Aerial Photography

aerial-photography SKILL — 航拍无人机控制指南

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aerial-photography SKILL — 航拍无人机控制指南


核心规则

  1. 飞行前检查:电池 ≥ 80%、GPS 锁定、磁罗盘校准
  2. 电子围栏:Geo-fence 必须设置,防止飞出安全区域
  3. MAVLink 消息频率:heartbeat ≥ 1Hz,GPS ≥ 5Hz
  4. 返航高度:RTH 高度必须高于周边最高障碍物

知识库

MAVLink 关键消息

# 订阅无人机状态
ros2 topic echo /mavros/state
# 订阅 GPS
ros2 topic echo /mavros/global_position/global
# 发送航点
ros2 topic pub /mavros/mission/push waypoint

飞行模式

FLIGHT_MODES = {
    "manual":     "MANUAL",
    "stabilize":  "STABILIZE", 
    "loiter":     "LOITER",
    "rtl":        "RTL",     # Return to Launch
    "auto":       "AUTO",
    "guided":     "GUIDED",
}

相机触发

# 通过 MAVLink COMMAND_LONG 触发相机
# command=MAV_CMD_DO_DIGICAM_CONTROL
# param5=1 (单次拍摄)

快速启动

bash scripts/generators/ros2-package-generator.sh aerial_photo python
bash scripts/ros2-build-verify-loop.sh aerial_photo

miuav/vibe-coding-ros2/tree/main/examples/mcp-workflow/cases/aerial-photography commit 968e02b07b

Frequently asked questions

npx skillmds@latest add miuav/aerial-photography