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GCS_MAVLink: Regenerate mavlink1.0 implementation

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created using:
mavgen.py --lang=C --wire-protocol=1.0 --output=./include/mavlink/v1.0 ./message_definitions/ardupilotmega.xml
mavlink repo commit 79cabfe956464c8f745807a6e65062ac3fc09193
This commit is contained in:
Pat Hickey 2012-09-18 11:44:16 -07:00 committed by Andrew Tridgell
parent a86a696311
commit 2a72c7e730
8 changed files with 505 additions and 7 deletions
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8
libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h
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182
libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data16.h Normal file
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@ -0,0 +1,182 @@
// MESSAGE DATA16 PACKING
#define MAVLINK_MSG_ID_DATA16 169
typedef struct __mavlink_data16_t
{
uint8_t type; ///< data type
uint8_t len; ///< data length
uint8_t data[16]; ///< raw data
} mavlink_data16_t;
#define MAVLINK_MSG_ID_DATA16_LEN 18
#define MAVLINK_MSG_ID_169_LEN 18
#define MAVLINK_MSG_DATA16_FIELD_DATA_LEN 16
#define MAVLINK_MESSAGE_INFO_DATA16 { \
"DATA16", \
3, \
{ { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_data16_t, type) }, \
{ "len", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_data16_t, len) }, \
{ "data", NULL, MAVLINK_TYPE_UINT8_T, 16, 2, offsetof(mavlink_data16_t, data) }, \
} \
}
/**
* @brief Pack a data16 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 type data type
* @param len data length
* @param data raw data
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_data16_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t type, uint8_t len, const uint8_t *data)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[18];
_mav_put_uint8_t(buf, 0, type);
_mav_put_uint8_t(buf, 1, len);
_mav_put_uint8_t_array(buf, 2, data, 16);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 18);
#else
mavlink_data16_t packet;
packet.type = type;
packet.len = len;
mav_array_memcpy(packet.data, data, sizeof(uint8_t)*16);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 18);
#endif
msg->msgid = MAVLINK_MSG_ID_DATA16;
return mavlink_finalize_message(msg, system_id, component_id, 18, 234);
}
/**
* @brief Pack a data16 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 type data type
* @param len data length
* @param data raw data
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_data16_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint8_t type,uint8_t len,const uint8_t *data)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[18];
_mav_put_uint8_t(buf, 0, type);
_mav_put_uint8_t(buf, 1, len);
_mav_put_uint8_t_array(buf, 2, data, 16);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 18);
#else
mavlink_data16_t packet;
packet.type = type;
packet.len = len;
mav_array_memcpy(packet.data, data, sizeof(uint8_t)*16);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 18);
#endif
msg->msgid = MAVLINK_MSG_ID_DATA16;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 18, 234);
}
/**
* @brief Encode a data16 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 data16 C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_data16_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_data16_t* data16)
{
return mavlink_msg_data16_pack(system_id, component_id, msg, data16->type, data16->len, data16->data);
}
/**
* @brief Send a data16 message
* @param chan MAVLink channel to send the message
*
* @param type data type
* @param len data length
* @param data raw data
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_data16_send(mavlink_channel_t chan, uint8_t type, uint8_t len, const uint8_t *data)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[18];
_mav_put_uint8_t(buf, 0, type);
_mav_put_uint8_t(buf, 1, len);
_mav_put_uint8_t_array(buf, 2, data, 16);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA16, buf, 18, 234);
#else
mavlink_data16_t packet;
packet.type = type;
packet.len = len;
mav_array_memcpy(packet.data, data, sizeof(uint8_t)*16);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA16, (const char *)&packet, 18, 234);
#endif
}
#endif
// MESSAGE DATA16 UNPACKING
/**
* @brief Get field type from data16 message
*
* @return data type
*/
static inline uint8_t mavlink_msg_data16_get_type(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 0);
}
/**
* @brief Get field len from data16 message
*
* @return data length
*/
static inline uint8_t mavlink_msg_data16_get_len(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 1);
}
/**
* @brief Get field data from data16 message
*
* @return raw data
*/
static inline uint16_t mavlink_msg_data16_get_data(const mavlink_message_t* msg, uint8_t *data)
{
return _MAV_RETURN_uint8_t_array(msg, data, 16, 2);
}
/**
* @brief Decode a data16 message into a struct
*
* @param msg The message to decode
* @param data16 C-struct to decode the message contents into
*/
static inline void mavlink_msg_data16_decode(const mavlink_message_t* msg, mavlink_data16_t* data16)
{
#if MAVLINK_NEED_BYTE_SWAP
data16->type = mavlink_msg_data16_get_type(msg);
data16->len = mavlink_msg_data16_get_len(msg);
mavlink_msg_data16_get_data(msg, data16->data);
#else
memcpy(data16, _MAV_PAYLOAD(msg), 18);
#endif
}

182
libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data32.h Normal file
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@ -0,0 +1,182 @@
// MESSAGE DATA32 PACKING
#define MAVLINK_MSG_ID_DATA32 170
typedef struct __mavlink_data32_t
{
uint8_t type; ///< data type
uint8_t len; ///< data length
uint8_t data[32]; ///< raw data
} mavlink_data32_t;
#define MAVLINK_MSG_ID_DATA32_LEN 34
#define MAVLINK_MSG_ID_170_LEN 34
#define MAVLINK_MSG_DATA32_FIELD_DATA_LEN 32
#define MAVLINK_MESSAGE_INFO_DATA32 { \
"DATA32", \
3, \
{ { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_data32_t, type) }, \
{ "len", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_data32_t, len) }, \
{ "data", NULL, MAVLINK_TYPE_UINT8_T, 32, 2, offsetof(mavlink_data32_t, data) }, \
} \
}
/**
* @brief Pack a data32 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 type data type
* @param len data length
* @param data raw data
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_data32_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t type, uint8_t len, const uint8_t *data)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[34];
_mav_put_uint8_t(buf, 0, type);
_mav_put_uint8_t(buf, 1, len);
_mav_put_uint8_t_array(buf, 2, data, 32);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 34);
#else
mavlink_data32_t packet;
packet.type = type;
packet.len = len;
mav_array_memcpy(packet.data, data, sizeof(uint8_t)*32);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 34);
#endif
msg->msgid = MAVLINK_MSG_ID_DATA32;
return mavlink_finalize_message(msg, system_id, component_id, 34, 73);
}
/**
* @brief Pack a data32 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 type data type
* @param len data length
* @param data raw data
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_data32_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint8_t type,uint8_t len,const uint8_t *data)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[34];
_mav_put_uint8_t(buf, 0, type);
_mav_put_uint8_t(buf, 1, len);
_mav_put_uint8_t_array(buf, 2, data, 32);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 34);
#else
mavlink_data32_t packet;
packet.type = type;
packet.len = len;
mav_array_memcpy(packet.data, data, sizeof(uint8_t)*32);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 34);
#endif
msg->msgid = MAVLINK_MSG_ID_DATA32;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 34, 73);
}
/**
* @brief Encode a data32 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 data32 C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_data32_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_data32_t* data32)
{
return mavlink_msg_data32_pack(system_id, component_id, msg, data32->type, data32->len, data32->data);
}
/**
* @brief Send a data32 message
* @param chan MAVLink channel to send the message
*
* @param type data type
* @param len data length
* @param data raw data
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_data32_send(mavlink_channel_t chan, uint8_t type, uint8_t len, const uint8_t *data)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[34];
_mav_put_uint8_t(buf, 0, type);
_mav_put_uint8_t(buf, 1, len);
_mav_put_uint8_t_array(buf, 2, data, 32);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA32, buf, 34, 73);
#else
mavlink_data32_t packet;
packet.type = type;
packet.len = len;
mav_array_memcpy(packet.data, data, sizeof(uint8_t)*32);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA32, (const char *)&packet, 34, 73);
#endif
}
#endif
// MESSAGE DATA32 UNPACKING
/**
* @brief Get field type from data32 message
*
* @return data type
*/
static inline uint8_t mavlink_msg_data32_get_type(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 0);
}
/**
* @brief Get field len from data32 message
*
* @return data length
*/
static inline uint8_t mavlink_msg_data32_get_len(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 1);
}
/**
* @brief Get field data from data32 message
*
* @return raw data
*/
static inline uint16_t mavlink_msg_data32_get_data(const mavlink_message_t* msg, uint8_t *data)
{
return _MAV_RETURN_uint8_t_array(msg, data, 32, 2);
}
/**
* @brief Decode a data32 message into a struct
*
* @param msg The message to decode
* @param data32 C-struct to decode the message contents into
*/
static inline void mavlink_msg_data32_decode(const mavlink_message_t* msg, mavlink_data32_t* data32)
{
#if MAVLINK_NEED_BYTE_SWAP
data32->type = mavlink_msg_data32_get_type(msg);
data32->len = mavlink_msg_data32_get_len(msg);
mavlink_msg_data32_get_data(msg, data32->data);
#else
memcpy(data32, _MAV_PAYLOAD(msg), 34);
#endif
}

96
libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/testsuite.h
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@ -992,6 +992,100 @@ static void mavlink_test_wind(uint8_t system_id, uint8_t component_id, mavlink_m
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}
static void mavlink_test_data16(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_data16_t packet_in = {
5,
72,
{ 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154 },
};
mavlink_data16_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
packet1.type = packet_in.type;
packet1.len = packet_in.len;
mav_array_memcpy(packet1.data, packet_in.data, sizeof(uint8_t)*16);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_data16_encode(system_id, component_id, &msg, &packet1);
mavlink_msg_data16_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_data16_pack(system_id, component_id, &msg , packet1.type , packet1.len , packet1.data );
mavlink_msg_data16_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_data16_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.type , packet1.len , packet1.data );
mavlink_msg_data16_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_data16_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_data16_send(MAVLINK_COMM_1 , packet1.type , packet1.len , packet1.data );
mavlink_msg_data16_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}
static void mavlink_test_data32(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_data32_t packet_in = {
5,
72,
{ 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170 },
};
mavlink_data32_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
packet1.type = packet_in.type;
packet1.len = packet_in.len;
mav_array_memcpy(packet1.data, packet_in.data, sizeof(uint8_t)*32);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_data32_encode(system_id, component_id, &msg, &packet1);
mavlink_msg_data32_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_data32_pack(system_id, component_id, &msg , packet1.type , packet1.len , packet1.data );
mavlink_msg_data32_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_data32_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.type , packet1.len , packet1.data );
mavlink_msg_data32_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_data32_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_data32_send(MAVLINK_COMM_1 , packet1.type , packet1.len , packet1.data );
mavlink_msg_data32_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);
@ -1012,6 +1106,8 @@ static void mavlink_test_ardupilotmega(uint8_t system_id, uint8_t component_id,
mavlink_test_radio(system_id, component_id, last_msg);
mavlink_test_limits_status(system_id, component_id, last_msg);
mavlink_test_wind(system_id, component_id, last_msg);
mavlink_test_data16(system_id, component_id, last_msg);
mavlink_test_data32(system_id, component_id, last_msg);
}
#ifdef __cplusplus

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 "Wed Aug 15 07:29:40 2012"
#define MAVLINK_BUILD_DATE "Tue Sep 18 11:41:40 2012"
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101

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 "Wed Aug 15 07:29:40 2012"
#define MAVLINK_BUILD_DATE "Tue Sep 18 11:41:40 2012"
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101

39
libraries/GCS_MAVLink/include/mavlink/v1.0/mavlink_helpers.h
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@ -9,8 +9,17 @@
#define MAVLINK_HELPER
#endif
/**
* Reset the status of a channel
*/
MAVLINK_HELPER void mavlink_reset_channel_status(uint8_t chan);
{
mavlink_status_t *status = mavlink_get_channel_status(chan);
status->parse_state = MAVLINK_PARSE_STATE_IDLE;
}
/*
internal function to give access to the channel status for each channel
* Internal function to give access to the channel status for each channel
*/
MAVLINK_HELPER mavlink_status_t* mavlink_get_channel_status(uint8_t chan)
{
@ -19,7 +28,7 @@ MAVLINK_HELPER mavlink_status_t* mavlink_get_channel_status(uint8_t chan)
}
/*
internal function to give access to the channel buffer for each channel
* Internal function to give access to the channel buffer for each channel
*/
MAVLINK_HELPER mavlink_message_t* mavlink_get_channel_buffer(uint8_t chan)
{
@ -227,6 +236,19 @@ MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_messa
static const uint8_t mavlink_message_crcs[256] = MAVLINK_MESSAGE_CRCS;
#define MAVLINK_MESSAGE_CRC(msgid) mavlink_message_crcs[msgid]
#endif
#endif
/* Enable this option to check the length of each message.
This allows invalid messages to be caught much sooner. Use if the transmission
medium is prone to missing (or extra) characters (e.g. a radio that fades in
and out). Only use if the channel will only contain messages types listed in
the headers.
*/
#if MAVLINK_CHECK_MESSAGE_LENGTH
#ifndef MAVLINK_MESSAGE_LENGTH
static const uint8_t mavlink_message_lengths[256] = MAVLINK_MESSAGE_LENGTHS;
#define MAVLINK_MESSAGE_LENGTH(msgid) mavlink_message_lengths[msgid]
#endif
#endif
mavlink_message_t* rxmsg = mavlink_get_channel_buffer(chan); ///< The currently decoded message
@ -291,6 +313,19 @@ MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_messa
break;
case MAVLINK_PARSE_STATE_GOT_COMPID:
#if MAVLINK_CHECK_MESSAGE_LENGTH
if (rxmsg->len != MAVLINK_MESSAGE_LENGTH(c))
{
status->parse_error++;
status->parse_state = MAVLINK_PARSE_STATE_IDLE;
break;
if (c == MAVLINK_STX)
{
status->parse_state = MAVLINK_PARSE_STATE_GOT_STX;
mavlink_start_checksum(rxmsg);
}
}
#endif
rxmsg->msgid = c;
mavlink_update_checksum(rxmsg, c);
if (rxmsg->len == 0)

1
libraries/GCS_MAVLink/include/mavlink/v1.0/protocol.h
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@ -43,6 +43,7 @@
/* always include the prototypes to ensure we don't get out of sync */
MAVLINK_HELPER mavlink_status_t* mavlink_get_channel_status(uint8_t chan);
MAVLINK_HELPER void mavlink_reset_channel_status(uint8_t chan);
#if MAVLINK_CRC_EXTRA
MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id,
uint8_t chan, uint8_t length, uint8_t crc_extra);