mirror of https://github.com/ArduPilot/ardupilot
GCS_MAVLink: re-ran generate.sh
This commit is contained in:
Andrew Tridgell
parent
73b8890bd3
commit
33824e0b2f
File diff suppressed because one or more lines are too long
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@ -1,38 +1,32 @@
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// MESSAGE GIMBAL_CONTROL PACKING
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#define MAVLINK_MSG_ID_GIMBAL_CONTROL 185
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#define MAVLINK_MSG_ID_GIMBAL_CONTROL 201
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typedef struct __mavlink_gimbal_control_t
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{
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float demanded_rate_x; ///< Demanded angular rate X, radians/s
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float demanded_rate_y; ///< Demanded angular rate Y, radians/s
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float demanded_rate_z; ///< Demanded angular rate Z, radians/s
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float gyro_bias_x; ///< Gyro bias X, radians/s
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float gyro_bias_y; ///< Gyro bias Y, radians/s
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float gyro_bias_z; ///< Gyro bias Z, radians/s
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float demanded_rate_x; ///< Demanded angular rate X (rad/s)
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float demanded_rate_y; ///< Demanded angular rate Y (rad/s)
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float demanded_rate_z; ///< Demanded angular rate Z (rad/s)
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uint8_t target_system; ///< System ID
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uint8_t target_component; ///< Component ID
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} mavlink_gimbal_control_t;
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#define MAVLINK_MSG_ID_GIMBAL_CONTROL_LEN 26
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#define MAVLINK_MSG_ID_185_LEN 26
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#define MAVLINK_MSG_ID_GIMBAL_CONTROL_LEN 14
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#define MAVLINK_MSG_ID_201_LEN 14
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#define MAVLINK_MSG_ID_GIMBAL_CONTROL_CRC 239
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#define MAVLINK_MSG_ID_185_CRC 239
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#define MAVLINK_MSG_ID_GIMBAL_CONTROL_CRC 205
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#define MAVLINK_MSG_ID_201_CRC 205
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#define MAVLINK_MESSAGE_INFO_GIMBAL_CONTROL { \
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"GIMBAL_CONTROL", \
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8, \
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5, \
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{ { "demanded_rate_x", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_gimbal_control_t, demanded_rate_x) }, \
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{ "demanded_rate_y", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_gimbal_control_t, demanded_rate_y) }, \
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{ "demanded_rate_z", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_gimbal_control_t, demanded_rate_z) }, \
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{ "gyro_bias_x", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_gimbal_control_t, gyro_bias_x) }, \
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{ "gyro_bias_y", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_gimbal_control_t, gyro_bias_y) }, \
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{ "gyro_bias_z", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_gimbal_control_t, gyro_bias_z) }, \
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{ "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 24, offsetof(mavlink_gimbal_control_t, target_system) }, \
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{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 25, offsetof(mavlink_gimbal_control_t, target_component) }, \
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{ "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 12, offsetof(mavlink_gimbal_control_t, target_system) }, \
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{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 13, offsetof(mavlink_gimbal_control_t, target_component) }, \
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} \
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}
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@ -45,27 +39,21 @@ typedef struct __mavlink_gimbal_control_t
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*
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* @param target_system System ID
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* @param target_component Component ID
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* @param demanded_rate_x Demanded angular rate X, radians/s
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* @param demanded_rate_y Demanded angular rate Y, radians/s
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* @param demanded_rate_z Demanded angular rate Z, radians/s
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* @param gyro_bias_x Gyro bias X, radians/s
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* @param gyro_bias_y Gyro bias Y, radians/s
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* @param gyro_bias_z Gyro bias Z, radians/s
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* @param demanded_rate_x Demanded angular rate X (rad/s)
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* @param demanded_rate_y Demanded angular rate Y (rad/s)
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* @param demanded_rate_z Demanded angular rate Z (rad/s)
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_gimbal_control_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint8_t target_system, uint8_t target_component, float demanded_rate_x, float demanded_rate_y, float demanded_rate_z, float gyro_bias_x, float gyro_bias_y, float gyro_bias_z)
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uint8_t target_system, uint8_t target_component, float demanded_rate_x, float demanded_rate_y, float demanded_rate_z)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_GIMBAL_CONTROL_LEN];
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_mav_put_float(buf, 0, demanded_rate_x);
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_mav_put_float(buf, 4, demanded_rate_y);
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_mav_put_float(buf, 8, demanded_rate_z);
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_mav_put_float(buf, 12, gyro_bias_x);
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_mav_put_float(buf, 16, gyro_bias_y);
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_mav_put_float(buf, 20, gyro_bias_z);
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_mav_put_uint8_t(buf, 24, target_system);
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_mav_put_uint8_t(buf, 25, target_component);
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_mav_put_uint8_t(buf, 12, target_system);
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_mav_put_uint8_t(buf, 13, target_component);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GIMBAL_CONTROL_LEN);
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#else
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@ -73,9 +61,6 @@ static inline uint16_t mavlink_msg_gimbal_control_pack(uint8_t system_id, uint8_
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packet.demanded_rate_x = demanded_rate_x;
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packet.demanded_rate_y = demanded_rate_y;
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packet.demanded_rate_z = demanded_rate_z;
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packet.gyro_bias_x = gyro_bias_x;
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packet.gyro_bias_y = gyro_bias_y;
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packet.gyro_bias_z = gyro_bias_z;
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packet.target_system = target_system;
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packet.target_component = target_component;
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@ -98,28 +83,22 @@ static inline uint16_t mavlink_msg_gimbal_control_pack(uint8_t system_id, uint8_
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* @param msg The MAVLink message to compress the data into
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* @param target_system System ID
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* @param target_component Component ID
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* @param demanded_rate_x Demanded angular rate X, radians/s
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* @param demanded_rate_y Demanded angular rate Y, radians/s
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* @param demanded_rate_z Demanded angular rate Z, radians/s
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* @param gyro_bias_x Gyro bias X, radians/s
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* @param gyro_bias_y Gyro bias Y, radians/s
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* @param gyro_bias_z Gyro bias Z, radians/s
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* @param demanded_rate_x Demanded angular rate X (rad/s)
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* @param demanded_rate_y Demanded angular rate Y (rad/s)
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* @param demanded_rate_z Demanded angular rate Z (rad/s)
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_gimbal_control_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
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mavlink_message_t* msg,
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uint8_t target_system,uint8_t target_component,float demanded_rate_x,float demanded_rate_y,float demanded_rate_z,float gyro_bias_x,float gyro_bias_y,float gyro_bias_z)
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uint8_t target_system,uint8_t target_component,float demanded_rate_x,float demanded_rate_y,float demanded_rate_z)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_GIMBAL_CONTROL_LEN];
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_mav_put_float(buf, 0, demanded_rate_x);
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_mav_put_float(buf, 4, demanded_rate_y);
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_mav_put_float(buf, 8, demanded_rate_z);
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_mav_put_float(buf, 12, gyro_bias_x);
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_mav_put_float(buf, 16, gyro_bias_y);
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_mav_put_float(buf, 20, gyro_bias_z);
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_mav_put_uint8_t(buf, 24, target_system);
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_mav_put_uint8_t(buf, 25, target_component);
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_mav_put_uint8_t(buf, 12, target_system);
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_mav_put_uint8_t(buf, 13, target_component);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GIMBAL_CONTROL_LEN);
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#else
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@ -127,9 +106,6 @@ static inline uint16_t mavlink_msg_gimbal_control_pack_chan(uint8_t system_id, u
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packet.demanded_rate_x = demanded_rate_x;
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packet.demanded_rate_y = demanded_rate_y;
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packet.demanded_rate_z = demanded_rate_z;
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packet.gyro_bias_x = gyro_bias_x;
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packet.gyro_bias_y = gyro_bias_y;
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packet.gyro_bias_z = gyro_bias_z;
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packet.target_system = target_system;
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packet.target_component = target_component;
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@ -154,7 +130,7 @@ static inline uint16_t mavlink_msg_gimbal_control_pack_chan(uint8_t system_id, u
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*/
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static inline uint16_t mavlink_msg_gimbal_control_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gimbal_control_t* gimbal_control)
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{
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return mavlink_msg_gimbal_control_pack(system_id, component_id, msg, gimbal_control->target_system, gimbal_control->target_component, gimbal_control->demanded_rate_x, gimbal_control->demanded_rate_y, gimbal_control->demanded_rate_z, gimbal_control->gyro_bias_x, gimbal_control->gyro_bias_y, gimbal_control->gyro_bias_z);
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return mavlink_msg_gimbal_control_pack(system_id, component_id, msg, gimbal_control->target_system, gimbal_control->target_component, gimbal_control->demanded_rate_x, gimbal_control->demanded_rate_y, gimbal_control->demanded_rate_z);
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}
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/**
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@ -168,7 +144,7 @@ static inline uint16_t mavlink_msg_gimbal_control_encode(uint8_t system_id, uint
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*/
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static inline uint16_t mavlink_msg_gimbal_control_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_gimbal_control_t* gimbal_control)
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{
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return mavlink_msg_gimbal_control_pack_chan(system_id, component_id, chan, msg, gimbal_control->target_system, gimbal_control->target_component, gimbal_control->demanded_rate_x, gimbal_control->demanded_rate_y, gimbal_control->demanded_rate_z, gimbal_control->gyro_bias_x, gimbal_control->gyro_bias_y, gimbal_control->gyro_bias_z);
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return mavlink_msg_gimbal_control_pack_chan(system_id, component_id, chan, msg, gimbal_control->target_system, gimbal_control->target_component, gimbal_control->demanded_rate_x, gimbal_control->demanded_rate_y, gimbal_control->demanded_rate_z);
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}
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/**
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@ -177,27 +153,21 @@ static inline uint16_t mavlink_msg_gimbal_control_encode_chan(uint8_t system_id,
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*
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* @param target_system System ID
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* @param target_component Component ID
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* @param demanded_rate_x Demanded angular rate X, radians/s
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* @param demanded_rate_y Demanded angular rate Y, radians/s
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* @param demanded_rate_z Demanded angular rate Z, radians/s
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* @param gyro_bias_x Gyro bias X, radians/s
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* @param gyro_bias_y Gyro bias Y, radians/s
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* @param gyro_bias_z Gyro bias Z, radians/s
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* @param demanded_rate_x Demanded angular rate X (rad/s)
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* @param demanded_rate_y Demanded angular rate Y (rad/s)
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* @param demanded_rate_z Demanded angular rate Z (rad/s)
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_gimbal_control_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, float demanded_rate_x, float demanded_rate_y, float demanded_rate_z, float gyro_bias_x, float gyro_bias_y, float gyro_bias_z)
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static inline void mavlink_msg_gimbal_control_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, float demanded_rate_x, float demanded_rate_y, float demanded_rate_z)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_GIMBAL_CONTROL_LEN];
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_mav_put_float(buf, 0, demanded_rate_x);
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_mav_put_float(buf, 4, demanded_rate_y);
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_mav_put_float(buf, 8, demanded_rate_z);
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_mav_put_float(buf, 12, gyro_bias_x);
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_mav_put_float(buf, 16, gyro_bias_y);
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_mav_put_float(buf, 20, gyro_bias_z);
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_mav_put_uint8_t(buf, 24, target_system);
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_mav_put_uint8_t(buf, 25, target_component);
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_mav_put_uint8_t(buf, 12, target_system);
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_mav_put_uint8_t(buf, 13, target_component);
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#if MAVLINK_CRC_EXTRA
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GIMBAL_CONTROL, buf, MAVLINK_MSG_ID_GIMBAL_CONTROL_LEN, MAVLINK_MSG_ID_GIMBAL_CONTROL_CRC);
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@ -209,9 +179,6 @@ static inline void mavlink_msg_gimbal_control_send(mavlink_channel_t chan, uint8
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packet.demanded_rate_x = demanded_rate_x;
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packet.demanded_rate_y = demanded_rate_y;
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packet.demanded_rate_z = demanded_rate_z;
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packet.gyro_bias_x = gyro_bias_x;
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packet.gyro_bias_y = gyro_bias_y;
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packet.gyro_bias_z = gyro_bias_z;
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packet.target_system = target_system;
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packet.target_component = target_component;
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@ -231,18 +198,15 @@ static inline void mavlink_msg_gimbal_control_send(mavlink_channel_t chan, uint8
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is usually the receive buffer for the channel, and allows a reply to an
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incoming message with minimum stack space usage.
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*/
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static inline void mavlink_msg_gimbal_control_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, float demanded_rate_x, float demanded_rate_y, float demanded_rate_z, float gyro_bias_x, float gyro_bias_y, float gyro_bias_z)
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static inline void mavlink_msg_gimbal_control_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, float demanded_rate_x, float demanded_rate_y, float demanded_rate_z)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char *buf = (char *)msgbuf;
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_mav_put_float(buf, 0, demanded_rate_x);
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_mav_put_float(buf, 4, demanded_rate_y);
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_mav_put_float(buf, 8, demanded_rate_z);
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_mav_put_float(buf, 12, gyro_bias_x);
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_mav_put_float(buf, 16, gyro_bias_y);
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_mav_put_float(buf, 20, gyro_bias_z);
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_mav_put_uint8_t(buf, 24, target_system);
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_mav_put_uint8_t(buf, 25, target_component);
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_mav_put_uint8_t(buf, 12, target_system);
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_mav_put_uint8_t(buf, 13, target_component);
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#if MAVLINK_CRC_EXTRA
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GIMBAL_CONTROL, buf, MAVLINK_MSG_ID_GIMBAL_CONTROL_LEN, MAVLINK_MSG_ID_GIMBAL_CONTROL_CRC);
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@ -254,9 +218,6 @@ static inline void mavlink_msg_gimbal_control_send_buf(mavlink_message_t *msgbuf
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packet->demanded_rate_x = demanded_rate_x;
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packet->demanded_rate_y = demanded_rate_y;
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packet->demanded_rate_z = demanded_rate_z;
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packet->gyro_bias_x = gyro_bias_x;
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packet->gyro_bias_y = gyro_bias_y;
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packet->gyro_bias_z = gyro_bias_z;
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packet->target_system = target_system;
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packet->target_component = target_component;
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@ -281,7 +242,7 @@ static inline void mavlink_msg_gimbal_control_send_buf(mavlink_message_t *msgbuf
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*/
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static inline uint8_t mavlink_msg_gimbal_control_get_target_system(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 24);
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return _MAV_RETURN_uint8_t(msg, 12);
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}
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/**
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@ -291,13 +252,13 @@ static inline uint8_t mavlink_msg_gimbal_control_get_target_system(const mavlink
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*/
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static inline uint8_t mavlink_msg_gimbal_control_get_target_component(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 25);
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return _MAV_RETURN_uint8_t(msg, 13);
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}
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/**
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* @brief Get field demanded_rate_x from gimbal_control message
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*
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* @return Demanded angular rate X, radians/s
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* @return Demanded angular rate X (rad/s)
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*/
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static inline float mavlink_msg_gimbal_control_get_demanded_rate_x(const mavlink_message_t* msg)
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{
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@ -307,7 +268,7 @@ static inline float mavlink_msg_gimbal_control_get_demanded_rate_x(const mavlink
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/**
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* @brief Get field demanded_rate_y from gimbal_control message
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*
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* @return Demanded angular rate Y, radians/s
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* @return Demanded angular rate Y (rad/s)
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*/
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static inline float mavlink_msg_gimbal_control_get_demanded_rate_y(const mavlink_message_t* msg)
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{
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@ -317,43 +278,13 @@ static inline float mavlink_msg_gimbal_control_get_demanded_rate_y(const mavlink
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/**
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* @brief Get field demanded_rate_z from gimbal_control message
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*
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* @return Demanded angular rate Z, radians/s
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* @return Demanded angular rate Z (rad/s)
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*/
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static inline float mavlink_msg_gimbal_control_get_demanded_rate_z(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 8);
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}
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/**
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* @brief Get field gyro_bias_x from gimbal_control message
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*
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* @return Gyro bias X, radians/s
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*/
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static inline float mavlink_msg_gimbal_control_get_gyro_bias_x(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 12);
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}
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/**
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* @brief Get field gyro_bias_y from gimbal_control message
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*
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* @return Gyro bias Y, radians/s
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*/
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static inline float mavlink_msg_gimbal_control_get_gyro_bias_y(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 16);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field gyro_bias_z from gimbal_control message
|
||||
*
|
||||
* @return Gyro bias Z, radians/s
|
||||
*/
|
||||
static inline float mavlink_msg_gimbal_control_get_gyro_bias_z(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 20);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a gimbal_control message into a struct
|
||||
*
|
||||
|
|
@ -366,9 +297,6 @@ static inline void mavlink_msg_gimbal_control_decode(const mavlink_message_t* ms
|
|||
gimbal_control->demanded_rate_x = mavlink_msg_gimbal_control_get_demanded_rate_x(msg);
|
||||
gimbal_control->demanded_rate_y = mavlink_msg_gimbal_control_get_demanded_rate_y(msg);
|
||||
gimbal_control->demanded_rate_z = mavlink_msg_gimbal_control_get_demanded_rate_z(msg);
|
||||
gimbal_control->gyro_bias_x = mavlink_msg_gimbal_control_get_gyro_bias_x(msg);
|
||||
gimbal_control->gyro_bias_y = mavlink_msg_gimbal_control_get_gyro_bias_y(msg);
|
||||
gimbal_control->gyro_bias_z = mavlink_msg_gimbal_control_get_gyro_bias_z(msg);
|
||||
gimbal_control->target_system = mavlink_msg_gimbal_control_get_target_system(msg);
|
||||
gimbal_control->target_component = mavlink_msg_gimbal_control_get_target_component(msg);
|
||||
#else
|
||||
|
|
|
|||
|
|
@ -1,28 +1,28 @@
|
|||
// MESSAGE GIMBAL_REPORT PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_GIMBAL_REPORT 184
|
||||
#define MAVLINK_MSG_ID_GIMBAL_REPORT 200
|
||||
|
||||
typedef struct __mavlink_gimbal_report_t
|
||||
{
|
||||
float delta_time; ///< Time since last update (seconds)
|
||||
float delta_angle_x; ///< Delta angle X, radians
|
||||
float delta_angle_y; ///< Delta angle Y, radians
|
||||
float delta_angle_z; ///< Delta angle Z, radians
|
||||
float delta_velocity_x; ///< Delta velocity X, m/s
|
||||
float delta_velocity_y; ///< Delta velocity Y, m/s
|
||||
float delta_velocity_z; ///< Delta velocity Z, m/s
|
||||
float joint_roll; ///< Joint roll, radians
|
||||
float joint_pitch; ///< Joint pitch, radians
|
||||
float joint_yaw; ///< Joint yaw, radians
|
||||
float delta_angle_x; ///< Delta angle X (radians)
|
||||
float delta_angle_y; ///< Delta angle Y (radians)
|
||||
float delta_angle_z; ///< Delta angle X (radians)
|
||||
float delta_velocity_x; ///< Delta velocity X (m/s)
|
||||
float delta_velocity_y; ///< Delta velocity Y (m/s)
|
||||
float delta_velocity_z; ///< Delta velocity Z (m/s)
|
||||
float joint_roll; ///< Joint ROLL (radians)
|
||||
float joint_el; ///< Joint EL (radians)
|
||||
float joint_az; ///< Joint AZ (radians)
|
||||
uint8_t target_system; ///< System ID
|
||||
uint8_t target_component; ///< Component ID
|
||||
} mavlink_gimbal_report_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_GIMBAL_REPORT_LEN 42
|
||||
#define MAVLINK_MSG_ID_184_LEN 42
|
||||
#define MAVLINK_MSG_ID_200_LEN 42
|
||||
|
||||
#define MAVLINK_MSG_ID_GIMBAL_REPORT_CRC 97
|
||||
#define MAVLINK_MSG_ID_184_CRC 97
|
||||
#define MAVLINK_MSG_ID_GIMBAL_REPORT_CRC 134
|
||||
#define MAVLINK_MSG_ID_200_CRC 134
|
||||
|
||||
|
||||
|
||||
|
|
@ -37,8 +37,8 @@ typedef struct __mavlink_gimbal_report_t
|
|||
{ "delta_velocity_y", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_gimbal_report_t, delta_velocity_y) }, \
|
||||
{ "delta_velocity_z", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_gimbal_report_t, delta_velocity_z) }, \
|
||||
{ "joint_roll", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_gimbal_report_t, joint_roll) }, \
|
||||
{ "joint_pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_gimbal_report_t, joint_pitch) }, \
|
||||
{ "joint_yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_gimbal_report_t, joint_yaw) }, \
|
||||
{ "joint_el", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_gimbal_report_t, joint_el) }, \
|
||||
{ "joint_az", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_gimbal_report_t, joint_az) }, \
|
||||
{ "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 40, offsetof(mavlink_gimbal_report_t, target_system) }, \
|
||||
{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 41, offsetof(mavlink_gimbal_report_t, target_component) }, \
|
||||
} \
|
||||
|
|
@ -54,19 +54,19 @@ typedef struct __mavlink_gimbal_report_t
|
|||
* @param target_system System ID
|
||||
* @param target_component Component ID
|
||||
* @param delta_time Time since last update (seconds)
|
||||
* @param delta_angle_x Delta angle X, radians
|
||||
* @param delta_angle_y Delta angle Y, radians
|
||||
* @param delta_angle_z Delta angle Z, radians
|
||||
* @param delta_velocity_x Delta velocity X, m/s
|
||||
* @param delta_velocity_y Delta velocity Y, m/s
|
||||
* @param delta_velocity_z Delta velocity Z, m/s
|
||||
* @param joint_roll Joint roll, radians
|
||||
* @param joint_pitch Joint pitch, radians
|
||||
* @param joint_yaw Joint yaw, radians
|
||||
* @param delta_angle_x Delta angle X (radians)
|
||||
* @param delta_angle_y Delta angle Y (radians)
|
||||
* @param delta_angle_z Delta angle X (radians)
|
||||
* @param delta_velocity_x Delta velocity X (m/s)
|
||||
* @param delta_velocity_y Delta velocity Y (m/s)
|
||||
* @param delta_velocity_z Delta velocity Z (m/s)
|
||||
* @param joint_roll Joint ROLL (radians)
|
||||
* @param joint_el Joint EL (radians)
|
||||
* @param joint_az Joint AZ (radians)
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_gimbal_report_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
uint8_t target_system, uint8_t target_component, float delta_time, float delta_angle_x, float delta_angle_y, float delta_angle_z, float delta_velocity_x, float delta_velocity_y, float delta_velocity_z, float joint_roll, float joint_pitch, float joint_yaw)
|
||||
uint8_t target_system, uint8_t target_component, float delta_time, float delta_angle_x, float delta_angle_y, float delta_angle_z, float delta_velocity_x, float delta_velocity_y, float delta_velocity_z, float joint_roll, float joint_el, float joint_az)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[MAVLINK_MSG_ID_GIMBAL_REPORT_LEN];
|
||||
|
|
@ -78,8 +78,8 @@ static inline uint16_t mavlink_msg_gimbal_report_pack(uint8_t system_id, uint8_t
|
|||
_mav_put_float(buf, 20, delta_velocity_y);
|
||||
_mav_put_float(buf, 24, delta_velocity_z);
|
||||
_mav_put_float(buf, 28, joint_roll);
|
||||
_mav_put_float(buf, 32, joint_pitch);
|
||||
_mav_put_float(buf, 36, joint_yaw);
|
||||
_mav_put_float(buf, 32, joint_el);
|
||||
_mav_put_float(buf, 36, joint_az);
|
||||
_mav_put_uint8_t(buf, 40, target_system);
|
||||
_mav_put_uint8_t(buf, 41, target_component);
|
||||
|
||||
|
|
@ -94,8 +94,8 @@ static inline uint16_t mavlink_msg_gimbal_report_pack(uint8_t system_id, uint8_t
|
|||
packet.delta_velocity_y = delta_velocity_y;
|
||||
packet.delta_velocity_z = delta_velocity_z;
|
||||
packet.joint_roll = joint_roll;
|
||||
packet.joint_pitch = joint_pitch;
|
||||
packet.joint_yaw = joint_yaw;
|
||||
packet.joint_el = joint_el;
|
||||
packet.joint_az = joint_az;
|
||||
packet.target_system = target_system;
|
||||
packet.target_component = target_component;
|
||||
|
||||
|
|
@ -119,20 +119,20 @@ static inline uint16_t mavlink_msg_gimbal_report_pack(uint8_t system_id, uint8_t
|
|||
* @param target_system System ID
|
||||
* @param target_component Component ID
|
||||
* @param delta_time Time since last update (seconds)
|
||||
* @param delta_angle_x Delta angle X, radians
|
||||
* @param delta_angle_y Delta angle Y, radians
|
||||
* @param delta_angle_z Delta angle Z, radians
|
||||
* @param delta_velocity_x Delta velocity X, m/s
|
||||
* @param delta_velocity_y Delta velocity Y, m/s
|
||||
* @param delta_velocity_z Delta velocity Z, m/s
|
||||
* @param joint_roll Joint roll, radians
|
||||
* @param joint_pitch Joint pitch, radians
|
||||
* @param joint_yaw Joint yaw, radians
|
||||
* @param delta_angle_x Delta angle X (radians)
|
||||
* @param delta_angle_y Delta angle Y (radians)
|
||||
* @param delta_angle_z Delta angle X (radians)
|
||||
* @param delta_velocity_x Delta velocity X (m/s)
|
||||
* @param delta_velocity_y Delta velocity Y (m/s)
|
||||
* @param delta_velocity_z Delta velocity Z (m/s)
|
||||
* @param joint_roll Joint ROLL (radians)
|
||||
* @param joint_el Joint EL (radians)
|
||||
* @param joint_az Joint AZ (radians)
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_gimbal_report_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,float delta_time,float delta_angle_x,float delta_angle_y,float delta_angle_z,float delta_velocity_x,float delta_velocity_y,float delta_velocity_z,float joint_roll,float joint_pitch,float joint_yaw)
|
||||
uint8_t target_system,uint8_t target_component,float delta_time,float delta_angle_x,float delta_angle_y,float delta_angle_z,float delta_velocity_x,float delta_velocity_y,float delta_velocity_z,float joint_roll,float joint_el,float joint_az)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[MAVLINK_MSG_ID_GIMBAL_REPORT_LEN];
|
||||
|
|
@ -144,8 +144,8 @@ static inline uint16_t mavlink_msg_gimbal_report_pack_chan(uint8_t system_id, ui
|
|||
_mav_put_float(buf, 20, delta_velocity_y);
|
||||
_mav_put_float(buf, 24, delta_velocity_z);
|
||||
_mav_put_float(buf, 28, joint_roll);
|
||||
_mav_put_float(buf, 32, joint_pitch);
|
||||
_mav_put_float(buf, 36, joint_yaw);
|
||||
_mav_put_float(buf, 32, joint_el);
|
||||
_mav_put_float(buf, 36, joint_az);
|
||||
_mav_put_uint8_t(buf, 40, target_system);
|
||||
_mav_put_uint8_t(buf, 41, target_component);
|
||||
|
||||
|
|
@ -160,8 +160,8 @@ static inline uint16_t mavlink_msg_gimbal_report_pack_chan(uint8_t system_id, ui
|
|||
packet.delta_velocity_y = delta_velocity_y;
|
||||
packet.delta_velocity_z = delta_velocity_z;
|
||||
packet.joint_roll = joint_roll;
|
||||
packet.joint_pitch = joint_pitch;
|
||||
packet.joint_yaw = joint_yaw;
|
||||
packet.joint_el = joint_el;
|
||||
packet.joint_az = joint_az;
|
||||
packet.target_system = target_system;
|
||||
packet.target_component = target_component;
|
||||
|
||||
|
|
@ -186,7 +186,7 @@ static inline uint16_t mavlink_msg_gimbal_report_pack_chan(uint8_t system_id, ui
|
|||
*/
|
||||
static inline uint16_t mavlink_msg_gimbal_report_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gimbal_report_t* gimbal_report)
|
||||
{
|
||||
return mavlink_msg_gimbal_report_pack(system_id, component_id, msg, gimbal_report->target_system, gimbal_report->target_component, gimbal_report->delta_time, gimbal_report->delta_angle_x, gimbal_report->delta_angle_y, gimbal_report->delta_angle_z, gimbal_report->delta_velocity_x, gimbal_report->delta_velocity_y, gimbal_report->delta_velocity_z, gimbal_report->joint_roll, gimbal_report->joint_pitch, gimbal_report->joint_yaw);
|
||||
return mavlink_msg_gimbal_report_pack(system_id, component_id, msg, gimbal_report->target_system, gimbal_report->target_component, gimbal_report->delta_time, gimbal_report->delta_angle_x, gimbal_report->delta_angle_y, gimbal_report->delta_angle_z, gimbal_report->delta_velocity_x, gimbal_report->delta_velocity_y, gimbal_report->delta_velocity_z, gimbal_report->joint_roll, gimbal_report->joint_el, gimbal_report->joint_az);
|
||||
}
|
||||
|
||||
/**
|
||||
|
|
@ -200,7 +200,7 @@ static inline uint16_t mavlink_msg_gimbal_report_encode(uint8_t system_id, uint8
|
|||
*/
|
||||
static inline uint16_t mavlink_msg_gimbal_report_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_gimbal_report_t* gimbal_report)
|
||||
{
|
||||
return mavlink_msg_gimbal_report_pack_chan(system_id, component_id, chan, msg, gimbal_report->target_system, gimbal_report->target_component, gimbal_report->delta_time, gimbal_report->delta_angle_x, gimbal_report->delta_angle_y, gimbal_report->delta_angle_z, gimbal_report->delta_velocity_x, gimbal_report->delta_velocity_y, gimbal_report->delta_velocity_z, gimbal_report->joint_roll, gimbal_report->joint_pitch, gimbal_report->joint_yaw);
|
||||
return mavlink_msg_gimbal_report_pack_chan(system_id, component_id, chan, msg, gimbal_report->target_system, gimbal_report->target_component, gimbal_report->delta_time, gimbal_report->delta_angle_x, gimbal_report->delta_angle_y, gimbal_report->delta_angle_z, gimbal_report->delta_velocity_x, gimbal_report->delta_velocity_y, gimbal_report->delta_velocity_z, gimbal_report->joint_roll, gimbal_report->joint_el, gimbal_report->joint_az);
|
||||
}
|
||||
|
||||
/**
|
||||
|
|
@ -210,19 +210,19 @@ static inline uint16_t mavlink_msg_gimbal_report_encode_chan(uint8_t system_id,
|
|||
* @param target_system System ID
|
||||
* @param target_component Component ID
|
||||
* @param delta_time Time since last update (seconds)
|
||||
* @param delta_angle_x Delta angle X, radians
|
||||
* @param delta_angle_y Delta angle Y, radians
|
||||
* @param delta_angle_z Delta angle Z, radians
|
||||
* @param delta_velocity_x Delta velocity X, m/s
|
||||
* @param delta_velocity_y Delta velocity Y, m/s
|
||||
* @param delta_velocity_z Delta velocity Z, m/s
|
||||
* @param joint_roll Joint roll, radians
|
||||
* @param joint_pitch Joint pitch, radians
|
||||
* @param joint_yaw Joint yaw, radians
|
||||
* @param delta_angle_x Delta angle X (radians)
|
||||
* @param delta_angle_y Delta angle Y (radians)
|
||||
* @param delta_angle_z Delta angle X (radians)
|
||||
* @param delta_velocity_x Delta velocity X (m/s)
|
||||
* @param delta_velocity_y Delta velocity Y (m/s)
|
||||
* @param delta_velocity_z Delta velocity Z (m/s)
|
||||
* @param joint_roll Joint ROLL (radians)
|
||||
* @param joint_el Joint EL (radians)
|
||||
* @param joint_az Joint AZ (radians)
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_gimbal_report_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, float delta_time, float delta_angle_x, float delta_angle_y, float delta_angle_z, float delta_velocity_x, float delta_velocity_y, float delta_velocity_z, float joint_roll, float joint_pitch, float joint_yaw)
|
||||
static inline void mavlink_msg_gimbal_report_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, float delta_time, float delta_angle_x, float delta_angle_y, float delta_angle_z, float delta_velocity_x, float delta_velocity_y, float delta_velocity_z, float joint_roll, float joint_el, float joint_az)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[MAVLINK_MSG_ID_GIMBAL_REPORT_LEN];
|
||||
|
|
@ -234,8 +234,8 @@ static inline void mavlink_msg_gimbal_report_send(mavlink_channel_t chan, uint8_
|
|||
_mav_put_float(buf, 20, delta_velocity_y);
|
||||
_mav_put_float(buf, 24, delta_velocity_z);
|
||||
_mav_put_float(buf, 28, joint_roll);
|
||||
_mav_put_float(buf, 32, joint_pitch);
|
||||
_mav_put_float(buf, 36, joint_yaw);
|
||||
_mav_put_float(buf, 32, joint_el);
|
||||
_mav_put_float(buf, 36, joint_az);
|
||||
_mav_put_uint8_t(buf, 40, target_system);
|
||||
_mav_put_uint8_t(buf, 41, target_component);
|
||||
|
||||
|
|
@ -254,8 +254,8 @@ static inline void mavlink_msg_gimbal_report_send(mavlink_channel_t chan, uint8_
|
|||
packet.delta_velocity_y = delta_velocity_y;
|
||||
packet.delta_velocity_z = delta_velocity_z;
|
||||
packet.joint_roll = joint_roll;
|
||||
packet.joint_pitch = joint_pitch;
|
||||
packet.joint_yaw = joint_yaw;
|
||||
packet.joint_el = joint_el;
|
||||
packet.joint_az = joint_az;
|
||||
packet.target_system = target_system;
|
||||
packet.target_component = target_component;
|
||||
|
||||
|
|
@ -275,7 +275,7 @@ static inline void mavlink_msg_gimbal_report_send(mavlink_channel_t chan, uint8_
|
|||
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_gimbal_report_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, float delta_time, float delta_angle_x, float delta_angle_y, float delta_angle_z, float delta_velocity_x, float delta_velocity_y, float delta_velocity_z, float joint_roll, float joint_pitch, float joint_yaw)
|
||||
static inline void mavlink_msg_gimbal_report_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, float delta_time, float delta_angle_x, float delta_angle_y, float delta_angle_z, float delta_velocity_x, float delta_velocity_y, float delta_velocity_z, float joint_roll, float joint_el, float joint_az)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char *buf = (char *)msgbuf;
|
||||
|
|
@ -287,8 +287,8 @@ static inline void mavlink_msg_gimbal_report_send_buf(mavlink_message_t *msgbuf,
|
|||
_mav_put_float(buf, 20, delta_velocity_y);
|
||||
_mav_put_float(buf, 24, delta_velocity_z);
|
||||
_mav_put_float(buf, 28, joint_roll);
|
||||
_mav_put_float(buf, 32, joint_pitch);
|
||||
_mav_put_float(buf, 36, joint_yaw);
|
||||
_mav_put_float(buf, 32, joint_el);
|
||||
_mav_put_float(buf, 36, joint_az);
|
||||
_mav_put_uint8_t(buf, 40, target_system);
|
||||
_mav_put_uint8_t(buf, 41, target_component);
|
||||
|
||||
|
|
@ -307,8 +307,8 @@ static inline void mavlink_msg_gimbal_report_send_buf(mavlink_message_t *msgbuf,
|
|||
packet->delta_velocity_y = delta_velocity_y;
|
||||
packet->delta_velocity_z = delta_velocity_z;
|
||||
packet->joint_roll = joint_roll;
|
||||
packet->joint_pitch = joint_pitch;
|
||||
packet->joint_yaw = joint_yaw;
|
||||
packet->joint_el = joint_el;
|
||||
packet->joint_az = joint_az;
|
||||
packet->target_system = target_system;
|
||||
packet->target_component = target_component;
|
||||
|
||||
|
|
@ -359,7 +359,7 @@ static inline float mavlink_msg_gimbal_report_get_delta_time(const mavlink_messa
|
|||
/**
|
||||
* @brief Get field delta_angle_x from gimbal_report message
|
||||
*
|
||||
* @return Delta angle X, radians
|
||||
* @return Delta angle X (radians)
|
||||
*/
|
||||
static inline float mavlink_msg_gimbal_report_get_delta_angle_x(const mavlink_message_t* msg)
|
||||
{
|
||||
|
|
@ -369,7 +369,7 @@ static inline float mavlink_msg_gimbal_report_get_delta_angle_x(const mavlink_me
|
|||
/**
|
||||
* @brief Get field delta_angle_y from gimbal_report message
|
||||
*
|
||||
* @return Delta angle Y, radians
|
||||
* @return Delta angle Y (radians)
|
||||
*/
|
||||
static inline float mavlink_msg_gimbal_report_get_delta_angle_y(const mavlink_message_t* msg)
|
||||
{
|
||||
|
|
@ -379,7 +379,7 @@ static inline float mavlink_msg_gimbal_report_get_delta_angle_y(const mavlink_me
|
|||
/**
|
||||
* @brief Get field delta_angle_z from gimbal_report message
|
||||
*
|
||||
* @return Delta angle Z, radians
|
||||
* @return Delta angle X (radians)
|
||||
*/
|
||||
static inline float mavlink_msg_gimbal_report_get_delta_angle_z(const mavlink_message_t* msg)
|
||||
{
|
||||
|
|
@ -389,7 +389,7 @@ static inline float mavlink_msg_gimbal_report_get_delta_angle_z(const mavlink_me
|
|||
/**
|
||||
* @brief Get field delta_velocity_x from gimbal_report message
|
||||
*
|
||||
* @return Delta velocity X, m/s
|
||||
* @return Delta velocity X (m/s)
|
||||
*/
|
||||
static inline float mavlink_msg_gimbal_report_get_delta_velocity_x(const mavlink_message_t* msg)
|
||||
{
|
||||
|
|
@ -399,7 +399,7 @@ static inline float mavlink_msg_gimbal_report_get_delta_velocity_x(const mavlink
|
|||
/**
|
||||
* @brief Get field delta_velocity_y from gimbal_report message
|
||||
*
|
||||
* @return Delta velocity Y, m/s
|
||||
* @return Delta velocity Y (m/s)
|
||||
*/
|
||||
static inline float mavlink_msg_gimbal_report_get_delta_velocity_y(const mavlink_message_t* msg)
|
||||
{
|
||||
|
|
@ -409,7 +409,7 @@ static inline float mavlink_msg_gimbal_report_get_delta_velocity_y(const mavlink
|
|||
/**
|
||||
* @brief Get field delta_velocity_z from gimbal_report message
|
||||
*
|
||||
* @return Delta velocity Z, m/s
|
||||
* @return Delta velocity Z (m/s)
|
||||
*/
|
||||
static inline float mavlink_msg_gimbal_report_get_delta_velocity_z(const mavlink_message_t* msg)
|
||||
{
|
||||
|
|
@ -419,7 +419,7 @@ static inline float mavlink_msg_gimbal_report_get_delta_velocity_z(const mavlink
|
|||
/**
|
||||
* @brief Get field joint_roll from gimbal_report message
|
||||
*
|
||||
* @return Joint roll, radians
|
||||
* @return Joint ROLL (radians)
|
||||
*/
|
||||
static inline float mavlink_msg_gimbal_report_get_joint_roll(const mavlink_message_t* msg)
|
||||
{
|
||||
|
|
@ -427,21 +427,21 @@ static inline float mavlink_msg_gimbal_report_get_joint_roll(const mavlink_messa
|
|||
}
|
||||
|
||||
/**
|
||||
* @brief Get field joint_pitch from gimbal_report message
|
||||
* @brief Get field joint_el from gimbal_report message
|
||||
*
|
||||
* @return Joint pitch, radians
|
||||
* @return Joint EL (radians)
|
||||
*/
|
||||
static inline float mavlink_msg_gimbal_report_get_joint_pitch(const mavlink_message_t* msg)
|
||||
static inline float mavlink_msg_gimbal_report_get_joint_el(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 32);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field joint_yaw from gimbal_report message
|
||||
* @brief Get field joint_az from gimbal_report message
|
||||
*
|
||||
* @return Joint yaw, radians
|
||||
* @return Joint AZ (radians)
|
||||
*/
|
||||
static inline float mavlink_msg_gimbal_report_get_joint_yaw(const mavlink_message_t* msg)
|
||||
static inline float mavlink_msg_gimbal_report_get_joint_az(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 36);
|
||||
}
|
||||
|
|
@ -463,8 +463,8 @@ static inline void mavlink_msg_gimbal_report_decode(const mavlink_message_t* msg
|
|||
gimbal_report->delta_velocity_y = mavlink_msg_gimbal_report_get_delta_velocity_y(msg);
|
||||
gimbal_report->delta_velocity_z = mavlink_msg_gimbal_report_get_delta_velocity_z(msg);
|
||||
gimbal_report->joint_roll = mavlink_msg_gimbal_report_get_joint_roll(msg);
|
||||
gimbal_report->joint_pitch = mavlink_msg_gimbal_report_get_joint_pitch(msg);
|
||||
gimbal_report->joint_yaw = mavlink_msg_gimbal_report_get_joint_yaw(msg);
|
||||
gimbal_report->joint_el = mavlink_msg_gimbal_report_get_joint_el(msg);
|
||||
gimbal_report->joint_az = mavlink_msg_gimbal_report_get_joint_az(msg);
|
||||
gimbal_report->target_system = mavlink_msg_gimbal_report_get_target_system(msg);
|
||||
gimbal_report->target_component = mavlink_msg_gimbal_report_get_target_component(msg);
|
||||
#else
|
||||
|
|
|
|||
|
|
@ -1612,110 +1612,6 @@ static void mavlink_test_autopilot_version_request(uint8_t system_id, uint8_t co
|
|||
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;
|
||||
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
|
||||
uint16_t i;
|
||||
mavlink_gimbal_report_t packet_in = {
|
||||
17.0,45.0,73.0,101.0,129.0,157.0,185.0,213.0,241.0,269.0,125,192
|
||||
};
|
||||
mavlink_gimbal_report_t packet1, packet2;
|
||||
memset(&packet1, 0, sizeof(packet1));
|
||||
packet1.delta_time = packet_in.delta_time;
|
||||
packet1.delta_angle_x = packet_in.delta_angle_x;
|
||||
packet1.delta_angle_y = packet_in.delta_angle_y;
|
||||
packet1.delta_angle_z = packet_in.delta_angle_z;
|
||||
packet1.delta_velocity_x = packet_in.delta_velocity_x;
|
||||
packet1.delta_velocity_y = packet_in.delta_velocity_y;
|
||||
packet1.delta_velocity_z = packet_in.delta_velocity_z;
|
||||
packet1.joint_roll = packet_in.joint_roll;
|
||||
packet1.joint_pitch = packet_in.joint_pitch;
|
||||
packet1.joint_yaw = packet_in.joint_yaw;
|
||||
packet1.target_system = packet_in.target_system;
|
||||
packet1.target_component = packet_in.target_component;
|
||||
|
||||
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_gimbal_report_encode(system_id, component_id, &msg, &packet1);
|
||||
mavlink_msg_gimbal_report_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_gimbal_report_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.delta_time , packet1.delta_angle_x , packet1.delta_angle_y , packet1.delta_angle_z , packet1.delta_velocity_x , packet1.delta_velocity_y , packet1.delta_velocity_z , packet1.joint_roll , packet1.joint_pitch , packet1.joint_yaw );
|
||||
mavlink_msg_gimbal_report_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_gimbal_report_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.delta_time , packet1.delta_angle_x , packet1.delta_angle_y , packet1.delta_angle_z , packet1.delta_velocity_x , packet1.delta_velocity_y , packet1.delta_velocity_z , packet1.joint_roll , packet1.joint_pitch , packet1.joint_yaw );
|
||||
mavlink_msg_gimbal_report_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_gimbal_report_decode(last_msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_gimbal_report_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.delta_time , packet1.delta_angle_x , packet1.delta_angle_y , packet1.delta_angle_z , packet1.delta_velocity_x , packet1.delta_velocity_y , packet1.delta_velocity_z , packet1.joint_roll , packet1.joint_pitch , packet1.joint_yaw );
|
||||
mavlink_msg_gimbal_report_decode(last_msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
}
|
||||
|
||||
static void mavlink_test_gimbal_control(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_gimbal_control_t packet_in = {
|
||||
17.0,45.0,73.0,101.0,129.0,157.0,77,144
|
||||
};
|
||||
mavlink_gimbal_control_t packet1, packet2;
|
||||
memset(&packet1, 0, sizeof(packet1));
|
||||
packet1.demanded_rate_x = packet_in.demanded_rate_x;
|
||||
packet1.demanded_rate_y = packet_in.demanded_rate_y;
|
||||
packet1.demanded_rate_z = packet_in.demanded_rate_z;
|
||||
packet1.gyro_bias_x = packet_in.gyro_bias_x;
|
||||
packet1.gyro_bias_y = packet_in.gyro_bias_y;
|
||||
packet1.gyro_bias_z = packet_in.gyro_bias_z;
|
||||
packet1.target_system = packet_in.target_system;
|
||||
packet1.target_component = packet_in.target_component;
|
||||
|
||||
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_gimbal_control_encode(system_id, component_id, &msg, &packet1);
|
||||
mavlink_msg_gimbal_control_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_gimbal_control_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.demanded_rate_x , packet1.demanded_rate_y , packet1.demanded_rate_z , packet1.gyro_bias_x , packet1.gyro_bias_y , packet1.gyro_bias_z );
|
||||
mavlink_msg_gimbal_control_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_gimbal_control_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.demanded_rate_x , packet1.demanded_rate_y , packet1.demanded_rate_z , packet1.gyro_bias_x , packet1.gyro_bias_y , packet1.gyro_bias_z );
|
||||
mavlink_msg_gimbal_control_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_gimbal_control_decode(last_msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_gimbal_control_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.demanded_rate_x , packet1.demanded_rate_y , packet1.demanded_rate_z , packet1.gyro_bias_x , packet1.gyro_bias_y , packet1.gyro_bias_z );
|
||||
mavlink_msg_gimbal_control_decode(last_msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
}
|
||||
|
||||
static void mavlink_test_led_control(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
|
||||
{
|
||||
mavlink_message_t msg;
|
||||
|
|
@ -1812,6 +1708,107 @@ 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_gimbal_report(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_gimbal_report_t packet_in = {
|
||||
17.0,45.0,73.0,101.0,129.0,157.0,185.0,213.0,241.0,269.0,125,192
|
||||
};
|
||||
mavlink_gimbal_report_t packet1, packet2;
|
||||
memset(&packet1, 0, sizeof(packet1));
|
||||
packet1.delta_time = packet_in.delta_time;
|
||||
packet1.delta_angle_x = packet_in.delta_angle_x;
|
||||
packet1.delta_angle_y = packet_in.delta_angle_y;
|
||||
packet1.delta_angle_z = packet_in.delta_angle_z;
|
||||
packet1.delta_velocity_x = packet_in.delta_velocity_x;
|
||||
packet1.delta_velocity_y = packet_in.delta_velocity_y;
|
||||
packet1.delta_velocity_z = packet_in.delta_velocity_z;
|
||||
packet1.joint_roll = packet_in.joint_roll;
|
||||
packet1.joint_el = packet_in.joint_el;
|
||||
packet1.joint_az = packet_in.joint_az;
|
||||
packet1.target_system = packet_in.target_system;
|
||||
packet1.target_component = packet_in.target_component;
|
||||
|
||||
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_gimbal_report_encode(system_id, component_id, &msg, &packet1);
|
||||
mavlink_msg_gimbal_report_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_gimbal_report_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.delta_time , packet1.delta_angle_x , packet1.delta_angle_y , packet1.delta_angle_z , packet1.delta_velocity_x , packet1.delta_velocity_y , packet1.delta_velocity_z , packet1.joint_roll , packet1.joint_el , packet1.joint_az );
|
||||
mavlink_msg_gimbal_report_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_gimbal_report_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.delta_time , packet1.delta_angle_x , packet1.delta_angle_y , packet1.delta_angle_z , packet1.delta_velocity_x , packet1.delta_velocity_y , packet1.delta_velocity_z , packet1.joint_roll , packet1.joint_el , packet1.joint_az );
|
||||
mavlink_msg_gimbal_report_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_gimbal_report_decode(last_msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_gimbal_report_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.delta_time , packet1.delta_angle_x , packet1.delta_angle_y , packet1.delta_angle_z , packet1.delta_velocity_x , packet1.delta_velocity_y , packet1.delta_velocity_z , packet1.joint_roll , packet1.joint_el , packet1.joint_az );
|
||||
mavlink_msg_gimbal_report_decode(last_msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
}
|
||||
|
||||
static void mavlink_test_gimbal_control(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_gimbal_control_t packet_in = {
|
||||
17.0,45.0,73.0,41,108
|
||||
};
|
||||
mavlink_gimbal_control_t packet1, packet2;
|
||||
memset(&packet1, 0, sizeof(packet1));
|
||||
packet1.demanded_rate_x = packet_in.demanded_rate_x;
|
||||
packet1.demanded_rate_y = packet_in.demanded_rate_y;
|
||||
packet1.demanded_rate_z = packet_in.demanded_rate_z;
|
||||
packet1.target_system = packet_in.target_system;
|
||||
packet1.target_component = packet_in.target_component;
|
||||
|
||||
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_gimbal_control_encode(system_id, component_id, &msg, &packet1);
|
||||
mavlink_msg_gimbal_control_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_gimbal_control_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.demanded_rate_x , packet1.demanded_rate_y , packet1.demanded_rate_z );
|
||||
mavlink_msg_gimbal_control_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_gimbal_control_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.demanded_rate_x , packet1.demanded_rate_y , packet1.demanded_rate_z );
|
||||
mavlink_msg_gimbal_control_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_gimbal_control_decode(last_msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_gimbal_control_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.demanded_rate_x , packet1.demanded_rate_y , packet1.demanded_rate_z );
|
||||
mavlink_msg_gimbal_control_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);
|
||||
|
|
@ -1847,10 +1844,10 @@ static void mavlink_test_ardupilotmega(uint8_t system_id, uint8_t component_id,
|
|||
mavlink_test_battery2(system_id, component_id, last_msg);
|
||||
mavlink_test_ahrs3(system_id, component_id, last_msg);
|
||||
mavlink_test_autopilot_version_request(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_led_control(system_id, component_id, last_msg);
|
||||
mavlink_test_ekf_status_report(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);
|
||||
}
|
||||
|
||||
#ifdef __cplusplus
|
||||
|
|
|
|||
|
|
@ -5,7 +5,7 @@
|
|||
#ifndef MAVLINK_VERSION_H
|
||||
#define MAVLINK_VERSION_H
|
||||
|
||||
#define MAVLINK_BUILD_DATE "Wed Mar 11 01:59:47 2015"
|
||||
#define MAVLINK_BUILD_DATE "Mon Apr 6 16:29:12 2015"
|
||||
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
|
||||
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
|
||||
|
||||
|
|
|
|||
|
|
@ -5,7 +5,7 @@
|
|||
#ifndef MAVLINK_VERSION_H
|
||||
#define MAVLINK_VERSION_H
|
||||
|
||||
#define MAVLINK_BUILD_DATE "Wed Mar 11 01:59:49 2015"
|
||||
#define MAVLINK_BUILD_DATE "Mon Apr 6 16:29:14 2015"
|
||||
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
|
||||
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
|
||||
|
||||
|
|
|
|||
|
|
@ -206,8 +206,8 @@ MAVLINK_HELPER void mavlink_update_checksum(mavlink_message_t* msg, uint8_t c)
|
|||
/**
|
||||
* This is a convenience function which handles the complete MAVLink parsing.
|
||||
* the function will parse one byte at a time and return the complete packet once
|
||||
* it could be successfully decoded. Checksum and other failures will be silently
|
||||
* ignored.
|
||||
* it could be successfully decoded. This function will return 0, 1 or
|
||||
* 2 (MAVLINK_FRAMING_INCOMPLETE, MAVLINK_FRAMING_OK or MAVLINK_FRAMING_BAD_CRC)
|
||||
*
|
||||
* Messages are parsed into an internal buffer (one for each channel). When a complete
|
||||
* message is received it is copies into *returnMsg and the channel's status is
|
||||
|
|
@ -221,7 +221,7 @@ MAVLINK_HELPER void mavlink_update_checksum(mavlink_message_t* msg, uint8_t c)
|
|||
*
|
||||
* @param returnMsg NULL if no message could be decoded, the message data else
|
||||
* @param returnStats if a message was decoded, this is filled with the channel's stats
|
||||
* @return 0 if no message could be decoded, 1 else
|
||||
* @return 0 if no message could be decoded, 1 on good message and CRC, 2 on bad CRC
|
||||
*
|
||||
* A typical use scenario of this function call is:
|
||||
*
|
||||
|
|
@ -235,7 +235,7 @@ MAVLINK_HELPER void mavlink_update_checksum(mavlink_message_t* msg, uint8_t c)
|
|||
* while(serial.bytesAvailable > 0)
|
||||
* {
|
||||
* uint8_t byte = serial.getNextByte();
|
||||
* if (mavlink_parse_char(chan, byte, &msg))
|
||||
* if (mavlink_frame_char(chan, byte, &msg) != MAVLINK_FRAMING_INCOMPLETE)
|
||||
* {
|
||||
* printf("Received message with ID %d, sequence: %d from component %d of system %d", msg.msgid, msg.seq, msg.compid, msg.sysid);
|
||||
* }
|
||||
|
|
@ -244,7 +244,7 @@ MAVLINK_HELPER void mavlink_update_checksum(mavlink_message_t* msg, uint8_t c)
|
|||
*
|
||||
* @endcode
|
||||
*/
|
||||
MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status)
|
||||
MAVLINK_HELPER uint8_t mavlink_frame_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status)
|
||||
{
|
||||
/*
|
||||
default message crc function. You can override this per-system to
|
||||
|
|
@ -274,7 +274,7 @@ MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_messa
|
|||
mavlink_status_t* status = mavlink_get_channel_status(chan); ///< The current decode status
|
||||
int bufferIndex = 0;
|
||||
|
||||
status->msg_received = 0;
|
||||
status->msg_received = MAVLINK_FRAMING_INCOMPLETE;
|
||||
|
||||
switch (status->parse_state)
|
||||
{
|
||||
|
|
@ -366,51 +366,31 @@ MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_messa
|
|||
mavlink_update_checksum(rxmsg, MAVLINK_MESSAGE_CRC(rxmsg->msgid));
|
||||
#endif
|
||||
if (c != (rxmsg->checksum & 0xFF)) {
|
||||
// Check first checksum byte
|
||||
status->parse_error++;
|
||||
status->msg_received = 0;
|
||||
status->parse_state = MAVLINK_PARSE_STATE_IDLE;
|
||||
if (c == MAVLINK_STX)
|
||||
{
|
||||
status->parse_state = MAVLINK_PARSE_STATE_GOT_STX;
|
||||
rxmsg->len = 0;
|
||||
mavlink_start_checksum(rxmsg);
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
status->parse_state = MAVLINK_PARSE_STATE_GOT_BAD_CRC1;
|
||||
} else {
|
||||
status->parse_state = MAVLINK_PARSE_STATE_GOT_CRC1;
|
||||
_MAV_PAYLOAD_NON_CONST(rxmsg)[status->packet_idx] = (char)c;
|
||||
}
|
||||
_MAV_PAYLOAD_NON_CONST(rxmsg)[status->packet_idx] = (char)c;
|
||||
break;
|
||||
|
||||
case MAVLINK_PARSE_STATE_GOT_CRC1:
|
||||
if (c != (rxmsg->checksum >> 8)) {
|
||||
// Check second checksum byte
|
||||
status->parse_error++;
|
||||
status->msg_received = 0;
|
||||
status->parse_state = MAVLINK_PARSE_STATE_IDLE;
|
||||
if (c == MAVLINK_STX)
|
||||
{
|
||||
status->parse_state = MAVLINK_PARSE_STATE_GOT_STX;
|
||||
rxmsg->len = 0;
|
||||
mavlink_start_checksum(rxmsg);
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
case MAVLINK_PARSE_STATE_GOT_BAD_CRC1:
|
||||
if (status->parse_state == MAVLINK_PARSE_STATE_GOT_BAD_CRC1 || c != (rxmsg->checksum >> 8)) {
|
||||
// got a bad CRC message
|
||||
status->msg_received = MAVLINK_FRAMING_BAD_CRC;
|
||||
} else {
|
||||
// Successfully got message
|
||||
status->msg_received = 1;
|
||||
status->msg_received = MAVLINK_FRAMING_OK;
|
||||
}
|
||||
status->parse_state = MAVLINK_PARSE_STATE_IDLE;
|
||||
_MAV_PAYLOAD_NON_CONST(rxmsg)[status->packet_idx+1] = (char)c;
|
||||
memcpy(r_message, rxmsg, sizeof(mavlink_message_t));
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
bufferIndex++;
|
||||
// If a message has been sucessfully decoded, check index
|
||||
if (status->msg_received == 1)
|
||||
if (status->msg_received == MAVLINK_FRAMING_OK)
|
||||
{
|
||||
//while(status->current_seq != rxmsg->seq)
|
||||
//{
|
||||
|
|
@ -431,9 +411,83 @@ MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_messa
|
|||
r_mavlink_status->packet_rx_success_count = status->packet_rx_success_count;
|
||||
r_mavlink_status->packet_rx_drop_count = status->parse_error;
|
||||
status->parse_error = 0;
|
||||
|
||||
if (status->msg_received == MAVLINK_FRAMING_BAD_CRC) {
|
||||
/*
|
||||
the CRC came out wrong. We now need to overwrite the
|
||||
msg CRC with the one on the wire so that if the
|
||||
caller decides to forward the message anyway that
|
||||
mavlink_msg_to_send_buffer() won't overwrite the
|
||||
checksum
|
||||
*/
|
||||
r_message->checksum = _MAV_PAYLOAD(rxmsg)[status->packet_idx] | (_MAV_PAYLOAD(rxmsg)[status->packet_idx+1]<<8);
|
||||
}
|
||||
|
||||
return status->msg_received;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* This is a convenience function which handles the complete MAVLink parsing.
|
||||
* the function will parse one byte at a time and return the complete packet once
|
||||
* it could be successfully decoded. This function will return 0 or 1.
|
||||
*
|
||||
* Messages are parsed into an internal buffer (one for each channel). When a complete
|
||||
* message is received it is copies into *returnMsg and the channel's status is
|
||||
* copied into *returnStats.
|
||||
*
|
||||
* @param chan ID of the current channel. This allows to parse different channels with this function.
|
||||
* a channel is not a physical message channel like a serial port, but a logic partition of
|
||||
* the communication streams in this case. COMM_NB is the limit for the number of channels
|
||||
* on MCU (e.g. ARM7), while COMM_NB_HIGH is the limit for the number of channels in Linux/Windows
|
||||
* @param c The char to parse
|
||||
*
|
||||
* @param returnMsg NULL if no message could be decoded, the message data else
|
||||
* @param returnStats if a message was decoded, this is filled with the channel's stats
|
||||
* @return 0 if no message could be decoded or bad CRC, 1 on good message and CRC
|
||||
*
|
||||
* A typical use scenario of this function call is:
|
||||
*
|
||||
* @code
|
||||
* #include <mavlink.h>
|
||||
*
|
||||
* mavlink_message_t msg;
|
||||
* int chan = 0;
|
||||
*
|
||||
*
|
||||
* while(serial.bytesAvailable > 0)
|
||||
* {
|
||||
* uint8_t byte = serial.getNextByte();
|
||||
* if (mavlink_parse_char(chan, byte, &msg))
|
||||
* {
|
||||
* printf("Received message with ID %d, sequence: %d from component %d of system %d", msg.msgid, msg.seq, msg.compid, msg.sysid);
|
||||
* }
|
||||
* }
|
||||
*
|
||||
*
|
||||
* @endcode
|
||||
*/
|
||||
MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status)
|
||||
{
|
||||
uint8_t msg_received = mavlink_frame_char(chan, c, r_message, r_mavlink_status);
|
||||
if (msg_received == MAVLINK_FRAMING_BAD_CRC) {
|
||||
// we got a bad CRC. Treat as a parse failure
|
||||
mavlink_message_t* rxmsg = mavlink_get_channel_buffer(chan);
|
||||
mavlink_status_t* status = mavlink_get_channel_status(chan);
|
||||
status->parse_error++;
|
||||
status->msg_received = MAVLINK_FRAMING_INCOMPLETE;
|
||||
status->parse_state = MAVLINK_PARSE_STATE_IDLE;
|
||||
if (c == MAVLINK_STX)
|
||||
{
|
||||
status->parse_state = MAVLINK_PARSE_STATE_GOT_STX;
|
||||
rxmsg->len = 0;
|
||||
mavlink_start_checksum(rxmsg);
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
return msg_received;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Put a bitfield of length 1-32 bit into the buffer
|
||||
*
|
||||
|
|
|
|||
|
|
@ -65,6 +65,7 @@
|
|||
MAVLINK_HELPER uint16_t mavlink_msg_to_send_buffer(uint8_t *buffer, const mavlink_message_t *msg);
|
||||
MAVLINK_HELPER void mavlink_start_checksum(mavlink_message_t* msg);
|
||||
MAVLINK_HELPER void mavlink_update_checksum(mavlink_message_t* msg, uint8_t c);
|
||||
MAVLINK_HELPER uint8_t mavlink_frame_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status);
|
||||
MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status);
|
||||
MAVLINK_HELPER uint8_t put_bitfield_n_by_index(int32_t b, uint8_t bits, uint8_t packet_index, uint8_t bit_index,
|
||||
uint8_t* r_bit_index, uint8_t* buffer);
|
||||
|
|
|
|||
Loading…
Reference in New Issue