mavlink协议从入门到放弃（二）

因为这个项目没有说要完全移植mavlink协议，所以只是提取了有用的信息包成mavlink协议然后发给上位机，所以就将用到的消息帧提取出来。

姿态消息帧

可以直接从PIX中捕捉到这一帧，同样的可以在mavlink协议中查找到这一帧，拿一个例子来看一下

FE 1C 31 01 01 1E 53 CB 00 00 5C 9F 05 BE 33 30 52 BE 08 5D 3A C0 D4 7A F1 BC 8A CE F6 3B 58 D7 67 BD 81 A6

对于这里的1C和心跳帧一样，都是表示了负载信息的长度，详细的可以看一下mavlink协议中怎么描述，通过数据转化再进行打包，计算CRC校验。

GPS消息帧

也那个例子看一下就可以了

FE 1E 9F 01 01 18 5D 00 F0 50 00 00 00 00 1E 40 FC 11 A7 B8 9B 47 9E 70 00 00 82 00 8E 00 0E 00 D6 3A 04 0B 48 36

每个消息帧在计算校验位的时候都会有一个类似于隐藏的CRC，对于GPS数据来说需要校验的数据后面是加一个0X18，姿态后面是加一个0x27，这个其实可以去看ardupilot的代码。

mavlink校验位的计算

直接上代码吧，直接可以用的

unsigned short crc16_ccitt_table[256] =   
{   
0x0000, 0x1189, 0x2312, 0x329b, 0x4624, 0x57ad, 0x6536, 0x74bf,   
0x8c48, 0x9dc1, 0xaf5a, 0xbed3, 0xca6c, 0xdbe5, 0xe97e, 0xf8f7,   
0x1081, 0x0108, 0x3393, 0x221a, 0x56a5, 0x472c, 0x75b7, 0x643e,   
0x9cc9, 0x8d40, 0xbfdb, 0xae52, 0xdaed, 0xcb64, 0xf9ff, 0xe876,   
0x2102, 0x308b, 0x0210, 0x1399, 0x6726, 0x76af, 0x4434, 0x55bd,   
0xad4a, 0xbcc3, 0x8e58, 0x9fd1, 0xeb6e, 0xfae7, 0xc87c, 0xd9f5,   
0x3183, 0x200a, 0x1291, 0x0318, 0x77a7, 0x662e, 0x54b5, 0x453c,   
0xbdcb, 0xac42, 0x9ed9, 0x8f50, 0xfbef, 0xea66, 0xd8fd, 0xc974,   
0x4204, 0x538d, 0x6116, 0x709f, 0x0420, 0x15a9, 0x2732, 0x36bb,   
0xce4c, 0xdfc5, 0xed5e, 0xfcd7, 0x8868, 0x99e1, 0xab7a, 0xbaf3,   
0x5285, 0x430c, 0x7197, 0x601e, 0x14a1, 0x0528, 0x37b3, 0x263a,   
0xdecd, 0xcf44, 0xfddf, 0xec56, 0x98e9, 0x8960, 0xbbfb, 0xaa72,   
0x6306, 0x728f, 0x4014, 0x519d, 0x2522, 0x34ab, 0x0630, 0x17b9,   
0xef4e, 0xfec7, 0xcc5c, 0xddd5, 0xa96a, 0xb8e3, 0x8a78, 0x9bf1,   
0x7387, 0x620e, 0x5095, 0x411c, 0x35a3, 0x242a, 0x16b1, 0x0738,   
0xffcf, 0xee46, 0xdcdd, 0xcd54, 0xb9eb, 0xa862, 0x9af9, 0x8b70,   
0x8408, 0x9581, 0xa71a, 0xb693, 0xc22c, 0xd3a5, 0xe13e, 0xf0b7,   
0x0840, 0x19c9, 0x2b52, 0x3adb, 0x4e64, 0x5fed, 0x6d76, 0x7cff,   
0x9489, 0x8500, 0xb79b, 0xa612, 0xd2ad, 0xc324, 0xf1bf, 0xe036,   
0x18c1, 0x0948, 0x3bd3, 0x2a5a, 0x5ee5, 0x4f6c, 0x7df7, 0x6c7e,   
0xa50a, 0xb483, 0x8618, 0x9791, 0xe32e, 0xf2a7, 0xc03c, 0xd1b5,   
0x2942, 0x38cb, 0x0a50, 0x1bd9, 0x6f66, 0x7eef, 0x4c74, 0x5dfd,   
0xb58b, 0xa402, 0x9699, 0x8710, 0xf3af, 0xe226, 0xd0bd, 0xc134,   
0x39c3, 0x284a, 0x1ad1, 0x0b58, 0x7fe7, 0x6e6e, 0x5cf5, 0x4d7c,   
0xc60c, 0xd785, 0xe51e, 0xf497, 0x8028, 0x91a1, 0xa33a, 0xb2b3,   
0x4a44, 0x5bcd, 0x6956, 0x78df, 0x0c60, 0x1de9, 0x2f72, 0x3efb,   
0xd68d, 0xc704, 0xf59f, 0xe416, 0x90a9, 0x8120, 0xb3bb, 0xa232,   
0x5ac5, 0x4b4c, 0x79d7, 0x685e, 0x1ce1, 0x0d68, 0x3ff3, 0x2e7a,   
0xe70e, 0xf687, 0xc41c, 0xd595, 0xa12a, 0xb0a3, 0x8238, 0x93b1,   
0x6b46, 0x7acf, 0x4854, 0x59dd, 0x2d62, 0x3ceb, 0x0e70, 0x1ff9,   
0xf78f, 0xe606, 0xd49d, 0xc514, 0xb1ab, 0xa022, 0x92b9, 0x8330,   
0x7bc7, 0x6a4e, 0x58d5, 0x495c, 0x3de3, 0x2c6a, 0x1ef1, 0x0f78  
};  


unsigned short do_crc(unsigned short reg_init, unsigned short *message, unsigned short len)   
{   
        unsigned short crc_reg = reg_init;   
        while (len--)   
                crc_reg = (crc_reg >> 8) ^ crc16_ccitt_table[(crc_reg ^ *message++) & 0xff];   
        return crc_reg;   
}

int main(void)
{
	unsigned short CRC;
	
	CRC = do_crc(0xffff,a,15);
	printf("%x\r\n",CRC);
	
	return 1;
}