iOS MAVlink协议

基于C语言，解析MAVlink消息：

创建解析消息类
class MavLinkMessage: NSObject {

static let share = MavLinkMessage()
var dicId = Dictionary<String, Any>()

}

/// 解析无人机信息 data 长连接返回的无人机数据 ，port和host 是udp连接的post和host

 func udpPort(didReceive data: Data,_ port: UInt16,_ host:String) {
     let bytes: UnsafeMutablePointer<UInt8> = UnsafeMutablePointer.allocate(capacity: data.count)
    data.copyBytes(to: bytes, count: data.count) 
    for index in 0..<data.count {
        let byte: UInt8 = (bytes + index).pointee
        var message = mavlink_message_t()
        var status = mavlink_status_t()
        let channel = UInt8(MAVLINK_COMM_0.rawValue)
        if mavlink_parse_char(channel, byte, &message, &status) != 0 {
          let mess =  message.encodeDescription(port,host)
            print(mess)
        }
    } 
    bytes.deallocate()
}

}

extension mavlink_message_t {
/* 解析MavLInk数据

 */
public func encodeDescription(_ port: UInt16,_ host: String) -> String{
let mav = MavLinkMessage.share
    mav.dicId["\(message.msgid)"] = "\(message.msgid)"
    switch msgid {
        case UInt32(MAVLINK_MSG_ID_HEARTBEAT):
         /// 心跳消息
          break
    } 
  }

}