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MAVLink: removed the need for Mavlink_compat.h

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we have now fully transitioned to MAVLink 1.0, so we no longer need
the compatibility layer and the old names in the code
This commit is contained in:
Andrew Tridgell 2012-08-09 12:22:46 +10:00
parent 2a7b298bbc
commit dc47074dbd
8 changed files with 118 additions and 176 deletions
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66
APMrover2/GCS_Mavlink.pde
View File

@ -1,7 +1,5 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#include "Mavlink_compat.h"
// use this to prevent recursion during sensor init
static bool in_mavlink_delay;
@ -476,7 +474,7 @@ static void NOINLINE send_gps_status(mavlink_channel_t chan)
static void NOINLINE send_current_waypoint(mavlink_channel_t chan)
{
mavlink_msg_waypoint_current_send(
mavlink_msg_mission_current_send(
chan,
g.command_index);
}
@ -582,7 +580,7 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id,
break;
case MSG_CURRENT_WAYPOINT:
CHECK_PAYLOAD_SIZE(WAYPOINT_CURRENT);
CHECK_PAYLOAD_SIZE(MISSION_CURRENT);
send_current_waypoint(chan);
break;
@ -596,7 +594,7 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id,
break;
case MSG_NEXT_WAYPOINT:
CHECK_PAYLOAD_SIZE(WAYPOINT_REQUEST);
CHECK_PAYLOAD_SIZE(MISSION_REQUEST);
if (chan == MAVLINK_COMM_0) {
gcs0.queued_waypoint_send();
} else if (gcs3.initialised) {
@ -1108,16 +1106,16 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break;
}
case MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST:
case MAVLINK_MSG_ID_MISSION_REQUEST_LIST:
{
// decode
mavlink_waypoint_request_list_t packet;
mavlink_msg_waypoint_request_list_decode(msg, &packet);
mavlink_mission_request_list_t packet;
mavlink_msg_mission_request_list_decode(msg, &packet);
if (mavlink_check_target(packet.target_system, packet.target_component))
break;
// Start sending waypoints
mavlink_msg_waypoint_count_send(
mavlink_msg_mission_count_send(
chan,msg->sysid,
msg->compid,
g.command_total + 1); // + home
@ -1132,15 +1130,15 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
// XXX read a WP from EEPROM and send it to the GCS
case MAVLINK_MSG_ID_WAYPOINT_REQUEST:
case MAVLINK_MSG_ID_MISSION_REQUEST:
{
// Check if sending waypiont
//if (!waypoint_sending) break;
// 5/10/11 - We are trying out relaxing the requirement that we be in waypoint sending mode to respond to a waypoint request. DEW
// decode
mavlink_waypoint_request_t packet;
mavlink_msg_waypoint_request_decode(msg, &packet);
mavlink_mission_request_t packet;
mavlink_msg_mission_request_decode(msg, &packet);
if (mavlink_check_target(packet.target_system, packet.target_component))
break;
@ -1222,7 +1220,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break;
}
mavlink_msg_waypoint_send(chan,msg->sysid,
mavlink_msg_mission_item_send(chan,msg->sysid,
msg->compid,
packet.seq,
frame,
@ -1243,11 +1241,11 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
}
case MAVLINK_MSG_ID_WAYPOINT_ACK:
case MAVLINK_MSG_ID_MISSION_ACK:
{
// decode
mavlink_waypoint_ack_t packet;
mavlink_msg_waypoint_ack_decode(msg, &packet);
mavlink_mission_ack_t packet;
mavlink_msg_mission_ack_decode(msg, &packet);
if (mavlink_check_target(packet.target_system,packet.target_component)) break;
// turn off waypoint send
@ -1270,11 +1268,11 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break;
}
case MAVLINK_MSG_ID_WAYPOINT_CLEAR_ALL:
case MAVLINK_MSG_ID_MISSION_CLEAR_ALL:
{
// decode
mavlink_waypoint_clear_all_t packet;
mavlink_msg_waypoint_clear_all_decode(msg, &packet);
mavlink_mission_clear_all_t packet;
mavlink_msg_mission_clear_all_decode(msg, &packet);
if (mavlink_check_target(packet.target_system, packet.target_component)) break;
// clear all commands
@ -1283,29 +1281,29 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
// note that we don't send multiple acks, as otherwise a
// GCS that is doing a clear followed by a set may see
// the additional ACKs as ACKs of the set operations
mavlink_msg_waypoint_ack_send(chan, msg->sysid, msg->compid, MAV_MISSION_ACCEPTED);
mavlink_msg_mission_ack_send(chan, msg->sysid, msg->compid, MAV_MISSION_ACCEPTED);
break;
}
case MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT:
case MAVLINK_MSG_ID_MISSION_SET_CURRENT:
{
// decode
mavlink_waypoint_set_current_t packet;
mavlink_msg_waypoint_set_current_decode(msg, &packet);
mavlink_mission_set_current_t packet;
mavlink_msg_mission_set_current_decode(msg, &packet);
if (mavlink_check_target(packet.target_system,packet.target_component)) break;
// set current command
change_command(packet.seq);
mavlink_msg_waypoint_current_send(chan, g.command_index);
mavlink_msg_mission_current_send(chan, g.command_index);
break;
}
case MAVLINK_MSG_ID_WAYPOINT_COUNT:
case MAVLINK_MSG_ID_MISSION_COUNT:
{
// decode
mavlink_waypoint_count_t packet;
mavlink_msg_waypoint_count_decode(msg, &packet);
mavlink_mission_count_t packet;
mavlink_msg_mission_count_decode(msg, &packet);
if (mavlink_check_target(packet.target_system,packet.target_component)) break;
// start waypoint receiving
@ -1334,13 +1332,13 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
#endif
// XXX receive a WP from GCS and store in EEPROM
case MAVLINK_MSG_ID_WAYPOINT:
case MAVLINK_MSG_ID_MISSION_ITEM:
{
// decode
mavlink_waypoint_t packet;
mavlink_mission_item_t packet;
uint8_t result = MAV_MISSION_ACCEPTED;
mavlink_msg_waypoint_decode(msg, &packet);
mavlink_msg_mission_item_decode(msg, &packet);
if (mavlink_check_target(packet.target_system,packet.target_component)) break;
// defaults
@ -1467,7 +1465,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
set_guided_WP();
// verify we recevied the command
mavlink_msg_waypoint_ack_send(
mavlink_msg_mission_ack_send(
chan,
msg->sysid,
msg->compid,
@ -1494,7 +1492,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
waypoint_request_i++;
if (waypoint_request_i > (uint16_t)g.command_total){
mavlink_msg_waypoint_ack_send(
mavlink_msg_mission_ack_send(
chan,
msg->sysid,
msg->compid,
@ -1510,7 +1508,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
mission_failed:
// we are rejecting the mission/waypoint
mavlink_msg_waypoint_ack_send(
mavlink_msg_mission_ack_send(
chan,
msg->sysid,
msg->compid,
@ -1893,7 +1891,7 @@ GCS_MAVLINK::queued_waypoint_send()
{
if (waypoint_receiving &&
waypoint_request_i <= (unsigned)g.command_total) {
mavlink_msg_waypoint_request_send(
mavlink_msg_mission_request_send(
chan,
waypoint_dest_sysid,
waypoint_dest_compid,

64
ArduCopter/GCS_Mavlink.pde
View File

@ -1,7 +1,5 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#include "Mavlink_compat.h"
// use this to prevent recursion during sensor init
static bool in_mavlink_delay;
@ -450,7 +448,7 @@ static void NOINLINE send_gps_status(mavlink_channel_t chan)
static void NOINLINE send_current_waypoint(mavlink_channel_t chan)
{
mavlink_msg_waypoint_current_send(
mavlink_msg_mission_current_send(
chan,
(uint16_t)g.command_index);
}
@ -552,7 +550,7 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id,
break;
case MSG_CURRENT_WAYPOINT:
CHECK_PAYLOAD_SIZE(WAYPOINT_CURRENT);
CHECK_PAYLOAD_SIZE(MISSION_CURRENT);
send_current_waypoint(chan);
break;
@ -566,7 +564,7 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id,
break;
case MSG_NEXT_WAYPOINT:
CHECK_PAYLOAD_SIZE(WAYPOINT_REQUEST);
CHECK_PAYLOAD_SIZE(MISSION_REQUEST);
if (chan == MAVLINK_COMM_0) {
gcs0.queued_waypoint_send();
} else {
@ -1107,18 +1105,18 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break;
}
*/
case MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST: //43
case MAVLINK_MSG_ID_MISSION_REQUEST_LIST: //43
{
//send_text_P(SEVERITY_LOW,PSTR("waypoint request list"));
// decode
mavlink_waypoint_request_list_t packet;
mavlink_msg_waypoint_request_list_decode(msg, &packet);
mavlink_mission_request_list_t packet;
mavlink_msg_mission_request_list_decode(msg, &packet);
if (mavlink_check_target(packet.target_system, packet.target_component))
break;
// Start sending waypoints
mavlink_msg_waypoint_count_send(
mavlink_msg_mission_count_send(
chan,msg->sysid,
msg->compid,
g.command_total); // includes home
@ -1132,7 +1130,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
}
// XXX read a WP from EEPROM and send it to the GCS
case MAVLINK_MSG_ID_WAYPOINT_REQUEST: // 40
case MAVLINK_MSG_ID_MISSION_REQUEST: // 40
{
//send_text_P(SEVERITY_LOW,PSTR("waypoint request"));
@ -1141,8 +1139,8 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
// 5/10/11 - We are trying out relaxing the requirement that we be in waypoint sending mode to respond to a waypoint request. DEW
// decode
mavlink_waypoint_request_t packet;
mavlink_msg_waypoint_request_decode(msg, &packet);
mavlink_mission_request_t packet;
mavlink_msg_mission_request_decode(msg, &packet);
if (mavlink_check_target(packet.target_system, packet.target_component))
break;
@ -1238,7 +1236,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break;
}
mavlink_msg_waypoint_send(chan,msg->sysid,
mavlink_msg_mission_item_send(chan,msg->sysid,
msg->compid,
packet.seq,
frame,
@ -1258,13 +1256,13 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break;
}
case MAVLINK_MSG_ID_WAYPOINT_ACK: //47
case MAVLINK_MSG_ID_MISSION_ACK: //47
{
//send_text_P(SEVERITY_LOW,PSTR("waypoint ack"));
// decode
mavlink_waypoint_ack_t packet;
mavlink_msg_waypoint_ack_decode(msg, &packet);
mavlink_mission_ack_t packet;
mavlink_msg_mission_ack_decode(msg, &packet);
if (mavlink_check_target(packet.target_system,packet.target_component)) break;
// turn off waypoint send
@ -1289,13 +1287,13 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break;
}
case MAVLINK_MSG_ID_WAYPOINT_CLEAR_ALL: // 45
case MAVLINK_MSG_ID_MISSION_CLEAR_ALL: // 45
{
//send_text_P(SEVERITY_LOW,PSTR("waypoint clear all"));
// decode
mavlink_waypoint_clear_all_t packet;
mavlink_msg_waypoint_clear_all_decode(msg, &packet);
mavlink_mission_clear_all_t packet;
mavlink_msg_mission_clear_all_decode(msg, &packet);
if (mavlink_check_target(packet.target_system, packet.target_component)) break;
// clear all waypoints
@ -1304,34 +1302,34 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
// send acknowledgement 3 times to makes sure it is received
for (int i=0;i<3;i++)
mavlink_msg_waypoint_ack_send(chan, msg->sysid, msg->compid, type);
mavlink_msg_mission_ack_send(chan, msg->sysid, msg->compid, type);
break;
}
case MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT: // 41
case MAVLINK_MSG_ID_MISSION_SET_CURRENT: // 41
{
//send_text_P(SEVERITY_LOW,PSTR("waypoint set current"));
// decode
mavlink_waypoint_set_current_t packet;
mavlink_msg_waypoint_set_current_decode(msg, &packet);
mavlink_mission_set_current_t packet;
mavlink_msg_mission_set_current_decode(msg, &packet);
if (mavlink_check_target(packet.target_system,packet.target_component)) break;
// set current command
change_command(packet.seq);
mavlink_msg_waypoint_current_send(chan, g.command_index);
mavlink_msg_mission_current_send(chan, g.command_index);
break;
}
case MAVLINK_MSG_ID_WAYPOINT_COUNT: // 44
case MAVLINK_MSG_ID_MISSION_COUNT: // 44
{
//send_text_P(SEVERITY_LOW,PSTR("waypoint count"));
// decode
mavlink_waypoint_count_t packet;
mavlink_msg_waypoint_count_decode(msg, &packet);
mavlink_mission_count_t packet;
mavlink_msg_mission_count_decode(msg, &packet);
if (mavlink_check_target(packet.target_system,packet.target_component)) break;
// start waypoint receiving
@ -1360,11 +1358,11 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
#endif
// XXX receive a WP from GCS and store in EEPROM
case MAVLINK_MSG_ID_WAYPOINT: //39
case MAVLINK_MSG_ID_MISSION_ITEM: //39
{
// decode
mavlink_waypoint_t packet;
mavlink_msg_waypoint_decode(msg, &packet);
mavlink_mission_item_t packet;
mavlink_msg_mission_item_decode(msg, &packet);
if (mavlink_check_target(packet.target_system,packet.target_component)) break;
// defaults
@ -1484,7 +1482,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
set_next_WP(&guided_WP);
// verify we recevied the command
mavlink_msg_waypoint_ack_send(
mavlink_msg_mission_ack_send(
chan,
msg->sysid,
msg->compid,
@ -1512,7 +1510,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
if (waypoint_request_i == (uint16_t)g.command_total){
uint8_t type = 0; // ok (0), error(1)
mavlink_msg_waypoint_ack_send(
mavlink_msg_mission_ack_send(
chan,
msg->sysid,
msg->compid,
@ -1910,7 +1908,7 @@ GCS_MAVLINK::queued_waypoint_send()
{
if (waypoint_receiving &&
waypoint_request_i < (unsigned)g.command_total) {
mavlink_msg_waypoint_request_send(
mavlink_msg_mission_request_send(
chan,
waypoint_dest_sysid,
waypoint_dest_compid,

66
ArduPlane/GCS_Mavlink.pde
View File

@ -1,7 +1,5 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#include "Mavlink_compat.h"
// use this to prevent recursion during sensor init
static bool in_mavlink_delay;
@ -446,7 +444,7 @@ static void NOINLINE send_gps_status(mavlink_channel_t chan)
static void NOINLINE send_current_waypoint(mavlink_channel_t chan)
{
mavlink_msg_waypoint_current_send(
mavlink_msg_mission_current_send(
chan,
g.command_index);
}
@ -552,7 +550,7 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id,
break;
case MSG_CURRENT_WAYPOINT:
CHECK_PAYLOAD_SIZE(WAYPOINT_CURRENT);
CHECK_PAYLOAD_SIZE(MISSION_CURRENT);
send_current_waypoint(chan);
break;
@ -566,7 +564,7 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id,
break;
case MSG_NEXT_WAYPOINT:
CHECK_PAYLOAD_SIZE(WAYPOINT_REQUEST);
CHECK_PAYLOAD_SIZE(MISSION_REQUEST);
if (chan == MAVLINK_COMM_0) {
gcs0.queued_waypoint_send();
} else if (gcs3.initialised) {
@ -1078,16 +1076,16 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break;
}
case MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST:
case MAVLINK_MSG_ID_MISSION_REQUEST_LIST:
{
// decode
mavlink_waypoint_request_list_t packet;
mavlink_msg_waypoint_request_list_decode(msg, &packet);
mavlink_mission_request_list_t packet;
mavlink_msg_mission_request_list_decode(msg, &packet);
if (mavlink_check_target(packet.target_system, packet.target_component))
break;
// Start sending waypoints
mavlink_msg_waypoint_count_send(
mavlink_msg_mission_count_send(
chan,msg->sysid,
msg->compid,
g.command_total + 1); // + home
@ -1102,15 +1100,15 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
// XXX read a WP from EEPROM and send it to the GCS
case MAVLINK_MSG_ID_WAYPOINT_REQUEST:
case MAVLINK_MSG_ID_MISSION_REQUEST:
{
// Check if sending waypiont
//if (!waypoint_sending) break;
// 5/10/11 - We are trying out relaxing the requirement that we be in waypoint sending mode to respond to a waypoint request. DEW
// decode
mavlink_waypoint_request_t packet;
mavlink_msg_waypoint_request_decode(msg, &packet);
mavlink_mission_request_t packet;
mavlink_msg_mission_request_decode(msg, &packet);
if (mavlink_check_target(packet.target_system, packet.target_component))
break;
@ -1192,7 +1190,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break;
}
mavlink_msg_waypoint_send(chan,msg->sysid,
mavlink_msg_mission_item_send(chan,msg->sysid,
msg->compid,
packet.seq,
frame,
@ -1213,11 +1211,11 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
}
case MAVLINK_MSG_ID_WAYPOINT_ACK:
case MAVLINK_MSG_ID_MISSION_ACK:
{
// decode
mavlink_waypoint_ack_t packet;
mavlink_msg_waypoint_ack_decode(msg, &packet);
mavlink_mission_ack_t packet;
mavlink_msg_mission_ack_decode(msg, &packet);
if (mavlink_check_target(packet.target_system,packet.target_component)) break;
// turn off waypoint send
@ -1240,11 +1238,11 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break;
}
case MAVLINK_MSG_ID_WAYPOINT_CLEAR_ALL:
case MAVLINK_MSG_ID_MISSION_CLEAR_ALL:
{
// decode
mavlink_waypoint_clear_all_t packet;
mavlink_msg_waypoint_clear_all_decode(msg, &packet);
mavlink_mission_clear_all_t packet;
mavlink_msg_mission_clear_all_decode(msg, &packet);
if (mavlink_check_target(packet.target_system, packet.target_component)) break;
// clear all commands
@ -1253,29 +1251,29 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
// note that we don't send multiple acks, as otherwise a
// GCS that is doing a clear followed by a set may see
// the additional ACKs as ACKs of the set operations
mavlink_msg_waypoint_ack_send(chan, msg->sysid, msg->compid, MAV_MISSION_ACCEPTED);
mavlink_msg_mission_ack_send(chan, msg->sysid, msg->compid, MAV_MISSION_ACCEPTED);
break;
}
case MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT:
case MAVLINK_MSG_ID_MISSION_SET_CURRENT:
{
// decode
mavlink_waypoint_set_current_t packet;
mavlink_msg_waypoint_set_current_decode(msg, &packet);
mavlink_mission_set_current_t packet;
mavlink_msg_mission_set_current_decode(msg, &packet);
if (mavlink_check_target(packet.target_system,packet.target_component)) break;
// set current command
change_command(packet.seq);
mavlink_msg_waypoint_current_send(chan, g.command_index);
mavlink_msg_mission_current_send(chan, g.command_index);
break;
}
case MAVLINK_MSG_ID_WAYPOINT_COUNT:
case MAVLINK_MSG_ID_MISSION_COUNT:
{
// decode
mavlink_waypoint_count_t packet;
mavlink_msg_waypoint_count_decode(msg, &packet);
mavlink_mission_count_t packet;
mavlink_msg_mission_count_decode(msg, &packet);
if (mavlink_check_target(packet.target_system,packet.target_component)) break;
// start waypoint receiving
@ -1304,13 +1302,13 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
#endif
// XXX receive a WP from GCS and store in EEPROM
case MAVLINK_MSG_ID_WAYPOINT:
case MAVLINK_MSG_ID_MISSION_ITEM:
{
// decode
mavlink_waypoint_t packet;
mavlink_mission_item_t packet;
uint8_t result = MAV_MISSION_ACCEPTED;
mavlink_msg_waypoint_decode(msg, &packet);
mavlink_msg_mission_item_decode(msg, &packet);
if (mavlink_check_target(packet.target_system,packet.target_component)) break;
// defaults
@ -1437,7 +1435,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
set_guided_WP();
// verify we recevied the command
mavlink_msg_waypoint_ack_send(
mavlink_msg_mission_ack_send(
chan,
msg->sysid,
msg->compid,
@ -1464,7 +1462,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
waypoint_request_i++;
if (waypoint_request_i > (uint16_t)g.command_total){
mavlink_msg_waypoint_ack_send(
mavlink_msg_mission_ack_send(
chan,
msg->sysid,
msg->compid,
@ -1480,7 +1478,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
mission_failed:
// we are rejecting the mission/waypoint
mavlink_msg_waypoint_ack_send(
mavlink_msg_mission_ack_send(
chan,
msg->sysid,
msg->compid,
@ -1878,7 +1876,7 @@ GCS_MAVLINK::queued_waypoint_send()
{
if (waypoint_receiving &&
waypoint_request_i <= (unsigned)g.command_total) {
mavlink_msg_waypoint_request_send(
mavlink_msg_mission_request_send(
chan,
waypoint_dest_sysid,
waypoint_dest_compid,

2
ArduPlane/commands_logic.pde
View File

@ -119,7 +119,7 @@ static void handle_process_do_command()
// system to control the vehicle attitude and the attitude of various
// devices such as cameras.
// |Region of interest mode. (see MAV_ROI enum)| Waypoint index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple cameras etc.)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z|
case MAV_CMD_DO_SET_ROI:
case MAV_CMD_NAV_ROI:
#if 0
// send the command to the camera mount
camera_mount.set_roi_cmd(&command_nav_queue);

2
ArduPlane/system.pde
View File

@ -191,7 +191,7 @@ static void init_ardupilot()
//mavlink_system.sysid = MAV_SYSTEM_ID; // Using g.sysid_this_mav
mavlink_system.compid = 1; //MAV_COMP_ID_IMU; // We do not check for comp id
mavlink_system.type = MAV_FIXED_WING;
mavlink_system.type = MAV_TYPE_FIXED_WING;
rc_override_active = APM_RC.setHIL(rc_override); // Set initial values for no override

18
libraries/GCS_MAVLink/GCS_MAVLink.cpp
View File

@ -29,3 +29,21 @@ uint8_t mavlink_check_target(uint8_t sysid, uint8_t compid)
// If it is addressed to our system ID we assume it is for us
return 0; // no error
}
// return a MAVLink variable type given a AP_Param type
uint8_t mav_var_type(enum ap_var_type t)
{
if (t == AP_PARAM_INT8) {
return MAVLINK_TYPE_INT8_T;
}
if (t == AP_PARAM_INT16) {
return MAVLINK_TYPE_INT16_T;
}
if (t == AP_PARAM_INT32) {
return MAVLINK_TYPE_INT32_T;
}
// treat any others as float
return MAVLINK_TYPE_FLOAT;
}

3
libraries/GCS_MAVLink/GCS_MAVLink.h
View File

@ -115,4 +115,7 @@ static inline int comm_get_txspace(mavlink_channel_t chan)
uint8_t mavlink_check_target(uint8_t sysid, uint8_t compid);
// return a MAVLink variable type given a AP_Param type
uint8_t mav_var_type(enum ap_var_type t);
#endif // GCS_MAVLink_h

73
libraries/GCS_MAVLink/Mavlink_compat.h
View File

@ -1,73 +0,0 @@
/*
compatibility header during transition to MAVLink 1.0
*/
// in MAVLink 1.0 'waypoint' becomes 'mission'. We can remove these
// mappings once we are not trying to support both protocols
#define MAVLINK_MSG_ID_WAYPOINT_CURRENT MAVLINK_MSG_ID_MISSION_CURRENT
#define MAVLINK_MSG_ID_WAYPOINT_CURRENT_LEN MAVLINK_MSG_ID_MISSION_CURRENT_LEN
#define mavlink_msg_waypoint_current_send mavlink_msg_mission_current_send
#define mavlink_msg_waypoint_current_decode mavlink_msg_mission_current_decode
#define MAVLINK_MSG_ID_WAYPOINT_COUNT MAVLINK_MSG_ID_MISSION_COUNT
#define MAVLINK_MSG_ID_WAYPOINT_COUNT_LEN MAVLINK_MSG_ID_MISSION_COUNT_LEN
#define mavlink_msg_waypoint_count_send mavlink_msg_mission_count_send
#define mavlink_msg_waypoint_count_decode mavlink_msg_mission_count_decode
#define mavlink_waypoint_count_t mavlink_mission_count_t
#define MAVLINK_MSG_ID_WAYPOINT_REQUEST MAVLINK_MSG_ID_MISSION_REQUEST
#define MAVLINK_MSG_ID_WAYPOINT_REQUEST_LEN MAVLINK_MSG_ID_MISSION_REQUEST_LEN
#define mavlink_msg_waypoint_request_send mavlink_msg_mission_request_send
#define mavlink_msg_waypoint_request_decode mavlink_msg_mission_request_decode
#define mavlink_waypoint_request_t mavlink_mission_request_t
#define MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST MAVLINK_MSG_ID_MISSION_REQUEST_LIST
#define MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST_LEN MAVLINK_MSG_ID_MISSION_REQUEST_LIST_LEN
#define mavlink_msg_waypoint_request_list_send mavlink_msg_mission_request_list_send
#define mavlink_msg_waypoint_request_list_decode mavlink_msg_mission_request_list_decode
#define mavlink_waypoint_request_list_t mavlink_mission_request_list_t
#define MAVLINK_MSG_ID_WAYPOINT MAVLINK_MSG_ID_MISSION_ITEM
#define MAVLINK_MSG_ID_WAYPOINT_LEN MAVLINK_MSG_ID_MISSION_ITEM_LEN
#define mavlink_msg_waypoint_send mavlink_msg_mission_item_send
#define mavlink_msg_waypoint_decode mavlink_msg_mission_item_decode
#define mavlink_waypoint_t mavlink_mission_item_t
#define MAVLINK_MSG_ID_WAYPOINT_ACK MAVLINK_MSG_ID_MISSION_ACK
#define MAVLINK_MSG_ID_WAYPOINT_ACK_LEN MAVLINK_MSG_ID_MISSION_ACK_LEN
#define mavlink_msg_waypoint_ack_send mavlink_msg_mission_ack_send
#define mavlink_msg_waypoint_ack_decode mavlink_msg_mission_ack_decode
#define mavlink_waypoint_ack_t mavlink_mission_ack_t
#define MAVLINK_MSG_ID_WAYPOINT_CLEAR_ALL MAVLINK_MSG_ID_MISSION_CLEAR_ALL
#define MAVLINK_MSG_ID_WAYPOINT_CLEAR_ALL_LEN MAVLINK_MSG_ID_MISSION_CLEAR_ALL_LEN
#define mavlink_msg_waypoint_clear_all_send mavlink_msg_mission_clear_all_send
#define mavlink_msg_waypoint_clear_all_decode mavlink_msg_mission_clear_all_decode
#define mavlink_waypoint_clear_all_t mavlink_mission_clear_all_t
#define MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT MAVLINK_MSG_ID_MISSION_SET_CURRENT
#define MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT_LEN MAVLINK_MSG_ID_MISSION_SET_CURRENT_LEN
#define mavlink_msg_waypoint_set_current_send mavlink_msg_mission_set_current_send
#define mavlink_msg_waypoint_set_current_decode mavlink_msg_mission_set_current_decode
#define mavlink_waypoint_set_current_t mavlink_mission_set_current_t
#define MAV_CMD_DO_SET_ROI MAV_CMD_NAV_ROI
static uint8_t mav_var_type(enum ap_var_type t)
{
if (t == AP_PARAM_INT8) {
return MAVLINK_TYPE_INT8_T;
}
if (t == AP_PARAM_INT16) {
return MAVLINK_TYPE_INT16_T;
}
if (t == AP_PARAM_INT32) {
return MAVLINK_TYPE_INT32_T;
}
// treat any others as float
return MAVLINK_TYPE_FLOAT;
}
#define MAV_FIXED_WING MAV_TYPE_FIXED_WING