├── .gitignore ├── 00-攻击文件 ├── 00-自动化攻击脚本.sh ├── 01-自动化集群攻击脚本.sh ├── 20-关闭自动脚本.sh ├── PX4LogLink ├── mav.tlog ├── mav.tlog.raw ├── multirotor_communication.py ├── multirotor_control.py ├── start_simulation.sh └── 端口修改 │ ├── px4-mavros │ └── px4-rc.simulator ├── Attacker ├── .flake8 ├── .github │ └── workflows │ │ └── windows_build.yml ├── .gitignore ├── .gitmodules ├── .idea │ ├── .gitignore │ ├── .name │ ├── MAVProxy.iml │ ├── inspectionProfiles │ │ └── profiles_settings.xml │ ├── misc.xml │ ├── modules.xml │ └── vcs.xml ├── ANDROID.md ├── COPYING.txt ├── MAVProxy │ ├── MAVLink.xml │ ├── MAVProxyWinLAN.bat │ ├── MAVProxyWinUSB.bat │ ├── __init__.py │ ├── actuator_attack.scr │ ├── attack.md │ ├── attack.py │ ├── attack_0307.py │ ├── attack_config.xml │ ├── gps_spoofing.scr │ ├── mav.parm │ ├── mavproxy.py │ ├── module_load.scr │ ├── modules │ │ ├── __init__.py │ │ ├── lib │ │ │ ├── ANUGA │ │ │ │ ├── README.txt │ │ │ │ ├── __init__.py │ │ │ │ ├── geo_reference.py │ │ │ │ ├── lat_long_UTM_conversion.py │ │ │ │ └── redfearn.py │ │ │ ├── LowPassFilter2p.py │ │ │ ├── MacOS │ │ │ │ ├── __init__.py │ │ │ │ ├── backend_agg.py │ │ │ │ ├── backend_wx.py │ │ │ │ ├── backend_wxagg.py │ │ │ │ └── wxversion.py │ │ │ ├── __init__.py │ │ │ ├── dumpstacks.py │ │ │ ├── geodesic_grid.py │ │ │ ├── graph_ui.py │ │ │ ├── graphdefinition.py │ │ │ ├── grapher.py │ │ │ ├── icon.py │ │ │ ├── kmlread.py │ │ │ ├── live_graph.py │ │ │ ├── live_graph_ui.py │ │ │ ├── magfit.py │ │ │ ├── mav_fft.py │ │ │ ├── mp_checklist.py │ │ │ ├── mp_elevation.py │ │ │ ├── mp_image.py │ │ │ ├── mp_menu.py │ │ │ ├── mp_module.py │ │ │ ├── mp_settings.py │ │ │ ├── mp_substitute.py │ │ │ ├── mp_util.py │ │ │ ├── mp_widgets.py │ │ │ ├── msgstats.py │ │ │ ├── multiproc.py │ │ │ ├── multiproc_util.py │ │ │ ├── ntrip.py │ │ │ ├── opengl.py │ │ │ ├── optparse_gui │ │ │ │ ├── README.txt │ │ │ │ └── __init__.py │ │ │ ├── param_ftp.py │ │ │ ├── param_help.py │ │ │ ├── rline.py │ │ │ ├── rtcm3.py │ │ │ ├── srtm.py │ │ │ ├── textconsole.py │ │ │ ├── wavefront.py │ │ │ ├── win_layout.py │ │ │ ├── wx_addlink.py │ │ │ ├── wx_loader.py │ │ │ ├── wx_processguard.py │ │ │ ├── wx_util.py │ │ │ ├── wxconsole.py │ │ │ ├── wxconsole_ui.py │ │ │ ├── wxconsole_util.py │ │ │ ├── wxgrapheditor.py │ │ │ ├── wxhorizon.py │ │ │ ├── wxhorizon_ui.py │ │ │ ├── wxhorizon_util.py │ │ │ ├── wxsaildash.py │ │ │ ├── wxsaildash_ui.py │ │ │ ├── wxsaildash_util.py │ │ │ ├── wxsettings.py │ │ │ └── wxsettings_ui.py │ │ ├── mavproxy_DGPS.py │ │ ├── mavproxy_GPSInput.py │ │ ├── mavproxy_HIL.py │ │ ├── mavproxy_OpenDroneID.py │ │ ├── mavproxy_SecureCommand.py │ │ ├── mavproxy_adsb.py │ │ ├── mavproxy_ais.py │ │ ├── mavproxy_antenna.py │ │ ├── mavproxy_arm.py │ │ ├── mavproxy_asterix.py │ │ ├── mavproxy_auxopt.py │ │ ├── mavproxy_battery.py │ │ ├── mavproxy_calibration.py │ │ ├── mavproxy_cameraview.py │ │ ├── mavproxy_checklist.py │ │ ├── mavproxy_cmdlong.py │ │ ├── mavproxy_console.py │ │ ├── mavproxy_dataflash_logger.py │ │ ├── mavproxy_devop.py │ │ ├── mavproxy_emuecu.py │ │ ├── mavproxy_example.py │ │ ├── mavproxy_fakegps.py │ │ ├── mavproxy_fence.py │ │ ├── mavproxy_fieldcheck │ │ │ ├── __init__.py │ │ │ ├── cmac-foamy-fence.txt │ │ │ ├── cmac-foamy-mission-ccw.txt │ │ │ ├── cmac-foamy-mission-cw.txt │ │ │ ├── cmac-foamy-rally.txt │ │ │ ├── springvalley-foamy-fence.txt │ │ │ ├── springvalley-foamy-mission-ccw.txt │ │ │ ├── springvalley-foamy-mission-cw.txt │ │ │ ├── springvalley-foamy-rally.txt │ │ │ ├── springvalleybottom-foamy-fence.txt │ │ │ ├── springvalleybottom-foamy-mission-ccw.txt │ │ │ ├── springvalleybottom-foamy-mission-cw.txt │ │ │ └── springvalleybottom-foamy-rally.txt │ │ ├── mavproxy_firmware.py │ │ ├── mavproxy_followtest.py │ │ ├── mavproxy_ftp.py │ │ ├── mavproxy_gasheli.py │ │ ├── mavproxy_generator.py │ │ ├── mavproxy_genobstacles.py │ │ ├── mavproxy_gimbal.py │ │ ├── mavproxy_gopro.py │ │ ├── mavproxy_graph.py │ │ ├── mavproxy_heliplane.py │ │ ├── mavproxy_help.py │ │ ├── mavproxy_horizon.py │ │ ├── mavproxy_joystick │ │ │ ├── __init__.py │ │ │ ├── controls.py │ │ │ ├── findjoy.py │ │ │ └── joysticks │ │ │ │ ├── FeiYing.yml │ │ │ │ ├── Logitech_WingMan_3D.yml │ │ │ │ ├── T16S.yml │ │ │ │ ├── carolbox-usb.yml │ │ │ │ ├── cypress-spektrum.yml │ │ │ │ ├── great-planes.Interlink-X.yaml │ │ │ │ ├── great-planes.yml │ │ │ │ ├── jumper.yml │ │ │ │ ├── logicool-f310.yml │ │ │ │ ├── logitech-dual-action.yml │ │ │ │ ├── saili-simulator.yml │ │ │ │ ├── sony-playstation.yml │ │ │ │ ├── spektrumInterLinkDX.yml │ │ │ │ ├── sz-mypower-ds4.yml │ │ │ │ ├── taranis.yml │ │ │ │ ├── xbox-360.yml │ │ │ │ └── xboxdrv-mode2.yml │ │ ├── mavproxy_kmlread.py │ │ ├── mavproxy_layout.py │ │ ├── mavproxy_link.py │ │ ├── mavproxy_log.py │ │ ├── mavproxy_magical │ │ │ ├── __init__.py │ │ │ ├── data │ │ │ │ ├── arrow.mtl │ │ │ │ ├── arrow.obj │ │ │ │ ├── quadcopter.mtl │ │ │ │ └── quadcopter.obj │ │ │ ├── glrenderer.py │ │ │ ├── magical_ui.py │ │ │ ├── wxgeodesicgrid.py │ │ │ └── wxvehicle.py │ │ ├── mavproxy_map │ │ │ ├── GAreader.py │ │ │ ├── __init__.py │ │ │ ├── data │ │ │ │ ├── barrell.png │ │ │ │ ├── blueantenna.png │ │ │ │ ├── blueblimp.png │ │ │ │ ├── blueboat.png │ │ │ │ ├── bluecopter.png │ │ │ │ ├── blueheli.png │ │ │ │ ├── blueplane.png │ │ │ │ ├── bluerover.png │ │ │ │ ├── bluesinglecopter.png │ │ │ │ ├── bluesub.png │ │ │ │ ├── camera-small-red.png │ │ │ │ ├── cloud.png │ │ │ │ ├── flag.png │ │ │ │ ├── greenantenna.png │ │ │ │ ├── greenblimp.png │ │ │ │ ├── greencopter.png │ │ │ │ ├── greenheli.png │ │ │ │ ├── greenplane.png │ │ │ │ ├── greenrover.png │ │ │ │ ├── greensinglecopter.png │ │ │ │ ├── greensub.png │ │ │ │ ├── hawk.png │ │ │ │ ├── home.png │ │ │ │ ├── hoop.png │ │ │ │ ├── image_vector_files │ │ │ │ │ └── heli_icon.svg │ │ │ │ ├── loading.jpg │ │ │ │ ├── migbird.png │ │ │ │ ├── orangecopter.png │ │ │ │ ├── orangeheli.png │ │ │ │ ├── orangeplane.png │ │ │ │ ├── orangerover.png │ │ │ │ ├── purpleplane.png │ │ │ │ ├── rallypoint.png │ │ │ │ ├── ramp.png │ │ │ │ ├── redantenna.png │ │ │ │ ├── redblimp.png │ │ │ │ ├── redboat.png │ │ │ │ ├── redcopter.png │ │ │ │ ├── redheli.png │ │ │ │ ├── redplane.png │ │ │ │ ├── redrover.png │ │ │ │ ├── redsinglecopter.png │ │ │ │ ├── redsub.png │ │ │ │ └── unavailable.jpg │ │ │ ├── mp_elevation.py │ │ │ ├── mp_slipmap.py │ │ │ ├── mp_slipmap_ui.py │ │ │ ├── mp_slipmap_util.py │ │ │ ├── mp_tile.py │ │ │ └── srtm.py │ │ ├── mavproxy_message.py │ │ ├── mavproxy_messagerate.py │ │ ├── mavproxy_misc.py │ │ ├── mavproxy_misseditor │ │ │ ├── __init__.py │ │ │ ├── button_renderer.py │ │ │ ├── me_defines.py │ │ │ ├── me_event.py │ │ │ ├── missionEditorFrame.py │ │ │ └── mission_editor.py │ │ ├── mavproxy_mmap │ │ │ ├── __init__.py │ │ │ ├── mmap_app │ │ │ │ ├── bing.js │ │ │ │ ├── bluemarble.js │ │ │ │ ├── drone-md.png │ │ │ │ ├── drone-sm.png │ │ │ │ ├── index.html │ │ │ │ └── modestmaps.js │ │ │ └── mmap_server.py │ │ ├── mavproxy_mode.py │ │ ├── mavproxy_movinghome.py │ │ ├── mavproxy_mqtt.py │ │ ├── mavproxy_msg.py │ │ ├── mavproxy_nmeagps.py │ │ ├── mavproxy_nmeaout.py │ │ ├── mavproxy_nokov │ │ │ └── __init__.py │ │ ├── mavproxy_nsh.py │ │ ├── mavproxy_ntrip.py │ │ ├── mavproxy_optitrack │ │ │ ├── DataDescriptions.py │ │ │ ├── MoCapData.py │ │ │ ├── NatNetClient.py │ │ │ └── __init__.py │ │ ├── mavproxy_osd.py │ │ ├── mavproxy_output.py │ │ ├── mavproxy_param.py │ │ ├── mavproxy_paramedit │ │ │ ├── __init__.py │ │ │ ├── checklisteditor.py │ │ │ ├── param_editor.py │ │ │ ├── param_editor.wxg │ │ │ ├── param_editor_frame.py │ │ │ └── ph_event.py │ │ ├── mavproxy_park.py │ │ ├── mavproxy_ppp.py │ │ ├── mavproxy_proximity.py │ │ ├── mavproxy_rally.py │ │ ├── mavproxy_rc.py │ │ ├── mavproxy_rcsetup.py │ │ ├── mavproxy_relay.py │ │ ├── mavproxy_restserver.py │ │ ├── mavproxy_sail.py │ │ ├── mavproxy_sensors.py │ │ ├── mavproxy_serial.py │ │ ├── mavproxy_setpos.py │ │ ├── mavproxy_signing.py │ │ ├── mavproxy_silvus.py │ │ ├── mavproxy_smartcamera │ │ │ ├── __init__.py │ │ │ ├── sc_ExifWriter.py │ │ │ ├── sc_SonyQX1.py │ │ │ ├── sc_config.py │ │ │ ├── sc_main.py │ │ │ ├── sc_video.py │ │ │ ├── sc_webcam.py │ │ │ ├── smart_camera.cnf │ │ │ └── ssdp.py │ │ ├── mavproxy_speech.py │ │ ├── mavproxy_swarm.py │ │ ├── mavproxy_system_time.py │ │ ├── mavproxy_terrain.py │ │ ├── mavproxy_test.py │ │ ├── mavproxy_timesync.py │ │ ├── mavproxy_tracker.py │ │ ├── mavproxy_tuneopt.py │ │ ├── mavproxy_ublox │ │ │ └── __init__.py │ │ ├── mavproxy_ucenter.py │ │ ├── mavproxy_useralerts.py │ │ ├── mavproxy_vicon.py │ │ └── mavproxy_wp.py │ ├── sensor_attack.scr │ ├── tools │ │ ├── MAVExplorer.bat │ │ ├── MAVExplorer.py │ │ ├── graphs │ │ │ ├── ekf3Graphs.xml │ │ │ ├── ekfGraphs.xml │ │ │ ├── mavgraphs.xml │ │ │ └── mavgraphs2.xml │ │ └── mavflightview.py │ └── 基于MavProxy的虚假数据攻击器实现原理.pdf ├── MAVProxy_Icon │ ├── 3.ai │ ├── 3.jpg │ ├── 3.png │ ├── icon.jpg │ ├── icon.png │ ├── mockup.jpg │ ├── source file 2.ai │ ├── source file.ai │ ├── trans-BG-2.png │ ├── trans-BG.png │ ├── white-BG-2.jpg │ └── white-BG.jpg ├── README.md ├── docs │ ├── JOYSTICKS.md │ └── MavProxy_Screenshot_Termux.jpg ├── requirements.txt ├── setup.py ├── shortcuts │ ├── ReadMe.md │ ├── mavexplorer.desktop │ ├── mavexplorer.png │ ├── mavproxy.desktop │ └── mavproxy.png └── windows │ ├── MAVExplorer.ico │ ├── MAVProxy.ico │ ├── MAVProxyWinBuild.bat │ ├── Startup Examples │ ├── MAVProxyLogput.bat │ └── MAVProxyMultiOutput.bat │ ├── mavinit.scr │ ├── mavproxy.iss │ ├── mavproxy.spec │ └── returnVersion.py ├── README.md ├── doc ├── 测试子系统帮助文档.pdf ├── 测试环境全流程帮助文档.docx └── 飞行日志ulog转csv.pdf ├── images ├── image-1.png ├── image-2.png ├── image-3.png ├── image-4.png ├── image-5.png ├── image-6.png ├── image-7.png └── image.png ├── keyborad_control ├── 00-自动化上升脚本.sh ├── 10-关闭自动脚本.sh ├── XTDrone_attitude_control_demo.py ├── XTDronekeyboard.py ├── attitude_control_demo.py ├── multirotor_communication.py └── multirotor_control.py ├── 传感器调节实验 ├── 00-自动化上升脚本.sh ├── 10-关闭自动脚本.sh ├── XTDrone_attitude_control_demo.py ├── XTDronekeyboard.py ├── attitude_control_demo.py ├── multirotor_communication.py ├── multirotor_control.py └── rostopic_bias.py ├── 安全威胁建模实验 ├── 60分钟-30次多段上升-悬停 │ ├── 00-自动化上升脚本.sh │ ├── 10-关闭自动脚本.sh │ ├── 60min-UpAndHover.py │ ├── multirotor_communication.py │ └── multirotor_control.py └── 激励信号切换周期 │ ├── 姿态周期切换 │ ├── 00-自动化上升脚本.sh │ ├── 10-关闭自动脚本.sh │ ├── 60min-UpAndHover.py │ ├── attitude_contorl_demo.py │ ├── gpt_control.py │ ├── multirotor_communication.py │ ├── multirotor_control.py │ └── test.py │ ├── 水平位置周期切换 │ ├── 00-自动化上升脚本.sh │ ├── 10-关闭自动脚本.sh │ ├── 60min-UpAndHover.py │ ├── multirotor_communication.py │ ├── multirotor_control.py │ └── x-y-control.py │ └── 高度周期切换 │ ├── 00-自动化上升脚本.sh │ ├── 10-关闭自动脚本.sh │ ├── 60min-UpAndHover.py │ ├── gpt_control.py │ ├── multirotor_communication.py │ ├── multirotor_control.py │ └── test.py ├── 攻击参数修改.md └── 风实验 ├── 00-自动化上升脚本.sh ├── 10-关闭自动脚本.sh ├── 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