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锁定mavsdk<4: v4为全新原生API与经典gRPC API不兼容

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树莓派实测mavsdk 4.0.0无mavsdk.offboard/System/telemetry(LegacyModuleError),
且其原生库libcmavsdk.so有libstdc++符号问题; 3.x(最新3.17.4, aarch64 wheel可用)
为gRPC架构内嵌mavsdk_server, 无此问题。同步更新两份requirements与部署文档§2/§3
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keita
2026-09-24 10:08:06 +08:00
parent 642b8bf224
commit ccd31effee
3 changed files with 18 additions and 23 deletions
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requirements-pod.txt
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# requirements-pod.txt —— 树莓派 4B(Ubuntu 24.04)吊舱桥接最小依赖
# 只装这几个,切勿在 Pi 上装全量 requirements.txt(torch/cv2 无意义且数百 MB)
# 详见 docs/树莓派4B部署注意事项.md §2
mavsdk # PX4 遥测订阅 + offboard 指令(aarch64 官方 wheel)
mavsdk<4 # PX4 遥测订阅 + offboard;⚠ 必须锁 <4:v4 是全新原生 API 重写,与本仓库经典 gRPC API 不兼容(最新 3.17.4 有 aarch64 wheel)
pyserial # 吊舱串口(115200 8N1)
pytest # 仅上机自测(tests/pod_bridge 92 条)需要,部署运行可省