàrr ag adhbhrachadh mearachd ann an àireamhachadh àirde pod
Frèam fo-dàta bho Host Computer
| Byte(s) | Susbaint | Tuairisgeul | Seòrsa dàta | Fuasgladh |
|---|---|---|---|---|
| 37 | 0x01 | Ceann-cinnidh | U8 | |
| 38–41 | Fad an neach-giùlain | Fad an neach-giùlain | S32 | Fuasgladh: 1e-7 deg |
| 42–45 | Domhanleithead an neach-giùlain | Leithead an neach-giùlain | S32 | Fuasgladh: 1e-7 deg |
| 46–49 | Àirde neach-giùlain | Àirde an neach-giùlain | S32 | Fuasgladh: 1 mm |
| 50 | Saidealan rim faighinn | An àireamh de saidealan a tha rim faighinn | U8 | |
| 51–54 | GNSS microsecond | GNSS microsecond | U32 | |
| 55–56 | seachdain GNSS | seachdain GNSS | S16 | |
| 57–60 | Àirde coimeasach | Àirde coimeasach | S32 | Fuasgladh: 1 mm |
| 61–68 | Glèidhte | Bytes glèidhte | Ox00 |
Tha Byte 37 ~ 68 uile 0x00 mura h-eil dàta fo-fhrèam ann.
Prìomh fhrèam dàta bho GCU
| Byte(s) | Susbaint | Tuairisgeul | Seòrsa dàta | Fuasgladh |
|---|---|---|---|---|
| 5 | Modh obrachaidh pod | Dòigh-obrach airson a 'chlàir | U8 | Luachan a dh’ fhaodadh a bhith ann: 0x10 gu 0x1C (air an liostadh gu h-ìosal) |
| 6–7 | Ìomhaigh pod | Inbhe a 'phoit | U16 | B15–B13: Glèidhte. B12: Inbhe cumhachd-air. B10: Solais. B9: Sealladh oidhche. B8: Rangachadh. B7: Co-òrdanachadh dligheachas. B0: Inbhe tracadh. |
| 8–9 | Targaid còmhnard a dhìth | Suidheachadh targaid còmhnard an coimeas ri meadhan an sgrion | S16 | Raon: [-1000, 1000]; Ceart gu leòr |
| 10–11 | Targaid dìreach a dhìth | Suidheachadh targaid dìreach an coimeas ri meadhan na sgrìn | S16 | Raon: [-1000, 1000]; Sìos adhartach |
| 12–13 | Ceàrn coimeasach X-axis den chamara | Ceàrn coimeasach X-axis den chamara | S16 | Raon: [-18000, 18000]; Fuasgladh: 0.01 deg |
| 14–15 | Ceàrn coimeasach a’ chamara Y-axis | Ceàrn coimeasach Y-axis den chamara | S16 | Raon: [-9000, 9000]; Fuasgladh: 0.01 deg |
| 16–17 | Ceàrn coimeasach Z-axis den chamara | Ceàrn coimeasach Z-axis den chamara | S16 | Raon: [-18000, 18000]; Fuasgladh: 0.01 deg |
| 18–19 | Ceàrn rolla iomlan a’ chamara | Ceàrn rolla iomlan a’ chamara (ceàrn Euler) | S16 | Raon: [-9000, 9000]; Fuasgladh: 0.01 deg |
| 20–21 | Ceàrn pitch iomlan a’ chamara | Ceàrn iomlan a’ chamara (ceàrn Euler) | S16 | Raon: [-18000, 18000]; Fuasgladh: 0.01 deg |
| 22–23 | Ceàrn iomlan a’ chamara yaw | Ceàrn iomlan yaw den chamara (ceàrn Euler) | U16 | Raon: [0, 36000]; Fuasgladh: 0.01 deg |
| 24–25 | X-axis astar iomlan ceàrnach a’ chamara | Luas ceàrnach X-axis a’ chamara | S16 | Fuasgladh: 0.01 deg / s |
| 26–27 | Y-axis astar iomlan ceàrnach a’ chamara | Luas ceàrnach Y-axis a’ chamara | S16 | Fuasgladh: 0.01 deg / s |
| 28–29 | Z-axis astar iomlan ceàrnach a’ chamara | Luas ceàrnach Z-axis a’ chamara | S16 | Fuasgladh: 0.01 deg / s |
| 30–36 | Glèidhte | Bytes glèidhte |
Modh Obrachaidh Pod Luachan a dh’ fhaodadh a bhith ann:
- 0x10 - smachd ceàrn 1
- 0x11 - glas ceann
- 0x12 - Lean an ceann
- 0x13 – Orthoview
- 0x14 - Modh smachd ceàrn Euler
- 0x16 - Sealladh
- 0x17 - Rian
- 0x1C - smachd ceàrn 2
Frèam fo-dàta bho GCU
| Byte(s) | Susbaint | Tuairisgeul | Seòrsa dàta | Fuasgladh |
|---|---|---|---|---|
| 37 | 0x01 | Ceann-cinnidh | U8 | |
| 38 | Tionndadh bathar-cruaidh | Tionndadh bathar-cruaidh | U8 | |
| 39 | Tionndadh firmware | Tionndadh firmware | U8 | |
| 40 | Còd pod | Còd airson a ' gheama | U8 | Mion-fhiosrachadh a rèir Pàipear-taice 7 |
| 41–42 | Neo-riaghailteachd còd na mearachd | Còdan mearachd airson neo-riaghailteachdan sam bith | S32 | |
| 43–46 | Astar bhon targaid | Tomhais an astar bhon targaid | S32 | Fuasgladh: 0.1 m (neo-dhligheach ma tha -1m no 0m) |
| 47–50 | Fad an targaid | Fad an targaid | S32 | Fuasgladh: 1e-7 deg |
| 51–54 | leud an targaid | Domhanleithead an targaid | S32 | Fuasgladh: 1e-7 deg |
| 55–58 | Àirde na targaid | Àirde na targaid | S32 | Fuasgladh: 1 mm |
| 59–60 | Ìre sùmadh gnàthach a’ chamara | Ìre zoom gnàthach a’ chamara (camara aotrom faicsinneach) | U16 | Fuasgladh: 0.1x |
| 61–62 | Ìre sùmadh gnàthach a’ chamara | Ìre zoom gnàthach a’ chamara (camara teirmeach) | U16 | Fuasgladh: 0.1x |
| 63 | Ìomhaigh camara teirmeach | Inbhe camara teirmeach | U8 | B7: Teòthachd tomhas, B6: Teòthachd sgìre, etc. |
Inbhe camara teirmeach (Byte 63)
- B7: 0 - Chan eil tomhas teodhachd ri fhaighinn; 1 - Tomhas teòthachd ri fhaighinn
- B6: 0 - Tomhais teòthachd sgìre dheth; 1 - Tomhais teòthachd sgìre air adhart
- B5: 0 - Rabhadh teodhachd dheth; 1 - Rabhadh teòthachd air adhart
- B4: 0 - Isotherm dheth; 1 - Isotherm air adhart
- B3: 0 - Tomhais teòthachd spot dheth; 1 - Tomhais teòthachd spot air
- B2: glèidhte
- B1: Rabhadh teòthachd àrd
- B0: Rabhadh aig teòthachd ìosal
| Byte(s) | Susbaint | Tuairisgeul | Seòrsa dàta | Fuasgladh |
|---|---|---|---|---|
| 64–65 | Dealbh camara | Inbhe a’ chamara | U16 | B15: Lorg targaid air/dheth; B14: Gluais didseatach air / dheth, msaa. |
| 66 | Sòn ùine | Suidheachadh sòn ùine | U8 | |
| 67–68 | Glèidhte | Glèidhte airson a chleachdadh san àm ri teachd | – |
Ìomhaigh camara (Bite 64-65)
- B15: 0 - lorg targaid dheth; 1 - Lorg targaid air
- B14: 0 - zoom didseatach dheth; 1 - Gluais didseatach air adhart
- B13: 0 - OSD (Taisbeanadh air-sgrion) dheth; 1 - OSD air adhart
- B12: 0 - tha OSD a’ taisbeanadh co-chomharran neach-giùlain; 1 - Bidh OSD a’ taisbeanadh co-chomharran an targaid
- B11: 0 - Ìomhaigh fèin-ghluasadach air ais; 1 - Cuir air ais ìomhaigh gu fèin-ghluasadach
- B10 – B5: glèidhte
- B4: 0 - Gun chlàradh; 1 - Clàradh
- B3: glèidhte
- B2 – B0: uint_t - Modh pic-in-pic
Tha Byte 37 ~ 68 uile 0x00 fhad ‘s a thathar ag iarraidh bann-cinn fo-fhrèam mì-laghail.
Òrdugh & Fios air ais
| Gnìomh | Còd | Tuairisgeul | Soirbheachas | Fàillig |
|---|---|---|---|---|
| Null | 0x00 | A 'sgaradh òrdughan leis an aon òrdugh | 0x01 0x00 | 0x01 0x01 |
| Calibration | 0x01 | Bu chòir don phod fuireach gun stad fhad ‘s a tha e calibration, a’ mairsinn beagan dhiog. | 0x01 0x00 | 0x01 0x01 |
| Òrdaich Parm | 0x00 | |||
| Fios air ais | 0x03 | Beachdan air ais rè obrachadh | 0x03 0x00 | 0x03 0x01 |
| OSD | 0x06 | Bidh OSD a’ taisbeanadh siostam co-òrdanachaidh: 0x00 airson Carrier's, 0x01 airson Target's | 0x06 0x00 | 0x06 0x01 |
| Co-òrdanachadh | 0x07 | 0x07 0x00 | 0x07 0x01 | |
| Dealbh fèin-ghluasadach air ais | 0x08 | A 'cumail smachd air cùl ìomhaigh fèin-ghluasadach. 0x00 airson air adhart, 0x01 airson dheth | 0x08 0x00 | 0x08 0x01 |
| Sòn ùine | 0x10 | A’ riaghladh suidheachadh sòn ùine | 0x10 0x00 | 0x10 0x01 |
| Smachd ceàrn 1 | 0x10 | A’ cumail smachd air ceàrn a’ phoit (feumar luachan smachd sònraichte). | 0x10 0x00 | 0x10 0x01 |
| Glasadh ceann | 0x11 | A’ tilleadh pod gu suidheachadh neodrach gun a bhith ag atharrachadh modh obrachaidh (modh glasaidh). | 0x11 0x00 | 0x11 0x01 |
| Lean an ceann | 0x12 | A’ tilleadh pod gu suidheachadh yaw neodrach fhad ‘s a tha e a’ leantainn targaid no ceann. | 0x12 0x00 | 0x12 0x01 |
| Orthoview modh | 0x13 | Tilleadh suidheachadh yaw neodrach gun a bhith ag atharrachadh modh obrachaidh. | Chan eil | Chan eil |
| Modh slighe | 0x14 | Bidh Pod a’ tilleadh suidheachadh neodrach agus a’ dol a-mach à tracadh fhad ‘s a tha e a’ cumail sùil air an targaid. | Chan eil | Chan eil |
| Modh FPV | 0x15 | Gun fhreagairt bhon pod ann am modh FPV. | Chan eil | Chan eil |
| Euler smachd ceàrn | 0x16 | Bidh Pod a’ glasadh ceàrnan Euler agus chan eil e a’ freagairt ri smachd. | Chan eil | Chan eil |
| Modh seallaidh | 0x17 | Cha bhith Pod a’ freagairt ri smachd ann am modh Gaze. | Chan eil | Chan eil |
Tuairisgeul air modhan sònraichte:
- Ceann glas & modh lean ceann: Bidh am pod a’ cumail a shuidheachadh neodrach (yaw no pitch) gun a bhith ag atharrachadh mhodhan.
- Orthoview Modh: Chan eil ach ceàrn yaw air a thilleadh, agus chan atharraich am pod modhan.
- Modh Track: Thèid dreuchdan neodrach airson an dà chuid pitch agus yaw a thilleadh fhad ‘s a tha iad a’ fàgail modh tracadh.
- Modh FPV, smachd ceàrn Euler, agus modh seallaidh: Chan eil am pod a 'freagairt anns na modhan sin, mar a chaidh a shònrachadh.
| Gnìomh | Còd | Tuairisgeul | Soirbheachas | Fàillig |
|---|---|---|---|---|
| Orthoview | 0x13 | Tha ceàrnan miannaichte Euler air an toirt seachad, agus bidh am pod a’ glasadh na ceàrnan gnàthach Euler aige nuair a tha na luachan smachd neo-dhligheach. | 0x13 0x00 | 0x13 0x01 |
| Smachd ceàrn Euler | 0x14 | Ceàrnan Euler a tha a dhìth airson smachd a chumail air pitch agus yaw. | 0x14 0x00 | 0x14 0x01 |
| Gaze (Stiùireadh Geo-co-chomharran) | 0x15 | Tha am pod air a stiùireadh gu àite inntinneach sònraichte a’ cleachdadh a cho-chomharran cruinn-eòlasach (domhan-leud, domhan-leud, àirde) air a sholarachadh anns na luachan smachd. | 0x15 0x00 | 0x15 0x01 |
| Gaze (Geo-co-chomharran glas) | 0x16 | Bidh am pod a’ glasadh a shuidheachadh stèidhichte air co-chomharran cruinn-eòlasach (domhan-leud, domhan-leud, àirde) agus a’ cumail sùil stèidhichte. Tha feum air dàta INS neach-giùlain dligheach. | 0x16 0x00 | 0x16 0x01 |
| Rian | 0x17 | Tha modh slighe air a chuir an gnìomh le bhith a’ toirt seachad co-chomharran tracadh agus a’ suidheachadh luachan smachd airson sùil a chumail air targaid. | 0x17 0x00 | 0x17 NN |
Tuairisgeul air gnìomhan sònraichte:
- Orthoview: A’ glasadh ceàrnan gnàthach Euler a’ phod nuair a tha luachan smachd mì-dhligheach.
- Smachd ceàrn Euler: Smachd air ceàrnan Euler a’ phod (pitch, yaw) gu na h-àiteachan a tha thu ag iarraidh.
- Gaze (Stiùireadh Geo-co-chomharran): Stiùir am pod a dh’ionnsaigh puing cruinn-eòlach sònraichte a’ cleachdadh a cho-chomharran (domhan-leud, domhan-leud, àirde). Tha luachan smachd (PP, QQ, RR) air an toirt seachad airson suidheachadh ceart.
- Gaze (Geo-co-chomharran glas): A’ glasadh sealladh a’ phoit air àite cruinn-eòlasach agus a’ cumail sùil air an t-suidheachadh far a bheil e an-dràsta. Feumaidh dàta dligheach INS (Inertial Navigation System) bhon neach-giùlain.
- Rian: A’ tòiseachadh no a’ falbh a’ tracadh targaid le bhith a’ sònrachadh co-chomharran (XO, YO, X1, Y1). Bidh na co-chomharran a’ mìneachadh nan raointean còmhnard agus dìreach anns an fhrèam targaid, leis an oisean gu h-àrd air an taobh chlì mar thùs.
Notaichean:
- Airson Rian, Tha luachan “OX” agus “YO” nan co-chomharran a tha a’ riochdachadh na h-oiseanan gu h-àrd air an taobh chlì agus gu h-ìosal air an làimh dheis de fhrèam an targaid air an sgrion. Tha iad sin air am mìneachadh ann an luachan U16, far a bheil 0 na thùs, agus tha luachan dearbhach a’ gluasad gu deas (axis X) agus sìos (axis-Y).
- Sùil (Geo-co-chomharran): Feumaidh am pod dàta INS neach-giùlain dligheach gus obrachadh gu ceart anns na modhan sin.
Tha an KK/NN(U8) òrdail de chamarathan air am piobrachadh / air fàiligeadh. B7 ~ BO a’ freagairt camara 8 ~ 1. Tha pìos sònraichte de bhith 1 a’ ciallachadh gu bheil an camara co-fhreagarrach aige tagged. Airson example, 0x03 (00000011) a’ ciallachadh camara 1 agus camara 2. Tha camara 1 na chamara zoom solais faicsinneach gu bunaiteach agus tha camara 2 na chamara teirmeach gu bunaiteach.
| Gnìomh | Còd | Tuairisgeul | Soirbheachas | Fàillig |
|---|---|---|---|---|
| Cliog air Amas | 0x1A | Tha am pod ag amas air targaid stèidhichte air co-chomharran còmhnard (XO) agus dìreach (YO). Tha co-chomharran ann an U16, far a bheil (0,0) aig mullach clì na sgrìn agus (10000,10000) gu h-ìosal air an làimh dheis. | 0x1A 0x00 | 0x1A NN |
| Slighe a-muigh | 0x1B | Bidh am pod a’ cumail sùil air an targaid stèidhichte air luachan astar astair còmhnard is dìreach (PP, WW). Tha na luachan sin a’ sealltainn far a bheil an targaid an coimeas ri meadhan na sgrìn. | 0x1B 0x00 | 0x1B NN |
| Smachd ceàrn 2 | 0x1c | Bidh am pod ag atharrachadh a cheàrnan coimeasach ris a’ ghiùlan, a’ leantainn an neach-giùlain fhad ‘s a tha na luachan smachd neo-dhligheach. | 0x1C 0x00 | 0x1C 0x01 |
| Còmhdaiche (Clàr Tòiseachaidh) | 0x20 | A 'tòiseachadh a' clàradh. | 0x20 0x00 | 0x20 0x01 |
| Còmhdaiche (Cuir stad air clàradh) | 0x21 | A’ cur stad air clàradh. | 0x21 0x00 | 0x21 0x01 |
| Gluais a-steach gu leantainneach | 0x22 | Gluais a-steach gu leantainneach. | 0x22 0x00 | 0x22 NN |
| Gluais a-mach gu leantainneach | 0x23 | Gluais a-mach gu leantainneach. | 0x23 0x00 | 0x23 NN |
| Stad Zoom | 0x24 | A’ cur stad air gnìomh zoom. | 0x24 0x00 | 0x24 NN |
Tuairisgeul air gnìomhan sònraichte:
- Cliog gus Amas (0x1A): Tha am pod ag amas air targaid sònraichte stèidhichte air co-chomharran. Tha na co-chomharran sin air an toirt seachad mar luachan U16, far a bheil (0,0) gu h-àrd air an taobh chlì agus (10000,10000) an oisean gu h-ìosal air an làimh dheis den sgrion.
- Slighe a-muigh (0x1B): Bidh am pod a’ cumail sùil air an targaid stèidhichte air luachan astar astair (PP agus WW), a tha a’ sealltainn dè cho fada ‘s a tha an targaid bho mheadhan na sgrìn. Bidh am modh tracadh a’ tòiseachadh leis an àithne “Tòisich a’ tracadh” (0x02) agus faodaidh e falbh le “Tracadh fàgail” (0x00).
- Smachd ceàrn 2 (0x1C): Bidh am pod ag atharrachadh a cheàrnan co-cheangailte ris a’ ghiùlan, a’ leigeil leis gluasad an neach-giùlain a leantainn fhad ‘s a tha na luachan smachd neo-dhligheach.
- Còmhdaiche (Tòiseachadh clàr - 0x20): A’ tòiseachadh a’ clàradh an inbhir bhidio.
- Còmhdaiche (Sguir a chlàradh - 0x21): Stad a bhith a’ clàradh biadhadh a’ bhidio.
- Gluais a-steach gu leantainneach (0x22): Bidh am pod a’ gluasad a-steach gu leantainneach.
- Gluais a-mach gu leantainneach (0x23): Bidh am pod a’ gluasad a-mach gu leantainneach.
- Stad Zoom (0x24): A’ stad a’ ghnìomh zoom, a’ cur stad air gnìomhachd gluasad a-steach no a-mach.
Notaichean:
- Slighe a-muigh (0x1B): Tha na luachan PP agus WW a’ riochdachadh astar call còmhnard is dìreach an targaid. Tha an tùs aig meadhan an sgrion, agus tha na luachan a’ comharrachadh suidheachadh càirdeach.
- Gnìomhan Zoom (0x22, 0x23, 0x24): Tha iad sin a’ ceadachadh gluasad leantainneach a-steach no a-mach agus stad a chuir air an obair zoom.
Tha an KK/NN(U8) òrdail de chamarathan air am piobrachadh / air fàiligeadh. B7 ~ B0 a’ freagairt camara 8 ~ 1. Tha pìos sònraichte de bhith 1 a’ ciallachadh gu bheil an camara co-fhreagarrach aige tagged. Airson example, 0x03 (00000011) a’ ciallachadh camara 1 agus camara 2 mar chamara zoom solais faicsinneach gu bunaiteach agus camara 2 na chamara teirmeach gu bunaiteach.
| Gnìomh | Òrdaich Parm | Tuairisgeul | Soirbheachas | Fàillig |
|---|---|---|---|---|
| Gluais gu Ìre Shònraichte | 0x25 | Gluais aig ìre ainmichte, le luachan a’ dol bho -32768 (zoom as àirde) gu 10000 (zoom as ìsle). Tha luachan àicheil a’ riochdachadh ìrean zoom (me, -10 airson 1x, -150 airson 15x, -300 airson 30x). | 0x25 0x00 | 0x25 NN |
| Fòcas | 0x26 | Gnìomh smachd fòcas. | 0x26 0x00 | 0x26 0x01 |
| Modh Palette | 0x2A | Atharraich am modh paileas a tha thu ag iarraidh, far a bheil 0x00 a’ freagairt ris an ath roghainn paile, 0x01 airson modh sònraichte, msaa. | 0x2A 0x00 | 0x2A 0x02 |
| Sealladh na h-oidhche | 0x2B | Smachd air modh lèirsinn oidhche. 0x00 airson dheth, 0x01 airson air adhart, agus 0x02 airson fèin-ghluasadach. | 0x2B 0x00 | 0x2B 0x01 |
| Tomhas Teòthachd Sgìre | 0x30 | Tomhais teòthachd sgìre smachd. 0x00 airson dheth, 0x01 airson air adhart. | 0x30 0x00 | 0x30 NN |
| Rabhadh Teòthachd | 0x31 | Suidhich ìrean rabhaidh teòthachd. A’ toirt a-steach teòthachd rabhaidh àrd (HH) agus ìosal (LL) le rùn de 0.1 ° C. | 0x31 0x00 | 0x31 NN |
| Isotherm | 0x32 | Dèan comas no cuir à comas modh isotherm. 0x00 airson dheth, 0x01 airson taobh a-muigh na h-ùine, agus 0x02 airson modh eadar-ama. Tha stairsnich teòthachd àrd / ìosal (HH, LL) air an suidheachadh le rùn de 0.1 ° C. | 0x32 0x00 | 0x32 NN |
| Tomhais teòthachd spot | 0x33 | Smachd air tomhas teòthachd spot. 0x00 airson dheth, 0x01 airson air adhart. Bidh co-chomharran (XO, YO) a’ mìneachadh a’ phuing tomhais. | 0x33 0x00 | 0x33 NN |
| OSD (Taisbeanadh air an scrion) | 0x73 | Smachd air an taisbeanadh air-sgrion. 0x00 ri thaisbeanadh, 0x01 ri fhalach. | 0x73 0x00 | 0x73 0x01 |
| Dealbh ann an dealbh | 0x74 | Smachd air modh dealbh-ann-dealbh (PIP). Tha luachan eadar 0x00 agus 0x04 a’ freagairt ris na modhan PIP a tha rim faighinn. | 0x74 0x00 | 0x74 0x01 |
Tuairisgeul air gnìomhan sònraichte:
- Gluais gu Ìre Shònraichte (0x25): A’ cumail smachd air an ìre zoom, leis an ìre air a thoirt seachad ann an cruth sònraichte far a bheil luachan àicheil a’ riochdachadh ìrean zoom (me, -10 airson zoom 1x, -150 airson zoom 15x, msaa), agus tha luachan dearbhach a’ mìneachadh an raon ìre sùmadh.
- Fòcas (0x26): Ag atharrachadh fòcas an t-siostaim.
- Modh Palette (0x2A): Atharraich am modh paileid a chleachdas an siostam. Tha am modh air a thaghadh le roghainnean àireamhach mar 0x00 airson an ath roghainn paileas agus 0x01 airson a’ mhodh làithreach.
- Sealladh na h-oidhche (0x2B): A ’cumail smachd air feart lèirsinn na h-oidhche, ga chomasachadh ann an diofar mhodhan (dheth, air adhart no fèin-ghluasadach).
- Tomhais Teòthachd Sgìre (0x30): A’ ceadachadh tomhas teòthachd thar raon ainmichte, fo smachd co-chomharran (XO, YO, msaa).
- Rabhadh Teòthachd (0x31): A’ suidheachadh na stairsnich teòthachd àrd is ìosal airson rabhaidhean.
- Isotherm (0x32): A’ comasachadh modh isotherm, a bhios a’ cumail sùil air raointean taobh a-staigh raon teòthachd sònraichte, le modhan eadar-ama agus stairsnich.
- Tomhais teòthachd spot (0x33): A’ comasachadh tomhas teòthachd spot aig àite sònraichte air an sgrion.
- OSD (0x73): Smachd air faicsinneachd taisbeanaidh air-sgrion (taisbeanadh / falach).
- Dealbh-ann-Dealbh (0x74): A’ cumail smachd air gnìomhachd dealbh-ann-dealbh, a’ tabhann diofar mhodhan taisbeanaidh.
Tha an KK/NN(U8) òrdail de chamarathan air am piobrachadh / air fàiligeadh. Tha B7 ~ B0 Camera 1 na chamara zoom solais faicsinneach gu gnàthach agus tha camara 2 na chamara teirmeach gu bunaiteach.
Seo clàr a’ toirt geàrr-chunntas air na gnìomhan ùra agus am mion-fhiosrachadh:
| Gnìomh | Òrdaich Parm | Tuairisgeul | Soirbheachas | Fàillig |
|---|---|---|---|---|
| Dearbhadh Targaid | 0x75 | Dèan comas no cuir à comas lorg targaid. 0x00 airson dheth, 0x01 airson air adhart. | 0x75 0x00 | 0x75 0x01 |
| Camara Zoom | 0x76 | Smachd air zoom didseatach. 0x00 airson dheth, 0x01 airson air adhart. | 0x76 0x00 | 0x76 0x01 |
| Dian solais | 0x80 | Atharraich an dian solais. Luachan bho 0 gu 255, le 0 gun solais agus 255 mar an dian as àirde. | 0x80 0x00 | 0x80 0x01 |
| Rangachadh | 0x81 | Dèan comas no cuir à comas raon. 0x00 airson dheth, 0x02 airson air adhart. | 0x81 0x00 | 0x81 0x01 |
Tuairisgeul air gnìomhan sònraichte:
- Aithneachadh targaid (0x75): Smachd a bheil lorg targaid gnìomhach no neo-ghnìomhach. Tha am feart seo air a chleachdadh gus nithean no raointean sònraichte a lorg, a rèir comasan an t-siostaim.
0x00- Tha lorg targaid dheth.0x01- Tha lorg targaid air adhart.
- Camara zoom (0x76): Cuir an gnìomh no cuir dheth zoom didseatach airson gnìomhachd camara.
0x00- Tha zoom didseatach dheth.0x01- Tha zoom didseatach air adhart.
- dian solais (0x80): Ag atharrachadh dian an t-solais. Tha an dian air a shuidheachadh le luach 8-bit, eadar
0(gun solas) gu255(an dian as àirde).- Luachan:
0- Gun solais;255- Solais as àirde.
- Luachan:
- Eadar-dhealachadh (0x81): A’ cur an gnìomh no a’ cuir dheth comas-gnìomh raon. Faodar raon a chleachdadh gus astaran a thomhas no raointean a mhapadh.
0x00- Tha an raon dheth.0x02- Tha an raon air adhart.
Tionndaidh air solas air sealladh oidhche aig an aon àm. Cha chuir tionndadh solais dheth sealladh oidhche dheth.
Gnìomh 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++; } tilleadh (crc);
Pàipear-taice 1 Example de Atharrachadh Frèam Dàta bho Host Computer
| Beit | 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 | Susbaint |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Dàta tùsail | OXA8 | Ceann-cinnidh | 0xE5 | Fad Pacaid | 72 | Tionndadh protocol | 0x01 | Luach smachd rolla | 100 | Luach smachd pitch | -100 | Luach smachd Yaw | 0x05 | Luach smachd dligheach | Ìomhaigh | INS Carrier dligheach | Ceàrn rolla iomlan | -11.3213° | Ceàrn pitch iomlan | 1.01° | Ceàrn Yaw iomlan | 240° | Luathachadh neach-giùlain | 1.123m/s² |
| Beit | Susbaint | Dàta tùsail | Cruinneas no tionndadh dà-chànanach (Little-endian) | Hexadecimal (Little-endian) | Hexadecimal (Big-endian) |
|---|---|---|---|---|---|
| 50 | Saidealan rim faighinn | 19 | 19 | 13 | 19 |
| 51-54 | Microsecond GNSS | 352718000 | 352718000 | 00 06 15 B0 | 00 06 15 B0 |
| 55-56 | Seachdain GNSS | 2278 | 2278 | E6 08 | E6 08 |
| 57-60 | Airde Coibhneil | 12.12m | 12120 | 58 2F 00 00 | 58 2F 00 00 |
| 61-68 | Glèidhte | 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 | Comand null | 0x00 | 00 | 00 | 00 |
| 70-71 | CRC | Chan eil | Chan eil | E9 D4 | E9 D4 |
Am pasgan dàta iomlan bhon choimpiutair aoigheachd: 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 00 DF 00 00 00 F 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
Pàipear-taice 2 Example de Atharrachadh Frèam Dàta bho GCU
Am pasgan dàta iomlan bho GCU: 8A 5E 49 00 02 12 01 80 0C FE F4 01 DD FC 20 00 4A 18 FF FF A5 03 47 18 FF FF 01 00 FE FF 00 00 00 00 00F00 00 01 1 32 29 00 00 F06 DF 17 00 EE AA 00 A24 A2 65 16 16B 3 0 00 00 2 01 14 00 00 00 00 EC 08
| Beit | Susbaint | Dàta tùsail ( Hexadecimal ) | Dàta air a pharsadh |
|---|---|---|---|
| 1 | Ceann-cinnidh | A8 | A8 |
| 2 ~ 3 | Fad Pacaid | 5e 49 | 73 |
| 4 | Tionndadh protocol | 00 | 0.2 |
| 5 | Modh gnìomh pod | 02 | Lean an ceann |
| 6 ~ 7 | Ìomhaigh Pod | 01 80 | 0000 0001 1000 0000 |
| 8-9 | Targaid còmhnard a dhìth | OC FE | A 'dol air adhart. |
| 10 ~ 11 | Targaid dìreach a dhìth | F4 01 | Raon agus co-òrdanachadh targaid dligheach |
| 12 ~ 13 | Ceàrn coimeasach X-axis den chamara | DD FC | -500 |
| 14 ~ 15 | Ceàrn coimeasach a’ chamara Y-axis | 20 00 | 500 |
| 16 ~ 17 | Ceàrn coimeasach Z-axis den chamara | 4A 18 | -8.03° |
| 18 ~ 19 | Ceàrn rolla iomlan a’ chamara | FF FF | 0.32° |
| 20 ~ 21 | Ceàrn pitch iomlan a’ chamara | A5 03 | 62.18° |
| 22 ~ 23 | Ceàrn iomlan a’ chamara yaw | 47 18 | -0.01° |
| 24 ~ 25 | X-axis astar iomlan ceàrnach a’ chamara | FF FF | 19.33° |
| 26 ~ 27 | Y-axis astar iomlan ceàrnach a’ chamara | 01 00 | 62.15° |
| 28 ~ 29 | Z-axis astar iomlan ceàrnach a’ chamara | FE FF | -0.1 ceum / s |
| 30 ~ 36 | Glèidhte | 00 00 00 00 00 00 | 0.1 ceum / diog |
| 37 | Fo-cheann-cinnidh | 00 | -0.2 ceum / s |
| 38 | Tionndadh bathar-cruaidh | 00 | 5.0 |
| 39 | Tionndadh firmware | 00 | D-90AI |
| 40 | Còd pod | 00 | 589.4m |
| 41 ~ 42 | Còd na mearachd | 00 00 | 170.917533212 |
| 43 ~ 46 | Astar bhon targaid | 01 2B 01 | 38.030082231 |
| 47 ~ 50 | Fad an targaid | 00 00 00 00 | 41.1231m |
| 51 ~ 55 | leud an targaid | 00 00 00 00 | 29.9x |
| 55 ~ 58 | Àirde na targaid | 06 17 00 00 | |
| 59 ~ 60 | Ìre sùmadh gnàthach a’ chamara | 24 F2 DF 65 | |
| 61 ~ 62 | Glèidhte | 16 EE AA 16 |
| Beit | Susbaint | Dàta tùsail ( Hexadecimal ) | Dàta air a pharsadh |
|---|---|---|---|
| 61 ~ 62 | Ìre sùmaidh gnàthach camara 2 | 14 00 | 2x |
| 63 | Ìomhaigh camara teirmeach | 00 | UTC+8 |
| 64 ~ 65 | Dealbh camara | 00 00 | Soirbheachas shutter |
| 66 | Sòn ùine | 08 | |
| 67 ~ 68 | Glèidhte | 00 00 | |
| 69 ~ 70 | Fios air ais | 20 00 | |
| 71 ~ 72 | CRC | EC 85 |
Pàipear-taice 3 Mìneachadh air Siostam Co-òrdanachaidh Neach-giùlain
Pàipear-taice 4 Mìneachadh air Siostam Co-òrdanachaidh a' Chamara agus Òrdugh Cuairteachaidh
- Co-òrdanachadh mìneachadh siostam
Bu chòir do phort smachd a’ phod a bhith a’ comharrachadh X-uàrd àicheil an neach-giùlain. Tha an dampbu chòir àrd-ùrlar ing a bhith co-shìnte ri plèana XOY an neach-giùlain. Bu chòir am pod a bhith air a chuir suas cho faisg 's as urrainn air CG an neach-giùlain. - Òrdugh rothlach: Z → Y → X.
- Atharrachadh ceàrnan:
- Sònraich:
- CamPhi: Ceàrn rolla iomlan a’ chamara (Prìomh fhrèam dàta bho GCU, byte 18 ~ 19)
- CamThe: Ceàrn iomlan de chamara (Prìomh fhrèam dàta bho GCU, byte 20 ~ 21)
- CamPsi: Ceàrn iomlan a’ chamara (Prìomh fhrèam dàta bho GCU, byte 22 ~ 23)
- AngleX: X-axis iomlan ceàrn camara
- CeàrnY: Y-axis iomlan ceàrn camara
- AngleZ: Z-axis iomlan ceàrn camara
- Tha na paramadairean gu h-àrd air an atharrachadh mar gu h-ìosal
- Ceàrn Z += 90;
- WARP (AngleZ , 360);
- CamPhi = +AngleY;
- CamThe = -AngleX;
- CamPsi = +AngleZ;
- Sònraich:
Pàipear-taice 5 Example Pasgan Dàta
- Òrdugh 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 00 FD 00 - Smachd pitch (cum am modh smachd gnàthach, luach smachd 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 - Smachd pitch (cum am modh smachd gnàthach, luach smachd -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 00 00 00F 00E - Smachd Yaw (cùm am modh smachd gnàthach, luach smachd 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 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 CD 00 - Bidh OSD a’ taisbeanadh co-chomharran neach-giùlain
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 E00 - Bidh OSD a’ taisbeanadh co-chomharran an targaid
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 - Dealbh fèin-ghluasadach air ais air
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 C - Dealbh fèin-ghluasadach air ais dheth
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 C - Suidheachadh sòn ùine (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 D. - Smachd ceàrn 1 (luachan smachd neo-dhligheach)
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 00 - Smachd ceàrn 1 (ceàrn Euler: rolla 0 °, pitch 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 - Smachd ceàrn 1 (ceàrn Euler: rolla 20 °, pitch 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 F00 - Glasadh cinn (luachan smachd neo-dhligheach)
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 - Glasadh cinn (luaths ceàrn coimeasach +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 DE 00 - Lean ceann (luachan smachd neo-dhligheach)
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 CF 00 00 - Orthoview (luachan smachd neo-dhligheach)
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 00 - Smachd ceàrn Euler (luachan smachd neo-dhligheach)
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 00 - Smachd ceàrn Euler (ceàrn Euler: rolla 0 ° , pitch -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 - Tòisich tracadh (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 - Sgrùdadh fàgail
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 CB 17 - Cliog gus amas (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 - Cliog gus amas (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 - Cliog gus amas (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 00 00A 00 00 - Cliog gus amas (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 F - Slighe a-muigh (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 00 00B 00 00 00 FF - Smachd ceàrn 2 (luachan smachd neo-dhligheach)
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 00C 00E - Còmhdaiche
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 00B 00 - Tòisich / stad air clàradh
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 - Bidh camara 1 a’ gluasad a-steach gu leantainneach
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 - Bidh camara 1 an-còmhnaidh a’ gluasad a-mach
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 - Camara 1 stad air gluasad
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 A - Bidh camara 1 a’ gluasad gu ìre ainmichte (5000, a’ freagairt ri leth na h-ìre as àirde)
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 00 00 00 00 00C - Bidh a h-uile camara a’ gluasad gu ìre ainmichte (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 00 00 00 00 FF00 F00 F00 - Bidh a h-uile camara a’ gluasad gu ìre ainmichte (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 00 00 00 00 E FF00 C - Bidh camara 1 a’ gluasad gu ìre ainmichte (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 00 00 00 00 DC - Fòcas
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 ath roghainn palette
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 00A 00 E - Modh palette 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 00 00A 00 BB - Sealladh oidhche air adhart
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 - Sealladh oidhche dheth
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 00 E00 00 - Tomhas teòthachd sgìre air (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 00F00 A00 BE 00D - Tomhais teòthachd sgìre dheth
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 - Rabhadh teòthachd air adhart (teòthachd rabhaidh àrd 30.2 ° C, teòthachd rabhaidh ìosal 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 E 00 E - Rabhadh teòthachd dheth
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 C - Isotherm air adhart (modh eadar-ama, 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 00F00 00F - Isotherm dheth
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 teòthachd spot air (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 00 F - Tomhais teòthachd spot dheth
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 00 - OSD air adhart
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 B. - OSD dheth
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 ath roghainn pic-in-pic
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 - Modh dealbh-ann-dealbh 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 B. - Lorgar targaid air
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 - Tha lorg targaid dheth
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 - Zoom camera digital zoom on
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 FF - Zoom camera digital zoom off
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
- Solais air (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 - Solais dheth
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 - A 'dol air adhart gu leantainneach
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 - A 'dol air adhart gu leantainneach
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
Pàipear-taice 6 Ùine GPS & gnìomh tionndaidh UTC (gun ghiollachd dàrna leum)
static const 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 diogan = 0; uint16_t làithean, bliadhna = ep[0], mon = ep[1], latha = ep [2]; ma thilleas (bliadhna < 1970 || 2099 < bliadhna || mon < 1 || 12 < mon) diogan; /* bliadhna leum ma tha bliadhna% 4==0 ann an 1901-2099 */ days= (bliadhna-1970)* 365+ (bliadhna-1969)/4+_latha[mon-1]+latha-2+(bliadhna% 4 ==0 && mon>=3?1:0); diogan = làr (ep [5]);seconds = (uint64_t) làithean * 86400 + ep [3] * 3600 + ep [4] * 60 + diogan; tilleadh diogan; } uint64_t gpst2time (int16_t seachdain, uint32_t sec){ uint64_t t = epoch2time(gpst0); ma tha (sec < -1E9 || 1E9 <sec) sec = 0.0; t += 86400 * 7 * seachdain + sec; tilleadh t; } uint8_t time2gps (uint64_t ùine, int16_t * seachdain, uint32_t * msec) { uint64_t t = epoch2time(gpst0); t = uair - t; * seachdain = t / 604800; // 604800=7*86400 *msec = (t % 604800) * 1000; tilleadh 1; }
Pàipear-taice 7 Còd Pod
| Còd | Modail |
|---|---|
| 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-80 Pro |
| 45 | D-90 Pro |
| 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 ROBOT TECHNOLOGY CO., LTD.
Ceistean Cumanta
C: Dè an adhbhar a tha aig a’ phròtacal prìobhaideach a chleachdas an GCU?
A: Tha am protocol prìobhaideach a’ dèanamh cinnteach à conaltradh tèarainte is èifeachdach eadar an GCU agus innealan ceangailte.
C: Ciamar as urrainn dhomh an dreach protocol den GCU ùrachadh?
A: Gus an dreach protocol ùrachadh, thoir sùil air leabhar-làimhe an toraidh airson stiùireadh sònraichte a thug an neach-dèanamh seachad.
Sgrìobhainnean/Goireasan
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Pròtacal Prìobhaideach Robot XF(A5) V2.0.5 GCU [pdfStiùireadh Cleachdaiche Pròtacal Prìobhaideach XF A5 V2.0.5, XF A5 V2.0.1, XF A5 V2.0.2, XF A5 V2.0.5 GCU, XF A5 V2.0.5, Pròtacal Prìobhaideach GCU, Pròtacal Prìobhaideach, Pròtacal |