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* New translations index.md (Korean) * New translations payload.md (Korean) * New translations traffic_management.md (Korean) * New translations define_xml_element.md (Korean) * New translations mavlink_version.md (Korean) * New translations index.md (Korean) * New translations faq.md (Korean) * New translations contributing.md (Korean) * New translations generate_libraries.md (Korean) * New translations installation.md (Korean) * New translations mavlink_2.md (Korean) * New translations message_signing.md (Korean) * New translations packet_loss.md (Korean) * New translations serialization.md (Korean) * New translations wireshark.md (Korean) * New translations xml_schema.md (Korean) * New translations crc.md (Korean) * New translations index.md (Korean) * New translations howto_requestmessages.md (Korean) * New translations mission.md (Korean) * New translations offboard_control.md (Korean) * New translations parameter.md (Korean) * New translations timesync.md (Korean) * New translations arm_authorization.md (Korean) * New translations battery.md (Korean) * New translations camera_v1.md (Korean) * New translations command.md (Korean) * New translations events.md (Korean) * New translations gimbal_v2.md (Korean) * New translations component_metadata.md (Korean) * New translations index.md (Chinese Simplified) * New translations payload.md (Chinese Simplified) * New translations traffic_management.md (Chinese Simplified) * New translations define_xml_element.md (Chinese Simplified) * New translations mavlink_version.md (Chinese Simplified) * New translations index.md (Chinese Simplified) * New translations faq.md (Chinese Simplified) * New translations contributing.md (Chinese Simplified) * New translations generate_libraries.md (Chinese Simplified) * New translations installation.md (Chinese Simplified) * New translations mavlink_2.md (Chinese Simplified) * New translations message_signing.md (Chinese Simplified) * New translations packet_loss.md (Chinese Simplified) * New translations serialization.md (Chinese Simplified) * New translations wireshark.md (Chinese Simplified) * New translations xml_schema.md (Chinese Simplified) * New translations crc.md (Chinese Simplified) * New translations index.md (Chinese Simplified) * New translations howto_requestmessages.md (Chinese Simplified) * New translations mission.md (Chinese Simplified) * New translations offboard_control.md (Chinese Simplified) * New translations parameter.md (Chinese Simplified) * New translations timesync.md (Chinese Simplified) * New translations arm_authorization.md (Chinese Simplified) * New translations battery.md (Chinese Simplified) * New translations camera_v1.md (Chinese Simplified) * New translations command.md (Chinese Simplified) * New translations events.md (Chinese Simplified) * New translations gimbal_v2.md (Chinese Simplified) * New translations component_metadata.md (Chinese Simplified) * New translations common.md (Korean) * New translations common.md (Chinese Simplified)
1.7 KiB
파일 형식
MAVLink systems often need to be able to store, exchange, or restore MAVLink information, including: mission plans, geofence definitions, rally points, parameters, logs, etc. Often the information is defined on one system and used on another (e.g. logs from an autopilot are parsed by analysis tools, missions are created using GCS planning tools and run from a companion computer).
There is a defacto standard used in many GCS systems and developer APIs for storing mission information: plain-text file format.
:::info At time of writing there are no MAVLink standards (defacto or otherwise) for: geofence, rally points, parameters etc. There is a discussion about standardising file formats in Issue #989. :::
Mission Plain-Text File Format
QGroundControl and many other GCS support an older plain-text format for missions. This is not officially part of MAVLink and does not allow rally point or geofence information to be provided.
The format is shown below. The first line contains the file format and version information, while subsequent line(s) are mission items.
QGC WPL <VERSION>
<INDEX> <CURRENT WP> <COORD FRAME> <COMMAND> <PARAM1> <PARAM2> <PARAM3> <PARAM4> <PARAM5/X/LATITUDE> <PARAM6/Y/LONGITUDE> <PARAM7/Z/ALTITUDE> <AUTOCONTINUE>
:::info
The spaces between the numbers/fields above are <tab> (i.e. \t in most programming languages).
:::
For example:
QGC WPL 110
0 1 0 16 0.149999999999999994 0 0 0 8.54800000000000004 47.3759999999999977 550 1
1 0 0 16 0.149999999999999994 0 0 0 8.54800000000000004 47.3759999999999977 550 1
2 0 0 16 0.149999999999999994 0 0 0 8.54800000000000004 47.3759999999999977 550 1