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MAVLink: import latest upstream messages and headers

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Andrew Tridgell 2013-01-08 15:58:18 +11:00 committed by geermc4
parent feeebae03f
commit df91734883
39 changed files with 4584 additions and 558 deletions
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10
libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h
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182
libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data100.h Normal file
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// MESSAGE DATA100 PACKING
#define MAVLINK_MSG_ID_DATA100 171
typedef struct __mavlink_data100_t
{
uint8_t type; ///< data type
uint8_t len; ///< data length
uint8_t data[100]; ///< raw data
} mavlink_data100_t;
#define MAVLINK_MSG_ID_DATA100_LEN 102
#define MAVLINK_MSG_ID_171_LEN 102
#define MAVLINK_MSG_DATA100_FIELD_DATA_LEN 100
#define MAVLINK_MESSAGE_INFO_DATA100 { \
"DATA100", \
3, \
{ { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_data100_t, type) }, \
{ "len", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_data100_t, len) }, \
{ "data", NULL, MAVLINK_TYPE_UINT8_T, 100, 2, offsetof(mavlink_data100_t, data) }, \
} \
}
/**
* @brief Pack a data100 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 type data type
* @param len data length
* @param data raw data
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_data100_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t type, uint8_t len, const uint8_t *data)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[102];
_mav_put_uint8_t(buf, 0, type);
_mav_put_uint8_t(buf, 1, len);
_mav_put_uint8_t_array(buf, 2, data, 100);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 102);
#else
mavlink_data100_t packet;
packet.type = type;
packet.len = len;
mav_array_memcpy(packet.data, data, sizeof(uint8_t)*100);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 102);
#endif
msg->msgid = MAVLINK_MSG_ID_DATA100;
return mavlink_finalize_message(msg, system_id, component_id, 102, 179);
}
/**
* @brief Pack a data100 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 was sent over
* @param msg The MAVLink message to compress the data into
* @param type data type
* @param len data length
* @param data raw data
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_data100_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint8_t type,uint8_t len,const uint8_t *data)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[102];
_mav_put_uint8_t(buf, 0, type);
_mav_put_uint8_t(buf, 1, len);
_mav_put_uint8_t_array(buf, 2, data, 100);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 102);
#else
mavlink_data100_t packet;
packet.type = type;
packet.len = len;
mav_array_memcpy(packet.data, data, sizeof(uint8_t)*100);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 102);
#endif
msg->msgid = MAVLINK_MSG_ID_DATA100;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 102, 179);
}
/**
* @brief Encode a data100 struct into a 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 data100 C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_data100_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_data100_t* data100)
{
return mavlink_msg_data100_pack(system_id, component_id, msg, data100->type, data100->len, data100->data);
}
/**
* @brief Send a data100 message
* @param chan MAVLink channel to send the message
*
* @param type data type
* @param len data length
* @param data raw data
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_data100_send(mavlink_channel_t chan, uint8_t type, uint8_t len, const uint8_t *data)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[102];
_mav_put_uint8_t(buf, 0, type);
_mav_put_uint8_t(buf, 1, len);
_mav_put_uint8_t_array(buf, 2, data, 100);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA100, buf, 102, 179);
#else
mavlink_data100_t packet;
packet.type = type;
packet.len = len;
mav_array_memcpy(packet.data, data, sizeof(uint8_t)*100);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA100, (const char *)&packet, 102, 179);
#endif
}
#endif
// MESSAGE DATA100 UNPACKING
/**
* @brief Get field type from data100 message
*
* @return data type
*/
static inline uint8_t mavlink_msg_data100_get_type(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 0);
}
/**
* @brief Get field len from data100 message
*
* @return data length
*/
static inline uint8_t mavlink_msg_data100_get_len(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 1);
}
/**
* @brief Get field data from data100 message
*
* @return raw data
*/
static inline uint16_t mavlink_msg_data100_get_data(const mavlink_message_t* msg, uint8_t *data)
{
return _MAV_RETURN_uint8_t_array(msg, data, 100, 2);
}
/**
* @brief Decode a data100 message into a struct
*
* @param msg The message to decode
* @param data100 C-struct to decode the message contents into
*/
static inline void mavlink_msg_data100_decode(const mavlink_message_t* msg, mavlink_data100_t* data100)
{
#if MAVLINK_NEED_BYTE_SWAP
data100->type = mavlink_msg_data100_get_type(msg);
data100->len = mavlink_msg_data100_get_len(msg);
mavlink_msg_data100_get_data(msg, data100->data);
#else
memcpy(data100, _MAV_PAYLOAD(msg), 102);
#endif
}

182
libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data64.h Normal file
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@ -0,0 +1,182 @@
// MESSAGE DATA64 PACKING
#define MAVLINK_MSG_ID_DATA64 171
typedef struct __mavlink_data64_t
{
uint8_t type; ///< data type
uint8_t len; ///< data length
uint8_t data[64]; ///< raw data
} mavlink_data64_t;
#define MAVLINK_MSG_ID_DATA64_LEN 66
#define MAVLINK_MSG_ID_171_LEN 66
#define MAVLINK_MSG_DATA64_FIELD_DATA_LEN 64
#define MAVLINK_MESSAGE_INFO_DATA64 { \
"DATA64", \
3, \
{ { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_data64_t, type) }, \
{ "len", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_data64_t, len) }, \
{ "data", NULL, MAVLINK_TYPE_UINT8_T, 64, 2, offsetof(mavlink_data64_t, data) }, \
} \
}
/**
* @brief Pack a data64 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 type data type
* @param len data length
* @param data raw data
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_data64_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t type, uint8_t len, const uint8_t *data)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[66];
_mav_put_uint8_t(buf, 0, type);
_mav_put_uint8_t(buf, 1, len);
_mav_put_uint8_t_array(buf, 2, data, 64);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 66);
#else
mavlink_data64_t packet;
packet.type = type;
packet.len = len;
mav_array_memcpy(packet.data, data, sizeof(uint8_t)*64);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 66);
#endif
msg->msgid = MAVLINK_MSG_ID_DATA64;
return mavlink_finalize_message(msg, system_id, component_id, 66, 181);
}
/**
* @brief Pack a data64 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 was sent over
* @param msg The MAVLink message to compress the data into
* @param type data type
* @param len data length
* @param data raw data
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_data64_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint8_t type,uint8_t len,const uint8_t *data)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[66];
_mav_put_uint8_t(buf, 0, type);
_mav_put_uint8_t(buf, 1, len);
_mav_put_uint8_t_array(buf, 2, data, 64);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 66);
#else
mavlink_data64_t packet;
packet.type = type;
packet.len = len;
mav_array_memcpy(packet.data, data, sizeof(uint8_t)*64);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 66);
#endif
msg->msgid = MAVLINK_MSG_ID_DATA64;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 66, 181);
}
/**
* @brief Encode a data64 struct into a 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 data64 C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_data64_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_data64_t* data64)
{
return mavlink_msg_data64_pack(system_id, component_id, msg, data64->type, data64->len, data64->data);
}
/**
* @brief Send a data64 message
* @param chan MAVLink channel to send the message
*
* @param type data type
* @param len data length
* @param data raw data
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_data64_send(mavlink_channel_t chan, uint8_t type, uint8_t len, const uint8_t *data)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[66];
_mav_put_uint8_t(buf, 0, type);
_mav_put_uint8_t(buf, 1, len);
_mav_put_uint8_t_array(buf, 2, data, 64);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA64, buf, 66, 181);
#else
mavlink_data64_t packet;
packet.type = type;
packet.len = len;
mav_array_memcpy(packet.data, data, sizeof(uint8_t)*64);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA64, (const char *)&packet, 66, 181);
#endif
}
#endif
// MESSAGE DATA64 UNPACKING
/**
* @brief Get field type from data64 message
*
* @return data type
*/
static inline uint8_t mavlink_msg_data64_get_type(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 0);
}
/**
* @brief Get field len from data64 message
*
* @return data length
*/
static inline uint8_t mavlink_msg_data64_get_len(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 1);
}
/**
* @brief Get field data from data64 message
*
* @return raw data
*/
static inline uint16_t mavlink_msg_data64_get_data(const mavlink_message_t* msg, uint8_t *data)
{
return _MAV_RETURN_uint8_t_array(msg, data, 64, 2);
}
/**
* @brief Decode a data64 message into a struct
*
* @param msg The message to decode
* @param data64 C-struct to decode the message contents into
*/
static inline void mavlink_msg_data64_decode(const mavlink_message_t* msg, mavlink_data64_t* data64)
{
#if MAVLINK_NEED_BYTE_SWAP
data64->type = mavlink_msg_data64_get_type(msg);
data64->len = mavlink_msg_data64_get_len(msg);
mavlink_msg_data64_get_data(msg, data64->data);
#else
memcpy(data64, _MAV_PAYLOAD(msg), 66);
#endif
}

182
libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data96.h Normal file
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@ -0,0 +1,182 @@
// MESSAGE DATA96 PACKING
#define MAVLINK_MSG_ID_DATA96 172
typedef struct __mavlink_data96_t
{
uint8_t type; ///< data type
uint8_t len; ///< data length
uint8_t data[96]; ///< raw data
} mavlink_data96_t;
#define MAVLINK_MSG_ID_DATA96_LEN 98
#define MAVLINK_MSG_ID_172_LEN 98
#define MAVLINK_MSG_DATA96_FIELD_DATA_LEN 96
#define MAVLINK_MESSAGE_INFO_DATA96 { \
"DATA96", \
3, \
{ { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_data96_t, type) }, \
{ "len", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_data96_t, len) }, \
{ "data", NULL, MAVLINK_TYPE_UINT8_T, 96, 2, offsetof(mavlink_data96_t, data) }, \
} \
}
/**
* @brief Pack a data96 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 type data type
* @param len data length
* @param data raw data
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_data96_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t type, uint8_t len, const uint8_t *data)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[98];
_mav_put_uint8_t(buf, 0, type);
_mav_put_uint8_t(buf, 1, len);
_mav_put_uint8_t_array(buf, 2, data, 96);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 98);
#else
mavlink_data96_t packet;
packet.type = type;
packet.len = len;
mav_array_memcpy(packet.data, data, sizeof(uint8_t)*96);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 98);
#endif
msg->msgid = MAVLINK_MSG_ID_DATA96;
return mavlink_finalize_message(msg, system_id, component_id, 98, 22);
}
/**
* @brief Pack a data96 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 was sent over
* @param msg The MAVLink message to compress the data into
* @param type data type
* @param len data length
* @param data raw data
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_data96_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint8_t type,uint8_t len,const uint8_t *data)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[98];
_mav_put_uint8_t(buf, 0, type);
_mav_put_uint8_t(buf, 1, len);
_mav_put_uint8_t_array(buf, 2, data, 96);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 98);
#else
mavlink_data96_t packet;
packet.type = type;
packet.len = len;
mav_array_memcpy(packet.data, data, sizeof(uint8_t)*96);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 98);
#endif
msg->msgid = MAVLINK_MSG_ID_DATA96;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 98, 22);
}
/**
* @brief Encode a data96 struct into a 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 data96 C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_data96_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_data96_t* data96)
{
return mavlink_msg_data96_pack(system_id, component_id, msg, data96->type, data96->len, data96->data);
}
/**
* @brief Send a data96 message
* @param chan MAVLink channel to send the message
*
* @param type data type
* @param len data length
* @param data raw data
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_data96_send(mavlink_channel_t chan, uint8_t type, uint8_t len, const uint8_t *data)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[98];
_mav_put_uint8_t(buf, 0, type);
_mav_put_uint8_t(buf, 1, len);
_mav_put_uint8_t_array(buf, 2, data, 96);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA96, buf, 98, 22);
#else
mavlink_data96_t packet;
packet.type = type;
packet.len = len;
mav_array_memcpy(packet.data, data, sizeof(uint8_t)*96);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA96, (const char *)&packet, 98, 22);
#endif
}
#endif
// MESSAGE DATA96 UNPACKING
/**
* @brief Get field type from data96 message
*
* @return data type
*/
static inline uint8_t mavlink_msg_data96_get_type(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 0);
}
/**
* @brief Get field len from data96 message
*
* @return data length
*/
static inline uint8_t mavlink_msg_data96_get_len(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 1);
}
/**
* @brief Get field data from data96 message
*
* @return raw data
*/
static inline uint16_t mavlink_msg_data96_get_data(const mavlink_message_t* msg, uint8_t *data)
{
return _MAV_RETURN_uint8_t_array(msg, data, 96, 2);
}
/**
* @brief Decode a data96 message into a struct
*
* @param msg The message to decode
* @param data96 C-struct to decode the message contents into
*/
static inline void mavlink_msg_data96_decode(const mavlink_message_t* msg, mavlink_data96_t* data96)
{
#if MAVLINK_NEED_BYTE_SWAP
data96->type = mavlink_msg_data96_get_type(msg);
data96->len = mavlink_msg_data96_get_len(msg);
mavlink_msg_data96_get_data(msg, data96->data);
#else
memcpy(data96, _MAV_PAYLOAD(msg), 98);
#endif
}

10
libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_wind.h
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@ -4,7 +4,7 @@
typedef struct __mavlink_wind_t
{
float direction; ///< wind direction (degrees)
float direction; ///< wind direction that wind is coming from (degrees)
float speed; ///< wind speed in ground plane (m/s)
float speed_z; ///< vertical wind speed (m/s)
} mavlink_wind_t;
@ -30,7 +30,7 @@ typedef struct __mavlink_wind_t
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param direction wind direction (degrees)
* @param direction wind direction that wind is coming from (degrees)
* @param speed wind speed in ground plane (m/s)
* @param speed_z vertical wind speed (m/s)
* @return length of the message in bytes (excluding serial stream start sign)
@ -64,7 +64,7 @@ static inline uint16_t mavlink_msg_wind_pack(uint8_t system_id, uint8_t componen
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param direction wind direction (degrees)
* @param direction wind direction that wind is coming from (degrees)
* @param speed wind speed in ground plane (m/s)
* @param speed_z vertical wind speed (m/s)
* @return length of the message in bytes (excluding serial stream start sign)
@ -110,7 +110,7 @@ static inline uint16_t mavlink_msg_wind_encode(uint8_t system_id, uint8_t compon
* @brief Send a wind message
* @param chan MAVLink channel to send the message
*
* @param direction wind direction (degrees)
* @param direction wind direction that wind is coming from (degrees)
* @param speed wind speed in ground plane (m/s)
* @param speed_z vertical wind speed (m/s)
*/
@ -143,7 +143,7 @@ static inline void mavlink_msg_wind_send(mavlink_channel_t chan, float direction
/**
* @brief Get field direction from wind message
*
* @return wind direction (degrees)
* @return wind direction that wind is coming from (degrees)
*/
static inline float mavlink_msg_wind_get_direction(const mavlink_message_t* msg)
{

96
libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/testsuite.h
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@ -1086,6 +1086,100 @@ static void mavlink_test_data32(uint8_t system_id, uint8_t component_id, mavlink
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}
static void mavlink_test_data64(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_data64_t packet_in = {
5,
72,
{ 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202 },
};
mavlink_data64_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
packet1.type = packet_in.type;
packet1.len = packet_in.len;
mav_array_memcpy(packet1.data, packet_in.data, sizeof(uint8_t)*64);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_data64_encode(system_id, component_id, &msg, &packet1);
mavlink_msg_data64_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_data64_pack(system_id, component_id, &msg , packet1.type , packet1.len , packet1.data );
mavlink_msg_data64_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_data64_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.type , packet1.len , packet1.data );
mavlink_msg_data64_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_data64_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_data64_send(MAVLINK_COMM_1 , packet1.type , packet1.len , packet1.data );
mavlink_msg_data64_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}
static void mavlink_test_data96(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_data96_t packet_in = {
5,
72,
{ 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204, 205, 206, 207, 208, 209, 210, 211, 212, 213, 214, 215, 216, 217, 218, 219, 220, 221, 222, 223, 224, 225, 226, 227, 228, 229, 230, 231, 232, 233, 234 },
};
mavlink_data96_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
packet1.type = packet_in.type;
packet1.len = packet_in.len;
mav_array_memcpy(packet1.data, packet_in.data, sizeof(uint8_t)*96);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_data96_encode(system_id, component_id, &msg, &packet1);
mavlink_msg_data96_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_data96_pack(system_id, component_id, &msg , packet1.type , packet1.len , packet1.data );
mavlink_msg_data96_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_data96_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.type , packet1.len , packet1.data );
mavlink_msg_data96_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_data96_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_data96_send(MAVLINK_COMM_1 , packet1.type , packet1.len , packet1.data );
mavlink_msg_data96_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);
@ -1108,6 +1202,8 @@ static void mavlink_test_ardupilotmega(uint8_t system_id, uint8_t component_id,
mavlink_test_wind(system_id, component_id, last_msg);
mavlink_test_data16(system_id, component_id, last_msg);
mavlink_test_data32(system_id, component_id, last_msg);
mavlink_test_data64(system_id, component_id, last_msg);
mavlink_test_data96(system_id, component_id, last_msg);
}
#ifdef __cplusplus

4
libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/version.h
View File

@ -5,8 +5,8 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Tue Sep 18 11:41:40 2012"
#define MAVLINK_BUILD_DATE "Tue Jan 8 15:55:07 2013"
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 254
#endif // MAVLINK_VERSION_H

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

@ -15,6 +15,7 @@ extern "C" {
#define X25_INIT_CRC 0xffff
#define X25_VALIDATE_CRC 0xf0b8
#ifndef HAVE_CRC_ACCUMULATE
/**
* @brief Accumulate the X.25 CRC by adding one char at a time.
*
@ -33,6 +34,7 @@ static inline void crc_accumulate(uint8_t data, uint16_t *crcAccum)
tmp ^= (tmp<<4);
*crcAccum = (*crcAccum>>8) ^ (tmp<<8) ^ (tmp <<3) ^ (tmp>>4);
}
#endif
/**
* @brief Initiliaze the buffer for the X.25 CRC

37
libraries/GCS_MAVLink/include/mavlink/v1.0/common/common.h
View File

File diff suppressed because one or more lines are too long

30
libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_attitude.h
View File

@ -5,9 +5,9 @@
typedef struct __mavlink_attitude_t
{
uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot)
float roll; ///< Roll angle (rad)
float pitch; ///< Pitch angle (rad)
float yaw; ///< Yaw angle (rad)
float roll; ///< Roll angle (rad, -pi..+pi)
float pitch; ///< Pitch angle (rad, -pi..+pi)
float yaw; ///< Yaw angle (rad, -pi..+pi)
float rollspeed; ///< Roll angular speed (rad/s)
float pitchspeed; ///< Pitch angular speed (rad/s)
float yawspeed; ///< Yaw angular speed (rad/s)
@ -39,9 +39,9 @@ typedef struct __mavlink_attitude_t
* @param msg The MAVLink message to compress the data into
*
* @param time_boot_ms Timestamp (milliseconds since system boot)
* @param roll Roll angle (rad)
* @param pitch Pitch angle (rad)
* @param yaw Yaw angle (rad)
* @param roll Roll angle (rad, -pi..+pi)
* @param pitch Pitch angle (rad, -pi..+pi)
* @param yaw Yaw angle (rad, -pi..+pi)
* @param rollspeed Roll angular speed (rad/s)
* @param pitchspeed Pitch angular speed (rad/s)
* @param yawspeed Yaw angular speed (rad/s)
@ -85,9 +85,9 @@ static inline uint16_t mavlink_msg_attitude_pack(uint8_t system_id, uint8_t comp
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param time_boot_ms Timestamp (milliseconds since system boot)
* @param roll Roll angle (rad)
* @param pitch Pitch angle (rad)
* @param yaw Yaw angle (rad)
* @param roll Roll angle (rad, -pi..+pi)
* @param pitch Pitch angle (rad, -pi..+pi)
* @param yaw Yaw angle (rad, -pi..+pi)
* @param rollspeed Roll angular speed (rad/s)
* @param pitchspeed Pitch angular speed (rad/s)
* @param yawspeed Yaw angular speed (rad/s)
@ -143,9 +143,9 @@ static inline uint16_t mavlink_msg_attitude_encode(uint8_t system_id, uint8_t co
* @param chan MAVLink channel to send the message
*
* @param time_boot_ms Timestamp (milliseconds since system boot)
* @param roll Roll angle (rad)
* @param pitch Pitch angle (rad)
* @param yaw Yaw angle (rad)
* @param roll Roll angle (rad, -pi..+pi)
* @param pitch Pitch angle (rad, -pi..+pi)
* @param yaw Yaw angle (rad, -pi..+pi)
* @param rollspeed Roll angular speed (rad/s)
* @param pitchspeed Pitch angular speed (rad/s)
* @param yawspeed Yaw angular speed (rad/s)
@ -197,7 +197,7 @@ static inline uint32_t mavlink_msg_attitude_get_time_boot_ms(const mavlink_messa
/**
* @brief Get field roll from attitude message
*
* @return Roll angle (rad)
* @return Roll angle (rad, -pi..+pi)
*/
static inline float mavlink_msg_attitude_get_roll(const mavlink_message_t* msg)
{
@ -207,7 +207,7 @@ static inline float mavlink_msg_attitude_get_roll(const mavlink_message_t* msg)
/**
* @brief Get field pitch from attitude message
*
* @return Pitch angle (rad)
* @return Pitch angle (rad, -pi..+pi)
*/
static inline float mavlink_msg_attitude_get_pitch(const mavlink_message_t* msg)
{
@ -217,7 +217,7 @@ static inline float mavlink_msg_attitude_get_pitch(const mavlink_message_t* msg)
/**
* @brief Get field yaw from attitude message
*
* @return Yaw angle (rad)
* @return Yaw angle (rad, -pi..+pi)
*/
static inline float mavlink_msg_attitude_get_yaw(const mavlink_message_t* msg)
{

320
libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_battery_status.h Normal file
View File

@ -0,0 +1,320 @@
// MESSAGE BATTERY_STATUS PACKING
#define MAVLINK_MSG_ID_BATTERY_STATUS 147
typedef struct __mavlink_battery_status_t
{
uint16_t voltage_cell_1; ///< Battery voltage of cell 1, in millivolts (1 = 1 millivolt)
uint16_t voltage_cell_2; ///< Battery voltage of cell 2, in millivolts (1 = 1 millivolt), -1: no cell
uint16_t voltage_cell_3; ///< Battery voltage of cell 3, in millivolts (1 = 1 millivolt), -1: no cell
uint16_t voltage_cell_4; ///< Battery voltage of cell 4, in millivolts (1 = 1 millivolt), -1: no cell
uint16_t voltage_cell_5; ///< Battery voltage of cell 5, in millivolts (1 = 1 millivolt), -1: no cell
uint16_t voltage_cell_6; ///< Battery voltage of cell 6, in millivolts (1 = 1 millivolt), -1: no cell
int16_t current_battery; ///< Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
uint8_t accu_id; ///< Accupack ID
int8_t battery_remaining; ///< Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot does not estimate the remaining battery
} mavlink_battery_status_t;
#define MAVLINK_MSG_ID_BATTERY_STATUS_LEN 16
#define MAVLINK_MSG_ID_147_LEN 16
#define MAVLINK_MESSAGE_INFO_BATTERY_STATUS { \
"BATTERY_STATUS", \
9, \
{ { "voltage_cell_1", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_battery_status_t, voltage_cell_1) }, \
{ "voltage_cell_2", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_battery_status_t, voltage_cell_2) }, \
{ "voltage_cell_3", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_battery_status_t, voltage_cell_3) }, \
{ "voltage_cell_4", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_battery_status_t, voltage_cell_4) }, \
{ "voltage_cell_5", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_battery_status_t, voltage_cell_5) }, \
{ "voltage_cell_6", NULL, MAVLINK_TYPE_UINT16_T, 0, 10, offsetof(mavlink_battery_status_t, voltage_cell_6) }, \
{ "current_battery", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_battery_status_t, current_battery) }, \
{ "accu_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 14, offsetof(mavlink_battery_status_t, accu_id) }, \
{ "battery_remaining", NULL, MAVLINK_TYPE_INT8_T, 0, 15, offsetof(mavlink_battery_status_t, battery_remaining) }, \
} \
}
/**
* @brief Pack a battery_status 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 accu_id Accupack ID
* @param voltage_cell_1 Battery voltage of cell 1, in millivolts (1 = 1 millivolt)
* @param voltage_cell_2 Battery voltage of cell 2, in millivolts (1 = 1 millivolt), -1: no cell
* @param voltage_cell_3 Battery voltage of cell 3, in millivolts (1 = 1 millivolt), -1: no cell
* @param voltage_cell_4 Battery voltage of cell 4, in millivolts (1 = 1 millivolt), -1: no cell
* @param voltage_cell_5 Battery voltage of cell 5, in millivolts (1 = 1 millivolt), -1: no cell
* @param voltage_cell_6 Battery voltage of cell 6, in millivolts (1 = 1 millivolt), -1: no cell
* @param current_battery Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
* @param battery_remaining Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot does not estimate the remaining battery
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_battery_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t accu_id, uint16_t voltage_cell_1, uint16_t voltage_cell_2, uint16_t voltage_cell_3, uint16_t voltage_cell_4, uint16_t voltage_cell_5, uint16_t voltage_cell_6, int16_t current_battery, int8_t battery_remaining)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[16];
_mav_put_uint16_t(buf, 0, voltage_cell_1);
_mav_put_uint16_t(buf, 2, voltage_cell_2);
_mav_put_uint16_t(buf, 4, voltage_cell_3);
_mav_put_uint16_t(buf, 6, voltage_cell_4);
_mav_put_uint16_t(buf, 8, voltage_cell_5);
_mav_put_uint16_t(buf, 10, voltage_cell_6);
_mav_put_int16_t(buf, 12, current_battery);
_mav_put_uint8_t(buf, 14, accu_id);
_mav_put_int8_t(buf, 15, battery_remaining);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 16);
#else
mavlink_battery_status_t packet;
packet.voltage_cell_1 = voltage_cell_1;
packet.voltage_cell_2 = voltage_cell_2;
packet.voltage_cell_3 = voltage_cell_3;
packet.voltage_cell_4 = voltage_cell_4;
packet.voltage_cell_5 = voltage_cell_5;
packet.voltage_cell_6 = voltage_cell_6;
packet.current_battery = current_battery;
packet.accu_id = accu_id;
packet.battery_remaining = battery_remaining;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 16);
#endif
msg->msgid = MAVLINK_MSG_ID_BATTERY_STATUS;
return mavlink_finalize_message(msg, system_id, component_id, 16, 42);
}
/**
* @brief Pack a battery_status 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 was sent over
* @param msg The MAVLink message to compress the data into
* @param accu_id Accupack ID
* @param voltage_cell_1 Battery voltage of cell 1, in millivolts (1 = 1 millivolt)
* @param voltage_cell_2 Battery voltage of cell 2, in millivolts (1 = 1 millivolt), -1: no cell
* @param voltage_cell_3 Battery voltage of cell 3, in millivolts (1 = 1 millivolt), -1: no cell
* @param voltage_cell_4 Battery voltage of cell 4, in millivolts (1 = 1 millivolt), -1: no cell
* @param voltage_cell_5 Battery voltage of cell 5, in millivolts (1 = 1 millivolt), -1: no cell
* @param voltage_cell_6 Battery voltage of cell 6, in millivolts (1 = 1 millivolt), -1: no cell
* @param current_battery Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
* @param battery_remaining Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot does not estimate the remaining battery
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_battery_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint8_t accu_id,uint16_t voltage_cell_1,uint16_t voltage_cell_2,uint16_t voltage_cell_3,uint16_t voltage_cell_4,uint16_t voltage_cell_5,uint16_t voltage_cell_6,int16_t current_battery,int8_t battery_remaining)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[16];
_mav_put_uint16_t(buf, 0, voltage_cell_1);
_mav_put_uint16_t(buf, 2, voltage_cell_2);
_mav_put_uint16_t(buf, 4, voltage_cell_3);
_mav_put_uint16_t(buf, 6, voltage_cell_4);
_mav_put_uint16_t(buf, 8, voltage_cell_5);
_mav_put_uint16_t(buf, 10, voltage_cell_6);
_mav_put_int16_t(buf, 12, current_battery);
_mav_put_uint8_t(buf, 14, accu_id);
_mav_put_int8_t(buf, 15, battery_remaining);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 16);
#else
mavlink_battery_status_t packet;
packet.voltage_cell_1 = voltage_cell_1;
packet.voltage_cell_2 = voltage_cell_2;
packet.voltage_cell_3 = voltage_cell_3;
packet.voltage_cell_4 = voltage_cell_4;
packet.voltage_cell_5 = voltage_cell_5;
packet.voltage_cell_6 = voltage_cell_6;
packet.current_battery = current_battery;
packet.accu_id = accu_id;
packet.battery_remaining = battery_remaining;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 16);
#endif
msg->msgid = MAVLINK_MSG_ID_BATTERY_STATUS;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 16, 42);
}
/**
* @brief Encode a battery_status struct into a 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 battery_status C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_battery_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_battery_status_t* battery_status)
{
return mavlink_msg_battery_status_pack(system_id, component_id, msg, battery_status->accu_id, battery_status->voltage_cell_1, battery_status->voltage_cell_2, battery_status->voltage_cell_3, battery_status->voltage_cell_4, battery_status->voltage_cell_5, battery_status->voltage_cell_6, battery_status->current_battery, battery_status->battery_remaining);
}
/**
* @brief Send a battery_status message
* @param chan MAVLink channel to send the message
*
* @param accu_id Accupack ID
* @param voltage_cell_1 Battery voltage of cell 1, in millivolts (1 = 1 millivolt)
* @param voltage_cell_2 Battery voltage of cell 2, in millivolts (1 = 1 millivolt), -1: no cell
* @param voltage_cell_3 Battery voltage of cell 3, in millivolts (1 = 1 millivolt), -1: no cell
* @param voltage_cell_4 Battery voltage of cell 4, in millivolts (1 = 1 millivolt), -1: no cell
* @param voltage_cell_5 Battery voltage of cell 5, in millivolts (1 = 1 millivolt), -1: no cell
* @param voltage_cell_6 Battery voltage of cell 6, in millivolts (1 = 1 millivolt), -1: no cell
* @param current_battery Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
* @param battery_remaining Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot does not estimate the remaining battery
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_battery_status_send(mavlink_channel_t chan, uint8_t accu_id, uint16_t voltage_cell_1, uint16_t voltage_cell_2, uint16_t voltage_cell_3, uint16_t voltage_cell_4, uint16_t voltage_cell_5, uint16_t voltage_cell_6, int16_t current_battery, int8_t battery_remaining)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[16];
_mav_put_uint16_t(buf, 0, voltage_cell_1);
_mav_put_uint16_t(buf, 2, voltage_cell_2);
_mav_put_uint16_t(buf, 4, voltage_cell_3);
_mav_put_uint16_t(buf, 6, voltage_cell_4);
_mav_put_uint16_t(buf, 8, voltage_cell_5);
_mav_put_uint16_t(buf, 10, voltage_cell_6);
_mav_put_int16_t(buf, 12, current_battery);
_mav_put_uint8_t(buf, 14, accu_id);
_mav_put_int8_t(buf, 15, battery_remaining);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BATTERY_STATUS, buf, 16, 42);
#else
mavlink_battery_status_t packet;
packet.voltage_cell_1 = voltage_cell_1;
packet.voltage_cell_2 = voltage_cell_2;
packet.voltage_cell_3 = voltage_cell_3;
packet.voltage_cell_4 = voltage_cell_4;
packet.voltage_cell_5 = voltage_cell_5;
packet.voltage_cell_6 = voltage_cell_6;
packet.current_battery = current_battery;
packet.accu_id = accu_id;
packet.battery_remaining = battery_remaining;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BATTERY_STATUS, (const char *)&packet, 16, 42);
#endif
}
#endif
// MESSAGE BATTERY_STATUS UNPACKING
/**
* @brief Get field accu_id from battery_status message
*
* @return Accupack ID
*/
static inline uint8_t mavlink_msg_battery_status_get_accu_id(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 14);
}
/**
* @brief Get field voltage_cell_1 from battery_status message
*
* @return Battery voltage of cell 1, in millivolts (1 = 1 millivolt)
*/
static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_1(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 0);
}
/**
* @brief Get field voltage_cell_2 from battery_status message
*
* @return Battery voltage of cell 2, in millivolts (1 = 1 millivolt), -1: no cell
*/
static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_2(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 2);
}
/**
* @brief Get field voltage_cell_3 from battery_status message
*
* @return Battery voltage of cell 3, in millivolts (1 = 1 millivolt), -1: no cell
*/
static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_3(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 4);
}
/**
* @brief Get field voltage_cell_4 from battery_status message
*
* @return Battery voltage of cell 4, in millivolts (1 = 1 millivolt), -1: no cell
*/
static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_4(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 6);
}
/**
* @brief Get field voltage_cell_5 from battery_status message
*
* @return Battery voltage of cell 5, in millivolts (1 = 1 millivolt), -1: no cell
*/
static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_5(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 8);
}
/**
* @brief Get field voltage_cell_6 from battery_status message
*
* @return Battery voltage of cell 6, in millivolts (1 = 1 millivolt), -1: no cell
*/
static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_6(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 10);
}
/**
* @brief Get field current_battery from battery_status message
*
* @return Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
*/
static inline int16_t mavlink_msg_battery_status_get_current_battery(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 12);
}
/**
* @brief Get field battery_remaining from battery_status message
*
* @return Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot does not estimate the remaining battery
*/
static inline int8_t mavlink_msg_battery_status_get_battery_remaining(const mavlink_message_t* msg)
{
return _MAV_RETURN_int8_t(msg, 15);
}
/**
* @brief Decode a battery_status message into a struct
*
* @param msg The message to decode
* @param battery_status C-struct to decode the message contents into
*/
static inline void mavlink_msg_battery_status_decode(const mavlink_message_t* msg, mavlink_battery_status_t* battery_status)
{
#if MAVLINK_NEED_BYTE_SWAP
battery_status->voltage_cell_1 = mavlink_msg_battery_status_get_voltage_cell_1(msg);
battery_status->voltage_cell_2 = mavlink_msg_battery_status_get_voltage_cell_2(msg);
battery_status->voltage_cell_3 = mavlink_msg_battery_status_get_voltage_cell_3(msg);
battery_status->voltage_cell_4 = mavlink_msg_battery_status_get_voltage_cell_4(msg);
battery_status->voltage_cell_5 = mavlink_msg_battery_status_get_voltage_cell_5(msg);
battery_status->voltage_cell_6 = mavlink_msg_battery_status_get_voltage_cell_6(msg);
battery_status->current_battery = mavlink_msg_battery_status_get_current_battery(msg);
battery_status->accu_id = mavlink_msg_battery_status_get_accu_id(msg);
battery_status->battery_remaining = mavlink_msg_battery_status_get_battery_remaining(msg);
#else
memcpy(battery_status, _MAV_PAYLOAD(msg), 16);
#endif
}

182
libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_file_transfer_dir_list.h Normal file
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// MESSAGE FILE_TRANSFER_DIR_LIST PACKING
#define MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST 111
typedef struct __mavlink_file_transfer_dir_list_t
{
uint64_t transfer_uid; ///< Unique transfer ID
char dir_path[240]; ///< Directory path to list
uint8_t flags; ///< RESERVED
} mavlink_file_transfer_dir_list_t;
#define MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST_LEN 249
#define MAVLINK_MSG_ID_111_LEN 249
#define MAVLINK_MSG_FILE_TRANSFER_DIR_LIST_FIELD_DIR_PATH_LEN 240
#define MAVLINK_MESSAGE_INFO_FILE_TRANSFER_DIR_LIST { \
"FILE_TRANSFER_DIR_LIST", \
3, \
{ { "transfer_uid", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_file_transfer_dir_list_t, transfer_uid) }, \
{ "dir_path", NULL, MAVLINK_TYPE_CHAR, 240, 8, offsetof(mavlink_file_transfer_dir_list_t, dir_path) }, \
{ "flags", NULL, MAVLINK_TYPE_UINT8_T, 0, 248, offsetof(mavlink_file_transfer_dir_list_t, flags) }, \
} \
}
/**
* @brief Pack a file_transfer_dir_list 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 transfer_uid Unique transfer ID
* @param dir_path Directory path to list
* @param flags RESERVED
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_file_transfer_dir_list_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint64_t transfer_uid, const char *dir_path, uint8_t flags)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[249];
_mav_put_uint64_t(buf, 0, transfer_uid);
_mav_put_uint8_t(buf, 248, flags);
_mav_put_char_array(buf, 8, dir_path, 240);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 249);
#else
mavlink_file_transfer_dir_list_t packet;
packet.transfer_uid = transfer_uid;
packet.flags = flags;
mav_array_memcpy(packet.dir_path, dir_path, sizeof(char)*240);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 249);
#endif
msg->msgid = MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST;
return mavlink_finalize_message(msg, system_id, component_id, 249, 93);
}
/**
* @brief Pack a file_transfer_dir_list 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 was sent over
* @param msg The MAVLink message to compress the data into
* @param transfer_uid Unique transfer ID
* @param dir_path Directory path to list
* @param flags RESERVED
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_file_transfer_dir_list_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint64_t transfer_uid,const char *dir_path,uint8_t flags)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[249];
_mav_put_uint64_t(buf, 0, transfer_uid);
_mav_put_uint8_t(buf, 248, flags);
_mav_put_char_array(buf, 8, dir_path, 240);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 249);
#else
mavlink_file_transfer_dir_list_t packet;
packet.transfer_uid = transfer_uid;
packet.flags = flags;
mav_array_memcpy(packet.dir_path, dir_path, sizeof(char)*240);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 249);
#endif
msg->msgid = MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 249, 93);
}
/**
* @brief Encode a file_transfer_dir_list struct into a 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 file_transfer_dir_list C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_file_transfer_dir_list_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_file_transfer_dir_list_t* file_transfer_dir_list)
{
return mavlink_msg_file_transfer_dir_list_pack(system_id, component_id, msg, file_transfer_dir_list->transfer_uid, file_transfer_dir_list->dir_path, file_transfer_dir_list->flags);
}
/**
* @brief Send a file_transfer_dir_list message
* @param chan MAVLink channel to send the message
*
* @param transfer_uid Unique transfer ID
* @param dir_path Directory path to list
* @param flags RESERVED
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_file_transfer_dir_list_send(mavlink_channel_t chan, uint64_t transfer_uid, const char *dir_path, uint8_t flags)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[249];
_mav_put_uint64_t(buf, 0, transfer_uid);
_mav_put_uint8_t(buf, 248, flags);
_mav_put_char_array(buf, 8, dir_path, 240);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST, buf, 249, 93);
#else
mavlink_file_transfer_dir_list_t packet;
packet.transfer_uid = transfer_uid;
packet.flags = flags;
mav_array_memcpy(packet.dir_path, dir_path, sizeof(char)*240);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST, (const char *)&packet, 249, 93);
#endif
}
#endif
// MESSAGE FILE_TRANSFER_DIR_LIST UNPACKING
/**
* @brief Get field transfer_uid from file_transfer_dir_list message
*
* @return Unique transfer ID
*/
static inline uint64_t mavlink_msg_file_transfer_dir_list_get_transfer_uid(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint64_t(msg, 0);
}
/**
* @brief Get field dir_path from file_transfer_dir_list message
*
* @return Directory path to list
*/
static inline uint16_t mavlink_msg_file_transfer_dir_list_get_dir_path(const mavlink_message_t* msg, char *dir_path)
{
return _MAV_RETURN_char_array(msg, dir_path, 240, 8);
}
/**
* @brief Get field flags from file_transfer_dir_list message
*
* @return RESERVED
*/
static inline uint8_t mavlink_msg_file_transfer_dir_list_get_flags(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 248);
}
/**
* @brief Decode a file_transfer_dir_list message into a struct
*
* @param msg The message to decode
* @param file_transfer_dir_list C-struct to decode the message contents into
*/
static inline void mavlink_msg_file_transfer_dir_list_decode(const mavlink_message_t* msg, mavlink_file_transfer_dir_list_t* file_transfer_dir_list)
{
#if MAVLINK_NEED_BYTE_SWAP
file_transfer_dir_list->transfer_uid = mavlink_msg_file_transfer_dir_list_get_transfer_uid(msg);
mavlink_msg_file_transfer_dir_list_get_dir_path(msg, file_transfer_dir_list->dir_path);
file_transfer_dir_list->flags = mavlink_msg_file_transfer_dir_list_get_flags(msg);
#else
memcpy(file_transfer_dir_list, _MAV_PAYLOAD(msg), 249);
#endif
}

166
libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_file_transfer_res.h Normal file
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// MESSAGE FILE_TRANSFER_RES PACKING
#define MAVLINK_MSG_ID_FILE_TRANSFER_RES 112
typedef struct __mavlink_file_transfer_res_t
{
uint64_t transfer_uid; ///< Unique transfer ID
uint8_t result; ///< 0: OK, 1: not permitted, 2: bad path / file name, 3: no space left on device
} mavlink_file_transfer_res_t;
#define MAVLINK_MSG_ID_FILE_TRANSFER_RES_LEN 9
#define MAVLINK_MSG_ID_112_LEN 9
#define MAVLINK_MESSAGE_INFO_FILE_TRANSFER_RES { \
"FILE_TRANSFER_RES", \
2, \
{ { "transfer_uid", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_file_transfer_res_t, transfer_uid) }, \
{ "result", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_file_transfer_res_t, result) }, \
} \
}
/**
* @brief Pack a file_transfer_res 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 transfer_uid Unique transfer ID
* @param result 0: OK, 1: not permitted, 2: bad path / file name, 3: no space left on device
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_file_transfer_res_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint64_t transfer_uid, uint8_t result)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[9];
_mav_put_uint64_t(buf, 0, transfer_uid);
_mav_put_uint8_t(buf, 8, result);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 9);
#else
mavlink_file_transfer_res_t packet;
packet.transfer_uid = transfer_uid;
packet.result = result;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 9);
#endif
msg->msgid = MAVLINK_MSG_ID_FILE_TRANSFER_RES;
return mavlink_finalize_message(msg, system_id, component_id, 9, 124);
}
/**
* @brief Pack a file_transfer_res 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 was sent over
* @param msg The MAVLink message to compress the data into
* @param transfer_uid Unique transfer ID
* @param result 0: OK, 1: not permitted, 2: bad path / file name, 3: no space left on device
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_file_transfer_res_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint64_t transfer_uid,uint8_t result)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[9];
_mav_put_uint64_t(buf, 0, transfer_uid);
_mav_put_uint8_t(buf, 8, result);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 9);
#else
mavlink_file_transfer_res_t packet;
packet.transfer_uid = transfer_uid;
packet.result = result;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 9);
#endif
msg->msgid = MAVLINK_MSG_ID_FILE_TRANSFER_RES;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 9, 124);
}
/**
* @brief Encode a file_transfer_res struct into a 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 file_transfer_res C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_file_transfer_res_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_file_transfer_res_t* file_transfer_res)
{
return mavlink_msg_file_transfer_res_pack(system_id, component_id, msg, file_transfer_res->transfer_uid, file_transfer_res->result);
}
/**
* @brief Send a file_transfer_res message
* @param chan MAVLink channel to send the message
*
* @param transfer_uid Unique transfer ID
* @param result 0: OK, 1: not permitted, 2: bad path / file name, 3: no space left on device
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_file_transfer_res_send(mavlink_channel_t chan, uint64_t transfer_uid, uint8_t result)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[9];
_mav_put_uint64_t(buf, 0, transfer_uid);
_mav_put_uint8_t(buf, 8, result);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILE_TRANSFER_RES, buf, 9, 124);
#else
mavlink_file_transfer_res_t packet;
packet.transfer_uid = transfer_uid;
packet.result = result;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILE_TRANSFER_RES, (const char *)&packet, 9, 124);
#endif
}
#endif
// MESSAGE FILE_TRANSFER_RES UNPACKING
/**
* @brief Get field transfer_uid from file_transfer_res message
*
* @return Unique transfer ID
*/
static inline uint64_t mavlink_msg_file_transfer_res_get_transfer_uid(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint64_t(msg, 0);
}
/**
* @brief Get field result from file_transfer_res message
*
* @return 0: OK, 1: not permitted, 2: bad path / file name, 3: no space left on device
*/
static inline uint8_t mavlink_msg_file_transfer_res_get_result(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 8);
}
/**
* @brief Decode a file_transfer_res message into a struct
*
* @param msg The message to decode
* @param file_transfer_res C-struct to decode the message contents into
*/
static inline void mavlink_msg_file_transfer_res_decode(const mavlink_message_t* msg, mavlink_file_transfer_res_t* file_transfer_res)
{
#if MAVLINK_NEED_BYTE_SWAP
file_transfer_res->transfer_uid = mavlink_msg_file_transfer_res_get_transfer_uid(msg);
file_transfer_res->result = mavlink_msg_file_transfer_res_get_result(msg);
#else
memcpy(file_transfer_res, _MAV_PAYLOAD(msg), 9);
#endif
}

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libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_file_transfer_start.h Normal file
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// MESSAGE FILE_TRANSFER_START PACKING
#define MAVLINK_MSG_ID_FILE_TRANSFER_START 110
typedef struct __mavlink_file_transfer_start_t
{
uint64_t transfer_uid; ///< Unique transfer ID
uint32_t file_size; ///< File size in bytes
char dest_path[240]; ///< Destination path
uint8_t direction; ///< Transfer direction: 0: from requester, 1: to requester
uint8_t flags; ///< RESERVED
} mavlink_file_transfer_start_t;
#define MAVLINK_MSG_ID_FILE_TRANSFER_START_LEN 254
#define MAVLINK_MSG_ID_110_LEN 254
#define MAVLINK_MSG_FILE_TRANSFER_START_FIELD_DEST_PATH_LEN 240
#define MAVLINK_MESSAGE_INFO_FILE_TRANSFER_START { \
"FILE_TRANSFER_START", \
5, \
{ { "transfer_uid", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_file_transfer_start_t, transfer_uid) }, \
{ "file_size", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_file_transfer_start_t, file_size) }, \
{ "dest_path", NULL, MAVLINK_TYPE_CHAR, 240, 12, offsetof(mavlink_file_transfer_start_t, dest_path) }, \
{ "direction", NULL, MAVLINK_TYPE_UINT8_T, 0, 252, offsetof(mavlink_file_transfer_start_t, direction) }, \
{ "flags", NULL, MAVLINK_TYPE_UINT8_T, 0, 253, offsetof(mavlink_file_transfer_start_t, flags) }, \
} \
}
/**
* @brief Pack a file_transfer_start 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 transfer_uid Unique transfer ID
* @param dest_path Destination path
* @param direction Transfer direction: 0: from requester, 1: to requester
* @param file_size File size in bytes
* @param flags RESERVED
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_file_transfer_start_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint64_t transfer_uid, const char *dest_path, uint8_t direction, uint32_t file_size, uint8_t flags)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[254];
_mav_put_uint64_t(buf, 0, transfer_uid);
_mav_put_uint32_t(buf, 8, file_size);
_mav_put_uint8_t(buf, 252, direction);
_mav_put_uint8_t(buf, 253, flags);
_mav_put_char_array(buf, 12, dest_path, 240);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 254);
#else
mavlink_file_transfer_start_t packet;
packet.transfer_uid = transfer_uid;
packet.file_size = file_size;
packet.direction = direction;
packet.flags = flags;
mav_array_memcpy(packet.dest_path, dest_path, sizeof(char)*240);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 254);
#endif
msg->msgid = MAVLINK_MSG_ID_FILE_TRANSFER_START;
return mavlink_finalize_message(msg, system_id, component_id, 254, 235);
}
/**
* @brief Pack a file_transfer_start 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 was sent over
* @param msg The MAVLink message to compress the data into
* @param transfer_uid Unique transfer ID
* @param dest_path Destination path
* @param direction Transfer direction: 0: from requester, 1: to requester
* @param file_size File size in bytes
* @param flags RESERVED
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_file_transfer_start_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint64_t transfer_uid,const char *dest_path,uint8_t direction,uint32_t file_size,uint8_t flags)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[254];
_mav_put_uint64_t(buf, 0, transfer_uid);
_mav_put_uint32_t(buf, 8, file_size);
_mav_put_uint8_t(buf, 252, direction);
_mav_put_uint8_t(buf, 253, flags);
_mav_put_char_array(buf, 12, dest_path, 240);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 254);
#else
mavlink_file_transfer_start_t packet;
packet.transfer_uid = transfer_uid;
packet.file_size = file_size;
packet.direction = direction;
packet.flags = flags;
mav_array_memcpy(packet.dest_path, dest_path, sizeof(char)*240);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 254);
#endif
msg->msgid = MAVLINK_MSG_ID_FILE_TRANSFER_START;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 254, 235);
}
/**
* @brief Encode a file_transfer_start struct into a 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 file_transfer_start C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_file_transfer_start_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_file_transfer_start_t* file_transfer_start)
{
return mavlink_msg_file_transfer_start_pack(system_id, component_id, msg, file_transfer_start->transfer_uid, file_transfer_start->dest_path, file_transfer_start->direction, file_transfer_start->file_size, file_transfer_start->flags);
}
/**
* @brief Send a file_transfer_start message
* @param chan MAVLink channel to send the message
*
* @param transfer_uid Unique transfer ID
* @param dest_path Destination path
* @param direction Transfer direction: 0: from requester, 1: to requester
* @param file_size File size in bytes
* @param flags RESERVED
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_file_transfer_start_send(mavlink_channel_t chan, uint64_t transfer_uid, const char *dest_path, uint8_t direction, uint32_t file_size, uint8_t flags)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[254];
_mav_put_uint64_t(buf, 0, transfer_uid);
_mav_put_uint32_t(buf, 8, file_size);
_mav_put_uint8_t(buf, 252, direction);
_mav_put_uint8_t(buf, 253, flags);
_mav_put_char_array(buf, 12, dest_path, 240);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILE_TRANSFER_START, buf, 254, 235);
#else
mavlink_file_transfer_start_t packet;
packet.transfer_uid = transfer_uid;
packet.file_size = file_size;
packet.direction = direction;
packet.flags = flags;
mav_array_memcpy(packet.dest_path, dest_path, sizeof(char)*240);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILE_TRANSFER_START, (const char *)&packet, 254, 235);
#endif
}
#endif
// MESSAGE FILE_TRANSFER_START UNPACKING
/**
* @brief Get field transfer_uid from file_transfer_start message
*
* @return Unique transfer ID
*/
static inline uint64_t mavlink_msg_file_transfer_start_get_transfer_uid(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint64_t(msg, 0);
}
/**
* @brief Get field dest_path from file_transfer_start message
*
* @return Destination path
*/
static inline uint16_t mavlink_msg_file_transfer_start_get_dest_path(const mavlink_message_t* msg, char *dest_path)
{
return _MAV_RETURN_char_array(msg, dest_path, 240, 12);
}
/**
* @brief Get field direction from file_transfer_start message
*
* @return Transfer direction: 0: from requester, 1: to requester
*/
static inline uint8_t mavlink_msg_file_transfer_start_get_direction(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 252);
}
/**
* @brief Get field file_size from file_transfer_start message
*
* @return File size in bytes
*/
static inline uint32_t mavlink_msg_file_transfer_start_get_file_size(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint32_t(msg, 8);
}
/**
* @brief Get field flags from file_transfer_start message
*
* @return RESERVED
*/
static inline uint8_t mavlink_msg_file_transfer_start_get_flags(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 253);
}
/**
* @brief Decode a file_transfer_start message into a struct
*
* @param msg The message to decode
* @param file_transfer_start C-struct to decode the message contents into
*/
static inline void mavlink_msg_file_transfer_start_decode(const mavlink_message_t* msg, mavlink_file_transfer_start_t* file_transfer_start)
{
#if MAVLINK_NEED_BYTE_SWAP
file_transfer_start->transfer_uid = mavlink_msg_file_transfer_start_get_transfer_uid(msg);
file_transfer_start->file_size = mavlink_msg_file_transfer_start_get_file_size(msg);
mavlink_msg_file_transfer_start_get_dest_path(msg, file_transfer_start->dest_path);
file_transfer_start->direction = mavlink_msg_file_transfer_start_get_direction(msg);
file_transfer_start->flags = mavlink_msg_file_transfer_start_get_flags(msg);
#else
memcpy(file_transfer_start, _MAV_PAYLOAD(msg), 254);
#endif
}

10
libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_global_vision_position_estimate.h
View File

@ -4,7 +4,7 @@
typedef struct __mavlink_global_vision_position_estimate_t
{
uint64_t usec; ///< Timestamp (milliseconds)
uint64_t usec; ///< Timestamp (microseconds, synced to UNIX time or since system boot)
float x; ///< Global X position
float y; ///< Global Y position
float z; ///< Global Z position
@ -38,7 +38,7 @@ typedef struct __mavlink_global_vision_position_estimate_t
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param usec Timestamp (milliseconds)
* @param usec Timestamp (microseconds, synced to UNIX time or since system boot)
* @param x Global X position
* @param y Global Y position
* @param z Global Z position
@ -84,7 +84,7 @@ static inline uint16_t mavlink_msg_global_vision_position_estimate_pack(uint8_t
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param usec Timestamp (milliseconds)
* @param usec Timestamp (microseconds, synced to UNIX time or since system boot)
* @param x Global X position
* @param y Global Y position
* @param z Global Z position
@ -142,7 +142,7 @@ static inline uint16_t mavlink_msg_global_vision_position_estimate_encode(uint8_
* @brief Send a global_vision_position_estimate message
* @param chan MAVLink channel to send the message
*
* @param usec Timestamp (milliseconds)
* @param usec Timestamp (microseconds, synced to UNIX time or since system boot)
* @param x Global X position
* @param y Global Y position
* @param z Global Z position
@ -187,7 +187,7 @@ static inline void mavlink_msg_global_vision_position_estimate_send(mavlink_chan
/**
* @brief Get field usec from global_vision_position_estimate message
*
* @return Timestamp (milliseconds)
* @return Timestamp (microseconds, synced to UNIX time or since system boot)
*/
static inline uint64_t mavlink_msg_global_vision_position_estimate_get_usec(const mavlink_message_t* msg)
{

452
libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_highres_imu.h Normal file
View File

@ -0,0 +1,452 @@
// MESSAGE HIGHRES_IMU PACKING
#define MAVLINK_MSG_ID_HIGHRES_IMU 105
typedef struct __mavlink_highres_imu_t
{
uint64_t time_usec; ///< Timestamp (microseconds, synced to UNIX time or since system boot)
float xacc; ///< X acceleration (m/s^2)
float yacc; ///< Y acceleration (m/s^2)
float zacc; ///< Z acceleration (m/s^2)
float xgyro; ///< Angular speed around X axis (rad / sec)
float ygyro; ///< Angular speed around Y axis (rad / sec)
float zgyro; ///< Angular speed around Z axis (rad / sec)
float xmag; ///< X Magnetic field (Gauss)
float ymag; ///< Y Magnetic field (Gauss)
float zmag; ///< Z Magnetic field (Gauss)
float abs_pressure; ///< Absolute pressure in millibar
float diff_pressure; ///< Differential pressure in millibar
float pressure_alt; ///< Altitude calculated from pressure
float temperature; ///< Temperature in degrees celsius
uint16_t fields_updated; ///< Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature
} mavlink_highres_imu_t;
#define MAVLINK_MSG_ID_HIGHRES_IMU_LEN 62
#define MAVLINK_MSG_ID_105_LEN 62
#define MAVLINK_MESSAGE_INFO_HIGHRES_IMU { \
"HIGHRES_IMU", \
15, \
{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_highres_imu_t, time_usec) }, \
{ "xacc", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_highres_imu_t, xacc) }, \
{ "yacc", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_highres_imu_t, yacc) }, \
{ "zacc", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_highres_imu_t, zacc) }, \
{ "xgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_highres_imu_t, xgyro) }, \
{ "ygyro", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_highres_imu_t, ygyro) }, \
{ "zgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_highres_imu_t, zgyro) }, \
{ "xmag", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_highres_imu_t, xmag) }, \
{ "ymag", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_highres_imu_t, ymag) }, \
{ "zmag", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_highres_imu_t, zmag) }, \
{ "abs_pressure", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_highres_imu_t, abs_pressure) }, \
{ "diff_pressure", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_highres_imu_t, diff_pressure) }, \
{ "pressure_alt", NULL, MAVLINK_TYPE_FLOAT, 0, 52, offsetof(mavlink_highres_imu_t, pressure_alt) }, \
{ "temperature", NULL, MAVLINK_TYPE_FLOAT, 0, 56, offsetof(mavlink_highres_imu_t, temperature) }, \
{ "fields_updated", NULL, MAVLINK_TYPE_UINT16_T, 0, 60, offsetof(mavlink_highres_imu_t, fields_updated) }, \
} \
}
/**
* @brief Pack a highres_imu 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 Timestamp (microseconds, synced to UNIX time or since system boot)
* @param xacc X acceleration (m/s^2)
* @param yacc Y acceleration (m/s^2)
* @param zacc Z acceleration (m/s^2)
* @param xgyro Angular speed around X axis (rad / sec)
* @param ygyro Angular speed around Y axis (rad / sec)
* @param zgyro Angular speed around Z axis (rad / sec)
* @param xmag X Magnetic field (Gauss)
* @param ymag Y Magnetic field (Gauss)
* @param zmag Z Magnetic field (Gauss)
* @param abs_pressure Absolute pressure in millibar
* @param diff_pressure Differential pressure in millibar
* @param pressure_alt Altitude calculated from pressure
* @param temperature Temperature in degrees celsius
* @param fields_updated Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_highres_imu_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint64_t time_usec, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, float xmag, float ymag, float zmag, float abs_pressure, float diff_pressure, float pressure_alt, float temperature, uint16_t fields_updated)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[62];
_mav_put_uint64_t(buf, 0, time_usec);
_mav_put_float(buf, 8, xacc);
_mav_put_float(buf, 12, yacc);
_mav_put_float(buf, 16, zacc);
_mav_put_float(buf, 20, xgyro);
_mav_put_float(buf, 24, ygyro);
_mav_put_float(buf, 28, zgyro);
_mav_put_float(buf, 32, xmag);
_mav_put_float(buf, 36, ymag);
_mav_put_float(buf, 40, zmag);
_mav_put_float(buf, 44, abs_pressure);
_mav_put_float(buf, 48, diff_pressure);
_mav_put_float(buf, 52, pressure_alt);
_mav_put_float(buf, 56, temperature);
_mav_put_uint16_t(buf, 60, fields_updated);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 62);
#else
mavlink_highres_imu_t packet;
packet.time_usec = time_usec;
packet.xacc = xacc;
packet.yacc = yacc;
packet.zacc = zacc;
packet.xgyro = xgyro;
packet.ygyro = ygyro;
packet.zgyro = zgyro;
packet.xmag = xmag;
packet.ymag = ymag;
packet.zmag = zmag;
packet.abs_pressure = abs_pressure;
packet.diff_pressure = diff_pressure;
packet.pressure_alt = pressure_alt;
packet.temperature = temperature;
packet.fields_updated = fields_updated;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 62);
#endif
msg->msgid = MAVLINK_MSG_ID_HIGHRES_IMU;
return mavlink_finalize_message(msg, system_id, component_id, 62, 93);
}
/**
* @brief Pack a highres_imu 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 was sent over
* @param msg The MAVLink message to compress the data into
* @param time_usec Timestamp (microseconds, synced to UNIX time or since system boot)
* @param xacc X acceleration (m/s^2)
* @param yacc Y acceleration (m/s^2)
* @param zacc Z acceleration (m/s^2)
* @param xgyro Angular speed around X axis (rad / sec)
* @param ygyro Angular speed around Y axis (rad / sec)
* @param zgyro Angular speed around Z axis (rad / sec)
* @param xmag X Magnetic field (Gauss)
* @param ymag Y Magnetic field (Gauss)
* @param zmag Z Magnetic field (Gauss)
* @param abs_pressure Absolute pressure in millibar
* @param diff_pressure Differential pressure in millibar
* @param pressure_alt Altitude calculated from pressure
* @param temperature Temperature in degrees celsius
* @param fields_updated Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_highres_imu_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint64_t time_usec,float xacc,float yacc,float zacc,float xgyro,float ygyro,float zgyro,float xmag,float ymag,float zmag,float abs_pressure,float diff_pressure,float pressure_alt,float temperature,uint16_t fields_updated)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[62];
_mav_put_uint64_t(buf, 0, time_usec);
_mav_put_float(buf, 8, xacc);
_mav_put_float(buf, 12, yacc);
_mav_put_float(buf, 16, zacc);
_mav_put_float(buf, 20, xgyro);
_mav_put_float(buf, 24, ygyro);
_mav_put_float(buf, 28, zgyro);
_mav_put_float(buf, 32, xmag);
_mav_put_float(buf, 36, ymag);
_mav_put_float(buf, 40, zmag);
_mav_put_float(buf, 44, abs_pressure);
_mav_put_float(buf, 48, diff_pressure);
_mav_put_float(buf, 52, pressure_alt);
_mav_put_float(buf, 56, temperature);
_mav_put_uint16_t(buf, 60, fields_updated);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 62);
#else
mavlink_highres_imu_t packet;
packet.time_usec = time_usec;
packet.xacc = xacc;
packet.yacc = yacc;
packet.zacc = zacc;
packet.xgyro = xgyro;
packet.ygyro = ygyro;
packet.zgyro = zgyro;
packet.xmag = xmag;
packet.ymag = ymag;
packet.zmag = zmag;
packet.abs_pressure = abs_pressure;
packet.diff_pressure = diff_pressure;
packet.pressure_alt = pressure_alt;
packet.temperature = temperature;
packet.fields_updated = fields_updated;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 62);
#endif
msg->msgid = MAVLINK_MSG_ID_HIGHRES_IMU;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 62, 93);
}
/**
* @brief Encode a highres_imu struct into a 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 highres_imu C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_highres_imu_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_highres_imu_t* highres_imu)
{
return mavlink_msg_highres_imu_pack(system_id, component_id, msg, highres_imu->time_usec, highres_imu->xacc, highres_imu->yacc, highres_imu->zacc, highres_imu->xgyro, highres_imu->ygyro, highres_imu->zgyro, highres_imu->xmag, highres_imu->ymag, highres_imu->zmag, highres_imu->abs_pressure, highres_imu->diff_pressure, highres_imu->pressure_alt, highres_imu->temperature, highres_imu->fields_updated);
}
/**
* @brief Send a highres_imu message
* @param chan MAVLink channel to send the message
*
* @param time_usec Timestamp (microseconds, synced to UNIX time or since system boot)
* @param xacc X acceleration (m/s^2)
* @param yacc Y acceleration (m/s^2)
* @param zacc Z acceleration (m/s^2)
* @param xgyro Angular speed around X axis (rad / sec)
* @param ygyro Angular speed around Y axis (rad / sec)
* @param zgyro Angular speed around Z axis (rad / sec)
* @param xmag X Magnetic field (Gauss)
* @param ymag Y Magnetic field (Gauss)
* @param zmag Z Magnetic field (Gauss)
* @param abs_pressure Absolute pressure in millibar
* @param diff_pressure Differential pressure in millibar
* @param pressure_alt Altitude calculated from pressure
* @param temperature Temperature in degrees celsius
* @param fields_updated Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_highres_imu_send(mavlink_channel_t chan, uint64_t time_usec, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, float xmag, float ymag, float zmag, float abs_pressure, float diff_pressure, float pressure_alt, float temperature, uint16_t fields_updated)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[62];
_mav_put_uint64_t(buf, 0, time_usec);
_mav_put_float(buf, 8, xacc);
_mav_put_float(buf, 12, yacc);
_mav_put_float(buf, 16, zacc);
_mav_put_float(buf, 20, xgyro);
_mav_put_float(buf, 24, ygyro);
_mav_put_float(buf, 28, zgyro);
_mav_put_float(buf, 32, xmag);
_mav_put_float(buf, 36, ymag);
_mav_put_float(buf, 40, zmag);
_mav_put_float(buf, 44, abs_pressure);
_mav_put_float(buf, 48, diff_pressure);
_mav_put_float(buf, 52, pressure_alt);
_mav_put_float(buf, 56, temperature);
_mav_put_uint16_t(buf, 60, fields_updated);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIGHRES_IMU, buf, 62, 93);
#else
mavlink_highres_imu_t packet;
packet.time_usec = time_usec;
packet.xacc = xacc;
packet.yacc = yacc;
packet.zacc = zacc;
packet.xgyro = xgyro;
packet.ygyro = ygyro;
packet.zgyro = zgyro;
packet.xmag = xmag;
packet.ymag = ymag;
packet.zmag = zmag;
packet.abs_pressure = abs_pressure;
packet.diff_pressure = diff_pressure;
packet.pressure_alt = pressure_alt;
packet.temperature = temperature;
packet.fields_updated = fields_updated;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIGHRES_IMU, (const char *)&packet, 62, 93);
#endif
}
#endif
// MESSAGE HIGHRES_IMU UNPACKING
/**
* @brief Get field time_usec from highres_imu message
*
* @return Timestamp (microseconds, synced to UNIX time or since system boot)
*/
static inline uint64_t mavlink_msg_highres_imu_get_time_usec(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint64_t(msg, 0);
}
/**
* @brief Get field xacc from highres_imu message
*
* @return X acceleration (m/s^2)
*/
static inline float mavlink_msg_highres_imu_get_xacc(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 8);
}
/**
* @brief Get field yacc from highres_imu message
*
* @return Y acceleration (m/s^2)
*/
static inline float mavlink_msg_highres_imu_get_yacc(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 12);
}
/**
* @brief Get field zacc from highres_imu message
*
* @return Z acceleration (m/s^2)
*/
static inline float mavlink_msg_highres_imu_get_zacc(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 16);
}
/**
* @brief Get field xgyro from highres_imu message
*
* @return Angular speed around X axis (rad / sec)
*/
static inline float mavlink_msg_highres_imu_get_xgyro(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 20);
}
/**
* @brief Get field ygyro from highres_imu message
*
* @return Angular speed around Y axis (rad / sec)
*/
static inline float mavlink_msg_highres_imu_get_ygyro(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 24);
}
/**
* @brief Get field zgyro from highres_imu message
*
* @return Angular speed around Z axis (rad / sec)
*/
static inline float mavlink_msg_highres_imu_get_zgyro(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 28);
}
/**
* @brief Get field xmag from highres_imu message
*
* @return X Magnetic field (Gauss)
*/
static inline float mavlink_msg_highres_imu_get_xmag(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 32);
}
/**
* @brief Get field ymag from highres_imu message
*
* @return Y Magnetic field (Gauss)
*/
static inline float mavlink_msg_highres_imu_get_ymag(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 36);
}
/**
* @brief Get field zmag from highres_imu message
*
* @return Z Magnetic field (Gauss)
*/
static inline float mavlink_msg_highres_imu_get_zmag(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 40);
}
/**
* @brief Get field abs_pressure from highres_imu message
*
* @return Absolute pressure in millibar
*/
static inline float mavlink_msg_highres_imu_get_abs_pressure(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 44);
}
/**
* @brief Get field diff_pressure from highres_imu message
*
* @return Differential pressure in millibar
*/
static inline float mavlink_msg_highres_imu_get_diff_pressure(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 48);
}
/**
* @brief Get field pressure_alt from highres_imu message
*
* @return Altitude calculated from pressure
*/
static inline float mavlink_msg_highres_imu_get_pressure_alt(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 52);
}
/**
* @brief Get field temperature from highres_imu message
*
* @return Temperature in degrees celsius
*/
static inline float mavlink_msg_highres_imu_get_temperature(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 56);
}
/**
* @brief Get field fields_updated from highres_imu message
*
* @return Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature
*/
static inline uint16_t mavlink_msg_highres_imu_get_fields_updated(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 60);
}
/**
* @brief Decode a highres_imu message into a struct
*
* @param msg The message to decode
* @param highres_imu C-struct to decode the message contents into
*/
static inline void mavlink_msg_highres_imu_decode(const mavlink_message_t* msg, mavlink_highres_imu_t* highres_imu)
{
#if MAVLINK_NEED_BYTE_SWAP
highres_imu->time_usec = mavlink_msg_highres_imu_get_time_usec(msg);
highres_imu->xacc = mavlink_msg_highres_imu_get_xacc(msg);
highres_imu->yacc = mavlink_msg_highres_imu_get_yacc(msg);
highres_imu->zacc = mavlink_msg_highres_imu_get_zacc(msg);
highres_imu->xgyro = mavlink_msg_highres_imu_get_xgyro(msg);
highres_imu->ygyro = mavlink_msg_highres_imu_get_ygyro(msg);
highres_imu->zgyro = mavlink_msg_highres_imu_get_zgyro(msg);
highres_imu->xmag = mavlink_msg_highres_imu_get_xmag(msg);
highres_imu->ymag = mavlink_msg_highres_imu_get_ymag(msg);
highres_imu->zmag = mavlink_msg_highres_imu_get_zmag(msg);
highres_imu->abs_pressure = mavlink_msg_highres_imu_get_abs_pressure(msg);
highres_imu->diff_pressure = mavlink_msg_highres_imu_get_diff_pressure(msg);
highres_imu->pressure_alt = mavlink_msg_highres_imu_get_pressure_alt(msg);
highres_imu->temperature = mavlink_msg_highres_imu_get_temperature(msg);
highres_imu->fields_updated = mavlink_msg_highres_imu_get_fields_updated(msg);
#else
memcpy(highres_imu, _MAV_PAYLOAD(msg), 62);
#endif
}

284
libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_manual_control.h
View File

@ -4,34 +4,28 @@
typedef struct __mavlink_manual_control_t
{
float roll; ///< roll
float pitch; ///< pitch
float yaw; ///< yaw
float thrust; ///< thrust
uint8_t target; ///< The system to be controlled
uint8_t roll_manual; ///< roll control enabled auto:0, manual:1
uint8_t pitch_manual; ///< pitch auto:0, manual:1
uint8_t yaw_manual; ///< yaw auto:0, manual:1
uint8_t thrust_manual; ///< thrust auto:0, manual:1
int16_t x; ///< X-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to forward(1000)-backward(-1000) movement on a joystick and the pitch of a vehicle.
int16_t y; ///< Y-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to left(-1000)-right(1000) movement on a joystick and the roll of a vehicle.
int16_t z; ///< Z-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a separate slider movement with maximum being 1000 and minimum being -1000 on a joystick and the thrust of a vehicle.
int16_t r; ///< R-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a twisting of the joystick, with counter-clockwise being 1000 and clockwise being -1000, and the yaw of a vehicle.
uint16_t buttons; ///< A bitfield corresponding to the joystick buttons' current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1.
uint8_t target; ///< The system to be controlled.
} mavlink_manual_control_t;
#define MAVLINK_MSG_ID_MANUAL_CONTROL_LEN 21
#define MAVLINK_MSG_ID_69_LEN 21
#define MAVLINK_MSG_ID_MANUAL_CONTROL_LEN 11
#define MAVLINK_MSG_ID_69_LEN 11
#define MAVLINK_MESSAGE_INFO_MANUAL_CONTROL { \
"MANUAL_CONTROL", \
9, \
{ { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_manual_control_t, roll) }, \
{ "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_manual_control_t, pitch) }, \
{ "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_manual_control_t, yaw) }, \
{ "thrust", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_manual_control_t, thrust) }, \
{ "target", NULL, MAVLINK_TYPE_UINT8_T, 0, 16, offsetof(mavlink_manual_control_t, target) }, \
{ "roll_manual", NULL, MAVLINK_TYPE_UINT8_T, 0, 17, offsetof(mavlink_manual_control_t, roll_manual) }, \
{ "pitch_manual", NULL, MAVLINK_TYPE_UINT8_T, 0, 18, offsetof(mavlink_manual_control_t, pitch_manual) }, \
{ "yaw_manual", NULL, MAVLINK_TYPE_UINT8_T, 0, 19, offsetof(mavlink_manual_control_t, yaw_manual) }, \
{ "thrust_manual", NULL, MAVLINK_TYPE_UINT8_T, 0, 20, offsetof(mavlink_manual_control_t, thrust_manual) }, \
6, \
{ { "x", NULL, MAVLINK_TYPE_INT16_T, 0, 0, offsetof(mavlink_manual_control_t, x) }, \
{ "y", NULL, MAVLINK_TYPE_INT16_T, 0, 2, offsetof(mavlink_manual_control_t, y) }, \
{ "z", NULL, MAVLINK_TYPE_INT16_T, 0, 4, offsetof(mavlink_manual_control_t, z) }, \
{ "r", NULL, MAVLINK_TYPE_INT16_T, 0, 6, offsetof(mavlink_manual_control_t, r) }, \
{ "buttons", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_manual_control_t, buttons) }, \
{ "target", NULL, MAVLINK_TYPE_UINT8_T, 0, 10, offsetof(mavlink_manual_control_t, target) }, \
} \
}
@ -42,50 +36,41 @@ typedef struct __mavlink_manual_control_t
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param target The system to be controlled
* @param roll roll
* @param pitch pitch
* @param yaw yaw
* @param thrust thrust
* @param roll_manual roll control enabled auto:0, manual:1
* @param pitch_manual pitch auto:0, manual:1
* @param yaw_manual yaw auto:0, manual:1
* @param thrust_manual thrust auto:0, manual:1
* @param target The system to be controlled.
* @param x X-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to forward(1000)-backward(-1000) movement on a joystick and the pitch of a vehicle.
* @param y Y-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to left(-1000)-right(1000) movement on a joystick and the roll of a vehicle.
* @param z Z-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a separate slider movement with maximum being 1000 and minimum being -1000 on a joystick and the thrust of a vehicle.
* @param r R-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a twisting of the joystick, with counter-clockwise being 1000 and clockwise being -1000, and the yaw of a vehicle.
* @param buttons A bitfield corresponding to the joystick buttons' current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1.
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_manual_control_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t target, float roll, float pitch, float yaw, float thrust, uint8_t roll_manual, uint8_t pitch_manual, uint8_t yaw_manual, uint8_t thrust_manual)
uint8_t target, int16_t x, int16_t y, int16_t z, int16_t r, uint16_t buttons)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[21];
_mav_put_float(buf, 0, roll);
_mav_put_float(buf, 4, pitch);
_mav_put_float(buf, 8, yaw);
_mav_put_float(buf, 12, thrust);
_mav_put_uint8_t(buf, 16, target);
_mav_put_uint8_t(buf, 17, roll_manual);
_mav_put_uint8_t(buf, 18, pitch_manual);
_mav_put_uint8_t(buf, 19, yaw_manual);
_mav_put_uint8_t(buf, 20, thrust_manual);
char buf[11];
_mav_put_int16_t(buf, 0, x);
_mav_put_int16_t(buf, 2, y);
_mav_put_int16_t(buf, 4, z);
_mav_put_int16_t(buf, 6, r);
_mav_put_uint16_t(buf, 8, buttons);
_mav_put_uint8_t(buf, 10, target);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 21);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 11);
#else
mavlink_manual_control_t packet;
packet.roll = roll;
packet.pitch = pitch;
packet.yaw = yaw;
packet.thrust = thrust;
packet.x = x;
packet.y = y;
packet.z = z;
packet.r = r;
packet.buttons = buttons;
packet.target = target;
packet.roll_manual = roll_manual;
packet.pitch_manual = pitch_manual;
packet.yaw_manual = yaw_manual;
packet.thrust_manual = thrust_manual;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 21);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 11);
#endif
msg->msgid = MAVLINK_MSG_ID_MANUAL_CONTROL;
return mavlink_finalize_message(msg, system_id, component_id, 21, 52);
return mavlink_finalize_message(msg, system_id, component_id, 11, 243);
}
/**
@ -94,51 +79,42 @@ static inline uint16_t mavlink_msg_manual_control_pack(uint8_t system_id, uint8_
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param target The system to be controlled
* @param roll roll
* @param pitch pitch
* @param yaw yaw
* @param thrust thrust
* @param roll_manual roll control enabled auto:0, manual:1
* @param pitch_manual pitch auto:0, manual:1
* @param yaw_manual yaw auto:0, manual:1
* @param thrust_manual thrust auto:0, manual:1
* @param target The system to be controlled.
* @param x X-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to forward(1000)-backward(-1000) movement on a joystick and the pitch of a vehicle.
* @param y Y-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to left(-1000)-right(1000) movement on a joystick and the roll of a vehicle.
* @param z Z-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a separate slider movement with maximum being 1000 and minimum being -1000 on a joystick and the thrust of a vehicle.
* @param r R-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a twisting of the joystick, with counter-clockwise being 1000 and clockwise being -1000, and the yaw of a vehicle.
* @param buttons A bitfield corresponding to the joystick buttons' current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1.
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_manual_control_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint8_t target,float roll,float pitch,float yaw,float thrust,uint8_t roll_manual,uint8_t pitch_manual,uint8_t yaw_manual,uint8_t thrust_manual)
uint8_t target,int16_t x,int16_t y,int16_t z,int16_t r,uint16_t buttons)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[21];
_mav_put_float(buf, 0, roll);
_mav_put_float(buf, 4, pitch);
_mav_put_float(buf, 8, yaw);
_mav_put_float(buf, 12, thrust);
_mav_put_uint8_t(buf, 16, target);
_mav_put_uint8_t(buf, 17, roll_manual);
_mav_put_uint8_t(buf, 18, pitch_manual);
_mav_put_uint8_t(buf, 19, yaw_manual);
_mav_put_uint8_t(buf, 20, thrust_manual);
char buf[11];
_mav_put_int16_t(buf, 0, x);
_mav_put_int16_t(buf, 2, y);
_mav_put_int16_t(buf, 4, z);
_mav_put_int16_t(buf, 6, r);
_mav_put_uint16_t(buf, 8, buttons);
_mav_put_uint8_t(buf, 10, target);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 21);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 11);
#else
mavlink_manual_control_t packet;
packet.roll = roll;
packet.pitch = pitch;
packet.yaw = yaw;
packet.thrust = thrust;
packet.x = x;
packet.y = y;
packet.z = z;
packet.r = r;
packet.buttons = buttons;
packet.target = target;
packet.roll_manual = roll_manual;
packet.pitch_manual = pitch_manual;
packet.yaw_manual = yaw_manual;
packet.thrust_manual = thrust_manual;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 21);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 11);
#endif
msg->msgid = MAVLINK_MSG_ID_MANUAL_CONTROL;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 21, 52);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 11, 243);
}
/**
@ -151,53 +127,44 @@ static inline uint16_t mavlink_msg_manual_control_pack_chan(uint8_t system_id, u
*/
static inline uint16_t mavlink_msg_manual_control_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_manual_control_t* manual_control)
{
return mavlink_msg_manual_control_pack(system_id, component_id, msg, manual_control->target, manual_control->roll, manual_control->pitch, manual_control->yaw, manual_control->thrust, manual_control->roll_manual, manual_control->pitch_manual, manual_control->yaw_manual, manual_control->thrust_manual);
return mavlink_msg_manual_control_pack(system_id, component_id, msg, manual_control->target, manual_control->x, manual_control->y, manual_control->z, manual_control->r, manual_control->buttons);
}
/**
* @brief Send a manual_control message
* @param chan MAVLink channel to send the message
*
* @param target The system to be controlled
* @param roll roll
* @param pitch pitch
* @param yaw yaw
* @param thrust thrust
* @param roll_manual roll control enabled auto:0, manual:1
* @param pitch_manual pitch auto:0, manual:1
* @param yaw_manual yaw auto:0, manual:1
* @param thrust_manual thrust auto:0, manual:1
* @param target The system to be controlled.
* @param x X-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to forward(1000)-backward(-1000) movement on a joystick and the pitch of a vehicle.
* @param y Y-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to left(-1000)-right(1000) movement on a joystick and the roll of a vehicle.
* @param z Z-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a separate slider movement with maximum being 1000 and minimum being -1000 on a joystick and the thrust of a vehicle.
* @param r R-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a twisting of the joystick, with counter-clockwise being 1000 and clockwise being -1000, and the yaw of a vehicle.
* @param buttons A bitfield corresponding to the joystick buttons' current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1.
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_manual_control_send(mavlink_channel_t chan, uint8_t target, float roll, float pitch, float yaw, float thrust, uint8_t roll_manual, uint8_t pitch_manual, uint8_t yaw_manual, uint8_t thrust_manual)
static inline void mavlink_msg_manual_control_send(mavlink_channel_t chan, uint8_t target, int16_t x, int16_t y, int16_t z, int16_t r, uint16_t buttons)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[21];
_mav_put_float(buf, 0, roll);
_mav_put_float(buf, 4, pitch);
_mav_put_float(buf, 8, yaw);
_mav_put_float(buf, 12, thrust);
_mav_put_uint8_t(buf, 16, target);
_mav_put_uint8_t(buf, 17, roll_manual);
_mav_put_uint8_t(buf, 18, pitch_manual);
_mav_put_uint8_t(buf, 19, yaw_manual);
_mav_put_uint8_t(buf, 20, thrust_manual);
char buf[11];
_mav_put_int16_t(buf, 0, x);
_mav_put_int16_t(buf, 2, y);
_mav_put_int16_t(buf, 4, z);
_mav_put_int16_t(buf, 6, r);
_mav_put_uint16_t(buf, 8, buttons);
_mav_put_uint8_t(buf, 10, target);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, buf, 21, 52);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, buf, 11, 243);
#else
mavlink_manual_control_t packet;
packet.roll = roll;
packet.pitch = pitch;
packet.yaw = yaw;
packet.thrust = thrust;
packet.x = x;
packet.y = y;
packet.z = z;
packet.r = r;
packet.buttons = buttons;
packet.target = target;
packet.roll_manual = roll_manual;
packet.pitch_manual = pitch_manual;
packet.yaw_manual = yaw_manual;
packet.thrust_manual = thrust_manual;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, (const char *)&packet, 21, 52);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, (const char *)&packet, 11, 243);
#endif
}
@ -209,91 +176,61 @@ static inline void mavlink_msg_manual_control_send(mavlink_channel_t chan, uint8
/**
* @brief Get field target from manual_control message
*
* @return The system to be controlled
* @return The system to be controlled.
*/
static inline uint8_t mavlink_msg_manual_control_get_target(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 16);
return _MAV_RETURN_uint8_t(msg, 10);
}
/**
* @brief Get field roll from manual_control message
* @brief Get field x from manual_control message
*
* @return roll
* @return X-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to forward(1000)-backward(-1000) movement on a joystick and the pitch of a vehicle.
*/
static inline float mavlink_msg_manual_control_get_roll(const mavlink_message_t* msg)
static inline int16_t mavlink_msg_manual_control_get_x(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 0);
return _MAV_RETURN_int16_t(msg, 0);
}
/**
* @brief Get field pitch from manual_control message
* @brief Get field y from manual_control message
*
* @return pitch
* @return Y-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to left(-1000)-right(1000) movement on a joystick and the roll of a vehicle.
*/
static inline float mavlink_msg_manual_control_get_pitch(const mavlink_message_t* msg)
static inline int16_t mavlink_msg_manual_control_get_y(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 4);
return _MAV_RETURN_int16_t(msg, 2);
}
/**
* @brief Get field yaw from manual_control message
* @brief Get field z from manual_control message
*
* @return yaw
* @return Z-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a separate slider movement with maximum being 1000 and minimum being -1000 on a joystick and the thrust of a vehicle.
*/
static inline float mavlink_msg_manual_control_get_yaw(const mavlink_message_t* msg)
static inline int16_t mavlink_msg_manual_control_get_z(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 8);
return _MAV_RETURN_int16_t(msg, 4);
}
/**
* @brief Get field thrust from manual_control message
* @brief Get field r from manual_control message
*
* @return thrust
* @return R-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a twisting of the joystick, with counter-clockwise being 1000 and clockwise being -1000, and the yaw of a vehicle.
*/
static inline float mavlink_msg_manual_control_get_thrust(const mavlink_message_t* msg)
static inline int16_t mavlink_msg_manual_control_get_r(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 12);
return _MAV_RETURN_int16_t(msg, 6);
}
/**
* @brief Get field roll_manual from manual_control message
* @brief Get field buttons from manual_control message
*
* @return roll control enabled auto:0, manual:1
* @return A bitfield corresponding to the joystick buttons' current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1.
*/
static inline uint8_t mavlink_msg_manual_control_get_roll_manual(const mavlink_message_t* msg)
static inline uint16_t mavlink_msg_manual_control_get_buttons(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 17);
}
/**
* @brief Get field pitch_manual from manual_control message
*
* @return pitch auto:0, manual:1
*/
static inline uint8_t mavlink_msg_manual_control_get_pitch_manual(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 18);
}
/**
* @brief Get field yaw_manual from manual_control message
*
* @return yaw auto:0, manual:1
*/
static inline uint8_t mavlink_msg_manual_control_get_yaw_manual(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 19);
}
/**
* @brief Get field thrust_manual from manual_control message
*
* @return thrust auto:0, manual:1
*/
static inline uint8_t mavlink_msg_manual_control_get_thrust_manual(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 20);
return _MAV_RETURN_uint16_t(msg, 8);
}
/**
@ -305,16 +242,13 @@ static inline uint8_t mavlink_msg_manual_control_get_thrust_manual(const mavlink
static inline void mavlink_msg_manual_control_decode(const mavlink_message_t* msg, mavlink_manual_control_t* manual_control)
{
#if MAVLINK_NEED_BYTE_SWAP
manual_control->roll = mavlink_msg_manual_control_get_roll(msg);
manual_control->pitch = mavlink_msg_manual_control_get_pitch(msg);
manual_control->yaw = mavlink_msg_manual_control_get_yaw(msg);
manual_control->thrust = mavlink_msg_manual_control_get_thrust(msg);
manual_control->x = mavlink_msg_manual_control_get_x(msg);
manual_control->y = mavlink_msg_manual_control_get_y(msg);
manual_control->z = mavlink_msg_manual_control_get_z(msg);
manual_control->r = mavlink_msg_manual_control_get_r(msg);
manual_control->buttons = mavlink_msg_manual_control_get_buttons(msg);
manual_control->target = mavlink_msg_manual_control_get_target(msg);
manual_control->roll_manual = mavlink_msg_manual_control_get_roll_manual(msg);
manual_control->pitch_manual = mavlink_msg_manual_control_get_pitch_manual(msg);
manual_control->yaw_manual = mavlink_msg_manual_control_get_yaw_manual(msg);
manual_control->thrust_manual = mavlink_msg_manual_control_get_thrust_manual(msg);
#else
memcpy(manual_control, _MAV_PAYLOAD(msg), 21);
memcpy(manual_control, _MAV_PAYLOAD(msg), 11);
#endif
}

276
libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_manual_setpoint.h Normal file
View File

@ -0,0 +1,276 @@
// MESSAGE MANUAL_SETPOINT PACKING
#define MAVLINK_MSG_ID_MANUAL_SETPOINT 81
typedef struct __mavlink_manual_setpoint_t
{
uint32_t time_boot_ms; ///< Timestamp in milliseconds since system boot
float roll; ///< Desired roll rate in radians per second
float pitch; ///< Desired pitch rate in radians per second
float yaw; ///< Desired yaw rate in radians per second
float thrust; ///< Collective thrust, normalized to 0 .. 1
uint8_t mode_switch; ///< Flight mode switch position, 0.. 255
uint8_t manual_override_switch; ///< Override mode switch position, 0.. 255
} mavlink_manual_setpoint_t;
#define MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN 22
#define MAVLINK_MSG_ID_81_LEN 22
#define MAVLINK_MESSAGE_INFO_MANUAL_SETPOINT { \
"MANUAL_SETPOINT", \
7, \
{ { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_manual_setpoint_t, time_boot_ms) }, \
{ "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_manual_setpoint_t, roll) }, \
{ "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_manual_setpoint_t, pitch) }, \
{ "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_manual_setpoint_t, yaw) }, \
{ "thrust", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_manual_setpoint_t, thrust) }, \
{ "mode_switch", NULL, MAVLINK_TYPE_UINT8_T, 0, 20, offsetof(mavlink_manual_setpoint_t, mode_switch) }, \
{ "manual_override_switch", NULL, MAVLINK_TYPE_UINT8_T, 0, 21, offsetof(mavlink_manual_setpoint_t, manual_override_switch) }, \
} \
}
/**
* @brief Pack a manual_setpoint 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_boot_ms Timestamp in milliseconds since system boot
* @param roll Desired roll rate in radians per second
* @param pitch Desired pitch rate in radians per second
* @param yaw Desired yaw rate in radians per second
* @param thrust Collective thrust, normalized to 0 .. 1
* @param mode_switch Flight mode switch position, 0.. 255
* @param manual_override_switch Override mode switch position, 0.. 255
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_manual_setpoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint32_t time_boot_ms, float roll, float pitch, float yaw, float thrust, uint8_t mode_switch, uint8_t manual_override_switch)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[22];
_mav_put_uint32_t(buf, 0, time_boot_ms);
_mav_put_float(buf, 4, roll);
_mav_put_float(buf, 8, pitch);
_mav_put_float(buf, 12, yaw);
_mav_put_float(buf, 16, thrust);
_mav_put_uint8_t(buf, 20, mode_switch);
_mav_put_uint8_t(buf, 21, manual_override_switch);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 22);
#else
mavlink_manual_setpoint_t packet;
packet.time_boot_ms = time_boot_ms;
packet.roll = roll;
packet.pitch = pitch;
packet.yaw = yaw;
packet.thrust = thrust;
packet.mode_switch = mode_switch;
packet.manual_override_switch = manual_override_switch;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 22);
#endif
msg->msgid = MAVLINK_MSG_ID_MANUAL_SETPOINT;
return mavlink_finalize_message(msg, system_id, component_id, 22, 106);
}
/**
* @brief Pack a manual_setpoint 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 was sent over
* @param msg The MAVLink message to compress the data into
* @param time_boot_ms Timestamp in milliseconds since system boot
* @param roll Desired roll rate in radians per second
* @param pitch Desired pitch rate in radians per second
* @param yaw Desired yaw rate in radians per second
* @param thrust Collective thrust, normalized to 0 .. 1
* @param mode_switch Flight mode switch position, 0.. 255
* @param manual_override_switch Override mode switch position, 0.. 255
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_manual_setpoint_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint32_t time_boot_ms,float roll,float pitch,float yaw,float thrust,uint8_t mode_switch,uint8_t manual_override_switch)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[22];
_mav_put_uint32_t(buf, 0, time_boot_ms);
_mav_put_float(buf, 4, roll);
_mav_put_float(buf, 8, pitch);
_mav_put_float(buf, 12, yaw);
_mav_put_float(buf, 16, thrust);
_mav_put_uint8_t(buf, 20, mode_switch);
_mav_put_uint8_t(buf, 21, manual_override_switch);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 22);
#else
mavlink_manual_setpoint_t packet;
packet.time_boot_ms = time_boot_ms;
packet.roll = roll;
packet.pitch = pitch;
packet.yaw = yaw;
packet.thrust = thrust;
packet.mode_switch = mode_switch;
packet.manual_override_switch = manual_override_switch;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 22);
#endif
msg->msgid = MAVLINK_MSG_ID_MANUAL_SETPOINT;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 22, 106);
}
/**
* @brief Encode a manual_setpoint struct into a 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 manual_setpoint C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_manual_setpoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_manual_setpoint_t* manual_setpoint)
{
return mavlink_msg_manual_setpoint_pack(system_id, component_id, msg, manual_setpoint->time_boot_ms, manual_setpoint->roll, manual_setpoint->pitch, manual_setpoint->yaw, manual_setpoint->thrust, manual_setpoint->mode_switch, manual_setpoint->manual_override_switch);
}
/**
* @brief Send a manual_setpoint message
* @param chan MAVLink channel to send the message
*
* @param time_boot_ms Timestamp in milliseconds since system boot
* @param roll Desired roll rate in radians per second
* @param pitch Desired pitch rate in radians per second
* @param yaw Desired yaw rate in radians per second
* @param thrust Collective thrust, normalized to 0 .. 1
* @param mode_switch Flight mode switch position, 0.. 255
* @param manual_override_switch Override mode switch position, 0.. 255
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_manual_setpoint_send(mavlink_channel_t chan, uint32_t time_boot_ms, float roll, float pitch, float yaw, float thrust, uint8_t mode_switch, uint8_t manual_override_switch)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[22];
_mav_put_uint32_t(buf, 0, time_boot_ms);
_mav_put_float(buf, 4, roll);
_mav_put_float(buf, 8, pitch);
_mav_put_float(buf, 12, yaw);
_mav_put_float(buf, 16, thrust);
_mav_put_uint8_t(buf, 20, mode_switch);
_mav_put_uint8_t(buf, 21, manual_override_switch);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_SETPOINT, buf, 22, 106);
#else
mavlink_manual_setpoint_t packet;
packet.time_boot_ms = time_boot_ms;
packet.roll = roll;
packet.pitch = pitch;
packet.yaw = yaw;
packet.thrust = thrust;
packet.mode_switch = mode_switch;
packet.manual_override_switch = manual_override_switch;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_SETPOINT, (const char *)&packet, 22, 106);
#endif
}
#endif
// MESSAGE MANUAL_SETPOINT UNPACKING
/**
* @brief Get field time_boot_ms from manual_setpoint message
*
* @return Timestamp in milliseconds since system boot
*/
static inline uint32_t mavlink_msg_manual_setpoint_get_time_boot_ms(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint32_t(msg, 0);
}
/**
* @brief Get field roll from manual_setpoint message
*
* @return Desired roll rate in radians per second
*/
static inline float mavlink_msg_manual_setpoint_get_roll(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 4);
}
/**
* @brief Get field pitch from manual_setpoint message
*
* @return Desired pitch rate in radians per second
*/
static inline float mavlink_msg_manual_setpoint_get_pitch(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 8);
}
/**
* @brief Get field yaw from manual_setpoint message
*
* @return Desired yaw rate in radians per second
*/
static inline float mavlink_msg_manual_setpoint_get_yaw(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 12);
}
/**
* @brief Get field thrust from manual_setpoint message
*
* @return Collective thrust, normalized to 0 .. 1
*/
static inline float mavlink_msg_manual_setpoint_get_thrust(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 16);
}
/**
* @brief Get field mode_switch from manual_setpoint message
*
* @return Flight mode switch position, 0.. 255
*/
static inline uint8_t mavlink_msg_manual_setpoint_get_mode_switch(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 20);
}
/**
* @brief Get field manual_override_switch from manual_setpoint message
*
* @return Override mode switch position, 0.. 255
*/
static inline uint8_t mavlink_msg_manual_setpoint_get_manual_override_switch(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 21);
}
/**
* @brief Decode a manual_setpoint message into a struct
*
* @param msg The message to decode
* @param manual_setpoint C-struct to decode the message contents into
*/
static inline void mavlink_msg_manual_setpoint_decode(const mavlink_message_t* msg, mavlink_manual_setpoint_t* manual_setpoint)
{
#if MAVLINK_NEED_BYTE_SWAP
manual_setpoint->time_boot_ms = mavlink_msg_manual_setpoint_get_time_boot_ms(msg);
manual_setpoint->roll = mavlink_msg_manual_setpoint_get_roll(msg);
manual_setpoint->pitch = mavlink_msg_manual_setpoint_get_pitch(msg);
manual_setpoint->yaw = mavlink_msg_manual_setpoint_get_yaw(msg);
manual_setpoint->thrust = mavlink_msg_manual_setpoint_get_thrust(msg);
manual_setpoint->mode_switch = mavlink_msg_manual_setpoint_get_mode_switch(msg);
manual_setpoint->manual_override_switch = mavlink_msg_manual_setpoint_get_manual_override_switch(msg);
#else
memcpy(manual_setpoint, _MAV_PAYLOAD(msg), 22);
#endif
}

10
libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_param_request_read.h
View File

@ -7,7 +7,7 @@ typedef struct __mavlink_param_request_read_t
int16_t param_index; ///< Parameter index. Send -1 to use the param ID field as identifier (else the param id will be ignored)
uint8_t target_system; ///< System ID
uint8_t target_component; ///< Component ID
char param_id[16]; ///< Onboard parameter id, terminated by NUL if the length is less than 16 human-readable chars and WITHOUT null termination (NUL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
char param_id[16]; ///< Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
} mavlink_param_request_read_t;
#define MAVLINK_MSG_ID_PARAM_REQUEST_READ_LEN 20
@ -34,7 +34,7 @@ typedef struct __mavlink_param_request_read_t
*
* @param target_system System ID
* @param target_component Component ID
* @param param_id Onboard parameter id, terminated by NUL if the length is less than 16 human-readable chars and WITHOUT null termination (NUL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
* @param param_id Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
* @param param_index Parameter index. Send -1 to use the param ID field as identifier (else the param id will be ignored)
* @return length of the message in bytes (excluding serial stream start sign)
*/
@ -69,7 +69,7 @@ static inline uint16_t mavlink_msg_param_request_read_pack(uint8_t system_id, ui
* @param msg The MAVLink message to compress the data into
* @param target_system System ID
* @param target_component Component ID
* @param param_id Onboard parameter id, terminated by NUL if the length is less than 16 human-readable chars and WITHOUT null termination (NUL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
* @param param_id Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
* @param param_index Parameter index. Send -1 to use the param ID field as identifier (else the param id will be ignored)
* @return length of the message in bytes (excluding serial stream start sign)
*/
@ -116,7 +116,7 @@ static inline uint16_t mavlink_msg_param_request_read_encode(uint8_t system_id,
*
* @param target_system System ID
* @param target_component Component ID
* @param param_id Onboard parameter id, terminated by NUL if the length is less than 16 human-readable chars and WITHOUT null termination (NUL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
* @param param_id Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
* @param param_index Parameter index. Send -1 to use the param ID field as identifier (else the param id will be ignored)
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
@ -168,7 +168,7 @@ static inline uint8_t mavlink_msg_param_request_read_get_target_component(const
/**
* @brief Get field param_id from param_request_read message
*
* @return Onboard parameter id, terminated by NUL if the length is less than 16 human-readable chars and WITHOUT null termination (NUL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
* @return Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
*/
static inline uint16_t mavlink_msg_param_request_read_get_param_id(const mavlink_message_t* msg, char *param_id)
{

20
libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_param_set.h
View File

@ -7,8 +7,8 @@ typedef struct __mavlink_param_set_t
float param_value; ///< Onboard parameter value
uint8_t target_system; ///< System ID
uint8_t target_component; ///< Component ID
char param_id[16]; ///< Onboard parameter id, terminated by NUL if the length is less than 16 human-readable chars and WITHOUT null termination (NUL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
uint8_t param_type; ///< Onboard parameter type: see MAVLINK_TYPE enum in mavlink/mavlink_types.h
char param_id[16]; ///< Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
uint8_t param_type; ///< Onboard parameter type: see the MAV_PARAM_TYPE enum for supported data types.
} mavlink_param_set_t;
#define MAVLINK_MSG_ID_PARAM_SET_LEN 23
@ -36,9 +36,9 @@ typedef struct __mavlink_param_set_t
*
* @param target_system System ID
* @param target_component Component ID
* @param param_id Onboard parameter id, terminated by NUL if the length is less than 16 human-readable chars and WITHOUT null termination (NUL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
* @param param_id Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
* @param param_value Onboard parameter value
* @param param_type Onboard parameter type: see MAVLINK_TYPE enum in mavlink/mavlink_types.h
* @param param_type Onboard parameter type: see the MAV_PARAM_TYPE enum for supported data types.
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_param_set_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
@ -74,9 +74,9 @@ static inline uint16_t mavlink_msg_param_set_pack(uint8_t system_id, uint8_t com
* @param msg The MAVLink message to compress the data into
* @param target_system System ID
* @param target_component Component ID
* @param param_id Onboard parameter id, terminated by NUL if the length is less than 16 human-readable chars and WITHOUT null termination (NUL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
* @param param_id Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
* @param param_value Onboard parameter value
* @param param_type Onboard parameter type: see MAVLINK_TYPE enum in mavlink/mavlink_types.h
* @param param_type Onboard parameter type: see the MAV_PARAM_TYPE enum for supported data types.
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_param_set_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
@ -124,9 +124,9 @@ static inline uint16_t mavlink_msg_param_set_encode(uint8_t system_id, uint8_t c
*
* @param target_system System ID
* @param target_component Component ID
* @param param_id Onboard parameter id, terminated by NUL if the length is less than 16 human-readable chars and WITHOUT null termination (NUL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
* @param param_id Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
* @param param_value Onboard parameter value
* @param param_type Onboard parameter type: see MAVLINK_TYPE enum in mavlink/mavlink_types.h
* @param param_type Onboard parameter type: see the MAV_PARAM_TYPE enum for supported data types.
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
@ -179,7 +179,7 @@ static inline uint8_t mavlink_msg_param_set_get_target_component(const mavlink_m
/**
* @brief Get field param_id from param_set message
*
* @return Onboard parameter id, terminated by NUL if the length is less than 16 human-readable chars and WITHOUT null termination (NUL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
* @return Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
*/
static inline uint16_t mavlink_msg_param_set_get_param_id(const mavlink_message_t* msg, char *param_id)
{
@ -199,7 +199,7 @@ static inline float mavlink_msg_param_set_get_param_value(const mavlink_message_
/**
* @brief Get field param_type from param_set message
*
* @return Onboard parameter type: see MAVLINK_TYPE enum in mavlink/mavlink_types.h
* @return Onboard parameter type: see the MAV_PARAM_TYPE enum for supported data types.
*/
static inline uint8_t mavlink_msg_param_set_get_param_type(const mavlink_message_t* msg)
{

20
libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_param_value.h
View File

@ -7,8 +7,8 @@ typedef struct __mavlink_param_value_t
float param_value; ///< Onboard parameter value
uint16_t param_count; ///< Total number of onboard parameters
uint16_t param_index; ///< Index of this onboard parameter
char param_id[16]; ///< Onboard parameter id, terminated by NUL if the length is less than 16 human-readable chars and WITHOUT null termination (NUL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
uint8_t param_type; ///< Onboard parameter type: see MAVLINK_TYPE enum in mavlink/mavlink_types.h
char param_id[16]; ///< Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
uint8_t param_type; ///< Onboard parameter type: see the MAV_PARAM_TYPE enum for supported data types.
} mavlink_param_value_t;
#define MAVLINK_MSG_ID_PARAM_VALUE_LEN 25
@ -34,9 +34,9 @@ typedef struct __mavlink_param_value_t
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param param_id Onboard parameter id, terminated by NUL if the length is less than 16 human-readable chars and WITHOUT null termination (NUL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
* @param param_id Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
* @param param_value Onboard parameter value
* @param param_type Onboard parameter type: see MAVLINK_TYPE enum in mavlink/mavlink_types.h
* @param param_type Onboard parameter type: see the MAV_PARAM_TYPE enum for supported data types.
* @param param_count Total number of onboard parameters
* @param param_index Index of this onboard parameter
* @return length of the message in bytes (excluding serial stream start sign)
@ -72,9 +72,9 @@ static inline uint16_t mavlink_msg_param_value_pack(uint8_t system_id, uint8_t c
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param param_id Onboard parameter id, terminated by NUL if the length is less than 16 human-readable chars and WITHOUT null termination (NUL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
* @param param_id Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
* @param param_value Onboard parameter value
* @param param_type Onboard parameter type: see MAVLINK_TYPE enum in mavlink/mavlink_types.h
* @param param_type Onboard parameter type: see the MAV_PARAM_TYPE enum for supported data types.
* @param param_count Total number of onboard parameters
* @param param_index Index of this onboard parameter
* @return length of the message in bytes (excluding serial stream start sign)
@ -122,9 +122,9 @@ static inline uint16_t mavlink_msg_param_value_encode(uint8_t system_id, uint8_t
* @brief Send a param_value message
* @param chan MAVLink channel to send the message
*
* @param param_id Onboard parameter id, terminated by NUL if the length is less than 16 human-readable chars and WITHOUT null termination (NUL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
* @param param_id Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
* @param param_value Onboard parameter value
* @param param_type Onboard parameter type: see MAVLINK_TYPE enum in mavlink/mavlink_types.h
* @param param_type Onboard parameter type: see the MAV_PARAM_TYPE enum for supported data types.
* @param param_count Total number of onboard parameters
* @param param_index Index of this onboard parameter
*/
@ -159,7 +159,7 @@ static inline void mavlink_msg_param_value_send(mavlink_channel_t chan, const ch
/**
* @brief Get field param_id from param_value message
*
* @return Onboard parameter id, terminated by NUL if the length is less than 16 human-readable chars and WITHOUT null termination (NUL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
* @return Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
*/
static inline uint16_t mavlink_msg_param_value_get_param_id(const mavlink_message_t* msg, char *param_id)
{
@ -179,7 +179,7 @@ static inline float mavlink_msg_param_value_get_param_value(const mavlink_messag
/**
* @brief Get field param_type from param_value message
*
* @return Onboard parameter type: see MAVLINK_TYPE enum in mavlink/mavlink_types.h
* @return Onboard parameter type: see the MAV_PARAM_TYPE enum for supported data types.
*/
static inline uint8_t mavlink_msg_param_value_get_param_type(const mavlink_message_t* msg)
{

100
libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_rc_channels_raw.h
View File

@ -5,16 +5,16 @@
typedef struct __mavlink_rc_channels_raw_t
{
uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot)
uint16_t chan1_raw; ///< RC channel 1 value, in microseconds
uint16_t chan2_raw; ///< RC channel 2 value, in microseconds
uint16_t chan3_raw; ///< RC channel 3 value, in microseconds
uint16_t chan4_raw; ///< RC channel 4 value, in microseconds
uint16_t chan5_raw; ///< RC channel 5 value, in microseconds
uint16_t chan6_raw; ///< RC channel 6 value, in microseconds
uint16_t chan7_raw; ///< RC channel 7 value, in microseconds
uint16_t chan8_raw; ///< RC channel 8 value, in microseconds
uint8_t port; ///< Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.
uint8_t rssi; ///< Receive signal strength indicator, 0: 0%, 255: 100%
uint16_t chan1_raw; ///< RC channel 1 value, in microseconds. A value of 65535 implies the channel is unused.
uint16_t chan2_raw; ///< RC channel 2 value, in microseconds. A value of 65535 implies the channel is unused.
uint16_t chan3_raw; ///< RC channel 3 value, in microseconds. A value of 65535 implies the channel is unused.
uint16_t chan4_raw; ///< RC channel 4 value, in microseconds. A value of 65535 implies the channel is unused.
uint16_t chan5_raw; ///< RC channel 5 value, in microseconds. A value of 65535 implies the channel is unused.
uint16_t chan6_raw; ///< RC channel 6 value, in microseconds. A value of 65535 implies the channel is unused.
uint16_t chan7_raw; ///< RC channel 7 value, in microseconds. A value of 65535 implies the channel is unused.
uint16_t chan8_raw; ///< RC channel 8 value, in microseconds. A value of 65535 implies the channel is unused.
uint8_t port; ///< Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows for more than 8 servos.
uint8_t rssi; ///< Receive signal strength indicator, 0: 0%, 100: 100%, 255: invalid/unknown.
} mavlink_rc_channels_raw_t;
#define MAVLINK_MSG_ID_RC_CHANNELS_RAW_LEN 22
@ -47,16 +47,16 @@ typedef struct __mavlink_rc_channels_raw_t
* @param msg The MAVLink message to compress the data into
*
* @param time_boot_ms Timestamp (milliseconds since system boot)
* @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.
* @param chan1_raw RC channel 1 value, in microseconds
* @param chan2_raw RC channel 2 value, in microseconds
* @param chan3_raw RC channel 3 value, in microseconds
* @param chan4_raw RC channel 4 value, in microseconds
* @param chan5_raw RC channel 5 value, in microseconds
* @param chan6_raw RC channel 6 value, in microseconds
* @param chan7_raw RC channel 7 value, in microseconds
* @param chan8_raw RC channel 8 value, in microseconds
* @param rssi Receive signal strength indicator, 0: 0%, 255: 100%
* @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows for more than 8 servos.
* @param chan1_raw RC channel 1 value, in microseconds. A value of 65535 implies the channel is unused.
* @param chan2_raw RC channel 2 value, in microseconds. A value of 65535 implies the channel is unused.
* @param chan3_raw RC channel 3 value, in microseconds. A value of 65535 implies the channel is unused.
* @param chan4_raw RC channel 4 value, in microseconds. A value of 65535 implies the channel is unused.
* @param chan5_raw RC channel 5 value, in microseconds. A value of 65535 implies the channel is unused.
* @param chan6_raw RC channel 6 value, in microseconds. A value of 65535 implies the channel is unused.
* @param chan7_raw RC channel 7 value, in microseconds. A value of 65535 implies the channel is unused.
* @param chan8_raw RC channel 8 value, in microseconds. A value of 65535 implies the channel is unused.
* @param rssi Receive signal strength indicator, 0: 0%, 100: 100%, 255: invalid/unknown.
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_rc_channels_raw_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
@ -105,16 +105,16 @@ static inline uint16_t mavlink_msg_rc_channels_raw_pack(uint8_t system_id, uint8
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param time_boot_ms Timestamp (milliseconds since system boot)
* @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.
* @param chan1_raw RC channel 1 value, in microseconds
* @param chan2_raw RC channel 2 value, in microseconds
* @param chan3_raw RC channel 3 value, in microseconds
* @param chan4_raw RC channel 4 value, in microseconds
* @param chan5_raw RC channel 5 value, in microseconds
* @param chan6_raw RC channel 6 value, in microseconds
* @param chan7_raw RC channel 7 value, in microseconds
* @param chan8_raw RC channel 8 value, in microseconds
* @param rssi Receive signal strength indicator, 0: 0%, 255: 100%
* @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows for more than 8 servos.
* @param chan1_raw RC channel 1 value, in microseconds. A value of 65535 implies the channel is unused.
* @param chan2_raw RC channel 2 value, in microseconds. A value of 65535 implies the channel is unused.
* @param chan3_raw RC channel 3 value, in microseconds. A value of 65535 implies the channel is unused.
* @param chan4_raw RC channel 4 value, in microseconds. A value of 65535 implies the channel is unused.
* @param chan5_raw RC channel 5 value, in microseconds. A value of 65535 implies the channel is unused.
* @param chan6_raw RC channel 6 value, in microseconds. A value of 65535 implies the channel is unused.
* @param chan7_raw RC channel 7 value, in microseconds. A value of 65535 implies the channel is unused.
* @param chan8_raw RC channel 8 value, in microseconds. A value of 65535 implies the channel is unused.
* @param rssi Receive signal strength indicator, 0: 0%, 100: 100%, 255: invalid/unknown.
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_rc_channels_raw_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
@ -175,16 +175,16 @@ static inline uint16_t mavlink_msg_rc_channels_raw_encode(uint8_t system_id, uin
* @param chan MAVLink channel to send the message
*
* @param time_boot_ms Timestamp (milliseconds since system boot)
* @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.
* @param chan1_raw RC channel 1 value, in microseconds
* @param chan2_raw RC channel 2 value, in microseconds
* @param chan3_raw RC channel 3 value, in microseconds
* @param chan4_raw RC channel 4 value, in microseconds
* @param chan5_raw RC channel 5 value, in microseconds
* @param chan6_raw RC channel 6 value, in microseconds
* @param chan7_raw RC channel 7 value, in microseconds
* @param chan8_raw RC channel 8 value, in microseconds
* @param rssi Receive signal strength indicator, 0: 0%, 255: 100%
* @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows for more than 8 servos.
* @param chan1_raw RC channel 1 value, in microseconds. A value of 65535 implies the channel is unused.
* @param chan2_raw RC channel 2 value, in microseconds. A value of 65535 implies the channel is unused.
* @param chan3_raw RC channel 3 value, in microseconds. A value of 65535 implies the channel is unused.
* @param chan4_raw RC channel 4 value, in microseconds. A value of 65535 implies the channel is unused.
* @param chan5_raw RC channel 5 value, in microseconds. A value of 65535 implies the channel is unused.
* @param chan6_raw RC channel 6 value, in microseconds. A value of 65535 implies the channel is unused.
* @param chan7_raw RC channel 7 value, in microseconds. A value of 65535 implies the channel is unused.
* @param chan8_raw RC channel 8 value, in microseconds. A value of 65535 implies the channel is unused.
* @param rssi Receive signal strength indicator, 0: 0%, 100: 100%, 255: invalid/unknown.
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
@ -241,7 +241,7 @@ static inline uint32_t mavlink_msg_rc_channels_raw_get_time_boot_ms(const mavlin
/**
* @brief Get field port from rc_channels_raw message
*
* @return Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.
* @return Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows for more than 8 servos.
*/
static inline uint8_t mavlink_msg_rc_channels_raw_get_port(const mavlink_message_t* msg)
{
@ -251,7 +251,7 @@ static inline uint8_t mavlink_msg_rc_channels_raw_get_port(const mavlink_message
/**
* @brief Get field chan1_raw from rc_channels_raw message
*
* @return RC channel 1 value, in microseconds
* @return RC channel 1 value, in microseconds. A value of 65535 implies the channel is unused.
*/
static inline uint16_t mavlink_msg_rc_channels_raw_get_chan1_raw(const mavlink_message_t* msg)
{
@ -261,7 +261,7 @@ static inline uint16_t mavlink_msg_rc_channels_raw_get_chan1_raw(const mavlink_m
/**
* @brief Get field chan2_raw from rc_channels_raw message
*
* @return RC channel 2 value, in microseconds
* @return RC channel 2 value, in microseconds. A value of 65535 implies the channel is unused.
*/
static inline uint16_t mavlink_msg_rc_channels_raw_get_chan2_raw(const mavlink_message_t* msg)
{
@ -271,7 +271,7 @@ static inline uint16_t mavlink_msg_rc_channels_raw_get_chan2_raw(const mavlink_m
/**
* @brief Get field chan3_raw from rc_channels_raw message
*
* @return RC channel 3 value, in microseconds
* @return RC channel 3 value, in microseconds. A value of 65535 implies the channel is unused.
*/
static inline uint16_t mavlink_msg_rc_channels_raw_get_chan3_raw(const mavlink_message_t* msg)
{
@ -281,7 +281,7 @@ static inline uint16_t mavlink_msg_rc_channels_raw_get_chan3_raw(const mavlink_m
/**
* @brief Get field chan4_raw from rc_channels_raw message
*
* @return RC channel 4 value, in microseconds
* @return RC channel 4 value, in microseconds. A value of 65535 implies the channel is unused.
*/
static inline uint16_t mavlink_msg_rc_channels_raw_get_chan4_raw(const mavlink_message_t* msg)
{
@ -291,7 +291,7 @@ static inline uint16_t mavlink_msg_rc_channels_raw_get_chan4_raw(const mavlink_m
/**
* @brief Get field chan5_raw from rc_channels_raw message
*
* @return RC channel 5 value, in microseconds
* @return RC channel 5 value, in microseconds. A value of 65535 implies the channel is unused.
*/
static inline uint16_t mavlink_msg_rc_channels_raw_get_chan5_raw(const mavlink_message_t* msg)
{
@ -301,7 +301,7 @@ static inline uint16_t mavlink_msg_rc_channels_raw_get_chan5_raw(const mavlink_m
/**
* @brief Get field chan6_raw from rc_channels_raw message
*
* @return RC channel 6 value, in microseconds
* @return RC channel 6 value, in microseconds. A value of 65535 implies the channel is unused.
*/
static inline uint16_t mavlink_msg_rc_channels_raw_get_chan6_raw(const mavlink_message_t* msg)
{
@ -311,7 +311,7 @@ static inline uint16_t mavlink_msg_rc_channels_raw_get_chan6_raw(const mavlink_m
/**
* @brief Get field chan7_raw from rc_channels_raw message
*
* @return RC channel 7 value, in microseconds
* @return RC channel 7 value, in microseconds. A value of 65535 implies the channel is unused.
*/
static inline uint16_t mavlink_msg_rc_channels_raw_get_chan7_raw(const mavlink_message_t* msg)
{
@ -321,7 +321,7 @@ static inline uint16_t mavlink_msg_rc_channels_raw_get_chan7_raw(const mavlink_m
/**
* @brief Get field chan8_raw from rc_channels_raw message
*
* @return RC channel 8 value, in microseconds
* @return RC channel 8 value, in microseconds. A value of 65535 implies the channel is unused.
*/
static inline uint16_t mavlink_msg_rc_channels_raw_get_chan8_raw(const mavlink_message_t* msg)
{
@ -331,7 +331,7 @@ static inline uint16_t mavlink_msg_rc_channels_raw_get_chan8_raw(const mavlink_m
/**
* @brief Get field rssi from rc_channels_raw message
*
* @return Receive signal strength indicator, 0: 0%, 255: 100%
* @return Receive signal strength indicator, 0: 0%, 100: 100%, 255: invalid/unknown.
*/
static inline uint8_t mavlink_msg_rc_channels_raw_get_rssi(const mavlink_message_t* msg)
{

100
libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_rc_channels_scaled.h
View File

@ -5,16 +5,16 @@
typedef struct __mavlink_rc_channels_scaled_t
{
uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot)
int16_t chan1_scaled; ///< RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
int16_t chan2_scaled; ///< RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
int16_t chan3_scaled; ///< RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
int16_t chan4_scaled; ///< RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
int16_t chan5_scaled; ///< RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
int16_t chan6_scaled; ///< RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
int16_t chan7_scaled; ///< RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
int16_t chan8_scaled; ///< RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
uint8_t port; ///< Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.
uint8_t rssi; ///< Receive signal strength indicator, 0: 0%, 255: 100%
int16_t chan1_scaled; ///< RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
int16_t chan2_scaled; ///< RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
int16_t chan3_scaled; ///< RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
int16_t chan4_scaled; ///< RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
int16_t chan5_scaled; ///< RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
int16_t chan6_scaled; ///< RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
int16_t chan7_scaled; ///< RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
int16_t chan8_scaled; ///< RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
uint8_t port; ///< Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows for more than 8 servos.
uint8_t rssi; ///< Receive signal strength indicator, 0: 0%, 100: 100%, 255: invalid/unknown.
} mavlink_rc_channels_scaled_t;
#define MAVLINK_MSG_ID_RC_CHANNELS_SCALED_LEN 22
@ -47,16 +47,16 @@ typedef struct __mavlink_rc_channels_scaled_t
* @param msg The MAVLink message to compress the data into
*
* @param time_boot_ms Timestamp (milliseconds since system boot)
* @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.
* @param chan1_scaled RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
* @param chan2_scaled RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
* @param chan3_scaled RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
* @param chan4_scaled RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
* @param chan5_scaled RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
* @param chan6_scaled RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
* @param chan7_scaled RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
* @param chan8_scaled RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
* @param rssi Receive signal strength indicator, 0: 0%, 255: 100%
* @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows for more than 8 servos.
* @param chan1_scaled RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
* @param chan2_scaled RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
* @param chan3_scaled RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
* @param chan4_scaled RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
* @param chan5_scaled RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
* @param chan6_scaled RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
* @param chan7_scaled RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
* @param chan8_scaled RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
* @param rssi Receive signal strength indicator, 0: 0%, 100: 100%, 255: invalid/unknown.
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_rc_channels_scaled_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
@ -105,16 +105,16 @@ static inline uint16_t mavlink_msg_rc_channels_scaled_pack(uint8_t system_id, ui
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param time_boot_ms Timestamp (milliseconds since system boot)
* @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.
* @param chan1_scaled RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
* @param chan2_scaled RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
* @param chan3_scaled RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
* @param chan4_scaled RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
* @param chan5_scaled RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
* @param chan6_scaled RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
* @param chan7_scaled RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
* @param chan8_scaled RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
* @param rssi Receive signal strength indicator, 0: 0%, 255: 100%
* @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows for more than 8 servos.
* @param chan1_scaled RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
* @param chan2_scaled RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
* @param chan3_scaled RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
* @param chan4_scaled RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
* @param chan5_scaled RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
* @param chan6_scaled RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
* @param chan7_scaled RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
* @param chan8_scaled RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
* @param rssi Receive signal strength indicator, 0: 0%, 100: 100%, 255: invalid/unknown.
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_rc_channels_scaled_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
@ -175,16 +175,16 @@ static inline uint16_t mavlink_msg_rc_channels_scaled_encode(uint8_t system_id,
* @param chan MAVLink channel to send the message
*
* @param time_boot_ms Timestamp (milliseconds since system boot)
* @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.
* @param chan1_scaled RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
* @param chan2_scaled RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
* @param chan3_scaled RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
* @param chan4_scaled RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
* @param chan5_scaled RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
* @param chan6_scaled RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
* @param chan7_scaled RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
* @param chan8_scaled RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
* @param rssi Receive signal strength indicator, 0: 0%, 255: 100%
* @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows for more than 8 servos.
* @param chan1_scaled RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
* @param chan2_scaled RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
* @param chan3_scaled RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
* @param chan4_scaled RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
* @param chan5_scaled RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
* @param chan6_scaled RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
* @param chan7_scaled RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
* @param chan8_scaled RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
* @param rssi Receive signal strength indicator, 0: 0%, 100: 100%, 255: invalid/unknown.
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
@ -241,7 +241,7 @@ static inline uint32_t mavlink_msg_rc_channels_scaled_get_time_boot_ms(const mav
/**
* @brief Get field port from rc_channels_scaled message
*
* @return Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.
* @return Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows for more than 8 servos.
*/
static inline uint8_t mavlink_msg_rc_channels_scaled_get_port(const mavlink_message_t* msg)
{
@ -251,7 +251,7 @@ static inline uint8_t mavlink_msg_rc_channels_scaled_get_port(const mavlink_mess
/**
* @brief Get field chan1_scaled from rc_channels_scaled message
*
* @return RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
* @return RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
*/
static inline int16_t mavlink_msg_rc_channels_scaled_get_chan1_scaled(const mavlink_message_t* msg)
{
@ -261,7 +261,7 @@ static inline int16_t mavlink_msg_rc_channels_scaled_get_chan1_scaled(const mavl
/**
* @brief Get field chan2_scaled from rc_channels_scaled message
*
* @return RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
* @return RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
*/
static inline int16_t mavlink_msg_rc_channels_scaled_get_chan2_scaled(const mavlink_message_t* msg)
{
@ -271,7 +271,7 @@ static inline int16_t mavlink_msg_rc_channels_scaled_get_chan2_scaled(const mavl
/**
* @brief Get field chan3_scaled from rc_channels_scaled message
*
* @return RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
* @return RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
*/
static inline int16_t mavlink_msg_rc_channels_scaled_get_chan3_scaled(const mavlink_message_t* msg)
{
@ -281,7 +281,7 @@ static inline int16_t mavlink_msg_rc_channels_scaled_get_chan3_scaled(const mavl
/**
* @brief Get field chan4_scaled from rc_channels_scaled message
*
* @return RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
* @return RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
*/
static inline int16_t mavlink_msg_rc_channels_scaled_get_chan4_scaled(const mavlink_message_t* msg)
{
@ -291,7 +291,7 @@ static inline int16_t mavlink_msg_rc_channels_scaled_get_chan4_scaled(const mavl
/**
* @brief Get field chan5_scaled from rc_channels_scaled message
*
* @return RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
* @return RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
*/
static inline int16_t mavlink_msg_rc_channels_scaled_get_chan5_scaled(const mavlink_message_t* msg)
{
@ -301,7 +301,7 @@ static inline int16_t mavlink_msg_rc_channels_scaled_get_chan5_scaled(const mavl
/**
* @brief Get field chan6_scaled from rc_channels_scaled message
*
* @return RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
* @return RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
*/
static inline int16_t mavlink_msg_rc_channels_scaled_get_chan6_scaled(const mavlink_message_t* msg)
{
@ -311,7 +311,7 @@ static inline int16_t mavlink_msg_rc_channels_scaled_get_chan6_scaled(const mavl
/**
* @brief Get field chan7_scaled from rc_channels_scaled message
*
* @return RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
* @return RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
*/
static inline int16_t mavlink_msg_rc_channels_scaled_get_chan7_scaled(const mavlink_message_t* msg)
{
@ -321,7 +321,7 @@ static inline int16_t mavlink_msg_rc_channels_scaled_get_chan7_scaled(const mavl
/**
* @brief Get field chan8_scaled from rc_channels_scaled message
*
* @return RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
* @return RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
*/
static inline int16_t mavlink_msg_rc_channels_scaled_get_chan8_scaled(const mavlink_message_t* msg)
{
@ -331,7 +331,7 @@ static inline int16_t mavlink_msg_rc_channels_scaled_get_chan8_scaled(const mavl
/**
* @brief Get field rssi from rc_channels_scaled message
*
* @return Receive signal strength indicator, 0: 0%, 255: 100%
* @return Receive signal strength indicator, 0: 0%, 100: 100%, 255: invalid/unknown.
*/
static inline uint8_t mavlink_msg_rc_channels_scaled_get_rssi(const mavlink_message_t* msg)
{

232
libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint.h Normal file
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@ -0,0 +1,232 @@
// MESSAGE ROLL_PITCH_YAW_RATES_THRUST_SETPOINT PACKING
#define MAVLINK_MSG_ID_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT 80
typedef struct __mavlink_roll_pitch_yaw_rates_thrust_setpoint_t
{
uint32_t time_boot_ms; ///< Timestamp in milliseconds since system boot
float roll_rate; ///< Desired roll rate in radians per second
float pitch_rate; ///< Desired pitch rate in radians per second
float yaw_rate; ///< Desired yaw rate in radians per second
float thrust; ///< Collective thrust, normalized to 0 .. 1
} mavlink_roll_pitch_yaw_rates_thrust_setpoint_t;
#define MAVLINK_MSG_ID_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT_LEN 20
#define MAVLINK_MSG_ID_80_LEN 20
#define MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT { \
"ROLL_PITCH_YAW_RATES_THRUST_SETPOINT", \
5, \
{ { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_roll_pitch_yaw_rates_thrust_setpoint_t, time_boot_ms) }, \
{ "roll_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_roll_pitch_yaw_rates_thrust_setpoint_t, roll_rate) }, \
{ "pitch_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_roll_pitch_yaw_rates_thrust_setpoint_t, pitch_rate) }, \
{ "yaw_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_roll_pitch_yaw_rates_thrust_setpoint_t, yaw_rate) }, \
{ "thrust", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_roll_pitch_yaw_rates_thrust_setpoint_t, thrust) }, \
} \
}
/**
* @brief Pack a roll_pitch_yaw_rates_thrust_setpoint 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_boot_ms Timestamp in milliseconds since system boot
* @param roll_rate Desired roll rate in radians per second
* @param pitch_rate Desired pitch rate in radians per second
* @param yaw_rate Desired yaw rate in radians per second
* @param thrust Collective thrust, normalized to 0 .. 1
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint32_t time_boot_ms, float roll_rate, float pitch_rate, float yaw_rate, float thrust)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[20];
_mav_put_uint32_t(buf, 0, time_boot_ms);
_mav_put_float(buf, 4, roll_rate);
_mav_put_float(buf, 8, pitch_rate);
_mav_put_float(buf, 12, yaw_rate);
_mav_put_float(buf, 16, thrust);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 20);
#else
mavlink_roll_pitch_yaw_rates_thrust_setpoint_t packet;
packet.time_boot_ms = time_boot_ms;
packet.roll_rate = roll_rate;
packet.pitch_rate = pitch_rate;
packet.yaw_rate = yaw_rate;
packet.thrust = thrust;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 20);
#endif
msg->msgid = MAVLINK_MSG_ID_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT;
return mavlink_finalize_message(msg, system_id, component_id, 20, 127);
}
/**
* @brief Pack a roll_pitch_yaw_rates_thrust_setpoint 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 was sent over
* @param msg The MAVLink message to compress the data into
* @param time_boot_ms Timestamp in milliseconds since system boot
* @param roll_rate Desired roll rate in radians per second
* @param pitch_rate Desired pitch rate in radians per second
* @param yaw_rate Desired yaw rate in radians per second
* @param thrust Collective thrust, normalized to 0 .. 1
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint32_t time_boot_ms,float roll_rate,float pitch_rate,float yaw_rate,float thrust)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[20];
_mav_put_uint32_t(buf, 0, time_boot_ms);
_mav_put_float(buf, 4, roll_rate);
_mav_put_float(buf, 8, pitch_rate);
_mav_put_float(buf, 12, yaw_rate);
_mav_put_float(buf, 16, thrust);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 20);
#else
mavlink_roll_pitch_yaw_rates_thrust_setpoint_t packet;
packet.time_boot_ms = time_boot_ms;
packet.roll_rate = roll_rate;
packet.pitch_rate = pitch_rate;
packet.yaw_rate = yaw_rate;
packet.thrust = thrust;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 20);
#endif
msg->msgid = MAVLINK_MSG_ID_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 20, 127);
}
/**
* @brief Encode a roll_pitch_yaw_rates_thrust_setpoint struct into a 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 roll_pitch_yaw_rates_thrust_setpoint C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_roll_pitch_yaw_rates_thrust_setpoint_t* roll_pitch_yaw_rates_thrust_setpoint)
{
return mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_pack(system_id, component_id, msg, roll_pitch_yaw_rates_thrust_setpoint->time_boot_ms, roll_pitch_yaw_rates_thrust_setpoint->roll_rate, roll_pitch_yaw_rates_thrust_setpoint->pitch_rate, roll_pitch_yaw_rates_thrust_setpoint->yaw_rate, roll_pitch_yaw_rates_thrust_setpoint->thrust);
}
/**
* @brief Send a roll_pitch_yaw_rates_thrust_setpoint message
* @param chan MAVLink channel to send the message
*
* @param time_boot_ms Timestamp in milliseconds since system boot
* @param roll_rate Desired roll rate in radians per second
* @param pitch_rate Desired pitch rate in radians per second
* @param yaw_rate Desired yaw rate in radians per second
* @param thrust Collective thrust, normalized to 0 .. 1
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_send(mavlink_channel_t chan, uint32_t time_boot_ms, float roll_rate, float pitch_rate, float yaw_rate, float thrust)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[20];
_mav_put_uint32_t(buf, 0, time_boot_ms);
_mav_put_float(buf, 4, roll_rate);
_mav_put_float(buf, 8, pitch_rate);
_mav_put_float(buf, 12, yaw_rate);
_mav_put_float(buf, 16, thrust);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT, buf, 20, 127);
#else
mavlink_roll_pitch_yaw_rates_thrust_setpoint_t packet;
packet.time_boot_ms = time_boot_ms;
packet.roll_rate = roll_rate;
packet.pitch_rate = pitch_rate;
packet.yaw_rate = yaw_rate;
packet.thrust = thrust;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT, (const char *)&packet, 20, 127);
#endif
}
#endif
// MESSAGE ROLL_PITCH_YAW_RATES_THRUST_SETPOINT UNPACKING
/**
* @brief Get field time_boot_ms from roll_pitch_yaw_rates_thrust_setpoint message
*
* @return Timestamp in milliseconds since system boot
*/
static inline uint32_t mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_get_time_boot_ms(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint32_t(msg, 0);
}
/**
* @brief Get field roll_rate from roll_pitch_yaw_rates_thrust_setpoint message
*
* @return Desired roll rate in radians per second
*/
static inline float mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_get_roll_rate(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 4);
}
/**
* @brief Get field pitch_rate from roll_pitch_yaw_rates_thrust_setpoint message
*
* @return Desired pitch rate in radians per second
*/
static inline float mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_get_pitch_rate(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 8);
}
/**
* @brief Get field yaw_rate from roll_pitch_yaw_rates_thrust_setpoint message
*
* @return Desired yaw rate in radians per second
*/
static inline float mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_get_yaw_rate(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 12);
}
/**
* @brief Get field thrust from roll_pitch_yaw_rates_thrust_setpoint message
*
* @return Collective thrust, normalized to 0 .. 1
*/
static inline float mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_get_thrust(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 16);
}
/**
* @brief Decode a roll_pitch_yaw_rates_thrust_setpoint message into a struct
*
* @param msg The message to decode
* @param roll_pitch_yaw_rates_thrust_setpoint C-struct to decode the message contents into
*/
static inline void mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_decode(const mavlink_message_t* msg, mavlink_roll_pitch_yaw_rates_thrust_setpoint_t* roll_pitch_yaw_rates_thrust_setpoint)
{
#if MAVLINK_NEED_BYTE_SWAP
roll_pitch_yaw_rates_thrust_setpoint->time_boot_ms = mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_get_time_boot_ms(msg);
roll_pitch_yaw_rates_thrust_setpoint->roll_rate = mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_get_roll_rate(msg);
roll_pitch_yaw_rates_thrust_setpoint->pitch_rate = mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_get_pitch_rate(msg);
roll_pitch_yaw_rates_thrust_setpoint->yaw_rate = mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_get_yaw_rate(msg);
roll_pitch_yaw_rates_thrust_setpoint->thrust = mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_get_thrust(msg);
#else
memcpy(roll_pitch_yaw_rates_thrust_setpoint, _MAV_PAYLOAD(msg), 20);
#endif
}

276
libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_setpoint_6dof.h Normal file
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@ -0,0 +1,276 @@
// MESSAGE SETPOINT_6DOF PACKING
#define MAVLINK_MSG_ID_SETPOINT_6DOF 149
typedef struct __mavlink_setpoint_6dof_t
{
float trans_x; ///< Translational Component in x
float trans_y; ///< Translational Component in y
float trans_z; ///< Translational Component in z
float rot_x; ///< Rotational Component in x
float rot_y; ///< Rotational Component in y
float rot_z; ///< Rotational Component in z
uint8_t target_system; ///< System ID
} mavlink_setpoint_6dof_t;
#define MAVLINK_MSG_ID_SETPOINT_6DOF_LEN 25
#define MAVLINK_MSG_ID_149_LEN 25
#define MAVLINK_MESSAGE_INFO_SETPOINT_6DOF { \
"SETPOINT_6DOF", \
7, \
{ { "trans_x", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_setpoint_6dof_t, trans_x) }, \
{ "trans_y", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_setpoint_6dof_t, trans_y) }, \
{ "trans_z", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_setpoint_6dof_t, trans_z) }, \
{ "rot_x", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_setpoint_6dof_t, rot_x) }, \
{ "rot_y", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_setpoint_6dof_t, rot_y) }, \
{ "rot_z", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_setpoint_6dof_t, rot_z) }, \
{ "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 24, offsetof(mavlink_setpoint_6dof_t, target_system) }, \
} \
}
/**
* @brief Pack a setpoint_6dof 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 target_system System ID
* @param trans_x Translational Component in x
* @param trans_y Translational Component in y
* @param trans_z Translational Component in z
* @param rot_x Rotational Component in x
* @param rot_y Rotational Component in y
* @param rot_z Rotational Component in z
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_setpoint_6dof_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t target_system, float trans_x, float trans_y, float trans_z, float rot_x, float rot_y, float rot_z)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[25];
_mav_put_float(buf, 0, trans_x);
_mav_put_float(buf, 4, trans_y);
_mav_put_float(buf, 8, trans_z);
_mav_put_float(buf, 12, rot_x);
_mav_put_float(buf, 16, rot_y);
_mav_put_float(buf, 20, rot_z);
_mav_put_uint8_t(buf, 24, target_system);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 25);
#else
mavlink_setpoint_6dof_t packet;
packet.trans_x = trans_x;
packet.trans_y = trans_y;
packet.trans_z = trans_z;
packet.rot_x = rot_x;
packet.rot_y = rot_y;
packet.rot_z = rot_z;
packet.target_system = target_system;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 25);
#endif
msg->msgid = MAVLINK_MSG_ID_SETPOINT_6DOF;
return mavlink_finalize_message(msg, system_id, component_id, 25, 15);
}
/**
* @brief Pack a setpoint_6dof 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 was sent over
* @param msg The MAVLink message to compress the data into
* @param target_system System ID
* @param trans_x Translational Component in x
* @param trans_y Translational Component in y
* @param trans_z Translational Component in z
* @param rot_x Rotational Component in x
* @param rot_y Rotational Component in y
* @param rot_z Rotational Component in z
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_setpoint_6dof_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint8_t target_system,float trans_x,float trans_y,float trans_z,float rot_x,float rot_y,float rot_z)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[25];
_mav_put_float(buf, 0, trans_x);
_mav_put_float(buf, 4, trans_y);
_mav_put_float(buf, 8, trans_z);
_mav_put_float(buf, 12, rot_x);
_mav_put_float(buf, 16, rot_y);
_mav_put_float(buf, 20, rot_z);
_mav_put_uint8_t(buf, 24, target_system);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 25);
#else
mavlink_setpoint_6dof_t packet;
packet.trans_x = trans_x;
packet.trans_y = trans_y;
packet.trans_z = trans_z;
packet.rot_x = rot_x;
packet.rot_y = rot_y;
packet.rot_z = rot_z;
packet.target_system = target_system;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 25);
#endif
msg->msgid = MAVLINK_MSG_ID_SETPOINT_6DOF;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 25, 15);
}
/**
* @brief Encode a setpoint_6dof struct into a 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 setpoint_6dof C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_setpoint_6dof_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_setpoint_6dof_t* setpoint_6dof)
{
return mavlink_msg_setpoint_6dof_pack(system_id, component_id, msg, setpoint_6dof->target_system, setpoint_6dof->trans_x, setpoint_6dof->trans_y, setpoint_6dof->trans_z, setpoint_6dof->rot_x, setpoint_6dof->rot_y, setpoint_6dof->rot_z);
}
/**
* @brief Send a setpoint_6dof message
* @param chan MAVLink channel to send the message
*
* @param target_system System ID
* @param trans_x Translational Component in x
* @param trans_y Translational Component in y
* @param trans_z Translational Component in z
* @param rot_x Rotational Component in x
* @param rot_y Rotational Component in y
* @param rot_z Rotational Component in z
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_setpoint_6dof_send(mavlink_channel_t chan, uint8_t target_system, float trans_x, float trans_y, float trans_z, float rot_x, float rot_y, float rot_z)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[25];
_mav_put_float(buf, 0, trans_x);
_mav_put_float(buf, 4, trans_y);
_mav_put_float(buf, 8, trans_z);
_mav_put_float(buf, 12, rot_x);
_mav_put_float(buf, 16, rot_y);
_mav_put_float(buf, 20, rot_z);
_mav_put_uint8_t(buf, 24, target_system);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SETPOINT_6DOF, buf, 25, 15);
#else
mavlink_setpoint_6dof_t packet;
packet.trans_x = trans_x;
packet.trans_y = trans_y;
packet.trans_z = trans_z;
packet.rot_x = rot_x;
packet.rot_y = rot_y;
packet.rot_z = rot_z;
packet.target_system = target_system;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SETPOINT_6DOF, (const char *)&packet, 25, 15);
#endif
}
#endif
// MESSAGE SETPOINT_6DOF UNPACKING
/**
* @brief Get field target_system from setpoint_6dof message
*
* @return System ID
*/
static inline uint8_t mavlink_msg_setpoint_6dof_get_target_system(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 24);
}
/**
* @brief Get field trans_x from setpoint_6dof message
*
* @return Translational Component in x
*/
static inline float mavlink_msg_setpoint_6dof_get_trans_x(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 0);
}
/**
* @brief Get field trans_y from setpoint_6dof message
*
* @return Translational Component in y
*/
static inline float mavlink_msg_setpoint_6dof_get_trans_y(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 4);
}
/**
* @brief Get field trans_z from setpoint_6dof message
*
* @return Translational Component in z
*/
static inline float mavlink_msg_setpoint_6dof_get_trans_z(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 8);
}
/**
* @brief Get field rot_x from setpoint_6dof message
*
* @return Rotational Component in x
*/
static inline float mavlink_msg_setpoint_6dof_get_rot_x(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 12);
}
/**
* @brief Get field rot_y from setpoint_6dof message
*
* @return Rotational Component in y
*/
static inline float mavlink_msg_setpoint_6dof_get_rot_y(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 16);
}
/**
* @brief Get field rot_z from setpoint_6dof message
*
* @return Rotational Component in z
*/
static inline float mavlink_msg_setpoint_6dof_get_rot_z(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 20);
}
/**
* @brief Decode a setpoint_6dof message into a struct
*
* @param msg The message to decode
* @param setpoint_6dof C-struct to decode the message contents into
*/
static inline void mavlink_msg_setpoint_6dof_decode(const mavlink_message_t* msg, mavlink_setpoint_6dof_t* setpoint_6dof)
{
#if MAVLINK_NEED_BYTE_SWAP
setpoint_6dof->trans_x = mavlink_msg_setpoint_6dof_get_trans_x(msg);
setpoint_6dof->trans_y = mavlink_msg_setpoint_6dof_get_trans_y(msg);
setpoint_6dof->trans_z = mavlink_msg_setpoint_6dof_get_trans_z(msg);
setpoint_6dof->rot_x = mavlink_msg_setpoint_6dof_get_rot_x(msg);
setpoint_6dof->rot_y = mavlink_msg_setpoint_6dof_get_rot_y(msg);
setpoint_6dof->rot_z = mavlink_msg_setpoint_6dof_get_rot_z(msg);
setpoint_6dof->target_system = mavlink_msg_setpoint_6dof_get_target_system(msg);
#else
memcpy(setpoint_6dof, _MAV_PAYLOAD(msg), 25);
#endif
}

320
libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_setpoint_8dof.h Normal file
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// MESSAGE SETPOINT_8DOF PACKING
#define MAVLINK_MSG_ID_SETPOINT_8DOF 148
typedef struct __mavlink_setpoint_8dof_t
{
float val1; ///< Value 1
float val2; ///< Value 2
float val3; ///< Value 3
float val4; ///< Value 4
float val5; ///< Value 5
float val6; ///< Value 6
float val7; ///< Value 7
float val8; ///< Value 8
uint8_t target_system; ///< System ID
} mavlink_setpoint_8dof_t;
#define MAVLINK_MSG_ID_SETPOINT_8DOF_LEN 33
#define MAVLINK_MSG_ID_148_LEN 33
#define MAVLINK_MESSAGE_INFO_SETPOINT_8DOF { \
"SETPOINT_8DOF", \
9, \
{ { "val1", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_setpoint_8dof_t, val1) }, \
{ "val2", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_setpoint_8dof_t, val2) }, \
{ "val3", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_setpoint_8dof_t, val3) }, \
{ "val4", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_setpoint_8dof_t, val4) }, \
{ "val5", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_setpoint_8dof_t, val5) }, \
{ "val6", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_setpoint_8dof_t, val6) }, \
{ "val7", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_setpoint_8dof_t, val7) }, \
{ "val8", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_setpoint_8dof_t, val8) }, \
{ "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 32, offsetof(mavlink_setpoint_8dof_t, target_system) }, \
} \
}
/**
* @brief Pack a setpoint_8dof 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 target_system System ID
* @param val1 Value 1
* @param val2 Value 2
* @param val3 Value 3
* @param val4 Value 4
* @param val5 Value 5
* @param val6 Value 6
* @param val7 Value 7
* @param val8 Value 8
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_setpoint_8dof_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t target_system, float val1, float val2, float val3, float val4, float val5, float val6, float val7, float val8)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[33];
_mav_put_float(buf, 0, val1);
_mav_put_float(buf, 4, val2);
_mav_put_float(buf, 8, val3);
_mav_put_float(buf, 12, val4);
_mav_put_float(buf, 16, val5);
_mav_put_float(buf, 20, val6);
_mav_put_float(buf, 24, val7);
_mav_put_float(buf, 28, val8);
_mav_put_uint8_t(buf, 32, target_system);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 33);
#else
mavlink_setpoint_8dof_t packet;
packet.val1 = val1;
packet.val2 = val2;
packet.val3 = val3;
packet.val4 = val4;
packet.val5 = val5;
packet.val6 = val6;
packet.val7 = val7;
packet.val8 = val8;
packet.target_system = target_system;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 33);
#endif
msg->msgid = MAVLINK_MSG_ID_SETPOINT_8DOF;
return mavlink_finalize_message(msg, system_id, component_id, 33, 241);
}
/**
* @brief Pack a setpoint_8dof 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 was sent over
* @param msg The MAVLink message to compress the data into
* @param target_system System ID
* @param val1 Value 1
* @param val2 Value 2
* @param val3 Value 3
* @param val4 Value 4
* @param val5 Value 5
* @param val6 Value 6
* @param val7 Value 7
* @param val8 Value 8
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_setpoint_8dof_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint8_t target_system,float val1,float val2,float val3,float val4,float val5,float val6,float val7,float val8)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[33];
_mav_put_float(buf, 0, val1);
_mav_put_float(buf, 4, val2);
_mav_put_float(buf, 8, val3);
_mav_put_float(buf, 12, val4);
_mav_put_float(buf, 16, val5);
_mav_put_float(buf, 20, val6);
_mav_put_float(buf, 24, val7);
_mav_put_float(buf, 28, val8);
_mav_put_uint8_t(buf, 32, target_system);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 33);
#else
mavlink_setpoint_8dof_t packet;
packet.val1 = val1;
packet.val2 = val2;
packet.val3 = val3;
packet.val4 = val4;
packet.val5 = val5;
packet.val6 = val6;
packet.val7 = val7;
packet.val8 = val8;
packet.target_system = target_system;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 33);
#endif
msg->msgid = MAVLINK_MSG_ID_SETPOINT_8DOF;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 33, 241);
}
/**
* @brief Encode a setpoint_8dof struct into a 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 setpoint_8dof C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_setpoint_8dof_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_setpoint_8dof_t* setpoint_8dof)
{
return mavlink_msg_setpoint_8dof_pack(system_id, component_id, msg, setpoint_8dof->target_system, setpoint_8dof->val1, setpoint_8dof->val2, setpoint_8dof->val3, setpoint_8dof->val4, setpoint_8dof->val5, setpoint_8dof->val6, setpoint_8dof->val7, setpoint_8dof->val8);
}
/**
* @brief Send a setpoint_8dof message
* @param chan MAVLink channel to send the message
*
* @param target_system System ID
* @param val1 Value 1
* @param val2 Value 2
* @param val3 Value 3
* @param val4 Value 4
* @param val5 Value 5
* @param val6 Value 6
* @param val7 Value 7
* @param val8 Value 8
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_setpoint_8dof_send(mavlink_channel_t chan, uint8_t target_system, float val1, float val2, float val3, float val4, float val5, float val6, float val7, float val8)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[33];
_mav_put_float(buf, 0, val1);
_mav_put_float(buf, 4, val2);
_mav_put_float(buf, 8, val3);
_mav_put_float(buf, 12, val4);
_mav_put_float(buf, 16, val5);
_mav_put_float(buf, 20, val6);
_mav_put_float(buf, 24, val7);
_mav_put_float(buf, 28, val8);
_mav_put_uint8_t(buf, 32, target_system);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SETPOINT_8DOF, buf, 33, 241);
#else
mavlink_setpoint_8dof_t packet;
packet.val1 = val1;
packet.val2 = val2;
packet.val3 = val3;
packet.val4 = val4;
packet.val5 = val5;
packet.val6 = val6;
packet.val7 = val7;
packet.val8 = val8;
packet.target_system = target_system;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SETPOINT_8DOF, (const char *)&packet, 33, 241);
#endif
}
#endif
// MESSAGE SETPOINT_8DOF UNPACKING
/**
* @brief Get field target_system from setpoint_8dof message
*
* @return System ID
*/
static inline uint8_t mavlink_msg_setpoint_8dof_get_target_system(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 32);
}
/**
* @brief Get field val1 from setpoint_8dof message
*
* @return Value 1
*/
static inline float mavlink_msg_setpoint_8dof_get_val1(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 0);
}
/**
* @brief Get field val2 from setpoint_8dof message
*
* @return Value 2
*/
static inline float mavlink_msg_setpoint_8dof_get_val2(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 4);
}
/**
* @brief Get field val3 from setpoint_8dof message
*
* @return Value 3
*/
static inline float mavlink_msg_setpoint_8dof_get_val3(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 8);
}
/**
* @brief Get field val4 from setpoint_8dof message
*
* @return Value 4
*/
static inline float mavlink_msg_setpoint_8dof_get_val4(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 12);
}
/**
* @brief Get field val5 from setpoint_8dof message
*
* @return Value 5
*/
static inline float mavlink_msg_setpoint_8dof_get_val5(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 16);
}
/**
* @brief Get field val6 from setpoint_8dof message
*
* @return Value 6
*/
static inline float mavlink_msg_setpoint_8dof_get_val6(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 20);
}
/**
* @brief Get field val7 from setpoint_8dof message
*
* @return Value 7
*/
static inline float mavlink_msg_setpoint_8dof_get_val7(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 24);
}
/**
* @brief Get field val8 from setpoint_8dof message
*
* @return Value 8
*/
static inline float mavlink_msg_setpoint_8dof_get_val8(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 28);
}
/**
* @brief Decode a setpoint_8dof message into a struct
*
* @param msg The message to decode
* @param setpoint_8dof C-struct to decode the message contents into
*/
static inline void mavlink_msg_setpoint_8dof_decode(const mavlink_message_t* msg, mavlink_setpoint_8dof_t* setpoint_8dof)
{
#if MAVLINK_NEED_BYTE_SWAP
setpoint_8dof->val1 = mavlink_msg_setpoint_8dof_get_val1(msg);
setpoint_8dof->val2 = mavlink_msg_setpoint_8dof_get_val2(msg);
setpoint_8dof->val3 = mavlink_msg_setpoint_8dof_get_val3(msg);
setpoint_8dof->val4 = mavlink_msg_setpoint_8dof_get_val4(msg);
setpoint_8dof->val5 = mavlink_msg_setpoint_8dof_get_val5(msg);
setpoint_8dof->val6 = mavlink_msg_setpoint_8dof_get_val6(msg);
setpoint_8dof->val7 = mavlink_msg_setpoint_8dof_get_val7(msg);
setpoint_8dof->val8 = mavlink_msg_setpoint_8dof_get_val8(msg);
setpoint_8dof->target_system = mavlink_msg_setpoint_8dof_get_target_system(msg);
#else
memcpy(setpoint_8dof, _MAV_PAYLOAD(msg), 33);
#endif
}

10
libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_vicon_position_estimate.h
View File

@ -4,7 +4,7 @@
typedef struct __mavlink_vicon_position_estimate_t
{
uint64_t usec; ///< Timestamp (milliseconds)
uint64_t usec; ///< Timestamp (microseconds, synced to UNIX time or since system boot)
float x; ///< Global X position
float y; ///< Global Y position
float z; ///< Global Z position
@ -38,7 +38,7 @@ typedef struct __mavlink_vicon_position_estimate_t
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param usec Timestamp (milliseconds)
* @param usec Timestamp (microseconds, synced to UNIX time or since system boot)
* @param x Global X position
* @param y Global Y position
* @param z Global Z position
@ -84,7 +84,7 @@ static inline uint16_t mavlink_msg_vicon_position_estimate_pack(uint8_t system_i
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param usec Timestamp (milliseconds)
* @param usec Timestamp (microseconds, synced to UNIX time or since system boot)
* @param x Global X position
* @param y Global Y position
* @param z Global Z position
@ -142,7 +142,7 @@ static inline uint16_t mavlink_msg_vicon_position_estimate_encode(uint8_t system
* @brief Send a vicon_position_estimate message
* @param chan MAVLink channel to send the message
*
* @param usec Timestamp (milliseconds)
* @param usec Timestamp (microseconds, synced to UNIX time or since system boot)
* @param x Global X position
* @param y Global Y position
* @param z Global Z position
@ -187,7 +187,7 @@ static inline void mavlink_msg_vicon_position_estimate_send(mavlink_channel_t ch
/**
* @brief Get field usec from vicon_position_estimate message
*
* @return Timestamp (milliseconds)
* @return Timestamp (microseconds, synced to UNIX time or since system boot)
*/
static inline uint64_t mavlink_msg_vicon_position_estimate_get_usec(const mavlink_message_t* msg)
{

10
libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_vision_position_estimate.h
View File

@ -4,7 +4,7 @@
typedef struct __mavlink_vision_position_estimate_t
{
uint64_t usec; ///< Timestamp (milliseconds)
uint64_t usec; ///< Timestamp (microseconds, synced to UNIX time or since system boot)
float x; ///< Global X position
float y; ///< Global Y position
float z; ///< Global Z position
@ -38,7 +38,7 @@ typedef struct __mavlink_vision_position_estimate_t
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param usec Timestamp (milliseconds)
* @param usec Timestamp (microseconds, synced to UNIX time or since system boot)
* @param x Global X position
* @param y Global Y position
* @param z Global Z position
@ -84,7 +84,7 @@ static inline uint16_t mavlink_msg_vision_position_estimate_pack(uint8_t system_
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param usec Timestamp (milliseconds)
* @param usec Timestamp (microseconds, synced to UNIX time or since system boot)
* @param x Global X position
* @param y Global Y position
* @param z Global Z position
@ -142,7 +142,7 @@ static inline uint16_t mavlink_msg_vision_position_estimate_encode(uint8_t syste
* @brief Send a vision_position_estimate message
* @param chan MAVLink channel to send the message
*
* @param usec Timestamp (milliseconds)
* @param usec Timestamp (microseconds, synced to UNIX time or since system boot)
* @param x Global X position
* @param y Global Y position
* @param z Global Z position
@ -187,7 +187,7 @@ static inline void mavlink_msg_vision_position_estimate_send(mavlink_channel_t c
/**
* @brief Get field usec from vision_position_estimate message
*
* @return Timestamp (milliseconds)
* @return Timestamp (microseconds, synced to UNIX time or since system boot)
*/
static inline uint64_t mavlink_msg_vision_position_estimate_get_usec(const mavlink_message_t* msg)
{

10
libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_vision_speed_estimate.h
View File

@ -4,7 +4,7 @@
typedef struct __mavlink_vision_speed_estimate_t
{
uint64_t usec; ///< Timestamp (milliseconds)
uint64_t usec; ///< Timestamp (microseconds, synced to UNIX time or since system boot)
float x; ///< Global X speed
float y; ///< Global Y speed
float z; ///< Global Z speed
@ -32,7 +32,7 @@ typedef struct __mavlink_vision_speed_estimate_t
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param usec Timestamp (milliseconds)
* @param usec Timestamp (microseconds, synced to UNIX time or since system boot)
* @param x Global X speed
* @param y Global Y speed
* @param z Global Z speed
@ -69,7 +69,7 @@ static inline uint16_t mavlink_msg_vision_speed_estimate_pack(uint8_t system_id,
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param usec Timestamp (milliseconds)
* @param usec Timestamp (microseconds, synced to UNIX time or since system boot)
* @param x Global X speed
* @param y Global Y speed
* @param z Global Z speed
@ -118,7 +118,7 @@ static inline uint16_t mavlink_msg_vision_speed_estimate_encode(uint8_t system_i
* @brief Send a vision_speed_estimate message
* @param chan MAVLink channel to send the message
*
* @param usec Timestamp (milliseconds)
* @param usec Timestamp (microseconds, synced to UNIX time or since system boot)
* @param x Global X speed
* @param y Global Y speed
* @param z Global Z speed
@ -154,7 +154,7 @@ static inline void mavlink_msg_vision_speed_estimate_send(mavlink_channel_t chan
/**
* @brief Get field usec from vision_speed_estimate message
*
* @return Timestamp (milliseconds)
* @return Timestamp (microseconds, synced to UNIX time or since system boot)
*/
static inline uint64_t mavlink_msg_vision_speed_estimate_get_usec(const mavlink_message_t* msg)
{

536
libraries/GCS_MAVLink/include/mavlink/v1.0/common/testsuite.h
View File

@ -2909,27 +2909,21 @@ static void mavlink_test_manual_control(uint8_t system_id, uint8_t component_id,
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
uint16_t i;
mavlink_manual_control_t packet_in = {
17.0,
45.0,
73.0,
101.0,
53,
120,
187,
254,
65,
17235,
17339,
17443,
17547,
17651,
163,
};
mavlink_manual_control_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
packet1.roll = packet_in.roll;
packet1.pitch = packet_in.pitch;
packet1.yaw = packet_in.yaw;
packet1.thrust = packet_in.thrust;
packet1.x = packet_in.x;
packet1.y = packet_in.y;
packet1.z = packet_in.z;
packet1.r = packet_in.r;
packet1.buttons = packet_in.buttons;
packet1.target = packet_in.target;
packet1.roll_manual = packet_in.roll_manual;
packet1.pitch_manual = packet_in.pitch_manual;
packet1.yaw_manual = packet_in.yaw_manual;
packet1.thrust_manual = packet_in.thrust_manual;
@ -2939,12 +2933,12 @@ static void mavlink_test_manual_control(uint8_t system_id, uint8_t component_id,
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_manual_control_pack(system_id, component_id, &msg , packet1.target , packet1.roll , packet1.pitch , packet1.yaw , packet1.thrust , packet1.roll_manual , packet1.pitch_manual , packet1.yaw_manual , packet1.thrust_manual );
mavlink_msg_manual_control_pack(system_id, component_id, &msg , packet1.target , packet1.x , packet1.y , packet1.z , packet1.r , packet1.buttons );
mavlink_msg_manual_control_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_manual_control_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target , packet1.roll , packet1.pitch , packet1.yaw , packet1.thrust , packet1.roll_manual , packet1.pitch_manual , packet1.yaw_manual , packet1.thrust_manual );
mavlink_msg_manual_control_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target , packet1.x , packet1.y , packet1.z , packet1.r , packet1.buttons );
mavlink_msg_manual_control_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
@ -2957,7 +2951,7 @@ static void mavlink_test_manual_control(uint8_t system_id, uint8_t component_id,
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_manual_control_send(MAVLINK_COMM_1 , packet1.target , packet1.roll , packet1.pitch , packet1.yaw , packet1.thrust , packet1.roll_manual , packet1.pitch_manual , packet1.yaw_manual , packet1.thrust_manual );
mavlink_msg_manual_control_send(MAVLINK_COMM_1 , packet1.target , packet1.x , packet1.y , packet1.z , packet1.r , packet1.buttons );
mavlink_msg_manual_control_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}
@ -3184,6 +3178,112 @@ static void mavlink_test_command_ack(uint8_t system_id, uint8_t component_id, ma
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}
static void mavlink_test_roll_pitch_yaw_rates_thrust_setpoint(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_roll_pitch_yaw_rates_thrust_setpoint_t packet_in = {
963497464,
45.0,
73.0,
101.0,
129.0,
};
mavlink_roll_pitch_yaw_rates_thrust_setpoint_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
packet1.time_boot_ms = packet_in.time_boot_ms;
packet1.roll_rate = packet_in.roll_rate;
packet1.pitch_rate = packet_in.pitch_rate;
packet1.yaw_rate = packet_in.yaw_rate;
packet1.thrust = packet_in.thrust;
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_encode(system_id, component_id, &msg, &packet1);
mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.roll_rate , packet1.pitch_rate , packet1.yaw_rate , packet1.thrust );
mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.roll_rate , packet1.pitch_rate , packet1.yaw_rate , packet1.thrust );
mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_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_roll_pitch_yaw_rates_thrust_setpoint_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.roll_rate , packet1.pitch_rate , packet1.yaw_rate , packet1.thrust );
mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}
static void mavlink_test_manual_setpoint(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_manual_setpoint_t packet_in = {
963497464,
45.0,
73.0,
101.0,
129.0,
65,
132,
};
mavlink_manual_setpoint_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
packet1.time_boot_ms = packet_in.time_boot_ms;
packet1.roll = packet_in.roll;
packet1.pitch = packet_in.pitch;
packet1.yaw = packet_in.yaw;
packet1.thrust = packet_in.thrust;
packet1.mode_switch = packet_in.mode_switch;
packet1.manual_override_switch = packet_in.manual_override_switch;
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_manual_setpoint_encode(system_id, component_id, &msg, &packet1);
mavlink_msg_manual_setpoint_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_manual_setpoint_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.roll , packet1.pitch , packet1.yaw , packet1.thrust , packet1.mode_switch , packet1.manual_override_switch );
mavlink_msg_manual_setpoint_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_manual_setpoint_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.roll , packet1.pitch , packet1.yaw , packet1.thrust , packet1.mode_switch , packet1.manual_override_switch );
mavlink_msg_manual_setpoint_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_manual_setpoint_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_manual_setpoint_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.roll , packet1.pitch , packet1.yaw , packet1.thrust , packet1.mode_switch , packet1.manual_override_switch );
mavlink_msg_manual_setpoint_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}
static void mavlink_test_local_position_ned_system_global_offset(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
mavlink_message_t msg;
@ -3715,6 +3815,393 @@ static void mavlink_test_vicon_position_estimate(uint8_t system_id, uint8_t comp
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}
static void mavlink_test_highres_imu(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_highres_imu_t packet_in = {
93372036854775807ULL,
73.0,
101.0,
129.0,
157.0,
185.0,
213.0,
241.0,
269.0,
297.0,
325.0,
353.0,
381.0,
409.0,
20355,
};
mavlink_highres_imu_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
packet1.time_usec = packet_in.time_usec;
packet1.xacc = packet_in.xacc;
packet1.yacc = packet_in.yacc;
packet1.zacc = packet_in.zacc;
packet1.xgyro = packet_in.xgyro;
packet1.ygyro = packet_in.ygyro;
packet1.zgyro = packet_in.zgyro;
packet1.xmag = packet_in.xmag;
packet1.ymag = packet_in.ymag;
packet1.zmag = packet_in.zmag;
packet1.abs_pressure = packet_in.abs_pressure;
packet1.diff_pressure = packet_in.diff_pressure;
packet1.pressure_alt = packet_in.pressure_alt;
packet1.temperature = packet_in.temperature;
packet1.fields_updated = packet_in.fields_updated;
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_highres_imu_encode(system_id, component_id, &msg, &packet1);
mavlink_msg_highres_imu_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_highres_imu_pack(system_id, component_id, &msg , packet1.time_usec , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag , packet1.abs_pressure , packet1.diff_pressure , packet1.pressure_alt , packet1.temperature , packet1.fields_updated );
mavlink_msg_highres_imu_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_highres_imu_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag , packet1.abs_pressure , packet1.diff_pressure , packet1.pressure_alt , packet1.temperature , packet1.fields_updated );
mavlink_msg_highres_imu_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_highres_imu_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_highres_imu_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag , packet1.abs_pressure , packet1.diff_pressure , packet1.pressure_alt , packet1.temperature , packet1.fields_updated );
mavlink_msg_highres_imu_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}
static void mavlink_test_file_transfer_start(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_file_transfer_start_t packet_in = {
93372036854775807ULL,
963497880,
"MNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQ",
249,
60,
};
mavlink_file_transfer_start_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
packet1.transfer_uid = packet_in.transfer_uid;
packet1.file_size = packet_in.file_size;
packet1.direction = packet_in.direction;
packet1.flags = packet_in.flags;
mav_array_memcpy(packet1.dest_path, packet_in.dest_path, sizeof(char)*240);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_file_transfer_start_encode(system_id, component_id, &msg, &packet1);
mavlink_msg_file_transfer_start_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_file_transfer_start_pack(system_id, component_id, &msg , packet1.transfer_uid , packet1.dest_path , packet1.direction , packet1.file_size , packet1.flags );
mavlink_msg_file_transfer_start_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_file_transfer_start_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.transfer_uid , packet1.dest_path , packet1.direction , packet1.file_size , packet1.flags );
mavlink_msg_file_transfer_start_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_file_transfer_start_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_file_transfer_start_send(MAVLINK_COMM_1 , packet1.transfer_uid , packet1.dest_path , packet1.direction , packet1.file_size , packet1.flags );
mavlink_msg_file_transfer_start_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}
static void mavlink_test_file_transfer_dir_list(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_file_transfer_dir_list_t packet_in = {
93372036854775807ULL,
"IJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLM",
237,
};
mavlink_file_transfer_dir_list_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
packet1.transfer_uid = packet_in.transfer_uid;
packet1.flags = packet_in.flags;
mav_array_memcpy(packet1.dir_path, packet_in.dir_path, sizeof(char)*240);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_file_transfer_dir_list_encode(system_id, component_id, &msg, &packet1);
mavlink_msg_file_transfer_dir_list_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_file_transfer_dir_list_pack(system_id, component_id, &msg , packet1.transfer_uid , packet1.dir_path , packet1.flags );
mavlink_msg_file_transfer_dir_list_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_file_transfer_dir_list_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.transfer_uid , packet1.dir_path , packet1.flags );
mavlink_msg_file_transfer_dir_list_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_file_transfer_dir_list_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_file_transfer_dir_list_send(MAVLINK_COMM_1 , packet1.transfer_uid , packet1.dir_path , packet1.flags );
mavlink_msg_file_transfer_dir_list_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}
static void mavlink_test_file_transfer_res(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_file_transfer_res_t packet_in = {
93372036854775807ULL,
29,
};
mavlink_file_transfer_res_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
packet1.transfer_uid = packet_in.transfer_uid;
packet1.result = packet_in.result;
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_file_transfer_res_encode(system_id, component_id, &msg, &packet1);
mavlink_msg_file_transfer_res_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_file_transfer_res_pack(system_id, component_id, &msg , packet1.transfer_uid , packet1.result );
mavlink_msg_file_transfer_res_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_file_transfer_res_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.transfer_uid , packet1.result );
mavlink_msg_file_transfer_res_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_file_transfer_res_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_file_transfer_res_send(MAVLINK_COMM_1 , packet1.transfer_uid , packet1.result );
mavlink_msg_file_transfer_res_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}
static void mavlink_test_battery_status(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_battery_status_t packet_in = {
17235,
17339,
17443,
17547,
17651,
17755,
17859,
175,
242,
};
mavlink_battery_status_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
packet1.voltage_cell_1 = packet_in.voltage_cell_1;
packet1.voltage_cell_2 = packet_in.voltage_cell_2;
packet1.voltage_cell_3 = packet_in.voltage_cell_3;
packet1.voltage_cell_4 = packet_in.voltage_cell_4;
packet1.voltage_cell_5 = packet_in.voltage_cell_5;
packet1.voltage_cell_6 = packet_in.voltage_cell_6;
packet1.current_battery = packet_in.current_battery;
packet1.accu_id = packet_in.accu_id;
packet1.battery_remaining = packet_in.battery_remaining;
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_battery_status_encode(system_id, component_id, &msg, &packet1);
mavlink_msg_battery_status_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_battery_status_pack(system_id, component_id, &msg , packet1.accu_id , packet1.voltage_cell_1 , packet1.voltage_cell_2 , packet1.voltage_cell_3 , packet1.voltage_cell_4 , packet1.voltage_cell_5 , packet1.voltage_cell_6 , packet1.current_battery , packet1.battery_remaining );
mavlink_msg_battery_status_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_battery_status_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.accu_id , packet1.voltage_cell_1 , packet1.voltage_cell_2 , packet1.voltage_cell_3 , packet1.voltage_cell_4 , packet1.voltage_cell_5 , packet1.voltage_cell_6 , packet1.current_battery , packet1.battery_remaining );
mavlink_msg_battery_status_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_battery_status_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_battery_status_send(MAVLINK_COMM_1 , packet1.accu_id , packet1.voltage_cell_1 , packet1.voltage_cell_2 , packet1.voltage_cell_3 , packet1.voltage_cell_4 , packet1.voltage_cell_5 , packet1.voltage_cell_6 , packet1.current_battery , packet1.battery_remaining );
mavlink_msg_battery_status_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}
static void mavlink_test_setpoint_8dof(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_setpoint_8dof_t packet_in = {
17.0,
45.0,
73.0,
101.0,
129.0,
157.0,
185.0,
213.0,
101,
};
mavlink_setpoint_8dof_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
packet1.val1 = packet_in.val1;
packet1.val2 = packet_in.val2;
packet1.val3 = packet_in.val3;
packet1.val4 = packet_in.val4;
packet1.val5 = packet_in.val5;
packet1.val6 = packet_in.val6;
packet1.val7 = packet_in.val7;
packet1.val8 = packet_in.val8;
packet1.target_system = packet_in.target_system;
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_setpoint_8dof_encode(system_id, component_id, &msg, &packet1);
mavlink_msg_setpoint_8dof_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_setpoint_8dof_pack(system_id, component_id, &msg , packet1.target_system , packet1.val1 , packet1.val2 , packet1.val3 , packet1.val4 , packet1.val5 , packet1.val6 , packet1.val7 , packet1.val8 );
mavlink_msg_setpoint_8dof_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_setpoint_8dof_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.val1 , packet1.val2 , packet1.val3 , packet1.val4 , packet1.val5 , packet1.val6 , packet1.val7 , packet1.val8 );
mavlink_msg_setpoint_8dof_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_setpoint_8dof_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_setpoint_8dof_send(MAVLINK_COMM_1 , packet1.target_system , packet1.val1 , packet1.val2 , packet1.val3 , packet1.val4 , packet1.val5 , packet1.val6 , packet1.val7 , packet1.val8 );
mavlink_msg_setpoint_8dof_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}
static void mavlink_test_setpoint_6dof(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_setpoint_6dof_t packet_in = {
17.0,
45.0,
73.0,
101.0,
129.0,
157.0,
77,
};
mavlink_setpoint_6dof_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
packet1.trans_x = packet_in.trans_x;
packet1.trans_y = packet_in.trans_y;
packet1.trans_z = packet_in.trans_z;
packet1.rot_x = packet_in.rot_x;
packet1.rot_y = packet_in.rot_y;
packet1.rot_z = packet_in.rot_z;
packet1.target_system = packet_in.target_system;
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_setpoint_6dof_encode(system_id, component_id, &msg, &packet1);
mavlink_msg_setpoint_6dof_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_setpoint_6dof_pack(system_id, component_id, &msg , packet1.target_system , packet1.trans_x , packet1.trans_y , packet1.trans_z , packet1.rot_x , packet1.rot_y , packet1.rot_z );
mavlink_msg_setpoint_6dof_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_setpoint_6dof_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.trans_x , packet1.trans_y , packet1.trans_z , packet1.rot_x , packet1.rot_y , packet1.rot_z );
mavlink_msg_setpoint_6dof_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_setpoint_6dof_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_setpoint_6dof_send(MAVLINK_COMM_1 , packet1.target_system , packet1.trans_x , packet1.trans_y , packet1.trans_z , packet1.rot_x , packet1.rot_y , packet1.rot_z );
mavlink_msg_setpoint_6dof_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}
static void mavlink_test_memory_vect(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
mavlink_message_t msg;
@ -4063,6 +4550,8 @@ static void mavlink_test_common(uint8_t system_id, uint8_t component_id, mavlink
mavlink_test_vfr_hud(system_id, component_id, last_msg);
mavlink_test_command_long(system_id, component_id, last_msg);
mavlink_test_command_ack(system_id, component_id, last_msg);
mavlink_test_roll_pitch_yaw_rates_thrust_setpoint(system_id, component_id, last_msg);
mavlink_test_manual_setpoint(system_id, component_id, last_msg);
mavlink_test_local_position_ned_system_global_offset(system_id, component_id, last_msg);
mavlink_test_hil_state(system_id, component_id, last_msg);
mavlink_test_hil_controls(system_id, component_id, last_msg);
@ -4072,6 +4561,13 @@ static void mavlink_test_common(uint8_t system_id, uint8_t component_id, mavlink
mavlink_test_vision_position_estimate(system_id, component_id, last_msg);
mavlink_test_vision_speed_estimate(system_id, component_id, last_msg);
mavlink_test_vicon_position_estimate(system_id, component_id, last_msg);
mavlink_test_highres_imu(system_id, component_id, last_msg);
mavlink_test_file_transfer_start(system_id, component_id, last_msg);
mavlink_test_file_transfer_dir_list(system_id, component_id, last_msg);
mavlink_test_file_transfer_res(system_id, component_id, last_msg);
mavlink_test_battery_status(system_id, component_id, last_msg);
mavlink_test_setpoint_8dof(system_id, component_id, last_msg);
mavlink_test_setpoint_6dof(system_id, component_id, last_msg);
mavlink_test_memory_vect(system_id, component_id, last_msg);
mavlink_test_debug_vect(system_id, component_id, last_msg);
mavlink_test_named_value_float(system_id, component_id, last_msg);

4
libraries/GCS_MAVLink/include/mavlink/v1.0/common/version.h
View File

@ -5,8 +5,8 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Tue Sep 18 11:41:40 2012"
#define MAVLINK_BUILD_DATE "Tue Jan 8 15:55:08 2013"
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 254
#endif // MAVLINK_VERSION_H

24
libraries/GCS_MAVLink/include/mavlink/v1.0/mavlink_helpers.h
View File

@ -12,24 +12,18 @@
/*
* Internal function to give access to the channel status for each channel
*/
#ifndef MAVLINK_GET_CHANNEL_STATUS
MAVLINK_HELPER mavlink_status_t* mavlink_get_channel_status(uint8_t chan)
{
static mavlink_status_t m_mavlink_status[MAVLINK_COMM_NUM_BUFFERS];
return &m_mavlink_status[chan];
}
/**
* Reset the status of a channel
*/
MAVLINK_HELPER void mavlink_reset_channel_status(uint8_t chan)
{
mavlink_status_t *status = mavlink_get_channel_status(chan);
status->parse_state = MAVLINK_PARSE_STATE_IDLE;
}
#endif
/*
* Internal function to give access to the channel buffer for each channel
*/
#ifndef MAVLINK_GET_CHANNEL_BUFFER
MAVLINK_HELPER mavlink_message_t* mavlink_get_channel_buffer(uint8_t chan)
{
@ -44,6 +38,16 @@ MAVLINK_HELPER mavlink_message_t* mavlink_get_channel_buffer(uint8_t chan)
#endif
return &m_mavlink_buffer[chan];
}
#endif
/**
* @brief Reset the status of a channel.
*/
MAVLINK_HELPER void mavlink_reset_channel_status(uint8_t chan)
{
mavlink_status_t *status = mavlink_get_channel_status(chan);
status->parse_state = MAVLINK_PARSE_STATE_IDLE;
}
/**
* @brief Finalize a MAVLink message with channel assignment
@ -546,7 +550,7 @@ MAVLINK_HELPER void _mavlink_send_uart(mavlink_channel_t chan, const char *buf,
#ifdef MAVLINK_SEND_UART_BYTES
/* this is the more efficient approach, if the platform
defines it */
MAVLINK_SEND_UART_BYTES(chan, (uint8_t *)buf, len);
MAVLINK_SEND_UART_BYTES(chan, (const uint8_t *)buf, len);
#else
/* fallback to one byte at a time */
uint16_t i;

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

@ -42,7 +42,9 @@
#endif // MAVLINK_SEPARATE_HELPERS
/* always include the prototypes to ensure we don't get out of sync */
#ifndef MAVLINK_GET_CHANNEL_STATUS
MAVLINK_HELPER mavlink_status_t* mavlink_get_channel_status(uint8_t chan);
#endif
MAVLINK_HELPER void mavlink_reset_channel_status(uint8_t chan);
#if MAVLINK_CRC_EXTRA
MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id,

14
libraries/GCS_MAVLink/message_definitions/ardupilotmega.xml
View File

@ -325,5 +325,19 @@
<field type="uint8_t[32]" name="data">raw data</field>
</message>
<message name="DATA64" id="171">
<description>Data packet, size 64</description>
<field type="uint8_t" name="type">data type</field>
<field type="uint8_t" name="len">data length</field>
<field type="uint8_t[64]" name="data">raw data</field>
</message>
<message name="DATA96" id="172">
<description>Data packet, size 96</description>
<field type="uint8_t" name="type">data type</field>
<field type="uint8_t" name="len">data length</field>
<field type="uint8_t[96]" name="data">raw data</field>
</message>
</messages>
</mavlink>

237
libraries/GCS_MAVLink/message_definitions/common.xml
View File

@ -40,6 +40,9 @@
<entry value="11" name="MAV_AUTOPILOT_FP">
<description>FlexiPilot</description>
</entry>
<entry value="12" name="MAV_AUTOPILOT_PX4">
<description>PX4 Autopilot - http://pixhawk.ethz.ch/px4/</description>
</entry>
</enum>
<enum name="MAV_TYPE">
<entry value="0" name="MAV_TYPE_GENERIC">
@ -615,7 +618,7 @@
<param index="2">Magnetometer calibration: 0: no, 1: yes</param>
<param index="3">Ground pressure: 0: no, 1: yes</param>
<param index="4">Radio calibration: 0: no, 1: yes</param>
<param index="5">Empty</param>
<param index="5">Accelerometer calibration: 0: no, 1: yes</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
@ -751,30 +754,39 @@
<description>The Z or altitude value is out of range.</description>
</entry>
</enum>
<!--<enum name="MAV_VAR">
<description>type of a mavlink parameter</description>
<entry value="0" name="MAV_VAR_FLOAT">
<description>32 bit float</description>
<enum name="MAV_PARAM_TYPE">
<description>Specifies the datatype of a MAVLink parameter.</description>
<entry value="1" name="MAV_PARAM_TYPE_UINT8">
<description>8-bit unsigned integer</description>
</entry>
<entry value="1" name="MAV_VAR_UINT8">
<description>8 bit unsigned integer</description>
<entry value="2" name="MAV_PARAM_TYPE_INT8">
<description>8-bit signed integer</description>
</entry>
<entry value="2" name="MAV_VAR_INT8">
<description>8 bit signed integer</description>
<entry value="3" name="MAV_PARAM_TYPE_UINT16">
<description>16-bit unsigned integer</description>
</entry>
<entry value="3" name="MAV_VAR_UINT16">
<description>16 bit unsigned integer</description>
<entry value="4" name="MAV_PARAM_TYPE_INT16">
<description>16-bit signed integer</description>
</entry>
<entry value="4" name="MAV_VAR_INT16">
<description>16 bit signed integer</description>
<entry value="5" name="MAV_PARAM_TYPE_UINT32">
<description>32-bit unsigned integer</description>
</entry>
<entry value="5" name="MAV_VAR_UINT32">
<description>32 bit unsigned integer</description>
<entry value="6" name="MAV_PARAM_TYPE_INT32">
<description>32-bit signed integer</description>
</entry>
<entry value="6" name="MAV_VAR_INT32">
<description>32 bit signed integer</description>
<entry value="7" name="MAV_PARAM_TYPE_UINT64">
<description>64-bit unsigned integer</description>
</entry>
</enum>-->
<entry value="8" name="MAV_PARAM_TYPE_INT64">
<description>64-bit signed integer</description>
</entry>
<entry value="9" name="MAV_PARAM_TYPE_REAL32">
<description>32-bit floating-point</description>
</entry>
<entry value="10" name="MAV_PARAM_TYPE_REAL64">
<description>64-bit floating-point</description>
</entry>
</enum>
<enum name="MAV_RESULT">
<description>result from a mavlink command</description>
<entry value="0" name="MAV_RESULT_ACCEPTED">
@ -935,7 +947,7 @@
<description>Request to read the onboard parameter with the param_id string id. Onboard parameters are stored as key[const char*] -> value[float]. This allows to send a parameter to any other component (such as the GCS) without the need of previous knowledge of possible parameter names. Thus the same GCS can store different parameters for different autopilots. See also http://qgroundcontrol.org/parameter_interface for a full documentation of QGroundControl and IMU code.</description>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
<field type="char[16]" name="param_id">Onboard parameter id, terminated by NUL if the length is less than 16 human-readable chars and WITHOUT null termination (NUL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string</field>
<field type="char[16]" name="param_id">Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string</field>
<field type="int16_t" name="param_index">Parameter index. Send -1 to use the param ID field as identifier (else the param id will be ignored)</field>
</message>
<message id="21" name="PARAM_REQUEST_LIST">
@ -945,9 +957,9 @@
</message>
<message id="22" name="PARAM_VALUE">
<description>Emit the value of a onboard parameter. The inclusion of param_count and param_index in the message allows the recipient to keep track of received parameters and allows him to re-request missing parameters after a loss or timeout.</description>
<field type="char[16]" name="param_id">Onboard parameter id, terminated by NUL if the length is less than 16 human-readable chars and WITHOUT null termination (NUL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string</field>
<field type="char[16]" name="param_id">Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string</field>
<field type="float" name="param_value">Onboard parameter value</field>
<field type="uint8_t" name="param_type">Onboard parameter type: see MAVLINK_TYPE enum in mavlink/mavlink_types.h</field>
<field type="uint8_t" name="param_type">Onboard parameter type: see the MAV_PARAM_TYPE enum for supported data types.</field>
<field type="uint16_t" name="param_count">Total number of onboard parameters</field>
<field type="uint16_t" name="param_index">Index of this onboard parameter</field>
</message>
@ -955,9 +967,9 @@
<description>Set a parameter value TEMPORARILY to RAM. It will be reset to default on system reboot. Send the ACTION MAV_ACTION_STORAGE_WRITE to PERMANENTLY write the RAM contents to EEPROM. IMPORTANT: The receiving component should acknowledge the new parameter value by sending a param_value message to all communication partners. This will also ensure that multiple GCS all have an up-to-date list of all parameters. If the sending GCS did not receive a PARAM_VALUE message within its timeout time, it should re-send the PARAM_SET message.</description>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
<field type="char[16]" name="param_id">Onboard parameter id, terminated by NUL if the length is less than 16 human-readable chars and WITHOUT null termination (NUL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string</field>
<field type="char[16]" name="param_id">Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string</field>
<field type="float" name="param_value">Onboard parameter value</field>
<field type="uint8_t" name="param_type">Onboard parameter type: see MAVLINK_TYPE enum in mavlink/mavlink_types.h</field>
<field type="uint8_t" name="param_type">Onboard parameter type: see the MAV_PARAM_TYPE enum for supported data types.</field>
</message>
<message id="24" name="GPS_RAW_INT">
<description>The global position, as returned by the Global Positioning System (GPS). This is
@ -1026,9 +1038,9 @@
<message id="30" name="ATTITUDE">
<description>The attitude in the aeronautical frame (right-handed, Z-down, X-front, Y-right).</description>
<field type="uint32_t" name="time_boot_ms">Timestamp (milliseconds since system boot)</field>
<field type="float" name="roll">Roll angle (rad)</field>
<field type="float" name="pitch">Pitch angle (rad)</field>
<field type="float" name="yaw">Yaw angle (rad)</field>
<field type="float" name="roll">Roll angle (rad, -pi..+pi)</field>
<field type="float" name="pitch">Pitch angle (rad, -pi..+pi)</field>
<field type="float" name="yaw">Yaw angle (rad, -pi..+pi)</field>
<field type="float" name="rollspeed">Roll angular speed (rad/s)</field>
<field type="float" name="pitchspeed">Pitch angular speed (rad/s)</field>
<field type="float" name="yawspeed">Yaw angular speed (rad/s)</field>
@ -1068,32 +1080,32 @@
<field type="uint16_t" name="hdg">Compass heading in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535</field>
</message>
<message id="34" name="RC_CHANNELS_SCALED">
<description>The scaled values of the RC channels received. (-100%) -10000, (0%) 0, (100%) 10000</description>
<description>The scaled values of the RC channels received. (-100%) -10000, (0%) 0, (100%) 10000. Channels that are inactive should be set to 65535.</description>
<field type="uint32_t" name="time_boot_ms">Timestamp (milliseconds since system boot)</field>
<field type="uint8_t" name="port">Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.</field>
<field type="int16_t" name="chan1_scaled">RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000</field>
<field type="int16_t" name="chan2_scaled">RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000</field>
<field type="int16_t" name="chan3_scaled">RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000</field>
<field type="int16_t" name="chan4_scaled">RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000</field>
<field type="int16_t" name="chan5_scaled">RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000</field>
<field type="int16_t" name="chan6_scaled">RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000</field>
<field type="int16_t" name="chan7_scaled">RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000</field>
<field type="int16_t" name="chan8_scaled">RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000</field>
<field type="uint8_t" name="rssi">Receive signal strength indicator, 0: 0%, 255: 100%</field>
<field type="uint8_t" name="port">Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows for more than 8 servos.</field>
<field type="int16_t" name="chan1_scaled">RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.</field>
<field type="int16_t" name="chan2_scaled">RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.</field>
<field type="int16_t" name="chan3_scaled">RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.</field>
<field type="int16_t" name="chan4_scaled">RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.</field>
<field type="int16_t" name="chan5_scaled">RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.</field>
<field type="int16_t" name="chan6_scaled">RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.</field>
<field type="int16_t" name="chan7_scaled">RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.</field>
<field type="int16_t" name="chan8_scaled">RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.</field>
<field type="uint8_t" name="rssi">Receive signal strength indicator, 0: 0%, 100: 100%, 255: invalid/unknown.</field>
</message>
<message id="35" name="RC_CHANNELS_RAW">
<description>The RAW values of the RC channels received. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. Individual receivers/transmitters might violate this specification.</description>
<field type="uint32_t" name="time_boot_ms">Timestamp (milliseconds since system boot)</field>
<field type="uint8_t" name="port">Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.</field>
<field type="uint16_t" name="chan1_raw">RC channel 1 value, in microseconds</field>
<field type="uint16_t" name="chan2_raw">RC channel 2 value, in microseconds</field>
<field type="uint16_t" name="chan3_raw">RC channel 3 value, in microseconds</field>
<field type="uint16_t" name="chan4_raw">RC channel 4 value, in microseconds</field>
<field type="uint16_t" name="chan5_raw">RC channel 5 value, in microseconds</field>
<field type="uint16_t" name="chan6_raw">RC channel 6 value, in microseconds</field>
<field type="uint16_t" name="chan7_raw">RC channel 7 value, in microseconds</field>
<field type="uint16_t" name="chan8_raw">RC channel 8 value, in microseconds</field>
<field type="uint8_t" name="rssi">Receive signal strength indicator, 0: 0%, 255: 100%</field>
<field type="uint8_t" name="port">Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows for more than 8 servos.</field>
<field type="uint16_t" name="chan1_raw">RC channel 1 value, in microseconds. A value of 65535 implies the channel is unused.</field>
<field type="uint16_t" name="chan2_raw">RC channel 2 value, in microseconds. A value of 65535 implies the channel is unused.</field>
<field type="uint16_t" name="chan3_raw">RC channel 3 value, in microseconds. A value of 65535 implies the channel is unused.</field>
<field type="uint16_t" name="chan4_raw">RC channel 4 value, in microseconds. A value of 65535 implies the channel is unused.</field>
<field type="uint16_t" name="chan5_raw">RC channel 5 value, in microseconds. A value of 65535 implies the channel is unused.</field>
<field type="uint16_t" name="chan6_raw">RC channel 6 value, in microseconds. A value of 65535 implies the channel is unused.</field>
<field type="uint16_t" name="chan7_raw">RC channel 7 value, in microseconds. A value of 65535 implies the channel is unused.</field>
<field type="uint16_t" name="chan8_raw">RC channel 8 value, in microseconds. A value of 65535 implies the channel is unused.</field>
<field type="uint8_t" name="rssi">Receive signal strength indicator, 0: 0%, 100: 100%, 255: invalid/unknown.</field>
</message>
<message id="36" name="SERVO_OUTPUT_RAW">
<description>The RAW values of the servo outputs (for RC input from the remote, use the RC_CHANNELS messages). The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%.</description>
@ -1109,7 +1121,7 @@
<field type="uint16_t" name="servo8_raw">Servo output 8 value, in microseconds</field>
</message>
<message id="37" name="MISSION_REQUEST_PARTIAL_LIST">
<description>Request the overall list of MISSIONs from the system/component. http://qgroundcontrol.org/mavlink/waypoint_protocol</description>
<description>Request a partial list of mission items from the system/component. http://qgroundcontrol.org/mavlink/waypoint_protocol. If start and end index are the same, just send one waypoint.</description>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
<field type="int16_t" name="start_index">Start index, 0 by default</field>
@ -1183,7 +1195,7 @@
<field type="uint8_t" name="type">See MAV_MISSION_RESULT enum</field>
</message>
<message id="48" name="SET_GPS_GLOBAL_ORIGIN">
<description>As local MISSIONs exist, the global MISSION reference allows to transform between the local coordinate frame and the global (GPS) coordinate frame. This can be necessary when e.g. in- and outdoor settings are connected and the MAV should move from in- to outdoor.</description>
<description>As local waypoints exist, the global MISSION reference allows to transform between the local coordinate frame and the global (GPS) coordinate frame. This can be necessary when e.g. in- and outdoor settings are connected and the MAV should move from in- to outdoor.</description>
<field type="uint8_t" name="target_system">System ID</field>
<field type="int32_t" name="latitude">global position * 1E7</field>
<field type="int32_t" name="longitude">global position * 1E7</field>
@ -1350,15 +1362,13 @@
<field type="uint8_t" name="on_off">1 stream is enabled, 0 stream is stopped.</field>
</message>
<message id="69" name="MANUAL_CONTROL">
<field type="uint8_t" name="target">The system to be controlled</field>
<field type="float" name="roll">roll</field>
<field type="float" name="pitch">pitch</field>
<field type="float" name="yaw">yaw</field>
<field type="float" name="thrust">thrust</field>
<field type="uint8_t" name="roll_manual">roll control enabled auto:0, manual:1</field>
<field type="uint8_t" name="pitch_manual">pitch auto:0, manual:1</field>
<field type="uint8_t" name="yaw_manual">yaw auto:0, manual:1</field>
<field type="uint8_t" name="thrust_manual">thrust auto:0, manual:1</field>
<description>This message provides an API for manually controlling the vehicle using standard joystick axes nomenclature, along with a joystick-like input device. Unused axes can be disabled an buttons are also transmit as boolean values of their </description>
<field type="uint8_t" name="target">The system to be controlled.</field>
<field type="int16_t" name="x">X-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to forward(1000)-backward(-1000) movement on a joystick and the pitch of a vehicle.</field>
<field type="int16_t" name="y">Y-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to left(-1000)-right(1000) movement on a joystick and the roll of a vehicle.</field>
<field type="int16_t" name="z">Z-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a separate slider movement with maximum being 1000 and minimum being -1000 on a joystick and the thrust of a vehicle.</field>
<field type="int16_t" name="r">R-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a twisting of the joystick, with counter-clockwise being 1000 and clockwise being -1000, and the yaw of a vehicle.</field>
<field type="uint16_t" name="buttons">A bitfield corresponding to the joystick buttons' current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1.</field>
</message>
<message id="70" name="RC_CHANNELS_OVERRIDE">
<description>The RAW values of the RC channels sent to the MAV to override info received from the RC radio. A value of -1 means no change to that channel. A value of 0 means control of that channel should be released back to the RC radio. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. Individual receivers/transmitters might violate this specification.</description>
@ -1401,6 +1411,24 @@
<field type="uint16_t" name="command">Command ID, as defined by MAV_CMD enum.</field>
<field type="uint8_t" name="result">See MAV_RESULT enum</field>
</message>
<message id="80" name="ROLL_PITCH_YAW_RATES_THRUST_SETPOINT">
<description>Setpoint in roll, pitch, yaw rates and thrust currently active on the system.</description>
<field type="uint32_t" name="time_boot_ms">Timestamp in milliseconds since system boot</field>
<field type="float" name="roll_rate">Desired roll rate in radians per second</field>
<field type="float" name="pitch_rate">Desired pitch rate in radians per second</field>
<field type="float" name="yaw_rate">Desired yaw rate in radians per second</field>
<field type="float" name="thrust">Collective thrust, normalized to 0 .. 1</field>
</message>
<message id="81" name="MANUAL_SETPOINT">
<description>Setpoint in roll, pitch, yaw and thrust from the operator</description>
<field type="uint32_t" name="time_boot_ms">Timestamp in milliseconds since system boot</field>
<field type="float" name="roll">Desired roll rate in radians per second</field>
<field type="float" name="pitch">Desired pitch rate in radians per second</field>
<field type="float" name="yaw">Desired yaw rate in radians per second</field>
<field type="float" name="thrust">Collective thrust, normalized to 0 .. 1</field>
<field type="uint8_t" name="mode_switch">Flight mode switch position, 0.. 255</field>
<field type="uint8_t" name="manual_override_switch">Override mode switch position, 0.. 255</field>
</message>
<message id="89" name="LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET">
<description>The offset in X, Y, Z and yaw between the LOCAL_POSITION_NED messages of MAV X and the global coordinate frame in NED coordinates. Coordinate frame is right-handed, Z-axis down (aeronautical frame, NED / north-east-down convention)</description>
<field type="uint32_t" name="time_boot_ms">Timestamp (milliseconds since system boot)</field>
@ -1417,18 +1445,18 @@
<field type="float" name="roll">Roll angle (rad)</field>
<field type="float" name="pitch">Pitch angle (rad)</field>
<field type="float" name="yaw">Yaw angle (rad)</field>
<field type="float" name="rollspeed">Roll angular speed (rad/s) in body frame</field>
<field type="float" name="pitchspeed">Pitch angular speed (rad/s) in body frame</field>
<field type="float" name="yawspeed">Yaw angular speed (rad/s) in body frame</field>
<field type="float" name="rollspeed">Roll angular speed (rad/s)</field>
<field type="float" name="pitchspeed">Pitch angular speed (rad/s)</field>
<field type="float" name="yawspeed">Yaw angular speed (rad/s)</field>
<field type="int32_t" name="lat">Latitude, expressed as * 1E7</field>
<field type="int32_t" name="lon">Longitude, expressed as * 1E7</field>
<field type="int32_t" name="alt">Altitude in meters, expressed as * 1000 (millimeters)</field>
<field type="int16_t" name="vx">Ground X Speed (Latitude), expressed as m/s * 100</field>
<field type="int16_t" name="vy">Ground Y Speed (Longitude), expressed as m/s * 100</field>
<field type="int16_t" name="vz">Ground Z Speed (Altitude), expressed as m/s * 100 (+ve down)</field>
<field type="int16_t" name="xacc">X acceleration (mg) in body frame (+ve forward)</field>
<field type="int16_t" name="yacc">Y acceleration (mg) in body frame (+ve right)</field>
<field type="int16_t" name="zacc">Z acceleration (mg) in body frame (+ve down)</field>
<field type="int16_t" name="vz">Ground Z Speed (Altitude), expressed as m/s * 100</field>
<field type="int16_t" name="xacc">X acceleration (mg)</field>
<field type="int16_t" name="yacc">Y acceleration (mg)</field>
<field type="int16_t" name="zacc">Z acceleration (mg)</field>
</message>
<message id="91" name="HIL_CONTROLS">
<description>Sent from autopilot to simulation. Hardware in the loop control outputs</description>
@ -1473,7 +1501,7 @@
<field type="float" name="ground_distance">Ground distance in meters. Positive value: distance known. Negative value: Unknown distance</field>
</message>
<message id="101" name="GLOBAL_VISION_POSITION_ESTIMATE">
<field type="uint64_t" name="usec">Timestamp (milliseconds)</field>
<field type="uint64_t" name="usec">Timestamp (microseconds, synced to UNIX time or since system boot)</field>
<field type="float" name="x">Global X position</field>
<field type="float" name="y">Global Y position</field>
<field type="float" name="z">Global Z position</field>
@ -1482,7 +1510,7 @@
<field type="float" name="yaw">Yaw angle in rad</field>
</message>
<message id="102" name="VISION_POSITION_ESTIMATE">
<field type="uint64_t" name="usec">Timestamp (milliseconds)</field>
<field type="uint64_t" name="usec">Timestamp (microseconds, synced to UNIX time or since system boot)</field>
<field type="float" name="x">Global X position</field>
<field type="float" name="y">Global Y position</field>
<field type="float" name="z">Global Z position</field>
@ -1491,13 +1519,13 @@
<field type="float" name="yaw">Yaw angle in rad</field>
</message>
<message id="103" name="VISION_SPEED_ESTIMATE">
<field type="uint64_t" name="usec">Timestamp (milliseconds)</field>
<field type="uint64_t" name="usec">Timestamp (microseconds, synced to UNIX time or since system boot)</field>
<field type="float" name="x">Global X speed</field>
<field type="float" name="y">Global Y speed</field>
<field type="float" name="z">Global Z speed</field>
</message>
<message id="104" name="VICON_POSITION_ESTIMATE">
<field type="uint64_t" name="usec">Timestamp (milliseconds)</field>
<field type="uint64_t" name="usec">Timestamp (microseconds, synced to UNIX time or since system boot)</field>
<field type="float" name="x">Global X position</field>
<field type="float" name="y">Global Y position</field>
<field type="float" name="z">Global Z position</field>
@ -1505,6 +1533,77 @@
<field type="float" name="pitch">Pitch angle in rad</field>
<field type="float" name="yaw">Yaw angle in rad</field>
</message>
<message id="105" name="HIGHRES_IMU">
<description>The IMU readings in SI units in NED body frame</description>
<field type="uint64_t" name="time_usec">Timestamp (microseconds, synced to UNIX time or since system boot)</field>
<field type="float" name="xacc">X acceleration (m/s^2)</field>
<field type="float" name="yacc">Y acceleration (m/s^2)</field>
<field type="float" name="zacc">Z acceleration (m/s^2)</field>
<field type="float" name="xgyro">Angular speed around X axis (rad / sec)</field>
<field type="float" name="ygyro">Angular speed around Y axis (rad / sec)</field>
<field type="float" name="zgyro">Angular speed around Z axis (rad / sec)</field>
<field type="float" name="xmag">X Magnetic field (Gauss)</field>
<field type="float" name="ymag">Y Magnetic field (Gauss)</field>
<field type="float" name="zmag">Z Magnetic field (Gauss)</field>
<field type="float" name="abs_pressure">Absolute pressure in millibar</field>
<field type="float" name="diff_pressure">Differential pressure in millibar</field>
<field type="float" name="pressure_alt">Altitude calculated from pressure</field>
<field type="float" name="temperature">Temperature in degrees celsius</field>
<field type="uint16_t" name="fields_updated">Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature</field>
</message>
<message id="110" name="FILE_TRANSFER_START">
<description>Begin file transfer</description>
<field type="uint64_t" name="transfer_uid">Unique transfer ID</field>
<field type="char[240]" name="dest_path">Destination path</field>
<field type="uint8_t" name="direction">Transfer direction: 0: from requester, 1: to requester</field>
<field type="uint32_t" name="file_size">File size in bytes</field>
<field type="uint8_t" name="flags">RESERVED</field>
</message>
<message id="111" name="FILE_TRANSFER_DIR_LIST">
<description>Get directory listing</description>
<field type="uint64_t" name="transfer_uid">Unique transfer ID</field>
<field type="char[240]" name="dir_path">Directory path to list</field>
<field type="uint8_t" name="flags">RESERVED</field>
</message>
<message id="112" name="FILE_TRANSFER_RES">
<description>File transfer result</description>
<field type="uint64_t" name="transfer_uid">Unique transfer ID</field>
<field type="uint8_t" name="result">0: OK, 1: not permitted, 2: bad path / file name, 3: no space left on device</field>
</message>
<message id="147" name="BATTERY_STATUS">
<description>Transmitte battery informations for a accu pack.</description>
<field type="uint8_t" name="accu_id">Accupack ID</field>
<field type="uint16_t" name="voltage_cell_1">Battery voltage of cell 1, in millivolts (1 = 1 millivolt)</field>
<field type="uint16_t" name="voltage_cell_2">Battery voltage of cell 2, in millivolts (1 = 1 millivolt), -1: no cell</field>
<field type="uint16_t" name="voltage_cell_3">Battery voltage of cell 3, in millivolts (1 = 1 millivolt), -1: no cell</field>
<field type="uint16_t" name="voltage_cell_4">Battery voltage of cell 4, in millivolts (1 = 1 millivolt), -1: no cell</field>
<field type="uint16_t" name="voltage_cell_5">Battery voltage of cell 5, in millivolts (1 = 1 millivolt), -1: no cell</field>
<field type="uint16_t" name="voltage_cell_6">Battery voltage of cell 6, in millivolts (1 = 1 millivolt), -1: no cell</field>
<field type="int16_t" name="current_battery">Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current</field>
<field type="int8_t" name="battery_remaining">Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot does not estimate the remaining battery</field>
</message>
<message id="148" name="SETPOINT_8DOF">
<description>Set the 8 DOF setpoint for a controller.</description>
<field type="uint8_t" name="target_system">System ID</field>
<field type="float" name="val1">Value 1</field>
<field type="float" name="val2">Value 2</field>
<field type="float" name="val3">Value 3</field>
<field type="float" name="val4">Value 4</field>
<field type="float" name="val5">Value 5</field>
<field type="float" name="val6">Value 6</field>
<field type="float" name="val7">Value 7</field>
<field type="float" name="val8">Value 8</field>
</message>
<message id="149" name="SETPOINT_6DOF">
<description>Set the 6 DOF setpoint for a attitude and position controller.</description>
<field type="uint8_t" name="target_system">System ID</field>
<field type="float" name="trans_x">Translational Component in x</field>
<field type="float" name="trans_y">Translational Component in y</field>
<field type="float" name="trans_z">Translational Component in z</field>
<field type="float" name="rot_x">Rotational Component in x</field>
<field type="float" name="rot_y">Rotational Component in y</field>
<field type="float" name="rot_z">Rotational Component in z</field>
</message>
<!-- MESSAGE IDs 150 - 240: Space for custom messages in individual projectname_messages.xml files -->
<message id="249" name="MEMORY_VECT">
<description>Send raw controller memory. The use of this message is discouraged for normal packets, but a quite efficient way for testing new messages and getting experimental debug output.</description>

284
libraries/GCS_MAVLink/message_definitions/matrixpilot.xml
View File

@ -1,14 +1,284 @@
<?xml version='1.0'?>
<mavlink>
<include>common.xml</include>
<!-- note that MatrixPilot specific messages should use the command id
<?xml version="1.0"?>
<mavlink>
<include>common.xml</include>
<!-- note that UDB specific messages should use the command id
range from 150 to 250, to leave plenty of room for growth
of common.xml
of common.xml
If you prototype a message here, then you should consider if it
is general enough to move into common.xml later
-->
<messages>
</messages>
<enums>
<enum name="MAV_PREFLIGHT_STORAGE_ACTION">
<description>Action required when performing CMD_PREFLIGHT_STORAGE</description>
<entry value="0" name="MAV_PFS_CMD_READ_ALL">
<description>Read all parameters from storage</description>
</entry>
<entry value="1" name="MAV_PFS_CMD_WRITE_ALL">
<description>Write all parameters to storage</description>
</entry>
<entry value="2" name="MAV_PFS_CMD_CLEAR_ALL">
<description>Clear all parameters in storage</description>
</entry>
<entry value="3" name="MAV_PFS_CMD_READ_SPECIFIC">
<description>Read specific parameters from storage</description>
</entry>
<entry value="4" name="MAV_PFS_CMD_WRITE_SPECIFIC">
<description>Write specific parameters to storage</description>
</entry>
<entry value="5" name="MAV_PFS_CMD_CLEAR_SPECIFIC">
<description>Clear specific parameters in storage</description>
</entry>
<entry value="6" name="MAV_PFS_CMD_DO_NOTHING">
<description>do nothing</description>
</entry>
</enum>
<enum name="MAV_CMD" >
<entry value="0" name="MAV_CMD_PREFLIGHT_STORAGE_ADVANCED">
<description>Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode.</description>
<param index="1">Storage action: Action defined by MAV_PREFLIGHT_STORAGE_ACTION_ADVANCED</param>
<param index="2">Storage area as defined by parameter database</param>
<param index="3">Storage flags as defined by parameter database</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
</enum>
</enums>
<messages>
<message id="150" name="FLEXIFUNCTION_SET">
<description>Depreciated but used as a compiler flag. Do not remove</description>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
</message>
<message id="151" name="FLEXIFUNCTION_READ_REQ">
<description>Reqest reading of flexifunction data</description>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
<field type="int16_t" name="read_req_type">Type of flexifunction data requested</field>
<field type="int16_t" name="data_index">index into data where needed</field>
</message>
<message id="152" name="FLEXIFUNCTION_BUFFER_FUNCTION">
<description>Flexifunction type and parameters for component at function index from buffer</description>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
<field type="uint16_t" name="func_index">Function index</field>
<field type="uint16_t" name="func_count">Total count of functions</field>
<field type="uint16_t" name="data_address">Address in the flexifunction data, Set to 0xFFFF to use address in target memory</field>
<field type="uint16_t" name="data_size">Size of the </field>
<field type="int8_t[48]" name="data">Settings data</field>
</message>
<message id="153" name="FLEXIFUNCTION_BUFFER_FUNCTION_ACK">
<description>Flexifunction type and parameters for component at function index from buffer</description>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
<field type="uint16_t" name="func_index">Function index</field>
<field type="uint16_t" name="result">result of acknowledge, 0=fail, 1=good</field>
</message>
<message id="155" name="FLEXIFUNCTION_DIRECTORY">
<description>Acknowldge sucess or failure of a flexifunction command</description>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
<field type="uint8_t" name="directory_type">0=inputs, 1=outputs</field>
<field type="uint8_t" name="start_index">index of first directory entry to write</field>
<field type="uint8_t" name="count">count of directory entries to write</field>
<field type="int8_t[48]" name="directory_data">Settings data</field>
</message>
<message id="156" name="FLEXIFUNCTION_DIRECTORY_ACK">
<description>Acknowldge sucess or failure of a flexifunction command</description>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
<field type="uint8_t" name="directory_type">0=inputs, 1=outputs</field>
<field type="uint8_t" name="start_index">index of first directory entry to write</field>
<field type="uint8_t" name="count">count of directory entries to write</field>
<field type="uint16_t" name="result">result of acknowledge, 0=fail, 1=good</field>
</message>
<message id="157" name="FLEXIFUNCTION_COMMAND">
<description>Acknowldge sucess or failure of a flexifunction command</description>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
<field type="uint8_t" name="command_type">Flexifunction command type</field>
</message>
<message id="158" name="FLEXIFUNCTION_COMMAND_ACK">
<description>Acknowldge sucess or failure of a flexifunction command</description>
<field type="uint16_t" name="command_type">Command acknowledged</field>
<field type="uint16_t" name="result">result of acknowledge</field>
</message>
<message id="170" name="SERIAL_UDB_EXTRA_F2_A">
<description>Backwards compatible MAVLink version of SERIAL_UDB_EXTRA - F2: Format Part A</description>
<field type="uint32_t" name="sue_time">Serial UDB Extra Time</field>
<field type="uint8_t" name="sue_status">Serial UDB Extra Status</field>
<field type="int32_t" name="sue_latitude">Serial UDB Extra Latitude</field>
<field type="int32_t" name="sue_longitude">Serial UDB Extra Longitude</field>
<field type="int32_t" name="sue_altitude">Serial UDB Extra Altitude</field>
<field type="uint16_t" name="sue_waypoint_index">Serial UDB Extra Waypoint Index</field>
<field type="int16_t" name="sue_rmat0">Serial UDB Extra Rmat 0</field>
<field type="int16_t" name="sue_rmat1">Serial UDB Extra Rmat 1</field>
<field type="int16_t" name="sue_rmat2">Serial UDB Extra Rmat 2</field>
<field type="int16_t" name="sue_rmat3">Serial UDB Extra Rmat 3</field>
<field type="int16_t" name="sue_rmat4">Serial UDB Extra Rmat 4</field>
<field type="int16_t" name="sue_rmat5">Serial UDB Extra Rmat 5</field>
<field type="int16_t" name="sue_rmat6">Serial UDB Extra Rmat 6</field>
<field type="int16_t" name="sue_rmat7">Serial UDB Extra Rmat 7</field>
<field type="int16_t" name="sue_rmat8">Serial UDB Extra Rmat 8</field>
<field type="uint16_t" name="sue_cog">Serial UDB Extra GPS Course Over Ground</field>
<field type="int16_t" name="sue_sog">Serial UDB Extra Speed Over Ground</field>
<field type="uint16_t" name="sue_cpu_load">Serial UDB Extra CPU Load</field>
<field type="int16_t" name="sue_voltage_milis">Serial UDB Extra Voltage in MilliVolts</field>
<field type="uint16_t" name="sue_air_speed_3DIMU">Serial UDB Extra 3D IMU Air Speed</field>
<field type="int16_t" name="sue_estimated_wind_0">Serial UDB Extra Estimated Wind 0</field>
<field type="int16_t" name="sue_estimated_wind_1">Serial UDB Extra Estimated Wind 1</field>
<field type="int16_t" name="sue_estimated_wind_2">Serial UDB Extra Estimated Wind 2</field>
<field type="int16_t" name="sue_magFieldEarth0">Serial UDB Extra Magnetic Field Earth 0 </field>
<field type="int16_t" name="sue_magFieldEarth1">Serial UDB Extra Magnetic Field Earth 1 </field>
<field type="int16_t" name="sue_magFieldEarth2">Serial UDB Extra Magnetic Field Earth 2 </field>
<field type="int16_t" name="sue_svs">Serial UDB Extra Number of Sattelites in View</field>
<field type="int16_t" name="sue_hdop">Serial UDB Extra GPS Horizontal Dilution of Precision</field>
</message>
<message id="171" name="SERIAL_UDB_EXTRA_F2_B">
<description>Backwards compatible version of SERIAL_UDB_EXTRA - F2: Part B</description>
<field type="uint32_t" name="sue_time">Serial UDB Extra Time</field>
<field type="int16_t" name="sue_pwm_input_1">Serial UDB Extra PWM Input Channel 1</field>
<field type="int16_t" name="sue_pwm_input_2">Serial UDB Extra PWM Input Channel 2</field>
<field type="int16_t" name="sue_pwm_input_3">Serial UDB Extra PWM Input Channel 3</field>
<field type="int16_t" name="sue_pwm_input_4">Serial UDB Extra PWM Input Channel 4</field>
<field type="int16_t" name="sue_pwm_input_5">Serial UDB Extra PWM Input Channel 5</field>
<field type="int16_t" name="sue_pwm_input_6">Serial UDB Extra PWM Input Channel 6</field>
<field type="int16_t" name="sue_pwm_input_7">Serial UDB Extra PWM Input Channel 7</field>
<field type="int16_t" name="sue_pwm_input_8">Serial UDB Extra PWM Input Channel 8</field>
<field type="int16_t" name="sue_pwm_input_9">Serial UDB Extra PWM Input Channel 9</field>
<field type="int16_t" name="sue_pwm_input_10">Serial UDB Extra PWM Input Channel 10</field>
<field type="int16_t" name="sue_pwm_output_1">Serial UDB Extra PWM Output Channel 1</field>
<field type="int16_t" name="sue_pwm_output_2">Serial UDB Extra PWM Output Channel 2</field>
<field type="int16_t" name="sue_pwm_output_3">Serial UDB Extra PWM Output Channel 3</field>
<field type="int16_t" name="sue_pwm_output_4">Serial UDB Extra PWM Output Channel 4</field>
<field type="int16_t" name="sue_pwm_output_5">Serial UDB Extra PWM Output Channel 5</field>
<field type="int16_t" name="sue_pwm_output_6">Serial UDB Extra PWM Output Channel 6</field>
<field type="int16_t" name="sue_pwm_output_7">Serial UDB Extra PWM Output Channel 7</field>
<field type="int16_t" name="sue_pwm_output_8">Serial UDB Extra PWM Output Channel 8</field>
<field type="int16_t" name="sue_pwm_output_9">Serial UDB Extra PWM Output Channel 9</field>
<field type="int16_t" name="sue_pwm_output_10">Serial UDB Extra PWM Output Channel 10</field>
<field type="int16_t" name="sue_imu_location_x">Serial UDB Extra IMU Location X</field>
<field type="int16_t" name="sue_imu_location_y">Serial UDB Extra IMU Location Y</field>
<field type="int16_t" name="sue_imu_location_z">Serial UDB Extra IMU Location Z</field>
<field type="uint32_t" name="sue_flags">Serial UDB Extra Status Flags</field>
<field type="int16_t" name="sue_osc_fails">Serial UDB Extra Oscillator Failure Count</field>
<field type="int16_t" name="sue_imu_velocity_x">Serial UDB Extra IMU Velocity X</field>
<field type="int16_t" name="sue_imu_velocity_y">Serial UDB Extra IMU Velocity Y</field>
<field type="int16_t" name="sue_imu_velocity_z">Serial UDB Extra IMU Velocity Z</field>
<field type="int16_t" name="sue_waypoint_goal_x">Serial UDB Extra Current Waypoint Goal X</field>
<field type="int16_t" name="sue_waypoint_goal_y">Serial UDB Extra Current Waypoint Goal Y</field>
<field type="int16_t" name="sue_waypoint_goal_z">Serial UDB Extra Current Waypoint Goal Z</field>
<field type="int16_t" name="sue_memory_stack_free">Serial UDB Extra Stack Memory Free</field>
</message>
<message id="172" name="SERIAL_UDB_EXTRA_F4">
<description>Backwards compatible version of SERIAL_UDB_EXTRA F4: format</description>
<field type="uint8_t" name="sue_ROLL_STABILIZATION_AILERONS">Serial UDB Extra Roll Stabilization with Ailerons Enabled</field>
<field type="uint8_t" name="sue_ROLL_STABILIZATION_RUDDER">Serial UDB Extra Roll Stabilization with Rudder Enabled</field>
<field type="uint8_t" name="sue_PITCH_STABILIZATION">Serial UDB Extra Pitch Stabilization Enabled</field>
<field type="uint8_t" name="sue_YAW_STABILIZATION_RUDDER">Serial UDB Extra Yaw Stabilization using Rudder Enabled</field>
<field type="uint8_t" name="sue_YAW_STABILIZATION_AILERON">Serial UDB Extra Yaw Stabilization using Ailerons Enabled</field>
<field type="uint8_t" name="sue_AILERON_NAVIGATION">Serial UDB Extra Navigation with Ailerons Enabled</field>
<field type="uint8_t" name="sue_RUDDER_NAVIGATION">Serial UDB Extra Navigation with Rudder Enabled</field>
<field type="uint8_t" name="sue_ALTITUDEHOLD_STABILIZED">Serial UDB Extra Type of Alitude Hold when in Stabilized Mode</field>
<field type="uint8_t" name="sue_ALTITUDEHOLD_WAYPOINT">Serial UDB Extra Type of Alitude Hold when in Waypoint Mode</field>
<field type="uint8_t" name="sue_RACING_MODE">Serial UDB Extra Firmware racing mode enabled</field>
</message>
<message id="173" name="SERIAL_UDB_EXTRA_F5">
<description>Backwards compatible version of SERIAL_UDB_EXTRA F5: format</description>
<field type="float" name="sue_YAWKP_AILERON">Serial UDB YAWKP_AILERON Gain for Proporional control of navigation</field>
<field type="float" name="sue_YAWKD_AILERON">Serial UDB YAWKD_AILERON Gain for Rate control of navigation</field>
<field type="float" name="sue_ROLLKP">Serial UDB Extra ROLLKP Gain for Proportional control of roll stabilization</field>
<field type="float" name="sue_ROLLKD">Serial UDB Extra ROLLKD Gain for Rate control of roll stabilization</field>
<field type="float" name="sue_YAW_STABILIZATION_AILERON">YAW_STABILIZATION_AILERON Proportional control</field>
<field type="float" name="sue_AILERON_BOOST">Gain For Boosting Manual Aileron control When Plane Stabilized</field>
</message>
<message id="174" name="SERIAL_UDB_EXTRA_F6">
<description>Backwards compatible version of SERIAL_UDB_EXTRA F6: format</description>
<field type="float" name="sue_PITCHGAIN">Serial UDB Extra PITCHGAIN Proportional Control</field>
<field type="float" name="sue_PITCHKD">Serial UDB Extra Pitch Rate Control</field>
<field type="float" name="sue_RUDDER_ELEV_MIX">Serial UDB Extra Rudder to Elevator Mix</field>
<field type="float" name="sue_ROLL_ELEV_MIX">Serial UDB Extra Roll to Elevator Mix</field>
<field type="float" name="sue_ELEVATOR_BOOST">Gain For Boosting Manual Elevator control When Plane Stabilized</field>
</message>
<message id="175" name="SERIAL_UDB_EXTRA_F7">
<description>Backwards compatible version of SERIAL_UDB_EXTRA F7: format</description>
<field type="float" name="sue_YAWKP_RUDDER">Serial UDB YAWKP_RUDDER Gain for Proporional control of navigation</field>
<field type="float" name="sue_YAWKD_RUDDER">Serial UDB YAWKD_RUDDER Gain for Rate control of navigation</field>
<field type="float" name="sue_ROLLKP_RUDDER">Serial UDB Extra ROLLKP_RUDDER Gain for Proportional control of roll stabilization</field>
<field type="float" name="sue_ROLLKD_RUDDER">Serial UDB Extra ROLLKD_RUDDER Gain for Rate control of roll stabilization</field>
<field type="float" name="sue_RUDDER_BOOST">SERIAL UDB EXTRA Rudder Boost Gain to Manual Control when stabilized</field>
<field type="float" name="sue_RTL_PITCH_DOWN">Serial UDB Extra Return To Landing - Angle to Pitch Plane Down</field>
</message>
<message id="176" name="SERIAL_UDB_EXTRA_F8">
<description>Backwards compatible version of SERIAL_UDB_EXTRA F8: format</description>
<field type="float" name="sue_HEIGHT_TARGET_MAX">Serial UDB Extra HEIGHT_TARGET_MAX</field>
<field type="float" name="sue_HEIGHT_TARGET_MIN">Serial UDB Extra HEIGHT_TARGET_MIN</field>
<field type="float" name="sue_ALT_HOLD_THROTTLE_MIN">Serial UDB Extra ALT_HOLD_THROTTLE_MIN</field>
<field type="float" name="sue_ALT_HOLD_THROTTLE_MAX">Serial UDB Extra ALT_HOLD_THROTTLE_MAX</field>
<field type="float" name="sue_ALT_HOLD_PITCH_MIN">Serial UDB Extra ALT_HOLD_PITCH_MIN</field>
<field type="float" name="sue_ALT_HOLD_PITCH_MAX">Serial UDB Extra ALT_HOLD_PITCH_MAX</field>
<field type="float" name="sue_ALT_HOLD_PITCH_HIGH">Serial UDB Extra ALT_HOLD_PITCH_HIGH</field>
</message>
<message id="177" name="SERIAL_UDB_EXTRA_F13">
<description>Backwards compatible version of SERIAL_UDB_EXTRA F13: format</description>
<field type="int16_t" name="sue_week_no">Serial UDB Extra GPS Week Number</field>
<field type="int32_t" name="sue_lat_origin">Serial UDB Extra MP Origin Latitude</field>
<field type="int32_t" name="sue_lon_origin">Serial UDB Extra MP Origin Longitude</field>
<field type="int32_t" name="sue_alt_origin">Serial UDB Extra MP Origin Altitude Above Sea Level</field>
</message>
<message id="178" name="SERIAL_UDB_EXTRA_F14">
<description>Backwards compatible version of SERIAL_UDB_EXTRA F14: format</description>
<field type="uint8_t" name="sue_WIND_ESTIMATION">Serial UDB Extra Wind Estimation Enabled</field>
<field type="uint8_t" name="sue_GPS_TYPE">Serial UDB Extra Type of GPS Unit</field>
<field type="uint8_t" name="sue_DR">Serial UDB Extra Dead Reckoning Enabled</field>
<field type="uint8_t" name="sue_BOARD_TYPE">Serial UDB Extra Type of UDB Hardware</field>
<field type="uint8_t" name="sue_AIRFRAME">Serial UDB Extra Type of Airframe</field>
<field type="int16_t" name="sue_RCON">Serial UDB Extra Reboot Regitster of DSPIC</field>
<field type="int16_t" name="sue_TRAP_FLAGS">Serial UDB Extra Last dspic Trap Flags</field>
<field type="uint32_t" name="sue_TRAP_SOURCE">Serial UDB Extra Type Program Address of Last Trap</field>
<field type="int16_t" name="sue_osc_fail_count">Serial UDB Extra Number of Ocillator Failures</field>
<field type="uint8_t" name="sue_CLOCK_CONFIG">Serial UDB Extra UDB Internal Clock Configuration</field>
<field type="uint8_t" name="sue_FLIGHT_PLAN_TYPE">Serial UDB Extra Type of Flight Plan</field>
</message>
<message id="179" name="SERIAL_UDB_EXTRA_F15">
<description>Backwards compatible version of SERIAL_UDB_EXTRA F15 and F16: format</description>
<field type="uint8_t[40]" name="sue_ID_VEHICLE_MODEL_NAME">Serial UDB Extra Model Name Of Vehicle</field>
<field type="uint8_t[20]" name="sue_ID_VEHICLE_REGISTRATION">Serial UDB Extra Registraton Number of Vehicle</field>
</message>
<message id="180" name="SERIAL_UDB_EXTRA_F16">
<field type="uint8_t[40]" name="sue_ID_LEAD_PILOT">Serial UDB Extra Name of Expected Lead Pilot</field>
<field type="uint8_t[70]" name="sue_ID_DIY_DRONES_URL">Serial UDB Extra URL of Lead Pilot or Team</field>
</message>
<message id="181" name="ALTITUDES">
<description>The altitude measured by sensors and IMU</description>
<field type="uint32_t" name="time_boot_ms">Timestamp (milliseconds since system boot)</field>
<field type="int32_t" name="alt_gps">GPS altitude in meters, expressed as * 1000 (millimeters), above MSL</field>
<field type="int32_t" name="alt_imu">IMU altitude above ground in meters, expressed as * 1000 (millimeters)</field>
<field type="int32_t" name="alt_barometric">barometeric altitude above ground in meters, expressed as * 1000 (millimeters)</field>
<field type="int32_t" name="alt_optical_flow">Optical flow altitude above ground in meters, expressed as * 1000 (millimeters)</field>
<field type="int32_t" name="alt_range_finder">Rangefinder Altitude above ground in meters, expressed as * 1000 (millimeters)</field>
<field type="int32_t" name="alt_extra">Extra altitude above ground in meters, expressed as * 1000 (millimeters)</field>
</message>
<message id="182" name="AIRSPEEDS">
<description>The airspeed measured by sensors and IMU</description>
<field type="uint32_t" name="time_boot_ms">Timestamp (milliseconds since system boot)</field>
<field type="int16_t" name="airspeed_imu">Airspeed estimate from IMU, cm/s</field>
<field type="int16_t" name="airspeed_pitot">Pitot measured forward airpseed, cm/s</field>
<field type="int16_t" name="airspeed_hot_wire">Hot wire anenometer measured airspeed, cm/s</field>
<field type="int16_t" name="airspeed_ultrasonic">Ultrasonic measured airspeed, cm/s</field>
<field type="int16_t" name="aoa">Angle of attack sensor, degrees * 10</field>
<field type="int16_t" name="aoy">Yaw angle sensor, degrees * 10</field>
</message>
</messages>
</mavlink>

216
libraries/GCS_MAVLink/message_definitions/sensesoar.xml
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@ -1,83 +1,143 @@
<?xml version='1.0'?>
<mavlink>
<include>common.xml</include>
<enums>
<enum name="SENSESOAR_MODE">
<description> Different flight modes </description>
<entry name="SENSESOAR_MODE_GLIDING"> Gliding mode with motors off</entry>
<entry name="SENSESOAR_MODE_AUTONOMOUS"> Autonomous flight</entry>
<entry name="SENSESOAR_MODE_MANUAL"> RC controlled</entry>
</enum>
<include>common.xml</include>
<enums>
<enum name="SENSESOAR_MODE">
<description> Different flight modes </description>
<entry name="SENSESOAR_MODE_GLIDING">
<description>Gliding mode with motors off</description>
</entry>
<entry name="SENSESOAR_MODE_AUTONOMOUS">
<description>Autonomous flight</description>
</entry>
<entry name="SENSESOAR_MODE_MANUAL">
<description>RC controlled</description>
</entry>
</enum>
</enums>
<messages>
<message id="170" name="OBS_POSITION">
Position estimate of the observer in global frame
<field type="int32_t" name="lon">Longitude expressed in 1E7</field>
<field type="int32_t" name="lat">Latitude expressed in 1E7</field>
<field type="int32_t" name="alt">Altitude expressed in milimeters</field>
</message>
<message id="172" name="OBS_VELOCITY">
velocity estimate of the observer in NED inertial frame
<field type="float[3]" name="vel">Velocity</field>
</message>
<message id="174" name="OBS_ATTITUDE">
attitude estimate of the observer
<field type="double[4]" name="quat">Quaternion re;im</field>
</message>
<message id="176" name="OBS_WIND">
Wind estimate in NED inertial frame
<field type="float[3]" name="wind">Wind</field>
</message>
<message id="178" name="OBS_AIR_VELOCITY">
Estimate of the air velocity
<field type="float" name="magnitude">Air speed</field>
<field type="float" name="aoa">angle of attack</field>
<field type="float" name="slip">slip angle</field>
</message>
<message id="180" name="OBS_BIAS">
IMU biases
<field type="float[3]" name="accBias">accelerometer bias</field>
<field type="float[3]" name="gyroBias">gyroscope bias</field>
</message>
<message id="182" name="OBS_QFF">
estimate of the pressure at sea level
<field type="float" name="qff">Wind</field>
</message>
<message id="183" name="OBS_AIR_TEMP">
ambient air temperature
<field type="float" name="airT">Air Temperatur</field>
</message>
<message id="184" name="FILT_ROT_VEL">
filtered rotational velocity
<field type="float[3]" name="rotVel">rotational velocity</field>
</message>
<message id="186" name="LLC_OUT">
low level control output
<field type="int16_t[4]" name="servoOut">Servo signal</field>
<field type="int16_t[2]" name="MotorOut">motor signal</field>
</message>
<message id="188" name="PM_ELEC">
Power managment
<field type="float" name="PwCons">current power consumption</field>
<field type="float" name="BatStat">battery status</field>
<field type="float[3]" name="PwGen">Power generation from each module</field>
</message>
<message id="190" name="SYS_Stat">
system status
<field type="uint8_t" name="gps">gps status</field>
<field type="uint8_t" name="act">actuator status</field>
<field type="uint8_t" name="mod">module status</field>
<field type="uint8_t" name="commRssi">module status</field>
</message>
<message id="192" name="CMD_AIRSPEED_CHNG">
change commanded air speed
<field type="uint8_t" name="target">Target ID</field>
<field type="float" name="spCmd">commanded airspeed</field>
</message>
<message id="194" name="CMD_AIRSPEED_ACK">
accept change of airspeed
<field type="float" name="spCmd">commanded airspeed</field>
<field type="uint8_t" name="ack">0:ack, 1:nack</field>
</message>
</messages>
<message id="170" name="OBS_POSITION">
<description>Position estimate of the observer in global frame</description>
<field type="int32_t" name="lon">
<description>Longitude expressed in 1E7</description>
</field>
<field type="int32_t" name="lat">
<description>Latitude expressed in 1E7</description>
</field>
<field type="int32_t" name="alt">
<description>Altitude expressed in milimeters</description>
</field>
</message>
<message id="172" name="OBS_VELOCITY">
<description>velocity estimate of the observer in NED inertial frame</description>
<field type="float[3]" name="vel">
<description>Velocity</description>
</field>
</message>
<message id="174" name="OBS_ATTITUDE">
<description>attitude estimate of the observe</description>
<field type="double[4]" name="quat">
<description>Quaternion re;im</description>
</field>
</message>
<message id="176" name="OBS_WIND">
<description>Wind estimate in NED inertial frame</description>
<field type="float[3]" name="wind">
<description>Wind</description>
</field>
</message>
<message id="178" name="OBS_AIR_VELOCITY">
<description>Estimate of the air velocity</description>
<field type="float" name="magnitude">
<description>Air speed</description>
</field>
<field type="float" name="aoa">
<description>angle of attack</description>
</field>
<field type="float" name="slip">
<description>slip angle</description>
</field>
</message>
<message id="180" name="OBS_BIAS">
<description>IMU biases</description>
<field type="float[3]" name="accBias">
<description>accelerometer bias</description>
</field>
<field type="float[3]" name="gyroBias">
<description>gyroscope bias</description>
</field>
</message>
<message id="182" name="OBS_QFF">
<description>estimate of the pressure at sea level</description>
<field type="float" name="qff">
<description>Wind</description>
</field>
</message>
<message id="183" name="OBS_AIR_TEMP">
<description>ambient air temperature</description>
<field type="float" name="airT">
<description>Air Temperatur</description>
</field>
</message>
<message id="184" name="FILT_ROT_VEL">
<description>filtered rotational velocity</description>
<field type="float[3]" name="rotVel">
<description>rotational velocity</description>
</field>
</message>
<message id="186" name="LLC_OUT">
<description>low level control output</description>
<field type="int16_t[4]" name="servoOut">
<description>Servo signal</description>
</field>
<field type="int16_t[2]" name="MotorOut">
<description>motor signal</description>
</field>
</message>
<message id="188" name="PM_ELEC">
<description>Power managment</description>
<field type="float" name="PwCons">
<description>current power consumption</description>
</field>
<field type="float" name="BatStat">
<description>battery status</description>
</field>
<field type="float[3]" name="PwGen">
<description>Power generation from each module</description>
</field>
</message>
<message id="190" name="SYS_Stat">
<description>system status</description>
<field type="uint8_t" name="gps">
<description>gps status</description>
</field>
<field type="uint8_t" name="act">
<description>actuator status</description>
</field>
<field type="uint8_t" name="mod">
<description>module status</description>
</field>
<field type="uint8_t" name="commRssi">
<description>module status</description>
</field>
</message>
<message id="192" name="CMD_AIRSPEED_CHNG">
<description>change commanded air speed</description>
<field type="uint8_t" name="target">
<description>Target ID</description>
</field>
<field type="float" name="spCmd">
<description>commanded airspeed</description>
</field>
</message>
<message id="194" name="CMD_AIRSPEED_ACK">
<description>accept change of airspeed</description>
<field type="float" name="spCmd">
<description>commanded airspeed</description>
</field>
<field type="uint8_t" name="ack">
<description>0:ack, 1:nack</description>
</field>
</message>
</messages>
</mavlink>

22
libraries/GCS_MAVLink/message_definitions/slugs.xml
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@ -37,21 +37,21 @@
<messages>
<message name="CPU_LOAD" id="170">
Sensor and DSC control loads.
<description>Sensor and DSC control loads.</description>
<field name="sensLoad" type="uint8_t">Sensor DSC Load</field>
<field name="ctrlLoad" type="uint8_t">Control DSC Load</field>
<field name="batVolt" type="uint16_t">Battery Voltage in millivolts</field>
</message>
<message name="AIR_DATA" id="171">
Air data for altitude and airspeed computation.
<description>Air data for altitude and airspeed computation.</description>
<field name="dynamicPressure" type="float">Dynamic pressure (Pa)</field>
<field name="staticPressure" type="float">Static pressure (Pa)</field>
<field name="temperature" type="uint16_t">Board temperature</field>
</message>
<message name="SENSOR_BIAS" id="172">
Accelerometer and gyro biases.
<description>Accelerometer and gyro biases.</description>
<field name="axBias" type="float">Accelerometer X bias (m/s)</field>
<field name="ayBias" type="float">Accelerometer Y bias (m/s)</field>
<field name="azBias" type="float">Accelerometer Z bias (m/s)</field>
@ -61,7 +61,7 @@
</message>
<message name="DIAGNOSTIC" id="173">
Configurable diagnostic messages.
<description>Configurable diagnostic messages.</description>
<field name="diagFl1" type="float">Diagnostic float 1</field>
<field name="diagFl2" type="float">Diagnostic float 2</field>
<field name="diagFl3" type="float">Diagnostic float 3</field>
@ -71,7 +71,7 @@
</message>
<message name="SLUGS_NAVIGATION" id="176">
Data used in the navigation algorithm.
<description>Data used in the navigation algorithm.</description>
<field name="u_m" type="float">Measured Airspeed prior to the Nav Filter</field>
<field name="phi_c" type="float">Commanded Roll</field>
<field name="theta_c" type="float">Commanded Pitch</field>
@ -84,7 +84,7 @@
</message>
<message name="DATA_LOG" id="177">
Configurable data log probes to be used inside Simulink
<description>Configurable data log probes to be used inside Simulink.</description>
<field name="fl_1" type="float">Log value 1 </field>
<field name="fl_2" type="float">Log value 2 </field>
<field name="fl_3" type="float">Log value 3 </field>
@ -94,7 +94,7 @@
</message>
<message name="GPS_DATE_TIME" id="179">
Pilot console PWM messges.
<description>Pilot console PWM messges.</description>
<field name="year" type="uint8_t">Year reported by Gps </field>
<field name="month" type="uint8_t">Month reported by Gps </field>
<field name="day" type="uint8_t">Day reported by Gps </field>
@ -105,7 +105,7 @@
</message>
<message name="MID_LVL_CMDS" id="180">
Mid Level commands sent from the GS to the autopilot. These are only sent when being opperated in mid-level commands mode from the ground; for periodic report of these commands generated from the autopilot see message XXXX.
<description>Mid Level commands sent from the GS to the autopilot. These are only sent when being opperated in mid-level commands mode from the ground; for periodic report of these commands generated from the autopilot see message XXXX.</description>
<field name="target" type="uint8_t">The system setting the commands</field>
<field name="hCommand" type="float">Commanded Airspeed</field>
<field name="uCommand" type="float">Log value 2 </field>
@ -114,7 +114,7 @@
<message name="CTRL_SRFC_PT" id="181">
This message configures the Selective Passthrough mode. it allows to select which control surfaces the Pilot can control from his console. It is implemented as a bitfield as follows:
<description>This message configures the Selective Passthrough mode. it allows to select which control surfaces the Pilot can control from his console. It is implemented as a bitfield as follows:
Position Bit Code
=================================
15-8 Reserved
@ -126,7 +126,7 @@
2 dre_pass 4
1 dlf_pass 2
0 drf_pass 1
Where Bit 15 is the MSb. 0 = AP has control of the surface; 1 = Pilot Console has control of the surface.
Where Bit 15 is the MSb. 0 = AP has control of the surface; 1 = Pilot Console has control of the surface.</description>
<field name="target" type="uint8_t">The system setting the commands</field>
<field name="bitfieldPt" type="uint16_t">Bitfield containing the PT configuration</field>
</message>
@ -134,7 +134,7 @@
<message name="SLUGS_ACTION" id="183">
Action messages focused on the SLUGS AP.
<description>Action messages focused on the SLUGS AP. </description>
<field name="target" type="uint8_t">The system reporting the action</field>
<field name="actionId" type="uint8_t">Action ID. See apDefinitions.h in the SLUGS /clib directory for the ID names</field>
<field name="actionVal" type="uint16_t">Value associated with the action</field>

44
libraries/GCS_MAVLink/message_definitions/ualberta.xml
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@ -4,24 +4,46 @@
<enums>
<enum name="UALBERTA_AUTOPILOT_MODE">
<description>Available autopilot modes for ualberta uav</description>
<entry name="MODE_MANUAL_DIRECT">Raw input pulse widts sent to output</entry>
<entry name="MODE_MANUAL_SCALED">Inputs are normalized using calibration, the converted back to raw pulse widths for output</entry>
<entry name="MODE_AUTO_PID_ATT"> dfsdfs</entry>
<entry name="MODE_AUTO_PID_VEL"> dfsfds</entry>
<entry name="MODE_AUTO_PID_POS"> dfsdfsdfs</entry>
<entry name="MODE_MANUAL_DIRECT">
<description>Raw input pulse widts sent to output</description>
</entry>
<entry name="MODE_MANUAL_SCALED">
<description>Inputs are normalized using calibration, the converted back to raw pulse widths for output</description>
</entry>
<entry name="MODE_AUTO_PID_ATT">
<description> dfsdfs</description>
</entry>
<entry name="MODE_AUTO_PID_VEL">
<description> dfsfds</description>
</entry>
<entry name="MODE_AUTO_PID_POS">
<description> dfsdfsdfs</description>
</entry>
</enum>
<enum name="UALBERTA_NAV_MODE">
<description>Navigation filter mode</description>
<entry name="NAV_AHRS_INIT" />
<entry name="NAV_AHRS">AHRS mode</entry>
<entry name="NAV_INS_GPS_INIT">INS/GPS initialization mode</entry>
<entry name="NAV_INS_GPS">INS/GPS mode</entry>
<entry name="NAV_AHRS">
<description>AHRS mode</description>
</entry>
<entry name="NAV_INS_GPS_INIT">
<description>INS/GPS initialization mode</description>
</entry>
<entry name="NAV_INS_GPS">
<description>INS/GPS mode</description>
</entry>
</enum>
<enum name="UALBERTA_PILOT_MODE">
<description>Mode currently commanded by pilot</description>
<entry name="PILOT_MANUAL"> sdf</entry>
<entry name="PILOT_AUTO"> dfs</entry>
<entry name="PILOT_ROTO"> Rotomotion mode </entry>
<entry name="PILOT_MANUAL">
<description> sdf</description>
</entry>
<entry name="PILOT_AUTO">
<description> dfs</description>
</entry>
<entry name="PILOT_ROTO">
<description> Rotomotion mode </description>
</entry>
</enum>
</enums>
<messages>