QGC 中发送 MAVLink 控制命令的函数在：
`\src\FirmwarePlugin\`
MAVLink 数据结构及编码函数位置：
` \libs\mavlink\include\mavlink\v1.0\common\mavlink_msg_command_long.h`
<hr color=00FFFF>
`mavlink_command_long_t` 数据结构：
```cpp
typedef struct __mavlink_command_long_t {
float param1; /*< Parameter 1, as defined by MAV_CMD enum.*/
喝绿茶有什么好处
float param2; /*< Parameter 2, as defined by MAV_CMD enum.*/
float param3; /*< Parameter 3, as defined by MAV_CMD enum.*/
float param4; /*< Parameter 4, as defined by MAV_CMD enum.*/
float param5; /*< Parameter 5, as defined by MAV_CMD enum.*/
float param6; /*< Parameter 6, as defined by MAV_CMD enum.*/
float param7; /*< Parameter 7, as defined by MAV_CMD enum.*/
uint16_t command; /*< Command ID, as defined by MAV_CMD enum.*/
uint8_t target_system; /*< System which should execute the command*/
uint8_t target_component; /*< Component which should execute the command, 0 for all components*/
uint8_t confirmation; /*< 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)*/
}) mavlink_command_long_t;
橙子怎么榨汁
```
`mavlink_msg_command_long_encode()` 编码函数：
```cpp
/**
* @brief Encode a command_long 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 command_long C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_command_long_encode(
uint8_t system_id,
uint8_t component_id,
mavlink_message_t* msg,
const mavlink_command_long_t* command_long)
{
return mavlink_msg_command_long_pack(
印第安女孩
system_id,
component_id,
msg,
炒牛蛙
command_long->target_system,
command_long->target_component,
command_long->command,
command_long->confirmation,
command_long->param1,
command_long->param2,
command_long->param3,
command_long->param4,
command_long->param5,
command_long->param6,
command_long->param7);
}
```50个成语
<hr color=FFFF00>
`\src\MissionManager\MavCmdInfoCommon.json` mavlink命令信息：
```json
"mavCmdInfo": [
福建人事人才网
{
"id": 22,
"rawName": "MAV_CMD_NAV_TAKEOFF",
"friendlyName": "Takeoff",
"description": "Take off from the ground.",
"specifiesCoordinate": fal,
"friendlyEdit": true,
"category": "Basic",
"param1": {
"label": "Pitch:",
"units": "degrees",
"default": 15,
"decimalPlaces": 2
},
"param7": {
集体合同规定 "label": "Altitude:",
"units": "m",
"default": 25.0,
"decimalPlaces": 2
}
},
....//省略代码;
]
```
<hr color=FF00FF>
地面站中发送 `takeoff` 命令：
```cpp
#include "QGCApplication.h"
//该文件包含大量头文件;
兔子英文bunny
MAVLinkProtocol* mavlink = qgcApp()->toolbox()->mavlinkProtocol();
//获取当前 mavlink 指针；
// Set destination altitude
mavlink_message_t msg;
mavlink_command_long_t cmd;
and = (uint16_t)MAV_CMD_NAV_TAKEOFF;//起飞命令;
firmation = 0;
cmd.param1 = -1.0f;//俯仰;
cmd.param2 = 0.0f;
cmd.param3 = 0.0f;
cmd.param4 = NAN;
cmd.param5 = NAN;
cmd.param6 = NAN;
cmd.param7 = vehicle->altitudeAMSL()->rawValue().toDouble() + altitudeRel;//高度;
cmd.target_system = vehicle->id();
cmd.target_component = vehicle->defaultComponentId();
mavlink_msg_command_long_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &cmd);//mavlink命令编码：
vehicle->ndMessageOnPriorityLink(msg);//将发送信息任务加入主进程;
```
