增加基站baseline等相关消息定义代码

v2.0/VKFly/mavlink.h

@@ -6,7 +6,7 @@
 #ifndef MAVLINK_H
 #define MAVLINK_H
 
-#define MAVLINK_PRIMARY_XML_HASH 3364816084848438667
+#define MAVLINK_PRIMARY_XML_HASH 4681071013379025490
 
 #ifndef MAVLINK_STX
 #define MAVLINK_STX 253

v2.0/VKFly/mavlink_msg_vk_rtk_base_pvt.h

@@ -0,0 +1,596 @@
+#pragma once
+// MESSAGE VK_RTK_BASE_PVT PACKING
+
+#define MAVLINK_MSG_ID_VK_RTK_BASE_PVT 53024
+
+
+typedef struct __mavlink_vk_rtk_base_pvt_t {
+ uint32_t timestamp; /*< [ms] timestamp from system boot*/
+ int32_t lon; /*< [degE7] solved longitude*/
+ int32_t lat; /*< [degE7] solved latitude*/
+ float msl; /*< [m] solved latitude*/
+ float ve; /*< [m/s] solved east speed*/
+ float vn; /*< [m/s] solved north speed*/
+ float vu; /*< [m/s] solved up speed*/
+ float heading; /*< [deg] yaw angle*/
+ float pitch; /*< [deg] pitch angle*/
+ uint8_t p_sat_num; /*<  position satellite number*/
+ uint8_t h_sat_num; /*<  heading satellite number*/
+ uint8_t p_type; /*<  heading satellite number*/
+ uint8_t h_type; /*<  heading satellite number*/
+} mavlink_vk_rtk_base_pvt_t;
+
+#define MAVLINK_MSG_ID_VK_RTK_BASE_PVT_LEN 40
+#define MAVLINK_MSG_ID_VK_RTK_BASE_PVT_MIN_LEN 40
+#define MAVLINK_MSG_ID_53024_LEN 40
+#define MAVLINK_MSG_ID_53024_MIN_LEN 40
+
+#define MAVLINK_MSG_ID_VK_RTK_BASE_PVT_CRC 87
+#define MAVLINK_MSG_ID_53024_CRC 87
+
+
+
+#if MAVLINK_COMMAND_24BIT
+#define MAVLINK_MESSAGE_INFO_VK_RTK_BASE_PVT { \
+    53024, \
+    "VK_RTK_BASE_PVT", \
+    13, \
+    {  { "timestamp", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_vk_rtk_base_pvt_t, timestamp) }, \
+         { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_vk_rtk_base_pvt_t, lon) }, \
+         { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_vk_rtk_base_pvt_t, lat) }, \
+         { "msl", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_vk_rtk_base_pvt_t, msl) }, \
+         { "ve", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_vk_rtk_base_pvt_t, ve) }, \
+         { "vn", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_vk_rtk_base_pvt_t, vn) }, \
+         { "vu", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_vk_rtk_base_pvt_t, vu) }, \
+         { "heading", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_vk_rtk_base_pvt_t, heading) }, \
+         { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_vk_rtk_base_pvt_t, pitch) }, \
+         { "p_sat_num", NULL, MAVLINK_TYPE_UINT8_T, 0, 36, offsetof(mavlink_vk_rtk_base_pvt_t, p_sat_num) }, \
+         { "h_sat_num", NULL, MAVLINK_TYPE_UINT8_T, 0, 37, offsetof(mavlink_vk_rtk_base_pvt_t, h_sat_num) }, \
+         { "p_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 38, offsetof(mavlink_vk_rtk_base_pvt_t, p_type) }, \
+         { "h_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 39, offsetof(mavlink_vk_rtk_base_pvt_t, h_type) }, \
+         } \
+}
+#else
+#define MAVLINK_MESSAGE_INFO_VK_RTK_BASE_PVT { \
+    "VK_RTK_BASE_PVT", \
+    13, \
+    {  { "timestamp", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_vk_rtk_base_pvt_t, timestamp) }, \
+         { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_vk_rtk_base_pvt_t, lon) }, \
+         { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_vk_rtk_base_pvt_t, lat) }, \
+         { "msl", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_vk_rtk_base_pvt_t, msl) }, \
+         { "ve", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_vk_rtk_base_pvt_t, ve) }, \
+         { "vn", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_vk_rtk_base_pvt_t, vn) }, \
+         { "vu", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_vk_rtk_base_pvt_t, vu) }, \
+         { "heading", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_vk_rtk_base_pvt_t, heading) }, \
+         { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_vk_rtk_base_pvt_t, pitch) }, \
+         { "p_sat_num", NULL, MAVLINK_TYPE_UINT8_T, 0, 36, offsetof(mavlink_vk_rtk_base_pvt_t, p_sat_num) }, \
+         { "h_sat_num", NULL, MAVLINK_TYPE_UINT8_T, 0, 37, offsetof(mavlink_vk_rtk_base_pvt_t, h_sat_num) }, \
+         { "p_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 38, offsetof(mavlink_vk_rtk_base_pvt_t, p_type) }, \
+         { "h_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 39, offsetof(mavlink_vk_rtk_base_pvt_t, h_type) }, \
+         } \
+}
+#endif
+
+/**
+ * @brief Pack a vk_rtk_base_pvt message
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ *
+ * @param timestamp [ms] timestamp from system boot
+ * @param lon [degE7] solved longitude
+ * @param lat [degE7] solved latitude
+ * @param msl [m] solved latitude
+ * @param ve [m/s] solved east speed
+ * @param vn [m/s] solved north speed
+ * @param vu [m/s] solved up speed
+ * @param heading [deg] yaw angle
+ * @param pitch [deg] pitch angle
+ * @param p_sat_num  position satellite number
+ * @param h_sat_num  heading satellite number
+ * @param p_type  heading satellite number
+ * @param h_type  heading satellite number
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_vk_rtk_base_pvt_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+                               uint32_t timestamp, int32_t lon, int32_t lat, float msl, float ve, float vn, float vu, float heading, float pitch, uint8_t p_sat_num, uint8_t h_sat_num, uint8_t p_type, uint8_t h_type)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    char buf[MAVLINK_MSG_ID_VK_RTK_BASE_PVT_LEN];
+    _mav_put_uint32_t(buf, 0, timestamp);
+    _mav_put_int32_t(buf, 4, lon);
+    _mav_put_int32_t(buf, 8, lat);
+    _mav_put_float(buf, 12, msl);
+    _mav_put_float(buf, 16, ve);
+    _mav_put_float(buf, 20, vn);
+    _mav_put_float(buf, 24, vu);
+    _mav_put_float(buf, 28, heading);
+    _mav_put_float(buf, 32, pitch);
+    _mav_put_uint8_t(buf, 36, p_sat_num);
+    _mav_put_uint8_t(buf, 37, h_sat_num);
+    _mav_put_uint8_t(buf, 38, p_type);
+    _mav_put_uint8_t(buf, 39, h_type);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VK_RTK_BASE_PVT_LEN);
+#else
+    mavlink_vk_rtk_base_pvt_t packet;
+    packet.timestamp = timestamp;
+    packet.lon = lon;
+    packet.lat = lat;
+    packet.msl = msl;
+    packet.ve = ve;
+    packet.vn = vn;
+    packet.vu = vu;
+    packet.heading = heading;
+    packet.pitch = pitch;
+    packet.p_sat_num = p_sat_num;
+    packet.h_sat_num = h_sat_num;
+    packet.p_type = p_type;
+    packet.h_type = h_type;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VK_RTK_BASE_PVT_LEN);
+#endif
+
+    msg->msgid = MAVLINK_MSG_ID_VK_RTK_BASE_PVT;
+    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_VK_RTK_BASE_PVT_MIN_LEN, MAVLINK_MSG_ID_VK_RTK_BASE_PVT_LEN, MAVLINK_MSG_ID_VK_RTK_BASE_PVT_CRC);
+}
+
+/**
+ * @brief Pack a vk_rtk_base_pvt message
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param status MAVLink status structure
+ * @param msg The MAVLink message to compress the data into
+ *
+ * @param timestamp [ms] timestamp from system boot
+ * @param lon [degE7] solved longitude
+ * @param lat [degE7] solved latitude
+ * @param msl [m] solved latitude
+ * @param ve [m/s] solved east speed
+ * @param vn [m/s] solved north speed
+ * @param vu [m/s] solved up speed
+ * @param heading [deg] yaw angle
+ * @param pitch [deg] pitch angle
+ * @param p_sat_num  position satellite number
+ * @param h_sat_num  heading satellite number
+ * @param p_type  heading satellite number
+ * @param h_type  heading satellite number
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_vk_rtk_base_pvt_pack_status(uint8_t system_id, uint8_t component_id, mavlink_status_t *_status, mavlink_message_t* msg,
+                               uint32_t timestamp, int32_t lon, int32_t lat, float msl, float ve, float vn, float vu, float heading, float pitch, uint8_t p_sat_num, uint8_t h_sat_num, uint8_t p_type, uint8_t h_type)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    char buf[MAVLINK_MSG_ID_VK_RTK_BASE_PVT_LEN];
+    _mav_put_uint32_t(buf, 0, timestamp);
+    _mav_put_int32_t(buf, 4, lon);
+    _mav_put_int32_t(buf, 8, lat);
+    _mav_put_float(buf, 12, msl);
+    _mav_put_float(buf, 16, ve);
+    _mav_put_float(buf, 20, vn);
+    _mav_put_float(buf, 24, vu);
+    _mav_put_float(buf, 28, heading);
+    _mav_put_float(buf, 32, pitch);
+    _mav_put_uint8_t(buf, 36, p_sat_num);
+    _mav_put_uint8_t(buf, 37, h_sat_num);
+    _mav_put_uint8_t(buf, 38, p_type);
+    _mav_put_uint8_t(buf, 39, h_type);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VK_RTK_BASE_PVT_LEN);
+#else
+    mavlink_vk_rtk_base_pvt_t packet;
+    packet.timestamp = timestamp;
+    packet.lon = lon;
+    packet.lat = lat;
+    packet.msl = msl;
+    packet.ve = ve;
+    packet.vn = vn;
+    packet.vu = vu;
+    packet.heading = heading;
+    packet.pitch = pitch;
+    packet.p_sat_num = p_sat_num;
+    packet.h_sat_num = h_sat_num;
+    packet.p_type = p_type;
+    packet.h_type = h_type;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VK_RTK_BASE_PVT_LEN);
+#endif
+
+    msg->msgid = MAVLINK_MSG_ID_VK_RTK_BASE_PVT;
+#if MAVLINK_CRC_EXTRA
+    return mavlink_finalize_message_buffer(msg, system_id, component_id, _status, MAVLINK_MSG_ID_VK_RTK_BASE_PVT_MIN_LEN, MAVLINK_MSG_ID_VK_RTK_BASE_PVT_LEN, MAVLINK_MSG_ID_VK_RTK_BASE_PVT_CRC);
+#else
+    return mavlink_finalize_message_buffer(msg, system_id, component_id, _status, MAVLINK_MSG_ID_VK_RTK_BASE_PVT_MIN_LEN, MAVLINK_MSG_ID_VK_RTK_BASE_PVT_LEN);
+#endif
+}
+
+/**
+ * @brief Pack a vk_rtk_base_pvt message on a channel
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message will be sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param timestamp [ms] timestamp from system boot
+ * @param lon [degE7] solved longitude
+ * @param lat [degE7] solved latitude
+ * @param msl [m] solved latitude
+ * @param ve [m/s] solved east speed
+ * @param vn [m/s] solved north speed
+ * @param vu [m/s] solved up speed
+ * @param heading [deg] yaw angle
+ * @param pitch [deg] pitch angle
+ * @param p_sat_num  position satellite number
+ * @param h_sat_num  heading satellite number
+ * @param p_type  heading satellite number
+ * @param h_type  heading satellite number
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_vk_rtk_base_pvt_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+                               mavlink_message_t* msg,
+                                   uint32_t timestamp,int32_t lon,int32_t lat,float msl,float ve,float vn,float vu,float heading,float pitch,uint8_t p_sat_num,uint8_t h_sat_num,uint8_t p_type,uint8_t h_type)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    char buf[MAVLINK_MSG_ID_VK_RTK_BASE_PVT_LEN];
+    _mav_put_uint32_t(buf, 0, timestamp);
+    _mav_put_int32_t(buf, 4, lon);
+    _mav_put_int32_t(buf, 8, lat);
+    _mav_put_float(buf, 12, msl);
+    _mav_put_float(buf, 16, ve);
+    _mav_put_float(buf, 20, vn);
+    _mav_put_float(buf, 24, vu);
+    _mav_put_float(buf, 28, heading);
+    _mav_put_float(buf, 32, pitch);
+    _mav_put_uint8_t(buf, 36, p_sat_num);
+    _mav_put_uint8_t(buf, 37, h_sat_num);
+    _mav_put_uint8_t(buf, 38, p_type);
+    _mav_put_uint8_t(buf, 39, h_type);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VK_RTK_BASE_PVT_LEN);
+#else
+    mavlink_vk_rtk_base_pvt_t packet;
+    packet.timestamp = timestamp;
+    packet.lon = lon;
+    packet.lat = lat;
+    packet.msl = msl;
+    packet.ve = ve;
+    packet.vn = vn;
+    packet.vu = vu;
+    packet.heading = heading;
+    packet.pitch = pitch;
+    packet.p_sat_num = p_sat_num;
+    packet.h_sat_num = h_sat_num;
+    packet.p_type = p_type;
+    packet.h_type = h_type;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VK_RTK_BASE_PVT_LEN);
+#endif
+
+    msg->msgid = MAVLINK_MSG_ID_VK_RTK_BASE_PVT;
+    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_VK_RTK_BASE_PVT_MIN_LEN, MAVLINK_MSG_ID_VK_RTK_BASE_PVT_LEN, MAVLINK_MSG_ID_VK_RTK_BASE_PVT_CRC);
+}
+
+/**
+ * @brief Encode a vk_rtk_base_pvt struct
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ * @param vk_rtk_base_pvt C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_vk_rtk_base_pvt_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_vk_rtk_base_pvt_t* vk_rtk_base_pvt)
+{
+    return mavlink_msg_vk_rtk_base_pvt_pack(system_id, component_id, msg, vk_rtk_base_pvt->timestamp, vk_rtk_base_pvt->lon, vk_rtk_base_pvt->lat, vk_rtk_base_pvt->msl, vk_rtk_base_pvt->ve, vk_rtk_base_pvt->vn, vk_rtk_base_pvt->vu, vk_rtk_base_pvt->heading, vk_rtk_base_pvt->pitch, vk_rtk_base_pvt->p_sat_num, vk_rtk_base_pvt->h_sat_num, vk_rtk_base_pvt->p_type, vk_rtk_base_pvt->h_type);
+}
+
+/**
+ * @brief Encode a vk_rtk_base_pvt struct on a channel
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message will be sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param vk_rtk_base_pvt C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_vk_rtk_base_pvt_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_vk_rtk_base_pvt_t* vk_rtk_base_pvt)
+{
+    return mavlink_msg_vk_rtk_base_pvt_pack_chan(system_id, component_id, chan, msg, vk_rtk_base_pvt->timestamp, vk_rtk_base_pvt->lon, vk_rtk_base_pvt->lat, vk_rtk_base_pvt->msl, vk_rtk_base_pvt->ve, vk_rtk_base_pvt->vn, vk_rtk_base_pvt->vu, vk_rtk_base_pvt->heading, vk_rtk_base_pvt->pitch, vk_rtk_base_pvt->p_sat_num, vk_rtk_base_pvt->h_sat_num, vk_rtk_base_pvt->p_type, vk_rtk_base_pvt->h_type);
+}
+
+/**
+ * @brief Encode a vk_rtk_base_pvt struct with provided status structure
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param status MAVLink status structure
+ * @param msg The MAVLink message to compress the data into
+ * @param vk_rtk_base_pvt C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_vk_rtk_base_pvt_encode_status(uint8_t system_id, uint8_t component_id, mavlink_status_t* _status, mavlink_message_t* msg, const mavlink_vk_rtk_base_pvt_t* vk_rtk_base_pvt)
+{
+    return mavlink_msg_vk_rtk_base_pvt_pack_status(system_id, component_id, _status, msg,  vk_rtk_base_pvt->timestamp, vk_rtk_base_pvt->lon, vk_rtk_base_pvt->lat, vk_rtk_base_pvt->msl, vk_rtk_base_pvt->ve, vk_rtk_base_pvt->vn, vk_rtk_base_pvt->vu, vk_rtk_base_pvt->heading, vk_rtk_base_pvt->pitch, vk_rtk_base_pvt->p_sat_num, vk_rtk_base_pvt->h_sat_num, vk_rtk_base_pvt->p_type, vk_rtk_base_pvt->h_type);
+}
+
+/**
+ * @brief Send a vk_rtk_base_pvt message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param timestamp [ms] timestamp from system boot
+ * @param lon [degE7] solved longitude
+ * @param lat [degE7] solved latitude
+ * @param msl [m] solved latitude
+ * @param ve [m/s] solved east speed
+ * @param vn [m/s] solved north speed
+ * @param vu [m/s] solved up speed
+ * @param heading [deg] yaw angle
+ * @param pitch [deg] pitch angle
+ * @param p_sat_num  position satellite number
+ * @param h_sat_num  heading satellite number
+ * @param p_type  heading satellite number
+ * @param h_type  heading satellite number
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_vk_rtk_base_pvt_send(mavlink_channel_t chan, uint32_t timestamp, int32_t lon, int32_t lat, float msl, float ve, float vn, float vu, float heading, float pitch, uint8_t p_sat_num, uint8_t h_sat_num, uint8_t p_type, uint8_t h_type)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    char buf[MAVLINK_MSG_ID_VK_RTK_BASE_PVT_LEN];
+    _mav_put_uint32_t(buf, 0, timestamp);
+    _mav_put_int32_t(buf, 4, lon);
+    _mav_put_int32_t(buf, 8, lat);
+    _mav_put_float(buf, 12, msl);
+    _mav_put_float(buf, 16, ve);
+    _mav_put_float(buf, 20, vn);
+    _mav_put_float(buf, 24, vu);
+    _mav_put_float(buf, 28, heading);
+    _mav_put_float(buf, 32, pitch);
+    _mav_put_uint8_t(buf, 36, p_sat_num);
+    _mav_put_uint8_t(buf, 37, h_sat_num);
+    _mav_put_uint8_t(buf, 38, p_type);
+    _mav_put_uint8_t(buf, 39, h_type);
+
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VK_RTK_BASE_PVT, buf, MAVLINK_MSG_ID_VK_RTK_BASE_PVT_MIN_LEN, MAVLINK_MSG_ID_VK_RTK_BASE_PVT_LEN, MAVLINK_MSG_ID_VK_RTK_BASE_PVT_CRC);
+#else
+    mavlink_vk_rtk_base_pvt_t packet;
+    packet.timestamp = timestamp;
+    packet.lon = lon;
+    packet.lat = lat;
+    packet.msl = msl;
+    packet.ve = ve;
+    packet.vn = vn;
+    packet.vu = vu;
+    packet.heading = heading;
+    packet.pitch = pitch;
+    packet.p_sat_num = p_sat_num;
+    packet.h_sat_num = h_sat_num;
+    packet.p_type = p_type;
+    packet.h_type = h_type;
+
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VK_RTK_BASE_PVT, (const char *)&packet, MAVLINK_MSG_ID_VK_RTK_BASE_PVT_MIN_LEN, MAVLINK_MSG_ID_VK_RTK_BASE_PVT_LEN, MAVLINK_MSG_ID_VK_RTK_BASE_PVT_CRC);
+#endif
+}
+
+/**
+ * @brief Send a vk_rtk_base_pvt message
+ * @param chan MAVLink channel to send the message
+ * @param struct The MAVLink struct to serialize
+ */
+static inline void mavlink_msg_vk_rtk_base_pvt_send_struct(mavlink_channel_t chan, const mavlink_vk_rtk_base_pvt_t* vk_rtk_base_pvt)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    mavlink_msg_vk_rtk_base_pvt_send(chan, vk_rtk_base_pvt->timestamp, vk_rtk_base_pvt->lon, vk_rtk_base_pvt->lat, vk_rtk_base_pvt->msl, vk_rtk_base_pvt->ve, vk_rtk_base_pvt->vn, vk_rtk_base_pvt->vu, vk_rtk_base_pvt->heading, vk_rtk_base_pvt->pitch, vk_rtk_base_pvt->p_sat_num, vk_rtk_base_pvt->h_sat_num, vk_rtk_base_pvt->p_type, vk_rtk_base_pvt->h_type);
+#else
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VK_RTK_BASE_PVT, (const char *)vk_rtk_base_pvt, MAVLINK_MSG_ID_VK_RTK_BASE_PVT_MIN_LEN, MAVLINK_MSG_ID_VK_RTK_BASE_PVT_LEN, MAVLINK_MSG_ID_VK_RTK_BASE_PVT_CRC);
+#endif
+}
+
+#if MAVLINK_MSG_ID_VK_RTK_BASE_PVT_LEN <= MAVLINK_MAX_PAYLOAD_LEN
+/*
+  This variant of _send() can be used to save stack space by re-using
+  memory from the receive buffer.  The caller provides a
+  mavlink_message_t which is the size of a full mavlink message. This
+  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_rtk_base_pvt_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint32_t timestamp, int32_t lon, int32_t lat, float msl, float ve, float vn, float vu, float heading, float pitch, uint8_t p_sat_num, uint8_t h_sat_num, uint8_t p_type, uint8_t h_type)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    char *buf = (char *)msgbuf;
+    _mav_put_uint32_t(buf, 0, timestamp);
+    _mav_put_int32_t(buf, 4, lon);
+    _mav_put_int32_t(buf, 8, lat);
+    _mav_put_float(buf, 12, msl);
+    _mav_put_float(buf, 16, ve);
+    _mav_put_float(buf, 20, vn);
+    _mav_put_float(buf, 24, vu);
+    _mav_put_float(buf, 28, heading);
+    _mav_put_float(buf, 32, pitch);
+    _mav_put_uint8_t(buf, 36, p_sat_num);
+    _mav_put_uint8_t(buf, 37, h_sat_num);
+    _mav_put_uint8_t(buf, 38, p_type);
+    _mav_put_uint8_t(buf, 39, h_type);
+
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VK_RTK_BASE_PVT, buf, MAVLINK_MSG_ID_VK_RTK_BASE_PVT_MIN_LEN, MAVLINK_MSG_ID_VK_RTK_BASE_PVT_LEN, MAVLINK_MSG_ID_VK_RTK_BASE_PVT_CRC);
+#else
+    mavlink_vk_rtk_base_pvt_t *packet = (mavlink_vk_rtk_base_pvt_t *)msgbuf;
+    packet->timestamp = timestamp;
+    packet->lon = lon;
+    packet->lat = lat;
+    packet->msl = msl;
+    packet->ve = ve;
+    packet->vn = vn;
+    packet->vu = vu;
+    packet->heading = heading;
+    packet->pitch = pitch;
+    packet->p_sat_num = p_sat_num;
+    packet->h_sat_num = h_sat_num;
+    packet->p_type = p_type;
+    packet->h_type = h_type;
+
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VK_RTK_BASE_PVT, (const char *)packet, MAVLINK_MSG_ID_VK_RTK_BASE_PVT_MIN_LEN, MAVLINK_MSG_ID_VK_RTK_BASE_PVT_LEN, MAVLINK_MSG_ID_VK_RTK_BASE_PVT_CRC);
+#endif
+}
+#endif
+
+#endif
+
+// MESSAGE VK_RTK_BASE_PVT UNPACKING
+
+
+/**
+ * @brief Get field timestamp from vk_rtk_base_pvt message
+ *
+ * @return [ms] timestamp from system boot
+ */
+static inline uint32_t mavlink_msg_vk_rtk_base_pvt_get_timestamp(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_uint32_t(msg,  0);
+}
+
+/**
+ * @brief Get field lon from vk_rtk_base_pvt message
+ *
+ * @return [degE7] solved longitude
+ */
+static inline int32_t mavlink_msg_vk_rtk_base_pvt_get_lon(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_int32_t(msg,  4);
+}
+
+/**
+ * @brief Get field lat from vk_rtk_base_pvt message
+ *
+ * @return [degE7] solved latitude
+ */
+static inline int32_t mavlink_msg_vk_rtk_base_pvt_get_lat(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_int32_t(msg,  8);
+}
+
+/**
+ * @brief Get field msl from vk_rtk_base_pvt message
+ *
+ * @return [m] solved latitude
+ */
+static inline float mavlink_msg_vk_rtk_base_pvt_get_msl(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_float(msg,  12);
+}
+
+/**
+ * @brief Get field ve from vk_rtk_base_pvt message
+ *
+ * @return [m/s] solved east speed
+ */
+static inline float mavlink_msg_vk_rtk_base_pvt_get_ve(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_float(msg,  16);
+}
+
+/**
+ * @brief Get field vn from vk_rtk_base_pvt message
+ *
+ * @return [m/s] solved north speed
+ */
+static inline float mavlink_msg_vk_rtk_base_pvt_get_vn(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_float(msg,  20);
+}
+
+/**
+ * @brief Get field vu from vk_rtk_base_pvt message
+ *
+ * @return [m/s] solved up speed
+ */
+static inline float mavlink_msg_vk_rtk_base_pvt_get_vu(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_float(msg,  24);
+}
+
+/**
+ * @brief Get field heading from vk_rtk_base_pvt message
+ *
+ * @return [deg] yaw angle
+ */
+static inline float mavlink_msg_vk_rtk_base_pvt_get_heading(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_float(msg,  28);
+}
+
+/**
+ * @brief Get field pitch from vk_rtk_base_pvt message
+ *
+ * @return [deg] pitch angle
+ */
+static inline float mavlink_msg_vk_rtk_base_pvt_get_pitch(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_float(msg,  32);
+}
+
+/**
+ * @brief Get field p_sat_num from vk_rtk_base_pvt message
+ *
+ * @return  position satellite number
+ */
+static inline uint8_t mavlink_msg_vk_rtk_base_pvt_get_p_sat_num(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_uint8_t(msg,  36);
+}
+
+/**
+ * @brief Get field h_sat_num from vk_rtk_base_pvt message
+ *
+ * @return  heading satellite number
+ */
+static inline uint8_t mavlink_msg_vk_rtk_base_pvt_get_h_sat_num(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_uint8_t(msg,  37);
+}
+
+/**
+ * @brief Get field p_type from vk_rtk_base_pvt message
+ *
+ * @return  heading satellite number
+ */
+static inline uint8_t mavlink_msg_vk_rtk_base_pvt_get_p_type(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_uint8_t(msg,  38);
+}
+
+/**
+ * @brief Get field h_type from vk_rtk_base_pvt message
+ *
+ * @return  heading satellite number
+ */
+static inline uint8_t mavlink_msg_vk_rtk_base_pvt_get_h_type(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_uint8_t(msg,  39);
+}
+
+/**
+ * @brief Decode a vk_rtk_base_pvt message into a struct
+ *
+ * @param msg The message to decode
+ * @param vk_rtk_base_pvt C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_vk_rtk_base_pvt_decode(const mavlink_message_t* msg, mavlink_vk_rtk_base_pvt_t* vk_rtk_base_pvt)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    vk_rtk_base_pvt->timestamp = mavlink_msg_vk_rtk_base_pvt_get_timestamp(msg);
+    vk_rtk_base_pvt->lon = mavlink_msg_vk_rtk_base_pvt_get_lon(msg);
+    vk_rtk_base_pvt->lat = mavlink_msg_vk_rtk_base_pvt_get_lat(msg);
+    vk_rtk_base_pvt->msl = mavlink_msg_vk_rtk_base_pvt_get_msl(msg);
+    vk_rtk_base_pvt->ve = mavlink_msg_vk_rtk_base_pvt_get_ve(msg);
+    vk_rtk_base_pvt->vn = mavlink_msg_vk_rtk_base_pvt_get_vn(msg);
+    vk_rtk_base_pvt->vu = mavlink_msg_vk_rtk_base_pvt_get_vu(msg);
+    vk_rtk_base_pvt->heading = mavlink_msg_vk_rtk_base_pvt_get_heading(msg);
+    vk_rtk_base_pvt->pitch = mavlink_msg_vk_rtk_base_pvt_get_pitch(msg);
+    vk_rtk_base_pvt->p_sat_num = mavlink_msg_vk_rtk_base_pvt_get_p_sat_num(msg);
+    vk_rtk_base_pvt->h_sat_num = mavlink_msg_vk_rtk_base_pvt_get_h_sat_num(msg);
+    vk_rtk_base_pvt->p_type = mavlink_msg_vk_rtk_base_pvt_get_p_type(msg);
+    vk_rtk_base_pvt->h_type = mavlink_msg_vk_rtk_base_pvt_get_h_type(msg);
+#else
+        uint8_t len = msg->len < MAVLINK_MSG_ID_VK_RTK_BASE_PVT_LEN? msg->len : MAVLINK_MSG_ID_VK_RTK_BASE_PVT_LEN;
+        memset(vk_rtk_base_pvt, 0, MAVLINK_MSG_ID_VK_RTK_BASE_PVT_LEN);
+    memcpy(vk_rtk_base_pvt, _MAV_PAYLOAD(msg), len);
+#endif
+}

v2.0/VKFly/testsuite.h

@@ -1115,6 +1115,77 @@ static void mavlink_test_vk_external_ins_nav(uint8_t system_id, uint8_t componen
 #endif
 }
 
+static void mavlink_test_vk_rtk_base_pvt(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
+    mavlink_status_t *status = mavlink_get_channel_status(MAVLINK_COMM_0);
+        if ((status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) && MAVLINK_MSG_ID_VK_RTK_BASE_PVT >= 256) {
+            return;
+        }
+#endif
+    mavlink_message_t msg;
+        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+        uint16_t i;
+    mavlink_vk_rtk_base_pvt_t packet_in = {
+        963497464,963497672,963497880,101.0,129.0,157.0,185.0,213.0,241.0,113,180,247,58
+    };
+    mavlink_vk_rtk_base_pvt_t packet1, packet2;
+        memset(&packet1, 0, sizeof(packet1));
+        packet1.timestamp = packet_in.timestamp;
+        packet1.lon = packet_in.lon;
+        packet1.lat = packet_in.lat;
+        packet1.msl = packet_in.msl;
+        packet1.ve = packet_in.ve;
+        packet1.vn = packet_in.vn;
+        packet1.vu = packet_in.vu;
+        packet1.heading = packet_in.heading;
+        packet1.pitch = packet_in.pitch;
+        packet1.p_sat_num = packet_in.p_sat_num;
+        packet1.h_sat_num = packet_in.h_sat_num;
+        packet1.p_type = packet_in.p_type;
+        packet1.h_type = packet_in.h_type;
+        
+        
+#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
+        if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
+           // cope with extensions
+           memset(MAVLINK_MSG_ID_VK_RTK_BASE_PVT_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_VK_RTK_BASE_PVT_MIN_LEN);
+        }
+#endif
+        memset(&packet2, 0, sizeof(packet2));
+    mavlink_msg_vk_rtk_base_pvt_encode(system_id, component_id, &msg, &packet1);
+    mavlink_msg_vk_rtk_base_pvt_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+    mavlink_msg_vk_rtk_base_pvt_pack(system_id, component_id, &msg , packet1.timestamp , packet1.lon , packet1.lat , packet1.msl , packet1.ve , packet1.vn , packet1.vu , packet1.heading , packet1.pitch , packet1.p_sat_num , packet1.h_sat_num , packet1.p_type , packet1.h_type );
+    mavlink_msg_vk_rtk_base_pvt_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+    mavlink_msg_vk_rtk_base_pvt_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.timestamp , packet1.lon , packet1.lat , packet1.msl , packet1.ve , packet1.vn , packet1.vu , packet1.heading , packet1.pitch , packet1.p_sat_num , packet1.h_sat_num , packet1.p_type , packet1.h_type );
+    mavlink_msg_vk_rtk_base_pvt_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+        mavlink_msg_to_send_buffer(buffer, &msg);
+        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
+            comm_send_ch(MAVLINK_COMM_0, buffer[i]);
+        }
+    mavlink_msg_vk_rtk_base_pvt_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+        
+        memset(&packet2, 0, sizeof(packet2));
+    mavlink_msg_vk_rtk_base_pvt_send(MAVLINK_COMM_1 , packet1.timestamp , packet1.lon , packet1.lat , packet1.msl , packet1.ve , packet1.vn , packet1.vu , packet1.heading , packet1.pitch , packet1.p_sat_num , packet1.h_sat_num , packet1.p_type , packet1.h_type );
+    mavlink_msg_vk_rtk_base_pvt_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+#ifdef MAVLINK_HAVE_GET_MESSAGE_INFO
+    MAVLINK_ASSERT(mavlink_get_message_info_by_name("VK_RTK_BASE_PVT") != NULL);
+    MAVLINK_ASSERT(mavlink_get_message_info_by_id(MAVLINK_MSG_ID_VK_RTK_BASE_PVT) != NULL);
+#endif
+}
+
 static void mavlink_test_vk_fw_update_begin(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
 {
 #ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
@@ -1515,6 +1586,7 @@ static void mavlink_test_VKFly(uint8_t system_id, uint8_t component_id, mavlink_
     mavlink_test_vk_weigher_state(system_id, component_id, last_msg);
     mavlink_test_vk_payload_data_relay(system_id, component_id, last_msg);
     mavlink_test_vk_external_ins_nav(system_id, component_id, last_msg);
+    mavlink_test_vk_rtk_base_pvt(system_id, component_id, last_msg);
     mavlink_test_vk_fw_update_begin(system_id, component_id, last_msg);
     mavlink_test_vk_fw_update_ack(system_id, component_id, last_msg);
     mavlink_test_vk_fw_update_data_request(system_id, component_id, last_msg);

v2.0/VKFly/version.h

@@ -7,7 +7,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Fri Aug 01 2025"
+#define MAVLINK_BUILD_DATE "Wed Aug 06 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 -814602026027383744
+#define MAVLINK_COMMON_XML_HASH -3670629655459934459
 
 #ifdef __cplusplus
 extern "C" {

v2.0/common/mavlink.h

@@ -6,7 +6,7 @@
 #ifndef MAVLINK_H
 #define MAVLINK_H
 
-#define MAVLINK_PRIMARY_XML_HASH -814602026027383744
+#define MAVLINK_PRIMARY_XML_HASH -3670629655459934459
 
 #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 "Fri Aug 01 2025"
+#define MAVLINK_BUILD_DATE "Wed Aug 06 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 7268660359020890114
+#define MAVLINK_PRIMARY_XML_HASH 1082466030255587575
 
 #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 7268660359020890114
+#define MAVLINK_MINIMAL_XML_HASH 1082466030255587575
 
 #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 "Fri Aug 01 2025"
+#define MAVLINK_BUILD_DATE "Wed Aug 06 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 6489740766805068128
+#define MAVLINK_PRIMARY_XML_HASH 5730677942998470565
 
 #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 6489740766805068128
+#define MAVLINK_STANDARD_XML_HASH 5730677942998470565
 
 #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 "Fri Aug 01 2025"
+#define MAVLINK_BUILD_DATE "Wed Aug 06 2025"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 22