添加外部制导命令

msg_definitions/VKFly.xml

@@ -1323,7 +1323,25 @@
       <field type="uint16_t" name="total_runtime" units="dh"></field>
     </message>
 
-
+    <message id="53301" name="VK_ATTITUDE_GLOBAL_POSITION_INT">
+      <field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
+      <field type="float" name="roll" units="rad">Roll angle (-pi..+pi)</field>
+      <field type="float" name="pitch" units="rad">Pitch angle (-pi..+pi)</field>
+      <field type="float" name="yaw" units="rad">Yaw angle (-pi..+pi)</field>
+      <field type="float" name="rollspeed" units="rad/s">Roll angular speed</field>
+      <field type="float" name="pitchspeed" units="rad/s">Pitch angular speed</field>
+      <field type="float" name="yawspeed" units="rad/s">Yaw angular speed</field>
+      <field type="int32_t" name="lat" units="degE7">Latitude, expressed</field>
+      <field type="int32_t" name="lon" units="degE7">Longitude, expressed</field>
+      <field type="int32_t" name="alt" units="mm">Altitude (MSL). Note that virtually all GPS modules provide both WGS84 and MSL.</field>
+      <field type="int32_t" name="relative_alt" units="mm">Altitude above ground</field>
+      <field type="int16_t" name="vx" units="cm/s">Ground X Speed (Latitude, positive north)</field>
+      <field type="int16_t" name="vy" units="cm/s">Ground Y Speed (Longitude, positive east)</field>
+      <field type="int16_t" name="vz" units="cm/s">Ground Z Speed (Altitude, positive down)</field>
+      <field type="int16_t" name="ax" units="cm/s^2">Ground X acceleration (Latitude, positive north)</field>
+      <field type="int16_t" name="ay" units="cm/s^2">Ground Y acceleration (Longitude, positive east)</field>
+      <field type="int16_t" name="az" units="cm/s^2">Ground Z acceleration (Altitude, positive down)</field>
+    </message>
   </messages>
 
 </mavlink>

v2.0/VKFly/mavlink.h

@@ -6,7 +6,7 @@
 #ifndef MAVLINK_H
 #define MAVLINK_H
 
-#define MAVLINK_PRIMARY_XML_HASH 2989708805911485893
+#define MAVLINK_PRIMARY_XML_HASH -1750297522665272878
 
 #ifndef MAVLINK_STX
 #define MAVLINK_STX 253

v2.0/VKFly/mavlink_msg_vk_attitude_global_position_int.h

@@ -0,0 +1,708 @@
+#pragma once
+// MESSAGE VK_ATTITUDE_GLOBAL_POSITION_INT PACKING
+
+#define MAVLINK_MSG_ID_VK_ATTITUDE_GLOBAL_POSITION_INT 53301
+
+
+typedef struct __mavlink_vk_attitude_global_position_int_t {
+ uint32_t time_boot_ms; /*< [ms] Timestamp (time since system boot).*/
+ float roll; /*< [rad] Roll angle (-pi..+pi)*/
+ float pitch; /*< [rad] Pitch angle (-pi..+pi)*/
+ float yaw; /*< [rad] Yaw angle (-pi..+pi)*/
+ float rollspeed; /*< [rad/s] Roll angular speed*/
+ float pitchspeed; /*< [rad/s] Pitch angular speed*/
+ float yawspeed; /*< [rad/s] Yaw angular speed*/
+ int32_t lat; /*< [degE7] Latitude, expressed*/
+ int32_t lon; /*< [degE7] Longitude, expressed*/
+ int32_t alt; /*< [mm] Altitude (MSL). Note that virtually all GPS modules provide both WGS84 and MSL.*/
+ int32_t relative_alt; /*< [mm] Altitude above ground*/
+ int16_t vx; /*< [cm/s] Ground X Speed (Latitude, positive north)*/
+ int16_t vy; /*< [cm/s] Ground Y Speed (Longitude, positive east)*/
+ int16_t vz; /*< [cm/s] Ground Z Speed (Altitude, positive down)*/
+ int16_t ax; /*< [cm/s^2] Ground X acceleration (Latitude, positive north)*/
+ int16_t ay; /*< [cm/s^2] Ground Y acceleration (Longitude, positive east)*/
+ int16_t az; /*< [cm/s^2] Ground Z acceleration (Altitude, positive down)*/
+} mavlink_vk_attitude_global_position_int_t;
+
+#define MAVLINK_MSG_ID_VK_ATTITUDE_GLOBAL_POSITION_INT_LEN 56
+#define MAVLINK_MSG_ID_VK_ATTITUDE_GLOBAL_POSITION_INT_MIN_LEN 56
+#define MAVLINK_MSG_ID_53301_LEN 56
+#define MAVLINK_MSG_ID_53301_MIN_LEN 56
+
+#define MAVLINK_MSG_ID_VK_ATTITUDE_GLOBAL_POSITION_INT_CRC 6
+#define MAVLINK_MSG_ID_53301_CRC 6
+
+
+
+#if MAVLINK_COMMAND_24BIT
+#define MAVLINK_MESSAGE_INFO_VK_ATTITUDE_GLOBAL_POSITION_INT { \
+    53301, \
+    "VK_ATTITUDE_GLOBAL_POSITION_INT", \
+    17, \
+    {  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_vk_attitude_global_position_int_t, time_boot_ms) }, \
+         { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_vk_attitude_global_position_int_t, roll) }, \
+         { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_vk_attitude_global_position_int_t, pitch) }, \
+         { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_vk_attitude_global_position_int_t, yaw) }, \
+         { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_vk_attitude_global_position_int_t, rollspeed) }, \
+         { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_vk_attitude_global_position_int_t, pitchspeed) }, \
+         { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_vk_attitude_global_position_int_t, yawspeed) }, \
+         { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 28, offsetof(mavlink_vk_attitude_global_position_int_t, lat) }, \
+         { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 32, offsetof(mavlink_vk_attitude_global_position_int_t, lon) }, \
+         { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 36, offsetof(mavlink_vk_attitude_global_position_int_t, alt) }, \
+         { "relative_alt", NULL, MAVLINK_TYPE_INT32_T, 0, 40, offsetof(mavlink_vk_attitude_global_position_int_t, relative_alt) }, \
+         { "vx", NULL, MAVLINK_TYPE_INT16_T, 0, 44, offsetof(mavlink_vk_attitude_global_position_int_t, vx) }, \
+         { "vy", NULL, MAVLINK_TYPE_INT16_T, 0, 46, offsetof(mavlink_vk_attitude_global_position_int_t, vy) }, \
+         { "vz", NULL, MAVLINK_TYPE_INT16_T, 0, 48, offsetof(mavlink_vk_attitude_global_position_int_t, vz) }, \
+         { "ax", NULL, MAVLINK_TYPE_INT16_T, 0, 50, offsetof(mavlink_vk_attitude_global_position_int_t, ax) }, \
+         { "ay", NULL, MAVLINK_TYPE_INT16_T, 0, 52, offsetof(mavlink_vk_attitude_global_position_int_t, ay) }, \
+         { "az", NULL, MAVLINK_TYPE_INT16_T, 0, 54, offsetof(mavlink_vk_attitude_global_position_int_t, az) }, \
+         } \
+}
+#else
+#define MAVLINK_MESSAGE_INFO_VK_ATTITUDE_GLOBAL_POSITION_INT { \
+    "VK_ATTITUDE_GLOBAL_POSITION_INT", \
+    17, \
+    {  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_vk_attitude_global_position_int_t, time_boot_ms) }, \
+         { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_vk_attitude_global_position_int_t, roll) }, \
+         { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_vk_attitude_global_position_int_t, pitch) }, \
+         { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_vk_attitude_global_position_int_t, yaw) }, \
+         { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_vk_attitude_global_position_int_t, rollspeed) }, \
+         { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_vk_attitude_global_position_int_t, pitchspeed) }, \
+         { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_vk_attitude_global_position_int_t, yawspeed) }, \
+         { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 28, offsetof(mavlink_vk_attitude_global_position_int_t, lat) }, \
+         { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 32, offsetof(mavlink_vk_attitude_global_position_int_t, lon) }, \
+         { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 36, offsetof(mavlink_vk_attitude_global_position_int_t, alt) }, \
+         { "relative_alt", NULL, MAVLINK_TYPE_INT32_T, 0, 40, offsetof(mavlink_vk_attitude_global_position_int_t, relative_alt) }, \
+         { "vx", NULL, MAVLINK_TYPE_INT16_T, 0, 44, offsetof(mavlink_vk_attitude_global_position_int_t, vx) }, \
+         { "vy", NULL, MAVLINK_TYPE_INT16_T, 0, 46, offsetof(mavlink_vk_attitude_global_position_int_t, vy) }, \
+         { "vz", NULL, MAVLINK_TYPE_INT16_T, 0, 48, offsetof(mavlink_vk_attitude_global_position_int_t, vz) }, \
+         { "ax", NULL, MAVLINK_TYPE_INT16_T, 0, 50, offsetof(mavlink_vk_attitude_global_position_int_t, ax) }, \
+         { "ay", NULL, MAVLINK_TYPE_INT16_T, 0, 52, offsetof(mavlink_vk_attitude_global_position_int_t, ay) }, \
+         { "az", NULL, MAVLINK_TYPE_INT16_T, 0, 54, offsetof(mavlink_vk_attitude_global_position_int_t, az) }, \
+         } \
+}
+#endif
+
+/**
+ * @brief Pack a vk_attitude_global_position_int 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 time_boot_ms [ms] Timestamp (time since system boot).
+ * @param roll [rad] Roll angle (-pi..+pi)
+ * @param pitch [rad] Pitch angle (-pi..+pi)
+ * @param yaw [rad] Yaw angle (-pi..+pi)
+ * @param rollspeed [rad/s] Roll angular speed
+ * @param pitchspeed [rad/s] Pitch angular speed
+ * @param yawspeed [rad/s] Yaw angular speed
+ * @param lat [degE7] Latitude, expressed
+ * @param lon [degE7] Longitude, expressed
+ * @param alt [mm] Altitude (MSL). Note that virtually all GPS modules provide both WGS84 and MSL.
+ * @param relative_alt [mm] Altitude above ground
+ * @param vx [cm/s] Ground X Speed (Latitude, positive north)
+ * @param vy [cm/s] Ground Y Speed (Longitude, positive east)
+ * @param vz [cm/s] Ground Z Speed (Altitude, positive down)
+ * @param ax [cm/s^2] Ground X acceleration (Latitude, positive north)
+ * @param ay [cm/s^2] Ground Y acceleration (Longitude, positive east)
+ * @param az [cm/s^2] Ground Z acceleration (Altitude, positive down)
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_vk_attitude_global_position_int_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+                               uint32_t time_boot_ms, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int32_t relative_alt, int16_t vx, int16_t vy, int16_t vz, int16_t ax, int16_t ay, int16_t az)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    char buf[MAVLINK_MSG_ID_VK_ATTITUDE_GLOBAL_POSITION_INT_LEN];
+    _mav_put_uint32_t(buf, 0, time_boot_ms);
+    _mav_put_float(buf, 4, roll);
+    _mav_put_float(buf, 8, pitch);
+    _mav_put_float(buf, 12, yaw);
+    _mav_put_float(buf, 16, rollspeed);
+    _mav_put_float(buf, 20, pitchspeed);
+    _mav_put_float(buf, 24, yawspeed);
+    _mav_put_int32_t(buf, 28, lat);
+    _mav_put_int32_t(buf, 32, lon);
+    _mav_put_int32_t(buf, 36, alt);
+    _mav_put_int32_t(buf, 40, relative_alt);
+    _mav_put_int16_t(buf, 44, vx);
+    _mav_put_int16_t(buf, 46, vy);
+    _mav_put_int16_t(buf, 48, vz);
+    _mav_put_int16_t(buf, 50, ax);
+    _mav_put_int16_t(buf, 52, ay);
+    _mav_put_int16_t(buf, 54, az);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VK_ATTITUDE_GLOBAL_POSITION_INT_LEN);
+#else
+    mavlink_vk_attitude_global_position_int_t packet;
+    packet.time_boot_ms = time_boot_ms;
+    packet.roll = roll;
+    packet.pitch = pitch;
+    packet.yaw = yaw;
+    packet.rollspeed = rollspeed;
+    packet.pitchspeed = pitchspeed;
+    packet.yawspeed = yawspeed;
+    packet.lat = lat;
+    packet.lon = lon;
+    packet.alt = alt;
+    packet.relative_alt = relative_alt;
+    packet.vx = vx;
+    packet.vy = vy;
+    packet.vz = vz;
+    packet.ax = ax;
+    packet.ay = ay;
+    packet.az = az;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VK_ATTITUDE_GLOBAL_POSITION_INT_LEN);
+#endif
+
+    msg->msgid = MAVLINK_MSG_ID_VK_ATTITUDE_GLOBAL_POSITION_INT;
+    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_VK_ATTITUDE_GLOBAL_POSITION_INT_MIN_LEN, MAVLINK_MSG_ID_VK_ATTITUDE_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_VK_ATTITUDE_GLOBAL_POSITION_INT_CRC);
+}
+
+/**
+ * @brief Pack a vk_attitude_global_position_int 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 time_boot_ms [ms] Timestamp (time since system boot).
+ * @param roll [rad] Roll angle (-pi..+pi)
+ * @param pitch [rad] Pitch angle (-pi..+pi)
+ * @param yaw [rad] Yaw angle (-pi..+pi)
+ * @param rollspeed [rad/s] Roll angular speed
+ * @param pitchspeed [rad/s] Pitch angular speed
+ * @param yawspeed [rad/s] Yaw angular speed
+ * @param lat [degE7] Latitude, expressed
+ * @param lon [degE7] Longitude, expressed
+ * @param alt [mm] Altitude (MSL). Note that virtually all GPS modules provide both WGS84 and MSL.
+ * @param relative_alt [mm] Altitude above ground
+ * @param vx [cm/s] Ground X Speed (Latitude, positive north)
+ * @param vy [cm/s] Ground Y Speed (Longitude, positive east)
+ * @param vz [cm/s] Ground Z Speed (Altitude, positive down)
+ * @param ax [cm/s^2] Ground X acceleration (Latitude, positive north)
+ * @param ay [cm/s^2] Ground Y acceleration (Longitude, positive east)
+ * @param az [cm/s^2] Ground Z acceleration (Altitude, positive down)
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_vk_attitude_global_position_int_pack_status(uint8_t system_id, uint8_t component_id, mavlink_status_t *_status, mavlink_message_t* msg,
+                               uint32_t time_boot_ms, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int32_t relative_alt, int16_t vx, int16_t vy, int16_t vz, int16_t ax, int16_t ay, int16_t az)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    char buf[MAVLINK_MSG_ID_VK_ATTITUDE_GLOBAL_POSITION_INT_LEN];
+    _mav_put_uint32_t(buf, 0, time_boot_ms);
+    _mav_put_float(buf, 4, roll);
+    _mav_put_float(buf, 8, pitch);
+    _mav_put_float(buf, 12, yaw);
+    _mav_put_float(buf, 16, rollspeed);
+    _mav_put_float(buf, 20, pitchspeed);
+    _mav_put_float(buf, 24, yawspeed);
+    _mav_put_int32_t(buf, 28, lat);
+    _mav_put_int32_t(buf, 32, lon);
+    _mav_put_int32_t(buf, 36, alt);
+    _mav_put_int32_t(buf, 40, relative_alt);
+    _mav_put_int16_t(buf, 44, vx);
+    _mav_put_int16_t(buf, 46, vy);
+    _mav_put_int16_t(buf, 48, vz);
+    _mav_put_int16_t(buf, 50, ax);
+    _mav_put_int16_t(buf, 52, ay);
+    _mav_put_int16_t(buf, 54, az);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VK_ATTITUDE_GLOBAL_POSITION_INT_LEN);
+#else
+    mavlink_vk_attitude_global_position_int_t packet;
+    packet.time_boot_ms = time_boot_ms;
+    packet.roll = roll;
+    packet.pitch = pitch;
+    packet.yaw = yaw;
+    packet.rollspeed = rollspeed;
+    packet.pitchspeed = pitchspeed;
+    packet.yawspeed = yawspeed;
+    packet.lat = lat;
+    packet.lon = lon;
+    packet.alt = alt;
+    packet.relative_alt = relative_alt;
+    packet.vx = vx;
+    packet.vy = vy;
+    packet.vz = vz;
+    packet.ax = ax;
+    packet.ay = ay;
+    packet.az = az;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VK_ATTITUDE_GLOBAL_POSITION_INT_LEN);
+#endif
+
+    msg->msgid = MAVLINK_MSG_ID_VK_ATTITUDE_GLOBAL_POSITION_INT;
+#if MAVLINK_CRC_EXTRA
+    return mavlink_finalize_message_buffer(msg, system_id, component_id, _status, MAVLINK_MSG_ID_VK_ATTITUDE_GLOBAL_POSITION_INT_MIN_LEN, MAVLINK_MSG_ID_VK_ATTITUDE_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_VK_ATTITUDE_GLOBAL_POSITION_INT_CRC);
+#else
+    return mavlink_finalize_message_buffer(msg, system_id, component_id, _status, MAVLINK_MSG_ID_VK_ATTITUDE_GLOBAL_POSITION_INT_MIN_LEN, MAVLINK_MSG_ID_VK_ATTITUDE_GLOBAL_POSITION_INT_LEN);
+#endif
+}
+
+/**
+ * @brief Pack a vk_attitude_global_position_int 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 time_boot_ms [ms] Timestamp (time since system boot).
+ * @param roll [rad] Roll angle (-pi..+pi)
+ * @param pitch [rad] Pitch angle (-pi..+pi)
+ * @param yaw [rad] Yaw angle (-pi..+pi)
+ * @param rollspeed [rad/s] Roll angular speed
+ * @param pitchspeed [rad/s] Pitch angular speed
+ * @param yawspeed [rad/s] Yaw angular speed
+ * @param lat [degE7] Latitude, expressed
+ * @param lon [degE7] Longitude, expressed
+ * @param alt [mm] Altitude (MSL). Note that virtually all GPS modules provide both WGS84 and MSL.
+ * @param relative_alt [mm] Altitude above ground
+ * @param vx [cm/s] Ground X Speed (Latitude, positive north)
+ * @param vy [cm/s] Ground Y Speed (Longitude, positive east)
+ * @param vz [cm/s] Ground Z Speed (Altitude, positive down)
+ * @param ax [cm/s^2] Ground X acceleration (Latitude, positive north)
+ * @param ay [cm/s^2] Ground Y acceleration (Longitude, positive east)
+ * @param az [cm/s^2] Ground Z acceleration (Altitude, positive down)
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_vk_attitude_global_position_int_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+                               mavlink_message_t* msg,
+                                   uint32_t time_boot_ms,float roll,float pitch,float yaw,float rollspeed,float pitchspeed,float yawspeed,int32_t lat,int32_t lon,int32_t alt,int32_t relative_alt,int16_t vx,int16_t vy,int16_t vz,int16_t ax,int16_t ay,int16_t az)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    char buf[MAVLINK_MSG_ID_VK_ATTITUDE_GLOBAL_POSITION_INT_LEN];
+    _mav_put_uint32_t(buf, 0, time_boot_ms);
+    _mav_put_float(buf, 4, roll);
+    _mav_put_float(buf, 8, pitch);
+    _mav_put_float(buf, 12, yaw);
+    _mav_put_float(buf, 16, rollspeed);
+    _mav_put_float(buf, 20, pitchspeed);
+    _mav_put_float(buf, 24, yawspeed);
+    _mav_put_int32_t(buf, 28, lat);
+    _mav_put_int32_t(buf, 32, lon);
+    _mav_put_int32_t(buf, 36, alt);
+    _mav_put_int32_t(buf, 40, relative_alt);
+    _mav_put_int16_t(buf, 44, vx);
+    _mav_put_int16_t(buf, 46, vy);
+    _mav_put_int16_t(buf, 48, vz);
+    _mav_put_int16_t(buf, 50, ax);
+    _mav_put_int16_t(buf, 52, ay);
+    _mav_put_int16_t(buf, 54, az);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VK_ATTITUDE_GLOBAL_POSITION_INT_LEN);
+#else
+    mavlink_vk_attitude_global_position_int_t packet;
+    packet.time_boot_ms = time_boot_ms;
+    packet.roll = roll;
+    packet.pitch = pitch;
+    packet.yaw = yaw;
+    packet.rollspeed = rollspeed;
+    packet.pitchspeed = pitchspeed;
+    packet.yawspeed = yawspeed;
+    packet.lat = lat;
+    packet.lon = lon;
+    packet.alt = alt;
+    packet.relative_alt = relative_alt;
+    packet.vx = vx;
+    packet.vy = vy;
+    packet.vz = vz;
+    packet.ax = ax;
+    packet.ay = ay;
+    packet.az = az;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VK_ATTITUDE_GLOBAL_POSITION_INT_LEN);
+#endif
+
+    msg->msgid = MAVLINK_MSG_ID_VK_ATTITUDE_GLOBAL_POSITION_INT;
+    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_VK_ATTITUDE_GLOBAL_POSITION_INT_MIN_LEN, MAVLINK_MSG_ID_VK_ATTITUDE_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_VK_ATTITUDE_GLOBAL_POSITION_INT_CRC);
+}
+
+/**
+ * @brief Encode a vk_attitude_global_position_int 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_attitude_global_position_int C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_vk_attitude_global_position_int_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_vk_attitude_global_position_int_t* vk_attitude_global_position_int)
+{
+    return mavlink_msg_vk_attitude_global_position_int_pack(system_id, component_id, msg, vk_attitude_global_position_int->time_boot_ms, vk_attitude_global_position_int->roll, vk_attitude_global_position_int->pitch, vk_attitude_global_position_int->yaw, vk_attitude_global_position_int->rollspeed, vk_attitude_global_position_int->pitchspeed, vk_attitude_global_position_int->yawspeed, vk_attitude_global_position_int->lat, vk_attitude_global_position_int->lon, vk_attitude_global_position_int->alt, vk_attitude_global_position_int->relative_alt, vk_attitude_global_position_int->vx, vk_attitude_global_position_int->vy, vk_attitude_global_position_int->vz, vk_attitude_global_position_int->ax, vk_attitude_global_position_int->ay, vk_attitude_global_position_int->az);
+}
+
+/**
+ * @brief Encode a vk_attitude_global_position_int 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_attitude_global_position_int C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_vk_attitude_global_position_int_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_vk_attitude_global_position_int_t* vk_attitude_global_position_int)
+{
+    return mavlink_msg_vk_attitude_global_position_int_pack_chan(system_id, component_id, chan, msg, vk_attitude_global_position_int->time_boot_ms, vk_attitude_global_position_int->roll, vk_attitude_global_position_int->pitch, vk_attitude_global_position_int->yaw, vk_attitude_global_position_int->rollspeed, vk_attitude_global_position_int->pitchspeed, vk_attitude_global_position_int->yawspeed, vk_attitude_global_position_int->lat, vk_attitude_global_position_int->lon, vk_attitude_global_position_int->alt, vk_attitude_global_position_int->relative_alt, vk_attitude_global_position_int->vx, vk_attitude_global_position_int->vy, vk_attitude_global_position_int->vz, vk_attitude_global_position_int->ax, vk_attitude_global_position_int->ay, vk_attitude_global_position_int->az);
+}
+
+/**
+ * @brief Encode a vk_attitude_global_position_int 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_attitude_global_position_int C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_vk_attitude_global_position_int_encode_status(uint8_t system_id, uint8_t component_id, mavlink_status_t* _status, mavlink_message_t* msg, const mavlink_vk_attitude_global_position_int_t* vk_attitude_global_position_int)
+{
+    return mavlink_msg_vk_attitude_global_position_int_pack_status(system_id, component_id, _status, msg,  vk_attitude_global_position_int->time_boot_ms, vk_attitude_global_position_int->roll, vk_attitude_global_position_int->pitch, vk_attitude_global_position_int->yaw, vk_attitude_global_position_int->rollspeed, vk_attitude_global_position_int->pitchspeed, vk_attitude_global_position_int->yawspeed, vk_attitude_global_position_int->lat, vk_attitude_global_position_int->lon, vk_attitude_global_position_int->alt, vk_attitude_global_position_int->relative_alt, vk_attitude_global_position_int->vx, vk_attitude_global_position_int->vy, vk_attitude_global_position_int->vz, vk_attitude_global_position_int->ax, vk_attitude_global_position_int->ay, vk_attitude_global_position_int->az);
+}
+
+/**
+ * @brief Send a vk_attitude_global_position_int message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param time_boot_ms [ms] Timestamp (time since system boot).
+ * @param roll [rad] Roll angle (-pi..+pi)
+ * @param pitch [rad] Pitch angle (-pi..+pi)
+ * @param yaw [rad] Yaw angle (-pi..+pi)
+ * @param rollspeed [rad/s] Roll angular speed
+ * @param pitchspeed [rad/s] Pitch angular speed
+ * @param yawspeed [rad/s] Yaw angular speed
+ * @param lat [degE7] Latitude, expressed
+ * @param lon [degE7] Longitude, expressed
+ * @param alt [mm] Altitude (MSL). Note that virtually all GPS modules provide both WGS84 and MSL.
+ * @param relative_alt [mm] Altitude above ground
+ * @param vx [cm/s] Ground X Speed (Latitude, positive north)
+ * @param vy [cm/s] Ground Y Speed (Longitude, positive east)
+ * @param vz [cm/s] Ground Z Speed (Altitude, positive down)
+ * @param ax [cm/s^2] Ground X acceleration (Latitude, positive north)
+ * @param ay [cm/s^2] Ground Y acceleration (Longitude, positive east)
+ * @param az [cm/s^2] Ground Z acceleration (Altitude, positive down)
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_vk_attitude_global_position_int_send(mavlink_channel_t chan, uint32_t time_boot_ms, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int32_t relative_alt, int16_t vx, int16_t vy, int16_t vz, int16_t ax, int16_t ay, int16_t az)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    char buf[MAVLINK_MSG_ID_VK_ATTITUDE_GLOBAL_POSITION_INT_LEN];
+    _mav_put_uint32_t(buf, 0, time_boot_ms);
+    _mav_put_float(buf, 4, roll);
+    _mav_put_float(buf, 8, pitch);
+    _mav_put_float(buf, 12, yaw);
+    _mav_put_float(buf, 16, rollspeed);
+    _mav_put_float(buf, 20, pitchspeed);
+    _mav_put_float(buf, 24, yawspeed);
+    _mav_put_int32_t(buf, 28, lat);
+    _mav_put_int32_t(buf, 32, lon);
+    _mav_put_int32_t(buf, 36, alt);
+    _mav_put_int32_t(buf, 40, relative_alt);
+    _mav_put_int16_t(buf, 44, vx);
+    _mav_put_int16_t(buf, 46, vy);
+    _mav_put_int16_t(buf, 48, vz);
+    _mav_put_int16_t(buf, 50, ax);
+    _mav_put_int16_t(buf, 52, ay);
+    _mav_put_int16_t(buf, 54, az);
+
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VK_ATTITUDE_GLOBAL_POSITION_INT, buf, MAVLINK_MSG_ID_VK_ATTITUDE_GLOBAL_POSITION_INT_MIN_LEN, MAVLINK_MSG_ID_VK_ATTITUDE_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_VK_ATTITUDE_GLOBAL_POSITION_INT_CRC);
+#else
+    mavlink_vk_attitude_global_position_int_t packet;
+    packet.time_boot_ms = time_boot_ms;
+    packet.roll = roll;
+    packet.pitch = pitch;
+    packet.yaw = yaw;
+    packet.rollspeed = rollspeed;
+    packet.pitchspeed = pitchspeed;
+    packet.yawspeed = yawspeed;
+    packet.lat = lat;
+    packet.lon = lon;
+    packet.alt = alt;
+    packet.relative_alt = relative_alt;
+    packet.vx = vx;
+    packet.vy = vy;
+    packet.vz = vz;
+    packet.ax = ax;
+    packet.ay = ay;
+    packet.az = az;
+
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VK_ATTITUDE_GLOBAL_POSITION_INT, (const char *)&packet, MAVLINK_MSG_ID_VK_ATTITUDE_GLOBAL_POSITION_INT_MIN_LEN, MAVLINK_MSG_ID_VK_ATTITUDE_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_VK_ATTITUDE_GLOBAL_POSITION_INT_CRC);
+#endif
+}
+
+/**
+ * @brief Send a vk_attitude_global_position_int message
+ * @param chan MAVLink channel to send the message
+ * @param struct The MAVLink struct to serialize
+ */
+static inline void mavlink_msg_vk_attitude_global_position_int_send_struct(mavlink_channel_t chan, const mavlink_vk_attitude_global_position_int_t* vk_attitude_global_position_int)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    mavlink_msg_vk_attitude_global_position_int_send(chan, vk_attitude_global_position_int->time_boot_ms, vk_attitude_global_position_int->roll, vk_attitude_global_position_int->pitch, vk_attitude_global_position_int->yaw, vk_attitude_global_position_int->rollspeed, vk_attitude_global_position_int->pitchspeed, vk_attitude_global_position_int->yawspeed, vk_attitude_global_position_int->lat, vk_attitude_global_position_int->lon, vk_attitude_global_position_int->alt, vk_attitude_global_position_int->relative_alt, vk_attitude_global_position_int->vx, vk_attitude_global_position_int->vy, vk_attitude_global_position_int->vz, vk_attitude_global_position_int->ax, vk_attitude_global_position_int->ay, vk_attitude_global_position_int->az);
+#else
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VK_ATTITUDE_GLOBAL_POSITION_INT, (const char *)vk_attitude_global_position_int, MAVLINK_MSG_ID_VK_ATTITUDE_GLOBAL_POSITION_INT_MIN_LEN, MAVLINK_MSG_ID_VK_ATTITUDE_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_VK_ATTITUDE_GLOBAL_POSITION_INT_CRC);
+#endif
+}
+
+#if MAVLINK_MSG_ID_VK_ATTITUDE_GLOBAL_POSITION_INT_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_attitude_global_position_int_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint32_t time_boot_ms, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int32_t relative_alt, int16_t vx, int16_t vy, int16_t vz, int16_t ax, int16_t ay, int16_t az)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    char *buf = (char *)msgbuf;
+    _mav_put_uint32_t(buf, 0, time_boot_ms);
+    _mav_put_float(buf, 4, roll);
+    _mav_put_float(buf, 8, pitch);
+    _mav_put_float(buf, 12, yaw);
+    _mav_put_float(buf, 16, rollspeed);
+    _mav_put_float(buf, 20, pitchspeed);
+    _mav_put_float(buf, 24, yawspeed);
+    _mav_put_int32_t(buf, 28, lat);
+    _mav_put_int32_t(buf, 32, lon);
+    _mav_put_int32_t(buf, 36, alt);
+    _mav_put_int32_t(buf, 40, relative_alt);
+    _mav_put_int16_t(buf, 44, vx);
+    _mav_put_int16_t(buf, 46, vy);
+    _mav_put_int16_t(buf, 48, vz);
+    _mav_put_int16_t(buf, 50, ax);
+    _mav_put_int16_t(buf, 52, ay);
+    _mav_put_int16_t(buf, 54, az);
+
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VK_ATTITUDE_GLOBAL_POSITION_INT, buf, MAVLINK_MSG_ID_VK_ATTITUDE_GLOBAL_POSITION_INT_MIN_LEN, MAVLINK_MSG_ID_VK_ATTITUDE_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_VK_ATTITUDE_GLOBAL_POSITION_INT_CRC);
+#else
+    mavlink_vk_attitude_global_position_int_t *packet = (mavlink_vk_attitude_global_position_int_t *)msgbuf;
+    packet->time_boot_ms = time_boot_ms;
+    packet->roll = roll;
+    packet->pitch = pitch;
+    packet->yaw = yaw;
+    packet->rollspeed = rollspeed;
+    packet->pitchspeed = pitchspeed;
+    packet->yawspeed = yawspeed;
+    packet->lat = lat;
+    packet->lon = lon;
+    packet->alt = alt;
+    packet->relative_alt = relative_alt;
+    packet->vx = vx;
+    packet->vy = vy;
+    packet->vz = vz;
+    packet->ax = ax;
+    packet->ay = ay;
+    packet->az = az;
+
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VK_ATTITUDE_GLOBAL_POSITION_INT, (const char *)packet, MAVLINK_MSG_ID_VK_ATTITUDE_GLOBAL_POSITION_INT_MIN_LEN, MAVLINK_MSG_ID_VK_ATTITUDE_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_VK_ATTITUDE_GLOBAL_POSITION_INT_CRC);
+#endif
+}
+#endif
+
+#endif
+
+// MESSAGE VK_ATTITUDE_GLOBAL_POSITION_INT UNPACKING
+
+
+/**
+ * @brief Get field time_boot_ms from vk_attitude_global_position_int message
+ *
+ * @return [ms] Timestamp (time since system boot).
+ */
+static inline uint32_t mavlink_msg_vk_attitude_global_position_int_get_time_boot_ms(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_uint32_t(msg,  0);
+}
+
+/**
+ * @brief Get field roll from vk_attitude_global_position_int message
+ *
+ * @return [rad] Roll angle (-pi..+pi)
+ */
+static inline float mavlink_msg_vk_attitude_global_position_int_get_roll(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_float(msg,  4);
+}
+
+/**
+ * @brief Get field pitch from vk_attitude_global_position_int message
+ *
+ * @return [rad] Pitch angle (-pi..+pi)
+ */
+static inline float mavlink_msg_vk_attitude_global_position_int_get_pitch(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_float(msg,  8);
+}
+
+/**
+ * @brief Get field yaw from vk_attitude_global_position_int message
+ *
+ * @return [rad] Yaw angle (-pi..+pi)
+ */
+static inline float mavlink_msg_vk_attitude_global_position_int_get_yaw(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_float(msg,  12);
+}
+
+/**
+ * @brief Get field rollspeed from vk_attitude_global_position_int message
+ *
+ * @return [rad/s] Roll angular speed
+ */
+static inline float mavlink_msg_vk_attitude_global_position_int_get_rollspeed(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_float(msg,  16);
+}
+
+/**
+ * @brief Get field pitchspeed from vk_attitude_global_position_int message
+ *
+ * @return [rad/s] Pitch angular speed
+ */
+static inline float mavlink_msg_vk_attitude_global_position_int_get_pitchspeed(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_float(msg,  20);
+}
+
+/**
+ * @brief Get field yawspeed from vk_attitude_global_position_int message
+ *
+ * @return [rad/s] Yaw angular speed
+ */
+static inline float mavlink_msg_vk_attitude_global_position_int_get_yawspeed(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_float(msg,  24);
+}
+
+/**
+ * @brief Get field lat from vk_attitude_global_position_int message
+ *
+ * @return [degE7] Latitude, expressed
+ */
+static inline int32_t mavlink_msg_vk_attitude_global_position_int_get_lat(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_int32_t(msg,  28);
+}
+
+/**
+ * @brief Get field lon from vk_attitude_global_position_int message
+ *
+ * @return [degE7] Longitude, expressed
+ */
+static inline int32_t mavlink_msg_vk_attitude_global_position_int_get_lon(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_int32_t(msg,  32);
+}
+
+/**
+ * @brief Get field alt from vk_attitude_global_position_int message
+ *
+ * @return [mm] Altitude (MSL). Note that virtually all GPS modules provide both WGS84 and MSL.
+ */
+static inline int32_t mavlink_msg_vk_attitude_global_position_int_get_alt(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_int32_t(msg,  36);
+}
+
+/**
+ * @brief Get field relative_alt from vk_attitude_global_position_int message
+ *
+ * @return [mm] Altitude above ground
+ */
+static inline int32_t mavlink_msg_vk_attitude_global_position_int_get_relative_alt(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_int32_t(msg,  40);
+}
+
+/**
+ * @brief Get field vx from vk_attitude_global_position_int message
+ *
+ * @return [cm/s] Ground X Speed (Latitude, positive north)
+ */
+static inline int16_t mavlink_msg_vk_attitude_global_position_int_get_vx(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_int16_t(msg,  44);
+}
+
+/**
+ * @brief Get field vy from vk_attitude_global_position_int message
+ *
+ * @return [cm/s] Ground Y Speed (Longitude, positive east)
+ */
+static inline int16_t mavlink_msg_vk_attitude_global_position_int_get_vy(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_int16_t(msg,  46);
+}
+
+/**
+ * @brief Get field vz from vk_attitude_global_position_int message
+ *
+ * @return [cm/s] Ground Z Speed (Altitude, positive down)
+ */
+static inline int16_t mavlink_msg_vk_attitude_global_position_int_get_vz(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_int16_t(msg,  48);
+}
+
+/**
+ * @brief Get field ax from vk_attitude_global_position_int message
+ *
+ * @return [cm/s^2] Ground X acceleration (Latitude, positive north)
+ */
+static inline int16_t mavlink_msg_vk_attitude_global_position_int_get_ax(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_int16_t(msg,  50);
+}
+
+/**
+ * @brief Get field ay from vk_attitude_global_position_int message
+ *
+ * @return [cm/s^2] Ground Y acceleration (Longitude, positive east)
+ */
+static inline int16_t mavlink_msg_vk_attitude_global_position_int_get_ay(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_int16_t(msg,  52);
+}
+
+/**
+ * @brief Get field az from vk_attitude_global_position_int message
+ *
+ * @return [cm/s^2] Ground Z acceleration (Altitude, positive down)
+ */
+static inline int16_t mavlink_msg_vk_attitude_global_position_int_get_az(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_int16_t(msg,  54);
+}
+
+/**
+ * @brief Decode a vk_attitude_global_position_int message into a struct
+ *
+ * @param msg The message to decode
+ * @param vk_attitude_global_position_int C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_vk_attitude_global_position_int_decode(const mavlink_message_t* msg, mavlink_vk_attitude_global_position_int_t* vk_attitude_global_position_int)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    vk_attitude_global_position_int->time_boot_ms = mavlink_msg_vk_attitude_global_position_int_get_time_boot_ms(msg);
+    vk_attitude_global_position_int->roll = mavlink_msg_vk_attitude_global_position_int_get_roll(msg);
+    vk_attitude_global_position_int->pitch = mavlink_msg_vk_attitude_global_position_int_get_pitch(msg);
+    vk_attitude_global_position_int->yaw = mavlink_msg_vk_attitude_global_position_int_get_yaw(msg);
+    vk_attitude_global_position_int->rollspeed = mavlink_msg_vk_attitude_global_position_int_get_rollspeed(msg);
+    vk_attitude_global_position_int->pitchspeed = mavlink_msg_vk_attitude_global_position_int_get_pitchspeed(msg);
+    vk_attitude_global_position_int->yawspeed = mavlink_msg_vk_attitude_global_position_int_get_yawspeed(msg);
+    vk_attitude_global_position_int->lat = mavlink_msg_vk_attitude_global_position_int_get_lat(msg);
+    vk_attitude_global_position_int->lon = mavlink_msg_vk_attitude_global_position_int_get_lon(msg);
+    vk_attitude_global_position_int->alt = mavlink_msg_vk_attitude_global_position_int_get_alt(msg);
+    vk_attitude_global_position_int->relative_alt = mavlink_msg_vk_attitude_global_position_int_get_relative_alt(msg);
+    vk_attitude_global_position_int->vx = mavlink_msg_vk_attitude_global_position_int_get_vx(msg);
+    vk_attitude_global_position_int->vy = mavlink_msg_vk_attitude_global_position_int_get_vy(msg);
+    vk_attitude_global_position_int->vz = mavlink_msg_vk_attitude_global_position_int_get_vz(msg);
+    vk_attitude_global_position_int->ax = mavlink_msg_vk_attitude_global_position_int_get_ax(msg);
+    vk_attitude_global_position_int->ay = mavlink_msg_vk_attitude_global_position_int_get_ay(msg);
+    vk_attitude_global_position_int->az = mavlink_msg_vk_attitude_global_position_int_get_az(msg);
+#else
+        uint8_t len = msg->len < MAVLINK_MSG_ID_VK_ATTITUDE_GLOBAL_POSITION_INT_LEN? msg->len : MAVLINK_MSG_ID_VK_ATTITUDE_GLOBAL_POSITION_INT_LEN;
+        memset(vk_attitude_global_position_int, 0, MAVLINK_MSG_ID_VK_ATTITUDE_GLOBAL_POSITION_INT_LEN);
+    memcpy(vk_attitude_global_position_int, _MAV_PAYLOAD(msg), len);
+#endif
+}

v2.0/VKFly/testsuite.h

@@ -1973,6 +1973,81 @@ static void mavlink_test_qingxie_bms(uint8_t system_id, uint8_t component_id, ma
 #endif
 }
 
+static void mavlink_test_vk_attitude_global_position_int(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_VK_ATTITUDE_GLOBAL_POSITION_INT >= 256) {
+            return;
+        }
+#endif
+    mavlink_message_t msg;
+        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+        uint16_t i;
+    mavlink_vk_attitude_global_position_int_t packet_in = {
+        963497464,45.0,73.0,101.0,129.0,157.0,185.0,963498920,963499128,963499336,963499544,19523,19627,19731,19835,19939,20043
+    };
+    mavlink_vk_attitude_global_position_int_t packet1, packet2;
+        memset(&packet1, 0, sizeof(packet1));
+        packet1.time_boot_ms = packet_in.time_boot_ms;
+        packet1.roll = packet_in.roll;
+        packet1.pitch = packet_in.pitch;
+        packet1.yaw = packet_in.yaw;
+        packet1.rollspeed = packet_in.rollspeed;
+        packet1.pitchspeed = packet_in.pitchspeed;
+        packet1.yawspeed = packet_in.yawspeed;
+        packet1.lat = packet_in.lat;
+        packet1.lon = packet_in.lon;
+        packet1.alt = packet_in.alt;
+        packet1.relative_alt = packet_in.relative_alt;
+        packet1.vx = packet_in.vx;
+        packet1.vy = packet_in.vy;
+        packet1.vz = packet_in.vz;
+        packet1.ax = packet_in.ax;
+        packet1.ay = packet_in.ay;
+        packet1.az = packet_in.az;
+        
+        
+#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
+        if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
+           // cope with extensions
+           memset(MAVLINK_MSG_ID_VK_ATTITUDE_GLOBAL_POSITION_INT_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_VK_ATTITUDE_GLOBAL_POSITION_INT_MIN_LEN);
+        }
+#endif
+        memset(&packet2, 0, sizeof(packet2));
+    mavlink_msg_vk_attitude_global_position_int_encode(system_id, component_id, &msg, &packet1);
+    mavlink_msg_vk_attitude_global_position_int_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+    mavlink_msg_vk_attitude_global_position_int_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.roll , packet1.pitch , packet1.yaw , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed , packet1.lat , packet1.lon , packet1.alt , packet1.relative_alt , packet1.vx , packet1.vy , packet1.vz , packet1.ax , packet1.ay , packet1.az );
+    mavlink_msg_vk_attitude_global_position_int_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+    mavlink_msg_vk_attitude_global_position_int_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.roll , packet1.pitch , packet1.yaw , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed , packet1.lat , packet1.lon , packet1.alt , packet1.relative_alt , packet1.vx , packet1.vy , packet1.vz , packet1.ax , packet1.ay , packet1.az );
+    mavlink_msg_vk_attitude_global_position_int_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_attitude_global_position_int_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+        
+        memset(&packet2, 0, sizeof(packet2));
+    mavlink_msg_vk_attitude_global_position_int_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.roll , packet1.pitch , packet1.yaw , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed , packet1.lat , packet1.lon , packet1.alt , packet1.relative_alt , packet1.vx , packet1.vy , packet1.vz , packet1.ax , packet1.ay , packet1.az );
+    mavlink_msg_vk_attitude_global_position_int_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_ATTITUDE_GLOBAL_POSITION_INT") != NULL);
+    MAVLINK_ASSERT(mavlink_get_message_info_by_id(MAVLINK_MSG_ID_VK_ATTITUDE_GLOBAL_POSITION_INT) != NULL);
+#endif
+}
+
 static void mavlink_test_VKFly(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
 {
     mavlink_test_vkins_status(system_id, component_id, last_msg);
@@ -2004,6 +2079,7 @@ static void mavlink_test_VKFly(uint8_t system_id, uint8_t component_id, mavlink_
     mavlink_test_vk_cacc_manager_verify(system_id, component_id, last_msg);
     mavlink_test_fmub_status(system_id, component_id, last_msg);
     mavlink_test_qingxie_bms(system_id, component_id, last_msg);
+    mavlink_test_vk_attitude_global_position_int(system_id, component_id, last_msg);
 }
 
 #ifdef __cplusplus

v2.0/VKFly/version.h

@@ -7,7 +7,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Tue Dec 30 2025"
+#define MAVLINK_BUILD_DATE "Wed Jan 21 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 -753897379657521811
+#define MAVLINK_COMMON_XML_HASH 1305347489041339025
 
 #ifdef __cplusplus
 extern "C" {

v2.0/common/mavlink.h

@@ -6,7 +6,7 @@
 #ifndef MAVLINK_H
 #define MAVLINK_H
 
-#define MAVLINK_PRIMARY_XML_HASH -753897379657521811
+#define MAVLINK_PRIMARY_XML_HASH 1305347489041339025
 
 #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 Dec 30 2025"
+#define MAVLINK_BUILD_DATE "Wed Jan 21 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 6588211659819560145
+#define MAVLINK_PRIMARY_XML_HASH 1978773674919055592
 
 #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 6588211659819560145
+#define MAVLINK_MINIMAL_XML_HASH 1978773674919055592
 
 #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 Dec 30 2025"
+#define MAVLINK_BUILD_DATE "Wed Jan 21 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 -3174030842127723093
+#define MAVLINK_PRIMARY_XML_HASH 3983251704295075701
 
 #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 -3174030842127723093
+#define MAVLINK_STANDARD_XML_HASH 3983251704295075701
 
 #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 Dec 30 2025"
+#define MAVLINK_BUILD_DATE "Wed Jan 21 2026"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 22