Merge branch 'pwm_ioctls' of github.com:PX4/Firmware into pwm_ioctls

Debug/ARMv7M

@@ -56,7 +56,7 @@ define vecstate
 			if $mmfsr & (1<<3)
 				printf " during exception return"
 			end
-			if $mmfsr & (1<<0)
+			if $mmfsr & (1<<1)
 				printf " during data access"
 			end
 			if $mmfsr & (1<<0)

Debug/Nuttx.py

@@ -2,6 +2,106 @@
 
 import gdb, gdb.types
 
+class NX_register_set(object):
+	"""Copy of the registers for a given context"""
+
+	v7_regmap = {
+		'R13':		0,
+		'SP':		0,
+		'PRIORITY':	1,
+		'R4':		2,
+		'R5':		3,
+		'R6':		4,
+		'R7':		5,
+		'R8':		6,
+		'R9':		7,
+		'R10':		8,
+		'R11':		9,
+		'EXC_RETURN':	10,
+		'R0':		11,
+		'R1':		12,
+		'R2':		13,
+		'R3':		14,
+		'R12':		15,
+		'R14':		16,
+		'LR':		16,
+		'R15':		17,
+		'PC':		17,
+		'XPSR':		18,
+	}
+
+	v7em_regmap = {
+		'R13':		0,
+		'SP':		0,
+		'PRIORITY':	1,
+		'R4':		2,
+		'R5':		3,
+		'R6':		4,
+		'R7':		5,
+		'R8':		6,
+		'R9':		7,
+		'R10':		8,
+		'R11':		9,
+		'EXC_RETURN':	10,
+		'R0':		27,
+		'R1':		28,
+		'R2':		29,
+		'R3':		30,
+		'R12':		31,
+		'R14':		32,
+		'LR':		32,
+		'R15':		33,
+		'PC':		33,
+		'XPSR':		34,
+	}
+
+	regs = dict()
+
+	def __init__(self, xcpt_regs):
+		if xcpt_regs is None:
+			self.regs['R0']         = long(gdb.parse_and_eval('$r0'))
+			self.regs['R1']         = long(gdb.parse_and_eval('$r1'))
+			self.regs['R2']         = long(gdb.parse_and_eval('$r2'))
+			self.regs['R3']         = long(gdb.parse_and_eval('$r3'))
+			self.regs['R4']         = long(gdb.parse_and_eval('$r4'))
+			self.regs['R5']         = long(gdb.parse_and_eval('$r5'))
+			self.regs['R6']         = long(gdb.parse_and_eval('$r6'))
+			self.regs['R7']         = long(gdb.parse_and_eval('$r7'))
+			self.regs['R8']         = long(gdb.parse_and_eval('$r8'))
+			self.regs['R9']         = long(gdb.parse_and_eval('$r9'))
+			self.regs['R10']        = long(gdb.parse_and_eval('$r10'))
+			self.regs['R11']        = long(gdb.parse_and_eval('$r11'))
+			self.regs['R12']        = long(gdb.parse_and_eval('$r12'))
+			self.regs['R13']        = long(gdb.parse_and_eval('$r13'))
+			self.regs['SP']         = long(gdb.parse_and_eval('$sp'))
+			self.regs['R14']        = long(gdb.parse_and_eval('$r14'))
+			self.regs['LR']         = long(gdb.parse_and_eval('$lr'))
+			self.regs['R15']        = long(gdb.parse_and_eval('$r15'))
+			self.regs['PC']         = long(gdb.parse_and_eval('$pc'))
+			self.regs['XPSR']       = long(gdb.parse_and_eval('$xpsr'))
+		else:
+			for key in self.v7em_regmap.keys():
+				self.regs[key] = int(xcpt_regs[self.v7em_regmap[key]])
+
+
+	@classmethod
+	def with_xcpt_regs(cls, xcpt_regs):
+		return cls(xcpt_regs)
+
+	@classmethod
+	def for_current(cls):
+		return cls(None)
+
+	def __format__(self, format_spec):
+		return format_spec.format(
+			registers	 = self.registers
+			)
+
+	@property
+	def registers(self):
+		return self.regs
+
+
 class NX_task(object):
 	"""Reference to a NuttX task and methods for introspecting it"""
 
@@ -139,56 +239,12 @@ class NX_task(object):
 		if 'registers' not in self.__dict__:
 			registers = dict()
 			if self._state_is('TSTATE_TASK_RUNNING'):
-				# XXX need to fix this to handle interrupt context
-				registers['R0']         = long(gdb.parse_and_eval('$r0'))
-				registers['R1']         = long(gdb.parse_and_eval('$r1'))
-				registers['R2']         = long(gdb.parse_and_eval('$r2'))
-				registers['R3']         = long(gdb.parse_and_eval('$r3'))
-				registers['R4']         = long(gdb.parse_and_eval('$r4'))
-				registers['R5']         = long(gdb.parse_and_eval('$r5'))
-				registers['R6']         = long(gdb.parse_and_eval('$r6'))
-				registers['R7']         = long(gdb.parse_and_eval('$r7'))
-				registers['R8']         = long(gdb.parse_and_eval('$r8'))
-				registers['R9']         = long(gdb.parse_and_eval('$r9'))
-				registers['R10']        = long(gdb.parse_and_eval('$r10'))
-				registers['R11']        = long(gdb.parse_and_eval('$r11'))
-				registers['R12']        = long(gdb.parse_and_eval('$r12'))
-				registers['R13']        = long(gdb.parse_and_eval('$r13'))
-				registers['SP']         = long(gdb.parse_and_eval('$sp'))
-				registers['R14']        = long(gdb.parse_and_eval('$r14'))
-				registers['LR']         = long(gdb.parse_and_eval('$lr'))
-				registers['R15']        = long(gdb.parse_and_eval('$r15'))
-				registers['PC']         = long(gdb.parse_and_eval('$pc'))
-				registers['XPSR']       = long(gdb.parse_and_eval('$xpsr'))
-				# this would only be valid if we were in an interrupt
-				registers['EXC_RETURN'] = 0
-				# we should be able to get this...
-				registers['PRIMASK']    = 0
+				registers = NX_register_set.for_current().registers
 			else:
 				context = self._tcb['xcp']
 				regs = context['regs']
-				registers['R0']         = long(regs[27])
-				registers['R1']         = long(regs[28])
-				registers['R2']         = long(regs[29])
-				registers['R3']         = long(regs[30])
-				registers['R4']         = long(regs[2])
-				registers['R5']         = long(regs[3])
-				registers['R6']         = long(regs[4])
-				registers['R7']         = long(regs[5])
-				registers['R8']         = long(regs[6])
-				registers['R9']         = long(regs[7])
-				registers['R10']        = long(regs[8])
-				registers['R11']        = long(regs[9])
-				registers['R12']        = long(regs[31])
-				registers['R13']        = long(regs[0])
-				registers['SP']         = long(regs[0])
-				registers['R14']        = long(regs[32])
-				registers['LR']         = long(regs[32])
-				registers['R15']        = long(regs[33])
-				registers['PC']         = long(regs[33])
-				registers['XPSR']       = long(regs[34])
-				registers['EXC_RETURN'] = long(regs[10])
-				registers['PRIMASK']    = long(regs[1])
+				registers = NX_register_set.with_xcpt_regs(regs).registers
+
 			self.__dict__['registers'] = registers
 		return self.__dict__['registers']
 
@@ -267,8 +323,7 @@ class NX_show_heap (gdb.Command):
 
 	def _print_allocations(self, region_start, region_end):
 		if region_start >= region_end:
-			print 'heap region {} corrupt'.format(hex(region_start))
-			return
+			raise gdb.GdbError('heap region {} corrupt'.format(hex(region_start)))
 		nodecount = region_end - region_start
 		print 'heap {} - {}'.format(region_start, region_end)
 		cursor = 1
@@ -286,13 +341,31 @@ class NX_show_heap (gdb.Command):
 		nregions = heap['mm_nregions']
 		region_starts = heap['mm_heapstart']
 		region_ends = heap['mm_heapend']
-		print "{} heap(s)".format(nregions)
+		print '{} heap(s)'.format(nregions)
 		# walk the heaps
 		for i in range(0, nregions):
 			self._print_allocations(region_starts[i], region_ends[i])
 
 NX_show_heap()
 
+class NX_show_interrupted_thread (gdb.Command):
+	"""(NuttX) prints the register state of an interrupted thread when in interrupt/exception context"""
 
+	def __init__(self):
+		super(NX_show_interrupted_thread, self).__init__('show interrupted-thread', gdb.COMMAND_USER)
 
+	def invoke(self, args, from_tty):
+		regs = gdb.lookup_global_symbol('current_regs').value()
+		if regs is 0:
+			raise gdb.GdbError('not in interrupt context')
+		else:
+			registers = NX_register_set.with_xcpt_regs(regs)
+			my_fmt = ''
+			my_fmt += '  R0  {registers[R0]:#010x} {registers[R1]:#010x} {registers[R2]:#010x} {registers[R3]:#010x}\n'
+			my_fmt += '  R4  {registers[R4]:#010x} {registers[R5]:#010x} {registers[R6]:#010x} {registers[R7]:#010x}\n'
+			my_fmt += '  R8  {registers[R8]:#010x} {registers[R9]:#010x} {registers[R10]:#010x} {registers[R11]:#010x}\n'
+			my_fmt += '  R12 {registers[PC]:#010x}\n'
+			my_fmt += '  SP  {registers[SP]:#010x} LR {registers[LR]:#010x} PC {registers[PC]:#010x} XPSR {registers[XPSR]:#010x}\n'
+			print format(registers, my_fmt)
 
+NX_show_interrupted_thread()

Makefile

@@ -39,6 +39,17 @@
 export PX4_BASE		 := $(realpath $(dir $(lastword $(MAKEFILE_LIST))))/
 include $(PX4_BASE)makefiles/setup.mk
 
+#
+# Get a version string provided by git
+# This assumes that git command is available and that
+# the directory holding this file also contains .git directory
+#
+GIT_DESC := $(shell git log -1 --pretty=format:%H)
+ifneq ($(words $(GIT_DESC)),1)
+    GIT_DESC := "unknown_git_version"
+endif
+export GIT_DESC
+
 #
 # Canned firmware configurations that we (know how to) build.
 #

ROMFS/px4fmu_common/init.d/08_ardrone

@@ -8,7 +8,18 @@ echo "[init] 08_ardrone: PX4FMU on PX4IOAR carrier board"
 if param compare SYS_AUTOCONFIG 1
 then
 	# Set all params here, then disable autoconfig
-	# TODO
+	param set MC_ATTRATE_D 0
+	param set MC_ATTRATE_I 0
+	param set MC_ATTRATE_P 0.13
+	param set MC_ATT_D 0
+	param set MC_ATT_I 0.3
+	param set MC_ATT_P 5
+	param set MC_YAWPOS_D 0.1
+	param set MC_YAWPOS_I 0.15
+	param set MC_YAWPOS_P 1
+	param set MC_YAWRATE_D 0
+	param set MC_YAWRATE_I 0
+	param set MC_YAWRATE_P 0.15
 
 	param set SYS_AUTOCONFIG 0
 	param save
@@ -19,6 +30,7 @@ fi
 # MAV_TYPE     2 = quadrotor
 #
 param set MAV_TYPE 2
+param set BAT_V_SCALING 0.008381
 
 #
 # Start MAVLink

ROMFS/px4fmu_common/init.d/09_ardrone_flow

@@ -8,7 +8,18 @@ echo "[init] 09_ardrone_flow: PX4FMU on PX4IOAR carrier board with PX4FLOW"
 if param compare SYS_AUTOCONFIG 1
 then
 	# Set all params here, then disable autoconfig
-	# TODO
+	param set MC_ATTRATE_D 0
+	param set MC_ATTRATE_I 0
+	param set MC_ATTRATE_P 0.13
+	param set MC_ATT_D 0
+	param set MC_ATT_I 0.3
+	param set MC_ATT_P 5
+	param set MC_YAWPOS_D 0.1
+	param set MC_YAWPOS_I 0.15
+	param set MC_YAWPOS_P 1
+	param set MC_YAWRATE_D 0
+	param set MC_YAWRATE_I 0
+	param set MC_YAWRATE_P 0.15
 
 	param set SYS_AUTOCONFIG 0
 	param save
@@ -19,6 +30,7 @@ fi
 # MAV_TYPE     2 = quadrotor
 #
 param set MAV_TYPE 2
+param set BAT_V_SCALING 0.008381
 
 #
 # Start MAVLink and MAVLink Onboard (PX4FLOW Sensor)

ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil

@@ -0,0 +1,92 @@
+#!nsh
+#
+# USB HIL start
+#
+
+echo "[HIL] HILStar starting.."
+
+#
+# Load default params for this platform
+#
+if param compare SYS_AUTOCONFIG 1
+then
+	# Set all params here, then disable autoconfig
+	
+	param set FW_P_D 0
+	param set FW_P_I 0
+	param set FW_P_IMAX 15
+	param set FW_P_LIM_MAX 50
+	param set FW_P_LIM_MIN -50
+	param set FW_P_P 60
+	param set FW_P_RMAX_NEG 0
+	param set FW_P_RMAX_POS 0
+	param set FW_P_ROLLFF 1.1
+	param set FW_R_D 0
+	param set FW_R_I 5
+	param set FW_R_IMAX 20
+	param set FW_R_P 100
+	param set FW_R_RMAX 100
+	param set FW_THR_CRUISE 0.65
+	param set FW_THR_MAX 1
+	param set FW_THR_MIN 0
+	param set FW_T_SINK_MAX 5.0
+	param set FW_T_SINK_MIN 4.0
+	param set FW_Y_ROLLFF 1.1
+	param set FW_L1_PERIOD 16
+	param set RC_SCALE_ROLL 1.0
+	param set RC_SCALE_PITCH 1.0
+
+	param set SYS_AUTOCONFIG 0
+	param save
+fi
+
+# Allow USB some time to come up
+sleep 1
+# Tell MAVLink that this link is "fast"
+mavlink start -b 230400 -d /dev/ttyACM0
+
+# Create a fake HIL /dev/pwm_output interface
+hil mode_pwm
+
+#
+# Force some key parameters to sane values
+# MAV_TYPE     1 = fixed wing, 2 = quadrotor, 13 = hexarotor
+#              see https://pixhawk.ethz.ch/mavlink/
+#
+param set MAV_TYPE 1
+
+#
+# Start the commander (depends on orb, mavlink)
+#
+commander start
+
+#
+# Check if we got an IO
+#
+if px4io start
+then
+	echo "IO started"
+else
+	fmu mode_serial
+	echo "FMU started"
+fi
+
+#
+# Start the sensors (depends on orb, px4io)
+#
+sh /etc/init.d/rc.sensors
+
+#
+# Start the attitude estimator (depends on orb)
+#
+att_pos_estimator_ekf start
+ 
+#
+# Load mixer and start controllers (depends on px4io)
+#
+mixer load /dev/pwm_output /etc/mixers/FMU_AET.mix
+fw_pos_control_l1 start
+fw_att_control start
+
+echo "[HIL] setup done, running"
+

ROMFS/px4fmu_common/init.d/1001_rc_quad.hil

@@ -0,0 +1,110 @@
+#!nsh
+#
+# USB HIL start
+#
+
+echo "[HIL] HILS quadrotor starting.."
+
+#
+# Load default params for this platform
+#
+if param compare SYS_AUTOCONFIG 1
+then
+        # Set all params here, then disable autoconfig
+        param set SYS_AUTOCONFIG 0
+
+        param set MC_ATTRATE_D 0.0
+        param set MC_ATTRATE_I 0.0
+        param set MC_ATTRATE_P 0.05
+        param set MC_ATT_D 0.0
+        param set MC_ATT_I 0.0
+        param set MC_ATT_P 3.0
+        param set MC_YAWPOS_D 0.0
+        param set MC_YAWPOS_I 0.0
+        param set MC_YAWPOS_P 2.1
+        param set MC_YAWRATE_D 0.0
+        param set MC_YAWRATE_I 0.0
+        param set MC_YAWRATE_P 0.05
+        param set NAV_TAKEOFF_ALT 3.0
+        param set MPC_TILT_MAX 0.5
+        param set MPC_THR_MAX 0.5
+        param set MPC_THR_MIN 0.1
+        param set MPC_XY_D 0
+        param set MPC_XY_P 0.5
+        param set MPC_XY_VEL_D 0
+        param set MPC_XY_VEL_I 0
+        param set MPC_XY_VEL_MAX 3
+        param set MPC_XY_VEL_P 0.2
+        param set MPC_Z_D 0
+        param set MPC_Z_P 1
+        param set MPC_Z_VEL_D 0
+        param set MPC_Z_VEL_I 0.1
+        param set MPC_Z_VEL_MAX 2
+        param set MPC_Z_VEL_P 0.20
+
+        param save
+fi
+
+# Allow USB some time to come up
+sleep 1
+# Tell MAVLink that this link is "fast"
+mavlink start -b 230400 -d /dev/ttyACM0
+
+# Create a fake HIL /dev/pwm_output interface
+hil mode_pwm
+
+#
+# Force some key parameters to sane values
+# MAV_TYPE     1 = fixed wing, 2 = quadrotor, 13 = hexarotor
+#              see https://pixhawk.ethz.ch/mavlink/
+#
+param set MAV_TYPE 2
+
+#
+# Start the commander (depends on orb, mavlink)
+#
+commander start
+
+#
+# Check if we got an IO
+#
+if px4io start
+then
+	echo "IO started"
+else
+	fmu mode_serial
+	echo "FMU started"
+fi
+
+#
+# Start the sensors (depends on orb, px4io)
+#
+sh /etc/init.d/rc.sensors
+
+#
+# Start the attitude estimator (depends on orb)
+#
+att_pos_estimator_ekf start
+ 
+#
+# Load mixer and start controllers (depends on px4io)
+#
+mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
+
+#
+# Start position estimator
+#
+position_estimator_inav start
+
+#
+# Start attitude control
+#
+multirotor_att_control start
+
+#
+# Start position control
+#
+multirotor_pos_control start
+
+echo "[HIL] setup done, running"
+

ROMFS/px4fmu_common/init.d/1002_rc_fw_state.hil

@@ -0,0 +1,84 @@
+#!nsh
+#
+# USB HIL start
+#
+
+echo "[HIL] HILStar starting in state-HIL mode.."
+
+#
+# Load default params for this platform
+#
+if param compare SYS_AUTOCONFIG 1
+then
+	# Set all params here, then disable autoconfig
+	
+	param set FW_P_D 0
+	param set FW_P_I 0
+	param set FW_P_IMAX 15
+	param set FW_P_LIM_MAX 50
+	param set FW_P_LIM_MIN -50
+	param set FW_P_P 60
+	param set FW_P_RMAX_NEG 0
+	param set FW_P_RMAX_POS 0
+	param set FW_P_ROLLFF 1.1
+	param set FW_R_D 0
+	param set FW_R_I 5
+	param set FW_R_IMAX 20
+	param set FW_R_P 100
+	param set FW_R_RMAX 100
+	param set FW_THR_CRUISE 0.65
+	param set FW_THR_MAX 1
+	param set FW_THR_MIN 0
+	param set FW_T_SINK_MAX 5.0
+	param set FW_T_SINK_MIN 4.0
+	param set FW_Y_ROLLFF 1.1
+
+	param set SYS_AUTOCONFIG 0
+	param save
+fi
+
+# Allow USB some time to come up
+sleep 1
+# Tell MAVLink that this link is "fast"
+mavlink start -b 230400 -d /dev/ttyACM0
+
+# Create a fake HIL /dev/pwm_output interface
+hil mode_pwm
+
+#
+# Force some key parameters to sane values
+# MAV_TYPE     1 = fixed wing, 2 = quadrotor, 13 = hexarotor
+#              see https://pixhawk.ethz.ch/mavlink/
+#
+param set MAV_TYPE 1
+
+#
+# Start the commander (depends on orb, mavlink)
+#
+commander start
+
+#
+# Check if we got an IO
+#
+if px4io start
+then
+	echo "IO started"
+else
+	fmu mode_serial
+	echo "FMU started"
+fi
+
+#
+# Start the sensors (depends on orb, px4io)
+#
+sh /etc/init.d/rc.sensors
+ 
+#
+# Load mixer and start controllers (depends on px4io)
+#
+mixer load /dev/pwm_output /etc/mixers/FMU_AET.mix
+fw_pos_control_l1 start
+fw_att_control start
+
+echo "[HIL] setup done, running"
+

ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil

@@ -0,0 +1,110 @@
+#!nsh
+#
+# USB HIL start
+#
+
+echo "[HIL] HILS quadrotor + starting.."
+
+#
+# Load default params for this platform
+#
+if param compare SYS_AUTOCONFIG 1
+then
+        # Set all params here, then disable autoconfig
+        param set SYS_AUTOCONFIG 0
+
+        param set MC_ATTRATE_D 0.0
+        param set MC_ATTRATE_I 0.0
+        param set MC_ATTRATE_P 0.05
+        param set MC_ATT_D 0.0
+        param set MC_ATT_I 0.0
+        param set MC_ATT_P 3.0
+        param set MC_YAWPOS_D 0.0
+        param set MC_YAWPOS_I 0.0
+        param set MC_YAWPOS_P 2.1
+        param set MC_YAWRATE_D 0.0
+        param set MC_YAWRATE_I 0.0
+        param set MC_YAWRATE_P 0.05
+        param set NAV_TAKEOFF_ALT 3.0
+        param set MPC_TILT_MAX 0.5
+        param set MPC_THR_MAX 0.5
+        param set MPC_THR_MIN 0.1
+        param set MPC_XY_D 0
+        param set MPC_XY_P 0.5
+        param set MPC_XY_VEL_D 0
+        param set MPC_XY_VEL_I 0
+        param set MPC_XY_VEL_MAX 3
+        param set MPC_XY_VEL_P 0.2
+        param set MPC_Z_D 0
+        param set MPC_Z_P 1
+        param set MPC_Z_VEL_D 0
+        param set MPC_Z_VEL_I 0.1
+        param set MPC_Z_VEL_MAX 2
+        param set MPC_Z_VEL_P 0.20
+
+        param save
+fi
+
+# Allow USB some time to come up
+sleep 1
+# Tell MAVLink that this link is "fast"
+mavlink start -b 230400 -d /dev/ttyACM0
+
+# Create a fake HIL /dev/pwm_output interface
+hil mode_pwm
+
+#
+# Force some key parameters to sane values
+# MAV_TYPE     1 = fixed wing, 2 = quadrotor, 13 = hexarotor
+#              see https://pixhawk.ethz.ch/mavlink/
+#
+param set MAV_TYPE 2
+
+#
+# Start the commander (depends on orb, mavlink)
+#
+commander start
+
+#
+# Check if we got an IO
+#
+if px4io start
+then
+	echo "IO started"
+else
+	fmu mode_serial
+	echo "FMU started"
+fi
+
+#
+# Start the sensors (depends on orb, px4io)
+#
+sh /etc/init.d/rc.sensors
+
+#
+# Start the attitude estimator (depends on orb)
+#
+att_pos_estimator_ekf start
+ 
+#
+# Load mixer and start controllers (depends on px4io)
+#
+mixer load /dev/pwm_output /etc/mixers/FMU_quad_+.mix
+
+#
+# Start position estimator
+#
+position_estimator_inav start
+
+#
+# Start attitude control
+#
+multirotor_att_control start
+
+#
+# Start position control
+#
+multirotor_pos_control start
+
+echo "[HIL] setup done, running"
+

ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil

@@ -0,0 +1,103 @@
+#!nsh
+#
+# USB HIL start
+#
+
+echo "[HIL] HILStar starting.."
+
+#
+# Load default params for this platform
+#
+if param compare SYS_AUTOCONFIG 1
+then
+	# Set all params here, then disable autoconfig
+	
+	param set FW_P_D 0
+	param set FW_P_I 0
+	param set FW_P_IMAX 15
+	param set FW_P_LIM_MAX 50
+	param set FW_P_LIM_MIN -50
+	param set FW_P_P 60
+	param set FW_P_RMAX_NEG 0
+	param set FW_P_RMAX_POS 0
+	param set FW_P_ROLLFF 1.1
+	param set FW_R_D 0
+	param set FW_R_I 5
+	param set FW_R_IMAX 20
+	param set FW_R_P 100
+	param set FW_R_RMAX 100
+	param set FW_THR_CRUISE 0.65
+	param set FW_THR_MAX 1
+	param set FW_THR_MIN 0
+	param set FW_T_SINK_MAX 5.0
+	param set FW_T_SINK_MIN 4.0
+	param set FW_Y_ROLLFF 1.1
+	param set FW_L1_PERIOD 16
+	param set RC_SCALE_ROLL 1.0
+	param set RC_SCALE_PITCH 1.0
+
+	param set SYS_AUTOCONFIG 0
+	param save
+fi
+
+# Allow USB some time to come up
+sleep 1
+# Tell MAVLink that this link is "fast"
+mavlink start -b 230400 -d /dev/ttyACM0
+
+# Create a fake HIL /dev/pwm_output interface
+hil mode_pwm
+
+#
+# Force some key parameters to sane values
+# MAV_TYPE     1 = fixed wing, 2 = quadrotor, 13 = hexarotor
+#              see https://pixhawk.ethz.ch/mavlink/
+#
+param set MAV_TYPE 1
+
+#
+# Start the commander (depends on orb, mavlink)
+#
+commander start
+
+#
+# Check if we got an IO
+#
+if px4io start
+then
+	echo "IO started"
+else
+	fmu mode_serial
+	echo "FMU started"
+fi
+
+#
+# Start the sensors (depends on orb, px4io)
+#
+sh /etc/init.d/rc.sensors
+
+#
+# Start the attitude estimator (depends on orb)
+#
+att_pos_estimator_ekf start
+ 
+#
+# Load mixer and start controllers (depends on px4io)
+#
+set MODE autostart
+mixer load /dev/pwm_output /etc/mixers/FMU_AERT.mix
+if [ -f /fs/microsd/etc/mixers/FMU_AERT.mix ]
+then
+	echo "Using /fs/microsd/etc/mixers/FMU_AERT.mix"
+	mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_AERT.mix
+else
+	echo "Using /etc/mixers/FMU_AERT.mix"
+	mixer load /dev/pwm_output /etc/mixers/FMU_AERT.mix
+fi
+
+
+fw_pos_control_l1 start
+fw_att_control start
+
+echo "[HIL] setup done, running"
+

ROMFS/px4fmu_common/init.d/100_mpx_easystar

@@ -1,6 +1,6 @@
 #!nsh
 
-echo "[init] Multiplex Easystar"
+echo "[init] PX4FMU v1, v2 with or without IO on EasyStar"
 
 #
 # Load default params for this platform
@@ -8,7 +8,29 @@ echo "[init] Multiplex Easystar"
 if param compare SYS_AUTOCONFIG 1
 then
 	# Set all params here, then disable autoconfig
-	# TODO
+	param set FW_P_D 0
+	param set FW_P_I 0
+	param set FW_P_IMAX 15
+	param set FW_P_LIM_MAX 50
+	param set FW_P_LIM_MIN -50
+	param set FW_P_P 60
+	param set FW_P_RMAX_NEG 0
+	param set FW_P_RMAX_POS 0
+	param set FW_P_ROLLFF 1.1
+	param set FW_R_D 0
+	param set FW_R_I 5
+	param set FW_R_IMAX 20
+	param set FW_R_P 100
+	param set FW_R_RMAX 100
+	param set FW_THR_CRUISE 0.65
+	param set FW_THR_MAX 1
+	param set FW_THR_MIN 0
+	param set FW_T_SINK_MAX 5.0
+	param set FW_T_SINK_MIN 4.0
+	param set FW_Y_ROLLFF 1.1
+	param set FW_L1_PERIOD 16
+	param set RC_SCALE_ROLL 1.0
+	param set RC_SCALE_PITCH 1.0
 	
 	param set SYS_AUTOCONFIG 0
 	param save
@@ -20,28 +42,34 @@ fi
 #
 param set MAV_TYPE 1
 
-#
-# Start MAVLink (depends on orb)
-#
-mavlink start -d /dev/ttyS1 -b 57600
-usleep 5000
+set EXIT_ON_END no
 
 #
-# Start and configure PX4IO interface
+# Start and configure PX4IO or FMU interface
 #
-sh /etc/init.d/rc.io
+if px4io detect
+then
+	# Start MAVLink (depends on orb)
+	mavlink start
+
+	commander start
+
+	sh /etc/init.d/rc.io
+	# Limit to 100 Hz updates and (implicit) 50 Hz PWM
+	px4io limit 100
+else
+	# Start MAVLink (on UART1 / ttyS0)
+	mavlink start -d /dev/ttyS0
+
+	commander start
+
+	fmu mode_pwm
+	param set BAT_V_SCALING 0.004593
+	set EXIT_ON_END yes
+fi
 
 #
-# Set actuator limit to 100 Hz update (50 Hz PWM)
-px4io limit 100
- 
-#
-# Start the commander
-#
-commander start
- 
-#
-# Start the sensors
+# Start the sensors and test them.
 #
 sh /etc/init.d/rc.sensors
 
@@ -51,7 +79,7 @@ sh /etc/init.d/rc.sensors
 sh /etc/init.d/rc.logging
 
 #
-# Start GPS interface
+# Start GPS interface (depends on orb)
 #
 gps start
  
@@ -63,6 +91,18 @@ att_pos_estimator_ekf start
 #
 # Load mixer and start controllers (depends on px4io)
 #
-mixer load /dev/pwm_output /etc/mixers/FMU_RET.mix
+if [ -f /fs/microsd/etc/mixers/FMU_RET.mix ]
+then
+	echo "Using FMU_RET mixer from sd card"
+	mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_RET.mix
+else
+	echo "Using standard FMU_RET mixer"
+	mixer load /dev/pwm_output /etc/mixers/FMU_RET.mix
+fi
 fw_att_control start
 fw_pos_control_l1 start
+
+if [ $EXIT_ON_END == yes ]
+then
+	exit
+fi

ROMFS/px4fmu_common/init.d/101_hk_bixler

@@ -0,0 +1,101 @@
+#!nsh
+
+echo "[init] PX4FMU v1, v2 with or without IO on HK Bixler"
+
+#
+# Load default params for this platform
+#
+if param compare SYS_AUTOCONFIG 1
+then
+	# Set all params here, then disable autoconfig
+	param set FW_P_D 0
+	param set FW_P_I 0
+	param set FW_P_IMAX 15
+	param set FW_P_LIM_MAX 50
+	param set FW_P_LIM_MIN -50
+	param set FW_P_P 60
+	param set FW_P_RMAX_NEG 0
+	param set FW_P_RMAX_POS 0
+	param set FW_P_ROLLFF 1.1
+	param set FW_R_D 0
+	param set FW_R_I 5
+	param set FW_R_IMAX 20
+	param set FW_R_P 100
+	param set FW_R_RMAX 100
+	param set FW_THR_CRUISE 0.65
+	param set FW_THR_MAX 1
+	param set FW_THR_MIN 0
+	param set FW_T_SINK_MAX 5.0
+	param set FW_T_SINK_MIN 4.0
+	param set FW_Y_ROLLFF 1.1
+	param set FW_L1_PERIOD 16
+	param set RC_SCALE_ROLL 1.0
+	param set RC_SCALE_PITCH 1.0
+	
+	param set SYS_AUTOCONFIG 0
+	param save
+fi
+ 
+#
+# Force some key parameters to sane values
+# MAV_TYPE     1 = fixed wing
+#
+param set MAV_TYPE 1
+
+set EXIT_ON_END no
+
+#
+# Start and configure PX4IO or FMU interface
+#
+if px4io detect
+then
+	# Start MAVLink (depends on orb)
+	mavlink start
+
+	commander start
+
+	sh /etc/init.d/rc.io
+	# Limit to 100 Hz updates and (implicit) 50 Hz PWM
+	px4io limit 100
+else
+	# Start MAVLink (on UART1 / ttyS0)
+	mavlink start -d /dev/ttyS0
+
+	commander start
+
+	fmu mode_pwm
+	param set BAT_V_SCALING 0.004593
+	set EXIT_ON_END yes
+fi
+ 
+#
+# Start the sensors and test them.
+#
+sh /etc/init.d/rc.sensors
+
+#
+# Start logging (depends on sensors)
+#
+sh /etc/init.d/rc.logging
+
+#
+# Start GPS interface (depends on orb)
+#
+gps start
+ 
+#
+# Start the attitude and position estimator
+#
+att_pos_estimator_ekf start
+ 
+#
+# Load mixer and start controllers (depends on px4io)
+#
+mixer load /dev/pwm_output /etc/mixers/FMU_AERT.mix
+fw_att_control start
+fw_pos_control_l1 start
+
+if [ $EXIT_ON_END == yes ]
+then
+	exit
+fi

ROMFS/px4fmu_common/init.d/10_dji_f330

@@ -59,11 +59,10 @@ then
 	mavlink start
 	usleep 5000
 
+	commander start
+
 	sh /etc/init.d/rc.io
 	# Set PWM values for DJI ESCs
-	px4io idle 900 900 900 900
-	px4io min 1200 1200 1200 1200
-	px4io max 1800 1800 1800 1800
 else
 	# Start MAVLink (on UART1 / ttyS0)
 	mavlink start -d /dev/ttyS0
@@ -81,7 +80,14 @@ mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
 #
 # Set PWM output frequency
 #
-pwm -u 400 -m 0xff
+pwm rate -c 1234 -r 400
+
+#
+# Set disarmed, min and max PWM signals
+#
+pwm disarmed -c 1234 -p 900
+pwm min -c 1234 -p 1200
+pwm max -c 1234 -p 1800
 
 #
 # Start common for all multirotors apps

ROMFS/px4fmu_common/init.d/11_dji_f450

@@ -43,11 +43,9 @@ then
 	mavlink start
 	usleep 5000
 
+	commander start
+
 	sh /etc/init.d/rc.io
-	# Set PWM values for DJI ESCs
-	px4io idle 900 900 900 900
-	px4io min 1200 1200 1200 1200
-	px4io max 1800 1800 1800 1800
 else
 	# Start MAVLink (on UART1 / ttyS0)
 	mavlink start -d /dev/ttyS0
@@ -65,7 +63,14 @@ mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
 #
 # Set PWM output frequency
 #
-pwm -u 400 -m 0xff
+pwm rate -c 1234 -r 400
+
+#
+# Set disarmed, min and max PWM signals (for DJI ESCs)
+#
+pwm disarmed -c 1234 -p 900
+pwm min -c 1234 -p 1200
+pwm max -c 1234 -p 1800
 
 #
 # Start common for all multirotors apps

ROMFS/px4fmu_common/init.d/12-13_hex

@@ -0,0 +1,95 @@
+#!nsh
+
+echo "[init] PX4FMU v1, v2 with or without IO on Hex"
+
+#
+# Load default params for this platform
+#
+if param compare SYS_AUTOCONFIG 1
+then
+	# Set all params here, then disable autoconfig
+	param set SYS_AUTOCONFIG 0
+
+	param set MC_ATTRATE_D 0.004
+	param set MC_ATTRATE_I 0.0
+	param set MC_ATTRATE_P 0.12
+	param set MC_ATT_D 0.0
+	param set MC_ATT_I 0.0
+	param set MC_ATT_P 7.0
+	param set MC_YAWPOS_D 0.0
+	param set MC_YAWPOS_I 0.0
+	param set MC_YAWPOS_P 2.0
+	param set MC_YAWRATE_D 0.005
+	param set MC_YAWRATE_I 0.2
+	param set MC_YAWRATE_P 0.3
+	param set NAV_TAKEOFF_ALT 3.0
+	param set MPC_TILT_MAX 0.5
+	param set MPC_THR_MAX 0.7
+	param set MPC_THR_MIN 0.3
+	param set MPC_XY_D 0
+	param set MPC_XY_P 0.5
+	param set MPC_XY_VEL_D 0
+	param set MPC_XY_VEL_I 0
+	param set MPC_XY_VEL_MAX 3
+	param set MPC_XY_VEL_P 0.2
+	param set MPC_Z_D 0
+	param set MPC_Z_P 1
+	param set MPC_Z_VEL_D 0
+	param set MPC_Z_VEL_I 0.1
+	param set MPC_Z_VEL_MAX 2
+	param set MPC_Z_VEL_P 0.20
+
+	param save
+fi
+ 
+#
+# Force some key parameters to sane values
+# MAV_TYPE list: https://pixhawk.ethz.ch/mavlink/
+# 13 = hexarotor
+#
+param set MAV_TYPE 13
+
+set EXIT_ON_END no
+
+#
+# Start and configure PX4IO or FMU interface
+#
+if px4io detect
+then
+	# Start MAVLink (depends on orb)
+	mavlink start
+	usleep 5000
+
+	sh /etc/init.d/rc.io
+	# Set PWM values for DJI ESCs
+	px4io idle 900 900 900 900 900 900
+	px4io min 1200 1200 1200 1200 1200 1200
+	px4io max 1900 1900 1900 1900 1900 1900
+else
+	# Start MAVLink (on UART1 / ttyS0)
+	mavlink start -d /dev/ttyS0
+	usleep 5000
+	fmu mode_pwm
+	param set BAT_V_SCALING 0.004593
+	set EXIT_ON_END yes
+fi
+
+#
+# Load mixer
+#
+mixer load /dev/pwm_output $MIXER
+
+#
+# Set PWM output frequency to 400 Hz
+#
+pwm -u 400 -m 0xff
+
+#
+# Start common for all multirotors apps
+#
+sh /etc/init.d/rc.multirotor
+
+if [ $EXIT_ON_END == yes ]
+then
+	exit
+fi

ROMFS/px4fmu_common/init.d/15_tbs_discovery

@@ -43,11 +43,9 @@ then
 	mavlink start
 	usleep 5000
 
+	commander start
+
 	sh /etc/init.d/rc.io
-	# Set PWM values for DJI ESCs
-	px4io idle 900 900 900 900
-	px4io min 1200 1200 1200 1200
-	px4io max 1800 1800 1800 1800
 else
 	# Start MAVLink (on UART1 / ttyS0)
 	mavlink start -d /dev/ttyS0
@@ -65,7 +63,14 @@ mixer load /dev/pwm_output /etc/mixers/FMU_quad_w.mix
 #
 # Set PWM output frequency
 #
-pwm -u 400 -m 0xff
+pwm rate -c 1234 -r 400
+
+#
+# Set disarmed, min and max PWM signals (for DJI ESCs)
+#
+pwm disarmed -c 1234 -p 900
+pwm min -c 1234 -p 1200
+pwm max -c 1234 -p 1800
 
 #
 # Start common for all multirotors apps

ROMFS/px4fmu_common/init.d/16_3dr_iris

@@ -10,12 +10,12 @@ then
 	# Set all params here, then disable autoconfig
 	param set SYS_AUTOCONFIG 0
 
-	param set MC_ATTRATE_D 0.006
+	param set MC_ATTRATE_D 0.004
 	param set MC_ATTRATE_I 0.0
-	param set MC_ATTRATE_P 0.17
+	param set MC_ATTRATE_P 0.13
 	param set MC_ATT_D 0.0
 	param set MC_ATT_I 0.0
-	param set MC_ATT_P 5.0
+	param set MC_ATT_P 9.0
 	param set MC_YAWPOS_D 0.0
 	param set MC_YAWPOS_I 0.15
 	param set MC_YAWPOS_P 0.5
@@ -43,17 +43,15 @@ then
 	mavlink start
 	usleep 5000
 
+	commander start
+
 	sh /etc/init.d/rc.io
-	# Set PWM values for DJI ESCs
-	px4io idle 900 900 900 900
-	px4io min 1200 1200 1200 1200
-	px4io max 1800 1800 1800 1800
 else
 	# Start MAVLink (on UART1 / ttyS0)
 	mavlink start -d /dev/ttyS0
 	usleep 5000
 	fmu mode_pwm
-	param set BAT_V_SCALING 0.004593
+	param set BAT_V_SCALING 0.0098
 	set EXIT_ON_END yes
 fi
 
@@ -65,7 +63,14 @@ mixer load /dev/pwm_output /etc/mixers/FMU_quad_w.mix
 #
 # Set PWM output frequency
 #
-pwm -u 400 -m 0xff
+pwm rate -c 1234 -r 400
+
+#
+# Set disarmed, min and max PWM signals
+#
+pwm disarmed -c 1234 -p 900
+pwm min -c 1234 -p 1200
+pwm max -c 1234 -p 1800
 
 #
 # Start common for all multirotors apps

ROMFS/px4fmu_common/init.d/30_io_camflyer

@@ -1,6 +1,6 @@
 #!nsh
 
-echo "[init] 30_io_camflyer: PX4FMU+PX4IO on Camflyer"
+echo "[init] PX4FMU v1, v2 with or without IO on Camflyer"
 
 #
 # Load default params for this platform
@@ -20,33 +20,34 @@ fi
 #
 param set MAV_TYPE 1
 
-#
-# Start MAVLink (depends on orb)
-#
-mavlink start -d /dev/ttyS1 -b 57600
-usleep 5000
+set EXIT_ON_END no
 
 #
-# Start the commander (depends on orb, mavlink)
+# Start and configure PX4IO or FMU interface
 #
-commander start
+if px4io detect
+then
+	# Start MAVLink (depends on orb)
+	mavlink start
+
+	commander start
+
+	sh /etc/init.d/rc.io
+	# Limit to 100 Hz updates and (implicit) 50 Hz PWM
+	px4io limit 100
+else
+	# Start MAVLink (on UART1 / ttyS0)
+	mavlink start -d /dev/ttyS0
+
+	commander start
+
+	fmu mode_pwm
+	param set BAT_V_SCALING 0.004593
+	set EXIT_ON_END yes
+fi
  
 #
-# Start PX4IO interface (depends on orb, commander)
-#
-px4io start
- 
-#
-# Allow PX4IO to recover from midair restarts.
-# this is very unlikely, but quite safe and robust.
-px4io recovery
-
-#
-# Set actuator limit to 100 Hz update (50 Hz PWM)
-px4io limit 100
- 
-#
-# Start the sensors (depends on orb, px4io)
+# Start the sensors and test them.
 #
 sh /etc/init.d/rc.sensors
 
@@ -71,3 +72,8 @@ att_pos_estimator_ekf start
 mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
 fw_att_control start
 fw_pos_control_l1 start
+
+if [ $EXIT_ON_END == yes ]
+then
+	exit
+fi

ROMFS/px4fmu_common/init.d/31_io_phantom

@@ -1,6 +1,6 @@
 #!nsh
 
-echo "[init] 31_io_phantom: PX4FMU+PX4IO on Phantom"
+echo "[init] PX4FMU v1, v2 with or without IO on Phantom FPV"
 
 #
 # Load default params for this platform
@@ -8,7 +8,29 @@ echo "[init] 31_io_phantom: PX4FMU+PX4IO on Phantom"
 if param compare SYS_AUTOCONFIG 1
 then
 	# Set all params here, then disable autoconfig
-	# TODO
+	param set FW_P_D 0
+	param set FW_P_I 0
+	param set FW_P_IMAX 15
+	param set FW_P_LIM_MAX 50
+	param set FW_P_LIM_MIN -50
+	param set FW_P_P 60
+	param set FW_P_RMAX_NEG 0
+	param set FW_P_RMAX_POS 0
+	param set FW_P_ROLLFF 1.1
+	param set FW_R_D 0
+	param set FW_R_I 5
+	param set FW_R_IMAX 20
+	param set FW_R_P 100
+	param set FW_R_RMAX 100
+	param set FW_THR_CRUISE 0.65
+	param set FW_THR_MAX 1
+	param set FW_THR_MIN 0
+	param set FW_T_SINK_MAX 5.0
+	param set FW_T_SINK_MIN 4.0
+	param set FW_Y_ROLLFF 1.1
+	param set FW_L1_PERIOD 17
+	param set RC_SCALE_ROLL 1.0
+	param set RC_SCALE_PITCH 1.0
 	
 	param set SYS_AUTOCONFIG 0
 	param save
@@ -20,28 +42,34 @@ fi
 #
 param set MAV_TYPE 1
 
-#
-# Start MAVLink (depends on orb)
-#
-mavlink start -d /dev/ttyS1 -b 57600
-usleep 5000
+set EXIT_ON_END no
 
 #
-# Start and configure PX4IO interface
+# Start and configure PX4IO or FMU interface
 #
-sh /etc/init.d/rc.io
+if px4io detect
+then
+	# Start MAVLink (depends on orb)
+	mavlink start
+
+	commander start
+
+	sh /etc/init.d/rc.io
+	# Limit to 100 Hz updates and (implicit) 50 Hz PWM
+	px4io limit 100
+else
+	# Start MAVLink (on UART1 / ttyS0)
+	mavlink start -d /dev/ttyS0
+
+	commander start
+
+	fmu mode_pwm
+	param set BAT_V_SCALING 0.004593
+	set EXIT_ON_END yes
+fi
  
 #
-# Set actuator limit to 100 Hz update (50 Hz PWM)
-px4io limit 100
- 
-#
-# Start the commander
-#
-commander start
- 
-#
-# Start the sensors
+# Start the sensors and test them.
 #
 sh /etc/init.d/rc.sensors
 
@@ -51,7 +79,7 @@ sh /etc/init.d/rc.sensors
 sh /etc/init.d/rc.logging
 
 #
-# Start GPS interface
+# Start GPS interface (depends on orb)
 #
 gps start
  
@@ -66,3 +94,8 @@ att_pos_estimator_ekf start
 mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
 fw_att_control start
 fw_pos_control_l1 start
+
+if [ $EXIT_ON_END == yes ]
+then
+	exit
+fi

ROMFS/px4fmu_common/init.d/32_skywalker_x5

@@ -0,0 +1,86 @@
+#!nsh
+
+echo "[init] PX4FMU v1, v2 with or without IO on Skywalker X5"
+
+#
+# Load default params for this platform
+#
+if param compare SYS_AUTOCONFIG 1
+then
+	# Set all params here, then disable autoconfig
+	# TODO
+	
+	param set SYS_AUTOCONFIG 0
+	param save
+fi
+ 
+#
+# Force some key parameters to sane values
+# MAV_TYPE     1 = fixed wing
+#
+param set MAV_TYPE 1
+
+set EXIT_ON_END no
+
+#
+# Start and configure PX4IO or FMU interface
+#
+if px4io detect
+then
+	# Start MAVLink (depends on orb)
+	mavlink start
+
+	commander start
+
+	sh /etc/init.d/rc.io
+	# Limit to 100 Hz updates and (implicit) 50 Hz PWM
+	px4io limit 100
+else
+	# Start MAVLink (on UART1 / ttyS0)
+	mavlink start -d /dev/ttyS0
+
+	commander start
+
+	fmu mode_pwm
+	param set BAT_V_SCALING 0.004593
+	set EXIT_ON_END yes
+fi
+ 
+#
+# Start the sensors and test them.
+#
+sh /etc/init.d/rc.sensors
+
+#
+# Start logging (depends on sensors)
+#
+sh /etc/init.d/rc.logging
+
+#
+# Start GPS interface (depends on orb)
+#
+gps start
+ 
+#
+# Start the attitude and position estimator
+#
+att_pos_estimator_ekf start
+
+#
+# Load mixer and start controllers (depends on px4io)
+#
+if [ -f /fs/microsd/etc/mixers/FMU_Q.mix ]
+then
+	echo "Using /fs/microsd/etc/mixers/FMU_Q.mix"
+	mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_Q.mix
+else
+	echo "Using /etc/mixers/FMU_Q.mix"
+	mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
+fi
+fw_att_control start
+fw_pos_control_l1 start
+
+if [ $EXIT_ON_END == yes ]
+then
+	exit
+fi

ROMFS/px4fmu_common/init.d/40_io_segway

@@ -52,5 +52,5 @@ attitude_estimator_ekf start
 #
 # Load mixer and start controllers (depends on px4io)
 #
-md25 start 3 0x58
+roboclaw start /dev/ttyS2 128 1200
 segway start

ROMFS/px4fmu_common/init.d/666_fmu_q_x550

@@ -53,7 +53,7 @@ mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
 #
 # Set PWM output frequency
 #
-pwm -u 400 -m 0xff
+pwm rate -c 1234 -r 400
 
 #
 # Start common for all multirotors apps

ROMFS/px4fmu_common/init.d/cmp_test

@@ -0,0 +1,9 @@
+#!nsh
+
+cp /etc/extras/px4io-v2_default.bin /fs/microsd/px4io.loaded
+if cmp /etc/extras/px4io-v2_default.bin /fs/microsd/px4io.loaded
+then
+	echo "CMP returned true"
+else
+	echo "CMP returned false"
+fi

ROMFS/px4fmu_common/init.d/rc.custom_dji_f330_mkblctrl

@@ -0,0 +1,120 @@
+#!nsh
+
+#
+# Load default params for this platform
+#
+if param compare SYS_AUTOCONFIG 1
+then
+	# Set all params here, then disable autoconfig
+	param set SYS_AUTOCONFIG 0
+
+	param set MC_ATTRATE_D 0.002
+	param set MC_ATTRATE_I 0.0
+	param set MC_ATTRATE_P 0.09
+	param set MC_ATT_D 0.0
+	param set MC_ATT_I 0.0
+	param set MC_ATT_P 6.8
+	param set MC_YAWPOS_D 0.0
+	param set MC_YAWPOS_I 0.0
+	param set MC_YAWPOS_P 2.0
+	param set MC_YAWRATE_D 0.005
+	param set MC_YAWRATE_I 0.2
+	param set MC_YAWRATE_P 0.3
+	param set NAV_TAKEOFF_ALT 3.0
+	param set MPC_TILT_MAX 0.5
+	param set MPC_THR_MAX 0.7
+	param set MPC_THR_MIN 0.3
+	param set MPC_XY_D 0
+	param set MPC_XY_P 0.5
+	param set MPC_XY_VEL_D 0
+	param set MPC_XY_VEL_I 0
+	param set MPC_XY_VEL_MAX 3
+	param set MPC_XY_VEL_P 0.2
+	param set MPC_Z_D 0
+	param set MPC_Z_P 1
+	param set MPC_Z_VEL_D 0
+	param set MPC_Z_VEL_I 0.1
+	param set MPC_Z_VEL_MAX 2
+	param set MPC_Z_VEL_P 0.20
+
+	param save
+fi
+ 
+#
+# Force some key parameters to sane values
+# MAV_TYPE     2 = quadrotor
+#
+param set MAV_TYPE 2
+
+set EXIT_ON_END no
+
+#
+# Start the Mikrokopter ESC driver
+#
+if [ $MKBLCTRL_MODE == yes ]
+then
+    if [ $MKBLCTRL_FRAME == x ]
+    then
+        echo "[init] PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 X Frame Mikrokopter-Addressing"
+        mkblctrl -mkmode x
+    else
+        echo "[init] PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 + Frame Mikrokopter-Addressing"
+        mkblctrl -mkmode +
+    fi
+else
+    if [ $MKBLCTRL_FRAME == x ]
+    then
+        echo "[init] PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 X Frame"
+    else
+        echo "[init] PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 + Frame"
+    fi
+    mkblctrl
+fi
+
+usleep 10000
+
+#
+# Start and configure PX4IO or FMU interface
+#
+if px4io detect
+then
+	# Start MAVLink (depends on orb)
+	mavlink start
+	usleep 5000
+
+	sh /etc/init.d/rc.io
+else
+	fmu mode_pwm
+	# Start MAVLink (on UART1 / ttyS0)
+	mavlink start -d /dev/ttyS0
+	usleep 5000
+	param set BAT_V_SCALING 0.004593
+	set EXIT_ON_END yes
+fi
+
+#
+# Load mixer
+#
+if [ $MKBLCTRL_FRAME == x ]
+then
+    mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
+else
+    mixer load /dev/pwm_output /etc/mixers/FMU_quad_+.mix
+fi
+
+#
+# Set disarmed, min and max PWM signals
+#
+pwm disarmed -c 1234 -p 900
+pwm min -c 1234 -p 1200
+pwm max -c 1234 -p 1800
+
+#
+# Start common for all multirotors apps
+#
+sh /etc/init.d/rc.multirotor
+
+if [ $EXIT_ON_END == yes ]
+then
+	exit
+fi

ROMFS/px4fmu_common/init.d/rc.custom_io_esc

@@ -0,0 +1,122 @@
+#!nsh
+
+#
+# Load default params for this platform
+#
+if param compare SYS_AUTOCONFIG 1
+then
+	# Set all params here, then disable autoconfig
+	param set SYS_AUTOCONFIG 0
+
+	param set MC_ATTRATE_D 0.002
+	param set MC_ATTRATE_I 0.0
+	param set MC_ATTRATE_P 0.09
+	param set MC_ATT_D 0.0
+	param set MC_ATT_I 0.0
+	param set MC_ATT_P 6.8
+	param set MC_YAWPOS_D 0.0
+	param set MC_YAWPOS_I 0.0
+	param set MC_YAWPOS_P 2.0
+	param set MC_YAWRATE_D 0.005
+	param set MC_YAWRATE_I 0.2
+	param set MC_YAWRATE_P 0.3
+	param set NAV_TAKEOFF_ALT 3.0
+	param set MPC_TILT_MAX 0.5
+	param set MPC_THR_MAX 0.7
+	param set MPC_THR_MIN 0.3
+	param set MPC_XY_D 0
+	param set MPC_XY_P 0.5
+	param set MPC_XY_VEL_D 0
+	param set MPC_XY_VEL_I 0
+	param set MPC_XY_VEL_MAX 3
+	param set MPC_XY_VEL_P 0.2
+	param set MPC_Z_D 0
+	param set MPC_Z_P 1
+	param set MPC_Z_VEL_D 0
+	param set MPC_Z_VEL_I 0.1
+	param set MPC_Z_VEL_MAX 2
+	param set MPC_Z_VEL_P 0.20
+
+	param save
+fi
+
+echo "RC script for PX4FMU + PX4IO + PPM-ESCs running"
+ 
+#
+# Force some key parameters to sane values
+# MAV_TYPE     2 = quadrotor
+#
+param set MAV_TYPE 2
+
+set EXIT_ON_END no
+
+usleep 10000
+
+#
+# Start and configure PX4IO or FMU interface
+#
+if px4io detect
+then
+	# Start MAVLink (depends on orb)
+	mavlink start -d /dev/ttyS1 -b 57600
+	usleep 5000
+
+	commander start
+
+	sh /etc/init.d/rc.io
+else
+	fmu mode_pwm
+	# Start MAVLink (on UART1 / ttyS0)
+	mavlink start -d /dev/ttyS1 -b 57600
+	usleep 5000
+	param set BAT_V_SCALING 0.004593
+	set EXIT_ON_END yes
+fi
+
+if [ $ESC_MAKER = afro ]
+then
+	# Set PWM values for Afro ESCs
+	pwm disarmed -c 1234 -p 1050
+	pwm min -c 1234 -p 1080
+	pwm max -c 1234 -p 1860
+else
+	# Set PWM values for typical ESCs
+	pwm disarmed -c 1234 -p 900
+	pwm min -c 1234 -p 980
+	pwm max -c 1234 -p 1800
+fi
+
+#
+# Load mixer
+#
+if [ $FRAME_GEOMETRY == x ]
+then
+    echo "Frame geometry X"
+    mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
+else
+    if [ $FRAME_GEOMETRY == w ]
+    then
+	echo "Frame geometry W"
+	mixer load /dev/pwm_output /etc/mixers/FMU_quad_w.mix
+    else
+	echo "Frame geometry +"
+    	mixer load /dev/pwm_output /etc/mixers/FMU_quad_+.mix
+    fi
+fi
+
+#
+# Set PWM output frequency
+#
+pwm rate -r 400 -c 1234
+
+#
+# Start common for all multirotors apps
+#
+sh /etc/init.d/rc.multirotor
+
+if [ $EXIT_ON_END == yes ]
+then
+	exit
+fi
+
+echo "Script end"

ROMFS/px4fmu_common/init.d/rc.hil

@@ -1,56 +0,0 @@
-#!nsh
-#
-# USB HIL start
-#
-
-echo "[HIL] starting.."
-
-uorb start
-
-# Tell MAVLink that this link is "fast"
-mavlink start -b 230400 -d /dev/ttyS1
-
-# Create a fake HIL /dev/pwm_output interface
-hil mode_pwm
-
-#
-# Force some key parameters to sane values
-# MAV_TYPE     1 = fixed wing, 2 = quadrotor, 13 = hexarotor
-#              see https://pixhawk.ethz.ch/mavlink/
-#
-param set MAV_TYPE 1
-
-#
-# Start the commander (depends on orb, mavlink)
-#
-commander start
-
-#
-# Check if we got an IO
-#
-if px4io start
-then
-	echo "IO started"
-else
-	fmu mode_serial
-	echo "FMU started"
-fi
-
-#
-# Start the sensors (depends on orb, px4io)
-#
-sh /etc/init.d/rc.sensors
-
-#
-# Start the attitude estimator (depends on orb)
-#
-att_pos_estimator_ekf start
- 
-#
-# Load mixer and start controllers (depends on px4io)
-#
-mixer load /dev/pwm_output /etc/mixers/FMU_AET.mix
-fw_pos_control_l1 start
-fw_att_control start
-
-echo "[HIL] setup done, running"

ROMFS/px4fmu_common/init.d/rc.multirotor

@@ -13,11 +13,6 @@ sh /etc/init.d/rc.sensors
 #
 sh /etc/init.d/rc.logging
 
-#
-# Start the commander.
-#
-commander start
-
 #
 # Start GPS interface (depends on orb)
 #

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -27,6 +27,22 @@ else
 	set BOARD fmuv2
 fi
 
+# Start airspeed sensors
+if meas_airspeed start
+then
+	echo "using MEAS airspeed sensor"
+else
+	if ets_airspeed start
+	then
+		echo "using ETS airspeed sensor (bus 3)"
+	else
+		if ets_airspeed start -b 1
+		then
+			echo "Using ETS airspeed sensor (bus 1)"
+		fi
+	fi
+fi
+
 #
 # Start the sensor collection task.
 # IMPORTANT: this also loads param offsets

ROMFS/px4fmu_common/init.d/rc.usb

@@ -21,7 +21,6 @@ if mavlink stop
 then
 	echo "stopped other MAVLink instance"
 fi
-sleep 2
 mavlink start -b 230400 -d /dev/ttyACM0
 
 # Stop commander
@@ -37,13 +36,6 @@ then
 	echo "Commander started"
 fi
 
-# Stop px4io
-if px4io stop
-then
-	echo "PX4IO stopped"
-fi
-sleep 1
-
 # Start px4io if present
 if px4io start
 then

ROMFS/px4fmu_common/init.d/rcS

@@ -73,20 +73,25 @@ then
 	#
 	# Load microSD params
 	#
-	if ramtron start
-	then
-		param select /ramtron/params
-		if [ -f /ramtron/params ]
-		then
-			param load /ramtron/params
-		fi
-	else
+	#if ramtron start
+	#then
+	#	param select /ramtron/params
+	#	if [ -f /ramtron/params ]
+	#	then
+	#		param load /ramtron/params
+	#	fi
+	#else
 		param select /fs/microsd/params
 		if [ -f /fs/microsd/params ]
 		then
-			param load /fs/microsd/params
+			if param load /fs/microsd/params
+			then
+				echo "Parameters loaded"
+			else
+				echo "Parameter file corrupt - ignoring"
 			fi
 		fi
+	#fi
 	
 	#
 	# Start system state indicator
@@ -101,8 +106,42 @@ then
 		fi
 	fi
 
+	if param compare SYS_AUTOSTART 1000
+	then
+		sh /etc/init.d/1000_rc_fw_easystar.hil		
+		set MODE custom
+	fi
+	
+	if param compare SYS_AUTOSTART 1001
+	then
+		sh /etc/init.d/1001_rc_quad.hil
+		set MODE custom
+	fi
+	
+	if param compare SYS_AUTOSTART 1002
+	then
+		sh /etc/init.d/1002_rc_fw_state.hil
+		set MODE custom
+	fi
+	
+	if param compare SYS_AUTOSTART 1003
+	then
+		sh /etc/init.d/1003_rc_quad_+.hil
+		set MODE custom
+	fi
+
+	if param compare SYS_AUTOSTART 1004
+	then
+		sh /etc/init.d/1004_rc_fw_Rascal110.hil
+		set MODE custom
+	fi
+	
+	if [ $MODE != custom ]
+	then
 		# Try to get an USB console
 		nshterm /dev/ttyACM0 &
+	fi
+
 	
 	#
 	# Upgrade PX4IO firmware
@@ -155,6 +194,20 @@ then
 		set MODE custom
 	fi
 
+	if param compare SYS_AUTOSTART 12
+	then
+		set MIXER /etc/mixers/FMU_hex_x.mix
+		sh /etc/init.d/12-13_hex
+		set MODE custom
+	fi
+
+	if param compare SYS_AUTOSTART 13
+	then
+		set MIXER /etc/mixers/FMU_hex_+.mix
+		sh /etc/init.d/12-13_hex
+		set MODE custom
+	fi
+	
 	if param compare SYS_AUTOSTART 15
 	then
 		sh /etc/init.d/15_tbs_discovery
@@ -167,6 +220,59 @@ then
 		set MODE custom
 	fi
 
+	# PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 X Frame
+	if param compare SYS_AUTOSTART 17
+	then
+		set MKBLCTRL_MODE no
+		set MKBLCTRL_FRAME x
+		sh /etc/init.d/rc.custom_dji_f330_mkblctrl
+		set MODE custom
+	fi
+
+	# PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 + Frame
+	if param compare SYS_AUTOSTART 18
+	then
+		set MKBLCTRL_MODE no
+		set MKBLCTRL_FRAME +
+		sh /etc/init.d/rc.custom_dji_f330_mkblctrl
+		set MODE custom
+	fi
+
+	# PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 X Frame Mikrokopter-Addressing
+	if param compare SYS_AUTOSTART 19
+	then
+		set MKBLCTRL_MODE yes
+		set MKBLCTRL_FRAME x
+		sh /etc/init.d/rc.custom_dji_f330_mkblctrl
+		set MODE custom
+	fi
+
+	# PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 + Frame Mikrokopter-Addressing
+	if param compare SYS_AUTOSTART 20
+	then
+		set MKBLCTRL_MODE yes
+		set MKBLCTRL_FRAME +
+		sh /etc/init.d/rc.custom_dji_f330_mkblctrl
+		set MODE custom
+	fi
+
+	# PX4FMU v1 with IO + PPM-based ESCs on Quad X-shape frame
+	if param compare SYS_AUTOSTART 21
+	then
+		set FRAME_GEOMETRY x
+		set ESC_MAKER afro
+		sh /etc/init.d/rc.custom_io_esc
+		set MODE custom
+	fi
+
+	# PX4FMU v1 with IO + PPM-based ESCs on Quad X-shape frame
+	if param compare SYS_AUTOSTART 22
+	then
+		set FRAME_GEOMETRY w
+		sh /etc/init.d/rc.custom_io_esc
+		set MODE custom
+	fi
+	
 	if param compare SYS_AUTOSTART 30
 	then
 		sh /etc/init.d/30_io_camflyer
@@ -179,6 +285,30 @@ then
 		set MODE custom
 	fi
 	
+	if param compare SYS_AUTOSTART 32
+	then
+		sh /etc/init.d/32_skywalker_x5
+		set MODE custom
+	fi
+
+	if param compare SYS_AUTOSTART 40
+	then
+		sh /etc/init.d/40_io_segway
+		set MODE custom
+	fi
+	
+	if param compare SYS_AUTOSTART 100
+	then
+		sh /etc/init.d/100_mpx_easystar
+		set MODE custom
+	fi
+
+	if param compare SYS_AUTOSTART 101
+	then
+		sh /etc/init.d/101_hk_bixler
+		set MODE custom
+	fi
+	
 	# Start any custom extensions that might be missing
 	if [ -f /fs/microsd/etc/rc.local ]
 	then
@@ -189,8 +319,9 @@ then
 	if [ $MODE == autostart ]
 	then
 		# Telemetry port is on both FMU boards ttyS1
-		mavlink start -b 57600 -d /dev/ttyS1
-		usleep 5000
+		# but the AR.Drone motors can be get 'flashed'
+		# if starting MAVLink on them - so do not
+		# start it as default (default link: USB)
 	
 		# Start commander
 		commander start

ROMFS/px4fmu_common/mixers/FMU_AERT.mix

@@ -62,3 +62,23 @@ range.  Inputs below zero are treated as zero.
 M: 1
 O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000
+
+
+Gimbal / flaps / payload mixer for last four channels
+-----------------------------------------------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 7  10000  10000      0 -10000  10000

ROMFS/px4fmu_common/mixers/FMU_AET.mix

@@ -58,3 +58,23 @@ range.  Inputs below zero are treated as zero.
 M: 1
 O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000
+
+
+Gimbal / flaps / payload mixer for last four channels
+-----------------------------------------------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 7  10000  10000      0 -10000  10000

ROMFS/px4fmu_common/mixers/FMU_Q.mix

@@ -50,3 +50,21 @@ M: 1
 O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000
 
+Gimbal / flaps / payload mixer for last four channels
+-----------------------------------------------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 7  10000  10000      0 -10000  10000

ROMFS/px4fmu_common/mixers/FMU_RET.mix

@@ -51,3 +51,23 @@ range.  Inputs below zero are treated as zero.
 M: 1
 O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000
+
+
+Gimbal / payload mixer for last four channels
+-----------------------------------------------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 7  10000  10000      0 -10000  10000

ROMFS/px4fmu_common/mixers/FMU_X5.mix

@@ -48,3 +48,22 @@ M: 1
 O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000
 
+Gimbal / payload mixer for last four channels
+-----------------------------------------------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 7  10000  10000      0 -10000  10000
+

ROMFS/px4fmu_common/mixers/FMU_delta.mix

@@ -48,3 +48,23 @@ M: 1
 O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000
 
+
+Gimbal / flaps / payload mixer for last four channels
+-----------------------------------------------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 7  10000  10000      0 -10000  10000
+

ROMFS/px4fmu_common/mixers/FMU_hex_+.mix

@@ -5,3 +5,14 @@ This file defines a single mixer for a hexacopter in the + configuration. All co
 are mixed 100%.
 
 R: 6+ 10000 10000 10000 0
+
+Gimbal / payload mixer for last two channels
+-----------------------------------------------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 7  10000  10000      0 -10000  10000

ROMFS/px4fmu_common/mixers/FMU_hex_x.mix

@@ -5,3 +5,14 @@ This file defines a single mixer for a hexacopter in the X configuration.  All c
 are mixed 100%.
 
 R: 6x 10000 10000 10000 0
+
+Gimbal / payload mixer for last two channels
+-----------------------------------------------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 7  10000  10000      0 -10000  10000

ROMFS/px4fmu_common/mixers/FMU_quad_+.mix

@@ -5,3 +5,23 @@ This file defines a single mixer for a quadrotor in the + configuration. All con
 are mixed 100%.
 
 R: 4+ 10000 10000 10000 0
+
+
+Gimbal / payload mixer for last four channels
+-----------------------------------------------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 7  10000  10000      0 -10000  10000

ROMFS/px4fmu_common/mixers/FMU_quad_v.mix

@@ -5,3 +5,22 @@ This file defines a single mixer for a quadrotor in the V configuration.  All co
 are mixed 100%.
 
 R: 4v 10000 10000 10000 0
+
+Gimbal / payload mixer for last four channels
+-----------------------------------------------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 7  10000  10000      0 -10000  10000

ROMFS/px4fmu_common/mixers/FMU_quad_w.mix

@@ -4,3 +4,22 @@ Multirotor mixer for PX4FMU
 This file defines a single mixer for a quadrotor with a wide configuration.  All controls are mixed 100%.
 
 R: 4w 10000 10000 10000 0
+
+Gimbal / payload mixer for last four channels
+-----------------------------------------------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 7  10000  10000      0 -10000  10000

ROMFS/px4fmu_common/mixers/FMU_quad_x.mix

@@ -5,3 +5,22 @@ This file defines a single mixer for a quadrotor in the X configuration.  All co
 are mixed 100%.
 
 R: 4x 10000 10000 10000 0
+
+Gimbal / payload mixer for last four channels
+-----------------------------------------------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 7  10000  10000      0 -10000  10000

Tools/px4params/.gitignore

@@ -0,0 +1,2 @@
+parameters.wiki
+parameters.xml

Tools/px4params/README.md

@@ -0,0 +1,9 @@
+h1. PX4 Parameters Processor
+
+It's designed to scan PX4 source codes, find declarations of tunable parameters,
+and generate the list in various formats.
+
+Currently supported formats are:
+
+* XML for the parametric UI generator
+* Human-readable description in DokuWiki format

Tools/px4params/dokuwikiout.py

@@ -0,0 +1,27 @@
+import output
+
+class DokuWikiOutput(output.Output):
+    def Generate(self, groups):
+        result = ""
+        for group in groups:
+            result += "==== %s ====\n\n" % group.GetName()
+            for param in group.GetParams():
+                code = param.GetFieldValue("code")
+                name = param.GetFieldValue("short_desc")
+                if code != name:
+                    name = "%s (%s)" % (name, code)
+                result += "=== %s ===\n\n" % name
+                long_desc = param.GetFieldValue("long_desc")
+                if long_desc is not None:
+                    result += "%s\n\n" % long_desc
+                min_val = param.GetFieldValue("min")
+                if min_val is not None:
+                    result += "* Minimal value: %s\n" % min_val
+                max_val = param.GetFieldValue("max")
+                if max_val is not None:
+                    result += "* Maximal value: %s\n" % max_val
+                def_val = param.GetFieldValue("default")
+                if def_val is not None:
+                    result += "* Default value: %s\n" % def_val
+                result += "\n"
+        return result

Tools/px4params/output.py

@@ -0,0 +1,5 @@
+class Output(object):
+    def Save(self, groups, fn):
+        data = self.Generate(groups)
+        with open(fn, 'w') as f:
+            f.write(data)

Tools/px4params/parser.py

@@ -0,0 +1,220 @@
+import sys
+import re
+
+class ParameterGroup(object):
+    """
+    Single parameter group
+    """
+    def __init__(self, name):
+        self.name = name
+        self.params = []
+
+    def AddParameter(self, param):
+        """
+        Add parameter to the group
+        """
+        self.params.append(param)
+
+    def GetName(self):
+        """
+        Get parameter group name
+        """
+        return self.name
+
+    def GetParams(self):
+        """
+        Returns the parsed list of parameters. Every parameter is a Parameter
+        object. Note that returned object is not a copy. Modifications affect
+        state of the parser.
+        """
+        return sorted(self.params,
+                cmp=lambda x, y: cmp(x.GetFieldValue("code"),
+                    y.GetFieldValue("code")))
+
+class Parameter(object):
+    """
+    Single parameter
+    """
+
+    # Define sorting order of the fields
+    priority = {
+        "code": 10,
+        "type": 9,
+        "short_desc": 8,
+        "long_desc": 7,
+        "default": 6,
+        "min": 5,
+        "max": 4,
+        # all others == 0 (sorted alphabetically)
+    }
+
+    def __init__(self):
+        self.fields = {}
+
+    def SetField(self, code, value):
+        """
+        Set named field value
+        """
+        self.fields[code] = value
+
+    def GetFieldCodes(self):
+        """
+        Return list of existing field codes in convenient order
+        """
+        return sorted(self.fields.keys(),
+                cmp=lambda x, y: cmp(self.priority.get(y, 0),
+                    self.priority.get(x, 0)) or cmp(x, y))
+
+    def GetFieldValue(self, code):
+        """
+        Return value of the given field code or None if not found.
+        """
+        return self.fields.get(code)
+
+class Parser(object):
+    """
+    Parses provided data and stores all found parameters internally.
+    """
+
+    re_split_lines = re.compile(r'[\r\n]+')
+    re_comment_start = re.compile(r'^\/\*\*')
+    re_comment_content = re.compile(r'^\*\s*(.*)') 
+    re_comment_tag = re.compile(r'@([a-zA-Z][a-zA-Z0-9_]*)\s*(.*)')
+    re_comment_end = re.compile(r'(.*?)\s*\*\/')
+    re_parameter_definition = re.compile(r'PARAM_DEFINE_([A-Z_][A-Z0-9_]*)\s*\(([A-Z_][A-Z0-9_]*)\s*,\s*([^ ,\)]+)\s*\)\s*;')
+    re_cut_type_specifier = re.compile(r'[a-z]+$')
+    re_is_a_number = re.compile(r'^-?[0-9\.]')
+    re_remove_dots = re.compile(r'\.+$')
+
+    valid_tags = set(["min", "max", "group"])
+
+    # Order of parameter groups
+    priority = {
+        # All other groups = 0 (sort alphabetically)
+        "Miscellaneous": -10
+    }
+
+    def __init__(self):
+        self.param_groups = {}
+
+    def GetSupportedExtensions(self):
+        """
+        Returns list of supported file extensions that can be parsed by this
+        parser.
+        """
+        return ["cpp", "c"]
+
+    def Parse(self, contents):
+        """
+        Incrementally parse program contents and append all found parameters
+        to the list.
+        """
+        # This code is essentially a comment-parsing grammar. "state"
+        # represents parser state. It contains human-readable state
+        # names.
+        state = None
+        for line in self.re_split_lines.split(contents):
+            line = line.strip()
+            # Ignore empty lines
+            if line == "":
+                continue
+            if self.re_comment_start.match(line):
+                state = "wait-short"
+                short_desc = None
+                long_desc = None
+                tags = {}
+            elif state is not None and state != "comment-processed":
+                m = self.re_comment_end.search(line)
+                if m:
+                    line = m.group(1)
+                    last_comment_line = True
+                else:
+                    last_comment_line = False
+                m = self.re_comment_content.match(line)
+                if m:
+                    comment_content = m.group(1)
+                    if comment_content == "":
+                        # When short comment ends with empty comment line,
+                        # start waiting for the next part - long comment.
+                        if state == "wait-short-end":
+                            state = "wait-long"
+                    else:
+                        m = self.re_comment_tag.match(comment_content)
+                        if m:
+                            tag, desc = m.group(1, 2)
+                            tags[tag] = desc
+                            current_tag = tag
+                            state = "wait-tag-end"
+                        elif state == "wait-short":
+                            # Store first line of the short description
+                            short_desc = comment_content
+                            state = "wait-short-end"
+                        elif state == "wait-short-end":
+                            # Append comment line to the short description
+                            short_desc += "\n" + comment_content
+                        elif state == "wait-long":
+                            # Store first line of the long description
+                            long_desc = comment_content
+                            state = "wait-long-end"
+                        elif state == "wait-long-end":
+                            # Append comment line to the long description
+                            long_desc += "\n" + comment_content
+                        elif state == "wait-tag-end":
+                            # Append comment line to the tag text
+                            tags[current_tag] += "\n" + comment_content
+                        else:
+                            raise AssertionError(
+                                    "Invalid parser state: %s" % state)
+                elif not last_comment_line:
+                    # Invalid comment line (inside comment, but not starting with
+                    # "*" or "*/". Reset parsed content.
+                    state = None
+                if last_comment_line:
+                    state = "comment-processed"
+            else:
+                # Non-empty line outside the comment
+                m = self.re_parameter_definition.match(line)
+                if m:
+                    tp, code, defval = m.group(1, 2, 3)
+                    # Remove trailing type specifier from numbers: 0.1f => 0.1
+                    if self.re_is_a_number.match(defval):
+                        defval = self.re_cut_type_specifier.sub('', defval)
+                    param = Parameter()
+                    param.SetField("code", code)
+                    param.SetField("short_desc", code)
+                    param.SetField("type", tp)
+                    param.SetField("default", defval)
+                    # If comment was found before the parameter declaration,
+                    # inject its data into the newly created parameter.
+                    group = "Miscellaneous"
+                    if state == "comment-processed":
+                        if short_desc is not None:
+                            param.SetField("short_desc",
+                                    self.re_remove_dots.sub('', short_desc))
+                        if long_desc is not None:
+                            param.SetField("long_desc", long_desc)
+                        for tag in tags:
+                            if tag == "group":
+                                group = tags[tag]
+                            elif tag not in self.valid_tags:
+                                sys.stderr.write("Skipping invalid"
+                                        "documentation tag: '%s'\n" % tag)
+                            else:
+                                param.SetField(tag, tags[tag])
+                    # Store the parameter
+                    if group not in self.param_groups:
+                        self.param_groups[group] = ParameterGroup(group)
+                    self.param_groups[group].AddParameter(param)
+                # Reset parsed comment.
+                state = None
+
+    def GetParamGroups(self):
+        """
+        Returns the parsed list of parameters. Every parameter is a Parameter
+        object. Note that returned object is not a copy. Modifications affect
+        state of the parser.
+        """
+        return sorted(self.param_groups.values(),
+                cmp=lambda x, y: cmp(self.priority.get(y.GetName(), 0),
+                    self.priority.get(x.GetName(), 0)) or cmp(x.GetName(),
+                        y.GetName()))

Tools/px4params/px_process_params.py

@@ -0,0 +1,61 @@
+#!/usr/bin/env python
+############################################################################
+#
+#   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# PX4 paramers processor (main executable file)
+#
+# It scans src/ subdirectory of the project, collects all parameters
+# definitions, and outputs list of parameters in XML and DokuWiki formats.
+#
+
+import scanner
+import parser
+import xmlout
+import dokuwikiout
+
+# Initialize parser
+prs = parser.Parser()
+
+# Scan directories, and parse the files
+sc = scanner.Scanner()
+sc.ScanDir("../../src", prs)
+output = prs.GetParamGroups()
+
+# Output into XML
+out = xmlout.XMLOutput()
+out.Save(output, "parameters.xml")
+
+# Output into DokuWiki
+out = dokuwikiout.DokuWikiOutput()
+out.Save(output, "parameters.wiki")

Tools/px4params/scanner.py

@@ -0,0 +1,34 @@
+import os
+import re
+
+class Scanner(object):
+    """
+    Traverses directory tree, reads all source files, and passes their contents
+    to the Parser.
+    """
+
+    re_file_extension = re.compile(r'\.([^\.]+)$')
+
+    def ScanDir(self, srcdir, parser):
+        """
+        Scans provided path and passes all found contents to the parser using
+        parser.Parse method.
+        """
+        extensions = set(parser.GetSupportedExtensions())
+        for dirname, dirnames, filenames in os.walk(srcdir):
+            for filename in filenames:
+                m = self.re_file_extension.search(filename)
+                if m:
+                    ext = m.group(1)
+                    if ext in extensions:
+                        path = os.path.join(dirname, filename)
+                        self.ScanFile(path, parser)
+
+    def ScanFile(self, path, parser):
+        """
+        Scans provided file and passes its contents to the parser using
+        parser.Parse method.
+        """
+        with open(path, 'r') as f:
+            contents = f.read()
+        parser.Parse(contents)

Tools/px4params/xmlout.py

@@ -0,0 +1,22 @@
+import output
+from xml.dom.minidom import getDOMImplementation
+
+class XMLOutput(output.Output):
+    def Generate(self, groups):
+        impl = getDOMImplementation()
+        xml_document = impl.createDocument(None, "parameters", None)
+        xml_parameters = xml_document.documentElement
+        for group in groups:
+            xml_group = xml_document.createElement("group")
+            xml_group.setAttribute("name", group.GetName())
+            xml_parameters.appendChild(xml_group)
+            for param in group.GetParams():
+                xml_param = xml_document.createElement("parameter")
+                xml_group.appendChild(xml_param)
+                for code in param.GetFieldCodes():
+                    value = param.GetFieldValue(code)
+                    xml_field = xml_document.createElement(code)
+                    xml_param.appendChild(xml_field)
+                    xml_value = xml_document.createTextNode(value)
+                    xml_field.appendChild(xml_value)
+        return xml_document.toprettyxml(indent="    ", newl="\n", encoding="utf-8")

Tools/px_uploader.py

@@ -400,7 +400,19 @@ print("Loaded firmware for %x,%x, waiting for the bootloader..." % (fw.property(
 
 # Spin waiting for a device to show up
 while True:
-        for port in args.port.split(","):
+        portlist = []
+        patterns = args.port.split(",")
+        # on unix-like platforms use glob to support wildcard ports. This allows
+        # the use of /dev/serial/by-id/usb-3D_Robotics on Linux, which prevents the upload from
+        # causing modem hangups etc
+        if "linux" in _platform or "darwin" in _platform:
+                import glob
+                for pattern in patterns:
+                        portlist += glob.glob(pattern)
+        else:
+                portlist = patterns
+
+        for port in portlist:
 
                 #print("Trying %s" % port)
 
@@ -418,7 +430,7 @@ while True:
                                 # Windows, don't open POSIX ports
                                 if not "/" in port:
                                         up = uploader(port, args.baud)
-                except:
+                except Exception:
                         # open failed, rate-limit our attempts
                         time.sleep(0.05)
 
@@ -431,12 +443,12 @@ while True:
                         up.identify()
                         print("Found board %x,%x bootloader rev %x on %s" % (up.board_type, up.board_rev, up.bl_rev, port))
 
-                except:
+                except Exception:
                         # most probably a timeout talking to the port, no bootloader, try to reboot the board
                         print("attempting reboot on %s..." % port)
                         up.send_reboot()
                         # wait for the reboot, without we might run into Serial I/O Error 5 
-                        time.sleep(1.5)
+                        time.sleep(0.5)
                         continue
 
                 try:

Tools/sdlog2_dump.py

@@ -25,8 +25,12 @@ import struct, sys
 
 if sys.hexversion >= 0x030000F0:
     runningPython3 = True
+    def _parseCString(cstr):
+        return str(cstr, 'ascii').split('\0')[0]
 else:
     runningPython3 = False
+    def _parseCString(cstr):
+        return str(cstr).split('\0')[0]
 
 class SDLog2Parser:
     BLOCK_SIZE = 8192
@@ -202,14 +206,9 @@ class SDLog2Parser:
         msg_type = data[0]
         if msg_type != self.MSG_TYPE_FORMAT:
             msg_length = data[1]
-            if runningPython3:
-                msg_name = str(data[2], 'ascii').strip("\0")
-                msg_format = str(data[3], 'ascii').strip("\0")
-                msg_labels = str(data[4], 'ascii').strip("\0").split(",")
-            else:
-                msg_name = str(data[2]).strip("\0")
-                msg_format = str(data[3]).strip("\0")
-                msg_labels = str(data[4]).strip("\0").split(",")
+            msg_name = _parseCString(data[2])
+            msg_format = _parseCString(data[3])
+            msg_labels = _parseCString(data[4]).split(",")
             # Convert msg_format to struct.unpack format string
             msg_struct = ""
             msg_mults = []
@@ -243,7 +242,7 @@ class SDLog2Parser:
                 data = list(struct.unpack(msg_struct, str(self.__buffer[self.__ptr+self.MSG_HEADER_LEN:self.__ptr+msg_length])))
             for i in range(len(data)):
                 if type(data[i]) is str:
-                    data[i] = data[i].strip("\0")
+                    data[i] = _parseCString(data[i])
                 m = msg_mults[i]
                 if m != None:
                     data[i] = data[i] * m

Tools/tests-host/.gitignore

@@ -0,0 +1,2 @@
+./obj/*
+mixer_test

Tools/tests-host/Makefile

@@ -0,0 +1,39 @@
+
+CC=g++
+CFLAGS=-I. -I../../src/modules -I ../../src/include -I../../src/drivers -I../../src -D__EXPORT="" -Dnullptr="0"
+
+ODIR=obj
+LDIR =../lib
+
+LIBS=-lm
+
+#_DEPS = test.h
+#DEPS = $(patsubst %,$(IDIR)/%,$(_DEPS))
+
+_OBJ = mixer_test.o test_mixer.o mixer_simple.o mixer_multirotor.o mixer.o mixer_group.o mixer_load.o
+OBJ = $(patsubst %,$(ODIR)/%,$(_OBJ))
+
+#$(DEPS)
+$(ODIR)/%.o: %.cpp
+	$(CC) -c -o $@ $< $(CFLAGS)
+
+$(ODIR)/%.o: ../../src/systemcmds/tests/%.cpp
+	$(CC) -c -o $@ $< $(CFLAGS)
+
+$(ODIR)/%.o: ../../src/modules/systemlib/%.cpp
+	$(CC) -c -o $@ $< $(CFLAGS)
+
+$(ODIR)/%.o: ../../src/modules/systemlib/mixer/%.cpp
+	$(CC) -c -o $@ $< $(CFLAGS)
+
+$(ODIR)/%.o: ../../src/modules/systemlib/mixer/%.c
+	$(CC) -c -o $@ $< $(CFLAGS)
+
+#
+mixer_test: $(OBJ)
+	g++ -o $@ $^ $(CFLAGS) $(LIBS)
+
+.PHONY: clean
+
+clean:
+	rm -f $(ODIR)/*.o *~ core $(INCDIR)/*~

Tools/tests-host/mixer_test.cpp

@@ -0,0 +1,12 @@
+#include <systemlib/mixer/mixer.h>
+#include <systemlib/err.h>
+#include "../../src/systemcmds/tests/tests.h"
+
+int main(int argc, char *argv[]) {
+	warnx("Host execution started");
+
+	char* args[] = {argv[0], "../../ROMFS/px4fmu_common/mixers/IO_pass.mix",
+				 "../../ROMFS/px4fmu_common/mixers/FMU_quad_w.mix"};
+
+	test_mixer(3, args);
+}

makefiles/config_px4fmu-v1_default.mk

@@ -33,7 +33,7 @@ MODULES		+= drivers/hott/hott_sensors
 MODULES		+= drivers/blinkm
 MODULES		+= drivers/rgbled
 MODULES		+= drivers/mkblctrl
-MODULES		+= drivers/md25
+MODULES		+= drivers/roboclaw
 MODULES		+= drivers/airspeed
 MODULES		+= drivers/ets_airspeed
 MODULES		+= drivers/meas_airspeed
@@ -63,6 +63,7 @@ MODULES		+= systemcmds/nshterm
 # General system control
 #
 MODULES		+= modules/commander
+MODULES		+= modules/navigator
 MODULES		+= modules/mavlink
 MODULES		+= modules/mavlink_onboard
 MODULES		+= modules/gpio_led
@@ -78,9 +79,9 @@ MODULES		+= examples/flow_position_estimator
 #
 # Vehicle Control
 #
-#MODULES		+= modules/segway # XXX needs state machine update
-#MODULES		+= modules/fw_pos_control_l1
-#MODULES		+= modules/fw_att_control
+MODULES		+= modules/segway
+MODULES		+= modules/fw_pos_control_l1
+MODULES		+= modules/fw_att_control
 MODULES		+= modules/multirotor_att_control
 MODULES		+= modules/multirotor_pos_control
 MODULES		+= examples/flow_position_control
@@ -111,8 +112,10 @@ MODULES		+= modules/uORB
 LIBRARIES	+= lib/mathlib/CMSIS
 MODULES		+= lib/mathlib
 MODULES		+= lib/mathlib/math/filter
-#MODULES		+= lib/ecl
+MODULES		+= lib/ecl
+MODULES		+= lib/external_lgpl
 MODULES		+= lib/geo
+MODULES		+= lib/conversion
 
 #
 # Demo apps
@@ -132,7 +135,10 @@ MODULES		+= lib/geo
 
 # Tutorial code from
 # https://pixhawk.ethz.ch/px4/dev/example_fixedwing_control
-MODULES			+= examples/fixedwing_control
+#MODULES			+= examples/fixedwing_control
+
+# Hardware test
+#MODULES			+= examples/hwtest
 
 #
 # Transitional support - add commands from the NuttX export archive.

makefiles/config_px4fmu-v2_default.mk

@@ -31,6 +31,7 @@ MODULES		+= drivers/hil
 MODULES		+= drivers/hott/hott_telemetry
 MODULES		+= drivers/hott/hott_sensors
 MODULES		+= drivers/blinkm
+MODULES		+= drivers/roboclaw
 MODULES		+= drivers/airspeed
 MODULES		+= drivers/ets_airspeed
 MODULES		+= drivers/meas_airspeed
@@ -51,6 +52,7 @@ MODULES		+= systemcmds/param
 MODULES		+= systemcmds/perf
 MODULES		+= systemcmds/preflight_check
 MODULES		+= systemcmds/pwm
+MODULES		+= systemcmds/esc_calib
 MODULES		+= systemcmds/reboot
 MODULES		+= systemcmds/top
 MODULES		+= systemcmds/tests
@@ -61,6 +63,7 @@ MODULES		+= systemcmds/nshterm
 # General system control
 #
 MODULES		+= modules/commander
+MODULES		+= modules/navigator
 MODULES		+= modules/mavlink
 MODULES		+= modules/mavlink_onboard
 
@@ -75,8 +78,9 @@ MODULES		+= examples/flow_position_estimator
 #
 # Vehicle Control
 #
-#MODULES		+= modules/fw_pos_control_l1
-#MODULES		+= modules/fw_att_control
+MODULES		+= modules/segway
+MODULES		+= modules/fw_pos_control_l1
+MODULES		+= modules/fw_att_control
 MODULES		+= modules/multirotor_att_control
 MODULES		+= modules/multirotor_pos_control
 
@@ -105,8 +109,10 @@ MODULES		+= modules/uORB
 LIBRARIES	+= lib/mathlib/CMSIS
 MODULES		+= lib/mathlib
 MODULES		+= lib/mathlib/math/filter
-#MODULES		+= lib/ecl
+MODULES		+= lib/ecl
+MODULES		+= lib/external_lgpl
 MODULES		+= lib/geo
+MODULES		+= lib/conversion
 
 #
 # Demo apps
@@ -124,6 +130,13 @@ MODULES		+= lib/geo
 # https://pixhawk.ethz.ch/px4/dev/debug_values
 #MODULES		+= examples/px4_mavlink_debug
 
+# Tutorial code from
+# https://pixhawk.ethz.ch/px4/dev/example_fixedwing_control
+#MODULES			+= examples/fixedwing_control
+
+# Hardware test
+#MODULES			+= examples/hwtest
+
 #
 # Transitional support - add commands from the NuttX export archive.
 #

makefiles/firmware.mk

@@ -110,6 +110,8 @@ ifneq ($(words $(PX4_BASE)),1)
 $(error Cannot build when the PX4_BASE path contains one or more space characters.)
 endif
 
+$(info %  GIT_DESC            = $(GIT_DESC))
+
 #
 # Set a default target so that included makefiles or errors here don't 
 # cause confusion.
@@ -177,6 +179,12 @@ GLOBAL_DEPS		+= $(MAKEFILE_LIST)
 #
 EXTRA_CLEANS		 = 
 
+
+#
+# Extra defines for compilation
+#
+export EXTRADEFINES := -DGIT_VERSION=$(GIT_DESC)
+
 #
 # Append the per-board driver directory to the header search path.
 #

makefiles/upload.mk

@@ -12,10 +12,10 @@ SYSTYPE			:= $(shell uname -s)
 # XXX The uploader should be smarter than this.
 #
 ifeq ($(SYSTYPE),Darwin)
-SERIAL_PORTS		?= "/dev/tty.usbmodemPX1,/dev/tty.usbmodemPX2,/dev/tty.usbmodemPX3,/dev/tty.usbmodemPX4,/dev/tty.usbmodem1,/dev/tty.usbmodem2,/dev/tty.usbmodem3,/dev/tty.usbmodem4"
+SERIAL_PORTS		?= "/dev/tty.usbmodemPX*,/dev/tty.usbmodem*"
 endif
 ifeq ($(SYSTYPE),Linux)
-SERIAL_PORTS		?= "/dev/ttyACM5,/dev/ttyACM4,/dev/ttyACM3,/dev/ttyACM2,/dev/ttyACM1,/dev/ttyACM0"
+SERIAL_PORTS		?= "/dev/serial/by-id/usb-3D_Robotics*"
 endif
 ifeq ($(SERIAL_PORTS),)
 SERIAL_PORTS		 = "COM32,COM31,COM30,COM29,COM28,COM27,COM26,COM25,COM24,COM23,COM22,COM21,COM20,COM19,COM18,COM17,COM16,COM15,COM14,COM13,COM12,COM11,COM10,COM9,COM8,COM7,COM6,COM5,COM4,COM3,COM2,COM1,COM0"

mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_ahrs.h

@@ -89,7 +89,7 @@ static inline uint16_t mavlink_msg_ahrs_pack(uint8_t system_id, uint8_t componen
  * @brief Pack a ahrs 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 chan The MAVLink channel this message will be sent over
  * @param msg The MAVLink message to compress the data into
  * @param omegaIx X gyro drift estimate rad/s
  * @param omegaIy Y gyro drift estimate rad/s
@@ -137,7 +137,7 @@ static inline uint16_t mavlink_msg_ahrs_pack_chan(uint8_t system_id, uint8_t com
 }
 
 /**
- * @brief Encode a ahrs struct into a message
+ * @brief Encode a ahrs struct
  *
  * @param system_id ID of this system
  * @param component_id ID of this component (e.g. 200 for IMU)
@@ -149,6 +149,20 @@ static inline uint16_t mavlink_msg_ahrs_encode(uint8_t system_id, uint8_t compon
 	return mavlink_msg_ahrs_pack(system_id, component_id, msg, ahrs->omegaIx, ahrs->omegaIy, ahrs->omegaIz, ahrs->accel_weight, ahrs->renorm_val, ahrs->error_rp, ahrs->error_yaw);
 }
 
+/**
+ * @brief Encode a ahrs struct on a channel
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message will be sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param ahrs C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_ahrs_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_ahrs_t* ahrs)
+{
+	return mavlink_msg_ahrs_pack_chan(system_id, component_id, chan, msg, ahrs->omegaIx, ahrs->omegaIy, ahrs->omegaIz, ahrs->accel_weight, ahrs->renorm_val, ahrs->error_rp, ahrs->error_yaw);
+}
+
 /**
  * @brief Send a ahrs message
  * @param chan MAVLink channel to send the message

mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_airspeed_autocal.h

@@ -0,0 +1,419 @@
+// MESSAGE AIRSPEED_AUTOCAL PACKING
+
+#define MAVLINK_MSG_ID_AIRSPEED_AUTOCAL 174
+
+typedef struct __mavlink_airspeed_autocal_t
+{
+ float vx; ///< GPS velocity north m/s
+ float vy; ///< GPS velocity east m/s
+ float vz; ///< GPS velocity down m/s
+ float diff_pressure; ///< Differential pressure pascals
+ float EAS2TAS; ///< Estimated to true airspeed ratio
+ float ratio; ///< Airspeed ratio
+ float state_x; ///< EKF state x
+ float state_y; ///< EKF state y
+ float state_z; ///< EKF state z
+ float Pax; ///< EKF Pax
+ float Pby; ///< EKF Pby
+ float Pcz; ///< EKF Pcz
+} mavlink_airspeed_autocal_t;
+
+#define MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_LEN 48
+#define MAVLINK_MSG_ID_174_LEN 48
+
+#define MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_CRC 167
+#define MAVLINK_MSG_ID_174_CRC 167
+
+
+
+#define MAVLINK_MESSAGE_INFO_AIRSPEED_AUTOCAL { \
+	"AIRSPEED_AUTOCAL", \
+	12, \
+	{  { "vx", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_airspeed_autocal_t, vx) }, \
+         { "vy", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_airspeed_autocal_t, vy) }, \
+         { "vz", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_airspeed_autocal_t, vz) }, \
+         { "diff_pressure", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_airspeed_autocal_t, diff_pressure) }, \
+         { "EAS2TAS", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_airspeed_autocal_t, EAS2TAS) }, \
+         { "ratio", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_airspeed_autocal_t, ratio) }, \
+         { "state_x", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_airspeed_autocal_t, state_x) }, \
+         { "state_y", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_airspeed_autocal_t, state_y) }, \
+         { "state_z", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_airspeed_autocal_t, state_z) }, \
+         { "Pax", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_airspeed_autocal_t, Pax) }, \
+         { "Pby", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_airspeed_autocal_t, Pby) }, \
+         { "Pcz", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_airspeed_autocal_t, Pcz) }, \
+         } \
+}
+
+
+/**
+ * @brief Pack a airspeed_autocal 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 vx GPS velocity north m/s
+ * @param vy GPS velocity east m/s
+ * @param vz GPS velocity down m/s
+ * @param diff_pressure Differential pressure pascals
+ * @param EAS2TAS Estimated to true airspeed ratio
+ * @param ratio Airspeed ratio
+ * @param state_x EKF state x
+ * @param state_y EKF state y
+ * @param state_z EKF state z
+ * @param Pax EKF Pax
+ * @param Pby EKF Pby
+ * @param Pcz EKF Pcz
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_airspeed_autocal_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+						       float vx, float vy, float vz, float diff_pressure, float EAS2TAS, float ratio, float state_x, float state_y, float state_z, float Pax, float Pby, float Pcz)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_LEN];
+	_mav_put_float(buf, 0, vx);
+	_mav_put_float(buf, 4, vy);
+	_mav_put_float(buf, 8, vz);
+	_mav_put_float(buf, 12, diff_pressure);
+	_mav_put_float(buf, 16, EAS2TAS);
+	_mav_put_float(buf, 20, ratio);
+	_mav_put_float(buf, 24, state_x);
+	_mav_put_float(buf, 28, state_y);
+	_mav_put_float(buf, 32, state_z);
+	_mav_put_float(buf, 36, Pax);
+	_mav_put_float(buf, 40, Pby);
+	_mav_put_float(buf, 44, Pcz);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_LEN);
+#else
+	mavlink_airspeed_autocal_t packet;
+	packet.vx = vx;
+	packet.vy = vy;
+	packet.vz = vz;
+	packet.diff_pressure = diff_pressure;
+	packet.EAS2TAS = EAS2TAS;
+	packet.ratio = ratio;
+	packet.state_x = state_x;
+	packet.state_y = state_y;
+	packet.state_z = state_z;
+	packet.Pax = Pax;
+	packet.Pby = Pby;
+	packet.Pcz = Pcz;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_LEN);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_AIRSPEED_AUTOCAL;
+#if MAVLINK_CRC_EXTRA
+    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_LEN, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_CRC);
+#else
+    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_LEN);
+#endif
+}
+
+/**
+ * @brief Pack a airspeed_autocal message on a channel
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message will be sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param vx GPS velocity north m/s
+ * @param vy GPS velocity east m/s
+ * @param vz GPS velocity down m/s
+ * @param diff_pressure Differential pressure pascals
+ * @param EAS2TAS Estimated to true airspeed ratio
+ * @param ratio Airspeed ratio
+ * @param state_x EKF state x
+ * @param state_y EKF state y
+ * @param state_z EKF state z
+ * @param Pax EKF Pax
+ * @param Pby EKF Pby
+ * @param Pcz EKF Pcz
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_airspeed_autocal_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+							   mavlink_message_t* msg,
+						           float vx,float vy,float vz,float diff_pressure,float EAS2TAS,float ratio,float state_x,float state_y,float state_z,float Pax,float Pby,float Pcz)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_LEN];
+	_mav_put_float(buf, 0, vx);
+	_mav_put_float(buf, 4, vy);
+	_mav_put_float(buf, 8, vz);
+	_mav_put_float(buf, 12, diff_pressure);
+	_mav_put_float(buf, 16, EAS2TAS);
+	_mav_put_float(buf, 20, ratio);
+	_mav_put_float(buf, 24, state_x);
+	_mav_put_float(buf, 28, state_y);
+	_mav_put_float(buf, 32, state_z);
+	_mav_put_float(buf, 36, Pax);
+	_mav_put_float(buf, 40, Pby);
+	_mav_put_float(buf, 44, Pcz);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_LEN);
+#else
+	mavlink_airspeed_autocal_t packet;
+	packet.vx = vx;
+	packet.vy = vy;
+	packet.vz = vz;
+	packet.diff_pressure = diff_pressure;
+	packet.EAS2TAS = EAS2TAS;
+	packet.ratio = ratio;
+	packet.state_x = state_x;
+	packet.state_y = state_y;
+	packet.state_z = state_z;
+	packet.Pax = Pax;
+	packet.Pby = Pby;
+	packet.Pcz = Pcz;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_LEN);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_AIRSPEED_AUTOCAL;
+#if MAVLINK_CRC_EXTRA
+    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_LEN, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_CRC);
+#else
+    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_LEN);
+#endif
+}
+
+/**
+ * @brief Encode a airspeed_autocal struct
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ * @param airspeed_autocal C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_airspeed_autocal_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_airspeed_autocal_t* airspeed_autocal)
+{
+	return mavlink_msg_airspeed_autocal_pack(system_id, component_id, msg, airspeed_autocal->vx, airspeed_autocal->vy, airspeed_autocal->vz, airspeed_autocal->diff_pressure, airspeed_autocal->EAS2TAS, airspeed_autocal->ratio, airspeed_autocal->state_x, airspeed_autocal->state_y, airspeed_autocal->state_z, airspeed_autocal->Pax, airspeed_autocal->Pby, airspeed_autocal->Pcz);
+}
+
+/**
+ * @brief Encode a airspeed_autocal struct on a channel
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message will be sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param airspeed_autocal C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_airspeed_autocal_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_airspeed_autocal_t* airspeed_autocal)
+{
+	return mavlink_msg_airspeed_autocal_pack_chan(system_id, component_id, chan, msg, airspeed_autocal->vx, airspeed_autocal->vy, airspeed_autocal->vz, airspeed_autocal->diff_pressure, airspeed_autocal->EAS2TAS, airspeed_autocal->ratio, airspeed_autocal->state_x, airspeed_autocal->state_y, airspeed_autocal->state_z, airspeed_autocal->Pax, airspeed_autocal->Pby, airspeed_autocal->Pcz);
+}
+
+/**
+ * @brief Send a airspeed_autocal message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param vx GPS velocity north m/s
+ * @param vy GPS velocity east m/s
+ * @param vz GPS velocity down m/s
+ * @param diff_pressure Differential pressure pascals
+ * @param EAS2TAS Estimated to true airspeed ratio
+ * @param ratio Airspeed ratio
+ * @param state_x EKF state x
+ * @param state_y EKF state y
+ * @param state_z EKF state z
+ * @param Pax EKF Pax
+ * @param Pby EKF Pby
+ * @param Pcz EKF Pcz
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_airspeed_autocal_send(mavlink_channel_t chan, float vx, float vy, float vz, float diff_pressure, float EAS2TAS, float ratio, float state_x, float state_y, float state_z, float Pax, float Pby, float Pcz)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_LEN];
+	_mav_put_float(buf, 0, vx);
+	_mav_put_float(buf, 4, vy);
+	_mav_put_float(buf, 8, vz);
+	_mav_put_float(buf, 12, diff_pressure);
+	_mav_put_float(buf, 16, EAS2TAS);
+	_mav_put_float(buf, 20, ratio);
+	_mav_put_float(buf, 24, state_x);
+	_mav_put_float(buf, 28, state_y);
+	_mav_put_float(buf, 32, state_z);
+	_mav_put_float(buf, 36, Pax);
+	_mav_put_float(buf, 40, Pby);
+	_mav_put_float(buf, 44, Pcz);
+
+#if MAVLINK_CRC_EXTRA
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL, buf, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_LEN, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_CRC);
+#else
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL, buf, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_LEN);
+#endif
+#else
+	mavlink_airspeed_autocal_t packet;
+	packet.vx = vx;
+	packet.vy = vy;
+	packet.vz = vz;
+	packet.diff_pressure = diff_pressure;
+	packet.EAS2TAS = EAS2TAS;
+	packet.ratio = ratio;
+	packet.state_x = state_x;
+	packet.state_y = state_y;
+	packet.state_z = state_z;
+	packet.Pax = Pax;
+	packet.Pby = Pby;
+	packet.Pcz = Pcz;
+
+#if MAVLINK_CRC_EXTRA
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL, (const char *)&packet, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_LEN, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_CRC);
+#else
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL, (const char *)&packet, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_LEN);
+#endif
+#endif
+}
+
+#endif
+
+// MESSAGE AIRSPEED_AUTOCAL UNPACKING
+
+
+/**
+ * @brief Get field vx from airspeed_autocal message
+ *
+ * @return GPS velocity north m/s
+ */
+static inline float mavlink_msg_airspeed_autocal_get_vx(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  0);
+}
+
+/**
+ * @brief Get field vy from airspeed_autocal message
+ *
+ * @return GPS velocity east m/s
+ */
+static inline float mavlink_msg_airspeed_autocal_get_vy(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  4);
+}
+
+/**
+ * @brief Get field vz from airspeed_autocal message
+ *
+ * @return GPS velocity down m/s
+ */
+static inline float mavlink_msg_airspeed_autocal_get_vz(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  8);
+}
+
+/**
+ * @brief Get field diff_pressure from airspeed_autocal message
+ *
+ * @return Differential pressure pascals
+ */
+static inline float mavlink_msg_airspeed_autocal_get_diff_pressure(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  12);
+}
+
+/**
+ * @brief Get field EAS2TAS from airspeed_autocal message
+ *
+ * @return Estimated to true airspeed ratio
+ */
+static inline float mavlink_msg_airspeed_autocal_get_EAS2TAS(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  16);
+}
+
+/**
+ * @brief Get field ratio from airspeed_autocal message
+ *
+ * @return Airspeed ratio
+ */
+static inline float mavlink_msg_airspeed_autocal_get_ratio(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  20);
+}
+
+/**
+ * @brief Get field state_x from airspeed_autocal message
+ *
+ * @return EKF state x
+ */
+static inline float mavlink_msg_airspeed_autocal_get_state_x(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  24);
+}
+
+/**
+ * @brief Get field state_y from airspeed_autocal message
+ *
+ * @return EKF state y
+ */
+static inline float mavlink_msg_airspeed_autocal_get_state_y(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  28);
+}
+
+/**
+ * @brief Get field state_z from airspeed_autocal message
+ *
+ * @return EKF state z
+ */
+static inline float mavlink_msg_airspeed_autocal_get_state_z(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  32);
+}
+
+/**
+ * @brief Get field Pax from airspeed_autocal message
+ *
+ * @return EKF Pax
+ */
+static inline float mavlink_msg_airspeed_autocal_get_Pax(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  36);
+}
+
+/**
+ * @brief Get field Pby from airspeed_autocal message
+ *
+ * @return EKF Pby
+ */
+static inline float mavlink_msg_airspeed_autocal_get_Pby(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  40);
+}
+
+/**
+ * @brief Get field Pcz from airspeed_autocal message
+ *
+ * @return EKF Pcz
+ */
+static inline float mavlink_msg_airspeed_autocal_get_Pcz(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  44);
+}
+
+/**
+ * @brief Decode a airspeed_autocal message into a struct
+ *
+ * @param msg The message to decode
+ * @param airspeed_autocal C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_airspeed_autocal_decode(const mavlink_message_t* msg, mavlink_airspeed_autocal_t* airspeed_autocal)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+	airspeed_autocal->vx = mavlink_msg_airspeed_autocal_get_vx(msg);
+	airspeed_autocal->vy = mavlink_msg_airspeed_autocal_get_vy(msg);
+	airspeed_autocal->vz = mavlink_msg_airspeed_autocal_get_vz(msg);
+	airspeed_autocal->diff_pressure = mavlink_msg_airspeed_autocal_get_diff_pressure(msg);
+	airspeed_autocal->EAS2TAS = mavlink_msg_airspeed_autocal_get_EAS2TAS(msg);
+	airspeed_autocal->ratio = mavlink_msg_airspeed_autocal_get_ratio(msg);
+	airspeed_autocal->state_x = mavlink_msg_airspeed_autocal_get_state_x(msg);
+	airspeed_autocal->state_y = mavlink_msg_airspeed_autocal_get_state_y(msg);
+	airspeed_autocal->state_z = mavlink_msg_airspeed_autocal_get_state_z(msg);
+	airspeed_autocal->Pax = mavlink_msg_airspeed_autocal_get_Pax(msg);
+	airspeed_autocal->Pby = mavlink_msg_airspeed_autocal_get_Pby(msg);
+	airspeed_autocal->Pcz = mavlink_msg_airspeed_autocal_get_Pcz(msg);
+#else
+	memcpy(airspeed_autocal, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_LEN);
+#endif
+}

mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_ap_adc.h

@@ -84,7 +84,7 @@ static inline uint16_t mavlink_msg_ap_adc_pack(uint8_t system_id, uint8_t compon
  * @brief Pack a ap_adc 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 chan The MAVLink channel this message will be sent over
  * @param msg The MAVLink message to compress the data into
  * @param adc1 ADC output 1
  * @param adc2 ADC output 2
@@ -129,7 +129,7 @@ static inline uint16_t mavlink_msg_ap_adc_pack_chan(uint8_t system_id, uint8_t c
 }
 
 /**
- * @brief Encode a ap_adc struct into a message
+ * @brief Encode a ap_adc struct
  *
  * @param system_id ID of this system
  * @param component_id ID of this component (e.g. 200 for IMU)
@@ -141,6 +141,20 @@ static inline uint16_t mavlink_msg_ap_adc_encode(uint8_t system_id, uint8_t comp
 	return mavlink_msg_ap_adc_pack(system_id, component_id, msg, ap_adc->adc1, ap_adc->adc2, ap_adc->adc3, ap_adc->adc4, ap_adc->adc5, ap_adc->adc6);
 }
 
+/**
+ * @brief Encode a ap_adc struct on a channel
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message will be sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param ap_adc C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_ap_adc_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_ap_adc_t* ap_adc)
+{
+	return mavlink_msg_ap_adc_pack_chan(system_id, component_id, chan, msg, ap_adc->adc1, ap_adc->adc2, ap_adc->adc3, ap_adc->adc4, ap_adc->adc5, ap_adc->adc6);
+}
+
 /**
  * @brief Send a ap_adc message
  * @param chan MAVLink channel to send the message

mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data16.h

@@ -67,7 +67,7 @@ static inline uint16_t mavlink_msg_data16_pack(uint8_t system_id, uint8_t compon
  * @brief Pack a data16 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 chan The MAVLink channel this message will be sent over
  * @param msg The MAVLink message to compress the data into
  * @param type data type
  * @param len data length
@@ -101,7 +101,7 @@ static inline uint16_t mavlink_msg_data16_pack_chan(uint8_t system_id, uint8_t c
 }
 
 /**
- * @brief Encode a data16 struct into a message
+ * @brief Encode a data16 struct
  *
  * @param system_id ID of this system
  * @param component_id ID of this component (e.g. 200 for IMU)
@@ -113,6 +113,20 @@ static inline uint16_t mavlink_msg_data16_encode(uint8_t system_id, uint8_t comp
 	return mavlink_msg_data16_pack(system_id, component_id, msg, data16->type, data16->len, data16->data);
 }
 
+/**
+ * @brief Encode a data16 struct on a channel
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message will be sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param data16 C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_data16_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_data16_t* data16)
+{
+	return mavlink_msg_data16_pack_chan(system_id, component_id, chan, msg, data16->type, data16->len, data16->data);
+}
+
 /**
  * @brief Send a data16 message
  * @param chan MAVLink channel to send the message

mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data32.h

@@ -67,7 +67,7 @@ static inline uint16_t mavlink_msg_data32_pack(uint8_t system_id, uint8_t compon
  * @brief Pack a data32 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 chan The MAVLink channel this message will be sent over
  * @param msg The MAVLink message to compress the data into
  * @param type data type
  * @param len data length
@@ -101,7 +101,7 @@ static inline uint16_t mavlink_msg_data32_pack_chan(uint8_t system_id, uint8_t c
 }
 
 /**
- * @brief Encode a data32 struct into a message
+ * @brief Encode a data32 struct
  *
  * @param system_id ID of this system
  * @param component_id ID of this component (e.g. 200 for IMU)
@@ -113,6 +113,20 @@ static inline uint16_t mavlink_msg_data32_encode(uint8_t system_id, uint8_t comp
 	return mavlink_msg_data32_pack(system_id, component_id, msg, data32->type, data32->len, data32->data);
 }
 
+/**
+ * @brief Encode a data32 struct on a channel
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message will be sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param data32 C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_data32_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_data32_t* data32)
+{
+	return mavlink_msg_data32_pack_chan(system_id, component_id, chan, msg, data32->type, data32->len, data32->data);
+}
+
 /**
  * @brief Send a data32 message
  * @param chan MAVLink channel to send the message

mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data64.h

@@ -67,7 +67,7 @@ static inline uint16_t mavlink_msg_data64_pack(uint8_t system_id, uint8_t compon
  * @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 chan The MAVLink channel this message will be sent over
  * @param msg The MAVLink message to compress the data into
  * @param type data type
  * @param len data length
@@ -101,7 +101,7 @@ static inline uint16_t mavlink_msg_data64_pack_chan(uint8_t system_id, uint8_t c
 }
 
 /**
- * @brief Encode a data64 struct into a message
+ * @brief Encode a data64 struct
  *
  * @param system_id ID of this system
  * @param component_id ID of this component (e.g. 200 for IMU)
@@ -113,6 +113,20 @@ static inline uint16_t mavlink_msg_data64_encode(uint8_t system_id, uint8_t comp
 	return mavlink_msg_data64_pack(system_id, component_id, msg, data64->type, data64->len, data64->data);
 }
 
+/**
+ * @brief Encode a data64 struct on a channel
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message will be sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param data64 C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_data64_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_data64_t* data64)
+{
+	return mavlink_msg_data64_pack_chan(system_id, component_id, chan, msg, data64->type, data64->len, data64->data);
+}
+
 /**
  * @brief Send a data64 message
  * @param chan MAVLink channel to send the message

mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data96.h

@@ -67,7 +67,7 @@ static inline uint16_t mavlink_msg_data96_pack(uint8_t system_id, uint8_t compon
  * @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 chan The MAVLink channel this message will be sent over
  * @param msg The MAVLink message to compress the data into
  * @param type data type
  * @param len data length
@@ -101,7 +101,7 @@ static inline uint16_t mavlink_msg_data96_pack_chan(uint8_t system_id, uint8_t c
 }
 
 /**
- * @brief Encode a data96 struct into a message
+ * @brief Encode a data96 struct
  *
  * @param system_id ID of this system
  * @param component_id ID of this component (e.g. 200 for IMU)
@@ -113,6 +113,20 @@ static inline uint16_t mavlink_msg_data96_encode(uint8_t system_id, uint8_t comp
 	return mavlink_msg_data96_pack(system_id, component_id, msg, data96->type, data96->len, data96->data);
 }
 
+/**
+ * @brief Encode a data96 struct on a channel
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message will be sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param data96 C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_data96_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_data96_t* data96)
+{
+	return mavlink_msg_data96_pack_chan(system_id, component_id, chan, msg, data96->type, data96->len, data96->data);
+}
+
 /**
  * @brief Send a data96 message
  * @param chan MAVLink channel to send the message

mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_digicam_configure.h

@@ -109,7 +109,7 @@ static inline uint16_t mavlink_msg_digicam_configure_pack(uint8_t system_id, uin
  * @brief Pack a digicam_configure 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 chan The MAVLink channel this message will be sent over
  * @param msg The MAVLink message to compress the data into
  * @param target_system System ID
  * @param target_component Component ID
@@ -169,7 +169,7 @@ static inline uint16_t mavlink_msg_digicam_configure_pack_chan(uint8_t system_id
 }
 
 /**
- * @brief Encode a digicam_configure struct into a message
+ * @brief Encode a digicam_configure struct
  *
  * @param system_id ID of this system
  * @param component_id ID of this component (e.g. 200 for IMU)
@@ -181,6 +181,20 @@ static inline uint16_t mavlink_msg_digicam_configure_encode(uint8_t system_id, u
 	return mavlink_msg_digicam_configure_pack(system_id, component_id, msg, digicam_configure->target_system, digicam_configure->target_component, digicam_configure->mode, digicam_configure->shutter_speed, digicam_configure->aperture, digicam_configure->iso, digicam_configure->exposure_type, digicam_configure->command_id, digicam_configure->engine_cut_off, digicam_configure->extra_param, digicam_configure->extra_value);
 }
 
+/**
+ * @brief Encode a digicam_configure struct on a channel
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message will be sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param digicam_configure C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_digicam_configure_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_digicam_configure_t* digicam_configure)
+{
+	return mavlink_msg_digicam_configure_pack_chan(system_id, component_id, chan, msg, digicam_configure->target_system, digicam_configure->target_component, digicam_configure->mode, digicam_configure->shutter_speed, digicam_configure->aperture, digicam_configure->iso, digicam_configure->exposure_type, digicam_configure->command_id, digicam_configure->engine_cut_off, digicam_configure->extra_param, digicam_configure->extra_value);
+}
+
 /**
  * @brief Send a digicam_configure message
  * @param chan MAVLink channel to send the message

mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_digicam_control.h

@@ -104,7 +104,7 @@ static inline uint16_t mavlink_msg_digicam_control_pack(uint8_t system_id, uint8
  * @brief Pack a digicam_control 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 chan The MAVLink channel this message will be sent over
  * @param msg The MAVLink message to compress the data into
  * @param target_system System ID
  * @param target_component Component ID
@@ -161,7 +161,7 @@ static inline uint16_t mavlink_msg_digicam_control_pack_chan(uint8_t system_id,
 }
 
 /**
- * @brief Encode a digicam_control struct into a message
+ * @brief Encode a digicam_control struct
  *
  * @param system_id ID of this system
  * @param component_id ID of this component (e.g. 200 for IMU)
@@ -173,6 +173,20 @@ static inline uint16_t mavlink_msg_digicam_control_encode(uint8_t system_id, uin
 	return mavlink_msg_digicam_control_pack(system_id, component_id, msg, digicam_control->target_system, digicam_control->target_component, digicam_control->session, digicam_control->zoom_pos, digicam_control->zoom_step, digicam_control->focus_lock, digicam_control->shot, digicam_control->command_id, digicam_control->extra_param, digicam_control->extra_value);
 }
 
+/**
+ * @brief Encode a digicam_control struct on a channel
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message will be sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param digicam_control C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_digicam_control_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_digicam_control_t* digicam_control)
+{
+	return mavlink_msg_digicam_control_pack_chan(system_id, component_id, chan, msg, digicam_control->target_system, digicam_control->target_component, digicam_control->session, digicam_control->zoom_pos, digicam_control->zoom_step, digicam_control->focus_lock, digicam_control->shot, digicam_control->command_id, digicam_control->extra_param, digicam_control->extra_value);
+}
+
 /**
  * @brief Send a digicam_control message
  * @param chan MAVLink channel to send the message

mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_fence_fetch_point.h

@@ -69,7 +69,7 @@ static inline uint16_t mavlink_msg_fence_fetch_point_pack(uint8_t system_id, uin
  * @brief Pack a fence_fetch_point 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 chan The MAVLink channel this message will be sent over
  * @param msg The MAVLink message to compress the data into
  * @param target_system System ID
  * @param target_component Component ID
@@ -105,7 +105,7 @@ static inline uint16_t mavlink_msg_fence_fetch_point_pack_chan(uint8_t system_id
 }
 
 /**
- * @brief Encode a fence_fetch_point struct into a message
+ * @brief Encode a fence_fetch_point struct
  *
  * @param system_id ID of this system
  * @param component_id ID of this component (e.g. 200 for IMU)
@@ -117,6 +117,20 @@ static inline uint16_t mavlink_msg_fence_fetch_point_encode(uint8_t system_id, u
 	return mavlink_msg_fence_fetch_point_pack(system_id, component_id, msg, fence_fetch_point->target_system, fence_fetch_point->target_component, fence_fetch_point->idx);
 }
 
+/**
+ * @brief Encode a fence_fetch_point struct on a channel
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message will be sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param fence_fetch_point C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_fence_fetch_point_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_fence_fetch_point_t* fence_fetch_point)
+{
+	return mavlink_msg_fence_fetch_point_pack_chan(system_id, component_id, chan, msg, fence_fetch_point->target_system, fence_fetch_point->target_component, fence_fetch_point->idx);
+}
+
 /**
  * @brief Send a fence_fetch_point message
  * @param chan MAVLink channel to send the message

mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_fence_point.h

@@ -84,7 +84,7 @@ static inline uint16_t mavlink_msg_fence_point_pack(uint8_t system_id, uint8_t c
  * @brief Pack a fence_point 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 chan The MAVLink channel this message will be sent over
  * @param msg The MAVLink message to compress the data into
  * @param target_system System ID
  * @param target_component Component ID
@@ -129,7 +129,7 @@ static inline uint16_t mavlink_msg_fence_point_pack_chan(uint8_t system_id, uint
 }
 
 /**
- * @brief Encode a fence_point struct into a message
+ * @brief Encode a fence_point struct
  *
  * @param system_id ID of this system
  * @param component_id ID of this component (e.g. 200 for IMU)
@@ -141,6 +141,20 @@ static inline uint16_t mavlink_msg_fence_point_encode(uint8_t system_id, uint8_t
 	return mavlink_msg_fence_point_pack(system_id, component_id, msg, fence_point->target_system, fence_point->target_component, fence_point->idx, fence_point->count, fence_point->lat, fence_point->lng);
 }
 
+/**
+ * @brief Encode a fence_point struct on a channel
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message will be sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param fence_point C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_fence_point_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_fence_point_t* fence_point)
+{
+	return mavlink_msg_fence_point_pack_chan(system_id, component_id, chan, msg, fence_point->target_system, fence_point->target_component, fence_point->idx, fence_point->count, fence_point->lat, fence_point->lng);
+}
+
 /**
  * @brief Send a fence_point message
  * @param chan MAVLink channel to send the message

mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_fence_status.h

@@ -74,7 +74,7 @@ static inline uint16_t mavlink_msg_fence_status_pack(uint8_t system_id, uint8_t
  * @brief Pack a fence_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 chan The MAVLink channel this message will be sent over
  * @param msg The MAVLink message to compress the data into
  * @param breach_status 0 if currently inside fence, 1 if outside
  * @param breach_count number of fence breaches
@@ -113,7 +113,7 @@ static inline uint16_t mavlink_msg_fence_status_pack_chan(uint8_t system_id, uin
 }
 
 /**
- * @brief Encode a fence_status struct into a message
+ * @brief Encode a fence_status struct
  *
  * @param system_id ID of this system
  * @param component_id ID of this component (e.g. 200 for IMU)
@@ -125,6 +125,20 @@ static inline uint16_t mavlink_msg_fence_status_encode(uint8_t system_id, uint8_
 	return mavlink_msg_fence_status_pack(system_id, component_id, msg, fence_status->breach_status, fence_status->breach_count, fence_status->breach_type, fence_status->breach_time);
 }
 
+/**
+ * @brief Encode a fence_status struct on a channel
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message will be sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param fence_status C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_fence_status_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_fence_status_t* fence_status)
+{
+	return mavlink_msg_fence_status_pack_chan(system_id, component_id, chan, msg, fence_status->breach_status, fence_status->breach_count, fence_status->breach_type, fence_status->breach_time);
+}
+
 /**
  * @brief Send a fence_status message
  * @param chan MAVLink channel to send the message

mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_hwstatus.h

@@ -64,7 +64,7 @@ static inline uint16_t mavlink_msg_hwstatus_pack(uint8_t system_id, uint8_t comp
  * @brief Pack a hwstatus 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 chan The MAVLink channel this message will be sent over
  * @param msg The MAVLink message to compress the data into
  * @param Vcc board voltage (mV)
  * @param I2Cerr I2C error count
@@ -97,7 +97,7 @@ static inline uint16_t mavlink_msg_hwstatus_pack_chan(uint8_t system_id, uint8_t
 }
 
 /**
- * @brief Encode a hwstatus struct into a message
+ * @brief Encode a hwstatus struct
  *
  * @param system_id ID of this system
  * @param component_id ID of this component (e.g. 200 for IMU)
@@ -109,6 +109,20 @@ static inline uint16_t mavlink_msg_hwstatus_encode(uint8_t system_id, uint8_t co
 	return mavlink_msg_hwstatus_pack(system_id, component_id, msg, hwstatus->Vcc, hwstatus->I2Cerr);
 }
 
+/**
+ * @brief Encode a hwstatus struct on a channel
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message will be sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param hwstatus C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_hwstatus_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_hwstatus_t* hwstatus)
+{
+	return mavlink_msg_hwstatus_pack_chan(system_id, component_id, chan, msg, hwstatus->Vcc, hwstatus->I2Cerr);
+}
+
 /**
  * @brief Send a hwstatus message
  * @param chan MAVLink channel to send the message

mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_limits_status.h

@@ -99,7 +99,7 @@ static inline uint16_t mavlink_msg_limits_status_pack(uint8_t system_id, uint8_t
  * @brief Pack a limits_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 chan The MAVLink channel this message will be sent over
  * @param msg The MAVLink message to compress the data into
  * @param limits_state state of AP_Limits, (see enum LimitState, LIMITS_STATE)
  * @param last_trigger time of last breach in milliseconds since boot
@@ -153,7 +153,7 @@ static inline uint16_t mavlink_msg_limits_status_pack_chan(uint8_t system_id, ui
 }
 
 /**
- * @brief Encode a limits_status struct into a message
+ * @brief Encode a limits_status struct
  *
  * @param system_id ID of this system
  * @param component_id ID of this component (e.g. 200 for IMU)
@@ -165,6 +165,20 @@ static inline uint16_t mavlink_msg_limits_status_encode(uint8_t system_id, uint8
 	return mavlink_msg_limits_status_pack(system_id, component_id, msg, limits_status->limits_state, limits_status->last_trigger, limits_status->last_action, limits_status->last_recovery, limits_status->last_clear, limits_status->breach_count, limits_status->mods_enabled, limits_status->mods_required, limits_status->mods_triggered);
 }
 
+/**
+ * @brief Encode a limits_status struct on a channel
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message will be sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param limits_status C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_limits_status_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_limits_status_t* limits_status)
+{
+	return mavlink_msg_limits_status_pack_chan(system_id, component_id, chan, msg, limits_status->limits_state, limits_status->last_trigger, limits_status->last_action, limits_status->last_recovery, limits_status->last_clear, limits_status->breach_count, limits_status->mods_enabled, limits_status->mods_required, limits_status->mods_triggered);
+}
+
 /**
  * @brief Send a limits_status message
  * @param chan MAVLink channel to send the message

mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_meminfo.h

@@ -64,7 +64,7 @@ static inline uint16_t mavlink_msg_meminfo_pack(uint8_t system_id, uint8_t compo
  * @brief Pack a meminfo 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 chan The MAVLink channel this message will be sent over
  * @param msg The MAVLink message to compress the data into
  * @param brkval heap top
  * @param freemem free memory
@@ -97,7 +97,7 @@ static inline uint16_t mavlink_msg_meminfo_pack_chan(uint8_t system_id, uint8_t
 }
 
 /**
- * @brief Encode a meminfo struct into a message
+ * @brief Encode a meminfo struct
  *
  * @param system_id ID of this system
  * @param component_id ID of this component (e.g. 200 for IMU)
@@ -109,6 +109,20 @@ static inline uint16_t mavlink_msg_meminfo_encode(uint8_t system_id, uint8_t com
 	return mavlink_msg_meminfo_pack(system_id, component_id, msg, meminfo->brkval, meminfo->freemem);
 }
 
+/**
+ * @brief Encode a meminfo struct on a channel
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message will be sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param meminfo C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_meminfo_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_meminfo_t* meminfo)
+{
+	return mavlink_msg_meminfo_pack_chan(system_id, component_id, chan, msg, meminfo->brkval, meminfo->freemem);
+}
+
 /**
  * @brief Send a meminfo message
  * @param chan MAVLink channel to send the message

mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_mount_configure.h

@@ -84,7 +84,7 @@ static inline uint16_t mavlink_msg_mount_configure_pack(uint8_t system_id, uint8
  * @brief Pack a mount_configure 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 chan The MAVLink channel this message will be sent over
  * @param msg The MAVLink message to compress the data into
  * @param target_system System ID
  * @param target_component Component ID
@@ -129,7 +129,7 @@ static inline uint16_t mavlink_msg_mount_configure_pack_chan(uint8_t system_id,
 }
 
 /**
- * @brief Encode a mount_configure struct into a message
+ * @brief Encode a mount_configure struct
  *
  * @param system_id ID of this system
  * @param component_id ID of this component (e.g. 200 for IMU)
@@ -141,6 +141,20 @@ static inline uint16_t mavlink_msg_mount_configure_encode(uint8_t system_id, uin
 	return mavlink_msg_mount_configure_pack(system_id, component_id, msg, mount_configure->target_system, mount_configure->target_component, mount_configure->mount_mode, mount_configure->stab_roll, mount_configure->stab_pitch, mount_configure->stab_yaw);
 }
 
+/**
+ * @brief Encode a mount_configure struct on a channel
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message will be sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param mount_configure C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_mount_configure_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_mount_configure_t* mount_configure)
+{
+	return mavlink_msg_mount_configure_pack_chan(system_id, component_id, chan, msg, mount_configure->target_system, mount_configure->target_component, mount_configure->mount_mode, mount_configure->stab_roll, mount_configure->stab_pitch, mount_configure->stab_yaw);
+}
+
 /**
  * @brief Send a mount_configure message
  * @param chan MAVLink channel to send the message

mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_mount_control.h

@@ -84,7 +84,7 @@ static inline uint16_t mavlink_msg_mount_control_pack(uint8_t system_id, uint8_t
  * @brief Pack a mount_control 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 chan The MAVLink channel this message will be sent over
  * @param msg The MAVLink message to compress the data into
  * @param target_system System ID
  * @param target_component Component ID
@@ -129,7 +129,7 @@ static inline uint16_t mavlink_msg_mount_control_pack_chan(uint8_t system_id, ui
 }
 
 /**
- * @brief Encode a mount_control struct into a message
+ * @brief Encode a mount_control struct
  *
  * @param system_id ID of this system
  * @param component_id ID of this component (e.g. 200 for IMU)
@@ -141,6 +141,20 @@ static inline uint16_t mavlink_msg_mount_control_encode(uint8_t system_id, uint8
 	return mavlink_msg_mount_control_pack(system_id, component_id, msg, mount_control->target_system, mount_control->target_component, mount_control->input_a, mount_control->input_b, mount_control->input_c, mount_control->save_position);
 }
 
+/**
+ * @brief Encode a mount_control struct on a channel
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message will be sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param mount_control C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_mount_control_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_mount_control_t* mount_control)
+{
+	return mavlink_msg_mount_control_pack_chan(system_id, component_id, chan, msg, mount_control->target_system, mount_control->target_component, mount_control->input_a, mount_control->input_b, mount_control->input_c, mount_control->save_position);
+}
+
 /**
  * @brief Send a mount_control message
  * @param chan MAVLink channel to send the message

mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_mount_status.h

@@ -79,7 +79,7 @@ static inline uint16_t mavlink_msg_mount_status_pack(uint8_t system_id, uint8_t
  * @brief Pack a mount_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 chan The MAVLink channel this message will be sent over
  * @param msg The MAVLink message to compress the data into
  * @param target_system System ID
  * @param target_component Component ID
@@ -121,7 +121,7 @@ static inline uint16_t mavlink_msg_mount_status_pack_chan(uint8_t system_id, uin
 }
 
 /**
- * @brief Encode a mount_status struct into a message
+ * @brief Encode a mount_status struct
  *
  * @param system_id ID of this system
  * @param component_id ID of this component (e.g. 200 for IMU)
@@ -133,6 +133,20 @@ static inline uint16_t mavlink_msg_mount_status_encode(uint8_t system_id, uint8_
 	return mavlink_msg_mount_status_pack(system_id, component_id, msg, mount_status->target_system, mount_status->target_component, mount_status->pointing_a, mount_status->pointing_b, mount_status->pointing_c);
 }
 
+/**
+ * @brief Encode a mount_status struct on a channel
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message will be sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param mount_status C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_mount_status_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_mount_status_t* mount_status)
+{
+	return mavlink_msg_mount_status_pack_chan(system_id, component_id, chan, msg, mount_status->target_system, mount_status->target_component, mount_status->pointing_a, mount_status->pointing_b, mount_status->pointing_c);
+}
+
 /**
  * @brief Send a mount_status message
  * @param chan MAVLink channel to send the message

mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_radio.h

@@ -89,7 +89,7 @@ static inline uint16_t mavlink_msg_radio_pack(uint8_t system_id, uint8_t compone
  * @brief Pack a radio 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 chan The MAVLink channel this message will be sent over
  * @param msg The MAVLink message to compress the data into
  * @param rssi local signal strength
  * @param remrssi remote signal strength
@@ -137,7 +137,7 @@ static inline uint16_t mavlink_msg_radio_pack_chan(uint8_t system_id, uint8_t co
 }
 
 /**
- * @brief Encode a radio struct into a message
+ * @brief Encode a radio struct
  *
  * @param system_id ID of this system
  * @param component_id ID of this component (e.g. 200 for IMU)
@@ -149,6 +149,20 @@ static inline uint16_t mavlink_msg_radio_encode(uint8_t system_id, uint8_t compo
 	return mavlink_msg_radio_pack(system_id, component_id, msg, radio->rssi, radio->remrssi, radio->txbuf, radio->noise, radio->remnoise, radio->rxerrors, radio->fixed);
 }
 
+/**
+ * @brief Encode a radio struct on a channel
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message will be sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param radio C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_radio_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_radio_t* radio)
+{
+	return mavlink_msg_radio_pack_chan(system_id, component_id, chan, msg, radio->rssi, radio->remrssi, radio->txbuf, radio->noise, radio->remnoise, radio->rxerrors, radio->fixed);
+}
+
 /**
  * @brief Send a radio message
  * @param chan MAVLink channel to send the message

mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_rangefinder.h

@@ -64,7 +64,7 @@ static inline uint16_t mavlink_msg_rangefinder_pack(uint8_t system_id, uint8_t c
  * @brief Pack a rangefinder 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 chan The MAVLink channel this message will be sent over
  * @param msg The MAVLink message to compress the data into
  * @param distance distance in meters
  * @param voltage raw voltage if available, zero otherwise
@@ -97,7 +97,7 @@ static inline uint16_t mavlink_msg_rangefinder_pack_chan(uint8_t system_id, uint
 }
 
 /**
- * @brief Encode a rangefinder struct into a message
+ * @brief Encode a rangefinder struct
  *
  * @param system_id ID of this system
  * @param component_id ID of this component (e.g. 200 for IMU)
@@ -109,6 +109,20 @@ static inline uint16_t mavlink_msg_rangefinder_encode(uint8_t system_id, uint8_t
 	return mavlink_msg_rangefinder_pack(system_id, component_id, msg, rangefinder->distance, rangefinder->voltage);
 }
 
+/**
+ * @brief Encode a rangefinder struct on a channel
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message will be sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param rangefinder C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_rangefinder_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_rangefinder_t* rangefinder)
+{
+	return mavlink_msg_rangefinder_pack_chan(system_id, component_id, chan, msg, rangefinder->distance, rangefinder->voltage);
+}
+
 /**
  * @brief Send a rangefinder message
  * @param chan MAVLink channel to send the message

mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_sensor_offsets.h

@@ -114,7 +114,7 @@ static inline uint16_t mavlink_msg_sensor_offsets_pack(uint8_t system_id, uint8_
  * @brief Pack a sensor_offsets 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 chan The MAVLink channel this message will be sent over
  * @param msg The MAVLink message to compress the data into
  * @param mag_ofs_x magnetometer X offset
  * @param mag_ofs_y magnetometer Y offset
@@ -177,7 +177,7 @@ static inline uint16_t mavlink_msg_sensor_offsets_pack_chan(uint8_t system_id, u
 }
 
 /**
- * @brief Encode a sensor_offsets struct into a message
+ * @brief Encode a sensor_offsets struct
  *
  * @param system_id ID of this system
  * @param component_id ID of this component (e.g. 200 for IMU)
@@ -189,6 +189,20 @@ static inline uint16_t mavlink_msg_sensor_offsets_encode(uint8_t system_id, uint
 	return mavlink_msg_sensor_offsets_pack(system_id, component_id, msg, sensor_offsets->mag_ofs_x, sensor_offsets->mag_ofs_y, sensor_offsets->mag_ofs_z, sensor_offsets->mag_declination, sensor_offsets->raw_press, sensor_offsets->raw_temp, sensor_offsets->gyro_cal_x, sensor_offsets->gyro_cal_y, sensor_offsets->gyro_cal_z, sensor_offsets->accel_cal_x, sensor_offsets->accel_cal_y, sensor_offsets->accel_cal_z);
 }
 
+/**
+ * @brief Encode a sensor_offsets struct on a channel
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message will be sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param sensor_offsets C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_sensor_offsets_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_sensor_offsets_t* sensor_offsets)
+{
+	return mavlink_msg_sensor_offsets_pack_chan(system_id, component_id, chan, msg, sensor_offsets->mag_ofs_x, sensor_offsets->mag_ofs_y, sensor_offsets->mag_ofs_z, sensor_offsets->mag_declination, sensor_offsets->raw_press, sensor_offsets->raw_temp, sensor_offsets->gyro_cal_x, sensor_offsets->gyro_cal_y, sensor_offsets->gyro_cal_z, sensor_offsets->accel_cal_x, sensor_offsets->accel_cal_y, sensor_offsets->accel_cal_z);
+}
+
 /**
  * @brief Send a sensor_offsets message
  * @param chan MAVLink channel to send the message

mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_set_mag_offsets.h

@@ -79,7 +79,7 @@ static inline uint16_t mavlink_msg_set_mag_offsets_pack(uint8_t system_id, uint8
  * @brief Pack a set_mag_offsets 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 chan The MAVLink channel this message will be sent over
  * @param msg The MAVLink message to compress the data into
  * @param target_system System ID
  * @param target_component Component ID
@@ -121,7 +121,7 @@ static inline uint16_t mavlink_msg_set_mag_offsets_pack_chan(uint8_t system_id,
 }
 
 /**
- * @brief Encode a set_mag_offsets struct into a message
+ * @brief Encode a set_mag_offsets struct
  *
  * @param system_id ID of this system
  * @param component_id ID of this component (e.g. 200 for IMU)
@@ -133,6 +133,20 @@ static inline uint16_t mavlink_msg_set_mag_offsets_encode(uint8_t system_id, uin
 	return mavlink_msg_set_mag_offsets_pack(system_id, component_id, msg, set_mag_offsets->target_system, set_mag_offsets->target_component, set_mag_offsets->mag_ofs_x, set_mag_offsets->mag_ofs_y, set_mag_offsets->mag_ofs_z);
 }
 
+/**
+ * @brief Encode a set_mag_offsets struct on a channel
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message will be sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param set_mag_offsets C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_set_mag_offsets_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_set_mag_offsets_t* set_mag_offsets)
+{
+	return mavlink_msg_set_mag_offsets_pack_chan(system_id, component_id, chan, msg, set_mag_offsets->target_system, set_mag_offsets->target_component, set_mag_offsets->mag_ofs_x, set_mag_offsets->mag_ofs_y, set_mag_offsets->mag_ofs_z);
+}
+
 /**
  * @brief Send a set_mag_offsets message
  * @param chan MAVLink channel to send the message

mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_simstate.h

@@ -13,15 +13,15 @@ typedef struct __mavlink_simstate_t
  float xgyro; ///< Angular speed around X axis rad/s
  float ygyro; ///< Angular speed around Y axis rad/s
  float zgyro; ///< Angular speed around Z axis rad/s
- float lat; ///< Latitude in degrees
- float lng; ///< Longitude in degrees
+ int32_t lat; ///< Latitude in degrees * 1E7
+ int32_t lng; ///< Longitude in degrees * 1E7
 } mavlink_simstate_t;
 
 #define MAVLINK_MSG_ID_SIMSTATE_LEN 44
 #define MAVLINK_MSG_ID_164_LEN 44
 
-#define MAVLINK_MSG_ID_SIMSTATE_CRC 111
-#define MAVLINK_MSG_ID_164_CRC 111
+#define MAVLINK_MSG_ID_SIMSTATE_CRC 154
+#define MAVLINK_MSG_ID_164_CRC 154
 
 
 
@@ -37,8 +37,8 @@ typedef struct __mavlink_simstate_t
          { "xgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_simstate_t, xgyro) }, \
          { "ygyro", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_simstate_t, ygyro) }, \
          { "zgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_simstate_t, zgyro) }, \
-         { "lat", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_simstate_t, lat) }, \
-         { "lng", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_simstate_t, lng) }, \
+         { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 36, offsetof(mavlink_simstate_t, lat) }, \
+         { "lng", NULL, MAVLINK_TYPE_INT32_T, 0, 40, offsetof(mavlink_simstate_t, lng) }, \
          } \
 }
 
@@ -58,12 +58,12 @@ typedef struct __mavlink_simstate_t
  * @param xgyro Angular speed around X axis rad/s
  * @param ygyro Angular speed around Y axis rad/s
  * @param zgyro Angular speed around Z axis rad/s
- * @param lat Latitude in degrees
- * @param lng Longitude in degrees
+ * @param lat Latitude in degrees * 1E7
+ * @param lng Longitude in degrees * 1E7
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_simstate_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       float roll, float pitch, float yaw, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, float lat, float lng)
+						       float roll, float pitch, float yaw, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, int32_t lat, int32_t lng)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 	char buf[MAVLINK_MSG_ID_SIMSTATE_LEN];
@@ -76,8 +76,8 @@ static inline uint16_t mavlink_msg_simstate_pack(uint8_t system_id, uint8_t comp
 	_mav_put_float(buf, 24, xgyro);
 	_mav_put_float(buf, 28, ygyro);
 	_mav_put_float(buf, 32, zgyro);
-	_mav_put_float(buf, 36, lat);
-	_mav_put_float(buf, 40, lng);
+	_mav_put_int32_t(buf, 36, lat);
+	_mav_put_int32_t(buf, 40, lng);
 
         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SIMSTATE_LEN);
 #else
@@ -109,7 +109,7 @@ static inline uint16_t mavlink_msg_simstate_pack(uint8_t system_id, uint8_t comp
  * @brief Pack a simstate 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 chan The MAVLink channel this message will be sent over
  * @param msg The MAVLink message to compress the data into
  * @param roll Roll angle (rad)
  * @param pitch Pitch angle (rad)
@@ -120,13 +120,13 @@ static inline uint16_t mavlink_msg_simstate_pack(uint8_t system_id, uint8_t comp
  * @param xgyro Angular speed around X axis rad/s
  * @param ygyro Angular speed around Y axis rad/s
  * @param zgyro Angular speed around Z axis rad/s
- * @param lat Latitude in degrees
- * @param lng Longitude in degrees
+ * @param lat Latitude in degrees * 1E7
+ * @param lng Longitude in degrees * 1E7
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_simstate_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 							   mavlink_message_t* msg,
-						           float roll,float pitch,float yaw,float xacc,float yacc,float zacc,float xgyro,float ygyro,float zgyro,float lat,float lng)
+						           float roll,float pitch,float yaw,float xacc,float yacc,float zacc,float xgyro,float ygyro,float zgyro,int32_t lat,int32_t lng)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 	char buf[MAVLINK_MSG_ID_SIMSTATE_LEN];
@@ -139,8 +139,8 @@ static inline uint16_t mavlink_msg_simstate_pack_chan(uint8_t system_id, uint8_t
 	_mav_put_float(buf, 24, xgyro);
 	_mav_put_float(buf, 28, ygyro);
 	_mav_put_float(buf, 32, zgyro);
-	_mav_put_float(buf, 36, lat);
-	_mav_put_float(buf, 40, lng);
+	_mav_put_int32_t(buf, 36, lat);
+	_mav_put_int32_t(buf, 40, lng);
 
         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SIMSTATE_LEN);
 #else
@@ -169,7 +169,7 @@ static inline uint16_t mavlink_msg_simstate_pack_chan(uint8_t system_id, uint8_t
 }
 
 /**
- * @brief Encode a simstate struct into a message
+ * @brief Encode a simstate struct
  *
  * @param system_id ID of this system
  * @param component_id ID of this component (e.g. 200 for IMU)
@@ -181,6 +181,20 @@ static inline uint16_t mavlink_msg_simstate_encode(uint8_t system_id, uint8_t co
 	return mavlink_msg_simstate_pack(system_id, component_id, msg, simstate->roll, simstate->pitch, simstate->yaw, simstate->xacc, simstate->yacc, simstate->zacc, simstate->xgyro, simstate->ygyro, simstate->zgyro, simstate->lat, simstate->lng);
 }
 
+/**
+ * @brief Encode a simstate struct on a channel
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message will be sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param simstate C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_simstate_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_simstate_t* simstate)
+{
+	return mavlink_msg_simstate_pack_chan(system_id, component_id, chan, msg, simstate->roll, simstate->pitch, simstate->yaw, simstate->xacc, simstate->yacc, simstate->zacc, simstate->xgyro, simstate->ygyro, simstate->zgyro, simstate->lat, simstate->lng);
+}
+
 /**
  * @brief Send a simstate message
  * @param chan MAVLink channel to send the message
@@ -194,12 +208,12 @@ static inline uint16_t mavlink_msg_simstate_encode(uint8_t system_id, uint8_t co
  * @param xgyro Angular speed around X axis rad/s
  * @param ygyro Angular speed around Y axis rad/s
  * @param zgyro Angular speed around Z axis rad/s
- * @param lat Latitude in degrees
- * @param lng Longitude in degrees
+ * @param lat Latitude in degrees * 1E7
+ * @param lng Longitude in degrees * 1E7
  */
 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 
-static inline void mavlink_msg_simstate_send(mavlink_channel_t chan, float roll, float pitch, float yaw, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, float lat, float lng)
+static inline void mavlink_msg_simstate_send(mavlink_channel_t chan, float roll, float pitch, float yaw, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, int32_t lat, int32_t lng)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 	char buf[MAVLINK_MSG_ID_SIMSTATE_LEN];
@@ -212,8 +226,8 @@ static inline void mavlink_msg_simstate_send(mavlink_channel_t chan, float roll,
 	_mav_put_float(buf, 24, xgyro);
 	_mav_put_float(buf, 28, ygyro);
 	_mav_put_float(buf, 32, zgyro);
-	_mav_put_float(buf, 36, lat);
-	_mav_put_float(buf, 40, lng);
+	_mav_put_int32_t(buf, 36, lat);
+	_mav_put_int32_t(buf, 40, lng);
 
 #if MAVLINK_CRC_EXTRA
     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SIMSTATE, buf, MAVLINK_MSG_ID_SIMSTATE_LEN, MAVLINK_MSG_ID_SIMSTATE_CRC);
@@ -340,21 +354,21 @@ static inline float mavlink_msg_simstate_get_zgyro(const mavlink_message_t* msg)
 /**
  * @brief Get field lat from simstate message
  *
- * @return Latitude in degrees
+ * @return Latitude in degrees * 1E7
  */
-static inline float mavlink_msg_simstate_get_lat(const mavlink_message_t* msg)
+static inline int32_t mavlink_msg_simstate_get_lat(const mavlink_message_t* msg)
 {
-	return _MAV_RETURN_float(msg,  36);
+	return _MAV_RETURN_int32_t(msg,  36);
 }
 
 /**
  * @brief Get field lng from simstate message
  *
- * @return Longitude in degrees
+ * @return Longitude in degrees * 1E7
  */
-static inline float mavlink_msg_simstate_get_lng(const mavlink_message_t* msg)
+static inline int32_t mavlink_msg_simstate_get_lng(const mavlink_message_t* msg)
 {
-	return _MAV_RETURN_float(msg,  40);
+	return _MAV_RETURN_int32_t(msg,  40);
 }
 
 /**

mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_wind.h

@@ -69,7 +69,7 @@ static inline uint16_t mavlink_msg_wind_pack(uint8_t system_id, uint8_t componen
  * @brief Pack a wind 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 chan The MAVLink channel this message will be sent over
  * @param msg The MAVLink message to compress the data into
  * @param direction wind direction that wind is coming from (degrees)
  * @param speed wind speed in ground plane (m/s)
@@ -105,7 +105,7 @@ static inline uint16_t mavlink_msg_wind_pack_chan(uint8_t system_id, uint8_t com
 }
 
 /**
- * @brief Encode a wind struct into a message
+ * @brief Encode a wind struct
  *
  * @param system_id ID of this system
  * @param component_id ID of this component (e.g. 200 for IMU)
@@ -117,6 +117,20 @@ static inline uint16_t mavlink_msg_wind_encode(uint8_t system_id, uint8_t compon
 	return mavlink_msg_wind_pack(system_id, component_id, msg, wind->direction, wind->speed, wind->speed_z);
 }
 
+/**
+ * @brief Encode a wind struct on a channel
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message will be sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param wind C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_wind_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_wind_t* wind)
+{
+	return mavlink_msg_wind_pack_chan(system_id, component_id, chan, msg, wind->direction, wind->speed, wind->speed_z);
+}
+
 /**
  * @brief Send a wind message
  * @param chan MAVLink channel to send the message

mavlink/include/mavlink/v1.0/ardupilotmega/testsuite.h

@@ -738,8 +738,8 @@ static void mavlink_test_simstate(uint8_t system_id, uint8_t component_id, mavli
 	185.0,
 	213.0,
 	241.0,
-	269.0,
-	297.0,
+	963499336,
+	963499544,
 	};
 	mavlink_simstate_t packet1, packet2;
         memset(&packet1, 0, sizeof(packet1));
@@ -1225,6 +1225,71 @@ static void mavlink_test_rangefinder(uint8_t system_id, uint8_t component_id, ma
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 }
 
+static void mavlink_test_airspeed_autocal(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_airspeed_autocal_t packet_in = {
+		17.0,
+	45.0,
+	73.0,
+	101.0,
+	129.0,
+	157.0,
+	185.0,
+	213.0,
+	241.0,
+	269.0,
+	297.0,
+	325.0,
+	};
+	mavlink_airspeed_autocal_t packet1, packet2;
+        memset(&packet1, 0, sizeof(packet1));
+        	packet1.vx = packet_in.vx;
+        	packet1.vy = packet_in.vy;
+        	packet1.vz = packet_in.vz;
+        	packet1.diff_pressure = packet_in.diff_pressure;
+        	packet1.EAS2TAS = packet_in.EAS2TAS;
+        	packet1.ratio = packet_in.ratio;
+        	packet1.state_x = packet_in.state_x;
+        	packet1.state_y = packet_in.state_y;
+        	packet1.state_z = packet_in.state_z;
+        	packet1.Pax = packet_in.Pax;
+        	packet1.Pby = packet_in.Pby;
+        	packet1.Pcz = packet_in.Pcz;
+        
+        
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_airspeed_autocal_encode(system_id, component_id, &msg, &packet1);
+	mavlink_msg_airspeed_autocal_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_airspeed_autocal_pack(system_id, component_id, &msg , packet1.vx , packet1.vy , packet1.vz , packet1.diff_pressure , packet1.EAS2TAS , packet1.ratio , packet1.state_x , packet1.state_y , packet1.state_z , packet1.Pax , packet1.Pby , packet1.Pcz );
+	mavlink_msg_airspeed_autocal_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_airspeed_autocal_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.vx , packet1.vy , packet1.vz , packet1.diff_pressure , packet1.EAS2TAS , packet1.ratio , packet1.state_x , packet1.state_y , packet1.state_z , packet1.Pax , packet1.Pby , packet1.Pcz );
+	mavlink_msg_airspeed_autocal_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_airspeed_autocal_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+        
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_airspeed_autocal_send(MAVLINK_COMM_1 , packet1.vx , packet1.vy , packet1.vz , packet1.diff_pressure , packet1.EAS2TAS , packet1.ratio , packet1.state_x , packet1.state_y , packet1.state_z , packet1.Pax , packet1.Pby , packet1.Pcz );
+	mavlink_msg_airspeed_autocal_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);
@@ -1250,6 +1315,7 @@ static void mavlink_test_ardupilotmega(uint8_t system_id, uint8_t component_id,
 	mavlink_test_data64(system_id, component_id, last_msg);
 	mavlink_test_data96(system_id, component_id, last_msg);
 	mavlink_test_rangefinder(system_id, component_id, last_msg);
+	mavlink_test_airspeed_autocal(system_id, component_id, last_msg);
 }
 
 #ifdef __cplusplus

mavlink/include/mavlink/v1.0/ardupilotmega/version.h

@@ -5,7 +5,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Thu Jul  4 13:11:17 2013"
+#define MAVLINK_BUILD_DATE "Tue Sep 10 23:49:25 2013"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 254
  

mavlink/include/mavlink/v1.0/autoquad/autoquad.h

@@ -30,6 +30,30 @@ extern "C" {
 // ENUM DEFINITIONS
 
 
+/** @brief Available operating modes/statuses for AutoQuad flight controller. 
+				Bitmask up to 32 bits. Low side bits for base modes, high side for 
+				additional active features/modifiers/constraints. */
+#ifndef HAVE_ENUM_AUTOQUAD_NAV_STATUS
+#define HAVE_ENUM_AUTOQUAD_NAV_STATUS
+enum AUTOQUAD_NAV_STATUS
+{
+	AQ_NAV_STATUS_INIT=0, /* System is initializing | */
+	AQ_NAV_STATUS_STANDBY=1, /* System is standing by, not active | */
+	AQ_NAV_STATUS_MANUAL=2, /* Stabilized, under full manual control | */
+	AQ_NAV_STATUS_ALTHOLD=4, /* Altitude hold engaged | */
+	AQ_NAV_STATUS_POSHOLD=8, /* Position hold engaged | */
+	AQ_NAV_STATUS_DVH=16, /* Dynamic Velocity Hold is active | */
+	AQ_NAV_STATUS_MISSION=32, /* Autonomous mission execution mode | */
+	AQ_NAV_STATUS_CEILING_REACHED=67108864, /* Craft is at ceiling altitude | */
+	AQ_NAV_STATUS_CEILING=134217728, /* Ceiling altitude is set | */
+	AQ_NAV_STATUS_HF_DYNAMIC=268435456, /* Heading-Free dynamic mode active | */
+	AQ_NAV_STATUS_HF_LOCKED=536870912, /* Heading-Free locked mode active | */
+	AQ_NAV_STATUS_RTH=1073741824, /* Automatic Return to Home is active | */
+	AQ_NAV_STATUS_FAILSAFE=2147483648, /* System is in failsafe recovery mode | */
+	AUTOQUAD_NAV_STATUS_ENUM_END=2147483649, /*  | */
+};
+#endif
+
 /** @brief  */
 #ifndef HAVE_ENUM_MAV_CMD
 #define HAVE_ENUM_MAV_CMD
@@ -63,6 +87,7 @@ enum MAV_CMD
 	MAV_CMD_DO_SET_SERVO=183, /* Set a servo to a desired PWM value. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Empty| Empty| Empty| Empty| Empty|  */
 	MAV_CMD_DO_REPEAT_SERVO=184, /* Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty|  */
 	MAV_CMD_DO_CONTROL_VIDEO=200, /* Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty|  */
+	MAV_CMD_DO_SET_ROI=201, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of intereset mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z|  */
 	MAV_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
 	MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. |Gyro calibration: 0: no, 1: yes| Magnetometer calibration: 0: no, 1: yes| Ground pressure: 0: no, 1: yes| Radio calibration: 0: no, 1: yes| Accelerometer calibration: 0: no, 1: yes| Empty| Empty|  */
 	MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS=242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units|  */
@@ -71,7 +96,8 @@ enum MAV_CMD
 	MAV_CMD_OVERRIDE_GOTO=252, /* Hold / continue the current action |MAV_GOTO_DO_HOLD: hold MAV_GOTO_DO_CONTINUE: continue with next item in mission plan| MAV_GOTO_HOLD_AT_CURRENT_POSITION: Hold at current position MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position| MAV_FRAME coordinate frame of hold point| Desired yaw angle in degrees| Latitude / X position| Longitude / Y position| Altitude / Z position|  */
 	MAV_CMD_MISSION_START=300, /* start running a mission |first_item: the first mission item to run| last_item:  the last mission item to run (after this item is run, the mission ends)|  */
 	MAV_CMD_COMPONENT_ARM_DISARM=400, /* Arms / Disarms a component |1 to arm, 0 to disarm|  */
-	MAV_CMD_ENUM_END=401, /*  | */
+	MAV_CMD_START_RX_PAIR=500, /* Starts receiver pairing |0:Spektrum| 0:Spektrum DSM2, 1:Spektrum DSMX|  */
+	MAV_CMD_ENUM_END=501, /*  | */
 };
 #endif
 

mavlink/include/mavlink/v1.0/autoquad/mavlink_msg_aq_telemetry_f.h

@@ -159,7 +159,7 @@ static inline uint16_t mavlink_msg_aq_telemetry_f_pack(uint8_t system_id, uint8_
  * @brief Pack a aq_telemetry_f 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 chan The MAVLink channel this message will be sent over
  * @param msg The MAVLink message to compress the data into
  * @param Index Index of message
  * @param value1 value1
@@ -249,7 +249,7 @@ static inline uint16_t mavlink_msg_aq_telemetry_f_pack_chan(uint8_t system_id, u
 }
 
 /**
- * @brief Encode a aq_telemetry_f struct into a message
+ * @brief Encode a aq_telemetry_f struct
  *
  * @param system_id ID of this system
  * @param component_id ID of this component (e.g. 200 for IMU)
@@ -261,6 +261,20 @@ static inline uint16_t mavlink_msg_aq_telemetry_f_encode(uint8_t system_id, uint
 	return mavlink_msg_aq_telemetry_f_pack(system_id, component_id, msg, aq_telemetry_f->Index, aq_telemetry_f->value1, aq_telemetry_f->value2, aq_telemetry_f->value3, aq_telemetry_f->value4, aq_telemetry_f->value5, aq_telemetry_f->value6, aq_telemetry_f->value7, aq_telemetry_f->value8, aq_telemetry_f->value9, aq_telemetry_f->value10, aq_telemetry_f->value11, aq_telemetry_f->value12, aq_telemetry_f->value13, aq_telemetry_f->value14, aq_telemetry_f->value15, aq_telemetry_f->value16, aq_telemetry_f->value17, aq_telemetry_f->value18, aq_telemetry_f->value19, aq_telemetry_f->value20);
 }
 
+/**
+ * @brief Encode a aq_telemetry_f struct on a channel
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message will be sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param aq_telemetry_f C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_aq_telemetry_f_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_aq_telemetry_f_t* aq_telemetry_f)
+{
+	return mavlink_msg_aq_telemetry_f_pack_chan(system_id, component_id, chan, msg, aq_telemetry_f->Index, aq_telemetry_f->value1, aq_telemetry_f->value2, aq_telemetry_f->value3, aq_telemetry_f->value4, aq_telemetry_f->value5, aq_telemetry_f->value6, aq_telemetry_f->value7, aq_telemetry_f->value8, aq_telemetry_f->value9, aq_telemetry_f->value10, aq_telemetry_f->value11, aq_telemetry_f->value12, aq_telemetry_f->value13, aq_telemetry_f->value14, aq_telemetry_f->value15, aq_telemetry_f->value16, aq_telemetry_f->value17, aq_telemetry_f->value18, aq_telemetry_f->value19, aq_telemetry_f->value20);
+}
+
 /**
  * @brief Send a aq_telemetry_f message
  * @param chan MAVLink channel to send the message

mavlink/include/mavlink/v1.0/autoquad/version.h

@@ -5,7 +5,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Thu Jul  4 13:11:37 2013"
+#define MAVLINK_BUILD_DATE "Tue Sep 10 23:49:36 2013"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 254
  

mavlink/include/mavlink/v1.0/common/common.h

@@ -260,6 +260,7 @@ enum MAV_CMD
 	MAV_CMD_DO_SET_SERVO=183, /* Set a servo to a desired PWM value. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Empty| Empty| Empty| Empty| Empty|  */
 	MAV_CMD_DO_REPEAT_SERVO=184, /* Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty|  */
 	MAV_CMD_DO_CONTROL_VIDEO=200, /* Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty|  */
+	MAV_CMD_DO_SET_ROI=201, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of intereset mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z|  */
 	MAV_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
 	MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. |Gyro calibration: 0: no, 1: yes| Magnetometer calibration: 0: no, 1: yes| Ground pressure: 0: no, 1: yes| Radio calibration: 0: no, 1: yes| Accelerometer calibration: 0: no, 1: yes| Empty| Empty|  */
 	MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS=242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units|  */
@@ -268,7 +269,8 @@ enum MAV_CMD
 	MAV_CMD_OVERRIDE_GOTO=252, /* Hold / continue the current action |MAV_GOTO_DO_HOLD: hold MAV_GOTO_DO_CONTINUE: continue with next item in mission plan| MAV_GOTO_HOLD_AT_CURRENT_POSITION: Hold at current position MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position| MAV_FRAME coordinate frame of hold point| Desired yaw angle in degrees| Latitude / X position| Longitude / Y position| Altitude / Z position|  */
 	MAV_CMD_MISSION_START=300, /* start running a mission |first_item: the first mission item to run| last_item:  the last mission item to run (after this item is run, the mission ends)|  */
 	MAV_CMD_COMPONENT_ARM_DISARM=400, /* Arms / Disarms a component |1 to arm, 0 to disarm|  */
-	MAV_CMD_ENUM_END=401, /*  | */
+	MAV_CMD_START_RX_PAIR=500, /* Starts receiver pairing |0:Spektrum| 0:Spektrum DSM2, 1:Spektrum DSMX|  */
+	MAV_CMD_ENUM_END=501, /*  | */
 };
 #endif
 

mavlink/include/mavlink/v1.0/common/mavlink_msg_6dof_setpoint.h

@@ -1,276 +0,0 @@
-// MESSAGE 6DOF_SETPOINT PACKING
-
-#define MAVLINK_MSG_ID_6DOF_SETPOINT 149
-
-typedef struct __mavlink_6dof_setpoint_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_6dof_setpoint_t;
-
-#define MAVLINK_MSG_ID_6DOF_SETPOINT_LEN 25
-#define MAVLINK_MSG_ID_149_LEN 25
-
-
-
-#define MAVLINK_MESSAGE_INFO_6DOF_SETPOINT { \
-	"6DOF_SETPOINT", \
-	7, \
-	{  { "trans_x", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_6dof_setpoint_t, trans_x) }, \
-         { "trans_y", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_6dof_setpoint_t, trans_y) }, \
-         { "trans_z", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_6dof_setpoint_t, trans_z) }, \
-         { "rot_x", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_6dof_setpoint_t, rot_x) }, \
-         { "rot_y", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_6dof_setpoint_t, rot_y) }, \
-         { "rot_z", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_6dof_setpoint_t, rot_z) }, \
-         { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 24, offsetof(mavlink_6dof_setpoint_t, target_system) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a 6dof_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 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_6dof_setpoint_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_6dof_setpoint_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_6DOF_SETPOINT;
-	return mavlink_finalize_message(msg, system_id, component_id, 25, 144);
-}
-
-/**
- * @brief Pack a 6dof_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 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_6dof_setpoint_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_6dof_setpoint_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_6DOF_SETPOINT;
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 25, 144);
-}
-
-/**
- * @brief Encode a 6dof_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 6dof_setpoint C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_6dof_setpoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_6dof_setpoint_t* 6dof_setpoint)
-{
-	return mavlink_msg_6dof_setpoint_pack(system_id, component_id, msg, 6dof_setpoint->target_system, 6dof_setpoint->trans_x, 6dof_setpoint->trans_y, 6dof_setpoint->trans_z, 6dof_setpoint->rot_x, 6dof_setpoint->rot_y, 6dof_setpoint->rot_z);
-}
-
-/**
- * @brief Send a 6dof_setpoint 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_6dof_setpoint_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_6DOF_SETPOINT, buf, 25, 144);
-#else
-	mavlink_6dof_setpoint_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_6DOF_SETPOINT, (const char *)&packet, 25, 144);
-#endif
-}
-
-#endif
-
-// MESSAGE 6DOF_SETPOINT UNPACKING
-
-
-/**
- * @brief Get field target_system from 6dof_setpoint message
- *
- * @return System ID
- */
-static inline uint8_t mavlink_msg_6dof_setpoint_get_target_system(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  24);
-}
-
-/**
- * @brief Get field trans_x from 6dof_setpoint message
- *
- * @return Translational Component in x
- */
-static inline float mavlink_msg_6dof_setpoint_get_trans_x(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  0);
-}
-
-/**
- * @brief Get field trans_y from 6dof_setpoint message
- *
- * @return Translational Component in y
- */
-static inline float mavlink_msg_6dof_setpoint_get_trans_y(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  4);
-}
-
-/**
- * @brief Get field trans_z from 6dof_setpoint message
- *
- * @return Translational Component in z
- */
-static inline float mavlink_msg_6dof_setpoint_get_trans_z(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  8);
-}
-
-/**
- * @brief Get field rot_x from 6dof_setpoint message
- *
- * @return Rotational Component in x
- */
-static inline float mavlink_msg_6dof_setpoint_get_rot_x(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  12);
-}
-
-/**
- * @brief Get field rot_y from 6dof_setpoint message
- *
- * @return Rotational Component in y
- */
-static inline float mavlink_msg_6dof_setpoint_get_rot_y(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  16);
-}
-
-/**
- * @brief Get field rot_z from 6dof_setpoint message
- *
- * @return Rotational Component in z
- */
-static inline float mavlink_msg_6dof_setpoint_get_rot_z(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  20);
-}
-
-/**
- * @brief Decode a 6dof_setpoint message into a struct
- *
- * @param msg The message to decode
- * @param 6dof_setpoint C-struct to decode the message contents into
- */
-static inline void mavlink_msg_6dof_setpoint_decode(const mavlink_message_t* msg, mavlink_6dof_setpoint_t* 6dof_setpoint)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	6dof_setpoint->trans_x = mavlink_msg_6dof_setpoint_get_trans_x(msg);
-	6dof_setpoint->trans_y = mavlink_msg_6dof_setpoint_get_trans_y(msg);
-	6dof_setpoint->trans_z = mavlink_msg_6dof_setpoint_get_trans_z(msg);
-	6dof_setpoint->rot_x = mavlink_msg_6dof_setpoint_get_rot_x(msg);
-	6dof_setpoint->rot_y = mavlink_msg_6dof_setpoint_get_rot_y(msg);
-	6dof_setpoint->rot_z = mavlink_msg_6dof_setpoint_get_rot_z(msg);
-	6dof_setpoint->target_system = mavlink_msg_6dof_setpoint_get_target_system(msg);
-#else
-	memcpy(6dof_setpoint, _MAV_PAYLOAD(msg), 25);
-#endif
-}

mavlink/include/mavlink/v1.0/common/mavlink_msg_8dof_setpoint.h

@@ -1,320 +0,0 @@
-// MESSAGE 8DOF_SETPOINT PACKING
-
-#define MAVLINK_MSG_ID_8DOF_SETPOINT 148
-
-typedef struct __mavlink_8dof_setpoint_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_8dof_setpoint_t;
-
-#define MAVLINK_MSG_ID_8DOF_SETPOINT_LEN 33
-#define MAVLINK_MSG_ID_148_LEN 33
-
-
-
-#define MAVLINK_MESSAGE_INFO_8DOF_SETPOINT { \
-	"8DOF_SETPOINT", \
-	9, \
-	{  { "val1", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_8dof_setpoint_t, val1) }, \
-         { "val2", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_8dof_setpoint_t, val2) }, \
-         { "val3", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_8dof_setpoint_t, val3) }, \
-         { "val4", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_8dof_setpoint_t, val4) }, \
-         { "val5", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_8dof_setpoint_t, val5) }, \
-         { "val6", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_8dof_setpoint_t, val6) }, \
-         { "val7", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_8dof_setpoint_t, val7) }, \
-         { "val8", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_8dof_setpoint_t, val8) }, \
-         { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 32, offsetof(mavlink_8dof_setpoint_t, target_system) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a 8dof_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 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_8dof_setpoint_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_8dof_setpoint_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_8DOF_SETPOINT;
-	return mavlink_finalize_message(msg, system_id, component_id, 33, 42);
-}
-
-/**
- * @brief Pack a 8dof_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 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_8dof_setpoint_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_8dof_setpoint_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_8DOF_SETPOINT;
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 33, 42);
-}
-
-/**
- * @brief Encode a 8dof_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 8dof_setpoint C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_8dof_setpoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_8dof_setpoint_t* 8dof_setpoint)
-{
-	return mavlink_msg_8dof_setpoint_pack(system_id, component_id, msg, 8dof_setpoint->target_system, 8dof_setpoint->val1, 8dof_setpoint->val2, 8dof_setpoint->val3, 8dof_setpoint->val4, 8dof_setpoint->val5, 8dof_setpoint->val6, 8dof_setpoint->val7, 8dof_setpoint->val8);
-}
-
-/**
- * @brief Send a 8dof_setpoint 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_8dof_setpoint_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_8DOF_SETPOINT, buf, 33, 42);
-#else
-	mavlink_8dof_setpoint_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_8DOF_SETPOINT, (const char *)&packet, 33, 42);
-#endif
-}
-
-#endif
-
-// MESSAGE 8DOF_SETPOINT UNPACKING
-
-
-/**
- * @brief Get field target_system from 8dof_setpoint message
- *
- * @return System ID
- */
-static inline uint8_t mavlink_msg_8dof_setpoint_get_target_system(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  32);
-}
-
-/**
- * @brief Get field val1 from 8dof_setpoint message
- *
- * @return Value 1
- */
-static inline float mavlink_msg_8dof_setpoint_get_val1(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  0);
-}
-
-/**
- * @brief Get field val2 from 8dof_setpoint message
- *
- * @return Value 2
- */
-static inline float mavlink_msg_8dof_setpoint_get_val2(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  4);
-}
-
-/**
- * @brief Get field val3 from 8dof_setpoint message
- *
- * @return Value 3
- */
-static inline float mavlink_msg_8dof_setpoint_get_val3(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  8);
-}
-
-/**
- * @brief Get field val4 from 8dof_setpoint message
- *
- * @return Value 4
- */
-static inline float mavlink_msg_8dof_setpoint_get_val4(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  12);
-}
-
-/**
- * @brief Get field val5 from 8dof_setpoint message
- *
- * @return Value 5
- */
-static inline float mavlink_msg_8dof_setpoint_get_val5(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  16);
-}
-
-/**
- * @brief Get field val6 from 8dof_setpoint message
- *
- * @return Value 6
- */
-static inline float mavlink_msg_8dof_setpoint_get_val6(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  20);
-}
-
-/**
- * @brief Get field val7 from 8dof_setpoint message
- *
- * @return Value 7
- */
-static inline float mavlink_msg_8dof_setpoint_get_val7(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  24);
-}
-
-/**
- * @brief Get field val8 from 8dof_setpoint message
- *
- * @return Value 8
- */
-static inline float mavlink_msg_8dof_setpoint_get_val8(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  28);
-}
-
-/**
- * @brief Decode a 8dof_setpoint message into a struct
- *
- * @param msg The message to decode
- * @param 8dof_setpoint C-struct to decode the message contents into
- */
-static inline void mavlink_msg_8dof_setpoint_decode(const mavlink_message_t* msg, mavlink_8dof_setpoint_t* 8dof_setpoint)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	8dof_setpoint->val1 = mavlink_msg_8dof_setpoint_get_val1(msg);
-	8dof_setpoint->val2 = mavlink_msg_8dof_setpoint_get_val2(msg);
-	8dof_setpoint->val3 = mavlink_msg_8dof_setpoint_get_val3(msg);
-	8dof_setpoint->val4 = mavlink_msg_8dof_setpoint_get_val4(msg);
-	8dof_setpoint->val5 = mavlink_msg_8dof_setpoint_get_val5(msg);
-	8dof_setpoint->val6 = mavlink_msg_8dof_setpoint_get_val6(msg);
-	8dof_setpoint->val7 = mavlink_msg_8dof_setpoint_get_val7(msg);
-	8dof_setpoint->val8 = mavlink_msg_8dof_setpoint_get_val8(msg);
-	8dof_setpoint->target_system = mavlink_msg_8dof_setpoint_get_target_system(msg);
-#else
-	memcpy(8dof_setpoint, _MAV_PAYLOAD(msg), 33);
-#endif
-}

mavlink/include/mavlink/v1.0/common/mavlink_msg_attitude.h

@@ -89,7 +89,7 @@ static inline uint16_t mavlink_msg_attitude_pack(uint8_t system_id, uint8_t comp
  * @brief Pack a attitude 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 chan The MAVLink channel this message will be 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, -pi..+pi)
@@ -137,7 +137,7 @@ static inline uint16_t mavlink_msg_attitude_pack_chan(uint8_t system_id, uint8_t
 }
 
 /**
- * @brief Encode a attitude struct into a message
+ * @brief Encode a attitude struct
  *
  * @param system_id ID of this system
  * @param component_id ID of this component (e.g. 200 for IMU)
@@ -149,6 +149,20 @@ static inline uint16_t mavlink_msg_attitude_encode(uint8_t system_id, uint8_t co
 	return mavlink_msg_attitude_pack(system_id, component_id, msg, attitude->time_boot_ms, attitude->roll, attitude->pitch, attitude->yaw, attitude->rollspeed, attitude->pitchspeed, attitude->yawspeed);
 }
 
+/**
+ * @brief Encode a attitude struct on a channel
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message will be sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param attitude C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_attitude_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_attitude_t* attitude)
+{
+	return mavlink_msg_attitude_pack_chan(system_id, component_id, chan, msg, attitude->time_boot_ms, attitude->roll, attitude->pitch, attitude->yaw, attitude->rollspeed, attitude->pitchspeed, attitude->yawspeed);
+}
+
 /**
  * @brief Send a attitude message
  * @param chan MAVLink channel to send the message

mavlink/include/mavlink/v1.0/common/mavlink_msg_attitude_quaternion.h

@@ -94,7 +94,7 @@ static inline uint16_t mavlink_msg_attitude_quaternion_pack(uint8_t system_id, u
  * @brief Pack a attitude_quaternion 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 chan The MAVLink channel this message will be sent over
  * @param msg The MAVLink message to compress the data into
  * @param time_boot_ms Timestamp (milliseconds since system boot)
  * @param q1 Quaternion component 1
@@ -145,7 +145,7 @@ static inline uint16_t mavlink_msg_attitude_quaternion_pack_chan(uint8_t system_
 }
 
 /**
- * @brief Encode a attitude_quaternion struct into a message
+ * @brief Encode a attitude_quaternion struct
  *
  * @param system_id ID of this system
  * @param component_id ID of this component (e.g. 200 for IMU)
@@ -157,6 +157,20 @@ static inline uint16_t mavlink_msg_attitude_quaternion_encode(uint8_t system_id,
 	return mavlink_msg_attitude_quaternion_pack(system_id, component_id, msg, attitude_quaternion->time_boot_ms, attitude_quaternion->q1, attitude_quaternion->q2, attitude_quaternion->q3, attitude_quaternion->q4, attitude_quaternion->rollspeed, attitude_quaternion->pitchspeed, attitude_quaternion->yawspeed);
 }
 
+/**
+ * @brief Encode a attitude_quaternion struct on a channel
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message will be sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param attitude_quaternion C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_attitude_quaternion_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_attitude_quaternion_t* attitude_quaternion)
+{
+	return mavlink_msg_attitude_quaternion_pack_chan(system_id, component_id, chan, msg, attitude_quaternion->time_boot_ms, attitude_quaternion->q1, attitude_quaternion->q2, attitude_quaternion->q3, attitude_quaternion->q4, attitude_quaternion->rollspeed, attitude_quaternion->pitchspeed, attitude_quaternion->yawspeed);
+}
+
 /**
  * @brief Send a attitude_quaternion message
  * @param chan MAVLink channel to send the message

mavlink/include/mavlink/v1.0/common/mavlink_msg_auth_key.h

@@ -59,7 +59,7 @@ static inline uint16_t mavlink_msg_auth_key_pack(uint8_t system_id, uint8_t comp
  * @brief Pack a auth_key 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 chan The MAVLink channel this message will be sent over
  * @param msg The MAVLink message to compress the data into
  * @param key key
  * @return length of the message in bytes (excluding serial stream start sign)
@@ -89,7 +89,7 @@ static inline uint16_t mavlink_msg_auth_key_pack_chan(uint8_t system_id, uint8_t
 }
 
 /**
- * @brief Encode a auth_key struct into a message
+ * @brief Encode a auth_key struct
  *
  * @param system_id ID of this system
  * @param component_id ID of this component (e.g. 200 for IMU)
@@ -101,6 +101,20 @@ static inline uint16_t mavlink_msg_auth_key_encode(uint8_t system_id, uint8_t co
 	return mavlink_msg_auth_key_pack(system_id, component_id, msg, auth_key->key);
 }
 
+/**
+ * @brief Encode a auth_key struct on a channel
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message will be sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param auth_key C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_auth_key_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_auth_key_t* auth_key)
+{
+	return mavlink_msg_auth_key_pack_chan(system_id, component_id, chan, msg, auth_key->key);
+}
+
 /**
  * @brief Send a auth_key message
  * @param chan MAVLink channel to send the message

mavlink/include/mavlink/v1.0/common/mavlink_msg_battery_status.h

@@ -99,7 +99,7 @@ static inline uint16_t mavlink_msg_battery_status_pack(uint8_t system_id, uint8_
  * @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 chan The MAVLink channel this message will be 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)
@@ -153,7 +153,7 @@ static inline uint16_t mavlink_msg_battery_status_pack_chan(uint8_t system_id, u
 }
 
 /**
- * @brief Encode a battery_status struct into a message
+ * @brief Encode a battery_status struct
  *
  * @param system_id ID of this system
  * @param component_id ID of this component (e.g. 200 for IMU)
@@ -165,6 +165,20 @@ static inline uint16_t mavlink_msg_battery_status_encode(uint8_t system_id, uint
 	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 Encode a battery_status struct on a channel
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message will be sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param battery_status C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_battery_status_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_battery_status_t* battery_status)
+{
+	return mavlink_msg_battery_status_pack_chan(system_id, component_id, chan, 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

mavlink/include/mavlink/v1.0/common/mavlink_msg_change_operator_control.h

@@ -72,7 +72,7 @@ static inline uint16_t mavlink_msg_change_operator_control_pack(uint8_t system_i
  * @brief Pack a change_operator_control 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 chan The MAVLink channel this message will be sent over
  * @param msg The MAVLink message to compress the data into
  * @param target_system System the GCS requests control for
  * @param control_request 0: request control of this MAV, 1: Release control of this MAV
@@ -109,7 +109,7 @@ static inline uint16_t mavlink_msg_change_operator_control_pack_chan(uint8_t sys
 }
 
 /**
- * @brief Encode a change_operator_control struct into a message
+ * @brief Encode a change_operator_control struct
  *
  * @param system_id ID of this system
  * @param component_id ID of this component (e.g. 200 for IMU)
@@ -121,6 +121,20 @@ static inline uint16_t mavlink_msg_change_operator_control_encode(uint8_t system
 	return mavlink_msg_change_operator_control_pack(system_id, component_id, msg, change_operator_control->target_system, change_operator_control->control_request, change_operator_control->version, change_operator_control->passkey);
 }
 
+/**
+ * @brief Encode a change_operator_control struct on a channel
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message will be sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param change_operator_control C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_change_operator_control_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_change_operator_control_t* change_operator_control)
+{
+	return mavlink_msg_change_operator_control_pack_chan(system_id, component_id, chan, msg, change_operator_control->target_system, change_operator_control->control_request, change_operator_control->version, change_operator_control->passkey);
+}
+
 /**
  * @brief Send a change_operator_control message
  * @param chan MAVLink channel to send the message