Zamkatimu kubisa
1 Robot XF(A5) V2.0.5 GCU Private Protocol
2 Malangizo Ogwiritsira Ntchito Zogulitsa
3 Kukonzekera kwa Port
4 Dataframe
5 Lamulo & Ndemanga
6 Ntchito ya CRC
7 FAQ
8 Zolemba / Zothandizira
8.1 Maumboni

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Robot XF(A5) V2.0.5 GCU Private Protocol

Robot XF(A5) V2.0.5 GCU-Private-Protocol-product

Zofotokozera

  • Chikalata Baibulo: V2.0.5
  • Ndondomeko Mtundu: V0.1

Zambiri Zamalonda
GCU (Generic Control Unit) imagwira ntchito pa protocol yachinsinsi ndipo imapereka mawonekedwe osiyanasiyana ndikusintha malinga ndi mbiri yokonzanso:

Mawonekedwe:

  • UART baudrate imasintha kukhala wodzisintha
  • Onjezani TCP Server mode mu Network communication
  • Onjezani mtundu wa protocol mu phukusi la data
  • Zowonjezera mafelemu a data pamakompyuta omwe ali ndi GCU
  • Kuwongolera kwa Command & Feedback
  • Exampndi kukonzanso phukusi la data

Malangizo Ogwiritsira Ntchito Zogulitsa

Main Data Frame kuchokera ku Host Computer

  • Onjezani ngodya ya Euler yofunidwa ndi ngodya yomwe mukufuna kuti ikhale mu roll/pitch/yaw control value (byte 5~10)
  • Onjezani mphamvu zowongolera (bit B2) mu chiboliboli (byte 11)

Main Data Frame kuchokera ku GCU

  • Onjezani mawonekedwe a FPV ndi mawonekedwe owongolera a Euler mu chifanizo cha pod (byte 5)
  • Chotsani chiwonetsero chazithunzi (bit B11) kuchokera pachifanizo cha kamera (byte 6~7)

Sub Data Frame kuchokera ku Host Computer

  • Chotsani mtunda kuchokera Kunyumba (byte 57~60)
  • Onjezani kutalika kwachibale (byte 57~60)

Mbiri Yobwereza

Tsiku Document Version Mtundu wa Protocol
2023.06.19 V2.0 -
Tsiku Document Version Mtundu wa Protocol
2023.08.09

1. UART baudrate cha

 V2.0.1

ndikukhala mu self-adaptive. Malonda

 V0.0

d TCP Server mode mu
  1. UART baudrate imasintha kukhala wodzisintha. Onjezani TCP Server mode mu Network communication. [P1]
  2. Onjezani mtundu wa protocol mu phukusi la data. Konzani cholakwika chamutu mu phukusi kuchokera ku GCU. [P2]
  3. Main data frame from host host:
    1. Onjezani ngodya ya Euler yofunidwa ndi ngodya yomwe mukufuna kuti ikhale mu roll/pitch/yaw control value (byte 5~10); [P3]
    2. Onjezani mphamvu zowongolera (bit B2) mu fano (byte 11). [P3]
    3. Sub data frame kuchokera pakompyuta yolandila:
    4. Chotsani mtunda kuchokera Kunyumba (byte 57~60); [P4]
    5. Onjezani kutalika kwachibale (byte 57-60) . [P4]
  4. Chithunzi chachikulu cha data kuchokera ku GCU:
    1. Onjezani FPV mode ndi mawonekedwe a Euler angle control mu chifanizo cha pod (byte 5); [P5]
    2. Chotsani mawonekedwe owonetsera (bit B11) kuchokera pachifanizo cha kamera (byte 6~7). [P5]
  5. Gawo laling'ono kuchokera ku GCU:
    1. Chotsani zomwe zili mu byte 59 ~ 61; [P6]
    2. Onjezani kuchuluka kwa makulitsidwe kwa kamera 1 (byte 59~60) ndi kamera 2 (byte 61~62). [P6]
  6. Lamulo & Ndemanga:
    1. Onjezani kufotokozera za null command; [P7]
    2. Onjezani lamulo la FPV mode, Euler angle control mode, njira yotsatirira kunja ndi OSD; [P7~P9]
    3. Tsatanetsatane wa mawonekedwe owonera; [P8]
    4. Sinthani magawo a shutter, record, focus, palette ndi Night vision command. [P8~P9]
  7. Konzaninso example data package. [P11~P16]
Tsiku Document Version Mtundu wa Protocol
2023.10.12 V2.0.2 V0.1
  1. Onjezani kufotokozera pa dongosolo la byte la protocol. [P2]
  2. Main data frame from host host:
    1. Onjezani matanthauzidwe a dongosolo la coordinate pofotokozera mpukutu wokwanira, mamvekedwe ndi ngodya ya chonyamulira (byte 12~17). [P3]
  3. Chithunzi chachikulu cha data kuchokera ku GCU:
    1. Onjezani chiboliboli chowunikira (bit B10) mu chithunzi cha kamera (bit B10). [P5]
    2. Konzani cholakwika cha njira yolumikizirana ("m'mwamba ngati yabwino"→"kutsika ngati zabwino") ya chandamale chosowa (byte 10~11). [P5]
    3. Onjezani kuchuluka kwa mafotokozedwe a X-ward/Y-wadi yomwe yasoweka (byte 8~11). [P5]
    4. Onjezani matanthauzidwe adongosolo ladongosolo ndikusintha dongosolo pofotokozera X-axis/Y-axis/Z-axis absolute angular velocity of camera (byte 24~29). [P5]
  4. Lamulo & Ndemanga:
    1. Sinthani mafotokozedwe pamayendedwe owongolera pofotokozera mawonekedwe a FPV, loko yotsekera mutu ndi kutsatira mutu. [P7]
    2. Konzani cholakwika cha ndemanga zabodza (“0x015 0x01″→”0x15 0x01”) zamawonekedwe owonera (geo-coordinates guide). [P8]
    3. Onjezani ma cokonikira a chimango chapakona yakumanzere kumanzere ndi kumunsi kumanja kuti afotokoze mawonekedwe a njanji. [P8]
    4. Onjezani zolumikizira za ngodya yakumanzere yakumanzere ndi ngodya yakumunsi yakumanja pofotokozera dinani kuti mukwaniritse. [P8]
    5. Onjezani chandamale chomwe chilibe pakatikati pa zenera, ngodya yakumanzere yakumanzere ndi kumunsi kumanja pofotokozera mawonekedwe akunja. [P9]
  5. Onjezani zowonjezera 1: mwachitsanzoample ya kusintha kwa data frame kuchokera kompyuta host. [P12]
  6. Onjezani zowonjezera 2: tanthawuzo la dongosolo logwirizanitsa la chonyamulira. [tsamba 13]
  7. Onjezani appendix 3: tanthauzo la makina olumikizirana ndi kamera ndikuzungulira. [tsamba 14]
  8. Onjezani appendix5: nthawi ya GPS & ntchito ya kutembenuka kwa UTC. [P21]
Tsiku Document Version Mtundu wa Protocol
2024.06.20 V2.0.5 V0.1
  1. Main Data Frame kuchokera ku Host Computer:
    1. Onjezani kufotokozera za mphamvu zowongolera (bit B2) pofotokozera chiboliboli (byte 11). [P3]
  2. Main Data Frame kuchokera ku GCU:
    1. Tchulani dzina la FPV kuti liziwongolera ngodya 1 ndikuwonjezera kuwongolera kwa ngodya 2 mumayendedwe a pod (byte 5). [P5]
    2. Tchulani chifaniziro cha kamera (byte 6 ~ 7) kukhala chifanizo cha pod. [P5]
  3. Sub Data Frame kuchokera ku GCU:
    1. Onjezani khodi yolakwika (byte 41~42). [P6]
    2. Onjezani chifanizo cha kamera yotentha (byte 63). [P6]
    3. Onjezani chifanizo cha kamera (byte 64~65). [P7]
    4. Onjezani nthawi yanthawi (byte 66). [P7]
  4. Lamulo & Ndemanga:
    1. Onjezani malamulo a OSD coordinate, image auto reverse ndi zone nthawi. [P8]
    2. Sinthani mafotokozedwe a angle control 1 (oyambirira FPV), kutsatira mutu ndi Euler angle control. [P8]
    3. Onjezani lamulo la kuwongolera ngodya 2. [P10]
    4. Sinthani mtundu wa palatte ([0,100]->[0,10]). [P11]
    5. Onjezani malamulo oyezera kutentha kwa dera, chenjezo la kutentha, isotherm ndi kuyeza kwa kutentha kwa malo. [P11~P12]
    6. Onjezani ntchito yosinthira kumawonekedwe otchulidwa mu pic-in-pic. [P12]
    7. Onjezani malamulo oti muzindikire chandamale ndikuwonera makulitsidwe a digito a kamera. [tsamba 13]
  5. Onjezani Zowonjezera 2: Eksample ya Transformation of Data Frame kuchokera ku GCU. [Chithunzi patsamba 16-P18]
  6. Kuonjezeranso Zowonjezera 5: Eksampku Data Package. [P20~P28]
  7. Onjezani Zowonjezera 7: Khodi ya Pod. [P30]

Kukonzekera kwa Port

Kusintha kwa UART

  • UART mlingo: TTL
  • Chiwerengero cha data: 8
  • Kuyimitsa pang'ono: 1
  • Parity: Palibe
  • Njira yolumikizirana: Duplex yathunthu
  • 115200, 250000, 500000 ndi 1000000.
  • Kuyankhulana pafupipafupi: Njira yolumikizirana yovomerezeka ndi 30 ~ 50Hz. Kuchuluka kwafupipafupi kumakhala, zotsatira zabwino zowongolera zimakhala. Pasakhale ma frequency otsika kwambiri kapena kuyimitsidwa kwa data. Pasakhale BUS yopanda pake mu phukusi limodzi la data.

Network Configuration

  • UDP mode: Doko loyambira ndi 2337 ndipo komwe mukupita ndi adilesi yowulutsa ya LAN. Doko lomwe mukufuna ndi 2338.
  • TCP Server mode: Mapeto osiyana ayenera kukhazikitsidwa ku TCP Clint mode.

Adilesi yakutali ya IP iyenera kukhala yofanana ndi GCU, ndipo doko lakutali liyenera kukhala 2332.

Chidule

  • Kulumikizana kumagwiritsa ntchito njira ya Q&A. Kompyutayo imatumiza phukusi la data poyamba. Pambuyo polandira phukusi lolondola, GCU imabwezera phukusi lake. Phukusi lathunthu la data limapangidwa ndi mutu wa protocol, kutalika kwa phukusi, chimango cha data, sub data frame, command/feedback ndi data ya CRC.
  • Kutalika kwa phukusi ndi S mabayiti. Kutalika kwa gawo la lamulo / ndemanga kumasinthasintha.
  • Gawo la lamulo / ndemanga limaphatikizapo dongosolo ndi parameter. Madongosolo osiyanasiyana amapu osiyana parameter. Tsatanetsatane malinga ndi mutu wa Data Frame mu chikalatachi.
  • GCU idzachita kamodzi kokha pamene ikulandira malamulo ndi dongosolo lomwelo (ngakhale magawo ali osiyana). Kuti muyambitse ntchito imodzi yomweyi, phukusi la data liyenera kulekanitsidwa ndi phukusi lokhala ndi null command (Kupatula Lamulo lakunja lakunja).

Mapangidwe a phukusi la deta akuwonetsedwa pansipa.

Gawo Bayiti Kufotokozera Mtundu wa Data Tsatanetsatane
Kuchokera ku Host Computer
Mutu 0 Main Data U16
1 Sub Data U8
Utali ndi Version 2-3 Utali & Zambiri Zomasulira
Zambiri za Frame 4 Chimango
Zambiri za Frame 5-36 Main Data 32 pa
Zambiri za Frame 37-68 Sub Data 32 pa
Kuchokera ku GCU
Mutu 0 0x8A
1 0x5 ndi
Utali ndi Version 2-3 Utali & Zambiri Zomasulira
Zambiri za Frame 4 Chimango
Zambiri za Frame 5-36 Main Data 32 pa
Zambiri za Frame 37-68 Sub Data 32 pa
Command Data 69–S-3 Command (Variable Length)
Feedback Data 69–S-3 Ndemanga (Utali Wosiyanasiyana)
Mtengo wapatali wa magawo CRC High Byte S-2 Mtengo wapatali wa magawo CRC High Byte U16
CRC Low Byte S-1 CRC Low Byte U16
  • Zomwe zafufuzidwa ndi CRC ndi Byte 0~S-3.
  • Protocol iyi imagwiritsa ntchito dongosolo laling'ono-endian byte (kupatula CRC).

Dataframe

Main Data Frame kuchokera ku Host Computer

Bayiti Zamkatimu Kufotokozera Mtundu wa Data Tsatanetsatane
5-6 Mitundu ina, Zoom rate (deg/s) Pamene mtengo wowongolera ukufunidwa Euler angle. Kusamvana: 0.01 deg; Kutalika: 8000 mpaka 18000
7-8 Mtengo wowongolera mayendedwe Pamene ulamuliro mtengo ankafuna wachibale ngodya pakati pod ndi chonyamulira. S16 Kusamvana: 0.01 deg; Mtundu: [-18000, 18000]
9-10 Yaw control value Kuwongolera mtengo wa yaw angle. S16 Kusamvana: 0.01 deg; Mtundu: [-18000, 18000]
B7–B3 Zosungidwa Ma bits osungidwa. Magawo awa ndi 0
B2 Kuwongolera mtengo wamtengo wapatali 0 - Mtengo wowongolera ndi wolakwika; 1 - Mtengo wowongolera ndiwovomerezeka. U8
B1 Zosungidwa Chinsinsi ichi ndi 0
B0 Kutsimikizika kwa Carrier's INS 0 - INS yonyamula katundu ndiyosavomerezeka; 1 - INS yonyamula katundu ndiyovomerezeka. U8
11 Mkhalidwe Imawonetsa ngati mtengo wowongolera ndiwovomerezeka. U8 0 - Zosavomerezeka, 1 - Zovomerezeka
12-13 Mtheradi mpukutu angle ya chonyamulira Mtheradi wozungulira wa chonyamulira mu Euler angle. S16 Kusamvana: 0.01 deg; Mtundu: [-9000, 9000]
14-15 Mtheradi phula angle ya chonyamulira Mtheradi wokwera kwambiri wa chonyamulira mu Euler angle. S16 Kusamvana: 0.01 deg; Mtundu: [-9000, 9000]
16-17 Mtheradi yaw angle ya chonyamulira Mtheradi waw angle ya chonyamulira mu Euler angle. U16 Kusamvana: 0.01 deg; Mtundu: [0, 36000]
18-19 Northward mathamangitsidwe wa chonyamulira Kuthamanga kwa kumpoto kwa chonyamulira. S16 Kusamvana: 0.01 m/s²; Chakumpoto ndi chabwino
20-21 Kuthamanga kwakum'mawa kwa chonyamulira Kum'mawa mathamangitsidwe wa chonyamulira. S16 Kusamvana: 0.01 m / s²; Kum'mawa ndi kwabwino
22-23 Kukwera mathamangitsidwe wa chonyamulira Kukwera mathamangitsidwe wa chonyamulira. S16 Kusamvana: 0.01 m / s²; Kumwamba ndi zabwino
24-25 Kuthamanga kwa kumpoto kwa chonyamulira Kuthamanga kwa kumpoto kwa chonyamulira. S16 Kusamvana: 0.1 m / s; Chakumpoto ndi chabwino
26-27 Kuthamanga kwakum'mawa kwa chonyamulira Kuthamanga kwakum'mawa kwa chonyamulira. S16 Kusamvana: 0.1 m / s; Kum'mawa ndi kwabwino
28-29 Kukwera liwiro la chonyamulira Kuthamanga kwapamwamba kwa chonyamulira. S16 Kusamvana: 0.1 m / s; Kumwamba ndi zabwino
30 Pemphani code ya subframe Khodi yamafulemu ofunsidwa kuchokera ku GCU. U8
31-36 Zosungidwa Ma byte osungidwa.
37 Mutu wa mawonekedwe ang'onoang'ono omwe afunsidwa kuchokera ku GCU GCU subframe pempho mutu (Ox00). U8

Byte 12-29 ndizofunika kwambiri. Zolakwika zitha kuyambitsa cholakwika pakuwerengera kokwera kwa pod

Sub Data Frame kuchokera ku Host Computer

Bayiti Zamkatimu Kufotokozera Mtundu wa Data Kusamvana
37 0x01 pa Mutu U8
38-41 Longitude ya chonyamulira Longitude ya chonyamulira S32 Kusamvana: 1e-7 deg
42-45 Latitude ya chonyamulira Latitude ya chonyamulira S32 Kusamvana: 1e-7 deg
46-49 Kutalika kwa chonyamulira Kutalika kwa chonyamulira S32 Kukula: 1 mm
50 Ma satellites omwe alipo Chiwerengero cha ma satelayiti omwe alipo U8
51-54 GNSS microsecond GNSS microsecond U32
55-56 Sabata ya GNSS Sabata ya GNSS S16
57-60 Kutalika kwake Kutalika kwake S32 Kukula: 1 mm
61-68 Zosungidwa Ma byte osungidwa Fufuzani:

Byte 37~68 zonse ndi 0x00 ngati palibe data yamtundu wang'ono.

Main Data Frame kuchokera ku GCU

Bayiti Zamkatimu Kufotokozera Mtundu wa Data Kusamvana
5 Pod ntchito mode Njira yogwiritsira ntchito pansi U8 Zomwe zingatheke: 0x10 mpaka 0x1C (zolembedwa pansipa)
6-7 Chifanizo cha Pod Mkhalidwe wa pod U16 B15–B13: Yosungidwa. B12: Mphamvu yogwira ntchito. B10: Kuwala. B9: Masomphenya a usiku. B8 : Kuyenda. B7: Gwirizanitsani zowona. B0: Kutsata.
8-9 Zopingasa-zosowa Malo opingasa cholowera kutengera pakati pa zenera S16 Mtundu: [-1000, 1000]; Kumanja zabwino
10-11 Chotsatira choyima chilibe Poyima chandamale potengera pakati pa zenera S16 Mtundu: [-1000, 1000]; Pansi zabwino
12-13 X-axis wachibale angle ya kamera Kamera yofananira ndi X-axis angle S16 Mtundu: [-18000, 18000]; Kusamvana: 0.01 deg
14-15 Y-axis wachibale wa kamera Kamera yofananira ndi Y-axis S16 Mtundu: [-9000, 9000]; Kusamvana: 0.01 deg
16-17 Z-axis wachibale angle ya kamera Zogwirizana ndi Z-axis angle ya kamera S16 Mtundu: [-18000, 18000]; Kusamvana: 0.01 deg
18-19 Mtheradi wozungulira angle wa kamera Mtheradi wopukutira wa kamera (Euler angle) S16 Mtundu: [-9000, 9000]; Kusamvana: 0.01 deg
20-21 Mtheradi wokhazikika wa kamera Mtheradi wokhazikika wa kamera (Euler angle) S16 Mtundu: [-18000, 18000]; Kusamvana: 0.01 deg
22-23 Mtheradi yaw angle ya kamera Mtheradi yaw angle ya kamera (Euler angle) U16 Mtundu: [0, 36000]; Kusintha: 0.01 deg
24-25 X-axis absolute angular liwiro la kamera X-axis angular liwiro la kamera S16 Kusintha: 0.01 deg/s
26-27 Y-axis absolute angular velocity ya kamera Kuthamanga kwa Y-axis angular kwa kamera S16 Kusintha: 0.01 deg/s
28-29 Z-axis absolute angular velocity ya kamera Z-axis angular liwiro la kamera S16 Kusintha: 0.01 deg/s
30-36 Zosungidwa Ma byte osungidwa

Pod Operating Mode Zotheka:

  • 0x10 - Kuwongolera kwa ngodya 1
  • 0x11 - Kutseka mutu
  • 0x12 - Tsatirani mutu
  • 0x13 - Orthoview
  • 0x14 - Euler angle control mode
  • 0x16 - Kuwona
  • 0x17 - njira
  • 0x1C - Kuwongolera kwa ngodya 2

Sub Data Frame kuchokera ku GCU

Bayiti Zamkatimu Kufotokozera Mtundu wa Data Kusamvana
37 0x01 pa Mutu U8
38 Mtundu wa Hardware Mtundu wa hardware U8
39 Mtundu wa fimuweya Mtundu wa firmware U8
40 Pod kodi Kodi kwa podi U8 Tsatanetsatane monga pa Appendix 7
41-42 Khodi yolakwika yolakwika Makhodi olakwika pazovuta zilizonse S32
43-46 Kutalikirana ndi chandamale Kuyeza mtunda kuchokera pa chandamale S32 Kusanja: 0.1 m (Ndizosavomerezeka ngati -1m kapena 0m)
47-50 Kutalika kwa chandamale Kutalika kwa chandamale S32 Kusamvana: 1e-7 deg
51-54 Latitude ya chandamale Latitude ya chandamale S32 Kusamvana: 1e-7 deg
55-58 Kutalika kwa chandamale Kutalika kwa chandamale S32 Kukula: 1 mm
59-60 Mlingo wamakono wa kamera Makulitsidwe amakono a kamera (kamera yowala yowoneka) U16 Kusamvana: 0.1x
61-62 Mlingo wamakono wa kamera Mlingo waposachedwa wa kamera (kamera yotentha) U16 Kusamvana: 0.1x
63 Chifaniziro cha kamera yotentha Mkhalidwe wa kamera yotentha U8 B7: Kuyeza kwa kutentha, B6: Kutentha kwa dera, etc.

Momwe Kamera Yotenthetsera (Byte 63)

  • B7: 0 - Kuyeza kutentha sikukupezeka; 1 - Muyezo wa kutentha ulipo
  • B6: 0 - Kuyeza kutentha kwa dera kumachotsedwa; 1 - Kuyeza kutentha kwa dera
  • B5: 0 - Chenjezo la kutentha lazimitsidwa; 1 - Chenjezo la kutentha layatsidwa
  • B4: 0 - Isotherm yazimitsa; 1 - Isotherm yayatsidwa
  • B3: 0 - Kuyeza kutentha kwa malo; 1 - Kuyeza kutentha kwa malo
  • B2: Zosungidwa
  • B1: Chenjezo la kutentha kwambiri
  • B0: Chenjezo la kutentha kochepa
Bayiti Zamkatimu Kufotokozera Mtundu wa Data Kusamvana
64-65 Chifaniziro cha kamera Mkhalidwe wa kamera U16 B15: Kuzindikira chandamale pa / kuzimitsa; B14: Digital zoom on/off, etc.
66 Zone ya nthawi Kukhazikitsa zone nthawi U8
67-68 Zosungidwa Zasungidwa kuti zigwiritsidwe ntchito mtsogolo -

Chifaniziro cha Kamera (Byte 64-65)

  • B15: 0 - Kuzindikira kwazomwe mukufuna; 1 - Kuzindikira kwa zomwe mukufuna
  • B14: 0 - Makulitsidwe a digito; 1 - Makulitsidwe a digito
  • B13: 0 - OSD (Kuwonetsa Pazenera) kuchotsedwa; 1 - OSD pa
  • B12: 0 - OSD imawonetsa kulumikizana kwa chonyamulira; 1 - OSD ikuwonetsa kugwirizanitsa kwa chandamale
  • B11: 0 - Image auto reverse on; 1 - Kusintha kwazithunzi kumazimitsa
  • B10–B5: Zosungidwa
  • B4: 0 - Osajambula; 1 - Kujambula
  • B3: Zosungidwa
  • B2–B0: uint_t - Pic-in-pic mode

Byte 37~68 onse ndi 0x00 pomwe mutu wosavomerezeka wa chimango ukufunsidwa.

Lamulo & Ndemanga

Ntchito Kodi Kufotokozera Kupambana Kulephera
Null 0x00 pa Amalekanitsa malamulo ndi dongosolo lomwelo 0x01 0x00 0x01 0x01
Kuwongolera 0x01 pa Pod iyenera kukhala yosasunthika pamene ikuwongolera, kukhala masekondi angapo. 0x01 0x00 0x01 0x01
Order Parm 0x00 pa
Ndemanga 0x03 pa Ndemanga pa ntchito 0x03 0x00 0x03 0x01
OSD 0x06 pa OSD ikuwonetsa dongosolo lolumikizira: 0x00 ya Carrier's, 0x01 ya Target's 0x06 0x00 0x06 0x01
Konzani 0x07 pa 0x07 0x00 0x07 0x01
Image auto reverse 0x08 pa Imawongolera chithunzi chobwerera kumbuyo. 0x00 kwa on, 0x01 kuchotsera 0x08 0x00 0x08 0x01
Zone ya nthawi 0x10 pa Imawongolera zone ya nthawi 0x10 0x00 0x10 0x01
Angle control 1 0x10 pa Imawongolera ngodya ya pod (makhalidwe owongolera omwe amafunikira). 0x10 0x00 0x10 0x01
Chokhoma mutu 0x11 pa Imabwezeretsa pod ku malo osalowerera ndale popanda kusintha mawonekedwe ogwirira ntchito (zotsekera). 0x11 0x00 0x11 0x01
Mutu kutsatira 0x12 pa Imabwezeretsanso poto ku malo osalowerera ndale kwinaku mukutsatira chandamale kapena mutu. 0x12 0x00 0x12 0x01
Orthoview mode 0x13 pa Imabwezera m'malo osalowerera ndale popanda kusintha mawonekedwe ogwirira ntchito. N / A N / A
Njira yolondola 0x14 pa Pod imabweretsanso malo osalowerera ndale ndikutuluka potsata zomwe mukufuna. N / A N / A
Njira ya FPV 0x15 pa Palibe yankho kuchokera ku pod mu FPV mode. N / A N / A
Euler angle control 0x16 pa Pod imatseka ma angles a Euler ndipo samayankha kuwongolera. N / A N / A
Mawonekedwe a Gaze 0x17 pa Pod sayankha kuwongolera mu Gaze mode. N / A N / A

Kufotokozera kwa Mitundu Yodziwika:

  • Head Lock & Head Follow Mode: Pod imasunga malo ake osalowerera (yaw kapena phula) popanda kusintha mitundu.
  • Orthoview Mode: Ngongole ya yaw yokha ndiyomwe yabwezeredwa, ndipo pod sisintha mitundu.
  • Track Mode: Malo osalowerera ndale ndi mamvekedwe amabwezeredwa mukutuluka mukamatsata.
  • FPV Mode, Euler Angle Control, ndi Gaze Mode: Pod sichimayankha mwanjira izi, monga momwe zafotokozedwera.
Ntchito Kodi Kufotokozera Kupambana Kulephera
Orthoview 0x13 pa Ma angles a Euler omwe amafunidwa amaperekedwa, ndipo pod imatseka ma angles ake a Euler pamene zowongolera ndizolakwika. 0x13 0x00 0x13 0x01
Euler Angle Control 0x14 pa Ma angles ofunikira a Euler owongolera kukwera ndi kuyenderera. 0x14 0x00 0x14 0x01
Gaze (Geo-coordinates Guide) 0x15 pa Podiyo imayendetsedwa kumalo enaake okondweretsa pogwiritsa ntchito malo ake (longitude, latitude, altitude) yoperekedwa muzowongolera. 0x15 0x00 0x15 0x01
Gaze (Geo-coordinates Lock) 0x16 pa Khodilo limatseka malo ake potengera momwe malo alili (kutalika, kutalika, kutalika) ndikuyang'ana mosasunthika. Pamafunika data yovomerezeka ya INS. 0x16 0x00 0x16 0x01
Track 0x17 pa Njira yolondolera imayatsidwa popereka njira zotsatirira ndikukhazikitsa zowongolera zotsata zomwe mukufuna. 0x17 0x00 0x17 n

Kufotokozera kwa Ntchito Zapadera:

  1. Orthoview: Imatseka ma angles a Euler a pod apo pomwe mayendedwe ali olakwika.
  2. Euler Angle Control: Sinthani ngodya za Euler za pod (kukweza, kuyenderera) kumalo omwe mukufuna.
  3. Gaze (Geo-coordinates Guide): Londolerani poto kudera linalake pogwiritsa ntchito njira zake (longitudo, latitudo, kukwera). Makhalidwe owongolera (PP, QQ, RR) amaperekedwa kuti aziyika molondola.
  4. Gaze (Geo-coordinates Lock): Imatsekereza kuyang'ana kwa malo ndikuyang'ana pomwe ili. Imafunika data yovomerezeka ya INS (Inertial Navigation System) kuchokera kwa wonyamula.
  5. Track: Imayamba kapena kutuluka potsata chandamale mwa kufotokoza zolumikizira (XO, YO, X1, Y1). Ma coordinates amatanthauzira malo opingasa ndi ofukula mu chimango chomwe mukufuna, pomwe pali ngodya yakumanzere ngati koyambira.

Ndemanga:

  • Za Track, “OX” ndi “YO” ndi makonanidwe omwe amayimira ngodya zakumtunda kumanzere ndi pansi kumanja kwa chimango cha zomwe mukufuna pa zenera. Izi zimatanthauzidwa mu ma U16, pamene 0 ndiye chiyambi, ndipo zabwino zimasunthira kumanja (X-axis) ndi pansi (Y-axis).
  • Kuwona (Geo-coordinates): Pod imafunikira data yovomerezeka ya INS kuti igwire bwino ntchito mwanjira izi.

KK/NN(U8) ndiyomwe imagwira ntchito makamera oyambitsidwa/olephera. B7~BO imagwirizana ndi kamera 8~1. Pang'ono pang'ono kukhala 1 kumatanthauza kuti kamera yake yofananira ndi tagged. Za example, 0x03 (00000011) imatanthawuza kamera 1 ndi kamera 2. Kamera 1 ndi kamera yowonekera-yowala yowunikira mwachisawawa ndipo kamera 2 ndi kamera yotentha mwachisawawa.

Ntchito Kodi Kufotokozera Kupambana Kulephera
Dinani Cholinga 0x1A Poduliyo imayang'ana pa chandamale chotengera zopingasa (XO) ndi ofukula (YO). Ma Coordinates ali mu U16, pomwe (0,0) ndiye kumanzere kwa chinsalu ndipo (10000,10000) ndiye pansi kumanja. 0x1a 0x00 0x1A pa
Nyimbo Zakunja 0x1B Podulo imatsata chandamale potengera milingo yopingasa komanso yoyima (PP, WW). Izi zikuwonetsa komwe chandamale ali pakatikati pa zenera. 0x1B0x00 0x1b NN
Angle Control 2 Zamgululi Pod imasintha ma angles ake achibale kwa chonyamulira, kutsatira chonyamulira pamene zowongolera ndizosavomerezeka. 0x1C0x00 0x1C0x01
Shutter (Kuyambira Record) 0x20 pa Ayamba kujambula. 0x20 0x00 0x20 0x01
Chotsekera (Imani Kujambula) 0x21 pa Imasiya kujambula. 0x21 0x00 0x21 0x01
Onerani Mosalekeza 0x22 pa Kondetsani pafupi mosalekeza. 0x22 0x00 0x22 n
Onetsani Mosalekeza 0x23 pa Mosalekeza makulitsidwe. 0x23 0x00 0x23 n
Zoom Stop 0x24 pa Imayimitsa ntchito ya zoom. 0x24 0x00 0x24 n

Kufotokozera kwa Ntchito Zapadera:

  1. Dinani kuti Mukwaniritse (0x1A): Podayo imayang'ana pa chandamale china chake potengera ma coordinates. Zogwirizanitsa izi zimaperekedwa ngati ma U16, pomwe (0,0) ndiye kumanzere ndipo (10000,10000) ndiye ngodya yakumanja kwa chinsalu.
  2. Nyimbo Zakunja (0x1B): Podayo imatsata chandamale potengera mikhalidwe yolakwika (PP ndi WW), zomwe zikuwonetsa kutalika kwa zomwe chandamalecho ndi pakati pa chinsalu. Njira yotsatirira imayamba ndi lamulo "Yambani kutsatira" (0x02) ndipo imatha kutuluka ndi "Tulukani kutsatira" (0x00).
  3. Engle Control 2 (0x1C): Podyo imasintha ma angles ake achibale kwa chonyamulira, kulola kuti atsatire kayendedwe ka chonyamulira pamene zikhalidwe zolamulira ndizosavomerezeka.
  4. Chotsekera (Kuyambira kwa Record - 0x20): Ayamba kujambula kanema chakudya.
  5. Shutter (Imani Kujambulira - 0x21): Imasiya kujambula kanema wa feed.
  6. Onerani Mosalekeza (0x22): Katunduyu akuyandikira mosalekeza.
  7. Onetsani Mosalekeza (0x23): Katunduyu amawonekera mosalekeza.
  8. Kuyimitsa (0x24): Imayimitsa ntchito yowonera, kusiya ntchito zowonera mkati kapena kunja.

Ndemanga:

  • Nyimbo Zakunja (0x1B): Makhalidwe a PP ndi WW amayimira mtunda wopingasa komanso woyima wa chandamale. Zoyambira zili pakatikati pa zenera, ndipo makonda amawonetsa momwe amayendera.
  • Ntchito Zoom (0x22, 0x23, 0x24): Izi zimalola kuloza mkati kapena kunja mosalekeza ndikuyimitsa ntchito yowonera.

KK/NN(U8) ndiyomwe imagwira ntchito makamera oyambitsidwa/olephera. B7~B0 imagwirizana ndi kamera 8~1. Pang'ono pang'ono kukhala 1 kumatanthauza kuti kamera yake yofananira ndi tagged. Za example, 0x03 (00000011) imatanthawuza kuti kamera 1 ndi kamera 2 ndi kamera yowonekera yowala mokhazikika ndipo kamera 2 ndi kamera yotentha mwachisawawa.

Ntchito Order Parm Kufotokozera Kupambana Kulephera
Onerani mawonedwe mpaka mulingo wodziwika 0x25 pa Onerani pamlingo wodziwika, ndi milingo yoyambira -32768 (maximum zoom) mpaka 10000 (zoom zochepa). Miyezo yolakwika imayimira makulitsidwe (monga -10 pa 1x, -150 pa 15x, -300 pa 30x). 0x25 0x00 0x25 n
Kuyikira Kwambiri 0x26 pa Focus control magwiridwe. 0x26 0x00 0x26 0x01
Palette Mode 0x2A Sinthani mawonekedwe omwe mukufuna, pomwe 0x00 imagwirizana ndi njira yotsatira yapaleti, 0x01 pamachitidwe enaake, ndi zina zambiri. 0x2a 0x00 0x2a 0x02
Masomphenya a Usiku 0x2B Kuwongolera masomphenya ausiku. 0x00 kuchotsera, 0x01 ya kuyatsa, ndi 0x02 ya auto. 0x2B0x00 0x2B0x01
Kuyeza Kutentha kwa Malo 0x30 pa Kuyeza kutentha kwa dera. 0x00 kuchotsera, 0x01 kwa on. 0x30 0x00 0x30 n
Chenjezo la Kutentha 0x31 pa Khazikitsani zidziwitso za kutentha. Zimaphatikizapo kutentha kwapamwamba (HH) ndi kutsika (LL) ndi kusinthasintha kwa 0.1°C. 0x31 0x00 0x31 n
Khalidwe 0x32 pa Yambitsani kapena kuletsa mawonekedwe a isotherm. 0x00 yochotsa, 0x01 ya kunja kwapakati, ndi 0x02 pamayendedwe apakatikati. Kutentha kwapamwamba/kutsika (HH, LL) kumayikidwa ndi 0.1°C. 0x32 0x00 0x32 n
Kuyeza kwa Spot Kutentha 0x33 pa Lamulirani kutentha kwa malo. 0x00 kuchotsera, 0x01 kwa on. Coordinates (XO, YO) amatanthauzira malo oyezera. 0x33 0x00 0x33 n
OSD (Chiwonetsero cha Pazenera) 0x73 pa Yang'anirani chiwonetsero chazithunzi. 0x00 kuwonetsa, 0x01 kubisala. 0x73 0x00 0x73 0x01
Pic-in-Pic 0x74 pa Control chithunzi-in-chithunzi (PIP) mode. Miyezo pakati pa 0x00 ndi 0x04 imagwirizana ndi mitundu ya PIP yomwe ilipo. 0x74 0x00 0x74 0x01

Kufotokozera kwa Ntchito Zapadera:

  1. Onerani mpaka mulingo wodziwika (0x25): Imawongolera kuchuluka kwa makulitsidwe, ndi mulingo woperekedwa mumtundu wina pomwe milingo yolakwika imayimira kuchuluka kwa makulitsidwe (monga -10 kwa 1x zoom, -150 kwa 15x zoom, ndi zina zotero), ndipo makonda amatanthauzira kuchuluka kwa makulitsidwe.
  2. Kuyikira Kwambiri (0x26): Imasintha malingaliro a dongosolo.
  3. Mtundu wa Palette (0x2A): Imasintha mawonekedwe a phale omwe amagwiritsidwa ntchito ndi dongosolo. Njirayi imasankhidwa ndi manambala monga 0x00 panjira yotsatira yapalette ndi 0x01 pamachitidwe apano.
  4. Masomphenya a Usiku (0x2B): Imawongolera mawonekedwe a masomphenya ausiku, ndikuwathandiza m'njira zosiyanasiyana (kuzimitsa, kuyatsa, kapena auto).
  5. Kuyeza kwa Kutentha kwadera (0x30): Imalola kuyeza kwa kutentha kudera linalake, loyendetsedwa ndi ma coordinates (XO, YO, etc.).
  6. Chidziwitso cha Kutentha (0x31): Imakhazikitsa zidziwitso za kutentha kwakukulu ndi kotsika.
  7. Isotherm (0x32): Imayatsa mtundu wa isotherm, womwe umayang'anira madera omwe ali mkati mwa kutentha kwapadera, ndi mitundu yapakati ndi zipata.
  8. Kuyeza kwa kutentha kwa malo (0x33): Imathandiza kuyeza kutentha kwa malo pamalo enaake pazenera.
  9. OSD (0x73): Imawongolera mawonekedwe owonekera pazenera (kuwonetsa / kubisa).
  10. Chithunzi-chithunzi (0x74): Imawongolera magwiridwe antchito azithunzi, ndikupereka mawonekedwe osiyanasiyana.

KK/NN(U8) ndiyomwe imagwira ntchito makamera oyambitsidwa/olephera. B7~B0 Kamera 1 ndi kamera yowoneka bwino yowoneka bwino mwachikhazikitso ndipo kamera 2 ndi kamera yotentha mwachisawawa.

Nali tebulo lofotokozera mwachidule ntchito zatsopano ndi tsatanetsatane wake:

Ntchito Order Parm Kufotokozera Kupambana Kulephera
Kuzindikira Chandamale 0x75 pa Yambitsani kapena kuletsa kuzindikira chandamale. 0x00 kuchotsera, 0x01 kwa on. 0x75 0x00 0x75 0x01
Onerani Makamera 0x76 pa Sinthani makulitsidwe a digito. 0x00 kuchotsera, 0x01 kwa on. 0x76 0x00 0x76 0x01
Kuwala Kwambiri 0x80 pa Sinthani mphamvu yowunikira. Miyezo kuyambira 0 mpaka 255, 0 kukhala yopanda kuyatsa ndi 255 kukhala yolimba kwambiri. 0x80 0x00 0x80 0x01
Kuyenda 0x81 pa Yambitsani kapena kuletsa kuyambira. 0x00 kuchotsera, 0x02 kwa on. 0x81 0x00 0x81 0x01

Kufotokozera kwa Ntchito Zapadera:

  • Kuzindikira zomwe mukufuna (0x75): Imawongolera ngati kuzindikiridwa kwa zomwe mukufuna kukufuna kukugwira ntchito kapena sikukugwira ntchito. Izi zimagwiritsidwa ntchito pozindikira zinthu kapena malo enaake, malinga ndi luso la makina.
    • 0x00 - Kuzindikira zomwe mukufuna kuzimitsa.
    • 0x01 - Kuzindikira zomwe mukufuna kumayatsidwa.
  • Makulitsira Kamera (0x76): Imatsegula kapena kuyimitsa kujambula kwa digito kuti kamera igwire ntchito.
    • 0x00 - Digital zoom yazimitsidwa.
    • 0x01 - Digital zoom yayatsidwa.
  • Kuchuluka kwa Kuwala (0x80): Imasintha mphamvu ya kuyatsa. Kulimba kumayikidwa ndi mtengo wa 8-bit, kuyambira 0 (palibe kuwala) ku 255 (maximum intensity).
    • Makhalidwe: 0 - Palibe kuyatsa; 255 - Kuunikira kwakukulu.
  • Kutalika (0x81): Imayambitsa kapena kuyimitsa magwiridwe antchito. Kutalika kungagwiritsidwe ntchito kuyeza mtunda kapena mapu.
    • 0x00 - Kuthamanga kwatsekedwa.
    • 0x02 - Kuthamanga kukuchitika.

Kuyatsa kuyatsa kudzayatsa masomphenya ausiku nthawi yomweyo. Kuzimitsa kuwala sikungazimitse kuona usiku.

Ntchito ya 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)
{ ndi=crc >> 12; crc<=4; crc^=crc_ta[da^(*ptr>>4)]; ndi=crc >>12; crc<=4; crc^=crc_ta[da^(*ptr&0x0F)]; ptr++; } kubwerera(crc);

Zowonjezera 1 Eksample ya Transformation of Data Frame kuchokera ku Host Computer

Bwino 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 Zamkatimu
Deta Yoyambirira OXA8 Mutu 0xE5 Kutalika kwa Phukusi 72 Mtundu wa Protocol 0x01 pa Roll Control Value 100 Pitch Control Value -100 Yaw Control Value 0x05 pa Kuwongolera Mtengo Ndikoyenera Chifanizo INS Yonyamula Ndi Yovomerezeka Mtheradi Roll Angle -11.3213° Mtheradi Pitch Angle 1.01° Mtheradi Yaw Angle 240° Kuthamanga kwa Carrier 1.123m/s²
Bwino Zamkatimu Deta Yoyambirira Kulondola kapena Kutembenuza kwa Binary (Little-endian) Hexadecimal (Little-endian) Hexadecimal (Big-endian)
50 Ma Satellite Opezeka 19 19 13 19
51-54 GNSS Microsecond 352718000 352718000 00 06 15 B0 00 06 15 B0
55-56 Sabata ya GNSS 2278 2278 E6 08 E6 08
57-60 Utali Wachibale 12.12m 12120 58 2f00 58 2f00
61-68 Zosungidwa 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 Null Command 0x00 pa 00 00 00
70-71 Mtengo CRC N / A N / A E9 D4 E9 D4

Phukusi lathunthu la data kuchokera pakompyuta yolandila: 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 00 00 00 01 24 EE AA 2 A65 A16 16 3 0 B00 00C 13 0 E0 06 15 6F 08 58 2 00 00 00 00 00 00 00 00 E00 D00

Zowonjezera 2 Eksample ya Transformation of Data Frame kuchokera ku GCU
Phukusi lathunthu la data kuchokera ku 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 00 00 00 01 1 32 29 00 F00 DF 06 17 EE AA 00 A00 A24 2 65 16B 16 3 0 00 00 2 01 14 00 00 00 EC 00

Bwino Zamkatimu Chidziwitso Choyambirira (Hexadecimal) Data Yosinthidwa
1 Mutu A8 A8
2~3 pa Kutalika kwa Phukusi Zamgululi 73
4 Mtundu wa Protocol 00 0.2
5 Pod Operation mode 02 Mutu kutsatira
6~7 pa Chithunzi cha Pod 01 80 0000 0001 1000 0000
8-9 Zopingasa-zosowa OC FE Kupitilira.
10~11 pa Chotsatira choyima chilibe pa f4 Range ndi chandamale chogwirizana ndichovomerezeka
12~13 pa X-axis wachibale angle ya kamera DD FC -500
14~15 pa Y-axis wachibale wa kamera 20 00 500
16~17 pa Z-axis wachibale angle ya kamera 4A 18 -8.03°
18~19 pa Mtheradi wozungulira angle wa kamera FF FF 0.32°
20~21 pa Mtheradi wokhazikika wa kamera A5 ndi 62.18°
22~23 pa Mtheradi yaw angle ya kamera 47 18 -0.01°
24~25 pa X-axis absolute angular liwiro la kamera FF FF 19.33°
26~27 pa Y-axis absolute angular velocity ya kamera 01 00 62.15°
28~29 pa Z-axis absolute angular velocity ya kamera FE FF -0.1 deg/s
30~36 pa Zosungidwa 00 00 00 00 00 00 0.1 deg / s
37 Mutu wam'munsi 00 -0.2 deg/s
38 Mtundu wa Hardware 00 5.0
39 Mtundu wa fimuweya 00 D-90AI
40 Pod kodi 00 589.4m
41~42 pa Khodi yolakwika 00 00 170.917533212
43~46 pa Kutalikirana ndi chandamale 01 2b01 38.030082231
47~50 pa Kutalika kwa chandamale 00 00 00 00 41.1231m
51~55 pa Latitude ya chandamale 00 00 00 00 29.9x ku
55~58 pa Kutalika kwa chandamale 06 17 00 00
59~60 pa Mlingo wamakono wa kamera 24 F2 DF65
61~62 pa Zosungidwa 16 EE AA 16
Bwino Zamkatimu Chidziwitso Choyambirira (Hexadecimal) Data Yosinthidwa
61~62 pa Mlingo waposachedwa wa kamera 2 14 00 2x
63 Chifaniziro cha kamera yotentha 00 UTC+8
64~65 pa Chifaniziro cha kamera 00 00 Kupambana kwa shutter
66 Zone ya nthawi 08
67~68 pa Zosungidwa 00 00
69~70 pa Ndemanga 20 00
71~72 pa Mtengo CRC Chithunzi cha EC85

Zakumapeto 3 Tanthauzo la Carrier's Coordinate System

Robot XF(A5) V2.0.5 GCU-Private-Protocol-fig- (1)

Zowonjezera 4 Tanthauzo la Kamera Yogwirizanitsa Kachitidwe ndi Kuzungulira Kwadongosolo

  1. Coordinate system tanthauzoRobot XF(A5) V2.0.5 GCU-Private-Protocol-fig- (2)Doko lowongolera la pod liyenera kuloza ku X-ward yonyamulira. The dampnsanja iyenera kukhala yofanana ndi ndege ya XOY ya chonyamulira. Podayo iyenera kuyikidwa pafupi ndi CG ya chonyamuliracho.
  2. Sinthani dongosolo: Z → Y → X.
  3. Kusintha kwa ngodya:
    • Tanthauzo:
      • CamPmoni: Mtheradi wopukutira wa kamera (Main data frame kuchokera ku GCU, byte 18 ~ 19)
      • CamThe: Mtheradi wokhazikika wa kamera (Main data frame kuchokera ku GCU, byte 20 ~ 21)
      • CamPsi: Mtheradi yaw angle ya kamera (Main data frame kuchokera ku GCU, byte 22 ~ 23)
      • AngleX: X-axis mtheradi wa kamera
      • AngleY: Y-axis mtheradi wa kamera
      • AngleZ: Z-axis mtheradi wa kamera
    • Magawo omwe ali pamwambawa amasinthidwa monga pansipa
      • AngleZ += 90;
      • WARP (AngleZ , 360);
      • CamPhi = +AngleY;
      • CamThe = -AngleX;
      • CamPsi = +AngleZ;

Zowonjezera 5 Eksampku Data Package

  • Null command
    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 FD
  • Kuwongolera phula (sungani zowongolera zamakono, mtengo wowongolera 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 E00 00F
  • Kuwongolera phula (sungani zowongolera zamakono, mtengo wowongolera -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 00 00 00
  • Yaw control (sungani zowongolera zamakono, mtengo wowongolera 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
  • Wosalowerera ndale
    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 CD 00
  • OSD ikuwonetsa mgwirizano wa chonyamulira
    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 E
  • OSD ikuwonetsa kugwirizana kwa chandamale
    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 00 00 00 00 06 01 F
  • Chithunzi chobwerera kumbuyo chayatsidwa
    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 D
  • Zithunzi zozimitsa zokha zimazimitsa
    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 00 00 00 00 07 01 4 1 XNUMX XNUMX D
  • Kusintha kwa nthawi (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 FE CA D
  • Kuwongolera ngodya 1 (kuwongolera kolakwika)
    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
  • Kuwongolera kwa ngodya 1 (Euler angle: roll 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 00A 00A
  • Kuwongolera kwa ngodya 1 (Euler angle: roll 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 00 00 00 00 00 00 F00
  • Kutsekera pamutu (kuwongolera kolakwika)
    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
  • Loko lakumutu (kuthamanga kwa angular +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 DE 00 .
  • Tsatirani pamutu (zowongolera ndizosavomerezeka)
    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 00 00 00 00 00 00 CF00
  • Orthoview (mawu owongolera ndi olakwika)
    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 00 00 00 00 00 00 00 13 41 XNUMX DF XNUMX
  • Euler angle control (kuwongolera kolakwika)
    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
  • Euler angle control (Euler angle: roll 0°, pitch -45°, yaw 0°)
    A8 E5 48 00 02 00 00 6C EEE 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 00 00 00 00 00 00 14 5 6 XNUMX AXNUMX XNUMXA
  • Yambani kutsatira (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
  • Chokani kutsatira
    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 00 64 00 CB64
  • Dinani kuti mukwaniritse (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 Kumeneko
  • Dinani kuti mukwaniritse (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 00 00 00 00 00 00 00 00 00 00 00 00 1 01 88 13 EE
  • Dinani kuti mukwaniritse (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 00 00 00 00 00 00 00A 1 01 10
  • Dinani kuti mukwaniritse (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 00 00 00 00 00 00 00 00 1 01 10 27 88A 13 4 0 F
  • Nyimbo zakunja (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 00 00
  • Kuwongolera ngodya 2 (kuwongolera kolakwika)
    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 00C 00E 00E
  • Chotsekera
    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 00C
  • Yambani/siyani kujambula
    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 00D
  • Kamera 1 imangoyang'ana mkati mosalekeza
    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
  • Kamera 1 imawonekera mosalekeza
    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 00F
  • Kamera 1 siyani kuyang'ana
    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 00 00 00 00 24 A01
  • Kamera 1 ikuwonetsa kuchuluka kwake (5000, ikufanana ndi theka la mlingo waukulu)
    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 00 00 00 00 00 00 00 25 01 88 13 73 0
  • Makamera onse amawonekera pamlingo wodziwika (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 00 00 00 00 00 00 00 00 25 FF
  • Makamera onse amawonekera pamlingo wodziwika (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 00 00 00 00 00 00 00 00 25 9 FF
  • Kamera 1 imakulitsidwa kumlingo wodziwika (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 D DC
  • Kuyikira Kwambiri
    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 CA
  • Njira yotsatira yapaleti
    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 00A 00 E00
  • Palette mode 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 00 00A 00 BB
  • Masomphenya ausiku akupitilira
    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 00 00 00 00 00 00 00 00 00 00 00 2B 01 A01
  • Kuwona kwausiku kutha
    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 E00
  • Kuyeza kutentha kwa dera (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. PA 00D
  • Muyezo wa kutentha kwadera wachotsedwa
    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
  • Chenjezo la kutentha likuyaka (kutentha kwakukulu 30.2 ° C, kutentha kochepa 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 00 00 00 00 00 00 00 00 00 31 02 01 2 01
  • Chenjezo la kutentha lazimitsidwa
    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 00 00 00 00 00 00 00 00 31 02 00 2 01
  • Isotherm imayatsidwa (modi yapakati, 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 00 00 00 FA
  • Isotherm yazimitsa
    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 00 00
  • Kuyeza kutentha kwa malo (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 00 00 00 00 00 00 00 00 00 33 02 01 0 0
  • Muyezo wa kutentha wa malo wachotsedwa
    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 00 00 00 00 00 00 00 00 33 02 00 00 00 AF
  • OSD pa
    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 00 00 00 00 00 00 73 01 8 60 B
  • OSD yachotsedwa
    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 00 00 00 00 00 00 A
  • Chotsatira cha chithunzi-mu-chithunzi
    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 00 00 00 00 74 00 89 36 XNUMX XNUMX XNUMX XNUMX XNUMX XNUMX XNUMX XNUMX XNUMX XNUMX XNUMX XNUMX
  • Pic-in-pic mode 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 00 00 00 00 00 00 74 03 9 55 B
  • Kuzindikira kwazomwe mukufuna
    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 A
  • Kuzindikira kwa zomwe mukufuna kuzimitsa
    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 00 00 00 00 75 00 07 XNUMX XNUMX XNUMX XNUMX BA
  • Onerani makulitsidwe a digito a kamera
    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 00 00 00 00 76 FF
  • Onerani makulitsidwe a digito a kamera
    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 Ef54
  • Kuyatsa (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 00 00 00 00 00 00 00 00 80 48 3 XNUMX FF XNUMX FF XNUMX FF
  • Kuyatsa
    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 00 00 00 00 80 00 56 33 XNUMX XNUMX XNUMX XNUMX XNUMX XNUMX XNUMX XNUMX XNUMX XNUMX XNUMX XNUMX
  • Kupitilira mpaka
    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 00 00 00 00 81 02 45 40 XNUMX XNUMX XNUMX XNUMX XNUMX XNUMX XNUMX XNUMX XNUMX XNUMX XNUMX XNUMX
  • Kusintha pafupipafupi
    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 00 00 00 00 81 00 65 02 XNUMX XNUMX XNUMX XNUMX XNUMX XNUMX XNUMX XNUMX XNUMX XNUMX XNUMX XNUMX

Zowonjezera 6 GPS nthawi & ntchito yotembenuka ya UTC (popanda kudumpha kwachiwiri)
static const uint16_t gpst0[] = {1980, 1, 6, 0, 0, 0}; uint64_t epoch2time(consst uint16_t *ep) { const uint16_t _day[] = {1, 32, 60, 91, 121, 152, 182, 213, 244, 274, 305, 335}; uint64_t masekondi = 0; masiku uint16_t, chaka = ep[0], mon = ep[1], tsiku = ep[2]; ngati (chaka < 1970 || 2099 < chaka || mon < 1 || 12 < mon) masekondi obwerera; /* chaka chodumpha ngati chaka%4==0 mu 1901-2099 */ masiku=(chaka-1970)*365+(chaka-1969)/4+_tsiku[mon-1]+tsiku-2+(chaka%4 ==0 && mon>=3?1:0); masekondi = pansi(ep[5]);masekondi = (uint64_t)masiku * 86400 + ep[3] * 3600 + ep[4] * 60 + masekondi; masekondi obwerera; } uint64_t gpst2time(int16_t sabata, uint32_t sec){uint64_t t = epoch2time(gpst0); ngati (mphindi < -1E9 || 1E9 < sec) sec = 0.0; t += 86400 * 7 * sabata + mphindi; kubwerera t; } uint8_t time2gps(uint64_t nthawi, int16_t *sabata, uint32_t *msec){uint64_t t = epoch2time(gpst0); t = nthawi - t; * sabata = t / 604800; // 604800=7*86400 * msec = (t% 604800) * 1000; kubwerera 1; }

Zowonjezera 7 Pod Code

Kodi Chitsanzo
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-1 PRO
50 Z-1 MINI
51 Z-2 PRO
52 Z-2 MINI
53 D-125AI
54 D-150AI
55 Chithunzi cha D-90DE
56 D-115AI

Malingaliro a kampani NANJING XIANFEI ROBOT TECHNOLOGY CO., LTD.

FAQ

Q: Kodi cholinga cha protocol yachinsinsi yogwiritsidwa ntchito ndi GCU ndi chiyani?
A: Protocol yachinsinsi imatsimikizira kulumikizana kotetezeka komanso koyenera pakati pa GCU ndi zida zolumikizidwa.

Q: Kodi ndingasinthire bwanji mtundu wa protocol wa GCU?
Yankho: Kuti musinthe mtundu wa protocol, onani buku lazamalonda kuti mupeze malangizo apadera operekedwa ndi wopanga.

Zolemba / Zothandizira

Robot XF(A5) V2.0.5 GCU Private Protocol [pdf] Buku Logwiritsa Ntchito
XF A5 V2.0.5, XF A5 V2.0.1, XF A5 V2.0.2, XF A5 V2.0.5 GCU Private Protocol, XF A5 V2.0.5, GCU Private Protocol, Private Protocol, Protocol

Maumboni

Siyani ndemanga

Imelo yanu sisindikizidwa. Minda yofunikira yalembedwa *