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https://github.com/ArduPilot/ardupilot
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MAVLink: import new message types DCM, HWSTATUS and SIMSTATE
This commit is contained in:
Andrew Tridgell
parent
4e354a9731
commit
d106e3a970
@ -12,15 +12,15 @@ extern "C" {
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// MESSAGE LENGTHS AND CRCS
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#ifndef MAVLINK_MESSAGE_LENGTHS
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#define MAVLINK_MESSAGE_LENGTHS {3, 4, 8, 14, 8, 28, 3, 32, 0, 2, 3, 2, 2, 0, 0, 0, 0, 0, 0, 0, 19, 2, 23, 21, 0, 37, 26, 101, 26, 16, 32, 32, 37, 32, 11, 17, 17, 16, 18, 36, 4, 4, 2, 2, 4, 2, 2, 3, 14, 12, 18, 16, 8, 27, 25, 18, 18, 24, 24, 0, 0, 0, 26, 16, 36, 5, 6, 56, 26, 21, 18, 0, 0, 18, 20, 20, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 18, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 0, 0, 0, 0, 0, 0, 0, 0, 0, 42, 8, 4, 12, 15, 13, 6, 15, 14, 0, 12, 3, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 30, 14, 14, 51, 5}
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#define MAVLINK_MESSAGE_LENGTHS {3, 4, 8, 14, 8, 28, 3, 32, 0, 2, 3, 2, 2, 0, 0, 0, 0, 0, 0, 0, 19, 2, 23, 21, 0, 37, 26, 101, 26, 16, 32, 32, 37, 32, 11, 17, 17, 16, 18, 36, 4, 4, 2, 2, 4, 2, 2, 3, 14, 12, 18, 16, 8, 27, 25, 18, 18, 24, 24, 0, 0, 0, 26, 16, 36, 5, 6, 56, 26, 21, 18, 0, 0, 18, 20, 20, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 18, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 0, 0, 0, 0, 0, 0, 0, 0, 0, 42, 8, 4, 12, 15, 13, 6, 15, 14, 0, 12, 3, 8, 28, 36, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 30, 14, 14, 51, 5}
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#endif
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#ifndef MAVLINK_MESSAGE_CRCS
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#define MAVLINK_MESSAGE_CRCS {72, 39, 190, 92, 191, 217, 104, 119, 0, 219, 60, 186, 10, 0, 0, 0, 0, 0, 0, 0, 89, 159, 162, 121, 0, 149, 222, 110, 179, 136, 66, 126, 185, 147, 112, 252, 162, 215, 229, 128, 9, 106, 101, 213, 4, 229, 21, 214, 215, 14, 206, 50, 157, 126, 108, 213, 95, 5, 127, 0, 0, 0, 57, 126, 130, 119, 193, 191, 236, 158, 143, 0, 0, 104, 123, 131, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 174, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 155, 0, 0, 0, 0, 0, 0, 0, 0, 0, 143, 29, 208, 188, 118, 242, 19, 97, 233, 0, 18, 68, 136, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 178, 224, 60, 106, 7}
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#define MAVLINK_MESSAGE_CRCS {72, 39, 190, 92, 191, 217, 104, 119, 0, 219, 60, 186, 10, 0, 0, 0, 0, 0, 0, 0, 89, 159, 162, 121, 0, 149, 222, 110, 179, 136, 66, 126, 185, 147, 112, 252, 162, 215, 229, 128, 9, 106, 101, 213, 4, 229, 21, 214, 215, 14, 206, 50, 157, 126, 108, 213, 95, 5, 127, 0, 0, 0, 57, 126, 130, 119, 193, 191, 236, 158, 143, 0, 0, 104, 123, 131, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 174, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 155, 0, 0, 0, 0, 0, 0, 0, 0, 0, 143, 29, 208, 188, 118, 242, 19, 97, 233, 0, 18, 68, 136, 205, 42, 21, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 178, 224, 60, 106, 7}
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#endif
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#ifndef MAVLINK_MESSAGE_INFO
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#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_BOOT, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_SYSTEM_TIME_UTC, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {NULL}, MAVLINK_MESSAGE_INFO_ACTION_ACK, MAVLINK_MESSAGE_INFO_ACTION, MAVLINK_MESSAGE_INFO_SET_MODE, MAVLINK_MESSAGE_INFO_SET_NAV_MODE, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, {NULL}, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_LOCAL_POSITION, MAVLINK_MESSAGE_INFO_GPS_RAW, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_WAYPOINT, MAVLINK_MESSAGE_INFO_WAYPOINT_REQUEST, MAVLINK_MESSAGE_INFO_WAYPOINT_SET_CURRENT, MAVLINK_MESSAGE_INFO_WAYPOINT_CURRENT, MAVLINK_MESSAGE_INFO_WAYPOINT_REQUEST_LIST, MAVLINK_MESSAGE_INFO_WAYPOINT_COUNT, MAVLINK_MESSAGE_INFO_WAYPOINT_CLEAR_ALL, MAVLINK_MESSAGE_INFO_WAYPOINT_REACHED, MAVLINK_MESSAGE_INFO_WAYPOINT_ACK, MAVLINK_MESSAGE_INFO_GPS_SET_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_LOCAL_ORIGIN_SET, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT_SET, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_CONTROL_STATUS, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, MAVLINK_MESSAGE_INFO_POSITION_TARGET, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, MAVLINK_MESSAGE_INFO_SET_ALTITUDE, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_VFR_HUD, MAVLINK_MESSAGE_INFO_COMMAND, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_OBJECT_DETECTION_EVENT, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_SENSOR_OFFSETS, MAVLINK_MESSAGE_INFO_SET_MAG_OFFSETS, MAVLINK_MESSAGE_INFO_MEMINFO, MAVLINK_MESSAGE_INFO_AP_ADC, MAVLINK_MESSAGE_INFO_DIGICAM_CONFIGURE, MAVLINK_MESSAGE_INFO_DIGICAM_CONTROL, MAVLINK_MESSAGE_INFO_MOUNT_CONFIGURE, MAVLINK_MESSAGE_INFO_MOUNT_CONTROL, MAVLINK_MESSAGE_INFO_MOUNT_STATUS, {NULL}, MAVLINK_MESSAGE_INFO_FENCE_POINT, MAVLINK_MESSAGE_INFO_FENCE_FETCH_POINT, MAVLINK_MESSAGE_INFO_FENCE_STATUS, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG}
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#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_BOOT, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_SYSTEM_TIME_UTC, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {NULL}, MAVLINK_MESSAGE_INFO_ACTION_ACK, MAVLINK_MESSAGE_INFO_ACTION, MAVLINK_MESSAGE_INFO_SET_MODE, MAVLINK_MESSAGE_INFO_SET_NAV_MODE, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, {NULL}, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_LOCAL_POSITION, MAVLINK_MESSAGE_INFO_GPS_RAW, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_WAYPOINT, MAVLINK_MESSAGE_INFO_WAYPOINT_REQUEST, MAVLINK_MESSAGE_INFO_WAYPOINT_SET_CURRENT, MAVLINK_MESSAGE_INFO_WAYPOINT_CURRENT, MAVLINK_MESSAGE_INFO_WAYPOINT_REQUEST_LIST, MAVLINK_MESSAGE_INFO_WAYPOINT_COUNT, MAVLINK_MESSAGE_INFO_WAYPOINT_CLEAR_ALL, MAVLINK_MESSAGE_INFO_WAYPOINT_REACHED, MAVLINK_MESSAGE_INFO_WAYPOINT_ACK, MAVLINK_MESSAGE_INFO_GPS_SET_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_LOCAL_ORIGIN_SET, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT_SET, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_CONTROL_STATUS, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, MAVLINK_MESSAGE_INFO_POSITION_TARGET, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, MAVLINK_MESSAGE_INFO_SET_ALTITUDE, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_VFR_HUD, MAVLINK_MESSAGE_INFO_COMMAND, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_OBJECT_DETECTION_EVENT, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_SENSOR_OFFSETS, MAVLINK_MESSAGE_INFO_SET_MAG_OFFSETS, MAVLINK_MESSAGE_INFO_MEMINFO, MAVLINK_MESSAGE_INFO_AP_ADC, MAVLINK_MESSAGE_INFO_DIGICAM_CONFIGURE, MAVLINK_MESSAGE_INFO_DIGICAM_CONTROL, MAVLINK_MESSAGE_INFO_MOUNT_CONFIGURE, MAVLINK_MESSAGE_INFO_MOUNT_CONTROL, MAVLINK_MESSAGE_INFO_MOUNT_STATUS, {NULL}, MAVLINK_MESSAGE_INFO_FENCE_POINT, MAVLINK_MESSAGE_INFO_FENCE_FETCH_POINT, MAVLINK_MESSAGE_INFO_FENCE_STATUS, MAVLINK_MESSAGE_INFO_DCM, MAVLINK_MESSAGE_INFO_SIMSTATE, MAVLINK_MESSAGE_INFO_HWSTATUS, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG}
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#endif
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#include "../protocol.h"
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@ -143,6 +143,9 @@ enum FENCE_BREACH
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#include "./mavlink_msg_fence_point.h"
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#include "./mavlink_msg_fence_fetch_point.h"
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#include "./mavlink_msg_fence_status.h"
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#include "./mavlink_msg_dcm.h"
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#include "./mavlink_msg_simstate.h"
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#include "./mavlink_msg_hwstatus.h"
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#ifdef __cplusplus
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}
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276
libraries/GCS_MAVLink/include/ardupilotmega/mavlink_msg_dcm.h
Normal file
276
libraries/GCS_MAVLink/include/ardupilotmega/mavlink_msg_dcm.h
Normal file
@ -0,0 +1,276 @@
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// MESSAGE DCM PACKING
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#define MAVLINK_MSG_ID_DCM 163
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typedef struct __mavlink_dcm_t
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{
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float omegaIx; ///< X gyro drift estimate rad/s
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float omegaIy; ///< Y gyro drift estimate rad/s
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float omegaIz; ///< Z gyro drift estimate rad/s
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float accel_weight; ///< average accel_weight
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float renorm_val; ///< average renormalisation value
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float error_rp; ///< average error_roll_pitch value
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float error_yaw; ///< average error_yaw value
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} mavlink_dcm_t;
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#define MAVLINK_MSG_ID_DCM_LEN 28
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#define MAVLINK_MSG_ID_163_LEN 28
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#define MAVLINK_MESSAGE_INFO_DCM { \
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"DCM", \
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7, \
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{ { "omegaIx", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_dcm_t, omegaIx) }, \
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{ "omegaIy", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_dcm_t, omegaIy) }, \
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{ "omegaIz", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_dcm_t, omegaIz) }, \
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{ "accel_weight", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_dcm_t, accel_weight) }, \
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{ "renorm_val", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_dcm_t, renorm_val) }, \
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{ "error_rp", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_dcm_t, error_rp) }, \
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{ "error_yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_dcm_t, error_yaw) }, \
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} \
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}
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/**
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* @brief Pack a dcm message
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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*
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* @param omegaIx X gyro drift estimate rad/s
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* @param omegaIy Y gyro drift estimate rad/s
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* @param omegaIz Z gyro drift estimate rad/s
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* @param accel_weight average accel_weight
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* @param renorm_val average renormalisation value
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* @param error_rp average error_roll_pitch value
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* @param error_yaw average error_yaw value
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_dcm_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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float omegaIx, float omegaIy, float omegaIz, float accel_weight, float renorm_val, float error_rp, float error_yaw)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[28];
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_mav_put_float(buf, 0, omegaIx);
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_mav_put_float(buf, 4, omegaIy);
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_mav_put_float(buf, 8, omegaIz);
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_mav_put_float(buf, 12, accel_weight);
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_mav_put_float(buf, 16, renorm_val);
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_mav_put_float(buf, 20, error_rp);
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_mav_put_float(buf, 24, error_yaw);
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memcpy(_MAV_PAYLOAD(msg), buf, 28);
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#else
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mavlink_dcm_t packet;
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packet.omegaIx = omegaIx;
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packet.omegaIy = omegaIy;
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packet.omegaIz = omegaIz;
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packet.accel_weight = accel_weight;
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packet.renorm_val = renorm_val;
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packet.error_rp = error_rp;
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packet.error_yaw = error_yaw;
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memcpy(_MAV_PAYLOAD(msg), &packet, 28);
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#endif
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msg->msgid = MAVLINK_MSG_ID_DCM;
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return mavlink_finalize_message(msg, system_id, component_id, 28);
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}
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/**
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* @brief Pack a dcm message on a channel
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param chan The MAVLink channel this message was sent over
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* @param msg The MAVLink message to compress the data into
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* @param omegaIx X gyro drift estimate rad/s
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* @param omegaIy Y gyro drift estimate rad/s
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* @param omegaIz Z gyro drift estimate rad/s
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* @param accel_weight average accel_weight
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* @param renorm_val average renormalisation value
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* @param error_rp average error_roll_pitch value
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* @param error_yaw average error_yaw value
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_dcm_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
float omegaIx,float omegaIy,float omegaIz,float accel_weight,float renorm_val,float error_rp,float error_yaw)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[28];
|
||||
_mav_put_float(buf, 0, omegaIx);
|
||||
_mav_put_float(buf, 4, omegaIy);
|
||||
_mav_put_float(buf, 8, omegaIz);
|
||||
_mav_put_float(buf, 12, accel_weight);
|
||||
_mav_put_float(buf, 16, renorm_val);
|
||||
_mav_put_float(buf, 20, error_rp);
|
||||
_mav_put_float(buf, 24, error_yaw);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 28);
|
||||
#else
|
||||
mavlink_dcm_t packet;
|
||||
packet.omegaIx = omegaIx;
|
||||
packet.omegaIy = omegaIy;
|
||||
packet.omegaIz = omegaIz;
|
||||
packet.accel_weight = accel_weight;
|
||||
packet.renorm_val = renorm_val;
|
||||
packet.error_rp = error_rp;
|
||||
packet.error_yaw = error_yaw;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 28);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_DCM;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 28);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a dcm struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param dcm C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_dcm_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_dcm_t* dcm)
|
||||
{
|
||||
return mavlink_msg_dcm_pack(system_id, component_id, msg, dcm->omegaIx, dcm->omegaIy, dcm->omegaIz, dcm->accel_weight, dcm->renorm_val, dcm->error_rp, dcm->error_yaw);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a dcm message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param omegaIx X gyro drift estimate rad/s
|
||||
* @param omegaIy Y gyro drift estimate rad/s
|
||||
* @param omegaIz Z gyro drift estimate rad/s
|
||||
* @param accel_weight average accel_weight
|
||||
* @param renorm_val average renormalisation value
|
||||
* @param error_rp average error_roll_pitch value
|
||||
* @param error_yaw average error_yaw value
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_dcm_send(mavlink_channel_t chan, float omegaIx, float omegaIy, float omegaIz, float accel_weight, float renorm_val, float error_rp, float error_yaw)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[28];
|
||||
_mav_put_float(buf, 0, omegaIx);
|
||||
_mav_put_float(buf, 4, omegaIy);
|
||||
_mav_put_float(buf, 8, omegaIz);
|
||||
_mav_put_float(buf, 12, accel_weight);
|
||||
_mav_put_float(buf, 16, renorm_val);
|
||||
_mav_put_float(buf, 20, error_rp);
|
||||
_mav_put_float(buf, 24, error_yaw);
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DCM, buf, 28);
|
||||
#else
|
||||
mavlink_dcm_t packet;
|
||||
packet.omegaIx = omegaIx;
|
||||
packet.omegaIy = omegaIy;
|
||||
packet.omegaIz = omegaIz;
|
||||
packet.accel_weight = accel_weight;
|
||||
packet.renorm_val = renorm_val;
|
||||
packet.error_rp = error_rp;
|
||||
packet.error_yaw = error_yaw;
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DCM, (const char *)&packet, 28);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE DCM UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field omegaIx from dcm message
|
||||
*
|
||||
* @return X gyro drift estimate rad/s
|
||||
*/
|
||||
static inline float mavlink_msg_dcm_get_omegaIx(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field omegaIy from dcm message
|
||||
*
|
||||
* @return Y gyro drift estimate rad/s
|
||||
*/
|
||||
static inline float mavlink_msg_dcm_get_omegaIy(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 4);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field omegaIz from dcm message
|
||||
*
|
||||
* @return Z gyro drift estimate rad/s
|
||||
*/
|
||||
static inline float mavlink_msg_dcm_get_omegaIz(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 8);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field accel_weight from dcm message
|
||||
*
|
||||
* @return average accel_weight
|
||||
*/
|
||||
static inline float mavlink_msg_dcm_get_accel_weight(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 12);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field renorm_val from dcm message
|
||||
*
|
||||
* @return average renormalisation value
|
||||
*/
|
||||
static inline float mavlink_msg_dcm_get_renorm_val(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 16);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field error_rp from dcm message
|
||||
*
|
||||
* @return average error_roll_pitch value
|
||||
*/
|
||||
static inline float mavlink_msg_dcm_get_error_rp(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 20);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field error_yaw from dcm message
|
||||
*
|
||||
* @return average error_yaw value
|
||||
*/
|
||||
static inline float mavlink_msg_dcm_get_error_yaw(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 24);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a dcm message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param dcm C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_dcm_decode(const mavlink_message_t* msg, mavlink_dcm_t* dcm)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
dcm->omegaIx = mavlink_msg_dcm_get_omegaIx(msg);
|
||||
dcm->omegaIy = mavlink_msg_dcm_get_omegaIy(msg);
|
||||
dcm->omegaIz = mavlink_msg_dcm_get_omegaIz(msg);
|
||||
dcm->accel_weight = mavlink_msg_dcm_get_accel_weight(msg);
|
||||
dcm->renorm_val = mavlink_msg_dcm_get_renorm_val(msg);
|
||||
dcm->error_rp = mavlink_msg_dcm_get_error_rp(msg);
|
||||
dcm->error_yaw = mavlink_msg_dcm_get_error_yaw(msg);
|
||||
#else
|
||||
memcpy(dcm, _MAV_PAYLOAD(msg), 28);
|
||||
#endif
|
||||
}
|
||||
@ -0,0 +1,166 @@
|
||||
// MESSAGE HWSTATUS PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_HWSTATUS 165
|
||||
|
||||
typedef struct __mavlink_hwstatus_t
|
||||
{
|
||||
uint16_t Vcc; ///< board voltage (mV)
|
||||
uint8_t I2Cerr; ///< I2C error count
|
||||
} mavlink_hwstatus_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_HWSTATUS_LEN 3
|
||||
#define MAVLINK_MSG_ID_165_LEN 3
|
||||
|
||||
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_HWSTATUS { \
|
||||
"HWSTATUS", \
|
||||
2, \
|
||||
{ { "Vcc", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_hwstatus_t, Vcc) }, \
|
||||
{ "I2Cerr", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_hwstatus_t, I2Cerr) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a hwstatus message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param Vcc board voltage (mV)
|
||||
* @param I2Cerr I2C error count
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_hwstatus_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
uint16_t Vcc, uint8_t I2Cerr)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[3];
|
||||
_mav_put_uint16_t(buf, 0, Vcc);
|
||||
_mav_put_uint8_t(buf, 2, I2Cerr);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 3);
|
||||
#else
|
||||
mavlink_hwstatus_t packet;
|
||||
packet.Vcc = Vcc;
|
||||
packet.I2Cerr = I2Cerr;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 3);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_HWSTATUS;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 3);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a hwstatus message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param Vcc board voltage (mV)
|
||||
* @param I2Cerr I2C error count
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_hwstatus_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
uint16_t Vcc,uint8_t I2Cerr)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[3];
|
||||
_mav_put_uint16_t(buf, 0, Vcc);
|
||||
_mav_put_uint8_t(buf, 2, I2Cerr);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 3);
|
||||
#else
|
||||
mavlink_hwstatus_t packet;
|
||||
packet.Vcc = Vcc;
|
||||
packet.I2Cerr = I2Cerr;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 3);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_HWSTATUS;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 3);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a hwstatus struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param hwstatus C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_hwstatus_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hwstatus_t* hwstatus)
|
||||
{
|
||||
return mavlink_msg_hwstatus_pack(system_id, component_id, msg, hwstatus->Vcc, hwstatus->I2Cerr);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a hwstatus message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param Vcc board voltage (mV)
|
||||
* @param I2Cerr I2C error count
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_hwstatus_send(mavlink_channel_t chan, uint16_t Vcc, uint8_t I2Cerr)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[3];
|
||||
_mav_put_uint16_t(buf, 0, Vcc);
|
||||
_mav_put_uint8_t(buf, 2, I2Cerr);
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HWSTATUS, buf, 3);
|
||||
#else
|
||||
mavlink_hwstatus_t packet;
|
||||
packet.Vcc = Vcc;
|
||||
packet.I2Cerr = I2Cerr;
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HWSTATUS, (const char *)&packet, 3);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE HWSTATUS UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field Vcc from hwstatus message
|
||||
*
|
||||
* @return board voltage (mV)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_hwstatus_get_Vcc(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint16_t(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field I2Cerr from hwstatus message
|
||||
*
|
||||
* @return I2C error count
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_hwstatus_get_I2Cerr(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 2);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a hwstatus message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param hwstatus C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_hwstatus_decode(const mavlink_message_t* msg, mavlink_hwstatus_t* hwstatus)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
hwstatus->Vcc = mavlink_msg_hwstatus_get_Vcc(msg);
|
||||
hwstatus->I2Cerr = mavlink_msg_hwstatus_get_I2Cerr(msg);
|
||||
#else
|
||||
memcpy(hwstatus, _MAV_PAYLOAD(msg), 3);
|
||||
#endif
|
||||
}
|
||||
@ -0,0 +1,320 @@
|
||||
// MESSAGE SIMSTATE PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_SIMSTATE 164
|
||||
|
||||
typedef struct __mavlink_simstate_t
|
||||
{
|
||||
float roll; ///< Roll angle (rad)
|
||||
float pitch; ///< Pitch angle (rad)
|
||||
float yaw; ///< Yaw angle (rad)
|
||||
float xacc; ///< X acceleration m/s/s
|
||||
float yacc; ///< Y acceleration m/s/s
|
||||
float zacc; ///< Z acceleration m/s/s
|
||||
float xgyro; ///< Angular speed around X axis rad/s
|
||||
float ygyro; ///< Angular speed around Y axis rad/s
|
||||
float zgyro; ///< Angular speed around Z axis rad/s
|
||||
} mavlink_simstate_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_SIMSTATE_LEN 36
|
||||
#define MAVLINK_MSG_ID_164_LEN 36
|
||||
|
||||
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_SIMSTATE { \
|
||||
"SIMSTATE", \
|
||||
9, \
|
||||
{ { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_simstate_t, roll) }, \
|
||||
{ "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_simstate_t, pitch) }, \
|
||||
{ "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_simstate_t, yaw) }, \
|
||||
{ "xacc", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_simstate_t, xacc) }, \
|
||||
{ "yacc", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_simstate_t, yacc) }, \
|
||||
{ "zacc", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_simstate_t, zacc) }, \
|
||||
{ "xgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_simstate_t, xgyro) }, \
|
||||
{ "ygyro", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_simstate_t, ygyro) }, \
|
||||
{ "zgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_simstate_t, zgyro) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a simstate message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param roll Roll angle (rad)
|
||||
* @param pitch Pitch angle (rad)
|
||||
* @param yaw Yaw angle (rad)
|
||||
* @param xacc X acceleration m/s/s
|
||||
* @param yacc Y acceleration m/s/s
|
||||
* @param zacc Z acceleration m/s/s
|
||||
* @param xgyro Angular speed around X axis rad/s
|
||||
* @param ygyro Angular speed around Y axis rad/s
|
||||
* @param zgyro Angular speed around Z axis rad/s
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_simstate_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
float roll, float pitch, float yaw, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[36];
|
||||
_mav_put_float(buf, 0, roll);
|
||||
_mav_put_float(buf, 4, pitch);
|
||||
_mav_put_float(buf, 8, yaw);
|
||||
_mav_put_float(buf, 12, xacc);
|
||||
_mav_put_float(buf, 16, yacc);
|
||||
_mav_put_float(buf, 20, zacc);
|
||||
_mav_put_float(buf, 24, xgyro);
|
||||
_mav_put_float(buf, 28, ygyro);
|
||||
_mav_put_float(buf, 32, zgyro);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 36);
|
||||
#else
|
||||
mavlink_simstate_t packet;
|
||||
packet.roll = roll;
|
||||
packet.pitch = pitch;
|
||||
packet.yaw = yaw;
|
||||
packet.xacc = xacc;
|
||||
packet.yacc = yacc;
|
||||
packet.zacc = zacc;
|
||||
packet.xgyro = xgyro;
|
||||
packet.ygyro = ygyro;
|
||||
packet.zgyro = zgyro;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 36);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_SIMSTATE;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 36);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a simstate message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param roll Roll angle (rad)
|
||||
* @param pitch Pitch angle (rad)
|
||||
* @param yaw Yaw angle (rad)
|
||||
* @param xacc X acceleration m/s/s
|
||||
* @param yacc Y acceleration m/s/s
|
||||
* @param zacc Z acceleration m/s/s
|
||||
* @param xgyro Angular speed around X axis rad/s
|
||||
* @param ygyro Angular speed around Y axis rad/s
|
||||
* @param zgyro Angular speed around Z axis rad/s
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_simstate_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
float roll,float pitch,float yaw,float xacc,float yacc,float zacc,float xgyro,float ygyro,float zgyro)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[36];
|
||||
_mav_put_float(buf, 0, roll);
|
||||
_mav_put_float(buf, 4, pitch);
|
||||
_mav_put_float(buf, 8, yaw);
|
||||
_mav_put_float(buf, 12, xacc);
|
||||
_mav_put_float(buf, 16, yacc);
|
||||
_mav_put_float(buf, 20, zacc);
|
||||
_mav_put_float(buf, 24, xgyro);
|
||||
_mav_put_float(buf, 28, ygyro);
|
||||
_mav_put_float(buf, 32, zgyro);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 36);
|
||||
#else
|
||||
mavlink_simstate_t packet;
|
||||
packet.roll = roll;
|
||||
packet.pitch = pitch;
|
||||
packet.yaw = yaw;
|
||||
packet.xacc = xacc;
|
||||
packet.yacc = yacc;
|
||||
packet.zacc = zacc;
|
||||
packet.xgyro = xgyro;
|
||||
packet.ygyro = ygyro;
|
||||
packet.zgyro = zgyro;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 36);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_SIMSTATE;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 36);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a simstate struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param simstate C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_simstate_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_simstate_t* simstate)
|
||||
{
|
||||
return mavlink_msg_simstate_pack(system_id, component_id, msg, simstate->roll, simstate->pitch, simstate->yaw, simstate->xacc, simstate->yacc, simstate->zacc, simstate->xgyro, simstate->ygyro, simstate->zgyro);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a simstate message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param roll Roll angle (rad)
|
||||
* @param pitch Pitch angle (rad)
|
||||
* @param yaw Yaw angle (rad)
|
||||
* @param xacc X acceleration m/s/s
|
||||
* @param yacc Y acceleration m/s/s
|
||||
* @param zacc Z acceleration m/s/s
|
||||
* @param xgyro Angular speed around X axis rad/s
|
||||
* @param ygyro Angular speed around Y axis rad/s
|
||||
* @param zgyro Angular speed around Z axis rad/s
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_simstate_send(mavlink_channel_t chan, float roll, float pitch, float yaw, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[36];
|
||||
_mav_put_float(buf, 0, roll);
|
||||
_mav_put_float(buf, 4, pitch);
|
||||
_mav_put_float(buf, 8, yaw);
|
||||
_mav_put_float(buf, 12, xacc);
|
||||
_mav_put_float(buf, 16, yacc);
|
||||
_mav_put_float(buf, 20, zacc);
|
||||
_mav_put_float(buf, 24, xgyro);
|
||||
_mav_put_float(buf, 28, ygyro);
|
||||
_mav_put_float(buf, 32, zgyro);
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SIMSTATE, buf, 36);
|
||||
#else
|
||||
mavlink_simstate_t packet;
|
||||
packet.roll = roll;
|
||||
packet.pitch = pitch;
|
||||
packet.yaw = yaw;
|
||||
packet.xacc = xacc;
|
||||
packet.yacc = yacc;
|
||||
packet.zacc = zacc;
|
||||
packet.xgyro = xgyro;
|
||||
packet.ygyro = ygyro;
|
||||
packet.zgyro = zgyro;
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SIMSTATE, (const char *)&packet, 36);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE SIMSTATE UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field roll from simstate message
|
||||
*
|
||||
* @return Roll angle (rad)
|
||||
*/
|
||||
static inline float mavlink_msg_simstate_get_roll(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field pitch from simstate message
|
||||
*
|
||||
* @return Pitch angle (rad)
|
||||
*/
|
||||
static inline float mavlink_msg_simstate_get_pitch(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 4);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field yaw from simstate message
|
||||
*
|
||||
* @return Yaw angle (rad)
|
||||
*/
|
||||
static inline float mavlink_msg_simstate_get_yaw(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 8);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field xacc from simstate message
|
||||
*
|
||||
* @return X acceleration m/s/s
|
||||
*/
|
||||
static inline float mavlink_msg_simstate_get_xacc(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 12);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field yacc from simstate message
|
||||
*
|
||||
* @return Y acceleration m/s/s
|
||||
*/
|
||||
static inline float mavlink_msg_simstate_get_yacc(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 16);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field zacc from simstate message
|
||||
*
|
||||
* @return Z acceleration m/s/s
|
||||
*/
|
||||
static inline float mavlink_msg_simstate_get_zacc(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 20);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field xgyro from simstate message
|
||||
*
|
||||
* @return Angular speed around X axis rad/s
|
||||
*/
|
||||
static inline float mavlink_msg_simstate_get_xgyro(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 24);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field ygyro from simstate message
|
||||
*
|
||||
* @return Angular speed around Y axis rad/s
|
||||
*/
|
||||
static inline float mavlink_msg_simstate_get_ygyro(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 28);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field zgyro from simstate message
|
||||
*
|
||||
* @return Angular speed around Z axis rad/s
|
||||
*/
|
||||
static inline float mavlink_msg_simstate_get_zgyro(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 32);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a simstate message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param simstate C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_simstate_decode(const mavlink_message_t* msg, mavlink_simstate_t* simstate)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
simstate->roll = mavlink_msg_simstate_get_roll(msg);
|
||||
simstate->pitch = mavlink_msg_simstate_get_pitch(msg);
|
||||
simstate->yaw = mavlink_msg_simstate_get_yaw(msg);
|
||||
simstate->xacc = mavlink_msg_simstate_get_xacc(msg);
|
||||
simstate->yacc = mavlink_msg_simstate_get_yacc(msg);
|
||||
simstate->zacc = mavlink_msg_simstate_get_zacc(msg);
|
||||
simstate->xgyro = mavlink_msg_simstate_get_xgyro(msg);
|
||||
simstate->ygyro = mavlink_msg_simstate_get_ygyro(msg);
|
||||
simstate->zgyro = mavlink_msg_simstate_get_zgyro(msg);
|
||||
#else
|
||||
memcpy(simstate, _MAV_PAYLOAD(msg), 36);
|
||||
#endif
|
||||
}
|
||||
@ -668,6 +668,165 @@ static void mavlink_test_fence_status(uint8_t system_id, uint8_t component_id, m
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
}
|
||||
|
||||
static void mavlink_test_dcm(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
|
||||
{
|
||||
mavlink_message_t msg;
|
||||
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
|
||||
uint16_t i;
|
||||
mavlink_dcm_t packet_in = {
|
||||
17.0,
|
||||
45.0,
|
||||
73.0,
|
||||
101.0,
|
||||
129.0,
|
||||
157.0,
|
||||
185.0,
|
||||
};
|
||||
mavlink_dcm_t packet1, packet2;
|
||||
memset(&packet1, 0, sizeof(packet1));
|
||||
packet1.omegaIx = packet_in.omegaIx;
|
||||
packet1.omegaIy = packet_in.omegaIy;
|
||||
packet1.omegaIz = packet_in.omegaIz;
|
||||
packet1.accel_weight = packet_in.accel_weight;
|
||||
packet1.renorm_val = packet_in.renorm_val;
|
||||
packet1.error_rp = packet_in.error_rp;
|
||||
packet1.error_yaw = packet_in.error_yaw;
|
||||
|
||||
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_dcm_encode(system_id, component_id, &msg, &packet1);
|
||||
mavlink_msg_dcm_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_dcm_pack(system_id, component_id, &msg , packet1.omegaIx , packet1.omegaIy , packet1.omegaIz , packet1.accel_weight , packet1.renorm_val , packet1.error_rp , packet1.error_yaw );
|
||||
mavlink_msg_dcm_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_dcm_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.omegaIx , packet1.omegaIy , packet1.omegaIz , packet1.accel_weight , packet1.renorm_val , packet1.error_rp , packet1.error_yaw );
|
||||
mavlink_msg_dcm_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_to_send_buffer(buffer, &msg);
|
||||
for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
|
||||
comm_send_ch(MAVLINK_COMM_0, buffer[i]);
|
||||
}
|
||||
mavlink_msg_dcm_decode(last_msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_dcm_send(MAVLINK_COMM_1 , packet1.omegaIx , packet1.omegaIy , packet1.omegaIz , packet1.accel_weight , packet1.renorm_val , packet1.error_rp , packet1.error_yaw );
|
||||
mavlink_msg_dcm_decode(last_msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
}
|
||||
|
||||
static void mavlink_test_simstate(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
|
||||
{
|
||||
mavlink_message_t msg;
|
||||
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
|
||||
uint16_t i;
|
||||
mavlink_simstate_t packet_in = {
|
||||
17.0,
|
||||
45.0,
|
||||
73.0,
|
||||
101.0,
|
||||
129.0,
|
||||
157.0,
|
||||
185.0,
|
||||
213.0,
|
||||
241.0,
|
||||
};
|
||||
mavlink_simstate_t packet1, packet2;
|
||||
memset(&packet1, 0, sizeof(packet1));
|
||||
packet1.roll = packet_in.roll;
|
||||
packet1.pitch = packet_in.pitch;
|
||||
packet1.yaw = packet_in.yaw;
|
||||
packet1.xacc = packet_in.xacc;
|
||||
packet1.yacc = packet_in.yacc;
|
||||
packet1.zacc = packet_in.zacc;
|
||||
packet1.xgyro = packet_in.xgyro;
|
||||
packet1.ygyro = packet_in.ygyro;
|
||||
packet1.zgyro = packet_in.zgyro;
|
||||
|
||||
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_simstate_encode(system_id, component_id, &msg, &packet1);
|
||||
mavlink_msg_simstate_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_simstate_pack(system_id, component_id, &msg , packet1.roll , packet1.pitch , packet1.yaw , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro );
|
||||
mavlink_msg_simstate_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_simstate_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.roll , packet1.pitch , packet1.yaw , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro );
|
||||
mavlink_msg_simstate_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_to_send_buffer(buffer, &msg);
|
||||
for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
|
||||
comm_send_ch(MAVLINK_COMM_0, buffer[i]);
|
||||
}
|
||||
mavlink_msg_simstate_decode(last_msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_simstate_send(MAVLINK_COMM_1 , packet1.roll , packet1.pitch , packet1.yaw , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro );
|
||||
mavlink_msg_simstate_decode(last_msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
}
|
||||
|
||||
static void mavlink_test_hwstatus(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
|
||||
{
|
||||
mavlink_message_t msg;
|
||||
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
|
||||
uint16_t i;
|
||||
mavlink_hwstatus_t packet_in = {
|
||||
17235,
|
||||
139,
|
||||
};
|
||||
mavlink_hwstatus_t packet1, packet2;
|
||||
memset(&packet1, 0, sizeof(packet1));
|
||||
packet1.Vcc = packet_in.Vcc;
|
||||
packet1.I2Cerr = packet_in.I2Cerr;
|
||||
|
||||
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_hwstatus_encode(system_id, component_id, &msg, &packet1);
|
||||
mavlink_msg_hwstatus_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_hwstatus_pack(system_id, component_id, &msg , packet1.Vcc , packet1.I2Cerr );
|
||||
mavlink_msg_hwstatus_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_hwstatus_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.Vcc , packet1.I2Cerr );
|
||||
mavlink_msg_hwstatus_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_to_send_buffer(buffer, &msg);
|
||||
for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
|
||||
comm_send_ch(MAVLINK_COMM_0, buffer[i]);
|
||||
}
|
||||
mavlink_msg_hwstatus_decode(last_msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_hwstatus_send(MAVLINK_COMM_1 , packet1.Vcc , packet1.I2Cerr );
|
||||
mavlink_msg_hwstatus_decode(last_msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
}
|
||||
|
||||
static void mavlink_test_ardupilotmega(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
|
||||
{
|
||||
mavlink_test_sensor_offsets(system_id, component_id, last_msg);
|
||||
@ -682,6 +841,9 @@ static void mavlink_test_ardupilotmega(uint8_t system_id, uint8_t component_id,
|
||||
mavlink_test_fence_point(system_id, component_id, last_msg);
|
||||
mavlink_test_fence_fetch_point(system_id, component_id, last_msg);
|
||||
mavlink_test_fence_status(system_id, component_id, last_msg);
|
||||
mavlink_test_dcm(system_id, component_id, last_msg);
|
||||
mavlink_test_simstate(system_id, component_id, last_msg);
|
||||
mavlink_test_hwstatus(system_id, component_id, last_msg);
|
||||
}
|
||||
|
||||
#ifdef __cplusplus
|
||||
|
||||
@ -5,7 +5,7 @@
|
||||
#ifndef MAVLINK_VERSION_H
|
||||
#define MAVLINK_VERSION_H
|
||||
|
||||
#define MAVLINK_BUILD_DATE "Fri Dec 16 12:39:09 2011"
|
||||
#define MAVLINK_BUILD_DATE "Thu Mar 1 13:22:36 2012"
|
||||
#define MAVLINK_WIRE_PROTOCOL_VERSION "0.9"
|
||||
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101
|
||||
|
||||
|
||||
@ -5,7 +5,7 @@
|
||||
#ifndef MAVLINK_VERSION_H
|
||||
#define MAVLINK_VERSION_H
|
||||
|
||||
#define MAVLINK_BUILD_DATE "Sat Oct 29 18:27:32 2011"
|
||||
#define MAVLINK_BUILD_DATE "Thu Mar 1 13:22:36 2012"
|
||||
#define MAVLINK_WIRE_PROTOCOL_VERSION "0.9"
|
||||
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101
|
||||
|
||||
|
||||
@ -12,15 +12,15 @@ extern "C" {
|
||||
// MESSAGE LENGTHS AND CRCS
|
||||
|
||||
#ifndef MAVLINK_MESSAGE_LENGTHS
|
||||
#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 0, 0, 26, 0, 36, 0, 6, 4, 0, 21, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 18, 32, 32, 20, 32, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 42, 8, 4, 12, 15, 13, 6, 15, 14, 0, 12, 3, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 3}
|
||||
#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 0, 0, 26, 0, 36, 0, 6, 4, 0, 21, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 18, 32, 32, 20, 32, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 42, 8, 4, 12, 15, 13, 6, 15, 14, 0, 12, 3, 8, 28, 36, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 3}
|
||||
#endif
|
||||
|
||||
#ifndef MAVLINK_MESSAGE_CRCS
|
||||
#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 0, 0, 183, 0, 130, 0, 148, 21, 0, 52, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 19, 102, 158, 208, 56, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 134, 219, 208, 188, 84, 22, 19, 21, 134, 0, 78, 68, 189, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 247}
|
||||
#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 0, 0, 183, 0, 130, 0, 148, 21, 0, 52, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 19, 102, 158, 208, 56, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 134, 219, 208, 188, 84, 22, 19, 21, 134, 0, 78, 68, 189, 205, 42, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 247}
|
||||
#endif
|
||||
|
||||
#ifndef MAVLINK_MESSAGE_INFO
|
||||
#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, {NULL}, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_SET_MODE, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_WRITE_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_ITEM, MAVLINK_MESSAGE_INFO_MISSION_REQUEST, MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST, MAVLINK_MESSAGE_INFO_MISSION_COUNT, MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL, MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED, MAVLINK_MESSAGE_INFO_MISSION_ACK, MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, {NULL}, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, {NULL}, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_DATA_STREAM, {NULL}, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_VFR_HUD, {NULL}, MAVLINK_MESSAGE_INFO_COMMAND_LONG, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_HIL_RC_INPUTS_RAW, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE, MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_SENSOR_OFFSETS, MAVLINK_MESSAGE_INFO_SET_MAG_OFFSETS, MAVLINK_MESSAGE_INFO_MEMINFO, MAVLINK_MESSAGE_INFO_AP_ADC, MAVLINK_MESSAGE_INFO_DIGICAM_CONFIGURE, MAVLINK_MESSAGE_INFO_DIGICAM_CONTROL, MAVLINK_MESSAGE_INFO_MOUNT_CONFIGURE, MAVLINK_MESSAGE_INFO_MOUNT_CONTROL, MAVLINK_MESSAGE_INFO_MOUNT_STATUS, {NULL}, MAVLINK_MESSAGE_INFO_FENCE_POINT, MAVLINK_MESSAGE_INFO_FENCE_FETCH_POINT, MAVLINK_MESSAGE_INFO_FENCE_STATUS, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_MEMORY_VECT, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG, MAVLINK_MESSAGE_INFO_EXTENDED_MESSAGE}
|
||||
#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, {NULL}, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_SET_MODE, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_WRITE_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_ITEM, MAVLINK_MESSAGE_INFO_MISSION_REQUEST, MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST, MAVLINK_MESSAGE_INFO_MISSION_COUNT, MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL, MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED, MAVLINK_MESSAGE_INFO_MISSION_ACK, MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, {NULL}, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, {NULL}, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_DATA_STREAM, {NULL}, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_VFR_HUD, {NULL}, MAVLINK_MESSAGE_INFO_COMMAND_LONG, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_HIL_RC_INPUTS_RAW, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE, MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_SENSOR_OFFSETS, MAVLINK_MESSAGE_INFO_SET_MAG_OFFSETS, MAVLINK_MESSAGE_INFO_MEMINFO, MAVLINK_MESSAGE_INFO_AP_ADC, MAVLINK_MESSAGE_INFO_DIGICAM_CONFIGURE, MAVLINK_MESSAGE_INFO_DIGICAM_CONTROL, MAVLINK_MESSAGE_INFO_MOUNT_CONFIGURE, MAVLINK_MESSAGE_INFO_MOUNT_CONTROL, MAVLINK_MESSAGE_INFO_MOUNT_STATUS, {NULL}, MAVLINK_MESSAGE_INFO_FENCE_POINT, MAVLINK_MESSAGE_INFO_FENCE_FETCH_POINT, MAVLINK_MESSAGE_INFO_FENCE_STATUS, MAVLINK_MESSAGE_INFO_DCM, MAVLINK_MESSAGE_INFO_SIMSTATE, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_MEMORY_VECT, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG, MAVLINK_MESSAGE_INFO_EXTENDED_MESSAGE}
|
||||
#endif
|
||||
|
||||
#include "../protocol.h"
|
||||
@ -142,6 +142,8 @@ enum FENCE_BREACH
|
||||
#include "./mavlink_msg_fence_point.h"
|
||||
#include "./mavlink_msg_fence_fetch_point.h"
|
||||
#include "./mavlink_msg_fence_status.h"
|
||||
#include "./mavlink_msg_dcm.h"
|
||||
#include "./mavlink_msg_simstate.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
|
||||
@ -0,0 +1,276 @@
|
||||
// MESSAGE DCM PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_DCM 163
|
||||
|
||||
typedef struct __mavlink_dcm_t
|
||||
{
|
||||
float omegaIx; ///< X gyro drift estimate rad/s
|
||||
float omegaIy; ///< Y gyro drift estimate rad/s
|
||||
float omegaIz; ///< Z gyro drift estimate rad/s
|
||||
float accel_weight; ///< average accel_weight
|
||||
float renorm_val; ///< average renormalisation value
|
||||
float error_rp; ///< average error_roll_pitch value
|
||||
float error_yaw; ///< average error_yaw value
|
||||
} mavlink_dcm_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_DCM_LEN 28
|
||||
#define MAVLINK_MSG_ID_163_LEN 28
|
||||
|
||||
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_DCM { \
|
||||
"DCM", \
|
||||
7, \
|
||||
{ { "omegaIx", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_dcm_t, omegaIx) }, \
|
||||
{ "omegaIy", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_dcm_t, omegaIy) }, \
|
||||
{ "omegaIz", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_dcm_t, omegaIz) }, \
|
||||
{ "accel_weight", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_dcm_t, accel_weight) }, \
|
||||
{ "renorm_val", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_dcm_t, renorm_val) }, \
|
||||
{ "error_rp", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_dcm_t, error_rp) }, \
|
||||
{ "error_yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_dcm_t, error_yaw) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a dcm message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param omegaIx X gyro drift estimate rad/s
|
||||
* @param omegaIy Y gyro drift estimate rad/s
|
||||
* @param omegaIz Z gyro drift estimate rad/s
|
||||
* @param accel_weight average accel_weight
|
||||
* @param renorm_val average renormalisation value
|
||||
* @param error_rp average error_roll_pitch value
|
||||
* @param error_yaw average error_yaw value
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_dcm_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
float omegaIx, float omegaIy, float omegaIz, float accel_weight, float renorm_val, float error_rp, float error_yaw)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[28];
|
||||
_mav_put_float(buf, 0, omegaIx);
|
||||
_mav_put_float(buf, 4, omegaIy);
|
||||
_mav_put_float(buf, 8, omegaIz);
|
||||
_mav_put_float(buf, 12, accel_weight);
|
||||
_mav_put_float(buf, 16, renorm_val);
|
||||
_mav_put_float(buf, 20, error_rp);
|
||||
_mav_put_float(buf, 24, error_yaw);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 28);
|
||||
#else
|
||||
mavlink_dcm_t packet;
|
||||
packet.omegaIx = omegaIx;
|
||||
packet.omegaIy = omegaIy;
|
||||
packet.omegaIz = omegaIz;
|
||||
packet.accel_weight = accel_weight;
|
||||
packet.renorm_val = renorm_val;
|
||||
packet.error_rp = error_rp;
|
||||
packet.error_yaw = error_yaw;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 28);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_DCM;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 28, 205);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a dcm message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param omegaIx X gyro drift estimate rad/s
|
||||
* @param omegaIy Y gyro drift estimate rad/s
|
||||
* @param omegaIz Z gyro drift estimate rad/s
|
||||
* @param accel_weight average accel_weight
|
||||
* @param renorm_val average renormalisation value
|
||||
* @param error_rp average error_roll_pitch value
|
||||
* @param error_yaw average error_yaw value
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_dcm_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
float omegaIx,float omegaIy,float omegaIz,float accel_weight,float renorm_val,float error_rp,float error_yaw)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[28];
|
||||
_mav_put_float(buf, 0, omegaIx);
|
||||
_mav_put_float(buf, 4, omegaIy);
|
||||
_mav_put_float(buf, 8, omegaIz);
|
||||
_mav_put_float(buf, 12, accel_weight);
|
||||
_mav_put_float(buf, 16, renorm_val);
|
||||
_mav_put_float(buf, 20, error_rp);
|
||||
_mav_put_float(buf, 24, error_yaw);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 28);
|
||||
#else
|
||||
mavlink_dcm_t packet;
|
||||
packet.omegaIx = omegaIx;
|
||||
packet.omegaIy = omegaIy;
|
||||
packet.omegaIz = omegaIz;
|
||||
packet.accel_weight = accel_weight;
|
||||
packet.renorm_val = renorm_val;
|
||||
packet.error_rp = error_rp;
|
||||
packet.error_yaw = error_yaw;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 28);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_DCM;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 28, 205);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a dcm struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param dcm C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_dcm_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_dcm_t* dcm)
|
||||
{
|
||||
return mavlink_msg_dcm_pack(system_id, component_id, msg, dcm->omegaIx, dcm->omegaIy, dcm->omegaIz, dcm->accel_weight, dcm->renorm_val, dcm->error_rp, dcm->error_yaw);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a dcm message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param omegaIx X gyro drift estimate rad/s
|
||||
* @param omegaIy Y gyro drift estimate rad/s
|
||||
* @param omegaIz Z gyro drift estimate rad/s
|
||||
* @param accel_weight average accel_weight
|
||||
* @param renorm_val average renormalisation value
|
||||
* @param error_rp average error_roll_pitch value
|
||||
* @param error_yaw average error_yaw value
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_dcm_send(mavlink_channel_t chan, float omegaIx, float omegaIy, float omegaIz, float accel_weight, float renorm_val, float error_rp, float error_yaw)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[28];
|
||||
_mav_put_float(buf, 0, omegaIx);
|
||||
_mav_put_float(buf, 4, omegaIy);
|
||||
_mav_put_float(buf, 8, omegaIz);
|
||||
_mav_put_float(buf, 12, accel_weight);
|
||||
_mav_put_float(buf, 16, renorm_val);
|
||||
_mav_put_float(buf, 20, error_rp);
|
||||
_mav_put_float(buf, 24, error_yaw);
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DCM, buf, 28, 205);
|
||||
#else
|
||||
mavlink_dcm_t packet;
|
||||
packet.omegaIx = omegaIx;
|
||||
packet.omegaIy = omegaIy;
|
||||
packet.omegaIz = omegaIz;
|
||||
packet.accel_weight = accel_weight;
|
||||
packet.renorm_val = renorm_val;
|
||||
packet.error_rp = error_rp;
|
||||
packet.error_yaw = error_yaw;
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DCM, (const char *)&packet, 28, 205);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE DCM UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field omegaIx from dcm message
|
||||
*
|
||||
* @return X gyro drift estimate rad/s
|
||||
*/
|
||||
static inline float mavlink_msg_dcm_get_omegaIx(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field omegaIy from dcm message
|
||||
*
|
||||
* @return Y gyro drift estimate rad/s
|
||||
*/
|
||||
static inline float mavlink_msg_dcm_get_omegaIy(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 4);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field omegaIz from dcm message
|
||||
*
|
||||
* @return Z gyro drift estimate rad/s
|
||||
*/
|
||||
static inline float mavlink_msg_dcm_get_omegaIz(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 8);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field accel_weight from dcm message
|
||||
*
|
||||
* @return average accel_weight
|
||||
*/
|
||||
static inline float mavlink_msg_dcm_get_accel_weight(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 12);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field renorm_val from dcm message
|
||||
*
|
||||
* @return average renormalisation value
|
||||
*/
|
||||
static inline float mavlink_msg_dcm_get_renorm_val(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 16);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field error_rp from dcm message
|
||||
*
|
||||
* @return average error_roll_pitch value
|
||||
*/
|
||||
static inline float mavlink_msg_dcm_get_error_rp(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 20);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field error_yaw from dcm message
|
||||
*
|
||||
* @return average error_yaw value
|
||||
*/
|
||||
static inline float mavlink_msg_dcm_get_error_yaw(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 24);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a dcm message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param dcm C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_dcm_decode(const mavlink_message_t* msg, mavlink_dcm_t* dcm)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
dcm->omegaIx = mavlink_msg_dcm_get_omegaIx(msg);
|
||||
dcm->omegaIy = mavlink_msg_dcm_get_omegaIy(msg);
|
||||
dcm->omegaIz = mavlink_msg_dcm_get_omegaIz(msg);
|
||||
dcm->accel_weight = mavlink_msg_dcm_get_accel_weight(msg);
|
||||
dcm->renorm_val = mavlink_msg_dcm_get_renorm_val(msg);
|
||||
dcm->error_rp = mavlink_msg_dcm_get_error_rp(msg);
|
||||
dcm->error_yaw = mavlink_msg_dcm_get_error_yaw(msg);
|
||||
#else
|
||||
memcpy(dcm, _MAV_PAYLOAD(msg), 28);
|
||||
#endif
|
||||
}
|
||||
@ -0,0 +1,320 @@
|
||||
// MESSAGE SIMSTATE PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_SIMSTATE 164
|
||||
|
||||
typedef struct __mavlink_simstate_t
|
||||
{
|
||||
float roll; ///< Roll angle (rad)
|
||||
float pitch; ///< Pitch angle (rad)
|
||||
float yaw; ///< Yaw angle (rad)
|
||||
float xacc; ///< X acceleration m/s/s
|
||||
float yacc; ///< Y acceleration m/s/s
|
||||
float zacc; ///< Z acceleration m/s/s
|
||||
float xgyro; ///< Angular speed around X axis rad/s
|
||||
float ygyro; ///< Angular speed around Y axis rad/s
|
||||
float zgyro; ///< Angular speed around Z axis rad/s
|
||||
} mavlink_simstate_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_SIMSTATE_LEN 36
|
||||
#define MAVLINK_MSG_ID_164_LEN 36
|
||||
|
||||
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_SIMSTATE { \
|
||||
"SIMSTATE", \
|
||||
9, \
|
||||
{ { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_simstate_t, roll) }, \
|
||||
{ "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_simstate_t, pitch) }, \
|
||||
{ "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_simstate_t, yaw) }, \
|
||||
{ "xacc", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_simstate_t, xacc) }, \
|
||||
{ "yacc", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_simstate_t, yacc) }, \
|
||||
{ "zacc", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_simstate_t, zacc) }, \
|
||||
{ "xgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_simstate_t, xgyro) }, \
|
||||
{ "ygyro", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_simstate_t, ygyro) }, \
|
||||
{ "zgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_simstate_t, zgyro) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a simstate message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param roll Roll angle (rad)
|
||||
* @param pitch Pitch angle (rad)
|
||||
* @param yaw Yaw angle (rad)
|
||||
* @param xacc X acceleration m/s/s
|
||||
* @param yacc Y acceleration m/s/s
|
||||
* @param zacc Z acceleration m/s/s
|
||||
* @param xgyro Angular speed around X axis rad/s
|
||||
* @param ygyro Angular speed around Y axis rad/s
|
||||
* @param zgyro Angular speed around Z axis rad/s
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_simstate_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
float roll, float pitch, float yaw, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[36];
|
||||
_mav_put_float(buf, 0, roll);
|
||||
_mav_put_float(buf, 4, pitch);
|
||||
_mav_put_float(buf, 8, yaw);
|
||||
_mav_put_float(buf, 12, xacc);
|
||||
_mav_put_float(buf, 16, yacc);
|
||||
_mav_put_float(buf, 20, zacc);
|
||||
_mav_put_float(buf, 24, xgyro);
|
||||
_mav_put_float(buf, 28, ygyro);
|
||||
_mav_put_float(buf, 32, zgyro);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 36);
|
||||
#else
|
||||
mavlink_simstate_t packet;
|
||||
packet.roll = roll;
|
||||
packet.pitch = pitch;
|
||||
packet.yaw = yaw;
|
||||
packet.xacc = xacc;
|
||||
packet.yacc = yacc;
|
||||
packet.zacc = zacc;
|
||||
packet.xgyro = xgyro;
|
||||
packet.ygyro = ygyro;
|
||||
packet.zgyro = zgyro;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 36);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_SIMSTATE;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 36, 42);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a simstate message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param roll Roll angle (rad)
|
||||
* @param pitch Pitch angle (rad)
|
||||
* @param yaw Yaw angle (rad)
|
||||
* @param xacc X acceleration m/s/s
|
||||
* @param yacc Y acceleration m/s/s
|
||||
* @param zacc Z acceleration m/s/s
|
||||
* @param xgyro Angular speed around X axis rad/s
|
||||
* @param ygyro Angular speed around Y axis rad/s
|
||||
* @param zgyro Angular speed around Z axis rad/s
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_simstate_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
float roll,float pitch,float yaw,float xacc,float yacc,float zacc,float xgyro,float ygyro,float zgyro)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[36];
|
||||
_mav_put_float(buf, 0, roll);
|
||||
_mav_put_float(buf, 4, pitch);
|
||||
_mav_put_float(buf, 8, yaw);
|
||||
_mav_put_float(buf, 12, xacc);
|
||||
_mav_put_float(buf, 16, yacc);
|
||||
_mav_put_float(buf, 20, zacc);
|
||||
_mav_put_float(buf, 24, xgyro);
|
||||
_mav_put_float(buf, 28, ygyro);
|
||||
_mav_put_float(buf, 32, zgyro);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 36);
|
||||
#else
|
||||
mavlink_simstate_t packet;
|
||||
packet.roll = roll;
|
||||
packet.pitch = pitch;
|
||||
packet.yaw = yaw;
|
||||
packet.xacc = xacc;
|
||||
packet.yacc = yacc;
|
||||
packet.zacc = zacc;
|
||||
packet.xgyro = xgyro;
|
||||
packet.ygyro = ygyro;
|
||||
packet.zgyro = zgyro;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 36);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_SIMSTATE;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 36, 42);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a simstate struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param simstate C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_simstate_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_simstate_t* simstate)
|
||||
{
|
||||
return mavlink_msg_simstate_pack(system_id, component_id, msg, simstate->roll, simstate->pitch, simstate->yaw, simstate->xacc, simstate->yacc, simstate->zacc, simstate->xgyro, simstate->ygyro, simstate->zgyro);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a simstate message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param roll Roll angle (rad)
|
||||
* @param pitch Pitch angle (rad)
|
||||
* @param yaw Yaw angle (rad)
|
||||
* @param xacc X acceleration m/s/s
|
||||
* @param yacc Y acceleration m/s/s
|
||||
* @param zacc Z acceleration m/s/s
|
||||
* @param xgyro Angular speed around X axis rad/s
|
||||
* @param ygyro Angular speed around Y axis rad/s
|
||||
* @param zgyro Angular speed around Z axis rad/s
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_simstate_send(mavlink_channel_t chan, float roll, float pitch, float yaw, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[36];
|
||||
_mav_put_float(buf, 0, roll);
|
||||
_mav_put_float(buf, 4, pitch);
|
||||
_mav_put_float(buf, 8, yaw);
|
||||
_mav_put_float(buf, 12, xacc);
|
||||
_mav_put_float(buf, 16, yacc);
|
||||
_mav_put_float(buf, 20, zacc);
|
||||
_mav_put_float(buf, 24, xgyro);
|
||||
_mav_put_float(buf, 28, ygyro);
|
||||
_mav_put_float(buf, 32, zgyro);
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SIMSTATE, buf, 36, 42);
|
||||
#else
|
||||
mavlink_simstate_t packet;
|
||||
packet.roll = roll;
|
||||
packet.pitch = pitch;
|
||||
packet.yaw = yaw;
|
||||
packet.xacc = xacc;
|
||||
packet.yacc = yacc;
|
||||
packet.zacc = zacc;
|
||||
packet.xgyro = xgyro;
|
||||
packet.ygyro = ygyro;
|
||||
packet.zgyro = zgyro;
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SIMSTATE, (const char *)&packet, 36, 42);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE SIMSTATE UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field roll from simstate message
|
||||
*
|
||||
* @return Roll angle (rad)
|
||||
*/
|
||||
static inline float mavlink_msg_simstate_get_roll(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field pitch from simstate message
|
||||
*
|
||||
* @return Pitch angle (rad)
|
||||
*/
|
||||
static inline float mavlink_msg_simstate_get_pitch(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 4);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field yaw from simstate message
|
||||
*
|
||||
* @return Yaw angle (rad)
|
||||
*/
|
||||
static inline float mavlink_msg_simstate_get_yaw(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 8);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field xacc from simstate message
|
||||
*
|
||||
* @return X acceleration m/s/s
|
||||
*/
|
||||
static inline float mavlink_msg_simstate_get_xacc(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 12);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field yacc from simstate message
|
||||
*
|
||||
* @return Y acceleration m/s/s
|
||||
*/
|
||||
static inline float mavlink_msg_simstate_get_yacc(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 16);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field zacc from simstate message
|
||||
*
|
||||
* @return Z acceleration m/s/s
|
||||
*/
|
||||
static inline float mavlink_msg_simstate_get_zacc(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 20);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field xgyro from simstate message
|
||||
*
|
||||
* @return Angular speed around X axis rad/s
|
||||
*/
|
||||
static inline float mavlink_msg_simstate_get_xgyro(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 24);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field ygyro from simstate message
|
||||
*
|
||||
* @return Angular speed around Y axis rad/s
|
||||
*/
|
||||
static inline float mavlink_msg_simstate_get_ygyro(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 28);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field zgyro from simstate message
|
||||
*
|
||||
* @return Angular speed around Z axis rad/s
|
||||
*/
|
||||
static inline float mavlink_msg_simstate_get_zgyro(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 32);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a simstate message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param simstate C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_simstate_decode(const mavlink_message_t* msg, mavlink_simstate_t* simstate)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
simstate->roll = mavlink_msg_simstate_get_roll(msg);
|
||||
simstate->pitch = mavlink_msg_simstate_get_pitch(msg);
|
||||
simstate->yaw = mavlink_msg_simstate_get_yaw(msg);
|
||||
simstate->xacc = mavlink_msg_simstate_get_xacc(msg);
|
||||
simstate->yacc = mavlink_msg_simstate_get_yacc(msg);
|
||||
simstate->zacc = mavlink_msg_simstate_get_zacc(msg);
|
||||
simstate->xgyro = mavlink_msg_simstate_get_xgyro(msg);
|
||||
simstate->ygyro = mavlink_msg_simstate_get_ygyro(msg);
|
||||
simstate->zgyro = mavlink_msg_simstate_get_zgyro(msg);
|
||||
#else
|
||||
memcpy(simstate, _MAV_PAYLOAD(msg), 36);
|
||||
#endif
|
||||
}
|
||||
@ -668,6 +668,120 @@ static void mavlink_test_fence_status(uint8_t system_id, uint8_t component_id, m
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
}
|
||||
|
||||
static void mavlink_test_dcm(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
|
||||
{
|
||||
mavlink_message_t msg;
|
||||
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
|
||||
uint16_t i;
|
||||
mavlink_dcm_t packet_in = {
|
||||
17.0,
|
||||
45.0,
|
||||
73.0,
|
||||
101.0,
|
||||
129.0,
|
||||
157.0,
|
||||
185.0,
|
||||
};
|
||||
mavlink_dcm_t packet1, packet2;
|
||||
memset(&packet1, 0, sizeof(packet1));
|
||||
packet1.omegaIx = packet_in.omegaIx;
|
||||
packet1.omegaIy = packet_in.omegaIy;
|
||||
packet1.omegaIz = packet_in.omegaIz;
|
||||
packet1.accel_weight = packet_in.accel_weight;
|
||||
packet1.renorm_val = packet_in.renorm_val;
|
||||
packet1.error_rp = packet_in.error_rp;
|
||||
packet1.error_yaw = packet_in.error_yaw;
|
||||
|
||||
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_dcm_encode(system_id, component_id, &msg, &packet1);
|
||||
mavlink_msg_dcm_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_dcm_pack(system_id, component_id, &msg , packet1.omegaIx , packet1.omegaIy , packet1.omegaIz , packet1.accel_weight , packet1.renorm_val , packet1.error_rp , packet1.error_yaw );
|
||||
mavlink_msg_dcm_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_dcm_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.omegaIx , packet1.omegaIy , packet1.omegaIz , packet1.accel_weight , packet1.renorm_val , packet1.error_rp , packet1.error_yaw );
|
||||
mavlink_msg_dcm_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_to_send_buffer(buffer, &msg);
|
||||
for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
|
||||
comm_send_ch(MAVLINK_COMM_0, buffer[i]);
|
||||
}
|
||||
mavlink_msg_dcm_decode(last_msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_dcm_send(MAVLINK_COMM_1 , packet1.omegaIx , packet1.omegaIy , packet1.omegaIz , packet1.accel_weight , packet1.renorm_val , packet1.error_rp , packet1.error_yaw );
|
||||
mavlink_msg_dcm_decode(last_msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
}
|
||||
|
||||
static void mavlink_test_simstate(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
|
||||
{
|
||||
mavlink_message_t msg;
|
||||
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
|
||||
uint16_t i;
|
||||
mavlink_simstate_t packet_in = {
|
||||
17.0,
|
||||
45.0,
|
||||
73.0,
|
||||
101.0,
|
||||
129.0,
|
||||
157.0,
|
||||
185.0,
|
||||
213.0,
|
||||
241.0,
|
||||
};
|
||||
mavlink_simstate_t packet1, packet2;
|
||||
memset(&packet1, 0, sizeof(packet1));
|
||||
packet1.roll = packet_in.roll;
|
||||
packet1.pitch = packet_in.pitch;
|
||||
packet1.yaw = packet_in.yaw;
|
||||
packet1.xacc = packet_in.xacc;
|
||||
packet1.yacc = packet_in.yacc;
|
||||
packet1.zacc = packet_in.zacc;
|
||||
packet1.xgyro = packet_in.xgyro;
|
||||
packet1.ygyro = packet_in.ygyro;
|
||||
packet1.zgyro = packet_in.zgyro;
|
||||
|
||||
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_simstate_encode(system_id, component_id, &msg, &packet1);
|
||||
mavlink_msg_simstate_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_simstate_pack(system_id, component_id, &msg , packet1.roll , packet1.pitch , packet1.yaw , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro );
|
||||
mavlink_msg_simstate_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_simstate_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.roll , packet1.pitch , packet1.yaw , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro );
|
||||
mavlink_msg_simstate_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_to_send_buffer(buffer, &msg);
|
||||
for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
|
||||
comm_send_ch(MAVLINK_COMM_0, buffer[i]);
|
||||
}
|
||||
mavlink_msg_simstate_decode(last_msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_simstate_send(MAVLINK_COMM_1 , packet1.roll , packet1.pitch , packet1.yaw , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro );
|
||||
mavlink_msg_simstate_decode(last_msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
}
|
||||
|
||||
static void mavlink_test_ardupilotmega(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
|
||||
{
|
||||
mavlink_test_sensor_offsets(system_id, component_id, last_msg);
|
||||
@ -682,6 +796,8 @@ static void mavlink_test_ardupilotmega(uint8_t system_id, uint8_t component_id,
|
||||
mavlink_test_fence_point(system_id, component_id, last_msg);
|
||||
mavlink_test_fence_fetch_point(system_id, component_id, last_msg);
|
||||
mavlink_test_fence_status(system_id, component_id, last_msg);
|
||||
mavlink_test_dcm(system_id, component_id, last_msg);
|
||||
mavlink_test_simstate(system_id, component_id, last_msg);
|
||||
}
|
||||
|
||||
#ifdef __cplusplus
|
||||
|
||||
@ -5,7 +5,7 @@
|
||||
#ifndef MAVLINK_VERSION_H
|
||||
#define MAVLINK_VERSION_H
|
||||
|
||||
#define MAVLINK_BUILD_DATE "Fri Dec 16 12:39:10 2011"
|
||||
#define MAVLINK_BUILD_DATE "Thu Mar 1 13:22:36 2012"
|
||||
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
|
||||
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101
|
||||
|
||||
|
||||
@ -5,7 +5,7 @@
|
||||
#ifndef MAVLINK_VERSION_H
|
||||
#define MAVLINK_VERSION_H
|
||||
|
||||
#define MAVLINK_BUILD_DATE "Sat Oct 29 18:27:33 2011"
|
||||
#define MAVLINK_BUILD_DATE "Thu Mar 1 13:22:36 2012"
|
||||
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
|
||||
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101
|
||||
|
||||
|
||||
@ -164,7 +164,7 @@
|
||||
<field name="focus_lock" type="uint8_t">0: unlock focus or keep unlocked, 1: lock focus or keep locked, 3: re-lock focus</field>
|
||||
<field name="shot" type="uint8_t">0: ignore, 1: shot or start filming</field>
|
||||
<field name="command_id" type="uint8_t">Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once</field>
|
||||
<field name="extra_param" type="uint8">Extra parameters enumeration (0 means ignore)</field>
|
||||
<field name="extra_param" type="uint8_t">Extra parameters enumeration (0 means ignore)</field>
|
||||
<field name="extra_value" type="float">Correspondent value to given extra_param</field>
|
||||
</message>
|
||||
|
||||
@ -225,5 +225,35 @@
|
||||
<field name="breach_type" type="uint8_t">last breach type (see FENCE_BREACH_* enum)</field>
|
||||
<field name="breach_time" type="uint32_t">time of last breach in milliseconds since boot</field>
|
||||
</message>
|
||||
|
||||
<message name="DCM" id="163">
|
||||
<description>Status of DCM attitude estimator</description>
|
||||
<field type="float" name="omegaIx">X gyro drift estimate rad/s</field>
|
||||
<field type="float" name="omegaIy">Y gyro drift estimate rad/s</field>
|
||||
<field type="float" name="omegaIz">Z gyro drift estimate rad/s</field>
|
||||
<field type="float" name="accel_weight">average accel_weight</field>
|
||||
<field type="float" name="renorm_val">average renormalisation value</field>
|
||||
<field type="float" name="error_rp">average error_roll_pitch value</field>
|
||||
<field type="float" name="error_yaw">average error_yaw value</field>
|
||||
</message>
|
||||
|
||||
<message name="SIMSTATE" id="164">
|
||||
<description>Status of simulation environment, if used</description>
|
||||
<field type="float" name="roll">Roll angle (rad)</field>
|
||||
<field type="float" name="pitch">Pitch angle (rad)</field>
|
||||
<field type="float" name="yaw">Yaw angle (rad)</field>
|
||||
<field type="float" name="xacc">X acceleration m/s/s</field>
|
||||
<field type="float" name="yacc">Y acceleration m/s/s</field>
|
||||
<field type="float" name="zacc">Z acceleration m/s/s</field>
|
||||
<field type="float" name="xgyro">Angular speed around X axis rad/s</field>
|
||||
<field type="float" name="ygyro">Angular speed around Y axis rad/s</field>
|
||||
<field type="float" name="zgyro">Angular speed around Z axis rad/s</field>
|
||||
</message>
|
||||
|
||||
<message name="HWSTATUS" id="165">
|
||||
<description>Status of key hardware</description>
|
||||
<field type="uint16_t" name="Vcc">board voltage (mV)</field>
|
||||
<field type="uint8_t" name="I2Cerr">I2C error count</field>
|
||||
</message>
|
||||
</messages>
|
||||
</mavlink>
|
||||
|
||||
@ -225,5 +225,29 @@
|
||||
<field name="breach_type" type="uint8_t">last breach type (see FENCE_BREACH_* enum)</field>
|
||||
<field name="breach_time" type="uint32_t">time of last breach in milliseconds since boot</field>
|
||||
</message>
|
||||
|
||||
<message name="DCM" id="163">
|
||||
<description>Status of DCM attitude estimator</description>
|
||||
<field type="float" name="omegaIx">X gyro drift estimate rad/s</field>
|
||||
<field type="float" name="omegaIy">Y gyro drift estimate rad/s</field>
|
||||
<field type="float" name="omegaIz">Z gyro drift estimate rad/s</field>
|
||||
<field type="float" name="accel_weight">average accel_weight</field>
|
||||
<field type="float" name="renorm_val">average renormalisation value</field>
|
||||
<field type="float" name="error_rp">average error_roll_pitch value</field>
|
||||
<field type="float" name="error_yaw">average error_yaw value</field>
|
||||
</message>
|
||||
|
||||
<message name="SIMSTATE" id="164">
|
||||
<description>Status of simulation environment, if used</description>
|
||||
<field type="float" name="roll">Roll angle (rad)</field>
|
||||
<field type="float" name="pitch">Pitch angle (rad)</field>
|
||||
<field type="float" name="yaw">Yaw angle (rad)</field>
|
||||
<field type="float" name="xacc">X acceleration m/s/s</field>
|
||||
<field type="float" name="yacc">Y acceleration m/s/s</field>
|
||||
<field type="float" name="zacc">Z acceleration m/s/s</field>
|
||||
<field type="float" name="xgyro">Angular speed around X axis rad/s</field>
|
||||
<field type="float" name="ygyro">Angular speed around Y axis rad/s</field>
|
||||
<field type="float" name="zgyro">Angular speed around Z axis rad/s</field>
|
||||
</message>
|
||||
</messages>
|
||||
</mavlink>
|
||||
|
||||
Loading…
Reference in New Issue
Block a user