队形增加行航向锁定, 代码生成

v2.0/VKFly/mavlink.h

@@ -6,7 +6,7 @@
 #ifndef MAVLINK_H
 #define MAVLINK_H
 
-#define MAVLINK_PRIMARY_XML_HASH -2492706412209668611
+#define MAVLINK_PRIMARY_XML_HASH 6507412342385095254
 
 #ifndef MAVLINK_STX
 #define MAVLINK_STX 253

v2.0/VKFly/mavlink_msg_vk_formation_leader.h

@@ -19,11 +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
+        heading*/
 } mavlink_vk_formation_leader_t;
 
-#define MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN 45
+#define MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN 46
 #define MAVLINK_MSG_ID_VK_FORMATION_LEADER_MIN_LEN 45
-#define MAVLINK_MSG_ID_53004_LEN 45
+#define MAVLINK_MSG_ID_53004_LEN 46
 #define MAVLINK_MSG_ID_53004_MIN_LEN 45
 
 #define MAVLINK_MSG_ID_VK_FORMATION_LEADER_CRC 219
@@ -35,7 +37,7 @@ typedef struct __mavlink_vk_formation_leader_t {
 #define MAVLINK_MESSAGE_INFO_VK_FORMATION_LEADER { \
     53004, \
     "VK_FORMATION_LEADER", \
-    14, \
+    15, \
     {  { "timestamp", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_vk_formation_leader_t, timestamp) }, \
          { "state", NULL, MAVLINK_TYPE_UINT32_T, 0, 4, offsetof(mavlink_vk_formation_leader_t, state) }, \
          { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_vk_formation_leader_t, lat) }, \
@@ -50,12 +52,13 @@ 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) }, \
          } \
 }
 #else
 #define MAVLINK_MESSAGE_INFO_VK_FORMATION_LEADER { \
     "VK_FORMATION_LEADER", \
-    14, \
+    15, \
     {  { "timestamp", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_vk_formation_leader_t, timestamp) }, \
          { "state", NULL, MAVLINK_TYPE_UINT32_T, 0, 4, offsetof(mavlink_vk_formation_leader_t, state) }, \
          { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_vk_formation_leader_t, lat) }, \
@@ -70,6 +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) }, \
          } \
 }
 #endif
@@ -94,10 +98,12 @@ typedef struct __mavlink_vk_formation_leader_t {
  * @param y_dist [cm] distance between drones in y axis
  * @param z_dist [cm] distance between drones in z axis
  * @param rect_col_num  columns number of rectangle formation
+ * @param formation_heading [deg] if nan, use yaw as formation
+        heading
  * @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)
+                               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)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
     char buf[MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN];
@@ -115,6 +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);
 
         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN);
 #else
@@ -133,6 +140,7 @@ static inline uint16_t mavlink_msg_vk_formation_leader_pack(uint8_t system_id, u
     packet.z_dist = z_dist;
     packet.rect_col_num = rect_col_num;
     packet.formation_type = formation_type;
+    packet.formation_heading = formation_heading;
 
         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN);
 #endif
@@ -162,10 +170,12 @@ static inline uint16_t mavlink_msg_vk_formation_leader_pack(uint8_t system_id, u
  * @param y_dist [cm] distance between drones in y axis
  * @param z_dist [cm] distance between drones in z axis
  * @param rect_col_num  columns number of rectangle formation
+ * @param formation_heading [deg] if nan, use yaw as formation
+        heading
  * @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)
+                               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)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
     char buf[MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN];
@@ -183,6 +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);
 
         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN);
 #else
@@ -201,6 +212,7 @@ static inline uint16_t mavlink_msg_vk_formation_leader_pack_status(uint8_t syste
     packet.z_dist = z_dist;
     packet.rect_col_num = rect_col_num;
     packet.formation_type = formation_type;
+    packet.formation_heading = formation_heading;
 
         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN);
 #endif
@@ -233,11 +245,13 @@ static inline uint16_t mavlink_msg_vk_formation_leader_pack_status(uint8_t syste
  * @param y_dist [cm] distance between drones in y axis
  * @param z_dist [cm] distance between drones in z axis
  * @param rect_col_num  columns number of rectangle formation
+ * @param formation_heading [deg] if nan, use yaw as formation
+        heading
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 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)
+                                   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)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
     char buf[MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN];
@@ -255,6 +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);
 
         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN);
 #else
@@ -273,6 +288,7 @@ static inline uint16_t mavlink_msg_vk_formation_leader_pack_chan(uint8_t system_
     packet.z_dist = z_dist;
     packet.rect_col_num = rect_col_num;
     packet.formation_type = formation_type;
+    packet.formation_heading = formation_heading;
 
         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN);
 #endif
@@ -291,7 +307,7 @@ static inline uint16_t mavlink_msg_vk_formation_leader_pack_chan(uint8_t system_
  */
 static inline uint16_t mavlink_msg_vk_formation_leader_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_vk_formation_leader_t* vk_formation_leader)
 {
-    return mavlink_msg_vk_formation_leader_pack(system_id, component_id, msg, vk_formation_leader->timestamp, vk_formation_leader->state, vk_formation_leader->lat, vk_formation_leader->lon, vk_formation_leader->msl, vk_formation_leader->ve, vk_formation_leader->vn, vk_formation_leader->vu, vk_formation_leader->yaw, vk_formation_leader->formation_type, vk_formation_leader->x_dist, vk_formation_leader->y_dist, vk_formation_leader->z_dist, vk_formation_leader->rect_col_num);
+    return mavlink_msg_vk_formation_leader_pack(system_id, component_id, msg, vk_formation_leader->timestamp, vk_formation_leader->state, vk_formation_leader->lat, vk_formation_leader->lon, vk_formation_leader->msl, vk_formation_leader->ve, vk_formation_leader->vn, vk_formation_leader->vu, vk_formation_leader->yaw, vk_formation_leader->formation_type, vk_formation_leader->x_dist, vk_formation_leader->y_dist, vk_formation_leader->z_dist, vk_formation_leader->rect_col_num, vk_formation_leader->formation_heading);
 }
 
 /**
@@ -305,7 +321,7 @@ static inline uint16_t mavlink_msg_vk_formation_leader_encode(uint8_t system_id,
  */
 static inline uint16_t mavlink_msg_vk_formation_leader_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_vk_formation_leader_t* vk_formation_leader)
 {
-    return mavlink_msg_vk_formation_leader_pack_chan(system_id, component_id, chan, msg, vk_formation_leader->timestamp, vk_formation_leader->state, vk_formation_leader->lat, vk_formation_leader->lon, vk_formation_leader->msl, vk_formation_leader->ve, vk_formation_leader->vn, vk_formation_leader->vu, vk_formation_leader->yaw, vk_formation_leader->formation_type, vk_formation_leader->x_dist, vk_formation_leader->y_dist, vk_formation_leader->z_dist, vk_formation_leader->rect_col_num);
+    return mavlink_msg_vk_formation_leader_pack_chan(system_id, component_id, chan, msg, vk_formation_leader->timestamp, vk_formation_leader->state, vk_formation_leader->lat, vk_formation_leader->lon, vk_formation_leader->msl, vk_formation_leader->ve, vk_formation_leader->vn, vk_formation_leader->vu, vk_formation_leader->yaw, vk_formation_leader->formation_type, vk_formation_leader->x_dist, vk_formation_leader->y_dist, vk_formation_leader->z_dist, vk_formation_leader->rect_col_num, vk_formation_leader->formation_heading);
 }
 
 /**
@@ -319,7 +335,7 @@ static inline uint16_t mavlink_msg_vk_formation_leader_encode_chan(uint8_t syste
  */
 static inline uint16_t mavlink_msg_vk_formation_leader_encode_status(uint8_t system_id, uint8_t component_id, mavlink_status_t* _status, mavlink_message_t* msg, const mavlink_vk_formation_leader_t* vk_formation_leader)
 {
-    return mavlink_msg_vk_formation_leader_pack_status(system_id, component_id, _status, msg,  vk_formation_leader->timestamp, vk_formation_leader->state, vk_formation_leader->lat, vk_formation_leader->lon, vk_formation_leader->msl, vk_formation_leader->ve, vk_formation_leader->vn, vk_formation_leader->vu, vk_formation_leader->yaw, vk_formation_leader->formation_type, vk_formation_leader->x_dist, vk_formation_leader->y_dist, vk_formation_leader->z_dist, vk_formation_leader->rect_col_num);
+    return mavlink_msg_vk_formation_leader_pack_status(system_id, component_id, _status, msg,  vk_formation_leader->timestamp, vk_formation_leader->state, vk_formation_leader->lat, vk_formation_leader->lon, vk_formation_leader->msl, vk_formation_leader->ve, vk_formation_leader->vn, vk_formation_leader->vu, vk_formation_leader->yaw, vk_formation_leader->formation_type, vk_formation_leader->x_dist, vk_formation_leader->y_dist, vk_formation_leader->z_dist, vk_formation_leader->rect_col_num, vk_formation_leader->formation_heading);
 }
 
 /**
@@ -340,10 +356,12 @@ static inline uint16_t mavlink_msg_vk_formation_leader_encode_status(uint8_t sys
  * @param y_dist [cm] distance between drones in y axis
  * @param z_dist [cm] distance between drones in z axis
  * @param rect_col_num  columns number of rectangle formation
+ * @param formation_heading [deg] if nan, use yaw as formation
+        heading
  */
 #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)
+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)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
     char buf[MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN];
@@ -361,6 +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_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
@@ -379,6 +398,7 @@ static inline void mavlink_msg_vk_formation_leader_send(mavlink_channel_t chan,
     packet.z_dist = z_dist;
     packet.rect_col_num = rect_col_num;
     packet.formation_type = formation_type;
+    packet.formation_heading = formation_heading;
 
     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VK_FORMATION_LEADER, (const char *)&packet, MAVLINK_MSG_ID_VK_FORMATION_LEADER_MIN_LEN, MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN, MAVLINK_MSG_ID_VK_FORMATION_LEADER_CRC);
 #endif
@@ -392,7 +412,7 @@ static inline void mavlink_msg_vk_formation_leader_send(mavlink_channel_t chan,
 static inline void mavlink_msg_vk_formation_leader_send_struct(mavlink_channel_t chan, const mavlink_vk_formation_leader_t* vk_formation_leader)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-    mavlink_msg_vk_formation_leader_send(chan, vk_formation_leader->timestamp, vk_formation_leader->state, vk_formation_leader->lat, vk_formation_leader->lon, vk_formation_leader->msl, vk_formation_leader->ve, vk_formation_leader->vn, vk_formation_leader->vu, vk_formation_leader->yaw, vk_formation_leader->formation_type, vk_formation_leader->x_dist, vk_formation_leader->y_dist, vk_formation_leader->z_dist, vk_formation_leader->rect_col_num);
+    mavlink_msg_vk_formation_leader_send(chan, vk_formation_leader->timestamp, vk_formation_leader->state, vk_formation_leader->lat, vk_formation_leader->lon, vk_formation_leader->msl, vk_formation_leader->ve, vk_formation_leader->vn, vk_formation_leader->vu, vk_formation_leader->yaw, vk_formation_leader->formation_type, vk_formation_leader->x_dist, vk_formation_leader->y_dist, vk_formation_leader->z_dist, vk_formation_leader->rect_col_num, vk_formation_leader->formation_heading);
 #else
     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VK_FORMATION_LEADER, (const char *)vk_formation_leader, MAVLINK_MSG_ID_VK_FORMATION_LEADER_MIN_LEN, MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN, MAVLINK_MSG_ID_VK_FORMATION_LEADER_CRC);
 #endif
@@ -406,7 +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)
+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)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
     char *buf = (char *)msgbuf;
@@ -424,6 +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_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
@@ -442,6 +463,7 @@ static inline void mavlink_msg_vk_formation_leader_send_buf(mavlink_message_t *m
     packet->z_dist = z_dist;
     packet->rect_col_num = rect_col_num;
     packet->formation_type = formation_type;
+    packet->formation_heading = formation_heading;
 
     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VK_FORMATION_LEADER, (const char *)packet, MAVLINK_MSG_ID_VK_FORMATION_LEADER_MIN_LEN, MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN, MAVLINK_MSG_ID_VK_FORMATION_LEADER_CRC);
 #endif
@@ -593,6 +615,17 @@ static inline uint16_t mavlink_msg_vk_formation_leader_get_rect_col_num(const ma
     return _MAV_RETURN_uint16_t(msg,  42);
 }
 
+/**
+ * @brief Get field formation_heading from vk_formation_leader message
+ *
+ * @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)
+{
+    return _MAV_RETURN_uint8_t(msg,  45);
+}
+
 /**
  * @brief Decode a vk_formation_leader message into a struct
  *
@@ -616,6 +649,7 @@ static inline void mavlink_msg_vk_formation_leader_decode(const mavlink_message_
     vk_formation_leader->z_dist = mavlink_msg_vk_formation_leader_get_z_dist(msg);
     vk_formation_leader->rect_col_num = mavlink_msg_vk_formation_leader_get_rect_col_num(msg);
     vk_formation_leader->formation_type = mavlink_msg_vk_formation_leader_get_formation_type(msg);
+    vk_formation_leader->formation_heading = mavlink_msg_vk_formation_leader_get_formation_heading(msg);
 #else
         uint8_t len = msg->len < MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN? msg->len : MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN;
         memset(vk_formation_leader, 0, MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN);

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
+        963497464,963497672,963497880,963498088,129.0,157.0,185.0,213.0,241.0,19107,19211,19315,19419,137,204
     };
     mavlink_vk_formation_leader_t packet1, packet2;
         memset(&packet1, 0, sizeof(packet1));
@@ -331,6 +331,7 @@ static void mavlink_test_vk_formation_leader(uint8_t system_id, uint8_t componen
         packet1.z_dist = packet_in.z_dist;
         packet1.rect_col_num = packet_in.rect_col_num;
         packet1.formation_type = packet_in.formation_type;
+        packet1.formation_heading = packet_in.formation_heading;
         
         
 #ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
@@ -345,12 +346,12 @@ static void mavlink_test_vk_formation_leader(uint8_t system_id, uint8_t componen
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 
         memset(&packet2, 0, sizeof(packet2));
-    mavlink_msg_vk_formation_leader_pack(system_id, component_id, &msg , packet1.timestamp , packet1.state , packet1.lat , packet1.lon , packet1.msl , packet1.ve , packet1.vn , packet1.vu , packet1.yaw , packet1.formation_type , packet1.x_dist , packet1.y_dist , packet1.z_dist , packet1.rect_col_num );
+    mavlink_msg_vk_formation_leader_pack(system_id, component_id, &msg , packet1.timestamp , packet1.state , packet1.lat , packet1.lon , packet1.msl , packet1.ve , packet1.vn , packet1.vu , packet1.yaw , packet1.formation_type , packet1.x_dist , packet1.y_dist , packet1.z_dist , packet1.rect_col_num , packet1.formation_heading );
     mavlink_msg_vk_formation_leader_decode(&msg, &packet2);
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 
         memset(&packet2, 0, sizeof(packet2));
-    mavlink_msg_vk_formation_leader_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.timestamp , packet1.state , packet1.lat , packet1.lon , packet1.msl , packet1.ve , packet1.vn , packet1.vu , packet1.yaw , packet1.formation_type , packet1.x_dist , packet1.y_dist , packet1.z_dist , packet1.rect_col_num );
+    mavlink_msg_vk_formation_leader_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.timestamp , packet1.state , packet1.lat , packet1.lon , packet1.msl , packet1.ve , packet1.vn , packet1.vu , packet1.yaw , packet1.formation_type , packet1.x_dist , packet1.y_dist , packet1.z_dist , packet1.rect_col_num , packet1.formation_heading );
     mavlink_msg_vk_formation_leader_decode(&msg, &packet2);
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 
@@ -363,7 +364,7 @@ static void mavlink_test_vk_formation_leader(uint8_t system_id, uint8_t componen
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
         
         memset(&packet2, 0, sizeof(packet2));
-    mavlink_msg_vk_formation_leader_send(MAVLINK_COMM_1 , packet1.timestamp , packet1.state , packet1.lat , packet1.lon , packet1.msl , packet1.ve , packet1.vn , packet1.vu , packet1.yaw , packet1.formation_type , packet1.x_dist , packet1.y_dist , packet1.z_dist , packet1.rect_col_num );
+    mavlink_msg_vk_formation_leader_send(MAVLINK_COMM_1 , packet1.timestamp , packet1.state , packet1.lat , packet1.lon , packet1.msl , packet1.ve , packet1.vn , packet1.vu , packet1.yaw , packet1.formation_type , packet1.x_dist , packet1.y_dist , packet1.z_dist , packet1.rect_col_num , packet1.formation_heading );
     mavlink_msg_vk_formation_leader_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 "Tue Jul 22 2025"
+#define MAVLINK_BUILD_DATE "Mon Jul 28 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 -3781279591668069567
+#define MAVLINK_COMMON_XML_HASH 5429634044732507095
 
 #ifdef __cplusplus
 extern "C" {

v2.0/common/mavlink.h

@@ -6,7 +6,7 @@
 #ifndef MAVLINK_H
 #define MAVLINK_H
 
-#define MAVLINK_PRIMARY_XML_HASH -3781279591668069567
+#define MAVLINK_PRIMARY_XML_HASH 5429634044732507095
 
 #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 "Tue Jul 22 2025"
+#define MAVLINK_BUILD_DATE "Mon Jul 28 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 8751450265570853780
+#define MAVLINK_PRIMARY_XML_HASH 1315093523844488156
 
 #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 8751450265570853780
+#define MAVLINK_MINIMAL_XML_HASH 1315093523844488156
 
 #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 "Tue Jul 22 2025"
+#define MAVLINK_BUILD_DATE "Mon Jul 28 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 8998573537179189301
+#define MAVLINK_PRIMARY_XML_HASH 3758806495816469195
 
 #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 8998573537179189301
+#define MAVLINK_STANDARD_XML_HASH 3758806495816469195
 
 #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 "Tue Jul 22 2025"
+#define MAVLINK_BUILD_DATE "Mon Jul 28 2025"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 22