drone 에서 telemetry 용 프로토콜로 사용된다고 한다.
mavlink 1 packet
[링크 : https://mavlink.io/ko/guide/serialization.html#v1_packet_format]
mavliink 2 packet
[링크 : https://mavlink.io/ko/guide/serialization.html#packet_format]
stx가 magic 으로 표시되나?
| MAVLink 2 Packet Format Below is the over-the-wire format for a MAVLink v2 packet. The in-memory representation might differ. uint8_t magic; ///< protocol magic marker uint8_t len; ///< Length of payload uint8_t incompat_flags; ///< flags that must be understood uint8_t compat_flags; ///< flags that can be ignored if not understood uint8_t seq; ///< Sequence of packet uint8_t sysid; ///< ID of message sender system/aircraft uint8_t compid; ///< ID of the message sender component uint8_t msgid 0:7; ///< first 8 bits of the ID of the message uint8_t msgid 8:15; ///< middle 8 bits of the ID of the message uint8_t msgid 16:23; ///< last 8 bits of the ID of the message uint8_t payload[max 255]; ///< A maximum of 255 payload bytes uint16_t checksum; ///< CRC-16/MCRF4XX uint8_t signature[13]; ///< Signature which allows ensuring that the link is tamper-proof (optional) |
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