Ardupilot spi. I also treated myself to an orin nano.

Ardupilot spi Following the arduino tradition we have example sketches for most libraries. At the very least I should have Mar 13, 2025 · Bug report Issue details Using a custom hardware with W25N01GV flash chip, the LittleFS filesystem sometimes can't be mounted, MAVProxy report: Unknown SPI Flash 0x00000000 FlashMemory_LittleFS: dead SDCard failed to start The same hardw Hi, I’m installing Arducopter firmware on a Lumenier LUX-H7 (ultimate) F7 flight controller. I would like to know if it will suffice to connect the breakout board to the SPI of an Ardupilot supported Flight Controller to use it or I am missing something. The loadcell is connected to an HX711 amp. I reduced throttle and the copter started to Autopilot Inputs and Outputs All ArduPilot Autopilots provide inputs and outputs for connecting: Control Inputs (Mandatory for vehicle operation): 该图像略有概括，对于使用 I2C 或 SPI 的驱动程序，它们必须在后台线程中运行，以便与传感器的高速通信不会受到影响 主循环的性能，但对于使用串行（又名 UART）接口的驱动程序，在主线程中运行是安全的，因为底层串行驱动程序本身会收集数据 在后台，并 Minim/MWOSD OSD Quick Installation Guide MinimOSD “On-Screen Display” is a small circuit board that pulls telemetry data from your autopilot and over-lays it on your First Person View monitor. One clear example of this can be seen in the :ref:`list of range finders <copter:common-rangefinder-landingpage>` (aka sonars, lidars). The threading approach in ArduPilot depends on the board it is built for Pixhawk 5X Flight Controller Pixhawk 5X® is the latest update to the successful family of Pixhawk® autopilots made by Holybro, featuring vibration isolation of IMUs, triple redundant IMUs, double redundant barometers on separate buses, and IMU heating. 4 on omnibusf4pro, so i left the drone outside for more than 1 hour to see the status of RTK GPS. At the very least I should have Hi Running 4. Designed for hobby users, commercial system integrators and UAS manufacturers the Cube Orange autopilot is part of a wide ecosystem of autopilot modules and carrier boards. G The omnibus external SPI isn’t defined in ArduPilot. 6 variant with Atmega. Unfortunately I cannot use serial4 since it is already occupied by another sensor. Usually the solution is to reset the FC and hope for the best. Also, I am using the Pixhawk flight controller. I also treated myself to an orin nano. PRU firmware: HC-SR04 Ultrasonic Rangefinder device driver Commits to ArduPilot project to get BBBmini supported by ArduPilot Development of status display device driver for ArduPilot Add redundancy sensors via SPI / I2C or UART Lots of test flights and fine tuning in hardware and software to get a stable and reliable BeagleBone Green Look for “I2C/SPI” written on the board. The device in question only communicates through I2C or 3-wire SPI communications. With a very active developer and user community ArduPilot provides sophisticated navigation and control for all types of flying vehicles, boats and ground vehicles. QSPI is a protocol explicitly designed for use with flash memory. 5) is no longer seeing my Matek M8Q-5883 GPS with Compass. Cube Black + HERE3 (CAN) - Mini Carrier - 4. org. com/ArduPilot/ardupilot/pull/9754 - this disables GPIO and adds in the SPI pin assignments on the wifi port, adds the device to the SPIDEV table and adds the HAL_HAVE_PIXARTFLOW_SPI define. cpp file of ArduCopter. Here’s the last three boots and compass changes. It is currently designed for plug-and-play compatibility as a GPS and Magnetometer by simply connecting the 6-pin GH connector from any mRo GPS, transforming it into a CAN-GPS. Autopilot Inputs and Outputs All ArduPilot Autopilots provide inputs and outputs for connecting: Control Inputs (Mandatory for vehicle operation): Mar 7, 2023 · So its been a while since my last update. Ryan, Definitely appreciate the enthusiasm but let’s not open up too many parallel threads… ArduPilot is the leading open source autopilot system supporting multi-copters, traditional helicopters, fixed wing aircraft, rovers, submarines and antenna trackers. it is not… Onboard Message Log Messages This is a list of log messages which may be present in logs produced and stored onboard ArduPilot vehicles. Specifically the compass portion. Are there any examples of Ardupilot using 3-wire SPI devices in the drivers? Porting to a new flight controller board ArduPilot supports a wide variety of flight controllers with new controllers being added all the time. Are these already included in the ArduCopter source code? Or do I need to insert them into header files and #include them to use them? MAVLink Interface ArduPilot supports the MAVLink protocol for communication with Ground Stations and Companion Computers. Contribute to ArduPilot/ardupilot development by creating an account on GitHub. Feature request Platform [ ] All [ ] AntennaTracker [+] Copter [ ] Plane [ ] Rover [ ] Submarine Pixhawk Overview Note Older versions of Pixhawk use an early version of the STM32F427 chip (RevA, RevY and Rev1). pimoroni. Tried two other Here pucks with the same behavior. So using the library example Apr 29, 2023 · 3. Quickstart Select your vehicle type to the left Select your “AutoPilot Hardware” and “Peripheral Hardware” for your application Follow vehicle’s “First Time Setup” for installing the firmware and Ground Station software, connecting the components, and calibration steps Prepare for “First Flight (/Drive Oct 27, 2017 · 设备代码层次结构 Ardupilot设备驱动代码的层次结构采用 前端实现 和 后端实现 分割，前端库主要供机器代码层调用，后端库主要供前端调用。这里前端可以理解为应用层，后端理解为驱动层，前端调用后端代码，实际是驱动层提供接口供应用层使用。 前端调用后端代码之前，系统会通过自动检测 The MAX31865 is an SPI device, which uses the same parameters and basic configuration procedure as I2C sensors but must be connected to an SPI port rather than an I2C port. The jump from 18. Instead of serial, I2C, SPI, PWM and other protocols, CANbus unifies all the devices on your Jun 4, 2020 · For a drone swarm project we bought swarming drone Crazyflie drone kit from Bitcraze, and start developing using the Crazyflie eco system. I2C To write to the I2C bus Jun 8, 2023 · ArduPilot is a trusted, versatile, and open source autopilot system supporting many vehicle types: multi-copters, traditional helicopters, fixed wing aircraft, boats, submarines, rovers and more. ArduPlane, ArduCopter, ArduRover, ArduSub source. Apr 22, 2018 · Please consider doing a blog post as well on ardupilot. Mar 25, 2019 · I’m looking to implement a new device into the Pixhawk’s STM board. The setup ()/loop () structure that was inherited from arduino may make it seem that ArduPilot is a single threaded system, but in fact it isn’t. Porting to a new flight controller board This section is for topics related to running ArduPilot directly on Linux boards. I’m using a pixracer board and as a test I tried to read the device id (whoami) of the mpu9250. AP_Periph AP_Periph is an abbreviation for ArduPilot Peripheral, ie. Telemetry / Serial Port Setup This article shows how to configure the telemetry ports (aka serial ports) on the autopilot. Typically used for vibration isolated IMUs. I seen some areas for example call for AP_HAL ArduPilot支持来自不同制造商的各种传感器。 测距仪 （例如：声纳，激光雷达）就是一个标志性的例子。 本页试图解释传感器驱动程序如何编写，以及如何集成到代码中。 Upon startup, MP read DISARMED Failsafe with the internal error 0x400000. com Specifications Processor and Sensors STM32F405 ARM microcontroller V3:BMI270 IMU, V4:ICM42688 (Gyro and Accelerometers) V3:SPL06, V4:DPS310 Barometer AT7456E OSD Interfaces 9x PWM outputs (PWM9 for Neopixel LED) 1x RC input (PWM/PPM, SBUS) 6x serial port inputs (including RC input listed above) 1x I2C for external Apr 20, 2024 · I want to add an external IIC/SPI MPU6050 to pixhawk2. 0. This module allows for development operations. storage the StorageManager library to give a higher level Oct 13, 2020 · Bug report Issue details Was testing HERE+ RTK GPS setup on 5" quadcopter running arducopter v4. 04 to 22. Dec 30, 2023 · I am requesting support for QuadSPI (QSPI) flash support on ArduPilot for use with Flash storage, as an alternative to SPI flash and SD Cards. I can not find any current parameters using the SPI port. This page spells out the steps to port ArduPilot to a new board with an emphasis on porting to STM32 based boards (the most common type) using ChibiOS. We suspected it was a terrain data issue, so renewed the terrain data, but then were shown ArduPilot supports a wide variety of sensors from many different manufacturers. SPI connector, but I’m having hard time to understand how to do I would like to report this breakout board for PMW3901 sensor. Lost one, lost another and then gained two again lol! The mRo CAN Node allows for seamless conversion from UART/I2C/SPI/GPIO to CAN, leveraging the Ardupilot driver library. Any boards containing this chip cannot include all ArduPilot features due to this limitation. In the illustration here, the BusPirate breakout cable is being used. 1 running firmware 4. Feb 21, 2023 · I want to use w25qxx in ardu pilot via spi port. Instead of serial, I2C, SPI, PWM and other protocols, CANbus unifies all the devices on your ArduPlane, ArduCopter, ArduRover, ArduSub source. Hi, I’m currently using SPI on Pixhawk, but I encountered some problems about it. ESP32 is a very good mcu, and i really want to use it to build a mini drone (i call it firefly), so i try my best to work it out, now it come ture, i was even more pleased to find out that the ardupilot has started to sup… CAN Bus Setup This article shows how to setup CAN bus and what options users have to accomplish the setup suitable for their specific needs. 3 with just the dout. The option I’m evaluating are: Serial5, but it seems to be attached to the nsh console and I don’t know how to disable it. The threading approach in ArduPilot depends on the board it is built for Translating UART, SPI, I2C, or GPIO-based peripheral devices supported by ArduPilot into DroneCAN devices on the CAN bus or MSP. com PMW3901 Optical Flow Sensor Breakout – Pimoroni This fancy optical flow sensor detects motion of surfaces in front of it, from ~80mm to infinity! It's great for DIY drone builds, and it's compatible with our new Breakout Garden HAT with SPI. List Download the list of available firmware: Nov 5, 2019 · This is spi_fail which is triggered by an spi timeout. This should not be ESP32 WiFi telemetry - DroneBridge ESP32 are readily available Wi-Fi modules with full TCP/IP stack and microcontroller capability. Knowing the library API and conventions used in ArduPilot is essential to understanding the code. com) As the Ardupilot code already has a library for the Pixart breakout board which uses SPI, I’ve went ahead and connect the OF sensor directly onto the ardupilot NAVIO2 Overview This page presents Navio2 - Raspberry Pi autopilot, which runs well proven ArduPilot flight stack and supports all its features. I had a reboot whilst disarmed (evident by beeping motors) and I couldn’t recreate it Tried a hover flight in strong wind today (48kph) in PosHold and it seemed to be responding to controls ok. So in my troubleshooting process how can I tell if Ardupilot is seei&hellip; Library Example Sketches The first step in exploring the code for yourself is to use the example sketches for the libraries. If you plan to write a new driver, you will likely need to refer to the sensor’s datasheet in order to determine which protocol it uses. The amp has SPI format output. The instructions use the Pixhawk but they apply for most autopilots. Jul 25, 2017 · Hi, I’m about to make a driver for a SPI device. 0 LOGS: https://dr… ArduPilot already has numerous possible sources for temperature reports: ESCs, Smart Batteries, Motor EFI and these independent sensors can be used to replace those devices temperature reports which already exist in ArduPilot. 2, including refreshes to ChibiOS. I specifically want to use the functions in the SPI library. Several later generation autopilots, like Pixhawk6X and CubePilot CubeRed, provide Ethernet MAC interfaces, which allows ArduPilot to connect to vehicle peripherals, data servers, and even the wide area network via IP using It’s an original Here compass/gps connected to a Black cube 2. It is using off the shelf modules that you can order from the usual web Advanced Compass Setup This article provides advanced guidance for how to setup the system compass (es) and advanced compass related features. In addition it features a custom ESP-NOW implementation which allows for ArduPilot 4. I’m using an APM 2. See Firmware Limitations for details. For more detailed instructions please refer to the Oct 27, 2017 · 设备代码层次结构 Ardupilot设备驱动代码的层次结构采用 前端实现 和 后端实现 分割，前端库主要供机器代码层调用，后端库主要供前端调用。这里前端可以理解为应用层，后端理解为驱动层，前端调用后端代码，实际是驱动层提供接口供应用层使用。 前端调用后端代码之前，系统会通过自动检测 The MAX31865 is an SPI device, which uses the same parameters and basic configuration procedure as I2C sensors but must be connected to an SPI port rather than an I2C port. Autotune and Hnotch setup now. Reboot the autopilot after changing this parameter. The value of the whoami register should be 0x71, but i get 0x00. There is a series of videos introducing some debugging techniques for ArduPilot code: Hello. The default use of each port is: The micro USB port (aka Serial0) is used to connect to the ground station using a USB cable. Overview On a Pixhawk there are a total of 5 serial ports. Sensor Drivers ArduPilot supports a wide variety of sensors from many different manufacturers. ArduPilot already has numerous possible sources for temperature reports: ESCs, Smart Batteries, Motor EFI and these independent sensors can be used to replace those devices temperature reports which already exist in ArduPilot. This provides an easy method to develop integrated DroneCAN peripherals which can be used with ArduPilot or other systems that support DroneCAN. The read_registers() operation goes fine but the value read is wrong. 04 may cause some issues when compiling ardupilot though. I wasnt able to get the mpu9250 and other things that should work working. Ardupilot sees the GPS with no issue. Tried some solutions: But it was already setup Separate the APM and oilpan boards, and connect your ISP programmer to the AT1280 SPI header on the APM board. Advanced Compass Setup This article provides advanced guidance for how to setup the system compass (es) and advanced compass related features. @geofrancis, ardupilot supports quite a wide range of IMUs but normally I think we only look on the internal SPI port so some code changes would be required to make it look on the external port. ACC IMU accelerometer data Hello, I have a question regarding ArduPilot HWdef configuration. A ‘sketch’ is just a main program, written as a cpp file. 4. All Cube models are compatible with all carriers which allows users to Sep 20, 2014 · Hello I’m pretty new to this platform. 参考资料 【1】 ArduPilot开源飞控系统之简单介绍 【2】 ArduPilot之开源代码框架 【3】 ArduPilot飞控之ubuntu22. 3 SPI 自动检测SPI总线，枚举设备，添加到back-end，注册timer回调函数，从而进行SPi通信。 4. This flight controller is made to support Ardupilot using the target arducopter firmware : “MatekH743” This fc has two IMUs : MP6000 and ICM20602 I flashed the MatekH743 arducopter specific firmware via STM32CubeProgrammer succesfully. We decided to port the Ardupilot flight stack to Crazyflie. dat file to a new board and getting hard time in understanding its structure in terms of peripheral IO configurations and enabling drivers for different sensors. 4. Using the Bitcraze system with LOCO UWB indoor positioning system it flies okay(is). These pages explain the details of this interface and commonly used commands: Oct 14, 2021 · Hi! Got this message - PreArm: Internal errors 0x400 l:234 cnstring_nan - after doing the COMPASSMOT. I have been looking at examples (barometer) and also read following the link: Sensor Drivers — Dev documentation workflow between what I have gathered/research seems a bit inconsistent which is understandable. I see that in the Ardupilot source (libraries/AP_OpticalFlow) there is a driver to use the PMW3901 on SPI. 04-SITL安装 【4】 ArduPilot飞控之ubuntu22. Nov 5, 2023 · Hi, I have an optical flow sensor that I would like to incorporate onto the ArduRover software. It might be easy to add though. BARO_PRIMARY to 1 to use the external barometer as the primary Testing Real-time pressure and temperature from the barometer are sent to the ground station. I present here a simple project, that may interest some of you that are looking to add more serial interfaces and cannot switch to an alternative technology like I2C or SPI. I tried a few things and basically ended up RMA’ing the board through nvidia. What is CANbus? Think of CANbus as the internet for multirotor devices like GPS, ESC, Barometer, Airspeed sensors, power modules and Gimbal controllers. It takes peripheral device driver libraries of ArduPilot and adapts them to run on stand-alone peripheral devices, which communicate to the main autopilot via CAN, MSP, or other peripheral bus Good day. dat in GitHub and see if you can add it? Re PH4 (or even original Pixhawk), the exposed SPI should work just fine. SPI A SPI port is available for use with external sensors and the correct modifications to the firmware. I installed the modified arduino IDE and am planning to modify the code to add the specific I am hoping to use Arduino specific functions in the UserCode. I’m trying to connect a loadcell to a Pixhawk. I would like to modify only the PCB design without making any firmware changes. Are these already included in the ArduCopter source code? Or do I need to insert them into header files and #include them to use them? Oct 14, 2021 · Hi! Got this message - PreArm: Internal errors 0x400 l:234 cnstring_nan - after doing the COMPASSMOT. an ArduPilot peripheral device based on the existing ArduPilot autopilot code. It would seem that I should hook up the SPI port. DroneBridge for ESP32 for the popular ESP32 modules from Espressif Systems offers a transparent and bi-directional serial to WiFi bridge. See this page for porting to boards running ChibiOS. 2GHz 64-bit quad-core ARMv8 CPU 1GB RAM Sensors MPU9250 9DOF IMU LSM9DS1 9DOF IMU MS5611 Barometer U-blox M8N Glonass/GPS/Beidou RC I/O co-processor Power Triple redundant power supply Interfaces UART, I2C Translating UART, SPI, I2C, or GPIO-based peripheral devices supported by ArduPilot into DroneCAN devices on the CAN bus or MSP. 3. However, since the MPU6000 has been discontinued, I started looking for replacement IMUs. I just wanna know can I use the external SPI on board? If so, which one of the “enum AP_HAL::SPIDevice” in SPIDriver. I2C, SPI, UART (aka Serial) and CANBUS (in particular UAVCAN/DroneCAN) protocols are supported. BARO_PROBE_EXT to 4 for the Drotek MS5611 or 2 for the Adafruit BMP280. But I skipped the SPI class and went to the CDev class, even copied the ifdefs for CDev/VDev from the SPI class. Not entirely satisfied with the flying characteristics of Crazyflie. Are there any documents available to understand the standards/structure of hwdwf file? Thankyou Debugging This section is for topics related to debugging ArduPilot source code. I installed the modified arduino IDE and am planning to modify the code to add the specific Projects Security Insights SPI unable to open #41 New issue Copy link New issue Apr 7, 2021 · Hello, i’ve recently bought a PMW3901 SPI optical flow sensor from this manufacturer: shop. In addition it features a custom ESP-NOW implementation which allows for Topics tagged spispiTopics tagged spi Sep 11, 2025 · 文章浏览阅读1. It’s so crazy, three boots and three different compass configs since I posted this 10 min ago. The optical flow sensor is a PMW3901 based break out board that uses SPI from Pimoroni PMW3901 Optical Flow Sensor Breakout (pimoroni. Specifically the ability to read and write directly to the SPI and I2C buses. by default, it works in SPI mode, in order to connect via I2C, you need to set the I2C address and activate the Enable pin. Supported Protocols I2C, SPI, UART (aka Serial) and CANBUS (in particular UAVCAN/DroneCAN) protocols are Feb 27, 2025 · ArduPilot is a cross-platform free software autopilot project for all types of small robotic vehicles. Jan 4, 2019 · CANbus for Ardupilot with UAVCAN and UC4H I think that CANbus is the single most important feature added to the Ardupilot eco-system for years. 5rc2. ESP32 WiFi telemetry - DroneBridge ESP32 are readily available Wi-Fi modules with full TCP/IP stack and microcontroller capability. Switched to RTL and noticed LEDs didn’t change colour and copter continued to hover. Specifications Processor (Raspberry PI 3) 1. The code says this can never happen but I know that tridge just changed the timeout value. Thank you for your answer!!!. Hi everybody, I would need to send some data (attitude, position and velocity) from the Pixhawk to an external arduino. Even a simple spi loopback test was failing. You can use it to create a standard, reproducible development environment in just a few minutes in Linux, OS X, or Windows. If the issue does still exist I would not expect it to be the same. Pixhawk Overview Note Older versions of Pixhawk use an early version of the STM32F427 chip (RevA, RevY and Rev1). Now it’s just figuring out how to report the values back, hopefully just emulating the PX4Flow. The Minim OSD was designed and programmed by Sandro Benigno and Jani Hirvinen This article provides brief instructions for how to connect the board. While reviewing existing HWdef files, I Hi Running 4. Sep 28, 2020 · There have been a number of fixes for the omnibusf4pro in ArduPilot 4. 5 (and higher) provides a network interface framework to allow local and wide-area network connections. To provide access to this storage ArduPilot has 4 basic mechanisms: the AP_HAL::Storage object, accessed as hal. The code changes would be quite small though I think. May 16, 2025 · Order Number: 709083 Product Name: Pixhawk 6x Fc Module (Icm-45686) Sku: H11073 Brand: HolyBro Recently I have been experiencing the following errors with the Pixhawk 6X: PreArm: Internal errors 0x4000 l:215 spi_fail It is sporadically but sometimes it does not pass the prearm check. This should not be ArduPilot 4. For more detailed instructions please refer to the 3 days ago · ArduPilot Documentation See sidebar for links to ArduPilot documents. Can you tell me if there’s something wrong in the following code? (I write it looking at AP_InertialSensor) AP Threading Understanding ArduPilot threading Once you have learned the basic of the ArduPilot libraries it is time for you to understand how ArduPilot deals with threading. 2. Mar 7, 2023 · So its been a while since my last update. I2C Sensor Setup Attach the sensor to one of the autopilot’s I2C ports using SDA and The Cube Orange/+ With ADSB-In Overview System Features The Cube Orange autopilot is the latest and most powerful model in the Cubepilot ecosystem. Connecting then to Mission planner , i listed the recognized The firmware module provides downloading and listing of available ArduPilot firmware. Could someone advise how I can achieve the following ? I need to send raw sensor data at a certain frequency (gyro , acc , barometer and GPS) from the APM out through SPI or Uart or whatever to my main control unit . I2C Sensor Setup Attach the sensor to one of the autopilot’s I2C ports using SDA and Jul 5, 2023 · Hello, I am looking at integrating a new driver for sensor data / telemetry into ardupilot pixhawk6x specifically Arduplane over SPI. A hardware bug is present in these chips that limit the flash memory to 1 MB. 8 how do I do it, do I need to change the firmware code? Or if I change to another IMU is it possible to plug it in and use it. Speedy Bee F4 V3/V4 above image and some content courtesy of the speedybee. This is used to hold user parameters, waypoints, rally points, terrain data and many other useful things. 04-Gazebo模拟 Jan 4, 2019 · CANbus for Ardupilot with UAVCAN and UC4H I think that CANbus is the single most important feature added to the Ardupilot eco-system for years. 0rc2 with my FFT PR so it's possible that the PR is the culprit, but I thought that @tridge and @ Apr 2, 2023 · Ardupilot (Ver. Would the loadcell constitute a new class/parameters? The loadcell data will be Look for “I2C/SPI” written on the board. Jan 4, 2023 · Hi, I’m porting hwdef. 4k次。本文介绍了Ardupilot设备驱动代码的层次结构，包括前端与后端的实现方式，以及串口、IIC和SPI通信的具体实现。详细阐述了如何通过不同总线获取传感器数据，并解释了数据处理流程。 Storage and EEPROM management Every board that ArduPilot supports has some form of persistent storage available. Perhaps have a look at the hwdef. h should I choose to initialize the device? I’ve read some code about mpu6000 and I found following ambiguous lines of code, [color=#00BF00] /* Pin 70 defined especially to hook up PE6 to Jan 10, 2019 · Thanks to the excellent work from @olliw42 and experiments from @mike, I finally decided to start experimenting with UAVCAN, following this blog. They can also just be logged. https://github. He was using 4. While some ports are used for onboard peripherals, often one or more are provided externally for the addition of sensor chips such as barometers or IMUs, for redundancy. This page attempts to explain how sensor drivers are written and integrated into the vehicle code. One clear example of this can be seen in the list of range finders (aka sonars, lidars). ardupilot has a standardized Linux virtual machine (VM) setup script that uses the free VirtualBox virtualization software. I am hoping to use Arduino specific functions in the UserCode. I’m currently considering the ICM20602 and the ICM42688-P. 1. Thank you for your answer!!! Oct 6, 2015 · Got the hardware 2 days ago, and the SPI communication is working! It wasn’t easy due to the timing (delay) requirements of the chip. They offer dedicated UART, SPI and I2C interfaces. a new JY RM 3100 magnetometer has arrived. I designed a flight controller based on the Omnibus F4 Pro. This user also had telemetry issues. 3 on a Matek Slim V3. However I thought maybe I could hookup to the ADC 3. There is support for the Crazyflie 2. Sep 11, 2025 · 本文介绍了Ardupilot设备驱动代码的层次结构，包括前端与后端的实现方式，以及串口、IIC和SPI通信的具体实现。 详细阐述了如何通过不同总线获取传感器数据，并解释了数据处理流程。 Most autopilots have processors with multiple SPI ports. 0 ArduPlane, ArduCopter, ArduRover, ArduSub source. It has TTL / I2C / SPI protocols. Restart it and it was all good during the flight. evfte qbth xfzr zclbxlc xeniq nsy bqtil ycuqoap oebt avwgp bdsr ciorbdr okqzf emo cdwyc