mirror of https://github.com/ArduPilot/ardupilot
GCS_MAVLink: re-generate headers
This commit is contained in:
Andrew Tridgell
parent
eeacbe518b
commit
79be500e04
File diff suppressed because one or more lines are too long
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@ -5,7 +5,7 @@
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#ifndef MAVLINK_VERSION_H
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#define MAVLINK_VERSION_H
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#define MAVLINK_BUILD_DATE "Fri Feb 27 15:48:03 2015"
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#define MAVLINK_BUILD_DATE "Wed Mar 4 19:28:35 2015"
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#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
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#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
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@ -5,6 +5,12 @@ extern "C" {
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#ifndef _CHECKSUM_H_
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#define _CHECKSUM_H_
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// Visual Studio versions before 2010 don't have stdint.h, so we just error out.
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#if (defined _MSC_VER) && (_MSC_VER < 1600)
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#error "The C-MAVLink implementation requires Visual Studio 2010 or greater"
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#endif
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#include <stdint.h>
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/**
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*
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File diff suppressed because one or more lines are too long
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@ -0,0 +1,425 @@
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// MESSAGE SCALED_IMU3 PACKING
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#define MAVLINK_MSG_ID_SCALED_IMU3 129
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typedef struct __mavlink_scaled_imu3_t
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{
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uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot)
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int16_t xacc; ///< X acceleration (mg)
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int16_t yacc; ///< Y acceleration (mg)
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int16_t zacc; ///< Z acceleration (mg)
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int16_t xgyro; ///< Angular speed around X axis (millirad /sec)
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int16_t ygyro; ///< Angular speed around Y axis (millirad /sec)
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int16_t zgyro; ///< Angular speed around Z axis (millirad /sec)
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int16_t xmag; ///< X Magnetic field (milli tesla)
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int16_t ymag; ///< Y Magnetic field (milli tesla)
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int16_t zmag; ///< Z Magnetic field (milli tesla)
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} mavlink_scaled_imu3_t;
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#define MAVLINK_MSG_ID_SCALED_IMU3_LEN 22
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#define MAVLINK_MSG_ID_129_LEN 22
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#define MAVLINK_MSG_ID_SCALED_IMU3_CRC 46
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#define MAVLINK_MSG_ID_129_CRC 46
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#define MAVLINK_MESSAGE_INFO_SCALED_IMU3 { \
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"SCALED_IMU3", \
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10, \
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{ { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_scaled_imu3_t, time_boot_ms) }, \
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{ "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 4, offsetof(mavlink_scaled_imu3_t, xacc) }, \
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{ "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 6, offsetof(mavlink_scaled_imu3_t, yacc) }, \
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{ "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_scaled_imu3_t, zacc) }, \
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{ "xgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_scaled_imu3_t, xgyro) }, \
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{ "ygyro", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_scaled_imu3_t, ygyro) }, \
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{ "zgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_scaled_imu3_t, zgyro) }, \
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{ "xmag", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_scaled_imu3_t, xmag) }, \
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{ "ymag", NULL, MAVLINK_TYPE_INT16_T, 0, 18, offsetof(mavlink_scaled_imu3_t, ymag) }, \
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{ "zmag", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_scaled_imu3_t, zmag) }, \
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} \
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}
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/**
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* @brief Pack a scaled_imu3 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 time_boot_ms Timestamp (milliseconds since system boot)
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* @param xacc X acceleration (mg)
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* @param yacc Y acceleration (mg)
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* @param zacc Z acceleration (mg)
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* @param xgyro Angular speed around X axis (millirad /sec)
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* @param ygyro Angular speed around Y axis (millirad /sec)
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* @param zgyro Angular speed around Z axis (millirad /sec)
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* @param xmag X Magnetic field (milli tesla)
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* @param ymag Y Magnetic field (milli tesla)
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* @param zmag Z Magnetic field (milli tesla)
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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_scaled_imu3_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint32_t time_boot_ms, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)
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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_SCALED_IMU3_LEN];
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_mav_put_uint32_t(buf, 0, time_boot_ms);
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_mav_put_int16_t(buf, 4, xacc);
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_mav_put_int16_t(buf, 6, yacc);
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_mav_put_int16_t(buf, 8, zacc);
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_mav_put_int16_t(buf, 10, xgyro);
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_mav_put_int16_t(buf, 12, ygyro);
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_mav_put_int16_t(buf, 14, zgyro);
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_mav_put_int16_t(buf, 16, xmag);
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_mav_put_int16_t(buf, 18, ymag);
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_mav_put_int16_t(buf, 20, zmag);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SCALED_IMU3_LEN);
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#else
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mavlink_scaled_imu3_t packet;
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packet.time_boot_ms = time_boot_ms;
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packet.xacc = xacc;
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packet.yacc = yacc;
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packet.zacc = zacc;
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packet.xgyro = xgyro;
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packet.ygyro = ygyro;
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packet.zgyro = zgyro;
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packet.xmag = xmag;
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packet.ymag = ymag;
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packet.zmag = zmag;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SCALED_IMU3_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_SCALED_IMU3;
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#if MAVLINK_CRC_EXTRA
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SCALED_IMU3_LEN, MAVLINK_MSG_ID_SCALED_IMU3_CRC);
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#else
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SCALED_IMU3_LEN);
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#endif
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}
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/**
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* @brief Pack a scaled_imu3 message on a channel
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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 will be sent over
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* @param msg The MAVLink message to compress the data into
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* @param time_boot_ms Timestamp (milliseconds since system boot)
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* @param xacc X acceleration (mg)
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* @param yacc Y acceleration (mg)
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* @param zacc Z acceleration (mg)
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* @param xgyro Angular speed around X axis (millirad /sec)
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* @param ygyro Angular speed around Y axis (millirad /sec)
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* @param zgyro Angular speed around Z axis (millirad /sec)
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* @param xmag X Magnetic field (milli tesla)
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* @param ymag Y Magnetic field (milli tesla)
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* @param zmag Z Magnetic field (milli tesla)
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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_scaled_imu3_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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uint32_t time_boot_ms,int16_t xacc,int16_t yacc,int16_t zacc,int16_t xgyro,int16_t ygyro,int16_t zgyro,int16_t xmag,int16_t ymag,int16_t zmag)
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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_SCALED_IMU3_LEN];
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_mav_put_uint32_t(buf, 0, time_boot_ms);
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_mav_put_int16_t(buf, 4, xacc);
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_mav_put_int16_t(buf, 6, yacc);
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_mav_put_int16_t(buf, 8, zacc);
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_mav_put_int16_t(buf, 10, xgyro);
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_mav_put_int16_t(buf, 12, ygyro);
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_mav_put_int16_t(buf, 14, zgyro);
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_mav_put_int16_t(buf, 16, xmag);
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_mav_put_int16_t(buf, 18, ymag);
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_mav_put_int16_t(buf, 20, zmag);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SCALED_IMU3_LEN);
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#else
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mavlink_scaled_imu3_t packet;
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packet.time_boot_ms = time_boot_ms;
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packet.xacc = xacc;
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packet.yacc = yacc;
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packet.zacc = zacc;
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packet.xgyro = xgyro;
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packet.ygyro = ygyro;
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packet.zgyro = zgyro;
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packet.xmag = xmag;
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packet.ymag = ymag;
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packet.zmag = zmag;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SCALED_IMU3_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_SCALED_IMU3;
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#if MAVLINK_CRC_EXTRA
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SCALED_IMU3_LEN, MAVLINK_MSG_ID_SCALED_IMU3_CRC);
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#else
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SCALED_IMU3_LEN);
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#endif
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}
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/**
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* @brief Encode a scaled_imu3 struct
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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 scaled_imu3 C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_scaled_imu3_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_scaled_imu3_t* scaled_imu3)
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{
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return mavlink_msg_scaled_imu3_pack(system_id, component_id, msg, scaled_imu3->time_boot_ms, scaled_imu3->xacc, scaled_imu3->yacc, scaled_imu3->zacc, scaled_imu3->xgyro, scaled_imu3->ygyro, scaled_imu3->zgyro, scaled_imu3->xmag, scaled_imu3->ymag, scaled_imu3->zmag);
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}
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/**
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* @brief Encode a scaled_imu3 struct on a channel
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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 chan The MAVLink channel this message will be sent over
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* @param msg The MAVLink message to compress the data into
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* @param scaled_imu3 C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_scaled_imu3_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_scaled_imu3_t* scaled_imu3)
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{
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return mavlink_msg_scaled_imu3_pack_chan(system_id, component_id, chan, msg, scaled_imu3->time_boot_ms, scaled_imu3->xacc, scaled_imu3->yacc, scaled_imu3->zacc, scaled_imu3->xgyro, scaled_imu3->ygyro, scaled_imu3->zgyro, scaled_imu3->xmag, scaled_imu3->ymag, scaled_imu3->zmag);
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}
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/**
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* @brief Send a scaled_imu3 message
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* @param chan MAVLink channel to send the message
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*
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* @param time_boot_ms Timestamp (milliseconds since system boot)
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* @param xacc X acceleration (mg)
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* @param yacc Y acceleration (mg)
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* @param zacc Z acceleration (mg)
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* @param xgyro Angular speed around X axis (millirad /sec)
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* @param ygyro Angular speed around Y axis (millirad /sec)
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* @param zgyro Angular speed around Z axis (millirad /sec)
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* @param xmag X Magnetic field (milli tesla)
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* @param ymag Y Magnetic field (milli tesla)
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* @param zmag Z Magnetic field (milli tesla)
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_scaled_imu3_send(mavlink_channel_t chan, uint32_t time_boot_ms, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)
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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_SCALED_IMU3_LEN];
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_mav_put_uint32_t(buf, 0, time_boot_ms);
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_mav_put_int16_t(buf, 4, xacc);
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_mav_put_int16_t(buf, 6, yacc);
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_mav_put_int16_t(buf, 8, zacc);
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_mav_put_int16_t(buf, 10, xgyro);
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_mav_put_int16_t(buf, 12, ygyro);
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_mav_put_int16_t(buf, 14, zgyro);
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_mav_put_int16_t(buf, 16, xmag);
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_mav_put_int16_t(buf, 18, ymag);
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_mav_put_int16_t(buf, 20, zmag);
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#if MAVLINK_CRC_EXTRA
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU3, buf, MAVLINK_MSG_ID_SCALED_IMU3_LEN, MAVLINK_MSG_ID_SCALED_IMU3_CRC);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU3, buf, MAVLINK_MSG_ID_SCALED_IMU3_LEN);
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#endif
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#else
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mavlink_scaled_imu3_t packet;
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packet.time_boot_ms = time_boot_ms;
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packet.xacc = xacc;
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packet.yacc = yacc;
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packet.zacc = zacc;
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packet.xgyro = xgyro;
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packet.ygyro = ygyro;
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packet.zgyro = zgyro;
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packet.xmag = xmag;
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packet.ymag = ymag;
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packet.zmag = zmag;
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#if MAVLINK_CRC_EXTRA
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU3, (const char *)&packet, MAVLINK_MSG_ID_SCALED_IMU3_LEN, MAVLINK_MSG_ID_SCALED_IMU3_CRC);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU3, (const char *)&packet, MAVLINK_MSG_ID_SCALED_IMU3_LEN);
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#endif
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#endif
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}
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#if MAVLINK_MSG_ID_SCALED_IMU3_LEN <= MAVLINK_MAX_PAYLOAD_LEN
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/*
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This varient of _send() can be used to save stack space by re-using
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memory from the receive buffer. The caller provides a
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mavlink_message_t which is the size of a full mavlink message. This
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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_scaled_imu3_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)
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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_uint32_t(buf, 0, time_boot_ms);
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_mav_put_int16_t(buf, 4, xacc);
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_mav_put_int16_t(buf, 6, yacc);
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_mav_put_int16_t(buf, 8, zacc);
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_mav_put_int16_t(buf, 10, xgyro);
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_mav_put_int16_t(buf, 12, ygyro);
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_mav_put_int16_t(buf, 14, zgyro);
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_mav_put_int16_t(buf, 16, xmag);
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_mav_put_int16_t(buf, 18, ymag);
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_mav_put_int16_t(buf, 20, zmag);
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#if MAVLINK_CRC_EXTRA
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU3, buf, MAVLINK_MSG_ID_SCALED_IMU3_LEN, MAVLINK_MSG_ID_SCALED_IMU3_CRC);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU3, buf, MAVLINK_MSG_ID_SCALED_IMU3_LEN);
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#endif
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#else
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mavlink_scaled_imu3_t *packet = (mavlink_scaled_imu3_t *)msgbuf;
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packet->time_boot_ms = time_boot_ms;
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packet->xacc = xacc;
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packet->yacc = yacc;
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packet->zacc = zacc;
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packet->xgyro = xgyro;
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packet->ygyro = ygyro;
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packet->zgyro = zgyro;
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packet->xmag = xmag;
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packet->ymag = ymag;
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packet->zmag = zmag;
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#if MAVLINK_CRC_EXTRA
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU3, (const char *)packet, MAVLINK_MSG_ID_SCALED_IMU3_LEN, MAVLINK_MSG_ID_SCALED_IMU3_CRC);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU3, (const char *)packet, MAVLINK_MSG_ID_SCALED_IMU3_LEN);
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#endif
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#endif
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}
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#endif
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#endif
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// MESSAGE SCALED_IMU3 UNPACKING
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/**
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* @brief Get field time_boot_ms from scaled_imu3 message
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*
|
||||
* @return Timestamp (milliseconds since system boot)
|
||||
*/
|
||||
static inline uint32_t mavlink_msg_scaled_imu3_get_time_boot_ms(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint32_t(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field xacc from scaled_imu3 message
|
||||
*
|
||||
* @return X acceleration (mg)
|
||||
*/
|
||||
static inline int16_t mavlink_msg_scaled_imu3_get_xacc(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int16_t(msg, 4);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field yacc from scaled_imu3 message
|
||||
*
|
||||
* @return Y acceleration (mg)
|
||||
*/
|
||||
static inline int16_t mavlink_msg_scaled_imu3_get_yacc(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int16_t(msg, 6);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field zacc from scaled_imu3 message
|
||||
*
|
||||
* @return Z acceleration (mg)
|
||||
*/
|
||||
static inline int16_t mavlink_msg_scaled_imu3_get_zacc(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int16_t(msg, 8);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field xgyro from scaled_imu3 message
|
||||
*
|
||||
* @return Angular speed around X axis (millirad /sec)
|
||||
*/
|
||||
static inline int16_t mavlink_msg_scaled_imu3_get_xgyro(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int16_t(msg, 10);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field ygyro from scaled_imu3 message
|
||||
*
|
||||
* @return Angular speed around Y axis (millirad /sec)
|
||||
*/
|
||||
static inline int16_t mavlink_msg_scaled_imu3_get_ygyro(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int16_t(msg, 12);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field zgyro from scaled_imu3 message
|
||||
*
|
||||
* @return Angular speed around Z axis (millirad /sec)
|
||||
*/
|
||||
static inline int16_t mavlink_msg_scaled_imu3_get_zgyro(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int16_t(msg, 14);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field xmag from scaled_imu3 message
|
||||
*
|
||||
* @return X Magnetic field (milli tesla)
|
||||
*/
|
||||
static inline int16_t mavlink_msg_scaled_imu3_get_xmag(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int16_t(msg, 16);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field ymag from scaled_imu3 message
|
||||
*
|
||||
* @return Y Magnetic field (milli tesla)
|
||||
*/
|
||||
static inline int16_t mavlink_msg_scaled_imu3_get_ymag(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int16_t(msg, 18);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field zmag from scaled_imu3 message
|
||||
*
|
||||
* @return Z Magnetic field (milli tesla)
|
||||
*/
|
||||
static inline int16_t mavlink_msg_scaled_imu3_get_zmag(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int16_t(msg, 20);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a scaled_imu3 message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param scaled_imu3 C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_scaled_imu3_decode(const mavlink_message_t* msg, mavlink_scaled_imu3_t* scaled_imu3)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
scaled_imu3->time_boot_ms = mavlink_msg_scaled_imu3_get_time_boot_ms(msg);
|
||||
scaled_imu3->xacc = mavlink_msg_scaled_imu3_get_xacc(msg);
|
||||
scaled_imu3->yacc = mavlink_msg_scaled_imu3_get_yacc(msg);
|
||||
scaled_imu3->zacc = mavlink_msg_scaled_imu3_get_zacc(msg);
|
||||
scaled_imu3->xgyro = mavlink_msg_scaled_imu3_get_xgyro(msg);
|
||||
scaled_imu3->ygyro = mavlink_msg_scaled_imu3_get_ygyro(msg);
|
||||
scaled_imu3->zgyro = mavlink_msg_scaled_imu3_get_zgyro(msg);
|
||||
scaled_imu3->xmag = mavlink_msg_scaled_imu3_get_xmag(msg);
|
||||
scaled_imu3->ymag = mavlink_msg_scaled_imu3_get_ymag(msg);
|
||||
scaled_imu3->zmag = mavlink_msg_scaled_imu3_get_zmag(msg);
|
||||
#else
|
||||
memcpy(scaled_imu3, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_SCALED_IMU3_LEN);
|
||||
#endif
|
||||
}
|
||||
|
|
@ -4694,6 +4694,58 @@ static void mavlink_test_gps2_rtk(uint8_t system_id, uint8_t component_id, mavli
|
|||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
}
|
||||
|
||||
static void mavlink_test_scaled_imu3(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_scaled_imu3_t packet_in = {
|
||||
963497464,17443,17547,17651,17755,17859,17963,18067,18171,18275
|
||||
};
|
||||
mavlink_scaled_imu3_t packet1, packet2;
|
||||
memset(&packet1, 0, sizeof(packet1));
|
||||
packet1.time_boot_ms = packet_in.time_boot_ms;
|
||||
packet1.xacc = packet_in.xacc;
|
||||
packet1.yacc = packet_in.yacc;
|
||||
packet1.zacc = packet_in.zacc;
|
||||
packet1.xgyro = packet_in.xgyro;
|
||||
packet1.ygyro = packet_in.ygyro;
|
||||
packet1.zgyro = packet_in.zgyro;
|
||||
packet1.xmag = packet_in.xmag;
|
||||
packet1.ymag = packet_in.ymag;
|
||||
packet1.zmag = packet_in.zmag;
|
||||
|
||||
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_scaled_imu3_encode(system_id, component_id, &msg, &packet1);
|
||||
mavlink_msg_scaled_imu3_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_scaled_imu3_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag );
|
||||
mavlink_msg_scaled_imu3_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_scaled_imu3_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag );
|
||||
mavlink_msg_scaled_imu3_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_scaled_imu3_decode(last_msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_scaled_imu3_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag );
|
||||
mavlink_msg_scaled_imu3_decode(last_msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
}
|
||||
|
||||
static void mavlink_test_data_transmission_handshake(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
|
||||
{
|
||||
mavlink_message_t msg;
|
||||
|
|
@ -5727,6 +5779,7 @@ static void mavlink_test_common(uint8_t system_id, uint8_t component_id, mavlink
|
|||
mavlink_test_serial_control(system_id, component_id, last_msg);
|
||||
mavlink_test_gps_rtk(system_id, component_id, last_msg);
|
||||
mavlink_test_gps2_rtk(system_id, component_id, last_msg);
|
||||
mavlink_test_scaled_imu3(system_id, component_id, last_msg);
|
||||
mavlink_test_data_transmission_handshake(system_id, component_id, last_msg);
|
||||
mavlink_test_encapsulated_data(system_id, component_id, last_msg);
|
||||
mavlink_test_distance_sensor(system_id, component_id, last_msg);
|
||||
|
|
|
|||
|
|
@ -5,7 +5,7 @@
|
|||
#ifndef MAVLINK_VERSION_H
|
||||
#define MAVLINK_VERSION_H
|
||||
|
||||
#define MAVLINK_BUILD_DATE "Fri Feb 27 15:48:05 2015"
|
||||
#define MAVLINK_BUILD_DATE "Wed Mar 4 19:28:37 2015"
|
||||
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
|
||||
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
|
||||
|
||||
|
|
|
|||
|
|
@ -25,6 +25,7 @@
|
|||
* protocol as widely as possible.
|
||||
*
|
||||
* @author James Goppert
|
||||
* @author Thomas Gubler <thomasgubler@gmail.com>
|
||||
*/
|
||||
|
||||
|
||||
|
|
@ -135,16 +136,45 @@ MAVLINK_HELPER void mavlink_euler_to_quaternion(float roll, float pitch, float y
|
|||
|
||||
/**
|
||||
* Converts a rotation matrix to a quaternion
|
||||
* Reference:
|
||||
* - Shoemake, Quaternions,
|
||||
* http://www.cs.ucr.edu/~vbz/resources/quatut.pdf
|
||||
*
|
||||
* @param dcm a 3x3 rotation matrix
|
||||
* @param quaternion a [w, x, y, z] ordered quaternion (null-rotation being 1 0 0 0)
|
||||
*/
|
||||
MAVLINK_HELPER void mavlink_dcm_to_quaternion(const float dcm[3][3], float quaternion[4])
|
||||
{
|
||||
quaternion[0] = 0.5f * sqrtf(1 + dcm[0][0] + dcm[1][1] + dcm[2][2]);
|
||||
quaternion[1] = 0.5f * sqrtf(1 + dcm[0][0] - dcm[1][1] - dcm[2][2]);
|
||||
quaternion[2] = 0.5f * sqrtf(1 - dcm[0][0] + dcm[1][1] - dcm[2][2]);
|
||||
quaternion[3] = 0.5f * sqrtf(1 - dcm[0][0] - dcm[1][1] + dcm[2][2]);
|
||||
float tr = dcm[0][0] + dcm[1][1] + dcm[2][2];
|
||||
if (tr > 0.0f) {
|
||||
float s = sqrtf(tr + 1.0f);
|
||||
quaternion[0] = s * 0.5f;
|
||||
s = 0.5f / s;
|
||||
quaternion[1] = (dcm[2][1] - dcm[1][2]) * s;
|
||||
quaternion[2] = (dcm[0][2] - dcm[2][0]) * s;
|
||||
quaternion[3] = (dcm[1][0] - dcm[0][1]) * s;
|
||||
} else {
|
||||
/* Find maximum diagonal element in dcm
|
||||
* store index in dcm_i */
|
||||
int dcm_i = 0;
|
||||
int i;
|
||||
for (i = 1; i < 3; i++) {
|
||||
if (dcm[i][i] > dcm[dcm_i][dcm_i]) {
|
||||
dcm_i = i;
|
||||
}
|
||||
}
|
||||
|
||||
int dcm_j = (dcm_i + 1) % 3;
|
||||
int dcm_k = (dcm_i + 2) % 3;
|
||||
|
||||
float s = sqrtf((dcm[dcm_i][dcm_i] - dcm[dcm_j][dcm_j] -
|
||||
dcm[dcm_k][dcm_k]) + 1.0f);
|
||||
quaternion[dcm_i + 1] = s * 0.5f;
|
||||
s = 0.5f / s;
|
||||
quaternion[dcm_j + 1] = (dcm[dcm_i][dcm_j] + dcm[dcm_j][dcm_i]) * s;
|
||||
quaternion[dcm_k + 1] = (dcm[dcm_k][dcm_i] + dcm[dcm_i][dcm_k]) * s;
|
||||
quaternion[0] = (dcm[dcm_k][dcm_j] - dcm[dcm_j][dcm_k]) * s;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -77,7 +77,7 @@ MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, ui
|
|||
msg->len = length;
|
||||
msg->sysid = system_id;
|
||||
msg->compid = component_id;
|
||||
// One sequence number per component
|
||||
// One sequence number per channel
|
||||
msg->seq = mavlink_get_channel_status(chan)->current_tx_seq;
|
||||
mavlink_get_channel_status(chan)->current_tx_seq = mavlink_get_channel_status(chan)->current_tx_seq+1;
|
||||
msg->checksum = crc_calculate(((const uint8_t*)(msg)) + 3, MAVLINK_CORE_HEADER_LEN);
|
||||
|
|
@ -338,12 +338,7 @@ MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_messa
|
|||
status->parse_error++;
|
||||
status->parse_state = MAVLINK_PARSE_STATE_IDLE;
|
||||
break;
|
||||
if (c == MAVLINK_STX)
|
||||
{
|
||||
status->parse_state = MAVLINK_PARSE_STATE_GOT_STX;
|
||||
mavlink_start_checksum(rxmsg);
|
||||
}
|
||||
}
|
||||
}
|
||||
#endif
|
||||
rxmsg->msgid = c;
|
||||
mavlink_update_checksum(rxmsg, c);
|
||||
|
|
@ -429,6 +424,9 @@ MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_messa
|
|||
status->packet_rx_success_count++;
|
||||
}
|
||||
|
||||
r_message->len = rxmsg->len; // Provide visibility on how far we are into current msg
|
||||
r_mavlink_status->parse_state = status->parse_state;
|
||||
r_mavlink_status->packet_idx = status->packet_idx;
|
||||
r_mavlink_status->current_rx_seq = status->current_rx_seq+1;
|
||||
r_mavlink_status->packet_rx_success_count = status->packet_rx_success_count;
|
||||
r_mavlink_status->packet_rx_drop_count = status->parse_error;
|
||||
|
|
|
|||
Loading…
Reference in New Issue