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Updated mavlink to latest dev branch version.

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1015 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
james.goppert 2010-12-05 00:49:04 +00:00
parent 665dbefbd4
commit a37d1ddb91
83 changed files with 1240 additions and 157 deletions
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2
libraries/GCS_MAVLink/include/ardupilotmega/ardupilotmega.h
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@ -1,7 +1,7 @@
/** @file
* @brief MAVLink comm protocol.
* @see http://pixhawk.ethz.ch/software/mavlink
* Generated on Sunday, November 14 2010, 16:32 UTC
* Generated on Thursday, December 2 2010, 10:44 UTC
*/
#ifndef ARDUPILOTMEGA_H
#define ARDUPILOTMEGA_H

2
libraries/GCS_MAVLink/include/ardupilotmega/mavlink.h
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@ -1,7 +1,7 @@
/** @file
* @brief MAVLink comm protocol.
* @see http://pixhawk.ethz.ch/software/mavlink
* Generated on Sunday, November 14 2010, 16:32 UTC
* Generated on Thursday, December 2 2010, 10:44 UTC
*/
#ifndef MAVLINK_H
#define MAVLINK_H

2
libraries/GCS_MAVLink/include/common/common.h
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@ -1,7 +1,7 @@
/** @file
* @brief MAVLink comm protocol.
* @see http://pixhawk.ethz.ch/software/mavlink
* Generated on Friday, November 26 2010, 06:53 UTC
* Generated on Thursday, December 2 2010, 10:44 UTC
*/
#ifndef COMMON_H
#define COMMON_H

2
libraries/GCS_MAVLink/include/common/mavlink.h
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@ -1,7 +1,7 @@
/** @file
* @brief MAVLink comm protocol.
* @see http://pixhawk.ethz.ch/software/mavlink
* Generated on Friday, November 26 2010, 06:53 UTC
* Generated on Thursday, December 2 2010, 10:44 UTC
*/
#ifndef MAVLINK_H
#define MAVLINK_H

14
libraries/GCS_MAVLink/include/common/mavlink_msg_action.h
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@ -32,6 +32,18 @@ static inline uint16_t mavlink_msg_action_pack(uint8_t system_id, uint8_t compon
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_action_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target, uint8_t target_component, uint8_t action)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_ACTION;
i += put_uint8_t_by_index(target, i, msg->payload); //The system executing the action
i += put_uint8_t_by_index(target_component, i, msg->payload); //The component executing the action
i += put_uint8_t_by_index(action, i, msg->payload); //The action id
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_action_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_action_t* action)
{
return mavlink_msg_action_pack(system_id, component_id, msg, action->target, action->target_component, action->action);
@ -42,7 +54,7 @@ static inline uint16_t mavlink_msg_action_encode(uint8_t system_id, uint8_t comp
static inline void mavlink_msg_action_send(mavlink_channel_t chan, uint8_t target, uint8_t target_component, uint8_t action)
{
mavlink_message_t msg;
mavlink_msg_action_pack(mavlink_system.sysid, mavlink_system.compid, &msg, target, target_component, action);
mavlink_msg_action_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target, target_component, action);
mavlink_send_uart(chan, &msg);
}

13
libraries/GCS_MAVLink/include/common/mavlink_msg_action_ack.h
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@ -29,6 +29,17 @@ static inline uint16_t mavlink_msg_action_ack_pack(uint8_t system_id, uint8_t co
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_action_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t action, uint8_t result)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_ACTION_ACK;
i += put_uint8_t_by_index(action, i, msg->payload); //The action id
i += put_uint8_t_by_index(result, i, msg->payload); //0: Action DENIED, 1: Action executed
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_action_ack_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_action_ack_t* action_ack)
{
return mavlink_msg_action_ack_pack(system_id, component_id, msg, action_ack->action, action_ack->result);
@ -39,7 +50,7 @@ static inline uint16_t mavlink_msg_action_ack_encode(uint8_t system_id, uint8_t
static inline void mavlink_msg_action_ack_send(mavlink_channel_t chan, uint8_t action, uint8_t result)
{
mavlink_message_t msg;
mavlink_msg_action_ack_pack(mavlink_system.sysid, mavlink_system.compid, &msg, action, result);
mavlink_msg_action_ack_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, action, result);
mavlink_send_uart(chan, &msg);
}

18
libraries/GCS_MAVLink/include/common/mavlink_msg_attitude.h
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@ -44,6 +44,22 @@ static inline uint16_t mavlink_msg_attitude_pack(uint8_t system_id, uint8_t comp
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_attitude_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_ATTITUDE;
i += put_uint64_t_by_index(usec, i, msg->payload); //Timestamp (microseconds)
i += put_float_by_index(roll, i, msg->payload); //Roll angle (rad)
i += put_float_by_index(pitch, i, msg->payload); //Pitch angle (rad)
i += put_float_by_index(yaw, i, msg->payload); //Yaw angle (rad)
i += put_float_by_index(rollspeed, i, msg->payload); //Roll angular speed (rad/s)
i += put_float_by_index(pitchspeed, i, msg->payload); //Pitch angular speed (rad/s)
i += put_float_by_index(yawspeed, i, msg->payload); //Yaw angular speed (rad/s)
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_attitude_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_attitude_t* attitude)
{
return mavlink_msg_attitude_pack(system_id, component_id, msg, attitude->usec, attitude->roll, attitude->pitch, attitude->yaw, attitude->rollspeed, attitude->pitchspeed, attitude->yawspeed);
@ -54,7 +70,7 @@ static inline uint16_t mavlink_msg_attitude_encode(uint8_t system_id, uint8_t co
static inline void mavlink_msg_attitude_send(mavlink_channel_t chan, uint64_t usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed)
{
mavlink_message_t msg;
mavlink_msg_attitude_pack(mavlink_system.sysid, mavlink_system.compid, &msg, usec, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed);
mavlink_msg_attitude_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, usec, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed);
mavlink_send_uart(chan, &msg);
}

16
libraries/GCS_MAVLink/include/common/mavlink_msg_attitude_controller_output.h
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@ -38,6 +38,20 @@ static inline uint16_t mavlink_msg_attitude_controller_output_pack(uint8_t syste
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_attitude_controller_output_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t enabled, int8_t roll, int8_t pitch, int8_t yaw, int8_t thrust)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_ATTITUDE_CONTROLLER_OUTPUT;
i += put_uint8_t_by_index(enabled, i, msg->payload); //1: enabled, 0: disabled
i += put_int8_t_by_index(roll, i, msg->payload); //Attitude roll: -128: -100%, 127: +100%
i += put_int8_t_by_index(pitch, i, msg->payload); //Attitude pitch: -128: -100%, 127: +100%
i += put_int8_t_by_index(yaw, i, msg->payload); //Attitude yaw: -128: -100%, 127: +100%
i += put_int8_t_by_index(thrust, i, msg->payload); //Attitude thrust: -128: -100%, 127: +100%
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_attitude_controller_output_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_attitude_controller_output_t* attitude_controller_output)
{
return mavlink_msg_attitude_controller_output_pack(system_id, component_id, msg, attitude_controller_output->enabled, attitude_controller_output->roll, attitude_controller_output->pitch, attitude_controller_output->yaw, attitude_controller_output->thrust);
@ -48,7 +62,7 @@ static inline uint16_t mavlink_msg_attitude_controller_output_encode(uint8_t sys
static inline void mavlink_msg_attitude_controller_output_send(mavlink_channel_t chan, uint8_t enabled, int8_t roll, int8_t pitch, int8_t yaw, int8_t thrust)
{
mavlink_message_t msg;
mavlink_msg_attitude_controller_output_pack(mavlink_system.sysid, mavlink_system.compid, &msg, enabled, roll, pitch, yaw, thrust);
mavlink_msg_attitude_controller_output_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, enabled, roll, pitch, yaw, thrust);
mavlink_send_uart(chan, &msg);
}

12
libraries/GCS_MAVLink/include/common/mavlink_msg_boot.h
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@ -26,6 +26,16 @@ static inline uint16_t mavlink_msg_boot_pack(uint8_t system_id, uint8_t componen
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_boot_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint32_t version)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_BOOT;
i += put_uint32_t_by_index(version, i, msg->payload); //The onboard software version
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_boot_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_boot_t* boot)
{
return mavlink_msg_boot_pack(system_id, component_id, msg, boot->version);
@ -36,7 +46,7 @@ static inline uint16_t mavlink_msg_boot_encode(uint8_t system_id, uint8_t compon
static inline void mavlink_msg_boot_send(mavlink_channel_t chan, uint32_t version)
{
mavlink_message_t msg;
mavlink_msg_boot_pack(mavlink_system.sysid, mavlink_system.compid, &msg, version);
mavlink_msg_boot_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, version);
mavlink_send_uart(chan, &msg);
}

13
libraries/GCS_MAVLink/include/common/mavlink_msg_debug.h
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@ -29,6 +29,17 @@ static inline uint16_t mavlink_msg_debug_pack(uint8_t system_id, uint8_t compone
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_debug_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t ind, float value)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_DEBUG;
i += put_uint8_t_by_index(ind, i, msg->payload); //index of debug variable
i += put_float_by_index(value, i, msg->payload); //DEBUG value
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_debug_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_debug_t* debug)
{
return mavlink_msg_debug_pack(system_id, component_id, msg, debug->ind, debug->value);
@ -39,7 +50,7 @@ static inline uint16_t mavlink_msg_debug_encode(uint8_t system_id, uint8_t compo
static inline void mavlink_msg_debug_send(mavlink_channel_t chan, uint8_t ind, float value)
{
mavlink_message_t msg;
mavlink_msg_debug_pack(mavlink_system.sysid, mavlink_system.compid, &msg, ind, value);
mavlink_msg_debug_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, ind, value);
mavlink_send_uart(chan, &msg);
}

18
libraries/GCS_MAVLink/include/common/mavlink_msg_global_position.h
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@ -44,6 +44,22 @@ static inline uint16_t mavlink_msg_global_position_pack(uint8_t system_id, uint8
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_global_position_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t usec, float lat, float lon, float alt, float vx, float vy, float vz)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION;
i += put_uint64_t_by_index(usec, i, msg->payload); //Timestamp (microseconds since unix epoch)
i += put_float_by_index(lat, i, msg->payload); //X Position
i += put_float_by_index(lon, i, msg->payload); //Y Position
i += put_float_by_index(alt, i, msg->payload); //Z Position
i += put_float_by_index(vx, i, msg->payload); //X Speed
i += put_float_by_index(vy, i, msg->payload); //Y Speed
i += put_float_by_index(vz, i, msg->payload); //Z Speed
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_global_position_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_global_position_t* global_position)
{
return mavlink_msg_global_position_pack(system_id, component_id, msg, global_position->usec, global_position->lat, global_position->lon, global_position->alt, global_position->vx, global_position->vy, global_position->vz);
@ -54,7 +70,7 @@ static inline uint16_t mavlink_msg_global_position_encode(uint8_t system_id, uin
static inline void mavlink_msg_global_position_send(mavlink_channel_t chan, uint64_t usec, float lat, float lon, float alt, float vx, float vy, float vz)
{
mavlink_message_t msg;
mavlink_msg_global_position_pack(mavlink_system.sysid, mavlink_system.compid, &msg, usec, lat, lon, alt, vx, vy, vz);
mavlink_msg_global_position_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, usec, lat, lon, alt, vx, vy, vz);
mavlink_send_uart(chan, &msg);
}

20
libraries/GCS_MAVLink/include/common/mavlink_msg_gps_raw.h
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@ -50,6 +50,24 @@ static inline uint16_t mavlink_msg_gps_raw_pack(uint8_t system_id, uint8_t compo
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_gps_raw_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t usec, uint8_t fix_type, float lat, float lon, float alt, float eph, float epv, float v, float hdg)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_GPS_RAW;
i += put_uint64_t_by_index(usec, i, msg->payload); //Timestamp (microseconds since unix epoch)
i += put_uint8_t_by_index(fix_type, i, msg->payload); //0-1: no fix, 2: 2D fix, 3: 3D fix
i += put_float_by_index(lat, i, msg->payload); //X Position
i += put_float_by_index(lon, i, msg->payload); //Y Position
i += put_float_by_index(alt, i, msg->payload); //Z Position in meters
i += put_float_by_index(eph, i, msg->payload); //Uncertainty in meters of latitude
i += put_float_by_index(epv, i, msg->payload); //Uncertainty in meters of longitude
i += put_float_by_index(v, i, msg->payload); //Overall speed
i += put_float_by_index(hdg, i, msg->payload); //Heading, in FIXME
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_gps_raw_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps_raw_t* gps_raw)
{
return mavlink_msg_gps_raw_pack(system_id, component_id, msg, gps_raw->usec, gps_raw->fix_type, gps_raw->lat, gps_raw->lon, gps_raw->alt, gps_raw->eph, gps_raw->epv, gps_raw->v, gps_raw->hdg);
@ -60,7 +78,7 @@ static inline uint16_t mavlink_msg_gps_raw_encode(uint8_t system_id, uint8_t com
static inline void mavlink_msg_gps_raw_send(mavlink_channel_t chan, uint64_t usec, uint8_t fix_type, float lat, float lon, float alt, float eph, float epv, float v, float hdg)
{
mavlink_message_t msg;
mavlink_msg_gps_raw_pack(mavlink_system.sysid, mavlink_system.compid, &msg, usec, fix_type, lat, lon, alt, eph, epv, v, hdg);
mavlink_msg_gps_raw_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, usec, fix_type, lat, lon, alt, eph, epv, v, hdg);
mavlink_send_uart(chan, &msg);
}

17
libraries/GCS_MAVLink/include/common/mavlink_msg_gps_status.h
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@ -46,6 +46,21 @@ static inline uint16_t mavlink_msg_gps_status_pack(uint8_t system_id, uint8_t co
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_gps_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t satellites_visible, const int8_t* satellite_prn, const int8_t* satellite_used, const int8_t* satellite_elevation, const int8_t* satellite_azimuth, const int8_t* satellite_snr)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_GPS_STATUS;
i += put_uint8_t_by_index(satellites_visible, i, msg->payload); //Number of satellites visible
i += put_array_by_index(satellite_prn, 20, i, msg->payload); //Global satellite ID
i += put_array_by_index(satellite_used, 20, i, msg->payload); //0: Satellite not used, 1: used for localization
i += put_array_by_index(satellite_elevation, 20, i, msg->payload); //Elevation (0: right on top of receiver, 90: on the horizon) of satellite
i += put_array_by_index(satellite_azimuth, 20, i, msg->payload); //Direction of satellite, 0: 0 deg, 255: 360 deg.
i += put_array_by_index(satellite_snr, 20, i, msg->payload); //Signal to noise ratio of satellite
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_gps_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps_status_t* gps_status)
{
return mavlink_msg_gps_status_pack(system_id, component_id, msg, gps_status->satellites_visible, gps_status->satellite_prn, gps_status->satellite_used, gps_status->satellite_elevation, gps_status->satellite_azimuth, gps_status->satellite_snr);
@ -56,7 +71,7 @@ static inline uint16_t mavlink_msg_gps_status_encode(uint8_t system_id, uint8_t
static inline void mavlink_msg_gps_status_send(mavlink_channel_t chan, uint8_t satellites_visible, const int8_t* satellite_prn, const int8_t* satellite_used, const int8_t* satellite_elevation, const int8_t* satellite_azimuth, const int8_t* satellite_snr)
{
mavlink_message_t msg;
mavlink_msg_gps_status_pack(mavlink_system.sysid, mavlink_system.compid, &msg, satellites_visible, satellite_prn, satellite_used, satellite_elevation, satellite_azimuth, satellite_snr);
mavlink_msg_gps_status_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, satellites_visible, satellite_prn, satellite_used, satellite_elevation, satellite_azimuth, satellite_snr);
mavlink_send_uart(chan, &msg);
}

13
libraries/GCS_MAVLink/include/common/mavlink_msg_heartbeat.h
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@ -29,6 +29,17 @@ static inline uint16_t mavlink_msg_heartbeat_pack(uint8_t system_id, uint8_t com
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_heartbeat_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t type, uint8_t autopilot)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_HEARTBEAT;
i += put_uint8_t_by_index(type, i, msg->payload); //Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
i += put_uint8_t_by_index(autopilot, i, msg->payload); //Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_heartbeat_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_heartbeat_t* heartbeat)
{
return mavlink_msg_heartbeat_pack(system_id, component_id, msg, heartbeat->type, heartbeat->autopilot);
@ -39,7 +50,7 @@ static inline uint16_t mavlink_msg_heartbeat_encode(uint8_t system_id, uint8_t c
static inline void mavlink_msg_heartbeat_send(mavlink_channel_t chan, uint8_t type, uint8_t autopilot)
{
mavlink_message_t msg;
mavlink_msg_heartbeat_pack(mavlink_system.sysid, mavlink_system.compid, &msg, type, autopilot);
mavlink_msg_heartbeat_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, type, autopilot);
mavlink_send_uart(chan, &msg);
}

18
libraries/GCS_MAVLink/include/common/mavlink_msg_local_position.h
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@ -44,6 +44,22 @@ static inline uint16_t mavlink_msg_local_position_pack(uint8_t system_id, uint8_
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_local_position_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t usec, float x, float y, float z, float vx, float vy, float vz)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION;
i += put_uint64_t_by_index(usec, i, msg->payload); //Timestamp (microseconds since unix epoch)
i += put_float_by_index(x, i, msg->payload); //X Position
i += put_float_by_index(y, i, msg->payload); //Y Position
i += put_float_by_index(z, i, msg->payload); //Z Position
i += put_float_by_index(vx, i, msg->payload); //X Speed
i += put_float_by_index(vy, i, msg->payload); //Y Speed
i += put_float_by_index(vz, i, msg->payload); //Z Speed
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_local_position_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_local_position_t* local_position)
{
return mavlink_msg_local_position_pack(system_id, component_id, msg, local_position->usec, local_position->x, local_position->y, local_position->z, local_position->vx, local_position->vy, local_position->vz);
@ -54,7 +70,7 @@ static inline uint16_t mavlink_msg_local_position_encode(uint8_t system_id, uint
static inline void mavlink_msg_local_position_send(mavlink_channel_t chan, uint64_t usec, float x, float y, float z, float vx, float vy, float vz)
{
mavlink_message_t msg;
mavlink_msg_local_position_pack(mavlink_system.sysid, mavlink_system.compid, &msg, usec, x, y, z, vx, vy, vz);
mavlink_msg_local_position_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, usec, x, y, z, vx, vy, vz);
mavlink_send_uart(chan, &msg);
}

15
libraries/GCS_MAVLink/include/common/mavlink_msg_local_position_setpoint.h
View File

@ -35,6 +35,19 @@ static inline uint16_t mavlink_msg_local_position_setpoint_pack(uint8_t system_i
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_local_position_setpoint_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, float x, float y, float z, float yaw)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT;
i += put_float_by_index(x, i, msg->payload); //x position 1
i += put_float_by_index(y, i, msg->payload); //y position 1
i += put_float_by_index(z, i, msg->payload); //z position 1
i += put_float_by_index(yaw, i, msg->payload); //x position 2
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_local_position_setpoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_local_position_setpoint_t* local_position_setpoint)
{
return mavlink_msg_local_position_setpoint_pack(system_id, component_id, msg, local_position_setpoint->x, local_position_setpoint->y, local_position_setpoint->z, local_position_setpoint->yaw);
@ -45,7 +58,7 @@ static inline uint16_t mavlink_msg_local_position_setpoint_encode(uint8_t system
static inline void mavlink_msg_local_position_setpoint_send(mavlink_channel_t chan, float x, float y, float z, float yaw)
{
mavlink_message_t msg;
mavlink_msg_local_position_setpoint_pack(mavlink_system.sysid, mavlink_system.compid, &msg, x, y, z, yaw);
mavlink_msg_local_position_setpoint_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, x, y, z, yaw);
mavlink_send_uart(chan, &msg);
}

17
libraries/GCS_MAVLink/include/common/mavlink_msg_local_position_setpoint_set.h
View File

@ -41,6 +41,21 @@ static inline uint16_t mavlink_msg_local_position_setpoint_set_pack(uint8_t syst
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_local_position_setpoint_set_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, float x, float y, float z, float yaw)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_SET;
i += put_uint8_t_by_index(target_system, i, msg->payload); //System ID
i += put_uint8_t_by_index(target_component, i, msg->payload); //Component ID
i += put_float_by_index(x, i, msg->payload); //x position 1
i += put_float_by_index(y, i, msg->payload); //y position 1
i += put_float_by_index(z, i, msg->payload); //z position 1
i += put_float_by_index(yaw, i, msg->payload); //x position 2
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_local_position_setpoint_set_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_local_position_setpoint_set_t* local_position_setpoint_set)
{
return mavlink_msg_local_position_setpoint_set_pack(system_id, component_id, msg, local_position_setpoint_set->target_system, local_position_setpoint_set->target_component, local_position_setpoint_set->x, local_position_setpoint_set->y, local_position_setpoint_set->z, local_position_setpoint_set->yaw);
@ -51,7 +66,7 @@ static inline uint16_t mavlink_msg_local_position_setpoint_set_encode(uint8_t sy
static inline void mavlink_msg_local_position_setpoint_set_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, float x, float y, float z, float yaw)
{
mavlink_message_t msg;
mavlink_msg_local_position_setpoint_set_pack(mavlink_system.sysid, mavlink_system.compid, &msg, target_system, target_component, x, y, z, yaw);
mavlink_msg_local_position_setpoint_set_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, x, y, z, yaw);
mavlink_send_uart(chan, &msg);
}

20
libraries/GCS_MAVLink/include/common/mavlink_msg_manual_control.h
View File

@ -50,6 +50,24 @@ static inline uint16_t mavlink_msg_manual_control_pack(uint8_t system_id, uint8_
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_manual_control_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target, float roll, float pitch, float yaw, float thrust, uint8_t roll_manual, uint8_t pitch_manual, uint8_t yaw_manual, uint8_t thrust_manual)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_MANUAL_CONTROL;
i += put_uint8_t_by_index(target, i, msg->payload); //The system to be controlled
i += put_float_by_index(roll, i, msg->payload); //roll
i += put_float_by_index(pitch, i, msg->payload); //pitch
i += put_float_by_index(yaw, i, msg->payload); //yaw
i += put_float_by_index(thrust, i, msg->payload); //thrust
i += put_uint8_t_by_index(roll_manual, i, msg->payload); //roll control enabled auto:0, manual:1
i += put_uint8_t_by_index(pitch_manual, i, msg->payload); //pitch auto:0, manual:1
i += put_uint8_t_by_index(yaw_manual, i, msg->payload); //yaw auto:0, manual:1
i += put_uint8_t_by_index(thrust_manual, i, msg->payload); //thrust auto:0, manual:1
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_manual_control_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_manual_control_t* manual_control)
{
return mavlink_msg_manual_control_pack(system_id, component_id, msg, manual_control->target, manual_control->roll, manual_control->pitch, manual_control->yaw, manual_control->thrust, manual_control->roll_manual, manual_control->pitch_manual, manual_control->yaw_manual, manual_control->thrust_manual);
@ -60,7 +78,7 @@ static inline uint16_t mavlink_msg_manual_control_encode(uint8_t system_id, uint
static inline void mavlink_msg_manual_control_send(mavlink_channel_t chan, uint8_t target, float roll, float pitch, float yaw, float thrust, uint8_t roll_manual, uint8_t pitch_manual, uint8_t yaw_manual, uint8_t thrust_manual)
{
mavlink_message_t msg;
mavlink_msg_manual_control_pack(mavlink_system.sysid, mavlink_system.compid, &msg, target, roll, pitch, yaw, thrust, roll_manual, pitch_manual, yaw_manual, thrust_manual);
mavlink_msg_manual_control_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target, roll, pitch, yaw, thrust, roll_manual, pitch_manual, yaw_manual, thrust_manual);
mavlink_send_uart(chan, &msg);
}

13
libraries/GCS_MAVLink/include/common/mavlink_msg_param_request_list.h
View File

@ -29,6 +29,17 @@ static inline uint16_t mavlink_msg_param_request_list_pack(uint8_t system_id, ui
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_param_request_list_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 i = 0;
msg->msgid = MAVLINK_MSG_ID_PARAM_REQUEST_LIST;
i += put_uint8_t_by_index(target_system, i, msg->payload); //System ID
i += put_uint8_t_by_index(target_component, i, msg->payload); //Component ID
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_param_request_list_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_param_request_list_t* param_request_list)
{
return mavlink_msg_param_request_list_pack(system_id, component_id, msg, param_request_list->target_system, param_request_list->target_component);
@ -39,7 +50,7 @@ static inline uint16_t mavlink_msg_param_request_list_encode(uint8_t system_id,
static inline void mavlink_msg_param_request_list_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component)
{
mavlink_message_t msg;
mavlink_msg_param_request_list_pack(mavlink_system.sysid, mavlink_system.compid, &msg, target_system, target_component);
mavlink_msg_param_request_list_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component);
mavlink_send_uart(chan, &msg);
}

15
libraries/GCS_MAVLink/include/common/mavlink_msg_param_request_read.h
View File

@ -36,6 +36,19 @@ static inline uint16_t mavlink_msg_param_request_read_pack(uint8_t system_id, ui
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_param_request_read_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, const int8_t* param_id, uint16_t param_index)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_PARAM_REQUEST_READ;
i += put_uint8_t_by_index(target_system, i, msg->payload); //System ID
i += put_uint8_t_by_index(target_component, i, msg->payload); //Component ID
i += put_array_by_index(param_id, 15, i, msg->payload); //Onboard parameter id
i += put_uint16_t_by_index(param_index, i, msg->payload); //Parameter index
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_param_request_read_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_param_request_read_t* param_request_read)
{
return mavlink_msg_param_request_read_pack(system_id, component_id, msg, param_request_read->target_system, param_request_read->target_component, param_request_read->param_id, param_request_read->param_index);
@ -46,7 +59,7 @@ static inline uint16_t mavlink_msg_param_request_read_encode(uint8_t system_id,
static inline void mavlink_msg_param_request_read_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, const int8_t* param_id, uint16_t param_index)
{
mavlink_message_t msg;
mavlink_msg_param_request_read_pack(mavlink_system.sysid, mavlink_system.compid, &msg, target_system, target_component, param_id, param_index);
mavlink_msg_param_request_read_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, param_id, param_index);
mavlink_send_uart(chan, &msg);
}

15
libraries/GCS_MAVLink/include/common/mavlink_msg_param_set.h
View File

@ -36,6 +36,19 @@ static inline uint16_t mavlink_msg_param_set_pack(uint8_t system_id, uint8_t com
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_param_set_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, const int8_t* param_id, float param_value)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_PARAM_SET;
i += put_uint8_t_by_index(target_system, i, msg->payload); //System ID
i += put_uint8_t_by_index(target_component, i, msg->payload); //Component ID
i += put_array_by_index(param_id, 15, i, msg->payload); //Onboard parameter id
i += put_float_by_index(param_value, i, msg->payload); //Onboard parameter value
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_param_set_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_param_set_t* param_set)
{
return mavlink_msg_param_set_pack(system_id, component_id, msg, param_set->target_system, param_set->target_component, param_set->param_id, param_set->param_value);
@ -46,7 +59,7 @@ static inline uint16_t mavlink_msg_param_set_encode(uint8_t system_id, uint8_t c
static inline void mavlink_msg_param_set_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, const int8_t* param_id, float param_value)
{
mavlink_message_t msg;
mavlink_msg_param_set_pack(mavlink_system.sysid, mavlink_system.compid, &msg, target_system, target_component, param_id, param_value);
mavlink_msg_param_set_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, param_id, param_value);
mavlink_send_uart(chan, &msg);
}

15
libraries/GCS_MAVLink/include/common/mavlink_msg_param_value.h
View File

@ -36,6 +36,19 @@ static inline uint16_t mavlink_msg_param_value_pack(uint8_t system_id, uint8_t c
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_param_value_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const int8_t* param_id, float param_value, uint16_t param_count, uint16_t param_index)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_PARAM_VALUE;
i += put_array_by_index(param_id, 15, i, msg->payload); //Onboard parameter id
i += put_float_by_index(param_value, i, msg->payload); //Onboard parameter value
i += put_uint16_t_by_index(param_count, i, msg->payload); //Total number of onboard parameters
i += put_uint16_t_by_index(param_index, i, msg->payload); //Index of this onboard parameter
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_param_value_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_param_value_t* param_value)
{
return mavlink_msg_param_value_pack(system_id, component_id, msg, param_value->param_id, param_value->param_value, param_value->param_count, param_value->param_index);
@ -46,7 +59,7 @@ static inline uint16_t mavlink_msg_param_value_encode(uint8_t system_id, uint8_t
static inline void mavlink_msg_param_value_send(mavlink_channel_t chan, const int8_t* param_id, float param_value, uint16_t param_count, uint16_t param_index)
{
mavlink_message_t msg;
mavlink_msg_param_value_pack(mavlink_system.sysid, mavlink_system.compid, &msg, param_id, param_value, param_count, param_index);
mavlink_msg_param_value_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, param_id, param_value, param_count, param_index);
mavlink_send_uart(chan, &msg);
}

15
libraries/GCS_MAVLink/include/common/mavlink_msg_ping.h
View File

@ -35,6 +35,19 @@ static inline uint16_t mavlink_msg_ping_pack(uint8_t system_id, uint8_t componen
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_ping_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint32_t seq, uint8_t target_system, uint8_t target_component, uint64_t time)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_PING;
i += put_uint32_t_by_index(seq, i, msg->payload); //PING sequence
i += put_uint8_t_by_index(target_system, i, msg->payload); //0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system
i += put_uint8_t_by_index(target_component, i, msg->payload); //0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system
i += put_uint64_t_by_index(time, i, msg->payload); //Unix timestamp in microseconds
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_ping_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_ping_t* ping)
{
return mavlink_msg_ping_pack(system_id, component_id, msg, ping->seq, ping->target_system, ping->target_component, ping->time);
@ -45,7 +58,7 @@ static inline uint16_t mavlink_msg_ping_encode(uint8_t system_id, uint8_t compon
static inline void mavlink_msg_ping_send(mavlink_channel_t chan, uint32_t seq, uint8_t target_system, uint8_t target_component, uint64_t time)
{
mavlink_message_t msg;
mavlink_msg_ping_pack(mavlink_system.sysid, mavlink_system.compid, &msg, seq, target_system, target_component, time);
mavlink_msg_ping_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, seq, target_system, target_component, time);
mavlink_send_uart(chan, &msg);
}

16
libraries/GCS_MAVLink/include/common/mavlink_msg_position_controller_output.h
View File

@ -38,6 +38,20 @@ static inline uint16_t mavlink_msg_position_controller_output_pack(uint8_t syste
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_position_controller_output_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t enabled, int8_t x, int8_t y, int8_t z, int8_t yaw)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_POSITION_CONTROLLER_OUTPUT;
i += put_uint8_t_by_index(enabled, i, msg->payload); //1: enabled, 0: disabled
i += put_int8_t_by_index(x, i, msg->payload); //Position x: -128: -100%, 127: +100%
i += put_int8_t_by_index(y, i, msg->payload); //Position y: -128: -100%, 127: +100%
i += put_int8_t_by_index(z, i, msg->payload); //Position z: -128: -100%, 127: +100%
i += put_int8_t_by_index(yaw, i, msg->payload); //Position yaw: -128: -100%, 127: +100%
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_position_controller_output_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_position_controller_output_t* position_controller_output)
{
return mavlink_msg_position_controller_output_pack(system_id, component_id, msg, position_controller_output->enabled, position_controller_output->x, position_controller_output->y, position_controller_output->z, position_controller_output->yaw);
@ -48,7 +62,7 @@ static inline uint16_t mavlink_msg_position_controller_output_encode(uint8_t sys
static inline void mavlink_msg_position_controller_output_send(mavlink_channel_t chan, uint8_t enabled, int8_t x, int8_t y, int8_t z, int8_t yaw)
{
mavlink_message_t msg;
mavlink_msg_position_controller_output_pack(mavlink_system.sysid, mavlink_system.compid, &msg, enabled, x, y, z, yaw);
mavlink_msg_position_controller_output_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, enabled, x, y, z, yaw);
mavlink_send_uart(chan, &msg);
}

15
libraries/GCS_MAVLink/include/common/mavlink_msg_position_target.h
View File

@ -35,6 +35,19 @@ static inline uint16_t mavlink_msg_position_target_pack(uint8_t system_id, uint8
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_position_target_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, float x, float y, float z, float yaw)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_POSITION_TARGET;
i += put_float_by_index(x, i, msg->payload); //x position
i += put_float_by_index(y, i, msg->payload); //y position
i += put_float_by_index(z, i, msg->payload); //z position
i += put_float_by_index(yaw, i, msg->payload); //yaw orientation in radians, 0 = NORTH
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_position_target_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_position_target_t* position_target)
{
return mavlink_msg_position_target_pack(system_id, component_id, msg, position_target->x, position_target->y, position_target->z, position_target->yaw);
@ -45,7 +58,7 @@ static inline uint16_t mavlink_msg_position_target_encode(uint8_t system_id, uin
static inline void mavlink_msg_position_target_send(mavlink_channel_t chan, float x, float y, float z, float yaw)
{
mavlink_message_t msg;
mavlink_msg_position_target_pack(mavlink_system.sysid, mavlink_system.compid, &msg, x, y, z, yaw);
mavlink_msg_position_target_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, x, y, z, yaw);
mavlink_send_uart(chan, &msg);
}

21
libraries/GCS_MAVLink/include/common/mavlink_msg_raw_imu.h
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@ -53,6 +53,25 @@ static inline uint16_t mavlink_msg_raw_imu_pack(uint8_t system_id, uint8_t compo
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_raw_imu_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t usec, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_RAW_IMU;
i += put_uint64_t_by_index(usec, i, msg->payload); //Timestamp (microseconds since UNIX epoch)
i += put_int16_t_by_index(xacc, i, msg->payload); //X acceleration (mg raw)
i += put_int16_t_by_index(yacc, i, msg->payload); //Y acceleration (mg raw)
i += put_int16_t_by_index(zacc, i, msg->payload); //Z acceleration (mg raw)
i += put_int16_t_by_index(xgyro, i, msg->payload); //Angular speed around X axis (millirad /sec)
i += put_int16_t_by_index(ygyro, i, msg->payload); //Angular speed around Y axis (millirad /sec)
i += put_int16_t_by_index(zgyro, i, msg->payload); //Angular speed around Z axis (millirad /sec)
i += put_int16_t_by_index(xmag, i, msg->payload); //X Magnetic field (milli tesla)
i += put_int16_t_by_index(ymag, i, msg->payload); //Y Magnetic field (milli tesla)
i += put_int16_t_by_index(zmag, i, msg->payload); //Z Magnetic field (milli tesla)
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_raw_imu_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_raw_imu_t* raw_imu)
{
return mavlink_msg_raw_imu_pack(system_id, component_id, msg, raw_imu->usec, raw_imu->xacc, raw_imu->yacc, raw_imu->zacc, raw_imu->xgyro, raw_imu->ygyro, raw_imu->zgyro, raw_imu->xmag, raw_imu->ymag, raw_imu->zmag);
@ -63,7 +82,7 @@ static inline uint16_t mavlink_msg_raw_imu_encode(uint8_t system_id, uint8_t com
static inline void mavlink_msg_raw_imu_send(mavlink_channel_t chan, uint64_t usec, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)
{
mavlink_message_t msg;
mavlink_msg_raw_imu_pack(mavlink_system.sysid, mavlink_system.compid, &msg, usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag);
mavlink_msg_raw_imu_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag);
mavlink_send_uart(chan, &msg);
}

15
libraries/GCS_MAVLink/include/common/mavlink_msg_raw_pressure.h
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@ -35,6 +35,19 @@ static inline uint16_t mavlink_msg_raw_pressure_pack(uint8_t system_id, uint8_t
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_raw_pressure_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t usec, int32_t press_abs, int32_t press_diff1, int32_t press_diff2)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_RAW_PRESSURE;
i += put_uint64_t_by_index(usec, i, msg->payload); //Timestamp (microseconds since UNIX epoch)
i += put_int32_t_by_index(press_abs, i, msg->payload); //Absolute pressure (hectopascal)
i += put_int32_t_by_index(press_diff1, i, msg->payload); //Differential pressure 1 (hectopascal)
i += put_int32_t_by_index(press_diff2, i, msg->payload); //Differential pressure 2 (hectopascal)
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_raw_pressure_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_raw_pressure_t* raw_pressure)
{
return mavlink_msg_raw_pressure_pack(system_id, component_id, msg, raw_pressure->usec, raw_pressure->press_abs, raw_pressure->press_diff1, raw_pressure->press_diff2);
@ -45,7 +58,7 @@ static inline uint16_t mavlink_msg_raw_pressure_encode(uint8_t system_id, uint8_
static inline void mavlink_msg_raw_pressure_send(mavlink_channel_t chan, uint64_t usec, int32_t press_abs, int32_t press_diff1, int32_t press_diff2)
{
mavlink_message_t msg;
mavlink_msg_raw_pressure_pack(mavlink_system.sysid, mavlink_system.compid, &msg, usec, press_abs, press_diff1, press_diff2);
mavlink_msg_raw_pressure_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, usec, press_abs, press_diff1, press_diff2);
mavlink_send_uart(chan, &msg);
}

20
libraries/GCS_MAVLink/include/common/mavlink_msg_rc_channels_raw.h
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@ -50,6 +50,24 @@ static inline uint16_t mavlink_msg_rc_channels_raw_pack(uint8_t system_id, uint8
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_rc_channels_raw_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, 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, uint8_t rssi)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_RC_CHANNELS_RAW;
i += put_uint16_t_by_index(chan1_raw, i, msg->payload); //RC channel 1 value, in microseconds
i += put_uint16_t_by_index(chan2_raw, i, msg->payload); //RC channel 2 value, in microseconds
i += put_uint16_t_by_index(chan3_raw, i, msg->payload); //RC channel 3 value, in microseconds
i += put_uint16_t_by_index(chan4_raw, i, msg->payload); //RC channel 4 value, in microseconds
i += put_uint16_t_by_index(chan5_raw, i, msg->payload); //RC channel 5 value, in microseconds
i += put_uint16_t_by_index(chan6_raw, i, msg->payload); //RC channel 6 value, in microseconds
i += put_uint16_t_by_index(chan7_raw, i, msg->payload); //RC channel 7 value, in microseconds
i += put_uint16_t_by_index(chan8_raw, i, msg->payload); //RC channel 8 value, in microseconds
i += put_uint8_t_by_index(rssi, i, msg->payload); //Receive signal strength indicator, 0: 0%, 255: 100%
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_rc_channels_raw_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_rc_channels_raw_t* rc_channels_raw)
{
return mavlink_msg_rc_channels_raw_pack(system_id, component_id, msg, rc_channels_raw->chan1_raw, rc_channels_raw->chan2_raw, rc_channels_raw->chan3_raw, rc_channels_raw->chan4_raw, rc_channels_raw->chan5_raw, rc_channels_raw->chan6_raw, rc_channels_raw->chan7_raw, rc_channels_raw->chan8_raw, rc_channels_raw->rssi);
@ -60,7 +78,7 @@ static inline uint16_t mavlink_msg_rc_channels_raw_encode(uint8_t system_id, uin
static inline void mavlink_msg_rc_channels_raw_send(mavlink_channel_t chan, 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, uint8_t rssi)
{
mavlink_message_t msg;
mavlink_msg_rc_channels_raw_pack(mavlink_system.sysid, mavlink_system.compid, &msg, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw, rssi);
mavlink_msg_rc_channels_raw_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw, rssi);
mavlink_send_uart(chan, &msg);
}

20
libraries/GCS_MAVLink/include/common/mavlink_msg_rc_channels_scaled.h
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@ -50,6 +50,24 @@ static inline uint16_t mavlink_msg_rc_channels_scaled_pack(uint8_t system_id, ui
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_rc_channels_scaled_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, int16_t chan1_scaled, int16_t chan2_scaled, int16_t chan3_scaled, int16_t chan4_scaled, int16_t chan5_scaled, int16_t chan6_scaled, int16_t chan7_scaled, int16_t chan8_scaled, uint8_t rssi)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_RC_CHANNELS_SCALED;
i += put_int16_t_by_index(chan1_scaled, i, msg->payload); //RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
i += put_int16_t_by_index(chan2_scaled, i, msg->payload); //RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
i += put_int16_t_by_index(chan3_scaled, i, msg->payload); //RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
i += put_int16_t_by_index(chan4_scaled, i, msg->payload); //RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
i += put_int16_t_by_index(chan5_scaled, i, msg->payload); //RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
i += put_int16_t_by_index(chan6_scaled, i, msg->payload); //RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
i += put_int16_t_by_index(chan7_scaled, i, msg->payload); //RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
i += put_int16_t_by_index(chan8_scaled, i, msg->payload); //RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
i += put_uint8_t_by_index(rssi, i, msg->payload); //Receive signal strength indicator, 0: 0%, 255: 100%
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_rc_channels_scaled_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_rc_channels_scaled_t* rc_channels_scaled)
{
return mavlink_msg_rc_channels_scaled_pack(system_id, component_id, msg, rc_channels_scaled->chan1_scaled, rc_channels_scaled->chan2_scaled, rc_channels_scaled->chan3_scaled, rc_channels_scaled->chan4_scaled, rc_channels_scaled->chan5_scaled, rc_channels_scaled->chan6_scaled, rc_channels_scaled->chan7_scaled, rc_channels_scaled->chan8_scaled, rc_channels_scaled->rssi);
@ -60,7 +78,7 @@ static inline uint16_t mavlink_msg_rc_channels_scaled_encode(uint8_t system_id,
static inline void mavlink_msg_rc_channels_scaled_send(mavlink_channel_t chan, int16_t chan1_scaled, int16_t chan2_scaled, int16_t chan3_scaled, int16_t chan4_scaled, int16_t chan5_scaled, int16_t chan6_scaled, int16_t chan7_scaled, int16_t chan8_scaled, uint8_t rssi)
{
mavlink_message_t msg;
mavlink_msg_rc_channels_scaled_pack(mavlink_system.sysid, mavlink_system.compid, &msg, chan1_scaled, chan2_scaled, chan3_scaled, chan4_scaled, chan5_scaled, chan6_scaled, chan7_scaled, chan8_scaled, rssi);
mavlink_msg_rc_channels_scaled_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, chan1_scaled, chan2_scaled, chan3_scaled, chan4_scaled, chan5_scaled, chan6_scaled, chan7_scaled, chan8_scaled, rssi);
mavlink_send_uart(chan, &msg);
}

16
libraries/GCS_MAVLink/include/common/mavlink_msg_request_data_stream.h
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@ -38,6 +38,20 @@ static inline uint16_t mavlink_msg_request_data_stream_pack(uint8_t system_id, u
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_request_data_stream_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, uint8_t req_stream_id, uint16_t req_message_rate, uint8_t start_stop)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_REQUEST_DATA_STREAM;
i += put_uint8_t_by_index(target_system, i, msg->payload); //The target requested to send the message stream.
i += put_uint8_t_by_index(target_component, i, msg->payload); //The target requested to send the message stream.
i += put_uint8_t_by_index(req_stream_id, i, msg->payload); //The ID of the requested message type
i += put_uint16_t_by_index(req_message_rate, i, msg->payload); //The requested interval between two messages of this type
i += put_uint8_t_by_index(start_stop, i, msg->payload); //1 to start sending, 0 to stop sending.
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_request_data_stream_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_request_data_stream_t* request_data_stream)
{
return mavlink_msg_request_data_stream_pack(system_id, component_id, msg, request_data_stream->target_system, request_data_stream->target_component, request_data_stream->req_stream_id, request_data_stream->req_message_rate, request_data_stream->start_stop);
@ -48,7 +62,7 @@ static inline uint16_t mavlink_msg_request_data_stream_encode(uint8_t system_id,
static inline void mavlink_msg_request_data_stream_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t req_stream_id, uint16_t req_message_rate, uint8_t start_stop)
{
mavlink_message_t msg;
mavlink_msg_request_data_stream_pack(mavlink_system.sysid, mavlink_system.compid, &msg, target_system, target_component, req_stream_id, req_message_rate, start_stop);
mavlink_msg_request_data_stream_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, req_stream_id, req_message_rate, start_stop);
mavlink_send_uart(chan, &msg);
}

16
libraries/GCS_MAVLink/include/common/mavlink_msg_request_dynamic_gyro_calibration.h
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@ -38,6 +38,20 @@ static inline uint16_t mavlink_msg_request_dynamic_gyro_calibration_pack(uint8_t
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_request_dynamic_gyro_calibration_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, float mode, uint8_t axis, uint16_t time)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_REQUEST_DYNAMIC_GYRO_CALIBRATION;
i += put_uint8_t_by_index(target_system, i, msg->payload); //The system which should auto-calibrate
i += put_uint8_t_by_index(target_component, i, msg->payload); //The system component which should auto-calibrate
i += put_float_by_index(mode, i, msg->payload); //The current ground-truth rpm
i += put_uint8_t_by_index(axis, i, msg->payload); //The axis to calibrate: 0 roll, 1 pitch, 2 yaw
i += put_uint16_t_by_index(time, i, msg->payload); //The time to average over in ms
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_request_dynamic_gyro_calibration_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_request_dynamic_gyro_calibration_t* request_dynamic_gyro_calibration)
{
return mavlink_msg_request_dynamic_gyro_calibration_pack(system_id, component_id, msg, request_dynamic_gyro_calibration->target_system, request_dynamic_gyro_calibration->target_component, request_dynamic_gyro_calibration->mode, request_dynamic_gyro_calibration->axis, request_dynamic_gyro_calibration->time);
@ -48,7 +62,7 @@ static inline uint16_t mavlink_msg_request_dynamic_gyro_calibration_encode(uint8
static inline void mavlink_msg_request_dynamic_gyro_calibration_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, float mode, uint8_t axis, uint16_t time)
{
mavlink_message_t msg;
mavlink_msg_request_dynamic_gyro_calibration_pack(mavlink_system.sysid, mavlink_system.compid, &msg, target_system, target_component, mode, axis, time);
mavlink_msg_request_dynamic_gyro_calibration_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, mode, axis, time);
mavlink_send_uart(chan, &msg);
}

14
libraries/GCS_MAVLink/include/common/mavlink_msg_request_static_calibration.h
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@ -32,6 +32,18 @@ static inline uint16_t mavlink_msg_request_static_calibration_pack(uint8_t syste
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_request_static_calibration_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 time)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_REQUEST_STATIC_CALIBRATION;
i += put_uint8_t_by_index(target_system, i, msg->payload); //The system which should auto-calibrate
i += put_uint8_t_by_index(target_component, i, msg->payload); //The system component which should auto-calibrate
i += put_uint16_t_by_index(time, i, msg->payload); //The time to average over in ms
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_request_static_calibration_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_request_static_calibration_t* request_static_calibration)
{
return mavlink_msg_request_static_calibration_pack(system_id, component_id, msg, request_static_calibration->target_system, request_static_calibration->target_component, request_static_calibration->time);
@ -42,7 +54,7 @@ static inline uint16_t mavlink_msg_request_static_calibration_encode(uint8_t sys
static inline void mavlink_msg_request_static_calibration_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t time)
{
mavlink_message_t msg;
mavlink_msg_request_static_calibration_pack(mavlink_system.sysid, mavlink_system.compid, &msg, target_system, target_component, time);
mavlink_msg_request_static_calibration_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, time);
mavlink_send_uart(chan, &msg);
}

13
libraries/GCS_MAVLink/include/common/mavlink_msg_set_altitude.h
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@ -29,6 +29,17 @@ static inline uint16_t mavlink_msg_set_altitude_pack(uint8_t system_id, uint8_t
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_set_altitude_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target, uint32_t mode)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_SET_ALTITUDE;
i += put_uint8_t_by_index(target, i, msg->payload); //The system setting the altitude
i += put_uint32_t_by_index(mode, i, msg->payload); //The new altitude in meters
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_set_altitude_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_altitude_t* set_altitude)
{
return mavlink_msg_set_altitude_pack(system_id, component_id, msg, set_altitude->target, set_altitude->mode);
@ -39,7 +50,7 @@ static inline uint16_t mavlink_msg_set_altitude_encode(uint8_t system_id, uint8_
static inline void mavlink_msg_set_altitude_send(mavlink_channel_t chan, uint8_t target, uint32_t mode)
{
mavlink_message_t msg;
mavlink_msg_set_altitude_pack(mavlink_system.sysid, mavlink_system.compid, &msg, target, mode);
mavlink_msg_set_altitude_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target, mode);
mavlink_send_uart(chan, &msg);
}

13
libraries/GCS_MAVLink/include/common/mavlink_msg_set_mode.h
View File

@ -29,6 +29,17 @@ static inline uint16_t mavlink_msg_set_mode_pack(uint8_t system_id, uint8_t comp
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_set_mode_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target, uint8_t mode)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_SET_MODE;
i += put_uint8_t_by_index(target, i, msg->payload); //The system setting the mode
i += put_uint8_t_by_index(mode, i, msg->payload); //The new mode
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_set_mode_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_mode_t* set_mode)
{
return mavlink_msg_set_mode_pack(system_id, component_id, msg, set_mode->target, set_mode->mode);
@ -39,7 +50,7 @@ static inline uint16_t mavlink_msg_set_mode_encode(uint8_t system_id, uint8_t co
static inline void mavlink_msg_set_mode_send(mavlink_channel_t chan, uint8_t target, uint8_t mode)
{
mavlink_message_t msg;
mavlink_msg_set_mode_pack(mavlink_system.sysid, mavlink_system.compid, &msg, target, mode);
mavlink_msg_set_mode_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target, mode);
mavlink_send_uart(chan, &msg);
}

13
libraries/GCS_MAVLink/include/common/mavlink_msg_set_nav_mode.h
View File

@ -29,6 +29,17 @@ static inline uint16_t mavlink_msg_set_nav_mode_pack(uint8_t system_id, uint8_t
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_set_nav_mode_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target, uint8_t nav_mode)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_SET_NAV_MODE;
i += put_uint8_t_by_index(target, i, msg->payload); //The system setting the mode
i += put_uint8_t_by_index(nav_mode, i, msg->payload); //The new navigation mode
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_set_nav_mode_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_nav_mode_t* set_nav_mode)
{
return mavlink_msg_set_nav_mode_pack(system_id, component_id, msg, set_nav_mode->target, set_nav_mode->nav_mode);
@ -39,7 +50,7 @@ static inline uint16_t mavlink_msg_set_nav_mode_encode(uint8_t system_id, uint8_
static inline void mavlink_msg_set_nav_mode_send(mavlink_channel_t chan, uint8_t target, uint8_t nav_mode)
{
mavlink_message_t msg;
mavlink_msg_set_nav_mode_pack(mavlink_system.sysid, mavlink_system.compid, &msg, target, nav_mode);
mavlink_msg_set_nav_mode_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target, nav_mode);
mavlink_send_uart(chan, &msg);
}

20
libraries/GCS_MAVLink/include/common/mavlink_msg_state_correction.h
View File

@ -50,6 +50,24 @@ static inline uint16_t mavlink_msg_state_correction_pack(uint8_t system_id, uint
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_state_correction_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, float xErr, float yErr, float zErr, float rollErr, float pitchErr, float yawErr, float vxErr, float vyErr, float vzErr)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_STATE_CORRECTION;
i += put_float_by_index(xErr, i, msg->payload); //x position error
i += put_float_by_index(yErr, i, msg->payload); //y position error
i += put_float_by_index(zErr, i, msg->payload); //z position error
i += put_float_by_index(rollErr, i, msg->payload); //roll error (radians)
i += put_float_by_index(pitchErr, i, msg->payload); //pitch error (radians)
i += put_float_by_index(yawErr, i, msg->payload); //yaw error (radians)
i += put_float_by_index(vxErr, i, msg->payload); //x velocity
i += put_float_by_index(vyErr, i, msg->payload); //y velocity
i += put_float_by_index(vzErr, i, msg->payload); //z velocity
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_state_correction_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_state_correction_t* state_correction)
{
return mavlink_msg_state_correction_pack(system_id, component_id, msg, state_correction->xErr, state_correction->yErr, state_correction->zErr, state_correction->rollErr, state_correction->pitchErr, state_correction->yawErr, state_correction->vxErr, state_correction->vyErr, state_correction->vzErr);
@ -60,7 +78,7 @@ static inline uint16_t mavlink_msg_state_correction_encode(uint8_t system_id, ui
static inline void mavlink_msg_state_correction_send(mavlink_channel_t chan, float xErr, float yErr, float zErr, float rollErr, float pitchErr, float yawErr, float vxErr, float vyErr, float vzErr)
{
mavlink_message_t msg;
mavlink_msg_state_correction_pack(mavlink_system.sysid, mavlink_system.compid, &msg, xErr, yErr, zErr, rollErr, pitchErr, yawErr, vxErr, vyErr, vzErr);
mavlink_msg_state_correction_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, xErr, yErr, zErr, rollErr, pitchErr, yawErr, vxErr, vyErr, vzErr);
mavlink_send_uart(chan, &msg);
}

13
libraries/GCS_MAVLink/include/common/mavlink_msg_statustext.h
View File

@ -30,6 +30,17 @@ static inline uint16_t mavlink_msg_statustext_pack(uint8_t system_id, uint8_t co
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_statustext_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t severity, const int8_t* text)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_STATUSTEXT;
i += put_uint8_t_by_index(severity, i, msg->payload); //Severity of status, 0 = info message, 255 = critical fault
i += put_array_by_index(text, 50, i, msg->payload); //Status text message, without null termination character
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_statustext_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_statustext_t* statustext)
{
return mavlink_msg_statustext_pack(system_id, component_id, msg, statustext->severity, statustext->text);
@ -40,7 +51,7 @@ static inline uint16_t mavlink_msg_statustext_encode(uint8_t system_id, uint8_t
static inline void mavlink_msg_statustext_send(mavlink_channel_t chan, uint8_t severity, const int8_t* text)
{
mavlink_message_t msg;
mavlink_msg_statustext_pack(mavlink_system.sysid, mavlink_system.compid, &msg, severity, text);
mavlink_msg_statustext_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, severity, text);
mavlink_send_uart(chan, &msg);
}

18
libraries/GCS_MAVLink/include/common/mavlink_msg_sys_status.h
View File

@ -44,6 +44,22 @@ static inline uint16_t mavlink_msg_sys_status_pack(uint8_t system_id, uint8_t co
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_sys_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t mode, uint8_t nav_mode, uint8_t status, uint16_t load, uint16_t vbat, uint8_t motor_block, uint16_t packet_drop)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_SYS_STATUS;
i += put_uint8_t_by_index(mode, i, msg->payload); //System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h
i += put_uint8_t_by_index(nav_mode, i, msg->payload); //Navigation mode, see MAV_NAV_MODE ENUM
i += put_uint8_t_by_index(status, i, msg->payload); //System status flag, see MAV_STATUS ENUM
i += put_uint16_t_by_index(load, i, msg->payload); //Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
i += put_uint16_t_by_index(vbat, i, msg->payload); //Battery voltage, in millivolts (1 = 1 millivolt)
i += put_uint8_t_by_index(motor_block, i, msg->payload); //Motor block status flag, 0: Motors can be switched on (and could be either off or on), 1: Mechanical motor block switch is on, motors cannot be switched on (and are definitely off)
i += put_uint16_t_by_index(packet_drop, i, msg->payload); //Dropped packets (packets that were corrupted on reception on the MAV)
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_sys_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_sys_status_t* sys_status)
{
return mavlink_msg_sys_status_pack(system_id, component_id, msg, sys_status->mode, sys_status->nav_mode, sys_status->status, sys_status->load, sys_status->vbat, sys_status->motor_block, sys_status->packet_drop);
@ -54,7 +70,7 @@ static inline uint16_t mavlink_msg_sys_status_encode(uint8_t system_id, uint8_t
static inline void mavlink_msg_sys_status_send(mavlink_channel_t chan, uint8_t mode, uint8_t nav_mode, uint8_t status, uint16_t load, uint16_t vbat, uint8_t motor_block, uint16_t packet_drop)
{
mavlink_message_t msg;
mavlink_msg_sys_status_pack(mavlink_system.sysid, mavlink_system.compid, &msg, mode, nav_mode, status, load, vbat, motor_block, packet_drop);
mavlink_msg_sys_status_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, mode, nav_mode, status, load, vbat, motor_block, packet_drop);
mavlink_send_uart(chan, &msg);
}

12
libraries/GCS_MAVLink/include/common/mavlink_msg_system_time.h
View File

@ -26,6 +26,16 @@ static inline uint16_t mavlink_msg_system_time_pack(uint8_t system_id, uint8_t c
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_system_time_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t time_usec)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_SYSTEM_TIME;
i += put_uint64_t_by_index(time_usec, i, msg->payload); //Timestamp of the master clock in microseconds since UNIX epoch.
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_system_time_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_system_time_t* system_time)
{
return mavlink_msg_system_time_pack(system_id, component_id, msg, system_time->time_usec);
@ -36,7 +46,7 @@ static inline uint16_t mavlink_msg_system_time_encode(uint8_t system_id, uint8_t
static inline void mavlink_msg_system_time_send(mavlink_channel_t chan, uint64_t time_usec)
{
mavlink_message_t msg;
mavlink_msg_system_time_pack(mavlink_system.sysid, mavlink_system.compid, &msg, time_usec);
mavlink_msg_system_time_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, time_usec);
mavlink_send_uart(chan, &msg);
}

26
libraries/GCS_MAVLink/include/common/mavlink_msg_waypoint.h
View File

@ -68,6 +68,30 @@ static inline uint16_t mavlink_msg_waypoint_pack(uint8_t system_id, uint8_t comp
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_waypoint_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 seq, uint8_t frame, uint8_t action, float orbit, uint8_t orbit_direction, float param1, float param2, uint8_t current, float x, float y, float z, float yaw, uint8_t autocontinue)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_WAYPOINT;
i += put_uint8_t_by_index(target_system, i, msg->payload); //System ID
i += put_uint8_t_by_index(target_component, i, msg->payload); //Component ID
i += put_uint16_t_by_index(seq, i, msg->payload); //Sequence
i += put_uint8_t_by_index(frame, i, msg->payload); //The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h
i += put_uint8_t_by_index(action, i, msg->payload); //The scheduled action for the waypoint. see MAV_ACTION in mavlink_types.h
i += put_float_by_index(orbit, i, msg->payload); //Orbit to circle around the waypoint, in meters. Set to 0 to fly straight through the waypoint
i += put_uint8_t_by_index(orbit_direction, i, msg->payload); //Direction of the orbit circling: 0: clockwise, 1: counter-clockwise
i += put_float_by_index(param1, i, msg->payload); //For waypoints of type 0 and 1: Radius in which the waypoint is accepted as reached, in meters
i += put_float_by_index(param2, i, msg->payload); //For waypoints of type 0 and 1: Time that the MAV should stay inside the orbit before advancing, in milliseconds
i += put_uint8_t_by_index(current, i, msg->payload); //false:0, true:1
i += put_float_by_index(x, i, msg->payload); //local: x position, global: longitude
i += put_float_by_index(y, i, msg->payload); //y position: global: latitude
i += put_float_by_index(z, i, msg->payload); //z position: global: altitude
i += put_float_by_index(yaw, i, msg->payload); //yaw orientation in radians, 0 = NORTH
i += put_uint8_t_by_index(autocontinue, i, msg->payload); //autocontinue to next wp
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_waypoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_waypoint_t* waypoint)
{
return mavlink_msg_waypoint_pack(system_id, component_id, msg, waypoint->target_system, waypoint->target_component, waypoint->seq, waypoint->frame, waypoint->action, waypoint->orbit, waypoint->orbit_direction, waypoint->param1, waypoint->param2, waypoint->current, waypoint->x, waypoint->y, waypoint->z, waypoint->yaw, waypoint->autocontinue);
@ -78,7 +102,7 @@ static inline uint16_t mavlink_msg_waypoint_encode(uint8_t system_id, uint8_t co
static inline void mavlink_msg_waypoint_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t seq, uint8_t frame, uint8_t action, float orbit, uint8_t orbit_direction, float param1, float param2, uint8_t current, float x, float y, float z, float yaw, uint8_t autocontinue)
{
mavlink_message_t msg;
mavlink_msg_waypoint_pack(mavlink_system.sysid, mavlink_system.compid, &msg, target_system, target_component, seq, frame, action, orbit, orbit_direction, param1, param2, current, x, y, z, yaw, autocontinue);
mavlink_msg_waypoint_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, seq, frame, action, orbit, orbit_direction, param1, param2, current, x, y, z, yaw, autocontinue);
mavlink_send_uart(chan, &msg);
}

14
libraries/GCS_MAVLink/include/common/mavlink_msg_waypoint_ack.h
View File

@ -32,6 +32,18 @@ static inline uint16_t mavlink_msg_waypoint_ack_pack(uint8_t system_id, uint8_t
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_waypoint_ack_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, uint8_t type)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_WAYPOINT_ACK;
i += put_uint8_t_by_index(target_system, i, msg->payload); //System ID
i += put_uint8_t_by_index(target_component, i, msg->payload); //Component ID
i += put_uint8_t_by_index(type, i, msg->payload); //0: OK, 1: Error
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_waypoint_ack_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_waypoint_ack_t* waypoint_ack)
{
return mavlink_msg_waypoint_ack_pack(system_id, component_id, msg, waypoint_ack->target_system, waypoint_ack->target_component, waypoint_ack->type);
@ -42,7 +54,7 @@ static inline uint16_t mavlink_msg_waypoint_ack_encode(uint8_t system_id, uint8_
static inline void mavlink_msg_waypoint_ack_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t type)
{
mavlink_message_t msg;
mavlink_msg_waypoint_ack_pack(mavlink_system.sysid, mavlink_system.compid, &msg, target_system, target_component, type);
mavlink_msg_waypoint_ack_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, type);
mavlink_send_uart(chan, &msg);
}

13
libraries/GCS_MAVLink/include/common/mavlink_msg_waypoint_clear_all.h
View File

@ -29,6 +29,17 @@ static inline uint16_t mavlink_msg_waypoint_clear_all_pack(uint8_t system_id, ui
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_waypoint_clear_all_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 i = 0;
msg->msgid = MAVLINK_MSG_ID_WAYPOINT_CLEAR_ALL;
i += put_uint8_t_by_index(target_system, i, msg->payload); //System ID
i += put_uint8_t_by_index(target_component, i, msg->payload); //Component ID
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_waypoint_clear_all_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_waypoint_clear_all_t* waypoint_clear_all)
{
return mavlink_msg_waypoint_clear_all_pack(system_id, component_id, msg, waypoint_clear_all->target_system, waypoint_clear_all->target_component);
@ -39,7 +50,7 @@ static inline uint16_t mavlink_msg_waypoint_clear_all_encode(uint8_t system_id,
static inline void mavlink_msg_waypoint_clear_all_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component)
{
mavlink_message_t msg;
mavlink_msg_waypoint_clear_all_pack(mavlink_system.sysid, mavlink_system.compid, &msg, target_system, target_component);
mavlink_msg_waypoint_clear_all_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component);
mavlink_send_uart(chan, &msg);
}

14
libraries/GCS_MAVLink/include/common/mavlink_msg_waypoint_count.h
View File

@ -32,6 +32,18 @@ static inline uint16_t mavlink_msg_waypoint_count_pack(uint8_t system_id, uint8_
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_waypoint_count_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 count)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_WAYPOINT_COUNT;
i += put_uint8_t_by_index(target_system, i, msg->payload); //System ID
i += put_uint8_t_by_index(target_component, i, msg->payload); //Component ID
i += put_uint16_t_by_index(count, i, msg->payload); //Number of Waypoints in the Sequence
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_waypoint_count_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_waypoint_count_t* waypoint_count)
{
return mavlink_msg_waypoint_count_pack(system_id, component_id, msg, waypoint_count->target_system, waypoint_count->target_component, waypoint_count->count);
@ -42,7 +54,7 @@ static inline uint16_t mavlink_msg_waypoint_count_encode(uint8_t system_id, uint
static inline void mavlink_msg_waypoint_count_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t count)
{
mavlink_message_t msg;
mavlink_msg_waypoint_count_pack(mavlink_system.sysid, mavlink_system.compid, &msg, target_system, target_component, count);
mavlink_msg_waypoint_count_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, count);
mavlink_send_uart(chan, &msg);
}

12
libraries/GCS_MAVLink/include/common/mavlink_msg_waypoint_current.h
View File

@ -26,6 +26,16 @@ static inline uint16_t mavlink_msg_waypoint_current_pack(uint8_t system_id, uint
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_waypoint_current_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint16_t seq)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_WAYPOINT_CURRENT;
i += put_uint16_t_by_index(seq, i, msg->payload); //Sequence
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_waypoint_current_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_waypoint_current_t* waypoint_current)
{
return mavlink_msg_waypoint_current_pack(system_id, component_id, msg, waypoint_current->seq);
@ -36,7 +46,7 @@ static inline uint16_t mavlink_msg_waypoint_current_encode(uint8_t system_id, ui
static inline void mavlink_msg_waypoint_current_send(mavlink_channel_t chan, uint16_t seq)
{
mavlink_message_t msg;
mavlink_msg_waypoint_current_pack(mavlink_system.sysid, mavlink_system.compid, &msg, seq);
mavlink_msg_waypoint_current_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, seq);
mavlink_send_uart(chan, &msg);
}

12
libraries/GCS_MAVLink/include/common/mavlink_msg_waypoint_reached.h
View File

@ -26,6 +26,16 @@ static inline uint16_t mavlink_msg_waypoint_reached_pack(uint8_t system_id, uint
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_waypoint_reached_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint16_t seq)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_WAYPOINT_REACHED;
i += put_uint16_t_by_index(seq, i, msg->payload); //Sequence
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_waypoint_reached_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_waypoint_reached_t* waypoint_reached)
{
return mavlink_msg_waypoint_reached_pack(system_id, component_id, msg, waypoint_reached->seq);
@ -36,7 +46,7 @@ static inline uint16_t mavlink_msg_waypoint_reached_encode(uint8_t system_id, ui
static inline void mavlink_msg_waypoint_reached_send(mavlink_channel_t chan, uint16_t seq)
{
mavlink_message_t msg;
mavlink_msg_waypoint_reached_pack(mavlink_system.sysid, mavlink_system.compid, &msg, seq);
mavlink_msg_waypoint_reached_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, seq);
mavlink_send_uart(chan, &msg);
}

14
libraries/GCS_MAVLink/include/common/mavlink_msg_waypoint_request.h
View File

@ -32,6 +32,18 @@ static inline uint16_t mavlink_msg_waypoint_request_pack(uint8_t system_id, uint
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_waypoint_request_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 seq)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_WAYPOINT_REQUEST;
i += put_uint8_t_by_index(target_system, i, msg->payload); //System ID
i += put_uint8_t_by_index(target_component, i, msg->payload); //Component ID
i += put_uint16_t_by_index(seq, i, msg->payload); //Sequence
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_waypoint_request_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_waypoint_request_t* waypoint_request)
{
return mavlink_msg_waypoint_request_pack(system_id, component_id, msg, waypoint_request->target_system, waypoint_request->target_component, waypoint_request->seq);
@ -42,7 +54,7 @@ static inline uint16_t mavlink_msg_waypoint_request_encode(uint8_t system_id, ui
static inline void mavlink_msg_waypoint_request_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t seq)
{
mavlink_message_t msg;
mavlink_msg_waypoint_request_pack(mavlink_system.sysid, mavlink_system.compid, &msg, target_system, target_component, seq);
mavlink_msg_waypoint_request_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, seq);
mavlink_send_uart(chan, &msg);
}

13
libraries/GCS_MAVLink/include/common/mavlink_msg_waypoint_request_list.h
View File

@ -29,6 +29,17 @@ static inline uint16_t mavlink_msg_waypoint_request_list_pack(uint8_t system_id,
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_waypoint_request_list_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 i = 0;
msg->msgid = MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST;
i += put_uint8_t_by_index(target_system, i, msg->payload); //System ID
i += put_uint8_t_by_index(target_component, i, msg->payload); //Component ID
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_waypoint_request_list_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_waypoint_request_list_t* waypoint_request_list)
{
return mavlink_msg_waypoint_request_list_pack(system_id, component_id, msg, waypoint_request_list->target_system, waypoint_request_list->target_component);
@ -39,7 +50,7 @@ static inline uint16_t mavlink_msg_waypoint_request_list_encode(uint8_t system_i
static inline void mavlink_msg_waypoint_request_list_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component)
{
mavlink_message_t msg;
mavlink_msg_waypoint_request_list_pack(mavlink_system.sysid, mavlink_system.compid, &msg, target_system, target_component);
mavlink_msg_waypoint_request_list_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component);
mavlink_send_uart(chan, &msg);
}

14
libraries/GCS_MAVLink/include/common/mavlink_msg_waypoint_set_current.h
View File

@ -32,6 +32,18 @@ static inline uint16_t mavlink_msg_waypoint_set_current_pack(uint8_t system_id,
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_waypoint_set_current_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 seq)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT;
i += put_uint8_t_by_index(target_system, i, msg->payload); //System ID
i += put_uint8_t_by_index(target_component, i, msg->payload); //Component ID
i += put_uint16_t_by_index(seq, i, msg->payload); //Sequence
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_waypoint_set_current_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_waypoint_set_current_t* waypoint_set_current)
{
return mavlink_msg_waypoint_set_current_pack(system_id, component_id, msg, waypoint_set_current->target_system, waypoint_set_current->target_component, waypoint_set_current->seq);
@ -42,7 +54,7 @@ static inline uint16_t mavlink_msg_waypoint_set_current_encode(uint8_t system_id
static inline void mavlink_msg_waypoint_set_current_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t seq)
{
mavlink_message_t msg;
mavlink_msg_waypoint_set_current_pack(mavlink_system.sysid, mavlink_system.compid, &msg, target_system, target_component, seq);
mavlink_msg_waypoint_set_current_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, seq);
mavlink_send_uart(chan, &msg);
}

21
libraries/GCS_MAVLink/include/common/mavlink_msg_waypoint_set_global_reference.h
View File

@ -53,6 +53,25 @@ static inline uint16_t mavlink_msg_waypoint_set_global_reference_pack(uint8_t sy
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_waypoint_set_global_reference_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, float global_x, float global_y, float global_z, float global_yaw, float local_x, float local_y, float local_z, float local_yaw)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_WAYPOINT_SET_GLOBAL_REFERENCE;
i += put_uint8_t_by_index(target_system, i, msg->payload); //System ID
i += put_uint8_t_by_index(target_component, i, msg->payload); //Component ID
i += put_float_by_index(global_x, i, msg->payload); //global x position
i += put_float_by_index(global_y, i, msg->payload); //global y position
i += put_float_by_index(global_z, i, msg->payload); //global z position
i += put_float_by_index(global_yaw, i, msg->payload); //global yaw orientation in radians, 0 = NORTH
i += put_float_by_index(local_x, i, msg->payload); //local x position that matches the global x position
i += put_float_by_index(local_y, i, msg->payload); //local y position that matches the global y position
i += put_float_by_index(local_z, i, msg->payload); //local z position that matches the global z position
i += put_float_by_index(local_yaw, i, msg->payload); //local yaw that matches the global yaw orientation
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_waypoint_set_global_reference_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_waypoint_set_global_reference_t* waypoint_set_global_reference)
{
return mavlink_msg_waypoint_set_global_reference_pack(system_id, component_id, msg, waypoint_set_global_reference->target_system, waypoint_set_global_reference->target_component, waypoint_set_global_reference->global_x, waypoint_set_global_reference->global_y, waypoint_set_global_reference->global_z, waypoint_set_global_reference->global_yaw, waypoint_set_global_reference->local_x, waypoint_set_global_reference->local_y, waypoint_set_global_reference->local_z, waypoint_set_global_reference->local_yaw);
@ -63,7 +82,7 @@ static inline uint16_t mavlink_msg_waypoint_set_global_reference_encode(uint8_t
static inline void mavlink_msg_waypoint_set_global_reference_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, float global_x, float global_y, float global_z, float global_yaw, float local_x, float local_y, float local_z, float local_yaw)
{
mavlink_message_t msg;
mavlink_msg_waypoint_set_global_reference_pack(mavlink_system.sysid, mavlink_system.compid, &msg, target_system, target_component, global_x, global_y, global_z, global_yaw, local_x, local_y, local_z, local_yaw);
mavlink_msg_waypoint_set_global_reference_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, global_x, global_y, global_z, global_yaw, local_x, local_y, local_z, local_yaw);
mavlink_send_uart(chan, &msg);
}

3
libraries/GCS_MAVLink/include/mavlink_types.h
View File

@ -189,7 +189,8 @@ typedef struct __mavlink_status {
uint8_t parse_error; ///< Number of parse errors
mavlink_parse_state_t parse_state; ///< Parsing state machine
uint8_t packet_idx; ///< Index in current packet
uint8_t current_seq; ///< Sequence number of last packet
uint8_t current_rx_seq; ///< Sequence number of last packet received
uint8_t current_tx_seq; ///< Sequence number of last packet sent
uint16_t packet_rx_success_count; ///< Received packets
uint16_t packet_rx_drop_count; ///< Number of packet drops
} mavlink_status_t;

2
libraries/GCS_MAVLink/include/pixhawk/mavlink.h
View File

@ -1,7 +1,7 @@
/** @file
* @brief MAVLink comm protocol.
* @see http://pixhawk.ethz.ch/software/mavlink
* Generated on Sunday, October 24 2010, 08:46 UTC
* Generated on Thursday, December 2 2010, 10:43 UTC
*/
#ifndef MAVLINK_H
#define MAVLINK_H

20
libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_attitude_control.h
View File

@ -50,6 +50,24 @@ static inline uint16_t mavlink_msg_attitude_control_pack(uint8_t system_id, uint
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_attitude_control_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target, float roll, float pitch, float yaw, float thrust, uint8_t roll_manual, uint8_t pitch_manual, uint8_t yaw_manual, uint8_t thrust_manual)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_ATTITUDE_CONTROL;
i += put_uint8_t_by_index(target, i, msg->payload); //The system to be controlled
i += put_float_by_index(roll, i, msg->payload); //roll
i += put_float_by_index(pitch, i, msg->payload); //pitch
i += put_float_by_index(yaw, i, msg->payload); //yaw
i += put_float_by_index(thrust, i, msg->payload); //thrust
i += put_uint8_t_by_index(roll_manual, i, msg->payload); //roll control enabled auto:0, manual:1
i += put_uint8_t_by_index(pitch_manual, i, msg->payload); //pitch auto:0, manual:1
i += put_uint8_t_by_index(yaw_manual, i, msg->payload); //yaw auto:0, manual:1
i += put_uint8_t_by_index(thrust_manual, i, msg->payload); //thrust auto:0, manual:1
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_attitude_control_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_attitude_control_t* attitude_control)
{
return mavlink_msg_attitude_control_pack(system_id, component_id, msg, attitude_control->target, attitude_control->roll, attitude_control->pitch, attitude_control->yaw, attitude_control->thrust, attitude_control->roll_manual, attitude_control->pitch_manual, attitude_control->yaw_manual, attitude_control->thrust_manual);
@ -60,7 +78,7 @@ static inline uint16_t mavlink_msg_attitude_control_encode(uint8_t system_id, ui
static inline void mavlink_msg_attitude_control_send(mavlink_channel_t chan, uint8_t target, float roll, float pitch, float yaw, float thrust, uint8_t roll_manual, uint8_t pitch_manual, uint8_t yaw_manual, uint8_t thrust_manual)
{
mavlink_message_t msg;
mavlink_msg_attitude_control_pack(mavlink_system.sysid, mavlink_system.compid, &msg, target, roll, pitch, yaw, thrust, roll_manual, pitch_manual, yaw_manual, thrust_manual);
mavlink_msg_attitude_control_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target, roll, pitch, yaw, thrust, roll_manual, pitch_manual, yaw_manual, thrust_manual);
mavlink_send_uart(chan, &msg);
}

17
libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_aux_status.h
View File

@ -41,6 +41,21 @@ static inline uint16_t mavlink_msg_aux_status_pack(uint8_t system_id, uint8_t co
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_aux_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint16_t load, uint16_t i2c0_err_count, uint16_t i2c1_err_count, uint16_t spi0_err_count, uint16_t spi1_err_count, uint16_t uart_total_err_count)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_AUX_STATUS;
i += put_uint16_t_by_index(load, i, msg->payload); //Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
i += put_uint16_t_by_index(i2c0_err_count, i, msg->payload); //Number of I2C errors since startup
i += put_uint16_t_by_index(i2c1_err_count, i, msg->payload); //Number of I2C errors since startup
i += put_uint16_t_by_index(spi0_err_count, i, msg->payload); //Number of I2C errors since startup
i += put_uint16_t_by_index(spi1_err_count, i, msg->payload); //Number of I2C errors since startup
i += put_uint16_t_by_index(uart_total_err_count, i, msg->payload); //Number of I2C errors since startup
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_aux_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_aux_status_t* aux_status)
{
return mavlink_msg_aux_status_pack(system_id, component_id, msg, aux_status->load, aux_status->i2c0_err_count, aux_status->i2c1_err_count, aux_status->spi0_err_count, aux_status->spi1_err_count, aux_status->uart_total_err_count);
@ -51,7 +66,7 @@ static inline uint16_t mavlink_msg_aux_status_encode(uint8_t system_id, uint8_t
static inline void mavlink_msg_aux_status_send(mavlink_channel_t chan, uint16_t load, uint16_t i2c0_err_count, uint16_t i2c1_err_count, uint16_t spi0_err_count, uint16_t spi1_err_count, uint16_t uart_total_err_count)
{
mavlink_message_t msg;
mavlink_msg_aux_status_pack(mavlink_system.sysid, mavlink_system.compid, &msg, load, i2c0_err_count, i2c1_err_count, spi0_err_count, spi1_err_count, uart_total_err_count);
mavlink_msg_aux_status_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, load, i2c0_err_count, i2c1_err_count, spi0_err_count, spi1_err_count, uart_total_err_count);
mavlink_send_uart(chan, &msg);
}

18
libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_control_status.h
View File

@ -44,6 +44,22 @@ static inline uint16_t mavlink_msg_control_status_pack(uint8_t system_id, uint8_
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_control_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t position_fix, uint8_t vision_fix, uint8_t gps_fix, uint8_t control_att, uint8_t control_pos_xy, uint8_t control_pos_z, uint8_t control_pos_yaw)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_CONTROL_STATUS;
i += put_uint8_t_by_index(position_fix, i, msg->payload); //Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix
i += put_uint8_t_by_index(vision_fix, i, msg->payload); //Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix
i += put_uint8_t_by_index(gps_fix, i, msg->payload); //GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix
i += put_uint8_t_by_index(control_att, i, msg->payload); //0: Attitude control disabled, 1: enabled
i += put_uint8_t_by_index(control_pos_xy, i, msg->payload); //0: X, Y position control disabled, 1: enabled
i += put_uint8_t_by_index(control_pos_z, i, msg->payload); //0: Z position control disabled, 1: enabled
i += put_uint8_t_by_index(control_pos_yaw, i, msg->payload); //0: Yaw angle control disabled, 1: enabled
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_control_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_control_status_t* control_status)
{
return mavlink_msg_control_status_pack(system_id, component_id, msg, control_status->position_fix, control_status->vision_fix, control_status->gps_fix, control_status->control_att, control_status->control_pos_xy, control_status->control_pos_z, control_status->control_pos_yaw);
@ -54,7 +70,7 @@ static inline uint16_t mavlink_msg_control_status_encode(uint8_t system_id, uint
static inline void mavlink_msg_control_status_send(mavlink_channel_t chan, uint8_t position_fix, uint8_t vision_fix, uint8_t gps_fix, uint8_t control_att, uint8_t control_pos_xy, uint8_t control_pos_z, uint8_t control_pos_yaw)
{
mavlink_message_t msg;
mavlink_msg_control_status_pack(mavlink_system.sysid, mavlink_system.compid, &msg, position_fix, vision_fix, gps_fix, control_att, control_pos_xy, control_pos_z, control_pos_yaw);
mavlink_msg_control_status_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, position_fix, vision_fix, gps_fix, control_att, control_pos_xy, control_pos_z, control_pos_yaw);
mavlink_send_uart(chan, &msg);
}

16
libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_debug_vect.h
View File

@ -39,6 +39,20 @@ static inline uint16_t mavlink_msg_debug_vect_pack(uint8_t system_id, uint8_t co
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_debug_vect_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const int8_t* name, uint64_t usec, float x, float y, float z)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_DEBUG_VECT;
i += put_array_by_index(name, 10, i, msg->payload); //Name
i += put_uint64_t_by_index(usec, i, msg->payload); //Timestamp
i += put_float_by_index(x, i, msg->payload); //x
i += put_float_by_index(y, i, msg->payload); //y
i += put_float_by_index(z, i, msg->payload); //z
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_debug_vect_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_debug_vect_t* debug_vect)
{
return mavlink_msg_debug_vect_pack(system_id, component_id, msg, debug_vect->name, debug_vect->usec, debug_vect->x, debug_vect->y, debug_vect->z);
@ -49,7 +63,7 @@ static inline uint16_t mavlink_msg_debug_vect_encode(uint8_t system_id, uint8_t
static inline void mavlink_msg_debug_vect_send(mavlink_channel_t chan, const int8_t* name, uint64_t usec, float x, float y, float z)
{
mavlink_message_t msg;
mavlink_msg_debug_vect_pack(mavlink_system.sysid, mavlink_system.compid, &msg, name, usec, x, y, z);
mavlink_msg_debug_vect_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, name, usec, x, y, z);
mavlink_send_uart(chan, &msg);
}

26
libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_image_available.h
View File

@ -68,6 +68,30 @@ static inline uint16_t mavlink_msg_image_available_pack(uint8_t system_id, uint8
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_image_available_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t cam_id, uint8_t cam_no, uint64_t timestamp, uint64_t valid_until, uint32_t img_seq, uint32_t img_buf_index, uint16_t width, uint16_t height, uint16_t depth, uint8_t channels, uint32_t key, uint32_t exposure, float gain, float roll, float pitch)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_IMAGE_AVAILABLE;
i += put_uint64_t_by_index(cam_id, i, msg->payload); //Camera id
i += put_uint8_t_by_index(cam_no, i, msg->payload); //Camera # (starts with 0)
i += put_uint64_t_by_index(timestamp, i, msg->payload); //Timestamp
i += put_uint64_t_by_index(valid_until, i, msg->payload); //Until which timestamp this buffer will stay valid
i += put_uint32_t_by_index(img_seq, i, msg->payload); //The image sequence number
i += put_uint32_t_by_index(img_buf_index, i, msg->payload); //Position of the image in the buffer, starts with 0
i += put_uint16_t_by_index(width, i, msg->payload); //Image width
i += put_uint16_t_by_index(height, i, msg->payload); //Image height
i += put_uint16_t_by_index(depth, i, msg->payload); //Image depth
i += put_uint8_t_by_index(channels, i, msg->payload); //Image channels
i += put_uint32_t_by_index(key, i, msg->payload); //Shared memory area key
i += put_uint32_t_by_index(exposure, i, msg->payload); //Exposure time, in microseconds
i += put_float_by_index(gain, i, msg->payload); //Camera gain
i += put_float_by_index(roll, i, msg->payload); //Roll angle in rad
i += put_float_by_index(pitch, i, msg->payload); //Pitch angle in rad
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_image_available_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_image_available_t* image_available)
{
return mavlink_msg_image_available_pack(system_id, component_id, msg, image_available->cam_id, image_available->cam_no, image_available->timestamp, image_available->valid_until, image_available->img_seq, image_available->img_buf_index, image_available->width, image_available->height, image_available->depth, image_available->channels, image_available->key, image_available->exposure, image_available->gain, image_available->roll, image_available->pitch);
@ -78,7 +102,7 @@ static inline uint16_t mavlink_msg_image_available_encode(uint8_t system_id, uin
static inline void mavlink_msg_image_available_send(mavlink_channel_t chan, uint64_t cam_id, uint8_t cam_no, uint64_t timestamp, uint64_t valid_until, uint32_t img_seq, uint32_t img_buf_index, uint16_t width, uint16_t height, uint16_t depth, uint8_t channels, uint32_t key, uint32_t exposure, float gain, float roll, float pitch)
{
mavlink_message_t msg;
mavlink_msg_image_available_pack(mavlink_system.sysid, mavlink_system.compid, &msg, cam_id, cam_no, timestamp, valid_until, img_seq, img_buf_index, width, height, depth, channels, key, exposure, gain, roll, pitch);
mavlink_msg_image_available_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, cam_id, cam_no, timestamp, valid_until, img_seq, img_buf_index, width, height, depth, channels, key, exposure, gain, roll, pitch);
mavlink_send_uart(chan, &msg);
}

12
libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_image_trigger_control.h
View File

@ -26,6 +26,16 @@ static inline uint16_t mavlink_msg_image_trigger_control_pack(uint8_t system_id,
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_image_trigger_control_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t enable)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_IMAGE_TRIGGER_CONTROL;
i += put_uint8_t_by_index(enable, i, msg->payload); //0 to disable, 1 to enable
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_image_trigger_control_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_image_trigger_control_t* image_trigger_control)
{
return mavlink_msg_image_trigger_control_pack(system_id, component_id, msg, image_trigger_control->enable);
@ -36,7 +46,7 @@ static inline uint16_t mavlink_msg_image_trigger_control_encode(uint8_t system_i
static inline void mavlink_msg_image_trigger_control_send(mavlink_channel_t chan, uint8_t enable)
{
mavlink_message_t msg;
mavlink_msg_image_trigger_control_pack(mavlink_system.sysid, mavlink_system.compid, &msg, enable);
mavlink_msg_image_trigger_control_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, enable);
mavlink_send_uart(chan, &msg);
}

15
libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_image_triggered.h
View File

@ -35,6 +35,19 @@ static inline uint16_t mavlink_msg_image_triggered_pack(uint8_t system_id, uint8
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_image_triggered_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t timestamp, uint32_t seq, float roll, float pitch)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_IMAGE_TRIGGERED;
i += put_uint64_t_by_index(timestamp, i, msg->payload); //Timestamp
i += put_uint32_t_by_index(seq, i, msg->payload); //IMU seq
i += put_float_by_index(roll, i, msg->payload); //Roll angle in rad
i += put_float_by_index(pitch, i, msg->payload); //Pitch angle in rad
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_image_triggered_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_image_triggered_t* image_triggered)
{
return mavlink_msg_image_triggered_pack(system_id, component_id, msg, image_triggered->timestamp, image_triggered->seq, image_triggered->roll, image_triggered->pitch);
@ -45,7 +58,7 @@ static inline uint16_t mavlink_msg_image_triggered_encode(uint8_t system_id, uin
static inline void mavlink_msg_image_triggered_send(mavlink_channel_t chan, uint64_t timestamp, uint32_t seq, float roll, float pitch)
{
mavlink_message_t msg;
mavlink_msg_image_triggered_pack(mavlink_system.sysid, mavlink_system.compid, &msg, timestamp, seq, roll, pitch);
mavlink_msg_image_triggered_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, timestamp, seq, roll, pitch);
mavlink_send_uart(chan, &msg);
}

18
libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_marker.h
View File

@ -44,6 +44,22 @@ static inline uint16_t mavlink_msg_marker_pack(uint8_t system_id, uint8_t compon
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_marker_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint16_t id, float x, float y, float z, float roll, float pitch, float yaw)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_MARKER;
i += put_uint16_t_by_index(id, i, msg->payload); //ID
i += put_float_by_index(x, i, msg->payload); //x position
i += put_float_by_index(y, i, msg->payload); //y position
i += put_float_by_index(z, i, msg->payload); //z position
i += put_float_by_index(roll, i, msg->payload); //roll orientation
i += put_float_by_index(pitch, i, msg->payload); //pitch orientation
i += put_float_by_index(yaw, i, msg->payload); //yaw orientation
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_marker_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_marker_t* marker)
{
return mavlink_msg_marker_pack(system_id, component_id, msg, marker->id, marker->x, marker->y, marker->z, marker->roll, marker->pitch, marker->yaw);
@ -54,7 +70,7 @@ static inline uint16_t mavlink_msg_marker_encode(uint8_t system_id, uint8_t comp
static inline void mavlink_msg_marker_send(mavlink_channel_t chan, uint16_t id, float x, float y, float z, float roll, float pitch, float yaw)
{
mavlink_message_t msg;
mavlink_msg_marker_pack(mavlink_system.sysid, mavlink_system.compid, &msg, id, x, y, z, roll, pitch, yaw);
mavlink_msg_marker_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, id, x, y, z, roll, pitch, yaw);
mavlink_send_uart(chan, &msg);
}

15
libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_pattern_detected.h
View File

@ -36,6 +36,19 @@ static inline uint16_t mavlink_msg_pattern_detected_pack(uint8_t system_id, uint
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_pattern_detected_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t type, float confidence, const int8_t* file, uint8_t detected)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_PATTERN_DETECTED;
i += put_uint8_t_by_index(type, i, msg->payload); //0: Pattern, 1: Letter
i += put_float_by_index(confidence, i, msg->payload); //Confidence of detection
i += put_array_by_index(file, 100, i, msg->payload); //Pattern file name
i += put_uint8_t_by_index(detected, i, msg->payload); //Accepted as true detection, 0 no, 1 yes
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_pattern_detected_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_pattern_detected_t* pattern_detected)
{
return mavlink_msg_pattern_detected_pack(system_id, component_id, msg, pattern_detected->type, pattern_detected->confidence, pattern_detected->file, pattern_detected->detected);
@ -46,7 +59,7 @@ static inline uint16_t mavlink_msg_pattern_detected_encode(uint8_t system_id, ui
static inline void mavlink_msg_pattern_detected_send(mavlink_channel_t chan, uint8_t type, float confidence, const int8_t* file, uint8_t detected)
{
mavlink_message_t msg;
mavlink_msg_pattern_detected_pack(mavlink_system.sysid, mavlink_system.compid, &msg, type, confidence, file, detected);
mavlink_msg_pattern_detected_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, type, confidence, file, detected);
mavlink_send_uart(chan, &msg);
}

17
libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_position_control_offset_set.h
View File

@ -41,6 +41,21 @@ static inline uint16_t mavlink_msg_position_control_offset_set_pack(uint8_t syst
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_position_control_offset_set_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, float x, float y, float z, float yaw)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_POSITION_CONTROL_OFFSET_SET;
i += put_uint8_t_by_index(target_system, i, msg->payload); //System ID
i += put_uint8_t_by_index(target_component, i, msg->payload); //Component ID
i += put_float_by_index(x, i, msg->payload); //x position offset
i += put_float_by_index(y, i, msg->payload); //y position offset
i += put_float_by_index(z, i, msg->payload); //z position offset
i += put_float_by_index(yaw, i, msg->payload); //yaw orientation offset in radians, 0 = NORTH
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_position_control_offset_set_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_position_control_offset_set_t* position_control_offset_set)
{
return mavlink_msg_position_control_offset_set_pack(system_id, component_id, msg, position_control_offset_set->target_system, position_control_offset_set->target_component, position_control_offset_set->x, position_control_offset_set->y, position_control_offset_set->z, position_control_offset_set->yaw);
@ -51,7 +66,7 @@ static inline uint16_t mavlink_msg_position_control_offset_set_encode(uint8_t sy
static inline void mavlink_msg_position_control_offset_set_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, float x, float y, float z, float yaw)
{
mavlink_message_t msg;
mavlink_msg_position_control_offset_set_pack(mavlink_system.sysid, mavlink_system.compid, &msg, target_system, target_component, x, y, z, yaw);
mavlink_msg_position_control_offset_set_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, x, y, z, yaw);
mavlink_send_uart(chan, &msg);
}

16
libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_position_control_setpoint.h
View File

@ -38,6 +38,20 @@ static inline uint16_t mavlink_msg_position_control_setpoint_pack(uint8_t system
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_position_control_setpoint_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint16_t id, float x, float y, float z, float yaw)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT;
i += put_uint16_t_by_index(id, i, msg->payload); //ID of waypoint, 0 for plain position
i += put_float_by_index(x, i, msg->payload); //x position
i += put_float_by_index(y, i, msg->payload); //y position
i += put_float_by_index(z, i, msg->payload); //z position
i += put_float_by_index(yaw, i, msg->payload); //yaw orientation in radians, 0 = NORTH
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_position_control_setpoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_position_control_setpoint_t* position_control_setpoint)
{
return mavlink_msg_position_control_setpoint_pack(system_id, component_id, msg, position_control_setpoint->id, position_control_setpoint->x, position_control_setpoint->y, position_control_setpoint->z, position_control_setpoint->yaw);
@ -48,7 +62,7 @@ static inline uint16_t mavlink_msg_position_control_setpoint_encode(uint8_t syst
static inline void mavlink_msg_position_control_setpoint_send(mavlink_channel_t chan, uint16_t id, float x, float y, float z, float yaw)
{
mavlink_message_t msg;
mavlink_msg_position_control_setpoint_pack(mavlink_system.sysid, mavlink_system.compid, &msg, id, x, y, z, yaw);
mavlink_msg_position_control_setpoint_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, id, x, y, z, yaw);
mavlink_send_uart(chan, &msg);
}

18
libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_position_control_setpoint_set.h
View File

@ -44,6 +44,22 @@ static inline uint16_t mavlink_msg_position_control_setpoint_set_pack(uint8_t sy
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_position_control_setpoint_set_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 id, float x, float y, float z, float yaw)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_SET;
i += put_uint8_t_by_index(target_system, i, msg->payload); //System ID
i += put_uint8_t_by_index(target_component, i, msg->payload); //Component ID
i += put_uint16_t_by_index(id, i, msg->payload); //ID of waypoint, 0 for plain position
i += put_float_by_index(x, i, msg->payload); //x position
i += put_float_by_index(y, i, msg->payload); //y position
i += put_float_by_index(z, i, msg->payload); //z position
i += put_float_by_index(yaw, i, msg->payload); //yaw orientation in radians, 0 = NORTH
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_position_control_setpoint_set_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_position_control_setpoint_set_t* position_control_setpoint_set)
{
return mavlink_msg_position_control_setpoint_set_pack(system_id, component_id, msg, position_control_setpoint_set->target_system, position_control_setpoint_set->target_component, position_control_setpoint_set->id, position_control_setpoint_set->x, position_control_setpoint_set->y, position_control_setpoint_set->z, position_control_setpoint_set->yaw);
@ -54,7 +70,7 @@ static inline uint16_t mavlink_msg_position_control_setpoint_set_encode(uint8_t
static inline void mavlink_msg_position_control_setpoint_set_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t id, float x, float y, float z, float yaw)
{
mavlink_message_t msg;
mavlink_msg_position_control_setpoint_set_pack(mavlink_system.sysid, mavlink_system.compid, &msg, target_system, target_component, id, x, y, z, yaw);
mavlink_msg_position_control_setpoint_set_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, id, x, y, z, yaw);
mavlink_send_uart(chan, &msg);
}

18
libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_raw_aux.h
View File

@ -44,6 +44,22 @@ static inline uint16_t mavlink_msg_raw_aux_pack(uint8_t system_id, uint8_t compo
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_raw_aux_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint16_t adc1, uint16_t adc2, uint16_t adc3, uint16_t adc4, uint16_t vbat, int16_t temp, int32_t baro)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_RAW_AUX;
i += put_uint16_t_by_index(adc1, i, msg->payload); //ADC1 (J405 ADC3, LPC2148 AD0.6)
i += put_uint16_t_by_index(adc2, i, msg->payload); //ADC2 (J405 ADC5, LPC2148 AD0.2)
i += put_uint16_t_by_index(adc3, i, msg->payload); //ADC3 (J405 ADC6, LPC2148 AD0.1)
i += put_uint16_t_by_index(adc4, i, msg->payload); //ADC4 (J405 ADC7, LPC2148 AD1.3)
i += put_uint16_t_by_index(vbat, i, msg->payload); //Battery voltage
i += put_int16_t_by_index(temp, i, msg->payload); //Temperature (degrees celcius)
i += put_int32_t_by_index(baro, i, msg->payload); //Barometric pressure (hecto Pascal)
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_raw_aux_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_raw_aux_t* raw_aux)
{
return mavlink_msg_raw_aux_pack(system_id, component_id, msg, raw_aux->adc1, raw_aux->adc2, raw_aux->adc3, raw_aux->adc4, raw_aux->vbat, raw_aux->temp, raw_aux->baro);
@ -54,7 +70,7 @@ static inline uint16_t mavlink_msg_raw_aux_encode(uint8_t system_id, uint8_t com
static inline void mavlink_msg_raw_aux_send(mavlink_channel_t chan, uint16_t adc1, uint16_t adc2, uint16_t adc3, uint16_t adc4, uint16_t vbat, int16_t temp, int32_t baro)
{
mavlink_message_t msg;
mavlink_msg_raw_aux_pack(mavlink_system.sysid, mavlink_system.compid, &msg, adc1, adc2, adc3, adc4, vbat, temp, baro);
mavlink_msg_raw_aux_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, adc1, adc2, adc3, adc4, vbat, temp, baro);
mavlink_send_uart(chan, &msg);
}

17
libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_set_cam_shutter.h
View File

@ -41,6 +41,21 @@ static inline uint16_t mavlink_msg_set_cam_shutter_pack(uint8_t system_id, uint8
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_set_cam_shutter_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t cam_no, uint8_t cam_mode, uint8_t trigger_pin, uint16_t interval, uint16_t exposure, float gain)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_SET_CAM_SHUTTER;
i += put_uint8_t_by_index(cam_no, i, msg->payload); //Camera id
i += put_uint8_t_by_index(cam_mode, i, msg->payload); //Camera mode: 0 = auto, 1 = manual
i += put_uint8_t_by_index(trigger_pin, i, msg->payload); //Trigger pin, 0-3 for PtGrey FireFly
i += put_uint16_t_by_index(interval, i, msg->payload); //Shutter interval, in microseconds
i += put_uint16_t_by_index(exposure, i, msg->payload); //Exposure time, in microseconds
i += put_float_by_index(gain, i, msg->payload); //Camera gain
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_set_cam_shutter_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_cam_shutter_t* set_cam_shutter)
{
return mavlink_msg_set_cam_shutter_pack(system_id, component_id, msg, set_cam_shutter->cam_no, set_cam_shutter->cam_mode, set_cam_shutter->trigger_pin, set_cam_shutter->interval, set_cam_shutter->exposure, set_cam_shutter->gain);
@ -51,7 +66,7 @@ static inline uint16_t mavlink_msg_set_cam_shutter_encode(uint8_t system_id, uin
static inline void mavlink_msg_set_cam_shutter_send(mavlink_channel_t chan, uint8_t cam_no, uint8_t cam_mode, uint8_t trigger_pin, uint16_t interval, uint16_t exposure, float gain)
{
mavlink_message_t msg;
mavlink_msg_set_cam_shutter_pack(mavlink_system.sysid, mavlink_system.compid, &msg, cam_no, cam_mode, trigger_pin, interval, exposure, gain);
mavlink_msg_set_cam_shutter_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, cam_no, cam_mode, trigger_pin, interval, exposure, gain);
mavlink_send_uart(chan, &msg);
}

18
libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_vicon_position_estimate.h
View File

@ -44,6 +44,22 @@ static inline uint16_t mavlink_msg_vicon_position_estimate_pack(uint8_t system_i
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_vicon_position_estimate_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE;
i += put_uint64_t_by_index(usec, i, msg->payload); //Timestamp (milliseconds)
i += put_float_by_index(x, i, msg->payload); //Global X position
i += put_float_by_index(y, i, msg->payload); //Global Y position
i += put_float_by_index(z, i, msg->payload); //Global Z position
i += put_float_by_index(roll, i, msg->payload); //Roll angle in rad
i += put_float_by_index(pitch, i, msg->payload); //Pitch angle in rad
i += put_float_by_index(yaw, i, msg->payload); //Yaw angle in rad
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_vicon_position_estimate_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_vicon_position_estimate_t* vicon_position_estimate)
{
return mavlink_msg_vicon_position_estimate_pack(system_id, component_id, msg, vicon_position_estimate->usec, vicon_position_estimate->x, vicon_position_estimate->y, vicon_position_estimate->z, vicon_position_estimate->roll, vicon_position_estimate->pitch, vicon_position_estimate->yaw);
@ -54,7 +70,7 @@ static inline uint16_t mavlink_msg_vicon_position_estimate_encode(uint8_t system
static inline void mavlink_msg_vicon_position_estimate_send(mavlink_channel_t chan, uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw)
{
mavlink_message_t msg;
mavlink_msg_vicon_position_estimate_pack(mavlink_system.sysid, mavlink_system.compid, &msg, usec, x, y, z, roll, pitch, yaw);
mavlink_msg_vicon_position_estimate_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, usec, x, y, z, roll, pitch, yaw);
mavlink_send_uart(chan, &msg);
}

18
libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_vision_position_estimate.h
View File

@ -44,6 +44,22 @@ static inline uint16_t mavlink_msg_vision_position_estimate_pack(uint8_t system_
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_vision_position_estimate_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE;
i += put_uint64_t_by_index(usec, i, msg->payload); //Timestamp (milliseconds)
i += put_float_by_index(x, i, msg->payload); //Global X position
i += put_float_by_index(y, i, msg->payload); //Global Y position
i += put_float_by_index(z, i, msg->payload); //Global Z position
i += put_float_by_index(roll, i, msg->payload); //Roll angle in rad
i += put_float_by_index(pitch, i, msg->payload); //Pitch angle in rad
i += put_float_by_index(yaw, i, msg->payload); //Yaw angle in rad
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_vision_position_estimate_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_vision_position_estimate_t* vision_position_estimate)
{
return mavlink_msg_vision_position_estimate_pack(system_id, component_id, msg, vision_position_estimate->usec, vision_position_estimate->x, vision_position_estimate->y, vision_position_estimate->z, vision_position_estimate->roll, vision_position_estimate->pitch, vision_position_estimate->yaw);
@ -54,7 +70,7 @@ static inline uint16_t mavlink_msg_vision_position_estimate_encode(uint8_t syste
static inline void mavlink_msg_vision_position_estimate_send(mavlink_channel_t chan, uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw)
{
mavlink_message_t msg;
mavlink_msg_vision_position_estimate_pack(mavlink_system.sysid, mavlink_system.compid, &msg, usec, x, y, z, roll, pitch, yaw);
mavlink_msg_vision_position_estimate_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, usec, x, y, z, roll, pitch, yaw);
mavlink_send_uart(chan, &msg);
}

15
libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_watchdog_command.h
View File

@ -35,6 +35,19 @@ static inline uint16_t mavlink_msg_watchdog_command_pack(uint8_t system_id, uint
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_watchdog_command_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target_system_id, uint16_t watchdog_id, uint16_t process_id, uint8_t command_id)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_WATCHDOG_COMMAND;
i += put_uint8_t_by_index(target_system_id, i, msg->payload); //Target system ID
i += put_uint16_t_by_index(watchdog_id, i, msg->payload); //Watchdog ID
i += put_uint16_t_by_index(process_id, i, msg->payload); //Process ID
i += put_uint8_t_by_index(command_id, i, msg->payload); //Command ID
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_watchdog_command_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_watchdog_command_t* watchdog_command)
{
return mavlink_msg_watchdog_command_pack(system_id, component_id, msg, watchdog_command->target_system_id, watchdog_command->watchdog_id, watchdog_command->process_id, watchdog_command->command_id);
@ -45,7 +58,7 @@ static inline uint16_t mavlink_msg_watchdog_command_encode(uint8_t system_id, ui
static inline void mavlink_msg_watchdog_command_send(mavlink_channel_t chan, uint8_t target_system_id, uint16_t watchdog_id, uint16_t process_id, uint8_t command_id)
{
mavlink_message_t msg;
mavlink_msg_watchdog_command_pack(mavlink_system.sysid, mavlink_system.compid, &msg, target_system_id, watchdog_id, process_id, command_id);
mavlink_msg_watchdog_command_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system_id, watchdog_id, process_id, command_id);
mavlink_send_uart(chan, &msg);
}

13
libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_watchdog_heartbeat.h
View File

@ -29,6 +29,17 @@ static inline uint16_t mavlink_msg_watchdog_heartbeat_pack(uint8_t system_id, ui
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_watchdog_heartbeat_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint16_t watchdog_id, uint16_t process_count)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT;
i += put_uint16_t_by_index(watchdog_id, i, msg->payload); //Watchdog ID
i += put_uint16_t_by_index(process_count, i, msg->payload); //Number of processes
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_watchdog_heartbeat_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_watchdog_heartbeat_t* watchdog_heartbeat)
{
return mavlink_msg_watchdog_heartbeat_pack(system_id, component_id, msg, watchdog_heartbeat->watchdog_id, watchdog_heartbeat->process_count);
@ -39,7 +50,7 @@ static inline uint16_t mavlink_msg_watchdog_heartbeat_encode(uint8_t system_id,
static inline void mavlink_msg_watchdog_heartbeat_send(mavlink_channel_t chan, uint16_t watchdog_id, uint16_t process_count)
{
mavlink_message_t msg;
mavlink_msg_watchdog_heartbeat_pack(mavlink_system.sysid, mavlink_system.compid, &msg, watchdog_id, process_count);
mavlink_msg_watchdog_heartbeat_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, watchdog_id, process_count);
mavlink_send_uart(chan, &msg);
}

16
libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_watchdog_process_info.h
View File

@ -40,6 +40,20 @@ static inline uint16_t mavlink_msg_watchdog_process_info_pack(uint8_t system_id,
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_watchdog_process_info_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint16_t watchdog_id, uint16_t process_id, const int8_t* name, const int8_t* arguments, int32_t timeout)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO;
i += put_uint16_t_by_index(watchdog_id, i, msg->payload); //Watchdog ID
i += put_uint16_t_by_index(process_id, i, msg->payload); //Process ID
i += put_array_by_index(name, 100, i, msg->payload); //Process name
i += put_array_by_index(arguments, 147, i, msg->payload); //Process arguments
i += put_int32_t_by_index(timeout, i, msg->payload); //Timeout (seconds)
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_watchdog_process_info_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_watchdog_process_info_t* watchdog_process_info)
{
return mavlink_msg_watchdog_process_info_pack(system_id, component_id, msg, watchdog_process_info->watchdog_id, watchdog_process_info->process_id, watchdog_process_info->name, watchdog_process_info->arguments, watchdog_process_info->timeout);
@ -50,7 +64,7 @@ static inline uint16_t mavlink_msg_watchdog_process_info_encode(uint8_t system_i
static inline void mavlink_msg_watchdog_process_info_send(mavlink_channel_t chan, uint16_t watchdog_id, uint16_t process_id, const int8_t* name, const int8_t* arguments, int32_t timeout)
{
mavlink_message_t msg;
mavlink_msg_watchdog_process_info_pack(mavlink_system.sysid, mavlink_system.compid, &msg, watchdog_id, process_id, name, arguments, timeout);
mavlink_msg_watchdog_process_info_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, watchdog_id, process_id, name, arguments, timeout);
mavlink_send_uart(chan, &msg);
}

17
libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_watchdog_process_status.h
View File

@ -41,6 +41,21 @@ static inline uint16_t mavlink_msg_watchdog_process_status_pack(uint8_t system_i
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_watchdog_process_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint16_t watchdog_id, uint16_t process_id, uint8_t state, uint8_t muted, int32_t pid, uint16_t crashes)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS;
i += put_uint16_t_by_index(watchdog_id, i, msg->payload); //Watchdog ID
i += put_uint16_t_by_index(process_id, i, msg->payload); //Process ID
i += put_uint8_t_by_index(state, i, msg->payload); //Is running / finished / suspended / crashed
i += put_uint8_t_by_index(muted, i, msg->payload); //Is muted
i += put_int32_t_by_index(pid, i, msg->payload); //PID
i += put_uint16_t_by_index(crashes, i, msg->payload); //Number of crashes
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_watchdog_process_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_watchdog_process_status_t* watchdog_process_status)
{
return mavlink_msg_watchdog_process_status_pack(system_id, component_id, msg, watchdog_process_status->watchdog_id, watchdog_process_status->process_id, watchdog_process_status->state, watchdog_process_status->muted, watchdog_process_status->pid, watchdog_process_status->crashes);
@ -51,7 +66,7 @@ static inline uint16_t mavlink_msg_watchdog_process_status_encode(uint8_t system
static inline void mavlink_msg_watchdog_process_status_send(mavlink_channel_t chan, uint16_t watchdog_id, uint16_t process_id, uint8_t state, uint8_t muted, int32_t pid, uint16_t crashes)
{
mavlink_message_t msg;
mavlink_msg_watchdog_process_status_pack(mavlink_system.sysid, mavlink_system.compid, &msg, watchdog_id, process_id, state, muted, pid, crashes);
mavlink_msg_watchdog_process_status_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, watchdog_id, process_id, state, muted, pid, crashes);
mavlink_send_uart(chan, &msg);
}

22
libraries/GCS_MAVLink/include/pixhawk/pixhawk.h
View File

@ -1,7 +1,7 @@
/** @file
* @brief MAVLink comm protocol.
* @see http://pixhawk.ethz.ch/software/mavlink
* Generated on Sunday, October 24 2010, 08:46 UTC
* Generated on Thursday, December 2 2010, 10:43 UTC
*/
#ifndef PIXHAWK_H
#define PIXHAWK_H
@ -17,11 +17,19 @@ extern "C" {
#include "../common/common.h"
#include "./mavlink_msg_set_altitude.h"
#include "./mavlink_msg_request_data_stream.h"
#include "./mavlink_msg_request_dynamic_gyro_calibration.h"
#include "./mavlink_msg_request_static_calibration.h"
#include "./mavlink_msg_manual_control.h"
// ENUM DEFINITIONS
/** @brief Slugs parameter interface subsets */
enum SLUGS_PID_INDX_IDS
{
PID_YAW_DAMPER=2,
PID_PITCH=3, /* With comment: PID Pitch parameter*/
PID_ALT_HOLD=50
};
// MESSAGE DEFINITIONS
#include "./mavlink_msg_attitude_control.h"
#include "./mavlink_msg_debug_vect.h"
#include "./mavlink_msg_set_cam_shutter.h"
@ -42,6 +50,8 @@ extern "C" {
#include "./mavlink_msg_watchdog_process_status.h"
#include "./mavlink_msg_watchdog_command.h"
#include "./mavlink_msg_pattern_detected.h"
#include "./mavlink_msg_point_of_interest.h"
#include "./mavlink_msg_point_of_interest_connection.h"
#ifdef __cplusplus
}
#endif

117
libraries/GCS_MAVLink/include/protocol.h
View File

@ -6,12 +6,60 @@
#include "mavlink_types.h"
/**
* @brief Finalize a MAVLink message
* @brief Initialize the communication stack
*
* This function has to be called before using commParseBuffer() to initialize the different status registers.
*
* @return Will initialize the different buffers and status registers.
*/
static void mavlink_parse_state_initialize(mavlink_status_t* initStatus)
{
if ((initStatus->parse_state <= MAVLINK_PARSE_STATE_UNINIT) || (initStatus->parse_state > MAVLINK_PARSE_STATE_GOT_CRC1))
{
initStatus->ck_a = 0;
initStatus->ck_b = 0;
initStatus->msg_received = 0;
initStatus->buffer_overrun = 0;
initStatus->parse_error = 0;
initStatus->parse_state = MAVLINK_PARSE_STATE_UNINIT;
initStatus->packet_idx = 0;
initStatus->packet_rx_drop_count = 0;
initStatus->packet_rx_success_count = 0;
initStatus->current_rx_seq = 0;
initStatus->current_tx_seq = 0;
}
}
static inline mavlink_status_t* mavlink_get_channel_status(uint8_t chan)
{
#if (defined linux) | (defined __linux) | (defined __MACH__) | (defined _WIN32)
static mavlink_status_t m_mavlink_status[MAVLINK_COMM_NB_HIGH];
#else
static mavlink_status_t m_mavlink_status[MAVLINK_COMM_NB];
#endif
return &m_mavlink_status[chan];
}
/**
* @brief Finalize a MAVLink message with MAVLINK_COMM_0 as default channel
*
* This function calculates the checksum and sets length and aircraft id correctly.
* It assumes that the message id and the payload are already correctly set.
*
* @warning This function implicitely assumes the message is sent over channel zero.
* if the message is sent over a different channel it will reach the receiver
* without error, BUT the sequence number might be wrong due to the wrong
* channel sequence counter. This will result is wrongly reported excessive
* packet loss. Please use @see mavlink_{pack|encode}_headerless and then
* @see mavlink_finalize_message_chan before sending for a correct channel
* assignment. Please note that the mavlink_msg_xxx_pack and encode functions
* assign channel zero as default and thus induce possible loss counter errors.\
* They have been left to ensure code compatibility.
*
* @see mavlink_finalize_message_chan
* @param msg Message to finalize
* @param system_id Id of the sending (this) system, 1-127
* @param length Message length, usually just the counter incremented while packing the message
@ -19,14 +67,42 @@
static inline uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, uint16_t length)
{
// This code part is the same for all messages;
static uint8_t seq = 0;
uint16_t checksum;
msg->len = length;
msg->sysid = system_id;
msg->compid = component_id;
// One sequence number per component
msg->seq = seq++;
msg->seq = mavlink_get_channel_status(MAVLINK_COMM_0)->current_tx_seq;
mavlink_get_channel_status(MAVLINK_COMM_0)->current_tx_seq = mavlink_get_channel_status(MAVLINK_COMM_0)->current_tx_seq+1;
checksum = crc_calculate((uint8_t*)((void*)msg), length + MAVLINK_CORE_HEADER_LEN);
msg->ck_a = (uint8_t)(checksum & 0xFF); ///< High byte
msg->ck_b = (uint8_t)(checksum >> 8); ///< Low byte
return length + MAVLINK_NUM_NON_STX_PAYLOAD_BYTES;
}
/**
* @brief Finalize a MAVLink message with channel assignment
*
* This function calculates the checksum and sets length and aircraft id correctly.
* It assumes that the message id and the payload are already correctly set. This function
* can also be used if the message header has already been written before (as in mavlink_msg_xxx_pack
* instead of mavlink_msg_xxx_pack_headerless), it just introduces little extra overhead.
*
* @param msg Message to finalize
* @param system_id Id of the sending (this) system, 1-127
* @param length Message length, usually just the counter incremented while packing the message
*/
static inline uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, uint8_t chan, uint16_t length)
{
// This code part is the same for all messages;
uint16_t checksum;
msg->len = length;
msg->sysid = system_id;
msg->compid = component_id;
// One sequence number per component
msg->seq = mavlink_get_channel_status(chan)->current_tx_seq;
mavlink_get_channel_status(chan)->current_tx_seq = mavlink_get_channel_status(chan)->current_tx_seq+1;
checksum = crc_calculate((uint8_t*)((void*)msg), length + MAVLINK_CORE_HEADER_LEN);
msg->ck_a = (uint8_t)(checksum & 0xFF); ///< High byte
msg->ck_b = (uint8_t)(checksum >> 8); ///< Low byte
@ -88,30 +164,6 @@ static inline void mavlink_update_checksum(mavlink_message_t* msg, uint8_t c)
msg->ck_b = ck.c[1];
}
/**
* @brief Initialize the communication stack
*
* This function has to be called before using commParseBuffer() to initialize the different status registers.
*
* @return Will initialize the different buffers and status registers.
*/
static void mavlink_parse_state_initialize(mavlink_status_t* initStatus)
{
if ((initStatus->parse_state <= MAVLINK_PARSE_STATE_UNINIT) || (initStatus->parse_state > MAVLINK_PARSE_STATE_GOT_CRC1))
{
initStatus->ck_a = 0;
initStatus->ck_b = 0;
initStatus->msg_received = 0;
initStatus->buffer_overrun = 0;
initStatus->parse_error = 0;
initStatus->parse_state = MAVLINK_PARSE_STATE_UNINIT;
initStatus->packet_idx = 0;
initStatus->packet_rx_drop_count = 0;
initStatus->packet_rx_success_count = 0;
}
}
/**
* This is a convenience function which handles the complete MAVLink parsing.
* the function will parse one byte at a time and return the complete packet once
@ -151,17 +203,15 @@ static void mavlink_parse_state_initialize(mavlink_status_t* initStatus)
static inline uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status)
{
#if (defined linux) | (defined __linux) | (defined __MACH__) | (defined _WIN32)
static mavlink_status_t m_mavlink_status[MAVLINK_COMM_NB_HIGH];
static mavlink_message_t m_mavlink_message[MAVLINK_COMM_NB_HIGH];
#else
static mavlink_status_t m_mavlink_status[MAVLINK_COMM_NB];
static mavlink_message_t m_mavlink_message[MAVLINK_COMM_NB];
#endif
// Initializes only once, values keep unchanged after first initialization
mavlink_parse_state_initialize(&m_mavlink_status[chan]);
mavlink_parse_state_initialize(mavlink_get_channel_status(chan));
mavlink_message_t* rxmsg = &m_mavlink_message[chan]; ///< The currently decoded message
mavlink_status_t* status = &m_mavlink_status[chan]; ///< The current decode status
mavlink_status_t* status = mavlink_get_channel_status(chan); ///< The current decode status
int bufferIndex = 0;
status->msg_received = 0;
@ -285,16 +335,17 @@ static inline uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_messag
// status->packet_rx_drop_count++;
// status->current_seq++;
//}
status->current_seq = rxmsg->seq;
status->current_rx_seq = rxmsg->seq;
// Initial condition: If no packet has been received so far, drop count is undefined
if (status->packet_rx_success_count == 0) status->packet_rx_drop_count = 0;
// Count this packet as received
status->packet_rx_success_count++;
}
r_mavlink_status->current_seq = status->current_seq+1;
r_mavlink_status->current_rx_seq = status->current_rx_seq+1;
r_mavlink_status->packet_rx_success_count = status->packet_rx_success_count;
r_mavlink_status->packet_rx_drop_count = status->parse_error;
status->parse_error = 0;
return status->msg_received;
}

2
libraries/GCS_MAVLink/include/slugs/mavlink.h
View File

@ -1,7 +1,7 @@
/** @file
* @brief MAVLink comm protocol.
* @see http://pixhawk.ethz.ch/software/mavlink
* Generated on Sunday, October 24 2010, 08:47 UTC
* Generated on Thursday, December 2 2010, 10:44 UTC
*/
#ifndef MAVLINK_H
#define MAVLINK_H

15
libraries/GCS_MAVLink/include/slugs/mavlink_msg_air_data.h
View File

@ -35,6 +35,19 @@ static inline uint16_t mavlink_msg_air_data_pack(uint8_t system_id, uint8_t comp
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_air_data_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target, float dynamicPressure, float staticPressure, uint16_t temperature)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_AIR_DATA;
i += put_uint8_t_by_index(target, i, msg->payload); //The system reporting the air data
i += put_float_by_index(dynamicPressure, i, msg->payload); //Dynamic pressure (Pa)
i += put_float_by_index(staticPressure, i, msg->payload); //Static pressure (Pa)
i += put_uint16_t_by_index(temperature, i, msg->payload); //Board temperature
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_air_data_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_air_data_t* air_data)
{
return mavlink_msg_air_data_pack(system_id, component_id, msg, air_data->target, air_data->dynamicPressure, air_data->staticPressure, air_data->temperature);
@ -45,7 +58,7 @@ static inline uint16_t mavlink_msg_air_data_encode(uint8_t system_id, uint8_t co
static inline void mavlink_msg_air_data_send(mavlink_channel_t chan, uint8_t target, float dynamicPressure, float staticPressure, uint16_t temperature)
{
mavlink_message_t msg;
mavlink_msg_air_data_pack(mavlink_system.sysid, mavlink_system.compid, &msg, target, dynamicPressure, staticPressure, temperature);
mavlink_msg_air_data_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target, dynamicPressure, staticPressure, temperature);
mavlink_send_uart(chan, &msg);
}

15
libraries/GCS_MAVLink/include/slugs/mavlink_msg_cpu_load.h
View File

@ -35,6 +35,19 @@ static inline uint16_t mavlink_msg_cpu_load_pack(uint8_t system_id, uint8_t comp
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_cpu_load_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target, uint8_t sensLoad, uint8_t ctrlLoad, uint16_t batVolt)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_CPU_LOAD;
i += put_uint8_t_by_index(target, i, msg->payload); //The system reporting the CPU load
i += put_uint8_t_by_index(sensLoad, i, msg->payload); //Sensor DSC Load
i += put_uint8_t_by_index(ctrlLoad, i, msg->payload); //Control DSC Load
i += put_uint16_t_by_index(batVolt, i, msg->payload); //Battery Voltage in millivolts
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_cpu_load_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_cpu_load_t* cpu_load)
{
return mavlink_msg_cpu_load_pack(system_id, component_id, msg, cpu_load->target, cpu_load->sensLoad, cpu_load->ctrlLoad, cpu_load->batVolt);
@ -45,7 +58,7 @@ static inline uint16_t mavlink_msg_cpu_load_encode(uint8_t system_id, uint8_t co
static inline void mavlink_msg_cpu_load_send(mavlink_channel_t chan, uint8_t target, uint8_t sensLoad, uint8_t ctrlLoad, uint16_t batVolt)
{
mavlink_message_t msg;
mavlink_msg_cpu_load_pack(mavlink_system.sysid, mavlink_system.compid, &msg, target, sensLoad, ctrlLoad, batVolt);
mavlink_msg_cpu_load_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target, sensLoad, ctrlLoad, batVolt);
mavlink_send_uart(chan, &msg);
}

18
libraries/GCS_MAVLink/include/slugs/mavlink_msg_diagnostic.h
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@ -44,6 +44,22 @@ static inline uint16_t mavlink_msg_diagnostic_pack(uint8_t system_id, uint8_t co
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_diagnostic_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target, float diagFl1, float diagFl2, float diagFl3, int16_t diagSh1, int16_t diagSh2, int16_t diagSh3)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_DIAGNOSTIC;
i += put_uint8_t_by_index(target, i, msg->payload); //The system reporting the diagnostic
i += put_float_by_index(diagFl1, i, msg->payload); //Diagnostic float 1
i += put_float_by_index(diagFl2, i, msg->payload); //Diagnostic float 2
i += put_float_by_index(diagFl3, i, msg->payload); //Diagnostic float 3
i += put_int16_t_by_index(diagSh1, i, msg->payload); //Diagnostic short 1
i += put_int16_t_by_index(diagSh2, i, msg->payload); //Diagnostic short 2
i += put_int16_t_by_index(diagSh3, i, msg->payload); //Diagnostic short 3
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_diagnostic_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_diagnostic_t* diagnostic)
{
return mavlink_msg_diagnostic_pack(system_id, component_id, msg, diagnostic->target, diagnostic->diagFl1, diagnostic->diagFl2, diagnostic->diagFl3, diagnostic->diagSh1, diagnostic->diagSh2, diagnostic->diagSh3);
@ -54,7 +70,7 @@ static inline uint16_t mavlink_msg_diagnostic_encode(uint8_t system_id, uint8_t
static inline void mavlink_msg_diagnostic_send(mavlink_channel_t chan, uint8_t target, float diagFl1, float diagFl2, float diagFl3, int16_t diagSh1, int16_t diagSh2, int16_t diagSh3)
{
mavlink_message_t msg;
mavlink_msg_diagnostic_pack(mavlink_system.sysid, mavlink_system.compid, &msg, target, diagFl1, diagFl2, diagFl3, diagSh1, diagSh2, diagSh3);
mavlink_msg_diagnostic_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target, diagFl1, diagFl2, diagFl3, diagSh1, diagSh2, diagSh3);
mavlink_send_uart(chan, &msg);
}

17
libraries/GCS_MAVLink/include/slugs/mavlink_msg_pilot_console.h
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@ -41,6 +41,21 @@ static inline uint16_t mavlink_msg_pilot_console_pack(uint8_t system_id, uint8_t
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_pilot_console_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target, uint16_t dt, uint16_t dla, uint16_t dra, uint16_t dr, uint16_t de)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_PILOT_CONSOLE;
i += put_uint8_t_by_index(target, i, msg->payload); //The system reporting the diagnostic
i += put_uint16_t_by_index(dt, i, msg->payload); //Pilot's console throttle command
i += put_uint16_t_by_index(dla, i, msg->payload); //Pilot's console left aileron command
i += put_uint16_t_by_index(dra, i, msg->payload); //Pilot's console right aileron command
i += put_uint16_t_by_index(dr, i, msg->payload); //Pilot's console rudder command
i += put_uint16_t_by_index(de, i, msg->payload); //Pilot's console elevator command
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_pilot_console_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_pilot_console_t* pilot_console)
{
return mavlink_msg_pilot_console_pack(system_id, component_id, msg, pilot_console->target, pilot_console->dt, pilot_console->dla, pilot_console->dra, pilot_console->dr, pilot_console->de);
@ -51,7 +66,7 @@ static inline uint16_t mavlink_msg_pilot_console_encode(uint8_t system_id, uint8
static inline void mavlink_msg_pilot_console_send(mavlink_channel_t chan, uint8_t target, uint16_t dt, uint16_t dla, uint16_t dra, uint16_t dr, uint16_t de)
{
mavlink_message_t msg;
mavlink_msg_pilot_console_pack(mavlink_system.sysid, mavlink_system.compid, &msg, target, dt, dla, dra, dr, de);
mavlink_msg_pilot_console_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target, dt, dla, dra, dr, de);
mavlink_send_uart(chan, &msg);
}

22
libraries/GCS_MAVLink/include/slugs/mavlink_msg_pwm_commands.h
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@ -56,6 +56,26 @@ static inline uint16_t mavlink_msg_pwm_commands_pack(uint8_t system_id, uint8_t
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_pwm_commands_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target, uint16_t dt_c, uint16_t dla_c, uint16_t dra_c, uint16_t dr_c, uint16_t dle_c, uint16_t dre_c, uint16_t dlf_c, uint16_t drf_c, uint16_t aux1, uint16_t aux2)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_PWM_COMMANDS;
i += put_uint8_t_by_index(target, i, msg->payload); //The system reporting the diagnostic
i += put_uint16_t_by_index(dt_c, i, msg->payload); //AutoPilot's throttle command
i += put_uint16_t_by_index(dla_c, i, msg->payload); //AutoPilot's left aileron command
i += put_uint16_t_by_index(dra_c, i, msg->payload); //AutoPilot's right aileron command
i += put_uint16_t_by_index(dr_c, i, msg->payload); //AutoPilot's rudder command
i += put_uint16_t_by_index(dle_c, i, msg->payload); //AutoPilot's left elevator command
i += put_uint16_t_by_index(dre_c, i, msg->payload); //AutoPilot's right elevator command
i += put_uint16_t_by_index(dlf_c, i, msg->payload); //AutoPilot's left flap command
i += put_uint16_t_by_index(drf_c, i, msg->payload); //AutoPilot's right flap command
i += put_uint16_t_by_index(aux1, i, msg->payload); //AutoPilot's aux1 command
i += put_uint16_t_by_index(aux2, i, msg->payload); //AutoPilot's aux2 command
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_pwm_commands_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_pwm_commands_t* pwm_commands)
{
return mavlink_msg_pwm_commands_pack(system_id, component_id, msg, pwm_commands->target, pwm_commands->dt_c, pwm_commands->dla_c, pwm_commands->dra_c, pwm_commands->dr_c, pwm_commands->dle_c, pwm_commands->dre_c, pwm_commands->dlf_c, pwm_commands->drf_c, pwm_commands->aux1, pwm_commands->aux2);
@ -66,7 +86,7 @@ static inline uint16_t mavlink_msg_pwm_commands_encode(uint8_t system_id, uint8_
static inline void mavlink_msg_pwm_commands_send(mavlink_channel_t chan, uint8_t target, uint16_t dt_c, uint16_t dla_c, uint16_t dra_c, uint16_t dr_c, uint16_t dle_c, uint16_t dre_c, uint16_t dlf_c, uint16_t drf_c, uint16_t aux1, uint16_t aux2)
{
mavlink_message_t msg;
mavlink_msg_pwm_commands_pack(mavlink_system.sysid, mavlink_system.compid, &msg, target, dt_c, dla_c, dra_c, dr_c, dle_c, dre_c, dlf_c, drf_c, aux1, aux2);
mavlink_msg_pwm_commands_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target, dt_c, dla_c, dra_c, dr_c, dle_c, dre_c, dlf_c, drf_c, aux1, aux2);
mavlink_send_uart(chan, &msg);
}

18
libraries/GCS_MAVLink/include/slugs/mavlink_msg_sensor_bias.h
View File

@ -44,6 +44,22 @@ static inline uint16_t mavlink_msg_sensor_bias_pack(uint8_t system_id, uint8_t c
return mavlink_finalize_message(msg, system_id, component_id, i);
}
static inline uint16_t mavlink_msg_sensor_bias_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target, float axBias, float ayBias, float azBias, float gxBias, float gyBias, float gzBias)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_SENSOR_BIAS;
i += put_uint8_t_by_index(target, i, msg->payload); //The system reporting the biases
i += put_float_by_index(axBias, i, msg->payload); //Accelerometer X bias (m/s)
i += put_float_by_index(ayBias, i, msg->payload); //Accelerometer Y bias (m/s)
i += put_float_by_index(azBias, i, msg->payload); //Accelerometer Z bias (m/s)
i += put_float_by_index(gxBias, i, msg->payload); //Gyro X bias (rad/s)
i += put_float_by_index(gyBias, i, msg->payload); //Gyro Y bias (rad/s)
i += put_float_by_index(gzBias, i, msg->payload); //Gyro Z bias (rad/s)
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
static inline uint16_t mavlink_msg_sensor_bias_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_sensor_bias_t* sensor_bias)
{
return mavlink_msg_sensor_bias_pack(system_id, component_id, msg, sensor_bias->target, sensor_bias->axBias, sensor_bias->ayBias, sensor_bias->azBias, sensor_bias->gxBias, sensor_bias->gyBias, sensor_bias->gzBias);
@ -54,7 +70,7 @@ static inline uint16_t mavlink_msg_sensor_bias_encode(uint8_t system_id, uint8_t
static inline void mavlink_msg_sensor_bias_send(mavlink_channel_t chan, uint8_t target, float axBias, float ayBias, float azBias, float gxBias, float gyBias, float gzBias)
{
mavlink_message_t msg;
mavlink_msg_sensor_bias_pack(mavlink_system.sysid, mavlink_system.compid, &msg, target, axBias, ayBias, azBias, gxBias, gyBias, gzBias);
mavlink_msg_sensor_bias_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target, axBias, ayBias, azBias, gxBias, gyBias, gzBias);
mavlink_send_uart(chan, &msg);
}

7
libraries/GCS_MAVLink/include/slugs/slugs.h
View File

@ -1,7 +1,7 @@
/** @file
* @brief MAVLink comm protocol.
* @see http://pixhawk.ethz.ch/software/mavlink
* Generated on Sunday, October 24 2010, 08:47 UTC
* Generated on Thursday, December 2 2010, 10:44 UTC
*/
#ifndef SLUGS_H
#define SLUGS_H
@ -17,6 +17,11 @@ extern "C" {
#include "../common/common.h"
// ENUM DEFINITIONS
// MESSAGE DEFINITIONS
#include "./mavlink_msg_cpu_load.h"
#include "./mavlink_msg_air_data.h"
#include "./mavlink_msg_sensor_bias.h"

80
libraries/GCS_MAVLink/message_definitions/pixhawk.xml
View File

@ -1,46 +1,17 @@
<?xml version="1.0"?>
<mavlink>
<include>common.xml</include>
<enums>
<enum name="SLUGS_PID_INDX_IDS" >
<description>Slugs parameter interface subsets</description>
<entry name = "PID_YAW_DAMPER" value="2" />
<entry name = "PID_PITCH">With comment: PID Pitch parameter</entry>
<entry name = "PID_ALT_HOLD" value="50" />
</enum>
</enums>
<messages>
<message name="SET_ALTITUDE" id="80">
<field name="target" type="uint8_t">The system setting the altitude</field>
<field name="mode" type="uint32_t">The new altitude in meters</field>
</message>
<message name="REQUEST_DATA_STREAM" id="81">
<field name="target_system" type="uint8_t">The target requested to send the message stream.</field>
<field name="target_component" type="uint8_t">The target requested to send the message stream.</field>
<field name="req_stream_id" type="uint8_t">The ID of the requested message type</field>
<field name="req_message_rate" type="uint16_t">The requested interval between two messages of this type</field>
<field name="start_stop" type="uint8_t">1 to start sending, 0 to stop sending.</field>
</message>
<message name="REQUEST_DYNAMIC_GYRO_CALIBRATION" id="82">
<field name="target_system" type="uint8_t">The system which should auto-calibrate</field>
<field name="target_component" type="uint8_t">The system component which should auto-calibrate</field>
<field name="mode" type="float">The current ground-truth rpm</field>
<field name="axis" type="uint8_t">The axis to calibrate: 0 roll, 1 pitch, 2 yaw</field>
<field name="time" type="uint16_t">The time to average over in ms</field>
</message>
<message name="REQUEST_STATIC_CALIBRATION" id="83">
<field name="target_system" type="uint8_t">The system which should auto-calibrate</field>
<field name="target_component" type="uint8_t">The system component which should auto-calibrate</field>
<field name="time" type="uint16_t">The time to average over in ms</field>
</message>
<message name="MANUAL_CONTROL" id="84">
<field name="target" type="uint8_t">The system to be controlled</field>
<field name="roll" type="float">roll</field>
<field name="pitch" type="float">pitch</field>
<field name="yaw" type="float">yaw</field>
<field name="thrust" type="float">thrust</field>
<field name="roll_manual" type="uint8_t">roll control enabled auto:0, manual:1</field>
<field name="pitch_manual" type="uint8_t">pitch auto:0, manual:1</field>
<field name="yaw_manual" type="uint8_t">yaw auto:0, manual:1</field>
<field name="thrust_manual" type="uint8_t">thrust auto:0, manual:1</field>
</message>
<message name="ATTITUDE_CONTROL" id="85">
<field name="target" type="uint8_t">The system to be controlled</field>
<field name="roll" type="float">roll</field>
@ -224,5 +195,36 @@
<field name="detected" type="uint8_t">Accepted as true detection, 0 no, 1 yes</field>
</message>
<message name="POINT_OF_INTEREST" id="161">
<description>Notifies the operator about a point of interest (POI). This can be anything detected by the
system. This generic message is intented to help interfacing to generic visualizations and to display
the POI on a map.</description>
<field name="type" type="uint8_t">0: Notice, 1: Warning, 2: Critical, 3: Emergency, 4: Debug</field>
<field name="color" type="uint8_t">0: blue, 1: yellow, 2: red, 3: orange, 4: green, 5: magenta</field>
<field name="coordinate_system" type="uint8_t">0: global, 1:local</field>
<field name="timeout" type="uint16_t">0: no timeout, >1: timeout in seconds</field>
<field name="x" type="float">X Position</field>
<field name="y" type="float">Y Position</field>
<field name="z" type="float">Z Position</field>
<field name="name" type="array[25]">POI name</field>
</message>
<message name="POINT_OF_INTEREST_CONNECTION" id="162">
<description>Notifies the operator about the connection of two point of interests (POI). This can be anything detected by the
system. This generic message is intented to help interfacing to generic visualizations and to display
the POI on a map.</description>
<field name="type" type="uint8_t">0: Notice, 1: Warning, 2: Critical, 3: Emergency, 4: Debug</field>
<field name="color" type="uint8_t">0: blue, 1: yellow, 2: red, 3: orange, 4: green, 5: magenta</field>
<field name="coordinate_system" type="uint8_t">0: global, 1:local</field>
<field name="timeout" type="uint16_t">0: no timeout, >1: timeout in seconds</field>
<field name="xp1" type="float">X1 Position</field>
<field name="yp1" type="float">Y1 Position</field>
<field name="zp1" type="float">Z1 Position</field>
<field name="xp2" type="float">X2 Position</field>
<field name="yp2" type="float">Y2 Position</field>
<field name="zp2" type="float">Z2 Position</field>
<field name="name" type="array[25]">POI connection name</field>
</message>
</messages>
</mavlink>

6
libraries/GCS_MAVLink/sync Executable file
View File

@ -0,0 +1,6 @@
#!/bin/sh
rm -rf _tmp
git clone git://github.com/pixhawk/mavlink.git -b dev _tmp
rm -rf _tmp/.git
rsync -av _tmp/* .
rm -rf _tmp