diff --git a/APMrover2/GCS_Mavlink.pde b/APMrover2/GCS_Mavlink.pde index 87dd0b1038..29dd212ad7 100644 --- a/APMrover2/GCS_Mavlink.pde +++ b/APMrover2/GCS_Mavlink.pde @@ -27,7 +27,6 @@ static bool mavlink_active; static NOINLINE void send_heartbeat(mavlink_channel_t chan) { -#if MAVLINK10 == ENABLED uint8_t base_mode = MAV_MODE_FLAG_CUSTOM_MODE_ENABLED; uint8_t system_status = MAV_STATE_ACTIVE; uint32_t custom_mode = control_mode; @@ -92,12 +91,6 @@ static NOINLINE void send_heartbeat(mavlink_channel_t chan) base_mode, custom_mode, system_status); -#else // MAVLINK10 - mavlink_msg_heartbeat_send( - chan, - mavlink_system.type, - MAV_AUTOPILOT_ARDUPILOTMEGA); -#endif // MAVLINK10 } static NOINLINE void send_attitude(mavlink_channel_t chan) @@ -125,7 +118,6 @@ static NOINLINE void send_fence_status(mavlink_channel_t chan) static NOINLINE void send_extended_status1(mavlink_channel_t chan, uint16_t packet_drops) { -#if MAVLINK10 == ENABLED uint32_t control_sensors_present = 0; uint32_t control_sensors_enabled; uint32_t control_sensors_health; @@ -228,69 +220,6 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan, uint16_t pack 0, // comm drops in pkts, 0, 0, 0, 0); -#else // MAVLINK10 - uint8_t mode = MAV_MODE_UNINIT; - uint8_t nav_mode = MAV_NAV_VECTOR; - - switch(control_mode) { - case MANUAL: - mode = MAV_MODE_MANUAL; - break; - case LEARNING: - mode = MAV_MODE_TEST1; - break; - case FLY_BY_WIRE_A: - mode = MAV_MODE_TEST2; - nav_mode = 1; //FBW nav_mode mapping; 1=A, 2=B, 3=C, etc. - break; - case FLY_BY_WIRE_B: - mode = MAV_MODE_TEST2; - nav_mode = 2; //FBW nav_mode mapping; 1=A, 2=B, 3=C, etc. - break; - case GUIDED: - mode = MAV_MODE_GUIDED; - break; - case AUTO: - mode = MAV_MODE_AUTO; - nav_mode = MAV_NAV_WAYPOINT; - break; - case RTL: - mode = MAV_MODE_AUTO; - nav_mode = MAV_NAV_RETURNING; - break; - case LOITER: - mode = MAV_MODE_AUTO; - nav_mode = MAV_NAV_LOITER; - break; - case INITIALISING: - mode = MAV_MODE_UNINIT; - nav_mode = MAV_NAV_GROUNDED; - break; - case CIRCLE: - mode = MAV_MODE_TEST3; - break; - } - - uint8_t status = MAV_STATE_ACTIVE; - uint16_t battery_remaining = 1000.0 * (float)(g.pack_capacity - current_total1)/(float)g.pack_capacity; //Mavlink scaling 100% = 1000 - - if (g.battery_monitoring == 3) { - /*setting a out-of-range value. - It informs to external devices that - it cannot be calculated properly just by voltage*/ - battery_remaining = 1500; - } - - mavlink_msg_sys_status_send( - chan, - mode, - nav_mode, - status, - load * 1000, - battery_voltage1 * 1000, - battery_remaining, - packet_drops); -#endif // MAVLINK10 } static void NOINLINE send_meminfo(mavlink_channel_t chan) @@ -332,7 +261,6 @@ static void NOINLINE send_nav_controller_output(mavlink_channel_t chan) static void NOINLINE send_gps_raw(mavlink_channel_t chan) { -#if MAVLINK10 == ENABLED uint8_t fix = g_gps->status(); if (fix == GPS::GPS_OK) { fix = 3; @@ -350,20 +278,6 @@ static void NOINLINE send_gps_raw(mavlink_channel_t chan) g_gps->ground_speed, // cm/s g_gps->ground_course, // 1/100 degrees, g_gps->num_sats); - -#else // MAVLINK10 - mavlink_msg_gps_raw_send( - chan, - micros(), - g_gps->status(), - g_gps->latitude / 1.0e7, - g_gps->longitude / 1.0e7, - g_gps->altitude / 100.0, - g_gps->hdop, - 0.0, - g_gps->ground_speed / 100.0, - g_gps->ground_course / 100.0); -#endif // MAVLINK10 } static void NOINLINE send_servo_out(mavlink_channel_t chan) @@ -621,11 +535,7 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id, break; case MSG_GPS_RAW: -#if MAVLINK10 == ENABLED CHECK_PAYLOAD_SIZE(GPS_RAW_INT); -#else - CHECK_PAYLOAD_SIZE(GPS_RAW); -#endif send_gps_raw(chan); break; @@ -1111,7 +1021,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) break; } -#if MAVLINK10 == ENABLED case MAVLINK_MSG_ID_COMMAND_LONG: { // decode @@ -1169,135 +1078,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) break; } -#else // MAVLINK10 - case MAVLINK_MSG_ID_ACTION: - { - // decode - mavlink_action_t packet; - mavlink_msg_action_decode(msg, &packet); - if (mavlink_check_target(packet.target,packet.target_component)) break; - - uint8_t result = 0; - - // do action - send_text(SEVERITY_LOW,PSTR("action received: ")); -//Serial.println(packet.action); - switch(packet.action){ - - case MAV_ACTION_LAUNCH: - //set_mode(TAKEOFF); - break; - - case MAV_ACTION_RETURN: - set_mode(RTL); - result=1; - break; - - case MAV_ACTION_EMCY_LAND: - //set_mode(LAND); - break; - - case MAV_ACTION_HALT: - do_loiter_at_location(); - result=1; - break; - - /* No mappable implementation in APM 2.0 - case MAV_ACTION_MOTORS_START: - case MAV_ACTION_CONFIRM_KILL: - case MAV_ACTION_EMCY_KILL: - case MAV_ACTION_MOTORS_STOP: - case MAV_ACTION_SHUTDOWN: - break; - */ - - case MAV_ACTION_CONTINUE: - process_next_command(); - result=1; - break; - - case MAV_ACTION_SET_MANUAL: - set_mode(MANUAL); - result=1; - break; - - case MAV_ACTION_SET_AUTO: - set_mode(AUTO); - result=1; - // clearing failsafe should not be needed - // here. Added based on some puzzling results in - // the simulator (tridge) - failsafe = FAILSAFE_NONE; - break; - - case MAV_ACTION_STORAGE_READ: - // we load all variables at startup, and - // save on each mavlink set - result=1; - break; - - case MAV_ACTION_STORAGE_WRITE: - // this doesn't make any sense, as we save - // all settings as they come in - result=1; - break; - - case MAV_ACTION_CALIBRATE_RC: break; - trim_radio(); - result=1; - break; - - case MAV_ACTION_CALIBRATE_GYRO: - case MAV_ACTION_CALIBRATE_MAG: - case MAV_ACTION_CALIBRATE_ACC: - case MAV_ACTION_CALIBRATE_PRESSURE: - case MAV_ACTION_REBOOT: // this is a rough interpretation - #if LITE == DISABLED - startup_IMU_ground(true); - #endif - result=1; - break; - - /* For future implemtation - case MAV_ACTION_REC_START: break; - case MAV_ACTION_REC_PAUSE: break; - case MAV_ACTION_REC_STOP: break; - */ - - /* Takeoff is not an implemented flight mode in APM 2.0 - case MAV_ACTION_TAKEOFF: - set_mode(TAKEOFF); - break; - */ - - case MAV_ACTION_NAVIGATE: - set_mode(AUTO); - result=1; - break; - - /* Land is not an implemented flight mode in APM 2.0 - case MAV_ACTION_LAND: - set_mode(LAND); - break; - */ - - case MAV_ACTION_LOITER: - set_mode(LOITER); - result=1; - break; - - default: break; - } - - mavlink_msg_action_ack_send( - chan, - packet.action, - result - ); - - break; - } -#endif case MAVLINK_MSG_ID_SET_MODE: { @@ -1305,7 +1085,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) mavlink_set_mode_t packet; mavlink_msg_set_mode_decode(msg, &packet); -#if MAVLINK10 == ENABLED if (!(packet.base_mode & MAV_MODE_FLAG_CUSTOM_MODE_ENABLED)) { // we ignore base_mode as there is no sane way to map // from that bitmap to a APM flight mode. We rely on @@ -1326,54 +1105,9 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) break; } -#else // MAVLINK10 - - switch(packet.mode){ - - case MAV_MODE_MANUAL: - set_mode(MANUAL); - break; - - case MAV_MODE_GUIDED: - set_mode(GUIDED); - break; - - case MAV_MODE_AUTO: - if(mav_nav == 255 || mav_nav == MAV_NAV_WAYPOINT) set_mode(AUTO); - if(mav_nav == MAV_NAV_RETURNING) set_mode(RTL); - if(mav_nav == MAV_NAV_LOITER) set_mode(LOITER); - mav_nav = 255; - break; - - case MAV_MODE_TEST1: - set_mode(LEARNING); - break; - - case MAV_MODE_TEST2: - if(mav_nav == 255 || mav_nav == 1) set_mode(FLY_BY_WIRE_A); - if(mav_nav == 2) set_mode(FLY_BY_WIRE_B); - //if(mav_nav == 3) set_mode(FLY_BY_WIRE_C); - mav_nav = 255; - break; - - } -#endif break; } -#if MAVLINK10 == DISABLED - case MAVLINK_MSG_ID_SET_NAV_MODE: - { - // decode - mavlink_set_nav_mode_t packet; - mavlink_msg_set_nav_mode_decode(msg, &packet); - // To set some flight modes we must first receive a "set nav mode" message and then a "set mode" message - mav_nav = packet.nav_mode; - break; - } -#endif // MAVLINK10 - - case MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST: { // decode @@ -1713,9 +1447,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) break; default: -#if MAVLINK10 == ENABLED result = MAV_MISSION_UNSUPPORTED; -#endif break; } @@ -1929,7 +1661,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) #if HIL_MODE != HIL_MODE_DISABLED // This is used both as a sensor and to pass the location // in HIL_ATTITUDE mode. -#if MAVLINK10 == ENABLED case MAVLINK_MSG_ID_GPS_RAW_INT: { // decode @@ -1942,19 +1673,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) packet.vel*1.0e-2, packet.cog*1.0e-2, 0, 0); break; } -#else // MAVLINK10 - case MAVLINK_MSG_ID_GPS_RAW: - { - // decode - mavlink_gps_raw_t packet; - mavlink_msg_gps_raw_decode(msg, &packet); - - // set gps hil sensor - g_gps->setHIL(packet.usec/1000.0,packet.lat,packet.lon,packet.alt, - packet.v,packet.hdg,0,0); - break; - } -#endif // MAVLINK10 // Is this resolved? - MAVLink protocol change..... case MAVLINK_MSG_ID_VFR_HUD: @@ -1967,7 +1685,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) airspeed = 100*packet.airspeed; break; } -#if MAVLINK10 == ENABLED + case MAVLINK_MSG_ID_HIL_STATE: { mavlink_hil_state_t packet; @@ -2008,7 +1726,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) break; } -#endif // MAVLINK10 #endif #if HIL_MODE == HIL_MODE_ATTITUDE case MAVLINK_MSG_ID_ATTITUDE: diff --git a/APMrover2/Makefile b/APMrover2/Makefile index 84b05b1e04..94f7203414 100644 --- a/APMrover2/Makefile +++ b/APMrover2/Makefile @@ -24,9 +24,6 @@ apm2: apm2beta: make -f Makefile EXTRAFLAGS="-DCONFIG_APM_HARDWARE=APM_HARDWARE_APM2 -DAPM2_BETA_HARDWARE" -mavlink10: - make -f Makefile EXTRAFLAGS="-DMAVLINK10" - sitl: make -f ../libraries/Desktop/Makefile.desktop diff --git a/ArduCopter/APM_Config.h b/ArduCopter/APM_Config.h index 2d04df5661..56b2e0ea0c 100644 --- a/ArduCopter/APM_Config.h +++ b/ArduCopter/APM_Config.h @@ -109,7 +109,3 @@ // #define MOT_6 CH_4 // #define MOT_7 CH_7 // #define MOT_8 CH_8 - -// use this to enable the new MAVLink 1.0 protocol, instead of the -// older 0.9 protocol -// #define MAVLINK10 ENABLED diff --git a/ArduCopter/GCS_Mavlink.pde b/ArduCopter/GCS_Mavlink.pde index e9e7e713eb..a87396e5ab 100644 --- a/ArduCopter/GCS_Mavlink.pde +++ b/ArduCopter/GCS_Mavlink.pde @@ -29,7 +29,6 @@ static bool mavlink_active; static NOINLINE void send_heartbeat(mavlink_channel_t chan) { -#if MAVLINK10 == ENABLED uint8_t base_mode = MAV_MODE_FLAG_CUSTOM_MODE_ENABLED; uint8_t system_status = MAV_STATE_ACTIVE; uint32_t custom_mode = control_mode; @@ -79,12 +78,6 @@ static NOINLINE void send_heartbeat(mavlink_channel_t chan) base_mode, custom_mode, system_status); -#else // MAVLINK10 - mavlink_msg_heartbeat_send( - chan, - MAV_QUADROTOR, - MAV_AUTOPILOT_ARDUPILOTMEGA); -#endif // MAVLINK10 } static NOINLINE void send_attitude(mavlink_channel_t chan) @@ -102,7 +95,6 @@ static NOINLINE void send_attitude(mavlink_channel_t chan) static NOINLINE void send_extended_status1(mavlink_channel_t chan, uint16_t packet_drops) { -#if MAVLINK10 == ENABLED uint32_t control_sensors_present = 0; uint32_t control_sensors_enabled; uint32_t control_sensors_health; @@ -182,49 +174,6 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan, uint16_t pack 0, // comm drops in pkts, 0, 0, 0, 0); -#else // MAVLINK10 - uint8_t mode = MAV_MODE_UNINIT; - uint8_t nav_mode = MAV_NAV_VECTOR; - - switch(control_mode) { - case LOITER: - mode = MAV_MODE_AUTO; - nav_mode = MAV_NAV_HOLD; - break; - case AUTO: - mode = MAV_MODE_AUTO; - nav_mode = MAV_NAV_WAYPOINT; - break; - case RTL: - mode = MAV_MODE_AUTO; - nav_mode = MAV_NAV_RETURNING; - break; - case GUIDED: - mode = MAV_MODE_GUIDED; - nav_mode = MAV_NAV_WAYPOINT; - break; - default: - mode = control_mode + 100; - } - - uint8_t status = MAV_STATE_ACTIVE; - - if (!motors.armed()) { - status = MAV_STATE_STANDBY; - } - - uint16_t battery_remaining = 1000.0 * (float)(g.pack_capacity - current_total1)/(float)g.pack_capacity; //Mavlink scaling 100% = 1000 - - mavlink_msg_sys_status_send( - chan, - mode, - nav_mode, - status, - 0, - battery_voltage1 * 1000, - battery_remaining, - packet_drops); -#endif // MAVLINK10 } static void NOINLINE send_meminfo(mavlink_channel_t chan) @@ -300,7 +249,6 @@ static void NOINLINE send_hwstatus(mavlink_channel_t chan) static void NOINLINE send_gps_raw(mavlink_channel_t chan) { -#if MAVLINK10 == ENABLED uint8_t fix = g_gps->status(); if (fix == GPS::GPS_OK) { fix = 3; @@ -319,19 +267,6 @@ static void NOINLINE send_gps_raw(mavlink_channel_t chan) g_gps->ground_course, // 1/100 degrees, g_gps->num_sats); -#else // MAVLINK10 - mavlink_msg_gps_raw_send( - chan, - g_gps->last_fix_time*(uint64_t)1000, - g_gps->status(), - g_gps->latitude / 1.0e7, - g_gps->longitude / 1.0e7, - g_gps->altitude / 100.0, - g_gps->hdop, - current_loc.alt / 100.0, // was 0 - g_gps->ground_speed / 100.0, - g_gps->ground_course / 100.0); -#endif // MAVLINK10 } static void NOINLINE send_servo_out(mavlink_channel_t chan) @@ -568,11 +503,7 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id, break; case MSG_GPS_RAW: -#if MAVLINK10 == ENABLED CHECK_PAYLOAD_SIZE(GPS_RAW_INT); -#else - CHECK_PAYLOAD_SIZE(GPS_RAW); -#endif send_gps_raw(chan); break; @@ -990,12 +921,6 @@ GCS_MAVLINK::send_text(gcs_severity severity, const prog_char_t *str) void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) { struct Location tell_command = {}; // command for telemetry - - #if MAVLINK10 == ENABLED - #else - static uint8_t mav_nav = 255; // For setting mode (some require receipt of 2 messages...) - #endif - switch (msg->msgid) { case MAVLINK_MSG_ID_REQUEST_DATA_STREAM: //66 @@ -1073,7 +998,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) break; } -#if MAVLINK10 == ENABLED case MAVLINK_MSG_ID_COMMAND_LONG: { // decode @@ -1133,140 +1057,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) break; } -#else // !MAVLINK10 - case MAVLINK_MSG_ID_ACTION: //10 - { - // decode - mavlink_action_t packet; - mavlink_msg_action_decode(msg, &packet); - if (mavlink_check_target(packet.target,packet.target_component)) break; - - if (in_mavlink_delay) { - // don't execute action commands while in sensor - // initialisation - break; - } - - uint8_t result = 0; - - // do action - send_text(SEVERITY_LOW,PSTR("action received: ")); -//Serial.println(packet.action); - switch(packet.action){ - - case MAV_ACTION_LAUNCH: - //set_mode(TAKEOFF); - break; - - case MAV_ACTION_RETURN: - set_mode(RTL); - result=1; - break; - - case MAV_ACTION_EMCY_LAND: - set_mode(LAND); - break; - - case MAV_ACTION_HALT: - do_loiter_at_location(); - result=1; - break; - - /* No mappable implementation in APM 2.0 - case MAV_ACTION_MOTORS_START: - case MAV_ACTION_CONFIRM_KILL: - case MAV_ACTION_EMCY_KILL: - case MAV_ACTION_MOTORS_STOP: - case MAV_ACTION_SHUTDOWN: - break; - */ - - case MAV_ACTION_CONTINUE: - //process_command_queue(); - result=1; - break; - - case MAV_ACTION_SET_MANUAL: - set_mode(STABILIZE); - result=1; - break; - - case MAV_ACTION_SET_AUTO: - set_mode(AUTO); - result=1; - break; - - case MAV_ACTION_STORAGE_READ: - // we load all variables at startup, and - // save on each mavlink set - result=1; - break; - - case MAV_ACTION_STORAGE_WRITE: - // this doesn't make any sense, as we save - // all settings as they come in - result=1; - break; - - case MAV_ACTION_CALIBRATE_RC: break; - trim_radio(); - result=1; - break; - - case MAV_ACTION_CALIBRATE_GYRO: - case MAV_ACTION_CALIBRATE_MAG: - case MAV_ACTION_CALIBRATE_PRESSURE: - break; - - case MAV_ACTION_CALIBRATE_ACC: - imu.init_accel(mavlink_delay, flash_leds); - result=1; - break; - - - //case MAV_ACTION_REBOOT: // this is a rough interpretation - //startup_IMU_ground(); - //result=1; - // break; - - /* For future implemtation - case MAV_ACTION_REC_START: break; - case MAV_ACTION_REC_PAUSE: break; - case MAV_ACTION_REC_STOP: break; - */ - - /* Takeoff is not an implemented flight mode in APM 2.0 - case MAV_ACTION_TAKEOFF: - set_mode(TAKEOFF); - break; - */ - - case MAV_ACTION_NAVIGATE: - set_mode(AUTO); - result=1; - break; - - case MAV_ACTION_LAND: - set_mode(LAND); - break; - - case MAV_ACTION_LOITER: - set_mode(LOITER); - result=1; - break; - - default: break; - } - - mavlink_msg_action_ack_send( - chan, - packet.action, - result - ); - - break; - } -#endif // MAVLINK10 case MAVLINK_MSG_ID_SET_MODE: //11 { @@ -1274,7 +1064,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) mavlink_set_mode_t packet; mavlink_msg_set_mode_decode(msg, &packet); -#if MAVLINK10 == ENABLED if (!(packet.base_mode & MAV_MODE_FLAG_CUSTOM_MODE_ENABLED)) { // we ignore base_mode as there is no sane way to map // from that bitmap to a APM flight mode. We rely on @@ -1297,29 +1086,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) break; } -#else // MAVLINK.9 - switch (packet.mode) { - - case MAV_MODE_MANUAL: - set_mode(STABILIZE); - break; - - case MAV_MODE_GUIDED: - set_mode(GUIDED); - break; - - case MAV_MODE_AUTO: - if(mav_nav == 255 || mav_nav == MAV_NAV_WAYPOINT) set_mode(AUTO); - if(mav_nav == MAV_NAV_RETURNING) set_mode(RTL); - if(mav_nav == MAV_NAV_LOITER) set_mode(LOITER); - mav_nav = 255; - break; - - case MAV_MODE_TEST1: - set_mode(STABILIZE); - break; - } -#endif break; } @@ -1849,75 +1615,8 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) break; } -#if HIL_MODE != HIL_MODE_DISABLED && MAVLINK10 != ENABLED - // This is used both as a sensor and to pass the location - // in HIL_ATTITUDE mode. Note that MAVLINK10 uses HIL_STATE - // instead - case MAVLINK_MSG_ID_GPS_RAW: //32 - { - // decode - mavlink_gps_raw_t packet; - mavlink_msg_gps_raw_decode(msg, &packet); - // set gps hil sensor - g_gps->setHIL(packet.usec/1000,packet.lat,packet.lon,packet.alt, - packet.v,packet.hdg,0,0); - if (gps_base_alt == 0) { - gps_base_alt = packet.alt*100; - } - current_loc.lng = packet.lon * T7; - current_loc.lat = packet.lat * T7; - current_loc.alt = g_gps->altitude - gps_base_alt; - if (!home_is_set) { - init_home(); - } - break; - } - -#if HIL_MODE == HIL_MODE_ATTITUDE - case MAVLINK_MSG_ID_ATTITUDE: //30 - { - // decode - mavlink_attitude_t packet; - mavlink_msg_attitude_decode(msg, &packet); - - // set AHRS hil sensor - ahrs.setHil(packet.roll,packet.pitch,packet.yaw,packet.rollspeed, - packet.pitchspeed,packet.yawspeed); - - // rad/sec - /* - Vector3f gyros; - gyros.x = (float)packet.rollspeed; - gyros.y = (float)packet.pitchspeed; - gyros.z = (float)packet.yawspeed; - - imu.set_gyro(gyros); - */ - //imu.set_accel(accels); - - // rad/sec // JLN update - FOR HIL SIMULATION WITH AEROSIM - Vector3f gyros; - gyros.x = (float)packet.rollspeed / 1000.0; - gyros.y = (float)packet.pitchspeed / 1000.0; - gyros.z = (float)packet.yawspeed / 1000.0; - - imu.set_gyro(gyros); - - // m/s/s - Vector3f accels; - accels.x = (float)packet.roll * gravity / 1000.0; - accels.y = (float)packet.pitch * gravity / 1000.0; - accels.z = (float)packet.yaw * gravity / 1000.0; - - imu.set_accel(accels); - - break; - } -#endif // HIL_MODE_ATTITUDE -#endif // HIL_MODE != HIL_MODE_DISABLED && MAVLINK10 != ENABLED - -#if MAVLINK10 == ENABLED && HIL_MODE != HIL_MODE_DISABLED +#if HIL_MODE != HIL_MODE_DISABLED case MAVLINK_MSG_ID_HIL_STATE: { mavlink_hil_state_t packet; @@ -1968,7 +1667,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) break; } -#endif // MAVLINK10 == ENABLED && HIL_MODE != HIL_MODE_DISABLED +#endif // HIL_MODE != HIL_MODE_DISABLED /* case MAVLINK_MSG_ID_HEARTBEAT: diff --git a/ArduCopter/Makefile b/ArduCopter/Makefile index 6bb1f2e2c2..34753ba3dd 100644 --- a/ArduCopter/Makefile +++ b/ArduCopter/Makefile @@ -21,33 +21,15 @@ heli: apm2: make -f Makefile EXTRAFLAGS="-DCONFIG_APM_HARDWARE=APM_HARDWARE_APM2" -apm2-mavlink10: - make -f Makefile EXTRAFLAGS="-DCONFIG_APM_HARDWARE=APM_HARDWARE_APM2 -DMAVLINK10=ENABLED" - -apm2-mavlink09: - make -f Makefile EXTRAFLAGS="-DCONFIG_APM_HARDWARE=APM_HARDWARE_APM2 -DMAVLINK10=DISABLED" - apm2hexa: make -f Makefile EXTRAFLAGS="-DCONFIG_APM_HARDWARE=APM_HARDWARE_APM2 -DFRAME_CONFIG=HEXA_FRAME" apm2beta: make -f Makefile EXTRAFLAGS="-DCONFIG_APM_HARDWARE=APM_HARDWARE_APM2 -DAPM2_BETA_HARDWARE" -mavlink10: - make -f Makefile EXTRAFLAGS="-DMAVLINK10=ENABLED" - -mavlink09: - make -f Makefile EXTRAFLAGS="-DMAVLINK10=DISABLED" - sitl: make -f ../libraries/Desktop/Makefile.desktop -sitl-mavlink10: - make -f ../libraries/Desktop/Makefile.desktop EXTRAFLAGS="-DMAVLINK10=ENABLED" - -sitl-mavlink09: - make -f ../libraries/Desktop/Makefile.desktop EXTRAFLAGS="-DMAVLINK10=DISABLED" - sitl-octa: make -f ../libraries/Desktop/Makefile.desktop octa diff --git a/ArduCopter/config.h b/ArduCopter/config.h index 624044deb4..a40790e54d 100644 --- a/ArduCopter/config.h +++ b/ArduCopter/config.h @@ -67,14 +67,6 @@ # endif #endif -////////////////////////////////////////////////////////////////////////////// -// MAVLINK10 -// -#ifndef MAVLINK10 -# define MAVLINK10 ENABLED -#endif - - ////////////////////////////////////////////////////////////////////////////// // FRAME_CONFIG // diff --git a/ArduCopter/options.cmake b/ArduCopter/options.cmake index 993c76e18a..6003a19b8b 100644 --- a/ArduCopter/options.cmake +++ b/ArduCopter/options.cmake @@ -97,10 +97,6 @@ apm_option("MAV_SYSTEM_ID" TYPE STRING ADVANCED DESCRIPTION "MAVLink System ID?" DEFAULT "1") -apm_option("MAVLINK10" TYPE BOOL DEFINE_ONLY BUILD_FLAG - DESCRIPTION "Use mavlink version 1.0?" - DEFAULT OFF) - apm_option("SERIAL0_BAUD" TYPE STRING ADVANCED DESCRIPTION "Serial 0 baudrate?" DEFAULT "115200" diff --git a/ArduPlane/GCS_Mavlink.pde b/ArduPlane/GCS_Mavlink.pde index 07c35ec0a4..1c3a5cb5b9 100644 --- a/ArduPlane/GCS_Mavlink.pde +++ b/ArduPlane/GCS_Mavlink.pde @@ -27,7 +27,6 @@ static bool mavlink_active; static NOINLINE void send_heartbeat(mavlink_channel_t chan) { -#if MAVLINK10 == ENABLED uint8_t base_mode = MAV_MODE_FLAG_CUSTOM_MODE_ENABLED; uint8_t system_status = MAV_STATE_ACTIVE; uint32_t custom_mode = control_mode; @@ -98,12 +97,6 @@ static NOINLINE void send_heartbeat(mavlink_channel_t chan) base_mode, custom_mode, system_status); -#else // MAVLINK10 - mavlink_msg_heartbeat_send( - chan, - mavlink_system.type, - MAV_AUTOPILOT_ARDUPILOTMEGA); -#endif // MAVLINK10 } static NOINLINE void send_attitude(mavlink_channel_t chan) @@ -130,7 +123,6 @@ static NOINLINE void send_fence_status(mavlink_channel_t chan) static NOINLINE void send_extended_status1(mavlink_channel_t chan, uint16_t packet_drops) { -#if MAVLINK10 == ENABLED uint32_t control_sensors_present = 0; uint32_t control_sensors_enabled; uint32_t control_sensors_health; @@ -233,69 +225,6 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan, uint16_t pack 0, // comm drops in pkts, 0, 0, 0, 0); -#else // MAVLINK10 - uint8_t mode = MAV_MODE_UNINIT; - uint8_t nav_mode = MAV_NAV_VECTOR; - - switch(control_mode) { - case MANUAL: - mode = MAV_MODE_MANUAL; - break; - case STABILIZE: - mode = MAV_MODE_TEST1; - break; - case FLY_BY_WIRE_A: - mode = MAV_MODE_TEST2; - nav_mode = 1; //FBW nav_mode mapping; 1=A, 2=B, 3=C, etc. - break; - case FLY_BY_WIRE_B: - mode = MAV_MODE_TEST2; - nav_mode = 2; //FBW nav_mode mapping; 1=A, 2=B, 3=C, etc. - break; - case GUIDED: - mode = MAV_MODE_GUIDED; - break; - case AUTO: - mode = MAV_MODE_AUTO; - nav_mode = MAV_NAV_WAYPOINT; - break; - case RTL: - mode = MAV_MODE_AUTO; - nav_mode = MAV_NAV_RETURNING; - break; - case LOITER: - mode = MAV_MODE_AUTO; - nav_mode = MAV_NAV_LOITER; - break; - case INITIALISING: - mode = MAV_MODE_UNINIT; - nav_mode = MAV_NAV_GROUNDED; - break; - case CIRCLE: - mode = MAV_MODE_TEST3; - break; - } - - uint8_t status = MAV_STATE_ACTIVE; - uint16_t battery_remaining = 1000.0 * (float)(g.pack_capacity - current_total1)/(float)g.pack_capacity; //Mavlink scaling 100% = 1000 - - if (g.battery_monitoring == 3) { - /*setting a out-of-range value. - It informs to external devices that - it cannot be calculated properly just by voltage*/ - battery_remaining = 1500; - } - - mavlink_msg_sys_status_send( - chan, - mode, - nav_mode, - status, - load * 1000, - battery_voltage1 * 1000, - battery_remaining, - packet_drops); -#endif // MAVLINK10 } static void NOINLINE send_meminfo(mavlink_channel_t chan) @@ -337,7 +266,6 @@ static void NOINLINE send_nav_controller_output(mavlink_channel_t chan) static void NOINLINE send_gps_raw(mavlink_channel_t chan) { -#if MAVLINK10 == ENABLED uint8_t fix = g_gps->status(); if (fix == GPS::GPS_OK) { fix = 3; @@ -355,20 +283,6 @@ static void NOINLINE send_gps_raw(mavlink_channel_t chan) g_gps->ground_speed, // cm/s g_gps->ground_course, // 1/100 degrees, g_gps->num_sats); - -#else // MAVLINK10 - mavlink_msg_gps_raw_send( - chan, - g_gps->last_fix_time*(uint64_t)1000, - g_gps->status(), - g_gps->latitude / 1.0e7, - g_gps->longitude / 1.0e7, - g_gps->altitude / 100.0, - g_gps->hdop, - 0.0, - g_gps->ground_speed / 100.0, - g_gps->ground_course / 100.0); -#endif // MAVLINK10 } static void NOINLINE send_servo_out(mavlink_channel_t chan) @@ -591,11 +505,7 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id, break; case MSG_GPS_RAW: -#if MAVLINK10 == ENABLED CHECK_PAYLOAD_SIZE(GPS_RAW_INT); -#else - CHECK_PAYLOAD_SIZE(GPS_RAW); -#endif send_gps_raw(chan); break; @@ -1086,7 +996,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) break; } -#if MAVLINK10 == ENABLED case MAVLINK_MSG_ID_COMMAND_LONG: { // decode @@ -1142,133 +1051,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) break; } -#else // MAVLINK10 - case MAVLINK_MSG_ID_ACTION: - { - // decode - mavlink_action_t packet; - mavlink_msg_action_decode(msg, &packet); - if (mavlink_check_target(packet.target,packet.target_component)) break; - - uint8_t result = 0; - - // do action - send_text(SEVERITY_LOW,PSTR("action received: ")); -//Serial.println(packet.action); - switch(packet.action){ - - case MAV_ACTION_LAUNCH: - //set_mode(TAKEOFF); - break; - - case MAV_ACTION_RETURN: - set_mode(RTL); - result=1; - break; - - case MAV_ACTION_EMCY_LAND: - //set_mode(LAND); - break; - - case MAV_ACTION_HALT: - do_loiter_at_location(); - result=1; - break; - - /* No mappable implementation in APM 2.0 - case MAV_ACTION_MOTORS_START: - case MAV_ACTION_CONFIRM_KILL: - case MAV_ACTION_EMCY_KILL: - case MAV_ACTION_MOTORS_STOP: - case MAV_ACTION_SHUTDOWN: - break; - */ - - case MAV_ACTION_CONTINUE: - process_next_command(); - result=1; - break; - - case MAV_ACTION_SET_MANUAL: - set_mode(MANUAL); - result=1; - break; - - case MAV_ACTION_SET_AUTO: - set_mode(AUTO); - result=1; - // clearing failsafe should not be needed - // here. Added based on some puzzling results in - // the simulator (tridge) - failsafe = FAILSAFE_NONE; - break; - - case MAV_ACTION_STORAGE_READ: - // we load all variables at startup, and - // save on each mavlink set - result=1; - break; - - case MAV_ACTION_STORAGE_WRITE: - // this doesn't make any sense, as we save - // all settings as they come in - result=1; - break; - - case MAV_ACTION_CALIBRATE_RC: break; - trim_radio(); - result=1; - break; - - case MAV_ACTION_CALIBRATE_GYRO: - case MAV_ACTION_CALIBRATE_MAG: - case MAV_ACTION_CALIBRATE_ACC: - case MAV_ACTION_CALIBRATE_PRESSURE: - case MAV_ACTION_REBOOT: // this is a rough interpretation - startup_IMU_ground(true); - result=1; - break; - - /* For future implemtation - case MAV_ACTION_REC_START: break; - case MAV_ACTION_REC_PAUSE: break; - case MAV_ACTION_REC_STOP: break; - */ - - /* Takeoff is not an implemented flight mode in APM 2.0 - case MAV_ACTION_TAKEOFF: - set_mode(TAKEOFF); - break; - */ - - case MAV_ACTION_NAVIGATE: - set_mode(AUTO); - result=1; - break; - - /* Land is not an implemented flight mode in APM 2.0 - case MAV_ACTION_LAND: - set_mode(LAND); - break; - */ - - case MAV_ACTION_LOITER: - set_mode(LOITER); - result=1; - break; - - default: break; - } - - mavlink_msg_action_ack_send( - chan, - packet.action, - result - ); - - break; - } -#endif case MAVLINK_MSG_ID_SET_MODE: { @@ -1276,7 +1058,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) mavlink_set_mode_t packet; mavlink_msg_set_mode_decode(msg, &packet); -#if MAVLINK10 == ENABLED if (!(packet.base_mode & MAV_MODE_FLAG_CUSTOM_MODE_ENABLED)) { // we ignore base_mode as there is no sane way to map // from that bitmap to a APM flight mode. We rely on @@ -1297,54 +1078,9 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) break; } -#else // MAVLINK10 - - switch(packet.mode){ - - case MAV_MODE_MANUAL: - set_mode(MANUAL); - break; - - case MAV_MODE_GUIDED: - set_mode(GUIDED); - break; - - case MAV_MODE_AUTO: - if(mav_nav == 255 || mav_nav == MAV_NAV_WAYPOINT) set_mode(AUTO); - if(mav_nav == MAV_NAV_RETURNING) set_mode(RTL); - if(mav_nav == MAV_NAV_LOITER) set_mode(LOITER); - mav_nav = 255; - break; - - case MAV_MODE_TEST1: - set_mode(STABILIZE); - break; - - case MAV_MODE_TEST2: - if(mav_nav == 255 || mav_nav == 1) set_mode(FLY_BY_WIRE_A); - if(mav_nav == 2) set_mode(FLY_BY_WIRE_B); - //if(mav_nav == 3) set_mode(FLY_BY_WIRE_C); - mav_nav = 255; - break; - - } -#endif break; } -#if MAVLINK10 == DISABLED - case MAVLINK_MSG_ID_SET_NAV_MODE: - { - // decode - mavlink_set_nav_mode_t packet; - mavlink_msg_set_nav_mode_decode(msg, &packet); - // To set some flight modes we must first receive a "set nav mode" message and then a "set mode" message - mav_nav = packet.nav_mode; - break; - } -#endif // MAVLINK10 - - case MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST: { // decode @@ -1684,9 +1420,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) break; default: -#if MAVLINK10 == ENABLED result = MAV_MISSION_UNSUPPORTED; -#endif break; } @@ -1897,10 +1631,9 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) break; } - #if HIL_MODE != HIL_MODE_DISABLED +#if HIL_MODE != HIL_MODE_DISABLED // This is used both as a sensor and to pass the location // in HIL_ATTITUDE mode. -#if MAVLINK10 == ENABLED case MAVLINK_MSG_ID_GPS_RAW_INT: { // decode @@ -1913,19 +1646,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) packet.vel*1.0e-2, packet.cog*1.0e-2, 0, 10); break; } -#else // MAVLINK10 - case MAVLINK_MSG_ID_GPS_RAW: - { - // decode - mavlink_gps_raw_t packet; - mavlink_msg_gps_raw_decode(msg, &packet); - - // set gps hil sensor - g_gps->setHIL(packet.usec/1000,packet.lat,packet.lon,packet.alt, - packet.v,packet.hdg,0,10); - break; - } -#endif // MAVLINK10 // Is this resolved? - MAVLink protocol change..... case MAVLINK_MSG_ID_VFR_HUD: @@ -1938,7 +1658,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) airspeed = 100*packet.airspeed; break; } -#if MAVLINK10 == ENABLED + case MAVLINK_MSG_ID_HIL_STATE: { mavlink_hil_state_t packet; @@ -1979,8 +1699,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) break; } -#endif // MAVLINK10 -#endif +#endif // HIL_MODE #if HIL_MODE == HIL_MODE_ATTITUDE case MAVLINK_MSG_ID_ATTITUDE: { diff --git a/ArduPlane/Makefile b/ArduPlane/Makefile index d069a11a78..1f690ce374 100644 --- a/ArduPlane/Makefile +++ b/ArduPlane/Makefile @@ -34,27 +34,9 @@ apm2beta: make -f Makefile EXTRAFLAGS="-DCONFIG_APM_HARDWARE=APM_HARDWARE_APM2 -DAPM2_BETA_HARDWARE" -apm2-mavlink10: - make -f Makefile EXTRAFLAGS="-DCONFIG_APM_HARDWARE=APM_HARDWARE_APM2 -DMAVLINK10=ENABLED" - -apm2-mavlink09: - make -f Makefile EXTRAFLAGS="-DCONFIG_APM_HARDWARE=APM_HARDWARE_APM2 -DMAVLINK10=DISABLED" - -mavlink10: - make -f Makefile EXTRAFLAGS="-DMAVLINK10=ENABLED" - -mavlink09: - make -f Makefile EXTRAFLAGS="-DMAVLINK10=DISABLED" - sitl: make -f ../libraries/Desktop/Makefile.desktop -sitl-mavlink10: - make -f ../libraries/Desktop/Makefile.desktop EXTRAFLAGS="-DMAVLINK10=ENABLED" - -sitl-mavlink09: - make -f ../libraries/Desktop/Makefile.desktop EXTRAFLAGS="-DMAVLINK10=DISABLED" - sitl-mount: make -f ../libraries/Desktop/Makefile.desktop EXTRAFLAGS="-DMOUNT=ENABLED" diff --git a/ArduPlane/config.h b/ArduPlane/config.h index 76dab77c8b..6cc417ab52 100644 --- a/ArduPlane/config.h +++ b/ArduPlane/config.h @@ -121,13 +121,6 @@ #endif -////////////////////////////////////////////////////////////////////////////// -// MAVLINK10 -// -#ifndef MAVLINK10 -# define MAVLINK10 ENABLED -#endif - ////////////////////////////////////////////////////////////////////////////// // AIRSPEED_SENSOR // AIRSPEED_RATIO diff --git a/ArduPlane/options.cmake b/ArduPlane/options.cmake index 6fdc62c254..38e2190d83 100644 --- a/ArduPlane/options.cmake +++ b/ArduPlane/options.cmake @@ -97,10 +97,6 @@ apm_option("MAV_SYSTEM_ID" TYPE STRING ADVANCED DESCRIPTION "MAVLink System ID?" DEFAULT "1") -apm_option("MAVLINK10" TYPE BOOL DEFINE_ONLY BUILD_FLAG - DESCRIPTION "Use mavlink version 1.0?" - DEFAULT OFF) - apm_option("SERIAL0_BAUD" TYPE STRING ADVANCED DESCRIPTION "Serial 0 baudrate?" DEFAULT "115200" diff --git a/Tools/autotest/pysim/util.py b/Tools/autotest/pysim/util.py index 0ea6e58b74..3a8f242ab3 100644 --- a/Tools/autotest/pysim/util.py +++ b/Tools/autotest/pysim/util.py @@ -59,8 +59,6 @@ def deltree(path): def build_SIL(atype, target='sitl'): '''build desktop SIL''' - if os.getenv('MAVLINK10'): - target += '-mavlink10' run_cmd("make clean %s" % target, dir=reltopdir(atype), checkfail=True) diff --git a/Tools/scripts/build_all.sh b/Tools/scripts/build_all.sh index 0424c958eb..bcdc521141 100755 --- a/Tools/scripts/build_all.sh +++ b/Tools/scripts/build_all.sh @@ -8,7 +8,7 @@ set -x echo "Testing ArduPlane build" pushd ArduPlane -for b in all apm2 apm2beta hil hilsensors mavlink10 sitl sitl-mavlink10 sitl-mount; do +for b in all apm2 apm2beta hil hilsensors sitl sitl-mount; do pwd make clean make $b diff --git a/libraries/Desktop/Makefile.desktop b/libraries/Desktop/Makefile.desktop index 285818b6e3..84d1ef0f04 100644 --- a/libraries/Desktop/Makefile.desktop +++ b/libraries/Desktop/Makefile.desktop @@ -25,6 +25,3 @@ hexa: y6: make -f $(DESKTOP)/Makefile.desktop EXTRAFLAGS="-DFRAME_CONFIG=Y6_FRAME" - -mavlink10: - make -f $(DESKTOP)/Makefile.desktop EXTRAFLAGS="-DHIL_MODE=HIL_MODE_ATTITUDE -DMAVLINK10" diff --git a/libraries/GCS_MAVLink/GCS_MAVLink.h b/libraries/GCS_MAVLink/GCS_MAVLink.h index ad52e23672..aac11bca42 100644 --- a/libraries/GCS_MAVLink/GCS_MAVLink.h +++ b/libraries/GCS_MAVLink/GCS_MAVLink.h @@ -12,26 +12,13 @@ // to select MAVLink 1.0 in the arduino GUI build //#define MAVLINK_SEPARATE_HELPERS -#ifndef MAVLINK10 -// default to MAVLINK 1.0 -#define MAVLINK10 ENABLED -#endif - -#if MAVLINK10 == ENABLED -# include "include/mavlink/v1.0/ardupilotmega/version.h" -#else -# include "include/mavlink/v0.9/ardupilotmega/version.h" -#endif +#include "include/mavlink/v1.0/ardupilotmega/version.h" // this allows us to make mavlink_message_t much smaller #define MAVLINK_MAX_PAYLOAD_LEN MAVLINK_MAX_DIALECT_PAYLOAD_SIZE #define MAVLINK_COMM_NUM_BUFFERS 2 -#if MAVLINK10==ENABLED -# include "include/mavlink/v1.0/mavlink_types.h" -#else -# include "include/mavlink/v0.9/mavlink_types.h" -#endif +#include "include/mavlink/v1.0/mavlink_types.h" /// MAVLink stream used for HIL interaction extern BetterStream *mavlink_comm_0_port; @@ -124,11 +111,7 @@ static inline int comm_get_txspace(mavlink_channel_t chan) } #define MAVLINK_USE_CONVENIENCE_FUNCTIONS -#if MAVLINK10==ENABLED -# include "include/mavlink/v1.0/ardupilotmega/mavlink.h" -#else -# include "include/mavlink/v0.9/ardupilotmega/mavlink.h" -#endif +#include "include/mavlink/v1.0/ardupilotmega/mavlink.h" uint8_t mavlink_check_target(uint8_t sysid, uint8_t compid); diff --git a/libraries/GCS_MAVLink/Mavlink_compat.h b/libraries/GCS_MAVLink/Mavlink_compat.h index 10826b6a3c..e827e2b106 100644 --- a/libraries/GCS_MAVLink/Mavlink_compat.h +++ b/libraries/GCS_MAVLink/Mavlink_compat.h @@ -2,7 +2,6 @@ compatibility header during transition to MAVLink 1.0 */ -#if MAVLINK10==1 // in MAVLink 1.0 'waypoint' becomes 'mission'. We can remove these // mappings once we are not trying to support both protocols @@ -72,103 +71,3 @@ static uint8_t mav_var_type(enum ap_var_type t) #define MAV_FIXED_WING MAV_TYPE_FIXED_WING -#else // MAVLINK10 - -static uint8_t mav_var_type(enum ap_var_type t) -{ - return 0; -} - -#define MAV_MISSION_ACCEPTED 0 -#define MAV_MISSION_UNSUPPORTED 1 -#define MAV_MISSION_UNSUPPORTED_FRAME 1 -#define MAV_MISSION_ERROR 1 -#define MAV_MISSION_INVALID_SEQUENCE 1 - -/* - some functions have some extra params in MAVLink 1.0 - */ - -static void mavlink_msg_global_position_int_send(mavlink_channel_t chan, uint32_t time_boot_ms, int32_t lat, int32_t lon, - int32_t alt, int32_t relative_alt, int16_t vx, int16_t vy, - int16_t vz, uint16_t hdg) -{ - mavlink_msg_global_position_int_send( - chan, - lat, - lon, - alt, - vx, vy, vz); -} - -static void mavlink_msg_rc_channels_scaled_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t port, - int16_t chan1_scaled, int16_t chan2_scaled, int16_t chan3_scaled, - int16_t chan4_scaled, int16_t chan5_scaled, int16_t chan6_scaled, - int16_t chan7_scaled, int16_t chan8_scaled, uint8_t rssi) -{ - mavlink_msg_rc_channels_scaled_send( - chan, - chan1_scaled, - chan2_scaled, - chan3_scaled, - chan4_scaled, - chan5_scaled, - chan6_scaled, - chan7_scaled, - chan8_scaled, - rssi); -} - -static void mavlink_msg_rc_channels_raw_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t port, - uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw, - uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw, - uint16_t chan7_raw, uint16_t chan8_raw, uint8_t rssi) -{ - mavlink_msg_rc_channels_raw_send( - chan, - chan1_raw, - chan2_raw, - chan3_raw, - chan4_raw, - chan5_raw, - chan6_raw, - chan7_raw, - chan8_raw, - rssi); -} - - -static void mavlink_msg_servo_output_raw_send(mavlink_channel_t chan, uint32_t time_usec, uint8_t port, - uint16_t servo1_raw, uint16_t servo2_raw, uint16_t servo3_raw, - uint16_t servo4_raw, uint16_t servo5_raw, uint16_t servo6_raw, - uint16_t servo7_raw, uint16_t servo8_raw) -{ - mavlink_msg_servo_output_raw_send( - chan, - servo1_raw, - servo2_raw, - servo3_raw, - servo4_raw, - servo5_raw, - servo6_raw, - servo7_raw, - servo8_raw); -} - -static void mavlink_msg_statustext_send(mavlink_channel_t chan, uint8_t severity, const char *text) -{ - mavlink_msg_statustext_send(chan, severity, (const int8_t*) text); -} - -static void mavlink_msg_param_value_send(mavlink_channel_t chan, const char *param_id, - float param_value, uint8_t param_type, - uint16_t param_count, uint16_t param_index) -{ - mavlink_msg_param_value_send( - chan, - (int8_t *)param_id, - param_value, - param_count, - param_index); -} -#endif // MAVLINK10