Pixhawk系列飞控板的协同计算机

    无论何种协同计算机（Raspberry Pi, Odroid, Tegra K1），与Pixhawk系列飞控板之间的接口是相同的：它们通过串口连接到Pixhawk上的，这个端口专用于与协同计算机相连。连接的消息格式是MAVLink。

    参考下表，设置SYS_COMPANION参数（System参数组）

    • 0：禁用TELEM2上的MAVLink输出（默认）
    • 921600：使能MAVLink输出，波特率：921600, 8N1（推荐）
    • 157600：使能MAVLink输出，OSD模式，波特率：57600

    为了能够接收MAVLink消息，协同计算机需要运行一些和串口通讯的软件，最常用的是：

    安全的做法是使用FTDI（USB转串口适配器），并按照下面说明连接它。这大多数时候都管用并且很容易设置。

    On Linux the default name of a USB FTDI would be like . If you have a second FTDI linked on the USB or an Arduino, it will registered as \dev\ttyUSB1. To avoid the confusion between the first plugged and the second plugged, we recommend you to create a symlink from ttyUSBx to a friendly name, depending on the Vendor and Product ID of the USB device.

    Using lsusb we can get the vendor and product IDs.

    The Pixhawk is Bus 003 Device 005: ID 26ac:0011

    Therefore, we can create a new UDEV rule in a file called /etc/udev/rules.d/99-pixhawk.rules with the following content, changing the idVendor and idProduct to yours.

    Finally, after a reboot you can be sure to know which device is what and put /dev/ttyPixhawk instead of /dev/ttyUSB0 in your scripts.