//?demo002.cpp?:?定義控制臺(tái)應(yīng)用程序的入口點(diǎn)。
//

#include?“stdafx.h“


//Variable?Definition
int?system_type?=?0;
int?autopilot_type?=?0;
bool?looping?=?false;
int16_t?Pwork_data[1][10];


HANDLE?hSerial?hThreadRead?hThreadWrite;
uint8_t?BufReceive[MAVlink_MAX_PACKET_LEN];
uint8_t?BufSend[MAVlink_MAX_PACKET_LEN];
uint16_t?BufSendLen?=?0;
uint16_t?BufReceiveLen?=?0;
uint8_t?*ptrMsg_id_in;
uint8_t?*ptrMsg_id_out;
bool?IsDataReady?=?0;

//Function?Definition
DWORD?WINAPI?mavThreadRead（LPVOID?lpParam）;
DWORD?WINAPI?mavThreadWrite（LPVOID?lpParam）;
uint8_t?mavlink_msg_decode（int16_t（*Pwork_data）[10]?mavlink_message_t?msg）;
BOOL?WriteBuffer（uint8_t*?lpBuf?DWORD?dwToWrite）;
bool?mavlink_init（）;
void?testfunction1（）;???????//測(cè)試直接發(fā)送
void?testfunction2（）;???????//測(cè)試發(fā)串口封裝函數(shù)

int?_tmain（int?argc?_TCHAR*?argv[]）
{
	mavlink_init（）;

	//============================================
	while?（1）
	{
		int?a;
		cout?<nk消息ID（0/1/2/3/4）:“?<		cin?>>?a;
		if?（a?==?0）
		{
			cout?<			cout?<			mavlink_message_t?msg;

			//mavlink_msg_command_long_pack（251/*系統(tǒng)ID--FB*/?190/*組件ID--BE（190?MAV_COMP_ID_MISSIONPLANNER?任務(wù)管理器）*/?&msg
			//?this->getUASID（）?0?MAV_CMD_NAV_TAKEOFF?1?mode?num?0?0?0?0?alt）;
			BufSendLen?=?mavlink_msg_to_send_buffer（BufSend?&msg）;
			IsDataReady?=?1;
		}
		else?if?（a?==?1）
		{
			cout?<nk_msg_set_attitude_target_pack?“?<			cout?<			mavlink_message_t?msg;
			float?roll?pitch?yaw?thrust;
			roll?=?10;?pitch?=?20;?yaw?=?30;?thrust?=?40;
			float?q[4];
			q[0]?=?0.01;?q[1]?=?0.02;?q[2]?=?0.03;?q[3]?=?0.04;
			mavlink_msg_set_attitude_target_pack（100?200?&msg?0?system_type?autopilot_type?0?q?roll?pitch?yaw?thrust）;
			BufSendLen?=?mavlink_msg_to_send_buffer（BufSend?&msg）;
			IsDataReady?=?1;
		}
		else?if?（a?==?2）
		{
			cout?<nk_msg_heartbeat_pack?“?<			cout?<			mavlink_message_t?msg;
			mavlink_msg_heartbeat_pack（100?200?&msg?system_type?autopilot_type?0?0?1）;
			BufSendLen?=?mavlink_msg_to_send_buffer（BufSend?&msg）;
			IsDataReady?=?1;
		}
		else?if?（a?==?3）
		{
			cout?<nk_msg_set_position_target_local_ned_pack?“?<			cout?<			mavlink_message_t?msg;
			mavlink_msg_set_position_target_local_ned_pack（100?200?&msg?0?system_type?autopilot_type?0?0?1?2?3?11?22?33?111?222?333?1111?11111）;
			//（uint8_t?system_id?uint8_t?component_id?mavlink_message_t*?msg
			//uint32_t?time_boot_ms?uint8_t?target_system?uint8_t?target_component?uint8_t?coordinate_frame?uint16_t?type_mask?float?x?float?y?float?z?float?vx?float?vy?float?vz?float?afx?float?afy?float?afz?float?yaw?float?yaw_rate）
			BufSendLen?=?mavlink_msg_to_send_buffer（BufSend?&msg）;
			IsDataReady?=?1;
		}
		else?if?（a?==?4）
		{
			cout?<nk_msg_set_mode_pack?--?offboard“?<			cou

?屬性????????????大小?????日期????時(shí)間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2018-12-06?20:04??demo\
?????目錄???????????0??2018-12-06?20:04??demo\c_library_v1-master\
?????目錄???????????0??2018-12-06?20:04??demo\c_library_v1-master\ardupilotmega\
?????文件???????94015??2018-11-30?16:04??demo\c_library_v1-master\ardupilotmega\ardupilotmega.h
?????文件?????????590??2018-11-30?16:04??demo\c_library_v1-master\ardupilotmega\mavlink.h
?????文件???????13782??2018-11-30?16:04??demo\c_library_v1-master\ardupilotmega\mavlink_msg_ahrs.h
?????文件???????11769??2018-11-30?16:04??demo\c_library_v1-master\ardupilotmega\mavlink_msg_ahrs2.h
?????文件???????15081??2018-11-30?16:04??demo\c_library_v1-master\ardupilotmega\mavlink_msg_ahrs3.h
?????文件???????19627??2018-11-30?16:04??demo\c_library_v1-master\ardupilotmega\mavlink_msg_airspeed_autocal.h
?????文件???????11914??2018-11-30?16:04??demo\c_library_v1-master\ardupilotmega\mavlink_msg_ap_adc.h
?????文件???????10845??2018-11-30?16:04??demo\c_library_v1-master\ardupilotmega\mavlink_msg_autopilot_version_request.h
?????文件????????9106??2018-11-30?16:04??demo\c_library_v1-master\ardupilotmega\mavlink_msg_battery2.h
?????文件???????21943??2018-11-30?16:04??demo\c_library_v1-master\ardupilotmega\mavlink_msg_camera_feedback.h
?????文件???????17600??2018-11-30?16:04??demo\c_library_v1-master\ardupilotmega\mavlink_msg_camera_status.h
?????文件???????14761??2018-11-30?16:04??demo\c_library_v1-master\ardupilotmega\mavlink_msg_compassmot_status.h
?????文件????????9361??2018-11-30?16:04??demo\c_library_v1-master\ardupilotmega\mavlink_msg_data16.h
?????文件????????9359??2018-11-30?16:04??demo\c_library_v1-master\ardupilotmega\mavlink_msg_data32.h
?????文件????????9361??2018-11-30?16:04??demo\c_library_v1-master\ardupilotmega\mavlink_msg_data64.h
?????文件????????9359??2018-11-30?16:04??demo\c_library_v1-master\ardupilotmega\mavlink_msg_data96.h
?????文件???????19572??2018-11-30?16:04??demo\c_library_v1-master\ardupilotmega\mavlink_msg_deepstall.h
?????文件???????22975??2018-11-30?16:04??demo\c_library_v1-master\ardupilotmega\mavlink_msg_digicam_configure.h
?????文件???????20900??2018-11-30?16:04??demo\c_library_v1-master\ardupilotmega\mavlink_msg_digicam_control.h
?????文件???????15657??2018-11-30?16:04??demo\c_library_v1-master\ardupilotmega\mavlink_msg_ekf_status_report.h
?????文件???????11177??2018-11-30?16:04??demo\c_library_v1-master\ardupilotmega\mavlink_msg_fence_fetch_point.h
?????文件???????13543??2018-11-30?16:04??demo\c_library_v1-master\ardupilotmega\mavlink_msg_fence_point.h
?????文件???????12167??2018-11-30?16:04??demo\c_library_v1-master\ardupilotmega\mavlink_msg_fence_status.h
?????文件???????13851??2018-11-30?16:04??demo\c_library_v1-master\ardupilotmega\mavlink_msg_gimbal_control.h
?????文件???????21972??2018-11-30?16:04??demo\c_library_v1-master\ardupilotmega\mavlink_msg_gimbal_report.h
?????文件???????14928??2018-11-30?16:04??demo\c_library_v1-master\ardupilotmega\mavlink_msg_gimbal_torque_cmd_report.h
?????文件???????11055??2018-11-30?16:04??demo\c_library_v1-master\ardupilotmega\mavlink_msg_gopro_get_request.h
?????文件???????10855??2018-11-30?16:04??demo\c_library_v1-master\ardupilotmega\mavlink_msg_gopro_get_response.h
............此處省略668個(gè)文件信息