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MAVLink: imported new mavlink header updates 

this fixes the camera control code which was broken by a previous
import
This commit is contained in:
Andrew Tridgell 2012-04-24 10:44:24 +10:00
parent 0eadae9704
commit a54cd57568
10 changed files with 68 additions and 114 deletions
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2
libraries/GCS_MAVLink/include/mavlink/v0.9/ardupilotmega/version.h
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@ -5,7 +5,7 @@
#ifndef MAVLINK_VERSION_H #ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H #define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Fri Apr 20 12:22:46 2012" #define MAVLINK_BUILD_DATE "Tue Apr 24 10:29:51 2012"
#define MAVLINK_WIRE_PROTOCOL_VERSION "0.9" #define MAVLINK_WIRE_PROTOCOL_VERSION "0.9"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101

2
libraries/GCS_MAVLink/include/mavlink/v0.9/checksum.h
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@ -52,7 +52,7 @@ static inline void crc_init(uint16_t* crcAccum)
* @param length length of the byte array * @param length length of the byte array
* @return the checksum over the buffer bytes * @return the checksum over the buffer bytes
**/ **/
static inline uint16_t crc_calculate(uint8_t* pBuffer, uint16_t length) static inline uint16_t crc_calculate(const uint8_t* pBuffer, uint16_t length)
{ {
uint16_t crcTmp; uint16_t crcTmp;
crc_init(&crcTmp); crc_init(&crcTmp);

49
libraries/GCS_MAVLink/include/mavlink/v0.9/common/common.h
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@ -43,55 +43,6 @@ extern "C" {
// ENUM DEFINITIONS // ENUM DEFINITIONS
/** @brief Commands to be executed by the MAV. They can be executed on user request,
or as part of a mission script. If the action is used in a mission, the parameter mapping
to the waypoint/mission message is as follows:
Param 1, Param 2, Param 3, Param 4, X: Param 5, Y:Param 6, Z:Param 7. This command list is similar what
ARINC 424 is for commercial aircraft: A data format how to interpret waypoint/mission data. */
#ifndef HAVE_ENUM_MAV_CMD
#define HAVE_ENUM_MAV_CMD
enum MAV_CMD
{
MAV_CMD_NAV_WAYPOINT=16, /* Navigate to waypoint. |Hold time in decimal seconds. (ignored by fixed wing, time to stay at waypoint for rotary wing)| Acceptance radius in meters (if the sphere with this radius is hit, the waypoint counts as reached)| 0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at waypoint (rotary wing)| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_LOITER_UNLIM=17, /* Loiter around this waypoint an unlimited amount of time |Empty| Empty| Radius around waypoint, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_LOITER_TURNS=18, /* Loiter around this waypoint for X turns |Turns| Empty| Radius around waypoint, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_LOITER_TIME=19, /* Loiter around this waypoint for X seconds |Seconds (decimal)| Empty| Radius around waypoint, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_RETURN_TO_LAUNCH=20, /* Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_NAV_LAND=21, /* Land at location |Empty| Empty| Empty| Desired yaw angle.| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_TAKEOFF=22, /* Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_ROI=80, /* Sets the region of interest (ROI) for a sensor set or the
vehicle itself. This can then be used by the vehicles control
system to control the vehicle attitude and the attitude of various
sensors such as cameras. |Region of intereset mode. (see MAV_ROI enum)| Waypoint index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z| */
MAV_CMD_NAV_PATHPLANNING=81, /* Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal, in compass degrees, [0..360]| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal| */
MAV_CMD_NAV_LAST=95, /* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_CONDITION_DELAY=112, /* Delay mission state machine. |Delay in seconds (decimal)| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_CONDITION_CHANGE_ALT=113, /* Ascend/descend at rate. Delay mission state machine until desired altitude reached. |Descent / Ascend rate (m/s)| Empty| Empty| Empty| Empty| Empty| Finish Altitude| */
MAV_CMD_CONDITION_DISTANCE=114, /* Delay mission state machine until within desired distance of next NAV point. |Distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_CONDITION_YAW=115, /* Reach a certain target angle. |target angle: [0-360], 0 is north| speed during yaw change:[deg per second]| direction: negative: counter clockwise, positive: clockwise [-1,1]| relative offset or absolute angle: [ 1,0]| Empty| Empty| Empty| */
MAV_CMD_CONDITION_LAST=159, /* NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_SET_MODE=176, /* Set system mode. |Mode, as defined by ENUM MAV_MODE| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_JUMP=177, /* Jump to the desired command in the mission list. Repeat this action only the specified number of times |Sequence number| Repeat count| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_CHANGE_SPEED=178, /* Change speed and/or throttle set points. |Speed type (0=Airspeed, 1=Ground Speed)| Speed (m/s, -1 indicates no change)| Throttle ( Percent, -1 indicates no change)| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_SET_HOME=179, /* Changes the home location either to the current location or a specified location. |Use current (1=use current location, 0=use specified location)| Empty| Empty| Empty| Latitude| Longitude| Altitude| */
MAV_CMD_DO_SET_PARAMETER=180, /* Set a system parameter. Caution! Use of this command requires knowledge of the numeric enumeration value of the parameter. |Parameter number| Parameter value| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_SET_RELAY=181, /* Set a relay to a condition. |Relay number| Setting (1=on, 0=off, others possible depending on system hardware)| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_REPEAT_RELAY=182, /* Cycle a relay on and off for a desired number of cyles with a desired period. |Relay number| Cycle count| Cycle time (seconds, decimal)| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_SET_SERVO=183, /* Set a servo to a desired PWM value. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_REPEAT_SERVO=184, /* Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty| */
MAV_CMD_DO_CONTROL_VIDEO=200, /* Control onboard camera capturing. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty| */
MAV_CMD_DO_SET_ROI=201, /* Sets the region of interest (ROI) for a sensor set or the
vehicle itself. This can then be used by the vehicles control
system to control the vehicle attitude and the attitude of various
devices such as cameras.
|Region of interest mode. (see MAV_ROI enum)| Waypoint index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple cameras etc.)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z| */
MAV_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. |Gyro calibration: 0: no, 1: yes| Magnetometer calibration: 0: no, 1: yes| Ground pressure: 0: no, 1: yes| Radio calibration: 0: no, 1: yes| Empty| Empty| Empty| */
MAV_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Reserved| Reserved| Empty| Empty| Empty| */
MAV_CMD_ENUM_END=246, /* | */
};
#endif
/** @brief Data stream IDs. A data stream is not a fixed set of messages, but rather a /** @brief Data stream IDs. A data stream is not a fixed set of messages, but rather a
recommendation to the autopilot software. Individual autopilots may or may not obey recommendation to the autopilot software. Individual autopilots may or may not obey
the recommended messages. the recommended messages.

2
libraries/GCS_MAVLink/include/mavlink/v0.9/common/version.h
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@ -5,7 +5,7 @@
#ifndef MAVLINK_VERSION_H #ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H #define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Fri Apr 20 12:22:54 2012" #define MAVLINK_BUILD_DATE "Tue Apr 24 10:29:51 2012"
#define MAVLINK_WIRE_PROTOCOL_VERSION "0.9" #define MAVLINK_WIRE_PROTOCOL_VERSION "0.9"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101

33
libraries/GCS_MAVLink/include/mavlink/v0.9/mavlink_helpers.h
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@ -18,6 +18,24 @@ MAVLINK_HELPER mavlink_status_t* mavlink_get_channel_status(uint8_t chan)
return &m_mavlink_status[chan]; return &m_mavlink_status[chan];
} }
/*
internal function to give access to the channel buffer for each channel
*/
MAVLINK_HELPER mavlink_message_t* mavlink_get_channel_buffer(uint8_t chan)
{
#if MAVLINK_EXTERNAL_RX_BUFFER
// No m_mavlink_message array defined in function,
// has to be defined externally
#ifndef m_mavlink_message
#error ERROR: IF #define MAVLINK_EXTERNAL_RX_BUFFER IS SET, THE BUFFER HAS TO BE ALLOCATED OUTSIDE OF THIS FUNCTION (mavlink_message_t m_mavlink_buffer[MAVLINK_COMM_NUM_BUFFERS];)
#endif
#else
static mavlink_message_t m_mavlink_buffer[MAVLINK_COMM_NUM_BUFFERS];
#endif
return &m_mavlink_buffer[chan];
}
/** /**
* @brief Finalize a MAVLink message with channel assignment * @brief Finalize a MAVLink message with channel assignment
* *
@ -120,7 +138,7 @@ MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint
*/ */
MAVLINK_HELPER uint16_t mavlink_msg_to_send_buffer(uint8_t *buffer, const mavlink_message_t *msg) MAVLINK_HELPER uint16_t mavlink_msg_to_send_buffer(uint8_t *buffer, const mavlink_message_t *msg)
{ {
memcpy(buffer, (uint8_t *)&msg->magic, MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)msg->len); memcpy(buffer, (const uint8_t *)&msg->magic, MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)msg->len);
return MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)msg->len; return MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)msg->len;
} }
@ -182,8 +200,6 @@ MAVLINK_HELPER void mavlink_update_checksum(mavlink_message_t* msg, uint8_t c)
*/ */
MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status) MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status)
{ {
static mavlink_message_t m_mavlink_message[MAVLINK_COMM_NUM_BUFFERS];
/* /*
default message crc function. You can override this per-system to default message crc function. You can override this per-system to
put this data in a different memory segment put this data in a different memory segment
@ -195,7 +211,7 @@ MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_messa
#endif #endif
#endif #endif
mavlink_message_t* rxmsg = &m_mavlink_message[chan]; ///< The currently decoded message mavlink_message_t* rxmsg = mavlink_get_channel_buffer(chan); ///< The currently decoded message
mavlink_status_t* status = mavlink_get_channel_status(chan); ///< The current decode status mavlink_status_t* status = mavlink_get_channel_status(chan); ///< The current decode status
int bufferIndex = 0; int bufferIndex = 0;
@ -209,14 +225,15 @@ MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_messa
{ {
status->parse_state = MAVLINK_PARSE_STATE_GOT_STX; status->parse_state = MAVLINK_PARSE_STATE_GOT_STX;
rxmsg->len = 0; rxmsg->len = 0;
rxmsg->magic = c;
mavlink_start_checksum(rxmsg); mavlink_start_checksum(rxmsg);
} }
break; break;
case MAVLINK_PARSE_STATE_GOT_STX: case MAVLINK_PARSE_STATE_GOT_STX:
if (status->msg_received if (status->msg_received
/* Support shorter buffers than the /* Support shorter buffers than the
default maximum packet size */ default maximum packet size */
#if (MAVLINK_MAX_PAYLOAD_LEN < 255) #if (MAVLINK_MAX_PAYLOAD_LEN < 255)
|| c > MAVLINK_MAX_PAYLOAD_LEN || c > MAVLINK_MAX_PAYLOAD_LEN
#endif #endif
@ -269,7 +286,7 @@ MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_messa
break; break;
case MAVLINK_PARSE_STATE_GOT_MSGID: case MAVLINK_PARSE_STATE_GOT_MSGID:
_MAV_PAYLOAD(rxmsg)[status->packet_idx++] = (char)c; _MAV_PAYLOAD_NON_CONST(rxmsg)[status->packet_idx++] = (char)c;
mavlink_update_checksum(rxmsg, c); mavlink_update_checksum(rxmsg, c);
if (status->packet_idx == rxmsg->len) if (status->packet_idx == rxmsg->len)
{ {
@ -296,6 +313,7 @@ MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_messa
else else
{ {
status->parse_state = MAVLINK_PARSE_STATE_GOT_CRC1; status->parse_state = MAVLINK_PARSE_STATE_GOT_CRC1;
_MAV_PAYLOAD_NON_CONST(rxmsg)[status->packet_idx] = (char)c;
} }
break; break;
@ -317,6 +335,7 @@ MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_messa
// Successfully got message // Successfully got message
status->msg_received = 1; status->msg_received = 1;
status->parse_state = MAVLINK_PARSE_STATE_IDLE; status->parse_state = MAVLINK_PARSE_STATE_IDLE;
_MAV_PAYLOAD_NON_CONST(rxmsg)[status->packet_idx+1] = (char)c;
memcpy(r_message, rxmsg, sizeof(mavlink_message_t)); memcpy(r_message, rxmsg, sizeof(mavlink_message_t));
} }
break; break;

35
libraries/GCS_MAVLink/include/mavlink/v0.9/mavlink_types.h
View File

@ -180,11 +180,26 @@ enum MAVLINK_DATA_STREAM_TYPE
#define MAVLINK_MAX_PACKET_LEN (MAVLINK_MAX_PAYLOAD_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) ///< Maximum packet length #define MAVLINK_MAX_PACKET_LEN (MAVLINK_MAX_PAYLOAD_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) ///< Maximum packet length
#define MAVLINK_MSG_ID_EXTENDED_MESSAGE 255
#define MAVLINK_EXTENDED_HEADER_LEN 14
#if (defined _MSC_VER) | ((defined __APPLE__) & (defined __MACH__)) | (defined __linux__)
/* full fledged 32bit++ OS */
#define MAVLINK_MAX_EXTENDED_PACKET_LEN 65507
#else
/* small microcontrollers */
#define MAVLINK_MAX_EXTENDED_PACKET_LEN 2048
#endif
#define MAVLINK_MAX_EXTENDED_PAYLOAD_LEN (MAVLINK_MAX_EXTENDED_PACKET_LEN - MAVLINK_EXTENDED_HEADER_LEN - MAVLINK_NUM_NON_PAYLOAD_BYTES)
typedef struct param_union { typedef struct param_union {
union { union {
float param_float; float param_float;
int32_t param_int32; int32_t param_int32;
uint32_t param_uint32; uint32_t param_uint32;
uint8_t param_uint8;
uint8_t bytes[4];
}; };
uint8_t type; uint8_t type;
} mavlink_param_union_t; } mavlink_param_union_t;
@ -209,6 +224,14 @@ typedef struct __mavlink_message {
uint64_t payload64[(MAVLINK_MAX_PAYLOAD_LEN+MAVLINK_NUM_CHECKSUM_BYTES+7)/8]; uint64_t payload64[(MAVLINK_MAX_PAYLOAD_LEN+MAVLINK_NUM_CHECKSUM_BYTES+7)/8];
} mavlink_message_t; } mavlink_message_t;
typedef struct __mavlink_extended_message {
mavlink_message_t base_msg;
int32_t extended_payload_len; ///< Length of extended payload if any
uint8_t extended_payload[MAVLINK_MAX_EXTENDED_PAYLOAD_LEN];
} mavlink_extended_message_t;
typedef enum { typedef enum {
MAVLINK_TYPE_CHAR = 0, MAVLINK_TYPE_CHAR = 0,
MAVLINK_TYPE_UINT8_T = 1, MAVLINK_TYPE_UINT8_T = 1,
@ -229,9 +252,9 @@ typedef struct __mavlink_field_info {
const char *name; // name of this field const char *name; // name of this field
const char *print_format; // printing format hint, or NULL const char *print_format; // printing format hint, or NULL
mavlink_message_type_t type; // type of this field mavlink_message_type_t type; // type of this field
unsigned array_length; // if non-zero, field is an array unsigned int array_length; // if non-zero, field is an array
unsigned wire_offset; // offset of each field in the payload unsigned int wire_offset; // offset of each field in the payload
unsigned structure_offset; // offset in a C structure unsigned int structure_offset; // offset in a C structure
} mavlink_field_info_t; } mavlink_field_info_t;
// note that in this structure the order of fields is the order // note that in this structure the order of fields is the order
@ -242,12 +265,12 @@ typedef struct __mavlink_message_info {
mavlink_field_info_t fields[MAVLINK_MAX_FIELDS]; // field information mavlink_field_info_t fields[MAVLINK_MAX_FIELDS]; // field information
} mavlink_message_info_t; } mavlink_message_info_t;
#define _MAV_PAYLOAD(msg) ((char *)(&(msg)->payload64[0])) #define _MAV_PAYLOAD(msg) ((const char *)(&((msg)->payload64[0])))
#define _MAV_PAYLOAD_NON_CONST(msg) ((char *)(&((msg)->payload64[0]))) #define _MAV_PAYLOAD_NON_CONST(msg) ((char *)(&((msg)->payload64[0])))
// checksum is immediately after the payload bytes // checksum is immediately after the payload bytes
#define mavlink_ck_a(msg) *(msg->len + (uint8_t *)_MAV_PAYLOAD(msg)) #define mavlink_ck_a(msg) *((msg)->len + (uint8_t *)_MAV_PAYLOAD_NON_CONST(msg))
#define mavlink_ck_b(msg) *((msg->len+(uint16_t)1) + (uint8_t *)_MAV_PAYLOAD(msg)) #define mavlink_ck_b(msg) *(((msg)->len+(uint16_t)1) + (uint8_t *)_MAV_PAYLOAD_NON_CONST(msg))
typedef enum { typedef enum {
MAVLINK_COMM_0, MAVLINK_COMM_0,

13
libraries/GCS_MAVLink/include/mavlink/v0.9/protocol.h
View File

@ -155,7 +155,7 @@ static inline void byte_copy_8(char *dst, const char *src)
/* /*
like memcpy(), but if src is NULL, do a memset to zero like memcpy(), but if src is NULL, do a memset to zero
*/ */
static void mav_array_memcpy(void *dest, const void *src, size_t n) static void mav_array_memcpy(void *dest, const void *src, size_t n)
{ {
if (src == NULL) { if (src == NULL) {
@ -171,6 +171,7 @@ static void mav_array_memcpy(void *dest, const void *src, size_t n)
static inline void _mav_put_char_array(char *buf, uint8_t wire_offset, const char *b, uint8_t array_length) static inline void _mav_put_char_array(char *buf, uint8_t wire_offset, const char *b, uint8_t array_length)
{ {
mav_array_memcpy(&buf[wire_offset], b, array_length); mav_array_memcpy(&buf[wire_offset], b, array_length);
} }
/* /*
@ -179,6 +180,7 @@ static inline void _mav_put_char_array(char *buf, uint8_t wire_offset, const cha
static inline void _mav_put_uint8_t_array(char *buf, uint8_t wire_offset, const uint8_t *b, uint8_t array_length) static inline void _mav_put_uint8_t_array(char *buf, uint8_t wire_offset, const uint8_t *b, uint8_t array_length)
{ {
mav_array_memcpy(&buf[wire_offset], b, array_length); mav_array_memcpy(&buf[wire_offset], b, array_length);
} }
/* /*
@ -187,6 +189,7 @@ static inline void _mav_put_uint8_t_array(char *buf, uint8_t wire_offset, const
static inline void _mav_put_int8_t_array(char *buf, uint8_t wire_offset, const int8_t *b, uint8_t array_length) static inline void _mav_put_int8_t_array(char *buf, uint8_t wire_offset, const int8_t *b, uint8_t array_length)
{ {
mav_array_memcpy(&buf[wire_offset], b, array_length); mav_array_memcpy(&buf[wire_offset], b, array_length);
} }
#if MAVLINK_NEED_BYTE_SWAP #if MAVLINK_NEED_BYTE_SWAP
@ -206,7 +209,7 @@ static inline void _mav_put_ ## TYPE ##_array(char *buf, uint8_t wire_offset, co
#define _MAV_PUT_ARRAY(TYPE, V) \ #define _MAV_PUT_ARRAY(TYPE, V) \
static inline void _mav_put_ ## TYPE ##_array(char *buf, uint8_t wire_offset, const TYPE *b, uint8_t array_length) \ static inline void _mav_put_ ## TYPE ##_array(char *buf, uint8_t wire_offset, const TYPE *b, uint8_t array_length) \
{ \ { \
mav_array_memcpy(&buf[wire_offset], b, array_length*sizeof(TYPE)); \ mav_array_memcpy(&buf[wire_offset], b, array_length*sizeof(TYPE)); \
} }
#endif #endif
@ -219,9 +222,9 @@ _MAV_PUT_ARRAY(int64_t, i64)
_MAV_PUT_ARRAY(float, f) _MAV_PUT_ARRAY(float, f)
_MAV_PUT_ARRAY(double, d) _MAV_PUT_ARRAY(double, d)
#define _MAV_RETURN_char(msg, wire_offset) _MAV_PAYLOAD(msg)[wire_offset] #define _MAV_RETURN_char(msg, wire_offset) (const char)_MAV_PAYLOAD(msg)[wire_offset]
#define _MAV_RETURN_int8_t(msg, wire_offset) (int8_t)_MAV_PAYLOAD(msg)[wire_offset] #define _MAV_RETURN_int8_t(msg, wire_offset) (const int8_t)_MAV_PAYLOAD(msg)[wire_offset]
#define _MAV_RETURN_uint8_t(msg, wire_offset) (uint8_t)_MAV_PAYLOAD(msg)[wire_offset] #define _MAV_RETURN_uint8_t(msg, wire_offset) (const uint8_t)_MAV_PAYLOAD(msg)[wire_offset]
#if MAVLINK_NEED_BYTE_SWAP #if MAVLINK_NEED_BYTE_SWAP
#define _MAV_MSG_RETURN_TYPE(TYPE, SIZE) \ #define _MAV_MSG_RETURN_TYPE(TYPE, SIZE) \

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

@ -5,7 +5,7 @@
#ifndef MAVLINK_VERSION_H #ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H #define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Fri Apr 20 12:22:47 2012" #define MAVLINK_BUILD_DATE "Tue Apr 24 10:29:51 2012"
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0" #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101

42
libraries/GCS_MAVLink/include/mavlink/v1.0/common/common.h
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@ -239,48 +239,6 @@ enum MAVLINK_DATA_STREAM_TYPE
}; };
#endif #endif
/** @brief Commands to be executed by the MAV. They can be executed on user request, or as part of a mission script. If the action is used in a mission, the parameter mapping to the waypoint/mission message is as follows: Param 1, Param 2, Param 3, Param 4, X: Param 5, Y:Param 6, Z:Param 7. This command list is similar what ARINC 424 is for commercial aircraft: A data format how to interpret waypoint/mission data. */
#ifndef HAVE_ENUM_MAV_CMD
#define HAVE_ENUM_MAV_CMD
enum MAV_CMD
{
MAV_CMD_NAV_WAYPOINT=16, /* Navigate to MISSION. |Hold time in decimal seconds. (ignored by fixed wing, time to stay at MISSION for rotary wing)| Acceptance radius in meters (if the sphere with this radius is hit, the MISSION counts as reached)| 0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at MISSION (rotary wing)| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_LOITER_UNLIM=17, /* Loiter around this MISSION an unlimited amount of time |Empty| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_LOITER_TURNS=18, /* Loiter around this MISSION for X turns |Turns| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_LOITER_TIME=19, /* Loiter around this MISSION for X seconds |Seconds (decimal)| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_RETURN_TO_LAUNCH=20, /* Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_NAV_LAND=21, /* Land at location |Empty| Empty| Empty| Desired yaw angle.| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_TAKEOFF=22, /* Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_ROI=80, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of intereset mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z| */
MAV_CMD_NAV_PATHPLANNING=81, /* Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal, in compass degrees, [0..360]| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal| */
MAV_CMD_NAV_LAST=95, /* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_CONDITION_DELAY=112, /* Delay mission state machine. |Delay in seconds (decimal)| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_CONDITION_CHANGE_ALT=113, /* Ascend/descend at rate. Delay mission state machine until desired altitude reached. |Descent / Ascend rate (m/s)| Empty| Empty| Empty| Empty| Empty| Finish Altitude| */
MAV_CMD_CONDITION_DISTANCE=114, /* Delay mission state machine until within desired distance of next NAV point. |Distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_CONDITION_YAW=115, /* Reach a certain target angle. |target angle: [0-360], 0 is north| speed during yaw change:[deg per second]| direction: negative: counter clockwise, positive: clockwise [-1,1]| relative offset or absolute angle: [ 1,0]| Empty| Empty| Empty| */
MAV_CMD_CONDITION_LAST=159, /* NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_SET_MODE=176, /* Set system mode. |Mode, as defined by ENUM MAV_MODE| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_JUMP=177, /* Jump to the desired command in the mission list. Repeat this action only the specified number of times |Sequence number| Repeat count| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_CHANGE_SPEED=178, /* Change speed and/or throttle set points. |Speed type (0=Airspeed, 1=Ground Speed)| Speed (m/s, -1 indicates no change)| Throttle ( Percent, -1 indicates no change)| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_SET_HOME=179, /* Changes the home location either to the current location or a specified location. |Use current (1=use current location, 0=use specified location)| Empty| Empty| Empty| Latitude| Longitude| Altitude| */
MAV_CMD_DO_SET_PARAMETER=180, /* Set a system parameter. Caution! Use of this command requires knowledge of the numeric enumeration value of the parameter. |Parameter number| Parameter value| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_SET_RELAY=181, /* Set a relay to a condition. |Relay number| Setting (1=on, 0=off, others possible depending on system hardware)| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_REPEAT_RELAY=182, /* Cycle a relay on and off for a desired number of cyles with a desired period. |Relay number| Cycle count| Cycle time (seconds, decimal)| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_SET_SERVO=183, /* Set a servo to a desired PWM value. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_REPEAT_SERVO=184, /* Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty| */
MAV_CMD_DO_CONTROL_VIDEO=200, /* Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty| */
MAV_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. |Gyro calibration: 0: no, 1: yes| Magnetometer calibration: 0: no, 1: yes| Ground pressure: 0: no, 1: yes| Radio calibration: 0: no, 1: yes| Empty| Empty| Empty| */
MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS=242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units| */
MAV_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Reserved| Reserved| Empty| Empty| Empty| */
MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN=246, /* Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot.| 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer.| Reserved| Reserved| Empty| Empty| Empty| */
MAV_CMD_OVERRIDE_GOTO=252, /* Hold / continue the current action |MAV_GOTO_DO_HOLD: hold MAV_GOTO_DO_CONTINUE: continue with next item in mission plan| MAV_GOTO_HOLD_AT_CURRENT_POSITION: Hold at current position MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position| MAV_FRAME coordinate frame of hold point| Desired yaw angle in degrees| Latitude / X position| Longitude / Y position| Altitude / Z position| */
MAV_CMD_MISSION_START=300, /* start running a mission |first_item: the first mission item to run| last_item: the last mission item to run (after this item is run, the mission ends)| */
MAV_CMD_COMPONENT_ARM_DISARM=400, /* Arms / Disarms a component |1 to arm, 0 to disarm| */
MAV_CMD_ENUM_END=401, /* | */
};
#endif
/** @brief Data stream IDs. A data stream is not a fixed set of messages, but rather a /** @brief Data stream IDs. A data stream is not a fixed set of messages, but rather a
recommendation to the autopilot software. Individual autopilots may or may not obey recommendation to the autopilot software. Individual autopilots may or may not obey
the recommended messages. */ the recommended messages. */

2
libraries/GCS_MAVLink/include/mavlink/v1.0/common/version.h
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@ -5,7 +5,7 @@
#ifndef MAVLINK_VERSION_H #ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H #define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Fri Apr 20 12:22:54 2012" #define MAVLINK_BUILD_DATE "Tue Apr 24 10:29:51 2012"
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0" #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101