CAJ | 학술논문

MAVLink 微型无人机通信协议广泛应用于地面控制站与 PIXHAWK、SLUGS 和 ArduPilot 等无人机飞控平台的通信。MAVLink 已被证明能够工作在 ARM7、ATmega、STM32等微控制器上,并能在 Windows、Linux 和 MacOS 操作系统下开发。由于 MAVLink 与 DSP 不兼容,故本文提出一种将 MAVLink 移植到 DSP,并通过 WiFi 与地面控制站软件 QGroundControl 进行通信的方法。实验证明,该方法能够使 MAVLink 有效兼容 DSP,并且通过 SPI 转 WiFi 连接,减小了 CPU 开销,提高了数据传输速率,减少了数据的丢失情况。
MAVLink 미형무인궤통신협의엄범응용우지면공제참여 PIXHAWK、SLUGS 화 ArduPilot 등무인궤비공평태적통신。MAVLink 이피증명능구공작재 ARM7、ATmega、STM32등미공제기상,병능재 Windows、Linux 화 MacOS 조작계통하개발。유우 MAVLink 여 DSP 불겸용,고본문제출일충장 MAVLink 이식도 DSP,병통과 WiFi 여지면공제참연건 QGroundControl 진행통신적방법。실험증명,해방법능구사 MAVLink 유효겸용 DSP,병차통과 SPI 전 WiFi 련접,감소료 CPU 개소,제고료수거전수속솔,감소료수거적주실정황。
MAVLink micro unmanned air vehicle communication protocol is widely used in communications between the ground control station and unmanned air vehicle flight control platform such as PIXHAWK,SLUGS and ArduPilot.MAVLink has been proven to work on ARM7,ATmega and STM32 microcontrollers and it can be developed under Windows,Linux and MacOS operating systems. Because of MAVLink'incompatibility with DSP,a method is proposed to transplant MAVLink to DSP and communicate with ground control station software QGroundControl via WiFi.Experimental results show that this method can effectively make MAVLink compati-ble with DSP,reduce CPU consumption via SPI-to-WiFi,improve data transmission rates and reduce data loss.