MAVLink通过xml文件，配置信息（MSG）

 MAVLink通过xml文件，配置信息（MSG），这个MSG可以理解成我们需要接收或者发送的数据变量，简直不要太方便了，下面我们一起来试试吧.

1 自定义符合标准xml文件

<?xml version="1.0"?>                                                                                                                                                                                   <mavlink><version>0</version><messages><message id="0" name="upload_route"><description>这是一个上传航线消息测试 </description><field type="uint8_t" name="route_id">航线id</field><field type="uint8_t" name="point_id">航点id</field><field type="double" name="lon">经度</field><field type="double" name="lat">纬度</field><field type="double" name="alt">高度</field></message></messages></mavlink>
<!--有一点需要注意点 类型，名称，严格影响生成程序的校验码 -->

2 调用生成代码指令

 python3 -m mavgenerate

3 生成c++操作代码

mavlink_msg_upload_route.h 内容如下

#pragma once
// MESSAGE upload_route PACKING#define MAVLINK_MSG_ID_upload_route 0MAVPACKED(
typedef struct __mavlink_upload_route_t {double lon; /*<  经度*/double lat; /*<  纬度*/double alt; /*<  高度*/uint8_t route_id; /*<  航线id*/uint8_t point_id; /*<  航点id*/
}) mavlink_upload_route_t;#define MAVLINK_MSG_ID_upload_route_LEN 26
#define MAVLINK_MSG_ID_upload_route_MIN_LEN 26
#define MAVLINK_MSG_ID_0_LEN 26
#define MAVLINK_MSG_ID_0_MIN_LEN 26#define MAVLINK_MSG_ID_upload_route_CRC 69
#define MAVLINK_MSG_ID_0_CRC 69#if MAVLINK_COMMAND_24BIT
#define MAVLINK_MESSAGE_INFO_upload_route { \0, \"upload_route", \5, \{  { "route_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 24, offsetof(mavlink_upload_route_t, route_id) }, \{ "point_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 25, offsetof(mavlink_upload_route_t, point_id) }, \{ "lon", NULL, MAVLINK_TYPE_DOUBLE, 0, 0, offsetof(mavlink_upload_route_t, lon) }, \{ "lat", NULL, MAVLINK_TYPE_DOUBLE, 0, 8, offsetof(mavlink_upload_route_t, lat) }, \{ "alt", NULL, MAVLINK_TYPE_DOUBLE, 0, 16, offsetof(mavlink_upload_route_t, alt) }, \} \
}
#else
#define MAVLINK_MESSAGE_INFO_upload_route { \"upload_route", \5, \{  { "route_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 24, offsetof(mavlink_upload_route_t, route_id) }, \{ "point_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 25, offsetof(mavlink_upload_route_t, point_id) }, \{ "lon", NULL, MAVLINK_TYPE_DOUBLE, 0, 0, offsetof(mavlink_upload_route_t, lon) }, \{ "lat", NULL, MAVLINK_TYPE_DOUBLE, 0, 8, offsetof(mavlink_upload_route_t, lat) }, \{ "alt", NULL, MAVLINK_TYPE_DOUBLE, 0, 16, offsetof(mavlink_upload_route_t, alt) }, \} \
}
#endif/*** @brief Pack a upload_route 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 route_id  航线id* @param point_id  航点id* @param lon  经度* @param lat  纬度* @param alt  高度* @return length of the message in bytes (excluding serial stream start sign)*/
static inline uint16_t mavlink_msg_upload_route_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,uint8_t route_id, uint8_t point_id, double lon, double lat, double alt)
{#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDSchar buf[MAVLINK_MSG_ID_upload_route_LEN];_mav_put_double(buf, 0, lon);_mav_put_double(buf, 8, lat);_mav_put_double(buf, 16, alt);_mav_put_uint8_t(buf, 24, route_id);_mav_put_uint8_t(buf, 25, point_id);memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_upload_route_LEN);
#elsemavlink_upload_route_t packet;packet.lon = lon;packet.lat = lat;packet.alt = alt;packet.route_id = route_id;packet.point_id = point_id;memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_upload_route_LEN);
#endifmsg->msgid = MAVLINK_MSG_ID_upload_route;return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_upload_route_MIN_LEN, MAVLINK_MSG_ID_upload_route_LEN, MAVLINK_MSG_ID_upload_route_CRC);
}/*** @brief Pack a upload_route 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 route_id  航线id* @param point_id  航点id* @param lon  经度* @param lat  纬度* @param alt  高度* @return length of the message in bytes (excluding serial stream start sign)*/
static inline uint16_t mavlink_msg_upload_route_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,mavlink_message_t* msg,uint8_t route_id,uint8_t point_id,double lon,double lat,double alt)
{#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDSchar buf[MAVLINK_MSG_ID_upload_route_LEN];_mav_put_double(buf, 0, lon);_mav_put_double(buf, 8, lat);_mav_put_double(buf, 16, alt);_mav_put_uint8_t(buf, 24, route_id);_mav_put_uint8_t(buf, 25, point_id);memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_upload_route_LEN);
#elsemavlink_upload_route_t packet;packet.lon = lon;packet.lat = lat;packet.alt = alt;packet.route_id = route_id;packet.point_id = point_id;memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_upload_route_LEN);
#endifmsg->msgid = MAVLINK_MSG_ID_upload_route;return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_upload_route_MIN_LEN, MAVLINK_MSG_ID_upload_route_LEN, MAVLINK_MSG_ID_upload_route_CRC);
}/*** @brief Encode a upload_route 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 upload_route C-struct to read the message contents from*/
static inline uint16_t mavlink_msg_upload_route_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_upload_route_t* upload_route)
{return mavlink_msg_upload_route_pack(system_id, component_id, msg, upload_route->route_id, upload_route->point_id, upload_route->lon, upload_route->lat, upload_route->alt);
}/*** @brief Encode a upload_route 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 upload_route C-struct to read the message contents from*/
static inline uint16_t mavlink_msg_upload_route_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_upload_route_t* upload_route)
{return mavlink_msg_upload_route_pack_chan(system_id, component_id, chan, msg, upload_route->route_id, upload_route->point_id, upload_route->lon, upload_route->lat, upload_route->alt);
}/*** @brief Send a upload_route message* @param chan MAVLink channel to send the message** @param route_id  航线id* @param point_id  航点id* @param lon  经度* @param lat  纬度* @param alt  高度*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONSstatic inline void mavlink_msg_upload_route_send(mavlink_channel_t chan, uint8_t route_id, uint8_t point_id, double lon, double lat, double alt)
{#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDSchar buf[MAVLINK_MSG_ID_upload_route_LEN];_mav_put_double(buf, 0, lon);_mav_put_double(buf, 8, lat);_mav_put_double(buf, 16, alt);_mav_put_uint8_t(buf, 24, route_id);_mav_put_uint8_t(buf, 25, point_id);_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_upload_route, buf, MAVLINK_MSG_ID_upload_route_MIN_LEN, MAVLINK_MSG_ID_upload_route_LEN, MAVLINK_MSG_ID_upload_route_CRC);
#elsemavlink_upload_route_t packet;packet.lon = lon;packet.lat = lat;packet.alt = alt;packet.route_id = route_id;packet.point_id = point_id;_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_upload_route, (const char *)&packet, MAVLINK_MSG_ID_upload_route_MIN_LEN, MAVLINK_MSG_ID_upload_route_LEN, MAVLINK_MSG_ID_upload_route_CRC);
#endif
}/*** @brief Send a upload_route message* @param chan MAVLink channel to send the message* @param struct The MAVLink struct to serialize*/
static inline void mavlink_msg_upload_route_send_struct(mavlink_channel_t chan, const mavlink_upload_route_t* upload_route)
{#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDSmavlink_msg_upload_route_send(chan, upload_route->route_id, upload_route->point_id, upload_route->lon, upload_route->lat, upload_route->alt);
#else_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_upload_route, (const char *)upload_route, MAVLINK_MSG_ID_upload_route_MIN_LEN, MAVLINK_MSG_ID_upload_route_LEN, MAVLINK_MSG_ID_upload_route_CRC);
#endif
}#if MAVLINK_MSG_ID_upload_route_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*This varient of _send() can be used to save stack space by re-usingmemory from the receive buffer.  The caller provides amavlink_message_t which is the size of a full mavlink message. Thisis usually the receive buffer for the channel, and allows a reply to anincoming message with minimum stack space usage.*/
static inline void mavlink_msg_upload_route_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint8_t route_id, uint8_t point_id, double lon, double lat, double alt)
{#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDSchar *buf = (char *)msgbuf;_mav_put_double(buf, 0, lon);_mav_put_double(buf, 8, lat);_mav_put_double(buf, 16, alt);_mav_put_uint8_t(buf, 24, route_id);_mav_put_uint8_t(buf, 25, point_id);_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_upload_route, buf, MAVLINK_MSG_ID_upload_route_MIN_LEN, MAVLINK_MSG_ID_upload_route_LEN, MAVLINK_MSG_ID_upload_route_CRC);
#elsemavlink_upload_route_t *packet = (mavlink_upload_route_t *)msgbuf;packet->lon = lon;packet->lat = lat;packet->alt = alt;packet->route_id = route_id;packet->point_id = point_id;_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_upload_route, (const char *)packet, MAVLINK_MSG_ID_upload_route_MIN_LEN, MAVLINK_MSG_ID_upload_route_LEN, MAVLINK_MSG_ID_upload_route_CRC);
#endif
}
#endif#endif// MESSAGE upload_route UNPACKING/*** @brief Get field route_id from upload_route message** @return  航线id*/
static inline uint8_t mavlink_msg_upload_route_get_route_id(const mavlink_message_t* msg)
{return _MAV_RETURN_uint8_t(msg,  24);
}/*** @brief Get field point_id from upload_route message** @return  航点id*/
static inline uint8_t mavlink_msg_upload_route_get_point_id(const mavlink_message_t* msg)
{return _MAV_RETURN_uint8_t(msg,  25);
}/*** @brief Get field lon from upload_route message** @return  经度*/
static inline double mavlink_msg_upload_route_get_lon(const mavlink_message_t* msg)
{return _MAV_RETURN_double(msg,  0);
}/*** @brief Get field lat from upload_route message** @return  纬度*/
static inline double mavlink_msg_upload_route_get_lat(const mavlink_message_t* msg)
{return _MAV_RETURN_double(msg,  8);
}/*** @brief Get field alt from upload_route message** @return  高度*/
static inline double mavlink_msg_upload_route_get_alt(const mavlink_message_t* msg)
{return _MAV_RETURN_double(msg,  16);
}/*** @brief Decode a upload_route message into a struct** @param msg The message to decode* @param upload_route C-struct to decode the message contents into*/
static inline void mavlink_msg_upload_route_decode(const mavlink_message_t* msg, mavlink_upload_route_t* upload_route)
{#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDSupload_route->lon = mavlink_msg_upload_route_get_lon(msg);upload_route->lat = mavlink_msg_upload_route_get_lat(msg);upload_route->alt = mavlink_msg_upload_route_get_alt(msg);upload_route->route_id = mavlink_msg_upload_route_get_route_id(msg);upload_route->point_id = mavlink_msg_upload_route_get_point_id(msg);
#elseuint8_t len = msg->len < MAVLINK_MSG_ID_upload_route_LEN? msg->len : MAVLINK_MSG_ID_upload_route_LEN;memset(upload_route, 0, MAVLINK_MSG_ID_upload_route_LEN);memcpy(upload_route, _MAV_PAYLOAD(msg), len);
#endif
}

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6002.mavlink通过xml生成自定义消息

MAVLink通过xml文件，配置信息（MSG）

1 自定义符合标准xml文件

2 调用生成代码指令

3 生成c++操作代码

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