MAVLINK生成自定义消息

git clone https://github.com/mavlink/mavlink.git

cd mavlink
    
git submodule update --init --recursive
    
python -m mavgenerate

出现以下界面

XML填写自定义xml路径，直接在mavlink/message_definitions/v1.0/common.xml添加

Out为输出路径

<?xml version="1.0"?>
    <message id="99" name="gggGGG">
      <description>hahaha</description>
      <field type="char" name="custom_char">char</field>
 
      <field type="int32_t" name="custom_int32">int32_t</field>

      <field type="float[10]" name="custom_float_array">float_array</field>

    </message>

导出的路径如下

//encode decode示例
#include <common/mavlink.h>
#include<iostream>

int main(){

	mavlink_gggggg_t g;
	g.custom_char = 'a';
	g.custom_int32 = 4;
	float array[]={1,2,3,4};
	memset(g.custom_float_array,0,sizeof(g.custom_float_array));
	memcpy(g.custom_float_array,array,sizeof(array));
	
	uint8_t * buffer2= new uint8_t[300];
	
	mavlink_message_t test_msg;
	mavlink_msg_gggggg_pack(0x01,0x01,&test_msg,g.custom_char,g.custom_int32,g.custom_float_array);
	mavlink_msg_to_send_buffer(buffer2,&test_msg);
// for(int i = 0 ; i < 300 ;i++){
//     printf("%#X\n",buffer2[i]);
// }
	
	
	mavlink_message_t test_msg2;
	mavlink_status_t test_status2;
	for(int i = 0 ; i < 300 ;i++){
	    if(mavlink_parse_char(MAVLINK_COMM_0, buffer2[i], &test_msg2, &test_status2)){
	        switch (test_msg2.msgid)
	        {
	        case MAVLINK_MSG_ID_gggGGG:
	            mavlink_gggggg_t g2;
	            mavlink_msg_gggggg_decode(&test_msg2,&g2);
	            printf("g2.custom_char = %c, g2.custom_int32 = %d\n",g2.custom_char,g2.custom_int32);
	            printf("g2.custom_float_array = \n");
	            for(int i = 0 ; i < sizeof(g2.custom_float_array)/sizeof(g2.custom_float_array[0]);i++){
	                printf("%f\n",g2.custom_float_array[i]);
	            }
	
	            break;
	        
	        default:
	            break;
	        }
	
	    }
	
	}

}

cmake_minimum_required(VERSION 3.0)
project(mavt)

include_directories(/home/wjd1/mavlink/outv1)

set(SRC src/main.cpp )

add_executable(a ${SRC})