mirror of https://github.com/ArduPilot/ardupilot
82 lines
3.6 KiB
C
82 lines
3.6 KiB
C
/*
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compatibility header during transition to MAVLink 1.0
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*/
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#ifdef MAVLINK10
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// in MAVLink 1.0 'waypoint' becomes 'mission'. We can remove these
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// mappings once we are not trying to support both protocols
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#define MAVLINK_MSG_ID_WAYPOINT_CURRENT MAVLINK_MSG_ID_MISSION_CURRENT
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#define MAVLINK_MSG_ID_WAYPOINT_CURRENT_LEN MAVLINK_MSG_ID_MISSION_CURRENT_LEN
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#define mavlink_msg_waypoint_current_send mavlink_msg_mission_current_send
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#define mavlink_msg_waypoint_current_decode mavlink_msg_mission_current_decode
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#define MAVLINK_MSG_ID_WAYPOINT_COUNT MAVLINK_MSG_ID_MISSION_COUNT
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#define MAVLINK_MSG_ID_WAYPOINT_COUNT_LEN MAVLINK_MSG_ID_MISSION_COUNT_LEN
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#define mavlink_msg_waypoint_count_send mavlink_msg_mission_count_send
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#define mavlink_msg_waypoint_count_decode mavlink_msg_mission_count_decode
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#define mavlink_waypoint_count_t mavlink_mission_count_t
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#define MAVLINK_MSG_ID_WAYPOINT_REQUEST MAVLINK_MSG_ID_MISSION_REQUEST
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#define MAVLINK_MSG_ID_WAYPOINT_REQUEST_LEN MAVLINK_MSG_ID_MISSION_REQUEST_LEN
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#define mavlink_msg_waypoint_request_send mavlink_msg_mission_request_send
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#define mavlink_msg_waypoint_request_decode mavlink_msg_mission_request_decode
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#define mavlink_waypoint_request_t mavlink_mission_request_t
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#define MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST MAVLINK_MSG_ID_MISSION_REQUEST_LIST
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#define MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST_LEN MAVLINK_MSG_ID_MISSION_REQUEST_LIST_LEN
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#define mavlink_msg_waypoint_request_list_send mavlink_msg_mission_request_list_send
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#define mavlink_msg_waypoint_request_list_decode mavlink_msg_mission_request_list_decode
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#define mavlink_waypoint_request_list_t mavlink_mission_request_list_t
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#define MAVLINK_MSG_ID_WAYPOINT MAVLINK_MSG_ID_MISSION_ITEM
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#define MAVLINK_MSG_ID_WAYPOINT_LEN MAVLINK_MSG_ID_MISSION_ITEM_LEN
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#define mavlink_msg_waypoint_send mavlink_msg_mission_item_send
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#define mavlink_msg_waypoint_decode mavlink_msg_mission_item_decode
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#define mavlink_waypoint_t mavlink_mission_item_t
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#define MAVLINK_MSG_ID_WAYPOINT_ACK MAVLINK_MSG_ID_MISSION_ACK
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#define MAVLINK_MSG_ID_WAYPOINT_ACK_LEN MAVLINK_MSG_ID_MISSION_ACK_LEN
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#define mavlink_msg_waypoint_ack_send mavlink_msg_mission_ack_send
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#define mavlink_msg_waypoint_ack_decode mavlink_msg_mission_ack_decode
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#define mavlink_waypoint_ack_t mavlink_mission_ack_t
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#define MAVLINK_MSG_ID_WAYPOINT_CLEAR_ALL MAVLINK_MSG_ID_MISSION_CLEAR_ALL
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#define MAVLINK_MSG_ID_WAYPOINT_CLEAR_ALL_LEN MAVLINK_MSG_ID_MISSION_CLEAR_ALL_LEN
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#define mavlink_msg_waypoint_clear_all_send mavlink_msg_mission_clear_all_send
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#define mavlink_msg_waypoint_clear_all_decode mavlink_msg_mission_clear_all_decode
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#define mavlink_waypoint_clear_all_t mavlink_mission_clear_all_t
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#define MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT MAVLINK_MSG_ID_MISSION_SET_CURRENT
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#define MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT_LEN MAVLINK_MSG_ID_MISSION_SET_CURRENT_LEN
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#define mavlink_msg_waypoint_set_current_send mavlink_msg_mission_set_current_send
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#define mavlink_msg_waypoint_set_current_decode mavlink_msg_mission_set_current_decode
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#define mavlink_waypoint_set_current_t mavlink_mission_set_current_t
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static uint8_t mav_var_type(AP_Meta_class::Type_id t)
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{
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if (t == AP_Var::k_typeid_int8) {
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return MAV_VAR_INT8;
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}
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if (t == AP_Var::k_typeid_int16) {
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return MAV_VAR_INT16;
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}
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if (t == AP_Var::k_typeid_int32) {
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return MAV_VAR_INT32;
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}
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// treat any others as float
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return MAV_VAR_FLOAT;
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}
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#define MAV_FIXED_WING MAV_TYPE_FIXED_WING
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#else
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#define MAV_MISSION_ACCEPTED 0
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#define MAV_MISSION_UNSUPPORTED 1
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#define MAV_MISSION_UNSUPPORTED_FRAME 1
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#define MAV_MISSION_ERROR 1
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#define MAV_MISSION_INVALID_SEQUENCE 1
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#endif
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