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MAVLink: re-generate MAVLink C code

This commit is contained in:
Andrew Tridgell 2012-08-11 11:58:06 +10:00
parent b47cceb442
commit 90f00ebd01
5 changed files with 74 additions and 26 deletions
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4
libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h
View File

@ -12,11 +12,11 @@ extern "C" {
// MESSAGE LENGTHS AND CRCS
#ifndef MAVLINK_MESSAGE_LENGTHS
#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 34, 26, 46, 36, 0, 6, 4, 0, 21, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 42, 8, 4, 12, 15, 13, 6, 15, 14, 0, 12, 3, 8, 28, 36, 3, 9, 22, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 30, 18, 18, 51, 9, 0}
#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 34, 26, 46, 36, 0, 6, 4, 0, 21, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 42, 8, 4, 12, 15, 13, 6, 15, 14, 0, 12, 3, 8, 28, 44, 3, 9, 22, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 30, 18, 18, 51, 9, 0}
#endif
#ifndef MAVLINK_MESSAGE_CRCS
#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 0, 148, 21, 0, 52, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 134, 219, 208, 188, 84, 22, 19, 21, 134, 0, 78, 68, 189, 127, 42, 21, 21, 144, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0}
#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 0, 148, 21, 0, 52, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 134, 219, 208, 188, 84, 22, 19, 21, 134, 0, 78, 68, 189, 127, 111, 21, 21, 144, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0}
#endif
#ifndef MAVLINK_MESSAGE_INFO

82
libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_simstate.h
View File

@ -13,16 +13,18 @@ typedef struct __mavlink_simstate_t
float xgyro; ///< Angular speed around X axis rad/s
float ygyro; ///< Angular speed around Y axis rad/s
float zgyro; ///< Angular speed around Z axis rad/s
float lat; ///< Latitude in degrees
float lng; ///< Longitude in degrees
} mavlink_simstate_t;
#define MAVLINK_MSG_ID_SIMSTATE_LEN 36
#define MAVLINK_MSG_ID_164_LEN 36
#define MAVLINK_MSG_ID_SIMSTATE_LEN 44
#define MAVLINK_MSG_ID_164_LEN 44
#define MAVLINK_MESSAGE_INFO_SIMSTATE { \
"SIMSTATE", \
9, \
11, \
{ { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_simstate_t, roll) }, \
{ "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_simstate_t, pitch) }, \
{ "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_simstate_t, yaw) }, \
@ -32,6 +34,8 @@ typedef struct __mavlink_simstate_t
{ "xgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_simstate_t, xgyro) }, \
{ "ygyro", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_simstate_t, ygyro) }, \
{ "zgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_simstate_t, zgyro) }, \
{ "lat", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_simstate_t, lat) }, \
{ "lng", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_simstate_t, lng) }, \
} \
}
@ -51,13 +55,15 @@ typedef struct __mavlink_simstate_t
* @param xgyro Angular speed around X axis rad/s
* @param ygyro Angular speed around Y axis rad/s
* @param zgyro Angular speed around Z axis rad/s
* @param lat Latitude in degrees
* @param lng Longitude in degrees
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_simstate_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
float roll, float pitch, float yaw, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro)
float roll, float pitch, float yaw, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, float lat, float lng)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[36];
char buf[44];
_mav_put_float(buf, 0, roll);
_mav_put_float(buf, 4, pitch);
_mav_put_float(buf, 8, yaw);
@ -67,8 +73,10 @@ static inline uint16_t mavlink_msg_simstate_pack(uint8_t system_id, uint8_t comp
_mav_put_float(buf, 24, xgyro);
_mav_put_float(buf, 28, ygyro);
_mav_put_float(buf, 32, zgyro);
_mav_put_float(buf, 36, lat);
_mav_put_float(buf, 40, lng);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 36);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 44);
#else
mavlink_simstate_t packet;
packet.roll = roll;
@ -80,12 +88,14 @@ static inline uint16_t mavlink_msg_simstate_pack(uint8_t system_id, uint8_t comp
packet.xgyro = xgyro;
packet.ygyro = ygyro;
packet.zgyro = zgyro;
packet.lat = lat;
packet.lng = lng;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 36);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 44);
#endif
msg->msgid = MAVLINK_MSG_ID_SIMSTATE;
return mavlink_finalize_message(msg, system_id, component_id, 36, 42);
return mavlink_finalize_message(msg, system_id, component_id, 44, 111);
}
/**
@ -103,14 +113,16 @@ static inline uint16_t mavlink_msg_simstate_pack(uint8_t system_id, uint8_t comp
* @param xgyro Angular speed around X axis rad/s
* @param ygyro Angular speed around Y axis rad/s
* @param zgyro Angular speed around Z axis rad/s
* @param lat Latitude in degrees
* @param lng Longitude in degrees
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_simstate_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
float roll,float pitch,float yaw,float xacc,float yacc,float zacc,float xgyro,float ygyro,float zgyro)
float roll,float pitch,float yaw,float xacc,float yacc,float zacc,float xgyro,float ygyro,float zgyro,float lat,float lng)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[36];
char buf[44];
_mav_put_float(buf, 0, roll);
_mav_put_float(buf, 4, pitch);
_mav_put_float(buf, 8, yaw);
@ -120,8 +132,10 @@ static inline uint16_t mavlink_msg_simstate_pack_chan(uint8_t system_id, uint8_t
_mav_put_float(buf, 24, xgyro);
_mav_put_float(buf, 28, ygyro);
_mav_put_float(buf, 32, zgyro);
_mav_put_float(buf, 36, lat);
_mav_put_float(buf, 40, lng);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 36);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 44);
#else
mavlink_simstate_t packet;
packet.roll = roll;
@ -133,12 +147,14 @@ static inline uint16_t mavlink_msg_simstate_pack_chan(uint8_t system_id, uint8_t
packet.xgyro = xgyro;
packet.ygyro = ygyro;
packet.zgyro = zgyro;
packet.lat = lat;
packet.lng = lng;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 36);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 44);
#endif
msg->msgid = MAVLINK_MSG_ID_SIMSTATE;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 36, 42);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 44, 111);
}
/**
@ -151,7 +167,7 @@ static inline uint16_t mavlink_msg_simstate_pack_chan(uint8_t system_id, uint8_t
*/
static inline uint16_t mavlink_msg_simstate_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_simstate_t* simstate)
{
return mavlink_msg_simstate_pack(system_id, component_id, msg, simstate->roll, simstate->pitch, simstate->yaw, simstate->xacc, simstate->yacc, simstate->zacc, simstate->xgyro, simstate->ygyro, simstate->zgyro);
return mavlink_msg_simstate_pack(system_id, component_id, msg, simstate->roll, simstate->pitch, simstate->yaw, simstate->xacc, simstate->yacc, simstate->zacc, simstate->xgyro, simstate->ygyro, simstate->zgyro, simstate->lat, simstate->lng);
}
/**
@ -167,13 +183,15 @@ static inline uint16_t mavlink_msg_simstate_encode(uint8_t system_id, uint8_t co
* @param xgyro Angular speed around X axis rad/s
* @param ygyro Angular speed around Y axis rad/s
* @param zgyro Angular speed around Z axis rad/s
* @param lat Latitude in degrees
* @param lng Longitude in degrees
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_simstate_send(mavlink_channel_t chan, float roll, float pitch, float yaw, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro)
static inline void mavlink_msg_simstate_send(mavlink_channel_t chan, float roll, float pitch, float yaw, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, float lat, float lng)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[36];
char buf[44];
_mav_put_float(buf, 0, roll);
_mav_put_float(buf, 4, pitch);
_mav_put_float(buf, 8, yaw);
@ -183,8 +201,10 @@ static inline void mavlink_msg_simstate_send(mavlink_channel_t chan, float roll,
_mav_put_float(buf, 24, xgyro);
_mav_put_float(buf, 28, ygyro);
_mav_put_float(buf, 32, zgyro);
_mav_put_float(buf, 36, lat);
_mav_put_float(buf, 40, lng);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SIMSTATE, buf, 36, 42);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SIMSTATE, buf, 44, 111);
#else
mavlink_simstate_t packet;
packet.roll = roll;
@ -196,8 +216,10 @@ static inline void mavlink_msg_simstate_send(mavlink_channel_t chan, float roll,
packet.xgyro = xgyro;
packet.ygyro = ygyro;
packet.zgyro = zgyro;
packet.lat = lat;
packet.lng = lng;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SIMSTATE, (const char *)&packet, 36, 42);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SIMSTATE, (const char *)&packet, 44, 111);
#endif
}
@ -296,6 +318,26 @@ static inline float mavlink_msg_simstate_get_zgyro(const mavlink_message_t* msg)
return _MAV_RETURN_float(msg, 32);
}
/**
* @brief Get field lat from simstate message
*
* @return Latitude in degrees
*/
static inline float mavlink_msg_simstate_get_lat(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 36);
}
/**
* @brief Get field lng from simstate message
*
* @return Longitude in degrees
*/
static inline float mavlink_msg_simstate_get_lng(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 40);
}
/**
* @brief Decode a simstate message into a struct
*
@ -314,7 +356,9 @@ static inline void mavlink_msg_simstate_decode(const mavlink_message_t* msg, mav
simstate->xgyro = mavlink_msg_simstate_get_xgyro(msg);
simstate->ygyro = mavlink_msg_simstate_get_ygyro(msg);
simstate->zgyro = mavlink_msg_simstate_get_zgyro(msg);
simstate->lat = mavlink_msg_simstate_get_lat(msg);
simstate->lng = mavlink_msg_simstate_get_lng(msg);
#else
memcpy(simstate, _MAV_PAYLOAD(msg), 36);
memcpy(simstate, _MAV_PAYLOAD(msg), 44);
#endif
}

10
libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/testsuite.h
View File

@ -738,6 +738,8 @@ static void mavlink_test_simstate(uint8_t system_id, uint8_t component_id, mavli
185.0,
213.0,
241.0,
269.0,
297.0,
};
mavlink_simstate_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
@ -750,6 +752,8 @@ static void mavlink_test_simstate(uint8_t system_id, uint8_t component_id, mavli
packet1.xgyro = packet_in.xgyro;
packet1.ygyro = packet_in.ygyro;
packet1.zgyro = packet_in.zgyro;
packet1.lat = packet_in.lat;
packet1.lng = packet_in.lng;
@ -759,12 +763,12 @@ static void mavlink_test_simstate(uint8_t system_id, uint8_t component_id, mavli
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_simstate_pack(system_id, component_id, &msg , packet1.roll , packet1.pitch , packet1.yaw , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro );
mavlink_msg_simstate_pack(system_id, component_id, &msg , packet1.roll , packet1.pitch , packet1.yaw , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.lat , packet1.lng );
mavlink_msg_simstate_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_simstate_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.roll , packet1.pitch , packet1.yaw , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro );
mavlink_msg_simstate_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.roll , packet1.pitch , packet1.yaw , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.lat , packet1.lng );
mavlink_msg_simstate_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
@ -777,7 +781,7 @@ static void mavlink_test_simstate(uint8_t system_id, uint8_t component_id, mavli
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_simstate_send(MAVLINK_COMM_1 , packet1.roll , packet1.pitch , packet1.yaw , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro );
mavlink_msg_simstate_send(MAVLINK_COMM_1 , packet1.roll , packet1.pitch , packet1.yaw , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.lat , packet1.lng );
mavlink_msg_simstate_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}

2
libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/version.h
View File

@ -5,7 +5,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Fri Jul 20 11:32:18 2012"
#define MAVLINK_BUILD_DATE "Sat Aug 11 11:25:19 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
View File

@ -5,7 +5,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Fri Jul 20 11:32:18 2012"
#define MAVLINK_BUILD_DATE "Sat Aug 11 11:25:19 2012"
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101