From 415786a48046f7fd40ea1de757043a8c323227c6 Mon Sep 17 00:00:00 2001
From: "james.goppert" <james.goppert@f9c3cf11-9bcb-44bc-f272-b75c42450872>
Date: Fri, 10 Dec 2010 07:26:59 +0000
Subject: [PATCH] Added airspeed message to mavlink.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1102 f9c3cf11-9bcb-44bc-f272-b75c42450872
---
 libraries/GCS_MAVLink/include/common/common.h |  3 +-
 .../GCS_MAVLink/include/common/mavlink.h      |  2 +-
 .../include/common/mavlink_msg_airspeed.h     | 74 +++++++++++++++++++
 .../message_definitions/common.xml            |  5 ++
 4 files changed, 82 insertions(+), 2 deletions(-)
 create mode 100644 libraries/GCS_MAVLink/include/common/mavlink_msg_airspeed.h

diff --git a/libraries/GCS_MAVLink/include/common/common.h b/libraries/GCS_MAVLink/include/common/common.h
index 41cba5f284..ffb06029f9 100644
--- a/libraries/GCS_MAVLink/include/common/common.h
+++ b/libraries/GCS_MAVLink/include/common/common.h
@@ -1,7 +1,7 @@
 /** @file
  *	@brief MAVLink comm protocol.
  *	@see http://pixhawk.ethz.ch/software/mavlink
- *	 Generated on Tuesday, December 7 2010, 13:34 UTC
+ *	 Generated on Friday, December 10 2010, 07:24 UTC
  */
 #ifndef COMMON_H
 #define COMMON_H
@@ -65,6 +65,7 @@ extern "C" {
 #include "./mavlink_msg_manual_control.h"
 #include "./mavlink_msg_debug_vect.h"
 #include "./mavlink_msg_gps_local_origin_set.h"
+#include "./mavlink_msg_airspeed.h"
 #include "./mavlink_msg_statustext.h"
 #include "./mavlink_msg_debug.h"
 #ifdef __cplusplus
diff --git a/libraries/GCS_MAVLink/include/common/mavlink.h b/libraries/GCS_MAVLink/include/common/mavlink.h
index a5c849425e..0865356696 100644
--- a/libraries/GCS_MAVLink/include/common/mavlink.h
+++ b/libraries/GCS_MAVLink/include/common/mavlink.h
@@ -1,7 +1,7 @@
 /** @file
  *	@brief MAVLink comm protocol.
  *	@see http://pixhawk.ethz.ch/software/mavlink
- *	 Generated on Tuesday, December 7 2010, 13:34 UTC
+ *	 Generated on Friday, December 10 2010, 07:24 UTC
  */
 #ifndef MAVLINK_H
 #define MAVLINK_H
diff --git a/libraries/GCS_MAVLink/include/common/mavlink_msg_airspeed.h b/libraries/GCS_MAVLink/include/common/mavlink_msg_airspeed.h
new file mode 100644
index 0000000000..c77b6c1582
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/common/mavlink_msg_airspeed.h
@@ -0,0 +1,74 @@
+// MESSAGE AIRSPEED PACKING
+
+#define MAVLINK_MSG_ID_AIRSPEED 72
+
+typedef struct __mavlink_airspeed_t 
+{
+	float airspeed; ///< meters/second
+
+} mavlink_airspeed_t;
+
+
+
+/**
+ * @brief Send a airspeed message
+ *
+ * @param airspeed meters/second
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_airspeed_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, float airspeed)
+{
+	uint16_t i = 0;
+	msg->msgid = MAVLINK_MSG_ID_AIRSPEED;
+
+	i += put_float_by_index(airspeed, i, msg->payload); //meters/second
+
+	return mavlink_finalize_message(msg, system_id, component_id, i);
+}
+
+static inline uint16_t mavlink_msg_airspeed_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, float airspeed)
+{
+	uint16_t i = 0;
+	msg->msgid = MAVLINK_MSG_ID_AIRSPEED;
+
+	i += put_float_by_index(airspeed, i, msg->payload); //meters/second
+
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
+}
+
+static inline uint16_t mavlink_msg_airspeed_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_airspeed_t* airspeed)
+{
+	return mavlink_msg_airspeed_pack(system_id, component_id, msg, airspeed->airspeed);
+}
+
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_airspeed_send(mavlink_channel_t chan, float airspeed)
+{
+	mavlink_message_t msg;
+	mavlink_msg_airspeed_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, airspeed);
+	mavlink_send_uart(chan, &msg);
+}
+
+#endif
+// MESSAGE AIRSPEED UNPACKING
+
+/**
+ * @brief Get field airspeed from airspeed message
+ *
+ * @return meters/second
+ */
+static inline float mavlink_msg_airspeed_get_airspeed(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload)[0];
+	r.b[2] = (msg->payload)[1];
+	r.b[1] = (msg->payload)[2];
+	r.b[0] = (msg->payload)[3];
+	return (float)r.f;
+}
+
+static inline void mavlink_msg_airspeed_decode(const mavlink_message_t* msg, mavlink_airspeed_t* airspeed)
+{
+	airspeed->airspeed = mavlink_msg_airspeed_get_airspeed(msg);
+}
diff --git a/libraries/GCS_MAVLink/message_definitions/common.xml b/libraries/GCS_MAVLink/message_definitions/common.xml
index f5f8128c34..32121d566a 100644
--- a/libraries/GCS_MAVLink/message_definitions/common.xml
+++ b/libraries/GCS_MAVLink/message_definitions/common.xml
@@ -409,6 +409,11 @@ NOT the global position estimate of the sytem, but rather a RAW sensor value. Se
     <field name="y" type="float">Local Y coordinate in meters</field>
     <field name="z" type="float">Local Z coordinate in meters</field>
   </message>
+
+  <message name="AIRSPEED" id="72">
+    <description>The calculated airspeed </description>
+    <field name="airspeed" type="float">meters/second</field>
+  </message>
    
    <!-- MESSAGE IDs 80 - 250: Space for custom messages in individual projectname_messages.xml files -->