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【类 型】：fix 更换新mavlink库解析返航点

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【原  因】：
【过  程】：case MAVLINK_MSG_ID_HOME_POSITION 后面没加break 242 49都有可能进入
【影  响】：
This commit is contained in:
tk 2024-08-19 18:32:33 +08:00
parent 1dff1bfd33
commit eb9a912844
3 changed files with 1608 additions and 1583 deletions
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23
lib/mavlink/common/common.h
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File diff suppressed because one or more lines are too long

3
src/FoodDeliveryBase.h
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@ -6,7 +6,8 @@
/*mqtt*/ /*mqtt*/
#include "PubSubClient.h" #include "PubSubClient.h"
/*mavlink*/ /*mavlink*/
#include "mavlink.h" #include "../lib/mavlink/ardupilotmega/mavlink.h"
#include "../lib/mavlink/common/mavlink.h"
/*json库*/ /*json库*/
#include "ArduinoJson.h" #include "ArduinoJson.h"
/*异步库*/ /*异步库*/

37
src/commser.cpp
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@ -366,26 +366,37 @@ void mavlink_receiveCallback(uint8_t c)
// printf("mav_id:%d\n",msg.msgid); // printf("mav_id:%d\n",msg.msgid);
switch (msg.msgid) switch (msg.msgid)
{ {
case 242: // #242 返航点位置MAVLINK_MSG_ID_HOME_POSITION case MAVLINK_MSG_ID_HOME_POSITION: // #242 返航点位置
{ {
fc.pubMQTTmsg("demo", "242"); char buf[120];
} mavlink_home_position_t home_pos;
break; mavlink_msg_home_position_decode(&msg, &home_pos);
case MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN: // #49 本应原点信息 改过飞控固件设置 现在放的是HOME点
{ // 返航点经纬高
mavlink_gps_global_origin_t gps_org; // 解构的数据放到这个对象
mavlink_msg_gps_global_origin_decode(&msg, &gps_org); // 解构msg数据
// home点经纬高
sprintf(buf, "{\"lng\":%d,\"lat\":%d,\"alt\":%.2f}", sprintf(buf, "{\"lng\":%d,\"lat\":%d,\"alt\":%.2f}",
gps_org.longitude, home_pos.longitude, // 经度，以degE7单位传递
gps_org.latitude, home_pos.latitude, // 纬度，以degE7单位传递
(double)gps_org.altitude / 1000); home_pos.z); // 相对高度，单位为米
if (topicPubMsg[17] != buf) if (topicPubMsg[17] != buf)
{ {
topicPubMsg[17] = buf; topicPubMsg[17] = buf;
} }
fc.pubMQTTmsg("demo", "49"); }
case MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN: // #49 飞机原点
{
mavlink_gps_global_origin_t gps_org; // 解构的数据放到这个对象
mavlink_msg_gps_global_origin_decode(&msg, &gps_org); // 解构msg数据
// 原点点经纬高
sprintf(buf, "{\"lng\":%d,\"lat\":%d,\"alt\":%.2f}",
gps_org.longitude,
gps_org.latitude,
(double)gps_org.altitude / 1000);
// if (topicPubMsg[x] != buf)
// {
// topicPubMsg[x] = buf;
// }
} }
break; break;
case MAVLINK_MSG_ID_HEARTBEAT: // #0: Heartbeat 心跳 case MAVLINK_MSG_ID_HEARTBEAT: // #0: Heartbeat 心跳