feat: add VK MAVLink telemetry monitor

.gitignore

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+venv/
+.venv/
+__pycache__/
+*.py[cod]
+build/
+dist/
+generated/vkfly.py

.gitmodules

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+[submodule "mavlink"]
+	path = mavlink
+	url = http://vk-fly.com:10880/VKFLY_INDUSTRY/VK_Mavlink.git
+	branch = main

README.md

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+# VK 飞控遥测监控
+
+基于 PyQt6 的 Windows 串口上位机。**只被动接收** MAVLink，不发送心跳、参数、解锁或飞行控制命令。支持 MAVLink 2 VKFly 自定义方言及其包含的标准消息；校验失败的帧丢弃。连接后从串口收到的数据源并不自动区分多架飞机，多机共用链路时请勿把仪表作为单机状态依据。
+
+## 功能
+
+- 选择串口和波特率，显示连接状态。
+- 图形化姿态仪、机体朝向避障雷达；显示位置、地速、高度、GPS、电池、惯导状态和可用的 SN。
+- 消息观察器列出收到的所有已识别消息、ID、数量和最近状态；点击可查看原始字段。3 秒未更新的消息标记为陈旧。
+- SN 只在收到 `AUTOPILOT_VERSION` 或飞控 `VK_COMP_VERSION` 后显示；本程序不会主动请求，未收到显示等待数据。
+- 避障图只按 `BODY_FRD`（12）解释数据，过滤协议无效距离；其他坐标系不画图。10m 是显示量程，不代表传感器上限。
+
+**安全说明：**此软件是监视工具，不能替代地面站及飞行安全检查。页面卡片暂显示最后收到的值；判断实时性请看消息观察器中的更新时间。不要在旋翼安装螺旋桨时进行桌面调试。
+
+## 从源码运行
+
+在仓库根目录（先安装 Python，并初始化子模块）：
+
+```powershell
+git submodule update --init --recursive
+python -m venv venv
+.\venv\Scripts\python.exe -m pip install -r requirements.txt
+.\venv\Scripts\python.exe generate_dialect.py
+.\venv\Scripts\python.exe app.py
+```
+
+关闭其他占用相同 COM 口的程序，再选择端口和波特率。MAVLink 串口（例如 GCS/LINK 或 OBV）必须有遥测输出；USB 控制台不一定是 MAVLink。
+
+## 更新协议并构建 EXE
+
+```powershell
+powershell -NoProfile -ExecutionPolicy Bypass -File build.ps1
+```
+
+默认构建流程：初始化 MAVLink 子模块；检查子模块无本地文件更改；抓取 `origin/main`；只有当前子模块提交是远端祖先时才切到远端最新提交；安装依赖；从 `VKFly.xml` 生成 Python 方言；运行测试；调用 PyInstaller。子模块如有脏文件或本地分叉提交会停止，避免覆盖工作；更新后主仓库会显示子模块指针变化，应由开发者决定是否提交。网络、远端权限或依赖安装失败会使构建失败。脚本不会执行主仓库 `git pull`。
+
+如果 Git 代理不可用、但内网仓库可直连，可仅对本次构建绕过 Git 代理（不会修改全局配置）：
+
+```powershell
+powershell -NoProfile -ExecutionPolicy Bypass -File build.ps1 -NoGitProxy
+```
+
+如果需要严格使用主仓库当前检出的子模块版本或暂不更新：
+
+```powershell
+powershell -NoProfile -ExecutionPolicy Bypass -File build.ps1 -SkipSubmoduleUpdate
+```
+
+构建产物是 `dist\VKGroundStation\VKGroundStation.exe` 及其旁边依赖目录（PyInstaller `--onedir`），**发布时需一起复制整个 `VKGroundStation` 文件夹**。首次安装 PyQt6 体积较大；需要网络访问 PyPI 和子模块远端。
+
+## 测试
+
+```powershell
+.\venv\Scripts\python.exe -m unittest discover -s tests -v
+```
+
+测试包含标准/自定义方言的打包与解析及噪声后恢复；测试结果不等于对实机全部消息、视觉效果或飞行安全的验证。

app.py

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+"""VKFly telemetry monitor. Read-only: never sends arm or flight commands."""
+import math
+import sys
+import time
+from collections import Counter
+from PyQt6.QtCore import Qt, QThread, pyqtSignal, QTimer, QRectF
+from PyQt6.QtGui import QColor, QPainter, QPen, QFont, QPolygonF
+from PyQt6.QtCore import QPointF
+from PyQt6.QtWidgets import (QApplication, QMainWindow, QWidget, QVBoxLayout, QHBoxLayout,
+    QGridLayout, QLabel, QPushButton, QComboBox, QFrame, QProgressBar, QTableWidget,
+    QTableWidgetItem, QHeaderView, QSplitter, QTabWidget, QPlainTextEdit)
+import serial
+import serial.tools.list_ports
+from generated import vkfly
+
+DARK = '#0b1322'
+
+class Link(QThread):
+    message = pyqtSignal(object)
+    status = pyqtSignal(str)
+    def __init__(self, port, baud):
+        super().__init__(); self.port=port; self.baud=baud; self.running=True
+    def run(self):
+        try:
+            with serial.Serial(self.port, self.baud, timeout=0.15) as conn:
+                parser=vkfly.MAVLink(None); parser.robust_parsing=True
+                self.status.emit(f'已连接 {self.port} · {self.baud} · 只读')
+                while self.running:
+                    data=conn.read(min(conn.in_waiting or 1, 4096))
+                    for byte in data:
+                        msg=parser.parse_char(bytes((byte,)))
+                        if msg is not None and msg.get_type() != 'BAD_DATA': self.message.emit(msg)
+        except Exception as exc:
+            self.status.emit(f'串口错误：{exc}')
+        finally:
+            self.status.emit('连接已关闭')
+    def stop(self):
+        self.running=False
+        self.wait(1500)
+
+class Attitude(QWidget):
+    def __init__(self):
+        super().__init__(); self.roll=None; self.pitch=None; self.yaw=None; self.setMinimumSize(250,220)
+    def layout_geometry(self):
+        # Reserve a separate strip for the attitude readout at every widget size.
+        text_height = 48
+        available_height = max(0, self.height() - text_height - 12)
+        radius = max(0, min(self.width() - 12, available_height) / 2)
+        cx = self.width() / 2
+        cy = 6 + available_height / 2
+        return cx, cy, radius, QRectF(-self.width()/2 + 4, available_height - cy + 10, self.width() - 8, text_height)
+    def paintEvent(self, event):
+        p=QPainter(self); p.setRenderHint(QPainter.RenderHint.Antialiasing)
+        cx, cy, radius, text_rect = self.layout_geometry()
+        p.translate(cx,cy); p.setBrush(QColor('#18283b')); p.setPen(QPen(QColor('#40576f'),2)); p.drawEllipse(QRectF(-radius,-radius,2*radius,2*radius))
+        if self.roll is not None and self.pitch is not None:
+            p.save(); clip=__import__('PyQt6.QtGui',fromlist=['QPainterPath']).QPainterPath(); clip.addEllipse(QRectF(-radius,-radius,2*radius,2*radius)); p.setClipPath(clip)
+            p.rotate(-math.degrees(self.roll)); y=max(-radius*1.5,min(radius*1.5,math.degrees(self.pitch)*radius/45))
+            p.fillRect(QRectF(-radius*3,-radius*3+y,radius*6,radius*3),QColor('#2476ab'))
+            p.fillRect(QRectF(-radius*3,y,radius*6,radius*3),QColor('#866044'))
+            p.setPen(QPen(QColor('#dcefff'),2)); p.drawLine(QPointF(-radius*3,y),QPointF(radius*3,y))
+            for deg in (-30,-20,-10,10,20,30):
+                yy=y-deg*radius/45; p.drawLine(QPointF(-14,yy),QPointF(14,yy))
+            p.restore()
+        p.setPen(QPen(QColor('#f6d46a'),3)); p.drawLine(QPointF(-55,0),QPointF(-12,0)); p.drawLine(QPointF(12,0),QPointF(55,0)); p.drawEllipse(QRectF(-4,-4,8,8))
+        p.setPen(QColor('#e5efff')); p.setFont(QFont('Microsoft YaHei',10)); text='等待姿态数据' if self.roll is None else f'横滚 {math.degrees(self.roll):.1f}°   俯仰 {math.degrees(self.pitch):.1f}°   航向 {math.degrees(self.yaw):.1f}°'
+        p.drawText(text_rect, Qt.AlignmentFlag.AlignCenter | Qt.TextFlag.TextWordWrap, text)
+
+class Radar(QWidget):
+    def __init__(self): super().__init__(); self.points=[]; self.range=10; self.setMinimumSize(220,210)
+    def paintEvent(self,e):
+        p=QPainter(self);p.setRenderHint(QPainter.RenderHint.Antialiasing);cx=self.width()/2;cy=self.height()/2;r=min(self.width(),self.height())*.40
+        p.translate(cx,cy);p.setPen(QPen(QColor('#35566b'),1))
+        for f in (.33,.66,1):p.drawEllipse(QRectF(-r*f,-r*f,2*r*f,2*r*f))
+        p.drawLine(QPointF(-r,0),QPointF(r,0));p.drawLine(QPointF(0,-r),QPointF(0,r))
+        p.setBrush(QColor('#40d8c0'));p.setPen(Qt.PenStyle.NoPen);p.drawPolygon(QPolygonF([QPointF(0,-10),QPointF(-6,7),QPointF(6,7)]))
+        p.setBrush(QColor('#ffbd61'))
+        for angle,d in self.points:
+            rr=min(d/self.range,1)*r; a=math.radians(angle); p.drawEllipse(QPointF(math.sin(a)*rr,-math.cos(a)*rr),4,4)
+        p.setPen(QColor('#adc5d8'));p.drawText(QRectF(-r,-r-20,2*r,20),Qt.AlignmentFlag.AlignCenter,'前方 · 距离量程 10 m')
+        if not self.points:p.drawText(QRectF(-r,r+4,2*r,22),Qt.AlignmentFlag.AlignCenter,'等待有效避障数据')
+
+class Monitor(QMainWindow):
+    def __init__(self):
+        super().__init__();self.setWindowTitle('VK 飞控遥测监控');self.resize(1400,900);self.link=None;self.counts=Counter();self.rows={};self.seen={};self.values={};self.selected=None
+        root=QWidget();self.setCentralWidget(root); outer=QVBoxLayout(root)
+        bar=QHBoxLayout();self.ports=QComboBox();self.refresh_ports();refresh=QPushButton('刷新串口');refresh.clicked.connect(self.refresh_ports);self.baud=QComboBox();self.baud.addItems(['115200','230400','460800','57600','921600']);self.button=QPushButton('连接');self.button.clicked.connect(self.toggle)
+        self.status=QLabel('未连接 · 被动接收，不发送控制指令');bar.addWidget(QLabel('串口'));bar.addWidget(self.ports);bar.addWidget(refresh);bar.addWidget(QLabel('波特率'));bar.addWidget(self.baud);bar.addWidget(self.button);bar.addWidget(self.status,1);outer.addLayout(bar)
+        splitter=QSplitter(Qt.Orientation.Horizontal);outer.addWidget(splitter,1)
+        left=QWidget();ll=QVBoxLayout(left); title=QLabel('飞行态势');title.setObjectName('title');ll.addWidget(title)
+        visuals=QHBoxLayout();self.att=Attitude();self.radar=Radar();visuals.addWidget(self.att,1);visuals.addWidget(self.radar,1);ll.addLayout(visuals)
+        grid=QGridLayout(); self.labels={}
+        for idx,(key,title) in enumerate([('mode','飞行状态'),('location','地理位置'),('altitude','高度'),('velocity','地速 / 爬升'),('gps','卫星 / 定位'),('power','电源'),('ins','惯导状态'),('sn','飞控 SN')]):
+            box=QFrame();box.setObjectName('card');v=QVBoxLayout(box);heading=QLabel(title);heading.setObjectName('heading');value=QLabel('等待数据');value.setWordWrap(True);value.setObjectName('value');v.addWidget(heading);v.addWidget(value);grid.addWidget(box,idx//2,idx%2);self.labels[key]=value
+        ll.addLayout(grid);ll.addStretch();splitter.addWidget(left)
+        right=QWidget();rl=QVBoxLayout(right);heading=QLabel('消息观察器');heading.setObjectName('title');rl.addWidget(heading);rl.addWidget(QLabel('所有成功解码的标准及 VK 自定义消息；点击行查看字段。灰色表示超过 3 秒未更新。'))
+        self.table=QTableWidget(0,4);self.table.setHorizontalHeaderLabels(['消息','ID','数量','状态']);self.table.horizontalHeader().setSectionResizeMode(0,QHeaderView.ResizeMode.Stretch);self.table.setSelectionBehavior(QTableWidget.SelectionBehavior.SelectRows);self.table.setEditTriggers(QTableWidget.EditTrigger.NoEditTriggers);self.table.itemSelectionChanged.connect(self.show_details);rl.addWidget(self.table,3)
+        self.detail=QPlainTextEdit();self.detail.setReadOnly(True);self.detail.setPlaceholderText('选择消息查看全部字段');rl.addWidget(self.detail,2);splitter.addWidget(right);splitter.setSizes([650,750])
+        self.timer=QTimer(self);self.timer.timeout.connect(self.refresh_age);self.timer.start(500)
+    def refresh_ports(self):
+        old=self.ports.currentText() if hasattr(self,'ports') else '';self.ports.clear();self.ports.addItems([x.device for x in serial.tools.list_ports.comports()]);idx=self.ports.findText(old)
+        if idx>=0:self.ports.setCurrentIndex(idx)
+    def toggle(self):
+        if self.link:
+            self.link.stop();self.link=None;self.button.setText('连接');return
+        port=self.ports.currentText()
+        if not port:self.status.setText('没有可用串口，请刷新');return
+        self.counts.clear();self.rows.clear();self.seen.clear();self.values.clear();self.table.setRowCount(0);self.detail.clear();self.selected=None
+        for label in self.labels.values(): label.setText('等待数据')
+        self.att.roll=self.att.pitch=self.att.yaw=None;self.att.update();self.radar.points=[];self.radar.update()
+        self.link=Link(port,int(self.baud.currentText()));self.link.message.connect(self.receive);self.link.status.connect(self.set_status);self.link.finished.connect(self.finished);self.button.setText('断开');self.link.start()
+    def set_status(self,s):self.status.setText(s)
+    def finished(self):
+        if self.link and not self.link.isRunning():self.link=None;self.button.setText('连接')
+    def receive(self,m):
+        name=m.get_type(); self.counts[name]+=1;self.seen[name]=time.monotonic();self.values[name]=m.to_dict()
+        if name not in self.rows:
+            row=self.table.rowCount();self.table.insertRow(row);self.rows[name]=row
+            for col,val in enumerate((name,str(m.get_msgId()),'0','在线')): self.table.setItem(row,col,QTableWidgetItem(val))
+        row=self.rows[name];self.table.item(row,2).setText(str(self.counts[name]));self.table.item(row,3).setText('在线')
+        if self.selected==name:self.update_detail(name)
+        if name=='ATTITUDE':
+            self.att.roll=m.roll;self.att.pitch=m.pitch;self.att.yaw=m.yaw;self.att.update()
+        elif name=='HEARTBEAT':
+            armed=bool(m.base_mode & 128);self.labels['mode'].setText(f'{"已解锁" if armed else "已上锁"}  ·  模式 {m.custom_mode}\n系统 {m.get_srcSystem()} / 组件 {m.get_srcComponent()}')
+        elif name=='GLOBAL_POSITION_INT':
+            self.labels['location'].setText(f'{m.lat/1e7:.7f}°, {m.lon/1e7:.7f}°');self.labels['altitude'].setText(f'海拔 {m.alt/1000:.1f} m · 相对 {m.relative_alt/1000:.1f} m');self.labels['velocity'].setText(f'水平 {math.hypot(m.vx,m.vy)/100:.1f} m/s · 上升 {-m.vz/100:.1f} m/s')
+        elif name=='GPS2_RAW':self.labels['gps'].setText(f'{m.satellites_visible} 颗 · fix_type {m.fix_type}')
+        elif name=='SYS_STATUS':
+            v='未知' if m.voltage_battery==65535 else f'{m.voltage_battery/1000:.1f} V'; pct='未知' if m.battery_remaining<0 else f'{m.battery_remaining}%';self.labels['power'].setText(f'{v} · 剩余 {pct}')
+        elif name=='VK_BMS_STATUS':self.labels['power'].setText(f'{m.voltage/1000:.1f} V · 剩余 {m.cap_percent}% · 电池 {m.bat_id}')
+        elif name=='VKINS_STATUS':self.labels['ins'].setText(f'状态位 0x{m.nav_status:02X} · 定位星 {m.solv_psat_num} · 定向星 {m.solv_hsat_num}')
+        elif name=='AUTOPILOT_VERSION':self.labels['sn'].setText(str(m.uid))
+        elif name=='VK_COMP_VERSION' and m.comp_id==1:
+            val=m.SN; self.labels['sn'].setText(bytes(val).split(b'\0')[0].decode('ascii','replace'))
+        elif name=='OBSTACLE_DISTANCE':
+            # This plot assumes MAV_FRAME_BODY_FRD and the MAVLink angular convention.
+            if m.frame != 12:self.radar.points=[]
+            else:
+                inc=m.increment_f if m.increment_f>0 else m.increment
+                self.radar.points=[(m.angle_offset+i*inc,d/100) for i,d in enumerate(m.distances) if inc>0 and d not in (0,65535) and m.min_distance<=d<=m.max_distance]
+            self.radar.update()
+    def show_details(self):
+        row=self.table.currentRow()
+        if row>=0 and self.table.item(row,0):self.selected=self.table.item(row,0).text();self.update_detail(self.selected)
+    def update_detail(self,name):
+        data=self.values.get(name,{});self.detail.setPlainText('\n'.join(f'{k}: {v}' for k,v in data.items()))
+    def refresh_age(self):
+        now=time.monotonic()
+        for name,row in self.rows.items():
+            age=now-self.seen[name];item=self.table.item(row,3);item.setText('在线' if age<3 else f'{age:.0f} 秒前');item.setForeground(QColor('#53d6b1' if age<3 else '#8192a5'))
+    def closeEvent(self,event):
+        if self.link:self.link.stop()
+        super().closeEvent(event)
+
+def main():
+    app=QApplication(sys.argv);app.setStyle('Fusion');app.setStyleSheet('''QWidget{background:#0b1322;color:#deebf7;font-family:Microsoft YaHei;font-size:13px} #title{font-size:20px;font-weight:bold;color:#f1f8ff} #heading{color:#86a8bd;font-size:12px} #value{font-size:15px;font-weight:bold} #card{background:#142337;border:1px solid #253e53;border-radius:8px;padding:8px} QPushButton,QComboBox{background:#20394d;border:1px solid #385b71;border-radius:5px;padding:7px} QPushButton:hover{background:#28556a} QTableWidget,QPlainTextEdit{background:#101d2c;border:1px solid #253e53} QHeaderView::section{background:#1d3448;padding:5px;border:0}''')
+    win=Monitor()
+    if '--self-test' in sys.argv:
+        m=vkfly.MAVLink(None,srcSystem=1,srcComponent=1)
+        win.receive(m.heartbeat_encode(2,3,0,0,4,3))
+        win.receive(m.attitude_encode(1,0.2,0.1,0.5,0,0,0))
+        app.processEvents()
+        return 0 if win.table.rowCount()==2 and abs(win.att.roll-0.2)<1e-6 else 1
+    win.show();return app.exec()
+if __name__=='__main__':sys.exit(main())

build.ps1

@@ -0,0 +1,30 @@
+param([switch]$SkipSubmoduleUpdate, [switch]$NoGitProxy)
+$ErrorActionPreference = 'Stop'
+$root = $PSScriptRoot
+$sub = Join-Path $root 'mavlink'
+$python = Join-Path $root 'venv/Scripts/python.exe'
+function Run-Checked([string]$exe, [string[]]$arguments) {
+  & $exe @arguments
+  if ($LASTEXITCODE -ne 0) { throw "Command failed ($LASTEXITCODE): $exe $($arguments -join ' ')" }
+}
+if (-not (Test-Path $python)) { throw "Python virtual environment not found: $python" }
+if (-not $SkipSubmoduleUpdate) {
+  $gitOptions = @()
+  if ($NoGitProxy) { $gitOptions = @('-c','http.proxy=','-c','https.proxy=') }
+  if (-not (Test-Path (Join-Path $sub '.git'))) {
+    Run-Checked 'git' ($gitOptions + @('-C',$root,'submodule','update','--init','--','mavlink'))
+  }
+  $dirty = & git -C $sub status --porcelain --untracked-files=normal
+  if ($LASTEXITCODE -ne 0) { throw 'Cannot inspect MAVLink submodule' }
+  if ($dirty) { throw 'MAVLink submodule has local changes; refusing to overwrite them.' }
+  Run-Checked 'git' ($gitOptions + @('-C',$sub,'fetch','origin','main'))
+  & git -C $sub merge-base --is-ancestor HEAD origin/main
+  if ($LASTEXITCODE -ne 0) { throw 'MAVLink submodule has local or divergent commits; refusing to move it.' }
+  Run-Checked 'git' @('-C',$sub,'switch','--detach','origin/main')
+  Write-Host 'MAVLink submodule updated; parent repository may now show a modified submodule pointer.'
+}
+Run-Checked $python @('-m','pip','install','-r',(Join-Path $PSScriptRoot 'requirements.txt'))
+Run-Checked $python @((Join-Path $PSScriptRoot 'generate_dialect.py'))
+Run-Checked $python @('-m','unittest','discover','-s',(Join-Path $PSScriptRoot 'tests'),'-v')
+Run-Checked $python @('-m','PyInstaller','--noconfirm','--clean','--windowed','--onedir','--name','VKGroundStation','--distpath',(Join-Path $PSScriptRoot 'dist'),'--workpath',(Join-Path $PSScriptRoot 'build'),'--specpath',(Join-Path $PSScriptRoot 'build'),(Join-Path $PSScriptRoot 'app.py'))
+Write-Host "EXE: $PSScriptRoot\dist\VKGroundStation\VKGroundStation.exe"

generate_dialect.py

@@ -0,0 +1,15 @@
+"""Generate the VKFly MAVLink 2 Python dialect from the checked-out submodule."""
+from pathlib import Path
+import sys
+from pymavlink.generator import mavgen
+
+HERE = Path(__file__).resolve().parent
+xml = HERE / 'mavlink/msg_definitions/VKFly.xml'
+output = HERE / 'generated/vkfly.py'
+if not xml.is_file():
+    sys.exit(f'Missing MAVLink submodule definition: {xml}')
+output.parent.mkdir(parents=True, exist_ok=True)
+opts = mavgen.Opts(str(output), wire_protocol='2.0', language='Python', validate=True)
+if not mavgen.mavgen(opts, [str(xml)]):
+    sys.exit('VKFly dialect generation failed')
+print(f'Generated {output}')

generated/__init__.py

@@ -0,0 +1 @@
+"""Generated VKFly dialect package."""

mavlink

@@ -0,0 +1 @@
+Subproject commit 095510067eecfd1d3a3475a6d721daeb102edaaf

requirements.txt

@@ -0,0 +1,4 @@
+PyQt6==6.12.0
+pyserial==3.5
+pymavlink==2.4.49
+pyinstaller==6.22.3

tests/test_attitude_layout.py

@@ -0,0 +1,26 @@
+import os
+import sys
+import unittest
+from pathlib import Path
+os.environ.setdefault('QT_QPA_PLATFORM', 'offscreen')
+sys.path.insert(0, str(Path(__file__).resolve().parents[1]))
+from PyQt6.QtWidgets import QApplication
+from app import Attitude
+
+app = QApplication.instance() or QApplication([])
+
+class AttitudeLayoutTest(unittest.TestCase):
+    def test_readout_fits_and_does_not_overlap_sphere(self):
+        widget = Attitude()
+        for width, height in [(250, 220), (280, 280), (450, 600), (800, 220)]:
+            widget.resize(width, height)
+            cx, cy, radius, label = widget.layout_geometry()
+            self.assertGreaterEqual(label.top() + cy, cy + radius)
+            self.assertLessEqual(label.bottom() + cy, height)
+            self.assertGreaterEqual(cx - radius, 0)
+            self.assertLessEqual(cx + radius, width)
+            widget.roll, widget.pitch, widget.yaw = .1, -.2, .3
+            widget.show(); app.processEvents(); widget.grab()
+        widget.close()
+
+if __name__ == '__main__': unittest.main()

tests/test_protocol.py

@@ -0,0 +1,30 @@
+import sys
+import unittest
+from pathlib import Path
+sys.path.insert(0,str(Path(__file__).resolve().parents[1]))
+from generated import vkfly
+
+class ProtocolTest(unittest.TestCase):
+    def test_roundtrip_standard_and_vk(self):
+        writer=vkfly.MAVLink(None,srcSystem=1,srcComponent=1)
+        reader=vkfly.MAVLink(None);reader.robust_parsing=True
+        msgs=[writer.heartbeat_encode(2,3,0,0,4,3), writer.vkins_status_encode(1,1,0,0,0,0,0,0,0,9.8,0,0,0,0,12,10,20,0)]
+        for original in msgs:
+            decoded=None
+            for b in original.pack(writer):
+                result=reader.parse_char(bytes([b]))
+                if result and result.get_type()!='BAD_DATA': decoded=result
+            self.assertIsNotNone(decoded)
+            self.assertEqual(decoded.get_type(),original.get_type())
+            self.assertEqual(decoded.get_srcSystem(),1)
+    def test_unknown_data_does_not_break_parser(self):
+        reader=vkfly.MAVLink(None);reader.robust_parsing=True
+        for b in b'not a mavlink packet': reader.parse_char(bytes([b]))
+        writer=vkfly.MAVLink(None,srcSystem=1,srcComponent=1)
+        result=None
+        for b in writer.heartbeat_encode(2,3,0,0,4,3).pack(writer):
+            msg=reader.parse_char(bytes([b]))
+            if msg and msg.get_type()=='HEARTBEAT':result=msg
+        self.assertIsNotNone(result)
+
+if __name__=='__main__':unittest.main()