█ 【安卓学习之DroidPlanner】Mission Planner（pc端）和QGroundControl（android端）

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█ 系列文章目录

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█ 文章目录

• █ 【安卓学习之DroidPlanner】Mission Planner（pc端）和QGroundControl（android端）
• █ 系列文章目录
• █ 文章目录
• █ 读前说明
• █ 连接飞控/无人机
• █ Mission Planner（pc端）下载
• █ QGroundControl（android端）下载
• █ pc端和android端 参数对比
• █ 相关资料

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█ 读前说明

• 本文通过学习别人写demo,学习一些课件,参考一些博客,’学习相关知识，如果涉及侵权请告知
• 本文只简单罗列相关的代码实现过程
• 涉及到的逻辑以及说明也只是简单介绍，主要当做笔记，了解过程而已

提示：这是需要准备下载的文件：

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█ 连接飞控/无人机

提示：飞控和遥控器 对频连接，飞控一次只能连接一台遥控器，换遥控器时，需要重新对频

• ⚡️复位飞控
• ⚡️按下遥控器对频按钮
• ⚡️飞控指示灯显示绿色
• ⚡️PC端 Mission Planner和遥控器蓝牙连接（MP设置里选中COM4,115200波特率连接）
• ⚡️手机端QGroundControl和遥控器USB连接（手机设置里先通过蓝牙和遥控器配对连接）

█ Mission Planner（pc端）下载

• ⚡️进入Mission Planner官网，点击【downloads】
  

• ⚡️选中【MissionPlanner-1.3.74.msi】下载
  

• ⚡️双击【MissionPlanner-1.3.74.msi】安装，可以自定义安装目录，其他都选中下一步，自动是中文界面：

• ⚡️双击连接后，开始连接-读取参数，并显示出来：

█ QGroundControl（android端）下载

• ⚡️进入地面站qgroundcontrol官网，点击【downloads】
  

• ⚡️这边提供了Windows端、Mac OS X端、Ubuntu Linux端、Android端、iOS端和Old Stable Releases旧版本，下拉底部下载Android端64位：下载
  

• ⚡️安装后，显示如下：

• ⚡️开启蓝牙连接遥控器：
  
• ⚡️启动app，连接遥控器：
  

█ pc端和android端 参数对比

• ⚡️打开 Mission Planner（pc端），连接成功后，选择【配置/调试】，选择【全部参数树】，可以看到全部参数，这边选择BATT电池的相关信息，如下：
  提示1：可以通过修改Value值来修改参数，最后记得点击右侧【写入参数】来更改参数值。
  提示2：参数值不会自动刷新，需要点击右侧【刷新参数】来读取最新数值。
  提示3：如果发现参数值无法修改，看是否超出取值范围Range或者右上角已经和遥控器断开连接。
  

• ⚡️打开 QGroundControl（安卓端），连接成功后，选择【配置】，选择【参数】，可以看到全部参数，这边通过搜索，输入【batt】可以看到batt电池的相关信息，如下：
  提示：参数值会自动刷新，要修改参数直接点击【BARR_AMP_OFFSET条目】，弹框中点击保存，即会通过MAVLink发送信息到飞控。

• ⚡️可以通过对比参数来判断是否修改成功，可以看到飞控会主动更新电池信息到地面站上（ACTION_BATTERY_CHANGED）

2021-01-16 14:25:03.022 3925-3925/? I/BatteryInfoReceiver: ACTION_BATTERY_CHANGED
2021-01-16 14:25:03.024 10955-10955/? I/BatteryInfoReceiver: ACTION_BATTERY_CHANGED
2021-01-16 14:25:03.026 5709-6217/? D/PowerCheckerService: onBatteryChanged, mBatteryLevel = 48, status = 2, level = 48, plug = 2, scale = 100
2021-01-16 14:25:09.827 3925-3925/? I/BatteryInfoReceiver: ACTION_BATTERY_CHANGED
2021-01-16 14:25:09.828 5709-6217/? D/PowerCheckerService: onBatteryChanged, mBatteryLevel = 48, status = 2, level = 48, plug = 2, scale = 100
2021-01-16 14:25:09.829 10955-10955/? I/BatteryInfoReceiver: ACTION_BATTERY_CHANGED
2021-01-16 14:25:11.203 10955-10955/? I/BatteryInfoReceiver: ACTION_BATTERY_CHANGED
2021-01-16 14:25:11.204 3925-3925/? I/BatteryInfoReceiver: ACTION_BATTERY_CHANGED
2021-01-16 14:25:11.204 5709-6217/? D/PowerCheckerService: onBatteryChanged, mBatteryLevel = 48, status = 2, level = 48, plug = 2, scale = 100
2021-01-16 14:25:12.014 2166-2166/? I/MiuiChargeManager: notifyBatteryStatusChanged:  status: 2 isPlugged: 2 level: 49 wireState: 11 chargeSpeed: 0 mWiredChargeType: 0 mWirelessChargeType: 0 chargeDeviceType: -1
2021-01-16 14:25:12.014 7901-7901/? I/MiuiChargeManager: notifyBatteryStatusChanged:  status: 2 isPlugged: 2 level: 49 wireState: 11 chargeSpeed: 0 mWiredChargeType: 0 mWirelessChargeType: 0 chargeDeviceType: -1
2021-01-16 14:25:12.015 7901-7901/? D/KeyguardUpdateMonitor: handleBatteryUpdate
2021-01-16 14:25:12.015 2166-2166/? D/KeyguardUpdateMonitor: handleBatteryUpdate
2021-01-16 14:25:12.015 2166-2166/? I/MiuiChargeController: checkBatteryStatus: chargeType 11 status 2 plugged 2 isRapidCharge false isSuperCharge false isCarMode false mChargeDeviceType -1 mChargeDeviceForAnalytic -1
2021-01-16 14:25:12.017 10955-10955/? I/BatteryInfoReceiver: ACTION_BATTERY_CHANGED
2021-01-16 14:25:12.018 3925-3925/? I/BatteryInfoReceiver: ACTION_BATTERY_CHANGED
2021-01-16 14:25:12.019 10955-30440/? D/BatteryHistoryLoadMgr: getHistoryInfo begin
2021-01-16 14:25:12.020 3925-16240/? D/BatteryHistoryLoadMgr: getHistoryInfo begin
2021-01-16 14:25:12.021 5709-6217/? D/PowerCheckerService: onBatteryChanged, mBatteryLevel = 48, status = 2, level = 49, plug = 2, scale = 100
2021-01-16 14:25:12.135 10955-30440/? D/BatteryHistoryLoadMgr: getHistoryInfo end
2021-01-16 14:25:12.136 10955-30440/? I/BatteryInfoReceiver: update charge detail 115
2021-01-16 14:25:12.138 10955-30440/? W/BatteryChargeTimeHelper: Use max, leftChargeTime 5h45m53s132ms maxChargeTime 4h32m
2021-01-16 14:25:12.139 10955-30440/? I/BatteryChargeTimeHelper: Mixed(default) charge time 0.51 3h54m56s922ms
2021-01-16 14:25:12.158 3925-16240/? D/BatteryHistoryLoadMgr: getHistoryInfo end
2021-01-16 14:25:12.158 3925-16240/? I/BatteryInfoReceiver: update charge detail 115
2021-01-16 14:25:12.160 3925-16240/? W/BatteryChargeTimeHelper: Use max, leftChargeTime 5h45m53s132ms maxChargeTime 4h32m
2021-01-16 14:25:12.160 3925-16240/? I/BatteryChargeTimeHelper: Mixed(default) charge time 0.51 3h54m56s922ms
2021-01-16 14:25:19.380 3925-3925/? I/BatteryInfoReceiver: ACTION_BATTERY_CHANGED
2021-01-16 14:25:19.381 10955-10955/? I/BatteryInfoReceiver: ACTION_BATTERY_CHANGED
2021-01-16 14:25:19.382 5709-6217/? D/PowerCheckerService: onBatteryChanged, mBatteryLevel = 49, status = 2, level = 49, plug = 2, scale = 100
2021-01-16 14:25:27.310 3925-3925/? W/BatteryHistoryManager: checkReset
2021-01-16 14:25:27.311 3925-5598/? W/BatteryHistoryManager: check reset inner : 2021.1.16  14:25
2021-01-16 14:25:27.544 3925-3925/? I/BatteryInfoReceiver: ACTION_BATTERY_CHANGED
2021-01-16 14:25:27.545 5709-6217/? D/PowerCheckerService: onBatteryChanged, mBatteryLevel = 49, status = 2, level = 49, plug = 2, scale = 100
2021-01-16 14:25:27.546 10955-10955/? I/BatteryInfoReceiver: ACTION_BATTERY_CHANGED
2021-01-16 14:25:35.739 3925-3925/? I/BatteryInfoReceiver: ACTION_BATTERY_CHANGED
2021-01-16 14:25:35.739 5709-6217/? D/PowerCheckerService: onBatteryChanged, mBatteryLevel = 49, status = 2, level = 49, plug = 2, scale = 100
2021-01-16 14:25:35.740 10955-10955/? I/BatteryInfoReceiver: ACTION_BATTERY_CHANGED
2021-01-16 14:25:43.904 3925-3925/? I/BatteryInfoReceiver: ACTION_BATTERY_CHANGED
2021-01-16 14:25:43.906 10955-10955/? I/BatteryInfoReceiver: ACTION_BATTERY_CHANGED
2021-01-16 14:25:43.908 5709-6217/? D/PowerCheckerService: onBatteryChanged, mBatteryLevel = 49, status = 2, level = 49, plug = 2, scale = 100
2021-01-16 14:25:45.529 10955-10955/? I/BatteryInfoReceiver: ACTION_BATTERY_CHANGED
2021-01-16 14:25:45.531 5709-6217/? D/PowerCheckerService: onBatteryChanged, mBatteryLevel = 49, status = 2, level = 49, plug = 2, scale = 100
2021-01-16 14:25:45.531 3925-3925/? I/BatteryInfoReceiver: ACTION_BATTERY_CHANGED
2021-01-16 14:25:52.073 10955-10955/? I/BatteryInfoReceiver: ACTION_BATTERY_CHANGED
2021-01-16 14:25:52.075 3925-3925/? I/BatteryInfoReceiver: ACTION_BATTERY_CHANGED
2021-01-16 14:25:52.076 5709-6217/? D/PowerCheckerService: onBatteryChanged, mBatteryLevel = 49, status = 2, level = 49, plug = 2, scale = 100
2021-01-16 14:26:00.248 3925-3925/? I/BatteryInfoReceiver: ACTION_BATTERY_CHANGED
2021-01-16 14:26:00.250 5709-6217/? D/PowerCheckerService: onBatteryChanged, mBatteryLevel = 49, status = 2, level = 49, plug = 2, scale = 100
2021-01-16 14:26:00.251 10955-10955/? I/BatteryInfoReceiver: ACTION_BATTERY_CHANGED

提示：BatteryInfoReceiver：ACTION_BATTERY_CHANGED和 PowerCheckerService：onBatteryChanged 3-9秒更新一次：

提示：notifyBatteryStatusChanged 七八分钟 更新一次：

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