{"id":711,"date":"2016-11-29T10:04:51","date_gmt":"2016-11-29T19:04:51","guid":{"rendered":"\/blog\/?p=711"},"modified":"2023-09-21T09:37:53","modified_gmt":"2023-09-21T00:37:53","slug":"mavlink-%ec%82%ac%ec%9a%a9%eb%b0%a9%eb%b2%95","status":"publish","type":"post","link":"https:\/\/hasu0707.duckdns.org\/blog\/?p=711","title":{"rendered":"mavlink \uc0ac\uc6a9\ubc29\ubc95"},"content":{"rendered":"\n
\ucd9c\ucc98 : <\/span>http:\/\/cafe.naver.com\/openrt\/14297<\/span><\/a><\/div>

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BLDC \ub4dc\ub77c\uc774\ubc84\uc5d0 \uc0ac\uc6a9\ud560 \ud1b5\uc2e0 \ud504\ub85c\ud1a0\ucf5c, MAVLINK \uc0ac\uc6a9\ubc95\uc744 \uc54c\uc544 \ubcf4\ub3c4\ub85d \ud558\uaca0\uc2b5\ub2c8\ub2e4.<\/span><\/div>

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MAVLINK\ub294 \uc791\uc740 \ube44\ud589\uccb4\uc640 \ud1b5\uc2e0 \ud558\uae30 \uc704\ud574\uc11c \ub9cc\ub4e0 \uc624\ud508\uc18c\uc2a4 \ud504\ub85c\ud1a0\ucf5c \uc785\ub2c8\ub2e4.<\/span><\/div>
 \ub9cc\ub4e0 \uc0ac\ub78c \ub4f1 \uc790\uc138\ud55c \ub0b4\uc6a9\uc740 \ub2e4\uc74c \ub9c1\ud06c\ub97c \ucc38\uc870 \ud558\uc138\uc694.<\/span><\/div>
http:\/\/qgroundcontrol.org\/mavlink\/start<\/span><\/div>

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MAVLINK\ub97c \uc120\ud0dd\ud55c \uc774\uc720\ub294<\/span><\/div>
ROS\uc5d0\uc11c MAVLINK\ub85c \ubc14\ub85c \ud1b5\uc2e0 \ud560 \uc218 \uc788\ub2e4\ub294 \uac83\uacfc \ud1b5\uc2e0\uc5d0 \ud544\uc694\ud55c \ub300\ubd80\ubd84\uc758 \ucf54\ub4dc\ub97c \uc790\ub3d9\uc73c\ub85c \uc0dd\uc131\ud574 \uc900\ub2e4\ub294 \uac83 \uc785\ub2c8\ub2e4.<\/span><\/div>

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\uc1a1\uc2e0\uc744 \uc704\ud55c \uc804\uc1a1 \ud504\ub808\uc784 \uc0dd\uc131, \uc218\uc2e0\uc744 \uc704\ud55c \ud504\ub808\uc784 \ud30c\uc2f1 \uc0c1\ud0dc\uba38\uc2e0, \ud504\ub808\uc778 \ub514\ucf54\ub529 \ub4f1\uc758 \ucf54\ub4dc\ub97c \uc790\ub3d9\uc73c\ub85c \uc0dd\uc131 \ud574 \uc90d\ub2c8\ub2e4.<\/span><\/div>
\ud2b9\ud788\ub098 C\uc5b8\uc5b4\uc6a9 \uc0dd\uc131\ub41c \ucf54\ub4dc\ub294 \ubaa8\ub450 \ud5e4\ub354 \ud30c\uc77c\ub85c \uc81c\uacf5 \ub429\ub2c8\ub2e4.<\/span><\/div>
\uc774\ub97c \uc774\uc6a9\ud558\uae30 \uc704\ud574\uc11c\ub294 \ub2e8\uc21c \ud5e4\ub354 \ud30c\uc77c \ud558\ub098\ub9cc \uc778\ud06c\ub8e8\ub4dc \ud558\uba74 \ub429\ub2c8\ub2e4<\/span><\/div>

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\uadf8\ub7fc \uc0c8\ub85c\uc6b4 \uba54\uc138\uc9c0\ub97c \ub9cc\ub4e4\uace0 \uc774\ub97c \uc0ac\uc6a9\ud558\ub294 \uac83\uc744 \ub2e8\uacc4\ubcc4\ub85c \ubcf4\ub3c4\ub85d \ud558\uaca0\uc2b5\ub2c8\ub2e4.<\/span><\/div>

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\uba54\uc138\uc9c0 \uc815\uc758<\/span><\/div>

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     \uc608\uc81c\ub85c \uba85\ub839 \uacfc  \uc778\uc790 2\uac1c\ub97c \uc804\ub2ec\ud558\ub294 \ub0b4\uc6a9 \uc785\ub2c8\ub2e4.<\/span><\/div>

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     \uba54\uc138\uc9c0\ub294 XML \ud615\uc2dd\uc73c\ub85c \uc815\uc758 \ud569\ub2c8\ub2e4.<\/span><\/div>
     \uba54\uc138\uc9c0\ub294 C\uc5b8\uc5b4\ub85c \uc0dd\uac01\ud558\uba74 \uad6c\uc870\uccb4\uc640 \ube44\uc2b7\ud558\ub2e4\uace0 \uc0dd\uac01 \ud558\uba74 \ub429\ub2c8\ub2e4.<\/span><\/div>
     \uba54\uc138\uc9c0 \ud615\uc2dd\uc740<\/span><\/div>
         \uba85\ub839\uc740 \ubd80\ud638\uc5c5\ub294 8bit \ud615\uc2dd\uc758 \uba85\ub839 (uint8_t)<\/span><\/div>
         1\ubc88\uc9f8 \uc778\uc790\ub294 \ubd80\ud638\uc5c6\ub294 8bit \ud615\uc2dd\uc758 \uc778\uc7901 (uint8_t)<\/span><\/div>
         2\ubc88\uc9f8 \uc778\uc790\ub294 \ubd80\ud638\uc5c6\ub294 16bit \ud615\uc2dd\uc758 \uc778\uc7902 (uint16_t)<\/span><\/div>

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   \uc815\uc758\ud560 \ub0b4\uc6a9\uc740 \uba54\uc138\uc9c0ID, \uba54\uc138\uc9c0 \uc774\ub984, \ud544\ub4dc \ud615\uc2dd \ud544\ub4dc \uc774\ub984 \uc785\ub2c8\ub2e4.<\/span><\/div>

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    \uc5ec\ub7ec \uba54\uc138\uc9c0\ub97c \uad6c\ubd84\ud558\uae30 \uc704\ud574 \uba54\uc81c\uc9c0 ID\ub97c \ubc18\ub4dc\uc2dc \ub2e4\ub978 \uac12\uc73c\ub85c \uc124\uc815 \ud574\uc57c \ud569\ub2c8\ub2e4.<\/span><\/div>
    \uc0c8\ub85c \ud560\ub2f9 \uac00\ub2a5\ud55c ID\ub294 180~229 \uc785\ub2c8\ub2e4.<\/span><\/div>
    (\ubb38\uc11c \uc5d0\uc11c\ub294 150 \ubd80\ud130 \ub77c\uace0 \ub3fc \uc788\ub294\ub370 \uc18c\uc2a4\ucf54\ub4dc \uc77c\ubd80\uc5d0\uc11c\ub294 180 \uc774\ub77c\ub294 \uc8fc\uc11d\ub3c4 \uc788\ub124\uc694)<\/span><\/div>

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    \uc608\uc81c\ub294 \uc544\ub798\uc640 \uac19\uc2b5\ub2c8\ub2e4.<\/span><\/div>

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<?xml version=<\/span>'1.0'<\/span>?><\/span><\/span>\r\n    <\/span><mavlink><\/span>\r\n        <\/span><include><\/span>common.xml<\/span><\/include><\/span>\r\n        <\/span><version><\/span>3<\/span><\/version><\/span>\r\n        <\/span><enums><\/span>\r\n        <\/span><\/enums><\/span>\r\n        <\/span><messages><\/span>\r\n            <\/span><!-- Messages for OROCA BLDC  --><\/span>\r\n            <\/span><message id=<\/span>\"220\"<\/span> name=<\/span>\"TEST_CMD\"<\/span>><\/span><\/span>\r\n                <\/span><description><\/span>Message For Test 1<\/span><\/description><\/span>\r\n                <\/span><field type=<\/span>\"uint8_t\"<\/span> name=<\/span>\"cmd_1\"<\/span>><\/span><\/span>test cmd 1<\/span><\/field><\/span>\r\n                <\/span><field type=<\/span>\"uint8_t\"<\/span> name=<\/span>\"targ1\"<\/span>><\/span><\/span>argument 1<\/span><\/field><\/span>\r\n                <\/span><field type=<\/span>\"uint16_t\"<\/span> name=<\/span>\"arg2\"<\/span>><\/span><\/span>argument 2<\/span><\/field><\/span>\r\n             <\/span><\/message><\/span>\r\n        <\/span><\/messages><\/span>\r\n    <\/span><\/mavlink><\/span><\/pre><\/div>
 <\/span><\/div>
XML \uc694\uc18c\uc911\uc5d0 message \ud56d\ubaa9\uc5d0  ID \ub294 220 , \uc774\ub984\uc740 TEST_CMD \uc785\ub2c8\ub2e4.<\/span><\/div>
\ud544\ub4dc\ub294 \uac01\uac01 cmd_1, arg1,arg2 \uc785\ub2c8\ub2e4.<\/span><\/div>
\ud30c\uc77c \uc774\ub984\uc740 oroca_bldc.xml \ub85c \uc800\uc7a5 \ud558\ub3c4\ub85d \ud558\uaca0\uc2b5\ub2c8\ub2e4.<\/span><\/div>

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\uc774\ubc88\uc5d0\ub294 \uc815\uc758\ud55c \uba54\uc138\uc9c0 \ub0b4\uc6a9\uc744 \ucc98\ub9ac\ud558\ub294 \uc18c\uc2a4\ucf54\ub4dc \uc0dd\uc131\uc5d0 \ub300\ud574\uc11c \uc54c\uc544 \ubcf4\uaca0\uc2b5\ub2c8\ub2e4.<\/span><\/div>

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\uc18c\uc2a4\ucf54\ub4dc\ub97c \ub2e4\uc6b4\ub85c\ub4dc \ud569\ub2c8\ub2e4.  <\/span>https:\/\/github.com\/mavlink\/mavlink\/<\/span><\/a><\/div>

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    \uba38\uc138\uc9c0 \uc815\uc758\ud55c oroca_bldc.xml  \ud30c\uc77c\uc744 message_definitions\/v1.0 \ub514\ub809 \ud1a0\ub9ac\uc5d0 \ubcf5\uc0ac \ud569\ub2c8\ub2e4.<\/span><\/div>

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    python mavgenerate.py\ub97c \uc2e4\ud589 \ud569\ub2c8\ub2e4.<\/span><\/div>
    ( \ucc38\uace0\ub85c \uc800\ub294 Windows10 \uc5d0\uc11c \ud30c\uc774\uc36c 3.5.1\uc744 \uc0ac\uc6a9\ud574\uc11c \uc2e4\ud5d8\ud588\uc2b5\ub2c8\ub2e4.)<\/span><\/div>
    \ub2e4\uc74c\uacfc \uac19\uc740 \ud654\uba74\uc774 \ub098\uc635\ub2c8\ub2e4.<\/span><\/div>

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    XML \ud56d\ubaa9\uc740 oroca_bldc.xml\uc744 \uc120\ud0dd \ud569\ub2c8\ub2e4.<\/span><\/div>
    Out \uc740 \uc18c\uc2a4\ucf54\ub4dc \uc0dd\uc131\ub420 \ub514\ub809\ud1a0\ub9ac\ub97c \uc120\ud0dd \ud569\ub2c8\ub2e4.<\/span><\/div>
    \uc0dd\uc131 \uc5b8\uc5b4\ub294 C\uc5b8\uc5b4\ub97c \uc0dd\uc131\ud558\uace0<\/span><\/div>
    \ud504\ub85c\ud1a0\ucf5c \ubc84\uc804\uc740 1.0\uc744 \uc120\ud0dd \ud569\ub2c8\ub2e4.<\/span><\/div>

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   \uadf8\ub9ac\uace0 \uc0dd\uc131 \ubc84\ud2bc\uc744 \ub204\ub985\ub2c8\ub2e4.<\/span><\/div>

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\"mavgenerate.png\"\r\n<\/span>

<\/p>\r\n<\/div>
   \uc815\uc0c1 \uc774\ub77c\uba74 Out \ud56d\ubaa9\uc5d0\uc11c \uc120\ud0dd\ud55c \ub514\ub809\ud1a0\ub9ac\uc5d0 \uc18c\uc2a4\uac00 \uc0dd\uc131 \ub429\ub2c8\ub2e4.<\/span><\/div>
   \ub514\ub809\ud1a0\ub9ac \uad6c\uc870\ub294  \ub2e4\uc74c\uacfc \uac19\uc2b5\ub2c8\ub2e4.<\/span><\/div>
\"\uc0dd\uc131\ub514\ub809\ud1a0\ub9ac.png\"\r\n<\/span>
\uc774\uc81c \uc0dd\uc131\ub41c \ucf54\ub4dc\ub97c \uc0ac\uc6a9\ud558\ub294 \ub0b4\uc6a9\uc744 \uc0b4\ud3b4 \ubcf4\ub3c4\ub85d \ud558\uaca0\uc2b5\ub2c8\ub2e4.<\/span>
<\/p>\r\n<\/div>

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\uc0dd\uc131\ub41c \ub514\ub809\ud1a0\ub9ac\ub97c \ubcf4\uba74 \uc544\ub798\ucc98\ub7fc 2\uac1c\uac00 \uc788\uc2b5\ub2c8\ub2e4.<\/span><\/div>
common ( MAVLINK\uae30 \uc81c\uacf5\ud558\ub294 \uae30\ubcf8 \uae30\ub2a5\ub4e4 \uad6c\ud604) \uacfc<\/span><\/div>
oroca_bldc( \uc0c8\ub85c \uc815\uc758\ud55c \uba54\uc138\uc9c0 \uad6c\ud604 \ubd80\ubd84)<\/span><\/div>
\"\uc0dd\uc131\ub514\ub809\ud1a0\ub9ac.png\"\r\n<\/span>
oroca_bldc \ub514\ub809\ud1a0\ub9ac \ub0b4\uc6a9\uc744 \ubcf4\uba74 \ub2e4\uc74c\uacfc \uac19\uc2b5\ub2c8\ub2e4.<\/span>
<\/p>\r\n<\/div>
\"\uc0dd\uc131\ub514\ub809\ud1a0\ub9ac2.png\"\r\n<\/span>
\ub514\ub809\ud1a0\ub9ac \ud30c\uc77c\uc911\uc5d0 \uc778\ud06c\ub8e8\ub4dc \ud574\uc11c \uc0ac\uc6a9\ud560 \ud30c\uc77c\uc740 mavlink.h \uc785\ub2c8\ub2e4.<\/span>
<\/p>\r\n<\/div>
\uadf8\ub9ac\uace0 \uc138\ubd80 \uad6c\ud604\uc740 mavlink_msg_test_cmd.h \ud30c\uc77c\uc5d0 \uc788\uc2b5\ub2c8\ub2e4.<\/span><\/div>

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\uadf8\ub7fc \uc804\uc1a1\uc5d0 \ud544\uc694\ud55c \uc18c\uc2a4 \ucf54\ub4dc\ub97c \uc0b4\ud45c \ubcf4\ub3c4\ub85d \ud558\uaca0\uc2b5\ub2c8\ub2e4.<\/span><\/div>

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\uba3c\uc800 \uc0dd\uc131\ub41c \ub514\ub809\ud1a0\ub9ac\uc758 \ud5e4\ub354 \ud30c\uc77c\uc744 \ub2e4\uc74c \ucc98\ub7fc \uc778\ud06c\ub8e8\ub4dc \ud569\ub2c8\ub2e4.<\/span><\/div>

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#<\/span>include<\/span> <\/span><mavlink\/oroca_bldc\/mavlink.h><\/span><\/span>\r\n\r\n<\/span>int<\/span> <\/span>send<\/span>( )\r\n{\r\n    mavlink_message_t msg; \/\/ Mavlink \uba54\uc138\uc9c0 \uad6c\uc870\uccb4\r\n      uint8_t buf[1024];           \/\/ \uba54\uc138\uc9c0\uc758 \uc5d4\ucf54\ub529\ub41c \uc804\uc1a1 \ud504\ub808\uc784\r\n\r\n    \/\/ TEST_CMD \uba54\uc138\uc9c0\uc5d0 \ub300\ud55c \uc790\ub3d9\uc73c\ub85c \uc0dd\uc131\ub41c \ud568\uc218,\r\n    \/\/ \uc778\uc790 1\uc740 System ID  ==> ex)\uac19\uc740 \uba54\uc138\uc9c0\ub3c4 \uc5ec\ub7ec \ubcf4\ub4dc\ub85c \uad6c\ubd84\ud560\ub54c \uc0ac\uc6a9.\r\n    \/\/ \uc778\uc790 2\ub294 \ucef4\ud3ec\ub10c\ud2b8 ID  ==> ex) \ud55c \ubcf4\ub4dc\ub0b4\uc5d0 \uc5ec\ub7ec \uad6c\ub8f9\uc774 \uc788\uc744\ub54c \uad6c\ubd84\uc6a9\uc73c\ub85c \uc0ac\uc6a9 .\r\n    \/\/ \uc778\uc790 4 \ubd80\ud130\ub294 \uba54\uc138\uc9c0 \uc815\uc758\uc2dc \ud544\ub4dc \ud56d\ubaa9 - cmd_1, arg1,arg2\r\n    mavlink_msg_test_cmd_pack( 9, 121, &msg, 91,92,93);\r\n\r\n    \/\/ \ub2e4\uc74c \ud568\uc218\ub0b4\ubd80\uc5d0\uc11c \uc804\uc1a1\ud560 \ud504\ub808\uc784\uc744 \uc644\uc131\ud568, CRC \uc0dd\uc131\ub4f1\r\n    int len = mavlink_msg_to_send_buffer(buf, &msg);\r\n\r\n   \/\/ \uc2dc\ub9ac\uc5bc \ud3ec\ud2b8\ub85c \ubc84\ud37c \ud3ec\uc778\ud130\ub294 buf, \uae38\uc774\ub294 len \ub0b4\uc6a9\uc744 \uc804\ub2ec \ud558\uba74 \uc644\uc131\ub428\r\n    ...\r\n}<\/span><\/pre><\/div>

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\ucc38\uace0\ub85c \uc800\ub294 \uc2e4\ud5d8\uc6a9\uc73c\ub85c Qt\uc5d0\uc11c \ud588\uc2b5\ub2c8\ub2e4.<\/span><\/div>
\ub2e4\uc74c \uc790\ub8cc\ub294 ChibiOS ( BLDC \ubcf4\ub4dc\uc5d0\uc11c \uc0ac\uc6a9\ud558\ub294 RTOS)\uc5d0\uc11c \uc2e4\ud5d8\ud55c \ub0b4\uc6a9\uc744 \uc62c\ub9ac\ub3c4\ub85d \ud558\uaca0\uc2b5\ub2c8\ub2e4.<\/span><\/div>

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\uc0dd\uc131\ub41c \ucf54\ub4dc \uc218\uc2e0\ubd80 \uc774\uc6a9\uc5d0 \ub300\ud574\uc11c \uc0b4\ud3b4 \ubcf4\ub3c4\ub85d \ud558\uaca0\uc2b5\ub2c8\ub2e4.<\/span><\/div>
UART\ub97c \uac00\uc815\ud574\uc11c \uc124\uba85\ud558\ub3c4\ub85d \ud558\uaca0\uc2b5\ub2c8\ub2e4.<\/span><\/div>

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UART\ub97c \ud1b5\ud574\uc11c \uc218\uc2e0\ub41c \ub0b4\uc6a9\uc740 \uba54\uc81c\uc9c0 \uacbd\uacc4\ub97c \uad6c\ubd84\ud574\uc11c \uc804\ub2ec \ub418\uc9c0 \uc54a\uace0 \uc77c\ubd80\ubd84 \uc720\uc2e4 \ub420\uc218 \uc788\uae30 \ub54c\ubb38\uc5d0<\/span><\/div>
\ud504\ub808\uc784\uc758 \uc2dc\uc791\uc744 \ud310\ub2e8\ud574\uc57c \ud558\uace0 \uc62c\ubc14\ub978 \uba54\uc138\uc9c0\uac00 \ub3c4\ucc29 \ud588\ub294\uc9c0 \uac80\uc0ac\ub97c \ud574\uc57c \ud569\ub2c8\ub2e4.(CRC \uac80\uc0ac\ub4f1)<\/span><\/div>

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\uc774\ub7ec\ud55c \uae30\ub2a5\uc744 \uc0dd\uc131\ub41c \ucf54\ub4dc\uc5d0\uc11c \uc81c\uacf5\ud569\ub2c8\ub2e4.<\/span><\/div>
\ud55c\ubc14\uc774\ud2b8\uc529 \uac80\uc0ac \ud558\uba74\uc11c \ud504\ub808\uc784\uc744 \ud574\uc11d \ud574\uc11c \ud504\ub808\uc784\uc774 \uc815\uc0c1\uc801\uc73c\ub85c \uc218\uc2e0 \uc644\ub8cc \ub410\ub294\uc9c0 \uc0c1\ud0dc\ub97c \ub9ac\ud134 \ud569\ub2c8\ub2e4.<\/span><\/div>
mavlink_parse_char() \/\/<\/span><\/div>

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\uc815\uc0c1\uc801\uc778 \ud504\ub808\uc784\uc774 \ud655\uc778\ub418\uba74 \uc218\uc2e0\ub41c \ud504\ub808\uc784\uc758 \ub0b4\uc6a9\uc744 \ub514\ucf54\ub529 \ud569\ub2c8\ub2e4.<\/span><\/div>
\uc790\ub3d9 \uc0dd\uc131\ub41c \ub2e4\uc74c \ud568\uc218\ub97c \uc218\ud589 \ud558\uba74 \uba54\uc138\uc9c0\uc5d0 \ud574\ub2f9\ud558\ub294 \uad6c\uc870\uccb4\ub85c \ub514\ucf54\ub529 \ud574 \uc90d\ub2c8\ub2e4.<\/span><\/div>

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mavlink_msg_test_cmd_decode<\/span>() <\/span>\/\/ TEST_CMD \uc5d0 \ud574\ub2f9\ud558\ub294 \ub514\ucf54\ub529 \ud568\uc218.<\/span>\r\nmavlink_test_cmd_t <\/span>\/\/ \ucf54\ub4dc\uc0dd\uc131\uae30\uc5d0\uc11c \ub9cc\ub4e0 \uba54\uc138\uc9c0\uc5d0 \ud574\ub2f9\ud558\ub294 \uad6c\uc870\uccb4<\/span><\/pre><\/div>

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\ub0b4\ubd80 \uad6c\ud604\uc744 \ubcf4\uba74 \ub2e4\uc74c\uacfc \uac19\uace0, \uba54\ubaa8\ub9ac \ucd5c\uc801\ud654\ub97c \uc704\ud574\uc11c \ubcc0\uc218 \uc21c\uc11c\uac00 \ubcc0\uacbd\ub41c\uac83\uc744 \ud655\uc778 \ud560\uc218 \uc788\uc2b5\ub2c8\ub2e4.<\/span><\/div>

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typedef<\/span> <\/span>struct<\/span> <\/span>__mavlink_test_cmd_t<\/span>\r\n{\r\n    uint16_t arg2; \/*< argument 2*\/\r\n    uint8_t cmd_1; \/*< test cmd 1*\/\r\n    uint8_t arg1; \/*< argument 1*\/\r\n} mavlink_test_cmd_t;<\/span><\/pre><\/div>

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\uc774\uc81c \uc774\uc6a9 \ucf54\ub4dc\ub97c \ubcf4\uba74 \ub2e4\uc74c\uacfc \uac19\uc2b5\ub2c8\ub2e4.<\/span><\/div>
\uc218\uc2e0\ub41c \ub370\uc774\ud130\uac00 \uc788\uc744\ub54c \ub9c8\ub2e4 \ud638\ucd9c \ub418\ub294 \ud568\uc218 \uc785\ub2c8\ub2e4.<\/span><\/div>

<\/div>
bool<\/span> <\/span>recv<\/span>( const uint8_t *buf, int recv_len)\r\n{\r\n    mavlink_message_t msg; \/\/ \ub85c\uceec\ubcc0\uc218\ub85c \uc120\uc5b8\ud574\ub3c4 \uc798 \uc218\ud589 \ub418\ub294\ub370 \uc544\ub9c8\ub3c4 \uc2e4\uc81c \uc790\ub8cc\uad6c\uc870\ub294 static \uc73c\ub85c \uad6c\ud604 \ub418\ub294\uac70 \uac19\uc544\uc694.\r\n    mavlink_status_t status; \/\/ \ud604\uc7ac \uc218\uc2e0\ub41c \ub370\uc774\ud130 \ud30c\uc2f1\ud55c \uc0c1\ud0dc \ub9ac\ud134\uac12.\r\n    for( int i=0; i< recv_len ; i++)\r\n    {\r\n        if (<\/span>mavlink_parse_char<\/span>(MAVLINK_COMM_0, buf[i], &msg, &status) == MAVLINK_FRAMING_OK)\r\n        {\r\n            \/\/<\/span>qDebug<\/span>(\"\\nReceived packet: SYS: %d, COMP: %d, LEN: %d, MSG ID: %d\\n\", msg<\/span>.sysid<\/span>, msg<\/span>.compid<\/span>, msg<\/span>.len<\/span>, msg<\/span>.msgid<\/span>);\r\n\r\n            if( MAVLINK_MSG_ID_TEST_CMD == msg<\/span>.msgid<\/span> ) \/\/ \uba54\uc138\uc9c0 ID \uac00  TEST_CMD \ub77c\uba74 \ud574\uc11d\r\n             {\r\n                 mavlink_test_cmd_t test_cmd;\r\n                 mavlink_msg_test_cmd_decode( &msg, &test_cmd); \/\/ \uba54\uc138\uc9c0 \ub514\ucf54\ub529\r\n\r\n                 qDebug(\"seq=%d \\n\", test_cmd<\/span>.arg1<\/span>); \/\/ \uc2e4\ud5d8\uc6a9\uc73c\ub85c \uc784\uc7901\uc744 \ucd9c\ub825\ud574\ubd04.\r\n             }\r\n         }\r\n    }\r\n}<\/span><\/pre><\/div>

<\/div>
\uc774\uc0c1 \uc785\ub2c8\ub2e4.<\/span><\/div><\/div>

<\/div>\n","protected":false},"excerpt":{"rendered":"
\ucd9c\ucc98 : http:\/\/cafe.naver.com\/openrt\/14297 BLDC \ub4dc\ub77c\uc774\ubc84\uc5d0 \uc0ac\uc6a9\ud560 \ud1b5\uc2e0 \ud504\ub85c\ud1a0\ucf5c, MAVLINK \uc0ac\uc6a9\ubc95\uc744 \uc54c\uc544 \ubcf4\ub3c4\ub85d \ud558\uaca0\uc2b5\ub2c8\ub2e4. MAVLINK\ub294 \uc791\uc740 \ube44\ud589\uccb4\uc640 \ud1b5\uc2e0 \ud558\uae30 \uc704\ud574\uc11c \ub9cc\ub4e0 \uc624\ud508\uc18c\uc2a4 \ud504\ub85c\ud1a0\ucf5c \uc785\ub2c8\ub2e4.  \ub9cc\ub4e0 \uc0ac\ub78c \ub4f1 \uc790\uc138\ud55c \ub0b4\uc6a9\uc740 \ub2e4\uc74c \ub9c1\ud06c\ub97c \ucc38\uc870 \ud558\uc138\uc694. http:\/\/qgroundcontrol.org\/mavlink\/start MAVLINK\ub97c \uc120\ud0dd\ud55c \uc774\uc720\ub294 ROS\uc5d0\uc11c MAVLINK\ub85c \ubc14\ub85c \ud1b5\uc2e0 \ud560 \uc218 \uc788\ub2e4\ub294 \uac83\uacfc \ud1b5\uc2e0\uc5d0 \ud544\uc694\ud55c \ub300\ubd80\ubd84\uc758 \ucf54\ub4dc\ub97c \uc790\ub3d9\uc73c\ub85c \uc0dd\uc131\ud574 \uc900\ub2e4\ub294 \uac83 \uc785\ub2c8\ub2e4. \uc1a1\uc2e0\uc744 \uc704\ud55c \uc804\uc1a1 […]<\/p>\n","protected":false},"author":2,"featured_media":0,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_import_markdown_pro_load_document_selector":0,"_import_markdown_pro_submit_text_textarea":"","site-sidebar-layout":"default","site-content-layout":"","ast-site-content-layout":"","site-content-style":"default","site-sidebar-style":"default","ast-global-header-display":"","ast-banner-title-visibility":"","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"","ast-breadcrumbs-content":"","ast-featured-img":"","footer-sml-layout":"","theme-transparent-header-meta":"","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","astra-migrate-meta-layouts":"default","ast-page-background-enabled":"default","ast-page-background-meta":{"desktop":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center 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