中文 (Chinese)

English
한국어 (Korean)

中文 (Chinese)

English
한국어 (Korean)

Appearance

路由 ​

这个主题解释了如何由 MAVLink 系统路由信息。

综述 ​

一个 MAVLINK 网络由多种系统组成（无人机、地面站、天线追踪器等），这些系统可能由一个或多个组件（自动试验、相机、服务器等）组成。

Each system has a network-unique system id, and each component has a system-unique component id that can be used for addressing/routing:

  • The system id has a value between 1 and 255.
    • 默认自动试验系统 id通常是 1。 用户应在添加新的自动驾驶仪到网络时分配独特增加的 id 值。 用户应在添加新的自动驾驶仪到网络时分配独特增加的 id 值。
    • GCS 系统和开发者API 通常在数值范围顶部使用ID，以减少ID冲突(例如：255)。 它们的系统ID经常可用于允许多GCS系统。 它们的系统ID经常可用于允许多GCS系统。
  • The component id is allocated by type and number from MAV_COMPONENT.

消息可用于所有系统、特定系统、系统中的所有组件或系统内的特定组件。 协议界定了在报文有效载荷中能够(可选) 指定的两个8位字段，以表明发送/路由。 If the ids are omitted or set to zero then the message is considered a broadcast (intended for all systems/components).

  • target_system: System that should execute the command
  • target_component: Component that should execute the command (requires target_system).

MAVLink组件预计将处理具有匹配系统/组件id和广播信息的信息。 预计他们将转发/重发其他(或所有)收件人的消息，前往其他活动频道（即MAVLink系统可以连接不同的运输系统，连接到连接信息的路线）。 广播消息已转发给所有尚未看到消息的通道。 地址消息在新频道 ff上重新发送，系统以前从该频道的目标中看到了一条消息， (如果收件人不知道，或在原始/接入频道，信息不会重新发送)。 They are expected to route/resend messages that are intended for other (or all) recipients to other active channels (i.e. MAVLink systems may be connected across different transports, connected by a MAVLink system that routes the messages). 广播消息已转发给所有尚未看到消息的通道。 Addressed messages are resent on a new channel iff the system has previously seen a message from the target on that channel (messages are not resent if the addressee is not known or is on the original/incoming channel).

WARNING

Forwarded messages must not be changed/repackaged by the forwarding system (the original message is passed to the new link).

INFO

Systems should, where possible, forward messages according to the routing rules even if they are unable to process them (e.g. signed messages that cannot be authenticated). Messages that are not supported/understood by the library should be forwarded as though they were broadcast messages (in this case the target system/component ids cannot be read).

路由详细信息 ​

Systems/components should process a message locally if any of these conditions hold:

  • It is a broadcast message (target_system field omitted or zero).
  • The target_system matches its system id and target_component is broadcast (target_component omitted or zero).
  • The target_system matches its system id and has the component's target_component
  • The target_system matches its system id and the component is unknown (i.e. this component has not seen any messages on any link that have the message's target_system/target_component).

Systems should forward messages to another link if any of these conditions hold:

  • It is a broadcast message (target_system field omitted or zero).
  • The target_system does not match the system id and the system knows the link of the target system (i.e. it has previously seen a message from target_system on the link).
  • The target_system matches its system id and has a target_component field, and the system has seen a message from the target_system/target_component combination on the link.

INFO

Non-broadcast messages must only be sent (or forwarded) to known destinations (i.e. a system must previously have received a message from the target system/component).

INFO

Systems should also check for SYSTEM_TIME messages with a decrease in time_boot_ms, as this indicates that the system has rebooted. In this case it should clear stored routing information (and might perform other actions that are useful following a reboot - e.g. re-fetching parameters and home position etc.).

库支持 ​

C 库 (mavgen) ​

The generated code for the MAVLink v1 C Library has no specific support for routing or working with target_system and target_component. To extract this information you will need to use the normal methods provided for reading payload fields, and match on the field names.

The MAVLink v2 generator for the C library has been updated to make it easier to get the destination system and component ID from the payload (when these are assigned). Specifically, the mavlink_msg_entry_t structure contains flags to tell you if the message contains target system/component information (FLAG_HAVE_TARGET_SYSTEM, FLAG_HAVE_TARGET_COMPONENT) and offsets into the payload that you can use to get these ids (target_system_ofs and target_component_ofs, respectively). The MAVLink helper method const mavlink_msg_entry_t* mavlink_get_msg_entry(uint32_t msgid) can be used to get this structure from the message id.

Unsigned MAVLink 2 packets are routed in the same way as MAVLink 1 packets.

Routing Signed Packets ​

Signed packets should be routed in the same way as any other packet.

In particular, a routing system should:

  • 不以任何方式更改电文(包括替换原始签字)。
  • 即使不能被验证(甚至理解)，因此不能在当地加以处理，也按照正常规则提交信息。

路由接口 ​

The MAVLink Router can be used to mix-and-match different IP protocols with serial ports in order to route MAVLink traffic.

更多信息 ​