msg_definitions/VKFly.xml

@@ -815,6 +815,19 @@
         <param index="7" label=""> </param>
       </entry>
 
+      <entry value="44068" name="VKFLY_CMD_RESUME_WP_ALT" hasLocation="false"
+        isDestination="false">
+        <description>Start mission</description>
+        <param index="1" label="disable" minValue="0" maxValue="1">resume wp altitude and disable rc
+          aux</param>
+        <param index="2" label=""></param>
+        <param index="3" label=""></param>
+        <param index="4" label=""></param>
+        <param index="5" label=""></param>
+        <param index="6" label=""></param>
+        <param index="7" label=""></param>
+      </entry>
+
     </enum>
   </enums>
 

readme.md

@@ -1072,7 +1072,7 @@ param3 分为 byte[4] 进行使用.
 | param6 | 经度 1e-7deg                                                                                                                                                                                                                                                                                                        |
 | param7 | 高度 m                                                                                                                                                                                                                                                                                                              |
 
-### 5.1.6 教培航点 VKFLY_CMD_NAV_EDU_TRAINING
+#### 4.1.6 教培航点 VKFLY_CMD_NAV_EDU_TRAINING
 
 使用 MISSION_ITEM_INT 消息定义传输教培航点
 
@@ -1111,6 +1111,13 @@ param3 分为 byte[4] 进行使用.
   MAV_FRAME_GLOBAL_RELATIVE_ALT: 相对高度
   MAV_FRAME_GLOBAL_ALT: 海拔高度
 
+#### 4.1.7 恢复航线高度 VKFLY_CMD_NAV_TAKEOFF_LAND
+
+当使用摇杆高度控制时, 可以使用这条指令来恢复航线高度
+
+* param1
+  禁用摇杆高度辅助, 1禁用. 当此参数为1时, 恢复航线高度, 并且会修改RC_AUTO_AID禁用摇杆高度辅助
+
 ### 4.2 电子围栏 MAV_MISSION_TYPE_FENCE (未实施)
 
 飞控一共有200个电子围栏点.
@@ -1859,7 +1866,7 @@ VKins 系统的状态数据自定义消息, 主要用于一些自定状态的传
 | FORM_CUS_X      | 自定义队形左右位置                   | float  | m, 右为正                                                                                |
 | FORM_CUS_Y      | 自定义队形前后位置                   | float  | m, 前为正                                                                                |
 | FORM_CUS_Z      | 自定义队形上下位置                   | float  | m, 上为正                                                                                |
-
+| RC_AUTO_AID     | 遥控器自动辅助开关                   | UINT32 | 每bit代表一个通道, 1 启用, bit0遥控器高度辅助开关                                        |
 #### 9.1.1 FS_CONF_A 参数说明
 
 1. bit0~3:1级低电压保护. 支持不启用\返航\降落

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 6537433158663298724
+#define MAVLINK_VKFLY_XML_HASH 8034384408752645066
 
 #ifdef __cplusplus
 extern "C" {
@@ -507,7 +507,9 @@ typedef enum VKFLY_CMD
           now.
         |  |  |  |  |  |  */
    VKFLY_CMD_MISSION_START_EDU_TRAINING=44067, /* Start mission |start sequence of mission|  |  |  |  |  |  |  */
-   VKFLY_CMD_ENUM_END=44068, /*  | */
+   VKFLY_CMD_RESUME_WP_ALT=44068, /* Start mission |resume wp altitude and disable rc
+          aux| | | | | | |  */
+   VKFLY_CMD_ENUM_END=44069, /*  | */
 } VKFLY_CMD;
 #endif
 

v2.0/VKFly/mavlink.h

@@ -6,7 +6,7 @@
 #ifndef MAVLINK_H
 #define MAVLINK_H
 
-#define MAVLINK_PRIMARY_XML_HASH 6537433158663298724
+#define MAVLINK_PRIMARY_XML_HASH 8034384408752645066
 
 #ifndef MAVLINK_STX
 #define MAVLINK_STX 253

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 -7955568166919538845
+#define MAVLINK_COMMON_XML_HASH -1213902260605232675
 
 #ifdef __cplusplus
 extern "C" {

v2.0/common/mavlink.h

@@ -6,7 +6,7 @@
 #ifndef MAVLINK_H
 #define MAVLINK_H
 
-#define MAVLINK_PRIMARY_XML_HASH -7955568166919538845
+#define MAVLINK_PRIMARY_XML_HASH -1213902260605232675
 
 #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 7441832264265538141
+#define MAVLINK_PRIMARY_XML_HASH -8000160734401705409
 
 #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 7441832264265538141
+#define MAVLINK_MINIMAL_XML_HASH -8000160734401705409
 
 #ifdef __cplusplus
 extern "C" {

v2.0/standard/mavlink.h

@@ -6,7 +6,7 @@
 #ifndef MAVLINK_H
 #define MAVLINK_H
 
-#define MAVLINK_PRIMARY_XML_HASH 1794531133685778314
+#define MAVLINK_PRIMARY_XML_HASH -4796999974497140114
 
 #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 1794531133685778314
+#define MAVLINK_STANDARD_XML_HASH -4796999974497140114
 
 #ifdef __cplusplus
 extern "C" {