MAV_CMD_NAV_PATHPLANNING 81
Param (:Label)
| Description
| Values
|
1: status
| 避障状态
| 0 关闭 1 开启
|
python测试脚本
import time
from pymavlink import mavutil
timestamp = int(time.time() * 1000)
millis = int(time.time() * 1000)
master = mavutil.mavlink_connection('udpin:0.0.0.0:14550')
master.wait_heartbeat()
boot_time = time.time()
def set_avoid():
master.mav.command_long_send(
master.target_system,
master.target_component,
mavutil.mavlink.MAV_CMD_NAV_PATHPLANNING,
0,
0, 0, 0, 0, 0, 0, 0
)
set_avoid()
while True:
msg = master.recv_match()
if not msg:
continue
if msg.get_type() == 'COMMAND_LONG':
print("\n\n*****Got message: %s*****" % msg.get_type())
print("Message: %s" % msg)
print("\nAs dictionary: %s" % msg.to_dict())
返回command = MAV_CMD_REQUEST_MESSAGE返回值 param1 81 执行命令id返回值 param2 0或1 是否执行成功返回值 param3 失败代码(0 无异常 1 无法初始化无人机飞行控制 2 避障状态设置失败)