增加一些协议

msg_definitions/VKFly.xml

@@ -71,12 +71,17 @@
       <entry value="6" name="VKFLY_COMP_ID_RFD_R"></entry>
       <entry value="7" name="VKFLY_COMP_ID_RFD_D"></entry>
       <entry value="8" name="VKFLY_COMP_ID_RFD_360"></entry>
+      <entry value="9" name="VKFLY_COMP_ID_RTK"></entry>
       <entry value="10" name="VKFLY_COMP_ID_BAT0"></entry>
       <entry value="11" name="VKFLY_COMP_ID_BAT1"></entry>
       <entry value="12" name="VKFLY_COMP_ID_BAT2"></entry>
       <entry value="13" name="VKFLY_COMP_ID_BAT3"></entry>
       <entry value="14" name="VKFLY_COMP_ID_BAT4"></entry>
       <entry value="15" name="VKFLY_COMP_ID_BAT5"></entry>
+      <entry value="16" name="VKFLY_COMP_ID_ECU0"></entry>
+      <entry value="17" name="VKFLY_COMP_ID_ECU1"></entry>
+      <entry value="18" name="VKFLY_COMP_ID_ECU2"></entry>
+      <entry value="19" name="VKFLY_COMP_ID_ECU3"></entry>
     </enum>
 
     <enum name="VKFLY_FS_ACTION">
@@ -132,6 +137,7 @@
       <entry value="17" name="VKFLY_ARM_DENIED_SERVO_FAULT"></entry>
       <entry value="18" name="VKFLY_ARM_DENIED_LEAN_ANG"></entry>
       <entry value="19" name="VKFLY_ARM_DENIED_IN_CALIBRATION"></entry>
+      <entry value="20" name="VKFLY_ARM_DENIED_HYDRO_BMS_CHECK_ERR"></entry>
     </enum>
 
     <enum name="VKFLY_MAGCALIB_STAGE">
@@ -261,10 +267,10 @@
         <description>Follow.</description>
       </entry>
       <entry value="23" name="VKFLY_CUSTOM_MODE_WP_ORBIT">
-        <description>WP_Orbit</description>
+        <description>Waypoint orbit</description>
       </entry>
       <entry value="24" name="VKFLY_CUSTOM_MODE_DYN_TAKEOFF">
-        <description>Dyn_Takeoff </description>
+        <description>Dynamic takeoff</description>
       </entry>
       <entry value="25" name="VKFLY_CUSTOM_MODE_DYN_LAND">
         <description>Dyn_Land</description>
@@ -275,6 +281,9 @@
       <entry value="27" name="VKFLY_CUSTOM_MODE_OFFBOARD">
         <description>Offboard command control.</description>
       </entry>
+      <entry value="28" name="VKFLY_CUSTOM_MODE_FORMATION">
+        <description>Formation fly mode</description>
+      </entry>
     </enum>
 
     <enum name="VKFLY_VKINS_NAV_STATUS" bitmask="true">
@@ -400,6 +409,7 @@
       <entry value="13" name="VLFLY_LOITER_REASON_RC_BAD"></entry>
       <entry value="14" name="VLFLY_LOITER_REASON_BAT_CAP_LOW"></entry>
       <entry value="15" name="VLFLY_LOITER_REASON_OFFBOARD"></entry>
+      <entry value="16" name="VLFLY_LOITER_REASON_QUIT_FORMATION"></entry>
       <entry value="21" name="VLFLY_LOITER_REASON_WPDATA_ERR"></entry>
     </enum>
 
@@ -510,6 +520,14 @@
       <entry value="2" name="VKFLY_RTL_EXEC_MODE_BY_MISSION_SEQ_REVERSE"></entry>
     </enum>
 
+    <enum name="VKFLY_FORMATION_TYPE">
+      <entry value="0" name="VKFLY_FORMATION_ROW"></entry>
+      <entry value="1" name="VKFLY_FORMATION_COLUM"></entry>
+      <entry value="2" name="VKFLY_FORMATION_TRIANGLE"></entry>
+      <entry value="3" name="VKFLY_FORMATION_RECTANGLE"></entry>
+      <entry value="4" name="VKFLY_FORMATION_CUSTOM"></entry>
+    </enum>
+
     <enum name="VKFLY_CMD">
       <description> VKFLY custom CMD </description>
       <entry value="44010" name="VKFLY_CMD_NAV_WP" hasLocation="true" isDestination="true">
@@ -558,6 +576,17 @@
         <param index="7" label="Altitude" units="m">Altitude</param>
       </entry>
 
+      <entry value="44031" name="VKFLY_CMD_FORMATION_FLY">
+        <description>Formation fly assemble, disband or change formation</description>
+        <param index="1" label="action">1 means assemble, 2 means quit, 3 means change formation</param>
+        <param index="2" label="form_type" enum="VKFLY_FORMATION_TYPE"></param>
+        <param index="3" label="rect_col_num"></param>
+        <param index="4" label=""></param>
+        <param index="5" label="x_dist" units="m"></param>
+        <param index="6" label="y_dist" units="m"></param>
+        <param index="7" label="z_dist" units="m"></param>
+      </entry>
+
       <entry value="44050" name="VKFLY_CMD_ESC_CONFIG" hasLocation="false"
         isDestination="false">
         <description>can esc id configuration</description>
@@ -599,7 +628,7 @@
         <description>Start mission</description>
         <param index="1" label="Start Seq" minValue="0" maxValue="65535">start sequence of mission</param>
         <param index="2" label="Mission Exec Mode" enum="VKFLY_MISSION_EXEC_MODE"> </param>
-        <param index="3" label="Mission Done Action"> </param>
+        <param index="3" label="Mission Done Action" enum="VKFLY_MISSION_DONE_ACT"> </param>
         <param index="4" label=""> </param>
         <param index="5" label=""> </param>
         <param index="6" label=""> </param>
@@ -689,6 +718,47 @@
         percentage</field>
     </message>
 
+    <message id="53004" name="VK_FORMATION_LEADER">
+      <description> formation fly leader status message </description>
+      <field type="uint32_t" name="timestamp" units="ms">Timestamp in ms from system boot.</field>
+      <field type="uint32_t" name="state">formation leader drone state bitmap</field>
+      <field type="int32_t" name="lat" units="degE7">formation leader latitude in 1e-7deg </field>
+      <field type="int32_t" name="lon" units="degE7">formation leader longitude in 1e-7deg</field>
+      <field type="float" name="msl" units="m">formation leader msl altitude in meter</field>
+      <field type="float" name="ve" units="m/s">formation leader east speed</field>
+      <field type="float" name="vn" units="m/s">formation leader north speed</field>
+      <field type="float" name="vu" units="m/s">formation leader up speed</field>
+      <field type="float" name="yaw" units="deg">formation leader yaw</field>
+      <field type="uint8_t" name="formation_type" enum="VKFLY_FORMATION_TYPE">formation type</field>
+      <field type="int16_t" name="x_dist" units="cm">distance between drones in x axis</field>
+      <field type="int16_t" name="y_dist" units="cm">distance between drones in y axis</field>
+      <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>
+    </message>
+
+    <message id="53005" name="VK_ENGINE_ECU_STAUS">
+      <description> formation fly leader status message </description>
+      <field type="uint32_t" name="timestamp" units="ms">Timestamp in ms from system boot.</field>
+      <field type="uint16_t" name="spd_rpm">formation leader drone state bitmap</field>
+      <field type="uint8_t" name="thr_pos" units="%" minValue="0" maxValue="100" increment="1">throttle
+        position </field>
+      <field type="uint8_t" name="fuel_pos" units="%" minValue="0" maxValue="100" increment="1">fuel
+        position</field>
+      <field type="int16_t" name="cylinderA_temp" units="degC">CylinderA head temperature</field>
+      <field type="int16_t" name="cylinderB_temp" units="degC">CylinderB head temperature</field>
+      <field type="int16_t" name="coolant_temp" units="degC">coolant head temperature</field>
+      <field type="uint16_t" name="fuel_remain">engine index</field>
+      <field type="uint16_t" name="alarm">range extender alarm bitmap</field>
+      <field type="uint32_t" name="total_runtime" units="min">range extender output voltage</field>
+      <field type="uint16_t" name="runtime" units="min">range extender output voltage</field>
+      <field type="uint16_t" name="service_time" units="min">left time for service</field>
+      <field type="uint16_t" name="output_volt" units="dV">range extender output voltage</field>
+      <field type="uint16_t" name="output_curr" units="dA">range extender output current</field>
+      <field type="uint8_t" name="fault">engine fault</field>
+      <field type="uint8_t" name="engine_state">engine state</field>
+      <field type="uint8_t" name="index" minValue="0" maxValue="128" increment="1">engine index</field>
+      <field type="uint8_t[4]" name="reserve">engine state</field>
+    </message>
 
     <message id="53006" name="VK_COMP_VERSION">
       <description>vkfly gps version</description>
@@ -730,6 +800,24 @@
       <field type="uint8_t" name="target_comp">Target compid id.</field>
     </message>
 
+    <message id="53300" name="QINGXIE_BMS">
+      <description>VKFLY transfer update terminate. Send this message to terminate a update file
+        transfer.</description>
+      <field type="uint16_t" name="bat_voltage" units="cV">Battery voltage.</field>
+      <field type="uint16_t" name="servo_current" units="cA">Servo current.</field>
+      <field type="uint16_t" name="stack_voltage" units="cV">Stack voltage.</field>
+      <field type="uint16_t" name="servo_voltage" units="cV">Servo voltage.</field>
+      <field type="uint16_t" name="bat_refuel_current" units="cA">Battery refuel current.</field>
+      <field type="uint16_t" name="gas_tank_pressure">Gas tank pressure.</field>
+      <field type="uint16_t" name="pipe_pressure">Pipe pressure.</field>
+      <field type="uint16_t" name="pcb_temp">PCB temperature.</field>
+      <field type="uint16_t" name="stack_temp">Stack temperature.</field>
+      <field type="uint16_t" name="work_status"></field>
+      <field type="uint16_t" name="falt_status"></field>
+      <field type="uint8_t" name="self_check"></field>
+      <field type="uint8_t" name="Id"></field>
+    </message>
+
   </messages>
 
 </mavlink>