GCS_MAVLink: re-generate with updated upstream mavlink
This commit is contained in:
Andrew Tridgell
parent
940966f3e3
commit
f98e283091
@ -5,7 +5,7 @@
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#ifndef MAVLINK_VERSION_H
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#define MAVLINK_VERSION_H
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#define MAVLINK_BUILD_DATE "Tue Nov 25 10:42:23 2014"
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#define MAVLINK_BUILD_DATE "Wed Dec 3 09:05:50 2014"
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#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
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#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
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@ -5,7 +5,7 @@
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#ifndef MAVLINK_VERSION_H
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#define MAVLINK_VERSION_H
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#define MAVLINK_BUILD_DATE "Tue Nov 25 10:42:23 2014"
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#define MAVLINK_BUILD_DATE "Wed Dec 3 09:05:50 2014"
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#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
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#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
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@ -45,13 +45,13 @@ MAVLINK_HELPER void mavlink_quaternion_to_dcm(const float quaternion[4], float d
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double cSq = c * c;
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double dSq = d * d;
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dcm[0][0] = aSq + bSq - cSq - dSq;
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dcm[0][1] = 2.0 * (b * c - a * d);
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dcm[0][2] = 2.0 * (a * c + b * d);
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dcm[1][0] = 2.0 * (b * c + a * d);
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dcm[0][1] = 2 * (b * c - a * d);
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dcm[0][2] = 2 * (a * c + b * d);
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dcm[1][0] = 2 * (b * c + a * d);
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dcm[1][1] = aSq - bSq + cSq - dSq;
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dcm[1][2] = 2.0 * (c * d - a * b);
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dcm[2][0] = 2.0 * (b * d - a * c);
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dcm[2][1] = 2.0 * (a * b + c * d);
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dcm[1][2] = 2 * (c * d - a * b);
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dcm[2][0] = 2 * (b * d - a * c);
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dcm[2][1] = 2 * (a * b + c * d);
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dcm[2][2] = aSq - bSq - cSq + dSq;
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}
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@ -116,12 +116,12 @@ MAVLINK_HELPER void mavlink_quaternion_to_euler(const float quaternion[4], float
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*/
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MAVLINK_HELPER void mavlink_euler_to_quaternion(float roll, float pitch, float yaw, float quaternion[4])
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{
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double cosPhi_2 = cos((double)roll / 2.0);
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double sinPhi_2 = sin((double)roll / 2.0);
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double cosTheta_2 = cos((double)pitch / 2.0);
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double sinTheta_2 = sin((double)pitch / 2.0);
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double cosPsi_2 = cos((double)yaw / 2.0);
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double sinPsi_2 = sin((double)yaw / 2.0);
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float cosPhi_2 = cosf(roll / 2);
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float sinPhi_2 = sinf(roll / 2);
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float cosTheta_2 = cosf(pitch / 2);
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float sinTheta_2 = sinf(pitch / 2);
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float cosPsi_2 = cosf(yaw / 2);
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float sinPsi_2 = sinf(yaw / 2);
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quaternion[0] = (cosPhi_2 * cosTheta_2 * cosPsi_2 +
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sinPhi_2 * sinTheta_2 * sinPsi_2);
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quaternion[1] = (sinPhi_2 * cosTheta_2 * cosPsi_2 -
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@ -141,14 +141,10 @@ MAVLINK_HELPER void mavlink_euler_to_quaternion(float roll, float pitch, float y
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*/
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MAVLINK_HELPER void mavlink_dcm_to_quaternion(const float dcm[3][3], float quaternion[4])
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{
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quaternion[0] = (0.5 * sqrt(1.0 +
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(double)(dcm[0][0] + dcm[1][1] + dcm[2][2])));
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quaternion[1] = (0.5 * sqrt(1.0 +
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(double)(dcm[0][0] - dcm[1][1] - dcm[2][2])));
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quaternion[2] = (0.5 * sqrt(1.0 +
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(double)(-dcm[0][0] + dcm[1][1] - dcm[2][2])));
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quaternion[3] = (0.5 * sqrt(1.0 +
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(double)(-dcm[0][0] - dcm[1][1] + dcm[2][2])));
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quaternion[0] = 0.5f * sqrtf(1 + dcm[0][0] + dcm[1][1] + dcm[2][2]);
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quaternion[1] = 0.5f * sqrtf(1 + dcm[0][0] - dcm[1][1] - dcm[2][2]);
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quaternion[2] = 0.5f * sqrtf(1 - dcm[0][0] + dcm[1][1] - dcm[2][2]);
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quaternion[3] = 0.5f * sqrtf(1 - dcm[0][0] - dcm[1][1] + dcm[2][2]);
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}
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@ -162,12 +158,12 @@ MAVLINK_HELPER void mavlink_dcm_to_quaternion(const float dcm[3][3], float quate
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*/
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MAVLINK_HELPER void mavlink_euler_to_dcm(float roll, float pitch, float yaw, float dcm[3][3])
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{
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double cosPhi = cos(roll);
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double sinPhi = sin(roll);
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double cosThe = cos(pitch);
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double sinThe = sin(pitch);
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double cosPsi = cos(yaw);
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double sinPsi = sin(yaw);
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float cosPhi = cosf(roll);
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float sinPhi = sinf(roll);
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float cosThe = cosf(pitch);
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float sinThe = sinf(pitch);
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float cosPsi = cosf(yaw);
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float sinPsi = sinf(yaw);
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dcm[0][0] = cosThe * cosPsi;
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dcm[0][1] = -cosPhi * sinPsi + sinPhi * sinThe * cosPsi;
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@ -8,6 +8,13 @@
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#include <inttypes.h>
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#endif
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// Macro to define packed structures
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#ifdef __GNUC__
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#define MAVPACKED( __Declaration__ ) __Declaration__ __attribute__((packed))
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#else
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#define MAVPACKED( __Declaration__ ) __pragma( pack(push, 1) ) __Declaration__ __pragma( pack(pop) )
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#endif
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#ifndef MAVLINK_MAX_PAYLOAD_LEN
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// it is possible to override this, but be careful!
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#define MAVLINK_MAX_PAYLOAD_LEN 255 ///< Maximum payload length
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@ -33,7 +40,6 @@
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#define MAVLINK_MAX_EXTENDED_PAYLOAD_LEN (MAVLINK_MAX_EXTENDED_PACKET_LEN - MAVLINK_EXTENDED_HEADER_LEN - MAVLINK_NUM_NON_PAYLOAD_BYTES)
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#pragma pack(push, 1)
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/**
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* Old-style 4 byte param union
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@ -44,6 +50,7 @@
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* and re-instanted on the receiving side using the
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* native type as well.
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*/
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MAVPACKED(
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typedef struct param_union {
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union {
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float param_float;
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@ -56,7 +63,7 @@ typedef struct param_union {
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uint8_t bytes[4];
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};
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uint8_t type;
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} mavlink_param_union_t;
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}) mavlink_param_union_t;
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/**
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@ -72,6 +79,7 @@ typedef struct param_union {
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* which should be the same as gcc on little-endian arm. When using shifts/masks the value will be treated as a 64 bit unsigned number,
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* and the bits pulled out using the shifts/masks.
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*/
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MAVPACKED(
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typedef union {
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struct {
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uint8_t is_double:1;
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@ -89,17 +97,19 @@ typedef union {
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};
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};
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uint8_t data[8];
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} mavlink_param_union_double_t;
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}) mavlink_param_union_double_t;
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/**
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* This structure is required to make the mavlink_send_xxx convenience functions
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* work, as it tells the library what the current system and component ID are.
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*/
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MAVPACKED(
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typedef struct __mavlink_system {
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uint8_t sysid; ///< Used by the MAVLink message_xx_send() convenience function
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uint8_t compid; ///< Used by the MAVLink message_xx_send() convenience function
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} mavlink_system_t;
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}) mavlink_system_t;
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MAVPACKED(
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typedef struct __mavlink_message {
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uint16_t checksum; ///< sent at end of packet
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uint8_t magic; ///< protocol magic marker
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@ -109,14 +119,14 @@ typedef struct __mavlink_message {
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uint8_t compid; ///< ID of the message sender component
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uint8_t msgid; ///< ID of message in payload
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uint64_t payload64[(MAVLINK_MAX_PAYLOAD_LEN+MAVLINK_NUM_CHECKSUM_BYTES+7)/8];
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} mavlink_message_t;
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}) mavlink_message_t;
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MAVPACKED(
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typedef struct __mavlink_extended_message {
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mavlink_message_t base_msg;
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int32_t extended_payload_len; ///< Length of extended payload if any
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uint8_t extended_payload[MAVLINK_MAX_EXTENDED_PAYLOAD_LEN];
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} mavlink_extended_message_t;
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#pragma pack(pop)
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}) mavlink_extended_message_t;
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typedef enum {
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MAVLINK_TYPE_CHAR = 0,
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