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Mavlink: re-generate with WIND message

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This commit is contained in:
Andrew Tridgell 2012-08-11 15:56:53 +10:00
parent f8a17ba1e9
commit 8ddf864431
5 changed files with 242 additions and 5 deletions
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7
libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h
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188
libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_wind.h Normal file
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@ -0,0 +1,188 @@
// MESSAGE WIND PACKING
#define MAVLINK_MSG_ID_WIND 168
typedef struct __mavlink_wind_t
{
float direction; ///< wind direction (degrees)
float speed; ///< wind speed in ground plane (m/s)
float speed_z; ///< vertical wind speed (m/s)
} mavlink_wind_t;
#define MAVLINK_MSG_ID_WIND_LEN 12
#define MAVLINK_MSG_ID_168_LEN 12
#define MAVLINK_MESSAGE_INFO_WIND { \
"WIND", \
3, \
{ { "direction", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_wind_t, direction) }, \
{ "speed", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_wind_t, speed) }, \
{ "speed_z", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_wind_t, speed_z) }, \
} \
}
/**
* @brief Pack a wind 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 direction wind direction (degrees)
* @param speed wind speed in ground plane (m/s)
* @param speed_z vertical wind speed (m/s)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_wind_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
float direction, float speed, float speed_z)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[12];
_mav_put_float(buf, 0, direction);
_mav_put_float(buf, 4, speed);
_mav_put_float(buf, 8, speed_z);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12);
#else
mavlink_wind_t packet;
packet.direction = direction;
packet.speed = speed;
packet.speed_z = speed_z;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12);
#endif
msg->msgid = MAVLINK_MSG_ID_WIND;
return mavlink_finalize_message(msg, system_id, component_id, 12, 1);
}
/**
* @brief Pack a wind 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 direction wind direction (degrees)
* @param speed wind speed in ground plane (m/s)
* @param speed_z vertical wind speed (m/s)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_wind_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
float direction,float speed,float speed_z)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[12];
_mav_put_float(buf, 0, direction);
_mav_put_float(buf, 4, speed);
_mav_put_float(buf, 8, speed_z);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12);
#else
mavlink_wind_t packet;
packet.direction = direction;
packet.speed = speed;
packet.speed_z = speed_z;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12);
#endif
msg->msgid = MAVLINK_MSG_ID_WIND;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 12, 1);
}
/**
* @brief Encode a wind 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 wind C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_wind_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_wind_t* wind)
{
return mavlink_msg_wind_pack(system_id, component_id, msg, wind->direction, wind->speed, wind->speed_z);
}
/**
* @brief Send a wind message
* @param chan MAVLink channel to send the message
*
* @param direction wind direction (degrees)
* @param speed wind speed in ground plane (m/s)
* @param speed_z vertical wind speed (m/s)
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_wind_send(mavlink_channel_t chan, float direction, float speed, float speed_z)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[12];
_mav_put_float(buf, 0, direction);
_mav_put_float(buf, 4, speed);
_mav_put_float(buf, 8, speed_z);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WIND, buf, 12, 1);
#else
mavlink_wind_t packet;
packet.direction = direction;
packet.speed = speed;
packet.speed_z = speed_z;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WIND, (const char *)&packet, 12, 1);
#endif
}
#endif
// MESSAGE WIND UNPACKING
/**
* @brief Get field direction from wind message
*
* @return wind direction (degrees)
*/
static inline float mavlink_msg_wind_get_direction(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 0);
}
/**
* @brief Get field speed from wind message
*
* @return wind speed in ground plane (m/s)
*/
static inline float mavlink_msg_wind_get_speed(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 4);
}
/**
* @brief Get field speed_z from wind message
*
* @return vertical wind speed (m/s)
*/
static inline float mavlink_msg_wind_get_speed_z(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 8);
}
/**
* @brief Decode a wind message into a struct
*
* @param msg The message to decode
* @param wind C-struct to decode the message contents into
*/
static inline void mavlink_msg_wind_decode(const mavlink_message_t* msg, mavlink_wind_t* wind)
{
#if MAVLINK_NEED_BYTE_SWAP
wind->direction = mavlink_msg_wind_get_direction(msg);
wind->speed = mavlink_msg_wind_get_speed(msg);
wind->speed_z = mavlink_msg_wind_get_speed_z(msg);
#else
memcpy(wind, _MAV_PAYLOAD(msg), 12);
#endif
}

48
libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/testsuite.h
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@ -945,6 +945,53 @@ static void mavlink_test_limits_status(uint8_t system_id, uint8_t component_id,
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}
static void mavlink_test_wind(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_wind_t packet_in = {
17.0,
45.0,
73.0,
};
mavlink_wind_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
packet1.direction = packet_in.direction;
packet1.speed = packet_in.speed;
packet1.speed_z = packet_in.speed_z;
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_wind_encode(system_id, component_id, &msg, &packet1);
mavlink_msg_wind_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_wind_pack(system_id, component_id, &msg , packet1.direction , packet1.speed , packet1.speed_z );
mavlink_msg_wind_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_wind_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.direction , packet1.speed , packet1.speed_z );
mavlink_msg_wind_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_wind_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_wind_send(MAVLINK_COMM_1 , packet1.direction , packet1.speed , packet1.speed_z );
mavlink_msg_wind_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}
static void mavlink_test_ardupilotmega(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
mavlink_test_sensor_offsets(system_id, component_id, last_msg);
@ -964,6 +1011,7 @@ static void mavlink_test_ardupilotmega(uint8_t system_id, uint8_t component_id,
mavlink_test_hwstatus(system_id, component_id, last_msg);
mavlink_test_radio(system_id, component_id, last_msg);
mavlink_test_limits_status(system_id, component_id, last_msg);
mavlink_test_wind(system_id, component_id, last_msg);
}
#ifdef __cplusplus

2
libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/version.h
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@ -5,7 +5,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Sat Aug 11 11:25:19 2012"
#define MAVLINK_BUILD_DATE "Sat Aug 11 14:26:42 2012"
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101

2
libraries/GCS_MAVLink/include/mavlink/v1.0/common/version.h
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@ -5,7 +5,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Sat Aug 11 11:25:19 2012"
#define MAVLINK_BUILD_DATE "Sat Aug 11 14:26:42 2012"
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101