增加一些垂起参数

msg_definitions/VKFly.xml

@@ -448,6 +448,12 @@
       <entry value="15" name="VKFLY_RTL_REASON_ECU_FUEL_LOW">
         <description>Trigger rtl mode by servo fault.</description>
       </entry>
+      <entry value="16" name="VKFLY_RTL_REASON_ATTITUDE_FS">
+        <description>Trigger rtl mode by attitude failsafe.</description>
+      </entry>
+      <entry value="17" name="VKFLY_RTL_REASON_TRANS_TMO">
+        <description>Trigger rtl mode by transform time out.</description>
+      </entry>
     </enum>
 
     <enum name="VKFLY_LOITER_REASON">

readme.md

@@ -229,7 +229,7 @@ typedef enum VKFLY_RTL_REASON
     VKFLY_RTL_REASON_WP_FINISH=13, /* 航线完成返航 */
     VKFLY_RTL_REASON_H2P_LOW=14, /* 氢能气压低返航 */
     VKFLY_RTL_REASON_ECU_FUEL_LOW=15, /* 发动机油量低返航 */
-    VKFLY_RTL_REASON_ENUM_END=16, /*  | */
+    VKFLY_RTL_REASON_ATTITUDE_FS=16, /* 姿态失控超限返航 | */
 } VKFLY_RTL_REASON;
 ```
 
@@ -1268,7 +1268,7 @@ param1~param5中,
 | param1 | 起始航点序号,0-UINT16_MAX. NAN表示忽略该参数，飞控根据执行方式从0或最后一点开始 |
 | param2 | 任务执行方式, 参考 VKFLY_MISSION_EXEC_MODE                                      |
 | param3 | 任务完成后动作, 参考 VKFLY_MISSION_DONE_ACT                                     |
-
+| param4 | |
 ### 5.35 自定义返航 VKFLY_CMD_RETURN_TO_LAUCH
 
 返航
@@ -1443,6 +1443,7 @@ 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
 | 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, 飞控按他们的平均电量进行触发保护判定                                                                                                              |

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 -2184010990295071235
+#define MAVLINK_VKFLY_XML_HASH 8299778570867146562
 
 #ifdef __cplusplus
 extern "C" {
@@ -311,7 +311,9 @@ typedef enum VKFLY_RTL_REASON
    VKFLY_RTL_REASON_WP_FINISH=13, /* Trigger rtl mode by servo fault. | */
    VKFLY_RTL_REASON_H2P_LOW=14, /* Trigger rtl mode by servo fault. | */
    VKFLY_RTL_REASON_ECU_FUEL_LOW=15, /* Trigger rtl mode by servo fault. | */
-   VKFLY_RTL_REASON_ENUM_END=16, /*  | */
+   VKFLY_RTL_REASON_ATTITUDE_FS=16, /* Trigger rtl mode by attitude failsafe. | */
+   VKFLY_RTL_REASON_TRANS_TMO=17, /* Trigger rtl mode by transform time out. | */
+   VKFLY_RTL_REASON_ENUM_END=18, /*  | */
 } VKFLY_RTL_REASON;
 #endif
 

v2.0/VKFly/mavlink.h

@@ -6,7 +6,7 @@
 #ifndef MAVLINK_H
 #define MAVLINK_H
 
-#define MAVLINK_PRIMARY_XML_HASH -2184010990295071235
+#define MAVLINK_PRIMARY_XML_HASH 8299778570867146562
 
 #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 "Wed Jan 22 2025"
+#define MAVLINK_BUILD_DATE "Mon Feb 24 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 -6028667296654801570
+#define MAVLINK_COMMON_XML_HASH -7377856874961102081
 
 #ifdef __cplusplus
 extern "C" {

v2.0/common/mavlink.h

@@ -6,7 +6,7 @@
 #ifndef MAVLINK_H
 #define MAVLINK_H
 
-#define MAVLINK_PRIMARY_XML_HASH -6028667296654801570
+#define MAVLINK_PRIMARY_XML_HASH -7377856874961102081
 
 #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 Jan 22 2025"
+#define MAVLINK_BUILD_DATE "Mon Feb 24 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 4602679135816657918
+#define MAVLINK_PRIMARY_XML_HASH 7445165156306560625
 
 #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 4602679135816657918
+#define MAVLINK_MINIMAL_XML_HASH 7445165156306560625
 
 #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 Jan 22 2025"
+#define MAVLINK_BUILD_DATE "Mon Feb 24 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 -4490838721348404161
+#define MAVLINK_PRIMARY_XML_HASH -2172215759341057295
 
 #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 -4490838721348404161
+#define MAVLINK_STANDARD_XML_HASH -2172215759341057295
 
 #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 Jan 22 2025"
+#define MAVLINK_BUILD_DATE "Mon Feb 24 2025"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 22