mavlink: sync with upstream

this syncs with 7e1c274437f09a8a03a5bef990e14b93c8fc8b07 from 
March 17 2011

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1782 f9c3cf11-9bcb-44bc-f272-b75c42450872

libraries/GCS_MAVLink/include/common/common.h

@@ -102,6 +102,7 @@ enum MAV_DATA_STREAM
 #include "./mavlink_msg_raw_imu.h"
 #include "./mavlink_msg_raw_pressure.h"
 #include "./mavlink_msg_attitude.h"
+#include "./mavlink_msg_attitude_new.h"
 #include "./mavlink_msg_local_position.h"
 #include "./mavlink_msg_global_position.h"
 #include "./mavlink_msg_gps_raw.h"

libraries/GCS_MAVLink/include/common/mavlink_msg_attitude_new.h

@@ -0,0 +1,268 @@
+// MESSAGE ATTITUDE PACKING
+
+#define MAVLINK_MSG_ID_ATTITUDE_NEW 30
+#define MAVLINK_MSG_LENGTH_ATTITUDE_NEW 8+4+4+4+4+4+4
+
+#ifndef MAVLINK_DEACTIVATE_STRUCTS
+
+typedef struct __mavlink_attitude_new_t 
+{
+	uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+	float roll; ///< Roll angle (rad)
+	float pitch; ///< Pitch angle (rad)
+	float yaw; ///< Yaw angle (rad)
+	float rollspeed; ///< Roll angular speed (rad/s)
+	float pitchspeed; ///< Pitch angular speed (rad/s)
+	float yawspeed; ///< Yaw angular speed (rad/s)
+
+} mavlink_attitude_new_t;
+
+
+
+/**
+ * @brief Pack a attitude_new 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 usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ * @param roll Roll angle (rad)
+ * @param pitch Pitch angle (rad)
+ * @param yaw Yaw angle (rad)
+ * @param rollspeed Roll angular speed (rad/s)
+ * @param pitchspeed Pitch angular speed (rad/s)
+ * @param yawspeed Yaw angular speed (rad/s)
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_attitude_new_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed)
+{
+	uint16_t i = 0;
+	msg->msgid = MAVLINK_MSG_ID_ATTITUDE;
+
+	i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+	i += put_float_by_index(roll, i, msg->payload); // Roll angle (rad)
+	i += put_float_by_index(pitch, i, msg->payload); // Pitch angle (rad)
+	i += put_float_by_index(yaw, i, msg->payload); // Yaw angle (rad)
+	i += put_float_by_index(rollspeed, i, msg->payload); // Roll angular speed (rad/s)
+	i += put_float_by_index(pitchspeed, i, msg->payload); // Pitch angular speed (rad/s)
+	i += put_float_by_index(yawspeed, i, msg->payload); // Yaw angular speed (rad/s)
+
+	return mavlink_finalize_message(msg, system_id, component_id, i);
+}
+
+/**
+ * @brief Pack a attitude_new message
+ * @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 usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ * @param roll Roll angle (rad)
+ * @param pitch Pitch angle (rad)
+ * @param yaw Yaw angle (rad)
+ * @param rollspeed Roll angular speed (rad/s)
+ * @param pitchspeed Pitch angular speed (rad/s)
+ * @param yawspeed Yaw angular speed (rad/s)
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_attitude_new_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed)
+{
+	uint16_t i = 0;
+	msg->msgid = MAVLINK_MSG_ID_ATTITUDE;
+
+	i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+	i += put_float_by_index(roll, i, msg->payload); // Roll angle (rad)
+	i += put_float_by_index(pitch, i, msg->payload); // Pitch angle (rad)
+	i += put_float_by_index(yaw, i, msg->payload); // Yaw angle (rad)
+	i += put_float_by_index(rollspeed, i, msg->payload); // Roll angular speed (rad/s)
+	i += put_float_by_index(pitchspeed, i, msg->payload); // Pitch angular speed (rad/s)
+	i += put_float_by_index(yawspeed, i, msg->payload); // Yaw angular speed (rad/s)
+
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
+}
+
+/**
+ * @brief Encode a attitude_new 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 attitude_new C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_attitude_new_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_attitude_new_t* attitude_new)
+{
+	return mavlink_msg_attitude_new_pack(system_id, component_id, msg, attitude_new->usec, attitude_new->roll, attitude_new->pitch, attitude_new->yaw, attitude_new->rollspeed, attitude_new->pitchspeed, attitude_new->yawspeed);
+}
+
+#endif
+
+/**
+ * @brief Send a attitude_new message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ * @param roll Roll angle (rad)
+ * @param pitch Pitch angle (rad)
+ * @param yaw Yaw angle (rad)
+ * @param rollspeed Roll angular speed (rad/s)
+ * @param pitchspeed Pitch angular speed (rad/s)
+ * @param yawspeed Yaw angular speed (rad/s)
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_attitude_new_send(mavlink_channel_t chan, uint64_t usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed)
+{
+	uint16_t checksum;
+	comm_send_ch(chan, MAVLINK_STX);
+	crc_init(&checksum);
+	mavlink_send_uart_uint8_t(chan, MAVLINK_MSG_LENGTH_ATTITUDE_NEW, &checksum);
+	mavlink_send_uart_uint8_t(chan, mavlink_get_channel_status(MAVLINK_COMM_0)->current_tx_seq, &checksum);
+	// Increase sequence
+    mavlink_get_channel_status(MAVLINK_COMM_0)->current_tx_seq = mavlink_get_channel_status(MAVLINK_COMM_0)->current_tx_seq+1;
+	mavlink_send_uart_uint8_t(chan, mavlink_system.sysid, &checksum);
+	mavlink_send_uart_uint8_t(chan, mavlink_system.compid, &checksum);
+	mavlink_send_uart_uint8_t(chan, MAVLINK_MSG_ID_ATTITUDE_NEW, &checksum);
+	mavlink_send_uart_uint64_t(chan, usec, &checksum);
+	mavlink_send_uart_float(chan, roll, &checksum);
+	mavlink_send_uart_float(chan, pitch, &checksum);
+	mavlink_send_uart_float(chan, yaw, &checksum);
+	mavlink_send_uart_float(chan, rollspeed, &checksum);
+	mavlink_send_uart_float(chan, pitchspeed, &checksum);
+	mavlink_send_uart_float(chan, yawspeed, &checksum);
+	// Checksum complete, send it
+	comm_send_ch(chan, (uint8_t)(checksum & 0xFF));
+	comm_send_ch(chan, (uint8_t)(checksum >> 8));
+}
+
+#endif
+// MESSAGE ATTITUDE UNPACKING
+
+/**
+ * @brief Get field usec from attitude_new message
+ *
+ * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ */
+static inline uint64_t mavlink_msg_attitude_new_get_usec(const mavlink_message_t* msg)
+{
+	generic_64bit r;
+	r.b[7] = (msg->payload)[0];
+	r.b[6] = (msg->payload)[1];
+	r.b[5] = (msg->payload)[2];
+	r.b[4] = (msg->payload)[3];
+	r.b[3] = (msg->payload)[4];
+	r.b[2] = (msg->payload)[5];
+	r.b[1] = (msg->payload)[6];
+	r.b[0] = (msg->payload)[7];
+	return (uint64_t)r.ll;
+}
+
+/**
+ * @brief Get field roll from attitude_new message
+ *
+ * @return Roll angle (rad)
+ */
+static inline float mavlink_msg_attitude_new_get_roll(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(uint64_t))[0];
+	r.b[2] = (msg->payload+sizeof(uint64_t))[1];
+	r.b[1] = (msg->payload+sizeof(uint64_t))[2];
+	r.b[0] = (msg->payload+sizeof(uint64_t))[3];
+	return (float)r.f;
+}
+
+/**
+ * @brief Get field pitch from attitude_new message
+ *
+ * @return Pitch angle (rad)
+ */
+static inline float mavlink_msg_attitude_new_get_pitch(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float))[0];
+	r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float))[1];
+	r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float))[2];
+	r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float))[3];
+	return (float)r.f;
+}
+
+/**
+ * @brief Get field yaw from attitude_new message
+ *
+ * @return Yaw angle (rad)
+ */
+static inline float mavlink_msg_attitude_new_get_yaw(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[0];
+	r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[1];
+	r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[2];
+	r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[3];
+	return (float)r.f;
+}
+
+/**
+ * @brief Get field rollspeed from attitude_new message
+ *
+ * @return Roll angular speed (rad/s)
+ */
+static inline float mavlink_msg_attitude_new_get_rollspeed(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[0];
+	r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[1];
+	r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[2];
+	r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[3];
+	return (float)r.f;
+}
+
+/**
+ * @brief Get field pitchspeed from attitude_new message
+ *
+ * @return Pitch angular speed (rad/s)
+ */
+static inline float mavlink_msg_attitude_new_get_pitchspeed(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
+	r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
+	r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
+	r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
+	return (float)r.f;
+}
+
+/**
+ * @brief Get field yawspeed from attitude_new message
+ *
+ * @return Yaw angular speed (rad/s)
+ */
+static inline float mavlink_msg_attitude_new_get_yawspeed(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
+	r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
+	r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
+	r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
+	return (float)r.f;
+}
+
+#ifndef MAVLINK_DEACTIVATE_STRUCTS
+
+/**
+ * @brief Decode a attitude_new message into a struct
+ *
+ * @param msg The message to decode
+ * @param attitude_new C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_attitude_new_decode(const mavlink_message_t* msg, mavlink_attitude_new_t* attitude_new)
+{
+	attitude_new->usec = mavlink_msg_attitude_new_get_usec(msg);
+	attitude_new->roll = mavlink_msg_attitude_new_get_roll(msg);
+	attitude_new->pitch = mavlink_msg_attitude_new_get_pitch(msg);
+	attitude_new->yaw = mavlink_msg_attitude_new_get_yaw(msg);
+	attitude_new->rollspeed = mavlink_msg_attitude_new_get_rollspeed(msg);
+	attitude_new->pitchspeed = mavlink_msg_attitude_new_get_pitchspeed(msg);
+	attitude_new->yawspeed = mavlink_msg_attitude_new_get_yawspeed(msg);
+}
+
+#endif

libraries/GCS_MAVLink/include/mavlink_types.h

@@ -179,11 +179,22 @@ typedef enum {
     MAVLINK_COMM_0,
     MAVLINK_COMM_1,
     MAVLINK_COMM_2,
-    MAVLINK_COMM_3,
+    MAVLINK_COMM_3
-    MAVLINK_COMM_NB,
-    MAVLINK_COMM_NB_HIGH = 16
 } mavlink_channel_t;
 
+/*
+ * applications can set MAVLINK_COMM_NUM_BUFFERS to the maximum number
+ * of buffers they will use. If more are used, then the result will be
+ * a stack overrun
+ */
+#ifndef MAVLINK_COMM_NUM_BUFFERS
+#if (defined linux) | (defined __linux) | (defined  __MACH__) | (defined _WIN32)
+# define MAVLINK_COMM_NUM_BUFFERS 16
+#else
+# define MAVLINK_COMM_NUM_BUFFERS 4
+#endif
+#endif
+
 typedef enum {
     MAVLINK_PARSE_STATE_UNINIT=0,
     MAVLINK_PARSE_STATE_IDLE,

libraries/GCS_MAVLink/include/protocol.h

@@ -34,12 +34,7 @@ static void mavlink_parse_state_initialize(mavlink_status_t* initStatus)
 
 static inline mavlink_status_t* mavlink_get_channel_status(uint8_t chan)
 {
-#if (defined linux) | (defined __linux) | (defined  __MACH__) | (defined _WIN32)
+	static mavlink_status_t m_mavlink_status[MAVLINK_COMM_NUM_BUFFERS];
-	static mavlink_status_t m_mavlink_status[MAVLINK_COMM_NB_HIGH];
-#else
-	static mavlink_status_t m_mavlink_status[MAVLINK_COMM_NB];
-#endif
-
 	return &m_mavlink_status[chan];
 }
 
@@ -202,11 +197,8 @@ static inline void mavlink_update_checksum(mavlink_message_t* msg, uint8_t c)
  */
 static inline uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status)
 {
-#if (defined linux) | (defined __linux) | (defined  __MACH__) | (defined _WIN32)
+	static mavlink_message_t m_mavlink_message[MAVLINK_COMM_NUM_BUFFERS];
-	static mavlink_message_t m_mavlink_message[MAVLINK_COMM_NB_HIGH];
+
-#else
-	static mavlink_message_t m_mavlink_message[MAVLINK_COMM_NB];
-#endif
 	// Initializes only once, values keep unchanged after first initialization
 	mavlink_parse_state_initialize(mavlink_get_channel_status(chan));
 
@@ -391,23 +383,13 @@ static inline uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_messag
 /*
 static inline uint8_t mavlink_parse_char_new(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status)
 {
-	#if (defined linux) | (defined __linux) | (defined  __MACH__) | (defined _WIN32)
+	    static mavlink_status_t m_mavlink_status[MAVLINK_COMM_NUM_BUFFERS];
-	    static mavlink_status_t m_mavlink_status[MAVLINK_COMM_NB_HIGH];
+	    static uint8_t m_msgbuf[MAVLINK_COMM_NUM_BUFFERS][MAVLINK_MAX_PACKET_LEN * 2];
-	    static uint8_t m_msgbuf[MAVLINK_COMM_NB_HIGH][MAVLINK_MAX_PACKET_LEN * 2];
+	    static uint8_t m_msgbuf_index[MAVLINK_COMM_NUM_BUFFERS];
-	    static uint8_t m_msgbuf_index[MAVLINK_COMM_NB_HIGH];
+	    static mavlink_message_t m_mavlink_message[MAVLINK_COMM_NUM_BUFFERS];
-	    static mavlink_message_t m_mavlink_message[MAVLINK_COMM_NB_HIGH];
+	    static uint8_t m_packet_start[MAVLINK_COMM_NUM_BUFFERS][MAVLINK_PACKET_START_CANDIDATES];
-	    static uint8_t m_packet_start[MAVLINK_COMM_NB_HIGH][MAVLINK_PACKET_START_CANDIDATES];
+	    static uint8_t m_packet_start_index_read[MAVLINK_COMM_NUM_BUFFERS];
-	    static uint8_t m_packet_start_index_read[MAVLINK_COMM_NB_HIGH];
+	    static uint8_t m_packet_start_index_write[MAVLINK_COMM_NUM_BUFFERS];
-	    static uint8_t m_packet_start_index_write[MAVLINK_COMM_NB_HIGH];
-	#else
-	    static mavlink_status_t m_mavlink_status[MAVLINK_COMM_NB];
-	    static uint8_t m_msgbuf[MAVLINK_COMM_NB][MAVLINK_MAX_PACKET_LEN * 2];
-	    static uint8_t m_msgbuf_index[MAVLINK_COMM_NB];
-	    static mavlink_message_t m_mavlink_message[MAVLINK_COMM_NB];
-	    static uint8_t m_packet_start[MAVLINK_COMM_NB][MAVLINK_PACKET_START_CANDIDATES];
-	    static uint8_t m_packet_start_index_read[MAVLINK_COMM_NB];
-	    static uint8_t m_packet_start_index_write[MAVLINK_COMM_NB];
-	#endif
 
 	    // Set a packet start candidate index if sign is start sign
 	    if (c == MAVLINK_STX)
@@ -417,13 +399,8 @@ static inline uint8_t mavlink_parse_char_new(uint8_t chan, uint8_t c, mavlink_me
 
 	    // Parse normally, if a CRC mismatch occurs retry with the next packet index
 }
-//#if (defined linux) | (defined __linux) | (defined  __MACH__) | (defined _WIN32)
+//    static mavlink_status_t m_mavlink_status[MAVLINK_COMM_NUM_BUFFERS];
-//    static mavlink_status_t m_mavlink_status[MAVLINK_COMM_NB_HIGH];
+//    static mavlink_message_t m_mavlink_message[MAVLINK_COMM_NUM_BUFFERS];
-//    static mavlink_message_t m_mavlink_message[MAVLINK_COMM_NB_HIGH];
-//#else
-//    static mavlink_status_t m_mavlink_status[MAVLINK_COMM_NB];
-//    static mavlink_message_t m_mavlink_message[MAVLINK_COMM_NB];
-//#endif
 //// Initializes only once, values keep unchanged after first initialization
 //    mavlink_parse_state_initialize(&m_mavlink_status[chan]);
 //
@@ -575,6 +552,7 @@ typedef union __generic_64bit
 {
 	uint8_t b[8];
 	int64_t ll; ///< Long long (64 bit)
+	double  d;  ///< IEEE-754 double precision floating point
 } generic_64bit;
 
 /**
@@ -883,6 +861,103 @@ void comm_send_ch(mavlink_channel_t chan, uint8_t ch)
 }
  */
 
+static inline void mavlink_send_uart_uint8_t(mavlink_channel_t chan, uint8_t b, uint16_t* checksum)
+{
+	crc_accumulate(b, checksum);
+	comm_send_ch(chan, b);
+}
+
+static inline void mavlink_send_uart_int8_t(mavlink_channel_t chan, int8_t b, uint16_t* checksum)
+{
+	crc_accumulate(b, checksum);
+	comm_send_ch(chan, b);
+}
+
+static inline void mavlink_send_uart_uint16_t(mavlink_channel_t chan, uint16_t b, uint16_t* checksum)
+{
+	char s;
+	s = (b>>8)&0xff;
+	comm_send_ch(chan, s);
+	crc_accumulate(s, checksum);
+	s = (b & 0xff);
+	comm_send_ch(chan, s);
+	crc_accumulate(s, checksum);
+}
+
+static inline void mavlink_send_uart_int16_t(mavlink_channel_t chan, int16_t b, uint16_t* checksum)
+{
+	mavlink_send_uart_uint16_t(chan, b, checksum);
+}
+
+static inline void mavlink_send_uart_uint32_t(mavlink_channel_t chan, uint32_t b, uint16_t* checksum)
+{
+	char s;
+	s = (b>>24)&0xff;
+	comm_send_ch(chan, s);
+	crc_accumulate(s, checksum);
+	s = (b>>16)&0xff;
+	comm_send_ch(chan, s);
+	crc_accumulate(s, checksum);
+	s = (b>>8)&0xff;
+	comm_send_ch(chan, s);
+	crc_accumulate(s, checksum);
+	s = (b & 0xff);
+	comm_send_ch(chan, s);
+	crc_accumulate(s, checksum);
+}
+
+static inline void mavlink_send_uart_int32_t(mavlink_channel_t chan, int32_t b, uint16_t* checksum)
+{
+	mavlink_send_uart_uint32_t(chan, b, checksum);
+}
+
+static inline void mavlink_send_uart_uint64_t(mavlink_channel_t chan, uint64_t b, uint16_t* checksum)
+{
+	char s;
+	s = (b>>56)&0xff;
+	comm_send_ch(chan, s);
+	crc_accumulate(s, checksum);
+	s = (b>>48)&0xff;
+	comm_send_ch(chan, s);
+	crc_accumulate(s, checksum);
+	s = (b>>40)&0xff;
+	comm_send_ch(chan, s);
+	crc_accumulate(s, checksum);
+	s = (b>>32)&0xff;
+	comm_send_ch(chan, s);
+	crc_accumulate(s, checksum);
+	s = (b>>24)&0xff;
+	comm_send_ch(chan, s);
+	crc_accumulate(s, checksum);
+	s = (b>>16)&0xff;
+	comm_send_ch(chan, s);
+	crc_accumulate(s, checksum);
+	s = (b>>8)&0xff;
+	comm_send_ch(chan, s);
+	crc_accumulate(s, checksum);
+	s = (b & 0xff);
+	comm_send_ch(chan, s);
+	crc_accumulate(s, checksum);
+}
+
+static inline void mavlink_send_uart_int64_t(mavlink_channel_t chan, int64_t b, uint16_t* checksum)
+{
+	mavlink_send_uart_uint64_t(chan, b, checksum);
+}
+
+static inline void mavlink_send_uart_float(mavlink_channel_t chan, float b, uint16_t* checksum)
+{
+	generic_32bit g;
+	g.f = b;
+	mavlink_send_uart_uint32_t(chan, g.i, checksum);
+}
+
+static inline void mavlink_send_uart_double(mavlink_channel_t chan, double b, uint16_t* checksum)
+{
+	generic_64bit g;
+	g.d = b;
+	mavlink_send_uart_uint32_t(chan, g.ll, checksum);
+}
 
 static inline void mavlink_send_uart(mavlink_channel_t chan, mavlink_message_t* msg)
 {