增加vins相关消息定义,生成代码

v2.0/VKFly/mavlink.h

@@ -6,7 +6,7 @@
 #ifndef MAVLINK_H
 #define MAVLINK_H
 
-#define MAVLINK_PRIMARY_XML_HASH 8972644096136702068
+#define MAVLINK_PRIMARY_XML_HASH 3113041886279315263
 
 #ifndef MAVLINK_STX
 #define MAVLINK_STX 253

v2.0/VKFly/mavlink_msg_kmub_status.h

@@ -0,0 +1,838 @@
+#pragma once
+// MESSAGE kMUB_STATUS PACKING
+
+#define MAVLINK_MSG_ID_kMUB_STATUS 53200
+
+
+typedef struct __mavlink_kmub_status_t {
+ uint32_t timestamp; /*< [ms] timestamp from systemboot in ms.*/
+ float roll; /*< [rad] euler roll angle.*/
+ float pitch; /*< [rad] euler pitch angle.*/
+ float yaw; /*< [rad] euler yaw angle.*/
+ float vn; /*< [m/s] velocity in northward axis.*/
+ float ve; /*< [m/s] velocity in eastward axis.*/
+ float vd; /*< [m/s] velocity in downward axis.*/
+ float ax; /*< [m/s/s] acceleration in x axis.*/
+ float ay; /*< [m/s/s] acceleration in y axis.*/
+ float az; /*< [m/s/s] acceleration in z axis.*/
+ float gx; /*< [rad/s] angular velocity in x axis.*/
+ float gy; /*< [rad/s] angular velocity in y axis.*/
+ float gz; /*< [rad/s] angular velocity in z axis.*/
+ int32_t lat; /*< [degE7] latitude.*/
+ int32_t lon; /*< [degE7] longitude.*/
+ float amsl; /*< [m] altitude above mean sea level.*/
+ int32_t ins_status; /*<  */
+ int32_t ins_flag; /*<  */
+ uint16_t throttle; /*<  throttle
+        output.*/
+ uint8_t flight_mode; /*<  flight mode.*/
+ uint8_t btake_status; /*<  backup
+        takeover
+        status.*/
+} mavlink_kmub_status_t;
+
+#define MAVLINK_MSG_ID_kMUB_STATUS_LEN 76
+#define MAVLINK_MSG_ID_kMUB_STATUS_MIN_LEN 76
+#define MAVLINK_MSG_ID_53200_LEN 76
+#define MAVLINK_MSG_ID_53200_MIN_LEN 76
+
+#define MAVLINK_MSG_ID_kMUB_STATUS_CRC 135
+#define MAVLINK_MSG_ID_53200_CRC 135
+
+
+
+#if MAVLINK_COMMAND_24BIT
+#define MAVLINK_MESSAGE_INFO_kMUB_STATUS { \
+    53200, \
+    "kMUB_STATUS", \
+    21, \
+    {  { "timestamp", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_kmub_status_t, timestamp) }, \
+         { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_kmub_status_t, roll) }, \
+         { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_kmub_status_t, pitch) }, \
+         { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_kmub_status_t, yaw) }, \
+         { "vn", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_kmub_status_t, vn) }, \
+         { "ve", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_kmub_status_t, ve) }, \
+         { "vd", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_kmub_status_t, vd) }, \
+         { "ax", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_kmub_status_t, ax) }, \
+         { "ay", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_kmub_status_t, ay) }, \
+         { "az", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_kmub_status_t, az) }, \
+         { "gx", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_kmub_status_t, gx) }, \
+         { "gy", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_kmub_status_t, gy) }, \
+         { "gz", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_kmub_status_t, gz) }, \
+         { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 52, offsetof(mavlink_kmub_status_t, lat) }, \
+         { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 56, offsetof(mavlink_kmub_status_t, lon) }, \
+         { "amsl", NULL, MAVLINK_TYPE_FLOAT, 0, 60, offsetof(mavlink_kmub_status_t, amsl) }, \
+         { "ins_status", NULL, MAVLINK_TYPE_INT32_T, 0, 64, offsetof(mavlink_kmub_status_t, ins_status) }, \
+         { "ins_flag", NULL, MAVLINK_TYPE_INT32_T, 0, 68, offsetof(mavlink_kmub_status_t, ins_flag) }, \
+         { "throttle", NULL, MAVLINK_TYPE_UINT16_T, 0, 72, offsetof(mavlink_kmub_status_t, throttle) }, \
+         { "flight_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 74, offsetof(mavlink_kmub_status_t, flight_mode) }, \
+         { "btake_status", NULL, MAVLINK_TYPE_UINT8_T, 0, 75, offsetof(mavlink_kmub_status_t, btake_status) }, \
+         } \
+}
+#else
+#define MAVLINK_MESSAGE_INFO_kMUB_STATUS { \
+    "kMUB_STATUS", \
+    21, \
+    {  { "timestamp", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_kmub_status_t, timestamp) }, \
+         { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_kmub_status_t, roll) }, \
+         { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_kmub_status_t, pitch) }, \
+         { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_kmub_status_t, yaw) }, \
+         { "vn", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_kmub_status_t, vn) }, \
+         { "ve", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_kmub_status_t, ve) }, \
+         { "vd", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_kmub_status_t, vd) }, \
+         { "ax", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_kmub_status_t, ax) }, \
+         { "ay", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_kmub_status_t, ay) }, \
+         { "az", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_kmub_status_t, az) }, \
+         { "gx", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_kmub_status_t, gx) }, \
+         { "gy", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_kmub_status_t, gy) }, \
+         { "gz", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_kmub_status_t, gz) }, \
+         { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 52, offsetof(mavlink_kmub_status_t, lat) }, \
+         { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 56, offsetof(mavlink_kmub_status_t, lon) }, \
+         { "amsl", NULL, MAVLINK_TYPE_FLOAT, 0, 60, offsetof(mavlink_kmub_status_t, amsl) }, \
+         { "ins_status", NULL, MAVLINK_TYPE_INT32_T, 0, 64, offsetof(mavlink_kmub_status_t, ins_status) }, \
+         { "ins_flag", NULL, MAVLINK_TYPE_INT32_T, 0, 68, offsetof(mavlink_kmub_status_t, ins_flag) }, \
+         { "throttle", NULL, MAVLINK_TYPE_UINT16_T, 0, 72, offsetof(mavlink_kmub_status_t, throttle) }, \
+         { "flight_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 74, offsetof(mavlink_kmub_status_t, flight_mode) }, \
+         { "btake_status", NULL, MAVLINK_TYPE_UINT8_T, 0, 75, offsetof(mavlink_kmub_status_t, btake_status) }, \
+         } \
+}
+#endif
+
+/**
+ * @brief Pack a kmub_status message
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ *
+ * @param timestamp [ms] timestamp from systemboot in ms.
+ * @param roll [rad] euler roll angle.
+ * @param pitch [rad] euler pitch angle.
+ * @param yaw [rad] euler yaw angle.
+ * @param vn [m/s] velocity in northward axis.
+ * @param ve [m/s] velocity in eastward axis.
+ * @param vd [m/s] velocity in downward axis.
+ * @param ax [m/s/s] acceleration in x axis.
+ * @param ay [m/s/s] acceleration in y axis.
+ * @param az [m/s/s] acceleration in z axis.
+ * @param gx [rad/s] angular velocity in x axis.
+ * @param gy [rad/s] angular velocity in y axis.
+ * @param gz [rad/s] angular velocity in z axis.
+ * @param lat [degE7] latitude.
+ * @param lon [degE7] longitude.
+ * @param amsl [m] altitude above mean sea level.
+ * @param ins_status  
+ * @param ins_flag  
+ * @param throttle  throttle
+        output.
+ * @param flight_mode  flight mode.
+ * @param btake_status  backup
+        takeover
+        status.
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_kmub_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+                               uint32_t timestamp, float roll, float pitch, float yaw, float vn, float ve, float vd, float ax, float ay, float az, float gx, float gy, float gz, int32_t lat, int32_t lon, float amsl, int32_t ins_status, int32_t ins_flag, uint16_t throttle, uint8_t flight_mode, uint8_t btake_status)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    char buf[MAVLINK_MSG_ID_kMUB_STATUS_LEN];
+    _mav_put_uint32_t(buf, 0, timestamp);
+    _mav_put_float(buf, 4, roll);
+    _mav_put_float(buf, 8, pitch);
+    _mav_put_float(buf, 12, yaw);
+    _mav_put_float(buf, 16, vn);
+    _mav_put_float(buf, 20, ve);
+    _mav_put_float(buf, 24, vd);
+    _mav_put_float(buf, 28, ax);
+    _mav_put_float(buf, 32, ay);
+    _mav_put_float(buf, 36, az);
+    _mav_put_float(buf, 40, gx);
+    _mav_put_float(buf, 44, gy);
+    _mav_put_float(buf, 48, gz);
+    _mav_put_int32_t(buf, 52, lat);
+    _mav_put_int32_t(buf, 56, lon);
+    _mav_put_float(buf, 60, amsl);
+    _mav_put_int32_t(buf, 64, ins_status);
+    _mav_put_int32_t(buf, 68, ins_flag);
+    _mav_put_uint16_t(buf, 72, throttle);
+    _mav_put_uint8_t(buf, 74, flight_mode);
+    _mav_put_uint8_t(buf, 75, btake_status);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_kMUB_STATUS_LEN);
+#else
+    mavlink_kmub_status_t packet;
+    packet.timestamp = timestamp;
+    packet.roll = roll;
+    packet.pitch = pitch;
+    packet.yaw = yaw;
+    packet.vn = vn;
+    packet.ve = ve;
+    packet.vd = vd;
+    packet.ax = ax;
+    packet.ay = ay;
+    packet.az = az;
+    packet.gx = gx;
+    packet.gy = gy;
+    packet.gz = gz;
+    packet.lat = lat;
+    packet.lon = lon;
+    packet.amsl = amsl;
+    packet.ins_status = ins_status;
+    packet.ins_flag = ins_flag;
+    packet.throttle = throttle;
+    packet.flight_mode = flight_mode;
+    packet.btake_status = btake_status;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_kMUB_STATUS_LEN);
+#endif
+
+    msg->msgid = MAVLINK_MSG_ID_kMUB_STATUS;
+    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_kMUB_STATUS_MIN_LEN, MAVLINK_MSG_ID_kMUB_STATUS_LEN, MAVLINK_MSG_ID_kMUB_STATUS_CRC);
+}
+
+/**
+ * @brief Pack a kmub_status message
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param status MAVLink status structure
+ * @param msg The MAVLink message to compress the data into
+ *
+ * @param timestamp [ms] timestamp from systemboot in ms.
+ * @param roll [rad] euler roll angle.
+ * @param pitch [rad] euler pitch angle.
+ * @param yaw [rad] euler yaw angle.
+ * @param vn [m/s] velocity in northward axis.
+ * @param ve [m/s] velocity in eastward axis.
+ * @param vd [m/s] velocity in downward axis.
+ * @param ax [m/s/s] acceleration in x axis.
+ * @param ay [m/s/s] acceleration in y axis.
+ * @param az [m/s/s] acceleration in z axis.
+ * @param gx [rad/s] angular velocity in x axis.
+ * @param gy [rad/s] angular velocity in y axis.
+ * @param gz [rad/s] angular velocity in z axis.
+ * @param lat [degE7] latitude.
+ * @param lon [degE7] longitude.
+ * @param amsl [m] altitude above mean sea level.
+ * @param ins_status  
+ * @param ins_flag  
+ * @param throttle  throttle
+        output.
+ * @param flight_mode  flight mode.
+ * @param btake_status  backup
+        takeover
+        status.
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_kmub_status_pack_status(uint8_t system_id, uint8_t component_id, mavlink_status_t *_status, mavlink_message_t* msg,
+                               uint32_t timestamp, float roll, float pitch, float yaw, float vn, float ve, float vd, float ax, float ay, float az, float gx, float gy, float gz, int32_t lat, int32_t lon, float amsl, int32_t ins_status, int32_t ins_flag, uint16_t throttle, uint8_t flight_mode, uint8_t btake_status)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    char buf[MAVLINK_MSG_ID_kMUB_STATUS_LEN];
+    _mav_put_uint32_t(buf, 0, timestamp);
+    _mav_put_float(buf, 4, roll);
+    _mav_put_float(buf, 8, pitch);
+    _mav_put_float(buf, 12, yaw);
+    _mav_put_float(buf, 16, vn);
+    _mav_put_float(buf, 20, ve);
+    _mav_put_float(buf, 24, vd);
+    _mav_put_float(buf, 28, ax);
+    _mav_put_float(buf, 32, ay);
+    _mav_put_float(buf, 36, az);
+    _mav_put_float(buf, 40, gx);
+    _mav_put_float(buf, 44, gy);
+    _mav_put_float(buf, 48, gz);
+    _mav_put_int32_t(buf, 52, lat);
+    _mav_put_int32_t(buf, 56, lon);
+    _mav_put_float(buf, 60, amsl);
+    _mav_put_int32_t(buf, 64, ins_status);
+    _mav_put_int32_t(buf, 68, ins_flag);
+    _mav_put_uint16_t(buf, 72, throttle);
+    _mav_put_uint8_t(buf, 74, flight_mode);
+    _mav_put_uint8_t(buf, 75, btake_status);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_kMUB_STATUS_LEN);
+#else
+    mavlink_kmub_status_t packet;
+    packet.timestamp = timestamp;
+    packet.roll = roll;
+    packet.pitch = pitch;
+    packet.yaw = yaw;
+    packet.vn = vn;
+    packet.ve = ve;
+    packet.vd = vd;
+    packet.ax = ax;
+    packet.ay = ay;
+    packet.az = az;
+    packet.gx = gx;
+    packet.gy = gy;
+    packet.gz = gz;
+    packet.lat = lat;
+    packet.lon = lon;
+    packet.amsl = amsl;
+    packet.ins_status = ins_status;
+    packet.ins_flag = ins_flag;
+    packet.throttle = throttle;
+    packet.flight_mode = flight_mode;
+    packet.btake_status = btake_status;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_kMUB_STATUS_LEN);
+#endif
+
+    msg->msgid = MAVLINK_MSG_ID_kMUB_STATUS;
+#if MAVLINK_CRC_EXTRA
+    return mavlink_finalize_message_buffer(msg, system_id, component_id, _status, MAVLINK_MSG_ID_kMUB_STATUS_MIN_LEN, MAVLINK_MSG_ID_kMUB_STATUS_LEN, MAVLINK_MSG_ID_kMUB_STATUS_CRC);
+#else
+    return mavlink_finalize_message_buffer(msg, system_id, component_id, _status, MAVLINK_MSG_ID_kMUB_STATUS_MIN_LEN, MAVLINK_MSG_ID_kMUB_STATUS_LEN);
+#endif
+}
+
+/**
+ * @brief Pack a kmub_status message on a channel
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message will be sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param timestamp [ms] timestamp from systemboot in ms.
+ * @param roll [rad] euler roll angle.
+ * @param pitch [rad] euler pitch angle.
+ * @param yaw [rad] euler yaw angle.
+ * @param vn [m/s] velocity in northward axis.
+ * @param ve [m/s] velocity in eastward axis.
+ * @param vd [m/s] velocity in downward axis.
+ * @param ax [m/s/s] acceleration in x axis.
+ * @param ay [m/s/s] acceleration in y axis.
+ * @param az [m/s/s] acceleration in z axis.
+ * @param gx [rad/s] angular velocity in x axis.
+ * @param gy [rad/s] angular velocity in y axis.
+ * @param gz [rad/s] angular velocity in z axis.
+ * @param lat [degE7] latitude.
+ * @param lon [degE7] longitude.
+ * @param amsl [m] altitude above mean sea level.
+ * @param ins_status  
+ * @param ins_flag  
+ * @param throttle  throttle
+        output.
+ * @param flight_mode  flight mode.
+ * @param btake_status  backup
+        takeover
+        status.
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_kmub_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+                               mavlink_message_t* msg,
+                                   uint32_t timestamp,float roll,float pitch,float yaw,float vn,float ve,float vd,float ax,float ay,float az,float gx,float gy,float gz,int32_t lat,int32_t lon,float amsl,int32_t ins_status,int32_t ins_flag,uint16_t throttle,uint8_t flight_mode,uint8_t btake_status)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    char buf[MAVLINK_MSG_ID_kMUB_STATUS_LEN];
+    _mav_put_uint32_t(buf, 0, timestamp);
+    _mav_put_float(buf, 4, roll);
+    _mav_put_float(buf, 8, pitch);
+    _mav_put_float(buf, 12, yaw);
+    _mav_put_float(buf, 16, vn);
+    _mav_put_float(buf, 20, ve);
+    _mav_put_float(buf, 24, vd);
+    _mav_put_float(buf, 28, ax);
+    _mav_put_float(buf, 32, ay);
+    _mav_put_float(buf, 36, az);
+    _mav_put_float(buf, 40, gx);
+    _mav_put_float(buf, 44, gy);
+    _mav_put_float(buf, 48, gz);
+    _mav_put_int32_t(buf, 52, lat);
+    _mav_put_int32_t(buf, 56, lon);
+    _mav_put_float(buf, 60, amsl);
+    _mav_put_int32_t(buf, 64, ins_status);
+    _mav_put_int32_t(buf, 68, ins_flag);
+    _mav_put_uint16_t(buf, 72, throttle);
+    _mav_put_uint8_t(buf, 74, flight_mode);
+    _mav_put_uint8_t(buf, 75, btake_status);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_kMUB_STATUS_LEN);
+#else
+    mavlink_kmub_status_t packet;
+    packet.timestamp = timestamp;
+    packet.roll = roll;
+    packet.pitch = pitch;
+    packet.yaw = yaw;
+    packet.vn = vn;
+    packet.ve = ve;
+    packet.vd = vd;
+    packet.ax = ax;
+    packet.ay = ay;
+    packet.az = az;
+    packet.gx = gx;
+    packet.gy = gy;
+    packet.gz = gz;
+    packet.lat = lat;
+    packet.lon = lon;
+    packet.amsl = amsl;
+    packet.ins_status = ins_status;
+    packet.ins_flag = ins_flag;
+    packet.throttle = throttle;
+    packet.flight_mode = flight_mode;
+    packet.btake_status = btake_status;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_kMUB_STATUS_LEN);
+#endif
+
+    msg->msgid = MAVLINK_MSG_ID_kMUB_STATUS;
+    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_kMUB_STATUS_MIN_LEN, MAVLINK_MSG_ID_kMUB_STATUS_LEN, MAVLINK_MSG_ID_kMUB_STATUS_CRC);
+}
+
+/**
+ * @brief Encode a kmub_status struct
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ * @param kmub_status C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_kmub_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_kmub_status_t* kmub_status)
+{
+    return mavlink_msg_kmub_status_pack(system_id, component_id, msg, kmub_status->timestamp, kmub_status->roll, kmub_status->pitch, kmub_status->yaw, kmub_status->vn, kmub_status->ve, kmub_status->vd, kmub_status->ax, kmub_status->ay, kmub_status->az, kmub_status->gx, kmub_status->gy, kmub_status->gz, kmub_status->lat, kmub_status->lon, kmub_status->amsl, kmub_status->ins_status, kmub_status->ins_flag, kmub_status->throttle, kmub_status->flight_mode, kmub_status->btake_status);
+}
+
+/**
+ * @brief Encode a kmub_status struct on a channel
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message will be sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param kmub_status C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_kmub_status_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_kmub_status_t* kmub_status)
+{
+    return mavlink_msg_kmub_status_pack_chan(system_id, component_id, chan, msg, kmub_status->timestamp, kmub_status->roll, kmub_status->pitch, kmub_status->yaw, kmub_status->vn, kmub_status->ve, kmub_status->vd, kmub_status->ax, kmub_status->ay, kmub_status->az, kmub_status->gx, kmub_status->gy, kmub_status->gz, kmub_status->lat, kmub_status->lon, kmub_status->amsl, kmub_status->ins_status, kmub_status->ins_flag, kmub_status->throttle, kmub_status->flight_mode, kmub_status->btake_status);
+}
+
+/**
+ * @brief Encode a kmub_status struct with provided status structure
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param status MAVLink status structure
+ * @param msg The MAVLink message to compress the data into
+ * @param kmub_status C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_kmub_status_encode_status(uint8_t system_id, uint8_t component_id, mavlink_status_t* _status, mavlink_message_t* msg, const mavlink_kmub_status_t* kmub_status)
+{
+    return mavlink_msg_kmub_status_pack_status(system_id, component_id, _status, msg,  kmub_status->timestamp, kmub_status->roll, kmub_status->pitch, kmub_status->yaw, kmub_status->vn, kmub_status->ve, kmub_status->vd, kmub_status->ax, kmub_status->ay, kmub_status->az, kmub_status->gx, kmub_status->gy, kmub_status->gz, kmub_status->lat, kmub_status->lon, kmub_status->amsl, kmub_status->ins_status, kmub_status->ins_flag, kmub_status->throttle, kmub_status->flight_mode, kmub_status->btake_status);
+}
+
+/**
+ * @brief Send a kmub_status message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param timestamp [ms] timestamp from systemboot in ms.
+ * @param roll [rad] euler roll angle.
+ * @param pitch [rad] euler pitch angle.
+ * @param yaw [rad] euler yaw angle.
+ * @param vn [m/s] velocity in northward axis.
+ * @param ve [m/s] velocity in eastward axis.
+ * @param vd [m/s] velocity in downward axis.
+ * @param ax [m/s/s] acceleration in x axis.
+ * @param ay [m/s/s] acceleration in y axis.
+ * @param az [m/s/s] acceleration in z axis.
+ * @param gx [rad/s] angular velocity in x axis.
+ * @param gy [rad/s] angular velocity in y axis.
+ * @param gz [rad/s] angular velocity in z axis.
+ * @param lat [degE7] latitude.
+ * @param lon [degE7] longitude.
+ * @param amsl [m] altitude above mean sea level.
+ * @param ins_status  
+ * @param ins_flag  
+ * @param throttle  throttle
+        output.
+ * @param flight_mode  flight mode.
+ * @param btake_status  backup
+        takeover
+        status.
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_kmub_status_send(mavlink_channel_t chan, uint32_t timestamp, float roll, float pitch, float yaw, float vn, float ve, float vd, float ax, float ay, float az, float gx, float gy, float gz, int32_t lat, int32_t lon, float amsl, int32_t ins_status, int32_t ins_flag, uint16_t throttle, uint8_t flight_mode, uint8_t btake_status)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    char buf[MAVLINK_MSG_ID_kMUB_STATUS_LEN];
+    _mav_put_uint32_t(buf, 0, timestamp);
+    _mav_put_float(buf, 4, roll);
+    _mav_put_float(buf, 8, pitch);
+    _mav_put_float(buf, 12, yaw);
+    _mav_put_float(buf, 16, vn);
+    _mav_put_float(buf, 20, ve);
+    _mav_put_float(buf, 24, vd);
+    _mav_put_float(buf, 28, ax);
+    _mav_put_float(buf, 32, ay);
+    _mav_put_float(buf, 36, az);
+    _mav_put_float(buf, 40, gx);
+    _mav_put_float(buf, 44, gy);
+    _mav_put_float(buf, 48, gz);
+    _mav_put_int32_t(buf, 52, lat);
+    _mav_put_int32_t(buf, 56, lon);
+    _mav_put_float(buf, 60, amsl);
+    _mav_put_int32_t(buf, 64, ins_status);
+    _mav_put_int32_t(buf, 68, ins_flag);
+    _mav_put_uint16_t(buf, 72, throttle);
+    _mav_put_uint8_t(buf, 74, flight_mode);
+    _mav_put_uint8_t(buf, 75, btake_status);
+
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_kMUB_STATUS, buf, MAVLINK_MSG_ID_kMUB_STATUS_MIN_LEN, MAVLINK_MSG_ID_kMUB_STATUS_LEN, MAVLINK_MSG_ID_kMUB_STATUS_CRC);
+#else
+    mavlink_kmub_status_t packet;
+    packet.timestamp = timestamp;
+    packet.roll = roll;
+    packet.pitch = pitch;
+    packet.yaw = yaw;
+    packet.vn = vn;
+    packet.ve = ve;
+    packet.vd = vd;
+    packet.ax = ax;
+    packet.ay = ay;
+    packet.az = az;
+    packet.gx = gx;
+    packet.gy = gy;
+    packet.gz = gz;
+    packet.lat = lat;
+    packet.lon = lon;
+    packet.amsl = amsl;
+    packet.ins_status = ins_status;
+    packet.ins_flag = ins_flag;
+    packet.throttle = throttle;
+    packet.flight_mode = flight_mode;
+    packet.btake_status = btake_status;
+
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_kMUB_STATUS, (const char *)&packet, MAVLINK_MSG_ID_kMUB_STATUS_MIN_LEN, MAVLINK_MSG_ID_kMUB_STATUS_LEN, MAVLINK_MSG_ID_kMUB_STATUS_CRC);
+#endif
+}
+
+/**
+ * @brief Send a kmub_status message
+ * @param chan MAVLink channel to send the message
+ * @param struct The MAVLink struct to serialize
+ */
+static inline void mavlink_msg_kmub_status_send_struct(mavlink_channel_t chan, const mavlink_kmub_status_t* kmub_status)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    mavlink_msg_kmub_status_send(chan, kmub_status->timestamp, kmub_status->roll, kmub_status->pitch, kmub_status->yaw, kmub_status->vn, kmub_status->ve, kmub_status->vd, kmub_status->ax, kmub_status->ay, kmub_status->az, kmub_status->gx, kmub_status->gy, kmub_status->gz, kmub_status->lat, kmub_status->lon, kmub_status->amsl, kmub_status->ins_status, kmub_status->ins_flag, kmub_status->throttle, kmub_status->flight_mode, kmub_status->btake_status);
+#else
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_kMUB_STATUS, (const char *)kmub_status, MAVLINK_MSG_ID_kMUB_STATUS_MIN_LEN, MAVLINK_MSG_ID_kMUB_STATUS_LEN, MAVLINK_MSG_ID_kMUB_STATUS_CRC);
+#endif
+}
+
+#if MAVLINK_MSG_ID_kMUB_STATUS_LEN <= MAVLINK_MAX_PAYLOAD_LEN
+/*
+  This variant of _send() can be used to save stack space by re-using
+  memory from the receive buffer.  The caller provides a
+  mavlink_message_t which is the size of a full mavlink message. This
+  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_kmub_status_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint32_t timestamp, float roll, float pitch, float yaw, float vn, float ve, float vd, float ax, float ay, float az, float gx, float gy, float gz, int32_t lat, int32_t lon, float amsl, int32_t ins_status, int32_t ins_flag, uint16_t throttle, uint8_t flight_mode, uint8_t btake_status)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    char *buf = (char *)msgbuf;
+    _mav_put_uint32_t(buf, 0, timestamp);
+    _mav_put_float(buf, 4, roll);
+    _mav_put_float(buf, 8, pitch);
+    _mav_put_float(buf, 12, yaw);
+    _mav_put_float(buf, 16, vn);
+    _mav_put_float(buf, 20, ve);
+    _mav_put_float(buf, 24, vd);
+    _mav_put_float(buf, 28, ax);
+    _mav_put_float(buf, 32, ay);
+    _mav_put_float(buf, 36, az);
+    _mav_put_float(buf, 40, gx);
+    _mav_put_float(buf, 44, gy);
+    _mav_put_float(buf, 48, gz);
+    _mav_put_int32_t(buf, 52, lat);
+    _mav_put_int32_t(buf, 56, lon);
+    _mav_put_float(buf, 60, amsl);
+    _mav_put_int32_t(buf, 64, ins_status);
+    _mav_put_int32_t(buf, 68, ins_flag);
+    _mav_put_uint16_t(buf, 72, throttle);
+    _mav_put_uint8_t(buf, 74, flight_mode);
+    _mav_put_uint8_t(buf, 75, btake_status);
+
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_kMUB_STATUS, buf, MAVLINK_MSG_ID_kMUB_STATUS_MIN_LEN, MAVLINK_MSG_ID_kMUB_STATUS_LEN, MAVLINK_MSG_ID_kMUB_STATUS_CRC);
+#else
+    mavlink_kmub_status_t *packet = (mavlink_kmub_status_t *)msgbuf;
+    packet->timestamp = timestamp;
+    packet->roll = roll;
+    packet->pitch = pitch;
+    packet->yaw = yaw;
+    packet->vn = vn;
+    packet->ve = ve;
+    packet->vd = vd;
+    packet->ax = ax;
+    packet->ay = ay;
+    packet->az = az;
+    packet->gx = gx;
+    packet->gy = gy;
+    packet->gz = gz;
+    packet->lat = lat;
+    packet->lon = lon;
+    packet->amsl = amsl;
+    packet->ins_status = ins_status;
+    packet->ins_flag = ins_flag;
+    packet->throttle = throttle;
+    packet->flight_mode = flight_mode;
+    packet->btake_status = btake_status;
+
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_kMUB_STATUS, (const char *)packet, MAVLINK_MSG_ID_kMUB_STATUS_MIN_LEN, MAVLINK_MSG_ID_kMUB_STATUS_LEN, MAVLINK_MSG_ID_kMUB_STATUS_CRC);
+#endif
+}
+#endif
+
+#endif
+
+// MESSAGE kMUB_STATUS UNPACKING
+
+
+/**
+ * @brief Get field timestamp from kmub_status message
+ *
+ * @return [ms] timestamp from systemboot in ms.
+ */
+static inline uint32_t mavlink_msg_kmub_status_get_timestamp(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_uint32_t(msg,  0);
+}
+
+/**
+ * @brief Get field roll from kmub_status message
+ *
+ * @return [rad] euler roll angle.
+ */
+static inline float mavlink_msg_kmub_status_get_roll(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_float(msg,  4);
+}
+
+/**
+ * @brief Get field pitch from kmub_status message
+ *
+ * @return [rad] euler pitch angle.
+ */
+static inline float mavlink_msg_kmub_status_get_pitch(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_float(msg,  8);
+}
+
+/**
+ * @brief Get field yaw from kmub_status message
+ *
+ * @return [rad] euler yaw angle.
+ */
+static inline float mavlink_msg_kmub_status_get_yaw(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_float(msg,  12);
+}
+
+/**
+ * @brief Get field vn from kmub_status message
+ *
+ * @return [m/s] velocity in northward axis.
+ */
+static inline float mavlink_msg_kmub_status_get_vn(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_float(msg,  16);
+}
+
+/**
+ * @brief Get field ve from kmub_status message
+ *
+ * @return [m/s] velocity in eastward axis.
+ */
+static inline float mavlink_msg_kmub_status_get_ve(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_float(msg,  20);
+}
+
+/**
+ * @brief Get field vd from kmub_status message
+ *
+ * @return [m/s] velocity in downward axis.
+ */
+static inline float mavlink_msg_kmub_status_get_vd(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_float(msg,  24);
+}
+
+/**
+ * @brief Get field ax from kmub_status message
+ *
+ * @return [m/s/s] acceleration in x axis.
+ */
+static inline float mavlink_msg_kmub_status_get_ax(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_float(msg,  28);
+}
+
+/**
+ * @brief Get field ay from kmub_status message
+ *
+ * @return [m/s/s] acceleration in y axis.
+ */
+static inline float mavlink_msg_kmub_status_get_ay(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_float(msg,  32);
+}
+
+/**
+ * @brief Get field az from kmub_status message
+ *
+ * @return [m/s/s] acceleration in z axis.
+ */
+static inline float mavlink_msg_kmub_status_get_az(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_float(msg,  36);
+}
+
+/**
+ * @brief Get field gx from kmub_status message
+ *
+ * @return [rad/s] angular velocity in x axis.
+ */
+static inline float mavlink_msg_kmub_status_get_gx(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_float(msg,  40);
+}
+
+/**
+ * @brief Get field gy from kmub_status message
+ *
+ * @return [rad/s] angular velocity in y axis.
+ */
+static inline float mavlink_msg_kmub_status_get_gy(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_float(msg,  44);
+}
+
+/**
+ * @brief Get field gz from kmub_status message
+ *
+ * @return [rad/s] angular velocity in z axis.
+ */
+static inline float mavlink_msg_kmub_status_get_gz(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_float(msg,  48);
+}
+
+/**
+ * @brief Get field lat from kmub_status message
+ *
+ * @return [degE7] latitude.
+ */
+static inline int32_t mavlink_msg_kmub_status_get_lat(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_int32_t(msg,  52);
+}
+
+/**
+ * @brief Get field lon from kmub_status message
+ *
+ * @return [degE7] longitude.
+ */
+static inline int32_t mavlink_msg_kmub_status_get_lon(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_int32_t(msg,  56);
+}
+
+/**
+ * @brief Get field amsl from kmub_status message
+ *
+ * @return [m] altitude above mean sea level.
+ */
+static inline float mavlink_msg_kmub_status_get_amsl(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_float(msg,  60);
+}
+
+/**
+ * @brief Get field ins_status from kmub_status message
+ *
+ * @return  
+ */
+static inline int32_t mavlink_msg_kmub_status_get_ins_status(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_int32_t(msg,  64);
+}
+
+/**
+ * @brief Get field ins_flag from kmub_status message
+ *
+ * @return  
+ */
+static inline int32_t mavlink_msg_kmub_status_get_ins_flag(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_int32_t(msg,  68);
+}
+
+/**
+ * @brief Get field throttle from kmub_status message
+ *
+ * @return  throttle
+        output.
+ */
+static inline uint16_t mavlink_msg_kmub_status_get_throttle(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_uint16_t(msg,  72);
+}
+
+/**
+ * @brief Get field flight_mode from kmub_status message
+ *
+ * @return  flight mode.
+ */
+static inline uint8_t mavlink_msg_kmub_status_get_flight_mode(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_uint8_t(msg,  74);
+}
+
+/**
+ * @brief Get field btake_status from kmub_status message
+ *
+ * @return  backup
+        takeover
+        status.
+ */
+static inline uint8_t mavlink_msg_kmub_status_get_btake_status(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_uint8_t(msg,  75);
+}
+
+/**
+ * @brief Decode a kmub_status message into a struct
+ *
+ * @param msg The message to decode
+ * @param kmub_status C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_kmub_status_decode(const mavlink_message_t* msg, mavlink_kmub_status_t* kmub_status)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    kmub_status->timestamp = mavlink_msg_kmub_status_get_timestamp(msg);
+    kmub_status->roll = mavlink_msg_kmub_status_get_roll(msg);
+    kmub_status->pitch = mavlink_msg_kmub_status_get_pitch(msg);
+    kmub_status->yaw = mavlink_msg_kmub_status_get_yaw(msg);
+    kmub_status->vn = mavlink_msg_kmub_status_get_vn(msg);
+    kmub_status->ve = mavlink_msg_kmub_status_get_ve(msg);
+    kmub_status->vd = mavlink_msg_kmub_status_get_vd(msg);
+    kmub_status->ax = mavlink_msg_kmub_status_get_ax(msg);
+    kmub_status->ay = mavlink_msg_kmub_status_get_ay(msg);
+    kmub_status->az = mavlink_msg_kmub_status_get_az(msg);
+    kmub_status->gx = mavlink_msg_kmub_status_get_gx(msg);
+    kmub_status->gy = mavlink_msg_kmub_status_get_gy(msg);
+    kmub_status->gz = mavlink_msg_kmub_status_get_gz(msg);
+    kmub_status->lat = mavlink_msg_kmub_status_get_lat(msg);
+    kmub_status->lon = mavlink_msg_kmub_status_get_lon(msg);
+    kmub_status->amsl = mavlink_msg_kmub_status_get_amsl(msg);
+    kmub_status->ins_status = mavlink_msg_kmub_status_get_ins_status(msg);
+    kmub_status->ins_flag = mavlink_msg_kmub_status_get_ins_flag(msg);
+    kmub_status->throttle = mavlink_msg_kmub_status_get_throttle(msg);
+    kmub_status->flight_mode = mavlink_msg_kmub_status_get_flight_mode(msg);
+    kmub_status->btake_status = mavlink_msg_kmub_status_get_btake_status(msg);
+#else
+        uint8_t len = msg->len < MAVLINK_MSG_ID_kMUB_STATUS_LEN? msg->len : MAVLINK_MSG_ID_kMUB_STATUS_LEN;
+        memset(kmub_status, 0, MAVLINK_MSG_ID_kMUB_STATUS_LEN);
+    memcpy(kmub_status, _MAV_PAYLOAD(msg), len);
+#endif
+}

v2.0/VKFly/mavlink_msg_vk_ext_vision_fusion.h

@@ -0,0 +1,706 @@
+#pragma once
+// MESSAGE VK_EXT_VISION_FUSION PACKING
+
+#define MAVLINK_MSG_ID_VK_EXT_VISION_FUSION 53111
+
+
+typedef struct __mavlink_vk_ext_vision_fusion_t {
+ uint32_t timestamp; /*< [ms] timestamp from system boot*/
+ float pos_frd[3]; /*< [m] position in vision frd frame*/
+ float vel_frd[3]; /*< [m/s] velocity in vision frd frame*/
+ float Q_g[4]; /*<  attitude quaternion by FRD_NED */
+ int32_t lat; /*<  latitidue*/
+ int32_t lon; /*<  longitude*/
+ float alt_amsl; /*<  amsl latitidue*/
+ float hR; /*<  relative altitude*/
+ float vel_ned[3]; /*< [m/s] velocity in NED frame*/
+ float bias_acc[3]; /*< [m/s/s] acceleration bias in body XYZ*/
+ float bias_gyr[3]; /*< [rad/s] gyroscope bias in body XYZ*/
+ float cov_att[3]; /*< [rad] attitude covariance*/
+ float cov_pos[3]; /*< [m] position covariance*/
+ float cov_vel[3]; /*< [m/s] */
+ uint8_t unhealthy; /*<  unhealthy flag*/
+ uint8_t flag; /*<  work status flag*/
+ uint8_t reset_cnt; /*<   reset count*/
+} mavlink_vk_ext_vision_fusion_t;
+
+#define MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_LEN 135
+#define MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_MIN_LEN 135
+#define MAVLINK_MSG_ID_53111_LEN 135
+#define MAVLINK_MSG_ID_53111_MIN_LEN 135
+
+#define MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_CRC 188
+#define MAVLINK_MSG_ID_53111_CRC 188
+
+#define MAVLINK_MSG_VK_EXT_VISION_FUSION_FIELD_POS_FRD_LEN 3
+#define MAVLINK_MSG_VK_EXT_VISION_FUSION_FIELD_VEL_FRD_LEN 3
+#define MAVLINK_MSG_VK_EXT_VISION_FUSION_FIELD_Q_G_LEN 4
+#define MAVLINK_MSG_VK_EXT_VISION_FUSION_FIELD_VEL_NED_LEN 3
+#define MAVLINK_MSG_VK_EXT_VISION_FUSION_FIELD_BIAS_ACC_LEN 3
+#define MAVLINK_MSG_VK_EXT_VISION_FUSION_FIELD_BIAS_GYR_LEN 3
+#define MAVLINK_MSG_VK_EXT_VISION_FUSION_FIELD_COV_ATT_LEN 3
+#define MAVLINK_MSG_VK_EXT_VISION_FUSION_FIELD_COV_POS_LEN 3
+#define MAVLINK_MSG_VK_EXT_VISION_FUSION_FIELD_COV_VEL_LEN 3
+
+#if MAVLINK_COMMAND_24BIT
+#define MAVLINK_MESSAGE_INFO_VK_EXT_VISION_FUSION { \
+    53111, \
+    "VK_EXT_VISION_FUSION", \
+    17, \
+    {  { "timestamp", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_vk_ext_vision_fusion_t, timestamp) }, \
+         { "pos_frd", NULL, MAVLINK_TYPE_FLOAT, 3, 4, offsetof(mavlink_vk_ext_vision_fusion_t, pos_frd) }, \
+         { "vel_frd", NULL, MAVLINK_TYPE_FLOAT, 3, 16, offsetof(mavlink_vk_ext_vision_fusion_t, vel_frd) }, \
+         { "Q_g", NULL, MAVLINK_TYPE_FLOAT, 4, 28, offsetof(mavlink_vk_ext_vision_fusion_t, Q_g) }, \
+         { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 44, offsetof(mavlink_vk_ext_vision_fusion_t, lat) }, \
+         { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 48, offsetof(mavlink_vk_ext_vision_fusion_t, lon) }, \
+         { "alt_amsl", NULL, MAVLINK_TYPE_FLOAT, 0, 52, offsetof(mavlink_vk_ext_vision_fusion_t, alt_amsl) }, \
+         { "hR", NULL, MAVLINK_TYPE_FLOAT, 0, 56, offsetof(mavlink_vk_ext_vision_fusion_t, hR) }, \
+         { "vel_ned", NULL, MAVLINK_TYPE_FLOAT, 3, 60, offsetof(mavlink_vk_ext_vision_fusion_t, vel_ned) }, \
+         { "bias_acc", NULL, MAVLINK_TYPE_FLOAT, 3, 72, offsetof(mavlink_vk_ext_vision_fusion_t, bias_acc) }, \
+         { "bias_gyr", NULL, MAVLINK_TYPE_FLOAT, 3, 84, offsetof(mavlink_vk_ext_vision_fusion_t, bias_gyr) }, \
+         { "cov_att", NULL, MAVLINK_TYPE_FLOAT, 3, 96, offsetof(mavlink_vk_ext_vision_fusion_t, cov_att) }, \
+         { "cov_pos", NULL, MAVLINK_TYPE_FLOAT, 3, 108, offsetof(mavlink_vk_ext_vision_fusion_t, cov_pos) }, \
+         { "cov_vel", NULL, MAVLINK_TYPE_FLOAT, 3, 120, offsetof(mavlink_vk_ext_vision_fusion_t, cov_vel) }, \
+         { "unhealthy", NULL, MAVLINK_TYPE_UINT8_T, 0, 132, offsetof(mavlink_vk_ext_vision_fusion_t, unhealthy) }, \
+         { "flag", NULL, MAVLINK_TYPE_UINT8_T, 0, 133, offsetof(mavlink_vk_ext_vision_fusion_t, flag) }, \
+         { "reset_cnt", NULL, MAVLINK_TYPE_UINT8_T, 0, 134, offsetof(mavlink_vk_ext_vision_fusion_t, reset_cnt) }, \
+         } \
+}
+#else
+#define MAVLINK_MESSAGE_INFO_VK_EXT_VISION_FUSION { \
+    "VK_EXT_VISION_FUSION", \
+    17, \
+    {  { "timestamp", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_vk_ext_vision_fusion_t, timestamp) }, \
+         { "pos_frd", NULL, MAVLINK_TYPE_FLOAT, 3, 4, offsetof(mavlink_vk_ext_vision_fusion_t, pos_frd) }, \
+         { "vel_frd", NULL, MAVLINK_TYPE_FLOAT, 3, 16, offsetof(mavlink_vk_ext_vision_fusion_t, vel_frd) }, \
+         { "Q_g", NULL, MAVLINK_TYPE_FLOAT, 4, 28, offsetof(mavlink_vk_ext_vision_fusion_t, Q_g) }, \
+         { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 44, offsetof(mavlink_vk_ext_vision_fusion_t, lat) }, \
+         { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 48, offsetof(mavlink_vk_ext_vision_fusion_t, lon) }, \
+         { "alt_amsl", NULL, MAVLINK_TYPE_FLOAT, 0, 52, offsetof(mavlink_vk_ext_vision_fusion_t, alt_amsl) }, \
+         { "hR", NULL, MAVLINK_TYPE_FLOAT, 0, 56, offsetof(mavlink_vk_ext_vision_fusion_t, hR) }, \
+         { "vel_ned", NULL, MAVLINK_TYPE_FLOAT, 3, 60, offsetof(mavlink_vk_ext_vision_fusion_t, vel_ned) }, \
+         { "bias_acc", NULL, MAVLINK_TYPE_FLOAT, 3, 72, offsetof(mavlink_vk_ext_vision_fusion_t, bias_acc) }, \
+         { "bias_gyr", NULL, MAVLINK_TYPE_FLOAT, 3, 84, offsetof(mavlink_vk_ext_vision_fusion_t, bias_gyr) }, \
+         { "cov_att", NULL, MAVLINK_TYPE_FLOAT, 3, 96, offsetof(mavlink_vk_ext_vision_fusion_t, cov_att) }, \
+         { "cov_pos", NULL, MAVLINK_TYPE_FLOAT, 3, 108, offsetof(mavlink_vk_ext_vision_fusion_t, cov_pos) }, \
+         { "cov_vel", NULL, MAVLINK_TYPE_FLOAT, 3, 120, offsetof(mavlink_vk_ext_vision_fusion_t, cov_vel) }, \
+         { "unhealthy", NULL, MAVLINK_TYPE_UINT8_T, 0, 132, offsetof(mavlink_vk_ext_vision_fusion_t, unhealthy) }, \
+         { "flag", NULL, MAVLINK_TYPE_UINT8_T, 0, 133, offsetof(mavlink_vk_ext_vision_fusion_t, flag) }, \
+         { "reset_cnt", NULL, MAVLINK_TYPE_UINT8_T, 0, 134, offsetof(mavlink_vk_ext_vision_fusion_t, reset_cnt) }, \
+         } \
+}
+#endif
+
+/**
+ * @brief Pack a vk_ext_vision_fusion message
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ *
+ * @param timestamp [ms] timestamp from system boot
+ * @param pos_frd [m] position in vision frd frame
+ * @param vel_frd [m/s] velocity in vision frd frame
+ * @param Q_g  attitude quaternion by FRD_NED 
+ * @param lat  latitidue
+ * @param lon  longitude
+ * @param alt_amsl  amsl latitidue
+ * @param hR  relative altitude
+ * @param vel_ned [m/s] velocity in NED frame
+ * @param bias_acc [m/s/s] acceleration bias in body XYZ
+ * @param bias_gyr [rad/s] gyroscope bias in body XYZ
+ * @param cov_att [rad] attitude covariance
+ * @param cov_pos [m] position covariance
+ * @param cov_vel [m/s] 
+ * @param unhealthy  unhealthy flag
+ * @param flag  work status flag
+ * @param reset_cnt   reset count
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_vk_ext_vision_fusion_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+                               uint32_t timestamp, const float *pos_frd, const float *vel_frd, const float *Q_g, int32_t lat, int32_t lon, float alt_amsl, float hR, const float *vel_ned, const float *bias_acc, const float *bias_gyr, const float *cov_att, const float *cov_pos, const float *cov_vel, uint8_t unhealthy, uint8_t flag, uint8_t reset_cnt)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    char buf[MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_LEN];
+    _mav_put_uint32_t(buf, 0, timestamp);
+    _mav_put_int32_t(buf, 44, lat);
+    _mav_put_int32_t(buf, 48, lon);
+    _mav_put_float(buf, 52, alt_amsl);
+    _mav_put_float(buf, 56, hR);
+    _mav_put_uint8_t(buf, 132, unhealthy);
+    _mav_put_uint8_t(buf, 133, flag);
+    _mav_put_uint8_t(buf, 134, reset_cnt);
+    _mav_put_float_array(buf, 4, pos_frd, 3);
+    _mav_put_float_array(buf, 16, vel_frd, 3);
+    _mav_put_float_array(buf, 28, Q_g, 4);
+    _mav_put_float_array(buf, 60, vel_ned, 3);
+    _mav_put_float_array(buf, 72, bias_acc, 3);
+    _mav_put_float_array(buf, 84, bias_gyr, 3);
+    _mav_put_float_array(buf, 96, cov_att, 3);
+    _mav_put_float_array(buf, 108, cov_pos, 3);
+    _mav_put_float_array(buf, 120, cov_vel, 3);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_LEN);
+#else
+    mavlink_vk_ext_vision_fusion_t packet;
+    packet.timestamp = timestamp;
+    packet.lat = lat;
+    packet.lon = lon;
+    packet.alt_amsl = alt_amsl;
+    packet.hR = hR;
+    packet.unhealthy = unhealthy;
+    packet.flag = flag;
+    packet.reset_cnt = reset_cnt;
+    mav_array_memcpy(packet.pos_frd, pos_frd, sizeof(float)*3);
+    mav_array_memcpy(packet.vel_frd, vel_frd, sizeof(float)*3);
+    mav_array_memcpy(packet.Q_g, Q_g, sizeof(float)*4);
+    mav_array_memcpy(packet.vel_ned, vel_ned, sizeof(float)*3);
+    mav_array_memcpy(packet.bias_acc, bias_acc, sizeof(float)*3);
+    mav_array_memcpy(packet.bias_gyr, bias_gyr, sizeof(float)*3);
+    mav_array_memcpy(packet.cov_att, cov_att, sizeof(float)*3);
+    mav_array_memcpy(packet.cov_pos, cov_pos, sizeof(float)*3);
+    mav_array_memcpy(packet.cov_vel, cov_vel, sizeof(float)*3);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_LEN);
+#endif
+
+    msg->msgid = MAVLINK_MSG_ID_VK_EXT_VISION_FUSION;
+    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_MIN_LEN, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_LEN, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_CRC);
+}
+
+/**
+ * @brief Pack a vk_ext_vision_fusion message
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param status MAVLink status structure
+ * @param msg The MAVLink message to compress the data into
+ *
+ * @param timestamp [ms] timestamp from system boot
+ * @param pos_frd [m] position in vision frd frame
+ * @param vel_frd [m/s] velocity in vision frd frame
+ * @param Q_g  attitude quaternion by FRD_NED 
+ * @param lat  latitidue
+ * @param lon  longitude
+ * @param alt_amsl  amsl latitidue
+ * @param hR  relative altitude
+ * @param vel_ned [m/s] velocity in NED frame
+ * @param bias_acc [m/s/s] acceleration bias in body XYZ
+ * @param bias_gyr [rad/s] gyroscope bias in body XYZ
+ * @param cov_att [rad] attitude covariance
+ * @param cov_pos [m] position covariance
+ * @param cov_vel [m/s] 
+ * @param unhealthy  unhealthy flag
+ * @param flag  work status flag
+ * @param reset_cnt   reset count
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_vk_ext_vision_fusion_pack_status(uint8_t system_id, uint8_t component_id, mavlink_status_t *_status, mavlink_message_t* msg,
+                               uint32_t timestamp, const float *pos_frd, const float *vel_frd, const float *Q_g, int32_t lat, int32_t lon, float alt_amsl, float hR, const float *vel_ned, const float *bias_acc, const float *bias_gyr, const float *cov_att, const float *cov_pos, const float *cov_vel, uint8_t unhealthy, uint8_t flag, uint8_t reset_cnt)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    char buf[MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_LEN];
+    _mav_put_uint32_t(buf, 0, timestamp);
+    _mav_put_int32_t(buf, 44, lat);
+    _mav_put_int32_t(buf, 48, lon);
+    _mav_put_float(buf, 52, alt_amsl);
+    _mav_put_float(buf, 56, hR);
+    _mav_put_uint8_t(buf, 132, unhealthy);
+    _mav_put_uint8_t(buf, 133, flag);
+    _mav_put_uint8_t(buf, 134, reset_cnt);
+    _mav_put_float_array(buf, 4, pos_frd, 3);
+    _mav_put_float_array(buf, 16, vel_frd, 3);
+    _mav_put_float_array(buf, 28, Q_g, 4);
+    _mav_put_float_array(buf, 60, vel_ned, 3);
+    _mav_put_float_array(buf, 72, bias_acc, 3);
+    _mav_put_float_array(buf, 84, bias_gyr, 3);
+    _mav_put_float_array(buf, 96, cov_att, 3);
+    _mav_put_float_array(buf, 108, cov_pos, 3);
+    _mav_put_float_array(buf, 120, cov_vel, 3);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_LEN);
+#else
+    mavlink_vk_ext_vision_fusion_t packet;
+    packet.timestamp = timestamp;
+    packet.lat = lat;
+    packet.lon = lon;
+    packet.alt_amsl = alt_amsl;
+    packet.hR = hR;
+    packet.unhealthy = unhealthy;
+    packet.flag = flag;
+    packet.reset_cnt = reset_cnt;
+    mav_array_memcpy(packet.pos_frd, pos_frd, sizeof(float)*3);
+    mav_array_memcpy(packet.vel_frd, vel_frd, sizeof(float)*3);
+    mav_array_memcpy(packet.Q_g, Q_g, sizeof(float)*4);
+    mav_array_memcpy(packet.vel_ned, vel_ned, sizeof(float)*3);
+    mav_array_memcpy(packet.bias_acc, bias_acc, sizeof(float)*3);
+    mav_array_memcpy(packet.bias_gyr, bias_gyr, sizeof(float)*3);
+    mav_array_memcpy(packet.cov_att, cov_att, sizeof(float)*3);
+    mav_array_memcpy(packet.cov_pos, cov_pos, sizeof(float)*3);
+    mav_array_memcpy(packet.cov_vel, cov_vel, sizeof(float)*3);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_LEN);
+#endif
+
+    msg->msgid = MAVLINK_MSG_ID_VK_EXT_VISION_FUSION;
+#if MAVLINK_CRC_EXTRA
+    return mavlink_finalize_message_buffer(msg, system_id, component_id, _status, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_MIN_LEN, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_LEN, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_CRC);
+#else
+    return mavlink_finalize_message_buffer(msg, system_id, component_id, _status, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_MIN_LEN, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_LEN);
+#endif
+}
+
+/**
+ * @brief Pack a vk_ext_vision_fusion message on a channel
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message will be sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param timestamp [ms] timestamp from system boot
+ * @param pos_frd [m] position in vision frd frame
+ * @param vel_frd [m/s] velocity in vision frd frame
+ * @param Q_g  attitude quaternion by FRD_NED 
+ * @param lat  latitidue
+ * @param lon  longitude
+ * @param alt_amsl  amsl latitidue
+ * @param hR  relative altitude
+ * @param vel_ned [m/s] velocity in NED frame
+ * @param bias_acc [m/s/s] acceleration bias in body XYZ
+ * @param bias_gyr [rad/s] gyroscope bias in body XYZ
+ * @param cov_att [rad] attitude covariance
+ * @param cov_pos [m] position covariance
+ * @param cov_vel [m/s] 
+ * @param unhealthy  unhealthy flag
+ * @param flag  work status flag
+ * @param reset_cnt   reset count
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_vk_ext_vision_fusion_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+                               mavlink_message_t* msg,
+                                   uint32_t timestamp,const float *pos_frd,const float *vel_frd,const float *Q_g,int32_t lat,int32_t lon,float alt_amsl,float hR,const float *vel_ned,const float *bias_acc,const float *bias_gyr,const float *cov_att,const float *cov_pos,const float *cov_vel,uint8_t unhealthy,uint8_t flag,uint8_t reset_cnt)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    char buf[MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_LEN];
+    _mav_put_uint32_t(buf, 0, timestamp);
+    _mav_put_int32_t(buf, 44, lat);
+    _mav_put_int32_t(buf, 48, lon);
+    _mav_put_float(buf, 52, alt_amsl);
+    _mav_put_float(buf, 56, hR);
+    _mav_put_uint8_t(buf, 132, unhealthy);
+    _mav_put_uint8_t(buf, 133, flag);
+    _mav_put_uint8_t(buf, 134, reset_cnt);
+    _mav_put_float_array(buf, 4, pos_frd, 3);
+    _mav_put_float_array(buf, 16, vel_frd, 3);
+    _mav_put_float_array(buf, 28, Q_g, 4);
+    _mav_put_float_array(buf, 60, vel_ned, 3);
+    _mav_put_float_array(buf, 72, bias_acc, 3);
+    _mav_put_float_array(buf, 84, bias_gyr, 3);
+    _mav_put_float_array(buf, 96, cov_att, 3);
+    _mav_put_float_array(buf, 108, cov_pos, 3);
+    _mav_put_float_array(buf, 120, cov_vel, 3);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_LEN);
+#else
+    mavlink_vk_ext_vision_fusion_t packet;
+    packet.timestamp = timestamp;
+    packet.lat = lat;
+    packet.lon = lon;
+    packet.alt_amsl = alt_amsl;
+    packet.hR = hR;
+    packet.unhealthy = unhealthy;
+    packet.flag = flag;
+    packet.reset_cnt = reset_cnt;
+    mav_array_memcpy(packet.pos_frd, pos_frd, sizeof(float)*3);
+    mav_array_memcpy(packet.vel_frd, vel_frd, sizeof(float)*3);
+    mav_array_memcpy(packet.Q_g, Q_g, sizeof(float)*4);
+    mav_array_memcpy(packet.vel_ned, vel_ned, sizeof(float)*3);
+    mav_array_memcpy(packet.bias_acc, bias_acc, sizeof(float)*3);
+    mav_array_memcpy(packet.bias_gyr, bias_gyr, sizeof(float)*3);
+    mav_array_memcpy(packet.cov_att, cov_att, sizeof(float)*3);
+    mav_array_memcpy(packet.cov_pos, cov_pos, sizeof(float)*3);
+    mav_array_memcpy(packet.cov_vel, cov_vel, sizeof(float)*3);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_LEN);
+#endif
+
+    msg->msgid = MAVLINK_MSG_ID_VK_EXT_VISION_FUSION;
+    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_MIN_LEN, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_LEN, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_CRC);
+}
+
+/**
+ * @brief Encode a vk_ext_vision_fusion struct
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ * @param vk_ext_vision_fusion C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_vk_ext_vision_fusion_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_vk_ext_vision_fusion_t* vk_ext_vision_fusion)
+{
+    return mavlink_msg_vk_ext_vision_fusion_pack(system_id, component_id, msg, vk_ext_vision_fusion->timestamp, vk_ext_vision_fusion->pos_frd, vk_ext_vision_fusion->vel_frd, vk_ext_vision_fusion->Q_g, vk_ext_vision_fusion->lat, vk_ext_vision_fusion->lon, vk_ext_vision_fusion->alt_amsl, vk_ext_vision_fusion->hR, vk_ext_vision_fusion->vel_ned, vk_ext_vision_fusion->bias_acc, vk_ext_vision_fusion->bias_gyr, vk_ext_vision_fusion->cov_att, vk_ext_vision_fusion->cov_pos, vk_ext_vision_fusion->cov_vel, vk_ext_vision_fusion->unhealthy, vk_ext_vision_fusion->flag, vk_ext_vision_fusion->reset_cnt);
+}
+
+/**
+ * @brief Encode a vk_ext_vision_fusion struct on a channel
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message will be sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param vk_ext_vision_fusion C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_vk_ext_vision_fusion_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_vk_ext_vision_fusion_t* vk_ext_vision_fusion)
+{
+    return mavlink_msg_vk_ext_vision_fusion_pack_chan(system_id, component_id, chan, msg, vk_ext_vision_fusion->timestamp, vk_ext_vision_fusion->pos_frd, vk_ext_vision_fusion->vel_frd, vk_ext_vision_fusion->Q_g, vk_ext_vision_fusion->lat, vk_ext_vision_fusion->lon, vk_ext_vision_fusion->alt_amsl, vk_ext_vision_fusion->hR, vk_ext_vision_fusion->vel_ned, vk_ext_vision_fusion->bias_acc, vk_ext_vision_fusion->bias_gyr, vk_ext_vision_fusion->cov_att, vk_ext_vision_fusion->cov_pos, vk_ext_vision_fusion->cov_vel, vk_ext_vision_fusion->unhealthy, vk_ext_vision_fusion->flag, vk_ext_vision_fusion->reset_cnt);
+}
+
+/**
+ * @brief Encode a vk_ext_vision_fusion struct with provided status structure
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param status MAVLink status structure
+ * @param msg The MAVLink message to compress the data into
+ * @param vk_ext_vision_fusion C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_vk_ext_vision_fusion_encode_status(uint8_t system_id, uint8_t component_id, mavlink_status_t* _status, mavlink_message_t* msg, const mavlink_vk_ext_vision_fusion_t* vk_ext_vision_fusion)
+{
+    return mavlink_msg_vk_ext_vision_fusion_pack_status(system_id, component_id, _status, msg,  vk_ext_vision_fusion->timestamp, vk_ext_vision_fusion->pos_frd, vk_ext_vision_fusion->vel_frd, vk_ext_vision_fusion->Q_g, vk_ext_vision_fusion->lat, vk_ext_vision_fusion->lon, vk_ext_vision_fusion->alt_amsl, vk_ext_vision_fusion->hR, vk_ext_vision_fusion->vel_ned, vk_ext_vision_fusion->bias_acc, vk_ext_vision_fusion->bias_gyr, vk_ext_vision_fusion->cov_att, vk_ext_vision_fusion->cov_pos, vk_ext_vision_fusion->cov_vel, vk_ext_vision_fusion->unhealthy, vk_ext_vision_fusion->flag, vk_ext_vision_fusion->reset_cnt);
+}
+
+/**
+ * @brief Send a vk_ext_vision_fusion message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param timestamp [ms] timestamp from system boot
+ * @param pos_frd [m] position in vision frd frame
+ * @param vel_frd [m/s] velocity in vision frd frame
+ * @param Q_g  attitude quaternion by FRD_NED 
+ * @param lat  latitidue
+ * @param lon  longitude
+ * @param alt_amsl  amsl latitidue
+ * @param hR  relative altitude
+ * @param vel_ned [m/s] velocity in NED frame
+ * @param bias_acc [m/s/s] acceleration bias in body XYZ
+ * @param bias_gyr [rad/s] gyroscope bias in body XYZ
+ * @param cov_att [rad] attitude covariance
+ * @param cov_pos [m] position covariance
+ * @param cov_vel [m/s] 
+ * @param unhealthy  unhealthy flag
+ * @param flag  work status flag
+ * @param reset_cnt   reset count
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_vk_ext_vision_fusion_send(mavlink_channel_t chan, uint32_t timestamp, const float *pos_frd, const float *vel_frd, const float *Q_g, int32_t lat, int32_t lon, float alt_amsl, float hR, const float *vel_ned, const float *bias_acc, const float *bias_gyr, const float *cov_att, const float *cov_pos, const float *cov_vel, uint8_t unhealthy, uint8_t flag, uint8_t reset_cnt)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    char buf[MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_LEN];
+    _mav_put_uint32_t(buf, 0, timestamp);
+    _mav_put_int32_t(buf, 44, lat);
+    _mav_put_int32_t(buf, 48, lon);
+    _mav_put_float(buf, 52, alt_amsl);
+    _mav_put_float(buf, 56, hR);
+    _mav_put_uint8_t(buf, 132, unhealthy);
+    _mav_put_uint8_t(buf, 133, flag);
+    _mav_put_uint8_t(buf, 134, reset_cnt);
+    _mav_put_float_array(buf, 4, pos_frd, 3);
+    _mav_put_float_array(buf, 16, vel_frd, 3);
+    _mav_put_float_array(buf, 28, Q_g, 4);
+    _mav_put_float_array(buf, 60, vel_ned, 3);
+    _mav_put_float_array(buf, 72, bias_acc, 3);
+    _mav_put_float_array(buf, 84, bias_gyr, 3);
+    _mav_put_float_array(buf, 96, cov_att, 3);
+    _mav_put_float_array(buf, 108, cov_pos, 3);
+    _mav_put_float_array(buf, 120, cov_vel, 3);
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION, buf, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_MIN_LEN, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_LEN, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_CRC);
+#else
+    mavlink_vk_ext_vision_fusion_t packet;
+    packet.timestamp = timestamp;
+    packet.lat = lat;
+    packet.lon = lon;
+    packet.alt_amsl = alt_amsl;
+    packet.hR = hR;
+    packet.unhealthy = unhealthy;
+    packet.flag = flag;
+    packet.reset_cnt = reset_cnt;
+    mav_array_memcpy(packet.pos_frd, pos_frd, sizeof(float)*3);
+    mav_array_memcpy(packet.vel_frd, vel_frd, sizeof(float)*3);
+    mav_array_memcpy(packet.Q_g, Q_g, sizeof(float)*4);
+    mav_array_memcpy(packet.vel_ned, vel_ned, sizeof(float)*3);
+    mav_array_memcpy(packet.bias_acc, bias_acc, sizeof(float)*3);
+    mav_array_memcpy(packet.bias_gyr, bias_gyr, sizeof(float)*3);
+    mav_array_memcpy(packet.cov_att, cov_att, sizeof(float)*3);
+    mav_array_memcpy(packet.cov_pos, cov_pos, sizeof(float)*3);
+    mav_array_memcpy(packet.cov_vel, cov_vel, sizeof(float)*3);
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION, (const char *)&packet, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_MIN_LEN, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_LEN, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_CRC);
+#endif
+}
+
+/**
+ * @brief Send a vk_ext_vision_fusion message
+ * @param chan MAVLink channel to send the message
+ * @param struct The MAVLink struct to serialize
+ */
+static inline void mavlink_msg_vk_ext_vision_fusion_send_struct(mavlink_channel_t chan, const mavlink_vk_ext_vision_fusion_t* vk_ext_vision_fusion)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    mavlink_msg_vk_ext_vision_fusion_send(chan, vk_ext_vision_fusion->timestamp, vk_ext_vision_fusion->pos_frd, vk_ext_vision_fusion->vel_frd, vk_ext_vision_fusion->Q_g, vk_ext_vision_fusion->lat, vk_ext_vision_fusion->lon, vk_ext_vision_fusion->alt_amsl, vk_ext_vision_fusion->hR, vk_ext_vision_fusion->vel_ned, vk_ext_vision_fusion->bias_acc, vk_ext_vision_fusion->bias_gyr, vk_ext_vision_fusion->cov_att, vk_ext_vision_fusion->cov_pos, vk_ext_vision_fusion->cov_vel, vk_ext_vision_fusion->unhealthy, vk_ext_vision_fusion->flag, vk_ext_vision_fusion->reset_cnt);
+#else
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION, (const char *)vk_ext_vision_fusion, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_MIN_LEN, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_LEN, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_CRC);
+#endif
+}
+
+#if MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_LEN <= MAVLINK_MAX_PAYLOAD_LEN
+/*
+  This variant of _send() can be used to save stack space by re-using
+  memory from the receive buffer.  The caller provides a
+  mavlink_message_t which is the size of a full mavlink message. This
+  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_ext_vision_fusion_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint32_t timestamp, const float *pos_frd, const float *vel_frd, const float *Q_g, int32_t lat, int32_t lon, float alt_amsl, float hR, const float *vel_ned, const float *bias_acc, const float *bias_gyr, const float *cov_att, const float *cov_pos, const float *cov_vel, uint8_t unhealthy, uint8_t flag, uint8_t reset_cnt)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    char *buf = (char *)msgbuf;
+    _mav_put_uint32_t(buf, 0, timestamp);
+    _mav_put_int32_t(buf, 44, lat);
+    _mav_put_int32_t(buf, 48, lon);
+    _mav_put_float(buf, 52, alt_amsl);
+    _mav_put_float(buf, 56, hR);
+    _mav_put_uint8_t(buf, 132, unhealthy);
+    _mav_put_uint8_t(buf, 133, flag);
+    _mav_put_uint8_t(buf, 134, reset_cnt);
+    _mav_put_float_array(buf, 4, pos_frd, 3);
+    _mav_put_float_array(buf, 16, vel_frd, 3);
+    _mav_put_float_array(buf, 28, Q_g, 4);
+    _mav_put_float_array(buf, 60, vel_ned, 3);
+    _mav_put_float_array(buf, 72, bias_acc, 3);
+    _mav_put_float_array(buf, 84, bias_gyr, 3);
+    _mav_put_float_array(buf, 96, cov_att, 3);
+    _mav_put_float_array(buf, 108, cov_pos, 3);
+    _mav_put_float_array(buf, 120, cov_vel, 3);
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION, buf, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_MIN_LEN, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_LEN, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_CRC);
+#else
+    mavlink_vk_ext_vision_fusion_t *packet = (mavlink_vk_ext_vision_fusion_t *)msgbuf;
+    packet->timestamp = timestamp;
+    packet->lat = lat;
+    packet->lon = lon;
+    packet->alt_amsl = alt_amsl;
+    packet->hR = hR;
+    packet->unhealthy = unhealthy;
+    packet->flag = flag;
+    packet->reset_cnt = reset_cnt;
+    mav_array_memcpy(packet->pos_frd, pos_frd, sizeof(float)*3);
+    mav_array_memcpy(packet->vel_frd, vel_frd, sizeof(float)*3);
+    mav_array_memcpy(packet->Q_g, Q_g, sizeof(float)*4);
+    mav_array_memcpy(packet->vel_ned, vel_ned, sizeof(float)*3);
+    mav_array_memcpy(packet->bias_acc, bias_acc, sizeof(float)*3);
+    mav_array_memcpy(packet->bias_gyr, bias_gyr, sizeof(float)*3);
+    mav_array_memcpy(packet->cov_att, cov_att, sizeof(float)*3);
+    mav_array_memcpy(packet->cov_pos, cov_pos, sizeof(float)*3);
+    mav_array_memcpy(packet->cov_vel, cov_vel, sizeof(float)*3);
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION, (const char *)packet, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_MIN_LEN, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_LEN, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_CRC);
+#endif
+}
+#endif
+
+#endif
+
+// MESSAGE VK_EXT_VISION_FUSION UNPACKING
+
+
+/**
+ * @brief Get field timestamp from vk_ext_vision_fusion message
+ *
+ * @return [ms] timestamp from system boot
+ */
+static inline uint32_t mavlink_msg_vk_ext_vision_fusion_get_timestamp(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_uint32_t(msg,  0);
+}
+
+/**
+ * @brief Get field pos_frd from vk_ext_vision_fusion message
+ *
+ * @return [m] position in vision frd frame
+ */
+static inline uint16_t mavlink_msg_vk_ext_vision_fusion_get_pos_frd(const mavlink_message_t* msg, float *pos_frd)
+{
+    return _MAV_RETURN_float_array(msg, pos_frd, 3,  4);
+}
+
+/**
+ * @brief Get field vel_frd from vk_ext_vision_fusion message
+ *
+ * @return [m/s] velocity in vision frd frame
+ */
+static inline uint16_t mavlink_msg_vk_ext_vision_fusion_get_vel_frd(const mavlink_message_t* msg, float *vel_frd)
+{
+    return _MAV_RETURN_float_array(msg, vel_frd, 3,  16);
+}
+
+/**
+ * @brief Get field Q_g from vk_ext_vision_fusion message
+ *
+ * @return  attitude quaternion by FRD_NED 
+ */
+static inline uint16_t mavlink_msg_vk_ext_vision_fusion_get_Q_g(const mavlink_message_t* msg, float *Q_g)
+{
+    return _MAV_RETURN_float_array(msg, Q_g, 4,  28);
+}
+
+/**
+ * @brief Get field lat from vk_ext_vision_fusion message
+ *
+ * @return  latitidue
+ */
+static inline int32_t mavlink_msg_vk_ext_vision_fusion_get_lat(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_int32_t(msg,  44);
+}
+
+/**
+ * @brief Get field lon from vk_ext_vision_fusion message
+ *
+ * @return  longitude
+ */
+static inline int32_t mavlink_msg_vk_ext_vision_fusion_get_lon(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_int32_t(msg,  48);
+}
+
+/**
+ * @brief Get field alt_amsl from vk_ext_vision_fusion message
+ *
+ * @return  amsl latitidue
+ */
+static inline float mavlink_msg_vk_ext_vision_fusion_get_alt_amsl(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_float(msg,  52);
+}
+
+/**
+ * @brief Get field hR from vk_ext_vision_fusion message
+ *
+ * @return  relative altitude
+ */
+static inline float mavlink_msg_vk_ext_vision_fusion_get_hR(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_float(msg,  56);
+}
+
+/**
+ * @brief Get field vel_ned from vk_ext_vision_fusion message
+ *
+ * @return [m/s] velocity in NED frame
+ */
+static inline uint16_t mavlink_msg_vk_ext_vision_fusion_get_vel_ned(const mavlink_message_t* msg, float *vel_ned)
+{
+    return _MAV_RETURN_float_array(msg, vel_ned, 3,  60);
+}
+
+/**
+ * @brief Get field bias_acc from vk_ext_vision_fusion message
+ *
+ * @return [m/s/s] acceleration bias in body XYZ
+ */
+static inline uint16_t mavlink_msg_vk_ext_vision_fusion_get_bias_acc(const mavlink_message_t* msg, float *bias_acc)
+{
+    return _MAV_RETURN_float_array(msg, bias_acc, 3,  72);
+}
+
+/**
+ * @brief Get field bias_gyr from vk_ext_vision_fusion message
+ *
+ * @return [rad/s] gyroscope bias in body XYZ
+ */
+static inline uint16_t mavlink_msg_vk_ext_vision_fusion_get_bias_gyr(const mavlink_message_t* msg, float *bias_gyr)
+{
+    return _MAV_RETURN_float_array(msg, bias_gyr, 3,  84);
+}
+
+/**
+ * @brief Get field cov_att from vk_ext_vision_fusion message
+ *
+ * @return [rad] attitude covariance
+ */
+static inline uint16_t mavlink_msg_vk_ext_vision_fusion_get_cov_att(const mavlink_message_t* msg, float *cov_att)
+{
+    return _MAV_RETURN_float_array(msg, cov_att, 3,  96);
+}
+
+/**
+ * @brief Get field cov_pos from vk_ext_vision_fusion message
+ *
+ * @return [m] position covariance
+ */
+static inline uint16_t mavlink_msg_vk_ext_vision_fusion_get_cov_pos(const mavlink_message_t* msg, float *cov_pos)
+{
+    return _MAV_RETURN_float_array(msg, cov_pos, 3,  108);
+}
+
+/**
+ * @brief Get field cov_vel from vk_ext_vision_fusion message
+ *
+ * @return [m/s] 
+ */
+static inline uint16_t mavlink_msg_vk_ext_vision_fusion_get_cov_vel(const mavlink_message_t* msg, float *cov_vel)
+{
+    return _MAV_RETURN_float_array(msg, cov_vel, 3,  120);
+}
+
+/**
+ * @brief Get field unhealthy from vk_ext_vision_fusion message
+ *
+ * @return  unhealthy flag
+ */
+static inline uint8_t mavlink_msg_vk_ext_vision_fusion_get_unhealthy(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_uint8_t(msg,  132);
+}
+
+/**
+ * @brief Get field flag from vk_ext_vision_fusion message
+ *
+ * @return  work status flag
+ */
+static inline uint8_t mavlink_msg_vk_ext_vision_fusion_get_flag(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_uint8_t(msg,  133);
+}
+
+/**
+ * @brief Get field reset_cnt from vk_ext_vision_fusion message
+ *
+ * @return   reset count
+ */
+static inline uint8_t mavlink_msg_vk_ext_vision_fusion_get_reset_cnt(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_uint8_t(msg,  134);
+}
+
+/**
+ * @brief Decode a vk_ext_vision_fusion message into a struct
+ *
+ * @param msg The message to decode
+ * @param vk_ext_vision_fusion C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_vk_ext_vision_fusion_decode(const mavlink_message_t* msg, mavlink_vk_ext_vision_fusion_t* vk_ext_vision_fusion)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    vk_ext_vision_fusion->timestamp = mavlink_msg_vk_ext_vision_fusion_get_timestamp(msg);
+    mavlink_msg_vk_ext_vision_fusion_get_pos_frd(msg, vk_ext_vision_fusion->pos_frd);
+    mavlink_msg_vk_ext_vision_fusion_get_vel_frd(msg, vk_ext_vision_fusion->vel_frd);
+    mavlink_msg_vk_ext_vision_fusion_get_Q_g(msg, vk_ext_vision_fusion->Q_g);
+    vk_ext_vision_fusion->lat = mavlink_msg_vk_ext_vision_fusion_get_lat(msg);
+    vk_ext_vision_fusion->lon = mavlink_msg_vk_ext_vision_fusion_get_lon(msg);
+    vk_ext_vision_fusion->alt_amsl = mavlink_msg_vk_ext_vision_fusion_get_alt_amsl(msg);
+    vk_ext_vision_fusion->hR = mavlink_msg_vk_ext_vision_fusion_get_hR(msg);
+    mavlink_msg_vk_ext_vision_fusion_get_vel_ned(msg, vk_ext_vision_fusion->vel_ned);
+    mavlink_msg_vk_ext_vision_fusion_get_bias_acc(msg, vk_ext_vision_fusion->bias_acc);
+    mavlink_msg_vk_ext_vision_fusion_get_bias_gyr(msg, vk_ext_vision_fusion->bias_gyr);
+    mavlink_msg_vk_ext_vision_fusion_get_cov_att(msg, vk_ext_vision_fusion->cov_att);
+    mavlink_msg_vk_ext_vision_fusion_get_cov_pos(msg, vk_ext_vision_fusion->cov_pos);
+    mavlink_msg_vk_ext_vision_fusion_get_cov_vel(msg, vk_ext_vision_fusion->cov_vel);
+    vk_ext_vision_fusion->unhealthy = mavlink_msg_vk_ext_vision_fusion_get_unhealthy(msg);
+    vk_ext_vision_fusion->flag = mavlink_msg_vk_ext_vision_fusion_get_flag(msg);
+    vk_ext_vision_fusion->reset_cnt = mavlink_msg_vk_ext_vision_fusion_get_reset_cnt(msg);
+#else
+        uint8_t len = msg->len < MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_LEN? msg->len : MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_LEN;
+        memset(vk_ext_vision_fusion, 0, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_LEN);
+    memcpy(vk_ext_vision_fusion, _MAV_PAYLOAD(msg), len);
+#endif
+}

v2.0/VKFly/testsuite.h

@@ -1825,21 +1825,96 @@ static void mavlink_test_vk_cacc_manager_verify(uint8_t system_id, uint8_t compo
 #endif
 }
 
-static void mavlink_test_fmub_status(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+static void mavlink_test_vk_ext_vision_fusion(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
 {
 #ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
     mavlink_status_t *status = mavlink_get_channel_status(MAVLINK_COMM_0);
-        if ((status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) && MAVLINK_MSG_ID_FMUB_STATUS >= 256) {
+        if ((status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) && MAVLINK_MSG_ID_VK_EXT_VISION_FUSION >= 256) {
             return;
         }
 #endif
     mavlink_message_t msg;
         uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
         uint16_t i;
-    mavlink_fmub_status_t packet_in = {
+    mavlink_vk_ext_vision_fusion_t packet_in = {
+        963497464,{ 45.0, 46.0, 47.0 },{ 129.0, 130.0, 131.0 },{ 213.0, 214.0, 215.0, 216.0 },963499752,963499960,381.0,409.0,{ 437.0, 438.0, 439.0 },{ 521.0, 522.0, 523.0 },{ 605.0, 606.0, 607.0 },{ 689.0, 690.0, 691.0 },{ 773.0, 774.0, 775.0 },{ 857.0, 858.0, 859.0 },145,212,23
+    };
+    mavlink_vk_ext_vision_fusion_t packet1, packet2;
+        memset(&packet1, 0, sizeof(packet1));
+        packet1.timestamp = packet_in.timestamp;
+        packet1.lat = packet_in.lat;
+        packet1.lon = packet_in.lon;
+        packet1.alt_amsl = packet_in.alt_amsl;
+        packet1.hR = packet_in.hR;
+        packet1.unhealthy = packet_in.unhealthy;
+        packet1.flag = packet_in.flag;
+        packet1.reset_cnt = packet_in.reset_cnt;
+        
+        mav_array_memcpy(packet1.pos_frd, packet_in.pos_frd, sizeof(float)*3);
+        mav_array_memcpy(packet1.vel_frd, packet_in.vel_frd, sizeof(float)*3);
+        mav_array_memcpy(packet1.Q_g, packet_in.Q_g, sizeof(float)*4);
+        mav_array_memcpy(packet1.vel_ned, packet_in.vel_ned, sizeof(float)*3);
+        mav_array_memcpy(packet1.bias_acc, packet_in.bias_acc, sizeof(float)*3);
+        mav_array_memcpy(packet1.bias_gyr, packet_in.bias_gyr, sizeof(float)*3);
+        mav_array_memcpy(packet1.cov_att, packet_in.cov_att, sizeof(float)*3);
+        mav_array_memcpy(packet1.cov_pos, packet_in.cov_pos, sizeof(float)*3);
+        mav_array_memcpy(packet1.cov_vel, packet_in.cov_vel, sizeof(float)*3);
+        
+#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
+        if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
+           // cope with extensions
+           memset(MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_MIN_LEN);
+        }
+#endif
+        memset(&packet2, 0, sizeof(packet2));
+    mavlink_msg_vk_ext_vision_fusion_encode(system_id, component_id, &msg, &packet1);
+    mavlink_msg_vk_ext_vision_fusion_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+    mavlink_msg_vk_ext_vision_fusion_pack(system_id, component_id, &msg , packet1.timestamp , packet1.pos_frd , packet1.vel_frd , packet1.Q_g , packet1.lat , packet1.lon , packet1.alt_amsl , packet1.hR , packet1.vel_ned , packet1.bias_acc , packet1.bias_gyr , packet1.cov_att , packet1.cov_pos , packet1.cov_vel , packet1.unhealthy , packet1.flag , packet1.reset_cnt );
+    mavlink_msg_vk_ext_vision_fusion_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+    mavlink_msg_vk_ext_vision_fusion_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.timestamp , packet1.pos_frd , packet1.vel_frd , packet1.Q_g , packet1.lat , packet1.lon , packet1.alt_amsl , packet1.hR , packet1.vel_ned , packet1.bias_acc , packet1.bias_gyr , packet1.cov_att , packet1.cov_pos , packet1.cov_vel , packet1.unhealthy , packet1.flag , packet1.reset_cnt );
+    mavlink_msg_vk_ext_vision_fusion_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+        mavlink_msg_to_send_buffer(buffer, &msg);
+        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
+            comm_send_ch(MAVLINK_COMM_0, buffer[i]);
+        }
+    mavlink_msg_vk_ext_vision_fusion_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+        
+        memset(&packet2, 0, sizeof(packet2));
+    mavlink_msg_vk_ext_vision_fusion_send(MAVLINK_COMM_1 , packet1.timestamp , packet1.pos_frd , packet1.vel_frd , packet1.Q_g , packet1.lat , packet1.lon , packet1.alt_amsl , packet1.hR , packet1.vel_ned , packet1.bias_acc , packet1.bias_gyr , packet1.cov_att , packet1.cov_pos , packet1.cov_vel , packet1.unhealthy , packet1.flag , packet1.reset_cnt );
+    mavlink_msg_vk_ext_vision_fusion_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+#ifdef MAVLINK_HAVE_GET_MESSAGE_INFO
+    MAVLINK_ASSERT(mavlink_get_message_info_by_name("VK_EXT_VISION_FUSION") != NULL);
+    MAVLINK_ASSERT(mavlink_get_message_info_by_id(MAVLINK_MSG_ID_VK_EXT_VISION_FUSION) != NULL);
+#endif
+}
+
+static void mavlink_test_kmub_status(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
+    mavlink_status_t *status = mavlink_get_channel_status(MAVLINK_COMM_0);
+        if ((status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) && MAVLINK_MSG_ID_kMUB_STATUS >= 256) {
+            return;
+        }
+#endif
+    mavlink_message_t msg;
+        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+        uint16_t i;
+    mavlink_kmub_status_t packet_in = {
         963497464,45.0,73.0,101.0,129.0,157.0,185.0,213.0,241.0,269.0,297.0,325.0,353.0,963500168,963500376,437.0,963500792,963501000,20979,99,166
     };
-    mavlink_fmub_status_t packet1, packet2;
+    mavlink_kmub_status_t packet1, packet2;
         memset(&packet1, 0, sizeof(packet1));
         packet1.timestamp = packet_in.timestamp;
         packet1.roll = packet_in.roll;
@@ -1867,22 +1942,22 @@ static void mavlink_test_fmub_status(uint8_t system_id, uint8_t component_id, ma
 #ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
         if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
            // cope with extensions
-           memset(MAVLINK_MSG_ID_FMUB_STATUS_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_FMUB_STATUS_MIN_LEN);
+           memset(MAVLINK_MSG_ID_kMUB_STATUS_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_kMUB_STATUS_MIN_LEN);
         }
 #endif
         memset(&packet2, 0, sizeof(packet2));
-    mavlink_msg_fmub_status_encode(system_id, component_id, &msg, &packet1);
-    mavlink_msg_fmub_status_decode(&msg, &packet2);
+    mavlink_msg_kmub_status_encode(system_id, component_id, &msg, &packet1);
+    mavlink_msg_kmub_status_decode(&msg, &packet2);
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 
         memset(&packet2, 0, sizeof(packet2));
-    mavlink_msg_fmub_status_pack(system_id, component_id, &msg , packet1.timestamp , packet1.roll , packet1.pitch , packet1.yaw , packet1.vn , packet1.ve , packet1.vd , packet1.ax , packet1.ay , packet1.az , packet1.gx , packet1.gy , packet1.gz , packet1.lat , packet1.lon , packet1.amsl , packet1.ins_status , packet1.ins_flag , packet1.throttle , packet1.flight_mode , packet1.btake_status );
-    mavlink_msg_fmub_status_decode(&msg, &packet2);
+    mavlink_msg_kmub_status_pack(system_id, component_id, &msg , packet1.timestamp , packet1.roll , packet1.pitch , packet1.yaw , packet1.vn , packet1.ve , packet1.vd , packet1.ax , packet1.ay , packet1.az , packet1.gx , packet1.gy , packet1.gz , packet1.lat , packet1.lon , packet1.amsl , packet1.ins_status , packet1.ins_flag , packet1.throttle , packet1.flight_mode , packet1.btake_status );
+    mavlink_msg_kmub_status_decode(&msg, &packet2);
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 
         memset(&packet2, 0, sizeof(packet2));
-    mavlink_msg_fmub_status_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.timestamp , packet1.roll , packet1.pitch , packet1.yaw , packet1.vn , packet1.ve , packet1.vd , packet1.ax , packet1.ay , packet1.az , packet1.gx , packet1.gy , packet1.gz , packet1.lat , packet1.lon , packet1.amsl , packet1.ins_status , packet1.ins_flag , packet1.throttle , packet1.flight_mode , packet1.btake_status );
-    mavlink_msg_fmub_status_decode(&msg, &packet2);
+    mavlink_msg_kmub_status_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.timestamp , packet1.roll , packet1.pitch , packet1.yaw , packet1.vn , packet1.ve , packet1.vd , packet1.ax , packet1.ay , packet1.az , packet1.gx , packet1.gy , packet1.gz , packet1.lat , packet1.lon , packet1.amsl , packet1.ins_status , packet1.ins_flag , packet1.throttle , packet1.flight_mode , packet1.btake_status );
+    mavlink_msg_kmub_status_decode(&msg, &packet2);
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 
         memset(&packet2, 0, sizeof(packet2));
@@ -1890,17 +1965,17 @@ static void mavlink_test_fmub_status(uint8_t system_id, uint8_t component_id, ma
         for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
             comm_send_ch(MAVLINK_COMM_0, buffer[i]);
         }
-    mavlink_msg_fmub_status_decode(last_msg, &packet2);
+    mavlink_msg_kmub_status_decode(last_msg, &packet2);
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
         
         memset(&packet2, 0, sizeof(packet2));
-    mavlink_msg_fmub_status_send(MAVLINK_COMM_1 , packet1.timestamp , packet1.roll , packet1.pitch , packet1.yaw , packet1.vn , packet1.ve , packet1.vd , packet1.ax , packet1.ay , packet1.az , packet1.gx , packet1.gy , packet1.gz , packet1.lat , packet1.lon , packet1.amsl , packet1.ins_status , packet1.ins_flag , packet1.throttle , packet1.flight_mode , packet1.btake_status );
-    mavlink_msg_fmub_status_decode(last_msg, &packet2);
+    mavlink_msg_kmub_status_send(MAVLINK_COMM_1 , packet1.timestamp , packet1.roll , packet1.pitch , packet1.yaw , packet1.vn , packet1.ve , packet1.vd , packet1.ax , packet1.ay , packet1.az , packet1.gx , packet1.gy , packet1.gz , packet1.lat , packet1.lon , packet1.amsl , packet1.ins_status , packet1.ins_flag , packet1.throttle , packet1.flight_mode , packet1.btake_status );
+    mavlink_msg_kmub_status_decode(last_msg, &packet2);
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 
 #ifdef MAVLINK_HAVE_GET_MESSAGE_INFO
-    MAVLINK_ASSERT(mavlink_get_message_info_by_name("FMUB_STATUS") != NULL);
-    MAVLINK_ASSERT(mavlink_get_message_info_by_id(MAVLINK_MSG_ID_FMUB_STATUS) != NULL);
+    MAVLINK_ASSERT(mavlink_get_message_info_by_name("kMUB_STATUS") != NULL);
+    MAVLINK_ASSERT(mavlink_get_message_info_by_id(MAVLINK_MSG_ID_kMUB_STATUS) != NULL);
 #endif
 }
 
@@ -2014,7 +2089,8 @@ static void mavlink_test_VKFly(uint8_t system_id, uint8_t component_id, mavlink_
     mavlink_test_vk_fw_update_data(system_id, component_id, last_msg);
     mavlink_test_vk_update_terminate(system_id, component_id, last_msg);
     mavlink_test_vk_cacc_manager_verify(system_id, component_id, last_msg);
-    mavlink_test_fmub_status(system_id, component_id, last_msg);
+    mavlink_test_vk_ext_vision_fusion(system_id, component_id, last_msg);
+    mavlink_test_kmub_status(system_id, component_id, last_msg);
     mavlink_test_qingxie_bms(system_id, component_id, last_msg);
 }
 

v2.0/VKFly/version.h

@@ -7,7 +7,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Tue Jun 02 2026"
+#define MAVLINK_BUILD_DATE "Sun Jul 05 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 -3278988540419237606
+#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 -3278988540419237606
+#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 Jun 02 2026"
+#define MAVLINK_BUILD_DATE "Sun Jul 05 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 17446188318974926
+#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 17446188318974926
+#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 Jun 02 2026"
+#define MAVLINK_BUILD_DATE "Sun Jul 05 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 9120061021025250788
+#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 9120061021025250788
+#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 Jun 02 2026"
+#define MAVLINK_BUILD_DATE "Sun Jul 05 2026"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 22