1. Toy模板网首页
  2. > Toy博客

OpenHarmony无人机MAVSDK开源库适配方案分享

8月前 作者：代码与思维 分类：Toy博客 阅读(49) 违法举报

这篇具有很好参考价值的文章主要介绍了OpenHarmony无人机MAVSDK开源库适配方案分享。希望对大家有所帮助。如果存在错误或未考虑完全的地方，请大家不吝赐教，您也可以点击"举报违法"按钮提交疑问。

MAVSDK 是 PX4 开源团队贡献的基于 MavLink 通信协议的用于无人机应用开发的 SDK，支持多种语言如 C/C++、python、Java 等。通常用于无人机间、地面站与通信设备的消息传输。

MAVLink 是一种非常轻量级的消息传递协议，用于与无人机（以及机载无人机组件之间）进行通信。MAVLink 遵循现代混合发布-订阅和点对点设计模式，数据流作为主题发送/发布，而任务协议或参数协议等配置子协议是点对点的重传。其中 MAVLink 1 每个数据包只有 8 个字节的开销，包括开始标志和数据包丢弃检测。MAVLink 2 只有 14 字节的开销。由于 MAVLink 不需要任何额外的成帧，因此非常适合通信带宽非常有限的应用程序。

当我们想要在 OpenHarmony 上做无人机相关工作时，在通信方面需要面临 MAVLink 的移植适配工作。因此接下来我们将分享如何将 MAVSDK 移植至 OpenHarmony 系统当中。

MAVSDK Github 开源地址：GitHub - mavlink/MAVSDK: API and library for MAVLink compatible systems written in C++17

接下来讲解如何把 MAVSDK 开源库添加至 OpenHarmony 工程中进行编译。（此方法与其他开源库移植方法基本一致）

本次移植通过新建子系统 mavsdk，在子系统下添加名为 mavsdk 的组件，并在该组件下添加名为 MAVSDK 的模块，OpenHarmony 系统层级顺序如下：子系统-> 组件-> 模块，下文中将都以此为顺序进行叙述。

表 1：添加到工程后的目录结构

路径 描述
ohos/build/subsystem_config.json 子系统配置
ohos/productdefine/common/products/ohos-arm64.json 板级相关
ohos/third_party/MAVSDK/bundle.json 在子系统中添加组件配置
ohos/third_party/MAVSDK/BUILD.gn 三方库模块化，将其加入组件中的 gn 文件

subsystem_config.json

首先在 ohos/build/subsystem 中添加 subsystem 节点。

"mavsdk": {   
	      "path": "third_party/MAVSDK", 
   	      "name": "mavsdk"
	  }
​

ohos-arm64.json 文件

在 ohos/productdefine/common/products/ohos-arm64.json 文件中添加板级相关的信息。

"mavsdk:MAVSDK":{} 
​

如下图所示：

OpenHarmony无人机MAVSDK开源库适配方案分享,OpenHarmony,鸿蒙,开源,harmonyos,鸿蒙,鸿蒙系统,华为,ArkTS,OpenHarmony

Bundle.json 文件

在 ohos/third 目录下添加 bundle.json 文件，以便系统可以添加名为 MAVSDK 的组件。

对于此文件要点如注释所见（编译时去除注释以保证配置文件整洁性）

{
    "name": "@ohos/MAVSDK",
    "description": "",
    "version": "",
    "license": "",
    "publishAs": "",
    "segment": {
        "destPath": "third_party/MAVSDK"
    },
    "dirs": {},
    "scripts": {},
    "readmePath": {
    },
    "component": {
        "name": "MAVSDK",
        "subsystem": "mavsdk",
        "syscap": [],
        "features": [],
        "adapted_system_type": [],
        "rom": "",
        "ram": "",
        "deps": {
            "components": [ "jsoncpp",
                            "zlib"//此处添加了要用的三方库，后续的build.gn中还会有所体现。
        ],
            "third_party": ["jsoncpp",
                            "zlib"
        ]
        },
        "build": {
            "sub_component": [  "//third_party/mavsdk:MAVSDK",
                                "//third_party/mavsdk:mavsdk_test"],//此处添加了接下来要编译的组件，一个是代码主仓组件，一个是代码的测试文件组件
            "inner_kits": [],
            "test": ["//third_party/mavsdk:mavsdk_test"]
        }
    }
  }

BUILD.gn 文件

在完成上述步骤后，下面需要在 ohos/third 目录添加 BUILD.gn，根据不同的系统生成静态或者动态库，注意点如下：

文件 作用
build.make 生成目标的源文件
depend.make 需要依赖的其他 C 源文件
flags.make cflags 相关的一些标志
link.txt 链接库相关信息

① 注意移植时的 cflags、cflags 应从原始的编译文件（例如 cmake 过程中 build 的生成文件：在 cmake 生成 makefile 的过程中分析 build.make、depend.make、flags.make、link.txt 等得出三方库对应的依赖关系）中获取相关的标志位

② 注意移植的源文件及头文件地址可以使用当前 build.gn 所在路径下相对位置，例如/src 与 build.gn 在同一路径下则路径可以直接应用 src/....

③ 注意 deps 若引用的是组件内的其他模块，例如其他 build.gn 文件中的组件或当前 build.gn 中位于此 deps 前的其他组件可以使用 ”:module 进行模块依赖，若是引用组件外的其他组件则需要使用 ”bundle

import("//build/ohos.gni")  
import("//build/test.gni")

config("mavsdk_cflag_config") {
    #编译时的标志位
    cflags = 
            [  
                "-fexceptions",
                "-Wextra",
                "-Wshadow",
                "-Wno-strict-aliasing",
                "-Wformat=2",
                "-Wextra",
                "-Wno-unused-lambda-capture",
                "-Wno-pragmas",
                "-Wno-unknown-warning-option",
                "-Wduplicated-cond",
                "-Wnull-dereference",
                "-Wduplicated-branches",
                "-Wlogical-op", 
                "-Wno-old-style-cast",
                "-pthread",
            ]
    cflags_cc = [ "-frtti" ] #fix:[OHOS ERROR] ../../prebuilts/clang/ohos/linux-x86_64/llvm/bin/../include/libcxx-ohos/include/c++/v1/memory:3566:16: error: use of dynamic_cast requires -frtti


    ldflags = [ "-fPIC",
                "-g",
                "-shared",
                "-Wl",
                "-soname" ]
}

ohos_source_set("libmavsdk_source") {
  
    configs = [":mavsdk_cflag_config"]

    deps = [ 
             "//third_party/curl:curl"  
    ] 
    #需要包含的源文件
    sources = [
            "src/mavsdk/core/call_every_handler.cpp" ,
            "src/mavsdk/core/connection.cpp" ,
            "src/mavsdk/core/connection_result.cpp" ,
            "src/mavsdk/core/curl_wrapper.cpp" ,
            "src/mavsdk/core/crc32.cpp" ,
            "src/mavsdk/core/system.cpp" ,
            "src/mavsdk/core/system_impl.cpp" ,
            "src/mavsdk/core/fs.cpp" ,
            "src/mavsdk/core/mavsdk.cpp" ,
            "src/mavsdk/core/mavsdk_impl.cpp" ,
            "src/mavsdk/core/http_loader.cpp" ,
            "src/mavsdk/core/mavlink_channels.cpp" ,
            "src/mavsdk/core/mavlink_command_receiver.cpp" ,
            "src/mavsdk/core/mavlink_command_sender.cpp" ,
            "src/mavsdk/core/mavlink_ftp.cpp" ,
            "src/mavsdk/core/mavlink_mission_transfer.cpp" ,
            "src/mavsdk/core/mavlink_parameters.cpp" ,
            "src/mavsdk/core/mavlink_receiver.cpp" ,
            "src/mavsdk/core/mavlink_request_message_handler.cpp" ,
            "src/mavsdk/core/mavlink_statustext_handler.cpp" ,
            "src/mavsdk/core/mavlink_message_handler.cpp" ,
            "src/mavsdk/core/ping.cpp" ,
            "src/mavsdk/core/plugin_impl_base.cpp" ,
            "src/mavsdk/core/serial_connection.cpp" ,
            "src/mavsdk/core/tcp_connection.cpp" ,
            "src/mavsdk/core/timeout_handler.cpp" ,
            "src/mavsdk/core/udp_connection.cpp" ,
            "src/mavsdk/core/log.cpp" ,
            "src/mavsdk/core/cli_arg.cpp" ,
            "src/mavsdk/core/geometry.cpp" ,
            "src/mavsdk/core/request_message.cpp" ,
            "src/mavsdk/core/mavsdk_time.cpp" ,
            "src/mavsdk/core/timesync.cpp" ,
            "src/mavsdk/plugins/action/action.cpp" ,
            "src/mavsdk/plugins/action/action_impl.cpp" ,
            "src/mavsdk/plugins/action_server/action_server.cpp" ,
            "src/mavsdk/plugins/action_server/action_server_impl.cpp" ,
            "src/mavsdk/plugins/calibration/calibration.cpp" ,
            "src/mavsdk/plugins/calibration/calibration_impl.cpp" ,
            "src/mavsdk/plugins/calibration/calibration_statustext_parser.cpp" ,
            "src/mavsdk/plugins/camera/camera.cpp" ,
            "src/mavsdk/plugins/camera/camera_impl.cpp" ,
            "src/mavsdk/plugins/camera/camera_definition.cpp" ,
            "src/mavsdk/plugins/camera/camera_definition_files/generated/camera_definition_files.cpp" ,
            "src/mavsdk/plugins/component_information/component_information.cpp" ,
            "src/mavsdk/plugins/component_information/component_information_impl.cpp" ,
            "src/mavsdk/plugins/component_information_server/component_information_server.cpp" ,
            "src/mavsdk/plugins/component_information_server/component_information_server_impl.cpp" ,
            "src/mavsdk/plugins/failure/failure.cpp" ,
            "src/mavsdk/plugins/failure/failure_impl.cpp" ,
            "src/mavsdk/plugins/follow_me/follow_me.cpp" ,
            "src/mavsdk/plugins/follow_me/follow_me_impl.cpp" ,
            "src/mavsdk/plugins/ftp/ftp.cpp" ,
            "src/mavsdk/plugins/ftp/ftp_impl.cpp" ,
            "src/mavsdk/plugins/geofence/geofence.cpp" ,
            "src/mavsdk/plugins/geofence/geofence_impl.cpp" ,
            "src/mavsdk/plugins/gimbal/gimbal.cpp" ,
            "src/mavsdk/plugins/gimbal/gimbal_impl.cpp" ,
            "src/mavsdk/plugins/gimbal/gimbal_protocol_v1.cpp" ,
            "src/mavsdk/plugins/gimbal/gimbal_protocol_v2.cpp" ,
            "src/mavsdk/plugins/info/info.cpp" ,
            "src/mavsdk/plugins/info/info_impl.cpp" ,
            "src/mavsdk/plugins/log_files/log_files.cpp" ,
            "src/mavsdk/plugins/log_files/log_files_impl.cpp" ,
            "src/mavsdk/plugins/manual_control/manual_control.cpp" ,
            "src/mavsdk/plugins/manual_control/manual_control_impl.cpp" ,
            "src/mavsdk/plugins/mavlink_passthrough/mavlink_passthrough.cpp" ,
            "src/mavsdk/plugins/mavlink_passthrough/mavlink_passthrough_impl.cpp" ,
            "src/mavsdk/plugins/mission/mission.cpp" ,
            "src/mavsdk/plugins/mission/mission_impl.cpp" ,
            "src/mavsdk/plugins/mission_raw/mission_raw.cpp" ,
            "src/mavsdk/plugins/mission_raw/mission_raw_impl.cpp" ,
            "src/mavsdk/plugins/mission_raw/mission_import.cpp" ,
            "src/mavsdk/plugins/mission_raw_server/mission_raw_server.cpp" ,
            "src/mavsdk/plugins/mission_raw_server/mission_raw_server_impl.cpp" ,
            "src/mavsdk/plugins/mocap/mocap.cpp" ,
            "src/mavsdk/plugins/mocap/mocap_impl.cpp" ,
            "src/mavsdk/plugins/offboard/offboard.cpp" ,
            "src/mavsdk/plugins/offboard/offboard_impl.cpp" ,
            "src/mavsdk/plugins/param/param.cpp" ,
            "src/mavsdk/plugins/param/param_impl.cpp" ,
            "src/mavsdk/plugins/param_server/param_server.cpp" ,
            "src/mavsdk/plugins/param_server/param_server_impl.cpp" ,
            "src/mavsdk/plugins/server_utility/server_utility.cpp" ,
            "src/mavsdk/plugins/server_utility/server_utility_impl.cpp" ,
            "src/mavsdk/plugins/shell/shell.cpp" ,
            "src/mavsdk/plugins/shell/shell_impl.cpp" ,
            "src/mavsdk/plugins/telemetry/telemetry.cpp" ,
            "src/mavsdk/plugins/telemetry/telemetry_impl.cpp" ,
            "src/mavsdk/plugins/telemetry/math_conversions.cpp" ,
            "src/mavsdk/plugins/telemetry_server/telemetry_server.cpp" ,
            "src/mavsdk/plugins/telemetry_server/telemetry_server_impl.cpp" ,
            "src/mavsdk/plugins/tracking_server/tracking_server.cpp" ,
            "src/mavsdk/plugins/tracking_server/tracking_server_impl.cpp" ,
            "src/mavsdk/plugins/transponder/transponder.cpp" ,
            "src/mavsdk/plugins/transponder/transponder_impl.cpp" ,
            "src/mavsdk/plugins/rtk/rtk.cpp" ,
            "src/mavsdk/plugins/rtk/rtk_impl.cpp" ,
            "src/mavsdk/plugins/tune/tune.cpp" ,
            "src/mavsdk/plugins/tune/tune_impl.cpp"
         ]

    #需要包含的头文件
    include_dirs = [
            "src/mavsdk/core",
            "src/mavsdk/core/include/mavsdk",
            "src/mavsdk/plugins/action/include",
            "src/mavsdk/plugins/action_server/include",
            "src/mavsdk/plugins/calibration/include",
            "src/mavsdk/plugins/camera/include",
            "src/mavsdk/plugins/camera/camera_definition_files/generated",
            "src/mavsdk/plugins/component_information/include",
            "src/mavsdk/plugins/component_information_server/include",
            "src/mavsdk/plugins/failure/include",
            "src/mavsdk/plugins/follow_me/include",
            "src/mavsdk/plugins/ftp/include",
            "src/mavsdk/plugins/geofence/include",
            "src/mavsdk/plugins/gimbal/include",
            "src/mavsdk/plugins/info/include",
            "src/mavsdk/plugins/log_files/include",
            "src/mavsdk/plugins/manual_control/include",
            "src/mavsdk/plugins/mavlink_passthrough/include",
            "src/mavsdk/plugins/mission/include",
            "src/mavsdk/plugins/mission_raw/include",
            "src/mavsdk/plugins/mission_raw_server/include",
            "src/mavsdk/plugins/mocap/include",
            "src/mavsdk/plugins/offboard/include",
            "src/mavsdk/plugins/param/include",
            "src/mavsdk/plugins/param_server/include",
            "src/mavsdk/plugins/rtk/include",
            "src/mavsdk/plugins/server_utility/include",
            "src/mavsdk/plugins/shell/include",
            "src/mavsdk/plugins/telemetry/include",
            "src/mavsdk/plugins/telemetry_server/include",
            "src/mavsdk/plugins/tracking_server/include",
            "src/mavsdk/plugins/transponder/include",
            "src/mavsdk/plugins/tune/include",
            "src/mavsdk/plugins/action",
            "src/mavsdk/plugins/action_server",
            "src/mavsdk/plugins/calibration",
            "src/mavsdk/plugins/camera",
            "src/mavsdk/plugins/component_information",
            "src/mavsdk/plugins/component_information_server",
            "src/mavsdk/plugins/failure",
            "src/mavsdk/plugins/follow_me",
            "src/mavsdk/plugins/ftp",
            "src/mavsdk/plugins/geofence",
            "src/mavsdk/plugins/gimbal",
            "src/mavsdk/plugins/info",
            "src/mavsdk/plugins/log_files",
            "src/mavsdk/plugins/manual_control",
            "src/mavsdk/plugins/mavlink_passthrough",
            "src/mavsdk/plugins/mission",
            "src/mavsdk/plugins/mission_raw",
            "src/mavsdk/plugins/mission_raw_server",
            "src/mavsdk/plugins/mocap",
            "src/mavsdk/plugins/offboard",
            "src/mavsdk/plugins/param",
            "src/mavsdk/plugins/param_server",
            "src/mavsdk/plugins/rtk",
            "src/mavsdk/plugins/server_utility",
            "src/mavsdk/plugins/shell",
            "src/mavsdk/plugins/telemetry",
            "src/mavsdk/plugins/telemetry_server",
            "src/mavsdk/plugins/tracking_server",
            "src/mavsdk/plugins/transponder",
            "src/mavsdk/plugins/tune",
            "src/third_party/mavlink",
            "src/third_party/mavlink/mavlink/src/mavlink/include/mavlink/v2.0",
            "src/third_party/mavlink/mavlink/src/mavlink/include/mavlink/v2.0/common",
            "//third_party/jsoncpp/include",
            "//third_party/curl/include",
            "//third_party/tinyxml2",
            "//third_party/zlib",
        ]
}

ohos_shared_library("MAVSDK") {

  
    deps = [    ":libmavsdk_source",
                "//third_party/curl:curl_shared",
                "//third_party/openssl:libssl_shared",
                "//third_party/openssl:libcrypto_shared",
                "//third_party/jsoncpp:jsoncpp",
                "//third_party/tinyxml2:tinyxml2"
            ]         #依赖的三方库

  
    part_name = "MAVSDK"
    subsystem_name = "mavsdk"
    output_name = "libmavsdk"
  }

ohos_executable("takeoff_and_land") {

  
    use_exceptions = true
    output_name = "takeoff_and_land" # 可选，模块输出名

    include_dirs = [
        "src/third_party/mavlink/mavlink/src/mavlink/include",
        "src/mavsdk/core/include/mavsdk",
        "src/mavsdk/plugins/action/include",
        "src/mavsdk/plugins/telemetry/include"
    ]
    sources = [
        "examples/takeoff_and_land/takeoff_and_land.cpp",
        "examples/takeoff_and_land/autopilot_interface.cpp",
    ]

  

    deps = [
        "//third_party/MAVSDK:MAVSDK"
    ]

    part_name = "MAVSDK"

    subsystem_name = "MAVSDK"

}
#演示编译部分
ohos_executable("offboard") {  

    use_exceptions = true
    output_name = "offboard" # 可选，模块输出名
 
    include_dirs = [
        "src/third_party/mavlink/mavlink/src/mavlink/include",
        "src/mavsdk/core/include/mavsdk",
        "src/mavsdk/plugins/offboard/include",
        "src/mavsdk/plugins/action/include",
        "src/mavsdk/plugins/telemetry/include"
    ]
    sources = [
        "examples/offboard/offboard.cpp",
    ]

    deps= [
        "//third_party/MAVSDK:MAVSDK"
    ]

    part_name = "MAVSDK"

    subsystem_name = "MAVSDK"

}

#编译测试文件
ohos_unittest("mavsdk_test") {

    module_out_path = "MAVSDK/mavsdk_test" 

    testonly = true

    use_exceptions = true
  
    include_dirs = [ 
        "src/mavsdk/core/include/mavsdk",
        "src/mavsdk/plugins/action/include",
        "src/mavsdk/plugins/action_server/include",
        "src/mavsdk/plugins/calibration/include",
        "src/mavsdk/plugins/camera/include",
        "src/mavsdk/plugins/camera/camera_definition_files/generated",
        "src/mavsdk/plugins/component_information/include",
        "src/mavsdk/plugins/component_information_server/include",
        "src/mavsdk/plugins/failure/include",
        "src/mavsdk/plugins/follow_me/include",
        "src/mavsdk/plugins/ftp/include",
        "src/mavsdk/plugins/geofence/include",
        "src/mavsdk/plugins/gimbal/include",
        "src/mavsdk/plugins/info/include",
        "src/mavsdk/plugins/log_files/include",
        "src/mavsdk/plugins/manual_control/include",
        "src/mavsdk/plugins/mavlink_passthrough/include",
        "src/mavsdk/plugins/mission/include",
        "src/mavsdk/plugins/mission_raw/include",
        "src/mavsdk/plugins/mission_raw_server/include",
        "src/mavsdk/plugins/mocap/include",
        "src/mavsdk/plugins/offboard/include",
        "src/mavsdk/plugins/param/include",
        "src/mavsdk/plugins/param_server/include",
        "src/mavsdk/plugins/rtk/include",
        "src/mavsdk/plugins/server_utility/include",
        "src/mavsdk/plugins/shell/include",
        "src/mavsdk/plugins/telemetry/include",
        "src/mavsdk/plugins/telemetry_server/include",
        "src/mavsdk/plugins/tracking_server/include",
        "src/mavsdk/plugins/transponder/include",
        "src/mavsdk/plugins/tune/include",
        "src/mavsdk/core",
        "src/mavsdk/plugins/action",
        "src/mavsdk/plugins/action_server",
        "src/mavsdk/plugins/calibration",
        "src/mavsdk/plugins/camera",
        "src/mavsdk/plugins/component_information",
        "src/mavsdk/plugins/component_information_server",
        "src/mavsdk/plugins/failure",
        "src/mavsdk/plugins/follow_me",
        "src/mavsdk/plugins/ftp",
        "src/mavsdk/plugins/geofence",
        "src/mavsdk/plugins/gimbal",
        "src/mavsdk/plugins/info",
        "src/mavsdk/plugins/log_files",
        "src/mavsdk/plugins/manual_control",
        "src/mavsdk/plugins/mavlink_passthrough",
        "src/mavsdk/plugins/mission",
        "src/mavsdk/plugins/mission_raw",
        "src/mavsdk/plugins/mission_raw_server",
        "src/mavsdk/plugins/mocap",
        "src/mavsdk/plugins/offboard",
        "src/mavsdk/plugins/param",
        "src/mavsdk/plugins/param_server",
        "src/mavsdk/plugins/rtk",
        "src/mavsdk/plugins/server_utility",
        "src/mavsdk/plugins/shell",
        "src/mavsdk/plugins/telemetry",
        "src/mavsdk/plugins/telemetry_server",
        "src/mavsdk/plugins/tracking_server",
        "src/mavsdk/plugins/transponder",
        "src/mavsdk/plugins/tune",
        "src/third_party/mavlink",
        "src/third_party/curl/curl/src/curl/include",
        "src/third_party/install/include",
        "src/third_party/mavlink/mavlink/src/mavlink/include/mavlink/v2.0",
        "src/third_party/mavlink/mavlink/src/mavlink/include/mavlink/v2.0/common",

         ]

   
    sources = [
        "src/mavsdk/core/mavsdk_time_test.cpp" ,
        "src/mavsdk/core/mavsdk_math_test.cpp" ,
        "src/mavsdk/core/mavlink_channels_test.cpp" ,
        "src/mavsdk/core/unittests_main.cpp" ,
        "src/mavsdk/core/timeout_handler_test.cpp" ,
        "src/mavsdk/core/call_every_handler_test.cpp" ,
        "src/mavsdk/core/curl_test.cpp" ,
        "src/mavsdk/core/cli_arg_test.cpp" ,
        "src/mavsdk/core/locked_queue_test.cpp" ,
        "src/mavsdk/core/safe_queue_test.cpp" ,
        "src/mavsdk/core/mavsdk_test.cpp" ,
        "src/mavsdk/core/mavlink_mission_transfer_test.cpp" ,
        "src/mavsdk/core/mavlink_statustext_handler_test.cpp" ,
        "src/mavsdk/core/geometry_test.cpp" ,
        "src/mavsdk/core/ringbuffer_test.cpp" ,
        "src/mavsdk/plugins/calibration/calibration_statustext_parser_test.cpp" ,
        "src/mavsdk/plugins/camera/camera_definition_test.cpp" ,
        "src/mavsdk/plugins/mission_raw/mission_import_test.cpp" ,
        "src/mavsdk/plugins/telemetry/math_conversions_test.cpp"
    ]

    deps = [
        "//third_party/MAVSDK:MAVSDK",
        "//third_party/googletest:gmock_main",
        "//third_party/googletest:gtest_main"
    ]
    part_name = "MAVSDK"
}

​

通过以上操作以后，就可以在 OpenHarmony 编译源码了：

./build.sh --product-name rpi4 --build-target=MAVSDK --ccache

编译完成以后可以在 out/rpi4/mavsdk/MAVSDK 目录下看到编译生成的 libmavsdk.z.so 文件。

同时，还可以在 ohos/out/rpi4/tests/unittest/MAVSDK/mavsdk_test/mavsdk_test 目录下看到我们编译的测试文件，如下所示：

OpenHarmony无人机MAVSDK开源库适配方案分享,OpenHarmony,鸿蒙,开源,harmonyos,鸿蒙,鸿蒙系统,华为,ArkTS,OpenHarmony

OpenHarmony无人机MAVSDK开源库适配方案分享,OpenHarmony,鸿蒙,开源,harmonyos,鸿蒙,鸿蒙系统,华为,ArkTS,OpenHarmony

接下来把编译完成的 so 及测试文件到 RPI4 开发板中，运行测试文件验证整个库的移植情况。

最后

有很多小伙伴不知道学习哪些鸿蒙开发技术？不知道需要重点掌握哪些鸿蒙应用开发知识点？而且学习时频繁踩坑，最终浪费大量时间。所以有一份实用的鸿蒙（HarmonyOS NEXT）资料用来跟着学习是非常有必要的。 

这份鸿蒙（HarmonyOS NEXT）资料包含了鸿蒙开发必掌握的核心知识要点，内容包含了（ArkTS、ArkUI开发组件、Stage模型、多端部署、分布式应用开发、音频、视频、WebGL、OpenHarmony多媒体技术、Napi组件、OpenHarmony内核、Harmony南向开发、鸿蒙项目实战等等）鸿蒙（HarmonyOS NEXT）技术知识点。

希望这一份鸿蒙学习资料能够给大家带来帮助，有需要的小伙伴自行领取，限时开源，先到先得~无套路领取！！

获取这份完整版高清学习路线，请点击→纯血版全套鸿蒙HarmonyOS学习资料

鸿蒙（HarmonyOS NEXT）最新学习路线

OpenHarmony无人机MAVSDK开源库适配方案分享,OpenHarmony,鸿蒙,开源,harmonyos,鸿蒙,鸿蒙系统,华为,ArkTS,OpenHarmony

  •  HarmonOS基础技能

OpenHarmony无人机MAVSDK开源库适配方案分享,OpenHarmony,鸿蒙,开源,harmonyos,鸿蒙,鸿蒙系统,华为,ArkTS,OpenHarmony

  • HarmonOS就业必备技能 OpenHarmony无人机MAVSDK开源库适配方案分享,OpenHarmony,鸿蒙,开源,harmonyos,鸿蒙,鸿蒙系统,华为,ArkTS,OpenHarmony
  •  HarmonOS多媒体技术

OpenHarmony无人机MAVSDK开源库适配方案分享,OpenHarmony,鸿蒙,开源,harmonyos,鸿蒙,鸿蒙系统,华为,ArkTS,OpenHarmony

  • 鸿蒙NaPi组件进阶

OpenHarmony无人机MAVSDK开源库适配方案分享,OpenHarmony,鸿蒙,开源,harmonyos,鸿蒙,鸿蒙系统,华为,ArkTS,OpenHarmony

  • HarmonOS高级技能

OpenHarmony无人机MAVSDK开源库适配方案分享,OpenHarmony,鸿蒙,开源,harmonyos,鸿蒙,鸿蒙系统,华为,ArkTS,OpenHarmony

  • 初识HarmonOS内核 OpenHarmony无人机MAVSDK开源库适配方案分享,OpenHarmony,鸿蒙,开源,harmonyos,鸿蒙,鸿蒙系统,华为,ArkTS,OpenHarmony
  • 实战就业级设备开发

OpenHarmony无人机MAVSDK开源库适配方案分享,OpenHarmony,鸿蒙,开源,harmonyos,鸿蒙,鸿蒙系统,华为,ArkTS,OpenHarmony

有了路线图，怎么能没有学习资料呢，小编也准备了一份联合鸿蒙官方发布笔记整理收纳的一套系统性的鸿蒙（OpenHarmony ）学习手册（共计1236页）与鸿蒙（OpenHarmony ）开发入门教学视频，内容包含：ArkTS、ArkUI、Web开发、应用模型、资源分类…等知识点。

获取以上完整版高清学习路线，请点击→纯血版全套鸿蒙HarmonyOS学习资料

《鸿蒙 (OpenHarmony)开发入门教学视频》

OpenHarmony无人机MAVSDK开源库适配方案分享,OpenHarmony,鸿蒙,开源,harmonyos,鸿蒙,鸿蒙系统,华为,ArkTS,OpenHarmony

《鸿蒙生态应用开发V2.0白皮书》

OpenHarmony无人机MAVSDK开源库适配方案分享,OpenHarmony,鸿蒙,开源,harmonyos,鸿蒙,鸿蒙系统,华为,ArkTS,OpenHarmony

《鸿蒙 (OpenHarmony)开发基础到实战手册》

OpenHarmony北向、南向开发环境搭建

OpenHarmony无人机MAVSDK开源库适配方案分享,OpenHarmony,鸿蒙,开源,harmonyos,鸿蒙,鸿蒙系统,华为,ArkTS,OpenHarmony

 《鸿蒙开发基础》

  • ArkTS语言
  • 安装DevEco Studio
  • 运用你的第一个ArkTS应用
  • ArkUI声明式UI开发
  • .……

OpenHarmony无人机MAVSDK开源库适配方案分享,OpenHarmony,鸿蒙,开源,harmonyos,鸿蒙,鸿蒙系统,华为,ArkTS,OpenHarmony

 《鸿蒙开发进阶》

  • Stage模型入门
  • 网络管理
  • 数据管理
  • 电话服务
  • 分布式应用开发
  • 通知与窗口管理
  • 多媒体技术
  • 安全技能
  • 任务管理
  • WebGL
  • 国际化开发
  • 应用测试
  • DFX面向未来设计
  • 鸿蒙系统移植和裁剪定制
  • ……

OpenHarmony无人机MAVSDK开源库适配方案分享,OpenHarmony,鸿蒙,开源,harmonyos,鸿蒙,鸿蒙系统,华为,ArkTS,OpenHarmony

《鸿蒙进阶实战》

  • ArkTS实践
  • UIAbility应用
  • 网络案例
  • ……

OpenHarmony无人机MAVSDK开源库适配方案分享,OpenHarmony,鸿蒙,开源,harmonyos,鸿蒙,鸿蒙系统,华为,ArkTS,OpenHarmony

 获取以上完整鸿蒙HarmonyOS学习资料，请点击→纯血版全套鸿蒙HarmonyOS学习资料

总结

总的来说，华为鸿蒙不再兼容安卓，对中年程序员来说是一个挑战，也是一个机会。只有积极应对变化，不断学习和提升自己，他们才能在这个变革的时代中立于不败之地。 

OpenHarmony无人机MAVSDK开源库适配方案分享,OpenHarmony,鸿蒙,开源,harmonyos,鸿蒙,鸿蒙系统,华为,ArkTS,OpenHarmony文章来源地址https://www.toymoban.com/news/detail-845728.html

到了这里，关于OpenHarmony无人机MAVSDK开源库适配方案分享的文章就介绍完了。如果您还想了解更多内容，请在右上角搜索TOY模板网以前的文章或继续浏览下面的相关文章，希望大家以后多多支持TOY模板网！

本文来自互联网用户投稿，该文观点仅代表作者本人，不代表本站立场。本站仅提供信息存储空间服务，不拥有所有权，不承担相关法律责任。如若转载，请注明出处： 如若内容造成侵权/违法违规/事实不符，请点击违法举报进行投诉反馈，一经查实，立即删除！

分享到：
领支付宝红包 赞助服务器费用

相关文章

  • 无人机综合管控平台建设构想，无人机管控系统项目建议方案

    无人机综合管控平台建设构想，无人机管控系统项目建议方案

    一、方案简介 目前，国内外政府部门都在探索有效的无人机管控方式，这个领域会有巨大的社会效益和经济效益。本方案的主要目标是在不影响无人机生产企业销售和无人机用户正常使用的前提下，采用安全高效的方式，把无人机的飞行情况严格监控起来，准确的收集无人机

    2024年02月21日
    浏览(47)
  • 搭载KaihongOS的工业平板、机器人、无人机等产品通过3.2版本兼容性测评，持续繁荣OpenHarmony生态

    搭载KaihongOS的工业平板、机器人、无人机等产品通过3.2版本兼容性测评，持续繁荣OpenHarmony生态

    近日，搭载深圳开鸿数字产业发展有限公司（简称“深开鸿”）KaihongOS软件发行版的工业平板、机器人、无人机等商用产品均通过OpenAtom OpenHarmony（以下简称“OpenHarmony”）3.2 Release版本兼容性测评，获颁OpenHarmony生态产品兼容性证书。这标志着OpenHarmony生态在新兴行业的持续

    2024年02月12日
    浏览(46)
  • 酷得智能 无人机方案开发

    酷得智能 无人机方案开发

    东莞市酷得智能科技有限公司，是一家专业的技术服务公司，致力于为各类智能硬件提供高效、稳定、安全的底层驱动解决方案。拥有一支经验丰富、技术精湛的团队，能够为客户提供全方位的底层驱动开发服务。 无人机功能介绍： 1、自动跟随：内置了高精度的传感器，可

    2024年04月14日
    浏览(34)

  • 无人机竞赛视觉算法开发流程开源计划（询问大家意见）

    本科中参加过一系列的无人机机器人竞赛，像电赛、工训赛、机器人大赛这些，有一些比较常用的方案打算开源一下。现在读研了，也算是对本科的一个总结，但是还是想看看大家意见，大家有什么需求可以在评论区说，我会多参考，这周我会先整理，下周会放出博客与git

    2024年02月20日
    浏览(38)
  • ​无人机视频直播推流方案

    ​无人机视频直播推流方案

    技术特点 1.视频推流 视频推流由无人机手机应用APP设置推流，网络可以采用当前网络，如**无人机的上行网络可以采用4G、5G、WIFI。 优缺点如下： 4G网络覆盖范围比较广泛，在低码流分辨率的情况下，实时性好，在高码流分辨率的情况下，会有卡顿或者延时； 5G网络覆盖范围

    2023年04月09日
    浏览(41)
  • 无人机遥控器方案定制_MTK平台无人设备手持遥控终端PCB板开发

    无人机遥控器方案定制_MTK平台无人设备手持遥控终端PCB板开发

    随着科技的不断发展和无人机技术的逐步成熟，无人机越来越受到人们的关注。作为一种高新技术，无人机的应用范围不断拓展，包括农业、环境监测、城市规划、运输物流等领域。同时，无人机的飞行控制技术也得到了不断的优化和提升。 早期，无人机的飞行控制大多以机

    2024年02月03日
    浏览(41)
  • 无人机电力巡检方案在电网安全与维护中的应用

    无人机电力巡检方案在电网安全与维护中的应用

    目前，无人机技术已经在各行各业都有广泛的应用，其中之一就是在电力巡检中的应用。无人机电力巡检方案以其高效、安全、精准的特点，为电网安全与维护带来了重大突破和进步。 一、无人机电力巡检方案是高效巡检的利器 传统的电力巡检方式需要人工登塔、实地检查

    2024年02月13日
    浏览(44)
  • 无人机精细化巡检方案制定：提高效率与准确性的关键

    无人机精细化巡检方案制定：提高效率与准确性的关键

    1. 精细化巡检的需求背景 效率与安全并重：传统的人工巡检面临时间消耗大、安全风险高等问题。而无人机巡检可以在较短时间内完成大面积的检查工作，并避免人员直接面对潜在的高风险环境。 细致与全面：随着技术的进步，越来越多的组织意识到精细化巡检的必要性。

    2024年02月11日
    浏览(36)
  • ADAMS&Simulink 机器人动力学仿真入门（二）：ADAMS设置无人机连接、驱动、力与变量（代码已开源）

    ADAMS&Simulink 机器人动力学仿真入门（二）：ADAMS设置无人机连接、驱动、力与变量（代码已开源）

    上一章介绍了仿真工作的前置准备，包括Solidworks的画图与导出，ADAMS的导入与操作简介。 本章对无人机在ADAMS中如何进行连接、驱动、力等相关内容的设置进行介绍。 上文提到重力在进入软件后进行设置，因为在Solidworks中，我们的装配体是x轴为正方向，z轴为垂直方向，所以

    2024年01月17日
    浏览(47)
  • 海思Hi3403V100方案双目视频拼接融合模组+海思Hi3519DV500方案1200万无人机吊舱套板

    海思Hi3403V100方案双目视频拼接融合模组+海思Hi3519DV500方案1200万无人机吊舱套板

    海思Hi3403V100方案双目视频拼接融合模组 Hi3403V100是海思面向高端市场应用推出的专业 Ultra-HD Smart IP Camera SOC，该芯片最高支持四路sensor输入，支持最高4K60的ISP图像处理能力。 海思Hi3403V100方案双目视频模组采用了海思Hi3403V100方案核心板+双目视频融合IMX334 Sensor板测试，端侧软

    2024年04月23日
    浏览(94)

觉得文章有用就打赏一下文章作者

支付宝扫一扫打赏

博客赞助

微信扫一扫打赏

请作者喝杯咖啡吧~博客赞助

支付宝扫一扫领取红包，优惠每天领

二维码1

领取红包

二维码2

领红包