mavlink协议控制jMAVSim仿真环境里面的无人机飞行，起飞不了

16670150941

使用c语言编写了一个示例UDP服务器，通过mavlink协议控制jMAVSim仿真环境里面的无人机飞行，进入offboard模式后，以4HZ频率不断发送设置点信息给无人机，仿真环境里面的无人机也能收到数据，但是就是起飞不了


接收解析到无人机的position_target_local_ned点坐标数据总是显示nan：xyz:[ nan, nan, nan ], vxyz:[ nan, nan, nan ]
不知道是哪里设置错误了，导致无人机自动退出offboard模式然后自动上锁

设置点的赋值如下：
```
#define MAVLINK_MSG_SET_POSITION_TARGET_LOCAL_NED_POSITION     0b0000110111111000
#define MAVLINK_MSG_SET_POSITION_TARGET_LOCAL_NED_VELOCITY     0b0000110111000111
#define MAVLINK_MSG_SET_POSITION_TARGET_LOCAL_NED_ACCELERATION 0b0000110000111111
#define MAVLINK_MSG_SET_POSITION_TARGET_LOCAL_NED_FORCE        0b0000111000111111
#define MAVLINK_MSG_SET_POSITION_TARGET_LOCAL_NED_YAW_ANGLE    0b0000100111111111
#define MAVLINK_MSG_SET_POSITION_TARGET_LOCAL_NED_YAW_RATE     0b0000010111111111

mavlink_set_position_target_local_ned_t position_target

set_pos_ned.time_boot_ms = (uint32_t) (get_time_usec()/1000);
set_pos_ned.target_system    = 1;
set_pos_ned.target_component = 1;
set_pos_ned.coordinate_frame = MAV_FRAME_LOCAL_NED;
set_pos_ned.type_mask = MAVLINK_MSG_SET_POSITION_TARGET_LOCAL_NED_POSITION & MAVLINK_MSG_SET_POSITION_TARGET_LOCAL_NED_VELOCITY;
set_pos_ned.x = 0;
set_pos_ned.y = 0;
set_pos_ned.z = -5;
set_pos_ned.vx = 1;
set_pos_ned.vy = 1;
set_pos_ned.vz = -1;
set_pos_ned.yaw = NAN;
set_pos_ned.yaw_rate = NAN;

我知道答案 回答被采纳将会获得2 阿木币 已有1人回答

shanghuo

如果发送数据的频率不够，无人机是不会飞的，因为不足以支持无人机需要的控制频率。