From 6ae6ff91b4f407cb21ba740fd15e60278383c15d Mon Sep 17 00:00:00 2001
From: tk <szdot@live.com>
Date: Mon, 26 Aug 2024 12:03:15 +0800
Subject: [PATCH] =?UTF-8?q?=E3=80=90=E7=B1=BB=20=20=E5=9E=8B=E3=80=91?=
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# 类型 包含:
# feat：新功能（feature）
# fix：修补bug
# docs：文档（documentation）
# style： 格式（不影响代码运行的变动）
# refactor：重构（即不是新增功能，也不是修改bug的代码变动）
# test：增加测试
# chore：构建过程或辅助工具的变动
---
 src/FoodDeliveryBase.cpp | 16 +---------------
 src/FoodDeliveryBase.h   | 17 ++++++++++-------
 2 files changed, 11 insertions(+), 22 deletions(-)

diff --git a/src/FoodDeliveryBase.cpp b/src/FoodDeliveryBase.cpp
index 55d0a36..a332e9c 100644
--- a/src/FoodDeliveryBase.cpp
+++ b/src/FoodDeliveryBase.cpp
@@ -668,20 +668,6 @@ void FoodCube::mav_mission_item(int8_t seq, uint8_t frame, uint8_t command, uint
   SWrite(buf, len, mavlinkSerial);
 }
 
-/**
- * @description: 向飞控发送 设置模式指令
- */
-void FoodCube::mav_set_mode(uint8_t SysState)
-{
-  mavlink_message_t msg;               // mavlink协议信息(msg)
-  uint8_t buf[MAVLINK_MAX_PACKET_LEN]; // 发送的缓存
-  // 设置飞行模式的数据包
-  mavlink_msg_set_mode_pack(MAVLINK_SYSTEM_ID, MAVLINK_COMPONENT_ID, &msg, 1, 209, SysState);
-  int len = mavlink_msg_to_send_buffer(buf, &msg);
-  // 通过串口发送
-  SWrite(buf, len, mavlinkSerial);
-}
-
 void FoodCube::mav_send_text(uint8_t severity, const char *text)
 {
   return;
@@ -756,7 +742,7 @@ void FoodCube::mav_channels_override(uint16_t chan[])
   SWrite(buf, len, mavlinkSerial);
 }
 
-void FoodCube::mav_send_command(mavlink_command_long_t msg_cmd)
+void FoodCube::mav_send_command(mavlink_command_long_t &msg_cmd)
 {
   mavlink_message_t msg;               // mavlink协议信息(msg)
   uint8_t buf[MAVLINK_MAX_PACKET_LEN]; // 发送的缓存
diff --git a/src/FoodDeliveryBase.h b/src/FoodDeliveryBase.h
index c1d1811..01c7f7f 100644
--- a/src/FoodDeliveryBase.h
+++ b/src/FoodDeliveryBase.h
@@ -11,12 +11,12 @@
 /*json库*/
 #include "ArduinoJson.h"
 /*异步库*/
-#include "Ticker.h" //调用Ticker.h库
+#include "Ticker.h"
 /*udp发送*/
 #include "WiFiUdp.h"
 
-#define MAVLINK_SYSTEM_ID 0xFF
-#define MAVLINK_COMPONENT_ID 0xBE
+#define MAVLINK_SYSTEM_ID 0xBE    // 飞控系统 ID
+#define MAVLINK_COMPONENT_ID 0xBE // 飞控组件 ID
 
 class FoodCube
 {
@@ -54,8 +54,7 @@ public:
   void mqttLoop(String topicSub);
   void subscribeTopic(String topicString, int Qos);
   void pubMQTTmsg(String topicString, String messageString);
-  /*串口输出*/
-  void SWrite(uint8_t buf[], int len, uint8_t swSerial);
+
   /*声音模块控制*/
   void playText(String str, bool flying = false);
   void SetplayvolMax();
@@ -69,11 +68,12 @@ public:
   void comm_receive(void (*pFun)(uint8_t));
   void mav_mission_count(uint8_t taskcount);
   void mav_mission_item(int8_t seq, uint8_t frame, uint8_t command, uint8_t current, uint8_t autocontinue, double param1, double param2, double param3, double param4, double x, double y, double z);
-  void mav_set_mode(uint8_t SysState);
   void mav_command(uint8_t controlType, uint16_t param[]);
-  void mav_send_command(mavlink_command_long_t msg_cmd);
   void mav_channels_override(uint16_t chan[]);
   void mav_send_text(uint8_t severity, const char *text);
+
+  void mav_send_command(mavlink_command_long_t &msg_cmd);
+
   /*云台相机控制*/
   void udpSendToCamera(uint8_t *p_command, uint32_t len);
   void Camera_action_down();
@@ -136,6 +136,9 @@ private:
                                    0x6e17, 0x7e36, 0x4e55, 0x5e74, 0x2e93, 0x3eb2, 0xed1, 0x1ef0};
   uint16_t CRC16_cal(uint8_t *ptr, uint32_t len, uint16_t crc_init);
   void crc_check_16bites(uint8_t *pbuf, uint32_t len, uint16_t *p_result);
+
+  /*串口输出*/
+  void SWrite(uint8_t buf[], int len, uint8_t swSerial);
 };
 
 #endif
\ No newline at end of file