添加电池控制指令

msg_definitions/VKFly.xml

@@ -933,6 +933,19 @@
         <param index="6" label=""></param>
         <param index="7" label=""></param>
       </entry>
+
+      <entry value="44100" name="VKFLY_CMD_BAT_PWR_CTL" hasLocation="false"
+        isDestination="false">
+        <description>bat pwr ctl</description>
+        <param index="1" label="bat power off" minValue="0" maxValue="60">NAN means ignore. 0 means shutdown immediately; 
+        1-60 means delay shutdown by 1-60 seconds.</param>
+        <param index="2" label="bat power on">NAN means ignore. 1 means bat power on</param>
+        <param index="3" label=""></param>
+        <param index="4" label=""></param>
+        <param index="5" label=""></param>
+        <param index="6" label=""></param>
+        <param index="7" label=""></param>
+      </entry>
     </enum>
   </enums>
 

v2.0/VKFly/VKFly.h

@@ -10,7 +10,7 @@
     #error Wrong include order: MAVLINK_VKFLY.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_VKFLY_XML_HASH -7434572568909849271
+#define MAVLINK_VKFLY_XML_HASH 5108398210384399514
 
 #ifdef __cplusplus
 extern "C" {
@@ -771,7 +771,9 @@ typedef enum MAV_CMD
    VKFLY_CMD_DO_REPOSITION_THAN_DO_PARACHUTE=44072, /* Do reposition then deploy parachute |Deploy distance|  |  |  |  |  |  |  */
    VKFLY_CMD_CLEAR_SERVO_DISPALY=44073, /* Vehicle act |NAN means ignore. 1 means
           clear servo status dispaly| | | | | | |  */
-   MAV_CMD_ENUM_END=44074, /*  | */
+   VKFLY_CMD_BAT_PWR_CTL=44100, /* bat pwr ctl |NAN means ignore. 0 means shutdown immediately; 
+        1-60 means delay shutdown by 1-60 seconds.| NAN means ignore. 1 means bat power on| | | | | |  */
+   MAV_CMD_ENUM_END=44101, /*  | */
 } MAV_CMD;
 #endif
 

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 5108398210384399514
 
 #ifndef MAVLINK_STX
 #define MAVLINK_STX 253

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/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 Jul 15 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 -6016648009986071631
 
 #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 -6016648009986071631
 
 #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 Jul 15 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 -1203910580179046294
 
 #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 -1203910580179046294
 
 #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 Jul 15 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 1777404613346112318
 
 #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 1777404613346112318
 
 #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 Jul 15 2026"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 22