Robot XF(A5) V2.0.5 GCU Itifaki ya Kibinafsi

Vipimo

• Hati Toleo: V2.0.5
• Itifaki Toleo: V0.1

Taarifa ya Bidhaa
GCU (Kitengo cha Udhibiti wa Jumla) hufanya kazi kwa itifaki ya kibinafsi na hutoa vipengele na maboresho mbalimbali kulingana na historia ya masahihisho:

Vipengele:

• UART baudrate hubadilika kuwa kujirekebisha
• Ongeza hali ya Seva ya TCP katika mawasiliano ya Mtandao
• Ongeza toleo la itifaki kwenye kifurushi cha data
• Maboresho katika fremu za data kwa kompyuta mwenyeji na GCU
• Maboresho ya Amri na Maoni
• Exampusasishaji wa kifurushi cha data

Maagizo ya Matumizi ya Bidhaa

Mfumo Mkuu wa Data kutoka kwa Kompyuta mwenyeji

• Ongeza pembe ya Euler inayotakikana na pembe ya jamaa inayotaka katika thamani ya udhibiti wa roll/pitch/yaw (byte 5~10)
• Ongeza ufanisi wa kiasi cha udhibiti (bit B2) kwenye sanamu (byte 11)

Mfumo Mkuu wa Data kutoka GCU

• Ongeza modi ya FPV na modi ya kudhibiti pembe ya Euler kwenye sanamu ya ganda (byte 5)
• Futa hali ya kukaribia aliyeambukizwa (bit B11) kutoka kwa sanamu ya kamera (byte 6~7)

Sura Ndogo ya Data kutoka kwa Kompyuta mwenyeji

• Futa umbali kutoka Nyumbani (byte 57~60)
• Ongeza urefu unaolingana (baiti 57~60)

Historia ya Marekebisho

Tarehe	Toleo la Hati	Toleo la Itifaki
2023.06.19	V2.0	–

Tarehe	Toleo la Hati	Toleo la Itifaki
2023.08.09 1. UART baudrate cha	V2.0.1 huingia kwenye kujirekebisha. Tangazo	V0.0 d Hali ya Seva ya TCP ndani

1. UART baudrate hubadilika kuwa kujirekebisha. Ongeza hali ya Seva ya TCP katika mawasiliano ya Mtandao. [P1]
2. Ongeza toleo la itifaki kwenye kifurushi cha data. Sahihisha makosa ya kichwa kwenye kifurushi kutoka kwa GCU. [P2]
3. Sura kuu ya data kutoka kwa kompyuta mwenyeji:
   1. Ongeza pembe ya Euler inayotakikana na pembe ya ulinganifu inayotakikana kwenye thamani ya udhibiti wa roll/pitch/yaw (baiti 5~10); [P3]
   2. Ongeza ufanisi wa viwango vya udhibiti (bit B2) kwenye sanamu (byte 11). [P3]
   3. Sura ndogo ya data kutoka kwa kompyuta mwenyeji:
   4. Futa umbali kutoka Nyumbani (byte 57~60); [P4]
   5. Ongeza urefu wa jamaa (byte 57~60) . [P4]
4. Muundo mkuu wa data kutoka GCU:
   1. Ongeza modi ya FPV na modi ya kudhibiti pembe ya Euler kwenye sanamu ya ganda (byte 5); [P5]
   2. Futa hali ya kukaribia aliyeambukizwa (bit B11) kutoka kwa sanamu ya kamera (byte 6~7). [P5]
5. Sura ndogo ya data kutoka GCU:
   1. Futa maudhui ya byte 59~61; [P6]
   2. Ongeza kasi ya kukuza ya sasa ya kamera 1 (baiti 59~60) na kamera 2 (baiti 61~62). [P6]
6. Amri na Maoni:
   1. Ongeza maelezo ya null amri; [P7]
   2. Ongeza amri ya hali ya FPV, hali ya udhibiti wa angle ya Euler, hali ya kufuatilia nje na OSD; [P7~P9]
   3. Maelezo ya kina ya hali ya kutazama; [P8]
   4. Rekebisha vigezo vya shutter, rekodi, umakini, palette na amri ya maono ya Usiku. [P8~P9]
7. Weka upya exampkifurushi cha data. [P11~P16]

Tarehe	Toleo la Hati	Toleo la Itifaki
2023.10.12	V2.0.2	V0.1

1. Ongeza maelezo juu ya mpangilio wa kawaida wa itifaki. [P2]
2. Sura kuu ya data kutoka kwa kompyuta mwenyeji:
   1. Ongeza ufafanuzi wa mfumo wa kuratibu katika maelezo ya safu kamili, lami na angle ya mtoa huduma (byte 12~17). [P3]
3. Muundo mkuu wa data kutoka GCU:
   1. Ongeza sanamu ya taa (bit B10) kwenye sanamu ya kamera (bit B10). [P5]
   2. Sahihisha makosa ya mwelekeo wa mhimili wa kuratibu ("juu kama chanya"→"kushuka chini kama chanya") ya kukosa lengo la wima (byte 10~11). [P5]
   3. Ongeza masafa ya thamani katika maelezo ya X-ward/Y-ward-coseble-missing (byte 8~11). [P5]
   4. Ongeza ufafanuzi wa mfumo wa kuratibu na uzungushe mpangilio katika maelezo ya mhimili wa X/ Y-axis/ Z-axis kasi ya angular kabisa ya kamera (byte 24~29). [P5]
4. Amri na Maoni:
   1. Rekebisha maelezo juu ya maadili ya udhibiti katika maelezo ya modi ya FPV, hali ya kufunga kichwa na modi ya kufuata kichwa. [P7]
   2. Sahihisha makosa ya maoni ya uwongo (“0x015 0x01″→”0x15 0x01”) ya hali ya kutazama (mwongozo wa kuratibu za geo). [P8]
   3. Ongeza viwianishi vya kona ya juu kushoto ya fremu na kona ya chini kulia katika maelezo ya hali ya wimbo. [P8]
   4. Ongeza viwianishi vya kona ya juu kushoto ya skrini na kona ya chini kulia ya skrini katika maelezo ya kubofya ili kulenga amri. [P8]
   5. Ongeza sehemu ya katikati ya skrini inayolengwa, kona ya juu kushoto na chini kulia katika maelezo ya hali ya wimbo wa nje. [P9]
5. Ongeza kiambatisho 1: mfanoample ya mabadiliko ya sura ya data kutoka kwa kompyuta mwenyeji. [P12]
6. Ongeza kiambatisho cha 2: ufafanuzi wa mfumo wa kuratibu wa mtoa huduma. [P13]
7. Ongeza kiambatisho cha 3: ufafanuzi wa mfumo wa kuratibu wa kamera na mpangilio wa mzunguko. [P14]
8. Ongeza kiambatisho5: Muda wa GPS na utendakazi wa ubadilishaji wa UTC.[P21]

Tarehe	Toleo la Hati	Toleo la Itifaki
2024.06.20	V2.0.5	V0.1

1. Mfumo Mkuu wa Data kutoka kwa Kompyuta mwenyeji:
   1. Ongeza maelezo kuhusu ufanisi wa thamani ya udhibiti (bit B2) katika maelezo ya sanamu (byte 11) . [P3]
2. Mfumo Mkuu wa Data kutoka GCU:
   1. Badilisha jina la FPV kuwa udhibiti wa pembe 1 na uongeze udhibiti wa pembe 2 katika hali ya uendeshaji ya pod (baiti 5). [P5]
   2. Badilisha jina la sanamu ya kamera (byte 6~7) hadi sanamu ya pod. [P5]
3. Mfumo Ndogo wa Data kutoka GCU:
   1. Ongeza msimbo wa hitilafu (byte 41~42). [P6]
   2. Ongeza sanamu ya kamera ya joto (byte 63). [P6]
   3. Ongeza sanamu ya kamera (byte 64~65). [P7]
   4. Ongeza saa za eneo (byte 66). [P7]
4. Amri na Maoni:
   1. Ongeza amri za uratibu wa OSD, kigeuza kiotomatiki cha picha na mpangilio wa eneo la saa. [P8]
   2. Rekebisha maelezo ya udhibiti wa pembe 1 (FPV asilia), kufuata kwa kichwa na udhibiti wa pembe wa Euler. [P8]
   3. Ongeza amri ya udhibiti wa pembe 2. [P10]
   4. Rekebisha safu ya kigezo cha palati ([0,100]->[0,10]). [P11]
   5. Ongeza amri za kipimo cha halijoto cha eneo, tahadhari ya halijoto, isotherm na kipimo cha halijoto ya mahali. [P11~P12]
   6. Ongeza kitendakazi cha kubadili hadi modi maalum katika pic-in-pic. [P12]
   7. Ongeza amri za utambuzi lengwa na ukuzaji wa dijiti wa kamera. [P13]
5. Ongeza Kiambatisho 2: Kutample ya Ubadilishaji wa Fremu ya Data kutoka GCU. [P16~P18]
6. Fanya upya Kiambatisho cha 5: Kutample Kifurushi cha Data. [P20~P28]
7. Ongeza Kiambatisho cha 7: Msimbo wa Pod. [P30]

Usanidi wa Bandari

Usanidi wa UART

• Kiwango cha UART: TTL
• Sehemu za data: 8
• Simamisha bits: 1
• Usawa: Hakuna
• Hali ya mawasiliano: Duplex kamili
• Baudrate: 115200, 250000, 500000 na 1000000.
• Masafa ya mawasiliano: Masafa ya masafa ya mawasiliano yanayopendekezwa ni 30~50Hz. Ya juu ya mzunguko ni, bora athari ya kudhibiti ni. Haipaswi kuwa na masafa ya chini sana au kuacha data. Haipaswi kuwa na BUS bila kufanya kitu katika kifurushi kimoja cha data.

Usanidi wa Mtandao

• Hali ya UDP: Lango chanzo ni 2337 na lengwa chaguomsingi ni anwani ya utangazaji ya LAN. Bandari inayolengwa ni 2338.
• Hali ya Seva ya TCP: Mwisho wa kinyume unapaswa kuwekwa kwa modi ya TCP Clint.

Anwani ya IP ya mbali inapaswa kuwa sawa na GCU, na bandari ya mbali inapaswa kuwa 2332.

Muhtasari

• Mawasiliano hutumia hali ya Maswali na Majibu. Kompyuta mwenyeji husambaza kifurushi cha data kwanza. Baada ya kupokea kifurushi sahihi, GCU inarudisha kifurushi chake. Kifurushi kamili cha data kinaundwa na kichwa cha itifaki, urefu wa kifurushi, fremu kuu ya data, fremu ndogo ya data, amri/maoni na data ya CRC.
• Urefu wa kifurushi ni ka S. Urefu wa sehemu ya amri / maoni ni tofauti.
• Sehemu ya amri / maoni inajumuisha mpangilio na kigezo. Ramani tofauti za mpangilio parameta tofauti. Maelezo kulingana na sura ya Fremu ya Data katika hati hii.
• GCU itatekeleza mara moja tu huku ikiendelea kupokea amri zilizo na mpangilio sawa (hata kama vigezo ni tofauti). Ili kuanzisha utendakazi mmoja, vifurushi vya data vinapaswa kutengwa na kifurushi kilicho na amri isiyofaa (Isipokuwa amri ya wimbo wa Nje).

Muundo wa kifurushi cha data umeonyeshwa kama hapa chini.

Sehemu	Byte	Maelezo	Aina ya Data	Maelezo
Kutoka kwa Kompyuta mwenyeji
Kijajuu	0	Data Kuu	U16
	1	Data Ndogo	U8
Urefu na Toleo	2–3	Urefu na Maelezo ya Toleo
Data ya Fremu	4	Fremu
Data ya Fremu	5–36	Data Kuu	32 ka
Data ya Fremu	37–68	Data Ndogo	32 ka
Kutoka GCU
Kijajuu	0	0x8A
	1	0x5E
Urefu na Toleo	2–3	Urefu na Maelezo ya Toleo
Data ya Fremu	4	Fremu
Data ya Fremu	5–36	Data Kuu	32 ka
Data ya Fremu	37–68	Data Ndogo	32 ka
Data ya Amri	69–S-3	Amri (Urefu Unaobadilika)
Data ya Maoni	69–S-3	Maoni (Urefu Unaobadilika)
CRC High Byte	S-2	CRC High Byte	U16
CRC Low Byte	S-1	CRC Low Byte	U16

• Data iliyoangaliwa na CRC ni Byte 0~S-3.
• Itifaki hii hutumia mpangilio wa baiti ndogo-endian (isipokuwa CRC).

Dataframe

Mfumo Mkuu wa Data kutoka kwa Kompyuta mwenyeji

Byte	Maudhui	Maelezo	Aina ya Data	Maelezo
5–6	Njia zingine, Kiwango cha Kuza (deg/s)	Wakati thamani ya udhibiti inatakikana Euler angle.		Azimio: 0.01 deg; Kiwango: 8000 hadi 18000
7–8	Thamani ya udhibiti wa lami	Wakati thamani ya udhibiti inapohitajika pembe ya jamaa kati ya ganda na carrier.	S16	Azimio: 0.01 deg; Aina: [-18000, 18000]
9–10	Thamani ya udhibiti wa upinde	Thamani ya kudhibiti kwa pembe ya yaw.	S16	Azimio: 0.01 deg; Aina: [-18000, 18000]
B7–B3	Imehifadhiwa	Biti zilizohifadhiwa.		Vipande hivi ni 0
B2	Dhibiti uhalali wa thamani	0 - Thamani ya kudhibiti ni batili; 1 - Thamani ya udhibiti halali.	U8
B1	Imehifadhiwa	Sehemu hii ni 0
B0	Uhalali wa INS ya Mtoa huduma	0 - INS ya Mtoa huduma ni batili; 1 - INS ya Mtoa huduma halali.	U8
11	Hali	Inaonyesha kama thamani ya udhibiti ni halali.	U8	0 - Batili, 1 - Halali
12–13	Pembe ya roll kabisa ya mtoa huduma	Pembe ya mkunjo kamili ya mtoa huduma katika pembe ya Euler.	S16	Azimio: 0.01 deg; Aina: [-9000, 9000]
14–15	Pembe ya lami kabisa ya mtoa huduma	Pembe kamili ya lami ya mtoa huduma katika pembe ya Euler.	S16	Azimio: 0.01 deg; Aina: [-9000, 9000]
16–17	Pembe ya miayo kabisa ya mtoa huduma	Pembe ya miayo kabisa ya mtoa huduma katika pembe ya Euler.	U16	Azimio: 0.01 deg; Masafa: [0, 36000]
18–19	Kuongeza kasi ya kaskazini ya mtoa huduma	Kuongeza kasi ya kaskazini ya carrier.	S16	Azimio: 0.01 m/s²; Kaskazini ni chanya
20–21	Kuongeza kasi ya mashariki ya mtoa huduma	Kuongeza kasi ya mashariki ya mtoa huduma.	S16	Azimio: 0.01 m/s²; Mashariki ni chanya
22–23	Kuongeza kasi ya juu ya mtoa huduma	Kuongeza kasi ya juu ya mtoa huduma.	S16	Azimio: 0.01 m/s²; Juu ni chanya
24–25	Kasi ya kaskazini ya carrier	Kasi ya kaskazini ya carrier.	S16	Azimio: 0.1 m / s; Kaskazini ni chanya
26–27	Kasi ya mashariki ya mtoaji	Kasi ya mashariki ya mtoaji.	S16	Azimio: 0.1 m / s; Mashariki ni chanya
28–29	Kasi ya juu ya mtoa huduma	Kasi ya juu ya mtoa huduma.	S16	Azimio: 0.1 m / s; Juu ni chanya
30	Ombi la msimbo wa fremu ndogo	Msimbo wa fremu ndogo iliyoombwa kutoka kwa GCU.	U8
31–36	Imehifadhiwa	Baiti zilizohifadhiwa.
37	Kichwa cha fremu ndogo ya data iliyoombwa kutoka kwa GCU	Kichwa cha ombi la fremu ndogo ya GCU (Ox00).	U8

Byte 12~29 ni muhimu sana. Data isiyo sahihi itasababisha hitilafu ya kukokotoa urefu wa ganda

Sura Ndogo ya Data kutoka kwa Kompyuta mwenyeji

Byte	Maudhui	Maelezo	Aina ya Data	Azimio
37	0x01	Kijajuu	U8
38–41	Longitude ya mtoa huduma	Longitude ya mtoa huduma	S32	Azimio: 1e-7 deg
42–45	Latitudo ya mtoa huduma	Latitudo ya mtoa huduma	S32	Azimio: 1e-7 deg
46–49	Urefu wa carrier	Urefu wa carrier	S32	Azimio: 1 mm
50	Satelaiti zinazopatikana	Idadi ya satelaiti zinazopatikana	U8
51–54	GNSS microsecond	GNSS microsecond	U32
55–56	Wiki ya GNSS	Wiki ya GNSS	S16
57–60	Urefu wa jamaa	Urefu wa jamaa	S32	Azimio: 1 mm
61–68	Imehifadhiwa	Baiti zilizohifadhiwa		Ox00

Byte 37~68 zote ni 0x00 ikiwa hakuna data ya fremu ndogo.

Mfumo Mkuu wa Data kutoka GCU

Byte	Maudhui	Maelezo	Aina ya Data	Azimio
5	Njia ya uendeshaji ya Pod	Njia ya uendeshaji kwa ganda	U8	Thamani zinazowezekana: 0x10 hadi 0x1C (zilizoorodheshwa hapa chini)
6–7	sanamu ya Pod	Hali ya ganda	U16	B15–B13: Imehifadhiwa. B12: Hali ya kuwasha. B10: Taa. B9: Maono ya usiku. B8: Kuanzia. B7: Kuratibu uhalali. B0: Hali ya ufuatiliaji.
8–9	Lengo la mlalo halipo	Nafasi ya mlalo inayolengwa ikilinganishwa na katikati ya skrini	S16	Aina: [-1000, 1000]; Kulia chanya
10–11	Lengo la wima halipo	Nafasi inayolengwa wima ikilinganishwa na katikati ya skrini	S16	Aina: [-1000, 1000]; Kushuka kwa chanya
12–13	Pembe ya jamaa ya mhimili wa X ya kamera	Pembe ya mhimili wa X wa kamera	S16	Aina: [-18000, 18000]; Azimio: 0.01 deg
14–15	Pembe ya jamaa ya mhimili wa Y ya kamera	Pembe ya mhimili wa Y ya kamera	S16	Aina: [-9000, 9000]; Azimio: 0.01 deg
16–17	Pembe ya jamaa ya Z-mhimili wa kamera	Pembe ya mhimili wa Z wa kamera	S16	Aina: [-18000, 18000]; Azimio: 0.01 deg
18–19	Pembe kamili ya kamera	Pembe kamili ya kamera (pembe ya Euler)	S16	Aina: [-9000, 9000]; Azimio: 0.01 deg
20–21	Pembe kamili ya sauti ya kamera	Pembe kamili ya sauti ya kamera (pembe ya Euler)	S16	Aina: [-18000, 18000]; Azimio: 0.01 deg
22–23	Pembe ya miayo kabisa ya kamera	Pembe ya miayo kabisa ya kamera (pembe ya Euler)	U16	Aina: [0, 36000]; Azimio: 0.01 deg
24–25	Kasi ya angular ya X-axis ya kamera	Kasi ya angular ya X-axis ya kamera	S16	Azimio: 0.01 deg/s
26–27	Kasi ya angular ya Y-mhimili wa Y ya kamera	Kasi ya angular ya mhimili wa Y wa kamera	S16	Azimio: 0.01 deg/s
28–29	Z-axis kasi ya angular kabisa ya kamera	Kasi ya angular ya Z-axis ya kamera	S16	Azimio: 0.01 deg/s
30–36	Imehifadhiwa	Baiti zilizohifadhiwa

Nambari Zinazowezekana za Modi ya Uendeshaji:

• 0x10 - Udhibiti wa pembe 1
• 0x11 - Kufunga kichwa
• 0x12 - Fuata kichwa
• 0x13 - Orthoview
• 0x14 - Njia ya kudhibiti angle ya Euler
• 0x16 - Tazama
• 0x17 - Wimbo
• 0x1C - Udhibiti wa pembe 2

Sura Ndogo ya Data kutoka GCU

Byte	Maudhui	Maelezo	Aina ya Data	Azimio
37	0x01	Kijajuu	U8
38	Toleo la vifaa	Toleo la vifaa	U8
39	Toleo la Firmware	Toleo la firmware	U8
40	Msimbo wa Pod	Kanuni ya ganda	U8	Maelezo kwa mujibu wa Kiambatisho 7
41–42	Hitilafu ya msimbo wa hitilafu	Misimbo ya hitilafu kwa hitilafu zozote	S32
43–46	Umbali kutoka kwa lengo	Upimaji wa umbali kutoka kwa lengo	S32	Azimio: 0.1 m (Si sahihi ikiwa -1m au 0m)
47–50	Urefu wa lengo	Urefu wa lengo	S32	Azimio: 1e-7 deg
51–54	Latitudo ya lengo	Latitudo ya lengo	S32	Azimio: 1e-7 deg
55–58	Urefu wa lengo	Urefu wa lengo	S32	Azimio: 1 mm
59–60	Kiwango cha ukuzaji cha kamera kwa sasa	Kasi ya kukuza ya sasa ya kamera (kamera ya mwanga inayoonekana)	U16	Azimio: 0.1x
61–62	Kiwango cha ukuzaji cha kamera kwa sasa	Kasi ya kukuza ya kamera (kamera ya joto)	U16	Azimio: 0.1x
63	Sanamu ya kamera ya joto	Hali ya kamera ya joto	U8	B7: Kipimo cha joto, B6: Joto la eneo, nk.

Hali ya Kamera ya Joto (Byte 63)

• B7: 0 - Kipimo cha halijoto hakipatikani; 1 - Kipimo cha joto kinapatikana
• B6: 0 - Kipimo cha joto cha eneo kimezimwa; 1 - Umewasha kipimo cha joto la eneo
• B5: 0 - Tahadhari ya halijoto imezimwa; 1 - Tahadhari ya halijoto imewashwa
• B4: 0 - Isotherm imezimwa; 1 - Isotherm imewashwa
• B3: 0 - Kipimo cha joto cha doa kimezimwa; 1 - Umewasha kipimo cha halijoto
• B2: Imehifadhiwa
• B1: Tahadhari kuhusu halijoto ya juu
• B0: Tahadhari ya halijoto ya chini

Byte	Maudhui	Maelezo	Aina ya Data	Azimio
64–65	Sanamu ya kamera	Hali ya kamera	U16	B15: Utambuzi wa lengo umewashwa/kuzima; B14: Kuza dijiti kuwasha/kuzima, n.k.
66	Saa za eneo	Mpangilio wa eneo la saa	U8
67–68	Imehifadhiwa	Imehifadhiwa kwa matumizi ya baadaye	–

Sanamu ya Kamera (Byte 64-65)

• B15: 0 - Ugunduzi wa lengo umezimwa; 1 - Ugunduzi unaolengwa umewashwa
• B14: 0 - Zoom dijiti mbali; 1 - Zoom ya dijiti imewashwa
• B13: 0 - OSD (Onyesho la Skrini) imezimwa; 1 - OSD imewashwa
• B12: 0 - OSD inaonyesha uratibu wa carrier; 1 - OSD huonyesha uratibu wa lengo
• B11: 0 - Picha ya kurudi nyuma kiotomatiki imewashwa; 1 - Picha ya kubadilisha kiotomatiki imezimwa
• B10–B5: Imehifadhiwa
• B4: 0 - Sio kurekodi; 1 - Kurekodi
• B3: Imehifadhiwa
• B2–B0: uint_t - Modi ya Picha-ndani

Byte 37~68 zote ni 0x00 huku kichwa cha fremu ndogo haramu kinaombwa.

Amri na Maoni

Kazi	Kanuni	Maelezo	Mafanikio	Imeshindwa
Null	0x00	Hutenganisha amri kwa mpangilio sawa	0x01 0x00	0x01 0x01
Urekebishaji	0x01	Pod inapaswa kubaki tuli wakati wa kusawazisha, kudumu sekunde chache.	0x01 0x00	0x01 0x01
Agiza Parm	0x00
Maoni	0x03	Maoni wakati wa operesheni	0x03 0x00	0x03 0x01
OSD	0x06	OSD inaonyesha mfumo wa kuratibu: 0x00 kwa Carrier's, 0x01 kwa Target's	0x06 0x00	0x06 0x01
Kuratibu	0x07		0x07 0x00	0x07 0x01
Picha ya kurudi nyuma kiotomatiki	0x08	Hudhibiti picha ya kurudi nyuma kiotomatiki. 0x00 kwa kuwasha, 0x01 kwa kuzima	0x08 0x00	0x08 0x01
Saa za eneo	0x10	Hudhibiti mpangilio wa saa za eneo	0x10 0x00	0x10 0x01
Udhibiti wa pembe 1	0x10	Hudhibiti pembe ya ganda (thamani mahususi za udhibiti zinahitajika).	0x10 0x00	0x10 0x01
Kifungo cha kichwa	0x11	Hurejesha ganda kwenye nafasi ya upande wowote bila kubadili hali ya uendeshaji (modi ya kufunga).	0x11 0x00	0x11 0x01
Fuata kichwa	0x12	Hurejesha ganda kwenye nafasi ya miayo isiyoegemea upande wowote huku ukifuata lengo au kichwa.	0x12 0x00	0x12 0x01
Orthoview hali	0x13	Hurejesha nafasi ya miayo upande wowote bila kubadili hali ya uendeshaji.	N/A	N/A
Njia ya kufuatilia	0x14	Pod hurejesha msimamo usioegemea upande wowote na huacha ufuatiliaji huku ikifuatilia lengo.	N/A	N/A
Njia ya FPV	0x15	Hakuna jibu kutoka kwa pod katika modi ya FPV.	N/A	N/A
Udhibiti wa pembe ya Euler	0x16	Podi hufunga pembe za Euler na haijibu udhibiti.	N/A	N/A
Hali ya Kutazama	0x17	Pod haijibu udhibiti katika hali ya Macho.	N/A	N/A

Maelezo ya Njia Maalum:

• Kifuli cha Kichwa na Njia ya Kufuata Kichwa: Ponda hudumisha nafasi yake ya upande wowote (yaw au lami) bila kubadilisha hali.
• Orthoview Hali: Pembe ya miayo pekee ndiyo inarudishwa, na ganda halibadilishi hali.
• Hali ya Kufuatilia: Nafasi zisizoegemea upande wowote za lami na miayo hurejeshwa wakati wa kuondoka kwenye hali ya ufuatiliaji.
• Hali ya FPV, Udhibiti wa Angle ya Euler, na Hali ya Kutazama: Ganda halijibu katika hali hizi, kama ilivyobainishwa.

Kazi	Kanuni	Maelezo	Mafanikio	Imeshindwa
Orthoview	0x13	Pembe za Euler zinazohitajika hutolewa, na ganda hufunga pembe zake za sasa za Euler wakati thamani za udhibiti ni batili.	0x13 0x00	0x13 0x01
Udhibiti wa Angle ya Euler	0x14	Pembe za Euler zinazohitajika za kudhibiti sauti na miayo.	0x14 0x00	0x14 0x01
Tazama (Mwongozo wa kuratibu za Geo)	0x15	Poda inaelekezwa kwa hatua maalum ya kupendeza kwa kutumia kuratibu zake za kijiografia (longitudo, latitudo, urefu) iliyotolewa katika maadili ya udhibiti.	0x15 0x00	0x15 0x01
Kutazama (Kufuli la kuratibu za Geo)	0x16	Ponda hufunga mkao wake kulingana na kuratibu za kijiografia (longitudo, latitudo, mwinuko) na kudumisha mtazamo usiobadilika. Inahitaji data halali ya INS ya mtoa huduma.	0x16 0x00	0x16 0x01
Wimbo	0x17	Hali ya kufuatilia inawashwa kwa kutoa viwianishi vya ufuatiliaji na kuweka viwango vya udhibiti vya kufuatilia lengo.	0x17 0x00	0x17 NN

Maelezo ya Kazi Maalum:

1. Orthoview: Hufunga pembe za sasa za Euler wakati thamani za udhibiti ni batili.
2. Udhibiti wa Angle ya Euler: Dhibiti pembe za Euler za ganda (lami, miayo) hadi mahali unapotaka.
3. Tazama (Mwongozo wa kuratibu za Geo): Elekeza ganda kuelekea sehemu maalum ya kijiografia kwa kutumia viwianishi vyake (longitudo, latitudo, mwinuko). Maadili ya udhibiti (PP, QQ, RR) hutolewa kwa nafasi sahihi.
4. Kutazama (Kufuli la kuratibu za Geo): Hufunga macho ya ganda kwenye sehemu ya kijiografia na kufuatilia nafasi yake ya sasa. Inahitaji data halali ya INS (Inertial Navigation System) kutoka kwa mtoa huduma.
5. Wimbo: Huanzisha au kuondoka katika kufuatilia lengo kwa kubainisha viwianishi (XO, YO, X1, Y1). Viwianishi vinafafanua maeneo ya mlalo na wima katika fremu inayolengwa, huku kona ya juu kushoto kama asili.

Vidokezo:

• Kwa WimboThamani za , “OX” na “YO” ni viwianishi vinavyowakilisha pembe za juu-kushoto na chini kulia za fremu ya lengwa kwenye skrini. Hizi zimefafanuliwa katika thamani za U16, ambapo 0 ndiyo asili, na thamani chanya husogea kulia (mhimili wa X) na kwenda chini (mhimili wa Y).
• Kuangalia (Geo-coordinates): Podi inahitaji data halali ya mtoa huduma wa INS ili kufanya kazi ipasavyo katika hali hizi.

KK/NN(U8) ni kawaida ya operesheni iliyoanzishwa/iliyoshindwa. B7~BO inalingana na kamera 8~1. Kidogo fulani kuwa 1 inamaanisha kuwa kamera yake inayolingana tagged. Kwa mfanoample, 0x03 (00000011) inamaanisha kamera 1 na kamera 2. Kamera 1 ni kamera ya kukuza yenye mwanga inayoonekana kwa chaguomsingi na kamera 2 ni kamera ya joto kwa chaguo-msingi.

Kazi	Kanuni	Maelezo	Mafanikio	Imeshindwa
Bonyeza kwa Lengo	0x1A	Ganda hulenga shabaha kulingana na viwianishi vilivyotolewa vya mlalo (XO) na wima (YO). Viwianishi viko katika U16, ambapo (0,0) ni sehemu ya juu kushoto ya skrini na (10000,10000) iko chini kulia.	0x1A 0x00	0x1A NN
Wimbo wa Nje	0x1B	Ganda hufuatilia lengo kulingana na thamani za umbali wa mlalo na wima (PP, WW). Thamani hizi zinaonyesha eneo la lengwa linalohusiana na katikati ya skrini.	0x1B 0x00	0x1B NN
Udhibiti wa Pembe 2	0x1C	Ponda hurekebisha pembe zake za jamaa kwa mtoa huduma, kufuata mtoa huduma wakati maadili ya udhibiti ni batili.	0x1C 0x00	0x1C 0x01
Shutter (Kuanza Rekodi)	0x20	Inaanza kurekodi.	0x20 0x00	0x20 0x01
Shutter (Acha Kurekodi)	0x21	Huacha kurekodi.	0x21 0x00	0x21 0x01
Vuta kwa Kuendelea	0x22	Vuta karibu kila wakati.	0x22 0x00	0x22 NN
Zoom Out Kuendelea	0x23	Kuendelea kuvuta nje.	0x23 0x00	0x23 NN
Kuza Acha	0x24	Husimamisha kazi ya kukuza.	0x24 0x00	0x24 NN

Maelezo ya Kazi Maalum:

1. Bofya ili Kulenga (0x1A): Ganda hulenga shabaha maalum kulingana na viwianishi. Viwianishi hivi vimetolewa kama thamani za U16, ambapo (0,0) ni sehemu ya juu kushoto na (10000,10000) ni kona ya chini kulia ya skrini.
2. Wimbo wa Nje (0x1B): Ganda hufuatilia lengo kulingana na thamani za umbali usiofaa (PP na WW), ambazo zinaonyesha umbali wa lengo kutoka katikati ya skrini. Hali ya ufuatiliaji huanza na amri "Anza kufuatilia" (0x02) na inaweza kuondoka na "Toka kufuatilia" (0x00).
3. Udhibiti wa Pembe 2 (0x1C): Ponda hurekebisha pembe zake za jamaa kwa mtoa huduma, na kuiruhusu kufuata mwendo wa mtoa huduma huku viwango vya udhibiti ni batili.
4. Shutter (Anza Kurekodi - 0x20): Huanza kurekodi mlisho wa video.
5. Shutter (Acha Kurekodi - 0x21): Huacha kurekodi mlisho wa video.
6. Vuta Ndani kwa Kuendelea (0x22): Podi inakua ndani mfululizo.
7. Vuta Nje kwa Kuendelea (0x23): Podi inakuza nje mfululizo.
8. Kuza Stop (0x24): Husimamisha kazi ya kukuza, na kusitisha shughuli zozote za kukuza ndani au nje.

Vidokezo:

• Wimbo wa Nje (0x1B): Thamani za PP na WW zinawakilisha umbali wa mlalo na wima wa anayelengwa. Asili iko katikati ya skrini, na thamani zinaonyesha nafasi inayolingana.
• Vipengele vya Kukuza (0x22, 0x23, 0x24): Hizi huruhusu kukuza ndani au nje kwa kuendelea na kusimamisha utendakazi wa kukuza.

KK/NN(U8) ni kawaida ya operesheni iliyoanzishwa/iliyoshindwa. B7~B0 inalingana kamera 8~1. Kidogo fulani kuwa 1 inamaanisha kuwa kamera yake inayolingana tagged. Kwa mfanoample, 0x03 (00000011) inamaanisha kamera 1 na kamera 2 ni kamera ya kukuza mwanga inayoonekana kwa chaguomsingi na kamera 2 ni kamera ya joto kwa chaguomsingi.

Kazi	Agiza Parm	Maelezo	Mafanikio	Imeshindwa
Kuza hadi Kiwango Kilichobainishwa	0x25	Kuza kwa kasi iliyobainishwa, kwa thamani kuanzia -32768 (ukuza wa juu zaidi) hadi 10000 (ukuzaji wa chini kabisa). Thamani hasi zinawakilisha viwango vya kukuza (kwa mfano, -10 kwa 1x, -150 kwa 15x, -300 kwa 30x).	0x25 0x00	0x25 NN
Kuzingatia	0x26	Utendaji wa udhibiti wa kuzingatia.	0x26 0x00	0x26 0x01
Njia ya Palette	0x2A	Rekebisha hali ya palette inayotaka, ambapo 0x00 inalingana na chaguo la palette inayofuata, 0x01 kwa hali maalum, nk.	0x2A 0x00	0x2A 0x02
Maono ya Usiku	0x2B	Kudhibiti hali ya maono ya usiku. 0x00 kwa kupunguzwa, 0x01 kwa kuwasha, na 0x02 kwa otomatiki.	0x2B 0x00	0x2B 0x01
Kipimo cha Joto la Eneo	0x30	Udhibiti wa kipimo cha joto la eneo. 0x00 kwa punguzo, 0x01 kwa kuwasha.	0x30 0x00	0x30 NN
Tahadhari ya Halijoto	0x31	Weka vizingiti vya tahadhari kuhusu halijoto. Inajumuisha halijoto ya juu (HH) na ya chini (LL) ya tahadhari yenye msongo wa 0.1°C.	0x31 0x00	0x31 NN
Isotherm	0x32	Washa au zima hali ya isotherm. 0x00 kwa kuzima, 0x01 kwa nje ya muda, na 0x02 kwa hali ya muda. Viwango vya joto la juu/chini (HH, LL) vimewekwa na azimio la 0.1°C.	0x32 0x00	0x32 NN
Kipimo cha Joto la Spot	0x33	Kudhibiti kipimo cha joto la doa. 0x00 kwa punguzo, 0x01 kwa kuwasha. Kuratibu (XO, YO) hufafanua hatua ya kipimo.	0x33 0x00	0x33 NN
OSD (Onyesho la skrini)	0x73	Dhibiti onyesho la skrini. 0x00 kuonyesha, 0x01 kuficha.	0x73 0x00	0x73 0x01
Picha-ndani-Picha	0x74	Dhibiti hali ya picha-ndani-picha (PIP). Thamani kati ya 0x00 na 0x04 zinalingana na aina zinazopatikana za PIP.	0x74 0x00	0x74 0x01

Maelezo ya Kazi Maalum:

1. Kuza hadi Kiwango Kilichobainishwa (0x25): Hudhibiti kiwango cha kukuza, kwa kiwango kilichotolewa katika umbizo mahususi ambapo thamani hasi zinawakilisha viwango vya kukuza (kwa mfano, -10 kwa kukuza 1x, -150 kwa ukuzaji wa 15x, n.k.), na thamani chanya hufafanua kiwango cha kukuza.
2. Kuzingatia (0x26): Hurekebisha mtazamo wa mfumo.
3. Hali ya Palette (0x2A): Hubadilisha hali ya palette inayotumiwa na mfumo. Hali huchaguliwa na chaguo za nambari kama 0x00 kwa chaguo linalofuata la palette na 0x01 kwa hali ya sasa.
4. Maono ya Usiku (0x2B): Hudhibiti kipengele cha maono ya usiku, na kuiwasha katika hali tofauti (kuzima, kuwasha, au otomatiki).
5. Kipimo cha Halijoto ya Eneo (0x30): Huruhusu kipimo cha halijoto katika eneo lililobainishwa, linalodhibitiwa na viwianishi (XO, YO, n.k.).
6. Tahadhari ya Halijoto (0x31): Huweka vizingiti vya halijoto ya juu na ya chini kwa arifa.
7. Isotherm (0x32): Huwasha hali ya isotherm, ambayo hufuatilia maeneo ndani ya kiwango maalum cha halijoto, kwa kutumia hali na vizingiti vya muda.
8. Kipimo cha Halijoto ya Mahali (0x33): Huwasha kipimo cha halijoto ya doa katika sehemu mahususi kwenye skrini.
9. OSD (0x73): Hudhibiti mwonekano wa onyesho la skrini (onyesha/ficha).
10. Picha-ndani (0x74): Hudhibiti utendakazi wa picha-ndani-ya-picha, ikitoa aina mbalimbali za onyesho.

KK/NN(U8) ni kawaida ya operesheni iliyoanzishwa/iliyoshindwa. B7~B0 Kamera 1 ni kamera ya kukuza mwanga inayoonekana kwa chaguomsingi na kamera 2 ni kamera ya joto kwa chaguomsingi.

Hapa kuna jedwali linalofupisha kazi mpya na maelezo yao:

Kazi	Agiza Parm	Maelezo	Mafanikio	Imeshindwa
Utambuzi wa lengo	0x75	Washa au uzime utambuzi wa lengo. 0x00 kwa punguzo, 0x01 kwa kuwasha.	0x75 0x00	0x75 0x01
Zoom Kamera	0x76	Dhibiti ukuzaji wa dijiti. 0x00 kwa punguzo, 0x01 kwa kuwasha.	0x76 0x00	0x76 0x01
Nguvu ya Taa	0x80	Kurekebisha kiwango cha taa. Thamani kutoka 0 hadi 255, na 0 kuwa hakuna mwanga na 255 kuwa kiwango cha juu zaidi.	0x80 0x00	0x80 0x01
Kuanzia	0x81	Washa au uzime kuanzia. 0x00 kwa punguzo, 0x02 kwa kuwasha.	0x81 0x00	0x81 0x01

Maelezo ya Kazi Maalum:

• Utambuzi Lengwa (0x75): Hudhibiti iwapo utambuzi lengwa ni amilifu au hautumiki. Kipengele hiki kinatumika kutambua vitu maalum au maeneo, kulingana na uwezo wa mfumo.
  • 0x00 - Utambuzi wa lengo umezimwa.
  • 0x01 - Utambuzi unaolengwa umewashwa.
• Kuza Kamera (0x76): Huwasha au kulemaza ukuzaji wa dijiti kwa utendakazi wa kamera.
  • 0x00 - Ukuzaji wa dijiti umezimwa.
  • 0x01 - Ukuzaji wa dijiti umewashwa.
• Kiwango cha Mwangaza (0x80): Hurekebisha ukubwa wa mwangaza. Uzito umewekwa na thamani ya 8-bit, kuanzia 0 (hakuna mwanga) kwa 255 (kiwango cha juu).
  • Maadili: 0 - hakuna taa; 255 - Upeo wa taa.
• Kuanzia (0x81): Huwasha au kulemaza utendakazi tofauti. Kuanzia kunaweza kutumika kupima umbali au maeneo ya ramani.
  • 0x00 - Kuendesha kumezimwa.
  • 0x02 - Kubadilisha kumewashwa.

Kuwasha mwanga kutawasha maono ya usiku kwa wakati mmoja. Kuzima mwanga hakutazima maono ya usiku.

Kazi 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)
{da=crc>>12; crc<<=4; crc^=crc_ta[da^(*ptr>>4)]; da=crc>>12; crc<<=4; crc^=crc_ta[da^(*ptr&0x0F)]; ptr++; } kurudi (crc);

Nyongeza ya 1 Kutample ya Ubadilishaji wa Fremu ya Data kutoka kwa Kompyuta mwenyeji

Byte	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	Maudhui
Data Asili	OXA8	Kijajuu	0xE5	Urefu wa Kifurushi	72	Toleo la Itifaki	0x01	Thamani ya Udhibiti wa Roll	100	Thamani ya Udhibiti wa Lami	-100	Thamani ya Udhibiti wa Yaw	0x05	Thamani ya Kudhibiti Inatumika	Sanamu	INS ya Mtoa huduma Inatumika	Pembe ya Roll kabisa	-11.3213°	Pembe Kabisa ya Lami	1.01°	Pembe ya Mwayo kabisa	240°	Kuongeza kasi ya Mtoa huduma	1.123m/s²

Byte	Maudhui	Data Asili	Usahihi au Ubadilishaji Nambari (Mdogo mdogo)	Heksadesimali (Mdogo-endian)	Heksadesimali (Big-endian)
50	Satelaiti Zinazopatikana	19	19	13	19
51-54	GNSS Microsecond	352718000	352718000	00 06 15 B0	00 06 15 B0
55-56	Wiki ya GNSS	2278	2278	E6 08	E6 08
57-60	Urefu wa Jamaa	12.12m	12120	58 2F 00 00	58 2F 00 00
61-68	Imehifadhiwa	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	Amri ya Null	0x00	00	00	00
70-71	CRC	N/A	N/A	E9 D4	E9 D4

Kifurushi kamili cha data kutoka kwa kompyuta mwenyeji: 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 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

Nyongeza ya 2 Kutample ya Ubadilishaji wa Fremu ya Data kutoka GCU
Kifurushi kamili cha data kutoka kwa 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

Byte	Maudhui	Data Halisi (Hexadecimal)	Data Iliyochanganuliwa
1	Kijajuu	A8	A8
2-3	Urefu wa Kifurushi	5E 49	73
4	Toleo la Itifaki	00	0.2
5	Njia ya Uendeshaji wa Pod	02	Fuata kichwa
6-7	Sanamu ya Pod	01 80	0000 0001 1000 0000
8-9	Lengo la mlalo halipo	OC FE	Inaendelea.
10-11	Lengo la wima halipo	F4 01	Safu na uratibu wa lengo halali
12-13	Pembe ya jamaa ya mhimili wa X ya kamera	DD FC	-500
14-15	Pembe ya jamaa ya mhimili wa Y ya kamera	20 00	500
16-17	Pembe ya jamaa ya Z-mhimili wa kamera	4A 18	-8.03°
18-19	Pembe kamili ya kamera	FF FF	0.32°
20-21	Pembe kamili ya sauti ya kamera	A5 03	62.18°
22-23	Pembe ya miayo kabisa ya kamera	47 18	-0.01°
24-25	Kasi ya angular ya X-axis ya kamera	FF FF	19.33°
26-27	Kasi ya angular ya Y-mhimili wa Y ya kamera	01 00	62.15°
28-29	Z-axis kasi ya angular kabisa ya kamera	FE FF	-0.1 deg/s
30-36	Imehifadhiwa	00 00 00 00 00 00	0.1 deg / s
37	Kijajuu kidogo	00	-0.2 deg/s
38	Toleo la vifaa	00	5.0
39	Toleo la Firmware	00	D-90AI
40	Msimbo wa Pod	00	589.4m
41-42	Msimbo wa hitilafu	00 00	170.917533212
43-46	Umbali kutoka kwa lengo	01 2B 01	38.030082231
47-50	Urefu wa lengo	00 00 00 00	41.1231m
51-55	Latitudo ya lengo	00 00 00 00	29.9x
55-58	Urefu wa lengo	06 17 00 00
59-60	Kiwango cha ukuzaji cha kamera kwa sasa	24 F2 DF 65
61-62	Imehifadhiwa	16 EE AA 16

Byte	Maudhui	Data Halisi (Hexadecimal)	Data Iliyochanganuliwa
61-62	Kiwango cha kukuza cha sasa cha kamera 2	14 00	2x
63	Sanamu ya kamera ya joto	00	UTC+8
64-65	Sanamu ya kamera	00 00	Mafanikio ya kufunga
66	Saa za eneo	08
67-68	Imehifadhiwa	00 00
69-70	Maoni	20 00
71-72	CRC	EC 85

Kiambatisho cha 3 Ufafanuzi wa Mfumo wa Kuratibu wa Mtoa huduma

Kiambatisho cha 4 Ufafanuzi wa Mfumo wa Kuratibu wa Kamera na Agizo la Zungusha

1. Kuratibu ufafanuzi wa mfumoLango la kudhibiti la ganda linapaswa kuelekeza kwenye wodi hasi ya X ya mtoa huduma. dampjukwaa linapaswa kuwa sambamba na ndege ya XOY ya mtoa huduma. Poda inapaswa kuwekwa karibu iwezekanavyo na CG ya carrier.
2. Zungusha agizo: Z → Y → X.
3. Mabadiliko ya pembe:
   • Bainisha:
     • CamPhabari: Pembe kamili ya kamera (Fremu kuu ya data kutoka GCU, byte 18~19)
     • CamThe: Pembe kamili ya sauti ya kamera (Fremu kuu ya data kutoka GCU, byte 20~21)
     • CamPsi: Pembe ya yaw kabisa ya kamera (Fremu kuu ya data kutoka GCU, byte 22~23)
     • AngleX: Pembe kamili ya mhimili wa X ya kamera
     • AngleY: Pembe kamili ya mhimili wa Y ya kamera
     • AngleZ: Z-axis pembe kabisa ya kamera
   • Vigezo hapo juu vinabadilishwa kama ilivyo hapo chini
     • AngleZ += 90;
     • WARP (AngleZ , 360);
     • CamPhi = +AngleY;
     • CamThe = -AngleX;
     • CamPsi = +AngleZ;

Nyongeza ya 5 Kutample Kifurushi cha Data

• Amri tupu
  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 FD 00
• Udhibiti wa lami (weka hali ya udhibiti wa sasa, thamani ya kudhibiti 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 E00 00F
• Udhibiti wa lami (weka hali ya udhibiti wa sasa, thamani ya kudhibiti -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 E
• Udhibiti wa Yaw (weka hali ya udhibiti wa sasa, thamani ya kudhibiti 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 DC 00
• Si upande wowote
  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 CD 00
• OSD huonyesha kuratibu za mtoa huduma
  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 D.
• OSD huonyesha uratibu wa lengo
  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 F
• Picha ya kurudi nyuma kiotomatiki imewashwa
  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 D.
• Kipengele cha kubadilisha picha kiotomatiki kimezimwa
  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 D.
• Mpangilio wa saa za eneo (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 FE CA D
• Udhibiti wa pembe 1 (thamani za udhibiti ni batili)
  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
• Udhibiti wa pembe 1 (Pembe ya Euler: roll 0°, lami 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 00A
• Udhibiti wa pembe 1 (Pembe ya Euler: roll 20°, lami 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 F00
• Kifunga (kidhibiti ni batili)
  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
• Kifungo cha kichwa (kasi ya angular inayolingana +10° /s)
  A8 E5 48 00 02 00 00 00 00 E8 03 04 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 11 79 DE XNUMX
• Fuata kichwa (thamani za udhibiti ni batili)
  A8 E5 48 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 CF 00
• Orthoview (thamani za udhibiti ni batili)
  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 DF 00
• Udhibiti wa pembe ya Euler (thamani za udhibiti ni batili)
  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
• Udhibiti wa pembe ya Euler (Pembe ya Euler: roll 0°, lami -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 00 00 00 00 00 00 00 00 A14 5A
• Anza kufuatilia (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
• Ondoka kwenye ufuatiliaji
  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
• Bofya ili kulenga (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 00 00 00 00 00 00 00 00 00 00 00 00 1 01 64 00A 64 00AF
• Bofya ili kulenga (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 88 13 9A XNUMX EE C
• Bofya ili kulenga (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 00 1 01 10 27A 10 27
• Bofya ili kulenga (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 88 13A 4 0 XNUMX F
• Wimbo wa nje (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 00 00 00 00 00 00 00 00 00 00 00 1 01 9 14 FF
• Udhibiti wa pembe 2 (thamani za udhibiti ni batili)
  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 00C 00E AE
• Shutter
  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
• Anza/acha kurekodi
  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 00D
• Kamera 1 inazidi kukuza ndani
  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 00D 00 00
• Kamera 1 inazidi kuvuta nje
  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 00F
• Kamera 1 itaacha kukuza
  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 A24
• Kamera 1 inakuza kwa kiwango maalum (5000, inalingana na nusu ya kiwango cha juu zaidi)
  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
• Kamera zote zinakuza hadi kiwango maalum (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 6 6 F21 FF
• Kamera zote zinakuza hadi kiwango maalum (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 3 8 XNUMX XNUMX XNUMX FF CXNUMXA
• Kamera 1 inakuza kwa kiwango maalum (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 00 00 00 00 00 00 00 25 01 5 75 XNUMX XNUMX XNUMX XNUMX F DC
• Kuzingatia
  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 F
• Chaguo la palette inayofuata
  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 00A 00 E2
• Njia ya 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 00 00 00 00 00 00 00 00 00 00 00 00A 00 2 BB
• Maono ya usiku yamewashwa
  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 00B 00 F2 A01
• Maono ya usiku yamezimwa
  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 00B 00 00
• Kipimo cha halijoto ya eneo kimewashwa (X0=4000, Y0=4000, X1=6000, Y1=6000)
  A8 E5 52 00 02 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 30 02 01 0 0 0 0 70 A17 A70 KUWA 17D
• Kipimo cha joto la eneo kimezimwa
  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
• Tahadhari ya halijoto imewashwa (joto la tahadhari 30.2 ° C, halijoto ya chini ya tahadhari 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 .
• Tahadhari ya halijoto imezimwa
  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 C2.
• Isotherm imewashwa (hali ya muda, 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 00 00 00 00 00 00 00 00 32 02 FA
• Isotherm imezimwa
  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 C00 AB
• Kipimo cha halijoto kilichowashwa (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 .
• Kipimo cha halijoto cha doa kimezimwa
  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 .
• OSD imewashwa
  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 XNUMX XNUMX B.
• OSD imezimwa
  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 00 8 41 A
• Chaguo linalofuata la picha-ndani-picha
  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
• Hali ya picha-ndani-picha 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 XNUMX XNUMX B.
• Utambuzi lengwa umewashwa
  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 A
• Ugunduzi wa lengo umezimwa
  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 BA
• Kuza zoom dijitali kwenye 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 FF
• Zoom kamera dijitali zoom mbali
  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 EF 54
• Mwangaza (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 FF XNUMX FF
• Kuwasha taa
  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
• Kuendelea kuanzia
  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
• Kuendelea kuanzia mbali
  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

Kiambatisho 6 cha muda wa GPS na kitendakazi cha ubadilishaji cha UTC (bila uchakataji wa pili)
tuli 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 sekunde = 0; siku uint16_t, mwaka = ep[0], mon = ep[1], siku = ep[2]; ikiwa (mwaka < 1970 || 2099 < year || mon < 1 || 12 < mon) sekunde za kurudi; /* mwaka wa kurukaruka ikiwa mwaka%4==0 mwaka 1901-2099 */ siku=(mwaka-1970)*365+(mwaka-1969)/4+_siku[mon-1]+siku-2+(mwaka%4 ==0 && mon>=3?1:0); sekunde = sakafu(ep[5]);sekunde = (uint64_t)siku * 86400 + ep[3] * 3600 + ep[4] * 60 + sekunde; sekunde za kurudi; } uint64_t gpst2time(int16_t wiki, uint32_t sec){ uint64_t t = epoch2time(gpst0); ikiwa (sek < -1E9 || 1E9 < sec) sec = 0.0; t += 86400 * 7 * wiki + sec; kurudi t; } uint8_t time2gps(uint64_t time, int16_t *wiki, uint32_t *msec){ uint64_t t = epoch2time(gpst0); t = wakati - t; * wiki = t / 604800; // 604800=7*86400 * msec = (t% 604800) * 1000; kurudi 1; }

Kiambatisho 7 Msimbo wa Pod

Kanuni	Mfano
0	Z-6A
2	Z-6C
3	M-2400G2
21	Z-8TA
22	Z-8TB
24	Z-8RA
25	Z-8RB
26	Z-8RC
27	Z-8LA
30	Z-9A
31	Z-9B
40	D-80AI
41	D-90AI
44	D-80Pro
45	D-90Pro
49	Z-1PRO
50	Z-1MINI
51	Z-2PRO
52	Z-2MINI
53	D-125AI
54	D-150AI
55	D-90DE
56	D-115AI

NANJING XIANFEI ROBOT TECHNOLOGY CO., LTD.

Maswali Yanayoulizwa Mara kwa Mara

Swali: Ni nini madhumuni ya itifaki ya kibinafsi inayotumiwa na GCU?
J: Itifaki ya faragha inahakikisha mawasiliano salama na bora kati ya GCU na vifaa vilivyounganishwa.

Swali: Ninawezaje kusasisha toleo la itifaki la GCU?
J: Ili kusasisha toleo la itifaki, rejelea mwongozo wa bidhaa kwa maagizo mahususi yaliyotolewa na mtengenezaji.

Nyaraka / Rasilimali

Robot XF(A5) V2.0.5 GCU Itifaki ya Kibinafsi [pdf] Mwongozo wa Mtumiaji XF A5 V2.0.5, XF A5 V2.0.1, XF A5 V2.0.2, XF A5 V2.0.5 GCU Itifaki Binafsi, XF A5 V2.0.5, Itifaki ya Kibinafsi ya GCU, Itifaki ya Kibinafsi, Itifaki

Marejeleo

• Mwongozo wa Mtumiaji