update: 编队消息增加加速度字段-头文件生成

v2.0/VKFly/mavlink.h

@@ -6,7 +6,7 @@
 #ifndef MAVLINK_H
 #define MAVLINK_H
 
-#define MAVLINK_PRIMARY_XML_HASH -7434572568909849271
+#define MAVLINK_PRIMARY_XML_HASH 3113041886279315263
 
 #ifndef MAVLINK_STX
 #define MAVLINK_STX 253

v2.0/VKFly/mavlink_msg_vk_formation_leader.h

@@ -21,11 +21,14 @@ typedef struct __mavlink_vk_formation_leader_t {
  uint8_t formation_type; /*<  formation type*/
  float formation_heading; /*< [deg] if nan, use yaw as formation heading*/
  float form_head_lock; /*<  0 unlock, 1 lock*/
+ float ae; /*< [m/s/s] formation leader east acceleration*/
+ float an; /*< [m/s/s] formation leader east acceleration*/
+ float au; /*< [m/s/s] formation leader east acceleration*/
 }) mavlink_vk_formation_leader_t;
 
-#define MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN 53
+#define MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN 65
 #define MAVLINK_MSG_ID_VK_FORMATION_LEADER_MIN_LEN 45
-#define MAVLINK_MSG_ID_53004_LEN 53
+#define MAVLINK_MSG_ID_53004_LEN 65
 #define MAVLINK_MSG_ID_53004_MIN_LEN 45
 
 #define MAVLINK_MSG_ID_VK_FORMATION_LEADER_CRC 219
@@ -37,7 +40,7 @@ typedef struct __mavlink_vk_formation_leader_t {
 #define MAVLINK_MESSAGE_INFO_VK_FORMATION_LEADER { \
     53004, \
     "VK_FORMATION_LEADER", \
-    16, \
+    19, \
     {  { "timestamp", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_vk_formation_leader_t, timestamp) }, \
          { "state", NULL, MAVLINK_TYPE_UINT32_T, 0, 4, offsetof(mavlink_vk_formation_leader_t, state) }, \
          { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_vk_formation_leader_t, lat) }, \
@@ -54,12 +57,15 @@ typedef struct __mavlink_vk_formation_leader_t {
          { "rect_col_num", NULL, MAVLINK_TYPE_UINT16_T, 0, 42, offsetof(mavlink_vk_formation_leader_t, rect_col_num) }, \
          { "formation_heading", NULL, MAVLINK_TYPE_FLOAT, 0, 45, offsetof(mavlink_vk_formation_leader_t, formation_heading) }, \
          { "form_head_lock", NULL, MAVLINK_TYPE_FLOAT, 0, 49, offsetof(mavlink_vk_formation_leader_t, form_head_lock) }, \
+         { "ae", NULL, MAVLINK_TYPE_FLOAT, 0, 53, offsetof(mavlink_vk_formation_leader_t, ae) }, \
+         { "an", NULL, MAVLINK_TYPE_FLOAT, 0, 57, offsetof(mavlink_vk_formation_leader_t, an) }, \
+         { "au", NULL, MAVLINK_TYPE_FLOAT, 0, 61, offsetof(mavlink_vk_formation_leader_t, au) }, \
          } \
 }
 #else
 #define MAVLINK_MESSAGE_INFO_VK_FORMATION_LEADER { \
     "VK_FORMATION_LEADER", \
-    16, \
+    19, \
     {  { "timestamp", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_vk_formation_leader_t, timestamp) }, \
          { "state", NULL, MAVLINK_TYPE_UINT32_T, 0, 4, offsetof(mavlink_vk_formation_leader_t, state) }, \
          { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_vk_formation_leader_t, lat) }, \
@@ -76,6 +82,9 @@ typedef struct __mavlink_vk_formation_leader_t {
          { "rect_col_num", NULL, MAVLINK_TYPE_UINT16_T, 0, 42, offsetof(mavlink_vk_formation_leader_t, rect_col_num) }, \
          { "formation_heading", NULL, MAVLINK_TYPE_FLOAT, 0, 45, offsetof(mavlink_vk_formation_leader_t, formation_heading) }, \
          { "form_head_lock", NULL, MAVLINK_TYPE_FLOAT, 0, 49, offsetof(mavlink_vk_formation_leader_t, form_head_lock) }, \
+         { "ae", NULL, MAVLINK_TYPE_FLOAT, 0, 53, offsetof(mavlink_vk_formation_leader_t, ae) }, \
+         { "an", NULL, MAVLINK_TYPE_FLOAT, 0, 57, offsetof(mavlink_vk_formation_leader_t, an) }, \
+         { "au", NULL, MAVLINK_TYPE_FLOAT, 0, 61, offsetof(mavlink_vk_formation_leader_t, au) }, \
          } \
 }
 #endif
@@ -102,10 +111,13 @@ typedef struct __mavlink_vk_formation_leader_t {
  * @param rect_col_num  columns number of rectangle formation
  * @param formation_heading [deg] if nan, use yaw as formation heading
  * @param form_head_lock  0 unlock, 1 lock
+ * @param ae [m/s/s] formation leader east acceleration
+ * @param an [m/s/s] formation leader east acceleration
+ * @param au [m/s/s] formation leader east acceleration
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_vk_formation_leader_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-                               uint32_t timestamp, uint32_t state, int32_t lat, int32_t lon, float msl, float ve, float vn, float vu, float yaw, uint8_t formation_type, int16_t x_dist, int16_t y_dist, int16_t z_dist, uint16_t rect_col_num, float formation_heading, float form_head_lock)
+                               uint32_t timestamp, uint32_t state, int32_t lat, int32_t lon, float msl, float ve, float vn, float vu, float yaw, uint8_t formation_type, int16_t x_dist, int16_t y_dist, int16_t z_dist, uint16_t rect_col_num, float formation_heading, float form_head_lock, float ae, float an, float au)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
     char buf[MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN];
@@ -125,6 +137,9 @@ static inline uint16_t mavlink_msg_vk_formation_leader_pack(uint8_t system_id, u
     _mav_put_uint8_t(buf, 44, formation_type);
     _mav_put_float(buf, 45, formation_heading);
     _mav_put_float(buf, 49, form_head_lock);
+    _mav_put_float(buf, 53, ae);
+    _mav_put_float(buf, 57, an);
+    _mav_put_float(buf, 61, au);
 
         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN);
 #else
@@ -145,6 +160,9 @@ static inline uint16_t mavlink_msg_vk_formation_leader_pack(uint8_t system_id, u
     packet.formation_type = formation_type;
     packet.formation_heading = formation_heading;
     packet.form_head_lock = form_head_lock;
+    packet.ae = ae;
+    packet.an = an;
+    packet.au = au;
 
         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN);
 #endif
@@ -176,10 +194,13 @@ static inline uint16_t mavlink_msg_vk_formation_leader_pack(uint8_t system_id, u
  * @param rect_col_num  columns number of rectangle formation
  * @param formation_heading [deg] if nan, use yaw as formation heading
  * @param form_head_lock  0 unlock, 1 lock
+ * @param ae [m/s/s] formation leader east acceleration
+ * @param an [m/s/s] formation leader east acceleration
+ * @param au [m/s/s] formation leader east acceleration
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_vk_formation_leader_pack_status(uint8_t system_id, uint8_t component_id, mavlink_status_t *_status, mavlink_message_t* msg,
-                               uint32_t timestamp, uint32_t state, int32_t lat, int32_t lon, float msl, float ve, float vn, float vu, float yaw, uint8_t formation_type, int16_t x_dist, int16_t y_dist, int16_t z_dist, uint16_t rect_col_num, float formation_heading, float form_head_lock)
+                               uint32_t timestamp, uint32_t state, int32_t lat, int32_t lon, float msl, float ve, float vn, float vu, float yaw, uint8_t formation_type, int16_t x_dist, int16_t y_dist, int16_t z_dist, uint16_t rect_col_num, float formation_heading, float form_head_lock, float ae, float an, float au)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
     char buf[MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN];
@@ -199,6 +220,9 @@ static inline uint16_t mavlink_msg_vk_formation_leader_pack_status(uint8_t syste
     _mav_put_uint8_t(buf, 44, formation_type);
     _mav_put_float(buf, 45, formation_heading);
     _mav_put_float(buf, 49, form_head_lock);
+    _mav_put_float(buf, 53, ae);
+    _mav_put_float(buf, 57, an);
+    _mav_put_float(buf, 61, au);
 
         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN);
 #else
@@ -219,6 +243,9 @@ static inline uint16_t mavlink_msg_vk_formation_leader_pack_status(uint8_t syste
     packet.formation_type = formation_type;
     packet.formation_heading = formation_heading;
     packet.form_head_lock = form_head_lock;
+    packet.ae = ae;
+    packet.an = an;
+    packet.au = au;
 
         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN);
 #endif
@@ -253,11 +280,14 @@ static inline uint16_t mavlink_msg_vk_formation_leader_pack_status(uint8_t syste
  * @param rect_col_num  columns number of rectangle formation
  * @param formation_heading [deg] if nan, use yaw as formation heading
  * @param form_head_lock  0 unlock, 1 lock
+ * @param ae [m/s/s] formation leader east acceleration
+ * @param an [m/s/s] formation leader east acceleration
+ * @param au [m/s/s] formation leader east acceleration
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_vk_formation_leader_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
                                mavlink_message_t* msg,
-                                   uint32_t timestamp,uint32_t state,int32_t lat,int32_t lon,float msl,float ve,float vn,float vu,float yaw,uint8_t formation_type,int16_t x_dist,int16_t y_dist,int16_t z_dist,uint16_t rect_col_num,float formation_heading,float form_head_lock)
+                                   uint32_t timestamp,uint32_t state,int32_t lat,int32_t lon,float msl,float ve,float vn,float vu,float yaw,uint8_t formation_type,int16_t x_dist,int16_t y_dist,int16_t z_dist,uint16_t rect_col_num,float formation_heading,float form_head_lock,float ae,float an,float au)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
     char buf[MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN];
@@ -277,6 +307,9 @@ static inline uint16_t mavlink_msg_vk_formation_leader_pack_chan(uint8_t system_
     _mav_put_uint8_t(buf, 44, formation_type);
     _mav_put_float(buf, 45, formation_heading);
     _mav_put_float(buf, 49, form_head_lock);
+    _mav_put_float(buf, 53, ae);
+    _mav_put_float(buf, 57, an);
+    _mav_put_float(buf, 61, au);
 
         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN);
 #else
@@ -297,6 +330,9 @@ static inline uint16_t mavlink_msg_vk_formation_leader_pack_chan(uint8_t system_
     packet.formation_type = formation_type;
     packet.formation_heading = formation_heading;
     packet.form_head_lock = form_head_lock;
+    packet.ae = ae;
+    packet.an = an;
+    packet.au = au;
 
         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN);
 #endif
@@ -315,7 +351,7 @@ static inline uint16_t mavlink_msg_vk_formation_leader_pack_chan(uint8_t system_
  */
 static inline uint16_t mavlink_msg_vk_formation_leader_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_vk_formation_leader_t* vk_formation_leader)
 {
-    return mavlink_msg_vk_formation_leader_pack(system_id, component_id, msg, vk_formation_leader->timestamp, vk_formation_leader->state, vk_formation_leader->lat, vk_formation_leader->lon, vk_formation_leader->msl, vk_formation_leader->ve, vk_formation_leader->vn, vk_formation_leader->vu, vk_formation_leader->yaw, vk_formation_leader->formation_type, vk_formation_leader->x_dist, vk_formation_leader->y_dist, vk_formation_leader->z_dist, vk_formation_leader->rect_col_num, vk_formation_leader->formation_heading, vk_formation_leader->form_head_lock);
+    return mavlink_msg_vk_formation_leader_pack(system_id, component_id, msg, vk_formation_leader->timestamp, vk_formation_leader->state, vk_formation_leader->lat, vk_formation_leader->lon, vk_formation_leader->msl, vk_formation_leader->ve, vk_formation_leader->vn, vk_formation_leader->vu, vk_formation_leader->yaw, vk_formation_leader->formation_type, vk_formation_leader->x_dist, vk_formation_leader->y_dist, vk_formation_leader->z_dist, vk_formation_leader->rect_col_num, vk_formation_leader->formation_heading, vk_formation_leader->form_head_lock, vk_formation_leader->ae, vk_formation_leader->an, vk_formation_leader->au);
 }
 
 /**
@@ -329,7 +365,7 @@ static inline uint16_t mavlink_msg_vk_formation_leader_encode(uint8_t system_id,
  */
 static inline uint16_t mavlink_msg_vk_formation_leader_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_vk_formation_leader_t* vk_formation_leader)
 {
-    return mavlink_msg_vk_formation_leader_pack_chan(system_id, component_id, chan, msg, vk_formation_leader->timestamp, vk_formation_leader->state, vk_formation_leader->lat, vk_formation_leader->lon, vk_formation_leader->msl, vk_formation_leader->ve, vk_formation_leader->vn, vk_formation_leader->vu, vk_formation_leader->yaw, vk_formation_leader->formation_type, vk_formation_leader->x_dist, vk_formation_leader->y_dist, vk_formation_leader->z_dist, vk_formation_leader->rect_col_num, vk_formation_leader->formation_heading, vk_formation_leader->form_head_lock);
+    return mavlink_msg_vk_formation_leader_pack_chan(system_id, component_id, chan, msg, vk_formation_leader->timestamp, vk_formation_leader->state, vk_formation_leader->lat, vk_formation_leader->lon, vk_formation_leader->msl, vk_formation_leader->ve, vk_formation_leader->vn, vk_formation_leader->vu, vk_formation_leader->yaw, vk_formation_leader->formation_type, vk_formation_leader->x_dist, vk_formation_leader->y_dist, vk_formation_leader->z_dist, vk_formation_leader->rect_col_num, vk_formation_leader->formation_heading, vk_formation_leader->form_head_lock, vk_formation_leader->ae, vk_formation_leader->an, vk_formation_leader->au);
 }
 
 /**
@@ -343,7 +379,7 @@ static inline uint16_t mavlink_msg_vk_formation_leader_encode_chan(uint8_t syste
  */
 static inline uint16_t mavlink_msg_vk_formation_leader_encode_status(uint8_t system_id, uint8_t component_id, mavlink_status_t* _status, mavlink_message_t* msg, const mavlink_vk_formation_leader_t* vk_formation_leader)
 {
-    return mavlink_msg_vk_formation_leader_pack_status(system_id, component_id, _status, msg,  vk_formation_leader->timestamp, vk_formation_leader->state, vk_formation_leader->lat, vk_formation_leader->lon, vk_formation_leader->msl, vk_formation_leader->ve, vk_formation_leader->vn, vk_formation_leader->vu, vk_formation_leader->yaw, vk_formation_leader->formation_type, vk_formation_leader->x_dist, vk_formation_leader->y_dist, vk_formation_leader->z_dist, vk_formation_leader->rect_col_num, vk_formation_leader->formation_heading, vk_formation_leader->form_head_lock);
+    return mavlink_msg_vk_formation_leader_pack_status(system_id, component_id, _status, msg,  vk_formation_leader->timestamp, vk_formation_leader->state, vk_formation_leader->lat, vk_formation_leader->lon, vk_formation_leader->msl, vk_formation_leader->ve, vk_formation_leader->vn, vk_formation_leader->vu, vk_formation_leader->yaw, vk_formation_leader->formation_type, vk_formation_leader->x_dist, vk_formation_leader->y_dist, vk_formation_leader->z_dist, vk_formation_leader->rect_col_num, vk_formation_leader->formation_heading, vk_formation_leader->form_head_lock, vk_formation_leader->ae, vk_formation_leader->an, vk_formation_leader->au);
 }
 
 /**
@@ -366,10 +402,13 @@ static inline uint16_t mavlink_msg_vk_formation_leader_encode_status(uint8_t sys
  * @param rect_col_num  columns number of rectangle formation
  * @param formation_heading [deg] if nan, use yaw as formation heading
  * @param form_head_lock  0 unlock, 1 lock
+ * @param ae [m/s/s] formation leader east acceleration
+ * @param an [m/s/s] formation leader east acceleration
+ * @param au [m/s/s] formation leader east acceleration
  */
 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 
-static inline void mavlink_msg_vk_formation_leader_send(mavlink_channel_t chan, uint32_t timestamp, uint32_t state, int32_t lat, int32_t lon, float msl, float ve, float vn, float vu, float yaw, uint8_t formation_type, int16_t x_dist, int16_t y_dist, int16_t z_dist, uint16_t rect_col_num, float formation_heading, float form_head_lock)
+static inline void mavlink_msg_vk_formation_leader_send(mavlink_channel_t chan, uint32_t timestamp, uint32_t state, int32_t lat, int32_t lon, float msl, float ve, float vn, float vu, float yaw, uint8_t formation_type, int16_t x_dist, int16_t y_dist, int16_t z_dist, uint16_t rect_col_num, float formation_heading, float form_head_lock, float ae, float an, float au)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
     char buf[MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN];
@@ -389,6 +428,9 @@ static inline void mavlink_msg_vk_formation_leader_send(mavlink_channel_t chan,
     _mav_put_uint8_t(buf, 44, formation_type);
     _mav_put_float(buf, 45, formation_heading);
     _mav_put_float(buf, 49, form_head_lock);
+    _mav_put_float(buf, 53, ae);
+    _mav_put_float(buf, 57, an);
+    _mav_put_float(buf, 61, au);
 
     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VK_FORMATION_LEADER, buf, MAVLINK_MSG_ID_VK_FORMATION_LEADER_MIN_LEN, MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN, MAVLINK_MSG_ID_VK_FORMATION_LEADER_CRC);
 #else
@@ -409,6 +451,9 @@ static inline void mavlink_msg_vk_formation_leader_send(mavlink_channel_t chan,
     packet.formation_type = formation_type;
     packet.formation_heading = formation_heading;
     packet.form_head_lock = form_head_lock;
+    packet.ae = ae;
+    packet.an = an;
+    packet.au = au;
 
     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VK_FORMATION_LEADER, (const char *)&packet, MAVLINK_MSG_ID_VK_FORMATION_LEADER_MIN_LEN, MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN, MAVLINK_MSG_ID_VK_FORMATION_LEADER_CRC);
 #endif
@@ -422,7 +467,7 @@ static inline void mavlink_msg_vk_formation_leader_send(mavlink_channel_t chan,
 static inline void mavlink_msg_vk_formation_leader_send_struct(mavlink_channel_t chan, const mavlink_vk_formation_leader_t* vk_formation_leader)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-    mavlink_msg_vk_formation_leader_send(chan, vk_formation_leader->timestamp, vk_formation_leader->state, vk_formation_leader->lat, vk_formation_leader->lon, vk_formation_leader->msl, vk_formation_leader->ve, vk_formation_leader->vn, vk_formation_leader->vu, vk_formation_leader->yaw, vk_formation_leader->formation_type, vk_formation_leader->x_dist, vk_formation_leader->y_dist, vk_formation_leader->z_dist, vk_formation_leader->rect_col_num, vk_formation_leader->formation_heading, vk_formation_leader->form_head_lock);
+    mavlink_msg_vk_formation_leader_send(chan, vk_formation_leader->timestamp, vk_formation_leader->state, vk_formation_leader->lat, vk_formation_leader->lon, vk_formation_leader->msl, vk_formation_leader->ve, vk_formation_leader->vn, vk_formation_leader->vu, vk_formation_leader->yaw, vk_formation_leader->formation_type, vk_formation_leader->x_dist, vk_formation_leader->y_dist, vk_formation_leader->z_dist, vk_formation_leader->rect_col_num, vk_formation_leader->formation_heading, vk_formation_leader->form_head_lock, vk_formation_leader->ae, vk_formation_leader->an, vk_formation_leader->au);
 #else
     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VK_FORMATION_LEADER, (const char *)vk_formation_leader, MAVLINK_MSG_ID_VK_FORMATION_LEADER_MIN_LEN, MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN, MAVLINK_MSG_ID_VK_FORMATION_LEADER_CRC);
 #endif
@@ -436,7 +481,7 @@ static inline void mavlink_msg_vk_formation_leader_send_struct(mavlink_channel_t
   is usually the receive buffer for the channel, and allows a reply to an
   incoming message with minimum stack space usage.
  */
-static inline void mavlink_msg_vk_formation_leader_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint32_t timestamp, uint32_t state, int32_t lat, int32_t lon, float msl, float ve, float vn, float vu, float yaw, uint8_t formation_type, int16_t x_dist, int16_t y_dist, int16_t z_dist, uint16_t rect_col_num, float formation_heading, float form_head_lock)
+static inline void mavlink_msg_vk_formation_leader_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint32_t timestamp, uint32_t state, int32_t lat, int32_t lon, float msl, float ve, float vn, float vu, float yaw, uint8_t formation_type, int16_t x_dist, int16_t y_dist, int16_t z_dist, uint16_t rect_col_num, float formation_heading, float form_head_lock, float ae, float an, float au)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
     char *buf = (char *)msgbuf;
@@ -456,6 +501,9 @@ static inline void mavlink_msg_vk_formation_leader_send_buf(mavlink_message_t *m
     _mav_put_uint8_t(buf, 44, formation_type);
     _mav_put_float(buf, 45, formation_heading);
     _mav_put_float(buf, 49, form_head_lock);
+    _mav_put_float(buf, 53, ae);
+    _mav_put_float(buf, 57, an);
+    _mav_put_float(buf, 61, au);
 
     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VK_FORMATION_LEADER, buf, MAVLINK_MSG_ID_VK_FORMATION_LEADER_MIN_LEN, MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN, MAVLINK_MSG_ID_VK_FORMATION_LEADER_CRC);
 #else
@@ -476,6 +524,9 @@ static inline void mavlink_msg_vk_formation_leader_send_buf(mavlink_message_t *m
     packet->formation_type = formation_type;
     packet->formation_heading = formation_heading;
     packet->form_head_lock = form_head_lock;
+    packet->ae = ae;
+    packet->an = an;
+    packet->au = au;
 
     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VK_FORMATION_LEADER, (const char *)packet, MAVLINK_MSG_ID_VK_FORMATION_LEADER_MIN_LEN, MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN, MAVLINK_MSG_ID_VK_FORMATION_LEADER_CRC);
 #endif
@@ -647,6 +698,36 @@ static inline float mavlink_msg_vk_formation_leader_get_form_head_lock(const mav
     return _MAV_RETURN_float(msg,  49);
 }
 
+/**
+ * @brief Get field ae from vk_formation_leader message
+ *
+ * @return [m/s/s] formation leader east acceleration
+ */
+static inline float mavlink_msg_vk_formation_leader_get_ae(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_float(msg,  53);
+}
+
+/**
+ * @brief Get field an from vk_formation_leader message
+ *
+ * @return [m/s/s] formation leader east acceleration
+ */
+static inline float mavlink_msg_vk_formation_leader_get_an(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_float(msg,  57);
+}
+
+/**
+ * @brief Get field au from vk_formation_leader message
+ *
+ * @return [m/s/s] formation leader east acceleration
+ */
+static inline float mavlink_msg_vk_formation_leader_get_au(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_float(msg,  61);
+}
+
 /**
  * @brief Decode a vk_formation_leader message into a struct
  *
@@ -672,6 +753,9 @@ static inline void mavlink_msg_vk_formation_leader_decode(const mavlink_message_
     vk_formation_leader->formation_type = mavlink_msg_vk_formation_leader_get_formation_type(msg);
     vk_formation_leader->formation_heading = mavlink_msg_vk_formation_leader_get_formation_heading(msg);
     vk_formation_leader->form_head_lock = mavlink_msg_vk_formation_leader_get_form_head_lock(msg);
+    vk_formation_leader->ae = mavlink_msg_vk_formation_leader_get_ae(msg);
+    vk_formation_leader->an = mavlink_msg_vk_formation_leader_get_an(msg);
+    vk_formation_leader->au = mavlink_msg_vk_formation_leader_get_au(msg);
 #else
         uint8_t len = msg->len < MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN? msg->len : MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN;
         memset(vk_formation_leader, 0, MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN);

v2.0/VKFly/mavlink_msg_vk_weigher_state.h

@@ -11,8 +11,8 @@ typedef struct __mavlink_vk_weigher_state_t {
  uint8_t work_state; /*<  */
  uint8_t err_code; /*<  */
  float attitude_Q[4]; /*<  */
- float rope_length; /*<  cm*/
- float rope_vel; /*<  cm/s*/
+ float rope_length; /*<  length in m, NAN means ignore*/
+ float rope_vel; /*<  velocity in m/s, NAN means ignore*/
 } mavlink_vk_weigher_state_t;
 
 #define MAVLINK_MSG_ID_VK_WEIGHER_STATE_LEN 36
@@ -68,8 +68,8 @@ typedef struct __mavlink_vk_weigher_state_t {
  * @param work_state  
  * @param err_code  
  * @param attitude_Q  
- * @param rope_length  cm
- * @param rope_vel  cm/s
+ * @param rope_length  length in m, NAN means ignore
+ * @param rope_vel  velocity in m/s, NAN means ignore
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_vk_weigher_state_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
@@ -116,8 +116,8 @@ static inline uint16_t mavlink_msg_vk_weigher_state_pack(uint8_t system_id, uint
  * @param work_state  
  * @param err_code  
  * @param attitude_Q  
- * @param rope_length  cm
- * @param rope_vel  cm/s
+ * @param rope_length  length in m, NAN means ignore
+ * @param rope_vel  velocity in m/s, NAN means ignore
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_vk_weigher_state_pack_status(uint8_t system_id, uint8_t component_id, mavlink_status_t *_status, mavlink_message_t* msg,
@@ -167,8 +167,8 @@ static inline uint16_t mavlink_msg_vk_weigher_state_pack_status(uint8_t system_i
  * @param work_state  
  * @param err_code  
  * @param attitude_Q  
- * @param rope_length  cm
- * @param rope_vel  cm/s
+ * @param rope_length  length in m, NAN means ignore
+ * @param rope_vel  velocity in m/s, NAN means ignore
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_vk_weigher_state_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
@@ -254,8 +254,8 @@ static inline uint16_t mavlink_msg_vk_weigher_state_encode_status(uint8_t system
  * @param work_state  
  * @param err_code  
  * @param attitude_Q  
- * @param rope_length  cm
- * @param rope_vel  cm/s
+ * @param rope_length  length in m, NAN means ignore
+ * @param rope_vel  velocity in m/s, NAN means ignore
  */
 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 
@@ -404,7 +404,7 @@ static inline uint16_t mavlink_msg_vk_weigher_state_get_attitude_Q(const mavlink
 /**
  * @brief Get field rope_length from vk_weigher_state message
  *
- * @return  cm
+ * @return  length in m, NAN means ignore
  */
 static inline float mavlink_msg_vk_weigher_state_get_rope_length(const mavlink_message_t* msg)
 {
@@ -414,7 +414,7 @@ static inline float mavlink_msg_vk_weigher_state_get_rope_length(const mavlink_m
 /**
  * @brief Get field rope_vel from vk_weigher_state message
  *
- * @return  cm/s
+ * @return  velocity in m/s, NAN means ignore
  */
 static inline float mavlink_msg_vk_weigher_state_get_rope_vel(const mavlink_message_t* msg)
 {

v2.0/VKFly/testsuite.h

@@ -314,7 +314,7 @@ static void mavlink_test_vk_formation_leader(uint8_t system_id, uint8_t componen
         uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
         uint16_t i;
     mavlink_vk_formation_leader_t packet_in = {
-        963497464,963497672,963497880,963498088,129.0,157.0,185.0,213.0,241.0,19107,19211,19315,19419,137,332.0,360.0
+        963497464,963497672,963497880,963498088,129.0,157.0,185.0,213.0,241.0,19107,19211,19315,19419,137,332.0,360.0,388.0,416.0,444.0
     };
     mavlink_vk_formation_leader_t packet1, packet2;
         memset(&packet1, 0, sizeof(packet1));
@@ -334,6 +334,9 @@ static void mavlink_test_vk_formation_leader(uint8_t system_id, uint8_t componen
         packet1.formation_type = packet_in.formation_type;
         packet1.formation_heading = packet_in.formation_heading;
         packet1.form_head_lock = packet_in.form_head_lock;
+        packet1.ae = packet_in.ae;
+        packet1.an = packet_in.an;
+        packet1.au = packet_in.au;
         
         
 #ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
@@ -348,12 +351,12 @@ static void mavlink_test_vk_formation_leader(uint8_t system_id, uint8_t componen
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 
         memset(&packet2, 0, sizeof(packet2));
-    mavlink_msg_vk_formation_leader_pack(system_id, component_id, &msg , packet1.timestamp , packet1.state , packet1.lat , packet1.lon , packet1.msl , packet1.ve , packet1.vn , packet1.vu , packet1.yaw , packet1.formation_type , packet1.x_dist , packet1.y_dist , packet1.z_dist , packet1.rect_col_num , packet1.formation_heading , packet1.form_head_lock );
+    mavlink_msg_vk_formation_leader_pack(system_id, component_id, &msg , packet1.timestamp , packet1.state , packet1.lat , packet1.lon , packet1.msl , packet1.ve , packet1.vn , packet1.vu , packet1.yaw , packet1.formation_type , packet1.x_dist , packet1.y_dist , packet1.z_dist , packet1.rect_col_num , packet1.formation_heading , packet1.form_head_lock , packet1.ae , packet1.an , packet1.au );
     mavlink_msg_vk_formation_leader_decode(&msg, &packet2);
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 
         memset(&packet2, 0, sizeof(packet2));
-    mavlink_msg_vk_formation_leader_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.timestamp , packet1.state , packet1.lat , packet1.lon , packet1.msl , packet1.ve , packet1.vn , packet1.vu , packet1.yaw , packet1.formation_type , packet1.x_dist , packet1.y_dist , packet1.z_dist , packet1.rect_col_num , packet1.formation_heading , packet1.form_head_lock );
+    mavlink_msg_vk_formation_leader_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.timestamp , packet1.state , packet1.lat , packet1.lon , packet1.msl , packet1.ve , packet1.vn , packet1.vu , packet1.yaw , packet1.formation_type , packet1.x_dist , packet1.y_dist , packet1.z_dist , packet1.rect_col_num , packet1.formation_heading , packet1.form_head_lock , packet1.ae , packet1.an , packet1.au );
     mavlink_msg_vk_formation_leader_decode(&msg, &packet2);
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 
@@ -366,7 +369,7 @@ static void mavlink_test_vk_formation_leader(uint8_t system_id, uint8_t componen
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
         
         memset(&packet2, 0, sizeof(packet2));
-    mavlink_msg_vk_formation_leader_send(MAVLINK_COMM_1 , packet1.timestamp , packet1.state , packet1.lat , packet1.lon , packet1.msl , packet1.ve , packet1.vn , packet1.vu , packet1.yaw , packet1.formation_type , packet1.x_dist , packet1.y_dist , packet1.z_dist , packet1.rect_col_num , packet1.formation_heading , packet1.form_head_lock );
+    mavlink_msg_vk_formation_leader_send(MAVLINK_COMM_1 , packet1.timestamp , packet1.state , packet1.lat , packet1.lon , packet1.msl , packet1.ve , packet1.vn , packet1.vu , packet1.yaw , packet1.formation_type , packet1.x_dist , packet1.y_dist , packet1.z_dist , packet1.rect_col_num , packet1.formation_heading , packet1.form_head_lock , packet1.ae , packet1.an , packet1.au );
     mavlink_msg_vk_formation_leader_decode(last_msg, &packet2);
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 

v2.0/VKFly/version.h

@@ -7,7 +7,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Tue Apr 28 2026"
+#define MAVLINK_BUILD_DATE "Wed May 13 2026"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  

v2.0/common/common.h

@@ -10,7 +10,7 @@
     #error Wrong include order: MAVLINK_COMMON.H MUST NOT BE DIRECTLY USED. Include mavlink.h from the same directory instead or set ALL AND EVERY defines from MAVLINK.H manually accordingly, including the #define MAVLINK_H call.
 #endif
 
-#define MAVLINK_COMMON_XML_HASH 5972310417084349779
+#define MAVLINK_COMMON_XML_HASH -7954013556109728363
 
 #ifdef __cplusplus
 extern "C" {

v2.0/common/mavlink.h

@@ -6,7 +6,7 @@
 #ifndef MAVLINK_H
 #define MAVLINK_H
 
-#define MAVLINK_PRIMARY_XML_HASH 5972310417084349779
+#define MAVLINK_PRIMARY_XML_HASH -7954013556109728363
 
 #ifndef MAVLINK_STX
 #define MAVLINK_STX 253

v2.0/common/version.h

@@ -7,7 +7,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Tue Apr 28 2026"
+#define MAVLINK_BUILD_DATE "Wed May 13 2026"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  

v2.0/minimal/mavlink.h

@@ -6,7 +6,7 @@
 #ifndef MAVLINK_H
 #define MAVLINK_H
 
-#define MAVLINK_PRIMARY_XML_HASH -8178720373579402683
+#define MAVLINK_PRIMARY_XML_HASH 1207109037547892467
 
 #ifndef MAVLINK_STX
 #define MAVLINK_STX 253

v2.0/minimal/minimal.h

@@ -10,7 +10,7 @@
     #error Wrong include order: MAVLINK_MINIMAL.H MUST NOT BE DIRECTLY USED. Include mavlink.h from the same directory instead or set ALL AND EVERY defines from MAVLINK.H manually accordingly, including the #define MAVLINK_H call.
 #endif
 
-#define MAVLINK_MINIMAL_XML_HASH -8178720373579402683
+#define MAVLINK_MINIMAL_XML_HASH 1207109037547892467
 
 #ifdef __cplusplus
 extern "C" {

v2.0/minimal/version.h

@@ -7,7 +7,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Tue Apr 28 2026"
+#define MAVLINK_BUILD_DATE "Wed May 13 2026"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 22
  

v2.0/standard/mavlink.h

@@ -6,7 +6,7 @@
 #ifndef MAVLINK_H
 #define MAVLINK_H
 
-#define MAVLINK_PRIMARY_XML_HASH -1208334305668159232
+#define MAVLINK_PRIMARY_XML_HASH -5064534317611232676
 
 #ifndef MAVLINK_STX
 #define MAVLINK_STX 253

v2.0/standard/standard.h

@@ -10,7 +10,7 @@
     #error Wrong include order: MAVLINK_STANDARD.H MUST NOT BE DIRECTLY USED. Include mavlink.h from the same directory instead or set ALL AND EVERY defines from MAVLINK.H manually accordingly, including the #define MAVLINK_H call.
 #endif
 
-#define MAVLINK_STANDARD_XML_HASH -1208334305668159232
+#define MAVLINK_STANDARD_XML_HASH -5064534317611232676
 
 #ifdef __cplusplus
 extern "C" {

v2.0/standard/version.h

@@ -7,7 +7,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Tue Apr 28 2026"
+#define MAVLINK_BUILD_DATE "Wed May 13 2026"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 22