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Revert "added support for AP_ADC MAVLink packet" 

This reverts commit a65a2dda2c1bfa95437880227a3abddc95b329f5.

I am reverting this not for any sane reason, but because my 3 APM
boards now lock up on any I2C operation, and I don't know why. I can't
see how this change could have caused it, but I don't want to take the
chance.
This commit is contained in:
Andrew Tridgell 2011-09-10 23:24:50 +10:00
parent cba78a29ab
commit 4c8bbb23f4
10 changed files with 8 additions and 372 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
ArduPlane/GCS_Mavlink.pde
View File

@ -131,7 +131,8 @@ GCS_MAVLINK::data_stream_send(uint16_t freqMin, uint16_t freqMax)
} }
if (freqLoopMatch(streamRateExtra3, freqMin, freqMax)){ if (freqLoopMatch(streamRateExtra3, freqMin, freqMax)){
send_message(MSG_RAW_ADC); // Available datastream
//Serial.printf("mav8 %d\n", (int)streamRateExtra3.get());
} }
} }
} }

16
ArduPlane/Mavlink_Common.h
View File

@ -344,20 +344,6 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, uint8_t id, uint16_
break; break;
} }
case MSG_RAW_ADC:
{
CHECK_PAYLOAD_SIZE(AP_ADC);
mavlink_msg_ap_adc_send(chan,
analogRead(BATTERY_PIN1),
analogRead(BATTERY_PIN2),
analogRead(BATTERY_PIN3),
analogRead(BATTERY_PIN4),
analogRead(AN4),
analogRead(AN5));
break;
}
default: default:
break; break;
} }
@ -365,7 +351,7 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, uint8_t id, uint16_
} }
#define MAX_DEFERRED_MESSAGES 18 // should be at least equal to number of #define MAX_DEFERRED_MESSAGES 17 // should be at least equal to number of
// switch types in mavlink_try_send_message() // switch types in mavlink_try_send_message()
static struct mavlink_queue { static struct mavlink_queue {
uint8_t deferred_messages[MAX_DEFERRED_MESSAGES]; uint8_t deferred_messages[MAX_DEFERRED_MESSAGES];

1
ArduPlane/defines.h
View File

@ -176,7 +176,6 @@
#define MSG_GPS_RAW 0x64 #define MSG_GPS_RAW 0x64
#define MSG_SERVO_OUT 0x70 #define MSG_SERVO_OUT 0x70
#define MSG_RAW_ADC 0x71
#define MSG_PIN_REQUEST 0x80 #define MSG_PIN_REQUEST 0x80
#define MSG_PIN_SET 0x81 #define MSG_PIN_SET 0x81

7
libraries/GCS_MAVLink/include/ardupilotmega/ardupilotmega.h
View File

@ -12,15 +12,15 @@ extern "C" {
// MESSAGE LENGTHS AND CRCS // MESSAGE LENGTHS AND CRCS
#ifndef MAVLINK_MESSAGE_LENGTHS #ifndef MAVLINK_MESSAGE_LENGTHS
#define MAVLINK_MESSAGE_LENGTHS {3, 4, 8, 14, 8, 28, 3, 32, 0, 2, 3, 2, 2, 0, 0, 0, 0, 0, 0, 0, 19, 2, 23, 21, 0, 37, 26, 101, 26, 16, 32, 32, 37, 32, 11, 17, 17, 16, 18, 36, 4, 4, 2, 2, 4, 2, 2, 3, 14, 12, 18, 16, 8, 27, 25, 18, 18, 24, 24, 0, 0, 0, 26, 16, 36, 5, 6, 56, 26, 21, 18, 0, 0, 18, 20, 20, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 18, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 0, 0, 0, 0, 0, 0, 0, 0, 0, 42, 8, 4, 12, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 30, 14, 14, 51, 5} #define MAVLINK_MESSAGE_LENGTHS {3, 4, 8, 14, 8, 28, 3, 32, 0, 2, 3, 2, 2, 0, 0, 0, 0, 0, 0, 0, 19, 2, 23, 21, 0, 37, 26, 101, 26, 16, 32, 32, 37, 32, 11, 17, 17, 16, 18, 36, 4, 4, 2, 2, 4, 2, 2, 3, 14, 12, 18, 16, 8, 27, 25, 18, 18, 24, 24, 0, 0, 0, 26, 16, 36, 5, 6, 56, 26, 21, 18, 0, 0, 18, 20, 20, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 18, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 0, 0, 0, 0, 0, 0, 0, 0, 0, 42, 8, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 30, 14, 14, 51, 5}
#endif #endif
#ifndef MAVLINK_MESSAGE_CRCS #ifndef MAVLINK_MESSAGE_CRCS
#define MAVLINK_MESSAGE_CRCS {72, 39, 190, 92, 191, 217, 104, 119, 0, 219, 60, 186, 10, 0, 0, 0, 0, 0, 0, 0, 89, 159, 162, 121, 0, 149, 222, 110, 179, 136, 66, 126, 185, 147, 112, 252, 162, 215, 229, 128, 9, 106, 101, 213, 4, 229, 21, 214, 215, 14, 206, 50, 157, 126, 108, 213, 95, 5, 127, 0, 0, 0, 57, 126, 130, 119, 193, 191, 236, 158, 143, 0, 0, 104, 123, 131, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 174, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 155, 0, 0, 0, 0, 0, 0, 0, 0, 0, 143, 29, 208, 188, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 178, 224, 60, 106, 7} #define MAVLINK_MESSAGE_CRCS {72, 39, 190, 92, 191, 217, 104, 119, 0, 219, 60, 186, 10, 0, 0, 0, 0, 0, 0, 0, 89, 159, 162, 121, 0, 149, 222, 110, 179, 136, 66, 126, 185, 147, 112, 252, 162, 215, 229, 128, 9, 106, 101, 213, 4, 229, 21, 214, 215, 14, 206, 50, 157, 126, 108, 213, 95, 5, 127, 0, 0, 0, 57, 126, 130, 119, 193, 191, 236, 158, 143, 0, 0, 104, 123, 131, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 174, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 155, 0, 0, 0, 0, 0, 0, 0, 0, 0, 143, 29, 208, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 178, 224, 60, 106, 7}
#endif #endif
#ifndef MAVLINK_MESSAGE_INFO #ifndef MAVLINK_MESSAGE_INFO
#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_BOOT, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_SYSTEM_TIME_UTC, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {NULL}, MAVLINK_MESSAGE_INFO_ACTION_ACK, MAVLINK_MESSAGE_INFO_ACTION, MAVLINK_MESSAGE_INFO_SET_MODE, MAVLINK_MESSAGE_INFO_SET_NAV_MODE, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, {NULL}, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_LOCAL_POSITION, MAVLINK_MESSAGE_INFO_GPS_RAW, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_WAYPOINT, MAVLINK_MESSAGE_INFO_WAYPOINT_REQUEST, MAVLINK_MESSAGE_INFO_WAYPOINT_SET_CURRENT, MAVLINK_MESSAGE_INFO_WAYPOINT_CURRENT, MAVLINK_MESSAGE_INFO_WAYPOINT_REQUEST_LIST, MAVLINK_MESSAGE_INFO_WAYPOINT_COUNT, MAVLINK_MESSAGE_INFO_WAYPOINT_CLEAR_ALL, MAVLINK_MESSAGE_INFO_WAYPOINT_REACHED, MAVLINK_MESSAGE_INFO_WAYPOINT_ACK, MAVLINK_MESSAGE_INFO_GPS_SET_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_LOCAL_ORIGIN_SET, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT_SET, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_CONTROL_STATUS, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, MAVLINK_MESSAGE_INFO_POSITION_TARGET, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, MAVLINK_MESSAGE_INFO_SET_ALTITUDE, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_VFR_HUD, MAVLINK_MESSAGE_INFO_COMMAND, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_OBJECT_DETECTION_EVENT, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_SENSOR_OFFSETS, MAVLINK_MESSAGE_INFO_SET_MAG_OFFSETS, MAVLINK_MESSAGE_INFO_MEMINFO, MAVLINK_MESSAGE_INFO_AP_ADC, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG} #define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_BOOT, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_SYSTEM_TIME_UTC, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {NULL}, MAVLINK_MESSAGE_INFO_ACTION_ACK, MAVLINK_MESSAGE_INFO_ACTION, MAVLINK_MESSAGE_INFO_SET_MODE, MAVLINK_MESSAGE_INFO_SET_NAV_MODE, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, {NULL}, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_LOCAL_POSITION, MAVLINK_MESSAGE_INFO_GPS_RAW, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_WAYPOINT, MAVLINK_MESSAGE_INFO_WAYPOINT_REQUEST, MAVLINK_MESSAGE_INFO_WAYPOINT_SET_CURRENT, MAVLINK_MESSAGE_INFO_WAYPOINT_CURRENT, MAVLINK_MESSAGE_INFO_WAYPOINT_REQUEST_LIST, MAVLINK_MESSAGE_INFO_WAYPOINT_COUNT, MAVLINK_MESSAGE_INFO_WAYPOINT_CLEAR_ALL, MAVLINK_MESSAGE_INFO_WAYPOINT_REACHED, MAVLINK_MESSAGE_INFO_WAYPOINT_ACK, MAVLINK_MESSAGE_INFO_GPS_SET_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_LOCAL_ORIGIN_SET, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT_SET, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_CONTROL_STATUS, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, MAVLINK_MESSAGE_INFO_POSITION_TARGET, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, MAVLINK_MESSAGE_INFO_SET_ALTITUDE, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_VFR_HUD, MAVLINK_MESSAGE_INFO_COMMAND, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_OBJECT_DETECTION_EVENT, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_SENSOR_OFFSETS, MAVLINK_MESSAGE_INFO_SET_MAG_OFFSETS, MAVLINK_MESSAGE_INFO_MEMINFO, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG}
#endif #endif
#include "../protocol.h" #include "../protocol.h"
@ -48,7 +48,6 @@ extern "C" {
#include "./mavlink_msg_sensor_offsets.h" #include "./mavlink_msg_sensor_offsets.h"
#include "./mavlink_msg_set_mag_offsets.h" #include "./mavlink_msg_set_mag_offsets.h"
#include "./mavlink_msg_meminfo.h" #include "./mavlink_msg_meminfo.h"
#include "./mavlink_msg_ap_adc.h"
#ifdef __cplusplus #ifdef __cplusplus
} }

254
libraries/GCS_MAVLink/include/ardupilotmega/mavlink_msg_ap_adc.h
View File

@ -1,254 +0,0 @@
// MESSAGE AP_ADC PACKING
#define MAVLINK_MSG_ID_AP_ADC 153
typedef struct __mavlink_ap_adc_t
{
uint16_t adc1; ///< ADC output 1
uint16_t adc2; ///< ADC output 2
uint16_t adc3; ///< ADC output 3
uint16_t adc4; ///< ADC output 4
uint16_t adc5; ///< ADC output 5
uint16_t adc6; ///< ADC output 6
} mavlink_ap_adc_t;
#define MAVLINK_MSG_ID_AP_ADC_LEN 12
#define MAVLINK_MSG_ID_153_LEN 12
#define MAVLINK_MESSAGE_INFO_AP_ADC { \
"AP_ADC", \
6, \
{ { "adc1", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_ap_adc_t, adc1) }, \
{ "adc2", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_ap_adc_t, adc2) }, \
{ "adc3", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_ap_adc_t, adc3) }, \
{ "adc4", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_ap_adc_t, adc4) }, \
{ "adc5", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_ap_adc_t, adc5) }, \
{ "adc6", NULL, MAVLINK_TYPE_UINT16_T, 0, 10, offsetof(mavlink_ap_adc_t, adc6) }, \
} \
}
/**
* @brief Pack a ap_adc 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 adc1 ADC output 1
* @param adc2 ADC output 2
* @param adc3 ADC output 3
* @param adc4 ADC output 4
* @param adc5 ADC output 5
* @param adc6 ADC output 6
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_ap_adc_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint16_t adc1, uint16_t adc2, uint16_t adc3, uint16_t adc4, uint16_t adc5, uint16_t adc6)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[12];
_mav_put_uint16_t(buf, 0, adc1);
_mav_put_uint16_t(buf, 2, adc2);
_mav_put_uint16_t(buf, 4, adc3);
_mav_put_uint16_t(buf, 6, adc4);
_mav_put_uint16_t(buf, 8, adc5);
_mav_put_uint16_t(buf, 10, adc6);
memcpy(_MAV_PAYLOAD(msg), buf, 12);
#else
mavlink_ap_adc_t packet;
packet.adc1 = adc1;
packet.adc2 = adc2;
packet.adc3 = adc3;
packet.adc4 = adc4;
packet.adc5 = adc5;
packet.adc6 = adc6;
memcpy(_MAV_PAYLOAD(msg), &packet, 12);
#endif
msg->msgid = MAVLINK_MSG_ID_AP_ADC;
return mavlink_finalize_message(msg, system_id, component_id, 12);
}
/**
* @brief Pack a ap_adc message on a channel
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param adc1 ADC output 1
* @param adc2 ADC output 2
* @param adc3 ADC output 3
* @param adc4 ADC output 4
* @param adc5 ADC output 5
* @param adc6 ADC output 6
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_ap_adc_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint16_t adc1,uint16_t adc2,uint16_t adc3,uint16_t adc4,uint16_t adc5,uint16_t adc6)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[12];
_mav_put_uint16_t(buf, 0, adc1);
_mav_put_uint16_t(buf, 2, adc2);
_mav_put_uint16_t(buf, 4, adc3);
_mav_put_uint16_t(buf, 6, adc4);
_mav_put_uint16_t(buf, 8, adc5);
_mav_put_uint16_t(buf, 10, adc6);
memcpy(_MAV_PAYLOAD(msg), buf, 12);
#else
mavlink_ap_adc_t packet;
packet.adc1 = adc1;
packet.adc2 = adc2;
packet.adc3 = adc3;
packet.adc4 = adc4;
packet.adc5 = adc5;
packet.adc6 = adc6;
memcpy(_MAV_PAYLOAD(msg), &packet, 12);
#endif
msg->msgid = MAVLINK_MSG_ID_AP_ADC;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 12);
}
/**
* @brief Encode a ap_adc 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 ap_adc C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_ap_adc_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_ap_adc_t* ap_adc)
{
return mavlink_msg_ap_adc_pack(system_id, component_id, msg, ap_adc->adc1, ap_adc->adc2, ap_adc->adc3, ap_adc->adc4, ap_adc->adc5, ap_adc->adc6);
}
/**
* @brief Send a ap_adc message
* @param chan MAVLink channel to send the message
*
* @param adc1 ADC output 1
* @param adc2 ADC output 2
* @param adc3 ADC output 3
* @param adc4 ADC output 4
* @param adc5 ADC output 5
* @param adc6 ADC output 6
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_ap_adc_send(mavlink_channel_t chan, uint16_t adc1, uint16_t adc2, uint16_t adc3, uint16_t adc4, uint16_t adc5, uint16_t adc6)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[12];
_mav_put_uint16_t(buf, 0, adc1);
_mav_put_uint16_t(buf, 2, adc2);
_mav_put_uint16_t(buf, 4, adc3);
_mav_put_uint16_t(buf, 6, adc4);
_mav_put_uint16_t(buf, 8, adc5);
_mav_put_uint16_t(buf, 10, adc6);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AP_ADC, buf, 12);
#else
mavlink_ap_adc_t packet;
packet.adc1 = adc1;
packet.adc2 = adc2;
packet.adc3 = adc3;
packet.adc4 = adc4;
packet.adc5 = adc5;
packet.adc6 = adc6;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AP_ADC, (const char *)&packet, 12);
#endif
}
#endif
// MESSAGE AP_ADC UNPACKING
/**
* @brief Get field adc1 from ap_adc message
*
* @return ADC output 1
*/
static inline uint16_t mavlink_msg_ap_adc_get_adc1(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 0);
}
/**
* @brief Get field adc2 from ap_adc message
*
* @return ADC output 2
*/
static inline uint16_t mavlink_msg_ap_adc_get_adc2(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 2);
}
/**
* @brief Get field adc3 from ap_adc message
*
* @return ADC output 3
*/
static inline uint16_t mavlink_msg_ap_adc_get_adc3(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 4);
}
/**
* @brief Get field adc4 from ap_adc message
*
* @return ADC output 4
*/
static inline uint16_t mavlink_msg_ap_adc_get_adc4(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 6);
}
/**
* @brief Get field adc5 from ap_adc message
*
* @return ADC output 5
*/
static inline uint16_t mavlink_msg_ap_adc_get_adc5(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 8);
}
/**
* @brief Get field adc6 from ap_adc message
*
* @return ADC output 6
*/
static inline uint16_t mavlink_msg_ap_adc_get_adc6(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 10);
}
/**
* @brief Decode a ap_adc message into a struct
*
* @param msg The message to decode
* @param ap_adc C-struct to decode the message contents into
*/
static inline void mavlink_msg_ap_adc_decode(const mavlink_message_t* msg, mavlink_ap_adc_t* ap_adc)
{
#if MAVLINK_NEED_BYTE_SWAP
ap_adc->adc1 = mavlink_msg_ap_adc_get_adc1(msg);
ap_adc->adc2 = mavlink_msg_ap_adc_get_adc2(msg);
ap_adc->adc3 = mavlink_msg_ap_adc_get_adc3(msg);
ap_adc->adc4 = mavlink_msg_ap_adc_get_adc4(msg);
ap_adc->adc5 = mavlink_msg_ap_adc_get_adc5(msg);
ap_adc->adc6 = mavlink_msg_ap_adc_get_adc6(msg);
#else
memcpy(ap_adc, _MAV_PAYLOAD(msg), 12);
#endif
}

54
libraries/GCS_MAVLink/include/ardupilotmega/testsuite.h
View File

@ -185,65 +185,11 @@ static void mavlink_test_meminfo(uint8_t system_id, uint8_t component_id, mavlin
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
} }
static void mavlink_test_ap_adc(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_ap_adc_t packet_in = {
17235,
17339,
17443,
17547,
17651,
17755,
};
mavlink_ap_adc_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
packet1.adc1 = packet_in.adc1;
packet1.adc2 = packet_in.adc2;
packet1.adc3 = packet_in.adc3;
packet1.adc4 = packet_in.adc4;
packet1.adc5 = packet_in.adc5;
packet1.adc6 = packet_in.adc6;
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_ap_adc_encode(system_id, component_id, &msg, &packet1);
mavlink_msg_ap_adc_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_ap_adc_pack(system_id, component_id, &msg , packet1.adc1 , packet1.adc2 , packet1.adc3 , packet1.adc4 , packet1.adc5 , packet1.adc6 );
mavlink_msg_ap_adc_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_ap_adc_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.adc1 , packet1.adc2 , packet1.adc3 , packet1.adc4 , packet1.adc5 , packet1.adc6 );
mavlink_msg_ap_adc_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_ap_adc_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_ap_adc_send(MAVLINK_COMM_1 , packet1.adc1 , packet1.adc2 , packet1.adc3 , packet1.adc4 , packet1.adc5 , packet1.adc6 );
mavlink_msg_ap_adc_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) 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); mavlink_test_sensor_offsets(system_id, component_id, last_msg);
mavlink_test_set_mag_offsets(system_id, component_id, last_msg); mavlink_test_set_mag_offsets(system_id, component_id, last_msg);
mavlink_test_meminfo(system_id, component_id, last_msg); mavlink_test_meminfo(system_id, component_id, last_msg);
mavlink_test_ap_adc(system_id, component_id, last_msg);
} }
#ifdef __cplusplus #ifdef __cplusplus

2
libraries/GCS_MAVLink/include/ardupilotmega/version.h
View File

@ -5,7 +5,7 @@
#ifndef MAVLINK_VERSION_H #ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H #define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Sat Sep 10 18:09:49 2011" #define MAVLINK_BUILD_DATE "Sun Sep 4 18:16:41 2011"
#define MAVLINK_WIRE_PROTOCOL_VERSION "0.9" #define MAVLINK_WIRE_PROTOCOL_VERSION "0.9"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101

2
libraries/GCS_MAVLink/include/common/version.h
View File

@ -5,7 +5,7 @@
#ifndef MAVLINK_VERSION_H #ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H #define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Sat Sep 10 18:09:49 2011" #define MAVLINK_BUILD_DATE "Sun Sep 4 18:16:41 2011"
#define MAVLINK_WIRE_PROTOCOL_VERSION "0.9" #define MAVLINK_WIRE_PROTOCOL_VERSION "0.9"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101

10
libraries/GCS_MAVLink/message_definitions/ardupilotmega.xml
View File

@ -41,15 +41,5 @@
<field type="uint16_t" name="freemem">free memory</field> <field type="uint16_t" name="freemem">free memory</field>
</message> </message>
<message id="153" name="AP_ADC">
<description>raw ADC output</description>
<field type="uint16_t" name="adc1">ADC output 1</field>
<field type="uint16_t" name="adc2">ADC output 2</field>
<field type="uint16_t" name="adc3">ADC output 3</field>
<field type="uint16_t" name="adc4">ADC output 4</field>
<field type="uint16_t" name="adc5">ADC output 5</field>
<field type="uint16_t" name="adc6">ADC output 6</field>
</message>
</messages> </messages>
</mavlink> </mavlink>

31
libraries/GCS_MAVLink/message_definitions/test.xml
View File

@ -1,31 +0,0 @@
<?xml version='1.0'?>
<mavlink>
<version>3</version>
<messages>
<message id="0" name="TEST_TYPES">
<description>Test all field types</description>
<field type="char" name="c">char</field>
<field type="char[10]" name="s">string</field>
<field type="uint8_t" name="u8">uint8_t</field>
<field type="uint16_t" name="u16">uint16_t</field>
<field type="uint32_t" name="u32" print_format="0x%08x">uint32_t</field>
<field type="uint64_t" name="u64">uint64_t</field>
<field type="int8_t" name="s8">int8_t</field>
<field type="int16_t" name="s16">int16_t</field>
<field type="int32_t" name="s32">int32_t</field>
<field type="int64_t" name="s64">int64_t</field>
<field type="float" name="f">float</field>
<field type="double" name="d">double</field>
<field type="uint8_t[3]" name="u8_array">uint8_t_array</field>
<field type="uint16_t[3]" name="u16_array">uint16_t_array</field>
<field type="uint32_t[3]" name="u32_array">uint32_t_array</field>
<field type="uint64_t[3]" name="u64_array">uint64_t_array</field>
<field type="int8_t[3]" name="s8_array">int8_t_array</field>
<field type="int16_t[3]" name="s16_array">int16_t_array</field>
<field type="int32_t[3]" name="s32_array">int32_t_array</field>
<field type="int64_t[3]" name="s64_array">int64_t_array</field>
<field type="float[3]" name="f_array">float_array</field>
<field type="double[3]" name="d_array">double_array</field>
</message>
</messages>
</mavlink>