VK_FORMATION_LEADER 增加队形航向锁定状态信息

msg_definitions/VKFly.xml

@@ -929,8 +929,8 @@
       <field type="int16_t" name="z_dist" units="cm">distance between drones in z axis</field>
       <field type="uint16_t" name="rect_col_num">columns number of rectangle formation</field>
       <extensions />
-      <field type="float" name="formation_heading" units="deg">if nan, use yaw as formation
-        heading</field>
+      <field type="float" name="formation_heading" units="deg">if nan, use yaw as formation heading</field>
+      <field type="float" name="form_head_lock">0 unlock, 1 lock</field>
     </message>
 
     <message id="53005" name="VK_ENGINE_ECU_STAUS">

readme.md

@@ -773,12 +773,13 @@ M5~M8\M13~M16为固定翼舵面舵机.
 | vn             | 北向速度, m/s                                         |
 | vu             | 天向速度, m/s                                         |
 | yaw            | 机头航向,北偏东正 deg                                 |
-| x_dist         | 机间左右间距 cm                                        |
-| y_dist         | 机间前后间距 cm                                        |
-| z_dist         | 机间高度间距 cm                                        |
-| rect_col_num   | 矩形队形列数                                         |
+| x_dist         | 机间左右间距 cm                                       |
+| y_dist         | 机间前后间距 cm                                       |
+| z_dist         | 机间高度间距 cm                                       |
+| rect_col_num   | 矩形队形列数                                          |
 | formation_type | 队形类型 参考 VKFLY_FORMATION_TYPE                    |
 | form_heading   | 队形航向,北偏东正 deg, nan 表示用长机航向作为队形航向 |
+| form_head_lock | 队形航向锁定 0-未锁定 1-锁定                          |
 
 ### 2.22 组件设备版本信息 VK_COMP_VERSION
 
@@ -1718,213 +1719,213 @@ VKins 系统的状态数据自定义消息, 主要用于一些自定状态的传
 
 ### 9.1 旋翼版本参数
 
-| 参数名          | 参数                                 | 类型   | 说明                                                                                                                           |
-| --------------- | ------------------------------------ | ------ | ------------------------------------------------------------------------------------------------------------------------------ |
-| MAV_SYS_ID      | 系统ID                               | UINT8  | 范围1~255, 作为MAVLINK通信使用的 SYSTEM ID                                                                                     |
-| MAV_COMP_ID     | 组件ID                               | UINT8  | 范围1~255, 作为MAVLINK通信使用的COMPONENT ID                                                                                   |
-| MLOG_MODE       | 数据记录模式                         | UINT32 | 范围0~3 <br>0-不记录 <br>1-解锁到上锁 <br>2-上电到落锁 3-上电到下电                                                            |
-| BOOT_MODE       | 系统启动模式                         | UINT8  | 范围0~1, 0正常启动, 1U盘模式(用于导入导出数据文件)                                                                             |
-| HW_SN_NUM       | 硬件SN号                             | UINT32 | 范围0~UINT32_MAX                                                                                                               |
-| AIRFRAME        | 飞机布局类型                         | UINT16 | 范围0~UINT16_MAX, 区分不同的飞机布局类型, 参考 enum AP_TYPE                                                                    |
-| GCS_DISCONT_DT  | 地面站失联时间                       | UINT16 | 范围0~UINT16_MAX, 单位s. 持续未收到地面站心跳的时间, 0-表示不检测地面站失联                                                    |
-| RCFAIL_LOT_T    | RC失控悬停时间                       | UINT16 | 范围0~UINT16_MAX, 单位s. 遥控器失控后悬停等待时间                                                                              |
-| RC_ATT_EN       | 遥控器姿态模式启用                   | UINT16 | 范围0~1, 0不启用, 1启用                                                                                                        |
-| VOLT1_LOW_VAL   | 一级电压低阈值                       | FLOAT  | 范围0~1000, 单位V                                                                                                              |
-| VOLT2_LOW_VAL   | 二级电压低阈值                       | FLOAT  | 范围0~1000, 单位V                                                                                                              |
-| VCAP1_LOW_VAL   | 一级电量低阈值                       | UINT8  | 范围0~100, 单位1%, 当具有多个智能电池时, 飞控按他们中最低电量进行触发保护判定                                                  |
-| VCAP2_LOW_VAL   | 二级电量低阈值                       | UINT8  | 范围0~100, 单位1%                                                                                                              |
-| H2P_LOW1_VAL    | 一级氢气压低阈值                     | FLOAT  | 范围0~10000, 单位MPa                                                                                                           |
-| H2P_LOW1_VAL    | 二级氢气压低阈值                     | FLOAT  | 范围0~10000, 单位MPa                                                                                                           |
-| FUEL_LOW1_VAL   | 一级ecu油量低阈值                    | FLOAT  | 范围 1~100, 单位%                                                                                                              |
-| FUEL_LOW2_VAL   | 二级ecu油量低阈值                    | FLOAT  | 范围 1~100, 单位%                                                                                                              |
-| VOLT_PROT_CH    | 电压保护通道                         | UINT16 | 范围0~10, 触发电压保护的通道, 默认0飞控供电                                                                                    |
-| OBAVOID_DIST    | 障碍悬停距离                         | FLOAT  | 范围2~8, 单位m                                                                                                                 |
-| OBAVOID_ACT     | 避障动作                             | UINT8  | 范围0~2,0-不开启 1-悬停 2-爬高                                                                                                 |
-| GCS_DISC_CRUISE | 航线中是否启用地面站失联             | UINT8  | 范围0~1,0-不启用 1-启用                                                                                                        |
-| FS_CONF_A       | 失控保护设置                         | UINT32 | 参考enum FS_ACTION. 每4bit为一类保护动作设置                                                                                   |
-| CIR_RAD_DFLT    | 默认环绕/盘旋半径                    | FLOAT  | 范围1~10000m                                                                                                                   |
-| TOF_ALT_M       | 默认起飞高度                         | FLOAT  | 范围1~5000, 单位m                                                                                                              |
-| RTL_ALT_M       | 默认返航高度                         | FLOAT  | 范围0~5000, 单位m                                                                                                              |
-| RTL_HEAD_MODE   | 返航机头对准方式                     | UINT16 | 0-对头返航 1-对尾返航 2-保持当前航向                                                                                           |
-| WP_FP_ALT_MODE  | 去航线起始点爬高方式                 | UINT8  | 0-直线爬升 1-斜线爬升                                                                                                          |
-| RTL_EXEC_MODE   | 默认返航执行方式                     | UINT8  | 参考VKFLY_RTL_EXEC_MODE                                                                                                        |
-| MC_XY_CRUISE    | 默认旋翼巡航速度                     | FLOAT  | 范围2~25, 单位m/s                                                                                                              |
-| COM_P1_AF       | 载荷P1串口复用                       | UINT16 | 范围0~UINT16_MAX                                                                                                               |
-| ALT_LIM_UP1     | 1级高度限制                          | UINT16 | 范围10~10000, 单位m                                                                                                            |
-| ALT_LIM_UP2     | 2级高度限制                          | UINT16 | 范围0~10000, 单位m                                                                                                             |
-| MAX_HOR_DIST    | 最远水平距离                         | UINT32 | 范围0~UINT32_MAX, 单位m                                                                                                        |
-| PREC_LAND_ERR   | 精准降落误差范围                     | FLOAT  | 范围0.05~1.0, 单位m                                                                                                            |
-| VEFOL_FR        | 车辆跟随相对右向位置                 | FLOAT  | 范围-1000~1000,单位m                                                                                                           |
-| VEFOL_FF        | 车辆跟随相对前向位置                 | FLOAT  | 范围-1000~1000,单位m                                                                                                           |
-| VEFOL_FU        | 车辆跟随相对上向位置                 | FLOAT  | 范围-1000~1000,单位m                                                                                                           |
-| VEFOL_FYD       | 车辆跟随相对航向夹角                 | FLOAT  | 范围-180~180,单位deg                                                                                                           |
-| VEFOL_BASE_YD   | 基站航向安装偏角                     | FLOAT  | 范围-180~180, 单位deg                                                                                                          |
-| VEFOL_BASE_YD   | 基站航向安装偏角                     | FLOAT  | 范围-180~180, 单位deg                                                                                                          |
-| PHO_SIG_TYPE    | 拍照信号类型                         | UINT8  | 范围0~2 <br>0-低电平 <br>1-高电平 <br>2-PWM                                                                                    |
-| PHO_PWM_OFF     | 拍照PWM信号待命值                    | UINT16 | 范围0~10000, 单位us                                                                                                            |
-| PHO_PWM_ON      | 拍照PWM信号触发值                    | UINT16 | 范围0~10000, 单位us                                                                                                            |
-| PHO_SIG_TIME    | 拍照触发信号持续时间                 | UINT16 | 范围0~20000, 单位ms                                                                                                            |
-| PHO_SIG_CH      | 拍照-信号输出通道映射                | UINT8  | 拍照信号映射到飞控的哪个输出接口,0~16, 0-表示不启用映射输出                                                                    |
-| FOLLOW_DIST     | 默认跟随距离                         | FLOAT  | 范围2~1000,单位m                                                                                                               |
-| MAN_VELH_MAX    | 手动模式最大水平速度                 | FLOAT  | 范围2~20,单位m/s                                                                                                               |
-| MAN_VELU_MAX    | 手动模式最大爬升速度                 | FLOAT  | 范围1~10,单位m/s                                                                                                               |
-| MAN_VELD_MAX    | 手动模式最大下降速度                 | FLOAT  | 范围1~10,单位m/s                                                                                                               |
-| AUTO_VELU_MAX   | 自动模式最大爬升速度                 | FLOAT  | 范围0.5~8, 单位m/s                                                                                                             |
-| AUTO_VELD_MAX   | 自动模式最大下降速度                 | FLOAT  | 范围0.2~5,单位m/s                                                                                                              |
-| AUTO_VELV_LND   | 自动模式降落接地速度                 | FLAOT  | 范围0.2~0.6, 单位m/s                                                                                                           |
-| TILT_ANG_MAX    | 最大倾斜角度                         | FLOAT  | 范围10~45,单位deg                                                                                                              |
-| YAW_SPD_MAX     | 最大航向角速度                       | FLAOT  | 范围10~120,单位deg/s                                                                                                           |
-| MC_RP_ANG_KP    | 旋翼横滚俯仰角度比例系数             | UINT16 | 范围200~800                                                                                                                    |
-| MC_YAW_ANG_KP   | 旋翼航向角度比例系数                 | UINT16 | 范围200~800                                                                                                                    |
-| MC_RSPD_KP      | 旋翼横滚角速度比例系数               | UINT16 | 范围30~200                                                                                                                     |
-| MC_RSPD_KI      | 旋翼横滚角速度积分系数               | UINT16 | 范围0~20                                                                                                                       |
-| MC_RSPD_KD      | 旋翼横滚角速度微分系数               | UINT16 | 范围0~20                                                                                                                       |
-| MC_PSPD_KP      | 旋翼俯仰角速度比例系数               | UINT16 | 范围30~200                                                                                                                     |
-| MC_PSPD_KI      | 旋翼俯仰角速度积分系数               | UINT16 | 范围0~20                                                                                                                       |
-| MC_PSPD_KD      | 旋翼俯仰角速度微分系数               | UINT16 | 范围0~20                                                                                                                       |
-| MC_YSPD_KP      | 旋翼航向角速度比例系数               | UINT16 | 范围50~400                                                                                                                     |
-| MC_YSPD_KI      | 旋翼航向角速度积分系数               | UINT16 | 范围0~20                                                                                                                       |
-| MC_YSPD_KD      | 旋翼航向角速度微分系数               | UINT16 | 范围0~20                                                                                                                       |
-| MC_PXY_KP       | 旋翼水平位置比例系数                 | UINT16 | 范围20~150                                                                                                                     |
-| MC_VXY_KP       | 旋翼水平速度比例系数                 | UINT16 | 范围80~200                                                                                                                     |
-| MC_VXY_KI       | 旋翼水平速度积分系数                 | UINT16 | 范围0~20                                                                                                                       |
-| MC_VXY_KD       | 旋翼水平速度微分系数                 | UINT16 | 范围0~20                                                                                                                       |
-| MC_PZ_KP        | 旋翼高度位置比例系数                 | UINT16 | 范围20~150                                                                                                                     |
-| MC_VZ_KP        | 旋翼垂直速度比例系数                 | UINT16 | 范围300~500                                                                                                                    |
-| MC_AZ_KP        | 旋翼垂直加速度比例系数               | UINT16 | 范围5~20                                                                                                                       |
-| MC_AZ_KI        | 旋翼垂直加速度积分系数               | UINT16 | 范围5~20                                                                                                                       |
-| MC_JERKXY_MAX   | 旋翼水平最大加加速度                 | FLOAT  | 范围8~20,单位m/s                                                                                                               |
-| MC_HOV_THR      | 旋翼悬停油门                         | FLOAT  | 范围0.3~0.7(暂未使用)                                                                                                          |
-| MC_MIN_THR      | 旋翼怠速油门                         | FLOAT  | 范围0.05~0.25                                                                                                                  |
-| GYRO0_XOFF      | GYRO0 X轴零位偏移                    | FLOAT  | 范围-10~10, 单位 rad/s                                                                                                         |
-| GYRO0_YOFF      | GYRO0 Y轴零位偏移                    | FLOAT  | 范围-10~10, 单位 rad/s                                                                                                         |
-| GYRO0_ZOFF      | GYRO0 Z轴零位偏移                    | FLOAT  | 范围-10~10, 单位 rad/s                                                                                                         |
-| ACC0_XOFF       | ACC0 X轴零位偏移                     | FLOAT  | 范围-10~10, 单位m/s^2                                                                                                          |
-| ACC0_YOFF       | ACC0 Y轴零位偏移                     | FLOAT  | 范围-10~10, 单位m/s^2                                                                                                          |
-| ACC0_ZOFF       | ACC0 Z轴零位偏移                     | FLOAT  | 范围-10~10, 单位m/s^2                                                                                                          |
-| ACC0_XXSCALE    | ACC0 校准XX系数                      | FLOAT  | 范围-10~10                                                                                                                     |
-| ACC0_YYSCALE    | ACC0 校准YY系数                      | FLOAT  | 范围-10~10                                                                                                                     |
-| ACC0_ZZSCALE    | ACC0 校准ZZ系数                      | FLOAT  | 范围-10~10                                                                                                                     |
-| MAG0_XOFF       | MAG0 X轴零位偏移                     | FLOAT  | 范围-10~10,单位Gauss                                                                                                           |
-| MAG0_YOFF       | MAG0 Y轴零位偏移                     | FLOAT  | 范围-10~10,单位Gauss                                                                                                           |
-| MAG0_ZOFF       | MAG0 Z轴零位偏移                     | FLOAT  | 范围-10~10,单位Gauss                                                                                                           |
-| MAG0_XXSCALE    | MAG0 校准XX系数                      | FLOAT  | 范围-10~10                                                                                                                     |
-| MAG0_YYSCALE    | MAG0 校准YY系数                      | FLOAT  | 范围-10~10                                                                                                                     |
-| MAG0_ZZSCALE    | MAG0 校准ZZ系数                      | FLOAT  | 范围-10~10                                                                                                                     |
-| GYRO1_XOFF      | GYRO1 X轴零位偏移                    | FLOAT  | 范围-10~10, 单位 rad/s                                                                                                         |
-| GYRO1_YOFF      | GYRO1 Y轴零位偏移                    | FLOAT  | 范围-10~10, 单位 rad/s                                                                                                         |
-| GYRO1_ZOFF      | GYRO1 Z轴零位偏移                    | FLOAT  | 范围-10~10, 单位 rad/s                                                                                                         |
-| ACC1_XOFF       | ACC1 X轴零位偏移                     | FLOAT  | 范围-10~10, 单位m/s^2                                                                                                          |
-| ACC1_YOFF       | ACC1 Y轴零位偏移                     | FLOAT  | 范围-10~10, 单位m/s^2                                                                                                          |
-| ACC1_ZOFF       | ACC1 Z轴零位偏移                     | FLOAT  | 范围-10~10, 单位m/s^2                                                                                                          |
-| ACC1_XXSCALE    | ACC1 校准XX系数                      | FLOAT  | 范围-10~10                                                                                                                     |
-| ACC1_YYSCALE    | ACC1 校准YY系数                      | FLOAT  | 范围-10~10                                                                                                                     |
-| ACC1_ZZSCALE    | ACC1 校准ZZ系数                      | FLOAT  | 范围-10~10                                                                                                                     |
-| MAG1_XOFF       | MAG1 X轴零位偏移                     | FLOAT  | 范围-10~10,单位Gauss                                                                                                           |
-| MAG1_YOFF       | MAG1 Y轴零位偏移                     | FLOAT  | 范围-10~10,单位Gauss                                                                                                           |
-| MAG1_ZOFF       | MAG1 Z轴零位偏移                     | FLOAT  | 范围-10~10,单位Gauss                                                                                                           |
-| MAG1_XXSCALE    | MAG1 校准XX系数                      | FLOAT  | 范围-10~10                                                                                                                     |
-| MAG1_YYSCALE    | MAG1 校准YY系数                      | FLOAT  | 范围-10~10                                                                                                                     |
-| MAG1_ZZSCALE    | MAG1 校准ZZ系数                      | FLOAT  | 范围-10~10                                                                                                                     |
-| IMU_ATT_ROFF0   | IMU水平ROLL偏移                      | FLOAT  | 范围-180~180, 单位 deg <br>飞控通过水平校准自动捕获                                                                            |
-| IMU_ATT_POFF0   | IMU水平PITCH偏移                     | FLOAT  | 范围-180~180, 单位 deg <br>飞控通过水平校准自动捕获                                                                            |
-| IMU_ATT_YOFF0   | IMU水平YAW偏移                       | FLOAT  | 范围-180~180, 单位 deg <br>可用于设置飞控IMU安装朝向 <br>安装方向前0, 右90, 左-90, 后180                                       |
-| ASPD0_OFFSET1   | 空速计零偏                           | FLOAT  | 范围 -5000~5000, 单位Pa                                                                                                        |
-| IMU_GFLT_TYPE   | 角速度滤波类型                       | UINT8  | 范围0~5, 0-VVH 1-VH 2-H 3-M 4-L 5-VL                                                                                           |
-| IMU_AFLT_TYPE   | 加速度滤波类型                       | UINT8  | 范围0~5, 0-VVH 1-VH 2-H 3-M 4-L 5-VL                                                                                           |
-| IMU_PXOFF       | 飞控IMU X安装距离偏差                | INT32  | 范围-1000~1000, 单位cm <br>IMU安装离飞机中心X轴向偏差距离                                                                      |
-| IMU_PYOFF       | 飞控IMU Y安装距离偏差                | INT32  | 范围-1000~1000, 单位cm <br>IMU安装离飞机中心Y轴向偏差距离                                                                      |
-| IMU_PZOFF       | 飞控IMU Z安装距离偏差                | INT32  | 范围-1000~1000, 单位cm <br>IMU安装离飞机中心Z轴向偏差距离                                                                      |
-| GPS_ANT_XOFF    | 普通GPS天线X安装距离偏差             | INT32  | 范围-1000~1000, 单位cm <br>天线安装离飞机中心X轴向偏差距离                                                                     |
-| GPS_ANT_YOFF    | 普通GPS天线Y安装距离偏差             | INT32  | 范围-1000~1000, 单位cm <br>天线安装离飞机中心Y轴向偏差距离                                                                     |
-| GPS_ANT_ZOFF    | 普通GPS天线Z安装距离偏差             | INT32  | 范围-1000~1000, 单位cm <br>天线安装离飞机中心Z轴向偏差距离                                                                     |
-| RTK_ANT_XOFF    | RTK定位天线X安装距离偏差             | INT32  | 范围-1000~1000, 单位cm <br>天线安装离飞机中心X轴向偏差距离                                                                     |
-| RTK_ANT_YOFF    | RTK定位天线Y安装距离偏差             | INT32  | 范围-1000~1000, 单位cm <br>天线安装离飞机中心Y轴向偏差距离                                                                     |
-| RTK_ANT_ZOFF    | RTK定位天线Z安装距离偏差             | INT32  | 范围-1000~1000, 单位cm <br>天线安装离飞机中心Z轴向偏差距离                                                                     |
-| RTK_H_COMP      | RTK测向先天安装角度偏差              | FLOAT  | 范围-180~180, 单位deg <br>常用前后安装 0deg, 左右安装 90deg                                                                    |
-| BAT_V_DIV0      | 电压通道0校准比例系数                | FLOAT  | 范围0~1000, 通道0为飞控供电电压                                                                                                |
-| BAT_V_DIV1      | 电压通道1校准比例系数                | FLOAT  | 范围0~1000, 通道0为飞控供电电压                                                                                                |
-| BAT_V_DIV2      | 电压通道2校准比例系数                | FLOAT  | 范围0~1000, 通道0为飞控供电电压                                                                                                |
-| BAT_V_DIV3      | 电压通道3校准比例系数                | FLOAT  | 范围0~1000, 通道0为飞控供电电压                                                                                                |
-| BAT_V_OFF0      | 电压通道0校准偏移                    | FLOAT  | 范围-100~100, 单位V                                                                                                            |
-| BAT_V_OFF1      | 电压通道1校准偏移                    | FLOAT  | 范围-100~100, 单位V                                                                                                            |
-| BAT_V_OFF2      | 电压通道2校准偏移                    | FLOAT  | 范围-100~100, 单位V                                                                                                            |
-| BAT_V_OFF3      | 电压通道3校准偏移                    | FLOAT  | 范围-100~100, 单位V                                                                                                            |
-| GIMB_RTM_RCCH   | 载荷回中-遥控器通道映射              | UINT32 | 范围 0~18, 0-表示不启用                                                                                                        |
-| GIMB_MROI_RCCH  | 载荷ROI-遥控器通道映射               | UINT32 | 范围 0~18, 0-表示不启用                                                                                                        |
-| GIMB_FOLL_RCCH  | 载荷跟随\锁定模式切换-遥控器通道映射 | UINT32 | 范围 0~18, 0-表示不启用                                                                                                        |
-| GIMB_ZOOM_RCCH  | 载荷画面缩放-遥控器通道映射          | UINT32 | 范围 0~18, 0-表示不启用                                                                                                        |
-| GIMB_PHO_RCCH   | 载荷拍照-遥控器通道映射              | UINT32 | 范围 0~18, 0-表示不启用                                                                                                        |
-| GIMB_REC_RCCH   | 载荷录像-遥控器通道映射              | UINT32 | 范围 0~18, 0-表示不启用                                                                                                        |
-| GIMB_SSW_RCCH   | 载荷画面切换-遥控器通道映射          | UINT32 | 范围 0~18, 0-表示不启用                                                                                                        |
-| THROW_INSUR     | 手动抛投保险开关-遥控器通道映射      | UINT16 | 范围 0~18, 0-表示不启用                                                                                                        |
-| THROW_RCCH1     | 抛投1-遥控器通道映射                 | UINT16 | 范围 0~18, 0-表示不启用                                                                                                        |
-| THROW_RCCH2     | 抛投2-遥控器通道映射                 | UINT16 | 范围 0~18, 0-表示不启用                                                                                                        |
-| THROW_RCCH3     | 抛投3-遥控器通道映射                 | UINT16 | 范围 0~18, 0-表示不启用                                                                                                        |
-| THROW_RCCH4     | 抛投4-遥控器通道映射                 | UINT16 | 范围 0~18, 0-表示不启用                                                                                                        |
-| THROW_RCCH5     | 抛投5-遥控器通道映射                 | UINT16 | 范围 0~18, 0-表示不启用                                                                                                        |
-| THROW_RCCH6     | 抛投6-遥控器通道映射                 | UINT16 | 范围 0~18, 0-表示不启用                                                                                                        |
-| THROW_RCCH7     | 抛投7-遥控器通道映射                 | UINT16 | 范围 0~18, 0-表示不启用                                                                                                        |
-| THROW_RCCH8     | 抛投8-遥控器通道映射                 | UINT16 | 范围 0~18, 0-表示不启用                                                                                                        |
-| THROW_RCCH9     | 抛投9-遥控器通道映射                 | UINT16 | 范围 0~18, 0-表示不启用                                                                                                        |
-| THROW_RCCH10    | 抛投10-遥控器通道映射                | UINT16 | 范围 0~18, 0-表示不启用                                                                                                        |
-| THROW_CH1       | 抛投1-PWM输出通道映射                | UINT16 | 范围 0~16, 0-表示不启用                                                                                                        |
-| THROW_CH2       | 抛投2-PWM输出通道映射                | UINT16 | 范围 0~16, 0-表示不启用                                                                                                        |
-| THROW_CH3       | 抛投3-PWM输出通道映射                | UINT16 | 范围 0~16, 0-表示不启用                                                                                                        |
-| THROW_CH4       | 抛投4-PWM输出通道映射                | UINT16 | 范围 0~16, 0-表示不启用                                                                                                        |
-| THROW_CH5       | 抛投5-PWM输出通道映射                | UINT16 | 范围 0~16, 0-表示不启用                                                                                                        |
-| THROW_CH6       | 抛投6-PWM输出通道映射                | UINT16 | 范围 0~16, 0-表示不启用                                                                                                        |
-| THROW_CH7       | 抛投7-PWM输出通道映射                | UINT16 | 范围 0~16, 0-表示不启用                                                                                                        |
-| THROW_CH8       | 抛投8-PWM输出通道映射                | UINT16 | 范围 0~16, 0-表示不启用                                                                                                        |
-| THROW_CH9       | 抛投9-PWM输出通道映射                | UINT16 | 范围 0~16, 0-表示不启用                                                                                                        |
-| THROW_CH10      | 抛投10-PWM输出通道映射               | UINT16 | 范围 0~16, 0-表示不启用                                                                                                        |
-| THROW_CH1_ON    | 抛投1-打开PWM值                      | UINT16 | 范围 0~2500                                                                                                                    |
-| THROW_CH2_ON    | 抛投2-打开PWM值                      | UINT16 | 范围 0~2500                                                                                                                    |
-| THROW_CH3_ON    | 抛投3-打开PWM值                      | UINT16 | 范围 0~2500                                                                                                                    |
-| THROW_CH4_ON    | 抛投4-打开PWM值                      | UINT16 | 范围 0~2500                                                                                                                    |
-| THROW_CH5_ON    | 抛投5-打开PWM值                      | UINT16 | 范围 0~2500                                                                                                                    |
-| THROW_CH6_ON    | 抛投6-打开PWM值                      | UINT16 | 范围 0~2500                                                                                                                    |
-| THROW_CH7_ON    | 抛投7-打开PWM值                      | UINT16 | 范围 0~2500                                                                                                                    |
-| THROW_CH8_ON    | 抛投8-打开PWM值                      | UINT16 | 范围 0~2500                                                                                                                    |
-| THROW_CH9_ON    | 抛投9-打开PWM值                      | UINT16 | 范围 0~2500                                                                                                                    |
-| THROW_CH10_ON   | 抛投10-打开PWM值                     | UINT16 | 范围 0~2500                                                                                                                    |
-| THROW_CH1_OFF   | 抛投1-关闭PWM值                      | UINT16 | 范围 0~2500                                                                                                                    |
-| THROW_CH2_OFF   | 抛投2-关闭PWM值                      | UINT16 | 范围 0~2500                                                                                                                    |
-| THROW_CH3_OFF   | 抛投3-关闭PWM值                      | UINT16 | 范围 0~2500                                                                                                                    |
-| THROW_CH4_OFF   | 抛投4-关闭PWM值                      | UINT16 | 范围 0~2500                                                                                                                    |
-| THROW_CH5_OFF   | 抛投5-关闭PWM值                      | UINT16 | 范围 0~2500                                                                                                                    |
-| THROW_CH6_OFF   | 抛投6-关闭PWM值                      | UINT16 | 范围 0~2500                                                                                                                    |
-| THROW_CH7_OFF   | 抛投7-关闭PWM值                      | UINT16 | 范围 0~2500                                                                                                                    |
-| THROW_CH8_OFF   | 抛投8-关闭PWM值                      | UINT16 | 范围 0~2500                                                                                                                    |
-| THROW_CH9_OFF   | 抛投9-关闭PWM值                      | UINT16 | 范围 0~2500                                                                                                                    |
-| THROW_CH10_OFF  | 抛投10-关闭PWM值                     | UINT16 | 范围 0~2500                                                                                                                    |
-| THROW_DC_CH1    | 直通舵机1-飞控通道映射               | UINT16 | 范围 0~18,0表示不启用                                                                                                          |
-| THROW_DC_CH2    | 直通舵机2-飞控通道映射               | UINT16 | 范围 0~18,0表示不启用                                                                                                          |
-| THROW_DC_CH3    | 直通舵机3-飞控通道映射               | UINT16 | 范围 0~18,0表示不启用                                                                                                          |
-| THROW_DC_CH4    | 直通舵机4-飞控通道映射               | UINT16 | 范围 0~18,0表示不启用                                                                                                          |
-| THROW_DC_RCCH1  | 直通舵机1-遥控器通道映射             | UINT16 | 范围 0~18,0表示不启用                                                                                                          |
-| THROW_DC_RCCH2  | 直通舵机2-遥控器通道映射             | UINT16 | 范围 0~18,0表示不启用                                                                                                          |
-| THROW_DC_RCCH3  | 直通舵机3-遥控器通道映射             | UINT16 | 范围 0~18,0表示不启用                                                                                                          |
-| THROW_DC_RCCH4  | 直通舵机4-遥控器通道映射             | UINT16 | 范围 0~18,0表示不启用                                                                                                          |
-| PARACHUTE_RCCH  | 降落伞-遥控器通道映射                | UINT16 | 范围 0~18, 0-表示不启用                                                                                                        |
-| PARACHUTE_CH    | 降落伞-PWM输出通道映射               | UINT16 | 范围 7~16, 0-表示不启用                                                                                                        |
-| PARACHUTE_ON    | 降落伞-打开PWM值                     | UINT16 | 范围 0~2500                                                                                                                    |
-| PARACHUTE_OFF   | 降落伞-关闭PWM值                     | UINT16 | 范围 0~2500                                                                                                                    |
-| COM_SBUSO_AF    | SBUS.O复用                           | UINT8  | 0-透传SBUS.I 1-复用为抛投信号                                                                                                  |
-| LADRC_EN        | LADRC控制开关                        | UINT8  | 0-不启用 1-启用, 默认不启用                                                                                                    |
-| LADRC_R_B0      | LADRC横滚感度                        | float  | 100~1000, 默认300                                                                                                              |
-| LADRC_P_B0      | LADRC俯仰感度                        | float  | 100~1000, 默认300                                                                                                              |
-| LADRC_Y_B0      | LADRC航向感度                        | float  | 100~1000, 默认600                                                                                                              |
-| WIND_COMP_KP    | 抗风补偿                             | float  | 0~1, 默认0                                                                                                                     |
-| PL_WEI_MAX      | 称重超重门限                         | float  | 单位kg, 范围 0~1000kg, 0表示不启用                                                                                             |
-| NAV_DFLT_SATID  | 默认定位卫导模块                     | UINT16 | 0 RTK, 1 GPS, 2 外接备份/抗干扰模块                                                                                            |
-| MAV_GCS_STA     | 主链路初始默认状态                   | uint32 | 0 自动发送周期消息, 1 静默                                                                                                     |
-| MAV_OBV_STA     | 备份链路初默认始状态                 | uint32 | 0 自动发送周期消息, 1 静默                                                                                                     |
-| FORM_CUS_X      | 自定义队形左右位置                   | float  | m, 右为正                                                                                                                      |
-| FORM_CUS_Y      | 自定义队形前后位置                   | float  | m, 前为正                                                                                                                      |
-| FORM_CUS_Z      | 自定义队形上下位置                   | float  | m, 上为正                                                                                                                      |
-| RC_AUTO_AID     | 遥控器自动辅助开关                   | UINT32 | 每bit代表一个通道, 1 启用, bit0遥控器高度辅助开关                                                                              |
-| GIMB_PROT_TYPE  | 载荷串口设备                         | UINT32 | 参考[载荷串口设备](#9-载荷串口设备)                                                                                              |
+| 参数名          | 参数                                 | 类型   | 说明                                                                                     |
+| --------------- | ------------------------------------ | ------ | ---------------------------------------------------------------------------------------- |
+| MAV_SYS_ID      | 系统ID                               | UINT8  | 范围1~255, 作为MAVLINK通信使用的 SYSTEM ID                                               |
+| MAV_COMP_ID     | 组件ID                               | UINT8  | 范围1~255, 作为MAVLINK通信使用的COMPONENT ID                                             |
+| MLOG_MODE       | 数据记录模式                         | UINT32 | 范围0~3 <br>0-不记录 <br>1-解锁到上锁 <br>2-上电到落锁 3-上电到下电                      |
+| BOOT_MODE       | 系统启动模式                         | UINT8  | 范围0~1, 0正常启动, 1U盘模式(用于导入导出数据文件)                                       |
+| HW_SN_NUM       | 硬件SN号                             | UINT32 | 范围0~UINT32_MAX                                                                         |
+| AIRFRAME        | 飞机布局类型                         | UINT16 | 范围0~UINT16_MAX, 区分不同的飞机布局类型, 参考 enum AP_TYPE                              |
+| GCS_DISCONT_DT  | 地面站失联时间                       | UINT16 | 范围0~UINT16_MAX, 单位s. 持续未收到地面站心跳的时间, 0-表示不检测地面站失联              |
+| RCFAIL_LOT_T    | RC失控悬停时间                       | UINT16 | 范围0~UINT16_MAX, 单位s. 遥控器失控后悬停等待时间                                        |
+| RC_ATT_EN       | 遥控器姿态模式启用                   | UINT16 | 范围0~1, 0不启用, 1启用                                                                  |
+| VOLT1_LOW_VAL   | 一级电压低阈值                       | FLOAT  | 范围0~1000, 单位V                                                                        |
+| VOLT2_LOW_VAL   | 二级电压低阈值                       | FLOAT  | 范围0~1000, 单位V                                                                        |
+| VCAP1_LOW_VAL   | 一级电量低阈值                       | UINT8  | 范围0~100, 单位1%, 当具有多个智能电池时, 飞控按他们中最低电量进行触发保护判定            |
+| VCAP2_LOW_VAL   | 二级电量低阈值                       | UINT8  | 范围0~100, 单位1%                                                                        |
+| H2P_LOW1_VAL    | 一级氢气压低阈值                     | FLOAT  | 范围0~10000, 单位MPa                                                                     |
+| H2P_LOW1_VAL    | 二级氢气压低阈值                     | FLOAT  | 范围0~10000, 单位MPa                                                                     |
+| FUEL_LOW1_VAL   | 一级ecu油量低阈值                    | FLOAT  | 范围 1~100, 单位%                                                                        |
+| FUEL_LOW2_VAL   | 二级ecu油量低阈值                    | FLOAT  | 范围 1~100, 单位%                                                                        |
+| VOLT_PROT_CH    | 电压保护通道                         | UINT16 | 范围0~10, 触发电压保护的通道, 默认0飞控供电                                              |
+| OBAVOID_DIST    | 障碍悬停距离                         | FLOAT  | 范围2~8, 单位m                                                                           |
+| OBAVOID_ACT     | 避障动作                             | UINT8  | 范围0~2,0-不开启 1-悬停 2-爬高                                                           |
+| GCS_DISC_CRUISE | 航线中是否启用地面站失联             | UINT8  | 范围0~1,0-不启用 1-启用                                                                  |
+| FS_CONF_A       | 失控保护设置                         | UINT32 | 参考enum FS_ACTION. 每4bit为一类保护动作设置                                             |
+| CIR_RAD_DFLT    | 默认环绕/盘旋半径                    | FLOAT  | 范围1~10000m                                                                             |
+| TOF_ALT_M       | 默认起飞高度                         | FLOAT  | 范围1~5000, 单位m                                                                        |
+| RTL_ALT_M       | 默认返航高度                         | FLOAT  | 范围0~5000, 单位m                                                                        |
+| RTL_HEAD_MODE   | 返航机头对准方式                     | UINT16 | 0-对头返航 1-对尾返航 2-保持当前航向                                                     |
+| WP_FP_ALT_MODE  | 去航线起始点爬高方式                 | UINT8  | 0-直线爬升 1-斜线爬升                                                                    |
+| RTL_EXEC_MODE   | 默认返航执行方式                     | UINT8  | 参考VKFLY_RTL_EXEC_MODE                                                                  |
+| MC_XY_CRUISE    | 默认旋翼巡航速度                     | FLOAT  | 范围2~25, 单位m/s                                                                        |
+| COM_P1_AF       | 载荷P1串口复用                       | UINT16 | 范围0~UINT16_MAX                                                                         |
+| ALT_LIM_UP1     | 1级高度限制                          | UINT16 | 范围10~10000, 单位m                                                                      |
+| ALT_LIM_UP2     | 2级高度限制                          | UINT16 | 范围0~10000, 单位m                                                                       |
+| MAX_HOR_DIST    | 最远水平距离                         | UINT32 | 范围0~UINT32_MAX, 单位m                                                                  |
+| PREC_LAND_ERR   | 精准降落误差范围                     | FLOAT  | 范围0.05~1.0, 单位m                                                                      |
+| VEFOL_FR        | 车辆跟随相对右向位置                 | FLOAT  | 范围-1000~1000,单位m                                                                     |
+| VEFOL_FF        | 车辆跟随相对前向位置                 | FLOAT  | 范围-1000~1000,单位m                                                                     |
+| VEFOL_FU        | 车辆跟随相对上向位置                 | FLOAT  | 范围-1000~1000,单位m                                                                     |
+| VEFOL_FYD       | 车辆跟随相对航向夹角                 | FLOAT  | 范围-180~180,单位deg                                                                     |
+| VEFOL_BASE_YD   | 基站航向安装偏角                     | FLOAT  | 范围-180~180, 单位deg                                                                    |
+| VEFOL_BASE_YD   | 基站航向安装偏角                     | FLOAT  | 范围-180~180, 单位deg                                                                    |
+| PHO_SIG_TYPE    | 拍照信号类型                         | UINT8  | 范围0~2 <br>0-低电平 <br>1-高电平 <br>2-PWM                                              |
+| PHO_PWM_OFF     | 拍照PWM信号待命值                    | UINT16 | 范围0~10000, 单位us                                                                      |
+| PHO_PWM_ON      | 拍照PWM信号触发值                    | UINT16 | 范围0~10000, 单位us                                                                      |
+| PHO_SIG_TIME    | 拍照触发信号持续时间                 | UINT16 | 范围0~20000, 单位ms                                                                      |
+| PHO_SIG_CH      | 拍照-信号输出通道映射                | UINT8  | 拍照信号映射到飞控的哪个输出接口,0~16, 0-表示不启用映射输出                              |
+| FOLLOW_DIST     | 默认跟随距离                         | FLOAT  | 范围2~1000,单位m                                                                         |
+| MAN_VELH_MAX    | 手动模式最大水平速度                 | FLOAT  | 范围2~20,单位m/s                                                                         |
+| MAN_VELU_MAX    | 手动模式最大爬升速度                 | FLOAT  | 范围1~10,单位m/s                                                                         |
+| MAN_VELD_MAX    | 手动模式最大下降速度                 | FLOAT  | 范围1~10,单位m/s                                                                         |
+| AUTO_VELU_MAX   | 自动模式最大爬升速度                 | FLOAT  | 范围0.5~8, 单位m/s                                                                       |
+| AUTO_VELD_MAX   | 自动模式最大下降速度                 | FLOAT  | 范围0.2~5,单位m/s                                                                        |
+| AUTO_VELV_LND   | 自动模式降落接地速度                 | FLAOT  | 范围0.2~0.6, 单位m/s                                                                     |
+| TILT_ANG_MAX    | 最大倾斜角度                         | FLOAT  | 范围10~45,单位deg                                                                        |
+| YAW_SPD_MAX     | 最大航向角速度                       | FLAOT  | 范围10~120,单位deg/s                                                                     |
+| MC_RP_ANG_KP    | 旋翼横滚俯仰角度比例系数             | UINT16 | 范围200~800                                                                              |
+| MC_YAW_ANG_KP   | 旋翼航向角度比例系数                 | UINT16 | 范围200~800                                                                              |
+| MC_RSPD_KP      | 旋翼横滚角速度比例系数               | UINT16 | 范围30~200                                                                               |
+| MC_RSPD_KI      | 旋翼横滚角速度积分系数               | UINT16 | 范围0~20                                                                                 |
+| MC_RSPD_KD      | 旋翼横滚角速度微分系数               | UINT16 | 范围0~20                                                                                 |
+| MC_PSPD_KP      | 旋翼俯仰角速度比例系数               | UINT16 | 范围30~200                                                                               |
+| MC_PSPD_KI      | 旋翼俯仰角速度积分系数               | UINT16 | 范围0~20                                                                                 |
+| MC_PSPD_KD      | 旋翼俯仰角速度微分系数               | UINT16 | 范围0~20                                                                                 |
+| MC_YSPD_KP      | 旋翼航向角速度比例系数               | UINT16 | 范围50~400                                                                               |
+| MC_YSPD_KI      | 旋翼航向角速度积分系数               | UINT16 | 范围0~20                                                                                 |
+| MC_YSPD_KD      | 旋翼航向角速度微分系数               | UINT16 | 范围0~20                                                                                 |
+| MC_PXY_KP       | 旋翼水平位置比例系数                 | UINT16 | 范围20~150                                                                               |
+| MC_VXY_KP       | 旋翼水平速度比例系数                 | UINT16 | 范围80~200                                                                               |
+| MC_VXY_KI       | 旋翼水平速度积分系数                 | UINT16 | 范围0~20                                                                                 |
+| MC_VXY_KD       | 旋翼水平速度微分系数                 | UINT16 | 范围0~20                                                                                 |
+| MC_PZ_KP        | 旋翼高度位置比例系数                 | UINT16 | 范围20~150                                                                               |
+| MC_VZ_KP        | 旋翼垂直速度比例系数                 | UINT16 | 范围300~500                                                                              |
+| MC_AZ_KP        | 旋翼垂直加速度比例系数               | UINT16 | 范围5~20                                                                                 |
+| MC_AZ_KI        | 旋翼垂直加速度积分系数               | UINT16 | 范围5~20                                                                                 |
+| MC_JERKXY_MAX   | 旋翼水平最大加加速度                 | FLOAT  | 范围8~20,单位m/s                                                                         |
+| MC_HOV_THR      | 旋翼悬停油门                         | FLOAT  | 范围0.3~0.7(暂未使用)                                                                    |
+| MC_MIN_THR      | 旋翼怠速油门                         | FLOAT  | 范围0.05~0.25                                                                            |
+| GYRO0_XOFF      | GYRO0 X轴零位偏移                    | FLOAT  | 范围-10~10, 单位 rad/s                                                                   |
+| GYRO0_YOFF      | GYRO0 Y轴零位偏移                    | FLOAT  | 范围-10~10, 单位 rad/s                                                                   |
+| GYRO0_ZOFF      | GYRO0 Z轴零位偏移                    | FLOAT  | 范围-10~10, 单位 rad/s                                                                   |
+| ACC0_XOFF       | ACC0 X轴零位偏移                     | FLOAT  | 范围-10~10, 单位m/s^2                                                                    |
+| ACC0_YOFF       | ACC0 Y轴零位偏移                     | FLOAT  | 范围-10~10, 单位m/s^2                                                                    |
+| ACC0_ZOFF       | ACC0 Z轴零位偏移                     | FLOAT  | 范围-10~10, 单位m/s^2                                                                    |
+| ACC0_XXSCALE    | ACC0 校准XX系数                      | FLOAT  | 范围-10~10                                                                               |
+| ACC0_YYSCALE    | ACC0 校准YY系数                      | FLOAT  | 范围-10~10                                                                               |
+| ACC0_ZZSCALE    | ACC0 校准ZZ系数                      | FLOAT  | 范围-10~10                                                                               |
+| MAG0_XOFF       | MAG0 X轴零位偏移                     | FLOAT  | 范围-10~10,单位Gauss                                                                     |
+| MAG0_YOFF       | MAG0 Y轴零位偏移                     | FLOAT  | 范围-10~10,单位Gauss                                                                     |
+| MAG0_ZOFF       | MAG0 Z轴零位偏移                     | FLOAT  | 范围-10~10,单位Gauss                                                                     |
+| MAG0_XXSCALE    | MAG0 校准XX系数                      | FLOAT  | 范围-10~10                                                                               |
+| MAG0_YYSCALE    | MAG0 校准YY系数                      | FLOAT  | 范围-10~10                                                                               |
+| MAG0_ZZSCALE    | MAG0 校准ZZ系数                      | FLOAT  | 范围-10~10                                                                               |
+| GYRO1_XOFF      | GYRO1 X轴零位偏移                    | FLOAT  | 范围-10~10, 单位 rad/s                                                                   |
+| GYRO1_YOFF      | GYRO1 Y轴零位偏移                    | FLOAT  | 范围-10~10, 单位 rad/s                                                                   |
+| GYRO1_ZOFF      | GYRO1 Z轴零位偏移                    | FLOAT  | 范围-10~10, 单位 rad/s                                                                   |
+| ACC1_XOFF       | ACC1 X轴零位偏移                     | FLOAT  | 范围-10~10, 单位m/s^2                                                                    |
+| ACC1_YOFF       | ACC1 Y轴零位偏移                     | FLOAT  | 范围-10~10, 单位m/s^2                                                                    |
+| ACC1_ZOFF       | ACC1 Z轴零位偏移                     | FLOAT  | 范围-10~10, 单位m/s^2                                                                    |
+| ACC1_XXSCALE    | ACC1 校准XX系数                      | FLOAT  | 范围-10~10                                                                               |
+| ACC1_YYSCALE    | ACC1 校准YY系数                      | FLOAT  | 范围-10~10                                                                               |
+| ACC1_ZZSCALE    | ACC1 校准ZZ系数                      | FLOAT  | 范围-10~10                                                                               |
+| MAG1_XOFF       | MAG1 X轴零位偏移                     | FLOAT  | 范围-10~10,单位Gauss                                                                     |
+| MAG1_YOFF       | MAG1 Y轴零位偏移                     | FLOAT  | 范围-10~10,单位Gauss                                                                     |
+| MAG1_ZOFF       | MAG1 Z轴零位偏移                     | FLOAT  | 范围-10~10,单位Gauss                                                                     |
+| MAG1_XXSCALE    | MAG1 校准XX系数                      | FLOAT  | 范围-10~10                                                                               |
+| MAG1_YYSCALE    | MAG1 校准YY系数                      | FLOAT  | 范围-10~10                                                                               |
+| MAG1_ZZSCALE    | MAG1 校准ZZ系数                      | FLOAT  | 范围-10~10                                                                               |
+| IMU_ATT_ROFF0   | IMU水平ROLL偏移                      | FLOAT  | 范围-180~180, 单位 deg <br>飞控通过水平校准自动捕获                                      |
+| IMU_ATT_POFF0   | IMU水平PITCH偏移                     | FLOAT  | 范围-180~180, 单位 deg <br>飞控通过水平校准自动捕获                                      |
+| IMU_ATT_YOFF0   | IMU水平YAW偏移                       | FLOAT  | 范围-180~180, 单位 deg <br>可用于设置飞控IMU安装朝向 <br>安装方向前0, 右90, 左-90, 后180 |
+| ASPD0_OFFSET1   | 空速计零偏                           | FLOAT  | 范围 -5000~5000, 单位Pa                                                                  |
+| IMU_GFLT_TYPE   | 角速度滤波类型                       | UINT8  | 范围0~5, 0-VVH 1-VH 2-H 3-M 4-L 5-VL                                                     |
+| IMU_AFLT_TYPE   | 加速度滤波类型                       | UINT8  | 范围0~5, 0-VVH 1-VH 2-H 3-M 4-L 5-VL                                                     |
+| IMU_PXOFF       | 飞控IMU X安装距离偏差                | INT32  | 范围-1000~1000, 单位cm <br>IMU安装离飞机中心X轴向偏差距离                                |
+| IMU_PYOFF       | 飞控IMU Y安装距离偏差                | INT32  | 范围-1000~1000, 单位cm <br>IMU安装离飞机中心Y轴向偏差距离                                |
+| IMU_PZOFF       | 飞控IMU Z安装距离偏差                | INT32  | 范围-1000~1000, 单位cm <br>IMU安装离飞机中心Z轴向偏差距离                                |
+| GPS_ANT_XOFF    | 普通GPS天线X安装距离偏差             | INT32  | 范围-1000~1000, 单位cm <br>天线安装离飞机中心X轴向偏差距离                               |
+| GPS_ANT_YOFF    | 普通GPS天线Y安装距离偏差             | INT32  | 范围-1000~1000, 单位cm <br>天线安装离飞机中心Y轴向偏差距离                               |
+| GPS_ANT_ZOFF    | 普通GPS天线Z安装距离偏差             | INT32  | 范围-1000~1000, 单位cm <br>天线安装离飞机中心Z轴向偏差距离                               |
+| RTK_ANT_XOFF    | RTK定位天线X安装距离偏差             | INT32  | 范围-1000~1000, 单位cm <br>天线安装离飞机中心X轴向偏差距离                               |
+| RTK_ANT_YOFF    | RTK定位天线Y安装距离偏差             | INT32  | 范围-1000~1000, 单位cm <br>天线安装离飞机中心Y轴向偏差距离                               |
+| RTK_ANT_ZOFF    | RTK定位天线Z安装距离偏差             | INT32  | 范围-1000~1000, 单位cm <br>天线安装离飞机中心Z轴向偏差距离                               |
+| RTK_H_COMP      | RTK测向先天安装角度偏差              | FLOAT  | 范围-180~180, 单位deg <br>常用前后安装 0deg, 左右安装 90deg                              |
+| BAT_V_DIV0      | 电压通道0校准比例系数                | FLOAT  | 范围0~1000, 通道0为飞控供电电压                                                          |
+| BAT_V_DIV1      | 电压通道1校准比例系数                | FLOAT  | 范围0~1000, 通道0为飞控供电电压                                                          |
+| BAT_V_DIV2      | 电压通道2校准比例系数                | FLOAT  | 范围0~1000, 通道0为飞控供电电压                                                          |
+| BAT_V_DIV3      | 电压通道3校准比例系数                | FLOAT  | 范围0~1000, 通道0为飞控供电电压                                                          |
+| BAT_V_OFF0      | 电压通道0校准偏移                    | FLOAT  | 范围-100~100, 单位V                                                                      |
+| BAT_V_OFF1      | 电压通道1校准偏移                    | FLOAT  | 范围-100~100, 单位V                                                                      |
+| BAT_V_OFF2      | 电压通道2校准偏移                    | FLOAT  | 范围-100~100, 单位V                                                                      |
+| BAT_V_OFF3      | 电压通道3校准偏移                    | FLOAT  | 范围-100~100, 单位V                                                                      |
+| GIMB_RTM_RCCH   | 载荷回中-遥控器通道映射              | UINT32 | 范围 0~18, 0-表示不启用                                                                  |
+| GIMB_MROI_RCCH  | 载荷ROI-遥控器通道映射               | UINT32 | 范围 0~18, 0-表示不启用                                                                  |
+| GIMB_FOLL_RCCH  | 载荷跟随\锁定模式切换-遥控器通道映射 | UINT32 | 范围 0~18, 0-表示不启用                                                                  |
+| GIMB_ZOOM_RCCH  | 载荷画面缩放-遥控器通道映射          | UINT32 | 范围 0~18, 0-表示不启用                                                                  |
+| GIMB_PHO_RCCH   | 载荷拍照-遥控器通道映射              | UINT32 | 范围 0~18, 0-表示不启用                                                                  |
+| GIMB_REC_RCCH   | 载荷录像-遥控器通道映射              | UINT32 | 范围 0~18, 0-表示不启用                                                                  |
+| GIMB_SSW_RCCH   | 载荷画面切换-遥控器通道映射          | UINT32 | 范围 0~18, 0-表示不启用                                                                  |
+| THROW_INSUR     | 手动抛投保险开关-遥控器通道映射      | UINT16 | 范围 0~18, 0-表示不启用                                                                  |
+| THROW_RCCH1     | 抛投1-遥控器通道映射                 | UINT16 | 范围 0~18, 0-表示不启用                                                                  |
+| THROW_RCCH2     | 抛投2-遥控器通道映射                 | UINT16 | 范围 0~18, 0-表示不启用                                                                  |
+| THROW_RCCH3     | 抛投3-遥控器通道映射                 | UINT16 | 范围 0~18, 0-表示不启用                                                                  |
+| THROW_RCCH4     | 抛投4-遥控器通道映射                 | UINT16 | 范围 0~18, 0-表示不启用                                                                  |
+| THROW_RCCH5     | 抛投5-遥控器通道映射                 | UINT16 | 范围 0~18, 0-表示不启用                                                                  |
+| THROW_RCCH6     | 抛投6-遥控器通道映射                 | UINT16 | 范围 0~18, 0-表示不启用                                                                  |
+| THROW_RCCH7     | 抛投7-遥控器通道映射                 | UINT16 | 范围 0~18, 0-表示不启用                                                                  |
+| THROW_RCCH8     | 抛投8-遥控器通道映射                 | UINT16 | 范围 0~18, 0-表示不启用                                                                  |
+| THROW_RCCH9     | 抛投9-遥控器通道映射                 | UINT16 | 范围 0~18, 0-表示不启用                                                                  |
+| THROW_RCCH10    | 抛投10-遥控器通道映射                | UINT16 | 范围 0~18, 0-表示不启用                                                                  |
+| THROW_CH1       | 抛投1-PWM输出通道映射                | UINT16 | 范围 0~16, 0-表示不启用                                                                  |
+| THROW_CH2       | 抛投2-PWM输出通道映射                | UINT16 | 范围 0~16, 0-表示不启用                                                                  |
+| THROW_CH3       | 抛投3-PWM输出通道映射                | UINT16 | 范围 0~16, 0-表示不启用                                                                  |
+| THROW_CH4       | 抛投4-PWM输出通道映射                | UINT16 | 范围 0~16, 0-表示不启用                                                                  |
+| THROW_CH5       | 抛投5-PWM输出通道映射                | UINT16 | 范围 0~16, 0-表示不启用                                                                  |
+| THROW_CH6       | 抛投6-PWM输出通道映射                | UINT16 | 范围 0~16, 0-表示不启用                                                                  |
+| THROW_CH7       | 抛投7-PWM输出通道映射                | UINT16 | 范围 0~16, 0-表示不启用                                                                  |
+| THROW_CH8       | 抛投8-PWM输出通道映射                | UINT16 | 范围 0~16, 0-表示不启用                                                                  |
+| THROW_CH9       | 抛投9-PWM输出通道映射                | UINT16 | 范围 0~16, 0-表示不启用                                                                  |
+| THROW_CH10      | 抛投10-PWM输出通道映射               | UINT16 | 范围 0~16, 0-表示不启用                                                                  |
+| THROW_CH1_ON    | 抛投1-打开PWM值                      | UINT16 | 范围 0~2500                                                                              |
+| THROW_CH2_ON    | 抛投2-打开PWM值                      | UINT16 | 范围 0~2500                                                                              |
+| THROW_CH3_ON    | 抛投3-打开PWM值                      | UINT16 | 范围 0~2500                                                                              |
+| THROW_CH4_ON    | 抛投4-打开PWM值                      | UINT16 | 范围 0~2500                                                                              |
+| THROW_CH5_ON    | 抛投5-打开PWM值                      | UINT16 | 范围 0~2500                                                                              |
+| THROW_CH6_ON    | 抛投6-打开PWM值                      | UINT16 | 范围 0~2500                                                                              |
+| THROW_CH7_ON    | 抛投7-打开PWM值                      | UINT16 | 范围 0~2500                                                                              |
+| THROW_CH8_ON    | 抛投8-打开PWM值                      | UINT16 | 范围 0~2500                                                                              |
+| THROW_CH9_ON    | 抛投9-打开PWM值                      | UINT16 | 范围 0~2500                                                                              |
+| THROW_CH10_ON   | 抛投10-打开PWM值                     | UINT16 | 范围 0~2500                                                                              |
+| THROW_CH1_OFF   | 抛投1-关闭PWM值                      | UINT16 | 范围 0~2500                                                                              |
+| THROW_CH2_OFF   | 抛投2-关闭PWM值                      | UINT16 | 范围 0~2500                                                                              |
+| THROW_CH3_OFF   | 抛投3-关闭PWM值                      | UINT16 | 范围 0~2500                                                                              |
+| THROW_CH4_OFF   | 抛投4-关闭PWM值                      | UINT16 | 范围 0~2500                                                                              |
+| THROW_CH5_OFF   | 抛投5-关闭PWM值                      | UINT16 | 范围 0~2500                                                                              |
+| THROW_CH6_OFF   | 抛投6-关闭PWM值                      | UINT16 | 范围 0~2500                                                                              |
+| THROW_CH7_OFF   | 抛投7-关闭PWM值                      | UINT16 | 范围 0~2500                                                                              |
+| THROW_CH8_OFF   | 抛投8-关闭PWM值                      | UINT16 | 范围 0~2500                                                                              |
+| THROW_CH9_OFF   | 抛投9-关闭PWM值                      | UINT16 | 范围 0~2500                                                                              |
+| THROW_CH10_OFF  | 抛投10-关闭PWM值                     | UINT16 | 范围 0~2500                                                                              |
+| THROW_DC_CH1    | 直通舵机1-飞控通道映射               | UINT16 | 范围 0~18,0表示不启用                                                                    |
+| THROW_DC_CH2    | 直通舵机2-飞控通道映射               | UINT16 | 范围 0~18,0表示不启用                                                                    |
+| THROW_DC_CH3    | 直通舵机3-飞控通道映射               | UINT16 | 范围 0~18,0表示不启用                                                                    |
+| THROW_DC_CH4    | 直通舵机4-飞控通道映射               | UINT16 | 范围 0~18,0表示不启用                                                                    |
+| THROW_DC_RCCH1  | 直通舵机1-遥控器通道映射             | UINT16 | 范围 0~18,0表示不启用                                                                    |
+| THROW_DC_RCCH2  | 直通舵机2-遥控器通道映射             | UINT16 | 范围 0~18,0表示不启用                                                                    |
+| THROW_DC_RCCH3  | 直通舵机3-遥控器通道映射             | UINT16 | 范围 0~18,0表示不启用                                                                    |
+| THROW_DC_RCCH4  | 直通舵机4-遥控器通道映射             | UINT16 | 范围 0~18,0表示不启用                                                                    |
+| PARACHUTE_RCCH  | 降落伞-遥控器通道映射                | UINT16 | 范围 0~18, 0-表示不启用                                                                  |
+| PARACHUTE_CH    | 降落伞-PWM输出通道映射               | UINT16 | 范围 7~16, 0-表示不启用                                                                  |
+| PARACHUTE_ON    | 降落伞-打开PWM值                     | UINT16 | 范围 0~2500                                                                              |
+| PARACHUTE_OFF   | 降落伞-关闭PWM值                     | UINT16 | 范围 0~2500                                                                              |
+| COM_SBUSO_AF    | SBUS.O复用                           | UINT8  | 0-透传SBUS.I 1-复用为抛投信号                                                            |
+| LADRC_EN        | LADRC控制开关                        | UINT8  | 0-不启用 1-启用, 默认不启用                                                              |
+| LADRC_R_B0      | LADRC横滚感度                        | float  | 100~1000, 默认300                                                                        |
+| LADRC_P_B0      | LADRC俯仰感度                        | float  | 100~1000, 默认300                                                                        |
+| LADRC_Y_B0      | LADRC航向感度                        | float  | 100~1000, 默认600                                                                        |
+| WIND_COMP_KP    | 抗风补偿                             | float  | 0~1, 默认0                                                                               |
+| PL_WEI_MAX      | 称重超重门限                         | float  | 单位kg, 范围 0~1000kg, 0表示不启用                                                       |
+| NAV_DFLT_SATID  | 默认定位卫导模块                     | UINT16 | 0 RTK, 1 GPS, 2 外接备份/抗干扰模块                                                      |
+| MAV_GCS_STA     | 主链路初始默认状态                   | uint32 | 0 自动发送周期消息, 1 静默                                                               |
+| MAV_OBV_STA     | 备份链路初默认始状态                 | uint32 | 0 自动发送周期消息, 1 静默                                                               |
+| FORM_CUS_X      | 自定义队形左右位置                   | float  | m, 右为正                                                                                |
+| FORM_CUS_Y      | 自定义队形前后位置                   | float  | m, 前为正                                                                                |
+| FORM_CUS_Z      | 自定义队形上下位置                   | float  | m, 上为正                                                                                |
+| RC_AUTO_AID     | 遥控器自动辅助开关                   | UINT32 | 每bit代表一个通道, 1 启用, bit0遥控器高度辅助开关                                        |
+| GIMB_PROT_TYPE  | 载荷串口设备                         | UINT32 | 参考[载荷串口设备](#9-载荷串口设备)                                                      |
 
 GIMB_PROT_TYPE  载荷串口设备
 

v2.0/VKFly/mavlink.h

@@ -6,7 +6,7 @@
 #ifndef MAVLINK_H
 #define MAVLINK_H
 
-#define MAVLINK_PRIMARY_XML_HASH 4681071013379025490
+#define MAVLINK_PRIMARY_XML_HASH 5049917770166127275
 
 #ifndef MAVLINK_STX
 #define MAVLINK_STX 253

v2.0/VKFly/mavlink_msg_vk_formation_leader.h

@@ -19,13 +19,13 @@ typedef struct __mavlink_vk_formation_leader_t {
  int16_t z_dist; /*< [cm] distance between drones in z axis*/
  uint16_t rect_col_num; /*<  columns number of rectangle formation*/
  uint8_t formation_type; /*<  formation type*/
- float formation_heading; /*< [deg] if nan, use yaw as formation
-        heading*/
+ float formation_heading; /*< [deg] if nan, use yaw as formation heading*/
+ float form_head_lock; /*<  0 unlock, 1 lock*/
 }) mavlink_vk_formation_leader_t;
 
-#define MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN 49
+#define MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN 53
 #define MAVLINK_MSG_ID_VK_FORMATION_LEADER_MIN_LEN 45
-#define MAVLINK_MSG_ID_53004_LEN 49
+#define MAVLINK_MSG_ID_53004_LEN 53
 #define MAVLINK_MSG_ID_53004_MIN_LEN 45
 
 #define MAVLINK_MSG_ID_VK_FORMATION_LEADER_CRC 219
@@ -37,7 +37,7 @@ typedef struct __mavlink_vk_formation_leader_t {
 #define MAVLINK_MESSAGE_INFO_VK_FORMATION_LEADER { \
     53004, \
     "VK_FORMATION_LEADER", \
-    15, \
+    16, \
     {  { "timestamp", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_vk_formation_leader_t, timestamp) }, \
          { "state", NULL, MAVLINK_TYPE_UINT32_T, 0, 4, offsetof(mavlink_vk_formation_leader_t, state) }, \
          { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_vk_formation_leader_t, lat) }, \
@@ -53,12 +53,13 @@ typedef struct __mavlink_vk_formation_leader_t {
          { "z_dist", NULL, MAVLINK_TYPE_INT16_T, 0, 40, offsetof(mavlink_vk_formation_leader_t, z_dist) }, \
          { "rect_col_num", NULL, MAVLINK_TYPE_UINT16_T, 0, 42, offsetof(mavlink_vk_formation_leader_t, rect_col_num) }, \
          { "formation_heading", NULL, MAVLINK_TYPE_FLOAT, 0, 45, offsetof(mavlink_vk_formation_leader_t, formation_heading) }, \
+         { "form_head_lock", NULL, MAVLINK_TYPE_FLOAT, 0, 49, offsetof(mavlink_vk_formation_leader_t, form_head_lock) }, \
          } \
 }
 #else
 #define MAVLINK_MESSAGE_INFO_VK_FORMATION_LEADER { \
     "VK_FORMATION_LEADER", \
-    15, \
+    16, \
     {  { "timestamp", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_vk_formation_leader_t, timestamp) }, \
          { "state", NULL, MAVLINK_TYPE_UINT32_T, 0, 4, offsetof(mavlink_vk_formation_leader_t, state) }, \
          { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_vk_formation_leader_t, lat) }, \
@@ -74,6 +75,7 @@ typedef struct __mavlink_vk_formation_leader_t {
          { "z_dist", NULL, MAVLINK_TYPE_INT16_T, 0, 40, offsetof(mavlink_vk_formation_leader_t, z_dist) }, \
          { "rect_col_num", NULL, MAVLINK_TYPE_UINT16_T, 0, 42, offsetof(mavlink_vk_formation_leader_t, rect_col_num) }, \
          { "formation_heading", NULL, MAVLINK_TYPE_FLOAT, 0, 45, offsetof(mavlink_vk_formation_leader_t, formation_heading) }, \
+         { "form_head_lock", NULL, MAVLINK_TYPE_FLOAT, 0, 49, offsetof(mavlink_vk_formation_leader_t, form_head_lock) }, \
          } \
 }
 #endif
@@ -98,12 +100,12 @@ typedef struct __mavlink_vk_formation_leader_t {
  * @param y_dist [cm] distance between drones in y axis
  * @param z_dist [cm] distance between drones in z axis
  * @param rect_col_num  columns number of rectangle formation
- * @param formation_heading [deg] if nan, use yaw as formation
-        heading
+ * @param formation_heading [deg] if nan, use yaw as formation heading
+ * @param form_head_lock  0 unlock, 1 lock
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_vk_formation_leader_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-                               uint32_t timestamp, uint32_t state, int32_t lat, int32_t lon, float msl, float ve, float vn, float vu, float yaw, uint8_t formation_type, int16_t x_dist, int16_t y_dist, int16_t z_dist, uint16_t rect_col_num, float formation_heading)
+                               uint32_t timestamp, uint32_t state, int32_t lat, int32_t lon, float msl, float ve, float vn, float vu, float yaw, uint8_t formation_type, int16_t x_dist, int16_t y_dist, int16_t z_dist, uint16_t rect_col_num, float formation_heading, float form_head_lock)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
     char buf[MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN];
@@ -122,6 +124,7 @@ static inline uint16_t mavlink_msg_vk_formation_leader_pack(uint8_t system_id, u
     _mav_put_uint16_t(buf, 42, rect_col_num);
     _mav_put_uint8_t(buf, 44, formation_type);
     _mav_put_float(buf, 45, formation_heading);
+    _mav_put_float(buf, 49, form_head_lock);
 
         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN);
 #else
@@ -141,6 +144,7 @@ static inline uint16_t mavlink_msg_vk_formation_leader_pack(uint8_t system_id, u
     packet.rect_col_num = rect_col_num;
     packet.formation_type = formation_type;
     packet.formation_heading = formation_heading;
+    packet.form_head_lock = form_head_lock;
 
         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN);
 #endif
@@ -170,12 +174,12 @@ static inline uint16_t mavlink_msg_vk_formation_leader_pack(uint8_t system_id, u
  * @param y_dist [cm] distance between drones in y axis
  * @param z_dist [cm] distance between drones in z axis
  * @param rect_col_num  columns number of rectangle formation
- * @param formation_heading [deg] if nan, use yaw as formation
-        heading
+ * @param formation_heading [deg] if nan, use yaw as formation heading
+ * @param form_head_lock  0 unlock, 1 lock
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_vk_formation_leader_pack_status(uint8_t system_id, uint8_t component_id, mavlink_status_t *_status, mavlink_message_t* msg,
-                               uint32_t timestamp, uint32_t state, int32_t lat, int32_t lon, float msl, float ve, float vn, float vu, float yaw, uint8_t formation_type, int16_t x_dist, int16_t y_dist, int16_t z_dist, uint16_t rect_col_num, float formation_heading)
+                               uint32_t timestamp, uint32_t state, int32_t lat, int32_t lon, float msl, float ve, float vn, float vu, float yaw, uint8_t formation_type, int16_t x_dist, int16_t y_dist, int16_t z_dist, uint16_t rect_col_num, float formation_heading, float form_head_lock)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
     char buf[MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN];
@@ -194,6 +198,7 @@ static inline uint16_t mavlink_msg_vk_formation_leader_pack_status(uint8_t syste
     _mav_put_uint16_t(buf, 42, rect_col_num);
     _mav_put_uint8_t(buf, 44, formation_type);
     _mav_put_float(buf, 45, formation_heading);
+    _mav_put_float(buf, 49, form_head_lock);
 
         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN);
 #else
@@ -213,6 +218,7 @@ static inline uint16_t mavlink_msg_vk_formation_leader_pack_status(uint8_t syste
     packet.rect_col_num = rect_col_num;
     packet.formation_type = formation_type;
     packet.formation_heading = formation_heading;
+    packet.form_head_lock = form_head_lock;
 
         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN);
 #endif
@@ -245,13 +251,13 @@ static inline uint16_t mavlink_msg_vk_formation_leader_pack_status(uint8_t syste
  * @param y_dist [cm] distance between drones in y axis
  * @param z_dist [cm] distance between drones in z axis
  * @param rect_col_num  columns number of rectangle formation
- * @param formation_heading [deg] if nan, use yaw as formation
-        heading
+ * @param formation_heading [deg] if nan, use yaw as formation heading
+ * @param form_head_lock  0 unlock, 1 lock
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_vk_formation_leader_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
                                mavlink_message_t* msg,
-                                   uint32_t timestamp,uint32_t state,int32_t lat,int32_t lon,float msl,float ve,float vn,float vu,float yaw,uint8_t formation_type,int16_t x_dist,int16_t y_dist,int16_t z_dist,uint16_t rect_col_num,float formation_heading)
+                                   uint32_t timestamp,uint32_t state,int32_t lat,int32_t lon,float msl,float ve,float vn,float vu,float yaw,uint8_t formation_type,int16_t x_dist,int16_t y_dist,int16_t z_dist,uint16_t rect_col_num,float formation_heading,float form_head_lock)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
     char buf[MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN];
@@ -270,6 +276,7 @@ static inline uint16_t mavlink_msg_vk_formation_leader_pack_chan(uint8_t system_
     _mav_put_uint16_t(buf, 42, rect_col_num);
     _mav_put_uint8_t(buf, 44, formation_type);
     _mav_put_float(buf, 45, formation_heading);
+    _mav_put_float(buf, 49, form_head_lock);
 
         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN);
 #else
@@ -289,6 +296,7 @@ static inline uint16_t mavlink_msg_vk_formation_leader_pack_chan(uint8_t system_
     packet.rect_col_num = rect_col_num;
     packet.formation_type = formation_type;
     packet.formation_heading = formation_heading;
+    packet.form_head_lock = form_head_lock;
 
         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN);
 #endif
@@ -307,7 +315,7 @@ static inline uint16_t mavlink_msg_vk_formation_leader_pack_chan(uint8_t system_
  */
 static inline uint16_t mavlink_msg_vk_formation_leader_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_vk_formation_leader_t* vk_formation_leader)
 {
-    return mavlink_msg_vk_formation_leader_pack(system_id, component_id, msg, vk_formation_leader->timestamp, vk_formation_leader->state, vk_formation_leader->lat, vk_formation_leader->lon, vk_formation_leader->msl, vk_formation_leader->ve, vk_formation_leader->vn, vk_formation_leader->vu, vk_formation_leader->yaw, vk_formation_leader->formation_type, vk_formation_leader->x_dist, vk_formation_leader->y_dist, vk_formation_leader->z_dist, vk_formation_leader->rect_col_num, vk_formation_leader->formation_heading);
+    return mavlink_msg_vk_formation_leader_pack(system_id, component_id, msg, vk_formation_leader->timestamp, vk_formation_leader->state, vk_formation_leader->lat, vk_formation_leader->lon, vk_formation_leader->msl, vk_formation_leader->ve, vk_formation_leader->vn, vk_formation_leader->vu, vk_formation_leader->yaw, vk_formation_leader->formation_type, vk_formation_leader->x_dist, vk_formation_leader->y_dist, vk_formation_leader->z_dist, vk_formation_leader->rect_col_num, vk_formation_leader->formation_heading, vk_formation_leader->form_head_lock);
 }
 
 /**
@@ -321,7 +329,7 @@ static inline uint16_t mavlink_msg_vk_formation_leader_encode(uint8_t system_id,
  */
 static inline uint16_t mavlink_msg_vk_formation_leader_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_vk_formation_leader_t* vk_formation_leader)
 {
-    return mavlink_msg_vk_formation_leader_pack_chan(system_id, component_id, chan, msg, vk_formation_leader->timestamp, vk_formation_leader->state, vk_formation_leader->lat, vk_formation_leader->lon, vk_formation_leader->msl, vk_formation_leader->ve, vk_formation_leader->vn, vk_formation_leader->vu, vk_formation_leader->yaw, vk_formation_leader->formation_type, vk_formation_leader->x_dist, vk_formation_leader->y_dist, vk_formation_leader->z_dist, vk_formation_leader->rect_col_num, vk_formation_leader->formation_heading);
+    return mavlink_msg_vk_formation_leader_pack_chan(system_id, component_id, chan, msg, vk_formation_leader->timestamp, vk_formation_leader->state, vk_formation_leader->lat, vk_formation_leader->lon, vk_formation_leader->msl, vk_formation_leader->ve, vk_formation_leader->vn, vk_formation_leader->vu, vk_formation_leader->yaw, vk_formation_leader->formation_type, vk_formation_leader->x_dist, vk_formation_leader->y_dist, vk_formation_leader->z_dist, vk_formation_leader->rect_col_num, vk_formation_leader->formation_heading, vk_formation_leader->form_head_lock);
 }
 
 /**
@@ -335,7 +343,7 @@ static inline uint16_t mavlink_msg_vk_formation_leader_encode_chan(uint8_t syste
  */
 static inline uint16_t mavlink_msg_vk_formation_leader_encode_status(uint8_t system_id, uint8_t component_id, mavlink_status_t* _status, mavlink_message_t* msg, const mavlink_vk_formation_leader_t* vk_formation_leader)
 {
-    return mavlink_msg_vk_formation_leader_pack_status(system_id, component_id, _status, msg,  vk_formation_leader->timestamp, vk_formation_leader->state, vk_formation_leader->lat, vk_formation_leader->lon, vk_formation_leader->msl, vk_formation_leader->ve, vk_formation_leader->vn, vk_formation_leader->vu, vk_formation_leader->yaw, vk_formation_leader->formation_type, vk_formation_leader->x_dist, vk_formation_leader->y_dist, vk_formation_leader->z_dist, vk_formation_leader->rect_col_num, vk_formation_leader->formation_heading);
+    return mavlink_msg_vk_formation_leader_pack_status(system_id, component_id, _status, msg,  vk_formation_leader->timestamp, vk_formation_leader->state, vk_formation_leader->lat, vk_formation_leader->lon, vk_formation_leader->msl, vk_formation_leader->ve, vk_formation_leader->vn, vk_formation_leader->vu, vk_formation_leader->yaw, vk_formation_leader->formation_type, vk_formation_leader->x_dist, vk_formation_leader->y_dist, vk_formation_leader->z_dist, vk_formation_leader->rect_col_num, vk_formation_leader->formation_heading, vk_formation_leader->form_head_lock);
 }
 
 /**
@@ -356,12 +364,12 @@ static inline uint16_t mavlink_msg_vk_formation_leader_encode_status(uint8_t sys
  * @param y_dist [cm] distance between drones in y axis
  * @param z_dist [cm] distance between drones in z axis
  * @param rect_col_num  columns number of rectangle formation
- * @param formation_heading [deg] if nan, use yaw as formation
-        heading
+ * @param formation_heading [deg] if nan, use yaw as formation heading
+ * @param form_head_lock  0 unlock, 1 lock
  */
 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 
-static inline void mavlink_msg_vk_formation_leader_send(mavlink_channel_t chan, uint32_t timestamp, uint32_t state, int32_t lat, int32_t lon, float msl, float ve, float vn, float vu, float yaw, uint8_t formation_type, int16_t x_dist, int16_t y_dist, int16_t z_dist, uint16_t rect_col_num, float formation_heading)
+static inline void mavlink_msg_vk_formation_leader_send(mavlink_channel_t chan, uint32_t timestamp, uint32_t state, int32_t lat, int32_t lon, float msl, float ve, float vn, float vu, float yaw, uint8_t formation_type, int16_t x_dist, int16_t y_dist, int16_t z_dist, uint16_t rect_col_num, float formation_heading, float form_head_lock)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
     char buf[MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN];
@@ -380,6 +388,7 @@ static inline void mavlink_msg_vk_formation_leader_send(mavlink_channel_t chan,
     _mav_put_uint16_t(buf, 42, rect_col_num);
     _mav_put_uint8_t(buf, 44, formation_type);
     _mav_put_float(buf, 45, formation_heading);
+    _mav_put_float(buf, 49, form_head_lock);
 
     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VK_FORMATION_LEADER, buf, MAVLINK_MSG_ID_VK_FORMATION_LEADER_MIN_LEN, MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN, MAVLINK_MSG_ID_VK_FORMATION_LEADER_CRC);
 #else
@@ -399,6 +408,7 @@ static inline void mavlink_msg_vk_formation_leader_send(mavlink_channel_t chan,
     packet.rect_col_num = rect_col_num;
     packet.formation_type = formation_type;
     packet.formation_heading = formation_heading;
+    packet.form_head_lock = form_head_lock;
 
     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VK_FORMATION_LEADER, (const char *)&packet, MAVLINK_MSG_ID_VK_FORMATION_LEADER_MIN_LEN, MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN, MAVLINK_MSG_ID_VK_FORMATION_LEADER_CRC);
 #endif
@@ -412,7 +422,7 @@ static inline void mavlink_msg_vk_formation_leader_send(mavlink_channel_t chan,
 static inline void mavlink_msg_vk_formation_leader_send_struct(mavlink_channel_t chan, const mavlink_vk_formation_leader_t* vk_formation_leader)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-    mavlink_msg_vk_formation_leader_send(chan, vk_formation_leader->timestamp, vk_formation_leader->state, vk_formation_leader->lat, vk_formation_leader->lon, vk_formation_leader->msl, vk_formation_leader->ve, vk_formation_leader->vn, vk_formation_leader->vu, vk_formation_leader->yaw, vk_formation_leader->formation_type, vk_formation_leader->x_dist, vk_formation_leader->y_dist, vk_formation_leader->z_dist, vk_formation_leader->rect_col_num, vk_formation_leader->formation_heading);
+    mavlink_msg_vk_formation_leader_send(chan, vk_formation_leader->timestamp, vk_formation_leader->state, vk_formation_leader->lat, vk_formation_leader->lon, vk_formation_leader->msl, vk_formation_leader->ve, vk_formation_leader->vn, vk_formation_leader->vu, vk_formation_leader->yaw, vk_formation_leader->formation_type, vk_formation_leader->x_dist, vk_formation_leader->y_dist, vk_formation_leader->z_dist, vk_formation_leader->rect_col_num, vk_formation_leader->formation_heading, vk_formation_leader->form_head_lock);
 #else
     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VK_FORMATION_LEADER, (const char *)vk_formation_leader, MAVLINK_MSG_ID_VK_FORMATION_LEADER_MIN_LEN, MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN, MAVLINK_MSG_ID_VK_FORMATION_LEADER_CRC);
 #endif
@@ -426,7 +436,7 @@ static inline void mavlink_msg_vk_formation_leader_send_struct(mavlink_channel_t
   is usually the receive buffer for the channel, and allows a reply to an
   incoming message with minimum stack space usage.
  */
-static inline void mavlink_msg_vk_formation_leader_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint32_t timestamp, uint32_t state, int32_t lat, int32_t lon, float msl, float ve, float vn, float vu, float yaw, uint8_t formation_type, int16_t x_dist, int16_t y_dist, int16_t z_dist, uint16_t rect_col_num, float formation_heading)
+static inline void mavlink_msg_vk_formation_leader_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint32_t timestamp, uint32_t state, int32_t lat, int32_t lon, float msl, float ve, float vn, float vu, float yaw, uint8_t formation_type, int16_t x_dist, int16_t y_dist, int16_t z_dist, uint16_t rect_col_num, float formation_heading, float form_head_lock)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
     char *buf = (char *)msgbuf;
@@ -445,6 +455,7 @@ static inline void mavlink_msg_vk_formation_leader_send_buf(mavlink_message_t *m
     _mav_put_uint16_t(buf, 42, rect_col_num);
     _mav_put_uint8_t(buf, 44, formation_type);
     _mav_put_float(buf, 45, formation_heading);
+    _mav_put_float(buf, 49, form_head_lock);
 
     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VK_FORMATION_LEADER, buf, MAVLINK_MSG_ID_VK_FORMATION_LEADER_MIN_LEN, MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN, MAVLINK_MSG_ID_VK_FORMATION_LEADER_CRC);
 #else
@@ -464,6 +475,7 @@ static inline void mavlink_msg_vk_formation_leader_send_buf(mavlink_message_t *m
     packet->rect_col_num = rect_col_num;
     packet->formation_type = formation_type;
     packet->formation_heading = formation_heading;
+    packet->form_head_lock = form_head_lock;
 
     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VK_FORMATION_LEADER, (const char *)packet, MAVLINK_MSG_ID_VK_FORMATION_LEADER_MIN_LEN, MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN, MAVLINK_MSG_ID_VK_FORMATION_LEADER_CRC);
 #endif
@@ -618,14 +630,23 @@ static inline uint16_t mavlink_msg_vk_formation_leader_get_rect_col_num(const ma
 /**
  * @brief Get field formation_heading from vk_formation_leader message
  *
- * @return [deg] if nan, use yaw as formation
-        heading
+ * @return [deg] if nan, use yaw as formation heading
  */
 static inline float mavlink_msg_vk_formation_leader_get_formation_heading(const mavlink_message_t* msg)
 {
     return _MAV_RETURN_float(msg,  45);
 }
 
+/**
+ * @brief Get field form_head_lock from vk_formation_leader message
+ *
+ * @return  0 unlock, 1 lock
+ */
+static inline float mavlink_msg_vk_formation_leader_get_form_head_lock(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_float(msg,  49);
+}
+
 /**
  * @brief Decode a vk_formation_leader message into a struct
  *
@@ -650,6 +671,7 @@ static inline void mavlink_msg_vk_formation_leader_decode(const mavlink_message_
     vk_formation_leader->rect_col_num = mavlink_msg_vk_formation_leader_get_rect_col_num(msg);
     vk_formation_leader->formation_type = mavlink_msg_vk_formation_leader_get_formation_type(msg);
     vk_formation_leader->formation_heading = mavlink_msg_vk_formation_leader_get_formation_heading(msg);
+    vk_formation_leader->form_head_lock = mavlink_msg_vk_formation_leader_get_form_head_lock(msg);
 #else
         uint8_t len = msg->len < MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN? msg->len : MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN;
         memset(vk_formation_leader, 0, MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN);

v2.0/VKFly/testsuite.h

@@ -313,7 +313,7 @@ static void mavlink_test_vk_formation_leader(uint8_t system_id, uint8_t componen
         uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
         uint16_t i;
     mavlink_vk_formation_leader_t packet_in = {
-        963497464,963497672,963497880,963498088,129.0,157.0,185.0,213.0,241.0,19107,19211,19315,19419,137,332.0
+        963497464,963497672,963497880,963498088,129.0,157.0,185.0,213.0,241.0,19107,19211,19315,19419,137,332.0,360.0
     };
     mavlink_vk_formation_leader_t packet1, packet2;
         memset(&packet1, 0, sizeof(packet1));
@@ -332,6 +332,7 @@ static void mavlink_test_vk_formation_leader(uint8_t system_id, uint8_t componen
         packet1.rect_col_num = packet_in.rect_col_num;
         packet1.formation_type = packet_in.formation_type;
         packet1.formation_heading = packet_in.formation_heading;
+        packet1.form_head_lock = packet_in.form_head_lock;
         
         
 #ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
@@ -346,12 +347,12 @@ static void mavlink_test_vk_formation_leader(uint8_t system_id, uint8_t componen
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 
         memset(&packet2, 0, sizeof(packet2));
-    mavlink_msg_vk_formation_leader_pack(system_id, component_id, &msg , packet1.timestamp , packet1.state , packet1.lat , packet1.lon , packet1.msl , packet1.ve , packet1.vn , packet1.vu , packet1.yaw , packet1.formation_type , packet1.x_dist , packet1.y_dist , packet1.z_dist , packet1.rect_col_num , packet1.formation_heading );
+    mavlink_msg_vk_formation_leader_pack(system_id, component_id, &msg , packet1.timestamp , packet1.state , packet1.lat , packet1.lon , packet1.msl , packet1.ve , packet1.vn , packet1.vu , packet1.yaw , packet1.formation_type , packet1.x_dist , packet1.y_dist , packet1.z_dist , packet1.rect_col_num , packet1.formation_heading , packet1.form_head_lock );
     mavlink_msg_vk_formation_leader_decode(&msg, &packet2);
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 
         memset(&packet2, 0, sizeof(packet2));
-    mavlink_msg_vk_formation_leader_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.timestamp , packet1.state , packet1.lat , packet1.lon , packet1.msl , packet1.ve , packet1.vn , packet1.vu , packet1.yaw , packet1.formation_type , packet1.x_dist , packet1.y_dist , packet1.z_dist , packet1.rect_col_num , packet1.formation_heading );
+    mavlink_msg_vk_formation_leader_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.timestamp , packet1.state , packet1.lat , packet1.lon , packet1.msl , packet1.ve , packet1.vn , packet1.vu , packet1.yaw , packet1.formation_type , packet1.x_dist , packet1.y_dist , packet1.z_dist , packet1.rect_col_num , packet1.formation_heading , packet1.form_head_lock );
     mavlink_msg_vk_formation_leader_decode(&msg, &packet2);
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 
@@ -364,7 +365,7 @@ static void mavlink_test_vk_formation_leader(uint8_t system_id, uint8_t componen
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
         
         memset(&packet2, 0, sizeof(packet2));
-    mavlink_msg_vk_formation_leader_send(MAVLINK_COMM_1 , packet1.timestamp , packet1.state , packet1.lat , packet1.lon , packet1.msl , packet1.ve , packet1.vn , packet1.vu , packet1.yaw , packet1.formation_type , packet1.x_dist , packet1.y_dist , packet1.z_dist , packet1.rect_col_num , packet1.formation_heading );
+    mavlink_msg_vk_formation_leader_send(MAVLINK_COMM_1 , packet1.timestamp , packet1.state , packet1.lat , packet1.lon , packet1.msl , packet1.ve , packet1.vn , packet1.vu , packet1.yaw , packet1.formation_type , packet1.x_dist , packet1.y_dist , packet1.z_dist , packet1.rect_col_num , packet1.formation_heading , packet1.form_head_lock );
     mavlink_msg_vk_formation_leader_decode(last_msg, &packet2);
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 

v2.0/VKFly/version.h

@@ -7,7 +7,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Wed Aug 06 2025"
+#define MAVLINK_BUILD_DATE "Fri Aug 15 2025"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  

v2.0/common/common.h

@@ -10,7 +10,7 @@
     #error Wrong include order: MAVLINK_COMMON.H MUST NOT BE DIRECTLY USED. Include mavlink.h from the same directory instead or set ALL AND EVERY defines from MAVLINK.H manually accordingly, including the #define MAVLINK_H call.
 #endif
 
-#define MAVLINK_COMMON_XML_HASH -3670629655459934459
+#define MAVLINK_COMMON_XML_HASH 3039913676066473736
 
 #ifdef __cplusplus
 extern "C" {

v2.0/common/mavlink.h

@@ -6,7 +6,7 @@
 #ifndef MAVLINK_H
 #define MAVLINK_H
 
-#define MAVLINK_PRIMARY_XML_HASH -3670629655459934459
+#define MAVLINK_PRIMARY_XML_HASH 3039913676066473736
 
 #ifndef MAVLINK_STX
 #define MAVLINK_STX 253

v2.0/common/version.h

@@ -7,7 +7,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Wed Aug 06 2025"
+#define MAVLINK_BUILD_DATE "Fri Aug 15 2025"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  

v2.0/minimal/mavlink.h

@@ -6,7 +6,7 @@
 #ifndef MAVLINK_H
 #define MAVLINK_H
 
-#define MAVLINK_PRIMARY_XML_HASH 1082466030255587575
+#define MAVLINK_PRIMARY_XML_HASH -1774211489507666445
 
 #ifndef MAVLINK_STX
 #define MAVLINK_STX 253

v2.0/minimal/minimal.h

@@ -10,7 +10,7 @@
     #error Wrong include order: MAVLINK_MINIMAL.H MUST NOT BE DIRECTLY USED. Include mavlink.h from the same directory instead or set ALL AND EVERY defines from MAVLINK.H manually accordingly, including the #define MAVLINK_H call.
 #endif
 
-#define MAVLINK_MINIMAL_XML_HASH 1082466030255587575
+#define MAVLINK_MINIMAL_XML_HASH -1774211489507666445
 
 #ifdef __cplusplus
 extern "C" {

v2.0/minimal/version.h

@@ -7,7 +7,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Wed Aug 06 2025"
+#define MAVLINK_BUILD_DATE "Fri Aug 15 2025"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 22
  

v2.0/standard/mavlink.h

@@ -6,7 +6,7 @@
 #ifndef MAVLINK_H
 #define MAVLINK_H
 
-#define MAVLINK_PRIMARY_XML_HASH 5730677942998470565
+#define MAVLINK_PRIMARY_XML_HASH -7282419391756487482
 
 #ifndef MAVLINK_STX
 #define MAVLINK_STX 253

v2.0/standard/standard.h

@@ -10,7 +10,7 @@
     #error Wrong include order: MAVLINK_STANDARD.H MUST NOT BE DIRECTLY USED. Include mavlink.h from the same directory instead or set ALL AND EVERY defines from MAVLINK.H manually accordingly, including the #define MAVLINK_H call.
 #endif
 
-#define MAVLINK_STANDARD_XML_HASH 5730677942998470565
+#define MAVLINK_STANDARD_XML_HASH -7282419391756487482
 
 #ifdef __cplusplus
 extern "C" {

v2.0/standard/version.h

@@ -7,7 +7,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Wed Aug 06 2025"
+#define MAVLINK_BUILD_DATE "Fri Aug 15 2025"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 22