添加yiku索降器控制指令

msg_definitions/VKFly.xml

@@ -950,6 +950,19 @@
         <param index="6" label=""></param>
         <param index="7" label=""></param>
       </entry>
+      <entry value="44074" name="VKFLY_CMD_YIKU_DESCENDER" hasLocation="false" 
+        isDestination="false">
+        <description>descender ctl</description>
+        <param index="1" label="act_option">NAN means invalid. 0 means safe_state_switch
+           1 means direct act,2 means mode act</param>
+        <param index="2" label="safe_state">NAN means invalid. 0 means safe_state off 
+           1 means safe_state on</param>
+        <param index="3" labbel="direct act">NAN means invalid. 0 means emergency_stop
+           1 means Rope Retract to Top, 2 means Rope Extend to Bottom</param>
+        <param index="4" labbel="quick act_mode">NAN means invalid. 0 means length_ctl
+           1 means vel_ctl</param>
+        <param index="5" labbel="act_param"> NAN means invalid.</param>
+      </entry>
     </enum>
   </enums>
 

readme.md

@@ -1778,6 +1778,15 @@ param2 = (float)(颜色 + (闪烁 << 4) +(电调编号<<8))
 * param1
 1-重置全部抛投状态显示为关闭
 
+### 5.46 yiku索降器指令 VKFLY_CMD_YIKU_DESCENDER
+| 参数   | 说明                               |
+| ------ | ----------------------------------|
+| param1 | 索降器控制选项，0-安全状态控制 1-direct_act 2-quick_act,NAN表示忽略 |
+| param2 | 安全状态开关,仅在控制选项为0时有效,0-关闭 1-开启,其余控制选项时该参数为NAN|
+| param3 | direct_act选项,仅在控制选项为1时有效，0-紧急停止 1-上升到顶 2下降到底,其余控制选项该参数为NAN|
+| param4 | quick_act_mode选项,仅在控制选项为2时有效,指定当前控制模式,0为长度控制,1为速度控制,其余控制选项该参数为NAN|
+| param5 | quick_act_param参数,仅在控制选项为2且ctl_mode非NAN时有效,ctl_mode为0时进行长度控制，范围为[0,3000],单位为cm,ctl_mode为1时进行速度控制，范围为[-34,34],单位为cm/s,其余控制选项该参数为NAN|
+
 ## 6 飞控数据 LOG 读取
 
 ### 6.1 获取日志列表

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 8972644096136702068
+#define MAVLINK_VKFLY_XML_HASH -800713203861603366
 
 #ifdef __cplusplus
 extern "C" {
@@ -784,7 +784,12 @@ 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_YIKU_DESCENDER=44074, /* descender ctl |NAN means invalid. 0 means safe_state_switch
+           1 means direct act,2 means mode act| NAN means invalid. 0 means safe_state off 
+           1 means safe_state on| NAN means invalid. 0 means emergency_stop
+           1 means Rope Retract to Top, 2 means Rope Extend to Bottom| NAN means invalid. 0 means length_ctl
+           1 means vel_ctl|  NAN means invalid.| Reserved (default:0)| Reserved (default:0)|  */
+   MAV_CMD_ENUM_END=44075, /*  | */
 } MAV_CMD;
 #endif
 

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 -800713203861603366
 
 #ifndef MAVLINK_STX
 #define MAVLINK_STX 253

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 "Sat Jun 27 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 -6655277522327010820
 
 #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 -6655277522327010820
 
 #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 "Sat Jun 27 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 -5586952877496323009
 
 #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 -5586952877496323009
 
 #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 "Sat Jun 27 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 -493188078492495611
 
 #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 -493188078492495611
 
 #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 "Sat Jun 27 2026"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 22