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16 lines
1.1 KiB
16 lines
1.1 KiB
1 year ago
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# 通信流程
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描述载具在自动连接期间进行的高级通信流程。
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- LinkManager always has a UDP port open waiting for a vehicle heartbeat
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- LinkManager detects a new known device type (Pixhawk, SiK Radio, PX4 Flow) that makes a UDP connection to the computer
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- LinkManager creates a new SerialLink between the computer and the device
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- Incoming bytes from the Link are sent to MAVLinkProtocol
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- MAVLinkProtocol将字节转换为MAVLink消息
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- 如果消息是HEARTBEAT，则通知MultiVehicleManager(多机管理类)
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- MultiVehicleManager is notified of the `HEARTBEAT` and creates a new vehicle object based on the information in the `HEARTBEAT` message
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- The vehicle object instantiates the plugins that matches the vehicle
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- The ParameterLoader associated with the vehicle object sends a `PARAM_REQUEST_LIST` to the connected device to load parameters using the parameter protocol
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- Once the parameter load is complete, the MissionManager associated with the vehicle object requests the mission items from the connected device using the mission protocol
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- 当参数加载完成后，VehicleComponents对象将在Setup视图中显示其UI
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