mavlink: added auto-detection of mavlink protocol version

Tools/autotest/autotest.py

@@ -103,16 +103,9 @@ parser.add_option("--skip", type='string', default='', help='list of steps to sk
 parser.add_option("--list", action='store_true', default=False, help='list the available steps')
 parser.add_option("--viewerip", default=None, help='IP address to send MAVLink and fg packets to')
 parser.add_option("--experimental", default=False, action='store_true', help='enable experimental tests')
-parser.add_option("--mav09", action='store_true', default=False, help="Use MAVLink protocol 0.9")
 
 opts, args = parser.parse_args()
 
-if not opts.mav09:
-    os.environ['MAVLINK10'] = '1'
-    import mavlinkv10 as mavlink
-else:
-    import mavlink as mavlink
-
 import  arducopter, arduplane
 
 steps = [

Tools/autotest/pymavlink/mavextra.py

@@ -17,10 +17,10 @@ def altitude(SCALED_PRESSURE):
     '''calculate barometric altitude'''
     import mavutil
     self = mavutil.mavfile_global
-    if self.ground_pressure is None or self.ground_temperature is None:
+    if self.param('GND_ABS_PRESS', None) is None:
         return 0
-    scaling = self.ground_pressure / (SCALED_PRESSURE.press_abs*100.0)
+    scaling = self.param('GND_ABS_PRESS', 1) / (SCALED_PRESSURE.press_abs*100.0)
-    temp = self.ground_temperature + 273.15
+    temp = self.param('GND_TEMP', 0) + 273.15
     return log(scaling) * temp * 29271.267 * 0.001
 
 

Tools/autotest/pymavlink/mavlink.py

@@ -10,6 +10,21 @@ import struct, array, mavutil, time
 
 WIRE_PROTOCOL_VERSION = "0.9"
 
+
+# some base types from mavlink_types.h
+MAVLINK_TYPE_CHAR     = 0
+MAVLINK_TYPE_UINT8_T  = 1
+MAVLINK_TYPE_INT8_T   = 2
+MAVLINK_TYPE_UINT16_T = 3
+MAVLINK_TYPE_INT16_T  = 4
+MAVLINK_TYPE_UINT32_T = 5
+MAVLINK_TYPE_INT32_T  = 6
+MAVLINK_TYPE_UINT64_T = 7
+MAVLINK_TYPE_INT64_T  = 8
+MAVLINK_TYPE_FLOAT    = 9
+MAVLINK_TYPE_DOUBLE   = 10
+
+
 class MAVLink_header(object):
     '''MAVLink message header'''
     def __init__(self, msgId, mlen=0, seq=0, srcSystem=0, srcComponent=0):
@@ -34,7 +49,9 @@ class MAVLink_message(object):
         self._type       = name
 
     def get_msgbuf(self):
+        if isinstance(self._msgbuf, str):
             return self._msgbuf
+        return self._msgbuf.tostring()
 
     def get_header(self):
         return self._header

Tools/autotest/pymavlink/mavlinkv10.py

@@ -10,6 +10,21 @@ import struct, array, mavutil, time
 
 WIRE_PROTOCOL_VERSION = "1.0"
 
+
+# some base types from mavlink_types.h
+MAVLINK_TYPE_CHAR     = 0
+MAVLINK_TYPE_UINT8_T  = 1
+MAVLINK_TYPE_INT8_T   = 2
+MAVLINK_TYPE_UINT16_T = 3
+MAVLINK_TYPE_INT16_T  = 4
+MAVLINK_TYPE_UINT32_T = 5
+MAVLINK_TYPE_INT32_T  = 6
+MAVLINK_TYPE_UINT64_T = 7
+MAVLINK_TYPE_INT64_T  = 8
+MAVLINK_TYPE_FLOAT    = 9
+MAVLINK_TYPE_DOUBLE   = 10
+
+
 class MAVLink_header(object):
     '''MAVLink message header'''
     def __init__(self, msgId, mlen=0, seq=0, srcSystem=0, srcComponent=0):
@@ -34,7 +49,9 @@ class MAVLink_message(object):
         self._type       = name
 
     def get_msgbuf(self):
+        if isinstance(self._msgbuf, str):
             return self._msgbuf
+        return self._msgbuf.tostring()
 
     def get_header(self):
         return self._header
@@ -201,7 +218,8 @@ MAV_TYPE_HEXAROTOR = 13 # Hexarotor
 MAV_TYPE_OCTOROTOR = 14 # Octorotor
 MAV_TYPE_TRICOPTER = 15 # Octorotor
 MAV_TYPE_FLAPPING_WING = 16 # Flapping wing
-MAV_TYPE_ENUM_END = 17 #
+MAV_TYPE_KITE = 17 # Flapping wing
+MAV_TYPE_ENUM_END = 18 # 
 
 # MAV_MODE_FLAG
 MAV_MODE_FLAG_CUSTOM_MODE_ENABLED = 1 # 0b00000001 Reserved for future use.
@@ -371,16 +389,6 @@ MAV_CMD_ACK_ERR_Y_LON_OUT_OF_RANGE = 8 # The Y or longitude value is out of rang
 MAV_CMD_ACK_ERR_Z_ALT_OUT_OF_RANGE = 9 # The Z or altitude value is out of range.
 MAV_CMD_ACK_ENUM_END = 10 # 
 
-# MAV_VAR
-MAV_VAR_FLOAT = 0 # 32 bit float
-MAV_VAR_UINT8 = 1 # 8 bit unsigned integer
-MAV_VAR_INT8 = 2 # 8 bit signed integer
-MAV_VAR_UINT16 = 3 # 16 bit unsigned integer
-MAV_VAR_INT16 = 4 # 16 bit signed integer
-MAV_VAR_UINT32 = 5 # 32 bit unsigned integer
-MAV_VAR_INT32 = 6 # 32 bit signed integer
-MAV_VAR_ENUM_END = 7 #
-
 # MAV_RESULT
 MAV_RESULT_ACCEPTED = 0 # Command ACCEPTED and EXECUTED
 MAV_RESULT_TEMPORARILY_REJECTED = 1 # Command TEMPORARY REJECTED/DENIED
@@ -494,6 +502,7 @@ MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT = 59
 MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT = 60
 MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST = 61
 MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT = 62
+MAVLINK_MSG_ID_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST = 63
 MAVLINK_MSG_ID_STATE_CORRECTION = 64
 MAVLINK_MSG_ID_REQUEST_DATA_STREAM = 66
 MAVLINK_MSG_ID_DATA_STREAM = 67
@@ -1732,19 +1741,20 @@ class MAVLink_set_quad_motors_setpoint_message(MAVLink_message):
 
 class MAVLink_set_quad_swarm_roll_pitch_yaw_thrust_message(MAVLink_message):
         '''
-
+        Setpoint for up to four quadrotors in a group / wing
         '''
-        def __init__(self, target_systems, roll, pitch, yaw, thrust):
+        def __init__(self, group, mode, roll, pitch, yaw, thrust):
                 MAVLink_message.__init__(self, MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, 'SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST')
-                self._fieldnames = ['target_systems', 'roll', 'pitch', 'yaw', 'thrust']
+                self._fieldnames = ['group', 'mode', 'roll', 'pitch', 'yaw', 'thrust']
-                self.target_systems = target_systems
+                self.group = group
+                self.mode = mode
                 self.roll = roll
                 self.pitch = pitch
                 self.yaw = yaw
                 self.thrust = thrust
 
         def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 200, struct.pack('<6h6h6h6H6s', self.roll, self.pitch, self.yaw, self.thrust, self.target_systems))
+                return MAVLink_message.pack(self, mav, 240, struct.pack('<4h4h4h4HBB', self.roll, self.pitch, self.yaw, self.thrust, self.group, self.mode))
 
 class MAVLink_nav_controller_output_message(MAVLink_message):
         '''
@@ -1768,6 +1778,26 @@ class MAVLink_nav_controller_output_message(MAVLink_message):
         def pack(self, mav):
                 return MAVLink_message.pack(self, mav, 183, struct.pack('<fffffhhH', self.nav_roll, self.nav_pitch, self.alt_error, self.aspd_error, self.xtrack_error, self.nav_bearing, self.target_bearing, self.wp_dist))
 
+class MAVLink_set_quad_swarm_led_roll_pitch_yaw_thrust_message(MAVLink_message):
+        '''
+        Setpoint for up to four quadrotors in a group / wing
+        '''
+        def __init__(self, group, mode, led_red, led_blue, led_green, roll, pitch, yaw, thrust):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST, 'SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST')
+                self._fieldnames = ['group', 'mode', 'led_red', 'led_blue', 'led_green', 'roll', 'pitch', 'yaw', 'thrust']
+                self.group = group
+                self.mode = mode
+                self.led_red = led_red
+                self.led_blue = led_blue
+                self.led_green = led_green
+                self.roll = roll
+                self.pitch = pitch
+                self.yaw = yaw
+                self.thrust = thrust
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 130, struct.pack('<4h4h4h4HBB4s4s4s', self.roll, self.pitch, self.yaw, self.thrust, self.group, self.mode, self.led_red, self.led_blue, self.led_green))
+
 class MAVLink_state_correction_message(MAVLink_message):
         '''
         Corrects the systems state by adding an error correction term
@@ -2275,8 +2305,9 @@ mavlink_map = {
         MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT : ( '<Iffff', MAVLink_roll_pitch_yaw_thrust_setpoint_message, [0, 1, 2, 3, 4], 239 ),
         MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT : ( '<Iffff', MAVLink_roll_pitch_yaw_speed_thrust_setpoint_message, [0, 1, 2, 3, 4], 238 ),
         MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT : ( '<HHHHB', MAVLink_set_quad_motors_setpoint_message, [4, 0, 1, 2, 3], 30 ),
-        MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST : ( '<6h6h6h6H6s', MAVLink_set_quad_swarm_roll_pitch_yaw_thrust_message, [4, 0, 1, 2, 3], 200 ),
+        MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST : ( '<4h4h4h4HBB', MAVLink_set_quad_swarm_roll_pitch_yaw_thrust_message, [4, 5, 0, 1, 2, 3], 240 ),
         MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT : ( '<fffffhhH', MAVLink_nav_controller_output_message, [0, 1, 5, 6, 7, 2, 3, 4], 183 ),
+        MAVLINK_MSG_ID_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST : ( '<4h4h4h4HBB4s4s4s', MAVLink_set_quad_swarm_led_roll_pitch_yaw_thrust_message, [4, 5, 6, 7, 8, 0, 1, 2, 3], 130 ),
         MAVLINK_MSG_ID_STATE_CORRECTION : ( '<fffffffff', MAVLink_state_correction_message, [0, 1, 2, 3, 4, 5, 6, 7, 8], 130 ),
         MAVLINK_MSG_ID_REQUEST_DATA_STREAM : ( '<HBBBB', MAVLink_request_data_stream_message, [1, 2, 3, 0, 4], 148 ),
         MAVLINK_MSG_ID_DATA_STREAM : ( '<HBB', MAVLink_data_stream_message, [1, 0, 2], 21 ),
@@ -3275,8 +3306,8 @@ class MAVLink(object):
 
                 target_system             : System ID (uint8_t)
                 target_component          : Component ID (uint8_t)
-                param_id                  : Onboard parameter id (char)
+                param_id                  : Onboard parameter id, terminated by NUL if the length is less than 16 human-readable chars and WITHOUT null termination (NUL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string (char)
-                param_index               : Parameter index. Send -1 to use the param ID field as identifier (int16_t)
+                param_index               : Parameter index. Send -1 to use the param ID field as identifier (else the param id will be ignored) (int16_t)
 
                 '''
                 msg = MAVLink_param_request_read_message(target_system, target_component, param_id, param_index)
@@ -3297,8 +3328,8 @@ class MAVLink(object):
 
                 target_system             : System ID (uint8_t)
                 target_component          : Component ID (uint8_t)
-                param_id                  : Onboard parameter id (char)
+                param_id                  : Onboard parameter id, terminated by NUL if the length is less than 16 human-readable chars and WITHOUT null termination (NUL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string (char)
-                param_index               : Parameter index. Send -1 to use the param ID field as identifier (int16_t)
+                param_index               : Parameter index. Send -1 to use the param ID field as identifier (else the param id will be ignored) (int16_t)
 
                 '''
                 return self.send(self.param_request_read_encode(target_system, target_component, param_id, param_index))
@@ -3334,9 +3365,9 @@ class MAVLink(object):
                 keep track of received parameters and allows him to
                 re-request missing parameters after a loss or timeout.
 
-                param_id                  : Onboard parameter id (char)
+                param_id                  : Onboard parameter id, terminated by NUL if the length is less than 16 human-readable chars and WITHOUT null termination (NUL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string (char)
                 param_value               : Onboard parameter value (float)
-                param_type                : Onboard parameter type: see MAV_VAR enum (uint8_t)
+                param_type                : Onboard parameter type: see MAVLINK_TYPE enum in mavlink/mavlink_types.h (uint8_t)
                 param_count               : Total number of onboard parameters (uint16_t)
                 param_index               : Index of this onboard parameter (uint16_t)
 
@@ -3352,9 +3383,9 @@ class MAVLink(object):
                 keep track of received parameters and allows him to
                 re-request missing parameters after a loss or timeout.
 
-                param_id                  : Onboard parameter id (char)
+                param_id                  : Onboard parameter id, terminated by NUL if the length is less than 16 human-readable chars and WITHOUT null termination (NUL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string (char)
                 param_value               : Onboard parameter value (float)
-                param_type                : Onboard parameter type: see MAV_VAR enum (uint8_t)
+                param_type                : Onboard parameter type: see MAVLINK_TYPE enum in mavlink/mavlink_types.h (uint8_t)
                 param_count               : Total number of onboard parameters (uint16_t)
                 param_index               : Index of this onboard parameter (uint16_t)
 
@@ -3376,9 +3407,9 @@ class MAVLink(object):
 
                 target_system             : System ID (uint8_t)
                 target_component          : Component ID (uint8_t)
-                param_id                  : Onboard parameter id (char)
+                param_id                  : Onboard parameter id, terminated by NUL if the length is less than 16 human-readable chars and WITHOUT null termination (NUL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string (char)
                 param_value               : Onboard parameter value (float)
-                param_type                : Onboard parameter type: see MAV_VAR enum (uint8_t)
+                param_type                : Onboard parameter type: see MAVLINK_TYPE enum in mavlink/mavlink_types.h (uint8_t)
 
                 '''
                 msg = MAVLink_param_set_message(target_system, target_component, param_id, param_value, param_type)
@@ -3400,9 +3431,9 @@ class MAVLink(object):
 
                 target_system             : System ID (uint8_t)
                 target_component          : Component ID (uint8_t)
-                param_id                  : Onboard parameter id (char)
+                param_id                  : Onboard parameter id, terminated by NUL if the length is less than 16 human-readable chars and WITHOUT null termination (NUL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string (char)
                 param_value               : Onboard parameter value (float)
-                param_type                : Onboard parameter type: see MAV_VAR enum (uint8_t)
+                param_type                : Onboard parameter type: see MAVLINK_TYPE enum in mavlink/mavlink_types.h (uint8_t)
 
                 '''
                 return self.send(self.param_set_encode(target_system, target_component, param_id, param_value, param_type))
@@ -4665,33 +4696,35 @@ class MAVLink(object):
                 '''
                 return self.send(self.set_quad_motors_setpoint_encode(target_system, motor_front_nw, motor_right_ne, motor_back_se, motor_left_sw))
             
-        def set_quad_swarm_roll_pitch_yaw_thrust_encode(self, target_systems, roll, pitch, yaw, thrust):
+        def set_quad_swarm_roll_pitch_yaw_thrust_encode(self, group, mode, roll, pitch, yaw, thrust):
                 '''
+                Setpoint for up to four quadrotors in a group / wing
 
-
+                group                     : ID of the quadrotor group (0 - 255, up to 256 groups supported) (uint8_t)
-                target_systems            : System IDs for 6 quadrotors: 0..5, the ID's are the MAVLink IDs (uint8_t)
+                mode                      : ID of the flight mode (0 - 255, up to 256 modes supported) (uint8_t)
-                roll                      : Desired roll angle in radians, scaled to int16 for 6 quadrotors: 0..5 (int16_t)
+                roll                      : Desired roll angle in radians +-PI (+-32767) (int16_t)
-                pitch                     : Desired pitch angle in radians, scaled to int16 for 6 quadrotors: 0..5 (int16_t)
+                pitch                     : Desired pitch angle in radians +-PI (+-32767) (int16_t)
-                yaw                       : Desired yaw angle in radians, scaled to int16 for 6 quadrotors: 0..5 (int16_t)
+                yaw                       : Desired yaw angle in radians, scaled to int16 +-PI (+-32767) (int16_t)
-                thrust                    : Collective thrust, scaled to uint16 for 6 quadrotors: 0..5 (uint16_t)
+                thrust                    : Collective thrust, scaled to uint16 (0..65535) (uint16_t)
 
                 '''
-                msg = MAVLink_set_quad_swarm_roll_pitch_yaw_thrust_message(target_systems, roll, pitch, yaw, thrust)
+                msg = MAVLink_set_quad_swarm_roll_pitch_yaw_thrust_message(group, mode, roll, pitch, yaw, thrust)
                 msg.pack(self)
                 return msg
             
-        def set_quad_swarm_roll_pitch_yaw_thrust_send(self, target_systems, roll, pitch, yaw, thrust):
+        def set_quad_swarm_roll_pitch_yaw_thrust_send(self, group, mode, roll, pitch, yaw, thrust):
                 '''
+                Setpoint for up to four quadrotors in a group / wing
 
-
+                group                     : ID of the quadrotor group (0 - 255, up to 256 groups supported) (uint8_t)
-                target_systems            : System IDs for 6 quadrotors: 0..5, the ID's are the MAVLink IDs (uint8_t)
+                mode                      : ID of the flight mode (0 - 255, up to 256 modes supported) (uint8_t)
-                roll                      : Desired roll angle in radians, scaled to int16 for 6 quadrotors: 0..5 (int16_t)
+                roll                      : Desired roll angle in radians +-PI (+-32767) (int16_t)
-                pitch                     : Desired pitch angle in radians, scaled to int16 for 6 quadrotors: 0..5 (int16_t)
+                pitch                     : Desired pitch angle in radians +-PI (+-32767) (int16_t)
-                yaw                       : Desired yaw angle in radians, scaled to int16 for 6 quadrotors: 0..5 (int16_t)
+                yaw                       : Desired yaw angle in radians, scaled to int16 +-PI (+-32767) (int16_t)
-                thrust                    : Collective thrust, scaled to uint16 for 6 quadrotors: 0..5 (uint16_t)
+                thrust                    : Collective thrust, scaled to uint16 (0..65535) (uint16_t)
 
                 '''
-                return self.send(self.set_quad_swarm_roll_pitch_yaw_thrust_encode(target_systems, roll, pitch, yaw, thrust))
+                return self.send(self.set_quad_swarm_roll_pitch_yaw_thrust_encode(group, mode, roll, pitch, yaw, thrust))
             
         def nav_controller_output_encode(self, nav_roll, nav_pitch, nav_bearing, target_bearing, wp_dist, alt_error, aspd_error, xtrack_error):
                 '''
@@ -4733,6 +4766,42 @@ class MAVLink(object):
                 '''
                 return self.send(self.nav_controller_output_encode(nav_roll, nav_pitch, nav_bearing, target_bearing, wp_dist, alt_error, aspd_error, xtrack_error))
             
+        def set_quad_swarm_led_roll_pitch_yaw_thrust_encode(self, group, mode, led_red, led_blue, led_green, roll, pitch, yaw, thrust):
+                '''
+                Setpoint for up to four quadrotors in a group / wing
+
+                group                     : ID of the quadrotor group (0 - 255, up to 256 groups supported) (uint8_t)
+                mode                      : ID of the flight mode (0 - 255, up to 256 modes supported) (uint8_t)
+                led_red                   : RGB red channel (0-255) (uint8_t)
+                led_blue                  : RGB green channel (0-255) (uint8_t)
+                led_green                 : RGB blue channel (0-255) (uint8_t)
+                roll                      : Desired roll angle in radians +-PI (+-32767) (int16_t)
+                pitch                     : Desired pitch angle in radians +-PI (+-32767) (int16_t)
+                yaw                       : Desired yaw angle in radians, scaled to int16 +-PI (+-32767) (int16_t)
+                thrust                    : Collective thrust, scaled to uint16 (0..65535) (uint16_t)
+
+                '''
+                msg = MAVLink_set_quad_swarm_led_roll_pitch_yaw_thrust_message(group, mode, led_red, led_blue, led_green, roll, pitch, yaw, thrust)
+                msg.pack(self)
+                return msg
+            
+        def set_quad_swarm_led_roll_pitch_yaw_thrust_send(self, group, mode, led_red, led_blue, led_green, roll, pitch, yaw, thrust):
+                '''
+                Setpoint for up to four quadrotors in a group / wing
+
+                group                     : ID of the quadrotor group (0 - 255, up to 256 groups supported) (uint8_t)
+                mode                      : ID of the flight mode (0 - 255, up to 256 modes supported) (uint8_t)
+                led_red                   : RGB red channel (0-255) (uint8_t)
+                led_blue                  : RGB green channel (0-255) (uint8_t)
+                led_green                 : RGB blue channel (0-255) (uint8_t)
+                roll                      : Desired roll angle in radians +-PI (+-32767) (int16_t)
+                pitch                     : Desired pitch angle in radians +-PI (+-32767) (int16_t)
+                yaw                       : Desired yaw angle in radians, scaled to int16 +-PI (+-32767) (int16_t)
+                thrust                    : Collective thrust, scaled to uint16 (0..65535) (uint16_t)
+
+                '''
+                return self.send(self.set_quad_swarm_led_roll_pitch_yaw_thrust_encode(group, mode, led_red, led_blue, led_green, roll, pitch, yaw, thrust))
+            
         def state_correction_encode(self, xErr, yErr, zErr, rollErr, pitchErr, yawErr, vxErr, vyErr, vzErr):
                 '''
                 Corrects the systems state by adding an error correction term to the
@@ -5530,3 +5599,4 @@ class MAVLink(object):
 
                 '''
                 return self.send(self.debug_encode(time_boot_ms, ind, value))
+            

Tools/autotest/pymavlink/mavutil.py

@@ -6,7 +6,7 @@ Copyright Andrew Tridgell 2011
 Released under GNU GPL version 3 or later
 '''
 
-import socket, math, struct, time, os, fnmatch, array, sys, errno
+import socket, math, struct, time, os, fnmatch, array, sys, errno, fcntl
 from math import *
 from mavextra import *
 
@@ -47,8 +47,9 @@ class location(object):
 
 class mavfile(object):
     '''a generic mavlink port'''
-    def __init__(self, fd, address, source_system=255, notimestamps=False):
+    def __init__(self, fd, address, source_system=255, notimestamps=False, input=True):
         global mavfile_global
+        if input:
             mavfile_global = self
         self.fd = fd
         self.address = address
@@ -59,11 +60,13 @@ class mavfile(object):
         else:
             self.messages['HOME'] = mavlink.MAVLink_gps_raw_message(0,0,0,0,0,0,0,0,0)
         self.params = {}
-        self.mav = None
         self.target_system = 0
         self.target_component = 0
-        self.mav = mavlink.MAVLink(self, srcSystem=source_system)
+        self.source_system = source_system
-        self.mav.robust_parsing = True
+        self.first_byte = True
+        self.robust_parsing = True
+        self.mav = mavlink.MAVLink(self, srcSystem=self.source_system)
+        self.mav.robust_parsing = self.robust_parsing
         self.logfile = None
         self.logfile_raw = None
         self.param_fetch_in_progress = False
@@ -80,6 +83,36 @@ class mavfile(object):
         self.ground_temperature = None
         self.altitude = 0
         self.WIRE_PROTOCOL_VERSION = mavlink.WIRE_PROTOCOL_VERSION
+        self.last_seq = -1
+        self.mav_loss = 0
+        self.mav_count = 0
+        self.stop_on_EOF = False
+
+    def auto_mavlink_version(self, buf):
+        '''auto-switch mavlink protocol version'''
+        global mavlink
+        if len(buf) == 0:
+            return
+        if not ord(buf[0]) in [ 85, 254 ]:
+            return
+        self.first_byte = False
+        if self.WIRE_PROTOCOL_VERSION == "0.9" and ord(buf[0]) == 254:
+            import mavlinkv10 as mavlink
+            os.environ['MAVLINK10'] = '1'
+        elif self.WIRE_PROTOCOL_VERSION == "1.0" and ord(buf[0]) == 85:
+            import mavlink as mavlink
+        else:
+            return
+        # switch protocol 
+        (callback, callback_args, callback_kwargs) = (self.mav.callback,
+                                                      self.mav.callback_args,
+                                                      self.mav.callback_kwargs)
+        self.mav = mavlink.MAVLink(self, srcSystem=self.source_system)
+        self.mav.robust_parsing = self.robust_parsing
+        self.WIRE_PROTOCOL_VERSION = mavlink.WIRE_PROTOCOL_VERSION
+        (self.mav.callback, self.mav.callback_args, self.mav.callback_kwargs) = (callback,
+                                                                                 callback_args,
+                                                                                 callback_kwargs)
 
     def recv(self, n=None):
         '''default recv method'''
@@ -99,6 +132,9 @@ class mavfile(object):
 
     def post_message(self, msg):
         '''default post message call'''
+        if '_posted' in msg.__dict__:
+            return
+        msg._posted = True
         msg._timestamp = time.time()
         type = msg.get_type()
         self.messages[type] = msg
@@ -112,6 +148,19 @@ class mavfile(object):
             else:
                 msg._timestamp = self._timestamp
 
+        if not (
+            # its the radio or planner
+            (msg.get_srcSystem() == ord('3') and msg.get_srcComponent() == ord('D')) or
+            msg.get_srcSystem() == 255 or
+            msg.get_type() == 'BAD_DATA'):
+            seq = (self.last_seq+1) % 256
+            seq2 = msg.get_seq()
+            if seq != seq2 and self.last_seq != -1:
+                diff = (seq2 - seq) % 256
+                self.mav_loss += diff
+            self.last_seq = seq2
+            self.mav_count += 1
+        
         self.timestamp = msg._timestamp
         if type == 'HEARTBEAT':
             self.target_system = msg.get_srcSystem()
@@ -119,33 +168,42 @@ class mavfile(object):
             if mavlink.WIRE_PROTOCOL_VERSION == '1.0':
                 self.flightmode = mode_string_v10(msg)
         elif type == 'PARAM_VALUE':
+            s = str(msg.param_id)
             self.params[str(msg.param_id)] = msg.param_value
             if msg.param_index+1 == msg.param_count:
                 self.param_fetch_in_progress = False
                 self.param_fetch_complete = True
-            if str(msg.param_id) == 'GND_ABS_PRESS':
-                self.ground_pressure = msg.param_value
-            if str(msg.param_id) == 'GND_TEMP':
-                self.ground_temperature = msg.param_value
         elif type == 'SYS_STATUS' and mavlink.WIRE_PROTOCOL_VERSION == '0.9':
             self.flightmode = mode_string_v09(msg)
         elif type == 'GPS_RAW':
             if self.messages['HOME'].fix_type < 2:
                 self.messages['HOME'] = msg
+        elif type == 'GPS_RAW_INT':
+            if self.messages['HOME'].fix_type < 3:
+                self.messages['HOME'] = msg
         for hook in self.message_hooks:
             hook(self, msg)
 
 
+    def packet_loss(self):
+        '''packet loss as a percentage'''
+        if self.mav_count == 0:
+            return 0
+        return (100.0*self.mav_loss)/(self.mav_count+self.mav_loss)
+
+
     def recv_msg(self):
         '''message receive routine'''
         self.pre_message()
         while True:
             n = self.mav.bytes_needed()
             s = self.recv(n)
-            if len(s) == 0 and len(self.mav.buf) == 0:
+            if len(s) == 0 and (len(self.mav.buf) == 0 or self.stop_on_EOF):
                 return None
             if self.logfile_raw:
                 self.logfile_raw.write(str(s))
+            if self.first_byte:
+                self.auto_mavlink_version(s)
             msg = self.mav.parse_char(s)
             if msg:
                 self.post_message(msg)
@@ -168,6 +226,10 @@ class mavfile(object):
                 continue
             return m
 
+    def mavlink10(self):
+        '''return True if using MAVLink 1.0'''
+        return self.WIRE_PROTOCOL_VERSION == "1.0"
+
     def setup_logfile(self, logfile, mode='w'):
         '''start logging to the given logfile, with timestamps'''
         self.logfile = open(logfile, mode=mode)
@@ -197,9 +259,9 @@ class mavfile(object):
 
     def param_set_send(self, parm_name, parm_value, parm_type=None):
         '''wrapper for parameter set'''
-        if mavlink.WIRE_PROTOCOL_VERSION == '1.0':
+        if self.mavlink10():
             if parm_type == None:
-                parm_type = mavlink.MAV_VAR_FLOAT
+                parm_type = mavlink.MAVLINK_TYPE_FLOAT
             self.mav.param_set_send(self.target_system, self.target_component,
                                     parm_name, parm_value, parm_type)
         else:
@@ -208,35 +270,35 @@ class mavfile(object):
 
     def waypoint_request_list_send(self):
         '''wrapper for waypoint_request_list_send'''
-        if mavlink.WIRE_PROTOCOL_VERSION == '1.0':
+        if self.mavlink10():
             self.mav.mission_request_list_send(self.target_system, self.target_component)
         else:
             self.mav.waypoint_request_list_send(self.target_system, self.target_component)
 
     def waypoint_clear_all_send(self):
         '''wrapper for waypoint_clear_all_send'''
-        if mavlink.WIRE_PROTOCOL_VERSION == '1.0':
+        if self.mavlink10():
             self.mav.mission_clear_all_send(self.target_system, self.target_component)
         else:
             self.mav.waypoint_clear_all_send(self.target_system, self.target_component)
 
     def waypoint_request_send(self, seq):
         '''wrapper for waypoint_request_send'''
-        if mavlink.WIRE_PROTOCOL_VERSION == '1.0':
+        if self.mavlink10():
             self.mav.mission_request_send(self.target_system, self.target_component, seq)
         else:
             self.mav.waypoint_request_send(self.target_system, self.target_component, seq)
 
     def waypoint_set_current_send(self, seq):
         '''wrapper for waypoint_set_current_send'''
-        if mavlink.WIRE_PROTOCOL_VERSION == '1.0':
+        if self.mavlink10():
             self.mav.mission_set_current_send(self.target_system, self.target_component, seq)
         else:
             self.mav.waypoint_set_current_send(self.target_system, self.target_component, seq)
 
     def waypoint_current(self):
         '''return current waypoint'''
-        if mavlink.WIRE_PROTOCOL_VERSION == '1.0':
+        if self.mavlink10():
             m = self.recv_match(type='MISSION_CURRENT', blocking=True)
         else:
             m = self.recv_match(type='WAYPOINT_CURRENT', blocking=True)
@@ -244,14 +306,14 @@ class mavfile(object):
 
     def waypoint_count_send(self, seq):
         '''wrapper for waypoint_count_send'''
-        if mavlink.WIRE_PROTOCOL_VERSION == '1.0':
+        if self.mavlink10():
             self.mav.mission_count_send(self.target_system, self.target_component, seq)
         else:
             self.mav.waypoint_count_send(self.target_system, self.target_component, seq)
 
     def set_mode_auto(self):
         '''enter auto mode'''
-        if mavlink.WIRE_PROTOCOL_VERSION == '1.0':
+        if self.mavlink10():
             self.mav.command_long_send(self.target_system, self.target_component,
                                        mavlink.MAV_CMD_MISSION_START, 0, 0, 0, 0, 0, 0, 0, 0)
         else:
@@ -260,7 +322,7 @@ class mavfile(object):
 
     def set_mode_rtl(self):
         '''enter RTL mode'''
-        if mavlink.WIRE_PROTOCOL_VERSION == '1.0':
+        if self.mavlink10():
             self.mav.command_long_send(self.target_system, self.target_component,
                                        mavlink.MAV_CMD_NAV_RETURN_TO_LAUNCH, 0, 0, 0, 0, 0, 0, 0, 0)
         else:
@@ -269,7 +331,7 @@ class mavfile(object):
 
     def set_mode_loiter(self):
         '''enter LOITER mode'''
-        if mavlink.WIRE_PROTOCOL_VERSION == '1.0':
+        if self.mavlink10():
             self.mav.command_long_send(self.target_system, self.target_component,
                                        mavlink.MAV_CMD_NAV_LOITER_UNLIM, 0, 0, 0, 0, 0, 0, 0, 0)
         else:
@@ -278,7 +340,7 @@ class mavfile(object):
 
     def calibrate_imu(self):
         '''calibrate IMU'''
-        if mavlink.WIRE_PROTOCOL_VERSION == '1.0':
+        if self.mavlink10():
             self.mav.command_long_send(self.target_system, self.target_component,
                                        mavlink.MAV_CMD_PREFLIGHT_CALIBRATION, 0,
                                        1, 1, 1, 1, 0, 0, 0)
@@ -288,7 +350,7 @@ class mavfile(object):
 
     def calibrate_level(self):
         '''calibrate accels'''
-        if mavlink.WIRE_PROTOCOL_VERSION == '1.0':
+        if self.mavlink10():
             self.mav.command_long_send(self.target_system, self.target_component,
                                        mavlink.MAV_CMD_PREFLIGHT_CALIBRATION, 0,
                                        1, 1, 1, 1, 0, 0, 0)
@@ -298,7 +360,7 @@ class mavfile(object):
 
     def wait_gps_fix(self):
         self.recv_match(type='VFR_HUD', blocking=True)
-        if mavlink.WIRE_PROTOCOL_VERSION == '1.0':
+        if self.mavlink10():
             self.recv_match(type='GPS_RAW_INT', blocking=True,
                             condition='GPS_RAW_INT.fix_type==3 and GPS_RAW_INT.lat != 0 and GPS_RAW_INT.alt != 0')
         else:
@@ -308,7 +370,9 @@ class mavfile(object):
     def location(self):
         '''return current location'''
         self.wait_gps_fix()
-        if mavlink.WIRE_PROTOCOL_VERSION == '1.0':
+        # wait for another VFR_HUD, to ensure we have correct altitude
+        self.recv_match(type='VFR_HUD', blocking=True)
+        if self.mavlink10():
             return location(self.messages['GPS_RAW_INT'].lat*1.0e-7,
                             self.messages['GPS_RAW_INT'].lon*1.0e-7,
                             self.messages['VFR_HUD'].alt,
@@ -319,6 +383,19 @@ class mavfile(object):
                             self.messages['VFR_HUD'].alt,
                             self.messages['VFR_HUD'].heading)
 
+    def field(self, type, field, default=None):
+        '''convenient function for returning an arbitrary MAVLink
+           field with a default'''
+        if not type in self.messages:
+            return default
+        return getattr(self.messages[type], field, default)
+
+    def param(self, name, default=None):
+        '''convenient function for returning an arbitrary MAVLink
+           parameter with a default'''
+        if not name in self.params:
+            return default
+        return self.params[name]
 
 class mavserial(mavfile):
     '''a serial mavlink port'''
@@ -329,9 +406,11 @@ class mavserial(mavfile):
         self.autoreconnect = autoreconnect
         self.port = serial.Serial(self.device, self.baud, timeout=0,
                                   dsrdtr=False, rtscts=False, xonxoff=False)
-
         try:
             fd = self.port.fileno()
+            flags = fcntl.fcntl(fd, fcntl.F_GETFD)
+            flags |= fcntl.FD_CLOEXEC
+            fcntl.fcntl(fd, fcntl.F_SETFD, flags)
         except Exception:
             fd = None
         mavfile.__init__(self, fd, device, source_system=source_system)
@@ -351,7 +430,7 @@ class mavserial(mavfile):
     def write(self, buf):
         try:
             return self.port.write(buf)
-        except OSError:
+        except Exception:
             if self.autoreconnect:
                 self.reset()
             return -1
@@ -370,7 +449,7 @@ class mavserial(mavfile):
                 return
             except Exception:
                 print("Failed to reopen %s" % self.device)
-                time.sleep(1)
+                time.sleep(0.5)
         
 
 class mavudp(mavfile):
@@ -383,12 +462,16 @@ class mavudp(mavfile):
         self.port = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
         self.udp_server = input
         if input:
+            self.port.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
             self.port.bind((a[0], int(a[1])))
         else:
             self.destination_addr = (a[0], int(a[1]))
+        flags = fcntl.fcntl(self.port.fileno(), fcntl.F_GETFD)
+        flags |= fcntl.FD_CLOEXEC
+        fcntl.fcntl(self.port.fileno(), fcntl.F_SETFD, flags)
         self.port.setblocking(0)
         self.last_address = None
-        mavfile.__init__(self, self.port.fileno(), device, source_system=source_system)
+        mavfile.__init__(self, self.port.fileno(), device, source_system=source_system, input=input)
 
     def close(self):
         self.port.close()
@@ -397,7 +480,7 @@ class mavudp(mavfile):
         try:
             data, self.last_address = self.port.recvfrom(300)
         except socket.error as e:
-            if e.errno in [ errno.EAGAIN, errno.EWOULDBLOCK ]:
+            if e.errno in [ errno.EAGAIN, errno.EWOULDBLOCK, errno.ECONNREFUSED ]:
                 return ""
             raise
         return data
@@ -418,6 +501,8 @@ class mavudp(mavfile):
         s = self.recv()
         if len(s) == 0:
             return None
+        if self.first_byte:
+            self.auto_mavlink_version(s)
         msg = self.mav.parse_buffer(s)
         if msg is not None:
             for m in msg:
@@ -437,6 +522,9 @@ class mavtcp(mavfile):
         self.destination_addr = (a[0], int(a[1]))
         self.port.connect(self.destination_addr)
         self.port.setblocking(0)
+        flags = fcntl.fcntl(self.port.fileno(), fcntl.F_GETFD)
+        flags |= fcntl.FD_CLOEXEC
+        fcntl.fcntl(self.port.fileno(), fcntl.F_SETFD, flags)
         self.port.setsockopt(socket.SOL_TCP, socket.TCP_NODELAY, 1)
         mavfile.__init__(self, self.port.fileno(), device, source_system=source_system)
 
@@ -485,6 +573,7 @@ class mavlogfile(mavfile):
             self._timestamp = 0
         else:
             self._timestamp = time.time()
+        self.stop_on_EOF = True
 
     def close(self):
         self.f.close()
@@ -500,6 +589,7 @@ class mavlogfile(mavfile):
     def pre_message(self):
         '''read timestamp if needed'''
         # read the timestamp
+        if self.filesize != 0:
             self.percent = (100.0 * self.f.tell()) / self.filesize
         if self.notimestamps:
             return
@@ -510,12 +600,14 @@ class mavlogfile(mavfile):
             hnsec = self._two64 + float(tbuf[0:20])
             t = hnsec * 1.0e-7         # convert to seconds
             t -= 719163 * 24 * 60 * 60 # convert to 1970 base
+            self._link = 0
         else:
             tbuf = self.f.read(8)
             if len(tbuf) != 8:
                 return
             (tusec,) = struct.unpack('>Q', tbuf)
             t = tusec * 1.0e-6
+            self._link = tusec & 0x3
         self._timestamp = t
 
     def post_message(self, msg):

Tools/autotest/pymavlink/mavwp.py

@@ -36,6 +36,15 @@ class MAVWPLoader(object):
         w.seq = self.count()
         self.wpoints.append(w)
 
+    def set(self, w, idx):
+        '''set a waypoint'''
+        w.seq = idx
+        if w.seq == self.count():
+            return self.add(w)
+        if self.count() <= idx:
+            raise MAVWPError('adding waypoint at idx=%u past end of list (count=%u)' % (idx, self.count()))
+        self.wpoints[idx] = w
+
     def remove(self, w):
         '''remove a waypoint'''
         self.wpoints.remove(w)