vkfmu 消息增加飞行距离数据

msg_definitions/VKFly.xml

@@ -658,6 +658,7 @@
       <field type="uint32_t" name="flight_time" units="s">flight time in seconds</field>
       <field type="uint32_t" name="dist_to_tar" units="cm">distance to target position in cm</field>
       <field type="uint16_t" name="servo_state">bitmap for servo state</field>
+      <field type="float" name="flight_dist" units="m">flight distance since this power up</field>
     </message>
 
     <message id="53002" name="VK_ROI_TARGET">

readme.md

@@ -711,7 +711,7 @@ mavlink common 标准消息集中主要由 MAVLINK_MSG_ID_COMMAND_INT 和 MAVLIN
     VKFLY_ARM_DENIED_IN_CALIBRATION=19, /* 正在校准中 | */
     VKFLY_ARM_DENIED_REASON_ENUM_END=20, /*  | */
   } VKFLY_ARM_DENIED_REASON;
-```
+  ```
 
 - **VKFLY_FS_ACTION**
 
@@ -1168,7 +1168,10 @@ mavlink common 标准消息集中主要由 MAVLINK_MSG_ID_COMMAND_INT 和 MAVLIN
   | raw_latitude    | vkins解算使用的原始纬度, 1e-7deg                                                          |
   | baro_alt        | vkins解算使用的原始气压高m                                                                |
   | raw_gps_alt     | vkins解算使用的原始海拔高度m                                                              |
-
+  | solv_psat_num   | 定位星数                                                                                  |
+  | solv_hsat_num   | 定向星数                                                                                  |
+  | temperature     | 飞控温度, degC                                                                            |
+  | vibe_coe        | 振动系数 0-无效                                                                           |
 - **MAVLINK_VKFMU_STATUS**
 
   | 字段          | 说明                                  |
@@ -1182,6 +1185,7 @@ mavlink common 标准消息集中主要由 MAVLINK_MSG_ID_COMMAND_INT 和 MAVLIN
   | flight_time   | 飞行时间,s                            |
   | dist_t_tar    | 目标距离, cm                          |
   | servo_state   | 舵机状态, 每位对应一个舵机, 1-开 0-关 |
+  | flight_dist   | 飞行距离, m, 本次上电开始飞行的总距离 |
 
 - **MAVLINK_VK_BMS_STATUS**
   智能电池状态数据
@@ -1209,7 +1213,7 @@ mavlink common 标准消息集中主要由 MAVLINK_MSG_ID_COMMAND_INT 和 MAVLIN
   | hw_ver      | 硬件版本号                                           |
   | fw_ver      | 软件版本号                                           |
   | SN          | SN号                                                 |
-  | manufactory | 软件版本号字符串                                     |
+  | manufactory | 制造商                                               |
   | model       | 设备型号                                             |
 
 ## 飞控参数说明

v2.0/VKFly/mavlink.h

@@ -6,7 +6,7 @@
 #ifndef MAVLINK_H
 #define MAVLINK_H
 
-#define MAVLINK_PRIMARY_XML_HASH 393070732020167691
+#define MAVLINK_PRIMARY_XML_HASH -5831540222236224306
 
 #ifndef MAVLINK_STX
 #define MAVLINK_STX 253

v2.0/VKFly/mavlink_msg_vkfmu_status.h

@@ -8,6 +8,7 @@ typedef struct __mavlink_vkfmu_status_t {
  uint32_t time_boot_ms; /*< [ms] Timestamp in ms from system boot.*/
  uint32_t flight_time; /*< [s] flight time in seconds*/
  uint32_t dist_to_tar; /*< [cm] distance to target position in cm*/
+ float flight_dist; /*< [m] flight distance since this power up*/
  uint16_t ups_volt; /*<  ups voltage in 0.1V*/
  uint16_t adc_volt; /*<  adc voltage in 0.1V*/
  uint16_t servo_state; /*<  bitmap for servo state*/
@@ -16,13 +17,13 @@ typedef struct __mavlink_vkfmu_status_t {
  uint8_t s_flag3; /*<  fmu sflag3*/
 } mavlink_vkfmu_status_t;
 
-#define MAVLINK_MSG_ID_VKFMU_STATUS_LEN 21
-#define MAVLINK_MSG_ID_VKFMU_STATUS_MIN_LEN 21
-#define MAVLINK_MSG_ID_53001_LEN 21
-#define MAVLINK_MSG_ID_53001_MIN_LEN 21
+#define MAVLINK_MSG_ID_VKFMU_STATUS_LEN 25
+#define MAVLINK_MSG_ID_VKFMU_STATUS_MIN_LEN 25
+#define MAVLINK_MSG_ID_53001_LEN 25
+#define MAVLINK_MSG_ID_53001_MIN_LEN 25
 
-#define MAVLINK_MSG_ID_VKFMU_STATUS_CRC 251
-#define MAVLINK_MSG_ID_53001_CRC 251
+#define MAVLINK_MSG_ID_VKFMU_STATUS_CRC 136
+#define MAVLINK_MSG_ID_53001_CRC 136
 
 
 
@@ -30,31 +31,33 @@ typedef struct __mavlink_vkfmu_status_t {
 #define MAVLINK_MESSAGE_INFO_VKFMU_STATUS { \
     53001, \
     "VKFMU_STATUS", \
-    9, \
+    10, \
     {  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_vkfmu_status_t, time_boot_ms) }, \
-         { "rtl_reason", NULL, MAVLINK_TYPE_UINT8_T, 0, 18, offsetof(mavlink_vkfmu_status_t, rtl_reason) }, \
-         { "loiter_reason", NULL, MAVLINK_TYPE_UINT8_T, 0, 19, offsetof(mavlink_vkfmu_status_t, loiter_reason) }, \
-         { "s_flag3", NULL, MAVLINK_TYPE_UINT8_T, 0, 20, offsetof(mavlink_vkfmu_status_t, s_flag3) }, \
-         { "ups_volt", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_vkfmu_status_t, ups_volt) }, \
-         { "adc_volt", NULL, MAVLINK_TYPE_UINT16_T, 0, 14, offsetof(mavlink_vkfmu_status_t, adc_volt) }, \
+         { "rtl_reason", NULL, MAVLINK_TYPE_UINT8_T, 0, 22, offsetof(mavlink_vkfmu_status_t, rtl_reason) }, \
+         { "loiter_reason", NULL, MAVLINK_TYPE_UINT8_T, 0, 23, offsetof(mavlink_vkfmu_status_t, loiter_reason) }, \
+         { "s_flag3", NULL, MAVLINK_TYPE_UINT8_T, 0, 24, offsetof(mavlink_vkfmu_status_t, s_flag3) }, \
+         { "ups_volt", NULL, MAVLINK_TYPE_UINT16_T, 0, 16, offsetof(mavlink_vkfmu_status_t, ups_volt) }, \
+         { "adc_volt", NULL, MAVLINK_TYPE_UINT16_T, 0, 18, offsetof(mavlink_vkfmu_status_t, adc_volt) }, \
          { "flight_time", NULL, MAVLINK_TYPE_UINT32_T, 0, 4, offsetof(mavlink_vkfmu_status_t, flight_time) }, \
          { "dist_to_tar", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_vkfmu_status_t, dist_to_tar) }, \
-         { "servo_state", NULL, MAVLINK_TYPE_UINT16_T, 0, 16, offsetof(mavlink_vkfmu_status_t, servo_state) }, \
+         { "servo_state", NULL, MAVLINK_TYPE_UINT16_T, 0, 20, offsetof(mavlink_vkfmu_status_t, servo_state) }, \
+         { "flight_dist", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_vkfmu_status_t, flight_dist) }, \
          } \
 }
 #else
 #define MAVLINK_MESSAGE_INFO_VKFMU_STATUS { \
     "VKFMU_STATUS", \
-    9, \
+    10, \
     {  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_vkfmu_status_t, time_boot_ms) }, \
-         { "rtl_reason", NULL, MAVLINK_TYPE_UINT8_T, 0, 18, offsetof(mavlink_vkfmu_status_t, rtl_reason) }, \
-         { "loiter_reason", NULL, MAVLINK_TYPE_UINT8_T, 0, 19, offsetof(mavlink_vkfmu_status_t, loiter_reason) }, \
-         { "s_flag3", NULL, MAVLINK_TYPE_UINT8_T, 0, 20, offsetof(mavlink_vkfmu_status_t, s_flag3) }, \
-         { "ups_volt", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_vkfmu_status_t, ups_volt) }, \
-         { "adc_volt", NULL, MAVLINK_TYPE_UINT16_T, 0, 14, offsetof(mavlink_vkfmu_status_t, adc_volt) }, \
+         { "rtl_reason", NULL, MAVLINK_TYPE_UINT8_T, 0, 22, offsetof(mavlink_vkfmu_status_t, rtl_reason) }, \
+         { "loiter_reason", NULL, MAVLINK_TYPE_UINT8_T, 0, 23, offsetof(mavlink_vkfmu_status_t, loiter_reason) }, \
+         { "s_flag3", NULL, MAVLINK_TYPE_UINT8_T, 0, 24, offsetof(mavlink_vkfmu_status_t, s_flag3) }, \
+         { "ups_volt", NULL, MAVLINK_TYPE_UINT16_T, 0, 16, offsetof(mavlink_vkfmu_status_t, ups_volt) }, \
+         { "adc_volt", NULL, MAVLINK_TYPE_UINT16_T, 0, 18, offsetof(mavlink_vkfmu_status_t, adc_volt) }, \
          { "flight_time", NULL, MAVLINK_TYPE_UINT32_T, 0, 4, offsetof(mavlink_vkfmu_status_t, flight_time) }, \
          { "dist_to_tar", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_vkfmu_status_t, dist_to_tar) }, \
-         { "servo_state", NULL, MAVLINK_TYPE_UINT16_T, 0, 16, offsetof(mavlink_vkfmu_status_t, servo_state) }, \
+         { "servo_state", NULL, MAVLINK_TYPE_UINT16_T, 0, 20, offsetof(mavlink_vkfmu_status_t, servo_state) }, \
+         { "flight_dist", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_vkfmu_status_t, flight_dist) }, \
          } \
 }
 #endif
@@ -74,22 +77,24 @@ typedef struct __mavlink_vkfmu_status_t {
  * @param flight_time [s] flight time in seconds
  * @param dist_to_tar [cm] distance to target position in cm
  * @param servo_state  bitmap for servo state
+ * @param flight_dist [m] flight distance since this power up
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_vkfmu_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-                               uint32_t time_boot_ms, uint8_t rtl_reason, uint8_t loiter_reason, uint8_t s_flag3, uint16_t ups_volt, uint16_t adc_volt, uint32_t flight_time, uint32_t dist_to_tar, uint16_t servo_state)
+                               uint32_t time_boot_ms, uint8_t rtl_reason, uint8_t loiter_reason, uint8_t s_flag3, uint16_t ups_volt, uint16_t adc_volt, uint32_t flight_time, uint32_t dist_to_tar, uint16_t servo_state, float flight_dist)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
     char buf[MAVLINK_MSG_ID_VKFMU_STATUS_LEN];
     _mav_put_uint32_t(buf, 0, time_boot_ms);
     _mav_put_uint32_t(buf, 4, flight_time);
     _mav_put_uint32_t(buf, 8, dist_to_tar);
-    _mav_put_uint16_t(buf, 12, ups_volt);
-    _mav_put_uint16_t(buf, 14, adc_volt);
-    _mav_put_uint16_t(buf, 16, servo_state);
-    _mav_put_uint8_t(buf, 18, rtl_reason);
-    _mav_put_uint8_t(buf, 19, loiter_reason);
-    _mav_put_uint8_t(buf, 20, s_flag3);
+    _mav_put_float(buf, 12, flight_dist);
+    _mav_put_uint16_t(buf, 16, ups_volt);
+    _mav_put_uint16_t(buf, 18, adc_volt);
+    _mav_put_uint16_t(buf, 20, servo_state);
+    _mav_put_uint8_t(buf, 22, rtl_reason);
+    _mav_put_uint8_t(buf, 23, loiter_reason);
+    _mav_put_uint8_t(buf, 24, s_flag3);
 
         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VKFMU_STATUS_LEN);
 #else
@@ -97,6 +102,7 @@ static inline uint16_t mavlink_msg_vkfmu_status_pack(uint8_t system_id, uint8_t
     packet.time_boot_ms = time_boot_ms;
     packet.flight_time = flight_time;
     packet.dist_to_tar = dist_to_tar;
+    packet.flight_dist = flight_dist;
     packet.ups_volt = ups_volt;
     packet.adc_volt = adc_volt;
     packet.servo_state = servo_state;
@@ -127,22 +133,24 @@ static inline uint16_t mavlink_msg_vkfmu_status_pack(uint8_t system_id, uint8_t
  * @param flight_time [s] flight time in seconds
  * @param dist_to_tar [cm] distance to target position in cm
  * @param servo_state  bitmap for servo state
+ * @param flight_dist [m] flight distance since this power up
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_vkfmu_status_pack_status(uint8_t system_id, uint8_t component_id, mavlink_status_t *_status, mavlink_message_t* msg,
-                               uint32_t time_boot_ms, uint8_t rtl_reason, uint8_t loiter_reason, uint8_t s_flag3, uint16_t ups_volt, uint16_t adc_volt, uint32_t flight_time, uint32_t dist_to_tar, uint16_t servo_state)
+                               uint32_t time_boot_ms, uint8_t rtl_reason, uint8_t loiter_reason, uint8_t s_flag3, uint16_t ups_volt, uint16_t adc_volt, uint32_t flight_time, uint32_t dist_to_tar, uint16_t servo_state, float flight_dist)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
     char buf[MAVLINK_MSG_ID_VKFMU_STATUS_LEN];
     _mav_put_uint32_t(buf, 0, time_boot_ms);
     _mav_put_uint32_t(buf, 4, flight_time);
     _mav_put_uint32_t(buf, 8, dist_to_tar);
-    _mav_put_uint16_t(buf, 12, ups_volt);
-    _mav_put_uint16_t(buf, 14, adc_volt);
-    _mav_put_uint16_t(buf, 16, servo_state);
-    _mav_put_uint8_t(buf, 18, rtl_reason);
-    _mav_put_uint8_t(buf, 19, loiter_reason);
-    _mav_put_uint8_t(buf, 20, s_flag3);
+    _mav_put_float(buf, 12, flight_dist);
+    _mav_put_uint16_t(buf, 16, ups_volt);
+    _mav_put_uint16_t(buf, 18, adc_volt);
+    _mav_put_uint16_t(buf, 20, servo_state);
+    _mav_put_uint8_t(buf, 22, rtl_reason);
+    _mav_put_uint8_t(buf, 23, loiter_reason);
+    _mav_put_uint8_t(buf, 24, s_flag3);
 
         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VKFMU_STATUS_LEN);
 #else
@@ -150,6 +158,7 @@ static inline uint16_t mavlink_msg_vkfmu_status_pack_status(uint8_t system_id, u
     packet.time_boot_ms = time_boot_ms;
     packet.flight_time = flight_time;
     packet.dist_to_tar = dist_to_tar;
+    packet.flight_dist = flight_dist;
     packet.ups_volt = ups_volt;
     packet.adc_volt = adc_volt;
     packet.servo_state = servo_state;
@@ -183,23 +192,25 @@ static inline uint16_t mavlink_msg_vkfmu_status_pack_status(uint8_t system_id, u
  * @param flight_time [s] flight time in seconds
  * @param dist_to_tar [cm] distance to target position in cm
  * @param servo_state  bitmap for servo state
+ * @param flight_dist [m] flight distance since this power up
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_vkfmu_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
                                mavlink_message_t* msg,
-                                   uint32_t time_boot_ms,uint8_t rtl_reason,uint8_t loiter_reason,uint8_t s_flag3,uint16_t ups_volt,uint16_t adc_volt,uint32_t flight_time,uint32_t dist_to_tar,uint16_t servo_state)
+                                   uint32_t time_boot_ms,uint8_t rtl_reason,uint8_t loiter_reason,uint8_t s_flag3,uint16_t ups_volt,uint16_t adc_volt,uint32_t flight_time,uint32_t dist_to_tar,uint16_t servo_state,float flight_dist)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
     char buf[MAVLINK_MSG_ID_VKFMU_STATUS_LEN];
     _mav_put_uint32_t(buf, 0, time_boot_ms);
     _mav_put_uint32_t(buf, 4, flight_time);
     _mav_put_uint32_t(buf, 8, dist_to_tar);
-    _mav_put_uint16_t(buf, 12, ups_volt);
-    _mav_put_uint16_t(buf, 14, adc_volt);
-    _mav_put_uint16_t(buf, 16, servo_state);
-    _mav_put_uint8_t(buf, 18, rtl_reason);
-    _mav_put_uint8_t(buf, 19, loiter_reason);
-    _mav_put_uint8_t(buf, 20, s_flag3);
+    _mav_put_float(buf, 12, flight_dist);
+    _mav_put_uint16_t(buf, 16, ups_volt);
+    _mav_put_uint16_t(buf, 18, adc_volt);
+    _mav_put_uint16_t(buf, 20, servo_state);
+    _mav_put_uint8_t(buf, 22, rtl_reason);
+    _mav_put_uint8_t(buf, 23, loiter_reason);
+    _mav_put_uint8_t(buf, 24, s_flag3);
 
         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VKFMU_STATUS_LEN);
 #else
@@ -207,6 +218,7 @@ static inline uint16_t mavlink_msg_vkfmu_status_pack_chan(uint8_t system_id, uin
     packet.time_boot_ms = time_boot_ms;
     packet.flight_time = flight_time;
     packet.dist_to_tar = dist_to_tar;
+    packet.flight_dist = flight_dist;
     packet.ups_volt = ups_volt;
     packet.adc_volt = adc_volt;
     packet.servo_state = servo_state;
@@ -231,7 +243,7 @@ static inline uint16_t mavlink_msg_vkfmu_status_pack_chan(uint8_t system_id, uin
  */
 static inline uint16_t mavlink_msg_vkfmu_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_vkfmu_status_t* vkfmu_status)
 {
-    return mavlink_msg_vkfmu_status_pack(system_id, component_id, msg, vkfmu_status->time_boot_ms, vkfmu_status->rtl_reason, vkfmu_status->loiter_reason, vkfmu_status->s_flag3, vkfmu_status->ups_volt, vkfmu_status->adc_volt, vkfmu_status->flight_time, vkfmu_status->dist_to_tar, vkfmu_status->servo_state);
+    return mavlink_msg_vkfmu_status_pack(system_id, component_id, msg, vkfmu_status->time_boot_ms, vkfmu_status->rtl_reason, vkfmu_status->loiter_reason, vkfmu_status->s_flag3, vkfmu_status->ups_volt, vkfmu_status->adc_volt, vkfmu_status->flight_time, vkfmu_status->dist_to_tar, vkfmu_status->servo_state, vkfmu_status->flight_dist);
 }
 
 /**
@@ -245,7 +257,7 @@ static inline uint16_t mavlink_msg_vkfmu_status_encode(uint8_t system_id, uint8_
  */
 static inline uint16_t mavlink_msg_vkfmu_status_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_vkfmu_status_t* vkfmu_status)
 {
-    return mavlink_msg_vkfmu_status_pack_chan(system_id, component_id, chan, msg, vkfmu_status->time_boot_ms, vkfmu_status->rtl_reason, vkfmu_status->loiter_reason, vkfmu_status->s_flag3, vkfmu_status->ups_volt, vkfmu_status->adc_volt, vkfmu_status->flight_time, vkfmu_status->dist_to_tar, vkfmu_status->servo_state);
+    return mavlink_msg_vkfmu_status_pack_chan(system_id, component_id, chan, msg, vkfmu_status->time_boot_ms, vkfmu_status->rtl_reason, vkfmu_status->loiter_reason, vkfmu_status->s_flag3, vkfmu_status->ups_volt, vkfmu_status->adc_volt, vkfmu_status->flight_time, vkfmu_status->dist_to_tar, vkfmu_status->servo_state, vkfmu_status->flight_dist);
 }
 
 /**
@@ -259,7 +271,7 @@ static inline uint16_t mavlink_msg_vkfmu_status_encode_chan(uint8_t system_id, u
  */
 static inline uint16_t mavlink_msg_vkfmu_status_encode_status(uint8_t system_id, uint8_t component_id, mavlink_status_t* _status, mavlink_message_t* msg, const mavlink_vkfmu_status_t* vkfmu_status)
 {
-    return mavlink_msg_vkfmu_status_pack_status(system_id, component_id, _status, msg,  vkfmu_status->time_boot_ms, vkfmu_status->rtl_reason, vkfmu_status->loiter_reason, vkfmu_status->s_flag3, vkfmu_status->ups_volt, vkfmu_status->adc_volt, vkfmu_status->flight_time, vkfmu_status->dist_to_tar, vkfmu_status->servo_state);
+    return mavlink_msg_vkfmu_status_pack_status(system_id, component_id, _status, msg,  vkfmu_status->time_boot_ms, vkfmu_status->rtl_reason, vkfmu_status->loiter_reason, vkfmu_status->s_flag3, vkfmu_status->ups_volt, vkfmu_status->adc_volt, vkfmu_status->flight_time, vkfmu_status->dist_to_tar, vkfmu_status->servo_state, vkfmu_status->flight_dist);
 }
 
 /**
@@ -275,22 +287,24 @@ static inline uint16_t mavlink_msg_vkfmu_status_encode_status(uint8_t system_id,
  * @param flight_time [s] flight time in seconds
  * @param dist_to_tar [cm] distance to target position in cm
  * @param servo_state  bitmap for servo state
+ * @param flight_dist [m] flight distance since this power up
  */
 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 
-static inline void mavlink_msg_vkfmu_status_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t rtl_reason, uint8_t loiter_reason, uint8_t s_flag3, uint16_t ups_volt, uint16_t adc_volt, uint32_t flight_time, uint32_t dist_to_tar, uint16_t servo_state)
+static inline void mavlink_msg_vkfmu_status_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t rtl_reason, uint8_t loiter_reason, uint8_t s_flag3, uint16_t ups_volt, uint16_t adc_volt, uint32_t flight_time, uint32_t dist_to_tar, uint16_t servo_state, float flight_dist)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
     char buf[MAVLINK_MSG_ID_VKFMU_STATUS_LEN];
     _mav_put_uint32_t(buf, 0, time_boot_ms);
     _mav_put_uint32_t(buf, 4, flight_time);
     _mav_put_uint32_t(buf, 8, dist_to_tar);
-    _mav_put_uint16_t(buf, 12, ups_volt);
-    _mav_put_uint16_t(buf, 14, adc_volt);
-    _mav_put_uint16_t(buf, 16, servo_state);
-    _mav_put_uint8_t(buf, 18, rtl_reason);
-    _mav_put_uint8_t(buf, 19, loiter_reason);
-    _mav_put_uint8_t(buf, 20, s_flag3);
+    _mav_put_float(buf, 12, flight_dist);
+    _mav_put_uint16_t(buf, 16, ups_volt);
+    _mav_put_uint16_t(buf, 18, adc_volt);
+    _mav_put_uint16_t(buf, 20, servo_state);
+    _mav_put_uint8_t(buf, 22, rtl_reason);
+    _mav_put_uint8_t(buf, 23, loiter_reason);
+    _mav_put_uint8_t(buf, 24, s_flag3);
 
     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VKFMU_STATUS, buf, MAVLINK_MSG_ID_VKFMU_STATUS_MIN_LEN, MAVLINK_MSG_ID_VKFMU_STATUS_LEN, MAVLINK_MSG_ID_VKFMU_STATUS_CRC);
 #else
@@ -298,6 +312,7 @@ static inline void mavlink_msg_vkfmu_status_send(mavlink_channel_t chan, uint32_
     packet.time_boot_ms = time_boot_ms;
     packet.flight_time = flight_time;
     packet.dist_to_tar = dist_to_tar;
+    packet.flight_dist = flight_dist;
     packet.ups_volt = ups_volt;
     packet.adc_volt = adc_volt;
     packet.servo_state = servo_state;
@@ -317,7 +332,7 @@ static inline void mavlink_msg_vkfmu_status_send(mavlink_channel_t chan, uint32_
 static inline void mavlink_msg_vkfmu_status_send_struct(mavlink_channel_t chan, const mavlink_vkfmu_status_t* vkfmu_status)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-    mavlink_msg_vkfmu_status_send(chan, vkfmu_status->time_boot_ms, vkfmu_status->rtl_reason, vkfmu_status->loiter_reason, vkfmu_status->s_flag3, vkfmu_status->ups_volt, vkfmu_status->adc_volt, vkfmu_status->flight_time, vkfmu_status->dist_to_tar, vkfmu_status->servo_state);
+    mavlink_msg_vkfmu_status_send(chan, vkfmu_status->time_boot_ms, vkfmu_status->rtl_reason, vkfmu_status->loiter_reason, vkfmu_status->s_flag3, vkfmu_status->ups_volt, vkfmu_status->adc_volt, vkfmu_status->flight_time, vkfmu_status->dist_to_tar, vkfmu_status->servo_state, vkfmu_status->flight_dist);
 #else
     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VKFMU_STATUS, (const char *)vkfmu_status, MAVLINK_MSG_ID_VKFMU_STATUS_MIN_LEN, MAVLINK_MSG_ID_VKFMU_STATUS_LEN, MAVLINK_MSG_ID_VKFMU_STATUS_CRC);
 #endif
@@ -331,19 +346,20 @@ static inline void mavlink_msg_vkfmu_status_send_struct(mavlink_channel_t chan,
   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_vkfmu_status_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint32_t time_boot_ms, uint8_t rtl_reason, uint8_t loiter_reason, uint8_t s_flag3, uint16_t ups_volt, uint16_t adc_volt, uint32_t flight_time, uint32_t dist_to_tar, uint16_t servo_state)
+static inline void mavlink_msg_vkfmu_status_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint32_t time_boot_ms, uint8_t rtl_reason, uint8_t loiter_reason, uint8_t s_flag3, uint16_t ups_volt, uint16_t adc_volt, uint32_t flight_time, uint32_t dist_to_tar, uint16_t servo_state, float flight_dist)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
     char *buf = (char *)msgbuf;
     _mav_put_uint32_t(buf, 0, time_boot_ms);
     _mav_put_uint32_t(buf, 4, flight_time);
     _mav_put_uint32_t(buf, 8, dist_to_tar);
-    _mav_put_uint16_t(buf, 12, ups_volt);
-    _mav_put_uint16_t(buf, 14, adc_volt);
-    _mav_put_uint16_t(buf, 16, servo_state);
-    _mav_put_uint8_t(buf, 18, rtl_reason);
-    _mav_put_uint8_t(buf, 19, loiter_reason);
-    _mav_put_uint8_t(buf, 20, s_flag3);
+    _mav_put_float(buf, 12, flight_dist);
+    _mav_put_uint16_t(buf, 16, ups_volt);
+    _mav_put_uint16_t(buf, 18, adc_volt);
+    _mav_put_uint16_t(buf, 20, servo_state);
+    _mav_put_uint8_t(buf, 22, rtl_reason);
+    _mav_put_uint8_t(buf, 23, loiter_reason);
+    _mav_put_uint8_t(buf, 24, s_flag3);
 
     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VKFMU_STATUS, buf, MAVLINK_MSG_ID_VKFMU_STATUS_MIN_LEN, MAVLINK_MSG_ID_VKFMU_STATUS_LEN, MAVLINK_MSG_ID_VKFMU_STATUS_CRC);
 #else
@@ -351,6 +367,7 @@ static inline void mavlink_msg_vkfmu_status_send_buf(mavlink_message_t *msgbuf,
     packet->time_boot_ms = time_boot_ms;
     packet->flight_time = flight_time;
     packet->dist_to_tar = dist_to_tar;
+    packet->flight_dist = flight_dist;
     packet->ups_volt = ups_volt;
     packet->adc_volt = adc_volt;
     packet->servo_state = servo_state;
@@ -385,7 +402,7 @@ static inline uint32_t mavlink_msg_vkfmu_status_get_time_boot_ms(const mavlink_m
  */
 static inline uint8_t mavlink_msg_vkfmu_status_get_rtl_reason(const mavlink_message_t* msg)
 {
-    return _MAV_RETURN_uint8_t(msg,  18);
+    return _MAV_RETURN_uint8_t(msg,  22);
 }
 
 /**
@@ -395,7 +412,7 @@ static inline uint8_t mavlink_msg_vkfmu_status_get_rtl_reason(const mavlink_mess
  */
 static inline uint8_t mavlink_msg_vkfmu_status_get_loiter_reason(const mavlink_message_t* msg)
 {
-    return _MAV_RETURN_uint8_t(msg,  19);
+    return _MAV_RETURN_uint8_t(msg,  23);
 }
 
 /**
@@ -405,7 +422,7 @@ static inline uint8_t mavlink_msg_vkfmu_status_get_loiter_reason(const mavlink_m
  */
 static inline uint8_t mavlink_msg_vkfmu_status_get_s_flag3(const mavlink_message_t* msg)
 {
-    return _MAV_RETURN_uint8_t(msg,  20);
+    return _MAV_RETURN_uint8_t(msg,  24);
 }
 
 /**
@@ -415,7 +432,7 @@ static inline uint8_t mavlink_msg_vkfmu_status_get_s_flag3(const mavlink_message
  */
 static inline uint16_t mavlink_msg_vkfmu_status_get_ups_volt(const mavlink_message_t* msg)
 {
-    return _MAV_RETURN_uint16_t(msg,  12);
+    return _MAV_RETURN_uint16_t(msg,  16);
 }
 
 /**
@@ -425,7 +442,7 @@ static inline uint16_t mavlink_msg_vkfmu_status_get_ups_volt(const mavlink_messa
  */
 static inline uint16_t mavlink_msg_vkfmu_status_get_adc_volt(const mavlink_message_t* msg)
 {
-    return _MAV_RETURN_uint16_t(msg,  14);
+    return _MAV_RETURN_uint16_t(msg,  18);
 }
 
 /**
@@ -455,7 +472,17 @@ static inline uint32_t mavlink_msg_vkfmu_status_get_dist_to_tar(const mavlink_me
  */
 static inline uint16_t mavlink_msg_vkfmu_status_get_servo_state(const mavlink_message_t* msg)
 {
-    return _MAV_RETURN_uint16_t(msg,  16);
+    return _MAV_RETURN_uint16_t(msg,  20);
+}
+
+/**
+ * @brief Get field flight_dist from vkfmu_status message
+ *
+ * @return [m] flight distance since this power up
+ */
+static inline float mavlink_msg_vkfmu_status_get_flight_dist(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_float(msg,  12);
 }
 
 /**
@@ -470,6 +497,7 @@ static inline void mavlink_msg_vkfmu_status_decode(const mavlink_message_t* msg,
     vkfmu_status->time_boot_ms = mavlink_msg_vkfmu_status_get_time_boot_ms(msg);
     vkfmu_status->flight_time = mavlink_msg_vkfmu_status_get_flight_time(msg);
     vkfmu_status->dist_to_tar = mavlink_msg_vkfmu_status_get_dist_to_tar(msg);
+    vkfmu_status->flight_dist = mavlink_msg_vkfmu_status_get_flight_dist(msg);
     vkfmu_status->ups_volt = mavlink_msg_vkfmu_status_get_ups_volt(msg);
     vkfmu_status->adc_volt = mavlink_msg_vkfmu_status_get_adc_volt(msg);
     vkfmu_status->servo_state = mavlink_msg_vkfmu_status_get_servo_state(msg);

v2.0/VKFly/testsuite.h

@@ -113,13 +113,14 @@ static void mavlink_test_vkfmu_status(uint8_t system_id, uint8_t component_id, m
         uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
         uint16_t i;
     mavlink_vkfmu_status_t packet_in = {
-        963497464,963497672,963497880,17859,17963,18067,187,254,65
+        963497464,963497672,963497880,101.0,18067,18171,18275,199,10,77
     };
     mavlink_vkfmu_status_t packet1, packet2;
         memset(&packet1, 0, sizeof(packet1));
         packet1.time_boot_ms = packet_in.time_boot_ms;
         packet1.flight_time = packet_in.flight_time;
         packet1.dist_to_tar = packet_in.dist_to_tar;
+        packet1.flight_dist = packet_in.flight_dist;
         packet1.ups_volt = packet_in.ups_volt;
         packet1.adc_volt = packet_in.adc_volt;
         packet1.servo_state = packet_in.servo_state;
@@ -140,12 +141,12 @@ static void mavlink_test_vkfmu_status(uint8_t system_id, uint8_t component_id, m
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 
         memset(&packet2, 0, sizeof(packet2));
-    mavlink_msg_vkfmu_status_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.rtl_reason , packet1.loiter_reason , packet1.s_flag3 , packet1.ups_volt , packet1.adc_volt , packet1.flight_time , packet1.dist_to_tar , packet1.servo_state );
+    mavlink_msg_vkfmu_status_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.rtl_reason , packet1.loiter_reason , packet1.s_flag3 , packet1.ups_volt , packet1.adc_volt , packet1.flight_time , packet1.dist_to_tar , packet1.servo_state , packet1.flight_dist );
     mavlink_msg_vkfmu_status_decode(&msg, &packet2);
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 
         memset(&packet2, 0, sizeof(packet2));
-    mavlink_msg_vkfmu_status_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.rtl_reason , packet1.loiter_reason , packet1.s_flag3 , packet1.ups_volt , packet1.adc_volt , packet1.flight_time , packet1.dist_to_tar , packet1.servo_state );
+    mavlink_msg_vkfmu_status_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.rtl_reason , packet1.loiter_reason , packet1.s_flag3 , packet1.ups_volt , packet1.adc_volt , packet1.flight_time , packet1.dist_to_tar , packet1.servo_state , packet1.flight_dist );
     mavlink_msg_vkfmu_status_decode(&msg, &packet2);
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 
@@ -158,7 +159,7 @@ static void mavlink_test_vkfmu_status(uint8_t system_id, uint8_t component_id, m
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
         
         memset(&packet2, 0, sizeof(packet2));
-    mavlink_msg_vkfmu_status_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.rtl_reason , packet1.loiter_reason , packet1.s_flag3 , packet1.ups_volt , packet1.adc_volt , packet1.flight_time , packet1.dist_to_tar , packet1.servo_state );
+    mavlink_msg_vkfmu_status_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.rtl_reason , packet1.loiter_reason , packet1.s_flag3 , packet1.ups_volt , packet1.adc_volt , packet1.flight_time , packet1.dist_to_tar , packet1.servo_state , packet1.flight_dist );
     mavlink_msg_vkfmu_status_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 "Thu Sep 12 2024"
+#define MAVLINK_BUILD_DATE "Fri Sep 20 2024"
 #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 -8897249440042139974
+#define MAVLINK_COMMON_XML_HASH -4195061038551433624
 
 #ifdef __cplusplus
 extern "C" {

v2.0/common/mavlink.h

@@ -6,7 +6,7 @@
 #ifndef MAVLINK_H
 #define MAVLINK_H
 
-#define MAVLINK_PRIMARY_XML_HASH -8897249440042139974
+#define MAVLINK_PRIMARY_XML_HASH -4195061038551433624
 
 #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 Sep 12 2024"
+#define MAVLINK_BUILD_DATE "Fri Sep 20 2024"
 #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 779815398872826732
+#define MAVLINK_PRIMARY_XML_HASH 1477761769770448604
 
 #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 779815398872826732
+#define MAVLINK_MINIMAL_XML_HASH 1477761769770448604
 
 #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 Sep 12 2024"
+#define MAVLINK_BUILD_DATE "Fri Sep 20 2024"
 #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 5911312776810998706
+#define MAVLINK_PRIMARY_XML_HASH 2084718673588589710
 
 #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 5911312776810998706
+#define MAVLINK_STANDARD_XML_HASH 2084718673588589710
 
 #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 Sep 12 2024"
+#define MAVLINK_BUILD_DATE "Fri Sep 20 2024"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 22