ar2无sdk开发
请教一下5554端口读数是不是要起飞之后才正常,大神们能不能指导一下对照结构体怎么理解各个变量,为什么我的ar2无论怎么样都识别不出说明书里面的那几个图案我读5554用的matlab代码是
% Creating ATCommand_PORT
ARc = udp('192.168.1.1', 5556, 'LocalPort', 5556);
% Creating NAVDATA_PORT
ARn = udp('192.168.1.1', 5554, 'LocalPort', 5554);
% Opening UDP ports
fopen(ARc)
fopen(ARn)
% Sending a packet of some bytes on NAVDATA_PORT
AR_FIRST = sprintf('%s',1,0);
fprintf(ARn, AR_FIRST);
pause(0.3)
% Sending the request for navdata_demo on ATCommand_PORT
AR_NAV_CONFIG = sprintf('AT*CONFIG=2,\"general:navdata_demo\",\"TRUE\"\r');
fprintf(ARc, AR_NAV_CONFIG);
% Informing the drone periodically that we want still navdata_demo
for i = 1 :100
AR_NAV_WDG = sprintf('%s,%u,%s','AT*COMWDG=',i,'\r');
fprintf(ARc, AR_NAV_WDG);
nav_data{i} = fread(ARn, 292, 'uint8'); % Reading navigation data
pause(0.05)
end
% Closing UDP ports
fclose(ARc)
fclose(ARn)
%值的解析
NAVDATA_DEMO_TAG(0),
NAVDATA_TIME_TAG(1),
NAVDATA_RAW_MEASURES_TAG(2),
NAVDATA_PHYS_MEASURES_TAG(3),
NAVDATA_GYROS_OFFSETS_TAG(4),
NAVDATA_EULER_ANGLES_TAG(5),
NAVDATA_REFERENCES_TAG(6),
NAVDATA_TRIMS_TAG(7),
NAVDATA_RC_REFERENCES_TAG(8),
NAVDATA_PWM_TAG(9),
NAVDATA_ALTITUDE_TAG(10),
NAVDATA_VISION_RAW_TAG(11),
NAVDATA_VISION_OF_TAG(12),
NAVDATA_VISION_TAG(13),
NAVDATA_VISION_PERF_TAG(14),
NAVDATA_TRACKERS_SEND_TAG(15),
NAVDATA_VISION_DETECT_TAG(16),
NAVDATA_WATCHDOG_TAG(17),
NAVDATA_ADC_DATA_FRAME_TAG(18),
NAVDATA_VIDEO_STREAM_TAG(19),
NAVDATA_CKS_TAG(0xFFFF);
读到的最开始的24字节和说明书一样
137 119 102 85 208 132 138 143 163 2 1 0 0 0 0 0 255 255 8 0 206 4 0 0
接下来读到500字节的,没有证明出有错,但是结果解释不通
Columns 1 through 26
136 119 102 85 208 132 138 143 164 2 1 0 0 0 0 0 {{{我的理解后面是navdata_demo_t}}}0 0 148 0 0 0 0 0 0 0
Columns 27 through 52
0 0 0 128 161 67 0 248 194 69 0 86 222 198 0 0 0 0 0 0 0 0 0 0 0 0
Columns 53 through 78
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Columns 79 through 104
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Columns 105 through 130
0 0 0 0 0 0 0 0 3 0 0 0 33 15 97 63 65 210 242 62 44 231 63 189 113 252
Columns 131 through 156
243 190 143 167 95 63 33 44 201 189 160 71 185 187 23 149 222 61 190 122 126 63 0 0 0 0
Columns 157 through 182
0 0 0 0 0 0 0 0 {{{后面是navdata_vision_detect_t}}} 16 0 72 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Columns 183 through 208
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Columns 209 through 234
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Columns 235 through 260
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Columns 261 through 286
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Columns 287 through 312
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Columns 313 through 338
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Columns 339 through 364
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Columns 365 through 390
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Columns 391 through 416
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Columns 417 through 442
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Columns 443 through 468
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Columns 469 through 494
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 255 255
Columns 495 through 500
8 0 25 29 0 0
对着说明书的那些标志检测位也没变化啊出来啊,说明书里说图像识别是不会关闭的,请高手指点
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