Mission Planner 地面站通过 MAVLink 接收消息并显示

岙野小白菜

已于 2022-12-12 14:20:36 修改

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分类专栏：飞控问题解决编程文章标签： Ardupilot

于 2022-10-21 15:07:41 首次发布

本文链接：https://blog.csdn.net/weixin_45738823/article/details/127440142

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Mavlink.cs 代码生成

参考博主 audupilot自定义mavlink消息与地面站通信在 Ubuntu 端完成 Ardupilot 代码修改和地面站端 Mavlink.cs 代码更新

增加代码如下所示：

 /// extensions_start 0
    [StructLayout(LayoutKind.Sequential, Pack = 1, Size = 20)]
    ///<summary> send the waypoints that UAV has reached from Missionplanner. </summary>
    public struct mavlink_wp_process_t
    {
   
        /// packet ordered constructor
        public mavlink_wp_process_t(float yaw, float rollspeed, float pitchspeed, float yawspeed, ushort total_wp, ushort reached_wp)
        {
   
            this.yaw = yaw;
            this.rollspeed = rollspeed;
            this.pitchspeed = pitchspeed;
            this.yawspeed = yawspeed;
            this.total_wp = total_wp;
            this.reached_wp = reached_wp;

        }

        /// packet xml order
        public static mavlink_wp_process_t PopulateXMLOrder(ushort total_wp