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GCS_MAVLink: rebuilt headers

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Andrew Tridgell 2015-05-23 08:17:12 +10:00
parent cc80fdf593
commit 0fe04a93ce
5 changed files with 421 additions and 5 deletions
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19
libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h
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353
libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_pid_tuning.h Normal file
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@ -0,0 +1,353 @@
// MESSAGE PID_TUNING PACKING
#define MAVLINK_MSG_ID_PID_TUNING 194
typedef struct __mavlink_pid_tuning_t
{
float desired; ///< desired rate (degrees/s)
float achieved; ///< achieved rate (degrees/s)
float FF; ///< FF component
float P; ///< P component
float I; ///< I component
float D; ///< D component
uint8_t axis; ///< axis
} mavlink_pid_tuning_t;
#define MAVLINK_MSG_ID_PID_TUNING_LEN 25
#define MAVLINK_MSG_ID_194_LEN 25
#define MAVLINK_MSG_ID_PID_TUNING_CRC 98
#define MAVLINK_MSG_ID_194_CRC 98
#define MAVLINK_MESSAGE_INFO_PID_TUNING { \
"PID_TUNING", \
7, \
{ { "desired", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_pid_tuning_t, desired) }, \
{ "achieved", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_pid_tuning_t, achieved) }, \
{ "FF", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_pid_tuning_t, FF) }, \
{ "P", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_pid_tuning_t, P) }, \
{ "I", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_pid_tuning_t, I) }, \
{ "D", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_pid_tuning_t, D) }, \
{ "axis", NULL, MAVLINK_TYPE_UINT8_T, 0, 24, offsetof(mavlink_pid_tuning_t, axis) }, \
} \
}
/**
* @brief Pack a pid_tuning 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 axis axis
* @param desired desired rate (degrees/s)
* @param achieved achieved rate (degrees/s)
* @param FF FF component
* @param P P component
* @param I I component
* @param D D component
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_pid_tuning_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t axis, float desired, float achieved, float FF, float P, float I, float D)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_PID_TUNING_LEN];
_mav_put_float(buf, 0, desired);
_mav_put_float(buf, 4, achieved);
_mav_put_float(buf, 8, FF);
_mav_put_float(buf, 12, P);
_mav_put_float(buf, 16, I);
_mav_put_float(buf, 20, D);
_mav_put_uint8_t(buf, 24, axis);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_PID_TUNING_LEN);
#else
mavlink_pid_tuning_t packet;
packet.desired = desired;
packet.achieved = achieved;
packet.FF = FF;
packet.P = P;
packet.I = I;
packet.D = D;
packet.axis = axis;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_PID_TUNING_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_PID_TUNING;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_PID_TUNING_LEN, MAVLINK_MSG_ID_PID_TUNING_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_PID_TUNING_LEN);
#endif
}
/**
* @brief Pack a pid_tuning 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 will be sent over
* @param msg The MAVLink message to compress the data into
* @param axis axis
* @param desired desired rate (degrees/s)
* @param achieved achieved rate (degrees/s)
* @param FF FF component
* @param P P component
* @param I I component
* @param D D component
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_pid_tuning_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint8_t axis,float desired,float achieved,float FF,float P,float I,float D)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_PID_TUNING_LEN];
_mav_put_float(buf, 0, desired);
_mav_put_float(buf, 4, achieved);
_mav_put_float(buf, 8, FF);
_mav_put_float(buf, 12, P);
_mav_put_float(buf, 16, I);
_mav_put_float(buf, 20, D);
_mav_put_uint8_t(buf, 24, axis);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_PID_TUNING_LEN);
#else
mavlink_pid_tuning_t packet;
packet.desired = desired;
packet.achieved = achieved;
packet.FF = FF;
packet.P = P;
packet.I = I;
packet.D = D;
packet.axis = axis;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_PID_TUNING_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_PID_TUNING;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_PID_TUNING_LEN, MAVLINK_MSG_ID_PID_TUNING_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_PID_TUNING_LEN);
#endif
}
/**
* @brief Encode a pid_tuning struct
*
* @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 pid_tuning C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_pid_tuning_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_pid_tuning_t* pid_tuning)
{
return mavlink_msg_pid_tuning_pack(system_id, component_id, msg, pid_tuning->axis, pid_tuning->desired, pid_tuning->achieved, pid_tuning->FF, pid_tuning->P, pid_tuning->I, pid_tuning->D);
}
/**
* @brief Encode a pid_tuning struct 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 will be sent over
* @param msg The MAVLink message to compress the data into
* @param pid_tuning C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_pid_tuning_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_pid_tuning_t* pid_tuning)
{
return mavlink_msg_pid_tuning_pack_chan(system_id, component_id, chan, msg, pid_tuning->axis, pid_tuning->desired, pid_tuning->achieved, pid_tuning->FF, pid_tuning->P, pid_tuning->I, pid_tuning->D);
}
/**
* @brief Send a pid_tuning message
* @param chan MAVLink channel to send the message
*
* @param axis axis
* @param desired desired rate (degrees/s)
* @param achieved achieved rate (degrees/s)
* @param FF FF component
* @param P P component
* @param I I component
* @param D D component
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_pid_tuning_send(mavlink_channel_t chan, uint8_t axis, float desired, float achieved, float FF, float P, float I, float D)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_PID_TUNING_LEN];
_mav_put_float(buf, 0, desired);
_mav_put_float(buf, 4, achieved);
_mav_put_float(buf, 8, FF);
_mav_put_float(buf, 12, P);
_mav_put_float(buf, 16, I);
_mav_put_float(buf, 20, D);
_mav_put_uint8_t(buf, 24, axis);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PID_TUNING, buf, MAVLINK_MSG_ID_PID_TUNING_LEN, MAVLINK_MSG_ID_PID_TUNING_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PID_TUNING, buf, MAVLINK_MSG_ID_PID_TUNING_LEN);
#endif
#else
mavlink_pid_tuning_t packet;
packet.desired = desired;
packet.achieved = achieved;
packet.FF = FF;
packet.P = P;
packet.I = I;
packet.D = D;
packet.axis = axis;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PID_TUNING, (const char *)&packet, MAVLINK_MSG_ID_PID_TUNING_LEN, MAVLINK_MSG_ID_PID_TUNING_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PID_TUNING, (const char *)&packet, MAVLINK_MSG_ID_PID_TUNING_LEN);
#endif
#endif
}
#if MAVLINK_MSG_ID_PID_TUNING_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
This varient of _send() can be used to save stack space by re-using
memory from the receive buffer. The caller provides a
mavlink_message_t which is the size of a full mavlink message. This
is usually the receive buffer for the channel, and allows a reply to an
incoming message with minimum stack space usage.
*/
static inline void mavlink_msg_pid_tuning_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t axis, float desired, float achieved, float FF, float P, float I, float D)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_float(buf, 0, desired);
_mav_put_float(buf, 4, achieved);
_mav_put_float(buf, 8, FF);
_mav_put_float(buf, 12, P);
_mav_put_float(buf, 16, I);
_mav_put_float(buf, 20, D);
_mav_put_uint8_t(buf, 24, axis);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PID_TUNING, buf, MAVLINK_MSG_ID_PID_TUNING_LEN, MAVLINK_MSG_ID_PID_TUNING_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PID_TUNING, buf, MAVLINK_MSG_ID_PID_TUNING_LEN);
#endif
#else
mavlink_pid_tuning_t *packet = (mavlink_pid_tuning_t *)msgbuf;
packet->desired = desired;
packet->achieved = achieved;
packet->FF = FF;
packet->P = P;
packet->I = I;
packet->D = D;
packet->axis = axis;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PID_TUNING, (const char *)packet, MAVLINK_MSG_ID_PID_TUNING_LEN, MAVLINK_MSG_ID_PID_TUNING_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PID_TUNING, (const char *)packet, MAVLINK_MSG_ID_PID_TUNING_LEN);
#endif
#endif
}
#endif
#endif
// MESSAGE PID_TUNING UNPACKING
/**
* @brief Get field axis from pid_tuning message
*
* @return axis
*/
static inline uint8_t mavlink_msg_pid_tuning_get_axis(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 24);
}
/**
* @brief Get field desired from pid_tuning message
*
* @return desired rate (degrees/s)
*/
static inline float mavlink_msg_pid_tuning_get_desired(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 0);
}
/**
* @brief Get field achieved from pid_tuning message
*
* @return achieved rate (degrees/s)
*/
static inline float mavlink_msg_pid_tuning_get_achieved(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 4);
}
/**
* @brief Get field FF from pid_tuning message
*
* @return FF component
*/
static inline float mavlink_msg_pid_tuning_get_FF(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 8);
}
/**
* @brief Get field P from pid_tuning message
*
* @return P component
*/
static inline float mavlink_msg_pid_tuning_get_P(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 12);
}
/**
* @brief Get field I from pid_tuning message
*
* @return I component
*/
static inline float mavlink_msg_pid_tuning_get_I(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 16);
}
/**
* @brief Get field D from pid_tuning message
*
* @return D component
*/
static inline float mavlink_msg_pid_tuning_get_D(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 20);
}
/**
* @brief Decode a pid_tuning message into a struct
*
* @param msg The message to decode
* @param pid_tuning C-struct to decode the message contents into
*/
static inline void mavlink_msg_pid_tuning_decode(const mavlink_message_t* msg, mavlink_pid_tuning_t* pid_tuning)
{
#if MAVLINK_NEED_BYTE_SWAP
pid_tuning->desired = mavlink_msg_pid_tuning_get_desired(msg);
pid_tuning->achieved = mavlink_msg_pid_tuning_get_achieved(msg);
pid_tuning->FF = mavlink_msg_pid_tuning_get_FF(msg);
pid_tuning->P = mavlink_msg_pid_tuning_get_P(msg);
pid_tuning->I = mavlink_msg_pid_tuning_get_I(msg);
pid_tuning->D = mavlink_msg_pid_tuning_get_D(msg);
pid_tuning->axis = mavlink_msg_pid_tuning_get_axis(msg);
#else
memcpy(pid_tuning, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_PID_TUNING_LEN);
#endif
}

50
libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/testsuite.h
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@ -1708,6 +1708,55 @@ static void mavlink_test_ekf_status_report(uint8_t system_id, uint8_t component_
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}
static void mavlink_test_pid_tuning(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_pid_tuning_t packet_in = {
17.0,45.0,73.0,101.0,129.0,157.0,77
};
mavlink_pid_tuning_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
packet1.desired = packet_in.desired;
packet1.achieved = packet_in.achieved;
packet1.FF = packet_in.FF;
packet1.P = packet_in.P;
packet1.I = packet_in.I;
packet1.D = packet_in.D;
packet1.axis = packet_in.axis;
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_pid_tuning_encode(system_id, component_id, &msg, &packet1);
mavlink_msg_pid_tuning_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_pid_tuning_pack(system_id, component_id, &msg , packet1.axis , packet1.desired , packet1.achieved , packet1.FF , packet1.P , packet1.I , packet1.D );
mavlink_msg_pid_tuning_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_pid_tuning_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.axis , packet1.desired , packet1.achieved , packet1.FF , packet1.P , packet1.I , packet1.D );
mavlink_msg_pid_tuning_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; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
comm_send_ch(MAVLINK_COMM_0, buffer[i]);
}
mavlink_msg_pid_tuning_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_pid_tuning_send(MAVLINK_COMM_1 , packet1.axis , packet1.desired , packet1.achieved , packet1.FF , packet1.P , packet1.I , packet1.D );
mavlink_msg_pid_tuning_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}
static void mavlink_test_gimbal_report(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
mavlink_message_t msg;
@ -2611,6 +2660,7 @@ static void mavlink_test_ardupilotmega(uint8_t system_id, uint8_t component_id,
mavlink_test_autopilot_version_request(system_id, component_id, last_msg);
mavlink_test_led_control(system_id, component_id, last_msg);
mavlink_test_ekf_status_report(system_id, component_id, last_msg);
mavlink_test_pid_tuning(system_id, component_id, last_msg);
mavlink_test_gimbal_report(system_id, component_id, last_msg);
mavlink_test_gimbal_control(system_id, component_id, last_msg);
mavlink_test_gimbal_reset(system_id, component_id, last_msg);

2
libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/version.h
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@ -5,7 +5,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Mon Apr 27 08:54:26 2015"
#define MAVLINK_BUILD_DATE "Sat May 23 17:10:27 2015"
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255

2
libraries/GCS_MAVLink/include/mavlink/v1.0/common/version.h
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@ -5,7 +5,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Mon Apr 27 08:54:28 2015"
#define MAVLINK_BUILD_DATE "Sat May 23 17:10:30 2015"
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255