108 lines
2.4 KiB
C
108 lines
2.4 KiB
C
#pragma once
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#ifndef MAVLINK_CONTROL_H
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#define MAVLINK_CONTROL_H
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//关闭针对mavlink的警告
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#pragma GCC diagnostic push
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#pragma GCC diagnostic ignored "-Waddress-of-packed-member"
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#include <common/mavlink.h>
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#pragma GCC diagnostic pop
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struct Mavlink_Messages {
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int sysid;
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int compid;
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// Heartbeat
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mavlink_heartbeat_t heartbeat;
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// System Status
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mavlink_sys_status_t sys_status;
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// Battery Status
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mavlink_battery_status_t battery_status;
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// Radio Status
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mavlink_radio_status_t radio_status;
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// Local Position
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mavlink_local_position_ned_t local_position_ned;
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// Global Position
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mavlink_global_position_int_t global_position_int;
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// Local Position Target
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mavlink_position_target_local_ned_t position_target_local_ned;
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// Global Position Target
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mavlink_position_target_global_int_t position_target_global_int;
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// HiRes IMU
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mavlink_highres_imu_t highres_imu;
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// Attitude
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mavlink_attitude_t attitude;
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// System Parameters?
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};
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typedef struct {
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mavlink_status_t lastStatus;
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struct Mavlink_Messages current_messages;
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bool debug;
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int (*read)(void *data, uint32_t size, uint32_t wait_ms);
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int (*write)(const void *data, uint32_t size, uint32_t wait_ms);
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}mavlink_device_t;
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/**
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* @brief 初始化mavlink
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*
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* @param mavlink_device 接口
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*/
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void mavlink_init(mavlink_device_t* mavlink_device);
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/**
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* @brief MAVLINK消息解析
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*
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* @param mavlink_device 接口
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* @param message 解析成功存放消息
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* @param cp 数据
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*/
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int mavlink_message(mavlink_device_t* mavlink_device, mavlink_message_t* message,uint8_t cp);
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/**
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* @brief MAVLINK消息发送
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*
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* @param mavlink_device 接口
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* @param message 需要发送的消息
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*/
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int write_message(mavlink_device_t* mavlink_device, const mavlink_message_t *message);
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/**
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* @brief MAVLINK消息处理
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*
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* @param mavlink_device 接口
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* @param message 需要处理的消息
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*/
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void mavlik_packet_processing(mavlink_device_t* mavlink_device, mavlink_message_t* message);
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/**
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* @brief MAVLINK消息接收 （针对需要自己进行读操作）
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*
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* @param mavlink_device 接口
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*/
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void mavlink_recv_loop(mavlink_device_t* mavlink_device);
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/**
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* @brief MAVLINK消息接收（针对已获取到数据缓存）
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*
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* @param mavlink_device 接口
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* @param data 数据
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* @param size 大小
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* @retval 解析成功次数
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*/
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int mavlink_recv_buf(mavlink_device_t* mavlink_device, void *data, uint32_t size);
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#endif |