当然我之前也专门写过TX2/树莓派和pixhawk的接线,但那时默认用的PX4固件,这回是APM固件
见https://blog.csdn.net/sinat_16643223/article/details/107767655?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522159730484819725247622011%2522%252C%2522scm%2522%253A%252220140713.130102334.pc%255Fblog.%2522%257D&request_id=159730484819725247622011&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2~blog~first_rank_v1~rank_blog_v1-1-107767655.pc_v1_rank_blog_v1&utm_term=%E6%8E%A5%E7%BA%BF&spm=1018.2118.3001.4187
![](https://img-blog.csdnimg.cn/20200813154759757.png)
![](https://img-blog.csdnimg.cn/20200813154550745.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3NpbmF0XzE2NjQzMjIz,size_16,color_FFFFFF,t_70)
![](https://img-blog.csdnimg.cn/20200813154603498.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3NpbmF0XzE2NjQzMjIz,size_16,color_FFFFFF,t_70)
他这里说的波特率改为921600我看了下APM官方教程里面有
https://ardupilot.org/copter/docs/common-vio-tracking-camera.html
![](https://img-blog.csdnimg.cn/20200813155705790.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3NpbmF0XzE2NjQzMjIz,size_16,color_FFFFFF,t_70)
看下面这张图似乎树莓派就插USB就可以了。
![](https://img-blog.csdnimg.cn/20200813155049784.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3NpbmF0XzE2NjQzMjIz,size_16,color_FFFFFF,t_70)
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