From 000eaf6a68728e76cf44e92b87ff5fee905f6f11 Mon Sep 17 00:00:00 2001 From: "mich146@hotmail.com" Date: Tue, 25 Jan 2011 00:31:38 +0000 Subject: [PATCH] Mavlink update git-svn-id: https://arducopter.googlecode.com/svn/trunk@1555 f9c3cf11-9bcb-44bc-f272-b75c42450872 --- libraries/GCS_MAVLink/include/common/common.h | 4 +- .../GCS_MAVLink/include/common/mavlink.h | 2 +- .../common/mavlink_msg_named_value_float.h | 126 ++++++++++++++++++ .../common/mavlink_msg_named_value_int.h | 126 ++++++++++++++++++ .../include/common/mavlink_msg_raw_pressure.h | 42 +++--- libraries/GCS_MAVLink/include/mavlink_types.h | 6 +- .../GCS_MAVLink/include/pixhawk/mavlink.h | 2 +- .../GCS_MAVLink/include/pixhawk/pixhawk.h | 2 +- .../message_definitions/common.xml | 28 +++- 9 files changed, 309 insertions(+), 29 deletions(-) create mode 100644 libraries/GCS_MAVLink/include/common/mavlink_msg_named_value_float.h create mode 100644 libraries/GCS_MAVLink/include/common/mavlink_msg_named_value_int.h diff --git a/libraries/GCS_MAVLink/include/common/common.h b/libraries/GCS_MAVLink/include/common/common.h index c88a09ed97..57fd80e4a3 100644 --- a/libraries/GCS_MAVLink/include/common/common.h +++ b/libraries/GCS_MAVLink/include/common/common.h @@ -1,7 +1,7 @@ /** @file * @brief MAVLink comm protocol. * @see http://pixhawk.ethz.ch/software/mavlink - * Generated on Friday, January 7 2011, 10:04 UTC + * Generated on Sunday, January 23 2011, 16:32 UTC */ #ifndef COMMON_H #define COMMON_H @@ -78,6 +78,8 @@ extern "C" { #include "./mavlink_msg_gps_local_origin_set.h" #include "./mavlink_msg_airspeed.h" #include "./mavlink_msg_global_position_int.h" +#include "./mavlink_msg_named_value_float.h" +#include "./mavlink_msg_named_value_int.h" #include "./mavlink_msg_statustext.h" #include "./mavlink_msg_debug.h" #ifdef __cplusplus diff --git a/libraries/GCS_MAVLink/include/common/mavlink.h b/libraries/GCS_MAVLink/include/common/mavlink.h index 6619d520a1..256f7bf0de 100644 --- a/libraries/GCS_MAVLink/include/common/mavlink.h +++ b/libraries/GCS_MAVLink/include/common/mavlink.h @@ -1,7 +1,7 @@ /** @file * @brief MAVLink comm protocol. * @see http://pixhawk.ethz.ch/software/mavlink - * Generated on Friday, January 7 2011, 10:04 UTC + * Generated on Sunday, January 23 2011, 16:32 UTC */ #ifndef MAVLINK_H #define MAVLINK_H diff --git a/libraries/GCS_MAVLink/include/common/mavlink_msg_named_value_float.h b/libraries/GCS_MAVLink/include/common/mavlink_msg_named_value_float.h new file mode 100644 index 0000000000..aaff215ce8 --- /dev/null +++ b/libraries/GCS_MAVLink/include/common/mavlink_msg_named_value_float.h @@ -0,0 +1,126 @@ +// MESSAGE NAMED_VALUE_FLOAT PACKING + +#define MAVLINK_MSG_ID_NAMED_VALUE_FLOAT 252 + +typedef struct __mavlink_named_value_float_t +{ + char name[10]; ///< Name of the debug variable + float value; ///< Floating point value + +} mavlink_named_value_float_t; + +#define MAVLINK_MSG_NAMED_VALUE_FLOAT_FIELD_NAME_LEN 10 + + +/** + * @brief Pack a named_value_float message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * + * @param name Name of the debug variable + * @param value Floating point value + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_named_value_float_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const char* name, float value) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_NAMED_VALUE_FLOAT; + + i += put_array_by_index((const int8_t*)name, sizeof(char)*10, i, msg->payload); // Name of the debug variable + i += put_float_by_index(value, i, msg->payload); // Floating point value + + return mavlink_finalize_message(msg, system_id, component_id, i); +} + +/** + * @brief Pack a named_value_float message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message was sent over + * @param msg The MAVLink message to compress the data into + * @param name Name of the debug variable + * @param value Floating point value + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_named_value_float_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const char* name, float value) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_NAMED_VALUE_FLOAT; + + i += put_array_by_index((const int8_t*)name, sizeof(char)*10, i, msg->payload); // Name of the debug variable + i += put_float_by_index(value, i, msg->payload); // Floating point value + + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); +} + +/** + * @brief Encode a named_value_float struct into a message + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * @param named_value_float C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_named_value_float_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_named_value_float_t* named_value_float) +{ + return mavlink_msg_named_value_float_pack(system_id, component_id, msg, named_value_float->name, named_value_float->value); +} + +/** + * @brief Send a named_value_float message + * @param chan MAVLink channel to send the message + * + * @param name Name of the debug variable + * @param value Floating point value + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_named_value_float_send(mavlink_channel_t chan, const char* name, float value) +{ + mavlink_message_t msg; + mavlink_msg_named_value_float_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, name, value); + mavlink_send_uart(chan, &msg); +} + +#endif +// MESSAGE NAMED_VALUE_FLOAT UNPACKING + +/** + * @brief Get field name from named_value_float message + * + * @return Name of the debug variable + */ +static inline uint16_t mavlink_msg_named_value_float_get_name(const mavlink_message_t* msg, char* r_data) +{ + + memcpy(r_data, msg->payload, sizeof(char)*10); + return sizeof(char)*10; +} + +/** + * @brief Get field value from named_value_float message + * + * @return Floating point value + */ +static inline float mavlink_msg_named_value_float_get_value(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(char)*10)[0]; + r.b[2] = (msg->payload+sizeof(char)*10)[1]; + r.b[1] = (msg->payload+sizeof(char)*10)[2]; + r.b[0] = (msg->payload+sizeof(char)*10)[3]; + return (float)r.f; +} + +/** + * @brief Decode a named_value_float message into a struct + * + * @param msg The message to decode + * @param named_value_float C-struct to decode the message contents into + */ +static inline void mavlink_msg_named_value_float_decode(const mavlink_message_t* msg, mavlink_named_value_float_t* named_value_float) +{ + mavlink_msg_named_value_float_get_name(msg, named_value_float->name); + named_value_float->value = mavlink_msg_named_value_float_get_value(msg); +} diff --git a/libraries/GCS_MAVLink/include/common/mavlink_msg_named_value_int.h b/libraries/GCS_MAVLink/include/common/mavlink_msg_named_value_int.h new file mode 100644 index 0000000000..92bf5fcb2a --- /dev/null +++ b/libraries/GCS_MAVLink/include/common/mavlink_msg_named_value_int.h @@ -0,0 +1,126 @@ +// MESSAGE NAMED_VALUE_INT PACKING + +#define MAVLINK_MSG_ID_NAMED_VALUE_INT 253 + +typedef struct __mavlink_named_value_int_t +{ + char name[10]; ///< Name of the debug variable + int32_t value; ///< Signed integer value + +} mavlink_named_value_int_t; + +#define MAVLINK_MSG_NAMED_VALUE_INT_FIELD_NAME_LEN 10 + + +/** + * @brief Pack a named_value_int message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * + * @param name Name of the debug variable + * @param value Signed integer value + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_named_value_int_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const char* name, int32_t value) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_NAMED_VALUE_INT; + + i += put_array_by_index((const int8_t*)name, sizeof(char)*10, i, msg->payload); // Name of the debug variable + i += put_int32_t_by_index(value, i, msg->payload); // Signed integer value + + return mavlink_finalize_message(msg, system_id, component_id, i); +} + +/** + * @brief Pack a named_value_int message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message was sent over + * @param msg The MAVLink message to compress the data into + * @param name Name of the debug variable + * @param value Signed integer value + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_named_value_int_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const char* name, int32_t value) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_NAMED_VALUE_INT; + + i += put_array_by_index((const int8_t*)name, sizeof(char)*10, i, msg->payload); // Name of the debug variable + i += put_int32_t_by_index(value, i, msg->payload); // Signed integer value + + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); +} + +/** + * @brief Encode a named_value_int struct into a message + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * @param named_value_int C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_named_value_int_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_named_value_int_t* named_value_int) +{ + return mavlink_msg_named_value_int_pack(system_id, component_id, msg, named_value_int->name, named_value_int->value); +} + +/** + * @brief Send a named_value_int message + * @param chan MAVLink channel to send the message + * + * @param name Name of the debug variable + * @param value Signed integer value + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_named_value_int_send(mavlink_channel_t chan, const char* name, int32_t value) +{ + mavlink_message_t msg; + mavlink_msg_named_value_int_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, name, value); + mavlink_send_uart(chan, &msg); +} + +#endif +// MESSAGE NAMED_VALUE_INT UNPACKING + +/** + * @brief Get field name from named_value_int message + * + * @return Name of the debug variable + */ +static inline uint16_t mavlink_msg_named_value_int_get_name(const mavlink_message_t* msg, char* r_data) +{ + + memcpy(r_data, msg->payload, sizeof(char)*10); + return sizeof(char)*10; +} + +/** + * @brief Get field value from named_value_int message + * + * @return Signed integer value + */ +static inline int32_t mavlink_msg_named_value_int_get_value(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(char)*10)[0]; + r.b[2] = (msg->payload+sizeof(char)*10)[1]; + r.b[1] = (msg->payload+sizeof(char)*10)[2]; + r.b[0] = (msg->payload+sizeof(char)*10)[3]; + return (int32_t)r.i; +} + +/** + * @brief Decode a named_value_int message into a struct + * + * @param msg The message to decode + * @param named_value_int C-struct to decode the message contents into + */ +static inline void mavlink_msg_named_value_int_decode(const mavlink_message_t* msg, mavlink_named_value_int_t* named_value_int) +{ + mavlink_msg_named_value_int_get_name(msg, named_value_int->name); + named_value_int->value = mavlink_msg_named_value_int_get_value(msg); +} diff --git a/libraries/GCS_MAVLink/include/common/mavlink_msg_raw_pressure.h b/libraries/GCS_MAVLink/include/common/mavlink_msg_raw_pressure.h index 2d63e5a7ae..4b5a95be81 100644 --- a/libraries/GCS_MAVLink/include/common/mavlink_msg_raw_pressure.h +++ b/libraries/GCS_MAVLink/include/common/mavlink_msg_raw_pressure.h @@ -5,10 +5,10 @@ typedef struct __mavlink_raw_pressure_t { uint64_t usec; ///< Timestamp (microseconds since UNIX epoch) - int16_t press_abs; ///< Absolute pressure (hectopascal) + uint16_t press_abs; ///< Absolute pressure (hectopascal) int16_t press_diff1; ///< Differential pressure 1 (hectopascal) int16_t press_diff2; ///< Differential pressure 2 (hectopascal) - int16_t temperature; ///< Raw Temperature measurement + int16_t temperature; ///< Raw Temperature measurement (0.01 degrees celsius per tick is default unit) } mavlink_raw_pressure_t; @@ -24,19 +24,19 @@ typedef struct __mavlink_raw_pressure_t * @param press_abs Absolute pressure (hectopascal) * @param press_diff1 Differential pressure 1 (hectopascal) * @param press_diff2 Differential pressure 2 (hectopascal) - * @param temperature Raw Temperature measurement + * @param temperature Raw Temperature measurement (0.01 degrees celsius per tick is default unit) * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_raw_pressure_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t usec, int16_t press_abs, int16_t press_diff1, int16_t press_diff2, int16_t temperature) +static inline uint16_t mavlink_msg_raw_pressure_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t usec, uint16_t press_abs, int16_t press_diff1, int16_t press_diff2, int16_t temperature) { uint16_t i = 0; msg->msgid = MAVLINK_MSG_ID_RAW_PRESSURE; i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch) - i += put_int16_t_by_index(press_abs, i, msg->payload); // Absolute pressure (hectopascal) + i += put_uint16_t_by_index(press_abs, i, msg->payload); // Absolute pressure (hectopascal) i += put_int16_t_by_index(press_diff1, i, msg->payload); // Differential pressure 1 (hectopascal) i += put_int16_t_by_index(press_diff2, i, msg->payload); // Differential pressure 2 (hectopascal) - i += put_int16_t_by_index(temperature, i, msg->payload); // Raw Temperature measurement + i += put_int16_t_by_index(temperature, i, msg->payload); // Raw Temperature measurement (0.01 degrees celsius per tick is default unit) return mavlink_finalize_message(msg, system_id, component_id, i); } @@ -51,19 +51,19 @@ static inline uint16_t mavlink_msg_raw_pressure_pack(uint8_t system_id, uint8_t * @param press_abs Absolute pressure (hectopascal) * @param press_diff1 Differential pressure 1 (hectopascal) * @param press_diff2 Differential pressure 2 (hectopascal) - * @param temperature Raw Temperature measurement + * @param temperature Raw Temperature measurement (0.01 degrees celsius per tick is default unit) * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_raw_pressure_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t usec, int16_t press_abs, int16_t press_diff1, int16_t press_diff2, int16_t temperature) +static inline uint16_t mavlink_msg_raw_pressure_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t usec, uint16_t press_abs, int16_t press_diff1, int16_t press_diff2, int16_t temperature) { uint16_t i = 0; msg->msgid = MAVLINK_MSG_ID_RAW_PRESSURE; i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch) - i += put_int16_t_by_index(press_abs, i, msg->payload); // Absolute pressure (hectopascal) + i += put_uint16_t_by_index(press_abs, i, msg->payload); // Absolute pressure (hectopascal) i += put_int16_t_by_index(press_diff1, i, msg->payload); // Differential pressure 1 (hectopascal) i += put_int16_t_by_index(press_diff2, i, msg->payload); // Differential pressure 2 (hectopascal) - i += put_int16_t_by_index(temperature, i, msg->payload); // Raw Temperature measurement + i += put_int16_t_by_index(temperature, i, msg->payload); // Raw Temperature measurement (0.01 degrees celsius per tick is default unit) return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); } @@ -89,11 +89,11 @@ static inline uint16_t mavlink_msg_raw_pressure_encode(uint8_t system_id, uint8_ * @param press_abs Absolute pressure (hectopascal) * @param press_diff1 Differential pressure 1 (hectopascal) * @param press_diff2 Differential pressure 2 (hectopascal) - * @param temperature Raw Temperature measurement + * @param temperature Raw Temperature measurement (0.01 degrees celsius per tick is default unit) */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS -static inline void mavlink_msg_raw_pressure_send(mavlink_channel_t chan, uint64_t usec, int16_t press_abs, int16_t press_diff1, int16_t press_diff2, int16_t temperature) +static inline void mavlink_msg_raw_pressure_send(mavlink_channel_t chan, uint64_t usec, uint16_t press_abs, int16_t press_diff1, int16_t press_diff2, int16_t temperature) { mavlink_message_t msg; mavlink_msg_raw_pressure_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, usec, press_abs, press_diff1, press_diff2, temperature); @@ -127,12 +127,12 @@ static inline uint64_t mavlink_msg_raw_pressure_get_usec(const mavlink_message_t * * @return Absolute pressure (hectopascal) */ -static inline int16_t mavlink_msg_raw_pressure_get_press_abs(const mavlink_message_t* msg) +static inline uint16_t mavlink_msg_raw_pressure_get_press_abs(const mavlink_message_t* msg) { generic_16bit r; r.b[1] = (msg->payload+sizeof(uint64_t))[0]; r.b[0] = (msg->payload+sizeof(uint64_t))[1]; - return (int16_t)r.s; + return (uint16_t)r.s; } /** @@ -143,8 +143,8 @@ static inline int16_t mavlink_msg_raw_pressure_get_press_abs(const mavlink_messa static inline int16_t mavlink_msg_raw_pressure_get_press_diff1(const mavlink_message_t* msg) { generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t))[1]; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint16_t))[0]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint16_t))[1]; return (int16_t)r.s; } @@ -156,21 +156,21 @@ static inline int16_t mavlink_msg_raw_pressure_get_press_diff1(const mavlink_mes static inline int16_t mavlink_msg_raw_pressure_get_press_diff2(const mavlink_message_t* msg) { generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t))[1]; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint16_t)+sizeof(int16_t))[0]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint16_t)+sizeof(int16_t))[1]; return (int16_t)r.s; } /** * @brief Get field temperature from raw_pressure message * - * @return Raw Temperature measurement + * @return Raw Temperature measurement (0.01 degrees celsius per tick is default unit) */ static inline int16_t mavlink_msg_raw_pressure_get_temperature(const mavlink_message_t* msg) { generic_16bit r; - r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0]; - r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1]; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint16_t)+sizeof(int16_t)+sizeof(int16_t))[0]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint16_t)+sizeof(int16_t)+sizeof(int16_t))[1]; return (int16_t)r.s; } diff --git a/libraries/GCS_MAVLink/include/mavlink_types.h b/libraries/GCS_MAVLink/include/mavlink_types.h index 13848d60ee..34d3d6c311 100644 --- a/libraries/GCS_MAVLink/include/mavlink_types.h +++ b/libraries/GCS_MAVLink/include/mavlink_types.h @@ -46,6 +46,7 @@ enum MAV_ACTION { MAV_ACTION_VIDEO_START = 32, MAV_ACTION_VIDEO_STOP = 33, MAV_ACTION_RESET_MAP = 34, + MAV_ACTION_RESET_PLAN = 35, MAV_ACTION_NB ///< Number of MAV actions }; @@ -113,7 +114,10 @@ enum MAV_COMPONENT { MAV_COMP_ID_PATHPLANNER, MAV_COMP_ID_AIRSLAM, MAV_COMP_ID_MAPPER, - MAV_COMP_ID_IMU = 200 + MAV_COMP_ID_IMU = 200, + MAV_COMP_ID_UDP_BRIDGE = 240, + MAV_COMP_ID_UART_BRIDGE = 241, + MAV_COMP_ID_SYSTEM_CONTROL = 250 }; enum MAV_FRAME diff --git a/libraries/GCS_MAVLink/include/pixhawk/mavlink.h b/libraries/GCS_MAVLink/include/pixhawk/mavlink.h index 2c7997a07d..7f6f9a043d 100644 --- a/libraries/GCS_MAVLink/include/pixhawk/mavlink.h +++ b/libraries/GCS_MAVLink/include/pixhawk/mavlink.h @@ -1,7 +1,7 @@ /** @file * @brief MAVLink comm protocol. * @see http://pixhawk.ethz.ch/software/mavlink - * Generated on Friday, January 7 2011, 10:04 UTC + * Generated on Friday, January 14 2011, 17:41 UTC */ #ifndef MAVLINK_H #define MAVLINK_H diff --git a/libraries/GCS_MAVLink/include/pixhawk/pixhawk.h b/libraries/GCS_MAVLink/include/pixhawk/pixhawk.h index f3735abf28..8c04bd0322 100644 --- a/libraries/GCS_MAVLink/include/pixhawk/pixhawk.h +++ b/libraries/GCS_MAVLink/include/pixhawk/pixhawk.h @@ -1,7 +1,7 @@ /** @file * @brief MAVLink comm protocol. * @see http://pixhawk.ethz.ch/software/mavlink - * Generated on Friday, January 7 2011, 10:04 UTC + * Generated on Friday, January 14 2011, 17:41 UTC */ #ifndef PIXHAWK_H #define PIXHAWK_H diff --git a/libraries/GCS_MAVLink/message_definitions/common.xml b/libraries/GCS_MAVLink/message_definitions/common.xml index 893e9e9081..1a1cbecabb 100644 --- a/libraries/GCS_MAVLink/message_definitions/common.xml +++ b/libraries/GCS_MAVLink/message_definitions/common.xml @@ -99,10 +99,10 @@ The RAW pressure readings for the typical setup of one absolute pressure and one differential pressure sensor. The sensor values should be the raw, unscaled ADC values. Timestamp (microseconds since UNIX epoch) - Absolute pressure (hectopascal) + Absolute pressure (hectopascal) Differential pressure 1 (hectopascal) Differential pressure 2 (hectopascal) - Raw Temperature measurement + Raw Temperature measurement (0.01 degrees celsius per tick is default unit) @@ -423,16 +423,38 @@ NOT the global position estimate of the sytem, but rather a RAW sensor value. Se Ground Y Speed, expressed as m/s * 100 Ground Z Speed, expressed as m/s * 100 + + + + + + + + + + + + + Send a key-value pair as float. The use of this message is discouraged for normal packets, but a quite efficient way for testing new messages and getting experimental debug output. + Name of the debug variable + Floating point value + + + + Send a key-value pair as integer. The use of this message is discouraged for normal packets, but a quite efficient way for testing new messages and getting experimental debug output. + Name of the debug variable + Signed integer value + + Status text message. These messages are printed in yellow in the COMM console of QGroundControl. WARNING: They consume quite some bandwidth, so use only for important status and error messages. If implemented wisely, these messages are buffered on the MCU and sent only at a limited rate (e.g. 10 Hz). Severity of status, 0 = info message, 255 = critical fault Status text message, without null termination character - Send a debug value. The index is used to discriminate between values. These values show up in the plot of QGroundControl as DEBUG N. index of debug variable