zjk/H100PowerManger
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2026-08-27 调试完成版本

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- FC 控制指令域修正：payload 14→18 字节，纵倾/横倾姿态拆分为数据1/数据2
- WebServer 广播改为待发队列模式，修复 mongoose 跨线程调用问题
- build-board.sh 增加板卡组网说明(/23 掩码方案)、pCCU 服务部署与 mission 同步
- 同步 0824 协议文档更新
This commit is contained in:
zjk
2026-08-27 21:51:36 +08:00
parent 54c32a180a
commit c8becd1f6c
13 changed files with 162 additions and 67 deletions
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test/pccu/pccuTest.cpp
+14 -10
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@@ -40,7 +40,7 @@ static void testFrameLengths() {
PmParamSetFbMessage ppf;
PmStatusMessage psm;
CHECK(fcm.totalLength() == 20); // FC 控制指令 24B 文档表，实际 20B（域字节数0x0014）
CHECK(fcm.totalLength() == 24); // FC 控制指令 24B（1.1.1：域字节数0x0018）
CHECK(fsm.totalLength() == 150); // FC 状态反馈 150B
CHECK(pcm.totalLength() == 45); // PM 操控指令 45B
CHECK(pps.totalLength() == 28); // PM 参数设定 28B
@@ -52,29 +52,33 @@ static void testFrameLengths() {
// 2. FC 控制指令编解码往返
static void testFcControlRoundTrip() {
FcControlValue v;
v.mode = 2; v.cmd = 2; v.outputPower = 100; v.pitch = 35; v.roll = -12;
v.mode = 2; v.cmd = 2; v.outputPower = 100; v.pitch1 = 35; v.pitch2 = -21;
v.roll1 = -12; v.roll2 = 48;
v.emergencyAllow = 0x03; v.depth = 150;
v.supplyCmd = 1; v.reservedCmd5 = 5; v.reservedCmd6 = 6; v.heartbeat = 7;
FcControlMessage msg;
std::vector<uint8_t> frame = msg.encode(v);
CHECK(frame.size() == 20);
CHECK(frame.size() == 24);
CHECK(frame[0] == 0x40 && frame[1] == 0x40);
CHECK(frame[4] == 0x18 && frame[5] == 0x00); // 域字节数 0x0018 小端
// 字节位置校验：纵倾数据1=低位(字节10=0x23=35), 数据2=高位(字节11=0x00)
CHECK(frame[6 + 3] == 0x23); // 姿态数据1(低位)
CHECK(frame[6 + 4] == 0x00); // 姿态数据2(高位)
CHECK(frame[6 + 5] == 0xF4); // 横倾数据1(低位, -12 = 0xFFF4 小端)
CHECK(frame[6 + 6] == 0xFF); // 横倾数据2(高位)
// 字节位置校验（数据域起点=帧头6）：姿态各 int16 小端
CHECK(frame[6 + 3] == 0x23 && frame[6 + 4] == 0x00); // 纵倾数据1 = 35
CHECK(frame[6 + 5] == 0xEB && frame[6 + 6] == 0xFF); // 纵倾数据2 = -21 (0xFFEB)
CHECK(frame[6 + 7] == 0xF4 && frame[6 + 8] == 0xFF); // 横倾数据1 = -12 (0xFFF4)
CHECK(frame[6 + 9] == 0x30 && frame[6 + 10] == 0x00); // 横倾数据2 = 48
FcControlValue out;
CHECK(msg.decode(frame, static_cast<void*>(&out)));
CHECK(out.mode == 2);
CHECK(out.cmd == 2);
CHECK(out.outputPower == 100);
CHECK(out.pitch == 35);
CHECK(out.roll == -12);
CHECK(out.pitch1 == 35);
CHECK(out.pitch2 == -21);
CHECK(out.roll1 == -12);
CHECK(out.roll2 == 48);
CHECK(out.emergencyAllow == 0x03);
CHECK(out.depth == 150);
CHECK(out.supplyCmd == 1);