【类 型】：faat 飞控磁罗盘校准
【原 因】： 【过 程】：1接收到命令开始校准 2通过mqtt向前端发送进度 和 结果 【影 响】：
This commit is contained in:
tk
parent
443111cc8d
commit
e10fe665b9
@ -4,22 +4,23 @@
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#define MAVLINK_MSG_ID_MAG_CAL_REPORT 192
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MAVPACKED(
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typedef struct __mavlink_mag_cal_report_t {
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float fitness; /*< [mgauss] RMS milligauss residuals.*/
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float ofs_x; /*< X offset.*/
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float ofs_y; /*< Y offset.*/
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float ofs_z; /*< Z offset.*/
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float diag_x; /*< X diagonal (matrix 11).*/
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float diag_y; /*< Y diagonal (matrix 22).*/
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float diag_z; /*< Z diagonal (matrix 33).*/
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float offdiag_x; /*< X off-diagonal (matrix 12 and 21).*/
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float offdiag_y; /*< Y off-diagonal (matrix 13 and 31).*/
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float offdiag_z; /*< Z off-diagonal (matrix 32 and 23).*/
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uint8_t compass_id; /*< Compass being calibrated.*/
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uint8_t cal_mask; /*< Bitmask of compasses being calibrated.*/
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uint8_t cal_status; /*< Calibration Status.*/
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uint8_t autosaved; /*< 0=requires a MAV_CMD_DO_ACCEPT_MAG_CAL, 1=saved to parameters.*/
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}) mavlink_mag_cal_report_t;
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typedef struct __mavlink_mag_cal_report_t {
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float fitness; /*< [mgauss] RMS milligauss residuals.*/
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float ofs_x; /*< X offset.*/
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float ofs_y; /*< Y offset.*/
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float ofs_z; /*< Z offset.*/
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float diag_x; /*< X diagonal (matrix 11).*/
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float diag_y; /*< Y diagonal (matrix 22).*/
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float diag_z; /*< Z diagonal (matrix 33).*/
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float offdiag_x; /*< X off-diagonal (matrix 12 and 21).*/
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float offdiag_y; /*< Y off-diagonal (matrix 13 and 31).*/
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float offdiag_z; /*< Z off-diagonal (matrix 32 and 23).*/
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uint8_t compass_id; /*< Compass being calibrated.*/
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uint8_t cal_mask; /*< Bitmask of compasses being calibrated.*/
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uint8_t cal_status; /*< Calibration Status.*/
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uint8_t autosaved; /*< 0=requires a MAV_CMD_DO_ACCEPT_MAG_CAL, 1=saved to parameters.*/
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})
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mavlink_mag_cal_report_t;
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#define MAVLINK_MSG_ID_MAG_CAL_REPORT_LEN 44
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#define MAVLINK_MSG_ID_MAG_CAL_REPORT_MIN_LEN 44
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@ -29,49 +30,51 @@ typedef struct __mavlink_mag_cal_report_t {
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#define MAVLINK_MSG_ID_MAG_CAL_REPORT_CRC 36
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#define MAVLINK_MSG_ID_192_CRC 36
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_MAG_CAL_REPORT { \
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192, \
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"MAG_CAL_REPORT", \
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14, \
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{ { "compass_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 40, offsetof(mavlink_mag_cal_report_t, compass_id) }, \
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{ "cal_mask", NULL, MAVLINK_TYPE_UINT8_T, 0, 41, offsetof(mavlink_mag_cal_report_t, cal_mask) }, \
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{ "cal_status", NULL, MAVLINK_TYPE_UINT8_T, 0, 42, offsetof(mavlink_mag_cal_report_t, cal_status) }, \
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{ "autosaved", NULL, MAVLINK_TYPE_UINT8_T, 0, 43, offsetof(mavlink_mag_cal_report_t, autosaved) }, \
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{ "fitness", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_mag_cal_report_t, fitness) }, \
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{ "ofs_x", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_mag_cal_report_t, ofs_x) }, \
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{ "ofs_y", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_mag_cal_report_t, ofs_y) }, \
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{ "ofs_z", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_mag_cal_report_t, ofs_z) }, \
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{ "diag_x", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_mag_cal_report_t, diag_x) }, \
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{ "diag_y", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_mag_cal_report_t, diag_y) }, \
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{ "diag_z", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_mag_cal_report_t, diag_z) }, \
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{ "offdiag_x", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_mag_cal_report_t, offdiag_x) }, \
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{ "offdiag_y", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_mag_cal_report_t, offdiag_y) }, \
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{ "offdiag_z", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_mag_cal_report_t, offdiag_z) }, \
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} \
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}
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#define MAVLINK_MESSAGE_INFO_MAG_CAL_REPORT \
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{ \
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192, \
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"MAG_CAL_REPORT", \
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14, \
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{ \
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{"compass_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 40, offsetof(mavlink_mag_cal_report_t, compass_id)}, \
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{"cal_mask", NULL, MAVLINK_TYPE_UINT8_T, 0, 41, offsetof(mavlink_mag_cal_report_t, cal_mask)}, \
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{"cal_status", NULL, MAVLINK_TYPE_UINT8_T, 0, 42, offsetof(mavlink_mag_cal_report_t, cal_status)}, \
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{"autosaved", NULL, MAVLINK_TYPE_UINT8_T, 0, 43, offsetof(mavlink_mag_cal_report_t, autosaved)}, \
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{"fitness", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_mag_cal_report_t, fitness)}, \
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{"ofs_x", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_mag_cal_report_t, ofs_x)}, \
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{"ofs_y", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_mag_cal_report_t, ofs_y)}, \
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{"ofs_z", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_mag_cal_report_t, ofs_z)}, \
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{"diag_x", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_mag_cal_report_t, diag_x)}, \
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{"diag_y", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_mag_cal_report_t, diag_y)}, \
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{"diag_z", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_mag_cal_report_t, diag_z)}, \
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{"offdiag_x", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_mag_cal_report_t, offdiag_x)}, \
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{"offdiag_y", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_mag_cal_report_t, offdiag_y)}, \
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{"offdiag_z", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_mag_cal_report_t, offdiag_z)}, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_MAG_CAL_REPORT { \
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"MAG_CAL_REPORT", \
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14, \
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{ { "compass_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 40, offsetof(mavlink_mag_cal_report_t, compass_id) }, \
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{ "cal_mask", NULL, MAVLINK_TYPE_UINT8_T, 0, 41, offsetof(mavlink_mag_cal_report_t, cal_mask) }, \
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{ "cal_status", NULL, MAVLINK_TYPE_UINT8_T, 0, 42, offsetof(mavlink_mag_cal_report_t, cal_status) }, \
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{ "autosaved", NULL, MAVLINK_TYPE_UINT8_T, 0, 43, offsetof(mavlink_mag_cal_report_t, autosaved) }, \
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{ "fitness", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_mag_cal_report_t, fitness) }, \
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{ "ofs_x", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_mag_cal_report_t, ofs_x) }, \
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{ "ofs_y", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_mag_cal_report_t, ofs_y) }, \
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{ "ofs_z", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_mag_cal_report_t, ofs_z) }, \
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{ "diag_x", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_mag_cal_report_t, diag_x) }, \
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{ "diag_y", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_mag_cal_report_t, diag_y) }, \
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{ "diag_z", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_mag_cal_report_t, diag_z) }, \
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{ "offdiag_x", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_mag_cal_report_t, offdiag_x) }, \
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{ "offdiag_y", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_mag_cal_report_t, offdiag_y) }, \
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{ "offdiag_z", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_mag_cal_report_t, offdiag_z) }, \
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} \
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}
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#define MAVLINK_MESSAGE_INFO_MAG_CAL_REPORT \
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{ \
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"MAG_CAL_REPORT", \
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14, \
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{ \
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{"compass_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 40, offsetof(mavlink_mag_cal_report_t, compass_id)}, \
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{"cal_mask", NULL, MAVLINK_TYPE_UINT8_T, 0, 41, offsetof(mavlink_mag_cal_report_t, cal_mask)}, \
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{"cal_status", NULL, MAVLINK_TYPE_UINT8_T, 0, 42, offsetof(mavlink_mag_cal_report_t, cal_status)}, \
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{"autosaved", NULL, MAVLINK_TYPE_UINT8_T, 0, 43, offsetof(mavlink_mag_cal_report_t, autosaved)}, \
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{"fitness", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_mag_cal_report_t, fitness)}, \
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{"ofs_x", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_mag_cal_report_t, ofs_x)}, \
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{"ofs_y", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_mag_cal_report_t, ofs_y)}, \
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{"ofs_z", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_mag_cal_report_t, ofs_z)}, \
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{"diag_x", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_mag_cal_report_t, diag_x)}, \
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{"diag_y", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_mag_cal_report_t, diag_y)}, \
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{"diag_z", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_mag_cal_report_t, diag_z)}, \
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{"offdiag_x", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_mag_cal_report_t, offdiag_x)}, \
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{"offdiag_y", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_mag_cal_report_t, offdiag_y)}, \
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{"offdiag_z", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_mag_cal_report_t, offdiag_z)}, \
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} \
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}
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#endif
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/**
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@ -96,8 +99,8 @@ typedef struct __mavlink_mag_cal_report_t {
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* @param offdiag_z Z off-diagonal (matrix 32 and 23).
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_mag_cal_report_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint8_t compass_id, uint8_t cal_mask, uint8_t cal_status, uint8_t autosaved, float fitness, float ofs_x, float ofs_y, float ofs_z, float diag_x, float diag_y, float diag_z, float offdiag_x, float offdiag_y, float offdiag_z)
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static inline uint16_t mavlink_msg_mag_cal_report_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t *msg,
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uint8_t compass_id, uint8_t cal_mask, uint8_t cal_status, uint8_t autosaved, float fitness, float ofs_x, float ofs_y, float ofs_z, float diag_x, float diag_y, float diag_z, float offdiag_x, float offdiag_y, float offdiag_z)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_MAG_CAL_REPORT_LEN];
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@ -116,7 +119,7 @@ static inline uint16_t mavlink_msg_mag_cal_report_pack(uint8_t system_id, uint8_
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_mav_put_uint8_t(buf, 42, cal_status);
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_mav_put_uint8_t(buf, 43, autosaved);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MAG_CAL_REPORT_LEN);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MAG_CAL_REPORT_LEN);
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#else
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mavlink_mag_cal_report_t packet;
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packet.fitness = fitness;
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@ -134,7 +137,7 @@ static inline uint16_t mavlink_msg_mag_cal_report_pack(uint8_t system_id, uint8_
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packet.cal_status = cal_status;
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packet.autosaved = autosaved;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MAG_CAL_REPORT_LEN);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MAG_CAL_REPORT_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_MAG_CAL_REPORT;
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@ -164,8 +167,8 @@ static inline uint16_t mavlink_msg_mag_cal_report_pack(uint8_t system_id, uint8_
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_mag_cal_report_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
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mavlink_message_t* msg,
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uint8_t compass_id,uint8_t cal_mask,uint8_t cal_status,uint8_t autosaved,float fitness,float ofs_x,float ofs_y,float ofs_z,float diag_x,float diag_y,float diag_z,float offdiag_x,float offdiag_y,float offdiag_z)
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mavlink_message_t *msg,
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uint8_t compass_id, uint8_t cal_mask, uint8_t cal_status, uint8_t autosaved, float fitness, float ofs_x, float ofs_y, float ofs_z, float diag_x, float diag_y, float diag_z, float offdiag_x, float offdiag_y, float offdiag_z)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_MAG_CAL_REPORT_LEN];
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@ -184,7 +187,7 @@ static inline uint16_t mavlink_msg_mag_cal_report_pack_chan(uint8_t system_id, u
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_mav_put_uint8_t(buf, 42, cal_status);
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_mav_put_uint8_t(buf, 43, autosaved);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MAG_CAL_REPORT_LEN);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MAG_CAL_REPORT_LEN);
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#else
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mavlink_mag_cal_report_t packet;
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packet.fitness = fitness;
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@ -202,7 +205,7 @@ static inline uint16_t mavlink_msg_mag_cal_report_pack_chan(uint8_t system_id, u
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packet.cal_status = cal_status;
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packet.autosaved = autosaved;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MAG_CAL_REPORT_LEN);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MAG_CAL_REPORT_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_MAG_CAL_REPORT;
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@ -217,7 +220,7 @@ static inline uint16_t mavlink_msg_mag_cal_report_pack_chan(uint8_t system_id, u
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* @param msg The MAVLink message to compress the data into
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* @param mag_cal_report C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_mag_cal_report_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_mag_cal_report_t* mag_cal_report)
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static inline uint16_t mavlink_msg_mag_cal_report_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t *msg, const mavlink_mag_cal_report_t *mag_cal_report)
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{
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return mavlink_msg_mag_cal_report_pack(system_id, component_id, msg, mag_cal_report->compass_id, mag_cal_report->cal_mask, mag_cal_report->cal_status, mag_cal_report->autosaved, mag_cal_report->fitness, mag_cal_report->ofs_x, mag_cal_report->ofs_y, mag_cal_report->ofs_z, mag_cal_report->diag_x, mag_cal_report->diag_y, mag_cal_report->diag_z, mag_cal_report->offdiag_x, mag_cal_report->offdiag_y, mag_cal_report->offdiag_z);
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}
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@ -231,7 +234,7 @@ static inline uint16_t mavlink_msg_mag_cal_report_encode(uint8_t system_id, uint
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* @param msg The MAVLink message to compress the data into
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* @param mag_cal_report C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_mag_cal_report_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_mag_cal_report_t* mag_cal_report)
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static inline uint16_t mavlink_msg_mag_cal_report_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t *msg, const mavlink_mag_cal_report_t *mag_cal_report)
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{
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return mavlink_msg_mag_cal_report_pack_chan(system_id, component_id, chan, msg, mag_cal_report->compass_id, mag_cal_report->cal_mask, mag_cal_report->cal_status, mag_cal_report->autosaved, mag_cal_report->fitness, mag_cal_report->ofs_x, mag_cal_report->ofs_y, mag_cal_report->ofs_z, mag_cal_report->diag_x, mag_cal_report->diag_y, mag_cal_report->diag_z, mag_cal_report->offdiag_x, mag_cal_report->offdiag_y, mag_cal_report->offdiag_z);
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}
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@ -303,7 +306,7 @@ static inline void mavlink_msg_mag_cal_report_send(mavlink_channel_t chan, uint8
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* @param chan MAVLink channel to send the message
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* @param struct The MAVLink struct to serialize
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*/
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static inline void mavlink_msg_mag_cal_report_send_struct(mavlink_channel_t chan, const mavlink_mag_cal_report_t* mag_cal_report)
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static inline void mavlink_msg_mag_cal_report_send_struct(mavlink_channel_t chan, const mavlink_mag_cal_report_t *mag_cal_report)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_mag_cal_report_send(chan, mag_cal_report->compass_id, mag_cal_report->cal_mask, mag_cal_report->cal_status, mag_cal_report->autosaved, mag_cal_report->fitness, mag_cal_report->ofs_x, mag_cal_report->ofs_y, mag_cal_report->ofs_z, mag_cal_report->diag_x, mag_cal_report->diag_y, mag_cal_report->diag_z, mag_cal_report->offdiag_x, mag_cal_report->offdiag_y, mag_cal_report->offdiag_z);
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@ -320,7 +323,7 @@ static inline void mavlink_msg_mag_cal_report_send_struct(mavlink_channel_t chan
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is usually the receive buffer for the channel, and allows a reply to an
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incoming message with minimum stack space usage.
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*/
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static inline void mavlink_msg_mag_cal_report_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t compass_id, uint8_t cal_mask, uint8_t cal_status, uint8_t autosaved, float fitness, float ofs_x, float ofs_y, float ofs_z, float diag_x, float diag_y, float diag_z, float offdiag_x, float offdiag_y, float offdiag_z)
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static inline void mavlink_msg_mag_cal_report_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t compass_id, uint8_t cal_mask, uint8_t cal_status, uint8_t autosaved, float fitness, float ofs_x, float ofs_y, float ofs_z, float diag_x, float diag_y, float diag_z, float offdiag_x, float offdiag_y, float offdiag_z)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char *buf = (char *)msgbuf;
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@ -366,15 +369,14 @@ static inline void mavlink_msg_mag_cal_report_send_buf(mavlink_message_t *msgbuf
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// MESSAGE MAG_CAL_REPORT UNPACKING
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/**
|
||||
* @brief Get field compass_id from mag_cal_report message
|
||||
*
|
||||
* @return Compass being calibrated.
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_mag_cal_report_get_compass_id(const mavlink_message_t* msg)
|
||||
static inline uint8_t mavlink_msg_mag_cal_report_get_compass_id(const mavlink_message_t *msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 40);
|
||||
return _MAV_RETURN_uint8_t(msg, 40);
|
||||
}
|
||||
|
||||
/**
|
||||
@ -382,9 +384,9 @@ static inline uint8_t mavlink_msg_mag_cal_report_get_compass_id(const mavlink_me
|
||||
*
|
||||
* @return Bitmask of compasses being calibrated.
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_mag_cal_report_get_cal_mask(const mavlink_message_t* msg)
|
||||
static inline uint8_t mavlink_msg_mag_cal_report_get_cal_mask(const mavlink_message_t *msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 41);
|
||||
return _MAV_RETURN_uint8_t(msg, 41);
|
||||
}
|
||||
|
||||
/**
|
||||
@ -392,9 +394,9 @@ static inline uint8_t mavlink_msg_mag_cal_report_get_cal_mask(const mavlink_mess
|
||||
*
|
||||
* @return Calibration Status.
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_mag_cal_report_get_cal_status(const mavlink_message_t* msg)
|
||||
static inline uint8_t mavlink_msg_mag_cal_report_get_cal_status(const mavlink_message_t *msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 42);
|
||||
return _MAV_RETURN_uint8_t(msg, 42);
|
||||
}
|
||||
|
||||
/**
|
||||
@ -402,9 +404,9 @@ static inline uint8_t mavlink_msg_mag_cal_report_get_cal_status(const mavlink_me
|
||||
*
|
||||
* @return 0=requires a MAV_CMD_DO_ACCEPT_MAG_CAL, 1=saved to parameters.
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_mag_cal_report_get_autosaved(const mavlink_message_t* msg)
|
||||
static inline uint8_t mavlink_msg_mag_cal_report_get_autosaved(const mavlink_message_t *msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 43);
|
||||
return _MAV_RETURN_uint8_t(msg, 43);
|
||||
}
|
||||
|
||||
/**
|
||||
@ -412,9 +414,9 @@ static inline uint8_t mavlink_msg_mag_cal_report_get_autosaved(const mavlink_mes
|
||||
*
|
||||
* @return [mgauss] RMS milligauss residuals.
|
||||
*/
|
||||
static inline float mavlink_msg_mag_cal_report_get_fitness(const mavlink_message_t* msg)
|
||||
static inline float mavlink_msg_mag_cal_report_get_fitness(const mavlink_message_t *msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 0);
|
||||
return _MAV_RETURN_float(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
@ -422,9 +424,9 @@ static inline float mavlink_msg_mag_cal_report_get_fitness(const mavlink_message
|
||||
*
|
||||
* @return X offset.
|
||||
*/
|
||||
static inline float mavlink_msg_mag_cal_report_get_ofs_x(const mavlink_message_t* msg)
|
||||
static inline float mavlink_msg_mag_cal_report_get_ofs_x(const mavlink_message_t *msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 4);
|
||||
return _MAV_RETURN_float(msg, 4);
|
||||
}
|
||||
|
||||
/**
|
||||
@ -432,9 +434,9 @@ static inline float mavlink_msg_mag_cal_report_get_ofs_x(const mavlink_message_t
|
||||
*
|
||||
* @return Y offset.
|
||||
*/
|
||||
static inline float mavlink_msg_mag_cal_report_get_ofs_y(const mavlink_message_t* msg)
|
||||
static inline float mavlink_msg_mag_cal_report_get_ofs_y(const mavlink_message_t *msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 8);
|
||||
return _MAV_RETURN_float(msg, 8);
|
||||
}
|
||||
|
||||
/**
|
||||
@ -442,9 +444,9 @@ static inline float mavlink_msg_mag_cal_report_get_ofs_y(const mavlink_message_t
|
||||
*
|
||||
* @return Z offset.
|
||||
*/
|
||||
static inline float mavlink_msg_mag_cal_report_get_ofs_z(const mavlink_message_t* msg)
|
||||
static inline float mavlink_msg_mag_cal_report_get_ofs_z(const mavlink_message_t *msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 12);
|
||||
return _MAV_RETURN_float(msg, 12);
|
||||
}
|
||||
|
||||
/**
|
||||
@ -452,9 +454,9 @@ static inline float mavlink_msg_mag_cal_report_get_ofs_z(const mavlink_message_t
|
||||
*
|
||||
* @return X diagonal (matrix 11).
|
||||
*/
|
||||
static inline float mavlink_msg_mag_cal_report_get_diag_x(const mavlink_message_t* msg)
|
||||
static inline float mavlink_msg_mag_cal_report_get_diag_x(const mavlink_message_t *msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 16);
|
||||
return _MAV_RETURN_float(msg, 16);
|
||||
}
|
||||
|
||||
/**
|
||||
@ -462,9 +464,9 @@ static inline float mavlink_msg_mag_cal_report_get_diag_x(const mavlink_message_
|
||||
*
|
||||
* @return Y diagonal (matrix 22).
|
||||
*/
|
||||
static inline float mavlink_msg_mag_cal_report_get_diag_y(const mavlink_message_t* msg)
|
||||
static inline float mavlink_msg_mag_cal_report_get_diag_y(const mavlink_message_t *msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 20);
|
||||
return _MAV_RETURN_float(msg, 20);
|
||||
}
|
||||
|
||||
/**
|
||||
@ -472,9 +474,9 @@ static inline float mavlink_msg_mag_cal_report_get_diag_y(const mavlink_message_
|
||||
*
|
||||
* @return Z diagonal (matrix 33).
|
||||
*/
|
||||
static inline float mavlink_msg_mag_cal_report_get_diag_z(const mavlink_message_t* msg)
|
||||
static inline float mavlink_msg_mag_cal_report_get_diag_z(const mavlink_message_t *msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 24);
|
||||
return _MAV_RETURN_float(msg, 24);
|
||||
}
|
||||
|
||||
/**
|
||||
@ -482,9 +484,9 @@ static inline float mavlink_msg_mag_cal_report_get_diag_z(const mavlink_message_
|
||||
*
|
||||
* @return X off-diagonal (matrix 12 and 21).
|
||||
*/
|
||||
static inline float mavlink_msg_mag_cal_report_get_offdiag_x(const mavlink_message_t* msg)
|
||||
static inline float mavlink_msg_mag_cal_report_get_offdiag_x(const mavlink_message_t *msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 28);
|
||||
return _MAV_RETURN_float(msg, 28);
|
||||
}
|
||||
|
||||
/**
|
||||
@ -492,9 +494,9 @@ static inline float mavlink_msg_mag_cal_report_get_offdiag_x(const mavlink_messa
|
||||
*
|
||||
* @return Y off-diagonal (matrix 13 and 31).
|
||||
*/
|
||||
static inline float mavlink_msg_mag_cal_report_get_offdiag_y(const mavlink_message_t* msg)
|
||||
static inline float mavlink_msg_mag_cal_report_get_offdiag_y(const mavlink_message_t *msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 32);
|
||||
return _MAV_RETURN_float(msg, 32);
|
||||
}
|
||||
|
||||
/**
|
||||
@ -502,9 +504,9 @@ static inline float mavlink_msg_mag_cal_report_get_offdiag_y(const mavlink_messa
|
||||
*
|
||||
* @return Z off-diagonal (matrix 32 and 23).
|
||||
*/
|
||||
static inline float mavlink_msg_mag_cal_report_get_offdiag_z(const mavlink_message_t* msg)
|
||||
static inline float mavlink_msg_mag_cal_report_get_offdiag_z(const mavlink_message_t *msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 36);
|
||||
return _MAV_RETURN_float(msg, 36);
|
||||
}
|
||||
|
||||
/**
|
||||
@ -513,7 +515,7 @@ static inline float mavlink_msg_mag_cal_report_get_offdiag_z(const mavlink_messa
|
||||
* @param msg The message to decode
|
||||
* @param mag_cal_report C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_mag_cal_report_decode(const mavlink_message_t* msg, mavlink_mag_cal_report_t* mag_cal_report)
|
||||
static inline void mavlink_msg_mag_cal_report_decode(const mavlink_message_t *msg, mavlink_mag_cal_report_t *mag_cal_report)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
mag_cal_report->fitness = mavlink_msg_mag_cal_report_get_fitness(msg);
|
||||
@ -531,8 +533,8 @@ static inline void mavlink_msg_mag_cal_report_decode(const mavlink_message_t* ms
|
||||
mag_cal_report->cal_status = mavlink_msg_mag_cal_report_get_cal_status(msg);
|
||||
mag_cal_report->autosaved = mavlink_msg_mag_cal_report_get_autosaved(msg);
|
||||
#else
|
||||
uint8_t len = msg->len < MAVLINK_MSG_ID_MAG_CAL_REPORT_LEN? msg->len : MAVLINK_MSG_ID_MAG_CAL_REPORT_LEN;
|
||||
memset(mag_cal_report, 0, MAVLINK_MSG_ID_MAG_CAL_REPORT_LEN);
|
||||
uint8_t len = msg->len < MAVLINK_MSG_ID_MAG_CAL_REPORT_LEN ? msg->len : MAVLINK_MSG_ID_MAG_CAL_REPORT_LEN;
|
||||
memset(mag_cal_report, 0, MAVLINK_MSG_ID_MAG_CAL_REPORT_LEN);
|
||||
memcpy(mag_cal_report, _MAV_PAYLOAD(msg), len);
|
||||
#endif
|
||||
}
|
||||
|
||||
@ -753,7 +753,7 @@ void FoodCube::mav_command(uint8_t controlType, uint16_t param[])
|
||||
cmd.param1 = param[0]; // 0:加锁 1：解锁
|
||||
cmd.param2 = param[1]; // 0:符合条件加解锁 21196:强制加解锁
|
||||
}
|
||||
if (controlType == 6)
|
||||
else if (controlType == 6)
|
||||
{ // 测试起飞
|
||||
float p = (float)param[0];
|
||||
cmd.command = MAV_CMD_NAV_TAKEOFF;
|
||||
@ -765,16 +765,21 @@ void FoodCube::mav_command(uint8_t controlType, uint16_t param[])
|
||||
cmd.param6 = 0;
|
||||
cmd.param7 = p; // 起飞高度
|
||||
}
|
||||
if (controlType == 8)
|
||||
else if (controlType == 8)
|
||||
{ // 降落
|
||||
cmd.command = MAV_CMD_NAV_LAND;
|
||||
}
|
||||
if (controlType == 11)
|
||||
{ // 磁罗盘校准
|
||||
else if (controlType == 11)
|
||||
{
|
||||
// 磁罗盘校准
|
||||
cmd.command = MAV_CMD_DO_START_MAG_CAL;
|
||||
cmd.param1 = 0;
|
||||
cmd.param2 = 1;
|
||||
cmd.param3 = 1;
|
||||
cmd.param1 = 0; // 磁罗盘的bitmask（0表示所有）
|
||||
cmd.param2 = 0; // 自动重试（0=不重试, 1=重试）
|
||||
cmd.param3 = 0; // 是否自动保存（0=需要用户输入, 1=自动保存）
|
||||
cmd.param4 = 0; // 延迟（秒）
|
||||
cmd.param5 = 0; // 自动重启（0=用户重启, 1=自动重启）
|
||||
cmd.param6 = 0; // 保留空参数
|
||||
cmd.param7 = 0; // 保留空参数
|
||||
}
|
||||
mavlink_msg_command_long_encode(MAVLINK_SYSTEM_ID, MAVLINK_COMPONENT_ID, &msg, &cmd);
|
||||
int len = mavlink_msg_to_send_buffer(buf, &msg);
|
||||
|
||||
104
src/commser.cpp
104
src/commser.cpp
@ -14,12 +14,12 @@ extern void Hook_recovery();
|
||||
static const char *MOUDLENAME = "COMMSER";
|
||||
|
||||
/*项目对象*/
|
||||
// char *ssid = "szMate40pro"; // wifi帐号
|
||||
// char *password = "63587839ab"; // wifi密码
|
||||
char *ssid = "szMate40pro"; // wifi帐号
|
||||
char *password = "63587839ab"; // wifi密码
|
||||
// char* ssid = "szdot"; //wifi帐号
|
||||
// char* password = "63587839ab"; //wifi密码
|
||||
char *ssid = "flicube"; // wifi帐号
|
||||
char *password = "fxmf0622"; // wifi密码
|
||||
// char *ssid = "flicube"; // wifi帐号
|
||||
// char *password = "fxmf0622"; // wifi密码
|
||||
// char *ssid = "fxmf_sc01"; // 4g wifi帐号
|
||||
// char *password = "12345678"; // 4g wifi密码
|
||||
char *mqttServer = "szdot.top"; // mqtt地址
|
||||
@ -34,8 +34,8 @@ uint32_t udpServerPort = 37260; // 云台相机端口
|
||||
FoodCube fc(ssid, password, mqttServer, mqttPort, mqttName, mqttPassword, mavlinkSerial, voiceSerial, udpServerIP, udpServerPort); // 创建项目对象
|
||||
/* 发布 主题 ps:以下是登记发布json内容的组成元素 */
|
||||
// 登记 json成员名字
|
||||
// 0:心跳信息 1:电压信息 2:电流信息 3:电池电量 4:海拔高度 5:对地速度 6:卫星数量 7:纬度 8:经度 9:定位状态 10:飞机状态 11:网速测试 12:飞机模式 13:重量 14:钩子状态 15:{经度，维度，相对高度} 16:电池总容量 17:返航点 18:文本信息 19：返航速度
|
||||
const String topicPub[] = {"heartBeat", "voltagBattery", "currentBattery", "batteryRemaining", "positionAlt", "groundSpeed", "satCount", "latitude", "longitude", "fixType", "state", "pingNet", "getPlaneMode", "loadweight", "hookstatus", "position", "battCapacity", "homePosition", "statusText", "wpnavSpeed"};
|
||||
// 0:心跳信息 1:电压信息 2:电流信息 3:电池电量 4:海拔高度 5:对地速度 6:卫星数量 7:定位状态 8:磁罗盘校准进度 9：磁罗盘校准是否成功 10:飞机状态 11:网速测试 12:飞机模式 13:重量 14:钩子状态 15:{经度，维度，相对高度} 16:电池总容量 17:返航点 18:文本信息 19：返航速度
|
||||
const String topicPub[] = {"heartBeat", "voltagBattery", "currentBattery", "batteryRemaining", "positionAlt", "groundSpeed", "satCount", "fixType", "completionPct", "reportCal", "state", "pingNet", "getPlaneMode", "loadweight", "hookstatus", "position", "battCapacity", "homePosition", "statusText", "wpnavSpeed"};
|
||||
const int topicPubCount = sizeof(topicPub) / sizeof(topicPub[0]); // 登记 json成员总数
|
||||
String topicPubMsg[topicPubCount] = {""}; // 登记 json成员的值 对应topicPub
|
||||
/*触发发送 主题*/
|
||||
@ -123,7 +123,7 @@ void mqtt_receiveCallback(char *topic, byte *payload, unsigned int length)
|
||||
}
|
||||
else
|
||||
{
|
||||
uint16_t chan[] = {1500, 1500, 1300, 1500}; // 除了加解锁模式 油门全部控制居中
|
||||
uint16_t chan[] = {1500, 1500, 1500, 1500}; // 除了加解锁模式 油门全部控制居中
|
||||
fc.mav_channels_override(chan); // 控制油门
|
||||
}
|
||||
if (n == 6)
|
||||
@ -139,17 +139,22 @@ void mqtt_receiveCallback(char *topic, byte *payload, unsigned int length)
|
||||
{ // 5 航点执行
|
||||
fc.mav_set_mode(3); // 飞控设置成auto自动模式
|
||||
}
|
||||
else if (n == 8)
|
||||
{ // 8降落*
|
||||
else if (n == 8) // 8降落
|
||||
{
|
||||
fc.mav_command(n, param);
|
||||
}
|
||||
else if (n == 9)
|
||||
{ // 9返航
|
||||
fc.mav_set_mode(6); // 飞控设置成RTL返航
|
||||
}
|
||||
else if (n == 11)
|
||||
{ // 11磁罗盘校准
|
||||
else if (n == 11) // 11磁罗盘校准
|
||||
{
|
||||
/*初始化磁罗盘校准进度 和 校准结果*/
|
||||
topicPubMsg[8] = "";
|
||||
topicPubMsg[9] = "";
|
||||
/*校准*/
|
||||
fc.mav_command(n, param);
|
||||
fc.playText("校准磁罗盘");
|
||||
}
|
||||
}
|
||||
else if (key == "refreshRequest")
|
||||
@ -378,10 +383,7 @@ void mavlink_receiveCallback(uint8_t c)
|
||||
home_pos.latitude, // 纬度，以degE7单位传递
|
||||
home_pos.z); // 相对高度，单位为米
|
||||
|
||||
if (topicPubMsg[17] != buf)
|
||||
{
|
||||
topicPubMsg[17] = buf;
|
||||
}
|
||||
topicPubMsg[17] = buf;
|
||||
}
|
||||
case MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN: // #49 飞机原点
|
||||
{
|
||||
@ -399,6 +401,31 @@ void mavlink_receiveCallback(uint8_t c)
|
||||
// }
|
||||
}
|
||||
break;
|
||||
case MAVLINK_MSG_ID_MAG_CAL_REPORT: // #192 磁罗盘校准结果
|
||||
{
|
||||
mavlink_mag_cal_report_t report;
|
||||
mavlink_msg_mag_cal_report_decode(&msg, &report);
|
||||
|
||||
if (report.cal_status == MAG_CAL_SUCCESS)
|
||||
{
|
||||
topicPubMsg[9] = "successful"; // 校准成功
|
||||
}
|
||||
else
|
||||
{
|
||||
topicPubMsg[9] = "failed"; // 校准失败
|
||||
}
|
||||
}
|
||||
break;
|
||||
case MAVLINK_MSG_ID_MAG_CAL_PROGRESS: // #191 磁罗盘校准进度
|
||||
{
|
||||
mavlink_mag_cal_progress_t progress;
|
||||
mavlink_msg_mag_cal_progress_decode(&msg, &progress);
|
||||
|
||||
sprintf(buf, "%d", progress.completion_pct);
|
||||
topicPubMsg[8] = buf;
|
||||
}
|
||||
break;
|
||||
|
||||
case MAVLINK_MSG_ID_HEARTBEAT: // #0: Heartbeat 心跳
|
||||
{
|
||||
mavlink_heartbeat_t heartbeat; // 解构的数据放到这个对象
|
||||
@ -588,46 +615,38 @@ void mavlink_receiveCallback(uint8_t c)
|
||||
{
|
||||
topicPubMsg[6] = buf;
|
||||
}
|
||||
// 纬度
|
||||
sprintf(buf, "%.7f", (double)gps_raw_int.lat / 10000000);
|
||||
if (topicPubMsg[7] != buf)
|
||||
{
|
||||
topicPubMsg[7] = buf;
|
||||
}
|
||||
// 经度
|
||||
sprintf(buf, "%.7f", (double)gps_raw_int.lon / 10000000);
|
||||
if (topicPubMsg[8] != buf)
|
||||
{
|
||||
topicPubMsg[8] = buf;
|
||||
}
|
||||
// 卫星状态
|
||||
switch (gps_raw_int.fix_type)
|
||||
{
|
||||
case 0:
|
||||
topicPubMsg[9] = "No Fix"; // 无定位
|
||||
topicPubMsg[7] = "No Fix"; // 无定位
|
||||
break;
|
||||
case 1:
|
||||
topicPubMsg[9] = "Bad Fix"; // 差的定位（无效数据）
|
||||
topicPubMsg[7] = "Bad Fix"; // 差的定位（无效数据）
|
||||
break;
|
||||
case 2:
|
||||
topicPubMsg[9] = "2D Fix"; // 2D定位（只有经纬度）
|
||||
topicPubMsg[7] = "2D Fix"; // 2D定位（只有经纬度）
|
||||
break;
|
||||
case 3:
|
||||
topicPubMsg[9] = "3D Fix"; // 3D定位（经纬度和高度）
|
||||
topicPubMsg[7] = "3D Fix"; // 3D定位（经纬度和高度）
|
||||
break;
|
||||
case 4:
|
||||
topicPubMsg[9] = "DGPS"; // 差分GPS（使用地面站进行修正,不使用rkt最多只能到DGPS）
|
||||
topicPubMsg[7] = "DGPS"; // 差分GPS（使用地面站进行修正,不使用rkt最多只能到DGPS）
|
||||
break;
|
||||
case 5:
|
||||
topicPubMsg[9] = "Float"; // RTK浮动解（精度较高，但不如固定解）
|
||||
topicPubMsg[7] = "Float"; // RTK浮动解（精度较高，但不如固定解）
|
||||
break;
|
||||
case 6:
|
||||
topicPubMsg[9] = "RTK Fixed"; // RTK固定解（高精度定位）
|
||||
topicPubMsg[7] = "RTK Fixed"; // RTK固定解（高精度定位）
|
||||
break;
|
||||
default:
|
||||
topicPubMsg[9] = "Unknown"; // 未知状态
|
||||
topicPubMsg[7] = "Unknown"; // 未知状态
|
||||
break;
|
||||
}
|
||||
// 纬度
|
||||
// sprintf(buf, "%.7f", (double)gps_raw_int.lat / 10000000);
|
||||
// 经度
|
||||
// sprintf(buf, "%.7f", (double)gps_raw_int.lon / 10000000);
|
||||
}
|
||||
break;
|
||||
|
||||
@ -761,20 +780,27 @@ void pubThread()
|
||||
}
|
||||
/*解析mavlink 数据流等 此函数内会把解析的数据按信息类型 发布到mqtt服务器 planeState/macadd主题 */
|
||||
// 创建一个JSON对象
|
||||
DynamicJsonDocument doc(2000); // 缓冲区
|
||||
DynamicJsonDocument doc(512); // 缓冲区
|
||||
// 遍历 有更新的数据 组成一个json对象
|
||||
for (int i = 0; i < topicPubCount; i++)
|
||||
{
|
||||
if (i == 0 || i == 10) // 心跳每次发 飞机状态 需要每次必发的写在这里
|
||||
if (i == 0 || i == 10) // 每次必发的写在这里
|
||||
{
|
||||
doc[topicPub[i]] = topicPubMsg[i];
|
||||
}
|
||||
else // 其余有新值就发
|
||||
else if (i == 8 || i == 9) // 有新值发 但是不重置
|
||||
{
|
||||
if (topicPubMsg[i] != "")
|
||||
{
|
||||
doc[topicPub[i]] = topicPubMsg[i];
|
||||
topicPubMsg[i] = "";
|
||||
}
|
||||
}
|
||||
else // 其余有新值就发 发出后重置
|
||||
{
|
||||
if (topicPubMsg[i] != "")
|
||||
{
|
||||
doc[topicPub[i]] = topicPubMsg[i];
|
||||
topicPubMsg[i] = ""; // 重置
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
Loading…
Reference in New Issue
Block a user