From c0a43a1837647975d6c26a928bc8ca71887c1d3d Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Fri, 28 Oct 2011 15:54:22 +1100 Subject: [PATCH] minor mavlink 1.0 updates --- .../include_v1.0/ardupilotmega/version.h | 2 +- .../GCS_MAVLink/include_v1.0/common/common.h | 4 +- .../common/mavlink_msg_local_position.h | 286 ------------------ .../GCS_MAVLink/include_v1.0/common/version.h | 2 +- .../include_v1.0/minimal/version.h | 2 +- .../include_v1.0/pixhawk/version.h | 2 +- .../GCS_MAVLink/include_v1.0/slugs/version.h | 2 +- .../GCS_MAVLink/include_v1.0/test/version.h | 2 +- .../include_v1.0/ualberta/version.h | 2 +- 9 files changed, 9 insertions(+), 295 deletions(-) delete mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_local_position.h diff --git a/libraries/GCS_MAVLink/include_v1.0/ardupilotmega/version.h b/libraries/GCS_MAVLink/include_v1.0/ardupilotmega/version.h index bfad01ce63..d7f7b7f6e7 100644 --- a/libraries/GCS_MAVLink/include_v1.0/ardupilotmega/version.h +++ b/libraries/GCS_MAVLink/include_v1.0/ardupilotmega/version.h @@ -5,7 +5,7 @@ #ifndef MAVLINK_VERSION_H #define MAVLINK_VERSION_H -#define MAVLINK_BUILD_DATE "Mon Oct 24 13:39:07 2011" +#define MAVLINK_BUILD_DATE "Fri Oct 28 15:51:26 2011" #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0" #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101 diff --git a/libraries/GCS_MAVLink/include_v1.0/common/common.h b/libraries/GCS_MAVLink/include_v1.0/common/common.h index cde9b18141..40b28ce93b 100644 --- a/libraries/GCS_MAVLink/include_v1.0/common/common.h +++ b/libraries/GCS_MAVLink/include_v1.0/common/common.h @@ -93,7 +93,7 @@ enum MAV_MODE_FLAG_DECODE_POSITION enum MAV_GOTO { MAV_GOTO_DO_HOLD=0, /* Hold at the current position. | */ - MAV_GOTO_DO_CONTINUE=1, /* Continue with the mission execution. | */ + MAV_GOTO_DO_CONTINUE=1, /* Continue with the next item in mission execution. | */ MAV_GOTO_HOLD_AT_CURRENT_POSITION=2, /* Hold at the current position of the system | */ MAV_GOTO_HOLD_AT_SPECIFIED_POSITION=3, /* Hold at the position specified in the parameters of the DO_HOLD action | */ MAV_GOTO_ENUM_END=4, /* | */ @@ -249,7 +249,7 @@ enum MAV_CMD MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS=242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units| */ MAV_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Reserved| Reserved| Empty| Empty| Empty| */ MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN=246, /* Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot.| 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer.| Reserved| Reserved| Empty| Empty| Empty| */ - MAV_CMD_OVERRIDE_GOTO=252, /* Hold / continue the current action |MAV_GOTO_DO_HOLD: hold MAV_GOTO_DO_CONTINUE: continue with mission plan| MAV_GOTO_HOLD_AT_CURRENT_POSITION: Hold at current position MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position| MAV_FRAME coordinate frame of hold point| Desired yaw angle in degrees| Latitude / X position| Longitude / Y position| Altitude / Z position| */ + MAV_CMD_OVERRIDE_GOTO=252, /* Hold / continue the current action |MAV_GOTO_DO_HOLD: hold MAV_GOTO_DO_CONTINUE: continue with next item in mission plan| MAV_GOTO_HOLD_AT_CURRENT_POSITION: Hold at current position MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position| MAV_FRAME coordinate frame of hold point| Desired yaw angle in degrees| Latitude / X position| Longitude / Y position| Altitude / Z position| */ MAV_CMD_ENUM_END=253, /* | */ }; diff --git a/libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_local_position.h b/libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_local_position.h deleted file mode 100644 index 6ccb06a8d9..0000000000 --- a/libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_local_position.h +++ /dev/null @@ -1,286 +0,0 @@ -// MESSAGE LOCAL_POSITION PACKING - -#define MAVLINK_MSG_ID_LOCAL_POSITION 32 - -typedef struct __mavlink_local_position_t -{ - uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot) - float x; ///< X Position - float y; ///< Y Position - float z; ///< Z Position - float vx; ///< X Speed - float vy; ///< Y Speed - float vz; ///< Z Speed -} mavlink_local_position_t; - -#define MAVLINK_MSG_ID_LOCAL_POSITION_LEN 28 -#define MAVLINK_MSG_ID_32_LEN 28 - - - -#define MAVLINK_MESSAGE_INFO_LOCAL_POSITION { \ - "LOCAL_POSITION", \ - 7, \ -<<<<<<< HEAD - { { "time_boot_ms", MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_local_position_t, time_boot_ms) }, \ - { "x", MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_local_position_t, x) }, \ - { "y", MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_local_position_t, y) }, \ - { "z", MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_local_position_t, z) }, \ - { "vx", MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_local_position_t, vx) }, \ - { "vy", MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_local_position_t, vy) }, \ - { "vz", MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_local_position_t, vz) }, \ -======= - { { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_local_position_t, usec) }, \ - { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_local_position_t, x) }, \ - { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_local_position_t, y) }, \ - { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_local_position_t, z) }, \ - { "vx", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_local_position_t, vx) }, \ - { "vy", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_local_position_t, vy) }, \ - { "vz", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_local_position_t, vz) }, \ ->>>>>>> 077b901fe072bb5fefdaca3680b3341c329395cb - } \ -} - - -/** - * @brief Pack a local_position 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 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 - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_local_position_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, - 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); - - memcpy(_MAV_PAYLOAD(msg), buf, 28); -#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; - - memcpy(_MAV_PAYLOAD(msg), &packet, 28); -#endif - - msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION; - return mavlink_finalize_message(msg, system_id, component_id, 28, 231); -} - -/** - * @brief Pack a local_position 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 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 - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_local_position_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, - mavlink_message_t* msg, - 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); - - memcpy(_MAV_PAYLOAD(msg), buf, 28); -#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; - - 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 -} diff --git a/libraries/GCS_MAVLink/include_v1.0/common/version.h b/libraries/GCS_MAVLink/include_v1.0/common/version.h index 4aebcf003b..1939115c87 100644 --- a/libraries/GCS_MAVLink/include_v1.0/common/version.h +++ b/libraries/GCS_MAVLink/include_v1.0/common/version.h @@ -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 diff --git a/libraries/GCS_MAVLink/include_v1.0/minimal/version.h b/libraries/GCS_MAVLink/include_v1.0/minimal/version.h index a9e4a9b67f..8f6b699277 100644 --- a/libraries/GCS_MAVLink/include_v1.0/minimal/version.h +++ b/libraries/GCS_MAVLink/include_v1.0/minimal/version.h @@ -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 diff --git a/libraries/GCS_MAVLink/include_v1.0/pixhawk/version.h b/libraries/GCS_MAVLink/include_v1.0/pixhawk/version.h index 903a271117..2e2079399f 100644 --- a/libraries/GCS_MAVLink/include_v1.0/pixhawk/version.h +++ b/libraries/GCS_MAVLink/include_v1.0/pixhawk/version.h @@ -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 diff --git a/libraries/GCS_MAVLink/include_v1.0/slugs/version.h b/libraries/GCS_MAVLink/include_v1.0/slugs/version.h index e463ae4e88..045254768f 100644 --- a/libraries/GCS_MAVLink/include_v1.0/slugs/version.h +++ b/libraries/GCS_MAVLink/include_v1.0/slugs/version.h @@ -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 diff --git a/libraries/GCS_MAVLink/include_v1.0/test/version.h b/libraries/GCS_MAVLink/include_v1.0/test/version.h index 41376ec36e..608b1f61b9 100644 --- a/libraries/GCS_MAVLink/include_v1.0/test/version.h +++ b/libraries/GCS_MAVLink/include_v1.0/test/version.h @@ -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 diff --git a/libraries/GCS_MAVLink/include_v1.0/ualberta/version.h b/libraries/GCS_MAVLink/include_v1.0/ualberta/version.h index e072fb0857..7eb4f7f635 100644 --- a/libraries/GCS_MAVLink/include_v1.0/ualberta/version.h +++ b/libraries/GCS_MAVLink/include_v1.0/ualberta/version.h @@ -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