一、移植
1、下载mavlink源码
打开mavlink官网
找到如下：
点击图中框下载。
2、将源文件添加到工程中
二、使用
1、发送包数据
void send_winch_command(winchCommage command)
{
mavlink_message_t msg;
mavlink_msg_command_long_pack(/*SENDER_SYS_ID=*/1,
/*SENDER_COMP_ID=*/1,
/*MESSAGE=*/&msg,
/*TARGET_SYS_ID=*/0,
/*TARGET_COMP_ID=*/0,
/*CMD_ID=*/7001,
/*CONFIRMATION#=*/0,
/*P1_A2Z_COMMAND_TYPE=*/command,
/*P2=*/0,
/*P3=*/0,
/*P4=*/0,
/*P5=*/0,
/*P6=*/0,
/*P7=*/0);
uint8_t buf[MAVLINK_MAX_PACKET_LEN];
uint16_t len = mavlink_msg_to_send_buffer(buf, &msg);
// Here we presume the C file write operation but you can send the data in buf however you like.
//write(target_filestream, buf, len);
winch_send_data(buf, len);
// For inspecting encoded messages:
log_v("send data:");
for (int i = 0; i < len; ++i) {
elog_raw("%02X ", buf[i]);
}
elog_raw("\r\n");
log_v("send over!");
}
2、接收处理数据
void mavlink_process()
{
rt_completion_wait(&winchg_received_completion,RT_WAITING_FOREVER);
uint8_t buf[100];
//从设备读取数据
uint8_t count =winch_read_data(buf,sizeof(buf)); //read(target_filestream, buf, sizeof(buf));
for (uint8_t i = 0; i < count; i++)
{
// This function takes a byte at a time, returning true only when the last byte of a completed message is received:
if (mavlink_parse_char(1, buf[i], &mavlink_msg_in, &mavlink_status_in))
{
// You may also wish to check system ID, component ID, or other fields.
if (mavlink_msg_in.msgid == 9005)
{
mavlink_winch_status_t winch_status;
mavlink_msg_winch_status_decode(&mavlink_msg_in, &winch_status);
// The "ride-along" A2Z state encoded in the last 8 bytes WINCH_STATUS field:
winchState state = winch_status.status >> 24;
// Print the info for debugging
log_d("Got a winch_status message:\n State %d\nTension %f m\nLength %f\n", state, winch_status.tension, winch_status.line_length);
// Update your app/ui state (for you to impelement)
/*
SendStateToApp(state);
SendMotorCurrentToApp(winch_status.tension);
SendLineLengthToApp(winch_status.line_length);
etc
*/
}
else if (mavlink_msg_in.msgid == 132)
{
// The lidar value is encoded in the distance_sensor measurement
// so that a ground control station and autopilot can also make use of it
mavlink_distance_sensor_t distance_sensor;
mavlink_msg_distance_sensor_decode(&mavlink_msg_in, &distance_sensor);
log_i("Got a distnace_sensor message:\n Distance %i\n", distance_sensor.current_distance);
//SendLidarToApp(distance_sensor.current_distance);
}
else
{
log_w("Invalid message type %i\n", mavlink_msg_in.msgid);
}
}
}
}