mirror of https://github.com/ArduPilot/ardupilot
82 lines
3.6 KiB
C
82 lines
3.6 KiB
C
|
/*
|
||
|
|
compatibility header during transition to MAVLink 1.0
|
||
|
|
*/
|
||
|
|
|
||
|
|
#ifdef MAVLINK10
|
||
|
|
// in MAVLink 1.0 'waypoint' becomes 'mission'. We can remove these
|
||
|
|
// mappings once we are not trying to support both protocols
|
||
|
|
|
||
|
|
#define MAVLINK_MSG_ID_WAYPOINT_CURRENT MAVLINK_MSG_ID_MISSION_CURRENT
|
||
|
|
#define MAVLINK_MSG_ID_WAYPOINT_CURRENT_LEN MAVLINK_MSG_ID_MISSION_CURRENT_LEN
|
||
|
|
#define mavlink_msg_waypoint_current_send mavlink_msg_mission_current_send
|
||
|
|
#define mavlink_msg_waypoint_current_decode mavlink_msg_mission_current_decode
|
||
|
|
|
||
|
|
#define MAVLINK_MSG_ID_WAYPOINT_COUNT MAVLINK_MSG_ID_MISSION_COUNT
|
||
|
|
#define MAVLINK_MSG_ID_WAYPOINT_COUNT_LEN MAVLINK_MSG_ID_MISSION_COUNT_LEN
|
||
|
|
#define mavlink_msg_waypoint_count_send mavlink_msg_mission_count_send
|
||
|
|
#define mavlink_msg_waypoint_count_decode mavlink_msg_mission_count_decode
|
||
|
|
#define mavlink_waypoint_count_t mavlink_mission_count_t
|
||
|
|
|
||
|
|
#define MAVLINK_MSG_ID_WAYPOINT_REQUEST MAVLINK_MSG_ID_MISSION_REQUEST
|
||
|
|
#define MAVLINK_MSG_ID_WAYPOINT_REQUEST_LEN MAVLINK_MSG_ID_MISSION_REQUEST_LEN
|
||
|
|
#define mavlink_msg_waypoint_request_send mavlink_msg_mission_request_send
|
||
|
|
#define mavlink_msg_waypoint_request_decode mavlink_msg_mission_request_decode
|
||
|
|
#define mavlink_waypoint_request_t mavlink_mission_request_t
|
||
|
|
|
||
|
|
#define MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST MAVLINK_MSG_ID_MISSION_REQUEST_LIST
|
||
|
|
#define MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST_LEN MAVLINK_MSG_ID_MISSION_REQUEST_LIST_LEN
|
||
|
|
#define mavlink_msg_waypoint_request_list_send mavlink_msg_mission_request_list_send
|
||
|
|
#define mavlink_msg_waypoint_request_list_decode mavlink_msg_mission_request_list_decode
|
||
|
|
#define mavlink_waypoint_request_list_t mavlink_mission_request_list_t
|
||
|
|
|
||
|
|
#define MAVLINK_MSG_ID_WAYPOINT MAVLINK_MSG_ID_MISSION_ITEM
|
||
|
|
#define MAVLINK_MSG_ID_WAYPOINT_LEN MAVLINK_MSG_ID_MISSION_ITEM_LEN
|
||
|
|
#define mavlink_msg_waypoint_send mavlink_msg_mission_item_send
|
||
|
|
#define mavlink_msg_waypoint_decode mavlink_msg_mission_item_decode
|
||
|
|
#define mavlink_waypoint_t mavlink_mission_item_t
|
||
|
|
|
||
|
|
#define MAVLINK_MSG_ID_WAYPOINT_ACK MAVLINK_MSG_ID_MISSION_ACK
|
||
|
|
#define MAVLINK_MSG_ID_WAYPOINT_ACK_LEN MAVLINK_MSG_ID_MISSION_ACK_LEN
|
||
|
|
#define mavlink_msg_waypoint_ack_send mavlink_msg_mission_ack_send
|
||
|
|
#define mavlink_msg_waypoint_ack_decode mavlink_msg_mission_ack_decode
|
||
|
|
#define mavlink_waypoint_ack_t mavlink_mission_ack_t
|
||
|
|
|
||
|
|
#define MAVLINK_MSG_ID_WAYPOINT_CLEAR_ALL MAVLINK_MSG_ID_MISSION_CLEAR_ALL
|
||
|
|
#define MAVLINK_MSG_ID_WAYPOINT_CLEAR_ALL_LEN MAVLINK_MSG_ID_MISSION_CLEAR_ALL_LEN
|
||
|
|
#define mavlink_msg_waypoint_clear_all_send mavlink_msg_mission_clear_all_send
|
||
|
|
#define mavlink_msg_waypoint_clear_all_decode mavlink_msg_mission_clear_all_decode
|
||
|
|
#define mavlink_waypoint_clear_all_t mavlink_mission_clear_all_t
|
||
|
|
|
||
|
|
#define MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT MAVLINK_MSG_ID_MISSION_SET_CURRENT
|
||
|
|
#define MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT_LEN MAVLINK_MSG_ID_MISSION_SET_CURRENT_LEN
|
||
|
|
#define mavlink_msg_waypoint_set_current_send mavlink_msg_mission_set_current_send
|
||
|
|
#define mavlink_msg_waypoint_set_current_decode mavlink_msg_mission_set_current_decode
|
||
|
|
#define mavlink_waypoint_set_current_t mavlink_mission_set_current_t
|
||
|
|
|
||
|
|
static uint8_t mav_var_type(AP_Meta_class::Type_id t)
|
||
|
|
{
|
||
|
|
if (t == AP_Var::k_typeid_int8) {
|
||
|
|
return MAV_VAR_INT8;
|
||
|
|
}
|
||
|
|
if (t == AP_Var::k_typeid_int16) {
|
||
|
|
return MAV_VAR_INT16;
|
||
|
|
}
|
||
|
|
if (t == AP_Var::k_typeid_int32) {
|
||
|
|
return MAV_VAR_INT32;
|
||
|
|
}
|
||
|
|
// treat any others as float
|
||
|
|
return MAV_VAR_FLOAT;
|
||
|
|
}
|
||
|
|
|
||
|
|
#define MAV_FIXED_WING MAV_TYPE_FIXED_WING
|
||
|
|
|
||
|
|
#else
|
||
|
|
|
||
|
|
#define MAV_MISSION_ACCEPTED 0
|
||
|
|
#define MAV_MISSION_UNSUPPORTED 1
|
||
|
|
#define MAV_MISSION_UNSUPPORTED_FRAME 1
|
||
|
|
#define MAV_MISSION_ERROR 1
|
||
|
|
#define MAV_MISSION_INVALID_SEQUENCE 1
|
||
|
|
|
||
|
|
#endif
|