In this paper, based on the practical physical parameters of the self-designed soft-wing UAV, a 6 DOF mathematical model was built. Visual simulation based on mathematical model can vividly reappear the relationship between input and output of UAV and realize 3D visually simulation of the aircraft flight status. However, because of these special characteristics make it possess apparent mass, flexible structure and relative motions between the parafoil and payload vehicle, which are the difficulties in research. Benefit from its special mechanical structure and flight characteristics, soft-wing UAV has some advantages over other kinds of aircraft. Soft-wing UAV is composed of soft ram air parafoil hanging powered vehicle with ropes. To the best of our knowledge, this is the first technical survey and tutorial on the MAVLink protocol, which represents an important reference for unmanned systems users and developers. We also discuss security aspects of MAVLink.
![flightgear tutorial mac flightgear tutorial mac](https://www.flightgear.org/wp-content/gallery/gallery-v2-6/fgfs-screen-029.jpg)
In this paper, we address this gap, and we propose an overview of the MAVLink protocol, the difference between its versions, and its potential in enabling Internet connectivity to unmanned systems. Most of the references are online tutorials and basic technical reports, and none of them presents a comprehensive and a systematic coverage of the protocol.
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However, there is no technical survey and/or tutorial in the literature that presents these features or explains how to make use of them. This protocol is used in major autopilot systems, mainly ArduPilot and PX4, and provides powerful features not only for monitoring and controlling unmanned systems missions, but also for their integration into the Internet. It specifies a comprehensive set of messages exchanged between unmanned systems and ground stations. The Micro Air Vehicle Link (MAVLink in short) is a communication protocol for unmanned systems (e.g., drones, robots). We also discuss the security aspects of MAVLink. Most of the references are online tutorials and basic technical reports, and none of them presents comprehensive and systematic coverage of the protocol. This protocol is used in major autopilot systems, mainly ArduPilot and PX4, and provides powerful features not only for monitoring and controlling unmanned systems missions but also for their integration into the Internet.
![flightgear tutorial mac flightgear tutorial mac](https://images.sftcdn.net/images/t_app-cover-l,f_auto/p/ed03442a-96d1-11e6-bf2a-00163ec9f5fa/1574200806/flightgear-screenshot.jpg)