public byte[] arm_disarm()
{
MAVLink.mavlink_command_long_t req = new MAVLink.mavlink_command_long_t();//定义req为 MAVLink.mavlink_command_long_t类，填充常命令的数据包
req.target_system = 1;
req.target_component = 1;
req.command = (ushort)MAVLink.MAV_CMD.COMPONENT_ARM_DISARM; //‘COMPONENT_ARM_DISARM’代表你要发送什么类的信息（此处为解锁信息），可自己选择（看类里有多少种）
//req.command = (ushort)MAVLink.MAV_CMD
req.param1 = armed ? 0 : 1; //此处发送解锁信息，只需用param1。其余param2—7注释掉
armed = !armed;
/*
* req.param2 = p2;//具体想要发送什么类型的数据,param如何设置，需要查看阿木社区中的MAV_CMD
* req.param3 = p3;//跟踪的可以参考里面的fellow
* req.param4 = p4;
* req.param5 = p5;
* req.param6 = p6;
* req.param7 = p7;
*/
byte[] packet = mavlink.GenerateMAVLinkPacket_PX4(MAVLink.MAVLINK_MSG_ID.COMMAND_LONG, req); //把req数据包，按照mavlink协议打包成（定义了临时变量packet）
//foreach (byte i in packet)
//{
// Console.Write("{0:X} ", i);
//}
return(packet);
}