UDP_20100_PX4SilRecv—监听UDP20101++2系列端口

功能	监听UDP20101++2系列端口读取飞控状态数据
参数
CopterID	- 飞机ID，用于标识需要控制或监听的特定飞机。
GPS Orin latLon (degree)	- GPS原点的经纬度，格式为[纬度，经度]，单位为度。用于定义飞行器的初始位置。
GPS Orin Altitude (m)	- GPS原点的高度，单位为米。用于设定飞行器的起始高度。
Sample Time (s)	- 模块的采样时间，单位为秒。
输入	UDP打包封装的结构体为
	typedef struct _netDataShortShort {
	TargetType tg; //目标端口 uint32
	int len; //这个长度为传输结构体长度，目前是120
	char payload[112];//有效数据负载，存放了outHILStateData
	}netDataShortShort;
输出	实际要传输的飞控状态数据的详细结构体如下
	struct outHILStateData{ // mavlink data forward from Pixhawk
	uint32_t time_boot_ms; //Timestamp of the message
	uint32_t copterID; //Copter ID start from 1
	int32_t GpsPos[3]; //Estimated GPS position，lat&long: deg*1e7, alt: m*1e3 and up is positive
	int32_t GpsVel[3]; //Estimated GPS velocity, NED, m/s*1e2->cm/s
	int32_t gpsHome[3]; //Home GPS position, lat&long: deg*1e7, alt: m*1e3 and up is positive
	int32_t relative_alt; //alt: m*1e3 and up is positive
	int32_t hdg; //Course angle, NED,deg*1000, 0~360
	int32_t satellites_visible; //GPS Raw data, sum of satellite
	int32_t fix_type; //GPS Raw data, Fixed type, 3 for fixed (good precision)
	int32_t resrveInit; //Int, reserve for the future use
	float AngEular[3]; //Estimated Euler angle, unit: rad/s
	float localPos[3]; //Estimated locoal position, NED, unit: m
	float localVel[3]; //Estimated locoal velocity, NED, unit: m/s
	float pos_horiz_accuracy; //GPS horizontal accuracy, unit: m
	float pos_vert_accuracy; //GPS vertical accuracy, unit: m
	float resrveFloat; //float,reserve for the future use
	}
使用示例	【安装目录】\RflySimAPIs\4.RflySimModel\0.ApiExps\3.ExtCtrlAPI\1.ExtCtrlAPI-UDP20100\Readme.pdf

模块实现详解：【安装目录】\RflySimAPIs\4.RflySimModel\0.ApiExps\3.ExtCtrlAPI\Intro.pdf