类 Ctrl 继承关系图:

Ctrl 的协作图:

Public 成员函数
	__init__ (self, copter_id=1, ip='127.0.0.1', com='udp', port=0, simulink_dll=False)
	init_loop (self, ct_mode=2, offboard=False)
	is_full_send (self)
	takeoff (self, height=0, pos_x=0, pos_y=0)
	return_home (self, height=0)
	land (self, height=0)
	send_pos_ned (self, pos, yaw)
	send_pos_speed_fw (self, pos, speed)
	send_pos_global (self, pos, yaw)
	send_vel_ned (self, vel, yaw_rate)
	send_vel_body (self, vel, yaw_rate)
	send_acc (self, acc)
	send_att_thrust (self, att, thrust)
	send_att (self, att)
	send_cruise_speed_fw (self, speed)
	send_cruise_radius_fw (self, radius)
	get_vehicle_id (self)
	get_time_s (self)
	get_pos_ned (self)
	get_pos_ned_global (self)
	get_pos_global (self)
	get_home_pos (self)
	get_vel_ned (self)
	get_acc (self)
	get_euler (self)
	get_angular_rate (self)
	get_quaternion (self)
	get_actuator_speed (self)
	get_max_vel_xy (self)
	get_max_vel_z (self)
	get_max_acc_xy (self)
	get_max_acc_z (self)
Public 成员函数继承自 PX4MavCtrler
	__init__ (self, ID=1, ip='127.0.0.1', Com='udp', port=0)
	fillList (self, data, inLen, fill=0)
	填充或裁剪一个列表
	sendStartMsg (self, copterID=-1)
	向无人机发送启动信号
	waitForStartMsg (self)
	等待来自 sendStartMsg 函数发送的启动信号
	initPointMassModel (self, intAlt=0, intState=[0, 0, 0])
	初始化并启动用于无人机控制
	EndPointMassModel (self)
	终止模型
	yawSat (self, yaw)
	调整偏航角在-π到π之间
	PointMassModelLoop (self)
	控制无人机在点质量模型下循环运行
	sendUE4PosNew (self, copterID=1, vehicleType=3, PosE=[0, 0, 0], AngEuler=[0, 0, 0], VelE=[0, 0, 0], PWMs=[0] *8, runnedTime=-1, windowID=-1)
	发送无人机位姿和状态到Rflysim3D
	InitTrueDataLoop (self)
	初始化真实数据接收机制
	EndTrueDataLoop (self)
	结束真实数据接收的循环
	SendOffAll (self, type_mask=PosTypeMask(), coordinate_frame=1, pos=[0, 0, 0], vel=[0, 0, 0], acc=[0, 0, 0], yaw=0, yawrate=0)
	设置和准备发送无人机的位置信息和控制参数
	SendAttAll (self, type_mask=AttTypeMask(), q=[1, 0, 0, 0], body_rate=[0, 0, 0], thrust=0)
	结束真实数据接收的循环
	InitMavLoop (self, UDPMode=2)
	初始化 MAVLink 通信循环，并与coptersim进行通信
	endMavLoop (self)
	结束通信
	SendVisionPosition (self, x, y, z, yaw)
	发送视觉定位数据给 MAVLink 连接
	SendHILGps (self, lat=40.1540302, lon=116.2593683, alt=50, vel=0, vn=0, ve=0, vd=0, cog=0, time_usec=-1, eph=0.3, epv=0.4, fix_type=3, satellites_visible=15)
	发送GPS仿真数据给 MAVLink 连接
	SendRedisData (self, key, buf)
	发送数据到redis
	SendBuf (self, buf)
	发送数据
	SendBufTrue (self, buf, port=None)
	发送数据
	sat (self, inPwm=0, thres=1)
	饱和操作的函数，确保输入值在正负阈值内
	SendMavCmdLong (self, command, param1=0, param2=0, param3=0, param4=0, param5=0, param6=0, param7=0)
	将 MAVLink 的长指令消息发送到 Pixhawk 系统
	SendMavCmdLongNEW (self, command, param1=0, param2=0, param3=0, param4=0, param5=0, param6=0, param7=0, target_system=None, target_component=1, confirmation=0, force_send=False)
	发送 MAVLink COMMAND_LONG 到 PX4，并确保写入 vehicle_command(ulog->csv)
	SendFaultEvent (self, int fault_id, params=None, int action=1, int seq=0, int vehicle_id=None, int sim_id=0, int command=MAV_CMD_USER_1)
	向 PX4 写入一条（或多条分片）“故障事件”记录（COMMAND_LONG），确保出现在 vehicle_command_*.csv
	ClearFault (self, int fault_id, int seq=0, int vehicle_id=None, int sim_id=0, int command=MAV_CMD_USER_1)
	SendQgcCmdLong (self, command, param1=0, param2=0, param3=0, param4=0, param5=0, param6=0, param7=0)
	将 MAVLink 的长指令消息发送到 QGC
	sendMavOffboardCmd (self, type_mask, coordinate_frame, x, y, z, vx, vy, vz, afx, afy, afz, yaw, yaw_rate)
	发送Offboard命令到PX4
	TypeMask (self, EnList)
	获取offboard消息的位图
	sendMavOffboardAPI (self, type_mask=0, coordinate_frame=0, pos=[0, 0, 0], vel=[0, 0, 0], acc=[0, 0, 0], yaw=0, yawrate=0)
	发送Offboard命令到PX4
	sendUDPSimpData (self, ctrlMode, ctrls)
	发送UDP简单数据
	sendPX4UorbRflyCtrl (self, data=[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], modes=1, flags=1)
	发送UDP简单数据
	SendVelNED (self, vx=math.nan, vy=math.nan, vz=math.nan, yawrate=math.nan)
	北东地坐标系下操控飞机
	SendVelNEDNoYaw (self, vx, vy, vz)
	北东地坐标系下操控飞机
	SendVelFRD (self, vx=math.nan, vy=math.nan, vz=math.nan, yawrate=math.nan)
	前右下坐标系下操控飞机
	SendAttPX4 (self, att=[0, 0, 0, 0], thrust=0.5, CtrlFlag=0, AltFlg=0)
	前右下坐标系以目标姿态控制飞机
	EulerToQuat (self, Euler)
	将欧拉角转化为四元数
	SendAccPX4 (self, afx=math.nan, afy=math.nan, afz=math.nan, yawValue=math.nan, yawType=0, frameType=0)
	发送目标加速度给PX4
	SendVelNoYaw (self, vx=math.nan, vy=math.nan, vz=math.nan)
	机体前右下坐标系下控制飞机
	SendPosNED (self, x=math.nan, y=math.nan, z=math.nan, yaw=math.nan)
	地球北东地坐标系下控制飞机到指定位置
	SendVelYawAlt (self, vel=10, yaw=6.28, alt=-100)
	地球北东地坐标系下控制飞机
	SendPosGlobal (self, lat=0, lon=0, alt=0, yawValue=0, yawType=0)
	地球北东地坐标系下控制飞机到目标全球位置
	SendPosNEDNoYaw (self, x=math.nan, y=math.nan, z=math.nan)
	地球北东地坐标系下控制飞机到目标位置
	SendPosFRD (self, x=math.nan, y=math.nan, z=math.nan, yaw=math.nan)
	机体前右下坐标系下控制飞机到目标位置
	SendPosFRDNoYaw (self, x=math.nan, y=math.nan, z=math.nan)
	机体前右下坐标系下控制飞机到目标位置
	SendPosNEDExt (self, x=math.nan, y=math.nan, z=math.nan, mode=3, isNED=True)
	机体前右下坐标系下控制飞机到目标位置
	enFixedWRWTO (self)
	发送指令使飞机起飞
	SendCruiseSpeed (self, Speed=0)
	发送指定改变飞机的巡航速度
	SendCopterSpeed (self, Speed=0)
	发送设定多旋翼飞行器的最大速度
	SendGroundSpeed (self, Speed=0)
	发送指定改变飞机的地面速度
	SendCruiseRadius (self, rad=0)
	发送指定改变飞机的巡航半径
	sendTakeoffMode (self, alt=0)
	发送指定使飞机起飞
	initOffboard (self)
	发送命令进入offboard模式，消息发送频率为30HZ
	initOffboardAcc (self)
	发送命令进入offboard模式，消息发送频率为30HZ
	initOffboardAtt (self)
	发送命令进入offboard模式，消息发送频率为30HZ
	initOffboard2 (self)
	发送命令进入offboard模式，消息发送频率为30HZ
	sendMavTakeOff (self, xM=0, yM=0, zM=0, YawRad=0, PitchRad=0)
	发送命令让飞行器起飞到指定位置
	sendMavTakeOffLocal (self, xM=0, yM=0, zM=0, YawRad=0, PitchRad=0, AscendRate=2)
	发送指令使飞机从指定的本地位置起飞，并允许设置俯仰角、偏航角和上升速率
	sendMavTakeOffGPS (self, lat, lon, alt, yawDeg=0, pitchDeg=15)
	发送指令使飞机从指定的本地位置起飞，并允许设置俯仰角、偏航角和上升速率
	sendMavLand (self, xM, yM, zM)
	发送指令使飞机降落到指定位置
	sendMavLandGPS (self, lat, lon, alt)
	发送指令使飞机降落到指定全球位置
	endOffboard (self)
	退出offboard模式，停止消息发送
	sendMavSetParam (self, param_id, param_value, param_type)
	向 Pixhawk 发送命令更改其参数
	SendHILCtrlMsg (self, ctrls=[0] *16, idx=0, flags=1)
	发送 hil_actuator_controls 消息发送到 Pixhawk
	SendHILCtrlMsg1 (self)
	发送 debug_vect 消息发送到 Pixhawk
	SendMavArm (self, isArm=1)
	发送指令到 Pixhawk 使其上锁/解锁
	initRCSendLoop (self, Hz=30)
	初始化遥控器发送循环
	endRCSendLoop (self)
	结束遥控器发送循环
	RcSendLoop (self)
	循环发送遥控器信号
	SendRCPwms (self, Pwms)
	更新遥控器 PWM 信号
	SendRcOverride (self, ch1=1500, ch2=1500, ch3=1100, ch4=1500, ch5=1100, ch6=1100, ch7=1500, ch8=1500)
	通过 MAVLink 协议向 PX4 发送遥控信号覆盖命令
	sendMavManualCtrl (self, x=0, y=0, z=0, r=0)
	通过 MAVLink 协议向 PX4 发送手动控制信号
	SendSetMode (self, mainmode, cusmode=0)
	发送 MAVLink 命令到 PX4 以更改飞行模式
	stopRun (self)
	停止 MAVLink 的监听循环
	getTrueDataMsg (self)
	从30100串口监听真是数据，更新Pixhawk状态
	getPX4DataMsg (self)
	从40100串口监听真是数据，更新Pixhawk状态
	setMsgDict (self, stName)
	设置消息字典的状态
	netForwardData (self)
	用于网络通信的事件信号
	GetUDPRedisBuf (self, sock)
	从套接字或 Redis 订阅中获取数据
	getMavMsg (self)
	开始循环监听来自20100系列端口或COM端口的MAVLink数据，更新Pixhawk状态
	OffboardSendMode (self)
	循环发送MAVLink的offboard模式控制命令
	sendRebootPix (self, copterID, delay=-1)
	发送消息重启飞机仿真
	sendCustomData (self, CopterID, data=[0] *16, checksum=123456, port=50000, IP='127.0.0.1')
	发送一个16维double型数据到指定端口，本接口可用于与Simulink通信
	setGPSOriLLA (self, LonLatAlt)
	设置GPS的原点位置，并根据提供的GPS坐标计算位置偏差
	sendSILIntFloat (self, inSILInts=[0] 8, inSILFLoats=[0] 20, copterID=-1)

Public 属性
	rflysim_cmd = RflySimCP.CmdBase + RflySimCP.CmdArmed
	simulinkDLL
Public 属性继承自 PX4MavCtrler
bool	isInPointMode = False
bool	isCom = False
	Com = Com
int	baud = 115200
int	isRealFly = 0
	ip = ip
bool	isRedis = False
int	CopterID = ID
int	port = 20100+self.CopterID*2-2
str	ComName = 'COM3'
	redisCon = None
	redisHost = ip
int	redisPort = 6379
	redisPass = None
	pubsub = None
dict	redisKey
	f = fifo
bool	stopFlag = False
	mav0 = mavlink2.MAVLink(self.f)
	udp_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
	udp_socketUDP = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
	udp_socketTrue = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
	udp_socketPX4 = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
	udp_socketUE4 = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
int	uavTimeStmp = 0
int	trueTimeStmp = 0
list	uavAngEular = [0, 0, 0]
list	trueAngEular = [0, 0, 0]
list	uavAngRate = [0, 0, 0]
list	trueAngRate = [0, 0, 0]
list	uavPosNED = [0, 0, 0]
list	truePosNED = [0, 0, 0]
list	uavVelNED = [0, 0, 0]
list	trueVelNED = [0, 0, 0]
bool	isVehicleCrash = False
int	isVehicleCrashID = -10
list	uavPosGPS = [0, 0, 0,0, 0, 0,0,0,0]
list	uavPosGPSHome = [0, 0, 0]
list	uavGlobalPos = [0, 0, 0]
list	trueAngQuatern = [0, 0, 0, 0]
list	uavAngQuatern = [0, 0, 0, 0]
list	trueMotorRPMS = [0, 0, 0, 0, 0, 0, 0, 0]
list	uavMotorRPMS = [0, 0, 0, 0, 0, 0, 0, 0]
list	trueAccB = [0, 0, 0]
list	uavAccB = [0, 0, 0]
list	uavGyro = [0, 0, 0]
list	uavMag = [0, 0, 0]
list	uavVibr = [0, 0, 0]
	out3Ddata = Data3D()
list	truePosGPS = [0, 0, 0]
list	trueSimulinkData = [0]*32
bool	useCustGPSOri = False
list	trueGpsUeCenter = [40.1540302,116.2593683,50]
list	GpsOriOffset = [0,0,0]
int	uavThrust = 0
int	zInt = 0
list	EnList = [0,1,0,0,0,1]
	type_mask = self.TypeMask(self.EnList)
int	coordinate_frame = mavlink2.MAV_FRAME_BODY_NED
list	pos = [0,0,0]
list	vel = [0,0,0]
list	acc = [0, 0, 0]
int	yaw = 0
int	yawrate = 0
bool	isInOffboard = False
bool	isArmed = False
bool	hasSendDisableRTLRC = False
int	UDPMode = 2
	startTime = time.time()
int	MaxSpeed = 5
bool	stopFlagTrueData = False
bool	hasTrueDataRec = False
bool	isPX4Ekf3DFixed = False
int	isArmerror = 0
int	truegyro = 0
int	truemag = 0
list	RCPWMs = [0, 0, 0,0, 0, 0,0, 0]
bool	isRCLoop = False
float	tRCHz = 0.03
bool	isFailsafeEn = False
	FailsafeInfo = None
	px4ext = PX4ExtMsg()
bool	px4extTrue = False
int	offMode = 0
int	ctrlMode = 0
list	cmdVel = [0]*7
int	system_status = 0
bool	connected = False
list	batInfo = [0]*2
int	nId = 0
int	isOffBoard = 0
dict	hasMsgDict = {}
list	trigMsgVect = []
	hasMsgEvent = threading.Event()
	trueMsgEvent = threading.Event()
	geo = EarthModel.EarthModel()
	netEvent = threading.Event()
	uavEvent = threading.Event()
int	uavMsg = 0
	t1 = None
	intAlt = intAlt
	intStateX = intState[0]
	intStateY = intState[1]
	intStateYaw = intState[2]
	t3 = threading.Thread(target=self.PointMassModelLoop, args=())
float	startTime3 = time.time()
	lastTime3 = self.startTime3
	trueAngRat = list(self.uavAngRate)
	tTrue = threading.Thread(target=self.getTrueDataMsg, args=())
bool	stopFlagPX4Data = False
	tPX4 = threading.Thread(target=self.getPX4DataMsg, args=())
	the_connection = mavutil.mavlink_connection(self.ComName,self.baud)
int	lastTime = 0
	t2 = threading.Thread(target=self.OffboardSendMode, args=())
int	lastTime2 = 0
	startTime2 = time.time()
	tRC = threading.Thread(target=self.RcSendLoop, args=())

额外继承的成员函数
静态 Public 属性继承自 PX4MavCtrler
int	MAV_CMD_USER_1 = 31000
Protected 成员函数继承自 PX4MavCtrler
	_chunk_list (self, xs, n)
	把列表按 n 个一组切片
Protected 属性继承自 PX4MavCtrler
bool	_active = False

成员函数说明

◆ get_acc()

get_acc ( self )

目前仅综合模型支持返回加速度
:return: 载体坐标系中加速度

◆ get_actuator_speed()

get_actuator_speed ( self )

:return: 电机转速，转/min

◆ get_home_pos()

get_home_pos ( self )

:return: WGS84坐标系下Home点位置，纬经高

◆ get_max_acc_xy()

get_max_acc_xy ( self )

:return: 最大水平加速度，m/s2

◆ get_max_acc_z()

get_max_acc_z ( self )

:return: 最大竖直，m/s2

◆ get_max_vel_xy()

get_max_vel_xy ( self )

:return: 最大水平速度，m/s

◆ get_max_vel_z()

get_max_vel_z ( self )

:return: 最大竖直速度，m/s

◆ get_pos_global()

get_pos_global ( self )

:return: WGS84坐标系下位置,纬经高

◆ get_pos_ned()

get_pos_ned ( self )

:return: PX4返回局部NED坐标系下的位置，每一架飞机都以起飞点为原点；综合模型返回全局NED(相对UE中心) TRUEpos

◆ get_pos_ned_global()

get_pos_ned_global ( self )

:return: 返回全局NED(相对UE中心)位置

◆ get_quaternion()

get_quaternion ( self )

目前仅综合模型支持返回四元数
:return: 四元数描述的姿态

◆ get_vehicle_id()

get_vehicle_id ( self )

:return: 返回载具ID，默认从1开始编号

◆ land()

land	(		self,
			height = 0 )

高度降落到home点高度

◆ return_home()

return_home	(		self,
			height = 0 )

水平位置到达home点，高度保持不变

◆ send_acc()

send_acc	(		self,
			acc )

仅适用于旋翼无人机
:param acc: NED坐标系下期望加速度，x， y方向响应非常灵敏，z方向为了定高响应缓慢

◆ send_att()

send_att	(		self,
			att )

:param att: 欧拉角[滚转角、俯仰角、偏航角]

◆ send_att_thrust()

send_att_thrust	(	self,
		att,
		thrust )

:param att: 欧拉角[滚转角、俯仰角、偏航角]
:param thrust: 油门

◆ send_cruise_radius_fw()

send_cruise_radius_fw	(		self,
			radius )

仅支持固定翼，对应QGC中NAV_LOITER_RAD
:param radius:盘旋半径，25m-1000m，正常误差可达10-20m，设置超出范围的值在QGC中会显示修改，但实际不会超过范围

函数调用图:

◆ send_cruise_speed_fw()

send_cruise_speed_fw	(		self,
			speed )

仅支持固定翼，对应QGC中FW_AIRSPD_TRIM
速度限制10-20m/s，默认15m/s
速度限制定义在src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
:param speed: 水平速度

函数调用图:

◆ send_pos_ned()

send_pos_ned	(	self,
		pos,
		yaw )

PX4版本时每架飞机相对于起飞点，综合模型时相对UE中心
出现这种差异是综合模型使用True pos控制，而PX4使用滤波后位置控制
:param pos: NED坐标系下x,y,z方向位置，单位m
:param yaw: 偏航角，单位rad

函数调用图:

◆ send_pos_speed_fw()

send_pos_speed_fw	(	self,
		pos,
		speed )

固定翼综合模型同时支持位置和速度控制

函数调用图:

◆ takeoff()

takeoff	(	self,
		height = 0,
		pos_x = 0,
		pos_y = 0 )

该高度为NED坐标系下的高度，PX4版本的固定翼支持指定起飞后位置，综合模型只支持指定高度

函数调用图:

该类的文档由以下文件生成:

ctrl/api.py

Public 成员函数

Public 属性

额外继承的成员函数

成员函数说明

◆ get_acc()

◆ get_actuator_speed()

◆ get_home_pos()

◆ get_max_acc_xy()

◆ get_max_acc_z()

◆ get_max_vel_xy()

◆ get_max_vel_z()

◆ get_pos_global()

◆ get_pos_ned()

◆ get_pos_ned_global()

◆ get_quaternion()

◆ get_vehicle_id()

◆ land()

◆ return_home()

◆ send_acc()

◆ send_att()

◆ send_att_thrust()

◆ send_cruise_radius_fw()

◆ send_cruise_speed_fw()

◆ send_pos_ned()

◆ send_pos_speed_fw()

◆ takeoff()