增加指点开伞

msg_definitions/VKFly.xml

@@ -635,6 +635,7 @@
       <entry value="4" name="VKFLY_MISSION_DONE_RETURN_TO_LAUNCH_AB_WP"></entry>
       <entry value="5" name="VKFLY_MISSION_DONE_RETURN_TO_LAUNCH_BA_WP"></entry>
       <entry value="6" name="VKFLY_MISSION_DONE_THEN_REDO"></entry>
+      <entry value="7" name="VKFLY_MISSION_DONE_THEN_DEPLOY_PARACHUTE"></entry>
     </enum>
 
     <enum name="VKFLY_RTL_EXEC_MODE">
@@ -890,6 +891,18 @@
         <param index="7" label=""></param>
       </entry>
 
+      <entry value="44072" name="VKFLY_CMD_DO_REPOSITION_THAN_DO_PARACHUTE" hasLocation="true"
+        isDestination="true">
+        <description>Do reposition then deploy parachute</description>
+        <param index="1" label="">Deploy distance</param>
+        <param index="2" label=""> </param>
+        <param index="3" label="Speed"> </param>
+        <param index="4" label=""> </param>
+        <param index="5" label="Latitude"> </param>
+        <param index="6" label="Longitude"> </param>
+        <param index="7" label="Altitude" units="m"> </param>
+      </entry>
+
     </enum>
   </enums>
 

readme.md

@@ -245,6 +245,7 @@ typedef enum VKFLY_CUSTOM_MODE
     VKFLY_CUSTOM_MODE_FW_LAND=57, /* Fixedwing Land 固定翼降落 | */
     VKFLY_CUSTOM_MODE_FW_RTL=58, /* Fixedwing Rtl 固定翼返航 | */
     VKFLY_CUSTOM_MODE_FW_GPS_FS=59, /* Fixedwing GpsFs 固定翼丢星盘旋 | */
+    VKFLY_CUSTOM_MODE_PARACHUTE=60, /* 开伞 | */
     VKFLY_CUSTOM_MODE_ENUM_END=60, /*  | */
 } VKFLY_CUSTOM_MODE;
 ```
@@ -1743,6 +1744,17 @@ param2 = (float)(颜色 + (闪烁 << 4) +(电调编号<<8))
 
 ### 5.43 跟随飞行 MAV_CMD_DO_FOLLOW
 
+### 5.44 指点开伞指令 VKFLY_CMD_DO_REPOSITION_THAN_DO_PARACHUTE
+
+| 参数   | 说明                               |
+| ------ | ---------------------------------- |
+| param1 | 速度, NAN 0 或负数表示默认巡航速度 |
+| param2 | 开伞距离 m                          |
+| x      | 纬度                               |
+| y      | 经度                               |
+| z      | 高度                               |
+
+
 * param1
 0停止跟随, 1跟随吊舱目标
 

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 -3928210904804031614
+#define MAVLINK_VKFLY_XML_HASH -4122772539408693196
 
 #ifdef __cplusplus
 extern "C" {
@@ -458,7 +458,8 @@ typedef enum VKFLY_MISSION_DONE_ACT
    VKFLY_MISSION_DONE_RETURN_TO_LAUNCH_AB_WP=4, /*  | */
    VKFLY_MISSION_DONE_RETURN_TO_LAUNCH_BA_WP=5, /*  | */
    VKFLY_MISSION_DONE_THEN_REDO=6, /*  | */
-   VKFLY_MISSION_DONE_ACT_ENUM_END=7, /*  | */
+   VKFLY_MISSION_DONE_THEN_DEPLOY_PARACHUTE=7, /*  | */
+   VKFLY_MISSION_DONE_ACT_ENUM_END=8, /*  | */
 } VKFLY_MISSION_DONE_ACT;
 #endif
 
@@ -762,7 +763,8 @@ typedef enum MAV_CMD
    VKFLY_CMD_DYNAMIC_ACT=44071, /* Vehicle act |NAN means ignore.0 do
           dynamic_takeoff,
           1 do dynamic_land, 2 do dynamic_follow| | | | | | |  */
-   MAV_CMD_ENUM_END=44072, /*  | */
+   VKFLY_CMD_DO_REPOSITION_THAN_DO_PARACHUTE=44072, /* Do reposition then deploy parachute |Deploy distance|  |  |  |  |  |  |  */
+   MAV_CMD_ENUM_END=44073, /*  | */
 } MAV_CMD;
 #endif
 

v2.0/VKFly/mavlink.h

@@ -6,7 +6,7 @@
 #ifndef MAVLINK_H
 #define MAVLINK_H
 
-#define MAVLINK_PRIMARY_XML_HASH -3928210904804031614
+#define MAVLINK_PRIMARY_XML_HASH -4122772539408693196
 
 #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 Dec 17 2025"
+#define MAVLINK_BUILD_DATE "Fri Dec 19 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 6267452579897683070
+#define MAVLINK_COMMON_XML_HASH 9085094507884850053
 
 #ifdef __cplusplus
 extern "C" {

v2.0/common/mavlink.h

@@ -6,7 +6,7 @@
 #ifndef MAVLINK_H
 #define MAVLINK_H
 
-#define MAVLINK_PRIMARY_XML_HASH 6267452579897683070
+#define MAVLINK_PRIMARY_XML_HASH 9085094507884850053
 
 #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 Dec 17 2025"
+#define MAVLINK_BUILD_DATE "Fri Dec 19 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 1848775428148562153
+#define MAVLINK_PRIMARY_XML_HASH -5494458806753370852
 
 #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 1848775428148562153
+#define MAVLINK_MINIMAL_XML_HASH -5494458806753370852
 
 #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 Dec 17 2025"
+#define MAVLINK_BUILD_DATE "Fri Dec 19 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 -4924171980015849266
+#define MAVLINK_PRIMARY_XML_HASH -1492400602002876033
 
 #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 -4924171980015849266
+#define MAVLINK_STANDARD_XML_HASH -1492400602002876033
 
 #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 Dec 17 2025"
+#define MAVLINK_BUILD_DATE "Fri Dec 19 2025"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 22