增加编队队形锁定

msg_definitions/VKFly.xml

@@ -903,7 +903,7 @@
       <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>
       <extensions />
-      <field type="uint8_t" name="formation_heading" units="deg">if nan, use yaw as formation
+      <field type="float" name="formation_heading" units="deg">if nan, use yaw as formation
         heading</field>
     </message>
 

v2.0/VKFly/mavlink.h

@@ -6,7 +6,7 @@
 #ifndef MAVLINK_H
 #define MAVLINK_H
 
-#define MAVLINK_PRIMARY_XML_HASH 6507412342385095254
+#define MAVLINK_PRIMARY_XML_HASH 6537433158663298724
 
 #ifndef MAVLINK_STX
 #define MAVLINK_STX 253

v2.0/VKFly/mavlink_msg_vk_formation_leader.h

@@ -3,7 +3,7 @@
 
 #define MAVLINK_MSG_ID_VK_FORMATION_LEADER 53004
 
-
+MAVPACKED(
 typedef struct __mavlink_vk_formation_leader_t {
  uint32_t timestamp; /*< [ms] Timestamp in ms from system boot.*/
  uint32_t state; /*<  formation leader drone state bitmap*/
@@ -19,13 +19,13 @@ typedef struct __mavlink_vk_formation_leader_t {
  int16_t z_dist; /*< [cm] distance between drones in z axis*/
  uint16_t rect_col_num; /*<  columns number of rectangle formation*/
  uint8_t formation_type; /*<  formation type*/
- uint8_t formation_heading; /*< [deg] if nan, use yaw as formation
+ float formation_heading; /*< [deg] if nan, use yaw as formation
         heading*/
-} mavlink_vk_formation_leader_t;
+}) mavlink_vk_formation_leader_t;
 
-#define MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN 46
+#define MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN 49
 #define MAVLINK_MSG_ID_VK_FORMATION_LEADER_MIN_LEN 45
-#define MAVLINK_MSG_ID_53004_LEN 46
+#define MAVLINK_MSG_ID_53004_LEN 49
 #define MAVLINK_MSG_ID_53004_MIN_LEN 45
 
 #define MAVLINK_MSG_ID_VK_FORMATION_LEADER_CRC 219
@@ -52,7 +52,7 @@ typedef struct __mavlink_vk_formation_leader_t {
          { "y_dist", NULL, MAVLINK_TYPE_INT16_T, 0, 38, offsetof(mavlink_vk_formation_leader_t, y_dist) }, \
          { "z_dist", NULL, MAVLINK_TYPE_INT16_T, 0, 40, offsetof(mavlink_vk_formation_leader_t, z_dist) }, \
          { "rect_col_num", NULL, MAVLINK_TYPE_UINT16_T, 0, 42, offsetof(mavlink_vk_formation_leader_t, rect_col_num) }, \
-         { "formation_heading", NULL, MAVLINK_TYPE_UINT8_T, 0, 45, offsetof(mavlink_vk_formation_leader_t, formation_heading) }, \
+         { "formation_heading", NULL, MAVLINK_TYPE_FLOAT, 0, 45, offsetof(mavlink_vk_formation_leader_t, formation_heading) }, \
          } \
 }
 #else
@@ -73,7 +73,7 @@ typedef struct __mavlink_vk_formation_leader_t {
          { "y_dist", NULL, MAVLINK_TYPE_INT16_T, 0, 38, offsetof(mavlink_vk_formation_leader_t, y_dist) }, \
          { "z_dist", NULL, MAVLINK_TYPE_INT16_T, 0, 40, offsetof(mavlink_vk_formation_leader_t, z_dist) }, \
          { "rect_col_num", NULL, MAVLINK_TYPE_UINT16_T, 0, 42, offsetof(mavlink_vk_formation_leader_t, rect_col_num) }, \
-         { "formation_heading", NULL, MAVLINK_TYPE_UINT8_T, 0, 45, offsetof(mavlink_vk_formation_leader_t, formation_heading) }, \
+         { "formation_heading", NULL, MAVLINK_TYPE_FLOAT, 0, 45, offsetof(mavlink_vk_formation_leader_t, formation_heading) }, \
          } \
 }
 #endif
@@ -103,7 +103,7 @@ typedef struct __mavlink_vk_formation_leader_t {
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_vk_formation_leader_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-                               uint32_t timestamp, uint32_t state, int32_t lat, int32_t lon, float msl, float ve, float vn, float vu, float yaw, uint8_t formation_type, int16_t x_dist, int16_t y_dist, int16_t z_dist, uint16_t rect_col_num, uint8_t formation_heading)
+                               uint32_t timestamp, uint32_t state, int32_t lat, int32_t lon, float msl, float ve, float vn, float vu, float yaw, uint8_t formation_type, int16_t x_dist, int16_t y_dist, int16_t z_dist, uint16_t rect_col_num, float formation_heading)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
     char buf[MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN];
@@ -121,7 +121,7 @@ static inline uint16_t mavlink_msg_vk_formation_leader_pack(uint8_t system_id, u
     _mav_put_int16_t(buf, 40, z_dist);
     _mav_put_uint16_t(buf, 42, rect_col_num);
     _mav_put_uint8_t(buf, 44, formation_type);
-    _mav_put_uint8_t(buf, 45, formation_heading);
+    _mav_put_float(buf, 45, formation_heading);
 
         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN);
 #else
@@ -175,7 +175,7 @@ static inline uint16_t mavlink_msg_vk_formation_leader_pack(uint8_t system_id, u
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_vk_formation_leader_pack_status(uint8_t system_id, uint8_t component_id, mavlink_status_t *_status, mavlink_message_t* msg,
-                               uint32_t timestamp, uint32_t state, int32_t lat, int32_t lon, float msl, float ve, float vn, float vu, float yaw, uint8_t formation_type, int16_t x_dist, int16_t y_dist, int16_t z_dist, uint16_t rect_col_num, uint8_t formation_heading)
+                               uint32_t timestamp, uint32_t state, int32_t lat, int32_t lon, float msl, float ve, float vn, float vu, float yaw, uint8_t formation_type, int16_t x_dist, int16_t y_dist, int16_t z_dist, uint16_t rect_col_num, float formation_heading)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
     char buf[MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN];
@@ -193,7 +193,7 @@ static inline uint16_t mavlink_msg_vk_formation_leader_pack_status(uint8_t syste
     _mav_put_int16_t(buf, 40, z_dist);
     _mav_put_uint16_t(buf, 42, rect_col_num);
     _mav_put_uint8_t(buf, 44, formation_type);
-    _mav_put_uint8_t(buf, 45, formation_heading);
+    _mav_put_float(buf, 45, formation_heading);
 
         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN);
 #else
@@ -251,7 +251,7 @@ static inline uint16_t mavlink_msg_vk_formation_leader_pack_status(uint8_t syste
  */
 static inline uint16_t mavlink_msg_vk_formation_leader_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
                                mavlink_message_t* msg,
-                                   uint32_t timestamp,uint32_t state,int32_t lat,int32_t lon,float msl,float ve,float vn,float vu,float yaw,uint8_t formation_type,int16_t x_dist,int16_t y_dist,int16_t z_dist,uint16_t rect_col_num,uint8_t formation_heading)
+                                   uint32_t timestamp,uint32_t state,int32_t lat,int32_t lon,float msl,float ve,float vn,float vu,float yaw,uint8_t formation_type,int16_t x_dist,int16_t y_dist,int16_t z_dist,uint16_t rect_col_num,float formation_heading)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
     char buf[MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN];
@@ -269,7 +269,7 @@ static inline uint16_t mavlink_msg_vk_formation_leader_pack_chan(uint8_t system_
     _mav_put_int16_t(buf, 40, z_dist);
     _mav_put_uint16_t(buf, 42, rect_col_num);
     _mav_put_uint8_t(buf, 44, formation_type);
-    _mav_put_uint8_t(buf, 45, formation_heading);
+    _mav_put_float(buf, 45, formation_heading);
 
         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN);
 #else
@@ -361,7 +361,7 @@ static inline uint16_t mavlink_msg_vk_formation_leader_encode_status(uint8_t sys
  */
 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 
-static inline void mavlink_msg_vk_formation_leader_send(mavlink_channel_t chan, uint32_t timestamp, uint32_t state, int32_t lat, int32_t lon, float msl, float ve, float vn, float vu, float yaw, uint8_t formation_type, int16_t x_dist, int16_t y_dist, int16_t z_dist, uint16_t rect_col_num, uint8_t formation_heading)
+static inline void mavlink_msg_vk_formation_leader_send(mavlink_channel_t chan, uint32_t timestamp, uint32_t state, int32_t lat, int32_t lon, float msl, float ve, float vn, float vu, float yaw, uint8_t formation_type, int16_t x_dist, int16_t y_dist, int16_t z_dist, uint16_t rect_col_num, float formation_heading)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
     char buf[MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN];
@@ -379,7 +379,7 @@ static inline void mavlink_msg_vk_formation_leader_send(mavlink_channel_t chan,
     _mav_put_int16_t(buf, 40, z_dist);
     _mav_put_uint16_t(buf, 42, rect_col_num);
     _mav_put_uint8_t(buf, 44, formation_type);
-    _mav_put_uint8_t(buf, 45, formation_heading);
+    _mav_put_float(buf, 45, formation_heading);
 
     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VK_FORMATION_LEADER, buf, MAVLINK_MSG_ID_VK_FORMATION_LEADER_MIN_LEN, MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN, MAVLINK_MSG_ID_VK_FORMATION_LEADER_CRC);
 #else
@@ -426,7 +426,7 @@ static inline void mavlink_msg_vk_formation_leader_send_struct(mavlink_channel_t
   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_formation_leader_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint32_t timestamp, uint32_t state, int32_t lat, int32_t lon, float msl, float ve, float vn, float vu, float yaw, uint8_t formation_type, int16_t x_dist, int16_t y_dist, int16_t z_dist, uint16_t rect_col_num, uint8_t formation_heading)
+static inline void mavlink_msg_vk_formation_leader_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint32_t timestamp, uint32_t state, int32_t lat, int32_t lon, float msl, float ve, float vn, float vu, float yaw, uint8_t formation_type, int16_t x_dist, int16_t y_dist, int16_t z_dist, uint16_t rect_col_num, float formation_heading)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
     char *buf = (char *)msgbuf;
@@ -444,7 +444,7 @@ static inline void mavlink_msg_vk_formation_leader_send_buf(mavlink_message_t *m
     _mav_put_int16_t(buf, 40, z_dist);
     _mav_put_uint16_t(buf, 42, rect_col_num);
     _mav_put_uint8_t(buf, 44, formation_type);
-    _mav_put_uint8_t(buf, 45, formation_heading);
+    _mav_put_float(buf, 45, formation_heading);
 
     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VK_FORMATION_LEADER, buf, MAVLINK_MSG_ID_VK_FORMATION_LEADER_MIN_LEN, MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN, MAVLINK_MSG_ID_VK_FORMATION_LEADER_CRC);
 #else
@@ -621,9 +621,9 @@ static inline uint16_t mavlink_msg_vk_formation_leader_get_rect_col_num(const ma
  * @return [deg] if nan, use yaw as formation
         heading
  */
-static inline uint8_t mavlink_msg_vk_formation_leader_get_formation_heading(const mavlink_message_t* msg)
+static inline float mavlink_msg_vk_formation_leader_get_formation_heading(const mavlink_message_t* msg)
 {
-    return _MAV_RETURN_uint8_t(msg,  45);
+    return _MAV_RETURN_float(msg,  45);
 }
 
 /**

v2.0/VKFly/testsuite.h

@@ -313,7 +313,7 @@ static void mavlink_test_vk_formation_leader(uint8_t system_id, uint8_t componen
         uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
         uint16_t i;
     mavlink_vk_formation_leader_t packet_in = {
-        963497464,963497672,963497880,963498088,129.0,157.0,185.0,213.0,241.0,19107,19211,19315,19419,137,204
+        963497464,963497672,963497880,963498088,129.0,157.0,185.0,213.0,241.0,19107,19211,19315,19419,137,332.0
     };
     mavlink_vk_formation_leader_t packet1, packet2;
         memset(&packet1, 0, sizeof(packet1));

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 5429634044732507095
+#define MAVLINK_COMMON_XML_HASH -7955568166919538845
 
 #ifdef __cplusplus
 extern "C" {

v2.0/common/mavlink.h

@@ -6,7 +6,7 @@
 #ifndef MAVLINK_H
 #define MAVLINK_H
 
-#define MAVLINK_PRIMARY_XML_HASH 5429634044732507095
+#define MAVLINK_PRIMARY_XML_HASH -7955568166919538845
 
 #ifndef MAVLINK_STX
 #define MAVLINK_STX 253

v2.0/minimal/mavlink.h

@@ -6,7 +6,7 @@
 #ifndef MAVLINK_H
 #define MAVLINK_H
 
-#define MAVLINK_PRIMARY_XML_HASH 1315093523844488156
+#define MAVLINK_PRIMARY_XML_HASH 7441832264265538141
 
 #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 1315093523844488156
+#define MAVLINK_MINIMAL_XML_HASH 7441832264265538141
 
 #ifdef __cplusplus
 extern "C" {

v2.0/standard/mavlink.h

@@ -6,7 +6,7 @@
 #ifndef MAVLINK_H
 #define MAVLINK_H
 
-#define MAVLINK_PRIMARY_XML_HASH 3758806495816469195
+#define MAVLINK_PRIMARY_XML_HASH 1794531133685778314
 
 #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 3758806495816469195
+#define MAVLINK_STANDARD_XML_HASH 1794531133685778314
 
 #ifdef __cplusplus
 extern "C" {