From 0a793a13274abd4b41fb7037b96535a5af6b48be Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Sat, 10 Sep 2011 23:24:50 +1000 Subject: [PATCH] Revert "added support for AP_ADC MAVLink packet" This reverts commit a65a2dda2c1bfa95437880227a3abddc95b329f5. I am reverting this not for any sane reason, but because my 3 APM boards now lock up on any I2C operation, and I don't know why. I can't see how this change could have caused it, but I don't want to take the chance. --- ArduPlane/GCS_Mavlink.pde | 3 +- ArduPlane/Mavlink_Common.h | 16 +- ArduPlane/defines.h | 1 - .../include/ardupilotmega/ardupilotmega.h | 7 +- .../ardupilotmega/mavlink_msg_ap_adc.h | 254 ------------------ .../include/ardupilotmega/testsuite.h | 54 ---- .../include/ardupilotmega/version.h | 2 +- .../GCS_MAVLink/include/common/version.h | 2 +- .../message_definitions/ardupilotmega.xml | 10 - .../GCS_MAVLink/message_definitions/test.xml | 31 --- 10 files changed, 8 insertions(+), 372 deletions(-) delete mode 100644 libraries/GCS_MAVLink/include/ardupilotmega/mavlink_msg_ap_adc.h delete mode 100644 libraries/GCS_MAVLink/message_definitions/test.xml diff --git a/ArduPlane/GCS_Mavlink.pde b/ArduPlane/GCS_Mavlink.pde index c1546d95a4..db34c15389 100644 --- a/ArduPlane/GCS_Mavlink.pde +++ b/ArduPlane/GCS_Mavlink.pde @@ -131,7 +131,8 @@ GCS_MAVLINK::data_stream_send(uint16_t freqMin, uint16_t freqMax) } if (freqLoopMatch(streamRateExtra3, freqMin, freqMax)){ - send_message(MSG_RAW_ADC); + // Available datastream + //Serial.printf("mav8 %d\n", (int)streamRateExtra3.get()); } } } diff --git a/ArduPlane/Mavlink_Common.h b/ArduPlane/Mavlink_Common.h index 4c2147b2c4..3de4438cc2 100644 --- a/ArduPlane/Mavlink_Common.h +++ b/ArduPlane/Mavlink_Common.h @@ -344,20 +344,6 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, uint8_t id, uint16_ break; } - - case MSG_RAW_ADC: - { - CHECK_PAYLOAD_SIZE(AP_ADC); - mavlink_msg_ap_adc_send(chan, - analogRead(BATTERY_PIN1), - analogRead(BATTERY_PIN2), - analogRead(BATTERY_PIN3), - analogRead(BATTERY_PIN4), - analogRead(AN4), - analogRead(AN5)); - break; - } - default: break; } @@ -365,7 +351,7 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, uint8_t id, uint16_ } -#define MAX_DEFERRED_MESSAGES 18 // should be at least equal to number of +#define MAX_DEFERRED_MESSAGES 17 // should be at least equal to number of // switch types in mavlink_try_send_message() static struct mavlink_queue { uint8_t deferred_messages[MAX_DEFERRED_MESSAGES]; diff --git a/ArduPlane/defines.h b/ArduPlane/defines.h index a996ec0f48..fff75fda4f 100644 --- a/ArduPlane/defines.h +++ b/ArduPlane/defines.h @@ -162,7 +162,6 @@ #define MSG_GPS_RAW 0x64 #define MSG_SERVO_OUT 0x70 -#define MSG_RAW_ADC 0x71 #define MSG_PIN_REQUEST 0x80 #define MSG_PIN_SET 0x81 diff --git a/libraries/GCS_MAVLink/include/ardupilotmega/ardupilotmega.h b/libraries/GCS_MAVLink/include/ardupilotmega/ardupilotmega.h index e650159666..1272728607 100644 --- a/libraries/GCS_MAVLink/include/ardupilotmega/ardupilotmega.h +++ b/libraries/GCS_MAVLink/include/ardupilotmega/ardupilotmega.h @@ -12,15 +12,15 @@ extern "C" { // MESSAGE LENGTHS AND CRCS #ifndef MAVLINK_MESSAGE_LENGTHS -#define MAVLINK_MESSAGE_LENGTHS {3, 4, 8, 14, 8, 28, 3, 32, 0, 2, 3, 2, 2, 0, 0, 0, 0, 0, 0, 0, 19, 2, 23, 21, 0, 37, 26, 101, 26, 16, 32, 32, 37, 32, 11, 17, 17, 16, 18, 36, 4, 4, 2, 2, 4, 2, 2, 3, 14, 12, 18, 16, 8, 27, 25, 18, 18, 24, 24, 0, 0, 0, 26, 16, 36, 5, 6, 56, 26, 21, 18, 0, 0, 18, 20, 20, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 18, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 0, 0, 0, 0, 0, 0, 0, 0, 0, 42, 8, 4, 12, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 30, 14, 14, 51, 5} +#define MAVLINK_MESSAGE_LENGTHS {3, 4, 8, 14, 8, 28, 3, 32, 0, 2, 3, 2, 2, 0, 0, 0, 0, 0, 0, 0, 19, 2, 23, 21, 0, 37, 26, 101, 26, 16, 32, 32, 37, 32, 11, 17, 17, 16, 18, 36, 4, 4, 2, 2, 4, 2, 2, 3, 14, 12, 18, 16, 8, 27, 25, 18, 18, 24, 24, 0, 0, 0, 26, 16, 36, 5, 6, 56, 26, 21, 18, 0, 0, 18, 20, 20, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 18, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 0, 0, 0, 0, 0, 0, 0, 0, 0, 42, 8, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 30, 14, 14, 51, 5} #endif #ifndef MAVLINK_MESSAGE_CRCS -#define MAVLINK_MESSAGE_CRCS {72, 39, 190, 92, 191, 217, 104, 119, 0, 219, 60, 186, 10, 0, 0, 0, 0, 0, 0, 0, 89, 159, 162, 121, 0, 149, 222, 110, 179, 136, 66, 126, 185, 147, 112, 252, 162, 215, 229, 128, 9, 106, 101, 213, 4, 229, 21, 214, 215, 14, 206, 50, 157, 126, 108, 213, 95, 5, 127, 0, 0, 0, 57, 126, 130, 119, 193, 191, 236, 158, 143, 0, 0, 104, 123, 131, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 174, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 155, 0, 0, 0, 0, 0, 0, 0, 0, 0, 143, 29, 208, 188, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 178, 224, 60, 106, 7} +#define MAVLINK_MESSAGE_CRCS {72, 39, 190, 92, 191, 217, 104, 119, 0, 219, 60, 186, 10, 0, 0, 0, 0, 0, 0, 0, 89, 159, 162, 121, 0, 149, 222, 110, 179, 136, 66, 126, 185, 147, 112, 252, 162, 215, 229, 128, 9, 106, 101, 213, 4, 229, 21, 214, 215, 14, 206, 50, 157, 126, 108, 213, 95, 5, 127, 0, 0, 0, 57, 126, 130, 119, 193, 191, 236, 158, 143, 0, 0, 104, 123, 131, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 174, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 155, 0, 0, 0, 0, 0, 0, 0, 0, 0, 143, 29, 208, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 178, 224, 60, 106, 7} #endif #ifndef MAVLINK_MESSAGE_INFO -#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_BOOT, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_SYSTEM_TIME_UTC, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {NULL}, MAVLINK_MESSAGE_INFO_ACTION_ACK, MAVLINK_MESSAGE_INFO_ACTION, MAVLINK_MESSAGE_INFO_SET_MODE, MAVLINK_MESSAGE_INFO_SET_NAV_MODE, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, {NULL}, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_LOCAL_POSITION, MAVLINK_MESSAGE_INFO_GPS_RAW, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_WAYPOINT, MAVLINK_MESSAGE_INFO_WAYPOINT_REQUEST, MAVLINK_MESSAGE_INFO_WAYPOINT_SET_CURRENT, MAVLINK_MESSAGE_INFO_WAYPOINT_CURRENT, MAVLINK_MESSAGE_INFO_WAYPOINT_REQUEST_LIST, MAVLINK_MESSAGE_INFO_WAYPOINT_COUNT, MAVLINK_MESSAGE_INFO_WAYPOINT_CLEAR_ALL, MAVLINK_MESSAGE_INFO_WAYPOINT_REACHED, MAVLINK_MESSAGE_INFO_WAYPOINT_ACK, MAVLINK_MESSAGE_INFO_GPS_SET_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_LOCAL_ORIGIN_SET, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT_SET, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_CONTROL_STATUS, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, MAVLINK_MESSAGE_INFO_POSITION_TARGET, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, MAVLINK_MESSAGE_INFO_SET_ALTITUDE, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_VFR_HUD, MAVLINK_MESSAGE_INFO_COMMAND, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_OBJECT_DETECTION_EVENT, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_SENSOR_OFFSETS, MAVLINK_MESSAGE_INFO_SET_MAG_OFFSETS, MAVLINK_MESSAGE_INFO_MEMINFO, MAVLINK_MESSAGE_INFO_AP_ADC, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG} +#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_BOOT, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_SYSTEM_TIME_UTC, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {NULL}, MAVLINK_MESSAGE_INFO_ACTION_ACK, MAVLINK_MESSAGE_INFO_ACTION, MAVLINK_MESSAGE_INFO_SET_MODE, MAVLINK_MESSAGE_INFO_SET_NAV_MODE, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, {NULL}, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_LOCAL_POSITION, MAVLINK_MESSAGE_INFO_GPS_RAW, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_WAYPOINT, MAVLINK_MESSAGE_INFO_WAYPOINT_REQUEST, MAVLINK_MESSAGE_INFO_WAYPOINT_SET_CURRENT, MAVLINK_MESSAGE_INFO_WAYPOINT_CURRENT, MAVLINK_MESSAGE_INFO_WAYPOINT_REQUEST_LIST, MAVLINK_MESSAGE_INFO_WAYPOINT_COUNT, MAVLINK_MESSAGE_INFO_WAYPOINT_CLEAR_ALL, MAVLINK_MESSAGE_INFO_WAYPOINT_REACHED, MAVLINK_MESSAGE_INFO_WAYPOINT_ACK, MAVLINK_MESSAGE_INFO_GPS_SET_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_LOCAL_ORIGIN_SET, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT_SET, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_CONTROL_STATUS, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, MAVLINK_MESSAGE_INFO_POSITION_TARGET, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, MAVLINK_MESSAGE_INFO_SET_ALTITUDE, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_VFR_HUD, MAVLINK_MESSAGE_INFO_COMMAND, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_OBJECT_DETECTION_EVENT, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_SENSOR_OFFSETS, MAVLINK_MESSAGE_INFO_SET_MAG_OFFSETS, MAVLINK_MESSAGE_INFO_MEMINFO, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG} #endif #include "../protocol.h" @@ -48,7 +48,6 @@ extern "C" { #include "./mavlink_msg_sensor_offsets.h" #include "./mavlink_msg_set_mag_offsets.h" #include "./mavlink_msg_meminfo.h" -#include "./mavlink_msg_ap_adc.h" #ifdef __cplusplus } diff --git a/libraries/GCS_MAVLink/include/ardupilotmega/mavlink_msg_ap_adc.h b/libraries/GCS_MAVLink/include/ardupilotmega/mavlink_msg_ap_adc.h deleted file mode 100644 index d42edb15d3..0000000000 --- a/libraries/GCS_MAVLink/include/ardupilotmega/mavlink_msg_ap_adc.h +++ /dev/null @@ -1,254 +0,0 @@ -// MESSAGE AP_ADC PACKING - -#define MAVLINK_MSG_ID_AP_ADC 153 - -typedef struct __mavlink_ap_adc_t -{ - uint16_t adc1; ///< ADC output 1 - uint16_t adc2; ///< ADC output 2 - uint16_t adc3; ///< ADC output 3 - uint16_t adc4; ///< ADC output 4 - uint16_t adc5; ///< ADC output 5 - uint16_t adc6; ///< ADC output 6 -} mavlink_ap_adc_t; - -#define MAVLINK_MSG_ID_AP_ADC_LEN 12 -#define MAVLINK_MSG_ID_153_LEN 12 - - - -#define MAVLINK_MESSAGE_INFO_AP_ADC { \ - "AP_ADC", \ - 6, \ - { { "adc1", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_ap_adc_t, adc1) }, \ - { "adc2", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_ap_adc_t, adc2) }, \ - { "adc3", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_ap_adc_t, adc3) }, \ - { "adc4", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_ap_adc_t, adc4) }, \ - { "adc5", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_ap_adc_t, adc5) }, \ - { "adc6", NULL, MAVLINK_TYPE_UINT16_T, 0, 10, offsetof(mavlink_ap_adc_t, adc6) }, \ - } \ -} - - -/** - * @brief Pack a ap_adc 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 adc1 ADC output 1 - * @param adc2 ADC output 2 - * @param adc3 ADC output 3 - * @param adc4 ADC output 4 - * @param adc5 ADC output 5 - * @param adc6 ADC output 6 - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_ap_adc_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, - uint16_t adc1, uint16_t adc2, uint16_t adc3, uint16_t adc4, uint16_t adc5, uint16_t adc6) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[12]; - _mav_put_uint16_t(buf, 0, adc1); - _mav_put_uint16_t(buf, 2, adc2); - _mav_put_uint16_t(buf, 4, adc3); - _mav_put_uint16_t(buf, 6, adc4); - _mav_put_uint16_t(buf, 8, adc5); - _mav_put_uint16_t(buf, 10, adc6); - - memcpy(_MAV_PAYLOAD(msg), buf, 12); -#else - mavlink_ap_adc_t packet; - packet.adc1 = adc1; - packet.adc2 = adc2; - packet.adc3 = adc3; - packet.adc4 = adc4; - packet.adc5 = adc5; - packet.adc6 = adc6; - - memcpy(_MAV_PAYLOAD(msg), &packet, 12); -#endif - - msg->msgid = MAVLINK_MSG_ID_AP_ADC; - return mavlink_finalize_message(msg, system_id, component_id, 12); -} - -/** - * @brief Pack a ap_adc message on a channel - * @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 adc1 ADC output 1 - * @param adc2 ADC output 2 - * @param adc3 ADC output 3 - * @param adc4 ADC output 4 - * @param adc5 ADC output 5 - * @param adc6 ADC output 6 - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_ap_adc_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, - mavlink_message_t* msg, - uint16_t adc1,uint16_t adc2,uint16_t adc3,uint16_t adc4,uint16_t adc5,uint16_t adc6) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[12]; - _mav_put_uint16_t(buf, 0, adc1); - _mav_put_uint16_t(buf, 2, adc2); - _mav_put_uint16_t(buf, 4, adc3); - _mav_put_uint16_t(buf, 6, adc4); - _mav_put_uint16_t(buf, 8, adc5); - _mav_put_uint16_t(buf, 10, adc6); - - memcpy(_MAV_PAYLOAD(msg), buf, 12); -#else - mavlink_ap_adc_t packet; - packet.adc1 = adc1; - packet.adc2 = adc2; - packet.adc3 = adc3; - packet.adc4 = adc4; - packet.adc5 = adc5; - packet.adc6 = adc6; - - memcpy(_MAV_PAYLOAD(msg), &packet, 12); -#endif - - msg->msgid = MAVLINK_MSG_ID_AP_ADC; - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 12); -} - -/** - * @brief Encode a ap_adc 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 ap_adc C-struct to read the message contents from - */ -static inline uint16_t mavlink_msg_ap_adc_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_ap_adc_t* ap_adc) -{ - return mavlink_msg_ap_adc_pack(system_id, component_id, msg, ap_adc->adc1, ap_adc->adc2, ap_adc->adc3, ap_adc->adc4, ap_adc->adc5, ap_adc->adc6); -} - -/** - * @brief Send a ap_adc message - * @param chan MAVLink channel to send the message - * - * @param adc1 ADC output 1 - * @param adc2 ADC output 2 - * @param adc3 ADC output 3 - * @param adc4 ADC output 4 - * @param adc5 ADC output 5 - * @param adc6 ADC output 6 - */ -#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS - -static inline void mavlink_msg_ap_adc_send(mavlink_channel_t chan, uint16_t adc1, uint16_t adc2, uint16_t adc3, uint16_t adc4, uint16_t adc5, uint16_t adc6) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[12]; - _mav_put_uint16_t(buf, 0, adc1); - _mav_put_uint16_t(buf, 2, adc2); - _mav_put_uint16_t(buf, 4, adc3); - _mav_put_uint16_t(buf, 6, adc4); - _mav_put_uint16_t(buf, 8, adc5); - _mav_put_uint16_t(buf, 10, adc6); - - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AP_ADC, buf, 12); -#else - mavlink_ap_adc_t packet; - packet.adc1 = adc1; - packet.adc2 = adc2; - packet.adc3 = adc3; - packet.adc4 = adc4; - packet.adc5 = adc5; - packet.adc6 = adc6; - - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AP_ADC, (const char *)&packet, 12); -#endif -} - -#endif - -// MESSAGE AP_ADC UNPACKING - - -/** - * @brief Get field adc1 from ap_adc message - * - * @return ADC output 1 - */ -static inline uint16_t mavlink_msg_ap_adc_get_adc1(const mavlink_message_t* msg) -{ - return _MAV_RETURN_uint16_t(msg, 0); -} - -/** - * @brief Get field adc2 from ap_adc message - * - * @return ADC output 2 - */ -static inline uint16_t mavlink_msg_ap_adc_get_adc2(const mavlink_message_t* msg) -{ - return _MAV_RETURN_uint16_t(msg, 2); -} - -/** - * @brief Get field adc3 from ap_adc message - * - * @return ADC output 3 - */ -static inline uint16_t mavlink_msg_ap_adc_get_adc3(const mavlink_message_t* msg) -{ - return _MAV_RETURN_uint16_t(msg, 4); -} - -/** - * @brief Get field adc4 from ap_adc message - * - * @return ADC output 4 - */ -static inline uint16_t mavlink_msg_ap_adc_get_adc4(const mavlink_message_t* msg) -{ - return _MAV_RETURN_uint16_t(msg, 6); -} - -/** - * @brief Get field adc5 from ap_adc message - * - * @return ADC output 5 - */ -static inline uint16_t mavlink_msg_ap_adc_get_adc5(const mavlink_message_t* msg) -{ - return _MAV_RETURN_uint16_t(msg, 8); -} - -/** - * @brief Get field adc6 from ap_adc message - * - * @return ADC output 6 - */ -static inline uint16_t mavlink_msg_ap_adc_get_adc6(const mavlink_message_t* msg) -{ - return _MAV_RETURN_uint16_t(msg, 10); -} - -/** - * @brief Decode a ap_adc message into a struct - * - * @param msg The message to decode - * @param ap_adc C-struct to decode the message contents into - */ -static inline void mavlink_msg_ap_adc_decode(const mavlink_message_t* msg, mavlink_ap_adc_t* ap_adc) -{ -#if MAVLINK_NEED_BYTE_SWAP - ap_adc->adc1 = mavlink_msg_ap_adc_get_adc1(msg); - ap_adc->adc2 = mavlink_msg_ap_adc_get_adc2(msg); - ap_adc->adc3 = mavlink_msg_ap_adc_get_adc3(msg); - ap_adc->adc4 = mavlink_msg_ap_adc_get_adc4(msg); - ap_adc->adc5 = mavlink_msg_ap_adc_get_adc5(msg); - ap_adc->adc6 = mavlink_msg_ap_adc_get_adc6(msg); -#else - memcpy(ap_adc, _MAV_PAYLOAD(msg), 12); -#endif -} diff --git a/libraries/GCS_MAVLink/include/ardupilotmega/testsuite.h b/libraries/GCS_MAVLink/include/ardupilotmega/testsuite.h index 6a2e90cae5..cd59317f8f 100644 --- a/libraries/GCS_MAVLink/include/ardupilotmega/testsuite.h +++ b/libraries/GCS_MAVLink/include/ardupilotmega/testsuite.h @@ -185,65 +185,11 @@ static void mavlink_test_meminfo(uint8_t system_id, uint8_t component_id, mavlin MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); } -static void mavlink_test_ap_adc(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) -{ - mavlink_message_t msg; - uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; - uint16_t i; - mavlink_ap_adc_t packet_in = { - 17235, - 17339, - 17443, - 17547, - 17651, - 17755, - }; - mavlink_ap_adc_t packet1, packet2; - memset(&packet1, 0, sizeof(packet1)); - packet1.adc1 = packet_in.adc1; - packet1.adc2 = packet_in.adc2; - packet1.adc3 = packet_in.adc3; - packet1.adc4 = packet_in.adc4; - packet1.adc5 = packet_in.adc5; - packet1.adc6 = packet_in.adc6; - - - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_ap_adc_encode(system_id, component_id, &msg, &packet1); - mavlink_msg_ap_adc_decode(&msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_ap_adc_pack(system_id, component_id, &msg , packet1.adc1 , packet1.adc2 , packet1.adc3 , packet1.adc4 , packet1.adc5 , packet1.adc6 ); - mavlink_msg_ap_adc_decode(&msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_ap_adc_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.adc1 , packet1.adc2 , packet1.adc3 , packet1.adc4 , packet1.adc5 , packet1.adc6 ); - mavlink_msg_ap_adc_decode(&msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_to_send_buffer(buffer, &msg); - for (i=0; ifree memory - - raw ADC output - ADC output 1 - ADC output 2 - ADC output 3 - ADC output 4 - ADC output 5 - ADC output 6 - - diff --git a/libraries/GCS_MAVLink/message_definitions/test.xml b/libraries/GCS_MAVLink/message_definitions/test.xml deleted file mode 100644 index 43a11e3d13..0000000000 --- a/libraries/GCS_MAVLink/message_definitions/test.xml +++ /dev/null @@ -1,31 +0,0 @@ - - - 3 - - - Test all field types - char - string - uint8_t - uint16_t - uint32_t - uint64_t - int8_t - int16_t - int32_t - int64_t - float - double - uint8_t_array - uint16_t_array - uint32_t_array - uint64_t_array - int8_t_array - int16_t_array - int32_t_array - int64_t_array - float_array - double_array - - -