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GCS_MAVLink: re-generate MAVLink headers

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Andrew Chapman 2014-06-17 20:16:39 +10:00 committed by Andrew Tridgell
parent 048767e389
commit 87fcfbf9dd
6 changed files with 1034 additions and 5 deletions
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35
libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h
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libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_camera_event.h Normal file
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// MESSAGE CAMERA_EVENT PACKING
#define MAVLINK_MSG_ID_CAMERA_EVENT 179
typedef struct __mavlink_camera_event_t
{
uint64_t time_usec; ///< Image timestamp (microseconds since UNIX epoch, according to camera clock)
float p1; ///< Parameter 1 (meaning depends on event, see CAMERA_EVENT_TYPES enum)
float p2; ///< Parameter 2 (meaning depends on event, see CAMERA_EVENT_TYPES enum)
float p3; ///< Parameter 3 (meaning depends on event, see CAMERA_EVENT_TYPES enum)
float p4; ///< Parameter 4 (meaning depends on event, see CAMERA_EVENT_TYPES enum)
uint16_t img_idx; ///< Image index
uint8_t target_system; ///< System ID
uint8_t cam_idx; ///< Camera ID
uint8_t event_id; ///< See CAMERA_EVENT_TYPES enum for definition of the bitmask
} mavlink_camera_event_t;
#define MAVLINK_MSG_ID_CAMERA_EVENT_LEN 29
#define MAVLINK_MSG_ID_179_LEN 29
#define MAVLINK_MSG_ID_CAMERA_EVENT_CRC 206
#define MAVLINK_MSG_ID_179_CRC 206
#define MAVLINK_MESSAGE_INFO_CAMERA_EVENT { \
"CAMERA_EVENT", \
9, \
{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_camera_event_t, time_usec) }, \
{ "p1", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_camera_event_t, p1) }, \
{ "p2", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_camera_event_t, p2) }, \
{ "p3", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_camera_event_t, p3) }, \
{ "p4", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_camera_event_t, p4) }, \
{ "img_idx", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_camera_event_t, img_idx) }, \
{ "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 26, offsetof(mavlink_camera_event_t, target_system) }, \
{ "cam_idx", NULL, MAVLINK_TYPE_UINT8_T, 0, 27, offsetof(mavlink_camera_event_t, cam_idx) }, \
{ "event_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 28, offsetof(mavlink_camera_event_t, event_id) }, \
} \
}
/**
* @brief Pack a camera_event 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_usec Image timestamp (microseconds since UNIX epoch, according to camera clock)
* @param target_system System ID
* @param cam_idx Camera ID
* @param img_idx Image index
* @param event_id See CAMERA_EVENT_TYPES enum for definition of the bitmask
* @param p1 Parameter 1 (meaning depends on event, see CAMERA_EVENT_TYPES enum)
* @param p2 Parameter 2 (meaning depends on event, see CAMERA_EVENT_TYPES enum)
* @param p3 Parameter 3 (meaning depends on event, see CAMERA_EVENT_TYPES enum)
* @param p4 Parameter 4 (meaning depends on event, see CAMERA_EVENT_TYPES enum)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_camera_event_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint64_t time_usec, uint8_t target_system, uint8_t cam_idx, uint16_t img_idx, uint8_t event_id, float p1, float p2, float p3, float p4)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_CAMERA_EVENT_LEN];
_mav_put_uint64_t(buf, 0, time_usec);
_mav_put_float(buf, 8, p1);
_mav_put_float(buf, 12, p2);
_mav_put_float(buf, 16, p3);
_mav_put_float(buf, 20, p4);
_mav_put_uint16_t(buf, 24, img_idx);
_mav_put_uint8_t(buf, 26, target_system);
_mav_put_uint8_t(buf, 27, cam_idx);
_mav_put_uint8_t(buf, 28, event_id);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_CAMERA_EVENT_LEN);
#else
mavlink_camera_event_t packet;
packet.time_usec = time_usec;
packet.p1 = p1;
packet.p2 = p2;
packet.p3 = p3;
packet.p4 = p4;
packet.img_idx = img_idx;
packet.target_system = target_system;
packet.cam_idx = cam_idx;
packet.event_id = event_id;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_CAMERA_EVENT_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_CAMERA_EVENT;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_CAMERA_EVENT_LEN, MAVLINK_MSG_ID_CAMERA_EVENT_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_CAMERA_EVENT_LEN);
#endif
}
/**
* @brief Pack a camera_event 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 will be sent over
* @param msg The MAVLink message to compress the data into
* @param time_usec Image timestamp (microseconds since UNIX epoch, according to camera clock)
* @param target_system System ID
* @param cam_idx Camera ID
* @param img_idx Image index
* @param event_id See CAMERA_EVENT_TYPES enum for definition of the bitmask
* @param p1 Parameter 1 (meaning depends on event, see CAMERA_EVENT_TYPES enum)
* @param p2 Parameter 2 (meaning depends on event, see CAMERA_EVENT_TYPES enum)
* @param p3 Parameter 3 (meaning depends on event, see CAMERA_EVENT_TYPES enum)
* @param p4 Parameter 4 (meaning depends on event, see CAMERA_EVENT_TYPES enum)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_camera_event_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint64_t time_usec,uint8_t target_system,uint8_t cam_idx,uint16_t img_idx,uint8_t event_id,float p1,float p2,float p3,float p4)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_CAMERA_EVENT_LEN];
_mav_put_uint64_t(buf, 0, time_usec);
_mav_put_float(buf, 8, p1);
_mav_put_float(buf, 12, p2);
_mav_put_float(buf, 16, p3);
_mav_put_float(buf, 20, p4);
_mav_put_uint16_t(buf, 24, img_idx);
_mav_put_uint8_t(buf, 26, target_system);
_mav_put_uint8_t(buf, 27, cam_idx);
_mav_put_uint8_t(buf, 28, event_id);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_CAMERA_EVENT_LEN);
#else
mavlink_camera_event_t packet;
packet.time_usec = time_usec;
packet.p1 = p1;
packet.p2 = p2;
packet.p3 = p3;
packet.p4 = p4;
packet.img_idx = img_idx;
packet.target_system = target_system;
packet.cam_idx = cam_idx;
packet.event_id = event_id;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_CAMERA_EVENT_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_CAMERA_EVENT;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_CAMERA_EVENT_LEN, MAVLINK_MSG_ID_CAMERA_EVENT_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_CAMERA_EVENT_LEN);
#endif
}
/**
* @brief Encode a camera_event struct
*
* @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 camera_event C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_camera_event_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_camera_event_t* camera_event)
{
return mavlink_msg_camera_event_pack(system_id, component_id, msg, camera_event->time_usec, camera_event->target_system, camera_event->cam_idx, camera_event->img_idx, camera_event->event_id, camera_event->p1, camera_event->p2, camera_event->p3, camera_event->p4);
}
/**
* @brief Encode a camera_event struct 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 will be sent over
* @param msg The MAVLink message to compress the data into
* @param camera_event C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_camera_event_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_camera_event_t* camera_event)
{
return mavlink_msg_camera_event_pack_chan(system_id, component_id, chan, msg, camera_event->time_usec, camera_event->target_system, camera_event->cam_idx, camera_event->img_idx, camera_event->event_id, camera_event->p1, camera_event->p2, camera_event->p3, camera_event->p4);
}
/**
* @brief Send a camera_event message
* @param chan MAVLink channel to send the message
*
* @param time_usec Image timestamp (microseconds since UNIX epoch, according to camera clock)
* @param target_system System ID
* @param cam_idx Camera ID
* @param img_idx Image index
* @param event_id See CAMERA_EVENT_TYPES enum for definition of the bitmask
* @param p1 Parameter 1 (meaning depends on event, see CAMERA_EVENT_TYPES enum)
* @param p2 Parameter 2 (meaning depends on event, see CAMERA_EVENT_TYPES enum)
* @param p3 Parameter 3 (meaning depends on event, see CAMERA_EVENT_TYPES enum)
* @param p4 Parameter 4 (meaning depends on event, see CAMERA_EVENT_TYPES enum)
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_camera_event_send(mavlink_channel_t chan, uint64_t time_usec, uint8_t target_system, uint8_t cam_idx, uint16_t img_idx, uint8_t event_id, float p1, float p2, float p3, float p4)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_CAMERA_EVENT_LEN];
_mav_put_uint64_t(buf, 0, time_usec);
_mav_put_float(buf, 8, p1);
_mav_put_float(buf, 12, p2);
_mav_put_float(buf, 16, p3);
_mav_put_float(buf, 20, p4);
_mav_put_uint16_t(buf, 24, img_idx);
_mav_put_uint8_t(buf, 26, target_system);
_mav_put_uint8_t(buf, 27, cam_idx);
_mav_put_uint8_t(buf, 28, event_id);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_EVENT, buf, MAVLINK_MSG_ID_CAMERA_EVENT_LEN, MAVLINK_MSG_ID_CAMERA_EVENT_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_EVENT, buf, MAVLINK_MSG_ID_CAMERA_EVENT_LEN);
#endif
#else
mavlink_camera_event_t packet;
packet.time_usec = time_usec;
packet.p1 = p1;
packet.p2 = p2;
packet.p3 = p3;
packet.p4 = p4;
packet.img_idx = img_idx;
packet.target_system = target_system;
packet.cam_idx = cam_idx;
packet.event_id = event_id;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_EVENT, (const char *)&packet, MAVLINK_MSG_ID_CAMERA_EVENT_LEN, MAVLINK_MSG_ID_CAMERA_EVENT_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_EVENT, (const char *)&packet, MAVLINK_MSG_ID_CAMERA_EVENT_LEN);
#endif
#endif
}
#if MAVLINK_MSG_ID_CAMERA_EVENT_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
This varient of _send() can be used to save stack space by re-using
memory from the receive buffer. The caller provides a
mavlink_message_t which is the size of a full mavlink message. This
is usually the receive buffer for the channel, and allows a reply to an
incoming message with minimum stack space usage.
*/
static inline void mavlink_msg_camera_event_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, uint8_t target_system, uint8_t cam_idx, uint16_t img_idx, uint8_t event_id, float p1, float p2, float p3, float p4)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_uint64_t(buf, 0, time_usec);
_mav_put_float(buf, 8, p1);
_mav_put_float(buf, 12, p2);
_mav_put_float(buf, 16, p3);
_mav_put_float(buf, 20, p4);
_mav_put_uint16_t(buf, 24, img_idx);
_mav_put_uint8_t(buf, 26, target_system);
_mav_put_uint8_t(buf, 27, cam_idx);
_mav_put_uint8_t(buf, 28, event_id);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_EVENT, buf, MAVLINK_MSG_ID_CAMERA_EVENT_LEN, MAVLINK_MSG_ID_CAMERA_EVENT_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_EVENT, buf, MAVLINK_MSG_ID_CAMERA_EVENT_LEN);
#endif
#else
mavlink_camera_event_t *packet = (mavlink_camera_event_t *)msgbuf;
packet->time_usec = time_usec;
packet->p1 = p1;
packet->p2 = p2;
packet->p3 = p3;
packet->p4 = p4;
packet->img_idx = img_idx;
packet->target_system = target_system;
packet->cam_idx = cam_idx;
packet->event_id = event_id;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_EVENT, (const char *)packet, MAVLINK_MSG_ID_CAMERA_EVENT_LEN, MAVLINK_MSG_ID_CAMERA_EVENT_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_EVENT, (const char *)packet, MAVLINK_MSG_ID_CAMERA_EVENT_LEN);
#endif
#endif
}
#endif
#endif
// MESSAGE CAMERA_EVENT UNPACKING
/**
* @brief Get field time_usec from camera_event message
*
* @return Image timestamp (microseconds since UNIX epoch, according to camera clock)
*/
static inline uint64_t mavlink_msg_camera_event_get_time_usec(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint64_t(msg, 0);
}
/**
* @brief Get field target_system from camera_event message
*
* @return System ID
*/
static inline uint8_t mavlink_msg_camera_event_get_target_system(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 26);
}
/**
* @brief Get field cam_idx from camera_event message
*
* @return Camera ID
*/
static inline uint8_t mavlink_msg_camera_event_get_cam_idx(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 27);
}
/**
* @brief Get field img_idx from camera_event message
*
* @return Image index
*/
static inline uint16_t mavlink_msg_camera_event_get_img_idx(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 24);
}
/**
* @brief Get field event_id from camera_event message
*
* @return See CAMERA_EVENT_TYPES enum for definition of the bitmask
*/
static inline uint8_t mavlink_msg_camera_event_get_event_id(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 28);
}
/**
* @brief Get field p1 from camera_event message
*
* @return Parameter 1 (meaning depends on event, see CAMERA_EVENT_TYPES enum)
*/
static inline float mavlink_msg_camera_event_get_p1(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 8);
}
/**
* @brief Get field p2 from camera_event message
*
* @return Parameter 2 (meaning depends on event, see CAMERA_EVENT_TYPES enum)
*/
static inline float mavlink_msg_camera_event_get_p2(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 12);
}
/**
* @brief Get field p3 from camera_event message
*
* @return Parameter 3 (meaning depends on event, see CAMERA_EVENT_TYPES enum)
*/
static inline float mavlink_msg_camera_event_get_p3(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 16);
}
/**
* @brief Get field p4 from camera_event message
*
* @return Parameter 4 (meaning depends on event, see CAMERA_EVENT_TYPES enum)
*/
static inline float mavlink_msg_camera_event_get_p4(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 20);
}
/**
* @brief Decode a camera_event message into a struct
*
* @param msg The message to decode
* @param camera_event C-struct to decode the message contents into
*/
static inline void mavlink_msg_camera_event_decode(const mavlink_message_t* msg, mavlink_camera_event_t* camera_event)
{
#if MAVLINK_NEED_BYTE_SWAP
camera_event->time_usec = mavlink_msg_camera_event_get_time_usec(msg);
camera_event->p1 = mavlink_msg_camera_event_get_p1(msg);
camera_event->p2 = mavlink_msg_camera_event_get_p2(msg);
camera_event->p3 = mavlink_msg_camera_event_get_p3(msg);
camera_event->p4 = mavlink_msg_camera_event_get_p4(msg);
camera_event->img_idx = mavlink_msg_camera_event_get_img_idx(msg);
camera_event->target_system = mavlink_msg_camera_event_get_target_system(msg);
camera_event->cam_idx = mavlink_msg_camera_event_get_cam_idx(msg);
camera_event->event_id = mavlink_msg_camera_event_get_event_id(msg);
#else
memcpy(camera_event, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_CAMERA_EVENT_LEN);
#endif
}

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libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_camera_feedback.h Normal file
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// MESSAGE CAMERA_FEEDBACK PACKING
#define MAVLINK_MSG_ID_CAMERA_FEEDBACK 180
typedef struct __mavlink_camera_feedback_t
{
uint64_t time_usec; ///< Image timestamp (microseconds since UNIX epoch), as passed in by CAMERA_EVENT message
int32_t lat; ///< Latitude in (deg * 1E7)
int32_t lng; ///< Longitude in (deg * 1E7)
float alt; ///< Altitude (meters, AMSL)
float roll; ///< Vehicle Roll angle (degrees, +-180)
float pitch; ///< Vehicle Pitch angle (degrees, +-180)
float yaw; ///< Vehicle Heading (degrees, 0-360, true)
float foc_len; ///< Focal Length (mm)
uint16_t img_idx; ///< Image index
uint8_t target_system; ///< System ID
uint8_t cam_idx; ///< Camera ID
uint8_t flags; ///< See CAMERA_FEEDBACK_FLAGS enum for definition of the bitmask
} mavlink_camera_feedback_t;
#define MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN 41
#define MAVLINK_MSG_ID_180_LEN 41
#define MAVLINK_MSG_ID_CAMERA_FEEDBACK_CRC 151
#define MAVLINK_MSG_ID_180_CRC 151
#define MAVLINK_MESSAGE_INFO_CAMERA_FEEDBACK { \
"CAMERA_FEEDBACK", \
12, \
{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_camera_feedback_t, time_usec) }, \
{ "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_camera_feedback_t, lat) }, \
{ "lng", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_camera_feedback_t, lng) }, \
{ "alt", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_camera_feedback_t, alt) }, \
{ "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_camera_feedback_t, roll) }, \
{ "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_camera_feedback_t, pitch) }, \
{ "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_camera_feedback_t, yaw) }, \
{ "foc_len", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_camera_feedback_t, foc_len) }, \
{ "img_idx", NULL, MAVLINK_TYPE_UINT16_T, 0, 36, offsetof(mavlink_camera_feedback_t, img_idx) }, \
{ "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 38, offsetof(mavlink_camera_feedback_t, target_system) }, \
{ "cam_idx", NULL, MAVLINK_TYPE_UINT8_T, 0, 39, offsetof(mavlink_camera_feedback_t, cam_idx) }, \
{ "flags", NULL, MAVLINK_TYPE_UINT8_T, 0, 40, offsetof(mavlink_camera_feedback_t, flags) }, \
} \
}
/**
* @brief Pack a camera_feedback 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_usec Image timestamp (microseconds since UNIX epoch), as passed in by CAMERA_EVENT message
* @param target_system System ID
* @param cam_idx Camera ID
* @param img_idx Image index
* @param lat Latitude in (deg * 1E7)
* @param lng Longitude in (deg * 1E7)
* @param alt Altitude (meters, AMSL)
* @param roll Vehicle Roll angle (degrees, +-180)
* @param pitch Vehicle Pitch angle (degrees, +-180)
* @param yaw Vehicle Heading (degrees, 0-360, true)
* @param foc_len Focal Length (mm)
* @param flags See CAMERA_FEEDBACK_FLAGS enum for definition of the bitmask
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_camera_feedback_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint64_t time_usec, uint8_t target_system, uint8_t cam_idx, uint16_t img_idx, int32_t lat, int32_t lng, float alt, float roll, float pitch, float yaw, float foc_len, uint8_t flags)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN];
_mav_put_uint64_t(buf, 0, time_usec);
_mav_put_int32_t(buf, 8, lat);
_mav_put_int32_t(buf, 12, lng);
_mav_put_float(buf, 16, alt);
_mav_put_float(buf, 20, roll);
_mav_put_float(buf, 24, pitch);
_mav_put_float(buf, 28, yaw);
_mav_put_float(buf, 32, foc_len);
_mav_put_uint16_t(buf, 36, img_idx);
_mav_put_uint8_t(buf, 38, target_system);
_mav_put_uint8_t(buf, 39, cam_idx);
_mav_put_uint8_t(buf, 40, flags);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN);
#else
mavlink_camera_feedback_t packet;
packet.time_usec = time_usec;
packet.lat = lat;
packet.lng = lng;
packet.alt = alt;
packet.roll = roll;
packet.pitch = pitch;
packet.yaw = yaw;
packet.foc_len = foc_len;
packet.img_idx = img_idx;
packet.target_system = target_system;
packet.cam_idx = cam_idx;
packet.flags = flags;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_CAMERA_FEEDBACK;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN, MAVLINK_MSG_ID_CAMERA_FEEDBACK_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN);
#endif
}
/**
* @brief Pack a camera_feedback 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 will be sent over
* @param msg The MAVLink message to compress the data into
* @param time_usec Image timestamp (microseconds since UNIX epoch), as passed in by CAMERA_EVENT message
* @param target_system System ID
* @param cam_idx Camera ID
* @param img_idx Image index
* @param lat Latitude in (deg * 1E7)
* @param lng Longitude in (deg * 1E7)
* @param alt Altitude (meters, AMSL)
* @param roll Vehicle Roll angle (degrees, +-180)
* @param pitch Vehicle Pitch angle (degrees, +-180)
* @param yaw Vehicle Heading (degrees, 0-360, true)
* @param foc_len Focal Length (mm)
* @param flags See CAMERA_FEEDBACK_FLAGS enum for definition of the bitmask
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_camera_feedback_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint64_t time_usec,uint8_t target_system,uint8_t cam_idx,uint16_t img_idx,int32_t lat,int32_t lng,float alt,float roll,float pitch,float yaw,float foc_len,uint8_t flags)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN];
_mav_put_uint64_t(buf, 0, time_usec);
_mav_put_int32_t(buf, 8, lat);
_mav_put_int32_t(buf, 12, lng);
_mav_put_float(buf, 16, alt);
_mav_put_float(buf, 20, roll);
_mav_put_float(buf, 24, pitch);
_mav_put_float(buf, 28, yaw);
_mav_put_float(buf, 32, foc_len);
_mav_put_uint16_t(buf, 36, img_idx);
_mav_put_uint8_t(buf, 38, target_system);
_mav_put_uint8_t(buf, 39, cam_idx);
_mav_put_uint8_t(buf, 40, flags);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN);
#else
mavlink_camera_feedback_t packet;
packet.time_usec = time_usec;
packet.lat = lat;
packet.lng = lng;
packet.alt = alt;
packet.roll = roll;
packet.pitch = pitch;
packet.yaw = yaw;
packet.foc_len = foc_len;
packet.img_idx = img_idx;
packet.target_system = target_system;
packet.cam_idx = cam_idx;
packet.flags = flags;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_CAMERA_FEEDBACK;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN, MAVLINK_MSG_ID_CAMERA_FEEDBACK_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN);
#endif
}
/**
* @brief Encode a camera_feedback struct
*
* @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 camera_feedback C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_camera_feedback_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_camera_feedback_t* camera_feedback)
{
return mavlink_msg_camera_feedback_pack(system_id, component_id, msg, camera_feedback->time_usec, camera_feedback->target_system, camera_feedback->cam_idx, camera_feedback->img_idx, camera_feedback->lat, camera_feedback->lng, camera_feedback->alt, camera_feedback->roll, camera_feedback->pitch, camera_feedback->yaw, camera_feedback->foc_len, camera_feedback->flags);
}
/**
* @brief Encode a camera_feedback struct 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 will be sent over
* @param msg The MAVLink message to compress the data into
* @param camera_feedback C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_camera_feedback_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_camera_feedback_t* camera_feedback)
{
return mavlink_msg_camera_feedback_pack_chan(system_id, component_id, chan, msg, camera_feedback->time_usec, camera_feedback->target_system, camera_feedback->cam_idx, camera_feedback->img_idx, camera_feedback->lat, camera_feedback->lng, camera_feedback->alt, camera_feedback->roll, camera_feedback->pitch, camera_feedback->yaw, camera_feedback->foc_len, camera_feedback->flags);
}
/**
* @brief Send a camera_feedback message
* @param chan MAVLink channel to send the message
*
* @param time_usec Image timestamp (microseconds since UNIX epoch), as passed in by CAMERA_EVENT message
* @param target_system System ID
* @param cam_idx Camera ID
* @param img_idx Image index
* @param lat Latitude in (deg * 1E7)
* @param lng Longitude in (deg * 1E7)
* @param alt Altitude (meters, AMSL)
* @param roll Vehicle Roll angle (degrees, +-180)
* @param pitch Vehicle Pitch angle (degrees, +-180)
* @param yaw Vehicle Heading (degrees, 0-360, true)
* @param foc_len Focal Length (mm)
* @param flags See CAMERA_FEEDBACK_FLAGS enum for definition of the bitmask
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_camera_feedback_send(mavlink_channel_t chan, uint64_t time_usec, uint8_t target_system, uint8_t cam_idx, uint16_t img_idx, int32_t lat, int32_t lng, float alt, float roll, float pitch, float yaw, float foc_len, uint8_t flags)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN];
_mav_put_uint64_t(buf, 0, time_usec);
_mav_put_int32_t(buf, 8, lat);
_mav_put_int32_t(buf, 12, lng);
_mav_put_float(buf, 16, alt);
_mav_put_float(buf, 20, roll);
_mav_put_float(buf, 24, pitch);
_mav_put_float(buf, 28, yaw);
_mav_put_float(buf, 32, foc_len);
_mav_put_uint16_t(buf, 36, img_idx);
_mav_put_uint8_t(buf, 38, target_system);
_mav_put_uint8_t(buf, 39, cam_idx);
_mav_put_uint8_t(buf, 40, flags);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_FEEDBACK, buf, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN, MAVLINK_MSG_ID_CAMERA_FEEDBACK_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_FEEDBACK, buf, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN);
#endif
#else
mavlink_camera_feedback_t packet;
packet.time_usec = time_usec;
packet.lat = lat;
packet.lng = lng;
packet.alt = alt;
packet.roll = roll;
packet.pitch = pitch;
packet.yaw = yaw;
packet.foc_len = foc_len;
packet.img_idx = img_idx;
packet.target_system = target_system;
packet.cam_idx = cam_idx;
packet.flags = flags;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_FEEDBACK, (const char *)&packet, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN, MAVLINK_MSG_ID_CAMERA_FEEDBACK_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_FEEDBACK, (const char *)&packet, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN);
#endif
#endif
}
#if MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
This varient of _send() can be used to save stack space by re-using
memory from the receive buffer. The caller provides a
mavlink_message_t which is the size of a full mavlink message. This
is usually the receive buffer for the channel, and allows a reply to an
incoming message with minimum stack space usage.
*/
static inline void mavlink_msg_camera_feedback_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, uint8_t target_system, uint8_t cam_idx, uint16_t img_idx, int32_t lat, int32_t lng, float alt, float roll, float pitch, float yaw, float foc_len, uint8_t flags)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_uint64_t(buf, 0, time_usec);
_mav_put_int32_t(buf, 8, lat);
_mav_put_int32_t(buf, 12, lng);
_mav_put_float(buf, 16, alt);
_mav_put_float(buf, 20, roll);
_mav_put_float(buf, 24, pitch);
_mav_put_float(buf, 28, yaw);
_mav_put_float(buf, 32, foc_len);
_mav_put_uint16_t(buf, 36, img_idx);
_mav_put_uint8_t(buf, 38, target_system);
_mav_put_uint8_t(buf, 39, cam_idx);
_mav_put_uint8_t(buf, 40, flags);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_FEEDBACK, buf, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN, MAVLINK_MSG_ID_CAMERA_FEEDBACK_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_FEEDBACK, buf, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN);
#endif
#else
mavlink_camera_feedback_t *packet = (mavlink_camera_feedback_t *)msgbuf;
packet->time_usec = time_usec;
packet->lat = lat;
packet->lng = lng;
packet->alt = alt;
packet->roll = roll;
packet->pitch = pitch;
packet->yaw = yaw;
packet->foc_len = foc_len;
packet->img_idx = img_idx;
packet->target_system = target_system;
packet->cam_idx = cam_idx;
packet->flags = flags;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_FEEDBACK, (const char *)packet, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN, MAVLINK_MSG_ID_CAMERA_FEEDBACK_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_FEEDBACK, (const char *)packet, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN);
#endif
#endif
}
#endif
#endif
// MESSAGE CAMERA_FEEDBACK UNPACKING
/**
* @brief Get field time_usec from camera_feedback message
*
* @return Image timestamp (microseconds since UNIX epoch), as passed in by CAMERA_EVENT message
*/
static inline uint64_t mavlink_msg_camera_feedback_get_time_usec(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint64_t(msg, 0);
}
/**
* @brief Get field target_system from camera_feedback message
*
* @return System ID
*/
static inline uint8_t mavlink_msg_camera_feedback_get_target_system(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 38);
}
/**
* @brief Get field cam_idx from camera_feedback message
*
* @return Camera ID
*/
static inline uint8_t mavlink_msg_camera_feedback_get_cam_idx(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 39);
}
/**
* @brief Get field img_idx from camera_feedback message
*
* @return Image index
*/
static inline uint16_t mavlink_msg_camera_feedback_get_img_idx(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 36);
}
/**
* @brief Get field lat from camera_feedback message
*
* @return Latitude in (deg * 1E7)
*/
static inline int32_t mavlink_msg_camera_feedback_get_lat(const mavlink_message_t* msg)
{
return _MAV_RETURN_int32_t(msg, 8);
}
/**
* @brief Get field lng from camera_feedback message
*
* @return Longitude in (deg * 1E7)
*/
static inline int32_t mavlink_msg_camera_feedback_get_lng(const mavlink_message_t* msg)
{
return _MAV_RETURN_int32_t(msg, 12);
}
/**
* @brief Get field alt from camera_feedback message
*
* @return Altitude (meters, AMSL)
*/
static inline float mavlink_msg_camera_feedback_get_alt(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 16);
}
/**
* @brief Get field roll from camera_feedback message
*
* @return Vehicle Roll angle (degrees, +-180)
*/
static inline float mavlink_msg_camera_feedback_get_roll(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 20);
}
/**
* @brief Get field pitch from camera_feedback message
*
* @return Vehicle Pitch angle (degrees, +-180)
*/
static inline float mavlink_msg_camera_feedback_get_pitch(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 24);
}
/**
* @brief Get field yaw from camera_feedback message
*
* @return Vehicle Heading (degrees, 0-360, true)
*/
static inline float mavlink_msg_camera_feedback_get_yaw(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 28);
}
/**
* @brief Get field foc_len from camera_feedback message
*
* @return Focal Length (mm)
*/
static inline float mavlink_msg_camera_feedback_get_foc_len(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 32);
}
/**
* @brief Get field flags from camera_feedback message
*
* @return See CAMERA_FEEDBACK_FLAGS enum for definition of the bitmask
*/
static inline uint8_t mavlink_msg_camera_feedback_get_flags(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 40);
}
/**
* @brief Decode a camera_feedback message into a struct
*
* @param msg The message to decode
* @param camera_feedback C-struct to decode the message contents into
*/
static inline void mavlink_msg_camera_feedback_decode(const mavlink_message_t* msg, mavlink_camera_feedback_t* camera_feedback)
{
#if MAVLINK_NEED_BYTE_SWAP
camera_feedback->time_usec = mavlink_msg_camera_feedback_get_time_usec(msg);
camera_feedback->lat = mavlink_msg_camera_feedback_get_lat(msg);
camera_feedback->lng = mavlink_msg_camera_feedback_get_lng(msg);
camera_feedback->alt = mavlink_msg_camera_feedback_get_alt(msg);
camera_feedback->roll = mavlink_msg_camera_feedback_get_roll(msg);
camera_feedback->pitch = mavlink_msg_camera_feedback_get_pitch(msg);
camera_feedback->yaw = mavlink_msg_camera_feedback_get_yaw(msg);
camera_feedback->foc_len = mavlink_msg_camera_feedback_get_foc_len(msg);
camera_feedback->img_idx = mavlink_msg_camera_feedback_get_img_idx(msg);
camera_feedback->target_system = mavlink_msg_camera_feedback_get_target_system(msg);
camera_feedback->cam_idx = mavlink_msg_camera_feedback_get_cam_idx(msg);
camera_feedback->flags = mavlink_msg_camera_feedback_get_flags(msg);
#else
memcpy(camera_feedback, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN);
#endif
}

126
libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/testsuite.h
View File

@ -1504,6 +1504,130 @@ static void mavlink_test_ahrs2(uint8_t system_id, uint8_t component_id, mavlink_
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}
static void mavlink_test_camera_event(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
mavlink_message_t msg;
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
uint16_t i;
mavlink_camera_event_t packet_in = {
93372036854775807ULL,
}73.0,
}101.0,
}129.0,
}157.0,
}18483,
}211,
}22,
}89,
};
mavlink_camera_event_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
packet1.time_usec = packet_in.time_usec;
packet1.p1 = packet_in.p1;
packet1.p2 = packet_in.p2;
packet1.p3 = packet_in.p3;
packet1.p4 = packet_in.p4;
packet1.img_idx = packet_in.img_idx;
packet1.target_system = packet_in.target_system;
packet1.cam_idx = packet_in.cam_idx;
packet1.event_id = packet_in.event_id;
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_camera_event_encode(system_id, component_id, &msg, &packet1);
mavlink_msg_camera_event_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_camera_event_pack(system_id, component_id, &msg , packet1.time_usec , packet1.target_system , packet1.cam_idx , packet1.img_idx , packet1.event_id , packet1.p1 , packet1.p2 , packet1.p3 , packet1.p4 );
mavlink_msg_camera_event_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_camera_event_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.target_system , packet1.cam_idx , packet1.img_idx , packet1.event_id , packet1.p1 , packet1.p2 , packet1.p3 , packet1.p4 );
mavlink_msg_camera_event_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_to_send_buffer(buffer, &msg);
for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
comm_send_ch(MAVLINK_COMM_0, buffer[i]);
}
mavlink_msg_camera_event_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_camera_event_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.target_system , packet1.cam_idx , packet1.img_idx , packet1.event_id , packet1.p1 , packet1.p2 , packet1.p3 , packet1.p4 );
mavlink_msg_camera_event_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}
static void mavlink_test_camera_feedback(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
mavlink_message_t msg;
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
uint16_t i;
mavlink_camera_feedback_t packet_in = {
93372036854775807ULL,
}963497880,
}963498088,
}129.0,
}157.0,
}185.0,
}213.0,
}241.0,
}19107,
}247,
}58,
}125,
};
mavlink_camera_feedback_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
packet1.time_usec = packet_in.time_usec;
packet1.lat = packet_in.lat;
packet1.lng = packet_in.lng;
packet1.alt = packet_in.alt;
packet1.roll = packet_in.roll;
packet1.pitch = packet_in.pitch;
packet1.yaw = packet_in.yaw;
packet1.foc_len = packet_in.foc_len;
packet1.img_idx = packet_in.img_idx;
packet1.target_system = packet_in.target_system;
packet1.cam_idx = packet_in.cam_idx;
packet1.flags = packet_in.flags;
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_camera_feedback_encode(system_id, component_id, &msg, &packet1);
mavlink_msg_camera_feedback_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_camera_feedback_pack(system_id, component_id, &msg , packet1.time_usec , packet1.target_system , packet1.cam_idx , packet1.img_idx , packet1.lat , packet1.lng , packet1.alt , packet1.roll , packet1.pitch , packet1.yaw , packet1.foc_len , packet1.flags );
mavlink_msg_camera_feedback_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_camera_feedback_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.target_system , packet1.cam_idx , packet1.img_idx , packet1.lat , packet1.lng , packet1.alt , packet1.roll , packet1.pitch , packet1.yaw , packet1.foc_len , packet1.flags );
mavlink_msg_camera_feedback_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_to_send_buffer(buffer, &msg);
for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
comm_send_ch(MAVLINK_COMM_0, buffer[i]);
}
mavlink_msg_camera_feedback_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_camera_feedback_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.target_system , packet1.cam_idx , packet1.img_idx , packet1.lat , packet1.lng , packet1.alt , packet1.roll , packet1.pitch , packet1.yaw , packet1.foc_len , packet1.flags );
mavlink_msg_camera_feedback_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}
static void mavlink_test_ardupilotmega(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
mavlink_test_sensor_offsets(system_id, component_id, last_msg);
@ -1534,6 +1658,8 @@ static void mavlink_test_ardupilotmega(uint8_t system_id, uint8_t component_id,
mavlink_test_rally_fetch_point(system_id, component_id, last_msg);
mavlink_test_compassmot_status(system_id, component_id, last_msg);
mavlink_test_ahrs2(system_id, component_id, last_msg);
mavlink_test_camera_event(system_id, component_id, last_msg);
mavlink_test_camera_feedback(system_id, component_id, last_msg);
}
#ifdef __cplusplus

2
libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/version.h
View File

@ -5,7 +5,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Thu Jun 5 15:41:22 2014"
#define MAVLINK_BUILD_DATE "Tue Jun 17 20:16:09 2014"
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255

2
libraries/GCS_MAVLink/include/mavlink/v1.0/common/version.h
View File

@ -5,7 +5,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Thu Jun 5 15:41:22 2014"
#define MAVLINK_BUILD_DATE "Tue Jun 17 20:16:09 2014"
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255