Table of Contents
1. Introduction <a name="introduction"></a>
This project establishes the foundational architecture for the MAVLink communication system, enabling the seamless encoding and decoding of MAVLink messages from raw data inputs.
2. Features & Functionalities <a name="features"></a>
Encoding of Data: Convert raw data inputs into MAVLink formatted messages.
Buffer Storage: Store the MAVLink formatted messages into a buffer for transmission or further processing.
Decoding: Parse buffer to retrieve MAVLink messages (demonstration provided through a placeholder class).
3. Classes & Methods <a name="classes"></a>
MavlinkEncoder
Constructor: Initializes the MavlinkEncoder object.
findPackingFunction: Encodes the input data based on the data initialized flags and stores the messages into the output buffer.
MavlinkDecoder (Placeholder for demonstration)
A class to showcase the decoding of buffer into MAVLink messages.
IncomingData
A data structure containing information like latitude, longitude, altitude, roll, pitch, and yaw, along with their initialization flags.
4. Usage Example <a name="usage"></a>
Initialize the
IncomingDataobject with data values.Use
findPackingFunctionfromMavlinkEncoderto encode data into a buffer.Demonstrate decoding using the placeholder
MavlinkDecoderclass.
5. Testing <a name="testing"></a>
Manual Testing
Sample data initialized and encoding verified by observing the buffer output.
Placeholder decoding demonstrated with the sample buffer to ensure data integrity.
Unit Testing
No unit tests are provided in the shared code. However, they would typically test each function's behavior in isolation.
6. Future Improvements <a name="future-improvements"></a>
Integration of a complete MAVLink decoding system.
Implement error-handling for buffer overflow scenarios.
Enhance the system for real-time MAVLink communication.
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