mirror of https://github.com/ArduPilot/ardupilot
Merge branch 'master' of https://code.google.com/p/ardupilot-mega
This commit is contained in:
James Goppert
commit
d97692de9d
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@ -82,7 +82,7 @@ static void init_ardupilot()
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#endif
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||||
|
||||
Serial.printf_P(PSTR("\n\nInit " THISFIRMWARE
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||||
"\n\nFree RAM: %lu\n"),
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"\n\nFree RAM: %u\n"),
|
||||
memcheck_available_memory());
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||||
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||||
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||||
|
|
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@ -650,7 +650,7 @@ static void Log_Read(int start_page, int end_page)
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Serial.printf_P(PSTR((AIRFRAME_NAME)
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#endif
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||||
Serial.printf_P(PSTR("\n" THISFIRMWARE
|
||||
"\nFree RAM: %lu\n"),
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"\nFree RAM: %u\n"),
|
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memcheck_available_memory());
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DataFlash.StartRead(start_page);
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|
|
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@ -79,7 +79,7 @@ static void init_ardupilot()
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Serial1.begin(38400, 128, 16);
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Serial.printf_P(PSTR("\n\nInit " THISFIRMWARE
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"\n\nFree RAM: %lu\n"),
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"\n\nFree RAM: %u\n"),
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memcheck_available_memory());
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//
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|
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@ -42,12 +42,12 @@ AP_DCM_HIL::setHil(float _roll, float _pitch, float _yaw,
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float sPitch = sin(pitch), cPitch = cos(pitch);
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float sYaw = sin(yaw), cYaw = cos(yaw);
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_dcm_matrix.a.x = cPitch*cYaw;
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_dcm_matrix.a.y = cPitch*sYaw;
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_dcm_matrix.a.z = -sPitch;
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_dcm_matrix.b.x = -cRoll*sYaw+sRoll*sPitch*cYaw;
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_dcm_matrix.a.y = -cRoll*sYaw+sRoll*sPitch*cYaw;
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_dcm_matrix.a.z = sRoll*sYaw+cRoll*sPitch*cYaw;
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_dcm_matrix.b.x = cPitch*sYaw;
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_dcm_matrix.b.y = cRoll*cYaw+sRoll*sPitch*sYaw;
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_dcm_matrix.b.z = sRoll*cPitch;
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_dcm_matrix.c.x = sRoll*sYaw+cRoll*sPitch*cYaw;
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_dcm_matrix.c.y = -sRoll*cYaw+cRoll*sPitch*sYaw;
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_dcm_matrix.b.z = -sRoll*cYaw+cRoll*sPitch*sYaw;
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_dcm_matrix.c.x = -sPitch;
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_dcm_matrix.c.y = sRoll*cPitch;
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_dcm_matrix.c.z = cRoll*cPitch;
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}
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@ -5,7 +5,7 @@
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#ifndef MAVLINK_VERSION_H
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#define MAVLINK_VERSION_H
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#define MAVLINK_BUILD_DATE "Mon Oct 24 13:39:07 2011"
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#define MAVLINK_BUILD_DATE "Fri Oct 28 15:51:26 2011"
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#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
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#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101
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@ -93,7 +93,7 @@ enum MAV_MODE_FLAG_DECODE_POSITION
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enum MAV_GOTO
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{
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MAV_GOTO_DO_HOLD=0, /* Hold at the current position. | */
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MAV_GOTO_DO_CONTINUE=1, /* Continue with the mission execution. | */
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MAV_GOTO_DO_CONTINUE=1, /* Continue with the next item in mission execution. | */
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MAV_GOTO_HOLD_AT_CURRENT_POSITION=2, /* Hold at the current position of the system | */
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MAV_GOTO_HOLD_AT_SPECIFIED_POSITION=3, /* Hold at the position specified in the parameters of the DO_HOLD action | */
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MAV_GOTO_ENUM_END=4, /* | */
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|
@ -249,7 +249,7 @@ enum MAV_CMD
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MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS=242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units| */
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MAV_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Reserved| Reserved| Empty| Empty| Empty| */
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MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN=246, /* Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot.| 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer.| Reserved| Reserved| Empty| Empty| Empty| */
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MAV_CMD_OVERRIDE_GOTO=252, /* Hold / continue the current action |MAV_GOTO_DO_HOLD: hold MAV_GOTO_DO_CONTINUE: continue with mission plan| MAV_GOTO_HOLD_AT_CURRENT_POSITION: Hold at current position MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position| MAV_FRAME coordinate frame of hold point| Desired yaw angle in degrees| Latitude / X position| Longitude / Y position| Altitude / Z position| */
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MAV_CMD_OVERRIDE_GOTO=252, /* Hold / continue the current action |MAV_GOTO_DO_HOLD: hold MAV_GOTO_DO_CONTINUE: continue with next item in mission plan| MAV_GOTO_HOLD_AT_CURRENT_POSITION: Hold at current position MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position| MAV_FRAME coordinate frame of hold point| Desired yaw angle in degrees| Latitude / X position| Longitude / Y position| Altitude / Z position| */
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MAV_CMD_ENUM_END=253, /* | */
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||||
};
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||||
|
||||
|
|
|
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|
|
@ -1,286 +0,0 @@
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|||
// MESSAGE LOCAL_POSITION PACKING
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||||
|
||||
#define MAVLINK_MSG_ID_LOCAL_POSITION 32
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||||
typedef struct __mavlink_local_position_t
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{
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||||
uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot)
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||||
float x; ///< X Position
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||||
float y; ///< Y Position
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float z; ///< Z Position
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float vx; ///< X Speed
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||||
float vy; ///< Y Speed
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||||
float vz; ///< Z Speed
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} mavlink_local_position_t;
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#define MAVLINK_MSG_ID_LOCAL_POSITION_LEN 28
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#define MAVLINK_MSG_ID_32_LEN 28
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||||
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#define MAVLINK_MESSAGE_INFO_LOCAL_POSITION { \
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"LOCAL_POSITION", \
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7, \
|
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<<<<<<< HEAD
|
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{ { "time_boot_ms", MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_local_position_t, time_boot_ms) }, \
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{ "x", MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_local_position_t, x) }, \
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{ "y", MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_local_position_t, y) }, \
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{ "z", MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_local_position_t, z) }, \
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{ "vx", MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_local_position_t, vx) }, \
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{ "vy", MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_local_position_t, vy) }, \
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{ "vz", MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_local_position_t, vz) }, \
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=======
|
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{ { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_local_position_t, usec) }, \
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||||
{ "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_local_position_t, x) }, \
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{ "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_local_position_t, y) }, \
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{ "z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_local_position_t, z) }, \
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{ "vx", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_local_position_t, vx) }, \
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{ "vy", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_local_position_t, vy) }, \
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||||
{ "vz", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_local_position_t, vz) }, \
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||||
>>>>>>> 077b901fe072bb5fefdaca3680b3341c329395cb
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a local_position message
|
||||
* @param system_id ID of this system
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||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param time_boot_ms Timestamp (milliseconds since system boot)
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||||
* @param x X Position
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||||
* @param y Y Position
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||||
* @param z Z Position
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||||
* @param vx X Speed
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||||
* @param vy Y Speed
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||||
* @param vz Z Speed
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||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
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static inline uint16_t mavlink_msg_local_position_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint32_t time_boot_ms, float x, float y, float z, float vx, float vy, float vz)
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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_uint32_t(buf, 0, time_boot_ms);
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_mav_put_float(buf, 4, x);
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_mav_put_float(buf, 8, y);
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_mav_put_float(buf, 12, z);
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_mav_put_float(buf, 16, vx);
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_mav_put_float(buf, 20, vy);
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_mav_put_float(buf, 24, vz);
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|
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memcpy(_MAV_PAYLOAD(msg), buf, 28);
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#else
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mavlink_local_position_t packet;
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packet.time_boot_ms = time_boot_ms;
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packet.x = x;
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packet.y = y;
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packet.z = z;
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packet.vx = vx;
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packet.vy = vy;
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packet.vz = vz;
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|
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memcpy(_MAV_PAYLOAD(msg), &packet, 28);
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#endif
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msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION;
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return mavlink_finalize_message(msg, system_id, component_id, 28, 231);
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}
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/**
|
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* @brief Pack a local_position 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
|
||||
* @param time_boot_ms Timestamp (milliseconds since system boot)
|
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* @param x X Position
|
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* @param y Y Position
|
||||
* @param z Z Position
|
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* @param vx X Speed
|
||||
* @param vy Y Speed
|
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* @param vz Z Speed
|
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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_local_position_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
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mavlink_message_t* msg,
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uint32_t time_boot_ms,float x,float y,float z,float vx,float vy,float vz)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[28];
|
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_mav_put_uint32_t(buf, 0, time_boot_ms);
|
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_mav_put_float(buf, 4, x);
|
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_mav_put_float(buf, 8, y);
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_mav_put_float(buf, 12, z);
|
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_mav_put_float(buf, 16, vx);
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_mav_put_float(buf, 20, vy);
|
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_mav_put_float(buf, 24, vz);
|
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|
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memcpy(_MAV_PAYLOAD(msg), buf, 28);
|
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#else
|
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mavlink_local_position_t packet;
|
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packet.time_boot_ms = time_boot_ms;
|
||||
packet.x = x;
|
||||
packet.y = y;
|
||||
packet.z = z;
|
||||
packet.vx = vx;
|
||||
packet.vy = vy;
|
||||
packet.vz = vz;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 28);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 28, 231);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a local_position 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 local_position C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_local_position_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_local_position_t* local_position)
|
||||
{
|
||||
return mavlink_msg_local_position_pack(system_id, component_id, msg, local_position->time_boot_ms, local_position->x, local_position->y, local_position->z, local_position->vx, local_position->vy, local_position->vz);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a local_position message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param time_boot_ms Timestamp (milliseconds since system boot)
|
||||
* @param x X Position
|
||||
* @param y Y Position
|
||||
* @param z Z Position
|
||||
* @param vx X Speed
|
||||
* @param vy Y Speed
|
||||
* @param vz Z Speed
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_local_position_send(mavlink_channel_t chan, uint32_t time_boot_ms, float x, float y, float z, float vx, float vy, float vz)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[28];
|
||||
_mav_put_uint32_t(buf, 0, time_boot_ms);
|
||||
_mav_put_float(buf, 4, x);
|
||||
_mav_put_float(buf, 8, y);
|
||||
_mav_put_float(buf, 12, z);
|
||||
_mav_put_float(buf, 16, vx);
|
||||
_mav_put_float(buf, 20, vy);
|
||||
_mav_put_float(buf, 24, vz);
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION, buf, 28, 231);
|
||||
#else
|
||||
mavlink_local_position_t packet;
|
||||
packet.time_boot_ms = time_boot_ms;
|
||||
packet.x = x;
|
||||
packet.y = y;
|
||||
packet.z = z;
|
||||
packet.vx = vx;
|
||||
packet.vy = vy;
|
||||
packet.vz = vz;
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION, (const char *)&packet, 28, 231);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE LOCAL_POSITION UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field time_boot_ms from local_position message
|
||||
*
|
||||
* @return Timestamp (milliseconds since system boot)
|
||||
*/
|
||||
static inline uint32_t mavlink_msg_local_position_get_time_boot_ms(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint32_t(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field x from local_position message
|
||||
*
|
||||
* @return X Position
|
||||
*/
|
||||
static inline float mavlink_msg_local_position_get_x(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 4);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field y from local_position message
|
||||
*
|
||||
* @return Y Position
|
||||
*/
|
||||
static inline float mavlink_msg_local_position_get_y(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 8);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field z from local_position message
|
||||
*
|
||||
* @return Z Position
|
||||
*/
|
||||
static inline float mavlink_msg_local_position_get_z(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 12);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field vx from local_position message
|
||||
*
|
||||
* @return X Speed
|
||||
*/
|
||||
static inline float mavlink_msg_local_position_get_vx(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 16);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field vy from local_position message
|
||||
*
|
||||
* @return Y Speed
|
||||
*/
|
||||
static inline float mavlink_msg_local_position_get_vy(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 20);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field vz from local_position message
|
||||
*
|
||||
* @return Z Speed
|
||||
*/
|
||||
static inline float mavlink_msg_local_position_get_vz(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 24);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a local_position message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param local_position C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_local_position_decode(const mavlink_message_t* msg, mavlink_local_position_t* local_position)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
local_position->time_boot_ms = mavlink_msg_local_position_get_time_boot_ms(msg);
|
||||
local_position->x = mavlink_msg_local_position_get_x(msg);
|
||||
local_position->y = mavlink_msg_local_position_get_y(msg);
|
||||
local_position->z = mavlink_msg_local_position_get_z(msg);
|
||||
local_position->vx = mavlink_msg_local_position_get_vx(msg);
|
||||
local_position->vy = mavlink_msg_local_position_get_vy(msg);
|
||||
local_position->vz = mavlink_msg_local_position_get_vz(msg);
|
||||
#else
|
||||
memcpy(local_position, _MAV_PAYLOAD(msg), 28);
|
||||
#endif
|
||||
}
|
||||
|
|
@ -5,7 +5,7 @@
|
|||
#ifndef MAVLINK_VERSION_H
|
||||
#define MAVLINK_VERSION_H
|
||||
|
||||
#define MAVLINK_BUILD_DATE "Mon Oct 24 13:39:09 2011"
|
||||
#define MAVLINK_BUILD_DATE "Fri Oct 28 15:51:28 2011"
|
||||
#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 "Mon Oct 24 13:39:08 2011"
|
||||
#define MAVLINK_BUILD_DATE "Fri Oct 28 15:51:27 2011"
|
||||
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
|
||||
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 9
|
||||
|
||||
|
|
|
|||
|
|
@ -5,7 +5,7 @@
|
|||
#ifndef MAVLINK_VERSION_H
|
||||
#define MAVLINK_VERSION_H
|
||||
|
||||
#define MAVLINK_BUILD_DATE "Mon Oct 24 13:39:08 2011"
|
||||
#define MAVLINK_BUILD_DATE "Fri Oct 28 15:51:27 2011"
|
||||
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
|
||||
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
|
||||
|
||||
|
|
|
|||
|
|
@ -5,7 +5,7 @@
|
|||
#ifndef MAVLINK_VERSION_H
|
||||
#define MAVLINK_VERSION_H
|
||||
|
||||
#define MAVLINK_BUILD_DATE "Mon Oct 24 13:39:09 2011"
|
||||
#define MAVLINK_BUILD_DATE "Fri Oct 28 15:51:27 2011"
|
||||
#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 "Mon Oct 24 13:39:09 2011"
|
||||
#define MAVLINK_BUILD_DATE "Fri Oct 28 15:51:28 2011"
|
||||
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
|
||||
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 179
|
||||
|
||||
|
|
|
|||
|
|
@ -5,7 +5,7 @@
|
|||
#ifndef MAVLINK_VERSION_H
|
||||
#define MAVLINK_VERSION_H
|
||||
|
||||
#define MAVLINK_BUILD_DATE "Mon Oct 24 13:39:09 2011"
|
||||
#define MAVLINK_BUILD_DATE "Fri Oct 28 15:51:28 2011"
|
||||
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
|
||||
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue