mirror of https://github.com/ArduPilot/ardupilot
Mavlink update
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1777 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
mich146@hotmail.com
parent
2bee76b0b8
commit
4c2e458be6
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@ -2,10 +2,11 @@ MAVLink Micro Air Vehicle Message Marshalling Library
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This is a library for lightweight communication between
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Micro Air Vehicles (swarm) and/or ground control stations.
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It serializes C-structs for serial channels and can be used with
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any type of radio modem.
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For help, please visit the mailing list: http://groups.google.com/group/mavlink
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MAVLink is licensed under the terms of the Lesser General Public License of the Free Software Foundation (LGPL).
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As MAVLink is a header-only library, compiling an application with it is considered "using the libary", not a derived work. MAVLink can therefore be used without limits in any closed-source application without publishing the source code of the closed-source application.
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@ -22,7 +23,7 @@ gcc -I mavlink/include -I mavlink/include/<your message set, e.g. common>
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For more information, please visit:
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http://pixhawk.ethz.ch/wiki/software/mavlink/
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http://qgroundcontrol.org/mavlink/
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(c) 2009-2011 Lorenz Meier <mail@qgroundcontrol.org>
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@ -1,7 +1,7 @@
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/** @file
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* @brief MAVLink comm protocol.
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* @see http://pixhawk.ethz.ch/software/mavlink
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* Generated on Saturday, February 26 2011, 13:25 UTC
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* Generated on Tuesday, March 15 2011, 19:25 UTC
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*/
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#ifndef COMMON_H
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#define COMMON_H
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@ -57,7 +57,7 @@ enum MAV_CMD
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MAV_CMD_DO_REPEAT_SERVO=184, /* Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period.Servo numberPWM (microseconds, 1000 to 2000 typical)Cycle countCycle time (seconds)EmptyEmptyEmpty*/
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MAV_CMD_DO_CONTROL_VIDEO=200, /* Control onboard camera system.Camera ID (-1 for all)Transmission: 0: disabled, 1: enabled compressed, 2: enabled rawTransmission mode: 0: video stream, >0: single images every n seconds (decimal)Recording: 0: disabled, 1: enabled compressed, 2: enabled rawEmptyEmptyEmpty*/
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MAV_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumerationEmptyEmptyEmptyEmptyEmptyEmptyEmpty*/
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MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode.Gyro calibration: 0: no, 1: yesMagnetometer calibration: 0: no, 1: yesRadio calibration: 0: no, 1: yesRadio calibration: 0: no, 1: yesEmptyEmptyEmpty*/
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MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode.Gyro calibration: 0: no, 1: yesMagnetometer calibration: 0: no, 1: yesGround pressure: 0: no, 1: yesRadio calibration: 0: no, 1: yesEmptyEmptyEmpty*/
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MAV_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode.Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROMMission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROMReservedReservedEmptyEmptyEmpty*/
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MAV_CMD_ENUM_END
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};
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@ -87,6 +87,7 @@ enum MAV_DATA_STREAM
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#include "./mavlink_msg_system_time_utc.h"
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#include "./mavlink_msg_change_operator_control.h"
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#include "./mavlink_msg_change_operator_control_ack.h"
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#include "./mavlink_msg_auth_key.h"
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#include "./mavlink_msg_action_ack.h"
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#include "./mavlink_msg_action.h"
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#include "./mavlink_msg_set_mode.h"
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@ -1,7 +1,7 @@
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/** @file
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* @brief MAVLink comm protocol.
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* @see http://pixhawk.ethz.ch/software/mavlink
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* Generated on Saturday, February 26 2011, 13:25 UTC
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* Generated on Tuesday, March 15 2011, 19:25 UTC
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*/
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#ifndef MAVLINK_H
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#define MAVLINK_H
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@ -0,0 +1,104 @@
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// MESSAGE AUTH_KEY PACKING
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#define MAVLINK_MSG_ID_AUTH_KEY 7
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typedef struct __mavlink_auth_key_t
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{
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char key[32]; ///< key
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} mavlink_auth_key_t;
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#define MAVLINK_MSG_AUTH_KEY_FIELD_KEY_LEN 32
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/**
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* @brief Pack a auth_key message
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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*
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* @param key key
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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_auth_key_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const char* key)
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{
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uint16_t i = 0;
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msg->msgid = MAVLINK_MSG_ID_AUTH_KEY;
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i += put_array_by_index((const int8_t*)key, sizeof(char)*32, i, msg->payload); // key
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return mavlink_finalize_message(msg, system_id, component_id, i);
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}
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/**
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* @brief Pack a auth_key message
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param chan The MAVLink channel this message was sent over
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* @param msg The MAVLink message to compress the data into
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* @param key key
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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_auth_key_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const char* key)
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{
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uint16_t i = 0;
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msg->msgid = MAVLINK_MSG_ID_AUTH_KEY;
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i += put_array_by_index((const int8_t*)key, sizeof(char)*32, i, msg->payload); // key
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
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}
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/**
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* @brief Encode a auth_key struct into a message
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*
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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* @param auth_key C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_auth_key_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_auth_key_t* auth_key)
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{
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return mavlink_msg_auth_key_pack(system_id, component_id, msg, auth_key->key);
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}
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/**
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* @brief Send a auth_key message
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* @param chan MAVLink channel to send the message
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*
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* @param key key
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_auth_key_send(mavlink_channel_t chan, const char* key)
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{
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mavlink_message_t msg;
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mavlink_msg_auth_key_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, key);
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mavlink_send_uart(chan, &msg);
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}
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#endif
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// MESSAGE AUTH_KEY UNPACKING
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/**
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* @brief Get field key from auth_key message
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*
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* @return key
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*/
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static inline uint16_t mavlink_msg_auth_key_get_key(const mavlink_message_t* msg, char* r_data)
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{
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memcpy(r_data, msg->payload, sizeof(char)*32);
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return sizeof(char)*32;
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}
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/**
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* @brief Decode a auth_key message into a struct
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*
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* @param msg The message to decode
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* @param auth_key C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_auth_key_decode(const mavlink_message_t* msg, mavlink_auth_key_t* auth_key)
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{
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mavlink_msg_auth_key_get_key(msg, auth_key->key);
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}
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@ -4,8 +4,8 @@
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typedef struct __mavlink_global_position_int_t
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{
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int32_t lat; ///< Latitude / X Position, expressed as * 1E7
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int32_t lon; ///< Longitude / Y Position, expressed as * 1E7
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int32_t lat; ///< Latitude, expressed as * 1E7
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int32_t lon; ///< Longitude, expressed as * 1E7
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int32_t alt; ///< Altitude in meters, expressed as * 1000 (millimeters)
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int16_t vx; ///< Ground X Speed (Latitude), expressed as m/s * 100
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int16_t vy; ///< Ground Y Speed (Longitude), expressed as m/s * 100
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@ -21,8 +21,8 @@ typedef struct __mavlink_global_position_int_t
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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*
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* @param lat Latitude / X Position, expressed as * 1E7
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* @param lon Longitude / Y Position, expressed as * 1E7
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* @param lat Latitude, expressed as * 1E7
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* @param lon Longitude, expressed as * 1E7
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* @param alt Altitude in meters, expressed as * 1000 (millimeters)
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* @param vx Ground X Speed (Latitude), expressed as m/s * 100
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* @param vy Ground Y Speed (Longitude), expressed as m/s * 100
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@ -34,8 +34,8 @@ static inline uint16_t mavlink_msg_global_position_int_pack(uint8_t system_id, u
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uint16_t i = 0;
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msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT;
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i += put_int32_t_by_index(lat, i, msg->payload); // Latitude / X Position, expressed as * 1E7
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i += put_int32_t_by_index(lon, i, msg->payload); // Longitude / Y Position, expressed as * 1E7
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i += put_int32_t_by_index(lat, i, msg->payload); // Latitude, expressed as * 1E7
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i += put_int32_t_by_index(lon, i, msg->payload); // Longitude, expressed as * 1E7
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i += put_int32_t_by_index(alt, i, msg->payload); // Altitude in meters, expressed as * 1000 (millimeters)
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i += put_int16_t_by_index(vx, i, msg->payload); // Ground X Speed (Latitude), expressed as m/s * 100
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i += put_int16_t_by_index(vy, i, msg->payload); // Ground Y Speed (Longitude), expressed as m/s * 100
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@ -50,8 +50,8 @@ static inline uint16_t mavlink_msg_global_position_int_pack(uint8_t system_id, u
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param chan The MAVLink channel this message was sent over
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* @param msg The MAVLink message to compress the data into
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* @param lat Latitude / X Position, expressed as * 1E7
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* @param lon Longitude / Y Position, expressed as * 1E7
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* @param lat Latitude, expressed as * 1E7
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* @param lon Longitude, expressed as * 1E7
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* @param alt Altitude in meters, expressed as * 1000 (millimeters)
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* @param vx Ground X Speed (Latitude), expressed as m/s * 100
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* @param vy Ground Y Speed (Longitude), expressed as m/s * 100
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@ -63,8 +63,8 @@ static inline uint16_t mavlink_msg_global_position_int_pack_chan(uint8_t system_
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uint16_t i = 0;
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msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT;
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i += put_int32_t_by_index(lat, i, msg->payload); // Latitude / X Position, expressed as * 1E7
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i += put_int32_t_by_index(lon, i, msg->payload); // Longitude / Y Position, expressed as * 1E7
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i += put_int32_t_by_index(lat, i, msg->payload); // Latitude, expressed as * 1E7
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i += put_int32_t_by_index(lon, i, msg->payload); // Longitude, expressed as * 1E7
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i += put_int32_t_by_index(alt, i, msg->payload); // Altitude in meters, expressed as * 1000 (millimeters)
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i += put_int16_t_by_index(vx, i, msg->payload); // Ground X Speed (Latitude), expressed as m/s * 100
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i += put_int16_t_by_index(vy, i, msg->payload); // Ground Y Speed (Longitude), expressed as m/s * 100
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@ -90,8 +90,8 @@ static inline uint16_t mavlink_msg_global_position_int_encode(uint8_t system_id,
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* @brief Send a global_position_int message
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* @param chan MAVLink channel to send the message
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*
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* @param lat Latitude / X Position, expressed as * 1E7
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* @param lon Longitude / Y Position, expressed as * 1E7
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* @param lat Latitude, expressed as * 1E7
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* @param lon Longitude, expressed as * 1E7
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* @param alt Altitude in meters, expressed as * 1000 (millimeters)
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* @param vx Ground X Speed (Latitude), expressed as m/s * 100
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* @param vy Ground Y Speed (Longitude), expressed as m/s * 100
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@ -112,7 +112,7 @@ static inline void mavlink_msg_global_position_int_send(mavlink_channel_t chan,
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/**
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* @brief Get field lat from global_position_int message
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*
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* @return Latitude / X Position, expressed as * 1E7
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* @return Latitude, expressed as * 1E7
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*/
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static inline int32_t mavlink_msg_global_position_int_get_lat(const mavlink_message_t* msg)
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{
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@ -127,7 +127,7 @@ static inline int32_t mavlink_msg_global_position_int_get_lat(const mavlink_mess
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/**
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* @brief Get field lon from global_position_int message
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*
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* @return Longitude / Y Position, expressed as * 1E7
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* @return Longitude, expressed as * 1E7
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*/
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static inline int32_t mavlink_msg_global_position_int_get_lon(const mavlink_message_t* msg)
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{
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@ -6,9 +6,9 @@ typedef struct __mavlink_gps_set_global_origin_t
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{
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uint8_t target_system; ///< System ID
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uint8_t target_component; ///< Component ID
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uint32_t latitude; ///< global x position * 1E7
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uint32_t longitude; ///< global y position * 1E7
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uint32_t altitude; ///< global z position * 1000
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uint32_t latitude; ///< global position * 1E7
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uint32_t longitude; ///< global position * 1E7
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uint32_t altitude; ///< global position * 1000
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} mavlink_gps_set_global_origin_t;
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@ -22,9 +22,9 @@ typedef struct __mavlink_gps_set_global_origin_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 latitude global x position * 1E7
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* @param longitude global y position * 1E7
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* @param altitude global z position * 1000
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* @param latitude global position * 1E7
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* @param longitude global position * 1E7
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* @param altitude global position * 1000
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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_gps_set_global_origin_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, uint32_t latitude, uint32_t longitude, uint32_t altitude)
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@ -34,9 +34,9 @@ static inline uint16_t mavlink_msg_gps_set_global_origin_pack(uint8_t system_id,
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i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID
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i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID
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i += put_uint32_t_by_index(latitude, i, msg->payload); // global x position * 1E7
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i += put_uint32_t_by_index(longitude, i, msg->payload); // global y position * 1E7
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i += put_uint32_t_by_index(altitude, i, msg->payload); // global z position * 1000
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i += put_uint32_t_by_index(latitude, i, msg->payload); // global position * 1E7
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i += put_uint32_t_by_index(longitude, i, msg->payload); // global position * 1E7
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i += put_uint32_t_by_index(altitude, i, msg->payload); // global position * 1000
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return mavlink_finalize_message(msg, system_id, component_id, i);
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}
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@ -49,9 +49,9 @@ static inline uint16_t mavlink_msg_gps_set_global_origin_pack(uint8_t system_id,
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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 latitude global x position * 1E7
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* @param longitude global y position * 1E7
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* @param altitude global z position * 1000
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* @param latitude global position * 1E7
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* @param longitude global position * 1E7
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* @param altitude global position * 1000
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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_gps_set_global_origin_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, uint32_t latitude, uint32_t longitude, uint32_t altitude)
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@ -61,9 +61,9 @@ static inline uint16_t mavlink_msg_gps_set_global_origin_pack_chan(uint8_t syste
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i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID
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i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID
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i += put_uint32_t_by_index(latitude, i, msg->payload); // global x position * 1E7
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i += put_uint32_t_by_index(longitude, i, msg->payload); // global y position * 1E7
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i += put_uint32_t_by_index(altitude, i, msg->payload); // global z position * 1000
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i += put_uint32_t_by_index(latitude, i, msg->payload); // global position * 1E7
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i += put_uint32_t_by_index(longitude, i, msg->payload); // global position * 1E7
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i += put_uint32_t_by_index(altitude, i, msg->payload); // global position * 1000
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
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}
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@ -87,9 +87,9 @@ static inline uint16_t mavlink_msg_gps_set_global_origin_encode(uint8_t system_i
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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 latitude global x position * 1E7
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* @param longitude global y position * 1E7
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* @param altitude global z position * 1000
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* @param latitude global position * 1E7
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* @param longitude global position * 1E7
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* @param altitude global position * 1000
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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@ -126,7 +126,7 @@ static inline uint8_t mavlink_msg_gps_set_global_origin_get_target_component(con
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/**
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* @brief Get field latitude from gps_set_global_origin message
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*
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* @return global x position * 1E7
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* @return global position * 1E7
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*/
|
||||
static inline uint32_t mavlink_msg_gps_set_global_origin_get_latitude(const mavlink_message_t* msg)
|
||||
{
|
||||
|
|
@ -141,7 +141,7 @@ static inline uint32_t mavlink_msg_gps_set_global_origin_get_latitude(const mavl
|
|||
/**
|
||||
* @brief Get field longitude from gps_set_global_origin message
|
||||
*
|
||||
* @return global y position * 1E7
|
||||
* @return global position * 1E7
|
||||
*/
|
||||
static inline uint32_t mavlink_msg_gps_set_global_origin_get_longitude(const mavlink_message_t* msg)
|
||||
{
|
||||
|
|
@ -156,7 +156,7 @@ static inline uint32_t mavlink_msg_gps_set_global_origin_get_longitude(const mav
|
|||
/**
|
||||
* @brief Get field altitude from gps_set_global_origin message
|
||||
*
|
||||
* @return global z position * 1000
|
||||
* @return global position * 1000
|
||||
*/
|
||||
static inline uint32_t mavlink_msg_gps_set_global_origin_get_altitude(const mavlink_message_t* msg)
|
||||
{
|
||||
|
|
|
|||
|
|
@ -15,8 +15,8 @@ typedef struct __mavlink_waypoint_t
|
|||
float param2; ///< PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds
|
||||
float param3; ///< PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise.
|
||||
float param4; ///< PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH
|
||||
float x; ///< PARAM5 / local: x position, global: longitude
|
||||
float y; ///< PARAM6 / y position: global: latitude
|
||||
float x; ///< PARAM5 / local: x position, global: latitude
|
||||
float y; ///< PARAM6 / y position: global: longitude
|
||||
float z; ///< PARAM7 / z position: global: altitude
|
||||
|
||||
} mavlink_waypoint_t;
|
||||
|
|
@ -40,8 +40,8 @@ typedef struct __mavlink_waypoint_t
|
|||
* @param param2 PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds
|
||||
* @param param3 PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise.
|
||||
* @param param4 PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH
|
||||
* @param x PARAM5 / local: x position, global: longitude
|
||||
* @param y PARAM6 / y position: global: latitude
|
||||
* @param x PARAM5 / local: x position, global: latitude
|
||||
* @param y PARAM6 / y position: global: longitude
|
||||
* @param z PARAM7 / z position: global: altitude
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
|
|
@ -61,8 +61,8 @@ static inline uint16_t mavlink_msg_waypoint_pack(uint8_t system_id, uint8_t comp
|
|||
i += put_float_by_index(param2, i, msg->payload); // PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds
|
||||
i += put_float_by_index(param3, i, msg->payload); // PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise.
|
||||
i += put_float_by_index(param4, i, msg->payload); // PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH
|
||||
i += put_float_by_index(x, i, msg->payload); // PARAM5 / local: x position, global: longitude
|
||||
i += put_float_by_index(y, i, msg->payload); // PARAM6 / y position: global: latitude
|
||||
i += put_float_by_index(x, i, msg->payload); // PARAM5 / local: x position, global: latitude
|
||||
i += put_float_by_index(y, i, msg->payload); // PARAM6 / y position: global: longitude
|
||||
i += put_float_by_index(z, i, msg->payload); // PARAM7 / z position: global: altitude
|
||||
|
||||
return mavlink_finalize_message(msg, system_id, component_id, i);
|
||||
|
|
@ -85,8 +85,8 @@ static inline uint16_t mavlink_msg_waypoint_pack(uint8_t system_id, uint8_t comp
|
|||
* @param param2 PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds
|
||||
* @param param3 PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise.
|
||||
* @param param4 PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH
|
||||
* @param x PARAM5 / local: x position, global: longitude
|
||||
* @param y PARAM6 / y position: global: latitude
|
||||
* @param x PARAM5 / local: x position, global: latitude
|
||||
* @param y PARAM6 / y position: global: longitude
|
||||
* @param z PARAM7 / z position: global: altitude
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
|
|
@ -106,8 +106,8 @@ static inline uint16_t mavlink_msg_waypoint_pack_chan(uint8_t system_id, uint8_t
|
|||
i += put_float_by_index(param2, i, msg->payload); // PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds
|
||||
i += put_float_by_index(param3, i, msg->payload); // PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise.
|
||||
i += put_float_by_index(param4, i, msg->payload); // PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH
|
||||
i += put_float_by_index(x, i, msg->payload); // PARAM5 / local: x position, global: longitude
|
||||
i += put_float_by_index(y, i, msg->payload); // PARAM6 / y position: global: latitude
|
||||
i += put_float_by_index(x, i, msg->payload); // PARAM5 / local: x position, global: latitude
|
||||
i += put_float_by_index(y, i, msg->payload); // PARAM6 / y position: global: longitude
|
||||
i += put_float_by_index(z, i, msg->payload); // PARAM7 / z position: global: altitude
|
||||
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
|
||||
|
|
@ -141,8 +141,8 @@ static inline uint16_t mavlink_msg_waypoint_encode(uint8_t system_id, uint8_t co
|
|||
* @param param2 PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds
|
||||
* @param param3 PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise.
|
||||
* @param param4 PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH
|
||||
* @param x PARAM5 / local: x position, global: longitude
|
||||
* @param y PARAM6 / y position: global: latitude
|
||||
* @param x PARAM5 / local: x position, global: latitude
|
||||
* @param y PARAM6 / y position: global: longitude
|
||||
* @param z PARAM7 / z position: global: altitude
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
|
@ -293,7 +293,7 @@ static inline float mavlink_msg_waypoint_get_param4(const mavlink_message_t* msg
|
|||
/**
|
||||
* @brief Get field x from waypoint message
|
||||
*
|
||||
* @return PARAM5 / local: x position, global: longitude
|
||||
* @return PARAM5 / local: x position, global: latitude
|
||||
*/
|
||||
static inline float mavlink_msg_waypoint_get_x(const mavlink_message_t* msg)
|
||||
{
|
||||
|
|
@ -308,7 +308,7 @@ static inline float mavlink_msg_waypoint_get_x(const mavlink_message_t* msg)
|
|||
/**
|
||||
* @brief Get field y from waypoint message
|
||||
*
|
||||
* @return PARAM6 / y position: global: latitude
|
||||
* @return PARAM6 / y position: global: longitude
|
||||
*/
|
||||
static inline float mavlink_msg_waypoint_get_y(const mavlink_message_t* msg)
|
||||
{
|
||||
|
|
|
|||
|
|
@ -139,7 +139,8 @@ enum MAV_FRAME
|
|||
{
|
||||
MAV_FRAME_GLOBAL = 0,
|
||||
MAV_FRAME_LOCAL = 1,
|
||||
MAV_FRAME_MISSION = 2
|
||||
MAV_FRAME_MISSION = 2,
|
||||
MAV_FRAME_GLOBAL_RELATIVE_ALT = 3
|
||||
};
|
||||
|
||||
#define MAVLINK_STX 0x55 ///< Packet start sign
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
/** @file
|
||||
* @brief MAVLink comm protocol.
|
||||
* @see http://pixhawk.ethz.ch/software/mavlink
|
||||
* Generated on Saturday, February 26 2011, 13:25 UTC
|
||||
* Generated on Wednesday, March 2 2011, 13:12 UTC
|
||||
*/
|
||||
#ifndef MAVLINK_H
|
||||
#define MAVLINK_H
|
||||
|
|
|
|||
|
|
@ -0,0 +1,249 @@
|
|||
// MESSAGE BRIEF_FEATURE PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_BRIEF_FEATURE 172
|
||||
|
||||
typedef struct __mavlink_brief_feature_t
|
||||
{
|
||||
float x; ///< x position in m
|
||||
float y; ///< y position in m
|
||||
float z; ///< z position in m
|
||||
uint8_t orientation_assignment; ///< Orientation assignment 0: false, 1:true
|
||||
uint16_t size; ///< Size in pixels
|
||||
uint16_t orientation; ///< Orientation
|
||||
uint8_t descriptor[32]; ///< Descriptor
|
||||
float response; ///< Harris operator response at this location
|
||||
|
||||
} mavlink_brief_feature_t;
|
||||
|
||||
#define MAVLINK_MSG_BRIEF_FEATURE_FIELD_DESCRIPTOR_LEN 32
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a brief_feature 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 x x position in m
|
||||
* @param y y position in m
|
||||
* @param z z position in m
|
||||
* @param orientation_assignment Orientation assignment 0: false, 1:true
|
||||
* @param size Size in pixels
|
||||
* @param orientation Orientation
|
||||
* @param descriptor Descriptor
|
||||
* @param response Harris operator response at this location
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_brief_feature_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, float x, float y, float z, uint8_t orientation_assignment, uint16_t size, uint16_t orientation, const uint8_t* descriptor, float response)
|
||||
{
|
||||
uint16_t i = 0;
|
||||
msg->msgid = MAVLINK_MSG_ID_BRIEF_FEATURE;
|
||||
|
||||
i += put_float_by_index(x, i, msg->payload); // x position in m
|
||||
i += put_float_by_index(y, i, msg->payload); // y position in m
|
||||
i += put_float_by_index(z, i, msg->payload); // z position in m
|
||||
i += put_uint8_t_by_index(orientation_assignment, i, msg->payload); // Orientation assignment 0: false, 1:true
|
||||
i += put_uint16_t_by_index(size, i, msg->payload); // Size in pixels
|
||||
i += put_uint16_t_by_index(orientation, i, msg->payload); // Orientation
|
||||
i += put_array_by_index((const int8_t*)descriptor, sizeof(uint8_t)*32, i, msg->payload); // Descriptor
|
||||
i += put_float_by_index(response, i, msg->payload); // Harris operator response at this location
|
||||
|
||||
return mavlink_finalize_message(msg, system_id, component_id, i);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a brief_feature message
|
||||
* @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 x x position in m
|
||||
* @param y y position in m
|
||||
* @param z z position in m
|
||||
* @param orientation_assignment Orientation assignment 0: false, 1:true
|
||||
* @param size Size in pixels
|
||||
* @param orientation Orientation
|
||||
* @param descriptor Descriptor
|
||||
* @param response Harris operator response at this location
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_brief_feature_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, float x, float y, float z, uint8_t orientation_assignment, uint16_t size, uint16_t orientation, const uint8_t* descriptor, float response)
|
||||
{
|
||||
uint16_t i = 0;
|
||||
msg->msgid = MAVLINK_MSG_ID_BRIEF_FEATURE;
|
||||
|
||||
i += put_float_by_index(x, i, msg->payload); // x position in m
|
||||
i += put_float_by_index(y, i, msg->payload); // y position in m
|
||||
i += put_float_by_index(z, i, msg->payload); // z position in m
|
||||
i += put_uint8_t_by_index(orientation_assignment, i, msg->payload); // Orientation assignment 0: false, 1:true
|
||||
i += put_uint16_t_by_index(size, i, msg->payload); // Size in pixels
|
||||
i += put_uint16_t_by_index(orientation, i, msg->payload); // Orientation
|
||||
i += put_array_by_index((const int8_t*)descriptor, sizeof(uint8_t)*32, i, msg->payload); // Descriptor
|
||||
i += put_float_by_index(response, i, msg->payload); // Harris operator response at this location
|
||||
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a brief_feature 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 brief_feature C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_brief_feature_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_brief_feature_t* brief_feature)
|
||||
{
|
||||
return mavlink_msg_brief_feature_pack(system_id, component_id, msg, brief_feature->x, brief_feature->y, brief_feature->z, brief_feature->orientation_assignment, brief_feature->size, brief_feature->orientation, brief_feature->descriptor, brief_feature->response);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a brief_feature message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param x x position in m
|
||||
* @param y y position in m
|
||||
* @param z z position in m
|
||||
* @param orientation_assignment Orientation assignment 0: false, 1:true
|
||||
* @param size Size in pixels
|
||||
* @param orientation Orientation
|
||||
* @param descriptor Descriptor
|
||||
* @param response Harris operator response at this location
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_brief_feature_send(mavlink_channel_t chan, float x, float y, float z, uint8_t orientation_assignment, uint16_t size, uint16_t orientation, const uint8_t* descriptor, float response)
|
||||
{
|
||||
mavlink_message_t msg;
|
||||
mavlink_msg_brief_feature_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, x, y, z, orientation_assignment, size, orientation, descriptor, response);
|
||||
mavlink_send_uart(chan, &msg);
|
||||
}
|
||||
|
||||
#endif
|
||||
// MESSAGE BRIEF_FEATURE UNPACKING
|
||||
|
||||
/**
|
||||
* @brief Get field x from brief_feature message
|
||||
*
|
||||
* @return x position in m
|
||||
*/
|
||||
static inline float mavlink_msg_brief_feature_get_x(const mavlink_message_t* msg)
|
||||
{
|
||||
generic_32bit r;
|
||||
r.b[3] = (msg->payload)[0];
|
||||
r.b[2] = (msg->payload)[1];
|
||||
r.b[1] = (msg->payload)[2];
|
||||
r.b[0] = (msg->payload)[3];
|
||||
return (float)r.f;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field y from brief_feature message
|
||||
*
|
||||
* @return y position in m
|
||||
*/
|
||||
static inline float mavlink_msg_brief_feature_get_y(const mavlink_message_t* msg)
|
||||
{
|
||||
generic_32bit r;
|
||||
r.b[3] = (msg->payload+sizeof(float))[0];
|
||||
r.b[2] = (msg->payload+sizeof(float))[1];
|
||||
r.b[1] = (msg->payload+sizeof(float))[2];
|
||||
r.b[0] = (msg->payload+sizeof(float))[3];
|
||||
return (float)r.f;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field z from brief_feature message
|
||||
*
|
||||
* @return z position in m
|
||||
*/
|
||||
static inline float mavlink_msg_brief_feature_get_z(const mavlink_message_t* msg)
|
||||
{
|
||||
generic_32bit r;
|
||||
r.b[3] = (msg->payload+sizeof(float)+sizeof(float))[0];
|
||||
r.b[2] = (msg->payload+sizeof(float)+sizeof(float))[1];
|
||||
r.b[1] = (msg->payload+sizeof(float)+sizeof(float))[2];
|
||||
r.b[0] = (msg->payload+sizeof(float)+sizeof(float))[3];
|
||||
return (float)r.f;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field orientation_assignment from brief_feature message
|
||||
*
|
||||
* @return Orientation assignment 0: false, 1:true
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_brief_feature_get_orientation_assignment(const mavlink_message_t* msg)
|
||||
{
|
||||
return (uint8_t)(msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[0];
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field size from brief_feature message
|
||||
*
|
||||
* @return Size in pixels
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_brief_feature_get_size(const mavlink_message_t* msg)
|
||||
{
|
||||
generic_16bit r;
|
||||
r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t))[0];
|
||||
r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t))[1];
|
||||
return (uint16_t)r.s;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field orientation from brief_feature message
|
||||
*
|
||||
* @return Orientation
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_brief_feature_get_orientation(const mavlink_message_t* msg)
|
||||
{
|
||||
generic_16bit r;
|
||||
r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t)+sizeof(uint16_t))[0];
|
||||
r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t)+sizeof(uint16_t))[1];
|
||||
return (uint16_t)r.s;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field descriptor from brief_feature message
|
||||
*
|
||||
* @return Descriptor
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_brief_feature_get_descriptor(const mavlink_message_t* msg, uint8_t* r_data)
|
||||
{
|
||||
|
||||
memcpy(r_data, msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t), sizeof(uint8_t)*32);
|
||||
return sizeof(uint8_t)*32;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field response from brief_feature message
|
||||
*
|
||||
* @return Harris operator response at this location
|
||||
*/
|
||||
static inline float mavlink_msg_brief_feature_get_response(const mavlink_message_t* msg)
|
||||
{
|
||||
generic_32bit r;
|
||||
r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)*32)[0];
|
||||
r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)*32)[1];
|
||||
r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)*32)[2];
|
||||
r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)*32)[3];
|
||||
return (float)r.f;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a brief_feature message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param brief_feature C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_brief_feature_decode(const mavlink_message_t* msg, mavlink_brief_feature_t* brief_feature)
|
||||
{
|
||||
brief_feature->x = mavlink_msg_brief_feature_get_x(msg);
|
||||
brief_feature->y = mavlink_msg_brief_feature_get_y(msg);
|
||||
brief_feature->z = mavlink_msg_brief_feature_get_z(msg);
|
||||
brief_feature->orientation_assignment = mavlink_msg_brief_feature_get_orientation_assignment(msg);
|
||||
brief_feature->size = mavlink_msg_brief_feature_get_size(msg);
|
||||
brief_feature->orientation = mavlink_msg_brief_feature_get_orientation(msg);
|
||||
mavlink_msg_brief_feature_get_descriptor(msg, brief_feature->descriptor);
|
||||
brief_feature->response = mavlink_msg_brief_feature_get_response(msg);
|
||||
}
|
||||
|
|
@ -1,7 +1,7 @@
|
|||
/** @file
|
||||
* @brief MAVLink comm protocol.
|
||||
* @see http://pixhawk.ethz.ch/software/mavlink
|
||||
* Generated on Saturday, February 26 2011, 13:25 UTC
|
||||
* Generated on Wednesday, March 2 2011, 13:12 UTC
|
||||
*/
|
||||
#ifndef PIXHAWK_H
|
||||
#define PIXHAWK_H
|
||||
|
|
@ -73,6 +73,7 @@ enum DATA_TYPES
|
|||
#include "./mavlink_msg_point_of_interest_connection.h"
|
||||
#include "./mavlink_msg_data_transmission_handshake.h"
|
||||
#include "./mavlink_msg_encapsulated_data.h"
|
||||
#include "./mavlink_msg_brief_feature.h"
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
|
|
|||
|
|
@ -355,6 +355,11 @@
|
|||
<field name="ack" type="uint8_t">0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control</field>
|
||||
</message>
|
||||
|
||||
<message name="AUTH_KEY" id="7">
|
||||
<description>Emit an encrypted signature / key identifying this system. PLEASE NOTE: This protocol has been kept simple, so transmitting the key requires an encrypted channel for true safety.</description>
|
||||
<field name="key" type="char[32]">key</field>
|
||||
</message>
|
||||
|
||||
<message name="ACTION_ACK" id="9">
|
||||
<description>This message acknowledges an action. IMPORTANT: The acknowledgement can be also negative, e.g. the MAV rejects a reset message because it is in-flight. The action ids are defined in ENUM MAV_ACTION in mavlink/include/mavlink_types.h</description>
|
||||
<field name="action" type="uint8_t">The action id</field>
|
||||
|
|
|
|||
|
|
@ -238,5 +238,16 @@
|
|||
<field name="data" type="uint8_t[253]">image data bytes</field>
|
||||
</message>
|
||||
|
||||
<message name="BRIEF_FEATURE" id="172">
|
||||
<field name="x" type="float">x position in m</field>
|
||||
<field name="y" type="float">y position in m</field>
|
||||
<field name="z" type="float">z position in m</field>
|
||||
<field name="orientation_assignment" type="uint8_t">Orientation assignment 0: false, 1:true</field>
|
||||
<field name="size" type="uint16_t">Size in pixels</field>
|
||||
<field name="orientation" type="uint16_t">Orientation</field>
|
||||
<field name="descriptor" type="uint8_t[32]">Descriptor</field>
|
||||
<field name="response" type="float">Harris operator response at this location</field>
|
||||
</message>
|
||||
|
||||
</messages>
|
||||
</mavlink>
|
||||
|
|
|
|||
Loading…
Reference in New Issue