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git-svn-id: https://arducopter.googlecode.com/svn/trunk@937 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
james.goppert 2010-11-26 08:14:29 +00:00
parent 9a45c2babc
commit 001d831359
5 changed files with 44 additions and 38 deletions
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2
libraries/GCS_MAVLink/include/common/common.h
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@ -1,7 +1,7 @@
/** @file
* @brief MAVLink comm protocol.
* @see http://pixhawk.ethz.ch/software/mavlink
* Generated on Wednesday, November 17 2010, 17:58 UTC
* Generated on Friday, November 26 2010, 06:53 UTC
*/
#ifndef COMMON_H
#define COMMON_H

2
libraries/GCS_MAVLink/include/common/mavlink.h
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@ -1,7 +1,7 @@
/** @file
* @brief MAVLink comm protocol.
* @see http://pixhawk.ethz.ch/software/mavlink
* Generated on Wednesday, November 17 2010, 17:58 UTC
* Generated on Friday, November 26 2010, 06:53 UTC
*/
#ifndef MAVLINK_H
#define MAVLINK_H

60
libraries/GCS_MAVLink/include/common/mavlink_msg_raw_imu.h
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@ -8,9 +8,9 @@ typedef struct __mavlink_raw_imu_t
int16_t xacc; ///< X acceleration (mg raw)
int16_t yacc; ///< Y acceleration (mg raw)
int16_t zacc; ///< Z acceleration (mg raw)
uint16_t xgyro; ///< Angular speed around X axis (adc units)
uint16_t ygyro; ///< Angular speed around Y axis (adc units)
uint16_t zgyro; ///< Angular speed around Z axis (adc units)
int16_t xgyro; ///< Angular speed around X axis (millirad /sec)
int16_t ygyro; ///< Angular speed around Y axis (millirad /sec)
int16_t zgyro; ///< Angular speed around Z axis (millirad /sec)
int16_t xmag; ///< X Magnetic field (milli tesla)
int16_t ymag; ///< Y Magnetic field (milli tesla)
int16_t zmag; ///< Z Magnetic field (milli tesla)
@ -26,15 +26,15 @@ typedef struct __mavlink_raw_imu_t
* @param xacc X acceleration (mg raw)
* @param yacc Y acceleration (mg raw)
* @param zacc Z acceleration (mg raw)
* @param xgyro Angular speed around X axis (adc units)
* @param ygyro Angular speed around Y axis (adc units)
* @param zgyro Angular speed around Z axis (adc units)
* @param xgyro Angular speed around X axis (millirad /sec)
* @param ygyro Angular speed around Y axis (millirad /sec)
* @param zgyro Angular speed around Z axis (millirad /sec)
* @param xmag X Magnetic field (milli tesla)
* @param ymag Y Magnetic field (milli tesla)
* @param zmag Z Magnetic field (milli tesla)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_raw_imu_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t usec, int16_t xacc, int16_t yacc, int16_t zacc, uint16_t xgyro, uint16_t ygyro, uint16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)
static inline uint16_t mavlink_msg_raw_imu_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t usec, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_RAW_IMU;
@ -43,9 +43,9 @@ static inline uint16_t mavlink_msg_raw_imu_pack(uint8_t system_id, uint8_t compo
i += put_int16_t_by_index(xacc, i, msg->payload); //X acceleration (mg raw)
i += put_int16_t_by_index(yacc, i, msg->payload); //Y acceleration (mg raw)
i += put_int16_t_by_index(zacc, i, msg->payload); //Z acceleration (mg raw)
i += put_uint16_t_by_index(xgyro, i, msg->payload); //Angular speed around X axis (adc units)
i += put_uint16_t_by_index(ygyro, i, msg->payload); //Angular speed around Y axis (adc units)
i += put_uint16_t_by_index(zgyro, i, msg->payload); //Angular speed around Z axis (adc units)
i += put_int16_t_by_index(xgyro, i, msg->payload); //Angular speed around X axis (millirad /sec)
i += put_int16_t_by_index(ygyro, i, msg->payload); //Angular speed around Y axis (millirad /sec)
i += put_int16_t_by_index(zgyro, i, msg->payload); //Angular speed around Z axis (millirad /sec)
i += put_int16_t_by_index(xmag, i, msg->payload); //X Magnetic field (milli tesla)
i += put_int16_t_by_index(ymag, i, msg->payload); //Y Magnetic field (milli tesla)
i += put_int16_t_by_index(zmag, i, msg->payload); //Z Magnetic field (milli tesla)
@ -60,7 +60,7 @@ static inline uint16_t mavlink_msg_raw_imu_encode(uint8_t system_id, uint8_t com
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_raw_imu_send(mavlink_channel_t chan, uint64_t usec, int16_t xacc, int16_t yacc, int16_t zacc, uint16_t xgyro, uint16_t ygyro, uint16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)
static inline void mavlink_msg_raw_imu_send(mavlink_channel_t chan, uint64_t usec, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)
{
mavlink_message_t msg;
mavlink_msg_raw_imu_pack(mavlink_system.sysid, mavlink_system.compid, &msg, usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag);
@ -131,40 +131,40 @@ static inline int16_t mavlink_msg_raw_imu_get_zacc(const mavlink_message_t* msg)
/**
* @brief Get field xgyro from raw_imu message
*
* @return Angular speed around X axis (adc units)
* @return Angular speed around X axis (millirad /sec)
*/
static inline uint16_t mavlink_msg_raw_imu_get_xgyro(const mavlink_message_t* msg)
static inline int16_t mavlink_msg_raw_imu_get_xgyro(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1];
return (uint16_t)r.s;
return (int16_t)r.s;
}
/**
* @brief Get field ygyro from raw_imu message
*
* @return Angular speed around Y axis (adc units)
* @return Angular speed around Y axis (millirad /sec)
*/
static inline uint16_t mavlink_msg_raw_imu_get_ygyro(const mavlink_message_t* msg)
static inline int16_t mavlink_msg_raw_imu_get_ygyro(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t))[0];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t))[1];
return (uint16_t)r.s;
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1];
return (int16_t)r.s;
}
/**
* @brief Get field zgyro from raw_imu message
*
* @return Angular speed around Z axis (adc units)
* @return Angular speed around Z axis (millirad /sec)
*/
static inline uint16_t mavlink_msg_raw_imu_get_zgyro(const mavlink_message_t* msg)
static inline int16_t mavlink_msg_raw_imu_get_zgyro(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1];
return (uint16_t)r.s;
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1];
return (int16_t)r.s;
}
/**
@ -175,8 +175,8 @@ static inline uint16_t mavlink_msg_raw_imu_get_zgyro(const mavlink_message_t* ms
static inline int16_t mavlink_msg_raw_imu_get_xmag(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1];
return (int16_t)r.s;
}
@ -188,8 +188,8 @@ static inline int16_t mavlink_msg_raw_imu_get_xmag(const mavlink_message_t* msg)
static inline int16_t mavlink_msg_raw_imu_get_ymag(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(int16_t))[0];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(int16_t))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1];
return (int16_t)r.s;
}
@ -201,8 +201,8 @@ static inline int16_t mavlink_msg_raw_imu_get_ymag(const mavlink_message_t* msg)
static inline int16_t mavlink_msg_raw_imu_get_zmag(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(int16_t)+sizeof(int16_t))[0];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(int16_t)+sizeof(int16_t))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1];
return (int16_t)r.s;
}

12
libraries/GCS_MAVLink/message_definitions/common.xml
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@ -8,7 +8,7 @@
</message>
<message name="BOOT" id="1">
<description>The boot message indicates that a system is starting. The onboard software version allows to keep track of onboard soft/firmware revisions.</description>
<description>The boot message indicates that a system is starting. The onboard software version allows to keep track of onboard soft/firmware revisions.</description>
<field name="version" type="uint32_t">The onboard software version</field>
</message>
@ -26,14 +26,14 @@
</message>
<message name="ACTION" id="10">
<description>An action message allows to execute a certain onboard action. These include liftoff, land, storing parameters too EEPROM, shutddown, etc. The action ids are defined in ENUM MAV_ACTION in mavlink/include/mavlink_types.h</description>
<description>An action message allows to execute a certain onboard action. These include liftoff, land, storing parameters too EEPROM, shutddown, etc. The action ids are defined in ENUM MAV_ACTION in mavlink/include/mavlink_types.h</description>
<field name="target" type="uint8_t">The system executing the action</field>
<field name="target_component" type="uint8_t">The component executing the action</field>
<field name="action" type="uint8_t">The action id</field>
</message>
<message name="ACTION_ACK" id="62">
<description>This message acknowledges an action. IMPORTANT: The acknowledgement can be also negative, e.g. the MAV rejects a reset message because it is in-flight. The action ids are defined in ENUM MAV_ACTION in mavlink/include/mavlink_types.h</description>
<description>This message acknowledges an action. IMPORTANT: The acknowledgement can be also negative, e.g. the MAV rejects a reset message because it is in-flight. The action ids are defined in ENUM MAV_ACTION in mavlink/include/mavlink_types.h</description>
<field name="action" type="uint8_t">The action id</field>
<field name="result" type="uint8_t">0: Action DENIED, 1: Action executed</field>
</message>
@ -86,9 +86,9 @@
<field name="xacc" type="int16_t">X acceleration (mg raw)</field>
<field name="yacc" type="int16_t">Y acceleration (mg raw)</field>
<field name="zacc" type="int16_t">Z acceleration (mg raw)</field>
<field name="xgyro" type="uint16_t">Angular speed around X axis (adc units)</field>
<field name="ygyro" type="uint16_t">Angular speed around Y axis (adc units)</field>
<field name="zgyro" type="uint16_t">Angular speed around Z axis (adc units)</field>
<field name="xgyro" type="int16_t">Angular speed around X axis (millirad /sec)</field>
<field name="ygyro" type="int16_t">Angular speed around Y axis (millirad /sec)</field>
<field name="zgyro" type="int16_t">Angular speed around Z axis (millirad /sec)</field>
<field name="xmag" type="int16_t">X Magnetic field (milli tesla)</field>
<field name="ymag" type="int16_t">Y Magnetic field (milli tesla)</field>
<field name="zmag" type="int16_t">Z Magnetic field (milli tesla)</field>

6
libraries/GCS_MAVLink/sync.sh Executable file
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@ -0,0 +1,6 @@
#!/bin/sh
rm -rf _tmp
git clone git://github.com/pixhawk/mavlink.git _tmp
rm -rf _tmp/.git
rsync -av _tmp/* .
rm -rf _tmp