ArduPilot开源飞控之MAVProxy简介

1. 源由

经过《ArduPilot开源飞控之Companion Computers简单分析》，初步可以看出Ardupilot最重要的接口是MAVLink。

随着现在发展的情况：

1. 选择一个接近底层飞控接口的软件
2. 要求可扩展性大
3. 基本功能实现
4. 开发语言能兼容大数据以及AI模型

经过分析对比，这里选择了MAVProxy这款GCS软件。

【1】MAVProxy Guide
【2】MAVProxy Git Code

2. 特点

MAVProxy最初由CanberraUAV开发，用于使用ArduPilot的伴机电脑和多数据链路飞控控制。
它已经发展成为ArduPilot生态系统中最通用的工具之一，用户现在在其他GCS工具中看到的许多功能都可以追溯到MAVProxy。

比较中意该软件研读主要特点在于：

• GNU General Public License v3 or later
• MAVLink ground station written in python
• designed as a minimalist, portable and extendable GCS for any autonomous system supporting the MAVLink protocol
• a powerful command-line based “developer” ground station software
• tab-completion of commands
• extended via add-on modules, or complemented with another ground station, such as Mission Planner, APM Planner 2, QGroundControl etc, to provide a graphical user interface

3. 安装 & 更新

注：鉴于后续打算上Companion Computer，且选择一块RaspberryPi Zero W。因此就直接装这个开发板上，方便后续代码开发。

3.1 安装

Step 1: 烧录raspberryPi镜像

按照《Raspbian镜像无头烧录》步骤，制作文件系统。

Step 2：apt软件包更新

先更新下看看，国内的环境对工程师来说很不友好，很多时候这里就会卡主。

如果真的遇到了类似的问题，可以参考《apt-get通过代理更新系统》

pi@raspberrypi:~ $ sudo apt-get update
Get:1 http://archive.raspberrypi.org/debian bullseye InRelease [23.6 kB]
Get:2 http://raspbian.raspberrypi.org/raspbian bullseye InRelease [15.0 kB]
Get:3 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf Packages [13.2 MB]
Get:4 http://archive.raspberrypi.org/debian bullseye/main armhf Packages [314 kB]
Fetched 13.6 MB in 20s (683 kB/s)
Reading package lists... Done

Step 3：Raspian系统更新

很顺利，一把过！！！

pi@raspberrypi:~ $ sudo apt-get upgrade
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
Calculating upgrade... Done
The following packages will be upgraded:
  base-files bind9-host bind9-libs firmware-atheros firmware-brcm80211 firmware-libertas firmware-misc-nonfree firmware-realtek libcamera-apps-lite libcamera0
  libgstreamer-plugins-base1.0-0 libpam-systemd libssl1.1 libsystemd0 libudev1 libwebp6 libwebpdemux2 libwebpmux3 libx11-6 libx11-data openssl python3-libcamera
  python3-picamera2 raspberrypi-sys-mods rpi-eeprom systemd systemd-sysv systemd-timesyncd udev
29 upgraded, 0 newly installed, 0 to remove and 0 not upgraded.
Need to get 86.0 MB of archives.
After this operation, 5,069 kB of additional disk space will be used.
Do you want to continue? [Y/n] Y
Get:1 http://archive.raspberrypi.org/debian bullseye/main armhf libssl1.1 armhf 1.1.1n-0+deb11u5+rpt1 [1,292 kB]
Get:2 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf base-files armhf 11.1+rpi1+deb11u7 [70.4 kB]
Get:3 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf systemd-sysv armhf 247.3-7+rpi1+deb11u2 [114 kB]
Get:4 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libpam-systemd armhf 247.3-7+rpi1+deb11u2 [261 kB]
Get:5 http://archive.raspberrypi.org/debian bullseye/main armhf firmware-atheros all 1:20230210-5~bpo11+1+rpt1 [16.8 MB]
Get:6 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libsystemd0 armhf 247.3-7+rpi1+deb11u2 [346 kB]
Get:7 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf systemd-timesyncd armhf 247.3-7+rpi1+deb11u2 [131 kB]
Get:8 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf systemd armhf 247.3-7+rpi1+deb11u2 [4,252 kB]
Get:9 http://archive.raspberrypi.org/debian bullseye/main armhf firmware-brcm80211 all 1:20230210-5~bpo11+1+rpt1 [5,868 kB]
Get:10 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf udev armhf 247.3-7+rpi1+deb11u2 [1,431 kB]
Get:11 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libudev1 armhf 247.3-7+rpi1+deb11u2 [162 kB]
Get:13 http://archive.raspberrypi.org/debian bullseye/main armhf firmware-libertas all 1:20230210-5~bpo11+1+rpt1 [31.2 MB]
Get:15 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libgstreamer-plugins-base1.0-0 armhf 1.18.4-2+deb11u1 [2,063 kB]
Get:16 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libwebp6 armhf 0.6.1-2.1+deb11u1 [225 kB]
Get:17 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libwebpdemux2 armhf 0.6.1-2.1+deb11u1 [86.8 kB]
Get:18 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libwebpmux3 armhf 0.6.1-2.1+deb11u1 [94.4 kB]
Get:19 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libx11-data all 2:1.7.2-1+deb11u1 [311 kB]
Get:20 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libx11-6 armhf 2:1.7.2-1+deb11u1 [705 kB]
Get:12 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf bind9-libs armhf 1:9.16.42-1~deb11u1 [1,275 kB]
Get:14 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf bind9-host armhf 1:9.16.42-1~deb11u1 [309 kB]
Get:21 http://archive.raspberrypi.org/debian bullseye/main armhf firmware-misc-nonfree all 1:20230210-5~bpo11+1+rpt1 [13.0 MB]
Get:22 http://archive.raspberrypi.org/debian bullseye/main armhf firmware-realtek all 1:20230210-5~bpo11+1+rpt1 [1,511 kB]
Get:23 http://archive.raspberrypi.org/debian bullseye/main armhf libcamera0 armhf 0~git20230720+bde9b04f-1 [611 kB]
Get:24 http://archive.raspberrypi.org/debian bullseye/main armhf libcamera-apps-lite armhf 1.2.1-1 [263 kB]
Get:25 http://archive.raspberrypi.org/debian bullseye/main armhf openssl armhf 1.1.1n-0+deb11u5+rpt1 [817 kB]
Get:26 http://archive.raspberrypi.org/debian bullseye/main armhf python3-libcamera armhf 0~git20230720+bde9b04f-1 [176 kB]
Get:27 http://archive.raspberrypi.org/debian bullseye/main armhf python3-picamera2 all 0.3.12-2 [50.4 kB]
Get:28 http://archive.raspberrypi.org/debian bullseye/main armhf raspberrypi-sys-mods armhf 20230510~bullseye [18.4 kB]
Get:29 http://archive.raspberrypi.org/debian bullseye/main armhf rpi-eeprom armhf 16.1-1 [2,396 kB]
Fetched 86.0 MB in 24s (3,642 kB/s)
Reading changelogs... Done
Preconfiguring packages ...
(Reading database ... 43857 files and directories currently installed.)
Preparing to unpack .../base-files_11.1+rpi1+deb11u7_armhf.deb ...
Unpacking base-files (11.1+rpi1+deb11u7) over (11.1+rpi1+deb11u6) ...
Setting up base-files (11.1+rpi1+deb11u7) ...
Installing new version of config file /etc/debian_version ...
(Reading database ... 43857 files and directories currently installed.)
Preparing to unpack .../systemd-sysv_247.3-7+rpi1+deb11u2_armhf.deb ...
Unpacking systemd-sysv (247.3-7+rpi1+deb11u2) over (247.3-7+rpi1+deb11u1) ...
Preparing to unpack .../libpam-systemd_247.3-7+rpi1+deb11u2_armhf.deb ...
Unpacking libpam-systemd:armhf (247.3-7+rpi1+deb11u2) over (247.3-7+rpi1+deb11u1) ...
Preparing to unpack .../libsystemd0_247.3-7+rpi1+deb11u2_armhf.deb ...
Unpacking libsystemd0:armhf (247.3-7+rpi1+deb11u2) over (247.3-7+rpi1+deb11u1) ...
Setting up libsystemd0:armhf (247.3-7+rpi1+deb11u2) ...
(Reading database ... 43857 files and directories currently installed.)
Preparing to unpack .../systemd-timesyncd_247.3-7+rpi1+deb11u2_armhf.deb ...
Unpacking systemd-timesyncd (247.3-7+rpi1+deb11u2) over (247.3-7+rpi1+deb11u1) ...
Preparing to unpack .../systemd_247.3-7+rpi1+deb11u2_armhf.deb ...
Unpacking systemd (247.3-7+rpi1+deb11u2) over (247.3-7+rpi1+deb11u1) ...
Preparing to unpack .../udev_247.3-7+rpi1+deb11u2_armhf.deb ...
Unpacking udev (247.3-7+rpi1+deb11u2) over (247.3-7+rpi1+deb11u1) ...
Preparing to unpack .../libudev1_247.3-7+rpi1+deb11u2_armhf.deb ...
Unpacking libudev1:armhf (247.3-7+rpi1+deb11u2) over (247.3-7+rpi1+deb11u1) ...
Setting up libudev1:armhf (247.3-7+rpi1+deb11u2) ...
(Reading database ... 43857 files and directories currently installed.)
Preparing to unpack .../libssl1.1_1.1.1n-0+deb11u5+rpt1_armhf.deb ...
Unpacking libssl1.1:armhf (1.1.1n-0+deb11u5+rpt1) over (1.1.1n-0+deb11u4+rpt1) ...
Setting up libssl1.1:armhf (1.1.1n-0+deb11u5+rpt1) ...
(Reading database ... 43857 files and directories currently installed.)
Preparing to unpack .../00-bind9-libs_1%3a9.16.42-1~deb11u1_armhf.deb ...
Unpacking bind9-libs:armhf (1:9.16.42-1~deb11u1) over (1:9.16.37-1~deb11u1) ...
Preparing to unpack .../01-bind9-host_1%3a9.16.42-1~deb11u1_armhf.deb ...
Unpacking bind9-host (1:9.16.42-1~deb11u1) over (1:9.16.37-1~deb11u1) ...
Preparing to unpack .../02-firmware-atheros_1%3a20230210-5~bpo11+1+rpt1_all.deb ...
Unpacking firmware-atheros (1:20230210-5~bpo11+1+rpt1) over (1:20221012-1~bpo11+1+rpt1) ...
Preparing to unpack .../03-firmware-brcm80211_1%3a20230210-5~bpo11+1+rpt1_all.deb ...
Unpacking firmware-brcm80211 (1:20230210-5~bpo11+1+rpt1) over (1:20221012-1~bpo11+1+rpt1) ...
Preparing to unpack .../04-firmware-libertas_1%3a20230210-5~bpo11+1+rpt1_all.deb ...
Unpacking firmware-libertas (1:20230210-5~bpo11+1+rpt1) over (1:20221012-1~bpo11+1+rpt1) ...
Preparing to unpack .../05-firmware-misc-nonfree_1%3a20230210-5~bpo11+1+rpt1_all.deb ...
Unpacking firmware-misc-nonfree (1:20230210-5~bpo11+1+rpt1) over (1:20221012-1~bpo11+1+rpt1) ...
Preparing to unpack .../06-firmware-realtek_1%3a20230210-5~bpo11+1+rpt1_all.deb ...
Unpacking firmware-realtek (1:20230210-5~bpo11+1+rpt1) over (1:20221012-1~bpo11+1+rpt1) ...
Preparing to unpack .../07-libgstreamer-plugins-base1.0-0_1.18.4-2+deb11u1_armhf.deb ...
Unpacking libgstreamer-plugins-base1.0-0:armhf (1.18.4-2+deb11u1) over (1.18.4-2) ...
Preparing to unpack .../08-libcamera0_0~git20230720+bde9b04f-1_armhf.deb ...
Unpacking libcamera0:armhf (0~git20230720+bde9b04f-1) over (0~git20230302+923f5d70-1) ...
Preparing to unpack .../09-libcamera-apps-lite_1.2.1-1_armhf.deb ...
Unpacking libcamera-apps-lite (1.2.1-1) over (0~git20230301+54a781d-1) ...
Preparing to unpack .../10-libwebp6_0.6.1-2.1+deb11u1_armhf.deb ...
Unpacking libwebp6:armhf (0.6.1-2.1+deb11u1) over (0.6.1-2.1) ...
Preparing to unpack .../11-libwebpdemux2_0.6.1-2.1+deb11u1_armhf.deb ...
Unpacking libwebpdemux2:armhf (0.6.1-2.1+deb11u1) over (0.6.1-2.1) ...
Preparing to unpack .../12-libwebpmux3_0.6.1-2.1+deb11u1_armhf.deb ...
Unpacking libwebpmux3:armhf (0.6.1-2.1+deb11u1) over (0.6.1-2.1) ...
Preparing to unpack .../13-libx11-data_2%3a1.7.2-1+deb11u1_all.deb ...
Unpacking libx11-data (2:1.7.2-1+deb11u1) over (2:1.7.2-1) ...
Preparing to unpack .../14-libx11-6_2%3a1.7.2-1+deb11u1_armhf.deb ...
Unpacking libx11-6:armhf (2:1.7.2-1+deb11u1) over (2:1.7.2-1) ...
Preparing to unpack .../15-openssl_1.1.1n-0+deb11u5+rpt1_armhf.deb ...
Unpacking openssl (1.1.1n-0+deb11u5+rpt1) over (1.1.1n-0+deb11u4+rpt1) ...
Preparing to unpack .../16-python3-libcamera_0~git20230720+bde9b04f-1_armhf.deb ...
Unpacking python3-libcamera (0~git20230720+bde9b04f-1) over (0~git20230302+923f5d70-1) ...
Preparing to unpack .../17-python3-picamera2_0.3.12-2_all.deb ...
Unpacking python3-picamera2 (0.3.12-2) over (0.3.9-1) ...
Preparing to unpack .../18-raspberrypi-sys-mods_20230510~bullseye_armhf.deb ...
Unpacking raspberrypi-sys-mods (20230510~bullseye) over (20230329) ...
Preparing to unpack .../19-rpi-eeprom_16.1-1_armhf.deb ...
Unpacking rpi-eeprom (16.1-1) over (16.0-1) ...
Setting up bind9-libs:armhf (1:9.16.42-1~deb11u1) ...
Setting up firmware-atheros (1:20230210-5~bpo11+1+rpt1) ...
Setting up firmware-misc-nonfree (1:20230210-5~bpo11+1+rpt1) ...
Setting up libgstreamer-plugins-base1.0-0:armhf (1.18.4-2+deb11u1) ...
Setting up systemd (247.3-7+rpi1+deb11u2) ...
Setting up raspberrypi-sys-mods (20230510~bullseye) ...
Setting up firmware-brcm80211 (1:20230210-5~bpo11+1+rpt1) ...
Setting up libx11-data (2:1.7.2-1+deb11u1) ...
Setting up firmware-realtek (1:20230210-5~bpo11+1+rpt1) ...
Setting up systemd-timesyncd (247.3-7+rpi1+deb11u2) ...
Setting up udev (247.3-7+rpi1+deb11u2) ...
Setting up libwebp6:armhf (0.6.1-2.1+deb11u1) ...
Setting up firmware-libertas (1:20230210-5~bpo11+1+rpt1) ...
Setting up libx11-6:armhf (2:1.7.2-1+deb11u1) ...
Setting up rpi-eeprom (16.1-1) ...
Setting up libcamera0:armhf (0~git20230720+bde9b04f-1) ...
Setting up bind9-host (1:9.16.42-1~deb11u1) ...
Setting up openssl (1.1.1n-0+deb11u5+rpt1) ...
Setting up libwebpmux3:armhf (0.6.1-2.1+deb11u1) ...
Setting up systemd-sysv (247.3-7+rpi1+deb11u2) ...
Setting up libwebpdemux2:armhf (0.6.1-2.1+deb11u1) ...
Setting up python3-libcamera (0~git20230720+bde9b04f-1) ...
Setting up libcamera-apps-lite (1.2.1-1) ...
Setting up libpam-systemd:armhf (247.3-7+rpi1+deb11u2) ...
Setting up python3-picamera2 (0.3.12-2) ...
Processing triggers for install-info (6.7.0.dfsg.2-6) ...
Processing triggers for initramfs-tools (0.140) ...
Processing triggers for libc-bin (2.31-13+rpt2+rpi1+deb11u5) ...
Processing triggers for man-db (2.9.4-2) ...
Processing triggers for dbus (1.12.24-0+deb11u1) ...

Step 4：安装依赖环境

根据《MAVProxy安装指南》一步一步操作。

pi@raspberrypi:~ $ sudo apt-get install python3-dev python3-opencv python3-wxgtk4.0 python3-pip python3-matplotlib python3-lxml python3-pygame
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
The following additional packages will be installed:
  adwaita-icon-theme at-spi2-core blt dbus-user-session dconf-gsettings-backend dconf-service fontconfig fonts-freefont-ttf fonts-lyx gdal-data glib-networking
  glib-networking-common glib-networking-services gsettings-desktop-schemas gtk-update-icon-cache hicolor-icon-theme javascript-common libaacs0 libaec0 libaom0
  libarchive13 libarmadillo10 libarpack2 libasyncns0 libatk-bridge2.0-0 libatk1.0-0 libatk1.0-data libatspi2.0-0 libavahi-client3 libavcodec58 libavformat58
  libavutil56 libbdplus0 libbluray2 libcaca0 libcairo-gobject2 libcairo2 libcfitsio9 libcharls2 libchromaprint1 libcodec2-0.9 libcolord2 libcups2 libdap27
  libdapclient6v5 libdatrie1 libdav1d4 libdc1394-25 libdconf1 libde265-0 libdrm-amdgpu1 libdrm-nouveau2 libdrm-radeon1 libepoxy0 libepsilon1 libexpat1-dev
  libfluidsynth2 libfreexl1 libfyba0 libgbm1 libgdal28 libgdcm3.0 libgdk-pixbuf-2.0-0 libgdk-pixbuf-xlib-2.0-0 libgdk-pixbuf2.0-0 libgdk-pixbuf2.0-bin
  libgdk-pixbuf2.0-common libgeos-3.9.0 libgeos-c1v5 libgeotiff5 libgif7 libgl1 libgl1-mesa-dri libglapi-mesa libglvnd0 libglx-mesa0 libglx0 libgme0 libgphoto2-6
  libgphoto2-l10n libgphoto2-port12 libgraphite2-3 libgsm1 libgtk-3-0 libgtk-3-bin libgtk-3-common libharfbuzz0b libhdf4-0-alt libhdf5-103-1 libhdf5-hl-100 libheif1
  libice6 libilmbase25 libinstpatch-1.0-2 libjack-jackd2-0 libjs-jquery libjs-jquery-ui libjs-sphinxdoc libjs-underscore libjson-glib-1.0-0 libjson-glib-1.0-common
  libkmlbase1 libkmldom1 libkmlengine1 liblept5 libllvm11 libltdl7 libmad0 libmariadb3 libmikmod3 libminizip1 libmp3lame0 libmpg123-0 libnetcdf18 libnorm1 libnotify4
  libodbc1 libogdi4.1 libopenal-data libopenal1 libopencv-calib3d4.5 libopencv-contrib4.5 libopencv-core4.5 libopencv-dnn4.5 libopencv-features2d4.5
  libopencv-flann4.5 libopencv-highgui4.5 libopencv-imgcodecs4.5 libopencv-imgproc4.5 libopencv-ml4.5 libopencv-objdetect4.5 libopencv-photo4.5 libopencv-shape4.5
  libopencv-stitching4.5 libopencv-video4.5 libopencv-videoio4.5 libopenexr25 libopenjp2-7 libopenmpt0 libopus0 libpango-1.0-0 libpangocairo-1.0-0 libpangoft2-1.0-0
  libpgm-5.3-0 libpixman-1-0 libpoppler102 libportmidi0 libpq5 libproj19 libprotobuf23 libproxy1v5 libpulse0 libpython3-dev libpython3.9-dev libqhull8.0 librabbitmq4
  libraw1394-11 librest-0.7-0 librsvg2-2 librsvg2-common librttopo1 libsdl-image1.2 libsdl-mixer1.2 libsdl-ttf2.0-0 libsdl1.2debian libsdl2-2.0-0 libsensors-config
  libsensors5 libshine3 libsm6 libsnappy1v5 libsndfile1 libsndio7.0 libsocket++1 libsodium23 libsoup-gnome2.4-1 libsoup2.4-1 libsoxr0 libspatialite7 libspeex1
  libsrt1.4-gnutls libssh-gcrypt-4 libsuperlu5 libswresample3 libswscale5 libsz2 libtbb2 libtcl8.6 libtesseract4 libthai-data libthai0 libtheora0 libtk8.6 libtwolame0
  libudfread0 liburiparser1 libva-drm2 libva-x11-2 libva2 libvdpau-va-gl1 libvdpau1 libvorbisenc2 libvorbisfile3 libvpx6 libvulkan1 libwavpack1 libwayland-client0
  libwayland-cursor0 libwayland-egl1 libwayland-server0 libwxbase3.0-0v5 libwxgtk3.0-gtk3-0v5 libx11-xcb1 libx264-160 libx265-192 libxcb-dri2-0 libxcb-dri3-0
  libxcb-glx0 libxcb-present0 libxcb-randr0 libxcb-render0 libxcb-shm0 libxcb-sync1 libxcb-xfixes0 libxcomposite1 libxcursor1 libxdamage1 libxerces-c3.2 libxfixes3
  libxft2 libxi6 libxinerama1 libxkbcommon0 libxrandr2 libxrender1 libxshmfence1 libxslt1.1 libxss1 libxtst6 libxvidcore4 libxxf86vm1 libz3-4 libzmq5 libzvbi-common
  libzvbi0 mariadb-common mesa-va-drivers mesa-vdpau-drivers mesa-vulkan-drivers mysql-common notification-daemon ocl-icd-libopencl1 odbcinst odbcinst1debian2
  poppler-data proj-bin proj-data python-matplotlib-data python-pip-whl python3-bs4 python3-cycler python3-dateutil python3-distutils python3-html5lib
  python3-kiwisolver python3-lib2to3 python3-pyparsing python3-setuptools python3-soupsieve python3-tk python3-webencodings python3-wheel python3.9-dev
  shared-mime-info timgm6mb-soundfont tk8.6-blt2.5 ttf-bitstream-vera va-driver-all vdpau-driver-all x11-common
Suggested packages:
  blt-demo apache2 | lighttpd | httpd lrzip libbluray-bdj colord cups-common geotiff-bin gdal-bin libgeotiff-epsg gphoto2 gvfs libhdf4-doc libhdf4-alt-dev hdf4-tools
  jackd2 libjs-jquery-ui-docs libmyodbc odbc-postgresql tdsodbc unixodbc-bin ogdi-bin libportaudio2 opus-tools pulseaudio libraw1394-doc librsvg2-bin xdg-utils
  lm-sensors sndiod speex tcl8.6 tk8.6 opencl-icd poppler-utils ghostscript fonts-japanese-mincho | fonts-ipafont-mincho fonts-japanese-gothic | fonts-ipafont-gothic
  fonts-arphic-ukai fonts-arphic-uming fonts-nanum python-cycler-doc python3-genshi python3-lxml-dbg python-lxml-doc dvipng ffmpeg gir1.2-gtk-3.0 inkscape ipython3
  python-matplotlib-doc python3-cairocffi python3-gi python3-gi-cairo python3-gobject python3-nose python3-pyqt5 python3-scipy python3-sip python3-tornado
  texlive-extra-utils texlive-latex-extra ttf-staypuft python-pygame-doc timidity python-pyparsing-doc python-setuptools-doc tix python3-tk-dbg wx3.0-doc
  fluid-soundfont-gm nvidia-legacy-390xx-vdpau-driver nvidia-legacy-340xx-vdpau-driver
The following NEW packages will be installed:
  adwaita-icon-theme at-spi2-core blt dbus-user-session dconf-gsettings-backend dconf-service fontconfig fonts-freefont-ttf fonts-lyx gdal-data glib-networking
  glib-networking-common glib-networking-services gsettings-desktop-schemas gtk-update-icon-cache hicolor-icon-theme javascript-common libaacs0 libaec0 libaom0
  libarchive13 libarmadillo10 libarpack2 libasyncns0 libatk-bridge2.0-0 libatk1.0-0 libatk1.0-data libatspi2.0-0 libavahi-client3 libavcodec58 libavformat58
  libavutil56 libbdplus0 libbluray2 libcaca0 libcairo-gobject2 libcairo2 libcfitsio9 libcharls2 libchromaprint1 libcodec2-0.9 libcolord2 libcups2 libdap27
  libdapclient6v5 libdatrie1 libdav1d4 libdc1394-25 libdconf1 libde265-0 libdrm-amdgpu1 libdrm-nouveau2 libdrm-radeon1 libepoxy0 libepsilon1 libexpat1-dev
  libfluidsynth2 libfreexl1 libfyba0 libgbm1 libgdal28 libgdcm3.0 libgdk-pixbuf-2.0-0 libgdk-pixbuf-xlib-2.0-0 libgdk-pixbuf2.0-0 libgdk-pixbuf2.0-bin
  libgdk-pixbuf2.0-common libgeos-3.9.0 libgeos-c1v5 libgeotiff5 libgif7 libgl1 libgl1-mesa-dri libglapi-mesa libglvnd0 libglx-mesa0 libglx0 libgme0 libgphoto2-6
  libgphoto2-l10n libgphoto2-port12 libgraphite2-3 libgsm1 libgtk-3-0 libgtk-3-bin libgtk-3-common libharfbuzz0b libhdf4-0-alt libhdf5-103-1 libhdf5-hl-100 libheif1
  libice6 libilmbase25 libinstpatch-1.0-2 libjack-jackd2-0 libjs-jquery libjs-jquery-ui libjs-sphinxdoc libjs-underscore libjson-glib-1.0-0 libjson-glib-1.0-common
  libkmlbase1 libkmldom1 libkmlengine1 liblept5 libllvm11 libltdl7 libmad0 libmariadb3 libmikmod3 libminizip1 libmp3lame0 libmpg123-0 libnetcdf18 libnorm1 libnotify4
  libodbc1 libogdi4.1 libopenal-data libopenal1 libopencv-calib3d4.5 libopencv-contrib4.5 libopencv-core4.5 libopencv-dnn4.5 libopencv-features2d4.5
  libopencv-flann4.5 libopencv-highgui4.5 libopencv-imgcodecs4.5 libopencv-imgproc4.5 libopencv-ml4.5 libopencv-objdetect4.5 libopencv-photo4.5 libopencv-shape4.5
  libopencv-stitching4.5 libopencv-video4.5 libopencv-videoio4.5 libopenexr25 libopenjp2-7 libopenmpt0 libopus0 libpango-1.0-0 libpangocairo-1.0-0 libpangoft2-1.0-0
  libpgm-5.3-0 libpixman-1-0 libpoppler102 libportmidi0 libpq5 libproj19 libprotobuf23 libproxy1v5 libpulse0 libpython3-dev libpython3.9-dev libqhull8.0 librabbitmq4
  libraw1394-11 librest-0.7-0 librsvg2-2 librsvg2-common librttopo1 libsdl-image1.2 libsdl-mixer1.2 libsdl-ttf2.0-0 libsdl1.2debian libsdl2-2.0-0 libsensors-config
  libsensors5 libshine3 libsm6 libsnappy1v5 libsndfile1 libsndio7.0 libsocket++1 libsodium23 libsoup-gnome2.4-1 libsoup2.4-1 libsoxr0 libspatialite7 libspeex1
  libsrt1.4-gnutls libssh-gcrypt-4 libsuperlu5 libswresample3 libswscale5 libsz2 libtbb2 libtcl8.6 libtesseract4 libthai-data libthai0 libtheora0 libtk8.6 libtwolame0
  libudfread0 liburiparser1 libva-drm2 libva-x11-2 libva2 libvdpau-va-gl1 libvdpau1 libvorbisenc2 libvorbisfile3 libvpx6 libvulkan1 libwavpack1 libwayland-client0
  libwayland-cursor0 libwayland-egl1 libwayland-server0 libwxbase3.0-0v5 libwxgtk3.0-gtk3-0v5 libx11-xcb1 libx264-160 libx265-192 libxcb-dri2-0 libxcb-dri3-0
  libxcb-glx0 libxcb-present0 libxcb-randr0 libxcb-render0 libxcb-shm0 libxcb-sync1 libxcb-xfixes0 libxcomposite1 libxcursor1 libxdamage1 libxerces-c3.2 libxfixes3
  libxft2 libxi6 libxinerama1 libxkbcommon0 libxrandr2 libxrender1 libxshmfence1 libxslt1.1 libxss1 libxtst6 libxvidcore4 libxxf86vm1 libz3-4 libzmq5 libzvbi-common
  libzvbi0 mariadb-common mesa-va-drivers mesa-vdpau-drivers mesa-vulkan-drivers mysql-common notification-daemon ocl-icd-libopencl1 odbcinst odbcinst1debian2
  poppler-data proj-bin proj-data python-matplotlib-data python-pip-whl python3-bs4 python3-cycler python3-dateutil python3-dev python3-distutils python3-html5lib
  python3-kiwisolver python3-lib2to3 python3-lxml python3-matplotlib python3-opencv python3-pip python3-pygame python3-pyparsing python3-setuptools python3-soupsieve
  python3-tk python3-webencodings python3-wheel python3-wxgtk4.0 python3.9-dev shared-mime-info timgm6mb-soundfont tk8.6-blt2.5 ttf-bitstream-vera va-driver-all
  vdpau-driver-all x11-common
0 upgraded, 287 newly installed, 0 to remove and 0 not upgraded.
Need to get 176 MB of archives.
After this operation, 615 MB of additional disk space will be used.
Do you want to continue? [Y/n] Y
Get:1 http://archive.raspberrypi.org/debian bullseye/main armhf gtk-update-icon-cache armhf 3.24.24-4+rpt12+deb11u3 [87.9 kB]
Get:2 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf poppler-data all 0.4.10-1 [1,602 kB]
Get:4 http://archive.raspberrypi.org/debian bullseye/main armhf gsettings-desktop-schemas all 3.38.0-2+rpt1 [588 kB]
Get:5 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libgdk-pixbuf2.0-common all 2.42.2+dfsg-1+deb11u1 [320 kB]
Get:6 http://archive.raspberrypi.org/debian bullseye/main armhf libavutil56 armhf 8:4.3.6-0+deb11u1+rpt3 [465 kB]
Get:7 http://archive.raspberrypi.org/debian bullseye/main armhf libpixman-1-0 armhf 0.40.0-1.1~deb11u1+rpt1 [482 kB]
Get:9 http://archive.raspberrypi.org/debian bullseye/main armhf libcairo2 armhf 1.16.0-5+rpt1 [603 kB]
Get:10 http://archive.raspberrypi.org/debian bullseye/main armhf libcairo-gobject2 armhf 1.16.0-5+rpt1 [125 kB]
Get:3 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf hicolor-icon-theme all 0.17-2 [11.4 kB]
Get:8 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf shared-mime-info armhf 2.0-1 [697 kB]
Get:11 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libgdk-pixbuf-2.0-0 armhf 2.42.2+dfsg-1+deb11u1 [130 kB]
Get:12 http://archive.raspberrypi.org/debian bullseye/main armhf libswresample3 armhf 8:4.3.6-0+deb11u1+rpt3 [122 kB]
Get:13 http://archive.raspberrypi.org/debian bullseye/main armhf libavcodec58 armhf 8:4.3.6-0+deb11u1+rpt3 [9,125 kB]
Get:15 http://archive.raspberrypi.org/debian bullseye/main armhf libavformat58 armhf 8:4.3.6-0+deb11u1+rpt3 [1,568 kB]
Get:14 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf adwaita-icon-theme all 3.38.0-1 [10.9 MB]
Get:16 http://archive.raspberrypi.org/debian bullseye/main armhf libpulse0 armhf 14.2-2+rpt1 [256 kB]
Get:17 http://archive.raspberrypi.org/debian bullseye/main armhf libgbm1 armhf 20.3.5-1+rpt5+rpi1 [72.0 kB]
Get:19 http://archive.raspberrypi.org/debian bullseye/main armhf libglapi-mesa armhf 20.3.5-1+rpt5+rpi1 [82.2 kB]
Get:20 http://archive.raspberrypi.org/debian bullseye/main armhf libgl1-mesa-dri armhf 20.3.5-1+rpt5+rpi1 [5,894 kB]
Get:18 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libatspi2.0-0 armhf 2.38.0-4+deb11u1 [62.1 kB]
Get:22 http://archive.raspberrypi.org/debian bullseye/main armhf libglx-mesa0 armhf 20.3.5-1+rpt5+rpi1 [173 kB]
Get:23 http://archive.raspberrypi.org/debian bullseye/main armhf libgtk-3-common all 3.24.24-4+rpt12+deb11u3 [3,762 kB]
Get:24 http://archive.raspberrypi.org/debian bullseye/main armhf libgtk-3-0 armhf 3.24.24-4+rpt12+deb11u3 [2,279 kB]
Get:25 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf x11-common all 1:7.7+22 [252 kB]
Get:27 http://archive.raspberrypi.org/debian bullseye/main armhf libgtk-3-bin armhf 3.24.24-4+rpt12+deb11u3 [122 kB]
Get:28 http://archive.raspberrypi.org/debian bullseye/main armhf libswscale5 armhf 8:4.3.6-0+deb11u1+rpt3 [262 kB]
Get:29 http://archive.raspberrypi.org/debian bullseye/main armhf mesa-va-drivers armhf 20.3.5-1+rpt5+rpi1 [2,174 kB]
Get:30 http://archive.raspberrypi.org/debian bullseye/main armhf mesa-vdpau-drivers armhf 20.3.5-1+rpt5+rpi1 [2,278 kB]
Get:31 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf at-spi2-core armhf 2.38.0-4+deb11u1 [66.3 kB]
Get:32 http://archive.raspberrypi.org/debian bullseye/main armhf mesa-vulkan-drivers armhf 20.3.5-1+rpt5+rpi1 [2,384 kB]
Get:33 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libtcl8.6 armhf 8.6.11+dfsg-1 [894 kB]
Get:36 http://archive.raspberrypi.org/debian bullseye/main armhf python-pip-whl all 20.3.4-4+rpt1+deb11u1 [2,002 kB]
Get:38 http://archive.raspberrypi.org/debian bullseye/main armhf python3-pip all 20.3.4-4+rpt1+deb11u1 [337 kB]
Get:40 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf tk8.6-blt2.5 armhf 2.5.3+dfsg-4.1 [477 kB]
Get:41 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf blt armhf 2.5.3+dfsg-4.1 [14.9 kB]
Get:42 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf dbus-user-session armhf 1.12.24-0+deb11u1 [99.7 kB]
Get:49 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf gdal-data all 3.2.2+dfsg-2+deb11u2 [462 kB]
Get:21 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libxi6 armhf 2:1.7.10-1 [77.9 kB]
Get:26 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libxtst6 armhf 2:1.2.3-1 [26.3 kB]
Get:34 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libxrender1 armhf 1:0.9.10-1 [29.9 kB]
Get:35 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libxft2 armhf 2.3.2-2 [49.3 kB]
Get:37 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libxss1 armhf 1:1.2.3-1 [17.3 kB]
Get:39 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libtk8.6 armhf 8.6.11-2 [681 kB]
Get:43 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libdconf1 armhf 0.38.0-2 [39.3 kB]
Get:44 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf dconf-service armhf 0.38.0-2 [34.7 kB]
Get:45 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf dconf-gsettings-backend armhf 0.38.0-2 [26.8 kB]
Get:46 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf fontconfig armhf 2.13.1-4.2 [416 kB]
Get:47 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf fonts-freefont-ttf all 20120503-10 [2,552 kB]
Get:54 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf javascript-common all 11+nmu1 [6,260 B]
Get:48 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf fonts-lyx all 2.3.6-1 [205 kB]
Get:50 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libproxy1v5 armhf 0.4.17-1 [53.3 kB]
Get:51 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf glib-networking-common all 2.66.0-2 [68.1 kB]
Get:52 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf glib-networking-services armhf 2.66.0-2 [16.9 kB]
Get:53 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf glib-networking armhf 2.66.0-2 [60.7 kB]
Get:55 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libaacs0 armhf 0.9.0-2 [46.2 kB]
Get:56 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libaec0 armhf 1.0.4-1 [20.0 kB]
Get:57 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libaom0 armhf 1.0.0.errata1-3 [793 kB]
Get:58 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libarchive13 armhf 3.4.3-2+deb11u1 [297 kB]
Get:59 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libarpack2 armhf 3.8.0-1 [85.9 kB]
Get:60 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libsuperlu5 armhf 5.2.2+dfsg1-2 [128 kB]
Get:61 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libarmadillo10 armhf 1:10.1.2+dfsg-6 [95.8 kB]
Get:62 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libasyncns0 armhf 0.8-6 [11.8 kB]
Get:63 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libatk1.0-data all 2.36.0-2 [149 kB]
Get:64 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libatk1.0-0 armhf 2.36.0-2 [44.2 kB]
Get:65 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libatk-bridge2.0-0 armhf 2.38.0-1 [55.8 kB]
Get:66 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libavahi-client3 armhf 0.8-5+deb11u2 [58.3 kB]
Get:67 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libva2 armhf 2.10.0-1 [60.9 kB]
Get:68 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libva-drm2 armhf 2.10.0-1 [18.5 kB]
Get:69 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libxfixes3 armhf 1:5.0.3-2 [20.7 kB]
Get:70 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libva-x11-2 armhf 2.10.0-1 [21.9 kB]
Get:71 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libvdpau1 armhf 1.4-3 [27.0 kB]
Get:72 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf ocl-icd-libopencl1 armhf 2.2.14-2 [39.9 kB]
Get:73 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libxcb-render0 armhf 1.14-3 [110 kB]
Get:74 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libxcb-shm0 armhf 1.14-3 [101 kB]
Get:75 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libcodec2-0.9 armhf 0.9.2-4 [7,865 kB]
Get:76 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libdav1d4 armhf 0.7.1-3+rpi1 [207 kB]
Get:77 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libgsm1 armhf 1.0.18-2 [26.7 kB]
Get:78 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libmp3lame0 armhf 3.100-3 [347 kB]
Get:79 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libopenjp2-7 armhf 2.4.0-3 [150 kB]
Get:80 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libopus0 armhf 1.3.1-0.1 [166 kB]
Get:81 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libgraphite2-3 armhf 1.3.14-1 [70.3 kB]
Get:82 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libharfbuzz0b armhf 2.7.4-1 [1,422 kB]
Get:83 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libthai-data all 0.1.28-3 [170 kB]
Get:84 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libdatrie1 armhf 0.2.13-1+b1 [39.7 kB]
Get:85 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libthai0 armhf 0.1.28-3 [51.0 kB]
Get:86 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libpango-1.0-0 armhf 1.46.2-3 [172 kB]
Get:87 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libpangoft2-1.0-0 armhf 1.46.2-3 [55.7 kB]
Get:88 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libpangocairo-1.0-0 armhf 1.46.2-3 [46.7 kB]
Get:89 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf librsvg2-2 armhf 2.50.3+dfsg-1 [2,057 kB]
Get:90 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libshine3 armhf 3.1.1-2+b1 [22.0 kB]
Get:91 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libsnappy1v5 armhf 1.1.8-1 [16.7 kB]
Get:92 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libspeex1 armhf 1.2~rc1.2-1.1 [51.7 kB]
Get:93 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libsoxr0 armhf 0.1.3-4+rpi1 [52.9 kB]
Get:94 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libtheora0 armhf 1.1.1+dfsg.1-15 [148 kB]
Get:95 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libtwolame0 armhf 0.4.0-2 [46.8 kB]
Get:96 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libvorbisenc2 armhf 1.3.7-1 [74.4 kB]
Get:97 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libvpx6 armhf 1.9.0-1 [1,065 kB]
Get:98 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libwavpack1 armhf 5.4.0-1 [74.2 kB]
Get:99 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libx264-160 armhf 2:0.160.3011+gitcde9a93-2.1+rpi1 [677 kB]
Get:100 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libx265-192 armhf 3.4-2 [560 kB]
Get:101 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libxvidcore4 armhf 2:1.3.7-1 [196 kB]
Get:102 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libzvbi-common all 0.2.35-18 [64.6 kB]
Get:103 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libzvbi0 armhf 0.2.35-18 [240 kB]
Get:104 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libudfread0 armhf 1.1.1-1 [14.5 kB]
Get:105 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libbluray2 armhf 1:1.2.1-4+deb11u2 [123 kB]
Get:106 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libchromaprint1 armhf 1.5.0-2 [33.6 kB]
Get:107 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libgme0 armhf 0.6.3-2 [110 kB]
Get:108 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libmpg123-0 armhf 1.26.4-1 [120 kB]
Get:109 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libvorbisfile3 armhf 1.3.7-1 [25.2 kB]
Get:110 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libopenmpt0 armhf 0.4.11-1 [533 kB]
Get:111 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf librabbitmq4 armhf 0.10.0-1 [36.6 kB]
Get:112 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libsrt1.4-gnutls armhf 1.4.2-1.3 [230 kB]
Get:113 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libssh-gcrypt-4 armhf 0.9.7-0+deb11u1 [190 kB]
Get:114 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libnorm1 armhf 1.5.9+dfsg-2 [184 kB]
Get:115 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libpgm-5.3-0 armhf 5.3.128~dfsg-2 [154 kB]
Get:116 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libsodium23 armhf 1.0.18-1 [143 kB]
Get:117 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libzmq5 armhf 4.3.4-1 [230 kB]
Get:118 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libbdplus0 armhf 0.1.2-3 [42.5 kB]
Get:119 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libcaca0 armhf 0.99.beta19-2.2 [335 kB]
Get:120 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libcfitsio9 armhf 3.490-3 [491 kB]
Get:121 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libcharls2 armhf 2.2.0+dfsg-2 [67.5 kB]
Get:122 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libcolord2 armhf 1.4.5-3 [123 kB]
Get:123 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libcups2 armhf 2.3.3op2-3+deb11u2 [311 kB]
Get:124 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libdap27 armhf 3.20.7-6 [494 kB]
Get:125 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libdapclient6v5 armhf 3.20.7-6 [195 kB]
Get:126 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libraw1394-11 armhf 2.1.2-2 [37.4 kB]
Get:127 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libdc1394-25 armhf 2.2.6-3 [100 kB]
Get:128 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libde265-0 armhf 1.0.11-0+deb11u1+rpi1 [134 kB]
Get:129 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libdrm-amdgpu1 armhf 2.4.104-1+rpi1 [27.4 kB]
Get:130 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libdrm-nouveau2 armhf 2.4.104-1+rpi1 [25.0 kB]
Get:131 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libdrm-radeon1 armhf 2.4.104-1+rpi1 [29.2 kB]
Get:132 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libepoxy0 armhf 1.5.5-1 [172 kB]
Get:133 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libepsilon1 armhf 0.9.2+dfsg-5 [36.5 kB]
Get:134 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libexpat1-dev armhf 2.2.10-2+deb11u5 [123 kB]
Get:135 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libsndfile1 armhf 1.0.31-2 [171 kB]
Get:136 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libinstpatch-1.0-2 armhf 1.1.6-1 [213 kB]
Get:137 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libjack-jackd2-0 armhf 1.9.17~dfsg-1 [239 kB]
Get:138 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libwayland-server0 armhf 1.18.0-2~exp1.1 [28.0 kB]
Get:139 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libwayland-client0 armhf 1.18.0-2~exp1.1 [22.1 kB]
Get:140 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libwayland-cursor0 armhf 1.18.0-2~exp1.1 [13.5 kB]
Get:141 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libwayland-egl1 armhf 1.18.0-2~exp1.1 [8,232 B]
Get:142 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libxcursor1 armhf 1:1.2.0-2 [34.2 kB]
Get:143 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libxinerama1 armhf 2:1.1.4-2 [17.3 kB]
Get:144 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libxkbcommon0 armhf 1.0.3-2 [88.5 kB]
Get:145 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libxrandr2 armhf 2:1.5.1-1 [34.5 kB]
Get:146 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libxxf86vm1 armhf 1:1.1.4-1+b2 [20.1 kB]
Get:147 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libsdl2-2.0-0 armhf 2.0.14+dfsg2-3+deb11u1 [414 kB]
Get:148 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf timgm6mb-soundfont all 1.3-5 [5,427 kB]
Get:149 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libfluidsynth2 armhf 2.1.7-1.1 [192 kB]
Get:150 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libfreexl1 armhf 1.0.6-1 [31.8 kB]
Get:151 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libfyba0 armhf 4.1.1-7 [99.5 kB]
Get:152 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libgeos-3.9.0 armhf 3.9.0-1 [827 kB]
Get:153 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libgeos-c1v5 armhf 3.9.0-1 [367 kB]
Get:154 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf proj-data all 7.2.1-1 [7,940 kB]
Get:155 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libproj19 armhf 7.2.1-1 [940 kB]
Get:156 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libgeotiff5 armhf 1.6.0-1 [62.7 kB]
Get:157 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libgif7 armhf 5.1.9-2 [42.9 kB]
Get:158 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libhdf4-0-alt armhf 4.2.15-3 [239 kB]
Get:159 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libsz2 armhf 1.0.4-1 [6,664 B]
Get:160 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libhdf5-103-1 armhf 1.10.6+repack-4+deb11u1 [1,207 kB]
Get:161 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libheif1 armhf 1.11.0-1 [161 kB]
Get:162 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libminizip1 armhf 1.1-8+b1 [18.3 kB]
Get:163 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf liburiparser1 armhf 0.9.4+dfsg-1+deb11u1 [36.1 kB]
Get:164 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libkmlbase1 armhf 1.3.0-9 [43.4 kB]
Get:165 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libkmldom1 armhf 1.3.0-9 [127 kB]
Get:166 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libkmlengine1 armhf 1.3.0-9 [66.1 kB]
Get:167 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf mysql-common all 5.8+1.0.7 [7,464 B]
Get:168 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf mariadb-common all 1:10.5.19-0+deb11u2 [37.0 kB]
Get:169 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libmariadb3 armhf 1:10.5.19-0+deb11u2 [161 kB]
Get:170 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libhdf5-hl-100 armhf 1.10.6+repack-4+deb11u1 [79.6 kB]
Get:171 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libnetcdf18 armhf 1:4.7.4-1 [348 kB]
Get:172 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libltdl7 armhf 2.4.6-15 [388 kB]
Get:173 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libodbc1 armhf 2.3.6-0.1+b1 [187 kB]
Get:174 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libogdi4.1 armhf 4.1.0+ds-5 [172 kB]
Get:175 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libpoppler102 armhf 20.09.0-3.1+deb11u1 [1,521 kB]
Get:176 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libpq5 armhf 13.11-0+deb11u1 [162 kB]
Get:177 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libqhull8.0 armhf 2020.2-3 [222 kB]
Get:178 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf librttopo1 armhf 1.1.0-2 [145 kB]
Get:179 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libspatialite7 armhf 5.0.1-2 [1,650 kB]
Get:180 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libxerces-c3.2 armhf 3.2.3+debian-3 [710 kB]
Get:181 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf odbcinst armhf 2.3.6-0.1+b1 [47.7 kB]
Get:182 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf odbcinst1debian2 armhf 2.3.6-0.1+b1 [70.8 kB]
Get:183 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libgdal28 armhf 3.2.2+dfsg-2+deb11u2 [6,042 kB]
Get:185 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libgdcm3.0 armhf 3.0.8-2 [1,605 kB]
Get:184 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libsocket++1 armhf 1.12.13-11 [67.6 kB]
Get:188 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libgdk-pixbuf2.0-bin armhf 2.42.2+dfsg-1+deb11u1 [24.8 kB]
Get:190 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libx11-xcb1 armhf 2:1.7.2-1+deb11u1 [203 kB]
Get:186 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libgdk-pixbuf-xlib-2.0-0 armhf 2.40.2-2 [45.0 kB]
Get:187 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libgdk-pixbuf2.0-0 armhf 2.40.2-2 [14.1 kB]
Get:189 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libglvnd0 armhf 1.3.2-1 [55.2 kB]
Get:191 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libxcb-dri2-0 armhf 1.14-3 [103 kB]
Get:192 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libxcb-dri3-0 armhf 1.14-3 [102 kB]
Get:193 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libxcb-glx0 armhf 1.14-3 [117 kB]
Get:194 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libxcb-present0 armhf 1.14-3 [101 kB]
Get:195 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libxcb-sync1 armhf 1.14-3 [104 kB]
Get:196 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libxcb-xfixes0 armhf 1.14-3 [105 kB]
Get:197 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libxdamage1 armhf 1:1.1.5-2 [15.2 kB]
Get:198 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libxshmfence1 armhf 1.3-1 [8,636 B]
Get:199 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libz3-4 armhf 4.8.10-1 [5,689 kB]
Get:200 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libllvm11 armhf 1:11.0.1-2+rpi1 [15.6 MB]
Get:201 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libsensors-config all 1:3.6.0-7 [32.3 kB]
Get:202 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libsensors5 armhf 1:3.6.0-7 [49.6 kB]
Get:203 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libvulkan1 armhf 1.2.162.0-1 [82.5 kB]
Get:204 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libglx0 armhf 1.3.2-1 [25.8 kB]
Get:205 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libgl1 armhf 1.3.2-1 [106 kB]
Get:206 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libgphoto2-port12 armhf 2.5.27-1 [144 kB]
Get:207 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libgphoto2-6 armhf 2.5.27-1 [683 kB]
Get:208 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libgphoto2-l10n all 2.5.27-1 [509 kB]
Get:209 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libjson-glib-1.0-common all 1.6.2-1 [56.9 kB]
Get:210 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libjson-glib-1.0-0 armhf 1.6.2-1 [57.0 kB]
Get:211 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libsoup2.4-1 armhf 2.72.0-2 [242 kB]
Get:212 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libsoup-gnome2.4-1 armhf 2.72.0-2 [21.8 kB]
Get:213 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf librest-0.7-0 armhf 0.8.1-1.1 [28.0 kB]
Get:214 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libxcomposite1 armhf 1:0.4.5-1 [16.2 kB]
Get:215 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libice6 armhf 2:1.0.10-1 [51.7 kB]
Get:216 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libilmbase25 armhf 2.5.4-1 [195 kB]
Get:217 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libjs-jquery all 3.5.1+dfsg+~3.5.5-7 [315 kB]
Get:218 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libjs-jquery-ui all 1.12.1+dfsg-8+deb11u1 [232 kB]
Get:219 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libjs-underscore all 1.9.1~dfsg-3 [100 kB]
Get:220 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libjs-sphinxdoc all 3.4.3-2 [127 kB]
Get:221 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf liblept5 armhf 1.79.0-1.1+deb11u1 [899 kB]
Get:222 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libmad0 armhf 0.15.1b-10 [66.0 kB]
Get:223 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libopenal-data all 1:1.19.1-2 [170 kB]
Get:224 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libsndio7.0 armhf 1.5.0-3 [22.0 kB]
Get:225 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libopenal1 armhf 1:1.19.1-2 [479 kB]
Get:226 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libmikmod3 armhf 3.3.11.1-6 [119 kB]
Get:227 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libnotify4 armhf 0.7.9-3 [21.9 kB]
Get:228 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libtbb2 armhf 2020.3-1 [118 kB]
Get:229 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libopencv-core4.5 armhf 4.5.1+dfsg-5 [730 kB]
Get:230 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libopencv-flann4.5 armhf 4.5.1+dfsg-5 [107 kB]
Get:231 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libopencv-imgproc4.5 armhf 4.5.1+dfsg-5 [718 kB]
Get:232 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libopencv-features2d4.5 armhf 4.5.1+dfsg-5 [199 kB]
Get:233 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libopencv-calib3d4.5 armhf 4.5.1+dfsg-5 [531 kB]
Get:234 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libprotobuf23 armhf 3.12.4-1 [750 kB]
Get:235 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libopencv-dnn4.5 armhf 4.5.1+dfsg-5 [735 kB]
Get:236 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libopenexr25 armhf 2.5.4-2+deb11u1 [607 kB]
Get:237 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libopencv-imgcodecs4.5 armhf 4.5.1+dfsg-5 [113 kB]
Get:238 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libopencv-highgui4.5 armhf 4.5.1+dfsg-5 [46.7 kB]
Get:239 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libopencv-ml4.5 armhf 4.5.1+dfsg-5 [174 kB]
Get:240 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libopencv-objdetect4.5 armhf 4.5.1+dfsg-5 [148 kB]
Get:241 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libopencv-video4.5 armhf 4.5.1+dfsg-5 [146 kB]
Get:242 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libtesseract4 armhf 4.1.1-2.1+rpi1 [1,082 kB]
Get:243 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libopencv-contrib4.5 armhf 4.5.1+dfsg-5 [2,835 kB]
Get:244 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libopencv-photo4.5 armhf 4.5.1+dfsg-5 [149 kB]
Get:245 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libopencv-shape4.5 armhf 4.5.1+dfsg-5 [57.1 kB]
Get:246 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libopencv-stitching4.5 armhf 4.5.1+dfsg-5 [166 kB]
Get:247 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libopencv-videoio4.5 armhf 4.5.1+dfsg-5 [161 kB]
Get:248 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libportmidi0 armhf 1:217-6 [20.2 kB]
Get:249 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libpython3.9-dev armhf 3.9.2-1+rpi1 [3,055 kB]
Get:250 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libpython3-dev armhf 3.9.2-3 [21.7 kB]
Get:251 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf librsvg2-common armhf 2.50.3+dfsg-1 [30.6 kB]
Get:252 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libsdl1.2debian armhf 1.2.15+dfsg2-6 [163 kB]
Get:253 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libsdl-image1.2 armhf 1.2.12-12 [33.1 kB]
Get:254 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libsdl-mixer1.2 armhf 1.2.12-16+b1 [78.7 kB]
Get:255 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libsdl-ttf2.0-0 armhf 2.0.11-6 [17.0 kB]
Get:256 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libsm6 armhf 2:1.2.3-1 [32.9 kB]
Get:257 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libvdpau-va-gl1 armhf 0.4.2-1+b1 [59.4 kB]
Get:258 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libwxbase3.0-0v5 armhf 3.0.5.1+dfsg-2 [918 kB]
Get:259 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libwxgtk3.0-gtk3-0v5 armhf 3.0.5.1+dfsg-2 [3,650 kB]
Get:260 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf libxcb-randr0 armhf 1.14-3 [112 kB]
Get:261 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf libxslt1.1 armhf 1.1.34-4+deb11u1 [217 kB]
Get:262 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf notification-daemon armhf 3.20.0-4 [56.3 kB]
Get:263 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf proj-bin armhf 7.2.1-1 [171 kB]
Get:264 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf ttf-bitstream-vera all 1.10-8.1 [223 kB]
Get:265 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf python-matplotlib-data all 3.3.4-1 [4,153 kB]
Get:266 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf python3-soupsieve all 2.2.1-1 [34.7 kB]
Get:267 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf python3-bs4 all 4.9.3-1 [112 kB]
Get:268 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf python3-cycler all 0.10.0-3 [8,084 B]
Get:269 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf python3-dateutil all 2.8.1-6 [79.2 kB]
Get:270 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf python3.9-dev armhf 3.9.2-1+rpi1 [501 kB]
Get:271 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf python3-lib2to3 all 3.9.2-1 [77.8 kB]
Get:272 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf python3-distutils all 3.9.2-1 [143 kB]
Get:273 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf python3-dev armhf 3.9.2-3 [24.8 kB]
Get:274 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf python3-webencodings all 0.5.1-2 [11.0 kB]
Get:275 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf python3-html5lib all 1.1-3 [93.0 kB]
Get:276 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf python3-kiwisolver armhf 1.3.1-1 [272 kB]
Get:277 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf python3-lxml armhf 4.6.3+dfsg-0.1+deb11u1 [959 kB]
Get:278 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf python3-pyparsing all 2.4.7-1 [109 kB]
Get:279 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf python3-matplotlib armhf 3.3.4-1 [4,105 kB]
Get:280 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf python3-opencv armhf 4.5.1+dfsg-5 [1,094 kB]
Get:281 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf python3-setuptools all 52.0.0-4 [366 kB]
Get:282 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf python3-wheel all 0.34.2-1 [24.0 kB]
Get:283 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf python3-pygame armhf 1.9.6+dfsg-4+b1 [500 kB]
Get:284 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf python3-tk armhf 3.9.2-1 [97.5 kB]
Get:285 http://raspbian.raspberrypi.org/raspbian bullseye/main armhf python3-wxgtk4.0 armhf 4.0.7+dfsg-10 [5,970 kB]
Get:286 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf va-driver-all armhf 2.10.0-1 [15.3 kB]
Get:287 http://mirrors.zju.edu.cn/raspbian/raspbian bullseye/main armhf vdpau-driver-all armhf 1.4-3 [8,524 B]
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Setting up poppler-data (0.4.10-1) ...
Setting up libdap27:armhf (3.20.7-6) ...
Setting up libcfitsio9:armhf (3.490-3) ...
Setting up libopenexr25:armhf (2.5.4-2+deb11u1) ...
Setting up libxcb-present0:armhf (1.14-3) ...
Setting up libdconf1:armhf (0.38.0-2) ...
Setting up mariadb-common (1:10.5.19-0+deb11u2) ...
update-alternatives: using /etc/mysql/mariadb.cnf to provide /etc/mysql/my.cnf (my.cnf) in auto mode
Setting up libvorbisfile3:armhf (1.3.7-1) ...
Setting up dbus-user-session (1.12.24-0+deb11u1) ...
Setting up libz3-4:armhf (4.8.10-1) ...
Setting up libllvm11:armhf (1:11.0.1-2+rpi1) ...
Setting up libexpat1-dev:armhf (2.2.10-2+deb11u5) ...
Setting up python3-pyparsing (2.4.7-1) ...
Setting up libva2:armhf (2.10.0-1) ...
Setting up libepoxy0:armhf (1.5.5-1) ...
Setting up libxfixes3:armhf (1:5.0.3-2) ...
Setting up libxcb-sync1:armhf (1.14-3) ...
Setting up libcodec2-0.9:armhf (0.9.2-4) ...
Setting up libopus0:armhf (1.3.1-0.1) ...
Setting up shared-mime-info (2.0-1) ...
Setting up libportmidi0:armhf (1:217-6) ...
Setting up python3-cycler (0.10.0-3) ...
Setting up libxinerama1:armhf (2:1.1.4-2) ...
Setting up libdc1394-25:armhf (2.2.6-3) ...
Setting up python3-kiwisolver (1.3.1-1) ...
Setting up libxrandr2:armhf (2:1.5.1-1) ...
Setting up libtcl8.6:armhf (8.6.11+dfsg-1) ...
Setting up libmariadb3:armhf (1:10.5.19-0+deb11u2) ...
Setting up libsocket++1:armhf (1.12.13-11) ...
Setting up libsensors5:armhf (1:3.6.0-7) ...
Setting up libaacs0:armhf (0.9.0-2) ...
Setting up python3-html5lib (1.1-3) ...
Setting up libltdl7:armhf (2.4.6-15) ...
Setting up libglapi-mesa:armhf (20.3.5-1+rpt5+rpi1) ...
Setting up libvulkan1:armhf (1.2.162.0-1) ...
Setting up libhdf4-0-alt (4.2.15-3) ...
Setting up libsndio7.0:armhf (1.5.0-3) ...
Setting up libxcb-dri2-0:armhf (1.14-3) ...
Setting up libgif7:armhf (5.1.9-2) ...
Setting up libatk1.0-data (2.36.0-2) ...
Setting up liburiparser1:armhf (0.9.4+dfsg-1+deb11u1) ...
Setting up libbdplus0:armhf (0.1.2-3) ...
Setting up libjack-jackd2-0:armhf (1.9.17~dfsg-1) ...
Setting up libmad0:armhf (0.15.1b-10) ...
Setting up libfreexl1:armhf (1.0.6-1) ...
Setting up libva-drm2:armhf (2.10.0-1) ...
Setting up ocl-icd-libopencl1:armhf (2.2.14-2) ...
Setting up libasyncns0:armhf (0.8-6) ...
Setting up libxshmfence1:armhf (1.3-1) ...
Setting up libvpx6:armhf (1.9.0-1) ...
Setting up libvdpau1:armhf (1.4-3) ...
Setting up libwavpack1:armhf (5.4.0-1) ...
Setting up libgeos-3.9.0:armhf (3.9.0-1) ...
Setting up libxcb-randr0:armhf (1.14-3) ...
Setting up libfyba0:armhf (4.1.1-7) ...
Setting up libtheora0:armhf (1.1.1+dfsg.1-15) ...
Setting up libkmlbase1:armhf (1.3.0-9) ...
Setting up libxslt1.1:armhf (1.1.34-4+deb11u1) ...
Setting up libdapclient6v5:armhf (3.20.7-6) ...
Setting up libdav1d4:armhf (0.7.1-3+rpi1) ...
Setting up libopenjp2-7:armhf (2.4.0-3) ...
Setting up libharfbuzz0b:armhf (2.7.4-1) ...
Setting up libopenal-data (1:1.19.1-2) ...
Setting up libthai-data (0.1.28-3) ...
Setting up python3-dateutil (2.8.1-6) ...
Setting up libgdk-pixbuf-2.0-0:armhf (2.42.2+dfsg-1+deb11u1) ...
Setting up libwxbase3.0-0v5:armhf (3.0.5.1+dfsg-2) ...
Setting up libjson-glib-1.0-common (1.6.2-1) ...
Setting up python-pip-whl (20.3.4-4+rpt1+deb11u1) ...
Setting up libcairo-gobject2:armhf (1.16.0-5+rpt1) ...
Setting up libatk1.0-0:armhf (2.36.0-2) ...
Setting up libwayland-egl1:armhf (1.18.0-2~exp1.1) ...
Setting up libxss1:armhf (1:1.2.3-1) ...
Setting up libgphoto2-port12:armhf (2.5.27-1) ...
Setting up libjs-jquery (3.5.1+dfsg+~3.5.5-7) ...
Setting up glib-networking-common (2.66.0-2) ...
Setting up libbluray2:armhf (1:1.2.1-4+deb11u2) ...
Setting up libde265-0:armhf (1.0.11-0+deb11u1+rpi1) ...
Setting up timgm6mb-soundfont (1.3-5) ...
update-alternatives: using /usr/share/sounds/sf2/TimGM6mb.sf2 to provide /usr/share/sounds/sf2/default-GM.sf2 (default-GM.sf2) in auto mode
update-alternatives: using /usr/share/sounds/sf2/TimGM6mb.sf2 to provide /usr/share/sounds/sf3/default-GM.sf3 (default-GM.sf3) in auto mode
Setting up libva-x11-2:armhf (2.10.0-1) ...
Setting up python-matplotlib-data (3.3.4-1) ...
Setting up python3-lib2to3 (3.9.2-1) ...
Setting up libproj19:armhf (7.2.1-1) ...
Setting up libxcomposite1:armhf (1:0.4.5-1) ...
Setting up python3-soupsieve (2.2.1-1) ...
Setting up libopenmpt0:armhf (0.4.11-1) ...
Setting up libavahi-client3:armhf (0.8-5+deb11u2) ...
Setting up libzvbi-common (0.2.35-18) ...
Setting up libmp3lame0:armhf (3.100-3) ...
Setting up libsz2:armhf (1.0.4-1) ...
Setting up libvorbisenc2:armhf (1.3.7-1) ...
Setting up libjs-underscore (1.9.1~dfsg-3) ...
Setting up libdrm-amdgpu1:armhf (2.4.104-1+rpi1) ...
Setting up libxkbcommon0:armhf (1.0.3-2) ...
Setting up libkmldom1:armhf (1.3.0-9) ...
Setting up libwayland-client0:armhf (1.18.0-2~exp1.1) ...
Setting up python3-distutils (3.9.2-1) ...
Setting up mesa-vulkan-drivers:armhf (20.3.5-1+rpt5+rpi1) ...
Setting up glib-networking-services (2.66.0-2) ...
Setting up mesa-vdpau-drivers:armhf (20.3.5-1+rpt5+rpi1) ...
Setting up libzvbi0:armhf (0.2.35-18) ...
Setting up gtk-update-icon-cache (3.24.24-4+rpt12+deb11u3) ...
Setting up libice6:armhf (2:1.0.10-1) ...
Setting up libxft2:armhf (2.3.2-2) ...
Setting up libarmadillo10 (1:10.1.2+dfsg-6) ...
Setting up libzmq5:armhf (4.3.4-1) ...
Setting up libgdk-pixbuf-xlib-2.0-0:armhf (2.40.2-2) ...
Setting up libkmlengine1:armhf (1.3.0-9) ...
Setting up python3-setuptools (52.0.0-4) ...
Setting up libopencv-core4.5:armhf (4.5.1+dfsg-5) ...
Setting up libxtst6:armhf (2:1.2.3-1) ...
Setting up libtk8.6:armhf (8.6.11-2) ...
Setting up libxcursor1:armhf (1:1.2.0-2) ...
Setting up libgl1-mesa-dri:armhf (20.3.5-1+rpt5+rpi1) ...
Setting up libheif1:armhf (1.11.0-1) ...
Setting up libopencv-imgproc4.5:armhf (4.5.1+dfsg-5) ...
Setting up proj-bin (7.2.1-1) ...
Setting up libpython3.9-dev:armhf (3.9.2-1+rpi1) ...
Setting up dconf-service (0.38.0-2) ...
Setting up libopenal1:armhf (1:1.19.1-2) ...
Setting up python3-bs4 (4.9.3-1) ...
Setting up libavutil56:armhf (8:4.3.6-0+deb11u1+rpt3) ...
Setting up liblept5:armhf (1.79.0-1.1+deb11u1) ...
Setting up libgeotiff5:armhf (1.6.0-1) ...
Setting up libjson-glib-1.0-0:armhf (1.6.2-1) ...
Setting up libatk-bridge2.0-0:armhf (2.38.0-1) ...
Setting up libthai0:armhf (0.1.28-3) ...
Setting up libgphoto2-6:armhf (2.5.27-1) ...
Setting up libjs-jquery-ui (1.12.1+dfsg-8+deb11u1) ...
Setting up adwaita-icon-theme (3.38.0-1) ...
update-alternatives: using /usr/share/icons/Adwaita/cursor.theme to provide /usr/share/icons/default/index.theme (x-cursor-theme) in auto mode
Setting up libopencv-flann4.5:armhf (4.5.1+dfsg-5) ...
Setting up libnotify4:armhf (0.7.9-3) ...
Setting up libgdk-pixbuf2.0-0:armhf (2.40.2-2) ...
Setting up libgdcm3.0:armhf (3.0.8-2) ...
Setting up libgeos-c1v5:armhf (3.9.0-1) ...
Setting up libopencv-dnn4.5:armhf (4.5.1+dfsg-5) ...
Setting up libodbc1:armhf (2.3.6-0.1+b1) ...
Setting up python3-pip (20.3.4-4+rpt1+deb11u1) ...
Setting up libjs-sphinxdoc (3.4.3-2) ...
Setting up libtesseract4:armhf (4.1.1-2.1+rpi1) ...
Setting up libcups2:armhf (2.3.3op2-3+deb11u2) ...
Setting up libhdf5-103-1:armhf (1.10.6+repack-4+deb11u1) ...
Setting up librttopo1:armhf (1.1.0-2) ...
Setting up python3.9-dev (3.9.2-1+rpi1) ...
Setting up at-spi2-core (2.38.0-4+deb11u1) ...
Setting up libpoppler102:armhf (20.09.0-3.1+deb11u1) ...
Setting up libgdk-pixbuf2.0-bin (2.42.2+dfsg-1+deb11u1) ...
Setting up libopencv-ml4.5:armhf (4.5.1+dfsg-5) ...
Setting up python3-lxml:armhf (4.6.3+dfsg-0.1+deb11u1) ...
Setting up libwayland-cursor0:armhf (1.18.0-2~exp1.1) ...
Setting up libopencv-photo4.5:armhf (4.5.1+dfsg-5) ...
Setting up libswscale5:armhf (8:4.3.6-0+deb11u1+rpt3) ...
Setting up libsndfile1:armhf (1.0.31-2) ...
Setting up mesa-va-drivers:armhf (20.3.5-1+rpt5+rpi1) ...
Setting up libsm6:armhf (2:1.2.3-1) ...
Setting up libinstpatch-1.0-2:armhf (1.1.6-1) ...
Setting up libhdf5-hl-100:armhf (1.10.6+repack-4+deb11u1) ...
Setting up libspatialite7:armhf (5.0.1-2) ...
Setting up tk8.6-blt2.5 (2.5.3+dfsg-4.1) ...
Setting up python3-matplotlib (3.3.4-1) ...
Setting up libglx-mesa0:armhf (20.3.5-1+rpt5+rpi1) ...
Setting up libpython3-dev:armhf (3.9.2-3) ...
Setting up libglx0:armhf (1.3.2-1) ...
Setting up dconf-gsettings-backend:armhf (0.38.0-2) ...
Setting up libpulse0:armhf (14.2-2+rpt1) ...
Setting up blt (2.5.3+dfsg-4.1) ...
Setting up libpango-1.0-0:armhf (1.46.2-3) ...
Setting up libopencv-features2d4.5:armhf (4.5.1+dfsg-5) ...
Setting up python3-tk:armhf (3.9.2-1) ...
Setting up libswresample3:armhf (8:4.3.6-0+deb11u1+rpt3) ...
Setting up libgl1:armhf (1.3.2-1) ...
Setting up va-driver-all:armhf (2.10.0-1) ...
Setting up python3-dev (3.9.2-3) ...
Setting up libsdl1.2debian:armhf (1.2.15+dfsg2-6) ...
Setting up libnetcdf18:armhf (1:4.7.4-1) ...
Setting up libsdl-ttf2.0-0:armhf (2.0.11-6) ...
Setting up libpangoft2-1.0-0:armhf (1.46.2-3) ...
Setting up libsdl2-2.0-0:armhf (2.0.14+dfsg2-3+deb11u1) ...
Setting up libfluidsynth2:armhf (2.1.7-1.1) ...
Setting up libvdpau-va-gl1:armhf (0.4.2-1+b1) ...
Setting up libgtk-3-common (3.24.24-4+rpt12+deb11u3) ...
Setting up libpangocairo-1.0-0:armhf (1.46.2-3) ...
Setting up gsettings-desktop-schemas (3.38.0-2+rpt1) ...
Setting up libopencv-calib3d4.5:armhf (4.5.1+dfsg-5) ...
Setting up libsdl-image1.2:armhf (1.2.12-12) ...
Setting up libopencv-shape4.5:armhf (4.5.1+dfsg-5) ...
Setting up libmikmod3:armhf (3.3.11.1-6) ...
Setting up librsvg2-2:armhf (2.50.3+dfsg-1) ...
Setting up libopencv-video4.5:armhf (4.5.1+dfsg-5) ...
Setting up libopencv-stitching4.5:armhf (4.5.1+dfsg-5) ...
Setting up libsdl-mixer1.2:armhf (1.2.12-16+b1) ...
Setting up librsvg2-common:armhf (2.50.3+dfsg-1) ...
Setting up vdpau-driver-all:armhf (1.4-3) ...
Setting up python3-pygame (1.9.6+dfsg-4+b1) ...
Setting up libopencv-objdetect4.5:armhf (4.5.1+dfsg-5) ...
Setting up libavcodec58:armhf (8:4.3.6-0+deb11u1+rpt3) ...
Setting up libchromaprint1:armhf (1.5.0-2) ...
Setting up libavformat58:armhf (8:4.3.6-0+deb11u1+rpt3) ...
Setting up odbcinst (2.3.6-0.1+b1) ...
Setting up odbcinst1debian2:armhf (2.3.6-0.1+b1) ...
Setting up libgdal28 (3.2.2+dfsg-2+deb11u2) ...
Setting up libopencv-imgcodecs4.5:armhf (4.5.1+dfsg-5) ...
Setting up libopencv-videoio4.5:armhf (4.5.1+dfsg-5) ...
Processing triggers for mailcap (3.69) ...
Processing triggers for libglib2.0-0:armhf (2.66.8-1) ...
Processing triggers for libc-bin (2.31-13+rpt2+rpi1+deb11u5) ...
Processing triggers for man-db (2.9.4-2) ...
Processing triggers for udev (247.3-7+rpi1+deb11u2) ...
Setting up glib-networking:armhf (2.66.0-2) ...
Setting up libsoup2.4-1:armhf (2.72.0-2) ...
Setting up libsoup-gnome2.4-1:armhf (2.72.0-2) ...
Setting up librest-0.7-0:armhf (0.8.1-1.1) ...
Setting up libgtk-3-0:armhf (3.24.24-4+rpt12+deb11u3) ...
Setting up libgtk-3-bin (3.24.24-4+rpt12+deb11u3) ...
Setting up libwxgtk3.0-gtk3-0v5:armhf (3.0.5.1+dfsg-2) ...
Setting up notification-daemon (3.20.0-4) ...
Setting up libopencv-highgui4.5:armhf (4.5.1+dfsg-5) ...
Setting up libopencv-contrib4.5:armhf (4.5.1+dfsg-5) ...
Setting up python3-wxgtk4.0 (4.0.7+dfsg-10) ...
Setting up python3-opencv (4.5.1+dfsg-5) ...
Processing triggers for libgdk-pixbuf-2.0-0:armhf (2.42.2+dfsg-1+deb11u1) ...
Processing triggers for libc-bin (2.31-13+rpt2+rpi1+deb11u5) ...
pi@raspberrypi:~ $

Step 5：安装mavproxy

pi@raspberrypi:~ $ pip3 install PyYAML mavproxy --user
Looking in indexes: https://pypi.org/simple, https://www.piwheels.org/simple
Collecting PyYAML
  Downloading https://www.piwheels.org/simple/pyyaml/PyYAML-6.0.1-cp39-cp39-linux_armv7l.whl (45 kB)
     |████████████████████████████████| 45 kB 147 kB/s
Collecting mavproxy
  Downloading https://www.piwheels.org/simple/mavproxy/MAVProxy-1.8.62-py3-none-any.whl (7.1 MB)
     |████████████████████████████████| 7.1 MB 1.3 MB/s
Collecting pyserial>=3.0
  Downloading https://www.piwheels.org/simple/pyserial/pyserial-3.5-py2.py3-none-any.whl (90 kB)
     |████████████████████████████████| 90 kB 897 kB/s
Collecting pymavlink>=2.4.14
  Downloading https://www.piwheels.org/simple/pymavlink/pymavlink-2.4.39-py3-none-any.whl (11.4 MB)
     |████████████████████████████████| 11.4 MB 116 kB/s
Requirement already satisfied: numpy in /usr/lib/python3/dist-packages (from mavproxy) (1.19.5)
Requirement already satisfied: lxml in /usr/lib/python3/dist-packages (from pymavlink>=2.4.14->mavproxy) (4.6.3)
Collecting future
  Downloading https://www.piwheels.org/simple/future/future-0.18.3-py3-none-any.whl (492 kB)
     |████████████████████████████████| 492 kB 160 kB/s
Installing collected packages: future, pyserial, pymavlink, PyYAML, mavproxy
  WARNING: The scripts futurize and pasteurize are installed in '/home/pi/.local/bin' which is not on PATH.
  Consider adding this directory to PATH or, if you prefer to suppress this warning, use --no-warn-script-location.
  WARNING: The scripts pyserial-miniterm and pyserial-ports are installed in '/home/pi/.local/bin' which is not on PATH.
  Consider adding this directory to PATH or, if you prefer to suppress this warning, use --no-warn-script-location.
Successfully installed PyYAML-6.0.1 future-0.18.3 mavproxy-1.8.62 pymavlink-2.4.39 pyserial-3.5
pi@raspberrypi:~ $

Step 6：配置bash环境

pi@raspberrypi:~ $ echo 'export PATH="$PATH:$HOME/.local/bin"' >> ~/.bashrc

ssh重新登录后，执行mavproxy.py命令(如果没有配置bash环境，tab键就没法补全，找不到命令了)。

pi@raspberrypi:~ $ mavproxy.py --version
WARNING: You should uninstall ModemManager as it conflicts with APM and Pixhawk
MAVProxy is a modular ground station using the mavlink protocol
MAVProxy Version: 1.8.62

3.2 更新

发布版本更新

pi@raspberrypi:~ $ pip3 install mavproxy pymavlink --user --upgrade

Git分支更新

以master分支为例：

pi@raspberrypi:~ $ pip3 install mavproxy --user git+https://github.com/ArduPilot/mavproxy.git@master

4. 连接飞控

4.1 正常连接

为了测试方便，目前暂时使用RaspberryPi 3B+开发板进行验证，与最终的RaspberryPi Zero W有些差异。

注：为了偷懒直接拿了一块USB的串口转接板来做过渡。

如果按照上述RaspberryPi Zero W通过串口连接Ardupilot飞控，使用如下命令：

pi@raspberrypi:~ $ mavproxy.py --master=/dev/ttyAMA0  --baudrate=115200

而现在采用的是RaspberryPi 3B+ + USB Serial Adapter，那么命令修改为：

pi@raspberrypi:~ $ mavproxy.py --master=/dev/ttyUSB0  --baudrate=115200
WARNING: You should uninstall ModemManager as it conflicts with APM and Pixhawk
Connect /dev/ttyUSB0 source_system=255
Log Directory:
Telemetry log: mav.tlog
Waiting for heartbeat from /dev/ttyUSB0
MAV> Detected vehicle 1:1 on link 0
online system 1
Mode(0)> Mode Mode(0)
AP: ArduCopter V4.3.6 (0c5e999c)
AP: ChibiOS: 66e5de0d
AP: KakuteF7 001E0043 3036510A 36363631
AP: RCOut: PWM:1-6
AP: IMU0: fast sampling enabled 8.0kHz/2.0kHz
AP: Frame: UNSUPPORTED
Received 1018 parameters (ftp)
Saved 1018 parameters to mav.parm

Mode(0)>
Mode(0)>

4.2 异常连接

请注意连接的时候波特率一定要匹配，通常电传默认配置的波特率是57600bps，这里笔者是有过修改的。

如果不匹配会出现如下情况：

pi@raspberrypi:~ $ mavproxy.py --master=/dev/ttyUSB0
WARNING: You should uninstall ModemManager as it conflicts with APM and Pixhawk
Connect /dev/ttyUSB0 source_system=255
Log Directory:
Telemetry log: mav.tlog
Waiting for heartbeat from /dev/ttyUSB0
MAV> link 1 down

4.3 异常分析

通常如果连接不上可能有以下几点：

1. 检查飞控板是否上电正常（检查飞控LED指示灯）
2. 串口波特率是否设置正确（飞控电传UART1/UART2默认57600bps）
3. 检查RX/Tx/GND是否接对，尤其是飞控Rx接串口板Tx；飞控Tx接串口板Rx
4. 请注意有些串口板丝印Rx/Tx有印刷问题：Rx/Tx丝印是反的（笔者这块就是这样的垃圾板子）

最为有效的方法是，先使用Mission Planner或者QGC连一下飞控，如果正常连接了，证明电气特性方面都是正常的了。

5. 连接拓扑

接下来，这里简单整理下后续可能出现的几种连接方式，因为，最终的目的还是需要考虑协调群飞。

5.1 实验拓扑

这个就是最为简单实物简单连接图。

5.2 多飞控连接

这里的路由器节点可以看做虚拟部署Access Point：

• 如果现场实地部署该物理节点，多无人机控制部
• 如果实际部署在某台无人机上，集群无人机
• 如果使用Mesh网络而非IP路由网络，蜂群无人机

5.3 蜂群飞控

伴机电脑进行协调，根据智能决策结果实施蜂群群飞，通过MAVLink电传数据链路，加密数据，采用RF报文（非IP网络报文TCP/UDP等），组建蜂群，实现群飞。

当然，这里只是画了几个简单拓扑连接图，看看能否用廉价的硬件（ESP8266/ESP32等）搭建多台无人机实现群飞。首先，需要解决的就是相对定位问题；其次，考虑协调群飞，需要一些基本的数据交互（位置信息，方向矢量，规划路径共享等），避免高速飞行过程中相互碰撞的情况发生。

6. 总结

第五章节做了一个延伸的应用，主要是讨论多数据链路情况下MAVProxy的应用，以及廉价硬件的考虑。

总的来说，MAVProxy从开发和扩展应用的角度来说是一个非常好的地面站切入点。后续有时间，我们在进一步的了解该软件的设计和应用。

7. 参考资料

【1】ArduPilot开源飞控之Companion Computers简单分析
【2】Raspbian镜像无头烧录
【3】apt-get通过代理更新系统

8. 补充资料-硬件连接

这里使用RaspberryPi Zero W和holybro-kakutef7aio实物来进行验证，串口连接方式如下所示：