增加指点飞行说明

msg_definitions/VKFly.xml

@@ -765,7 +765,7 @@
         <param index="7" label=""> </param>
       </entry>
 
-      <entry value="44066" name="VKFLY_CMD_SET_RTL_CIRCLE_POS" hasLocation="true"
+      <entry value="44066" name="VKFLY_CMD_SET_RTL_CIRCLE_WP" hasLocation="true"
         isDestination="false">
         <description>Set return circle point.</description>
         <param index="1" label="Radius">NAN means use default circle radius. Positive value means

readme.md

@@ -885,7 +885,7 @@ M5~M8\M13~M16为固定翼舵面舵机.
 ### 2.28 固定翼返航盘旋点 VK_FIXEDWING_RTL_CIRCLE_WP
 
 飞控收到 VKFLY_CMD_SET_RTL_CIRCLE_WP 指令后, 向地面站发送此消息.
-可通过 MAV_CMD_REQUEST_MESSAGE 从飞控进行读取. 
+可通过 MAV_CMD_REQUEST_MESSAGE 从飞控进行读取.
 
 | 字段      | 说明              |
 | --------- | ----------------- |
@@ -1051,10 +1051,16 @@ mavlink common 标准消息集中主要由 COMMAND_INT 和 COMMAND_LONG 两条.
 
 ### 5.1 指点指令 [MAV_CMD_DO_REPOSITION](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_REPOSITION)
 
-指点指令
+指点飞行指令
 
 其中 fram 支持 MAV_FRAME_GLOBAL_RELATIVE_ALT MAV_FRAME_GLOBAL_RELATIVE_ALT_INT MAV_FRAME_GLOBAL MAV_FRAME_GLOBAL_INT
 
+| 参数   | 说明                                                  |
+| ------ | ----------------------------------------------------- |
+| param1 | 速度, NAN 0 或负数表示默认巡航速度                    |
+| param3 | 盘旋半径, 固定翼用, NAN表示用飞控参数中的默认盘旋半径 |
+| param4 | 盘旋方向, 固定翼用, 0顺时针, 1逆时针                  |
+
 ### 5.2 设置home点坐标 [MAV_CMD_DO_SET_HOME](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_HOME)
 
 设置 HOME 点

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 -201426354676282899
+#define MAVLINK_VKFLY_XML_HASH 9043071210877765785
 
 #ifdef __cplusplus
 extern "C" {
@@ -492,7 +492,7 @@ typedef enum VKFLY_CMD
           mid, 1 do roll mid, 2 do roll right, 3 do roll left, 4 do pitch mid, 5 do pitch up, 6 do
           pitch down, 7 do yaw mid, 8 do yaw right, 9 do yaw down.|  NAN means ignore. -1
           throttle off, 0 throttle idle, 100 throttle full |  |  |  |  |  |  */
-   VKFLY_CMD_SET_RTL_CIRCLE_POS=44066, /* Set return circle point. |NAN means use default circle radius. Positive value means
+   VKFLY_CMD_SET_RTL_CIRCLE_WP=44066, /* Set return circle point. |NAN means use default circle radius. Positive value means
           circle
           in clockwise.|  NAN means ignore. 1 means do goto rtl circle point right
           now.

v2.0/VKFly/mavlink.h

@@ -6,7 +6,7 @@
 #ifndef MAVLINK_H
 #define MAVLINK_H
 
-#define MAVLINK_PRIMARY_XML_HASH -201426354676282899
+#define MAVLINK_PRIMARY_XML_HASH 9043071210877765785
 
 #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 "Sat Apr 19 2025"
+#define MAVLINK_BUILD_DATE "Mon Apr 21 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 -8513441522961557242
+#define MAVLINK_COMMON_XML_HASH -8619283996827401103
 
 #ifdef __cplusplus
 extern "C" {

v2.0/common/mavlink.h

@@ -6,7 +6,7 @@
 #ifndef MAVLINK_H
 #define MAVLINK_H
 
-#define MAVLINK_PRIMARY_XML_HASH -8513441522961557242
+#define MAVLINK_PRIMARY_XML_HASH -8619283996827401103
 
 #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 "Sat Apr 19 2025"
+#define MAVLINK_BUILD_DATE "Mon Apr 21 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 54582401511230997
+#define MAVLINK_PRIMARY_XML_HASH -3880776603943811867
 
 #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 54582401511230997
+#define MAVLINK_MINIMAL_XML_HASH -3880776603943811867
 
 #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 "Sat Apr 19 2025"
+#define MAVLINK_BUILD_DATE "Mon Apr 21 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 -1048906206261826113
+#define MAVLINK_PRIMARY_XML_HASH 2473718649607205095
 
 #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 -1048906206261826113
+#define MAVLINK_STANDARD_XML_HASH 2473718649607205095
 
 #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 "Sat Apr 19 2025"
+#define MAVLINK_BUILD_DATE "Mon Apr 21 2025"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 22