一、添加依赖库
在工程的build.gradle添加implementation 'io.dronefleet.mavlink:mavlink:1.1.11'。
![](/d/file/p/2023/12-28/f2ffb4867c5a8b12d756db303fbd76b7.jpg"在这里插入图片描述" ></p><p></p><p> 点击右上角sync</p><h2 id="h1">二、接收解析数据</h2><pre>// This example uses a TCP socket, however we may also use a UDP socket by injecting
// PipedInputStream/PipedOutputStream to MavlinkConnection, or even USB by using any
// implementation that will eventually yield an InputStream and an OutputStream.
try (Socket socket = new Socket("127.0.0.1", 5760)) {
// After establishing a connection, we proceed to building a MavlinkConnection instance.
MavlinkConnection connection = MavlinkConnection.create(
socket.getInputStream(),
socket.getOutputStream());
// Now we are ready to read and send messages.
MavlinkMessage message;
while ((message = connection.next()) != null) {
// The received message could be either a Mavlink1 message, or a Mavlink2 message.
// To check if the message is a Mavlink2 message, we could do the following:
if (message instanceof Mavlink2Message) {
// This is a Mavlink2 message.
// When a message is received, its payload type isn)
三、发送数据
int systemId = 255;
int componentId = 0;
Heartbeat heartbeat = Heartbeat.builder()
.type(MavType.MAV_TYPE_GCS)
.autopilot(MavAutopilot.MAV_AUTOPILOT_INVALID)
.systemStatus(MavState.MAV_STATE_UNINIT)
.mavlinkVersion(3)
.build()
// Write an unsigned heartbeat
connection.send2(systemId, componentId, heartbeat);
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android
