aerial-photography SKILL — 航拍无人机控制指南
核心规则
- 飞行前检查:电池 ≥ 80%、GPS 锁定、磁罗盘校准
- 电子围栏:Geo-fence 必须设置,防止飞出安全区域
- MAVLink 消息频率:heartbeat ≥ 1Hz,GPS ≥ 5Hz
- 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