mirror of https://github.com/ArduPilot/ardupilot
Synced with mavlink dev branch, RC_CHANNELS_OVERRIDE packet added.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2344 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
james.goppert
parent
5a22080484
commit
938ab0ac56
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@ -1,7 +1,7 @@
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/** @file
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* @brief MAVLink comm protocol.
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* @see http://pixhawk.ethz.ch/software/mavlink
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* Generated on Saturday, May 7 2011, 19:14 UTC
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* Generated on Wednesday, May 18 2011, 03:15 UTC
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*/
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#ifndef COMMON_H
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#define COMMON_H
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@ -145,6 +145,7 @@ enum MAV_ROI
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#include "./mavlink_msg_set_altitude.h"
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#include "./mavlink_msg_request_data_stream.h"
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#include "./mavlink_msg_manual_control.h"
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#include "./mavlink_msg_rc_channels_override.h"
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#include "./mavlink_msg_global_position_int.h"
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#include "./mavlink_msg_vfr_hud.h"
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#include "./mavlink_msg_command.h"
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@ -159,7 +160,7 @@ enum MAV_ROI
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// MESSAGE LENGTHS
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#undef MAVLINK_MESSAGE_LENGTHS
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#define MAVLINK_MESSAGE_LENGTHS { 3, 4, 8, 14, 8, 28, 3, 32, 0, 2, 3, 2, 2, 0, 0, 0, 0, 0, 0, 0, 19, 2, 23, 21, 0, 37, 26, 101, 26, 16, 32, 32, 37, 32, 11, 17, 17, 16, 18, 36, 4, 4, 2, 2, 4, 2, 2, 3, 14, 12, 18, 16, 8, 27, 25, 0, 0, 0, 0, 0, 5, 5, 26, 16, 36, 5, 6, 0, 0, 21, 0, 0, 0, 18, 20, 20, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 30, 14, 14, 51 }
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#define MAVLINK_MESSAGE_LENGTHS { 3, 4, 8, 14, 8, 28, 3, 32, 0, 2, 3, 2, 2, 0, 0, 0, 0, 0, 0, 0, 19, 2, 23, 21, 0, 37, 26, 101, 26, 16, 32, 32, 37, 32, 11, 17, 17, 16, 18, 36, 4, 4, 2, 2, 4, 2, 2, 3, 14, 12, 18, 16, 8, 27, 25, 0, 0, 0, 0, 0, 5, 5, 26, 16, 36, 5, 6, 0, 0, 21, 18, 0, 0, 18, 20, 20, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 30, 14, 14, 51 }
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#ifdef __cplusplus
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}
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@ -1,7 +1,7 @@
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/** @file
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* @brief MAVLink comm protocol.
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* @see http://pixhawk.ethz.ch/software/mavlink
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* Generated on Saturday, May 7 2011, 19:14 UTC
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* Generated on Wednesday, May 18 2011, 03:15 UTC
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*/
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#ifndef MAVLINK_H
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#define MAVLINK_H
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@ -0,0 +1,278 @@
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// MESSAGE RC_CHANNELS_OVERRIDE PACKING
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#define MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE 70
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typedef struct __mavlink_rc_channels_override_t
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{
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uint8_t target_system; ///< System ID
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uint8_t target_component; ///< Component ID
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uint16_t chan1_raw; ///< RC channel 1 value, in microseconds
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uint16_t chan2_raw; ///< RC channel 2 value, in microseconds
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uint16_t chan3_raw; ///< RC channel 3 value, in microseconds
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uint16_t chan4_raw; ///< RC channel 4 value, in microseconds
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uint16_t chan5_raw; ///< RC channel 5 value, in microseconds
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uint16_t chan6_raw; ///< RC channel 6 value, in microseconds
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uint16_t chan7_raw; ///< RC channel 7 value, in microseconds
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uint16_t chan8_raw; ///< RC channel 8 value, in microseconds
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} mavlink_rc_channels_override_t;
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/**
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* @brief Pack a rc_channels_override 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 target_system System ID
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* @param target_component Component ID
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* @param chan1_raw RC channel 1 value, in microseconds
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* @param chan2_raw RC channel 2 value, in microseconds
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* @param chan3_raw RC channel 3 value, in microseconds
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* @param chan4_raw RC channel 4 value, in microseconds
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* @param chan5_raw RC channel 5 value, in microseconds
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* @param chan6_raw RC channel 6 value, in microseconds
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* @param chan7_raw RC channel 7 value, in microseconds
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* @param chan8_raw RC channel 8 value, in microseconds
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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_rc_channels_override_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw, uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw, uint16_t chan7_raw, uint16_t chan8_raw)
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{
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uint16_t i = 0;
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msg->msgid = MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE;
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i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID
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i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID
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i += put_uint16_t_by_index(chan1_raw, i, msg->payload); // RC channel 1 value, in microseconds
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i += put_uint16_t_by_index(chan2_raw, i, msg->payload); // RC channel 2 value, in microseconds
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i += put_uint16_t_by_index(chan3_raw, i, msg->payload); // RC channel 3 value, in microseconds
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i += put_uint16_t_by_index(chan4_raw, i, msg->payload); // RC channel 4 value, in microseconds
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i += put_uint16_t_by_index(chan5_raw, i, msg->payload); // RC channel 5 value, in microseconds
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i += put_uint16_t_by_index(chan6_raw, i, msg->payload); // RC channel 6 value, in microseconds
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i += put_uint16_t_by_index(chan7_raw, i, msg->payload); // RC channel 7 value, in microseconds
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i += put_uint16_t_by_index(chan8_raw, i, msg->payload); // RC channel 8 value, in microseconds
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return mavlink_finalize_message(msg, system_id, component_id, i);
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}
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/**
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* @brief Pack a rc_channels_override 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 chan The MAVLink channel this message was sent over
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* @param msg The MAVLink message to compress the data into
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* @param target_system System ID
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* @param target_component Component ID
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* @param chan1_raw RC channel 1 value, in microseconds
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* @param chan2_raw RC channel 2 value, in microseconds
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* @param chan3_raw RC channel 3 value, in microseconds
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* @param chan4_raw RC channel 4 value, in microseconds
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* @param chan5_raw RC channel 5 value, in microseconds
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* @param chan6_raw RC channel 6 value, in microseconds
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* @param chan7_raw RC channel 7 value, in microseconds
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* @param chan8_raw RC channel 8 value, in microseconds
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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_rc_channels_override_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw, uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw, uint16_t chan7_raw, uint16_t chan8_raw)
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{
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uint16_t i = 0;
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msg->msgid = MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE;
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i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID
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i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID
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i += put_uint16_t_by_index(chan1_raw, i, msg->payload); // RC channel 1 value, in microseconds
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i += put_uint16_t_by_index(chan2_raw, i, msg->payload); // RC channel 2 value, in microseconds
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i += put_uint16_t_by_index(chan3_raw, i, msg->payload); // RC channel 3 value, in microseconds
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i += put_uint16_t_by_index(chan4_raw, i, msg->payload); // RC channel 4 value, in microseconds
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i += put_uint16_t_by_index(chan5_raw, i, msg->payload); // RC channel 5 value, in microseconds
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i += put_uint16_t_by_index(chan6_raw, i, msg->payload); // RC channel 6 value, in microseconds
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i += put_uint16_t_by_index(chan7_raw, i, msg->payload); // RC channel 7 value, in microseconds
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i += put_uint16_t_by_index(chan8_raw, i, msg->payload); // RC channel 8 value, in microseconds
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
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}
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/**
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* @brief Encode a rc_channels_override struct into a message
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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 rc_channels_override C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_rc_channels_override_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_rc_channels_override_t* rc_channels_override)
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{
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return mavlink_msg_rc_channels_override_pack(system_id, component_id, msg, rc_channels_override->target_system, rc_channels_override->target_component, rc_channels_override->chan1_raw, rc_channels_override->chan2_raw, rc_channels_override->chan3_raw, rc_channels_override->chan4_raw, rc_channels_override->chan5_raw, rc_channels_override->chan6_raw, rc_channels_override->chan7_raw, rc_channels_override->chan8_raw);
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}
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/**
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* @brief Send a rc_channels_override message
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* @param chan MAVLink channel to send the message
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*
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* @param target_system System ID
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* @param target_component Component ID
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* @param chan1_raw RC channel 1 value, in microseconds
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* @param chan2_raw RC channel 2 value, in microseconds
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* @param chan3_raw RC channel 3 value, in microseconds
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* @param chan4_raw RC channel 4 value, in microseconds
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* @param chan5_raw RC channel 5 value, in microseconds
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* @param chan6_raw RC channel 6 value, in microseconds
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* @param chan7_raw RC channel 7 value, in microseconds
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* @param chan8_raw RC channel 8 value, in microseconds
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_rc_channels_override_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw, uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw, uint16_t chan7_raw, uint16_t chan8_raw)
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{
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mavlink_message_t msg;
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mavlink_msg_rc_channels_override_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw);
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mavlink_send_uart(chan, &msg);
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}
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#endif
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// MESSAGE RC_CHANNELS_OVERRIDE UNPACKING
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/**
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* @brief Get field target_system from rc_channels_override message
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*
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* @return System ID
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*/
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static inline uint8_t mavlink_msg_rc_channels_override_get_target_system(const mavlink_message_t* msg)
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{
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return (uint8_t)(msg->payload)[0];
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}
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/**
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* @brief Get field target_component from rc_channels_override message
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*
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* @return Component ID
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*/
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static inline uint8_t mavlink_msg_rc_channels_override_get_target_component(const mavlink_message_t* msg)
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{
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return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
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}
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/**
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* @brief Get field chan1_raw from rc_channels_override message
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*
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* @return RC channel 1 value, in microseconds
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*/
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static inline uint16_t mavlink_msg_rc_channels_override_get_chan1_raw(const mavlink_message_t* msg)
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{
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generic_16bit r;
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r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0];
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r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[1];
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return (uint16_t)r.s;
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}
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/**
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* @brief Get field chan2_raw from rc_channels_override message
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*
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* @return RC channel 2 value, in microseconds
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*/
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static inline uint16_t mavlink_msg_rc_channels_override_get_chan2_raw(const mavlink_message_t* msg)
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{
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generic_16bit r;
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r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t))[0];
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r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t))[1];
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return (uint16_t)r.s;
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}
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/**
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* @brief Get field chan3_raw from rc_channels_override message
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*
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* @return RC channel 3 value, in microseconds
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*/
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static inline uint16_t mavlink_msg_rc_channels_override_get_chan3_raw(const mavlink_message_t* msg)
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{
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generic_16bit r;
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r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
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r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t))[1];
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return (uint16_t)r.s;
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}
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/**
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* @brief Get field chan4_raw from rc_channels_override message
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*
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* @return RC channel 4 value, in microseconds
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*/
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static inline uint16_t mavlink_msg_rc_channels_override_get_chan4_raw(const mavlink_message_t* msg)
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{
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generic_16bit r;
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r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
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r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1];
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return (uint16_t)r.s;
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}
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/**
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* @brief Get field chan5_raw from rc_channels_override message
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*
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* @return RC channel 5 value, in microseconds
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*/
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static inline uint16_t mavlink_msg_rc_channels_override_get_chan5_raw(const mavlink_message_t* msg)
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{
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generic_16bit r;
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r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
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r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1];
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return (uint16_t)r.s;
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}
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/**
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* @brief Get field chan6_raw from rc_channels_override message
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*
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* @return RC channel 6 value, in microseconds
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*/
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static inline uint16_t mavlink_msg_rc_channels_override_get_chan6_raw(const mavlink_message_t* msg)
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{
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generic_16bit r;
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r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
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r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1];
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return (uint16_t)r.s;
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}
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/**
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* @brief Get field chan7_raw from rc_channels_override message
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*
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* @return RC channel 7 value, in microseconds
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*/
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static inline uint16_t mavlink_msg_rc_channels_override_get_chan7_raw(const mavlink_message_t* msg)
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{
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generic_16bit r;
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r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
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r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1];
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return (uint16_t)r.s;
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}
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/**
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* @brief Get field chan8_raw from rc_channels_override message
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*
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* @return RC channel 8 value, in microseconds
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*/
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static inline uint16_t mavlink_msg_rc_channels_override_get_chan8_raw(const mavlink_message_t* msg)
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{
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generic_16bit r;
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r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
|
||||
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1];
|
||||
return (uint16_t)r.s;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a rc_channels_override message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param rc_channels_override C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_rc_channels_override_decode(const mavlink_message_t* msg, mavlink_rc_channels_override_t* rc_channels_override)
|
||||
{
|
||||
rc_channels_override->target_system = mavlink_msg_rc_channels_override_get_target_system(msg);
|
||||
rc_channels_override->target_component = mavlink_msg_rc_channels_override_get_target_component(msg);
|
||||
rc_channels_override->chan1_raw = mavlink_msg_rc_channels_override_get_chan1_raw(msg);
|
||||
rc_channels_override->chan2_raw = mavlink_msg_rc_channels_override_get_chan2_raw(msg);
|
||||
rc_channels_override->chan3_raw = mavlink_msg_rc_channels_override_get_chan3_raw(msg);
|
||||
rc_channels_override->chan4_raw = mavlink_msg_rc_channels_override_get_chan4_raw(msg);
|
||||
rc_channels_override->chan5_raw = mavlink_msg_rc_channels_override_get_chan5_raw(msg);
|
||||
rc_channels_override->chan6_raw = mavlink_msg_rc_channels_override_get_chan6_raw(msg);
|
||||
rc_channels_override->chan7_raw = mavlink_msg_rc_channels_override_get_chan7_raw(msg);
|
||||
rc_channels_override->chan8_raw = mavlink_msg_rc_channels_override_get_chan8_raw(msg);
|
||||
}
|
||||
|
|
@ -815,6 +815,20 @@ of the controller before actual flight and to assist with tuning controller para
|
|||
<field name="thrust_manual" type="uint8_t">thrust auto:0, manual:1</field>
|
||||
</message>
|
||||
|
||||
<message name="RC_CHANNELS_OVERRIDE" id="70">
|
||||
<description>The RAW values of the RC channels sent to the MAV to override info received from the RC radio. A value of -1 means no change to that channel. A value of 0 means control of that channel should be released back to the RC radio. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. Individual receivers/transmitters might violate this specification.</description>
|
||||
<field name="target_system" type="uint8_t">System ID</field>
|
||||
<field name="target_component" type="uint8_t">Component ID</field>
|
||||
<field name="chan1_raw" type="uint16_t">RC channel 1 value, in microseconds</field>
|
||||
<field name="chan2_raw" type="uint16_t">RC channel 2 value, in microseconds</field>
|
||||
<field name="chan3_raw" type="uint16_t">RC channel 3 value, in microseconds</field>
|
||||
<field name="chan4_raw" type="uint16_t">RC channel 4 value, in microseconds</field>
|
||||
<field name="chan5_raw" type="uint16_t">RC channel 5 value, in microseconds</field>
|
||||
<field name="chan6_raw" type="uint16_t">RC channel 6 value, in microseconds</field>
|
||||
<field name="chan7_raw" type="uint16_t">RC channel 7 value, in microseconds</field>
|
||||
<field name="chan8_raw" type="uint16_t">RC channel 8 value, in microseconds</field>
|
||||
</message>
|
||||
|
||||
<message name="GLOBAL_POSITION_INT" id="73">
|
||||
<description>The filtered global position (e.g. fused GPS and accelerometers). The position is in GPS-frame (right-handed, Z-up)</description>
|
||||
<field name="lat" type="int32_t">Latitude, expressed as * 1E7</field>
|
||||
|
|
|
|||
|
|
@ -1,5 +1,5 @@
|
|||
#!/bin/sh
|
||||
branch="roi"
|
||||
branch="dev"
|
||||
# temporarily using roi branch instead of master
|
||||
# this branch will be deleted soon so switch it back
|
||||
# to master then
|
||||
|
|
|
|||
Loading…
Reference in New Issue