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GCS_MAVLink: import latest upstream.

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This add rally points.
This commit is contained in:
Michael Day 2013-10-02 17:21:02 -07:00 committed by Andrew Tridgell
parent 99a8ba4634
commit 1777db91cb
8 changed files with 785 additions and 11 deletions
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19
libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h
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221
libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_rally_fetch_point.h Normal file
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// MESSAGE RALLY_FETCH_POINT PACKING
#define MAVLINK_MSG_ID_RALLY_FETCH_POINT 176
typedef struct __mavlink_rally_fetch_point_t
{
uint8_t target_system; ///< System ID
uint8_t target_component; ///< Component ID
uint8_t idx; ///< point index (first point is 0)
} mavlink_rally_fetch_point_t;
#define MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN 3
#define MAVLINK_MSG_ID_176_LEN 3
#define MAVLINK_MSG_ID_RALLY_FETCH_POINT_CRC 234
#define MAVLINK_MSG_ID_176_CRC 234
#define MAVLINK_MESSAGE_INFO_RALLY_FETCH_POINT { \
"RALLY_FETCH_POINT", \
3, \
{ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_rally_fetch_point_t, target_system) }, \
{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_rally_fetch_point_t, target_component) }, \
{ "idx", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_rally_fetch_point_t, idx) }, \
} \
}
/**
* @brief Pack a rally_fetch_point 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 target_system System ID
* @param target_component Component ID
* @param idx point index (first point is 0)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_rally_fetch_point_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t target_system, uint8_t target_component, uint8_t idx)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_uint8_t(buf, 2, idx);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN);
#else
mavlink_rally_fetch_point_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
packet.idx = idx;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_RALLY_FETCH_POINT;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN, MAVLINK_MSG_ID_RALLY_FETCH_POINT_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN);
#endif
}
/**
* @brief Pack a rally_fetch_point 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 target_system System ID
* @param target_component Component ID
* @param idx point index (first point is 0)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_rally_fetch_point_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint8_t target_system,uint8_t target_component,uint8_t idx)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_uint8_t(buf, 2, idx);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN);
#else
mavlink_rally_fetch_point_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
packet.idx = idx;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_RALLY_FETCH_POINT;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN, MAVLINK_MSG_ID_RALLY_FETCH_POINT_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN);
#endif
}
/**
* @brief Encode a rally_fetch_point 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 rally_fetch_point C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_rally_fetch_point_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_rally_fetch_point_t* rally_fetch_point)
{
return mavlink_msg_rally_fetch_point_pack(system_id, component_id, msg, rally_fetch_point->target_system, rally_fetch_point->target_component, rally_fetch_point->idx);
}
/**
* @brief Encode a rally_fetch_point 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 rally_fetch_point C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_rally_fetch_point_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_rally_fetch_point_t* rally_fetch_point)
{
return mavlink_msg_rally_fetch_point_pack_chan(system_id, component_id, chan, msg, rally_fetch_point->target_system, rally_fetch_point->target_component, rally_fetch_point->idx);
}
/**
* @brief Send a rally_fetch_point message
* @param chan MAVLink channel to send the message
*
* @param target_system System ID
* @param target_component Component ID
* @param idx point index (first point is 0)
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_rally_fetch_point_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t idx)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_uint8_t(buf, 2, idx);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RALLY_FETCH_POINT, buf, MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN, MAVLINK_MSG_ID_RALLY_FETCH_POINT_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RALLY_FETCH_POINT, buf, MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN);
#endif
#else
mavlink_rally_fetch_point_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
packet.idx = idx;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RALLY_FETCH_POINT, (const char *)&packet, MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN, MAVLINK_MSG_ID_RALLY_FETCH_POINT_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RALLY_FETCH_POINT, (const char *)&packet, MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN);
#endif
#endif
}
#endif
// MESSAGE RALLY_FETCH_POINT UNPACKING
/**
* @brief Get field target_system from rally_fetch_point message
*
* @return System ID
*/
static inline uint8_t mavlink_msg_rally_fetch_point_get_target_system(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 0);
}
/**
* @brief Get field target_component from rally_fetch_point message
*
* @return Component ID
*/
static inline uint8_t mavlink_msg_rally_fetch_point_get_target_component(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 1);
}
/**
* @brief Get field idx from rally_fetch_point message
*
* @return point index (first point is 0)
*/
static inline uint8_t mavlink_msg_rally_fetch_point_get_idx(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 2);
}
/**
* @brief Decode a rally_fetch_point message into a struct
*
* @param msg The message to decode
* @param rally_fetch_point C-struct to decode the message contents into
*/
static inline void mavlink_msg_rally_fetch_point_decode(const mavlink_message_t* msg, mavlink_rally_fetch_point_t* rally_fetch_point)
{
#if MAVLINK_NEED_BYTE_SWAP
rally_fetch_point->target_system = mavlink_msg_rally_fetch_point_get_target_system(msg);
rally_fetch_point->target_component = mavlink_msg_rally_fetch_point_get_target_component(msg);
rally_fetch_point->idx = mavlink_msg_rally_fetch_point_get_idx(msg);
#else
memcpy(rally_fetch_point, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN);
#endif
}

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libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_rally_point.h Normal file
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// MESSAGE RALLY_POINT PACKING
#define MAVLINK_MSG_ID_RALLY_POINT 175
typedef struct __mavlink_rally_point_t
{
int32_t lat; ///< Latitude of point in degrees * 1E7
int32_t lng; ///< Longitude of point in degrees * 1E7
int16_t alt; ///< Transit / loiter altitude in meters relative to home
int16_t break_alt; ///< Break altitude in meters relative to home
uint16_t land_dir; ///< Heading to aim for when landing. In centi-degrees.
uint8_t target_system; ///< System ID
uint8_t target_component; ///< Component ID
uint8_t idx; ///< point index (first point is 0)
uint8_t count; ///< total number of points (for sanity checking)
uint8_t flags; ///< See RALLY_FLAGS enum for definition of the bitmask.
} mavlink_rally_point_t;
#define MAVLINK_MSG_ID_RALLY_POINT_LEN 19
#define MAVLINK_MSG_ID_175_LEN 19
#define MAVLINK_MSG_ID_RALLY_POINT_CRC 138
#define MAVLINK_MSG_ID_175_CRC 138
#define MAVLINK_MESSAGE_INFO_RALLY_POINT { \
"RALLY_POINT", \
10, \
{ { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_rally_point_t, lat) }, \
{ "lng", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_rally_point_t, lng) }, \
{ "alt", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_rally_point_t, alt) }, \
{ "break_alt", NULL, MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_rally_point_t, break_alt) }, \
{ "land_dir", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_rally_point_t, land_dir) }, \
{ "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 14, offsetof(mavlink_rally_point_t, target_system) }, \
{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 15, offsetof(mavlink_rally_point_t, target_component) }, \
{ "idx", NULL, MAVLINK_TYPE_UINT8_T, 0, 16, offsetof(mavlink_rally_point_t, idx) }, \
{ "count", NULL, MAVLINK_TYPE_UINT8_T, 0, 17, offsetof(mavlink_rally_point_t, count) }, \
{ "flags", NULL, MAVLINK_TYPE_UINT8_T, 0, 18, offsetof(mavlink_rally_point_t, flags) }, \
} \
}
/**
* @brief Pack a rally_point 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 target_system System ID
* @param target_component Component ID
* @param idx point index (first point is 0)
* @param count total number of points (for sanity checking)
* @param lat Latitude of point in degrees * 1E7
* @param lng Longitude of point in degrees * 1E7
* @param alt Transit / loiter altitude in meters relative to home
* @param break_alt Break altitude in meters relative to home
* @param land_dir Heading to aim for when landing. In centi-degrees.
* @param flags See RALLY_FLAGS enum for definition of the bitmask.
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_rally_point_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t target_system, uint8_t target_component, uint8_t idx, uint8_t count, int32_t lat, int32_t lng, int16_t alt, int16_t break_alt, uint16_t land_dir, uint8_t flags)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_RALLY_POINT_LEN];
_mav_put_int32_t(buf, 0, lat);
_mav_put_int32_t(buf, 4, lng);
_mav_put_int16_t(buf, 8, alt);
_mav_put_int16_t(buf, 10, break_alt);
_mav_put_uint16_t(buf, 12, land_dir);
_mav_put_uint8_t(buf, 14, target_system);
_mav_put_uint8_t(buf, 15, target_component);
_mav_put_uint8_t(buf, 16, idx);
_mav_put_uint8_t(buf, 17, count);
_mav_put_uint8_t(buf, 18, flags);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RALLY_POINT_LEN);
#else
mavlink_rally_point_t packet;
packet.lat = lat;
packet.lng = lng;
packet.alt = alt;
packet.break_alt = break_alt;
packet.land_dir = land_dir;
packet.target_system = target_system;
packet.target_component = target_component;
packet.idx = idx;
packet.count = count;
packet.flags = flags;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RALLY_POINT_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_RALLY_POINT;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_RALLY_POINT_LEN, MAVLINK_MSG_ID_RALLY_POINT_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_RALLY_POINT_LEN);
#endif
}
/**
* @brief Pack a rally_point 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 target_system System ID
* @param target_component Component ID
* @param idx point index (first point is 0)
* @param count total number of points (for sanity checking)
* @param lat Latitude of point in degrees * 1E7
* @param lng Longitude of point in degrees * 1E7
* @param alt Transit / loiter altitude in meters relative to home
* @param break_alt Break altitude in meters relative to home
* @param land_dir Heading to aim for when landing. In centi-degrees.
* @param flags See RALLY_FLAGS enum for definition of the bitmask.
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_rally_point_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint8_t target_system,uint8_t target_component,uint8_t idx,uint8_t count,int32_t lat,int32_t lng,int16_t alt,int16_t break_alt,uint16_t land_dir,uint8_t flags)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_RALLY_POINT_LEN];
_mav_put_int32_t(buf, 0, lat);
_mav_put_int32_t(buf, 4, lng);
_mav_put_int16_t(buf, 8, alt);
_mav_put_int16_t(buf, 10, break_alt);
_mav_put_uint16_t(buf, 12, land_dir);
_mav_put_uint8_t(buf, 14, target_system);
_mav_put_uint8_t(buf, 15, target_component);
_mav_put_uint8_t(buf, 16, idx);
_mav_put_uint8_t(buf, 17, count);
_mav_put_uint8_t(buf, 18, flags);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RALLY_POINT_LEN);
#else
mavlink_rally_point_t packet;
packet.lat = lat;
packet.lng = lng;
packet.alt = alt;
packet.break_alt = break_alt;
packet.land_dir = land_dir;
packet.target_system = target_system;
packet.target_component = target_component;
packet.idx = idx;
packet.count = count;
packet.flags = flags;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RALLY_POINT_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_RALLY_POINT;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_RALLY_POINT_LEN, MAVLINK_MSG_ID_RALLY_POINT_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_RALLY_POINT_LEN);
#endif
}
/**
* @brief Encode a rally_point 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 rally_point C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_rally_point_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_rally_point_t* rally_point)
{
return mavlink_msg_rally_point_pack(system_id, component_id, msg, rally_point->target_system, rally_point->target_component, rally_point->idx, rally_point->count, rally_point->lat, rally_point->lng, rally_point->alt, rally_point->break_alt, rally_point->land_dir, rally_point->flags);
}
/**
* @brief Encode a rally_point 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 rally_point C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_rally_point_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_rally_point_t* rally_point)
{
return mavlink_msg_rally_point_pack_chan(system_id, component_id, chan, msg, rally_point->target_system, rally_point->target_component, rally_point->idx, rally_point->count, rally_point->lat, rally_point->lng, rally_point->alt, rally_point->break_alt, rally_point->land_dir, rally_point->flags);
}
/**
* @brief Send a rally_point message
* @param chan MAVLink channel to send the message
*
* @param target_system System ID
* @param target_component Component ID
* @param idx point index (first point is 0)
* @param count total number of points (for sanity checking)
* @param lat Latitude of point in degrees * 1E7
* @param lng Longitude of point in degrees * 1E7
* @param alt Transit / loiter altitude in meters relative to home
* @param break_alt Break altitude in meters relative to home
* @param land_dir Heading to aim for when landing. In centi-degrees.
* @param flags See RALLY_FLAGS enum for definition of the bitmask.
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_rally_point_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t idx, uint8_t count, int32_t lat, int32_t lng, int16_t alt, int16_t break_alt, uint16_t land_dir, uint8_t flags)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_RALLY_POINT_LEN];
_mav_put_int32_t(buf, 0, lat);
_mav_put_int32_t(buf, 4, lng);
_mav_put_int16_t(buf, 8, alt);
_mav_put_int16_t(buf, 10, break_alt);
_mav_put_uint16_t(buf, 12, land_dir);
_mav_put_uint8_t(buf, 14, target_system);
_mav_put_uint8_t(buf, 15, target_component);
_mav_put_uint8_t(buf, 16, idx);
_mav_put_uint8_t(buf, 17, count);
_mav_put_uint8_t(buf, 18, flags);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RALLY_POINT, buf, MAVLINK_MSG_ID_RALLY_POINT_LEN, MAVLINK_MSG_ID_RALLY_POINT_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RALLY_POINT, buf, MAVLINK_MSG_ID_RALLY_POINT_LEN);
#endif
#else
mavlink_rally_point_t packet;
packet.lat = lat;
packet.lng = lng;
packet.alt = alt;
packet.break_alt = break_alt;
packet.land_dir = land_dir;
packet.target_system = target_system;
packet.target_component = target_component;
packet.idx = idx;
packet.count = count;
packet.flags = flags;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RALLY_POINT, (const char *)&packet, MAVLINK_MSG_ID_RALLY_POINT_LEN, MAVLINK_MSG_ID_RALLY_POINT_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RALLY_POINT, (const char *)&packet, MAVLINK_MSG_ID_RALLY_POINT_LEN);
#endif
#endif
}
#endif
// MESSAGE RALLY_POINT UNPACKING
/**
* @brief Get field target_system from rally_point message
*
* @return System ID
*/
static inline uint8_t mavlink_msg_rally_point_get_target_system(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 14);
}
/**
* @brief Get field target_component from rally_point message
*
* @return Component ID
*/
static inline uint8_t mavlink_msg_rally_point_get_target_component(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 15);
}
/**
* @brief Get field idx from rally_point message
*
* @return point index (first point is 0)
*/
static inline uint8_t mavlink_msg_rally_point_get_idx(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 16);
}
/**
* @brief Get field count from rally_point message
*
* @return total number of points (for sanity checking)
*/
static inline uint8_t mavlink_msg_rally_point_get_count(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 17);
}
/**
* @brief Get field lat from rally_point message
*
* @return Latitude of point in degrees * 1E7
*/
static inline int32_t mavlink_msg_rally_point_get_lat(const mavlink_message_t* msg)
{
return _MAV_RETURN_int32_t(msg, 0);
}
/**
* @brief Get field lng from rally_point message
*
* @return Longitude of point in degrees * 1E7
*/
static inline int32_t mavlink_msg_rally_point_get_lng(const mavlink_message_t* msg)
{
return _MAV_RETURN_int32_t(msg, 4);
}
/**
* @brief Get field alt from rally_point message
*
* @return Transit / loiter altitude in meters relative to home
*/
static inline int16_t mavlink_msg_rally_point_get_alt(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 8);
}
/**
* @brief Get field break_alt from rally_point message
*
* @return Break altitude in meters relative to home
*/
static inline int16_t mavlink_msg_rally_point_get_break_alt(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 10);
}
/**
* @brief Get field land_dir from rally_point message
*
* @return Heading to aim for when landing. In centi-degrees.
*/
static inline uint16_t mavlink_msg_rally_point_get_land_dir(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 12);
}
/**
* @brief Get field flags from rally_point message
*
* @return See RALLY_FLAGS enum for definition of the bitmask.
*/
static inline uint8_t mavlink_msg_rally_point_get_flags(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 18);
}
/**
* @brief Decode a rally_point message into a struct
*
* @param msg The message to decode
* @param rally_point C-struct to decode the message contents into
*/
static inline void mavlink_msg_rally_point_decode(const mavlink_message_t* msg, mavlink_rally_point_t* rally_point)
{
#if MAVLINK_NEED_BYTE_SWAP
rally_point->lat = mavlink_msg_rally_point_get_lat(msg);
rally_point->lng = mavlink_msg_rally_point_get_lng(msg);
rally_point->alt = mavlink_msg_rally_point_get_alt(msg);
rally_point->break_alt = mavlink_msg_rally_point_get_break_alt(msg);
rally_point->land_dir = mavlink_msg_rally_point_get_land_dir(msg);
rally_point->target_system = mavlink_msg_rally_point_get_target_system(msg);
rally_point->target_component = mavlink_msg_rally_point_get_target_component(msg);
rally_point->idx = mavlink_msg_rally_point_get_idx(msg);
rally_point->count = mavlink_msg_rally_point_get_count(msg);
rally_point->flags = mavlink_msg_rally_point_get_flags(msg);
#else
memcpy(rally_point, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_RALLY_POINT_LEN);
#endif
}

110
libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/testsuite.h
View File

@ -1290,6 +1290,114 @@ static void mavlink_test_airspeed_autocal(uint8_t system_id, uint8_t component_i
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}
static void mavlink_test_rally_point(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_rally_point_t packet_in = {
963497464,
963497672,
17651,
17755,
17859,
175,
242,
53,
120,
187,
};
mavlink_rally_point_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
packet1.lat = packet_in.lat;
packet1.lng = packet_in.lng;
packet1.alt = packet_in.alt;
packet1.break_alt = packet_in.break_alt;
packet1.land_dir = packet_in.land_dir;
packet1.target_system = packet_in.target_system;
packet1.target_component = packet_in.target_component;
packet1.idx = packet_in.idx;
packet1.count = packet_in.count;
packet1.flags = packet_in.flags;
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_rally_point_encode(system_id, component_id, &msg, &packet1);
mavlink_msg_rally_point_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_rally_point_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.idx , packet1.count , packet1.lat , packet1.lng , packet1.alt , packet1.break_alt , packet1.land_dir , packet1.flags );
mavlink_msg_rally_point_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_rally_point_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.idx , packet1.count , packet1.lat , packet1.lng , packet1.alt , packet1.break_alt , packet1.land_dir , packet1.flags );
mavlink_msg_rally_point_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_rally_point_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_rally_point_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.idx , packet1.count , packet1.lat , packet1.lng , packet1.alt , packet1.break_alt , packet1.land_dir , packet1.flags );
mavlink_msg_rally_point_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}
static void mavlink_test_rally_fetch_point(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_rally_fetch_point_t packet_in = {
5,
72,
139,
};
mavlink_rally_fetch_point_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
packet1.target_system = packet_in.target_system;
packet1.target_component = packet_in.target_component;
packet1.idx = packet_in.idx;
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_rally_fetch_point_encode(system_id, component_id, &msg, &packet1);
mavlink_msg_rally_fetch_point_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_rally_fetch_point_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.idx );
mavlink_msg_rally_fetch_point_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_rally_fetch_point_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.idx );
mavlink_msg_rally_fetch_point_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_rally_fetch_point_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_rally_fetch_point_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.idx );
mavlink_msg_rally_fetch_point_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}
static void mavlink_test_ardupilotmega(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
mavlink_test_sensor_offsets(system_id, component_id, last_msg);
@ -1316,6 +1424,8 @@ static void mavlink_test_ardupilotmega(uint8_t system_id, uint8_t component_id,
mavlink_test_data96(system_id, component_id, last_msg);
mavlink_test_rangefinder(system_id, component_id, last_msg);
mavlink_test_airspeed_autocal(system_id, component_id, last_msg);
mavlink_test_rally_point(system_id, component_id, last_msg);
mavlink_test_rally_fetch_point(system_id, component_id, last_msg);
}
#ifdef __cplusplus

2
libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/version.h
View File

@ -5,7 +5,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Sun Sep 8 07:14:56 2013"
#define MAVLINK_BUILD_DATE "Thu Oct 3 10:46:56 2013"
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 254

2
libraries/GCS_MAVLink/include/mavlink/v1.0/common/version.h
View File

@ -5,7 +5,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Wed Aug 28 09:37:43 2013"
#define MAVLINK_BUILD_DATE "Thu Oct 3 10:46:56 2013"
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 254

6
libraries/GCS_MAVLink/include/mavlink/v1.0/mavlink_conversions.h
View File

@ -9,6 +9,10 @@
#endif
#include <math.h>
#ifndef M_PI_2
#define M_PI_2 ((float)asin(1))
#endif
/**
* @file mavlink_conversions.h
*
@ -128,4 +132,4 @@ MAVLINK_HELPER void mavlink_euler_to_dcm(float roll, float pitch, float yaw, flo
dcm[2][2] = cosPhi * cosThe;
}
#endif
#endif

61
libraries/GCS_MAVLink/message_definitions/ardupilotmega.xml
View File

@ -79,9 +79,9 @@
<entry name="FENCE_ACTION_REPORT" value="2">
<description>Report fence breach, but don't take action</description>
</entry>
<entry name="FENCE_ACTION_GUIDED_THR_PASS" value="3">
<description>Switched to guided mode to return point (fence point 0) with manual throttle control</description>
</entry>
<entry name="FENCE_ACTION_GUIDED_THR_PASS" value="3">
<description>Switched to guided mode to return point (fence point 0) with manual throttle control</description>
</entry>
</enum>
<enum name="FENCE_BREACH">
@ -115,7 +115,15 @@
<entry name="LIMIT_GEOFENCE" value="2"> <description> disabled</description></entry>
<entry name="LIMIT_ALTITUDE" value="4"> <description> checking limits</description></entry>
</enum>
</enums>
<!-- RALLY flags - power of 2 (1,2,4,8,16,32,64,128) so we can send as a bitfield -->
<enum name="RALLY_FLAGS">
<description>Flags in RALLY_POINT message</description>
<entry name="FAVORABLE_WIND" value="1"> <description>Flag set when requiring favorable winds for landing. </description></entry>
<entry name="LAND_IMMEDIATELY" value="2"> <description>Flag set when plane is to immediately descend to break altitude and land without GCS intervention. Flag not set when plane is to loiter at Rally point until commanded to land.</description></entry>
</enum>
</enums>
<messages>
<message id="150" name="SENSOR_OFFSETS">
@ -363,6 +371,49 @@
<field type="float" name="Pby">EKF Pby</field>
<field type="float" name="Pcz">EKF Pcz</field>
</message>
<!-- rally point messages -->
<message name="RALLY_POINT" id="175">
<description>A rally point. Used to set a point when from GCS -> MAV. Also used to return a point from MAV -> GCS</description>
<field name="target_system" type="uint8_t">System ID</field>
<field name="target_component" type="uint8_t">Component ID</field>
<field name="idx" type="uint8_t">point index (first point is 0)</field>
<field name="count" type="uint8_t">total number of points (for sanity checking)</field>
<field name="lat" type="int32_t">Latitude of point in degrees * 1E7</field>
<field name="lng" type="int32_t">Longitude of point in degrees * 1E7</field>
<field name="alt" type="int16_t">Transit / loiter altitude in meters relative to home</field>
<!-- Path planned landings are still in the future, but we want these fields ready: -->
<field name="break_alt" type="int16_t">Break altitude in meters relative to home</field>
<field name="land_dir" type="uint16_t">Heading to aim for when landing. In centi-degrees.</field>
<field name="flags" type="uint8_t">See RALLY_FLAGS enum for definition of the bitmask.</field>
</message>
<message name="RALLY_FETCH_POINT" id="176">
<description>Request a current rally point from MAV. MAV should respond with a RALLY_POINT message. MAV should not respond if the request is invalid.</description>
<field name="target_system" type="uint8_t">System ID</field>
<field name="target_component" type="uint8_t">Component ID</field>
<field name="idx" type="uint8_t">point index (first point is 0)</field>
</message>
<!-- Coming soon
<message name="RALLY_LAND_POINT" id="177">
<description>A rally landing point. An aircraft loitering at a rally point may choose one of these points to land at.</description>
<field name="target_system" type="uint8_t">System ID</field>
<field name="target_component" type="uint8_t">Component ID</field>
<field name="idx" type="uint8_t">point index (first point is 0)</field>
<field name="count" type="uint8_t">total number of points (for sanity checking)</field>
<field name="lat" type="int32_t">Latitude of point</field>
<field name="lng" type="int32_t">Longitude of point</field>
<field name="alt" type="uint16_t">Ground AGL (usually 0)</field>
</message>
<message name="RALLY_LAND_FETCH_POINT" id="178">
<description>Request a current rally land point from MAV</description>
<field name="target_system" type="uint8_t">System ID</field>
<field name="target_component" type="uint8_t">Component ID</field>
<field name="idx" type="uint8_t">point index (first point is 0)</field>
</message>
-->
</messages>
</mavlink>