增加垂直队形, 链路静默等定义

msg_definitions/VKFly.xml

@@ -623,6 +623,7 @@
       <entry value="2" name="VKFLY_FORMATION_TRIANGLE"></entry>
       <entry value="3" name="VKFLY_FORMATION_RECTANGLE"></entry>
       <entry value="4" name="VKFLY_FORMATION_CUSTOM"></entry>
+      <entry value="5" name="VKFLY_FORMATION_VERTICLE_LINE"></entry>
     </enum>
 
     <enum name="VKFLY_CMD">

readme.md

@@ -464,7 +464,8 @@ typedef enum VKFLY_FORMATION_TYPE
    VKFLY_FORMATION_TRIANGLE=2, /* 三角队形 | */
    VKFLY_FORMATION_RECTANGLE=3, /* 矩形队形 | */
    VKFLY_FORMATION_CUSTOM=4, /* 自定义队形 | */
-   VKFLY_FORMATION_TYPE_ENUM_END=5, /*  | */
+   VKFLY_FORMATION_VERTICLE_LINE=5, /* 垂直队形 | */
+   VKFLY_FORMATION_TYPE_ENUM_END=6, /*  | */
 } VKFLY_FORMATION_TYPE;
 ```
 
@@ -1106,8 +1107,7 @@ mavlink common 标准消息集中主要由 COMMAND_INT 和 COMMAND_LONG 两条.
 | ------ | --------------------------------------- |
 | param1 | 1-陀螺校准(暂未支持)                    |
 | param2 | 1-磁力计校准                            |
-| param3 | 1-地面气压校准(暂未支持)                |
-| param4 | 1-遥控器校准开始 <br>2-遥控器校准结束   |
+| param3 | 1-遥控器校准开始 <br>2-遥控器校准结束   |
 | param5 | 1-加速度计校准(暂未支持) <br>2-水平校准 |
 | param6 | 1-暂未支持 <br>2-空速计校准             |
 | param7 | 1-ESC电调校准                           |
@@ -1555,7 +1555,7 @@ 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
 | time_boot_ms  | 系统本地时间戳ms                      |
 | rtl_reason    | 返航原因, 参考 VKFLY_RTL_REASON       |
 | loiter_reason | 悬停原因, 参考 VKFLY_LOITER_REASON    |
-| s_flag3       | 预留                                  |
+| s_flag3       | bit0, 长机编队信息连接状态, 1连接正常 |
 | ups_volt      | ups电压, 0.1V                         |
 | adc_volt      | adc电压, 0.1V                         |
 | flight_time   | 飞行时间,s                            |
@@ -1859,9 +1859,10 @@ 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
 | FW_THR_OFF      | 油门行程灭车             | UINT16 | 范围500~2500                                                                      |
 | FW_THR_MIN      | 油门行程怠速             | UINT16 | 范围500~2500                                                                      |
 | FW_THR_MAX      | 油门行程最大             | UINT16 | 范围500~2500                                                                      |
-| PL_WEI_MAX      | 称重超重门限             | float | 单位kg, 范围 0~1000kg, 0表示不启用                                               |
+| 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                                                        |
 #### 9.2.1 FS_CONF_A 参数说明
 
 1. bit0~3:1级低电压保护. 支持不启用\返航\降落

v2.0/VKFly/VKFly.h

@@ -10,7 +10,7 @@
     #error Wrong include order: MAVLINK_VKFLY.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_VKFLY_XML_HASH 4320625610104012698
+#define MAVLINK_VKFLY_XML_HASH -7414985884588854060
 
 #ifdef __cplusplus
 extern "C" {
@@ -472,7 +472,8 @@ typedef enum VKFLY_FORMATION_TYPE
    VKFLY_FORMATION_TRIANGLE=2, /*  | */
    VKFLY_FORMATION_RECTANGLE=3, /*  | */
    VKFLY_FORMATION_CUSTOM=4, /*  | */
-   VKFLY_FORMATION_TYPE_ENUM_END=5, /*  | */
+   VKFLY_FORMATION_VERTICLE_LINE=5, /*  | */
+   VKFLY_FORMATION_TYPE_ENUM_END=6, /*  | */
 } VKFLY_FORMATION_TYPE;
 #endif
 

v2.0/VKFly/mavlink.h

@@ -6,7 +6,7 @@
 #ifndef MAVLINK_H
 #define MAVLINK_H
 
-#define MAVLINK_PRIMARY_XML_HASH 4320625610104012698
+#define MAVLINK_PRIMARY_XML_HASH -7414985884588854060
 
 #ifndef MAVLINK_STX
 #define MAVLINK_STX 253

v2.0/VKFly/version.h

@@ -7,7 +7,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Thu May 29 2025"
+#define MAVLINK_BUILD_DATE "Thu Jul 03 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 877427303111780132
+#define MAVLINK_COMMON_XML_HASH 3127858906417804340
 
 #ifdef __cplusplus
 extern "C" {

v2.0/common/mavlink.h

@@ -6,7 +6,7 @@
 #ifndef MAVLINK_H
 #define MAVLINK_H
 
-#define MAVLINK_PRIMARY_XML_HASH 877427303111780132
+#define MAVLINK_PRIMARY_XML_HASH 3127858906417804340
 
 #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 "Thu May 29 2025"
+#define MAVLINK_BUILD_DATE "Thu Jul 03 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 -5807272136416573013
+#define MAVLINK_PRIMARY_XML_HASH -3315191803908975801
 
 #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 -5807272136416573013
+#define MAVLINK_MINIMAL_XML_HASH -3315191803908975801
 
 #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 "Thu May 29 2025"
+#define MAVLINK_BUILD_DATE "Thu Jul 03 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 8077269597131993820
+#define MAVLINK_PRIMARY_XML_HASH 5357702969394747440
 
 #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 8077269597131993820
+#define MAVLINK_STANDARD_XML_HASH 5357702969394747440
 
 #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 "Thu May 29 2025"
+#define MAVLINK_BUILD_DATE "Thu Jul 03 2025"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 22