XF ROBOT Z-2Mini - Appendix 3 Mavlink Communication Process

12
NANJING XIANFEI ROBOT TECHNOLOGY CO., LTD.
Z-2 User Manual
Appendix 3 MAVlink Communication Process
After receiving HeartBeat from the 󽗊ight controller, and identifying SYSID and
COMPID of the 󽗊ight controller, GCU will operate as below:
1. GCU actively sends package MAVLINK_MSG_ID_HEARTBEAT 0 at a
frequency of 2Hz.
2. GCU requests following packages in turn at a frequency of 1Hz. The
󽗊ight controller 󽗉lls these parameters into package MAVLINK_MSG_ID_
COMMAND_LONG 76 until the request completing.：
MAVLINK_MSG_ID_EKF_STATUS_REPORT 193 (No this package for PX4);
MAVLINK_MSG_ID_GLOBAL_POSITION_INT 33;
MAVLINK_MSG_ID_SCALED_IMU 26;
MAVLINK_MSG_ID_SYSTEM_TIME 2;
MAVLINK_MSG_ID_RC_CHANNELS 65;
MAVLINK_MSG_ID_CAMERA_TRIGGER 112 (No this package for APM);
MAVLINK_MSG_ID_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE 286;
MAVLINK_MSG_ID_GIMBAL_DEVICE_SET_ATTITUDE 284 (No this package for APM);
3. GCU actively sends package MAVLINK_MSG_ID_GIMBAL_DEVICE_
ATTITUDE_STATUS 285 at a frequency of 100 Hz while the packages above
being received and the pod being operational.
4. Generally, the 󽗊ight controller will request package MAVLINK_MSG_ID_
GIMBAL_DEVICE_INFORMATION 283 , which GCU does not send actively.