在linux系统中使用c++调用mavlink接口打包和解析消息

生成c++版本的mavlink库

1. 下载mavlink源码

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

2. 安装python3并安装futures库

pip install futures

3. 运行mavklink源码根目录下的mavgenerate.py

python mavgenerate.py

5. 生成c++库（只支持mavlink2.0版本）
   

拷贝整个库到linux系统中，在c++脚本中直接引用

#include "mymavlink/common/mavlink.h"

主程序
调用pack相关的接口打包消息
调用mavlink_msg_to_send_buffer转换消息结构
建立udp连接把消息发送出去

int main()
{
	SocketUdp s;
	s.setIpPort("192.168.0.101", 8000, "192.168.0.103", 8000);
	thread(&SocketUdp::openUdp, &s).detach();

    mavlink_message_t msg;
    uint8_t buf[1024];
    uint16_t len;
    

	for(int i = 0; i < 10; i++)
    {
        // mavlink_msg_heartbeat_pack(1, 1, &msg, MAV_TYPE_HELICOPTER, MAV_AUTOPILOT_GENERIC, MAV_MODE_GUIDED_ARMED, 0, MAV_STATE_ACTIVE);
        mavlink_msg_altitude_pack(1, 1, &msg, 12345, 1.2, 1.7, 3.14, 0.01, 0.02, 0.03);
        len = mavlink_msg_to_send_buffer(buf, &msg);
        
		s.sendHexData(buf, len);

        sleep(1);
    }
	return 0;
}

编译运行

g++ practice.cpp -lpthread
./a.out

在windows中使用网络调试助手接收数据

[11:05:07.790]收←◆FD 09 00 00 01 01 01 00 00 00 00 00 00 00 04 00 D8 04 03 CC 41 
[11:05:08.790]收←◆FD 09 00 00 02 01 01 00 00 00 00 00 00 00 04 00 D8 04 03 ED DB 
[11:05:09.790]收←◆FD 09 00 00 03 01 01 00 00 00 00 00 00 00 04 00 D8 04 03 FD 55 
[11:05:10.790]收←◆FD 09 00 00 04 01 01 00 00 00 00 00 00 00 04 00 D8 04 03 BE E7 
[11:05:11.792]收←◆FD 09 00 00 05 01 01 00 00 00 00 00 00 00 04 00 D8 04 03 AE 69 
[11:05:12.792]收←◆FD 09 00 00 06 01 01 00 00 00 00 00 00 00 04 00 D8 04 03 8F F3 
[11:05:13.791]收←◆FD 09 00 00 07 01 01 00 00 00 00 00 00 00 04 00 D8 04 03 9F 7D 
[11:05:14.790]收←◆FD 09 00 00 08 01 01 00 00 00 00 00 00 00 04 00 D8 04 03 18 9F 
[11:05:15.791]收←◆FD 09 00 00 09 01 01 00 00 00 00 00 00 00 04 00 D8 04 03 08 11 
[11:16:10.866]收←◆FD 20 00 00 01 01 01 8D 00 00 39 30 00 00 00 00 00 00 9A 99 99 3F 9A 99 D9 3F C3 F5 48 40 0A D7 23 3C 0A D7 A3 3C 8F C2 F5 3C DA B5 
[11:16:11.864]收←◆FD 20 00 00 02 01 01 8D 00 00 39 30 00 00 00 00 00 00 9A 99 99 3F 9A 99 D9 3F C3 F5 48 40 0A D7 23 3C 0A D7 A3 3C 8F C2 F5 3C E8 6A 
[11:16:12.867]收←◆FD 20 00 00 03 01 01 8D 00 00 39 30 00 00 00 00 00 00 9A 99 99 3F 9A 99 D9 3F C3 F5 48 40 0A D7 23 3C 0A D7 A3 3C 8F C2 F5 3C 06 20 
[11:16:13.868]收←◆FD 20 00 00 04 01 01 8D 00 00 39 30 00 00 00 00 00 00 9A 99 99 3F 9A 99 D9 3F C3 F5 48 40 0A D7 23 3C 0A D7 A3 3C 8F C2 F5 3C 9D DC 
[11:16:14.867]收←◆FD 20 00 00 05 01 01 8D 00 00 39 30 00 00 00 00 00 00 9A 99 99 3F 9A 99 D9 3F C3 F5 48 40 0A D7 23 3C 0A D7 A3 3C 8F C2 F5 3C 73 96 
[11:16:15.867]收←◆FD 20 00 00 06 01 01 8D 00 00 39 30 00 00 00 00 00 00 9A 99 99 3F 9A 99 D9 3F C3 F5 48 40 0A D7 23 3C 0A D7 A3 3C 8F C2 F5 3C 41 49 
[11:16:16.867]收←◆FD 20 00 00 07 01 01 8D 00 00 39 30 00 00 00 00 00 00 9A 99 99 3F 9A 99 D9 3F C3 F5 48 40 0A D7 23 3C 0A D7 A3 3C 8F C2 F5 3C AF 03 
[11:16:17.869]收←◆FD 20 00 00 08 01 01 8D 00 00 39 30 00 00 00 00 00 00 9A 99 99 3F 9A 99 D9 3F C3 F5 48 40 0A D7 23 3C 0A D7 A3 3C 8F C2 F5 3C 66 B8 
[11:16:18.866]收←◆FD 20 00 00 09 01 01 8D 00 00 39 30 00 00 00 00 00 00 9A 99 99 3F 9A 99 D9 3F C3 F5 48 40 0A D7 23 3C 0A D7 A3 3C 8F C2 F5 3C 88 F2 

FD开头的就是mavlink2.0的消息，msgid是三个字节（低， 中， 高）
8D 00 00 是 141
在mavlink中查找#141，altitude是海拔，不是attitude#30（姿态）如下

解析数据

解析heartbeat和altitude数据
使用 mavlink_parse_char 解析每一个字节，它已经做了识别一条报文的头部，尾部，校验的工作
拿到数据类型后再进行消息转换，并解析对应类型的数据
主要代码

while (is_connect)
{
    int result = recvfrom(socket_fp, buffer, sizeof(buffer), 0, (sockaddr*)&client_addr, &client_addr_len);
          cout << result << endl;
	if (result <= 0) {
		is_connect = false;
	} else {
		for (int i=0; i< result; i++) {
			printf("%d ", buffer[i]);
		}
		printf("\n*****\n");
              mavlink_message_t msg;
              mavlink_status_t status;
              for (int i=0; i< result; i++) {
                  if (mavlink_parse_char(MAVLINK_COMM_0, buffer[i], &msg, &status) == 1) {
                      switch (msg.msgid) {
                          case MAVLINK_MSG_ID_HEARTBEAT:
                              cout << "heartbeat: "<< endl;
                              mavlink_heartbeat_t heartbeat;
                              mavlink_msg_heartbeat_decode(&msg, &heartbeat);
                              cout << "type: " << (int)heartbeat.type << endl;
                              cout << "autopilot: " << (int)heartbeat.autopilot << endl;
                              cout << "base_mode: " << (int)heartbeat.base_mode << endl;
                              cout << "system_status: " << (int)heartbeat.system_status << endl;
                              cout << "mavlink_version: " << (int)heartbeat.mavlink_version << endl;
                              break;
                          case MAVLINK_MSG_ID_ALTITUDE:
                              cout << "altitude: "<<endl;
                              mavlink_altitude_t altitude;
                              mavlink_msg_altitude_decode(&msg, &altitude);
                              cout << "altitude_monotonic: " << (float)altitude.altitude_monotonic << endl;
                              cout << "altitude_local: " << (float)altitude.altitude_local << endl;
                              break;
                          default:
                              break;
                      }
                  }
              }
	}
}

结果