diff --git a/qgroundcontrol.pro b/qgroundcontrol.pro index 2c66c318ba8c3d66b77f943a6b9424e46f99fbbe..2ac0cd0e0bf84f8260a31542fb209a3f0684f4cb 100644 --- a/qgroundcontrol.pro +++ b/qgroundcontrol.pro @@ -40,6 +40,7 @@ MOC_DIR = $${BUILDDIR}/moc UI_DIR = $${BUILDDIR}/ui RCC_DIR = $${BUILDDIR}/rcc MAVLINK_CONF = "" +MAVLINKPATH = $$BASEDIR/thirdParty/mavlink/v1.0 DEFINES += MAVLINK_NO_DATA win32 { @@ -87,58 +88,47 @@ exists(user_config.pri) { message("Adding support for additional MAVLink messages for: " $$MAVLINK_CONF) message("------------------------------------------------------------------------") } -INCLUDEPATH += $$BASEDIR/../mavlink/include/common -INCLUDEPATH += $$BASEDIR/../mavlink/include -INCLUDEPATH += $$BASEDIR/thirdParty/mavlink/include/common -INCLUDEPATH += $$BASEDIR/thirdParty/mavlink/include +INCLUDEPATH += $$MAVLINKPATH/common +INCLUDEPATH += $$MAVLINKPATH contains(MAVLINK_CONF, pixhawk) { # Remove the default set - it is included anyway - INCLUDEPATH -= $$BASEDIR/../mavlink/include/common - INCLUDEPATH -= $$BASEDIR/thirdParty/mavlink/include/common + INCLUDEPATH -= $$MAVLINKPATH/common # PIXHAWK SPECIAL MESSAGES - INCLUDEPATH += $$BASEDIR/../mavlink/include/pixhawk - INCLUDEPATH += $$BASEDIR/thirdParty/mavlink/include/pixhawk + INCLUDEPATH += $$MAVLINKPATH/pixhawk DEFINES += QGC_USE_PIXHAWK_MESSAGES } contains(MAVLINK_CONF, slugs) { # Remove the default set - it is included anyway - INCLUDEPATH -= $$BASEDIR/../mavlink/include/common - INCLUDEPATH -= $$BASEDIR/thirdParty/mavlink/include/common + INCLUDEPATH -= $$MAVLINKPATH/common # SLUGS SPECIAL MESSAGES - INCLUDEPATH += $$BASEDIR/../mavlink/include/slugs - INCLUDEPATH += $$BASEDIR/thirdParty/mavlink/include/slugs + INCLUDEPATH += $$MAVLINKPATH/slugs DEFINES += QGC_USE_SLUGS_MESSAGES } contains(MAVLINK_CONF, ualberta) { # Remove the default set - it is included anyway - INCLUDEPATH -= $$BASEDIR/../mavlink/include/common - INCLUDEPATH -= $$BASEDIR/thirdParty/mavlink/include/common + INCLUDEPATH -= $$MAVLINKPATH/common # UALBERTA SPECIAL MESSAGES - INCLUDEPATH += $$BASEDIR/../mavlink/include/ualberta - INCLUDEPATH += $$BASEDIR/thirdParty/mavlink/include/ualberta + INCLUDEPATH += $$MAVLINKPATH/ualberta DEFINES += QGC_USE_UALBERTA_MESSAGES } contains(MAVLINK_CONF, ardupilotmega) { # Remove the default set - it is included anyway - INCLUDEPATH -= $$BASEDIR/../mavlink/include/common + INCLUDEPATH -= $$MAVLINKPATH/common INCLUDEPATH -= $$BASEDIR/thirdParty/mavlink/include/common # UALBERTA SPECIAL MESSAGES - INCLUDEPATH += $$BASEDIR/../mavlink/include/ardupilotmega - INCLUDEPATH += $$BASEDIR/thirdParty/mavlink/include/ardupilotmega + INCLUDEPATH += $$MAVLINKPATH/ardupilotmega DEFINES += QGC_USE_ARDUPILOTMEGA_MESSAGES } contains(MAVLINK_CONF, senseSoar) { # Remove the default set - it is included anyway - INCLUDEPATH -= $$BASEDIR/../mavlink/include/common - INCLUDEPATH -= $$BASEDIR/thirdParty/mavlink/include/common + INCLUDEPATH -= $$MAVLINKPATH/common # SENSESOAR SPECIAL MESSAGES - INCLUDEPATH += $$BASEDIR/../mavlink/include/SenseSoar - INCLUDEPATH += $$BASEDIR/thirdParty/mavlink/include/SenseSoar + INCLUDEPATH += $$MAVLINKPATH/SenseSoar DEFINES += QGC_USE_SENSESOAR_MESSAGES } @@ -149,6 +139,7 @@ contains(MAVLINK_CONF, senseSoar) { include(qgroundcontrol.pri) # Include MAVLink generator +# has been deprecated DEPENDPATH += \ src/apps/mavlinkgen diff --git a/thirdParty/fetchUpstream.sh b/thirdParty/fetchUpstream.sh index 6fedc0149d3b7ce55555dd7acdfdbaa96ae6027a..90d90ec32c4ab4d977c5a1d1abeeb05f59394ad6 100755 --- a/thirdParty/fetchUpstream.sh +++ b/thirdParty/fetchUpstream.sh @@ -1,7 +1,6 @@ #!/bin/bash - -MAVLINK_TAG=257e5194afc4bd5752e10fb58e8b8ee158116eb7 QSERIAL_TAG=004e3de552fe25fee593dfcb03e2ffa82cb0b152 +MAVLINK_VERSION=1.0.0 libList="mavlink qserialport" @@ -31,7 +30,13 @@ function processLib fetch_git qserialport git://gitorious.org/inbiza-labs/qserialport.git master $QSERIAL_TAG ;; "mavlink") - fetch_git mavlink git@github.com:mavlink/mavlink.git master $MAVLINK_TAG + rm -rf mavlink + mavlinkName=mavlink-$MAVLINK_VERSION-Linux + wget https://github.com/downloads/mavlink/mavlink/$mavlinkName.tar.gz + tar -xzvf $mavlinkName.tar.gz + mv $mavlinkName/usr/local/include/mavlink mavlink + rm -rf $mavlinkName + rm -rf $mavlinkName.tar.gz ;; "all") for lib in $libList diff --git a/thirdParty/mavlink/.gitignore b/thirdParty/mavlink/.gitignore deleted file mode 100644 index cfa1d70f07c5bafc61cc51f329fb74fefd9d8b2f..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/.gitignore +++ /dev/null @@ -1,6 +0,0 @@ -*~ -doc/html -doc/*.log -missionlib/testing/*.xcodeproj/* -.DS_Store -build* diff --git a/thirdParty/mavlink/CMakeLists.txt b/thirdParty/mavlink/CMakeLists.txt deleted file mode 100644 index 494d552c870f8fa293d789aebe41ad6e976844f4..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/CMakeLists.txt +++ /dev/null @@ -1,137 +0,0 @@ -project (mavlink) - -# Requried cmake version -cmake_minimum_required (VERSION 2.8.2) - -# global needed variables -set(APPLICATION_NAME ${PROJECT_NAME}) - -# set these for release -set(APPLICATION_VERSION_MAJOR "1") -set(APPLICATION_VERSION_MINOR "0") -set(APPLICATION_VERSION_PATCH "0") - -set(APPLICATION_VERSION "${APPLICATION_VERSION_MAJOR}.${APPLICATION_VERSION_MINOR}.${APPLICATION_VERSION_PATCH}") -set(LIBRARY_VERSION ${APPLICATION_VERSION}) - -# SOVERSION scheme: CURRENT.AGE.REVISION -# If there was an incompatible interface change: -# Increment CURRENT. Set AGE and REVISION to 0 -# If there was a compatible interface change: -# Increment AGE. Set REVISION to 0 -# If the source code was changed, but there were no interface changes: -# Increment REVISION. -set(LIBRARY_SOVERSION "0.0.0") - -# where to look first for cmake modules, before ${CMAKE_ROOT}/Modules/ is checked -set(CMAKE_MODULE_PATH - ${CMAKE_SOURCE_DIR}/cmake - ${CMAKE_SOURCE_DIR}/cmake/arkcmake -) - -# add definitions -include(DefineCMakeDefaults) -include(DefinePlatformDefaults) -include(DefineCompilerFlags) -include(DefineInstallationPaths) - -# cpack -set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "MAVLink Micro Air Vehicle Message Marshalling Library") -set(CPACK_PACKAGE_VENDOR "pixhawk") -set(CPACK_DEBIAN_PACKAGE_MAINTAINER "james.goppert@gmail.com") -set(CPACK_PACKAGE_CONTACT "james.goppert@gmail.com") -set(CPACK_PACKAGE_DESCRIPTION_FILE "${CMAKE_SOURCE_DIR}/README") -set(CPACK_RESOURCE_FILE_LICENSE "${CMAKE_SOURCE_DIR}/license.txt") -set(CPACK_RESOURCE_FILE_README "${CMAKE_SOURCE_DIR}/README") -set(CPACK_PACKAGE_VERSION_MAJOR "${APPLICATION_VERSION_MAJOR}") -set(CPACK_PACKAGE_VERSION_MINOR "${APPLICATION_VERSION_MINOR}") -set(CPACK_PACKAGE_VERSION_PATCH "${APPLICATION_VERSION_PATCH}") -set(CPACK_PACKAGE_INSTALL_DIRECTORY "CMake ${CMake_VERSION_MAJOR}.${CMake_VERSION_MINOR}") -set(CPACK_SET_DESTDIR TRUE) -set(CPACK_SOURCE_IGNORE_FILES ${CPACK_SOURCE_IGNORE_FILES} - /.git/;/build/;~$;.*\\\\.bin$;.*\\\\.swp$) -set(CPACK_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}") - -if(WIN32) - set(CPACK_GENERATOR "NSIS") - set(CPACK_SOURCE_GENERATOR "ZIP") -elseif(APPLE) - set(CPACK_GENERATOR "PackageMaker") - set(CPACK_SOURCE_GENERATOR "TGZ") -elseif(UNIX) - set(CPACK_GENERATOR "DEB") - set(CPACK_SOURCE_GENERATOR "TGZ") -else() - message(FATAL_ERROR "unknown operating system") -endif() -include(CPack) - -# disallow in-source build -include(MacroEnsureOutOfSourceBuild) -macro_ensure_out_of_source_build("${PROJECT_NAME} requires an out of source build. -Please create a separate build directory and run 'cmake /path/to/${PROJECT_NAME} [options]' there.") - -# add macros -include(MacroAddPlugin) -include(MacroCopyFile) -include(MacroSetDefault) -include(language_support_v2) -include(MacroAddLinkFlags) -include(ExternalProject) -include(CTest) - -# settings -option(DEV_MODE "Setup paths for developer testing." OFF) -option(BUILD_SHARED_LIBS "Build shared libraries instead of static." OFF) - -# built variables -set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/bin) -set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/bin) - -# set build type -if(NOT CMAKE_BUILD_TYPE) - set(CMAKE_BUILD_TYPE RelWithDebInfo CACHE STRING - "Choose the type of build, options are: None Debug Release RelWithDebInfo MinSizeRel." - FORCE) -endif(NOT CMAKE_BUILD_TYPE) - -# enable languages -enable_language(C) -enable_language(CXX) - -# add make dist target -add_custom_target(dist COMMAND ${CMAKE_MAKE_PROGRAM} package_source) - -# external projects -set(EP_BASE_DIR "${CMAKE_BINARY_DIR}/CMakeExternals") -set_property(DIRECTORY PROPERTY EP_BASE ${EP_BASE_DIR}) -set(EP_INSTALL_PREFIX ${CMAKE_INSTALL_PREFIX}/${PROJECT_NAME}-external) - -# install/developer mode -if(DEV_MODE) - message(STATUS "configuring for in source build") - set(DATADIR ${PROJECT_SOURCE_DIR}/data) - set(LIBDIR ${CMAKE_BINARY_DIR}/lib) - set(BINDIR ${CMAKE_BINARY_DIR}/bin) - set(EP_DATADIR ${EP_BASE_DIR}/${EP_INSTALL_PREFIX}/share) -else() - message(STATUS "configuring for install build") - set(DATADIR ${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME}/data) - set(LIBDIR ${CMAKE_INSTALL_PREFIX}/lib) - set(BINDIR ${CMAKE_INSTALL_PREFIX}/bin) - set(EP_DATADIR ${EP_INSTALL_PREFIX}/share) -endif() -set(EP_INCLUDEDIR ${EP_BASE_DIR}/${EP_INSTALL_PREFIX}/include) -set(EP_LIBDIR ${EP_BASE_DIR}/${EP_INSTALL_PREFIX}/lib) - -# install files -install(DIRECTORY include/ DESTINATION include/${PROJECT_NAME} FILES_MATCHING PATTERN "*.h") - -# pkgconfig -configure_file(${CMAKE_CURRENT_SOURCE_DIR}/cmake/pc.cmake ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}.pc) -install(FILES - ${PROJECT_BINARY_DIR}/${PROJECT_NAME}.pc - DESTINATION lib/pkgconfig - ) - -# vim:sw=4:ts=4:expandtab diff --git a/thirdParty/mavlink/README b/thirdParty/mavlink/README deleted file mode 100644 index f91c58c0308ee10feef47e239cfd000a72cdbc74..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/README +++ /dev/null @@ -1,28 +0,0 @@ -MAVLink Micro Air Vehicle Message Marshalling Library - -This is a library for lightweight communication between -Micro Air Vehicles (swarm) and/or ground control stations. -It serializes C-structs for serial channels and can be used with -any type of radio modem. - -For help, please visit the mailing list: http://groups.google.com/group/mavlink - -MAVLink is licensed under the terms of the Lesser General Public License of the Free Software Foundation (LGPL). -As MAVLink is a header-only library, compiling an application with it is considered "using the libary", not a derived work. MAVLink can therefore be used without limits in any closed-source application without publishing the source code of the closed-source application. - -To generate/update packets, select mavlink_standard_message.xml -in the QGroundControl station settings view, select mavlink/include as -the output directory and click on "Save and Generate". -You will find the newly generated/updated message_xx.h files in -the mavlink/include/generated folder. - -To use MAVLink, #include the file, not the individual -message files. In some cases you will have to add the main folder to the include search path as well. To be safe, we recommend these flags: - -gcc -I mavlink/include -I mavlink/include/ - -For more information, please visit: - -http://qgroundcontrol.org/mavlink/ - -(c) 2009-2012 Lorenz Meier \ No newline at end of file diff --git a/thirdParty/mavlink/cmake/arkcmake/.gitignore b/thirdParty/mavlink/cmake/arkcmake/.gitignore deleted file mode 100644 index b8959c72213232194d8cd8d24fce7161e3d8737c..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/cmake/arkcmake/.gitignore +++ /dev/null @@ -1,4 +0,0 @@ -*.swp -*.pyc -.DS_Store -arkcmake diff --git a/thirdParty/mavlink/cmake/arkcmake/BuildOpenSceneGraph.cmake b/thirdParty/mavlink/cmake/arkcmake/BuildOpenSceneGraph.cmake deleted file mode 100644 index 076e4733dd93c360418aa9f3194eae52159aa51b..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/cmake/arkcmake/BuildOpenSceneGraph.cmake +++ /dev/null @@ -1,36 +0,0 @@ -# - Try to find OPENSCENEGRAPH -# Once done, this will define -# -# OPENSCENEGRAPH_FOUND - system has scicoslab -# OPENSCENEGRAPH_INCLUDE_DIRS - the scicoslab include directories -# OPENSCENEGRAPH_LIBRARIES - libraries to link to - -include(LibFindMacros) -include(MacroCommonPaths) - -MacroCommonPaths(OPENSCENEGRAPH) - -macro(build_openscenegraph TAG EP_BASE_DIR EP_INSTALL_PREFIX EP_DATADIR) - ExternalProject_Add(openscenegraph - SVN_REPOSITORY "http://www.openscenegraph.org/svn/osg/OpenSceneGraph/tags/OpenSceneGraph-${TAG}" - UPDATE_COMMAND "" - INSTALL_DIR ${EP_BASE_DIR}/${EP_INSTALL_PREFIX} - CMAKE_ARGS -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=${EP_INSTALL_PREFIX} - INSTALL_COMMAND make DESTDIR=${EP_BASE_DIR} install - ) - set(OPENSCENEGRAPH_INCLUDE_DIRS ${EP_BASE_DIR}/${EP_INSTALL_PREFIX}/include) - set(OPENSCENEGRAPH_DATA_DIR ${EP_DATADIR}/openscenegraph/data) - # static lib prefix - if(WIN32) - set(STATIC_LIB_PREFIX "") - elseif(APPLE) - set(STATIC_LIB_PREFIX "lib") - elseif(UNIX) - set(STATIC_LIB_PREFIX "lib") - else() - message(FATAL_ERROR "unknown operating system") - endif() - set(OPENSCENEGRAPH_LIBRARIES - ) - set(OPENSCENEGRAPH_FOUND TRUE) -endmacro() diff --git a/thirdParty/mavlink/cmake/arkcmake/COPYING b/thirdParty/mavlink/cmake/arkcmake/COPYING deleted file mode 100644 index 94a9ed024d3859793618152ea559a168bbcbb5e2..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/cmake/arkcmake/COPYING +++ /dev/null @@ -1,674 +0,0 @@ - GNU GENERAL PUBLIC LICENSE - Version 3, 29 June 2007 - - Copyright (C) 2007 Free Software Foundation, Inc. - Everyone is permitted to copy and distribute verbatim copies - of this license document, but changing it is not allowed. - - Preamble - - The GNU General Public License is a free, copyleft license for -software and other kinds of works. - - The licenses for most software and other practical works are designed -to take away your freedom to share and change the works. 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Additional Terms. - - "Additional permissions" are terms that supplement the terms of this -License by making exceptions from one or more of its conditions. -Additional permissions that are applicable to the entire Program shall -be treated as though they were included in this License, to the extent -that they are valid under applicable law. If additional permissions -apply only to part of the Program, that part may be used separately -under those permissions, but the entire Program remains governed by -this License without regard to the additional permissions. - - When you convey a copy of a covered work, you may at your option -remove any additional permissions from that copy, or from any part of -it. (Additional permissions may be written to require their own -removal in certain cases when you modify the work.) 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It is safest -to attach them to the start of each source file to most effectively -state the exclusion of warranty; and each file should have at least -the "copyright" line and a pointer to where the full notice is found. - - - Copyright (C) - - This program is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation, either version 3 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program. If not, see . - -Also add information on how to contact you by electronic and paper mail. - - If the program does terminal interaction, make it output a short -notice like this when it starts in an interactive mode: - - Copyright (C) - This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. - This is free software, and you are welcome to redistribute it - under certain conditions; type `show c' for details. - -The hypothetical commands `show w' and `show c' should show the appropriate -parts of the General Public License. Of course, your program's commands -might be different; for a GUI interface, you would use an "about box". - - You should also get your employer (if you work as a programmer) or school, -if any, to sign a "copyright disclaimer" for the program, if necessary. -For more information on this, and how to apply and follow the GNU GPL, see -. - - The GNU General Public License does not permit incorporating your program -into proprietary programs. If your program is a subroutine library, you -may consider it more useful to permit linking proprietary applications with -the library. If this is what you want to do, use the GNU Lesser General -Public License instead of this License. But first, please read -. diff --git a/thirdParty/mavlink/cmake/arkcmake/DefineCMakeDefaults.cmake b/thirdParty/mavlink/cmake/arkcmake/DefineCMakeDefaults.cmake deleted file mode 100644 index 72893c3c9befec929f13d56cd362bc2ac256cfb6..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/cmake/arkcmake/DefineCMakeDefaults.cmake +++ /dev/null @@ -1,27 +0,0 @@ -# Always include srcdir and builddir in include path -# This saves typing ${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_BINARY} in -# about every subdir -# since cmake 2.4.0 -set(CMAKE_INCLUDE_CURRENT_DIR ON) - -# Put the include dirs which are in the source or build tree -# before all other include dirs, so the headers in the sources -# are prefered over the already installed ones -# since cmake 2.4.1 -set(CMAKE_INCLUDE_DIRECTORIES_PROJECT_BEFORE ON) - -# Use colored output -# since cmake 2.4.0 -set(CMAKE_COLOR_MAKEFILE ON) - -# Define the generic version of the libraries here -set(GENERIC_LIB_VERSION "0.1.0") -set(GENERIC_LIB_SOVERSION "0") - -# Set the default build type to release with debug info -if (NOT CMAKE_BUILD_TYPE) - set(CMAKE_BUILD_TYPE RelWithDebInfo - CACHE STRING - "Choose the type of build, options are: None Debug Release RelWithDebInfo MinSizeRel." - ) -endif (NOT CMAKE_BUILD_TYPE) diff --git a/thirdParty/mavlink/cmake/arkcmake/DefineCompilerFlags.cmake b/thirdParty/mavlink/cmake/arkcmake/DefineCompilerFlags.cmake deleted file mode 100644 index d43c454bef4722762684feedf45796eba1a8df3d..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/cmake/arkcmake/DefineCompilerFlags.cmake +++ /dev/null @@ -1,71 +0,0 @@ -# define system dependent compiler flags - -include(CheckCCompilerFlag) -include(MacroCheckCCompilerFlagSSP) - -if (UNIX AND NOT WIN32) - # - # Define GNUCC compiler flags - # - if (${CMAKE_C_COMPILER_ID} MATCHES GNU) - # add -Wconversion ? - set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -std=gnu99 -pedantic -pedantic-errors") - set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -Wextra -Wshadow -Wmissing-prototypes -Wdeclaration-after-statement") - set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wunused -Wfloat-equal -Wpointer-arith -Wwrite-strings -Wformat-security") - set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wmissing-format-attribute") - - # with -fPIC - check_c_compiler_flag("-fPIC" WITH_FPIC) - if (WITH_FPIC) - set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fPIC") - endif (WITH_FPIC) - - check_c_compiler_flag_ssp("-fstack-protector" WITH_STACK_PROTECTOR) - if (WITH_STACK_PROTECTOR) - set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fstack-protector") - endif (WITH_STACK_PROTECTOR) - - check_c_compiler_flag("-D_FORTIFY_SOURCE=2" WITH_FORTIFY_SOURCE) - if (WITH_FORTIFY_SOURCE) - set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -D_FORTIFY_SOURCE=2") - endif (WITH_FORTIFY_SOURCE) - endif (${CMAKE_C_COMPILER_ID} MATCHES GNU) - - # - # Check for large filesystem support - # - if (CMAKE_SIZEOF_VOID_P MATCHES "8") - # with large file support - execute_process( - COMMAND - getconf LFS64_CFLAGS - OUTPUT_VARIABLE - _lfs_CFLAGS - ERROR_QUIET - OUTPUT_STRIP_TRAILING_WHITESPACE - ) - else (CMAKE_SIZEOF_VOID_P MATCHES "8") - # with large file support - execute_process( - COMMAND - getconf LFS_CFLAGS - OUTPUT_VARIABLE - _lfs_CFLAGS - ERROR_QUIET - OUTPUT_STRIP_TRAILING_WHITESPACE - ) - endif (CMAKE_SIZEOF_VOID_P MATCHES "8") - if (_lfs_CFLAGS) - string(REGEX REPLACE "[\r\n]" " " "${_lfs_CFLAGS}" "${${_lfs_CFLAGS}}") - set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${_lfs_CFLAGS}") - endif (_lfs_CFLAGS) - -endif (UNIX AND NOT WIN32) - -if (MSVC) - # Use secure functions by defaualt and suppress warnings about - #"deprecated" functions - set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} /D _CRT_SECURE_CPP_OVERLOAD_STANDARD_NAMES=1") - set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} /D _CRT_SECURE_CPP_OVERLOAD_STANDARD_NAMES_COUNT=1") - set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} /D _CRT_NONSTDC_NO_WARNINGS=1 /D _CRT_SECURE_NO_WARNINGS=1") -endif (MSVC) diff --git a/thirdParty/mavlink/cmake/arkcmake/DefineInstallationPaths.cmake b/thirdParty/mavlink/cmake/arkcmake/DefineInstallationPaths.cmake deleted file mode 100644 index d857871e830e0db06221a37544909ba65d84ceea..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/cmake/arkcmake/DefineInstallationPaths.cmake +++ /dev/null @@ -1,104 +0,0 @@ -if (WIN32) - # Same same - set(BIN_INSTALL_DIR "bin" CACHE PATH "-") - set(SBIN_INSTALL_DIR "." CACHE PATH "-") - set(LIB_INSTALL_DIR "lib" CACHE PATH "-") - set(INCLUDE_INSTALL_DIR "include" CACHE PATH "-") - set(PLUGIN_INSTALL_DIR "plugins" CACHE PATH "-") - set(HTML_INSTALL_DIR "doc/HTML" CACHE PATH "-") - set(ICON_INSTALL_DIR "." CACHE PATH "-") - set(SOUND_INSTALL_DIR "." CACHE PATH "-") - set(LOCALE_INSTALL_DIR "lang" CACHE PATH "-") -elseif (UNIX OR OS2) - IF (NOT APPLICATION_NAME) - MESSAGE(STATUS "${PROJECT_NAME} is used as APPLICATION_NAME") - SET(APPLICATION_NAME ${PROJECT_NAME}) - ENDIF (NOT APPLICATION_NAME) - - # Suffix for Linux - SET(LIB_SUFFIX - CACHE STRING "Define suffix of directory name (32/64)" - ) - - SET(EXEC_INSTALL_PREFIX - "${CMAKE_INSTALL_PREFIX}" - CACHE PATH "Base directory for executables and libraries" - ) - SET(SHARE_INSTALL_PREFIX - "${CMAKE_INSTALL_PREFIX}/share" - CACHE PATH "Base directory for files which go to share/" - ) - SET(DATA_INSTALL_PREFIX - "${SHARE_INSTALL_PREFIX}/${APPLICATION_NAME}" - CACHE PATH "The parent directory where applications can install their data") - - # The following are directories where stuff will be installed to - SET(BIN_INSTALL_DIR - "${EXEC_INSTALL_PREFIX}/bin" - CACHE PATH "The ${APPLICATION_NAME} binary install dir (default prefix/bin)" - ) - SET(SBIN_INSTALL_DIR - "${EXEC_INSTALL_PREFIX}/sbin" - CACHE PATH "The ${APPLICATION_NAME} sbin install dir (default prefix/sbin)" - ) - SET(LIB_INSTALL_DIR - "${EXEC_INSTALL_PREFIX}/lib${LIB_SUFFIX}" - CACHE PATH "The subdirectory relative to the install prefix where libraries will be installed (default is prefix/lib)" - ) - SET(LIBEXEC_INSTALL_DIR - "${EXEC_INSTALL_PREFIX}/libexec" - CACHE PATH "The subdirectory relative to the install prefix where libraries will be installed (default is prefix/libexec)" - ) - SET(PLUGIN_INSTALL_DIR - "${LIB_INSTALL_DIR}/${APPLICATION_NAME}" - CACHE PATH "The subdirectory relative to the install prefix where plugins will be installed (default is prefix/lib/${APPLICATION_NAME})" - ) - SET(INCLUDE_INSTALL_DIR - "${CMAKE_INSTALL_PREFIX}/include" - CACHE PATH "The subdirectory to the header prefix (default prefix/include)" - ) - - SET(DATA_INSTALL_DIR - "${DATA_INSTALL_PREFIX}" - CACHE PATH "The parent directory where applications can install their data (default prefix/share/${APPLICATION_NAME})" - ) - SET(HTML_INSTALL_DIR - "${DATA_INSTALL_PREFIX}/doc/HTML" - CACHE PATH "The HTML install dir for documentation (default data/doc/html)" - ) - SET(ICON_INSTALL_DIR - "${DATA_INSTALL_PREFIX}/icons" - CACHE PATH "The icon install dir (default data/icons/)" - ) - SET(SOUND_INSTALL_DIR - "${DATA_INSTALL_PREFIX}/sounds" - CACHE PATH "The install dir for sound files (default data/sounds)" - ) - - SET(LOCALE_INSTALL_DIR - "${SHARE_INSTALL_PREFIX}/locale" - CACHE PATH "The install dir for translations (default prefix/share/locale)" - ) - - SET(XDG_APPS_DIR - "${SHARE_INSTALL_PREFIX}/applications/" - CACHE PATH "The XDG apps dir" - ) - SET(XDG_DIRECTORY_DIR - "${SHARE_INSTALL_PREFIX}/desktop-directories" - CACHE PATH "The XDG directory" - ) - - SET(SYSCONF_INSTALL_DIR - "${EXEC_INSTALL_PREFIX}/etc" - CACHE PATH "The ${APPLICATION_NAME} sysconfig install dir (default prefix/etc)" - ) - SET(MAN_INSTALL_DIR - "${SHARE_INSTALL_PREFIX}/man" - CACHE PATH "The ${APPLICATION_NAME} man install dir (default prefix/man)" - ) - SET(INFO_INSTALL_DIR - "${SHARE_INSTALL_PREFIX}/info" - CACHE PATH "The ${APPLICATION_NAME} info install dir (default prefix/info)" - ) -endif () diff --git a/thirdParty/mavlink/cmake/arkcmake/DefinePlatformDefaults.cmake b/thirdParty/mavlink/cmake/arkcmake/DefinePlatformDefaults.cmake deleted file mode 100644 index 502d936b6f513565acca5f574d52686ee36ff63c..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/cmake/arkcmake/DefinePlatformDefaults.cmake +++ /dev/null @@ -1,28 +0,0 @@ -# Set system vars - -if (CMAKE_SYSTEM_NAME MATCHES "Linux") - set(LINUX TRUE) -endif(CMAKE_SYSTEM_NAME MATCHES "Linux") - -if (CMAKE_SYSTEM_NAME MATCHES "FreeBSD") - set(FREEBSD TRUE) - set(BSD TRUE) -endif (CMAKE_SYSTEM_NAME MATCHES "FreeBSD") - -if (CMAKE_SYSTEM_NAME MATCHES "OpenBSD") - set(OPENBSD TRUE) - set(BSD TRUE) -endif (CMAKE_SYSTEM_NAME MATCHES "OpenBSD") - -if (CMAKE_SYSTEM_NAME MATCHES "NetBSD") - set(NETBSD TRUE) - set(BSD TRUE) -endif (CMAKE_SYSTEM_NAME MATCHES "NetBSD") - -if (CMAKE_SYSTEM_NAME MATCHES "(Solaris|SunOS)") - set(SOLARIS TRUE) -endif (CMAKE_SYSTEM_NAME MATCHES "(Solaris|SunOS)") - -if (CMAKE_SYSTEM_NAME MATCHES "OS2") - set(OS2 TRUE) -endif (CMAKE_SYSTEM_NAME MATCHES "OS2") diff --git a/thirdParty/mavlink/cmake/arkcmake/FindARKCOMM.cmake b/thirdParty/mavlink/cmake/arkcmake/FindARKCOMM.cmake deleted file mode 100644 index d27ea1acb76c41e5cc5f917049fdb71c4d0eaa5b..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/cmake/arkcmake/FindARKCOMM.cmake +++ /dev/null @@ -1,62 +0,0 @@ -# - Try to find ARKCOMM -# Once done, this will define -# -# ARKCOMM_FOUND - system has scicoslab -# ARKCOMM_INCLUDE_DIRS - the scicoslab include directories -# ARKCOMM_LIBRARIES - libraries to link to - -include(LibFindMacros) -include(MacroCommonPaths) - -MacroCommonPaths(ARKCOMM) - -# Include dir -find_path(ARKCOMM_INCLUDE_DIR - NAMES arkcomm/AsyncSerial.hpp - PATHS ${COMMON_INCLUDE_PATHS_ARKCOMM} -) - -# the library itself -find_library(ARKCOMM_LIBRARY - NAMES arkcomm - PATHS ${COMMON_LIBRARY_PATHS_ARKCOMM} -) - -# the import file -find_path(ARKCOMM_LIBRARY_DIR - NAMES arkcomm/arkcomm-targets.cmake - PATHS ${COMMON_LIBRARY_PATHS_ARKCOMM} -) -set(ARKCOMM_LIB_IMPORT ${ARKCOMM_LIBRARY_DIR}/arkcomm/arkcomm-targets.cmake) - -# Set the include dir variables and the libraries and let libfind_process do the rest. -# NOTE: Singular variables for this library, plural for libraries this this lib depends on. -set(ARKCOMM_PROCESS_INCLUDES ARKCOMM_INCLUDE_DIR) -set(ARKCOMM_PROCESS_LIBS ARKCOMM_LIBRARY ARKCOMM_LIBRARIES) -libfind_process(ARKCOMM) - -macro(build_arkcomm TAG EP_BASE_DIR EP_INSTALL_PREFIX EP_DATADIR) - if(NOT ARKCOMM_FOUND) - ExternalProject_Add(arkcomm - GIT_REPOSITORY "git://github.com/arktools/arkcomm.git" - GIT_TAG ${TAG} - UPDATE_COMMAND "" - INSTALL_DIR ${EP_BASE_DIR}/${EP_INSTALL_PREFIX} - CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${EP_INSTALL_PREFIX} - INSTALL_COMMAND make DESTDIR=${EP_BASE_DIR} install - ) - set(ARKCOMM_INCLUDE_DIRS ${EP_BASE_DIR}/${EP_INSTALL_PREFIX}/include) - # static lib prefix - if(WIN32) - set(STATIC_LIB_PREFIX "") - elseif(APPLE) - set(STATIC_LIB_PREFIX "lib") - elseif(UNIX) - set(STATIC_LIB_PREFIX "lib") - else() - message(FATAL_ERROR "unknown operating system") - endif() - set(ARKCOMM_LIBRARIES ${EP_BASE_DIR}/${EP_INSTALL_PREFIX}/lib/${STATIC_LIB_PREFIX}arkcomm.a) - set(ARKCOMM_FOUND TRUE) - endif() -endmacro() diff --git a/thirdParty/mavlink/cmake/arkcmake/FindARKHANGAR.cmake b/thirdParty/mavlink/cmake/arkcmake/FindARKHANGAR.cmake deleted file mode 100644 index 39283f843e55b4cc628687ccd6d4b54f82c541a6..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/cmake/arkcmake/FindARKHANGAR.cmake +++ /dev/null @@ -1,45 +0,0 @@ -# - Try to find ARKHANGAR -# Once done, this will define -# -# ARKHANGAR_FOUND - system has scicoslab -# ARKHANGAR_INCLUDE_DIRS - the scicoslab include directories - -include(LibFindMacros) -include(MacroCommonPaths) - -MacroCommonPaths(ARKHANGAR) - -# Include dir -find_path(ARKHANGAR_INCLUDE_DIR - NAMES arkhangar/easystar/easystar-windtunnel.xml - PATHS ${COMMON_DATA_PATHS_ARKHANGAR} -) - -# data dir -find_path(ARKHANGAR_DATA_DIR_SEARCH - NAMES arkhangar/easystar/easystar-windtunnel.xml - PATHS ${COMMON_DATA_PATHS_ARKHANGAR} -) -set(ARKHANGAR_DATA_DIR ${ARKHANGAR_DATA_DIR_SEARCH}/arkhangar) - -# NOTE: Singular variables for this library, plural for libraries this this lib depends on. -set(ARKHANGAR_PROCESS_INCLUDES ARKHANGAR_INCLUDE_DIR) -libfind_process(ARKHANGAR) - -macro(build_arkhangar TAG EP_BASE_DIR EP_INSTALL_PREFIX EP_DATADIR) - find_package(ARKCOMM ${TAG}) - if( NOT ARKHANGAR_FOUND) - ExternalProject_Add(arkhangar - GIT_REPOSITORY "git://github.com/arktools/arkhangar.git" - GIT_TAG ${TAG} - UPDATE_COMMAND "" - INSTALL_DIR ${EP_BASE_DIR}/${EP_INSTALL_PREFIX} - CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${EP_INSTALL_PREFIX} - INSTALL_COMMAND make DESTDIR=${EP_BASE_DIR} install - ) - set(ARKHANGAR_INCLUDE_DIR "") - set(ARKHANGAR_INCLUDES_DIR "") - set(ARKHANGAR_DATA_DIR "${EP_BASE_DIR}/${EP_INSTALL_PREFIX}/share/arkhangar") - set(ARKHANGAR_FOUND TRUE) - endif() -endmacro() diff --git a/thirdParty/mavlink/cmake/arkcmake/FindARKMATH.cmake b/thirdParty/mavlink/cmake/arkcmake/FindARKMATH.cmake deleted file mode 100644 index d204a13b3f8a770762fb86b30e342e61891862ad..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/cmake/arkcmake/FindARKMATH.cmake +++ /dev/null @@ -1,70 +0,0 @@ -# - Try to find ARKMATH -# Once done, this will define -# -# ARKMATH_FOUND - system has scicoslab -# ARKMATH_INCLUDE_DIRS - the scicoslab include directories -# ARKMATH_LIBRARIES - libraries to link to - -include(LibFindMacros) -include(MacroCommonPaths) - -MacroCommonPaths(ARKMATH) - -# Include dir -find_path(ARKMATH_INCLUDE_DIR - NAMES arkmath/storage_adaptors.hpp - PATHS ${COMMON_INCLUDE_PATHS_ARKMATH} -) - -# data dir -find_path(ARKMATH_DATA_DIR_SEARCH - NAMES arkmath/data/WMM.COF - PATHS ${COMMON_DATA_PATHS_ARKMATH} -) -set(ARKMATH_DATA_DIR ${ARKMATH_DATA_DIR_SEARCH}/arkmath/data) - -# the library itself -find_library(ARKMATH_LIBRARY - NAMES arkmath - PATHS ${COMMON_LIBRARY_PATHS_ARKMATH} -) - -# the import file -find_path(ARKMATH_LIBRARY_DIR - NAMES arkmath/arkmath-targets.cmake - PATHS ${COMMON_LIBRARY_PATHS_ARKMATH} -) -set(ARKMATH_LIB_IMPORT ${ARKMATH_LIBRARY_DIR}/arkmath/arkmath-targets.cmake) - -# Set the include dir variables and the libraries and let libfind_process do the rest. -# NOTE: Singular variables for this library, plural for libraries this this lib depends on. -set(ARKMATH_PROCESS_INCLUDES ARKMATH_INCLUDE_DIR) -set(ARKMATH_PROCESS_LIBS ARKMATH_LIBRARY ARKMATH_LIBRARIES) -libfind_process(ARKMATH) - -macro(build_arkmath TAG EP_BASE_DIR EP_INSTALL_PREFIX EP_DATADIR) - if(NOT ARKMATH_FOUND) - ExternalProject_Add(arkmath - GIT_REPOSITORY "git://github.com/arktools/arkmath.git" - GIT_TAG ${TAG} - UPDATE_COMMAND "" - INSTALL_DIR ${EP_BASE_DIR}/${EP_INSTALL_PREFIX} - CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${EP_INSTALL_PREFIX} - INSTALL_COMMAND make DESTDIR=${EP_BASE_DIR} install - ) - set(ARKMATH_INCLUDE_DIRS ${EP_BASE_DIR}/${EP_INSTALL_PREFIX}/include) - set(ARKMATH_DATA_DIR ${EP_DATADIR}/arkmath/data) - # static lib prefix - if(WIN32) - set(STATIC_LIB_PREFIX "") - elseif(APPLE) - set(STATIC_LIB_PREFIX "lib") - elseif(UNIX) - set(STATIC_LIB_PREFIX "lib") - else() - message(FATAL_ERROR "unknown operating system") - endif() - set(ARKMATH_LIBRARIES ${EP_BASE_DIR}/${EP_INSTALL_PREFIX}/lib/${STATIC_LIB_PREFIX}arkmath.a) - set(ARKMATH_FOUND TRUE) - endif() -endmacro() diff --git a/thirdParty/mavlink/cmake/arkcmake/FindARKOSG.cmake b/thirdParty/mavlink/cmake/arkcmake/FindARKOSG.cmake deleted file mode 100644 index ea8acae7f9cf8bf684cda668c24240a14f3d0e71..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/cmake/arkcmake/FindARKOSG.cmake +++ /dev/null @@ -1,70 +0,0 @@ -# - Try to find ARKOSG -# Once done, this will define -# -# ARKOSG_FOUND - system has scicoslab -# ARKOSG_INCLUDE_DIRS - the scicoslab include directories -# ARKOSG_LIBRARIES - libraries to link to - -include(LibFindMacros) -include(MacroCommonPaths) - -MacroCommonPaths(ARKOSG) - -# Include dir -find_path(ARKOSG_INCLUDE_DIR - NAMES arkosg/osgUtils.hpp - PATHS ${COMMON_INCLUDE_PATHS_ARKOSG} -) - -# data dir -find_path(ARKOSG_DATA_DIR_SEARCH - NAMES arkosg/data/models/plane.ac - PATHS ${COMMON_DATA_PATHS_ARKOSG} -) -set(ARKOSG_DATA_DIR ${ARKOSG_DATA_DIR_SEARCH}/arkosg/data) - -# the library itself -find_library(ARKOSG_LIBRARY - NAMES arkosg - PATHS ${COMMON_LIBRARY_PATHS_ARKOSG} -) - -# the import file -find_path(ARKOSG_LIBRARY_DIR - NAMES arkosg/arkosg-targets.cmake - PATHS ${COMMON_LIBRARY_PATHS_ARKOSG} -) -set(ARKOSG_LIB_IMPORT ${ARKOSG_LIBRARY_DIR}/arkosg/arkosg-targets.cmake) - -# Set the include dir variables and the libraries and let libfind_process do the rest. -# NOTE: Singular variables for this library, plural for libraries this this lib depends on. -set(ARKOSG_PROCESS_INCLUDES ARKOSG_INCLUDE_DIR) -set(ARKOSG_PROCESS_LIBS ARKOSG_LIBRARY ARKOSG_LIBRARIES) -libfind_process(ARKOSG) - -macro(build_arkosg TAG EP_BASE_DIR EP_INSTALL_PREFIX EP_DATADIR) - if(NOT ARKOSG_FOUND) - ExternalProject_Add(arkosg - GIT_REPOSITORY "git://github.com/arktools/arkosg.git" - GIT_TAG ${TAG} - UPDATE_COMMAND "" - INSTALL_DIR ${EP_BASE_DIR}/${EP_INSTALL_PREFIX} - CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${EP_INSTALL_PREFIX} - INSTALL_COMMAND make DESTDIR=${EP_BASE_DIR} install - ) - set(ARKOSG_INCLUDE_DIRS ${EP_BASE_DIR}/${EP_INSTALL_PREFIX}/include) - set(ARKOSG_DATA_DIR ${EP_DATADIR}/arkosg/data) - # static lib prefix - if(WIN32) - set(STATIC_LIB_PREFIX "") - elseif(APPLE) - set(STATIC_LIB_PREFIX "lib") - elseif(UNIX) - set(STATIC_LIB_PREFIX "lib") - else() - message(FATAL_ERROR "unknown operating system") - endif() - set(ARKOSG_LIBRARIES ${EP_BASE_DIR}/${EP_INSTALL_PREFIX}/lib/${STATIC_LIB_PREFIX}arkosg.a) - set(ARKOSG_FOUND TRUE) - endif() -endmacro() diff --git a/thirdParty/mavlink/cmake/arkcmake/FindARKSCICOS.cmake b/thirdParty/mavlink/cmake/arkcmake/FindARKSCICOS.cmake deleted file mode 100644 index 31285571129b171768bf11821d26e0b76dcad03b..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/cmake/arkcmake/FindARKSCICOS.cmake +++ /dev/null @@ -1,36 +0,0 @@ -# - Try to find ARKSCICOS -# Once done, this will define -# -# ARKSCICOS_FOUND - system has scicoslab -# ARKSCICOS_INCLUDE_DIRS - the scicoslab include directories -# ARKSCICOS_LIBRARIES - libraries to link to - -include(LibFindMacroos) -include(MacroCommonPaths) - -MacroCommonPaths(ARKSCICOS) - -# Include dir -find_path(ARKSCICOS_INCLUDE_DIR - NAMES definiotions.hpp - PATHS ${COMMON_INCLUDE_PATHS_ARKSCICOS} -) - -# the library itself -find_library(ARKSCICOS_LIBRARY - NAMES arkscicos - PATHS ${COMMON_LIBRARY_PATHS_ARKSCICOS} -) - -# the import file -find_path(ARKSCICOS_LIBRARY_DIR - NAMES arkscicos/arkscicos-targets.cmake - PATHS ${COMMON_LIBRARY_PATHS_ARKSCICOS} -) -set(ARKSCICOS_LIB_IMPORT ${ARKSCICOS_LIBRARY_DIR}/arkscicos/arkscicos-targets.cmake) - -# Set the include dir variables and the libraries and let libfind_process do the rest. -# NOTE: Singular variables for this library, plural for libraries this this lib depends on. -set(ARKSCICOS_PROCESS_INCLUDES ARKSCICOS_INCLUDE_DIR) -set(ARKSCICOS_PROCESS_LIBS ARKSCICOS_LIBRARY ARKSCICOS_LIBRARIES) -libfind_process(ARKSCICOS) diff --git a/thirdParty/mavlink/cmake/arkcmake/FindBOOSTNUMERICBINDINGS.cmake b/thirdParty/mavlink/cmake/arkcmake/FindBOOSTNUMERICBINDINGS.cmake deleted file mode 100644 index 1147e78cbd4a965ae44122eb7a2e7834b6b6ddb1..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/cmake/arkcmake/FindBOOSTNUMERICBINDINGS.cmake +++ /dev/null @@ -1,36 +0,0 @@ -# - Try to find BOOSTNUMERICBINDINGS -# Once done, this will define -# -# BOOSTNUMERICBINDINGS_FOUND - system has scicoslab -# BOOSTNUMERICBINDINGS_INCLUDE_DIRS - the scicoslab include directories - -include(LibFindMacros) -include(MacroCommonPaths) - -MacroCommonPaths(BOOSTNUMERICBINDINGS) - -# Include dir -find_path(BOOSTNUMERICBINDINGS_INCLUDE_DIR - NAMES boost/numeric/bindings/lapack/lapack.h - PATHS ${COMMON_INCLUDE_PATHS_BOOSTNUMERICBINDINGS} -) - -# Set the include dir variables and the libraries and let libfind_process do the rest. -# NOTE: Singular variables for this library, plural for libraries this this lib depends on. -set(BOOSTNUMERICBINDINGS_PROCESS_INCLUDES BOOSTNUMERICBINDINGS_INCLUDE_DIR) -libfind_process(BOOSTNUMERICBINDINGS) - -macro(build_boostnumericbindings TAG EP_BASE_DIR EP_INSTALL_PREFIX) - if( NOT BOOSTNUMERICBINDINGS) - ExternalProject_Add(boost-numeric-bindings - GIT_REPOSITORY "http://git.tiker.net/trees/boost-numeric-bindings.git" - GIT_TAG ${BOOSTNUMERICBINDINGS_TAG} - CONFIGURE_COMMAND "" - BUILD_COMMAND "" - INSTALL_COMMAND "" - BUILD_IN_SOURCE 1 - ) - set(BOOSTNUMERICBINDINGS_FOUND TRUE) - set(BOOSTNUMERICBINDINGS_INCLUDE_DIRS ${EP_BASE_DIR}/Source/boost-numeric-bindings) - endif() -endmacro() diff --git a/thirdParty/mavlink/cmake/arkcmake/FindEASYSTAR.cmake b/thirdParty/mavlink/cmake/arkcmake/FindEASYSTAR.cmake deleted file mode 100644 index 7e3de7d3b43f78f988e8d4f44397a9ba5772570e..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/cmake/arkcmake/FindEASYSTAR.cmake +++ /dev/null @@ -1,21 +0,0 @@ -# - Try to find EASYSTAR -# Once done, this will define -# -# EASYSTAR_FOUND - system has easystar -# EASYSTAR_INCLUDE_DIRS - the easystar include directories - -include(LibFindMacros) -include(MacroCommonPaths) - -MacroCommonPaths(EASYSTAR) - -# Include dir -find_path(EASYSTAR_INCLUDE_DIR - NAMES easystar/easystar.xml - PATHS ${COMMON_INCLUDE_PATHS_EASYSTAR} -) - -# Set the include dir variables and the libraries and let libfind_process do the rest. -# NOTE: Singular variables for this library, plural for libraries this this lib depends on. -set(EASYSTAR_PROCESS_INCLUDES EASYSTAR_INCLUDE_DIR) -libfind_process(EASYSTAR) diff --git a/thirdParty/mavlink/cmake/arkcmake/FindJSBSIM.cmake b/thirdParty/mavlink/cmake/arkcmake/FindJSBSIM.cmake deleted file mode 100644 index 86fdadf3adc754d9a1ccc52091933a40cb352ae9..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/cmake/arkcmake/FindJSBSIM.cmake +++ /dev/null @@ -1,67 +0,0 @@ -# - Try to find JSBSIM -# Once done, this will define -# -# JSBSIM_FOUND - system has scicoslab -# JSBSIM_INCLUDE_DIRS - the scicoslab include directories -# JSBSIM_LIBRARIES - libraries to link to - -include(LibFindMacros) -include(MacroCommonPaths) - -MacroCommonPaths(JSBSIM) - -# Include dir -find_path(JSBSIM_INCLUDE_DIR - NAMES JSBSim/initialization/FGTrimmer.h - PATHS ${COMMON_INCLUDE_PATHS_JSBSIM} -) - -# data dir -find_path(JSBSIM_DATA_DIR_SEARCH - NAMES jsbsim/aircraft/aircraft_template.xml - PATHS ${COMMON_DATA_PATHS_JSBSIM} -) -set(JSBSIM_DATA_DIR ${JSBSIM_DATA_DIR_SEARCH}/jsbsim) - -# Finally the library itself -find_library(JSBSIM_LIBRARY - NAMES JSBSim - PATHS ${COMMON_LIBRARY_PATHS_JSBSIM} -) - -# Set the include dir variables and the libraries and let libfind_process do the rest. -# NOTE: Singular variables for this library, plural for libraries this this lib depends on. -set(JSBSIM_PROCESS_INCLUDES JSBSIM_INCLUDE_DIR) -set(JSBSIM_PROCESS_LIBS JSBSIM_LIBRARY JSBSIM_LIBRARIES) -set(JSBSIM_INCLUDE_DIR ${JSBSIM_INCLUDE_DIR} ${JSBSIM_INCLUDE_DIR}/JSBSim) -set(JSBSIM_INCLUDES ${JSBSIM_INCLUDES} ${JSBSIM_INCLUDE_DIR}/JSBSim) - -libfind_process(JSBSIM) - -macro(build_jsbsim TAG EP_BASE_DIR EP_INSTALL_PREFIX EP_DATADIR) - if(NOT JSBSIM_FOUND) - ExternalProject_Add(jsbsim - GIT_REPOSITORY "git://github.com/jgoppert/jsbsim.git" - GIT_TAG ${TAG} - UPDATE_COMMAND "" - INSTALL_DIR ${EP_BASE_DIR}/${EP_INSTALL_PREFIX} - CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${EP_INSTALL_PREFIX} - INSTALL_COMMAND make DESTDIR=${EP_BASE_DIR} install - ) - set(JSBSIM_INCLUDE_DIRS ${EP_BASE_DIR}/${EP_INSTALL_PREFIX}/include ${EP_BASE_DIR}/${EP_INSTALL_PREFIX}/include/jsbsim) - set(JSBSIM_DATA_DIR ${EP_DATADIR}/jsbsim) - # static lib prefix - if(WIN32) - set(STATIC_LIB_PREFIX "") - elseif(APPLE) - set(STATIC_LIB_PREFIX "lib") - elseif(UNIX) - set(STATIC_LIB_PREFIX "lib") - else() - message(FATAL_ERROR "unknown operating system") - endif() - - set(JSBSIM_LIBRARIES ${EP_BASE_DIR}/${EP_INSTALL_PREFIX}/lib/${STATIC_LIB_PREFIX}jsbsim.a) - set(JSBSIM_FOUND TRUE) - endif() -endmacro() diff --git a/thirdParty/mavlink/cmake/arkcmake/FindMAVLINK.cmake b/thirdParty/mavlink/cmake/arkcmake/FindMAVLINK.cmake deleted file mode 100644 index bf107b0ae09bdf6ab57c9bafe425a77803907f6b..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/cmake/arkcmake/FindMAVLINK.cmake +++ /dev/null @@ -1,38 +0,0 @@ -# - Try to find MAVLINK -# Once done, this will define -# -# MAVLINK_FOUND - system has scicoslab -# MAVLINK_INCLUDE_DIRS - the scicoslab include directories - -include(LibFindMacros) -include(MacroCommonPaths) - -MacroCommonPaths(MAVLINK) - -# Include dir -find_path(MAVLINK_INCLUDE_DIR - NAMES mavlink/mavlink_types.h - PATHS ${COMMON_INCLUDE_PATHS_MAVLINK} -) - -# Set the include dir variables and the libraries and let libfind_process do the rest. -# NOTE: Singular variables for this library, plural for libraries this this lib depends on. -set(MAVLINK_PROCESS_INCLUDES MAVLINK_INCLUDE_DIR) -libfind_process(MAVLINK) - -macro(build_mavlink TAG EP_BASE_DIR EP_INSTALL_PREFIX EP_DATADIR) - if( NOT MAVLINK_FOUND) - ExternalProject_Add(mavlink - GIT_REPOSITORY "git://github.com/pixhawk/mavlink.git" - GIT_TAG ${TAG} - UPDATE_COMMAND "" - INSTALL_DIR ${EP_BASE_DIR}/${EP_INSTALL_PREFIX} - CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${EP_INSTALL_PREFIX} - INSTALL_COMMAND make DESTDIR=${EP_BASE_DIR} install - ) - set(MAVLINK_INCLUDE_DIRS ${EP_INCLUDEDIR}) - set(MAVLINK_DATA_DIR "") - set(MAVLINK_LIBRARIES "") - set(MAVLINK_FOUND TRUE) - endif() -endmacro() diff --git a/thirdParty/mavlink/cmake/arkcmake/FindPLIB.cmake b/thirdParty/mavlink/cmake/arkcmake/FindPLIB.cmake deleted file mode 100644 index 8e5de7f8f5bc7c2c59174d005af669a3ac1838fc..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/cmake/arkcmake/FindPLIB.cmake +++ /dev/null @@ -1,70 +0,0 @@ -# Locate plib -# This module defines -# PLIB_LIBRARY -# PLIB_FOUND, if false, do not try to link to plib -# PLIB_INCLUDE_DIR, where to find the headers -# -# $PLIB_DIR is an environment variable that would -# correspond to the ./configure --prefix=$PLIB_DIR -# -# Created David Guthrie with code by Robert Osfield. - -FIND_PATH(PLIB_INCLUDE_DIR plib/js.h - $ENV{PLIB_DIR}/include - $ENV{PLIB_DIR} - $ENV{PLIB_ROOT}/include - ${DELTA3D_EXT_DIR}/inc - $ENV{DELTA_ROOT}/ext/inc - ~/Library/Frameworks - /Library/Frameworks - /usr/local/include - /usr/include - /sw/include # Fink - /opt/local/include # DarwinPorts - /opt/csw/include # Blastwave - /opt/include - [HKEY_LOCAL_MACHINE\\SYSTEM\\CurrentControlSet\\Control\\Session\ Manager\\Environment;PLIB_ROOT]/include - /usr/freeware/include -) - -MACRO(FIND_PLIB_LIBRARY MYLIBRARY MYLIBRARYNAMES) - - FIND_LIBRARY(${MYLIBRARY} - NAMES ${MYLIBRARYNAMES} - PATHS - $ENV{PLIB_DIR}/lib - $ENV{PLIB_DIR} - $ENV{OSGDIR}/lib - $ENV{OSGDIR} - $ENV{PLIB_ROOT}/lib - ${DELTA3D_EXT_DIR}/lib - $ENV{DELTA_ROOT}/ext/lib - ~/Library/Frameworks - /Library/Frameworks - /usr/local/lib - /usr/lib - /sw/lib - /opt/local/lib - /opt/csw/lib - /opt/lib - [HKEY_LOCAL_MACHINE\\SYSTEM\\CurrentControlSet\\Control\\Session\ Manager\\Environment;PLIB_ROOT]/lib - /usr/freeware/lib64 - ) - -ENDMACRO(FIND_PLIB_LIBRARY MYLIBRARY MYLIBRARYNAMES) - -SET(PLIB_RELEASE_JS_LIB_NAMES js plibjs) -SET(PLIB_RELEASE_UL_LIB_NAMES ul plibul) -SET(PLIB_DEBUG_JS_LIB_NAMES js_d plibjs_d) -SET(PLIB_DEBUG_UL_LIB_NAMES ul_d plibul_d) - - -FIND_PLIB_LIBRARY(PLIB_JS_LIBRARY "${PLIB_RELEASE_JS_LIB_NAMES}") -FIND_PLIB_LIBRARY(PLIB_JS_LIBRARY_DEBUG "${PLIB_DEBUG_JS_LIB_NAMES}") -FIND_PLIB_LIBRARY(PLIB_UL_LIBRARY "${PLIB_RELEASE_UL_LIB_NAMES}") -FIND_PLIB_LIBRARY(PLIB_UL_LIBRARY_DEBUG "${PLIB_DEBUG_UL_LIB_NAMES}") - -SET(PLIB_FOUND "NO") -IF(PLIB_JS_LIBRARY AND PLIB_INCLUDE_DIR) - SET(PLIB_FOUND "YES") -ENDIF(PLIB_JS_LIBRARY AND PLIB_INCLUDE_DIR) diff --git a/thirdParty/mavlink/cmake/arkcmake/FindSCICOSLAB.cmake b/thirdParty/mavlink/cmake/arkcmake/FindSCICOSLAB.cmake deleted file mode 100644 index 1ba3a3e4a812d6d332ce322fa603579bcef5e7c1..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/cmake/arkcmake/FindSCICOSLAB.cmake +++ /dev/null @@ -1,72 +0,0 @@ -# - Try to find SCICOSLAB -# Once done, this will define -# -# SCICOSLAB_FOUND - system has scicoslab -# SCICOSLAB_INCLUDE_DIRS - the scicoslab include directories -# SCICOSLAB_CONTRIB_DIR - the scicoslab contrib directory - -include(LibFindMacros) - -# find scicos -if (APPLE) - execute_process(COMMAND mdfind "kMDItemKind == Application && kMDItemDisplayName == ScicosLabGtk" - COMMAND head -1 - RESULT_VARIABLE RESULT - OUTPUT_VARIABLE SCICOS_APP_BUNDLE - ERROR_VARIABLE ERROR_MESSAGE - OUTPUT_STRIP_TRAILING_WHITESPACE) - if (RESULT) - MESSAGE(FATAL_ERROR "Could not locate 'ScicosLabGtk.app' - ${ERROR_MESSAGE}") - endif (RESULT) - execute_process(COMMAND find ${SCICOS_APP_BUNDLE} -name routines - COMMAND head -1 - RESULT_VARIABLE RESULT - OUTPUT_VARIABLE SCICOSLAB_GUESS_INCLUDE_DIRS - ERROR_VARIABLE ERROR_MESSAGE - OUTPUT_STRIP_TRAILING_WHITESPACE) - if (RESULT) - MESSAGE(FATAL_ERROR "Could not locate 'scicos_block4.h' in ScicosLabGtk.app - ${ERROR_MESSAGE}") - endif (RESULT) - execute_process(COMMAND find ${SCICOS_APP_BUNDLE} -name contrib - COMMAND head -1 - RESULT_VARIABLE RESULT - OUTPUT_VARIABLE SCICOSLAB_GUESS_CONTRIB_DIRS - ERROR_VARIABLE ERROR_MESSAGE - OUTPUT_STRIP_TRAILING_WHITESPACE) - if (RESULT) - MESSAGE(FATAL_ERROR "Could not locate 'loader.sce' in ScicosLabGtk.app - ${ERROR_MESSAGE}") - endif (RESULT) -elseif(UNIX) - set(SCICOSLAB_GUESS_INCLUDE_DIRS - /usr/lib/scicoslab-gtk-4.4b7/routines - /usr/lib/scicoslab-gtk-4.4/routines - /usr/lib/scicoslab-gtk-4.4.1/routines - ) - set(SCICOSLAB_GUESS_CONTRIB_DIRS - /usr/lib/scicoslab-gtk-4.4b7/contrib - /usr/lib/scicoslab-gtk-4.4/contrib - /usr/lib/scicoslab-gtk-4.4.1/contrib - ) -elseif(WIN32) - message(FATAL_ERROR "scicoslab cmake find module doesn't work for windows") -endif() - - -# Include dir -find_path(SCICOSLAB_INCLUDE_DIR - NAMES scicos/scicos_block4.h - PATHS ${SCICOSLAB_GUESS_INCLUDE_DIRS} -) - -# Contrib dir -find_path(SCICOSLAB_CONTRIB_DIR - NAMES loader.sce - PATHS ${SCICOSLAB_GUESS_CONTRIB_DIRS} -) -message(STATUS "contrib dir ${SCICOSLAB_CONTRIB_DIR}") - -# Set the include dir variables and the libraries and let libfind_process do the rest. -# NOTE: Singular variables for this library, plural for libraries this this lib depends on. -set(SCICOSLAB_PROCESS_INCLUDES SCICOSLAB_INCLUDE_DIR) -libfind_process(SCICOSLAB) -# vim:ts=4:sw=4:expandtab diff --git a/thirdParty/mavlink/cmake/arkcmake/FindSIMGEAR.cmake b/thirdParty/mavlink/cmake/arkcmake/FindSIMGEAR.cmake deleted file mode 100644 index e86de2aa9378ddac4c7df4f57b4d43942a403f84..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/cmake/arkcmake/FindSIMGEAR.cmake +++ /dev/null @@ -1,29 +0,0 @@ -# - Try to find SIMGEAR -# Once done, this will define -# -# SIMGEAR_FOUND - system has scicoslab -# SIMGEAR_INCLUDE_DIRS - the scicoslab include directories -# SIMGEAR_LIBRARIES - libraries to link to - -include(LibFindMacros) -include(MacroCommonPaths) - -MacroCommonPaths(SIMGEAR) - -# Include dir -find_path(SIMGEAR_INCLUDE_DIR - NAMES simgear/version.h - PATHS ${COMMON_INCLUDE_PATHS_SIMGEAR} -) - -# Finally the library itself -find_library(SIMGEAR_LIBRARY - NAMES sgio - PATHS ${COMMON_LIBRARY_PATHS_SIMGEAR} -) - -# Set the include dir variables and the libraries and let libfind_process do the rest. -# NOTE: Singular variables for this library, plural for libraries this this lib depends on. -set(SIMGEAR_PROCESS_INCLUDES SIMGEAR_INCLUDE_DIR) -set(SIMGEAR_PROCESS_LIBS SIMGEAR_LIBRARY SIMGEAR_LIBRARIES) -libfind_process(SIMGEAR) diff --git a/thirdParty/mavlink/cmake/arkcmake/LibFindMacros.cmake b/thirdParty/mavlink/cmake/arkcmake/LibFindMacros.cmake deleted file mode 100644 index ff9233a6c821be3f8dedf63632d1284951df5d7c..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/cmake/arkcmake/LibFindMacros.cmake +++ /dev/null @@ -1,98 +0,0 @@ -# Works the same as find_package, but forwards the "REQUIRED" and "QUIET" arguments -# used for the current package. For this to work, the first parameter must be the -# prefix of the current package, then the prefix of the new package etc, which are -# passed to find_package. -macro (libfind_package PREFIX) - set (LIBFIND_PACKAGE_ARGS ${ARGN}) - if (${PREFIX}_FIND_QUIETLY) - set (LIBFIND_PACKAGE_ARGS ${LIBFIND_PACKAGE_ARGS} QUIET) - endif (${PREFIX}_FIND_QUIETLY) - if (${PREFIX}_FIND_REQUIRED) - set (LIBFIND_PACKAGE_ARGS ${LIBFIND_PACKAGE_ARGS} REQUIRED) - endif (${PREFIX}_FIND_REQUIRED) - find_package(${LIBFIND_PACKAGE_ARGS}) -endmacro (libfind_package) - -# CMake developers made the UsePkgConfig system deprecated in the same release (2.6) -# where they added pkg_check_modules. Consequently I need to support both in my scripts -# to avoid those deprecated warnings. Here's a helper that does just that. -# Works identically to pkg_check_modules, except that no checks are needed prior to use. -macro (libfind_pkg_check_modules PREFIX PKGNAME) - if (${CMAKE_MAJOR_VERSION} EQUAL 2 AND ${CMAKE_MINOR_VERSION} EQUAL 4) - include(UsePkgConfig) - pkgconfig(${PKGNAME} ${PREFIX}_INCLUDE_DIRS ${PREFIX}_LIBRARY_DIRS ${PREFIX}_LDFLAGS ${PREFIX}_CFLAGS) - else (${CMAKE_MAJOR_VERSION} EQUAL 2 AND ${CMAKE_MINOR_VERSION} EQUAL 4) - find_package(PkgConfig) - if (PKG_CONFIG_FOUND) - pkg_check_modules(${PREFIX} ${PKGNAME}) - endif (PKG_CONFIG_FOUND) - endif (${CMAKE_MAJOR_VERSION} EQUAL 2 AND ${CMAKE_MINOR_VERSION} EQUAL 4) -endmacro (libfind_pkg_check_modules) - -# Do the final processing once the paths have been detected. -# If include dirs are needed, ${PREFIX}_PROCESS_INCLUDES should be set to contain -# all the variables, each of which contain one include directory. -# Ditto for ${PREFIX}_PROCESS_LIBS and library files. -# Will set ${PREFIX}_FOUND, ${PREFIX}_INCLUDE_DIRS and ${PREFIX}_LIBRARIES. -# Also handles errors in case library detection was required, etc. -macro (libfind_process PREFIX) - # Skip processing if already processed during this run - if (NOT ${PREFIX}_FOUND) - # Start with the assumption that the library was found - set (${PREFIX}_FOUND TRUE) - - # Process all includes and set _FOUND to false if any are missing - foreach (i ${${PREFIX}_PROCESS_INCLUDES}) - if (${i}) - set (${PREFIX}_INCLUDE_DIRS ${${PREFIX}_INCLUDE_DIRS} ${${i}}) - mark_as_advanced(${i}) - else (${i}) - set (${PREFIX}_FOUND FALSE) - endif (${i}) - endforeach (i) - - # Process all libraries and set _FOUND to false if any are missing - foreach (i ${${PREFIX}_PROCESS_LIBS}) - if (${i}) - set (${PREFIX}_LIBRARIES ${${PREFIX}_LIBRARIES} ${${i}}) - mark_as_advanced(${i}) - else (${i}) - set (${PREFIX}_FOUND FALSE) - endif (${i}) - endforeach (i) - - # Print message and/or exit on fatal error - if (${PREFIX}_FOUND) - if (NOT ${PREFIX}_FIND_QUIETLY) - message (STATUS "Found ${PREFIX} ${${PREFIX}_VERSION}") - endif (NOT ${PREFIX}_FIND_QUIETLY) - else (${PREFIX}_FOUND) - if (${PREFIX}_FIND_REQUIRED) - foreach (i ${${PREFIX}_PROCESS_INCLUDES} ${${PREFIX}_PROCESS_LIBS}) - message("${i}=${${i}}") - endforeach (i) - message (FATAL_ERROR "Required library ${PREFIX} NOT FOUND.\nInstall the library (dev version) and try again. If the library is already installed, use ccmake to set the missing variables manually.") - endif (${PREFIX}_FIND_REQUIRED) - endif (${PREFIX}_FOUND) - endif (NOT ${PREFIX}_FOUND) -endmacro (libfind_process) - -macro(libfind_library PREFIX basename) - set(TMP "") - if(MSVC80) - set(TMP -vc80) - endif(MSVC80) - if(MSVC90) - set(TMP -vc90) - endif(MSVC90) - set(${PREFIX}_LIBNAMES ${basename}${TMP}) - if(${ARGC} GREATER 2) - set(${PREFIX}_LIBNAMES ${basename}${TMP}-${ARGV2}) - string(REGEX REPLACE "\\." "_" TMP ${${PREFIX}_LIBNAMES}) - set(${PREFIX}_LIBNAMES ${${PREFIX}_LIBNAMES} ${TMP}) - endif(${ARGC} GREATER 2) - find_library(${PREFIX}_LIBRARY - NAMES ${${PREFIX}_LIBNAMES} - PATHS ${${PREFIX}_PKGCONF_LIBRARY_DIRS} - ) -endmacro(libfind_library) diff --git a/thirdParty/mavlink/cmake/arkcmake/MacroAddCompileFlags.cmake b/thirdParty/mavlink/cmake/arkcmake/MacroAddCompileFlags.cmake deleted file mode 100644 index a866689da655f90435a7644964e7efee32bae7a7..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/cmake/arkcmake/MacroAddCompileFlags.cmake +++ /dev/null @@ -1,21 +0,0 @@ -# - MACRO_ADD_COMPILE_FLAGS(target_name flag1 ... flagN) - -# Copyright (c) 2006, Oswald Buddenhagen, -# Copyright (c) 2006, Andreas Schneider, -# -# Redistribution and use is allowed according to the terms of the BSD license. -# For details see the accompanying COPYING-CMAKE-SCRIPTS file. - - -macro (MACRO_ADD_COMPILE_FLAGS _target) - - get_target_property(_flags ${_target} COMPILE_FLAGS) - if (_flags) - set(_flags ${_flags} ${ARGN}) - else (_flags) - set(_flags ${ARGN}) - endif (_flags) - - set_target_properties(${_target} PROPERTIES COMPILE_FLAGS ${_flags}) - -endmacro (MACRO_ADD_COMPILE_FLAGS) diff --git a/thirdParty/mavlink/cmake/arkcmake/MacroAddLinkFlags.cmake b/thirdParty/mavlink/cmake/arkcmake/MacroAddLinkFlags.cmake deleted file mode 100644 index 91cad3062545ed9e0c8029d5a0dd3395e03fd31f..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/cmake/arkcmake/MacroAddLinkFlags.cmake +++ /dev/null @@ -1,20 +0,0 @@ -# - MACRO_ADD_LINK_FLAGS(target_name flag1 ... flagN) - -# Copyright (c) 2006, Oswald Buddenhagen, -# Copyright (c) 2006, Andreas Schneider, -# -# Redistribution and use is allowed according to the terms of the BSD license. -# For details see the accompanying COPYING-CMAKE-SCRIPTS file. - -macro (MACRO_ADD_LINK_FLAGS _target) - - get_target_property(_flags ${_target} LINK_FLAGS) - if (_flags) - set(_flags "${_flags} ${ARGN}") - else (_flags) - set(_flags "${ARGN}") - endif (_flags) - - set_target_properties(${_target} PROPERTIES LINK_FLAGS "${_flags}") - -endmacro (MACRO_ADD_LINK_FLAGS) diff --git a/thirdParty/mavlink/cmake/arkcmake/MacroAddPlugin.cmake b/thirdParty/mavlink/cmake/arkcmake/MacroAddPlugin.cmake deleted file mode 100644 index 36b5e57e01bcb6487d6da2309914f1d246eaa108..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/cmake/arkcmake/MacroAddPlugin.cmake +++ /dev/null @@ -1,30 +0,0 @@ -# - MACRO_ADD_PLUGIN(name [WITH_PREFIX] file1 .. fileN) -# -# Create a plugin from the given source files. -# If WITH_PREFIX is given, the resulting plugin will have the -# prefix "lib", otherwise it won't. -# -# Copyright (c) 2006, Alexander Neundorf, -# Copyright (c) 2006, Laurent Montel, -# Copyright (c) 2006, Andreas Schneider, -# -# Redistribution and use is allowed according to the terms of the BSD license. -# For details see the accompanying COPYING-CMAKE-SCRIPTS file. - - -macro (MACRO_ADD_PLUGIN _target_NAME _with_PREFIX) - - if (${_with_PREFIX} STREQUAL "WITH_PREFIX") - set(_first_SRC) - else (${_with_PREFIX} STREQUAL "WITH_PREFIX") - set(_first_SRC ${_with_PREFIX}) - endif (${_with_PREFIX} STREQUAL "WITH_PREFIX") - - add_library(${_target_NAME} MODULE ${_first_SRC} ${ARGN}) - - if (_first_SRC) - set_target_properties(${_target_NAME} PROPERTIES PREFIX "") - endif (_first_SRC) - -endmacro (MACRO_ADD_PLUGIN _name _sources) - diff --git a/thirdParty/mavlink/cmake/arkcmake/MacroCheckCCompilerFlagSSP.cmake b/thirdParty/mavlink/cmake/arkcmake/MacroCheckCCompilerFlagSSP.cmake deleted file mode 100644 index b64fb453a4daccecc26fde9cd22e9ba89272a74c..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/cmake/arkcmake/MacroCheckCCompilerFlagSSP.cmake +++ /dev/null @@ -1,26 +0,0 @@ -# - Check whether the C compiler supports a given flag in the -# context of a stack checking compiler option. -# CHECK_C_COMPILER_FLAG_SSP(FLAG VARIABLE) -# -# FLAG - the compiler flag -# VARIABLE - variable to store the result -# -# This actually calls the check_c_source_compiles macro. -# See help for CheckCSourceCompiles for a listing of variables -# that can modify the build. - -# Copyright (c) 2006, Alexander Neundorf, -# -# Redistribution and use is allowed according to the terms of the BSD license. -# For details see the accompanying COPYING-CMAKE-SCRIPTS file. - - -INCLUDE(CheckCSourceCompiles) - -MACRO (CHECK_C_COMPILER_FLAG_SSP _FLAG _RESULT) - SET(SAFE_CMAKE_REQUIRED_DEFINITIONS "${CMAKE_REQUIRED_DEFINITIONS}") - SET(CMAKE_REQUIRED_DEFINITIONS "${_FLAG}") - CHECK_C_SOURCE_COMPILES("int main(int argc, char **argv) { char buffer[256]; return buffer[argc]=0;}" ${_RESULT}) - SET (CMAKE_REQUIRED_DEFINITIONS "${SAFE_CMAKE_REQUIRED_DEFINITIONS}") -ENDMACRO (CHECK_C_COMPILER_FLAG_SSP) - diff --git a/thirdParty/mavlink/cmake/arkcmake/MacroCommonPaths.cmake b/thirdParty/mavlink/cmake/arkcmake/MacroCommonPaths.cmake deleted file mode 100644 index 03f1d89867dbe5274eb1f20564b3d613ee0e262c..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/cmake/arkcmake/MacroCommonPaths.cmake +++ /dev/null @@ -1,51 +0,0 @@ -macro(MacroCommonPaths NAME) - set(COMMON_INCLUDE_PATHS_${NAME} - $ENV{${NAME}_DIR}/include - $ENV{${NAME}_DIR} - $ENV{${NAME}_ROOT}/include - $ENV{${NAME}_ROOT} - ~/Library/Frameworks - /Library/Frameworks - /usr/local/include - /usr/include - /sw/include # Fink - /opt/local/include # DarwinPorts - /opt/csw/include # Blastwave - /opt/include - [HKEY_LOCAL_MACHINE\\SYSTEM\\CurrentControlSet\\Control\\Session\\Manager\\Environment;${NAME}_DIR]/include - [HKEY_LOCAL_MACHINE\\SYSTEM\\CurrentControlSet\\Control\\Session\\Manager\\Environment;${NAME}_ROOT]/include - /usr/freeware/include - ) - set(COMMON_LIB_PATHS_${NAME} - $ENV{${NAME}_DIR}/lib - $ENV{${NAME}_DIR} - ~/Library/Frameworks - /Library/Frameworks - /usr/local/lib - /usr/lib - /sw/lib - /opt/local/lib - /opt/csw/lib - /opt/lib - [HKEY_LOCAL_MACHINE\\SYSTEM\\CurrentControlSet\\Control\\Session\\Manager\\Environment;${NAME}_DIR]/lib - [HKEY_LOCAL_MACHINE\\SYSTEM\\CurrentControlSet\\Control\\Session\\Manager\\Environment;${NAME}_ROOT]/lib - /usr/freeware/lib64 - ) - set(COMMON_DATA_PATHS_${NAME} - $ENV{${NAME}_DIR}/share - $ENV{${NAME}_DIR} - ~/Library/Frameworks - /Library/Frameworks - /usr/local/share - /usr/share - /sw/share - /opt/local/share - /opt/csw/share - /opt/share - [HKEY_LOCAL_MACHINE\\SYSTEM\\CurrentControlSet\\Control\\Session\\Manager\\Environment;${NAME}_DIR]/share - [HKEY_LOCAL_MACHINE\\SYSTEM\\CurrentControlSet\\Control\\Session\\Manager\\Environment;${NAME}_ROOT]/share - /usr/freeware/share64 - ) -endmacro(MacroCommonPaths) - -# vim:ts=4:sw=4:expandtab diff --git a/thirdParty/mavlink/cmake/arkcmake/MacroCopyFile.cmake b/thirdParty/mavlink/cmake/arkcmake/MacroCopyFile.cmake deleted file mode 100644 index cee1cae37e815c1b3b5c35e1b757e46f733bee02..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/cmake/arkcmake/MacroCopyFile.cmake +++ /dev/null @@ -1,33 +0,0 @@ -# - macro_copy_file(_src _dst) -# Copies a file to ${_dst} only if ${_src} is different (newer) than ${_dst} -# -# Example: -# macro_copy_file(${CMAKE_CURRENT_SOURCE_DIR}/icon.png ${CMAKE_CURRENT_BINARY_DIR}/.) -# Copies file icon.png to ${CMAKE_CURRENT_BINARY_DIR} directory -# -# Copyright (c) 2006-2007 Wengo -# Copyright (c) 2006-2008 Andreas Schneider -# -# Redistribution and use is allowed according to the terms of the BSD license. -# For details see the accompanying COPYING file. - - -macro (macro_copy_file _src _dst) - # Removes all path containing .svn or CVS or CMakeLists.txt during the copy - if (NOT ${_src} MATCHES ".*\\.svn|CVS|CMakeLists\\.txt.*") - - if (CMAKE_VERBOSE_MAKEFILE) - message(STATUS "Copy file from ${_src} to ${_dst}") - endif (CMAKE_VERBOSE_MAKEFILE) - - # Creates directory if necessary - get_filename_component(_path ${_dst} PATH) - file(MAKE_DIRECTORY ${_path}) - - execute_process( - COMMAND - ${CMAKE_COMMAND} -E copy_if_different ${_src} ${_dst} - OUTPUT_QUIET - ) - endif (NOT ${_src} MATCHES ".*\\.svn|CVS|CMakeLists\\.txt.*") -endmacro (macro_copy_file) diff --git a/thirdParty/mavlink/cmake/arkcmake/MacroEnsureOutOfSourceBuild.cmake b/thirdParty/mavlink/cmake/arkcmake/MacroEnsureOutOfSourceBuild.cmake deleted file mode 100644 index 3ff891b5127f0867b97e9d6c8844d2eaa2b761c4..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/cmake/arkcmake/MacroEnsureOutOfSourceBuild.cmake +++ /dev/null @@ -1,19 +0,0 @@ -# - MACRO_ENSURE_OUT_OF_SOURCE_BUILD() -# MACRO_ENSURE_OUT_OF_SOURCE_BUILD() - -# Copyright (c) 2006, Alexander Neundorf, -# -# Redistribution and use is allowed according to the terms of the BSD license. -# For details see the accompanying COPYING-CMAKE-SCRIPTS file. - -macro (MACRO_ENSURE_OUT_OF_SOURCE_BUILD _errorMessage) - - string(COMPARE EQUAL "${CMAKE_SOURCE_DIR}" "${CMAKE_BINARY_DIR}" _insource) - if (_insource) - file(REMOVE [CMakeCache.txt CMakeFiles]) - message(FATAL_ERROR "${_errorMessage}") - endif (_insource) - -endmacro (MACRO_ENSURE_OUT_OF_SOURCE_BUILD) - -# vim:ts=4:sw=4:expandtab diff --git a/thirdParty/mavlink/cmake/arkcmake/MacroFindOrBuild.cmake b/thirdParty/mavlink/cmake/arkcmake/MacroFindOrBuild.cmake deleted file mode 100644 index 973472d7c8598e7e741775dd891af51658d3a598..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/cmake/arkcmake/MacroFindOrBuild.cmake +++ /dev/null @@ -1,18 +0,0 @@ -macro(MacroFindOrBuild PACKAGE PACKAGE_PATH IS_GIT_SUBMODULE) - add_custom_target(${PACKAGE}) - if (NOT ${PACKAGE}_BUILD_FROM_SOURCE) - find_package(${PACKAGE}) - endif() - if (NOT ${PACKAGE}_FOUND) - set(${PACKAGE}_BUILD_FROM_SOURCE TRUE) - message(STATUS "could not find package ${PACKAGE}, building from source") - add_custom_target(${PACKAGE}_BUILD DEPENDS ${PACKAGE}_BUILD.stamp) - add_dependencies(${PACKAGE} ${PACKAGE}_BUILD) - set(${PACKAGE}_FOUND TRUE) - if (${IS_GIT_SUBMODULE}) - message(STATUS "${PACKAGE} detected as git submodule, will attempt to initialize it") - list(APPEND GIT_SUBMODULES ${PACKAGE_PATH}) - add_dependencies(${PACKAGE}_BUILD GIT) - endif() - endif() -endmacro(MacroFindOrBuild) diff --git a/thirdParty/mavlink/cmake/arkcmake/MacroSetDefault.cmake b/thirdParty/mavlink/cmake/arkcmake/MacroSetDefault.cmake deleted file mode 100644 index acb1e66698d721d8f622cffd2fccd3a7804f9540..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/cmake/arkcmake/MacroSetDefault.cmake +++ /dev/null @@ -1,6 +0,0 @@ -macro(MacroSetDefault VAR DEFAULT) - if (NOT DEFINED ${VAR}) - set(${VAR} ${DEFAULT}) - endif() -endmacro(MacroSetDefault) - diff --git a/thirdParty/mavlink/cmake/arkcmake/README.md b/thirdParty/mavlink/cmake/arkcmake/README.md deleted file mode 100644 index 5eaeb70b42eea68f89b40cc18fe630814329c749..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/cmake/arkcmake/README.md +++ /dev/null @@ -1,10 +0,0 @@ -arktools cmake modules -============= - -This repository contains the cmake modules used by arktools. -The python scripts do not function unless they are in an arktool. -From an arktool (ex. arktools/arkscicos) run: - -```console -./cmake/updateArkcmake.py -``` diff --git a/thirdParty/mavlink/cmake/arkcmake/UseDoxygen.cmake b/thirdParty/mavlink/cmake/arkcmake/UseDoxygen.cmake deleted file mode 100644 index c4ab7cccf34cc10a946cafe848db1fa99b027d7f..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/cmake/arkcmake/UseDoxygen.cmake +++ /dev/null @@ -1,100 +0,0 @@ -# - Run Doxygen -# -# Adds a doxygen target that runs doxygen to generate the html -# and optionally the LaTeX API documentation. -# The doxygen target is added to the doc target as dependency. -# i.e.: the API documentation is built with: -# make doc -# -# USAGE: INCLUDE IN PROJECT -# -# set(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}) -# include(UseDoxygen) -# Add the Doxyfile.in and UseDoxygen.cmake files to the projects source directory. -# -# -# Variables you may define are: -# DOXYFILE_OUTPUT_DIR - Path where the Doxygen output is stored. Defaults to "doc". -# -# DOXYFILE_LATEX_DIR - Directory where the Doxygen LaTeX output is stored. Defaults to "latex". -# -# DOXYFILE_HTML_DIR - Directory where the Doxygen html output is stored. Defaults to "html". -# - -# -# Copyright (c) 2009-2010 Tobias Rautenkranz -# Copyright (c) 2010 Andreas Schneider -# -# Redistribution and use is allowed according to the terms of the New -# BSD license. -# For details see the accompanying COPYING-CMAKE-SCRIPTS file. -# - -macro(usedoxygen_set_default name value) - if(NOT DEFINED "${name}") - set("${name}" "${value}") - endif() -endmacro() - -find_package(Doxygen) - -if(DOXYGEN_FOUND) - find_file(DOXYFILE_IN - NAMES - doxy.config.in - PATHS - ${CMAKE_CURRENT_SOURCE_DIR} - ${CMAKE_ROOT}/Modules/ - NO_DEFAULT_PATH) - include(FindPackageHandleStandardArgs) - find_package_handle_standard_args(DOXYFILE_IN DEFAULT_MSG "DOXYFILE_IN") -endif() - -if(DOXYGEN_FOUND AND DOXYFILE_IN_FOUND) - add_custom_target(doxygen ${DOXYGEN_EXECUTABLE} ${CMAKE_CURRENT_BINARY_DIR}/doxy.config) - - usedoxygen_set_default(DOXYFILE_OUTPUT_DIR "${CMAKE_CURRENT_BINARY_DIR}") - usedoxygen_set_default(DOXYFILE_HTML_DIR "html") - - set_property(DIRECTORY APPEND PROPERTY - ADDITIONAL_MAKE_CLEAN_FILES "${DOXYFILE_OUTPUT_DIR}/${DOXYFILE_HTML_DIR}") - - set(DOXYFILE_LATEX FALSE) - set(DOXYFILE_PDFLATEX FALSE) - set(DOXYFILE_DOT FALSE) - - find_package(LATEX) - if(LATEX_COMPILER AND MAKEINDEX_COMPILER) - set(DOXYFILE_LATEX TRUE) - usedoxygen_set_default(DOXYFILE_LATEX_DIR "latex") - - set_property(DIRECTORY APPEND PROPERTY - ADDITIONAL_MAKE_CLEAN_FILES - "${DOXYFILE_OUTPUT_DIR}/${DOXYFILE_LATEX_DIR}") - - if(PDFLATEX_COMPILER) - set(DOXYFILE_PDFLATEX TRUE) - endif() - if(DOXYGEN_DOT_EXECUTABLE) - set(DOXYFILE_DOT TRUE) - endif() - - add_custom_command(TARGET doxygen - POST_BUILD - COMMAND ${CMAKE_MAKE_PROGRAM} - WORKING_DIRECTORY "${DOXYFILE_OUTPUT_DIR}/${DOXYFILE_LATEX_DIR}") - endif() - - configure_file(${DOXYFILE_IN} ${CMAKE_CURRENT_BINARY_DIR}/doxy.config ESCAPE_QUOTES IMMEDIATE @ONLY) - if (EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/doxy.trac.in) - configure_file(${CMAKE_CURRENT_SOURCE_DIR}/doxy.trac.in ${CMAKE_CURRENT_BINARY_DIR}/doxy.trac ESCAPE_QUOTES IMMEDIATE @ONLY) - add_custom_target(doxygen-trac ${DOXYGEN_EXECUTABLE} ${CMAKE_CURRENT_BINARY_DIR}/doxy.trac) - endif() - - get_target_property(DOC_TARGET doc TYPE) - if(NOT DOC_TARGET) - add_custom_target(doc) - endif() - - add_dependencies(doc doxygen) -endif() diff --git a/thirdParty/mavlink/cmake/arkcmake/autobuild.py b/thirdParty/mavlink/cmake/arkcmake/autobuild.py deleted file mode 100755 index 462905094aa7a5495db9ba42c19adef6afa0c355..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/cmake/arkcmake/autobuild.py +++ /dev/null @@ -1,205 +0,0 @@ -#!/usr/bin/python -# Author: Lenna X. Peterson (github.com/lennax) -# based on bash script by James Goppert (github.com/jgoppert) - -# # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # -# USAGE: # -# $ ./autobuild.py [1-9] # -# Then follow menu # -# # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # - -# TODO: Error handling: -## check cmake success, etc. -## catch CMake Warning: - #Manually-specified variables were not used by the project: - #BUILD_TYPE -# (missing gprof flags) - -import sys # for sys.argv[] and sys.platform -import os # for chdir() -import subprocess # for check_call() -import shutil # for rmtree() -from optparse import OptionParser # for parsing options -try: - from get_build_path import get_build_path -except ImportError: - print "Could not find 'get_build_path.py' " - print "in '%s'" % os.path.dirname(os.path.abspath(__file__)) - print "This module is required." - raise SystemExit - -## Move to directory containing CMakeLists.txt and src/ -build_path = get_build_path() -if build_path: - os.chdir(build_path) -else: - print "The script was unable to find a build directory." - raise SystemExit - -makeargs = "-j8" -cmakecall = ["cmake", ".."] -build_dir = "build" - -## Parse command line options -## TODO: add makeargs/cmakeargs etc. -## (with 'action="append"' to append arg(s) to list) -usage = "usage: %prog [options] [1-9]" -parser = OptionParser(usage=usage) -parser.set_defaults(verbose=False, makeargs="-j8") -parser.add_option("-v", "--verbose", - action="store_true", dest="verbose", - help="Verbose mode") -parser.add_option("-c", "--cmake", - action="store", dest="cm", - help="Specify one or more arguments for CMake") -#parser.add_option("--makeargs", -# action="store", type="string", dest="makeargs", -# help="Argument to `make` [default '-j8']") -(options, args) = parser.parse_args() -if options.verbose: - os.environ['VERBOSE'] = "1" -### Split cmakeargs, reassemble, and insert into cmake call -if options.cm: - cm_raw = options.cm - cm_list = cm_raw.split("-D") - if cm_list[0] == "": - cm_list.pop(0) - for cm in cm_list: - cm = cm.lstrip() - cmakearg = "-D" + cm - cmakecall.insert(1, cmakearg) -#if options.makeargs: -# makeargs = options.makeargs - - -def install_build(cmakecall, exitVal=True): - if not os.path.isdir(build_dir): - os.mkdir(build_dir) - os.chdir(build_dir) - subprocess.check_call(cmakecall) - subprocess.check_call(["make", makeargs]) - if exitVal == True: - raise SystemExit - -def dev_build(): - cmakecall.insert(1, "-DDEV_MODE::bool=TRUE") - install_build(cmakecall) - -def grab_deps(): - if 'linux' in sys.platform: - try: - subprocess.check_call('sudo apt-get install cmake', shell=True) - except: - print "Error installing dependencies: ", sys.exc_info()[0] - print "apt-get is available on Debian and Ubuntu" - raise SystemExit - elif 'darwin' in sys.platform: - try: - subprocess.check_call('sudo port install cmake', shell=True) - except: - print "Error installing dependencies: ", sys.exc_info()[0] - print "Please install Macports (http://www.macports.org)" - raise SystemExit - else: - print "Platform not recognized (did not match linux or darwin)" - print "Script doesn't download dependencies for this platform" - raise SystemExit - -def package_source(): - install_build(cmakecall, exitVal=False) - subprocess.check_call(["make", "package_source"]) - raise SystemExit - -def package(): - install_build(cmakecall, exitVal=False) - subprocess.check_call(["make", "package"]) - raise SystemExit - -def remake(): - if not os.path.isdir(build_dir): - print "Directory '%s' does not exist" % build_dir - print "You must make before you can remake." - return 1 - os.chdir(build_dir) - subprocess.check_call(["make", makeargs]) - raise SystemExit - -def clean(): - if 'posix' in os.name: - print "Cleaning '%s' with rm -rf" % build_dir - subprocess.check_call(["rm", "-rf", build_dir]) - else: - print "Cleaning '%s' with shutil.rmtree()" % build_dir - print "(may be very slow)" - shutil.rmtree(build_dir, ignore_errors=True) - print "Build cleaned" - -# requires PROFILE definition in CMakeLists.txt: -# set(CMAKE_BUILD_TYPE PROFILE) -# set(CMAKE_CXX_FLAGS_PROFILE "-g -pg") -# set(CMAKE_C_FLAGS_PROFILE "-g -pg") -def profile(): - cmakecall.insert(1, "-DDEV_MODE::bool=TRUE") - cmakecall.insert(2, "-DBUILD_TYPE=PROFILE") - install_build(cmakecall) - -def menu(): - print "1. developer build: used for development." - print "2. install build: used for building before final installation to the system." - print "3. grab dependencies: installs all the required packages for debian based systems (ubuntu maverick/ debian squeeze,lenny) or darwin with macports." - print "4. package source: creates a source package for distribution." - print "5. package: creates binary packages for distribution." - print "6. remake: calls make again after project has been configured as install or in source build." - print "7. clean: removes the build directory." - print "8. profile: compiles for gprof." - print "9. end." - opt = raw_input("Please choose an option: ") - return opt - -try: - loop_num = 0 - # continues until a function raises system exit or ^C - while (1): - if len(args) == 1 and loop_num == 0: - opt = args[0] - loop_num += 1 - else: - opt = menu() - - try: - opt = int(opt) - except ValueError: - pass - - if opt == 1: - print "You chose developer build" - dev_build() - elif opt == 2: - print "You chose install build" - install_build(cmakecall) - elif opt == 3: - print "You chose to install dependencies" - grab_deps() - elif opt == 4: - print "You chose to package the source" - package_source() - elif opt == 5: - print "You chose to package the binary" - package() - elif opt == 6: - print "You chose to re-call make on the previously configured build" - remake() - elif opt == 7: - print "You chose to clean the build" - clean() - elif opt == 8: - # requires definition in CMakeLists.txt (see def above) - print "You chose to compile for gprof" - profile() - elif opt == 9: - raise SystemExit - else: - print "Invalid option. Please try again: " - -except KeyboardInterrupt: - print "\n" diff --git a/thirdParty/mavlink/cmake/arkcmake/get_build_path.py b/thirdParty/mavlink/cmake/arkcmake/get_build_path.py deleted file mode 100755 index f8baaba5f20571703c6875f8b791f1fdfe228008..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/cmake/arkcmake/get_build_path.py +++ /dev/null @@ -1,62 +0,0 @@ -#!/usr/bin/python -# Author: Lenna X. Peterson (github.com/lennax) -# Determines appropriate path for CMake -# Looks for "CMakeLists.txt" and "src/" -# ( BUILDFILE and SRCDIR in find_build_dir() ) -# Searches the following paths: -# 1 Path of call -# 2 Path where script is located -# 3 Path above 2 (parent directory) -# 4 Path above 3 (grandparent directory) - -import os # for getcwd(), os.path - -def get_build_path(): - - build_dir="" - - ## Initialize search paths - call_dir = os.getcwd() - script_dir = os.path.dirname(os.path.abspath(__file__)) - script_mom = os.path.abspath(script_dir + os.sep + os.pardir) - script_grandma = os.path.abspath(script_mom + os.sep + os.pardir) - if script_mom == call_dir: - script_mom = "" - if script_grandma == call_dir: - script_grandma = "" - - ## Define function to search for required components for build - def find_build_dir(search_dir): - BUILDFILE = "CMakeLists.txt" - #SRCDIR = "src" - os.chdir(search_dir) - if os.path.isfile(BUILDFILE): - return search_dir - return False - - ## Class to emulate if temp = x - # (checking equality of x while assigning it to temp) - # Borrowed from Alex Martelli - class Holder(object): - def set(self, value): - self.value = value - return value - def get(self): - return self.value - - temp = Holder() - - ## Search paths for build components - if temp.set(find_build_dir(call_dir)): - build_dir = temp.get() - elif temp.set(find_build_dir(script_dir)): - build_dir = temp.get() - elif script_mom and temp.set(find_build_dir(script_mom)): - build_dir = temp.get() - elif script_grandma and temp.set(find_build_dir(script_grandma)): - build_dir = temp.get() - else: - return 0 - - #print "I go now. Good luck, everybody!" - return build_dir diff --git a/thirdParty/mavlink/cmake/arkcmake/gitCheatSheet.md b/thirdParty/mavlink/cmake/arkcmake/gitCheatSheet.md deleted file mode 100644 index bf7d35bcc453383ef1580beb4153c35342d59129..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/cmake/arkcmake/gitCheatSheet.md +++ /dev/null @@ -1,90 +0,0 @@ -# git cheat sheet # - -git is a distributed version control system (DVCS). Version control is useful for software development for many reasons. Each version, or commit, acts as history of the software. If something breaks, it is easy to go back to a previous version that worked. git is also very useful for writing software as a team. Each commit is labeled with an author, so other authors can see who made what change. - -git can be used in a variety of ways, but in this lab, we use a simple setup. The main, shared code is stored on either github (public, for open source projects), bitbucket (private), or our lab server (for projects that cannot be online). These repositories are considered "origin master". Users use the 'clone' command once to make a local copy of the repository, 'pull' to get updated changes, and 'commit' and 'push' to contribute their changes. - -Following is a list of basic commands for git. - -## Initial setup ## - -To fetch a project for the first time (aka clone a repository): -_substitute appropriate address_ - -```console -git clone git@github.com:jgoppert/jsbsim.git -cd jsbsim -``` - -To setup your username and password (so everyone knows who did such great work!): - -```console -git config --global user.name "Firstname Lastname" -git config --global user.email "your_email@youremail.com" -``` - -## Daily use ## - -**Required:** Always do this before beginning any work to get any changes someone else may have made (this can avoid a lot of headaches): - -```console -git pull -``` - -To see current un-committed changes: - -```console -git diff -``` - -**Required:** To add all new and changed files, then commit changes: -(the only time you would omit push would be if you are working offline) - -```console -git add . -git commit -a -git push -``` - -If you get an error from the push command: - -```console -git push origin master -``` - -## Intermediate use ## - -To only commit changes to the file "new": -(example: you changed trim states but do not want to save them) - -```console -git add new -git commit -git push -``` - -Reverting all changes since last commit: - -```console -git reset --hard -``` -## Using branches ## - -A great idea if you think you might break everything! - -```console -git branch experiment -git checkout experiment -``` - -To switch back to the main files: - -```console -git checkout master -``` - -To combine the code from the branch back into the main files (this may cause conflicts, which will be clearly marked in the file): - -```console -git merge experiment -``` diff --git a/thirdParty/mavlink/cmake/arkcmake/language_support_v2.cmake b/thirdParty/mavlink/cmake/arkcmake/language_support_v2.cmake deleted file mode 100644 index aa5870bb093a05efe13a7a042a44adcb2428debe..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/cmake/arkcmake/language_support_v2.cmake +++ /dev/null @@ -1,65 +0,0 @@ -# cmake/modules/language_support.cmake -# -# Temporary additional general language support is contained within this -# file. - -# This additional function definition is needed to provide a workaround for -# CMake bug 9220. - -# On debian testing (cmake 2.6.2), I get return code zero when calling -# cmake the first time, but cmake crashes when running a second time -# as follows: -# -# -- The Fortran compiler identification is unknown -# CMake Error at /usr/share/cmake-2.6/Modules/CMakeFortranInformation.cmake:7 (GET_FILENAME_COMPONENT): -# get_filename_component called with incorrect number of arguments -# Call Stack (most recent call first): -# CMakeLists.txt:3 (enable_language) -# -# My workaround is to invoke cmake twice. If both return codes are zero, -# it is safe to invoke ENABLE_LANGUAGE(Fortran OPTIONAL) - -function(workaround_9220 language language_works) - #message("DEBUG: language = ${language}") - set(text - "project(test NONE) -cmake_minimum_required(VERSION 2.6.0) -enable_language(${language} OPTIONAL) -" - ) - file(REMOVE_RECURSE ${CMAKE_BINARY_DIR}/language_tests/${language}) - file(MAKE_DIRECTORY ${CMAKE_BINARY_DIR}/language_tests/${language}) - file(WRITE ${CMAKE_BINARY_DIR}/language_tests/${language}/CMakeLists.txt - ${text}) - execute_process( - COMMAND ${CMAKE_COMMAND} . - WORKING_DIRECTORY ${CMAKE_BINARY_DIR}/language_tests/${language} - RESULT_VARIABLE return_code - OUTPUT_QUIET - ERROR_QUIET - ) - - if(return_code EQUAL 0) - # Second run - execute_process ( - COMMAND ${CMAKE_COMMAND} . - WORKING_DIRECTORY ${CMAKE_BINARY_DIR}/language_tests/${language} - RESULT_VARIABLE return_code - OUTPUT_QUIET - ERROR_QUIET - ) - if(return_code EQUAL 0) - set(${language_works} ON PARENT_SCOPE) - else(return_code EQUAL 0) - set(${language_works} OFF PARENT_SCOPE) - endif(return_code EQUAL 0) - else(return_code EQUAL 0) - set(${language_works} OFF PARENT_SCOPE) - endif(return_code EQUAL 0) -endfunction(workaround_9220) - -# Temporary tests of the above function. -#workaround_9220(CXX CXX_language_works) -#message("CXX_language_works = ${CXX_language_works}") -#workaround_9220(CXXp CXXp_language_works) -#message("CXXp_language_works = ${CXXp_language_works}") diff --git a/thirdParty/mavlink/cmake/arkcmake/unixCheatSheet.md b/thirdParty/mavlink/cmake/arkcmake/unixCheatSheet.md deleted file mode 100644 index ed770e9b021c915ee5a91cb595730835616b8a1f..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/cmake/arkcmake/unixCheatSheet.md +++ /dev/null @@ -1,65 +0,0 @@ -# Using Unix and vi # - -A few basic Unix commands are all that is necessary to be able to work with files. - -First, all of these commands must be typed into the Terminal. Its icon is a black square with '>_' in white. On Debian, it is located at Applications > Accessories > Terminal. After typing the command, press Enter. - -'ls' lists the files in the current directory. The '-al' option shows hidden files and shows extra information in a list (directories have a d in front of them). Specifying a path will show the files in that directory. - -```console -ls -ls -al -ls -al Projects -``` - -'pwd' shows the absolute path to the current directory. - -```console -pwd -``` - -'cd' means change directory. It can be used in several ways. - -Used alone, it moves to the home directory of the current user. This is useful if you are looking at files somewhere else and need to go back to the home directory without typing the whole path. - -```console -cd -``` - -If there are directories inside the current directory (use 'ls -al', directories have d in front of them), you can move to them with a relative path: - -```console -cd Projects/jsbsim -``` - -If you want to move to a directory *outside* of the current directory, use an absolute path (the same thing that would be returned by 'pwd', notice that it begins with a slash): - -```console -cd /usr/local -``` - -Another important symbol is the tilde (~), which means the home directory of the current user (the same place 'cd' will move to): - -```console -cd ~/Projects/jsbsim -``` - -'cp' is copy and 'mv' is move, which is also used to rename files. - -To move a file from the current directory into the directory 'src/': - -```console -mv testfile src/ -``` - -To rename a file: - -```console -mv testfile release -``` - -To copy a file: - -```console -cp release test -``` diff --git a/thirdParty/mavlink/cmake/arkcmake/updateArkcmake.py b/thirdParty/mavlink/cmake/arkcmake/updateArkcmake.py deleted file mode 100755 index df75104ac9486201719f3eacf2995d9f4973e59a..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/cmake/arkcmake/updateArkcmake.py +++ /dev/null @@ -1,19 +0,0 @@ -#!/usr/bin/python -# Author: Lenna X. Peterson (github.com/lennax) -# Based on bash script by James Goppert (github.com/jgoppert) -# -# script used to update cmake modules from git repo, can't make this -# a submodule otherwise it won't know how to interpret the CMakeLists.txt -# # # # # # subprocess# # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # - -import os # for os.path -import subprocess # for check_call() - -clone_path = os.path.dirname(os.path.dirname(os.path.abspath(__file__))) -print clone_path -os.chdir(clone_path) -subprocess.check_call(["git", "clone", "git://github.com/arktools/arkcmake.git","arkcmake_tmp"]) -subprocess.check_call(["rm", "-rf", "arkcmake_tmp/.git"]) -if os.path.isdir("arkcmake"): - subprocess.check_call(["rm", "-rf", "arkcmake"]) -subprocess.check_call(["mv", "arkcmake_tmp", "arkcmake"]) diff --git a/thirdParty/mavlink/cmake/pc.cmake b/thirdParty/mavlink/cmake/pc.cmake deleted file mode 100644 index e6ca57be0bf7601b7e80dddb6b14fcefa3d9e2e3..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/cmake/pc.cmake +++ /dev/null @@ -1,7 +0,0 @@ -prefix=@CMAKE_INSTALL_PREFIX@ -exec_prefix=$@CMAKE_INSTALL_PREFIX@ - -Name: @PROJECT_NAME@ -Description: @CPACK_PACKAGE_DESCRIPTION_SUMMARY@ -Version: @APPLICATION_VERSION@ -Cflags: -I@CMAKE_INSTALL_PREFIX@/include/@PROJECT_NAME@ diff --git a/thirdParty/mavlink/doc/Doxyfile b/thirdParty/mavlink/doc/Doxyfile deleted file mode 100755 index 4ab7c0e06f50e2cc1c707636f45726291afa3deb..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/doc/Doxyfile +++ /dev/null @@ -1,1521 +0,0 @@ -# Doxyfile 1.6.1 - -# This file describes the settings to be used by the documentation system -# doxygen (www.doxygen.org) for a project -# -# All text after a hash (#) is considered a comment and will be ignored -# The format is: -# TAG = value [value, ...] -# For lists items can also be appended using: -# TAG += value [value, ...] -# Values that contain spaces should be placed between quotes (" ") - -#--------------------------------------------------------------------------- -# Project related configuration options -#--------------------------------------------------------------------------- - -# This tag specifies the encoding used for all characters in the config file -# that follow. The default is UTF-8 which is also the encoding used for all -# text before the first occurrence of this tag. Doxygen uses libiconv (or the -# iconv built into libc) for the transcoding. See -# http://www.gnu.org/software/libiconv for the list of possible encodings. - -DOXYFILE_ENCODING = UTF-8 - -# The PROJECT_NAME tag is a single word (or a sequence of words surrounded -# by quotes) that should identify the project. - -PROJECT_NAME = "PIXHAWK IMU / Autopilot" - -# The PROJECT_NUMBER tag can be used to enter a project or revision number. -# This could be handy for archiving the generated documentation or -# if some version control system is used. - -PROJECT_NUMBER = - -# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) -# base path where the generated documentation will be put. -# If a relative path is entered, it will be relative to the location -# where doxygen was started. If left blank the current directory will be used. - -OUTPUT_DIRECTORY = - -# If the CREATE_SUBDIRS tag is set to YES, then doxygen will create -# 4096 sub-directories (in 2 levels) under the output directory of each output -# format and will distribute the generated files over these directories. -# Enabling this option can be useful when feeding doxygen a huge amount of -# source files, where putting all generated files in the same directory would -# otherwise cause performance problems for the file system. - -CREATE_SUBDIRS = NO - -# The OUTPUT_LANGUAGE tag is used to specify the language in which all -# documentation generated by doxygen is written. Doxygen will use this -# information to generate all constant output in the proper language. -# The default language is English, other supported languages are: -# Afrikaans, Arabic, Brazilian, Catalan, Chinese, Chinese-Traditional, -# Croatian, Czech, Danish, Dutch, Esperanto, Farsi, Finnish, French, German, -# Greek, Hungarian, Italian, Japanese, Japanese-en (Japanese with English -# messages), Korean, Korean-en, Lithuanian, Norwegian, Macedonian, Persian, -# Polish, Portuguese, Romanian, Russian, Serbian, Serbian-Cyrilic, Slovak, -# Slovene, Spanish, Swedish, Ukrainian, and Vietnamese. - -OUTPUT_LANGUAGE = English - -# If the BRIEF_MEMBER_DESC tag is set to YES (the default) Doxygen will -# include brief member descriptions after the members that are listed in -# the file and class documentation (similar to JavaDoc). -# Set to NO to disable this. - -BRIEF_MEMBER_DESC = YES - -# If the REPEAT_BRIEF tag is set to YES (the default) Doxygen will prepend -# the brief description of a member or function before the detailed description. -# Note: if both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the -# brief descriptions will be completely suppressed. - -REPEAT_BRIEF = YES - -# This tag implements a quasi-intelligent brief description abbreviator -# that is used to form the text in various listings. Each string -# in this list, if found as the leading text of the brief description, will be -# stripped from the text and the result after processing the whole list, is -# used as the annotated text. Otherwise, the brief description is used as-is. -# If left blank, the following values are used ("$name" is automatically -# replaced with the name of the entity): "The $name class" "The $name widget" -# "The $name file" "is" "provides" "specifies" "contains" -# "represents" "a" "an" "the" - -ABBREVIATE_BRIEF = - -# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then -# Doxygen will generate a detailed section even if there is only a brief -# description. - -ALWAYS_DETAILED_SEC = YES - -# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all -# inherited members of a class in the documentation of that class as if those -# members were ordinary class members. Constructors, destructors and assignment -# operators of the base classes will not be shown. - -INLINE_INHERITED_MEMB = YES - -# If the FULL_PATH_NAMES tag is set to YES then Doxygen will prepend the full -# path before files name in the file list and in the header files. If set -# to NO the shortest path that makes the file name unique will be used. - -FULL_PATH_NAMES = NO - -# If the FULL_PATH_NAMES tag is set to YES then the STRIP_FROM_PATH tag -# can be used to strip a user-defined part of the path. Stripping is -# only done if one of the specified strings matches the left-hand part of -# the path. The tag can be used to show relative paths in the file list. -# If left blank the directory from which doxygen is run is used as the -# path to strip. - -STRIP_FROM_PATH = - -# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of -# the path mentioned in the documentation of a class, which tells -# the reader which header file to include in order to use a class. -# If left blank only the name of the header file containing the class -# definition is used. Otherwise one should specify the include paths that -# are normally passed to the compiler using the -I flag. - -STRIP_FROM_INC_PATH = - -# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter -# (but less readable) file names. This can be useful is your file systems -# doesn't support long names like on DOS, Mac, or CD-ROM. - -SHORT_NAMES = NO - -# If the JAVADOC_AUTOBRIEF tag is set to YES then Doxygen -# will interpret the first line (until the first dot) of a JavaDoc-style -# comment as the brief description. If set to NO, the JavaDoc -# comments will behave just like regular Qt-style comments -# (thus requiring an explicit @brief command for a brief description.) - -JAVADOC_AUTOBRIEF = NO - -# If the QT_AUTOBRIEF tag is set to YES then Doxygen will -# interpret the first line (until the first dot) of a Qt-style -# comment as the brief description. If set to NO, the comments -# will behave just like regular Qt-style comments (thus requiring -# an explicit \brief command for a brief description.) - -QT_AUTOBRIEF = NO - -# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make Doxygen -# treat a multi-line C++ special comment block (i.e. a block of //! or /// -# comments) as a brief description. This used to be the default behaviour. -# The new default is to treat a multi-line C++ comment block as a detailed -# description. Set this tag to YES if you prefer the old behaviour instead. - -MULTILINE_CPP_IS_BRIEF = NO - -# If the INHERIT_DOCS tag is set to YES (the default) then an undocumented -# member inherits the documentation from any documented member that it -# re-implements. - -INHERIT_DOCS = YES - -# If the SEPARATE_MEMBER_PAGES tag is set to YES, then doxygen will produce -# a new page for each member. If set to NO, the documentation of a member will -# be part of the file/class/namespace that contains it. - -SEPARATE_MEMBER_PAGES = NO - -# The TAB_SIZE tag can be used to set the number of spaces in a tab. -# Doxygen uses this value to replace tabs by spaces in code fragments. - -TAB_SIZE = 8 - -# This tag can be used to specify a number of aliases that acts -# as commands in the documentation. An alias has the form "name=value". -# For example adding "sideeffect=\par Side Effects:\n" will allow you to -# put the command \sideeffect (or @sideeffect) in the documentation, which -# will result in a user-defined paragraph with heading "Side Effects:". -# You can put \n's in the value part of an alias to insert newlines. - -ALIASES = - -# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C -# sources only. Doxygen will then generate output that is more tailored for C. -# For instance, some of the names that are used will be different. The list -# of all members will be omitted, etc. - -OPTIMIZE_OUTPUT_FOR_C = YES - -# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java -# sources only. Doxygen will then generate output that is more tailored for -# Java. For instance, namespaces will be presented as packages, qualified -# scopes will look different, etc. - -OPTIMIZE_OUTPUT_JAVA = NO - -# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran -# sources only. Doxygen will then generate output that is more tailored for -# Fortran. - -OPTIMIZE_FOR_FORTRAN = NO - -# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL -# sources. Doxygen will then generate output that is tailored for -# VHDL. - -OPTIMIZE_OUTPUT_VHDL = NO - -# Doxygen selects the parser to use depending on the extension of the files it parses. -# With this tag you can assign which parser to use for a given extension. -# Doxygen has a built-in mapping, but you can override or extend it using this tag. -# The format is ext=language, where ext is a file extension, and language is one of -# the parsers supported by doxygen: IDL, Java, Javascript, C#, C, C++, D, PHP, -# Objective-C, Python, Fortran, VHDL, C, C++. For instance to make doxygen treat -# .inc files as Fortran files (default is PHP), and .f files as C (default is Fortran), -# use: inc=Fortran f=C. Note that for custom extensions you also need to set FILE_PATTERNS otherwise the files are not read by doxygen. - -EXTENSION_MAPPING = - -# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want -# to include (a tag file for) the STL sources as input, then you should -# set this tag to YES in order to let doxygen match functions declarations and -# definitions whose arguments contain STL classes (e.g. func(std::string); v.s. -# func(std::string) {}). This also make the inheritance and collaboration -# diagrams that involve STL classes more complete and accurate. - -BUILTIN_STL_SUPPORT = NO - -# If you use Microsoft's C++/CLI language, you should set this option to YES to -# enable parsing support. - -CPP_CLI_SUPPORT = NO - -# Set the SIP_SUPPORT tag to YES if your project consists of sip sources only. -# Doxygen will parse them like normal C++ but will assume all classes use public -# instead of private inheritance when no explicit protection keyword is present. - -SIP_SUPPORT = NO - -# For Microsoft's IDL there are propget and propput attributes to indicate getter -# and setter methods for a property. Setting this option to YES (the default) -# will make doxygen to replace the get and set methods by a property in the -# documentation. This will only work if the methods are indeed getting or -# setting a simple type. If this is not the case, or you want to show the -# methods anyway, you should set this option to NO. - -IDL_PROPERTY_SUPPORT = YES - -# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC -# tag is set to YES, then doxygen will reuse the documentation of the first -# member in the group (if any) for the other members of the group. By default -# all members of a group must be documented explicitly. - -DISTRIBUTE_GROUP_DOC = NO - -# Set the SUBGROUPING tag to YES (the default) to allow class member groups of -# the same type (for instance a group of public functions) to be put as a -# subgroup of that type (e.g. under the Public Functions section). Set it to -# NO to prevent subgrouping. Alternatively, this can be done per class using -# the \nosubgrouping command. - -SUBGROUPING = YES - -# When TYPEDEF_HIDES_STRUCT is enabled, a typedef of a struct, union, or enum -# is documented as struct, union, or enum with the name of the typedef. So -# typedef struct TypeS {} TypeT, will appear in the documentation as a struct -# with name TypeT. When disabled the typedef will appear as a member of a file, -# namespace, or class. And the struct will be named TypeS. This can typically -# be useful for C code in case the coding convention dictates that all compound -# types are typedef'ed and only the typedef is referenced, never the tag name. - -TYPEDEF_HIDES_STRUCT = NO - -# The SYMBOL_CACHE_SIZE determines the size of the internal cache use to -# determine which symbols to keep in memory and which to flush to disk. -# When the cache is full, less often used symbols will be written to disk. -# For small to medium size projects (<1000 input files) the default value is -# probably good enough. For larger projects a too small cache size can cause -# doxygen to be busy swapping symbols to and from disk most of the time -# causing a significant performance penality. -# If the system has enough physical memory increasing the cache will improve the -# performance by keeping more symbols in memory. Note that the value works on -# a logarithmic scale so increasing the size by one will rougly double the -# memory usage. The cache size is given by this formula: -# 2^(16+SYMBOL_CACHE_SIZE). The valid range is 0..9, the default is 0, -# corresponding to a cache size of 2^16 = 65536 symbols - -SYMBOL_CACHE_SIZE = 0 - -#--------------------------------------------------------------------------- -# Build related configuration options -#--------------------------------------------------------------------------- - -# If the EXTRACT_ALL tag is set to YES doxygen will assume all entities in -# documentation are documented, even if no documentation was available. -# Private class members and static file members will be hidden unless -# the EXTRACT_PRIVATE and EXTRACT_STATIC tags are set to YES - -EXTRACT_ALL = YES - -# If the EXTRACT_PRIVATE tag is set to YES all private members of a class -# will be included in the documentation. - -EXTRACT_PRIVATE = NO - -# If the EXTRACT_STATIC tag is set to YES all static members of a file -# will be included in the documentation. - -EXTRACT_STATIC = YES - -# If the EXTRACT_LOCAL_CLASSES tag is set to YES classes (and structs) -# defined locally in source files will be included in the documentation. -# If set to NO only classes defined in header files are included. - -EXTRACT_LOCAL_CLASSES = YES - -# This flag is only useful for Objective-C code. When set to YES local -# methods, which are defined in the implementation section but not in -# the interface are included in the documentation. -# If set to NO (the default) only methods in the interface are included. - -EXTRACT_LOCAL_METHODS = NO - -# If this flag is set to YES, the members of anonymous namespaces will be -# extracted and appear in the documentation as a namespace called -# 'anonymous_namespace{file}', where file will be replaced with the base -# name of the file that contains the anonymous namespace. By default -# anonymous namespace are hidden. - -EXTRACT_ANON_NSPACES = NO - -# If the HIDE_UNDOC_MEMBERS tag is set to YES, Doxygen will hide all -# undocumented members of documented classes, files or namespaces. -# If set to NO (the default) these members will be included in the -# various overviews, but no documentation section is generated. -# This option has no effect if EXTRACT_ALL is enabled. - -HIDE_UNDOC_MEMBERS = NO - -# If the HIDE_UNDOC_CLASSES tag is set to YES, Doxygen will hide all -# undocumented classes that are normally visible in the class hierarchy. -# If set to NO (the default) these classes will be included in the various -# overviews. This option has no effect if EXTRACT_ALL is enabled. - -HIDE_UNDOC_CLASSES = NO - -# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, Doxygen will hide all -# friend (class|struct|union) declarations. -# If set to NO (the default) these declarations will be included in the -# documentation. - -HIDE_FRIEND_COMPOUNDS = NO - -# If the HIDE_IN_BODY_DOCS tag is set to YES, Doxygen will hide any -# documentation blocks found inside the body of a function. -# If set to NO (the default) these blocks will be appended to the -# function's detailed documentation block. - -HIDE_IN_BODY_DOCS = NO - -# The INTERNAL_DOCS tag determines if documentation -# that is typed after a \internal command is included. If the tag is set -# to NO (the default) then the documentation will be excluded. -# Set it to YES to include the internal documentation. - -INTERNAL_DOCS = NO - -# If the CASE_SENSE_NAMES tag is set to NO then Doxygen will only generate -# file names in lower-case letters. If set to YES upper-case letters are also -# allowed. This is useful if you have classes or files whose names only differ -# in case and if your file system supports case sensitive file names. Windows -# and Mac users are advised to set this option to NO. - -CASE_SENSE_NAMES = YES - -# If the HIDE_SCOPE_NAMES tag is set to NO (the default) then Doxygen -# will show members with their full class and namespace scopes in the -# documentation. If set to YES the scope will be hidden. - -HIDE_SCOPE_NAMES = NO - -# If the SHOW_INCLUDE_FILES tag is set to YES (the default) then Doxygen -# will put a list of the files that are included by a file in the documentation -# of that file. - -SHOW_INCLUDE_FILES = YES - -# If the INLINE_INFO tag is set to YES (the default) then a tag [inline] -# is inserted in the documentation for inline members. - -INLINE_INFO = YES - -# If the SORT_MEMBER_DOCS tag is set to YES (the default) then doxygen -# will sort the (detailed) documentation of file and class members -# alphabetically by member name. If set to NO the members will appear in -# declaration order. - -SORT_MEMBER_DOCS = YES - -# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the -# brief documentation of file, namespace and class members alphabetically -# by member name. If set to NO (the default) the members will appear in -# declaration order. - -SORT_BRIEF_DOCS = NO - -# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen will sort the (brief and detailed) documentation of class members so that constructors and destructors are listed first. If set to NO (the default) the constructors will appear in the respective orders defined by SORT_MEMBER_DOCS and SORT_BRIEF_DOCS. This tag will be ignored for brief docs if SORT_BRIEF_DOCS is set to NO and ignored for detailed docs if SORT_MEMBER_DOCS is set to NO. - -SORT_MEMBERS_CTORS_1ST = NO - -# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the -# hierarchy of group names into alphabetical order. If set to NO (the default) -# the group names will appear in their defined order. - -SORT_GROUP_NAMES = NO - -# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be -# sorted by fully-qualified names, including namespaces. If set to -# NO (the default), the class list will be sorted only by class name, -# not including the namespace part. -# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. -# Note: This option applies only to the class list, not to the -# alphabetical list. - -SORT_BY_SCOPE_NAME = NO - -# The GENERATE_TODOLIST tag can be used to enable (YES) or -# disable (NO) the todo list. This list is created by putting \todo -# commands in the documentation. - -GENERATE_TODOLIST = YES - -# The GENERATE_TESTLIST tag can be used to enable (YES) or -# disable (NO) the test list. This list is created by putting \test -# commands in the documentation. - -GENERATE_TESTLIST = YES - -# The GENERATE_BUGLIST tag can be used to enable (YES) or -# disable (NO) the bug list. This list is created by putting \bug -# commands in the documentation. - -GENERATE_BUGLIST = YES - -# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or -# disable (NO) the deprecated list. This list is created by putting -# \deprecated commands in the documentation. - -GENERATE_DEPRECATEDLIST= YES - -# The ENABLED_SECTIONS tag can be used to enable conditional -# documentation sections, marked by \if sectionname ... \endif. - -ENABLED_SECTIONS = - -# The MAX_INITIALIZER_LINES tag determines the maximum number of lines -# the initial value of a variable or define consists of for it to appear in -# the documentation. If the initializer consists of more lines than specified -# here it will be hidden. Use a value of 0 to hide initializers completely. -# The appearance of the initializer of individual variables and defines in the -# documentation can be controlled using \showinitializer or \hideinitializer -# command in the documentation regardless of this setting. - -MAX_INITIALIZER_LINES = 30 - -# Set the SHOW_USED_FILES tag to NO to disable the list of files generated -# at the bottom of the documentation of classes and structs. If set to YES the -# list will mention the files that were used to generate the documentation. - -SHOW_USED_FILES = YES - -# If the sources in your project are distributed over multiple directories -# then setting the SHOW_DIRECTORIES tag to YES will show the directory hierarchy -# in the documentation. The default is NO. - -SHOW_DIRECTORIES = YES - -# Set the SHOW_FILES tag to NO to disable the generation of the Files page. -# This will remove the Files entry from the Quick Index and from the -# Folder Tree View (if specified). The default is YES. - -SHOW_FILES = YES - -# Set the SHOW_NAMESPACES tag to NO to disable the generation of the -# Namespaces page. -# This will remove the Namespaces entry from the Quick Index -# and from the Folder Tree View (if specified). The default is YES. - -SHOW_NAMESPACES = YES - -# The FILE_VERSION_FILTER tag can be used to specify a program or script that -# doxygen should invoke to get the current version for each file (typically from -# the version control system). Doxygen will invoke the program by executing (via -# popen()) the command , where is the value of -# the FILE_VERSION_FILTER tag, and is the name of an input file -# provided by doxygen. Whatever the program writes to standard output -# is used as the file version. See the manual for examples. - -FILE_VERSION_FILTER = - -# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed by -# doxygen. The layout file controls the global structure of the generated output files -# in an output format independent way. The create the layout file that represents -# doxygen's defaults, run doxygen with the -l option. You can optionally specify a -# file name after the option, if omitted DoxygenLayout.xml will be used as the name -# of the layout file. - -LAYOUT_FILE = - -#--------------------------------------------------------------------------- -# configuration options related to warning and progress messages -#--------------------------------------------------------------------------- - -# The QUIET tag can be used to turn on/off the messages that are generated -# by doxygen. Possible values are YES and NO. If left blank NO is used. - -QUIET = YES - -# The WARNINGS tag can be used to turn on/off the warning messages that are -# generated by doxygen. Possible values are YES and NO. If left blank -# NO is used. - -WARNINGS = YES - -# If WARN_IF_UNDOCUMENTED is set to YES, then doxygen will generate warnings -# for undocumented members. If EXTRACT_ALL is set to YES then this flag will -# automatically be disabled. - -WARN_IF_UNDOCUMENTED = YES - -# If WARN_IF_DOC_ERROR is set to YES, doxygen will generate warnings for -# potential errors in the documentation, such as not documenting some -# parameters in a documented function, or documenting parameters that -# don't exist or using markup commands wrongly. - -WARN_IF_DOC_ERROR = YES - -# This WARN_NO_PARAMDOC option can be abled to get warnings for -# functions that are documented, but have no documentation for their parameters -# or return value. If set to NO (the default) doxygen will only warn about -# wrong or incomplete parameter documentation, but not about the absence of -# documentation. - -WARN_NO_PARAMDOC = YES - -# The WARN_FORMAT tag determines the format of the warning messages that -# doxygen can produce. The string should contain the $file, $line, and $text -# tags, which will be replaced by the file and line number from which the -# warning originated and the warning text. Optionally the format may contain -# $version, which will be replaced by the version of the file (if it could -# be obtained via FILE_VERSION_FILTER) - -WARN_FORMAT = "$file:$line: $text" - -# The WARN_LOGFILE tag can be used to specify a file to which warning -# and error messages should be written. If left blank the output is written -# to stderr. - -WARN_LOGFILE = doxy.log - -#--------------------------------------------------------------------------- -# configuration options related to the input files -#--------------------------------------------------------------------------- - -# The INPUT tag can be used to specify the files and/or directories that contain -# documented source files. You may enter file names like "myfile.cpp" or -# directories like "/usr/src/myproject". Separate the files or directories -# with spaces. - -INPUT = .. - -# This tag can be used to specify the character encoding of the source files -# that doxygen parses. Internally doxygen uses the UTF-8 encoding, which is -# also the default input encoding. Doxygen uses libiconv (or the iconv built -# into libc) for the transcoding. See http://www.gnu.org/software/libiconv for -# the list of possible encodings. - -INPUT_ENCODING = UTF-8 - -# If the value of the INPUT tag contains directories, you can use the -# FILE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp -# and *.h) to filter out the source-files in the directories. If left -# blank the following patterns are tested: -# *.c *.cc *.cxx *.cpp *.c++ *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh *.hxx -# *.hpp *.h++ *.idl *.odl *.cs *.php *.php3 *.inc *.m *.mm *.py *.f90 - -FILE_PATTERNS = *.c *.h *.hpp *.hxx *.cc *.cpp *.cxx *.dox -#FILE_PATTERNS = - -# The RECURSIVE tag can be used to turn specify whether or not subdirectories -# should be searched for input files as well. Possible values are YES and NO. -# If left blank NO is used. - -RECURSIVE = YES - -# The EXCLUDE tag can be used to specify files and/or directories that should -# excluded from the INPUT source files. This way you can easily exclude a -# subdirectory from a directory tree whose root is specified with the INPUT tag. - -EXCLUDE = ../Debug \ - ../Release \ - ../external \ - ../testing \ - ../tools \ - ../arm7/include \ - ../measurements - -# The EXCLUDE_SYMLINKS tag can be used select whether or not files or -# directories that are symbolic links (a Unix filesystem feature) are excluded -# from the input. - -EXCLUDE_SYMLINKS = NO - -# If the value of the INPUT tag contains directories, you can use the -# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude -# certain files from those directories. Note that the wildcards are matched -# against the file with absolute path, so to exclude all test directories -# for example use the pattern */test/* - -EXCLUDE_PATTERNS = - -# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names -# (namespaces, classes, functions, etc.) that should be excluded from the -# output. The symbol name can be a fully qualified name, a word, or if the -# wildcard * is used, a substring. Examples: ANamespace, AClass, -# AClass::ANamespace, ANamespace::*Test - -EXCLUDE_SYMBOLS = - -# The EXAMPLE_PATH tag can be used to specify one or more files or -# directories that contain example code fragments that are included (see -# the \include command). - -EXAMPLE_PATH = - -# If the value of the EXAMPLE_PATH tag contains directories, you can use the -# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp -# and *.h) to filter out the source-files in the directories. If left -# blank all files are included. - -EXAMPLE_PATTERNS = - -# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be -# searched for input files to be used with the \include or \dontinclude -# commands irrespective of the value of the RECURSIVE tag. -# Possible values are YES and NO. If left blank NO is used. - -EXAMPLE_RECURSIVE = NO - -# The IMAGE_PATH tag can be used to specify one or more files or -# directories that contain image that are included in the documentation (see -# the \image command). - -IMAGE_PATH = - -# The INPUT_FILTER tag can be used to specify a program that doxygen should -# invoke to filter for each input file. Doxygen will invoke the filter program -# by executing (via popen()) the command , where -# is the value of the INPUT_FILTER tag, and is the name of an -# input file. Doxygen will then use the output that the filter program writes -# to standard output. -# If FILTER_PATTERNS is specified, this tag will be -# ignored. - -INPUT_FILTER = - -# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern -# basis. -# Doxygen will compare the file name with each pattern and apply the -# filter if there is a match. -# The filters are a list of the form: -# pattern=filter (like *.cpp=my_cpp_filter). See INPUT_FILTER for further -# info on how filters are used. If FILTER_PATTERNS is empty, INPUT_FILTER -# is applied to all files. - -FILTER_PATTERNS = - -# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using -# INPUT_FILTER) will be used to filter the input files when producing source -# files to browse (i.e. when SOURCE_BROWSER is set to YES). - -FILTER_SOURCE_FILES = NO - -#--------------------------------------------------------------------------- -# configuration options related to source browsing -#--------------------------------------------------------------------------- - -# If the SOURCE_BROWSER tag is set to YES then a list of source files will -# be generated. Documented entities will be cross-referenced with these sources. -# Note: To get rid of all source code in the generated output, make sure also -# VERBATIM_HEADERS is set to NO. - -SOURCE_BROWSER = YES - -# Setting the INLINE_SOURCES tag to YES will include the body -# of functions and classes directly in the documentation. - -INLINE_SOURCES = NO - -# Setting the STRIP_CODE_COMMENTS tag to YES (the default) will instruct -# doxygen to hide any special comment blocks from generated source code -# fragments. Normal C and C++ comments will always remain visible. - -STRIP_CODE_COMMENTS = YES - -# If the REFERENCED_BY_RELATION tag is set to YES -# then for each documented function all documented -# functions referencing it will be listed. - -REFERENCED_BY_RELATION = YES - -# If the REFERENCES_RELATION tag is set to YES -# then for each documented function all documented entities -# called/used by that function will be listed. - -REFERENCES_RELATION = NO - -# If the REFERENCES_LINK_SOURCE tag is set to YES (the default) -# and SOURCE_BROWSER tag is set to YES, then the hyperlinks from -# functions in REFERENCES_RELATION and REFERENCED_BY_RELATION lists will -# link to the source code. -# Otherwise they will link to the documentation. - -REFERENCES_LINK_SOURCE = YES - -# If the USE_HTAGS tag is set to YES then the references to source code -# will point to the HTML generated by the htags(1) tool instead of doxygen -# built-in source browser. The htags tool is part of GNU's global source -# tagging system (see http://www.gnu.org/software/global/global.html). You -# will need version 4.8.6 or higher. - -USE_HTAGS = NO - -# If the VERBATIM_HEADERS tag is set to YES (the default) then Doxygen -# will generate a verbatim copy of the header file for each class for -# which an include is specified. Set to NO to disable this. - -VERBATIM_HEADERS = YES - -#--------------------------------------------------------------------------- -# configuration options related to the alphabetical class index -#--------------------------------------------------------------------------- - -# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index -# of all compounds will be generated. Enable this if the project -# contains a lot of classes, structs, unions or interfaces. - -ALPHABETICAL_INDEX = NO - -# If the alphabetical index is enabled (see ALPHABETICAL_INDEX) then -# the COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns -# in which this list will be split (can be a number in the range [1..20]) - -COLS_IN_ALPHA_INDEX = 5 - -# In case all classes in a project start with a common prefix, all -# classes will be put under the same header in the alphabetical index. -# The IGNORE_PREFIX tag can be used to specify one or more prefixes that -# should be ignored while generating the index headers. - -IGNORE_PREFIX = - -#--------------------------------------------------------------------------- -# configuration options related to the HTML output -#--------------------------------------------------------------------------- - -# If the GENERATE_HTML tag is set to YES (the default) Doxygen will -# generate HTML output. - -GENERATE_HTML = YES - -# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. -# If a relative path is entered the value of OUTPUT_DIRECTORY will be -# put in front of it. If left blank `html' will be used as the default path. - -HTML_OUTPUT = html - -# The HTML_FILE_EXTENSION tag can be used to specify the file extension for -# each generated HTML page (for example: .htm,.php,.asp). If it is left blank -# doxygen will generate files with .html extension. - -HTML_FILE_EXTENSION = .html - -# The HTML_HEADER tag can be used to specify a personal HTML header for -# each generated HTML page. If it is left blank doxygen will generate a -# standard header. - -HTML_HEADER = - -# The HTML_FOOTER tag can be used to specify a personal HTML footer for -# each generated HTML page. If it is left blank doxygen will generate a -# standard footer. - -HTML_FOOTER = - -# The HTML_STYLESHEET tag can be used to specify a user-defined cascading -# style sheet that is used by each HTML page. It can be used to -# fine-tune the look of the HTML output. If the tag is left blank doxygen -# will generate a default style sheet. Note that doxygen will try to copy -# the style sheet file to the HTML output directory, so don't put your own -# stylesheet in the HTML output directory as well, or it will be erased! - -HTML_STYLESHEET = - -# If the HTML_ALIGN_MEMBERS tag is set to YES, the members of classes, -# files or namespaces will be aligned in HTML using tables. If set to -# NO a bullet list will be used. - -HTML_ALIGN_MEMBERS = YES - -# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML -# documentation will contain sections that can be hidden and shown after the -# page has loaded. For this to work a browser that supports -# JavaScript and DHTML is required (for instance Mozilla 1.0+, Firefox -# Netscape 6.0+, Internet explorer 5.0+, Konqueror, or Safari). - -HTML_DYNAMIC_SECTIONS = NO - -# If the GENERATE_DOCSET tag is set to YES, additional index files -# will be generated that can be used as input for Apple's Xcode 3 -# integrated development environment, introduced with OSX 10.5 (Leopard). -# To create a documentation set, doxygen will generate a Makefile in the -# HTML output directory. Running make will produce the docset in that -# directory and running "make install" will install the docset in -# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find -# it at startup. -# See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html for more information. - -GENERATE_DOCSET = NO - -# When GENERATE_DOCSET tag is set to YES, this tag determines the name of the -# feed. A documentation feed provides an umbrella under which multiple -# documentation sets from a single provider (such as a company or product suite) -# can be grouped. - -DOCSET_FEEDNAME = "Doxygen generated docs" - -# When GENERATE_DOCSET tag is set to YES, this tag specifies a string that -# should uniquely identify the documentation set bundle. This should be a -# reverse domain-name style string, e.g. com.mycompany.MyDocSet. Doxygen -# will append .docset to the name. - -DOCSET_BUNDLE_ID = org.doxygen.Project - -# If the GENERATE_HTMLHELP tag is set to YES, additional index files -# will be generated that can be used as input for tools like the -# Microsoft HTML help workshop to generate a compiled HTML help file (.chm) -# of the generated HTML documentation. - -GENERATE_HTMLHELP = NO - -# If the GENERATE_HTMLHELP tag is set to YES, the CHM_FILE tag can -# be used to specify the file name of the resulting .chm file. You -# can add a path in front of the file if the result should not be -# written to the html output directory. - -CHM_FILE = - -# If the GENERATE_HTMLHELP tag is set to YES, the HHC_LOCATION tag can -# be used to specify the location (absolute path including file name) of -# the HTML help compiler (hhc.exe). If non-empty doxygen will try to run -# the HTML help compiler on the generated index.hhp. - -HHC_LOCATION = - -# If the GENERATE_HTMLHELP tag is set to YES, the GENERATE_CHI flag -# controls if a separate .chi index file is generated (YES) or that -# it should be included in the master .chm file (NO). - -GENERATE_CHI = NO - -# If the GENERATE_HTMLHELP tag is set to YES, the CHM_INDEX_ENCODING -# is used to encode HtmlHelp index (hhk), content (hhc) and project file -# content. - -CHM_INDEX_ENCODING = - -# If the GENERATE_HTMLHELP tag is set to YES, the BINARY_TOC flag -# controls whether a binary table of contents is generated (YES) or a -# normal table of contents (NO) in the .chm file. - -BINARY_TOC = NO - -# The TOC_EXPAND flag can be set to YES to add extra items for group members -# to the contents of the HTML help documentation and to the tree view. - -TOC_EXPAND = NO - -# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and QHP_VIRTUAL_FOLDER -# are set, an additional index file will be generated that can be used as input for -# Qt's qhelpgenerator to generate a Qt Compressed Help (.qch) of the generated -# HTML documentation. - -GENERATE_QHP = NO - -# If the QHG_LOCATION tag is specified, the QCH_FILE tag can -# be used to specify the file name of the resulting .qch file. -# The path specified is relative to the HTML output folder. - -QCH_FILE = - -# The QHP_NAMESPACE tag specifies the namespace to use when generating -# Qt Help Project output. For more information please see -# http://doc.trolltech.com/qthelpproject.html#namespace - -QHP_NAMESPACE = - -# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating -# Qt Help Project output. For more information please see -# http://doc.trolltech.com/qthelpproject.html#virtual-folders - -QHP_VIRTUAL_FOLDER = doc - -# If QHP_CUST_FILTER_NAME is set, it specifies the name of a custom filter to add. -# For more information please see -# http://doc.trolltech.com/qthelpproject.html#custom-filters - -QHP_CUST_FILTER_NAME = - -# The QHP_CUST_FILT_ATTRS tag specifies the list of the attributes of the custom filter to add.For more information please see -# Qt Help Project / Custom Filters. - -QHP_CUST_FILTER_ATTRS = - -# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this project's -# filter section matches. -# Qt Help Project / Filter Attributes. - -QHP_SECT_FILTER_ATTRS = - -# If the GENERATE_QHP tag is set to YES, the QHG_LOCATION tag can -# be used to specify the location of Qt's qhelpgenerator. -# If non-empty doxygen will try to run qhelpgenerator on the generated -# .qhp file. - -QHG_LOCATION = - -# The DISABLE_INDEX tag can be used to turn on/off the condensed index at -# top of each HTML page. The value NO (the default) enables the index and -# the value YES disables it. - -DISABLE_INDEX = NO - -# This tag can be used to set the number of enum values (range [1..20]) -# that doxygen will group on one line in the generated HTML documentation. - -ENUM_VALUES_PER_LINE = 4 - -# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index -# structure should be generated to display hierarchical information. -# If the tag value is set to YES, a side panel will be generated -# containing a tree-like index structure (just like the one that -# is generated for HTML Help). For this to work a browser that supports -# JavaScript, DHTML, CSS and frames is required (i.e. any modern browser). -# Windows users are probably better off using the HTML help feature. - -GENERATE_TREEVIEW = NO - -# By enabling USE_INLINE_TREES, doxygen will generate the Groups, Directories, -# and Class Hierarchy pages using a tree view instead of an ordered list. - -USE_INLINE_TREES = NO - -# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be -# used to set the initial width (in pixels) of the frame in which the tree -# is shown. - -TREEVIEW_WIDTH = 250 - -# Use this tag to change the font size of Latex formulas included -# as images in the HTML documentation. The default is 10. Note that -# when you change the font size after a successful doxygen run you need -# to manually remove any form_*.png images from the HTML output directory -# to force them to be regenerated. - -FORMULA_FONTSIZE = 10 - -# When the SEARCHENGINE tag is enable doxygen will generate a search box for the HTML output. The underlying search engine uses javascript -# and DHTML and should work on any modern browser. Note that when using HTML help (GENERATE_HTMLHELP) or Qt help (GENERATE_QHP) -# there is already a search function so this one should typically -# be disabled. - -SEARCHENGINE = YES - -#--------------------------------------------------------------------------- -# configuration options related to the LaTeX output -#--------------------------------------------------------------------------- - -# If the GENERATE_LATEX tag is set to YES (the default) Doxygen will -# generate Latex output. - -GENERATE_LATEX = NO - -# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. -# If a relative path is entered the value of OUTPUT_DIRECTORY will be -# put in front of it. If left blank `latex' will be used as the default path. - -LATEX_OUTPUT = latex - -# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be -# invoked. If left blank `latex' will be used as the default command name. - -LATEX_CMD_NAME = latex - -# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to -# generate index for LaTeX. If left blank `makeindex' will be used as the -# default command name. - -MAKEINDEX_CMD_NAME = makeindex - -# If the COMPACT_LATEX tag is set to YES Doxygen generates more compact -# LaTeX documents. This may be useful for small projects and may help to -# save some trees in general. - -COMPACT_LATEX = NO - -# The PAPER_TYPE tag can be used to set the paper type that is used -# by the printer. Possible values are: a4, a4wide, letter, legal and -# executive. If left blank a4wide will be used. - -PAPER_TYPE = a4wide - -# The EXTRA_PACKAGES tag can be to specify one or more names of LaTeX -# packages that should be included in the LaTeX output. - -EXTRA_PACKAGES = - -# The LATEX_HEADER tag can be used to specify a personal LaTeX header for -# the generated latex document. The header should contain everything until -# the first chapter. If it is left blank doxygen will generate a -# standard header. Notice: only use this tag if you know what you are doing! - -LATEX_HEADER = - -# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated -# is prepared for conversion to pdf (using ps2pdf). The pdf file will -# contain links (just like the HTML output) instead of page references -# This makes the output suitable for online browsing using a pdf viewer. - -PDF_HYPERLINKS = YES - -# If the USE_PDFLATEX tag is set to YES, pdflatex will be used instead of -# plain latex in the generated Makefile. Set this option to YES to get a -# higher quality PDF documentation. - -USE_PDFLATEX = YES - -# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \\batchmode. -# command to the generated LaTeX files. This will instruct LaTeX to keep -# running if errors occur, instead of asking the user for help. -# This option is also used when generating formulas in HTML. - -LATEX_BATCHMODE = NO - -# If LATEX_HIDE_INDICES is set to YES then doxygen will not -# include the index chapters (such as File Index, Compound Index, etc.) -# in the output. - -LATEX_HIDE_INDICES = NO - -# If LATEX_SOURCE_CODE is set to YES then doxygen will include source code with syntax highlighting in the LaTeX output. Note that which sources are shown also depends on other settings such as SOURCE_BROWSER. - -LATEX_SOURCE_CODE = NO - -#--------------------------------------------------------------------------- -# configuration options related to the RTF output -#--------------------------------------------------------------------------- - -# If the GENERATE_RTF tag is set to YES Doxygen will generate RTF output -# The RTF output is optimized for Word 97 and may not look very pretty with -# other RTF readers or editors. - -GENERATE_RTF = NO - -# The RTF_OUTPUT tag is used to specify where the RTF docs will be put. -# If a relative path is entered the value of OUTPUT_DIRECTORY will be -# put in front of it. If left blank `rtf' will be used as the default path. - -RTF_OUTPUT = rtf - -# If the COMPACT_RTF tag is set to YES Doxygen generates more compact -# RTF documents. This may be useful for small projects and may help to -# save some trees in general. - -COMPACT_RTF = NO - -# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated -# will contain hyperlink fields. The RTF file will -# contain links (just like the HTML output) instead of page references. -# This makes the output suitable for online browsing using WORD or other -# programs which support those fields. -# Note: wordpad (write) and others do not support links. - -RTF_HYPERLINKS = NO - -# Load stylesheet definitions from file. Syntax is similar to doxygen's -# config file, i.e. a series of assignments. You only have to provide -# replacements, missing definitions are set to their default value. - -RTF_STYLESHEET_FILE = - -# Set optional variables used in the generation of an rtf document. -# Syntax is similar to doxygen's config file. - -RTF_EXTENSIONS_FILE = - -#--------------------------------------------------------------------------- -# configuration options related to the man page output -#--------------------------------------------------------------------------- - -# If the GENERATE_MAN tag is set to YES (the default) Doxygen will -# generate man pages - -GENERATE_MAN = NO - -# The MAN_OUTPUT tag is used to specify where the man pages will be put. -# If a relative path is entered the value of OUTPUT_DIRECTORY will be -# put in front of it. If left blank `man' will be used as the default path. - -MAN_OUTPUT = man - -# The MAN_EXTENSION tag determines the extension that is added to -# the generated man pages (default is the subroutine's section .3) - -MAN_EXTENSION = .3 - -# If the MAN_LINKS tag is set to YES and Doxygen generates man output, -# then it will generate one additional man file for each entity -# documented in the real man page(s). These additional files -# only source the real man page, but without them the man command -# would be unable to find the correct page. The default is NO. - -MAN_LINKS = NO - -#--------------------------------------------------------------------------- -# configuration options related to the XML output -#--------------------------------------------------------------------------- - -# If the GENERATE_XML tag is set to YES Doxygen will -# generate an XML file that captures the structure of -# the code including all documentation. - -GENERATE_XML = NO - -# The XML_OUTPUT tag is used to specify where the XML pages will be put. -# If a relative path is entered the value of OUTPUT_DIRECTORY will be -# put in front of it. If left blank `xml' will be used as the default path. - -XML_OUTPUT = xml - -# The XML_SCHEMA tag can be used to specify an XML schema, -# which can be used by a validating XML parser to check the -# syntax of the XML files. - -XML_SCHEMA = - -# The XML_DTD tag can be used to specify an XML DTD, -# which can be used by a validating XML parser to check the -# syntax of the XML files. - -XML_DTD = - -# If the XML_PROGRAMLISTING tag is set to YES Doxygen will -# dump the program listings (including syntax highlighting -# and cross-referencing information) to the XML output. Note that -# enabling this will significantly increase the size of the XML output. - -XML_PROGRAMLISTING = YES - -#--------------------------------------------------------------------------- -# configuration options for the AutoGen Definitions output -#--------------------------------------------------------------------------- - -# If the GENERATE_AUTOGEN_DEF tag is set to YES Doxygen will -# generate an AutoGen Definitions (see autogen.sf.net) file -# that captures the structure of the code including all -# documentation. Note that this feature is still experimental -# and incomplete at the moment. - -GENERATE_AUTOGEN_DEF = NO - -#--------------------------------------------------------------------------- -# configuration options related to the Perl module output -#--------------------------------------------------------------------------- - -# If the GENERATE_PERLMOD tag is set to YES Doxygen will -# generate a Perl module file that captures the structure of -# the code including all documentation. Note that this -# feature is still experimental and incomplete at the -# moment. - -GENERATE_PERLMOD = NO - -# If the PERLMOD_LATEX tag is set to YES Doxygen will generate -# the necessary Makefile rules, Perl scripts and LaTeX code to be able -# to generate PDF and DVI output from the Perl module output. - -PERLMOD_LATEX = NO - -# If the PERLMOD_PRETTY tag is set to YES the Perl module output will be -# nicely formatted so it can be parsed by a human reader. -# This is useful -# if you want to understand what is going on. -# On the other hand, if this -# tag is set to NO the size of the Perl module output will be much smaller -# and Perl will parse it just the same. - -PERLMOD_PRETTY = YES - -# The names of the make variables in the generated doxyrules.make file -# are prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX. -# This is useful so different doxyrules.make files included by the same -# Makefile don't overwrite each other's variables. - -PERLMOD_MAKEVAR_PREFIX = - -#--------------------------------------------------------------------------- -# Configuration options related to the preprocessor -#--------------------------------------------------------------------------- - -# If the ENABLE_PREPROCESSING tag is set to YES (the default) Doxygen will -# evaluate all C-preprocessor directives found in the sources and include -# files. - -ENABLE_PREPROCESSING = YES - -# If the MACRO_EXPANSION tag is set to YES Doxygen will expand all macro -# names in the source code. If set to NO (the default) only conditional -# compilation will be performed. Macro expansion can be done in a controlled -# way by setting EXPAND_ONLY_PREDEF to YES. - -MACRO_EXPANSION = NO - -# If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES -# then the macro expansion is limited to the macros specified with the -# PREDEFINED and EXPAND_AS_DEFINED tags. - -EXPAND_ONLY_PREDEF = NO - -# If the SEARCH_INCLUDES tag is set to YES (the default) the includes files -# in the INCLUDE_PATH (see below) will be search if a #include is found. - -SEARCH_INCLUDES = YES - -# The INCLUDE_PATH tag can be used to specify one or more directories that -# contain include files that are not input files but should be processed by -# the preprocessor. - -INCLUDE_PATH = - -# You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard -# patterns (like *.h and *.hpp) to filter out the header-files in the -# directories. If left blank, the patterns specified with FILE_PATTERNS will -# be used. - -INCLUDE_FILE_PATTERNS = - -# The PREDEFINED tag can be used to specify one or more macro names that -# are defined before the preprocessor is started (similar to the -D option of -# gcc). The argument of the tag is a list of macros of the form: name -# or name=definition (no spaces). If the definition and the = are -# omitted =1 is assumed. To prevent a macro definition from being -# undefined via #undef or recursively expanded use the := operator -# instead of the = operator. - -PREDEFINED = IMU_PIXHAWK_V200 IMU_PIXHAWK_V210 - -# If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then -# this tag can be used to specify a list of macro names that should be expanded. -# The macro definition that is found in the sources will be used. -# Use the PREDEFINED tag if you want to use a different macro definition. - -EXPAND_AS_DEFINED = - -# If the SKIP_FUNCTION_MACROS tag is set to YES (the default) then -# doxygen's preprocessor will remove all function-like macros that are alone -# on a line, have an all uppercase name, and do not end with a semicolon. Such -# function macros are typically used for boiler-plate code, and will confuse -# the parser if not removed. - -SKIP_FUNCTION_MACROS = NO - -#--------------------------------------------------------------------------- -# Configuration::additions related to external references -#--------------------------------------------------------------------------- - -# The TAGFILES option can be used to specify one or more tagfiles. -# Optionally an initial location of the external documentation -# can be added for each tagfile. The format of a tag file without -# this location is as follows: -# -# TAGFILES = file1 file2 ... -# Adding location for the tag files is done as follows: -# -# TAGFILES = file1=loc1 "file2 = loc2" ... -# where "loc1" and "loc2" can be relative or absolute paths or -# URLs. If a location is present for each tag, the installdox tool -# does not have to be run to correct the links. -# Note that each tag file must have a unique name -# (where the name does NOT include the path) -# If a tag file is not located in the directory in which doxygen -# is run, you must also specify the path to the tagfile here. - -TAGFILES = - -# When a file name is specified after GENERATE_TAGFILE, doxygen will create -# a tag file that is based on the input files it reads. - -GENERATE_TAGFILE = - -# If the ALLEXTERNALS tag is set to YES all external classes will be listed -# in the class index. If set to NO only the inherited external classes -# will be listed. - -ALLEXTERNALS = NO - -# If the EXTERNAL_GROUPS tag is set to YES all external groups will be listed -# in the modules index. If set to NO, only the current project's groups will -# be listed. - -EXTERNAL_GROUPS = YES - -# The PERL_PATH should be the absolute path and name of the perl script -# interpreter (i.e. the result of `which perl'). - -PERL_PATH = /usr/bin/perl - -#--------------------------------------------------------------------------- -# Configuration options related to the dot tool -#--------------------------------------------------------------------------- - -# If the CLASS_DIAGRAMS tag is set to YES (the default) Doxygen will -# generate a inheritance diagram (in HTML, RTF and LaTeX) for classes with base -# or super classes. Setting the tag to NO turns the diagrams off. Note that -# this option is superseded by the HAVE_DOT option below. This is only a -# fallback. It is recommended to install and use dot, since it yields more -# powerful graphs. - -CLASS_DIAGRAMS = YES - -# You can define message sequence charts within doxygen comments using the \msc -# command. Doxygen will then run the mscgen tool (see -# http://www.mcternan.me.uk/mscgen/) to produce the chart and insert it in the -# documentation. The MSCGEN_PATH tag allows you to specify the directory where -# the mscgen tool resides. If left empty the tool is assumed to be found in the -# default search path. - -MSCGEN_PATH = - -# If set to YES, the inheritance and collaboration graphs will hide -# inheritance and usage relations if the target is undocumented -# or is not a class. - -HIDE_UNDOC_RELATIONS = YES - -# If you set the HAVE_DOT tag to YES then doxygen will assume the dot tool is -# available from the path. This tool is part of Graphviz, a graph visualization -# toolkit from AT&T and Lucent Bell Labs. The other options in this section -# have no effect if this option is set to NO (the default) - -HAVE_DOT = YES - -# By default doxygen will write a font called FreeSans.ttf to the output -# directory and reference it in all dot files that doxygen generates. This -# font does not include all possible unicode characters however, so when you need -# these (or just want a differently looking font) you can specify the font name -# using DOT_FONTNAME. You need need to make sure dot is able to find the font, -# which can be done by putting it in a standard location or by setting the -# DOTFONTPATH environment variable or by setting DOT_FONTPATH to the directory -# containing the font. - -DOT_FONTNAME = FreeSans - -# The DOT_FONTSIZE tag can be used to set the size of the font of dot graphs. -# The default size is 10pt. - -DOT_FONTSIZE = 10 - -# By default doxygen will tell dot to use the output directory to look for the -# FreeSans.ttf font (which doxygen will put there itself). If you specify a -# different font using DOT_FONTNAME you can set the path where dot -# can find it using this tag. - -DOT_FONTPATH = - -# If the CLASS_GRAPH and HAVE_DOT tags are set to YES then doxygen -# will generate a graph for each documented class showing the direct and -# indirect inheritance relations. Setting this tag to YES will force the -# the CLASS_DIAGRAMS tag to NO. - -CLASS_GRAPH = YES - -# If the COLLABORATION_GRAPH and HAVE_DOT tags are set to YES then doxygen -# will generate a graph for each documented class showing the direct and -# indirect implementation dependencies (inheritance, containment, and -# class references variables) of the class with other documented classes. - -COLLABORATION_GRAPH = YES - -# If the GROUP_GRAPHS and HAVE_DOT tags are set to YES then doxygen -# will generate a graph for groups, showing the direct groups dependencies - -GROUP_GRAPHS = YES - -# If the UML_LOOK tag is set to YES doxygen will generate inheritance and -# collaboration diagrams in a style similar to the OMG's Unified Modeling -# Language. - -UML_LOOK = NO - -# If set to YES, the inheritance and collaboration graphs will show the -# relations between templates and their instances. - -TEMPLATE_RELATIONS = NO - -# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDE_GRAPH, and HAVE_DOT -# tags are set to YES then doxygen will generate a graph for each documented -# file showing the direct and indirect include dependencies of the file with -# other documented files. - -INCLUDE_GRAPH = YES - -# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDED_BY_GRAPH, and -# HAVE_DOT tags are set to YES then doxygen will generate a graph for each -# documented header file showing the documented files that directly or -# indirectly include this file. - -INCLUDED_BY_GRAPH = YES - -# If the CALL_GRAPH and HAVE_DOT options are set to YES then -# doxygen will generate a call dependency graph for every global function -# or class method. Note that enabling this option will significantly increase -# the time of a run. So in most cases it will be better to enable call graphs -# for selected functions only using the \callgraph command. - -CALL_GRAPH = NO - -# If the CALLER_GRAPH and HAVE_DOT tags are set to YES then -# doxygen will generate a caller dependency graph for every global function -# or class method. Note that enabling this option will significantly increase -# the time of a run. So in most cases it will be better to enable caller -# graphs for selected functions only using the \callergraph command. - -CALLER_GRAPH = NO - -# If the GRAPHICAL_HIERARCHY and HAVE_DOT tags are set to YES then doxygen -# will graphical hierarchy of all classes instead of a textual one. - -GRAPHICAL_HIERARCHY = YES - -# If the DIRECTORY_GRAPH, SHOW_DIRECTORIES and HAVE_DOT tags are set to YES -# then doxygen will show the dependencies a directory has on other directories -# in a graphical way. The dependency relations are determined by the #include -# relations between the files in the directories. - -DIRECTORY_GRAPH = YES - -# The DOT_IMAGE_FORMAT tag can be used to set the image format of the images -# generated by dot. Possible values are png, jpg, or gif -# If left blank png will be used. - -DOT_IMAGE_FORMAT = png - -# The tag DOT_PATH can be used to specify the path where the dot tool can be -# found. If left blank, it is assumed the dot tool can be found in the path. - -DOT_PATH = - -# The DOTFILE_DIRS tag can be used to specify one or more directories that -# contain dot files that are included in the documentation (see the -# \dotfile command). - -DOTFILE_DIRS = - -# The DOT_GRAPH_MAX_NODES tag can be used to set the maximum number of -# nodes that will be shown in the graph. If the number of nodes in a graph -# becomes larger than this value, doxygen will truncate the graph, which is -# visualized by representing a node as a red box. Note that doxygen if the -# number of direct children of the root node in a graph is already larger than -# DOT_GRAPH_MAX_NODES then the graph will not be shown at all. Also note -# that the size of a graph can be further restricted by MAX_DOT_GRAPH_DEPTH. - -DOT_GRAPH_MAX_NODES = 50 - -# The MAX_DOT_GRAPH_DEPTH tag can be used to set the maximum depth of the -# graphs generated by dot. A depth value of 3 means that only nodes reachable -# from the root by following a path via at most 3 edges will be shown. Nodes -# that lay further from the root node will be omitted. Note that setting this -# option to 1 or 2 may greatly reduce the computation time needed for large -# code bases. Also note that the size of a graph can be further restricted by -# DOT_GRAPH_MAX_NODES. Using a depth of 0 means no depth restriction. - -MAX_DOT_GRAPH_DEPTH = 0 - -# Set the DOT_TRANSPARENT tag to YES to generate images with a transparent -# background. This is disabled by default, because dot on Windows does not -# seem to support this out of the box. Warning: Depending on the platform used, -# enabling this option may lead to badly anti-aliased labels on the edges of -# a graph (i.e. they become hard to read). - -DOT_TRANSPARENT = NO - -# Set the DOT_MULTI_TARGETS tag to YES allow dot to generate multiple output -# files in one run (i.e. multiple -o and -T options on the command line). This -# makes dot run faster, but since only newer versions of dot (>1.8.10) -# support this, this feature is disabled by default. - -DOT_MULTI_TARGETS = YES - -# If the GENERATE_LEGEND tag is set to YES (the default) Doxygen will -# generate a legend page explaining the meaning of the various boxes and -# arrows in the dot generated graphs. - -GENERATE_LEGEND = YES - -# If the DOT_CLEANUP tag is set to YES (the default) Doxygen will -# remove the intermediate dot files that are used to generate -# the various graphs. - -DOT_CLEANUP = YES diff --git a/thirdParty/mavlink/doc/README b/thirdParty/mavlink/doc/README deleted file mode 100644 index 587460140e901a588c17c4b6d821a5af8da32f24..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/doc/README +++ /dev/null @@ -1,9 +0,0 @@ -MAVLink Micro Air Vehicle Message Marshalling Library - -The mavlink_to_html_table.xsl file is used to transform the MAVLink XML into a human-readable HTML table for online documentation. - -For more information, please visit: - -http://pixhawk.ethz.ch/software/mavlink - -(c) 2009-2010 Lorenz Meier / PIXHAWK Team diff --git a/thirdParty/mavlink/doc/mavlink.css b/thirdParty/mavlink/doc/mavlink.css deleted file mode 100644 index aeee8368a6ff46e6a727c9a754d4563bb9a52854..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/doc/mavlink.css +++ /dev/null @@ -1,54 +0,0 @@ -table.sortable { - spacing: 5px; - border: 1px solid #656575; - width: 100%; -} - -table.sortable th { - margin: 5px; -} - -tr:nth-child(odd) { background-color:#eee; } -tr:nth-child(even) { background-color:#fff; } - -table.sortable thead { - background-color:#eee; - color:#666666; - font-weight: bold; - cursor: default; -} - -table.sortable td { - margin: 5px 5px 20px 5px; - vertical-align: top; -} - -table.sortable td.mavlink_name { - color:#226633; - font-weight: bold; - width: 25%; - vertical-align: top; -} - -table.sortable td.mavlink_mission_param { - color:#334455; - font-weight: bold; - width: 25%; -} - -table.sortable td.mavlink_type { - color:#323232; - font-weight: normal; - width: 12%; -} - -table.sortable td.mavlink_comment { - color:#555555; - font-weight: normal; - width: 60%; -} - -p.description { - color:#808080; - font-weight: normal; -} \ No newline at end of file diff --git a/thirdParty/mavlink/doc/mavlink.php b/thirdParty/mavlink/doc/mavlink.php deleted file mode 100644 index 871a1306d5710353db67a9c4d1bedec55fec62e4..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/doc/mavlink.php +++ /dev/null @@ -1,63 +0,0 @@ - - -// Requires the installation of php5-xsl -// e.g. on Debian/Ubuntu: sudo apt-get install php5-xsl - -// Load the file from the repository / server. -// Update this URL if the file location changes - -$xml_file_name = "http://github.com/pixhawk/mavlink/raw/master/mavlink_standard_message.xml"; - -// Load the XSL transformation file from the repository / server. -// This file can be updated by any client to adjust the table - -$xsl_file_name= "http://github.com/pixhawk/mavlink/raw/master/doc/mavlink_to_html_table.xsl"; - - - -// Load data XML file -$xml = file_get_contents($xml_file_name); -$xml_doc = new DomDocument; -$xml_doc->loadXML($xml); - -// Load stylesheet XSL file -$xsl = file_get_contents($xsl_file_name); -$xsl_doc = new DomDocument; -$xsl_doc->loadXML($xsl); - -$xsltproc = new XsltProcessor(); -$xsltproc->importStylesheet($xsl_doc); - -// process the files and write the output to $out_file -if ($html = $xsltproc->transformToXML($xml_doc)) -{ - echo $html; -} -else -{ - trigger_error('XSL transformation failed.',E_USER_ERROR); -} - - - - -

Messages XML Definition

- -Messages are defined by the mavlink_standard_message.xml file. The C packing/unpacking code is generated from this specification, as well as the HTML documentaiton in the section above.
-
-The XML displayed here is updated on every commit and therefore up-to-date. - - -//require_once("inc/geshi.php"); -//$xml_file_name = "http://github.com/pixhawk/mavlink/raw/master/mavlink_standard_message.xml"; -// -//// Load data XML file -//$xml = file_get_contents($xml_file_name); -// -//// Show the current code -//$geshi_xml = new GeSHi($xml, 'xml'); -//$display_xml = $geshi_xml->parse_code(); -// -//echo $display_xml; - - \ No newline at end of file diff --git a/thirdParty/mavlink/doc/mavlink_to_html_table.xsl b/thirdParty/mavlink/doc/mavlink_to_html_table.xsl deleted file mode 100644 index 1b1d9461ae42cdaa581998fe226e3eaeba09d16f..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/doc/mavlink_to_html_table.xsl +++ /dev/null @@ -1,93 +0,0 @@ - - - - - -

MAVLink Include Files

-

Including files:

- - - -

MAVLink Type Enumerations

- - - - -

MAVLink Messages

- - - - -

(#)

-

- - - - - - - - - - - - -
Field NameTypeDescription
- - - - - - - - - - - -

MAVLink Protocol Version

-

This file has protocol version: . The version numbers range from 1-255.

- - - -

-

- - - - - - - - - - - - -
CMD IDField NameDescription
- - - - - - - - - - - - - -
- - - - - - - Mission Param # - - - - - - diff --git a/thirdParty/mavlink/examples/linux/.gitignore b/thirdParty/mavlink/examples/linux/.gitignore deleted file mode 100644 index ce4f5db0921b3e8a1bf02220ec08d92d69c260aa..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/examples/linux/.gitignore +++ /dev/null @@ -1 +0,0 @@ -mavlink_udp diff --git a/thirdParty/mavlink/examples/linux/README b/thirdParty/mavlink/examples/linux/README deleted file mode 100644 index d1380184267a9e6dcdda9d18383931fc26a70ed9..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/examples/linux/README +++ /dev/null @@ -1,19 +0,0 @@ -A more detailed version of this quickstart is available at: - -http://qgroundcontrol.org/dev/mavlink_linux_integration_tutorial - -MAVLINK UDP QUICKSTART INSTRUCTIONS -=================================== - -MAVLink UDP Example for *nix system (Linux, MacOS, BSD, etc.) - -To compile with GCC, just enter: - -gcc -I ../../include/common -o mavlink_udp mavlink_udp.c - -To run, type: - -./mavlink_udp - - -If you run QGroundControl on the same machine, a MAV should pop up. diff --git a/thirdParty/mavlink/examples/linux/mavlink_udp.c b/thirdParty/mavlink/examples/linux/mavlink_udp.c deleted file mode 100644 index 02fd3f048feb4245014f370f657558083dd213f8..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/examples/linux/mavlink_udp.c +++ /dev/null @@ -1,213 +0,0 @@ -/******************************************************************************* - Copyright (C) 2010 Bryan Godbolt godbolt ( a t ) ualberta.ca - - This program is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation, either version 3 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program. If not, see . - - ****************************************************************************/ -/* - This program sends some data to qgroundcontrol using the mavlink protocol. The sent packets - cause qgroundcontrol to respond with heartbeats. Any settings or custom commands sent from - qgroundcontrol are printed by this program along with the heartbeats. - - - I compiled this program sucessfully on Ubuntu 10.04 with the following command - - gcc -I ../../pixhawk/mavlink/include -o udp-server udp-server-test.c - - the rt library is needed for the clock_gettime on linux - */ -/* These headers are for QNX, but should all be standard on unix/linux */ -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#if (defined __QNX__) | (defined __QNXNTO__) -/* QNX specific headers */ -#include -#else -/* Linux / MacOS POSIX timer headers */ -#include -#include -#include -#endif - -/* This assumes you have the mavlink headers on your include path - or in the same folder as this source file */ -#include - - -#define BUFFER_LENGTH 2041 // minimum buffer size that can be used with qnx (I don't know why) - -uint64_t microsSinceEpoch(); - -int main(int argc, char* argv[]) -{ - - char help[] = "--help"; - - - char target_ip[100]; - - float position[6] = {}; - int sock = socket(PF_INET, SOCK_DGRAM, IPPROTO_UDP); - struct sockaddr_in gcAddr; - struct sockaddr_in locAddr; - //struct sockaddr_in fromAddr; - uint8_t buf[BUFFER_LENGTH]; - ssize_t recsize; - socklen_t fromlen; - int bytes_sent; - mavlink_message_t msg; - uint16_t len; - int i = 0; - //int success = 0; - unsigned int temp = 0; - - // Check if --help flag was used - if ((argc == 2) && (strcmp(argv[1], help) == 0)) - { - printf("\n"); - printf("\tUsage:\n\n"); - printf("\t"); - printf("%s", argv[0]); - printf(" \n"); - printf("\tDefault for localhost: udp-server 127.0.0.1\n\n"); - exit(EXIT_FAILURE); - } - - - // Change the target ip if parameter was given - strcpy(target_ip, "127.0.0.1"); - if (argc == 2) - { - strcpy(target_ip, argv[1]); - } - - - memset(&locAddr, 0, sizeof(locAddr)); - locAddr.sin_family = AF_INET; - locAddr.sin_addr.s_addr = INADDR_ANY; - locAddr.sin_port = htons(14551); - - /* Bind the socket to port 14551 - necessary to receive packets from qgroundcontrol */ - if (-1 == bind(sock,(struct sockaddr *)&locAddr, sizeof(struct sockaddr))) - { - perror("error bind failed"); - close(sock); - exit(EXIT_FAILURE); - } - - /* Attempt to make it non blocking */ - if (fcntl(sock, F_SETFL, O_NONBLOCK | FASYNC) < 0) - { - fprintf(stderr, "error setting nonblocking: %s\n", strerror(errno)); - close(sock); - exit(EXIT_FAILURE); - } - - - memset(&gcAddr, 0, sizeof(gcAddr)); - gcAddr.sin_family = AF_INET; - gcAddr.sin_addr.s_addr = inet_addr(target_ip); - gcAddr.sin_port = htons(14550); - - - - for (;;) - { - - /*Send Heartbeat */ - mavlink_msg_heartbeat_pack(1, 200, &msg, MAV_TYPE_HELICOPTER, MAV_AUTOPILOT_GENERIC, MAV_MODE_GUIDED_ARMED, 0, MAV_STATE_ACTIVE); - len = mavlink_msg_to_send_buffer(buf, &msg); - bytes_sent = sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in)); - - /* Send Status */ - mavlink_msg_sys_status_pack(1, 200, &msg, 0, 0, 0, 500, 11000, -1, -1, 0, 0, 0, 0, 0, 0); - len = mavlink_msg_to_send_buffer(buf, &msg); - bytes_sent = sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof (struct sockaddr_in)); - - /* Send Local Position */ - mavlink_msg_local_position_ned_pack(1, 200, &msg, microsSinceEpoch(), - position[0], position[1], position[2], - position[3], position[4], position[5]); - len = mavlink_msg_to_send_buffer(buf, &msg); - bytes_sent = sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in)); - - /* Send attitude */ - mavlink_msg_attitude_pack(1, 200, &msg, microsSinceEpoch(), 1.2, 1.7, 3.14, 0.01, 0.02, 0.03); - len = mavlink_msg_to_send_buffer(buf, &msg); - bytes_sent = sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in)); - - - memset(buf, 0, BUFFER_LENGTH); - recsize = recvfrom(sock, (void *)buf, BUFFER_LENGTH, 0, (struct sockaddr *)&gcAddr, &fromlen); - if (recsize > 0) - { - // Something received - print out all bytes and parse packet - mavlink_message_t msg; - mavlink_status_t status; - - printf("Bytes Received: %d\nDatagram: ", (int)recsize); - for (i = 0; i < recsize; ++i) - { - temp = buf[i]; - printf("%02x ", (unsigned char)temp); - if (mavlink_parse_char(MAVLINK_COMM_0, buf[i], &msg, &status)) - { - // Packet received - printf("\nReceived packet: SYS: %d, COMP: %d, LEN: %d, MSG ID: %d\n", msg.sysid, msg.compid, msg.len, msg.msgid); - } - } - printf("\n"); - } - memset(buf, 0, BUFFER_LENGTH); - sleep(1); // Sleep one second - } -} - - -/* QNX timer version */ -#if (defined __QNX__) | (defined __QNXNTO__) -uint64_t microsSinceEpoch() -{ - - struct timespec time; - - uint64_t micros = 0; - - clock_gettime(CLOCK_REALTIME, &time); - micros = (uint64_t)time.tv_sec * 100000 + time.tv_nsec/1000; - - return micros; -} -#else -uint64_t microsSinceEpoch() -{ - - struct timeval tv; - - uint64_t micros = 0; - - gettimeofday(&tv, NULL); - micros = ((uint64_t)tv.tv_sec) * 1000000 + tv.tv_usec; - - return micros; -} -#endif diff --git a/thirdParty/mavlink/generate.sh b/thirdParty/mavlink/generate.sh deleted file mode 100755 index 092a7fc199cdd6397c2dda6824264f35ebc70ab5..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/generate.sh +++ /dev/null @@ -1,24 +0,0 @@ -#!/bin/bash -# this script generates all the include files with pymavlink - -# settings -wireProtocol=1.0 -pymavlinkTag=51f3d6713e9a5b94c232ab9bf9d08095a0c97866 - -# download pymavlink -topDir=$PWD -rm -rf include -rm -rf pymavlink -git clone https://github.com/mavlink/pymavlink.git -b master pymavlink -cd pymavlink && git checkout $pymavlinkTag && rm -rf .git - -# generate includes using message definitions -cd $topDir -for file in $(find message_definitions -name "*.xml") -do - echo generating mavlink includes for definition: $file - ./pymavlink/generator/mavgen.py --lang=C --wire-protocol=$wireProtocol --output=include $file -done - -# cleanup -rm -rf pymavlink diff --git a/thirdParty/mavlink/include/common/mavlink_msg_set_quad_motors_setpoint.h b/thirdParty/mavlink/include/common/mavlink_msg_set_quad_motors_setpoint.h deleted file mode 100644 index 40ff8998ec46367418e6cf28a61f21b740d7a2d4..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/include/common/mavlink_msg_set_quad_motors_setpoint.h +++ /dev/null @@ -1,232 +0,0 @@ -// MESSAGE SET_QUAD_MOTORS_SETPOINT PACKING - -#define MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT 60 - -typedef struct __mavlink_set_quad_motors_setpoint_t -{ - uint16_t motor_front_nw; ///< Front motor in + configuration, front left motor in x configuration - uint16_t motor_right_ne; ///< Right motor in + configuration, front right motor in x configuration - uint16_t motor_back_se; ///< Back motor in + configuration, back right motor in x configuration - uint16_t motor_left_sw; ///< Left motor in + configuration, back left motor in x configuration - uint8_t target_system; ///< System ID of the system that should set these motor commands -} mavlink_set_quad_motors_setpoint_t; - -#define MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT_LEN 9 -#define MAVLINK_MSG_ID_60_LEN 9 - - - -#define MAVLINK_MESSAGE_INFO_SET_QUAD_MOTORS_SETPOINT { \ - "SET_QUAD_MOTORS_SETPOINT", \ - 5, \ - { { "motor_front_nw", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_set_quad_motors_setpoint_t, motor_front_nw) }, \ - { "motor_right_ne", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_set_quad_motors_setpoint_t, motor_right_ne) }, \ - { "motor_back_se", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_set_quad_motors_setpoint_t, motor_back_se) }, \ - { "motor_left_sw", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_set_quad_motors_setpoint_t, motor_left_sw) }, \ - { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_set_quad_motors_setpoint_t, target_system) }, \ - } \ -} - - -/** - * @brief Pack a set_quad_motors_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 of the system that should set these motor commands - * @param motor_front_nw Front motor in + configuration, front left motor in x configuration - * @param motor_right_ne Right motor in + configuration, front right motor in x configuration - * @param motor_back_se Back motor in + configuration, back right motor in x configuration - * @param motor_left_sw Left motor in + configuration, back left motor in x configuration - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_set_quad_motors_setpoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, - uint8_t target_system, uint16_t motor_front_nw, uint16_t motor_right_ne, uint16_t motor_back_se, uint16_t motor_left_sw) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[9]; - _mav_put_uint16_t(buf, 0, motor_front_nw); - _mav_put_uint16_t(buf, 2, motor_right_ne); - _mav_put_uint16_t(buf, 4, motor_back_se); - _mav_put_uint16_t(buf, 6, motor_left_sw); - _mav_put_uint8_t(buf, 8, target_system); - - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 9); -#else - mavlink_set_quad_motors_setpoint_t packet; - packet.motor_front_nw = motor_front_nw; - packet.motor_right_ne = motor_right_ne; - packet.motor_back_se = motor_back_se; - packet.motor_left_sw = motor_left_sw; - packet.target_system = target_system; - - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 9); -#endif - - msg->msgid = MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT; - return mavlink_finalize_message(msg, system_id, component_id, 9, 30); -} - -/** - * @brief Pack a set_quad_motors_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 of the system that should set these motor commands - * @param motor_front_nw Front motor in + configuration, front left motor in x configuration - * @param motor_right_ne Right motor in + configuration, front right motor in x configuration - * @param motor_back_se Back motor in + configuration, back right motor in x configuration - * @param motor_left_sw Left motor in + configuration, back left motor in x configuration - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_set_quad_motors_setpoint_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, - mavlink_message_t* msg, - uint8_t target_system,uint16_t motor_front_nw,uint16_t motor_right_ne,uint16_t motor_back_se,uint16_t motor_left_sw) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[9]; - _mav_put_uint16_t(buf, 0, motor_front_nw); - _mav_put_uint16_t(buf, 2, motor_right_ne); - _mav_put_uint16_t(buf, 4, motor_back_se); - _mav_put_uint16_t(buf, 6, motor_left_sw); - _mav_put_uint8_t(buf, 8, target_system); - - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 9); -#else - mavlink_set_quad_motors_setpoint_t packet; - packet.motor_front_nw = motor_front_nw; - packet.motor_right_ne = motor_right_ne; - packet.motor_back_se = motor_back_se; - packet.motor_left_sw = motor_left_sw; - packet.target_system = target_system; - - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 9); -#endif - - msg->msgid = MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT; - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 9, 30); -} - -/** - * @brief Encode a set_quad_motors_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 set_quad_motors_setpoint C-struct to read the message contents from - */ -static inline uint16_t mavlink_msg_set_quad_motors_setpoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_quad_motors_setpoint_t* set_quad_motors_setpoint) -{ - return mavlink_msg_set_quad_motors_setpoint_pack(system_id, component_id, msg, set_quad_motors_setpoint->target_system, set_quad_motors_setpoint->motor_front_nw, set_quad_motors_setpoint->motor_right_ne, set_quad_motors_setpoint->motor_back_se, set_quad_motors_setpoint->motor_left_sw); -} - -/** - * @brief Send a set_quad_motors_setpoint message - * @param chan MAVLink channel to send the message - * - * @param target_system System ID of the system that should set these motor commands - * @param motor_front_nw Front motor in + configuration, front left motor in x configuration - * @param motor_right_ne Right motor in + configuration, front right motor in x configuration - * @param motor_back_se Back motor in + configuration, back right motor in x configuration - * @param motor_left_sw Left motor in + configuration, back left motor in x configuration - */ -#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS - -static inline void mavlink_msg_set_quad_motors_setpoint_send(mavlink_channel_t chan, uint8_t target_system, uint16_t motor_front_nw, uint16_t motor_right_ne, uint16_t motor_back_se, uint16_t motor_left_sw) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[9]; - _mav_put_uint16_t(buf, 0, motor_front_nw); - _mav_put_uint16_t(buf, 2, motor_right_ne); - _mav_put_uint16_t(buf, 4, motor_back_se); - _mav_put_uint16_t(buf, 6, motor_left_sw); - _mav_put_uint8_t(buf, 8, target_system); - - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT, buf, 9, 30); -#else - mavlink_set_quad_motors_setpoint_t packet; - packet.motor_front_nw = motor_front_nw; - packet.motor_right_ne = motor_right_ne; - packet.motor_back_se = motor_back_se; - packet.motor_left_sw = motor_left_sw; - packet.target_system = target_system; - - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT, (const char *)&packet, 9, 30); -#endif -} - -#endif - -// MESSAGE SET_QUAD_MOTORS_SETPOINT UNPACKING - - -/** - * @brief Get field target_system from set_quad_motors_setpoint message - * - * @return System ID of the system that should set these motor commands - */ -static inline uint8_t mavlink_msg_set_quad_motors_setpoint_get_target_system(const mavlink_message_t* msg) -{ - return _MAV_RETURN_uint8_t(msg, 8); -} - -/** - * @brief Get field motor_front_nw from set_quad_motors_setpoint message - * - * @return Front motor in + configuration, front left motor in x configuration - */ -static inline uint16_t mavlink_msg_set_quad_motors_setpoint_get_motor_front_nw(const mavlink_message_t* msg) -{ - return _MAV_RETURN_uint16_t(msg, 0); -} - -/** - * @brief Get field motor_right_ne from set_quad_motors_setpoint message - * - * @return Right motor in + configuration, front right motor in x configuration - */ -static inline uint16_t mavlink_msg_set_quad_motors_setpoint_get_motor_right_ne(const mavlink_message_t* msg) -{ - return _MAV_RETURN_uint16_t(msg, 2); -} - -/** - * @brief Get field motor_back_se from set_quad_motors_setpoint message - * - * @return Back motor in + configuration, back right motor in x configuration - */ -static inline uint16_t mavlink_msg_set_quad_motors_setpoint_get_motor_back_se(const mavlink_message_t* msg) -{ - return _MAV_RETURN_uint16_t(msg, 4); -} - -/** - * @brief Get field motor_left_sw from set_quad_motors_setpoint message - * - * @return Left motor in + configuration, back left motor in x configuration - */ -static inline uint16_t mavlink_msg_set_quad_motors_setpoint_get_motor_left_sw(const mavlink_message_t* msg) -{ - return _MAV_RETURN_uint16_t(msg, 6); -} - -/** - * @brief Decode a set_quad_motors_setpoint message into a struct - * - * @param msg The message to decode - * @param set_quad_motors_setpoint C-struct to decode the message contents into - */ -static inline void mavlink_msg_set_quad_motors_setpoint_decode(const mavlink_message_t* msg, mavlink_set_quad_motors_setpoint_t* set_quad_motors_setpoint) -{ -#if MAVLINK_NEED_BYTE_SWAP - set_quad_motors_setpoint->motor_front_nw = mavlink_msg_set_quad_motors_setpoint_get_motor_front_nw(msg); - set_quad_motors_setpoint->motor_right_ne = mavlink_msg_set_quad_motors_setpoint_get_motor_right_ne(msg); - set_quad_motors_setpoint->motor_back_se = mavlink_msg_set_quad_motors_setpoint_get_motor_back_se(msg); - set_quad_motors_setpoint->motor_left_sw = mavlink_msg_set_quad_motors_setpoint_get_motor_left_sw(msg); - set_quad_motors_setpoint->target_system = mavlink_msg_set_quad_motors_setpoint_get_target_system(msg); -#else - memcpy(set_quad_motors_setpoint, _MAV_PAYLOAD(msg), 9); -#endif -} diff --git a/thirdParty/mavlink/include/common/mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust.h b/thirdParty/mavlink/include/common/mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust.h deleted file mode 100644 index c3ea8de408cd4a9aac96f756b5c84dbf3b78c9ff..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/include/common/mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust.h +++ /dev/null @@ -1,236 +0,0 @@ -// MESSAGE SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST PACKING - -#define MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST 61 - -typedef struct __mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t -{ - int16_t roll[6]; ///< Desired roll angle in radians, scaled to int16 for 6 quadrotors: 0..5 - int16_t pitch[6]; ///< Desired pitch angle in radians, scaled to int16 for 6 quadrotors: 0..5 - int16_t yaw[6]; ///< Desired yaw angle in radians, scaled to int16 for 6 quadrotors: 0..5 - uint16_t thrust[6]; ///< Collective thrust, scaled to uint16 for 6 quadrotors: 0..5 - uint8_t target_systems[6]; ///< System IDs for 6 quadrotors: 0..5, the ID's are the MAVLink IDs -} mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t; - -#define MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST_LEN 54 -#define MAVLINK_MSG_ID_61_LEN 54 - -#define MAVLINK_MSG_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST_FIELD_ROLL_LEN 6 -#define MAVLINK_MSG_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST_FIELD_PITCH_LEN 6 -#define MAVLINK_MSG_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST_FIELD_YAW_LEN 6 -#define MAVLINK_MSG_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST_FIELD_THRUST_LEN 6 -#define MAVLINK_MSG_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST_FIELD_TARGET_SYSTEMS_LEN 6 - -#define MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST { \ - "SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST", \ - 5, \ - { { "roll", NULL, MAVLINK_TYPE_INT16_T, 6, 0, offsetof(mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t, roll) }, \ - { "pitch", NULL, MAVLINK_TYPE_INT16_T, 6, 12, offsetof(mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t, pitch) }, \ - { "yaw", NULL, MAVLINK_TYPE_INT16_T, 6, 24, offsetof(mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t, yaw) }, \ - { "thrust", NULL, MAVLINK_TYPE_UINT16_T, 6, 36, offsetof(mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t, thrust) }, \ - { "target_systems", NULL, MAVLINK_TYPE_UINT8_T, 6, 48, offsetof(mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t, target_systems) }, \ - } \ -} - - -/** - * @brief Pack a set_quad_swarm_roll_pitch_yaw_thrust 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_systems System IDs for 6 quadrotors: 0..5, the ID's are the MAVLink IDs - * @param roll Desired roll angle in radians, scaled to int16 for 6 quadrotors: 0..5 - * @param pitch Desired pitch angle in radians, scaled to int16 for 6 quadrotors: 0..5 - * @param yaw Desired yaw angle in radians, scaled to int16 for 6 quadrotors: 0..5 - * @param thrust Collective thrust, scaled to uint16 for 6 quadrotors: 0..5 - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, - const uint8_t *target_systems, const int16_t *roll, const int16_t *pitch, const int16_t *yaw, const uint16_t *thrust) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[54]; - - _mav_put_int16_t_array(buf, 0, roll, 6); - _mav_put_int16_t_array(buf, 12, pitch, 6); - _mav_put_int16_t_array(buf, 24, yaw, 6); - _mav_put_uint16_t_array(buf, 36, thrust, 6); - _mav_put_uint8_t_array(buf, 48, target_systems, 6); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 54); -#else - mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t packet; - - mav_array_memcpy(packet.roll, roll, sizeof(int16_t)*6); - mav_array_memcpy(packet.pitch, pitch, sizeof(int16_t)*6); - mav_array_memcpy(packet.yaw, yaw, sizeof(int16_t)*6); - mav_array_memcpy(packet.thrust, thrust, sizeof(uint16_t)*6); - mav_array_memcpy(packet.target_systems, target_systems, sizeof(uint8_t)*6); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 54); -#endif - - msg->msgid = MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST; - return mavlink_finalize_message(msg, system_id, component_id, 54, 200); -} - -/** - * @brief Pack a set_quad_swarm_roll_pitch_yaw_thrust 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_systems System IDs for 6 quadrotors: 0..5, the ID's are the MAVLink IDs - * @param roll Desired roll angle in radians, scaled to int16 for 6 quadrotors: 0..5 - * @param pitch Desired pitch angle in radians, scaled to int16 for 6 quadrotors: 0..5 - * @param yaw Desired yaw angle in radians, scaled to int16 for 6 quadrotors: 0..5 - * @param thrust Collective thrust, scaled to uint16 for 6 quadrotors: 0..5 - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, - mavlink_message_t* msg, - const uint8_t *target_systems,const int16_t *roll,const int16_t *pitch,const int16_t *yaw,const uint16_t *thrust) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[54]; - - _mav_put_int16_t_array(buf, 0, roll, 6); - _mav_put_int16_t_array(buf, 12, pitch, 6); - _mav_put_int16_t_array(buf, 24, yaw, 6); - _mav_put_uint16_t_array(buf, 36, thrust, 6); - _mav_put_uint8_t_array(buf, 48, target_systems, 6); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 54); -#else - mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t packet; - - mav_array_memcpy(packet.roll, roll, sizeof(int16_t)*6); - mav_array_memcpy(packet.pitch, pitch, sizeof(int16_t)*6); - mav_array_memcpy(packet.yaw, yaw, sizeof(int16_t)*6); - mav_array_memcpy(packet.thrust, thrust, sizeof(uint16_t)*6); - mav_array_memcpy(packet.target_systems, target_systems, sizeof(uint8_t)*6); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 54); -#endif - - msg->msgid = MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST; - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 54, 200); -} - -/** - * @brief Encode a set_quad_swarm_roll_pitch_yaw_thrust 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 set_quad_swarm_roll_pitch_yaw_thrust C-struct to read the message contents from - */ -static inline uint16_t mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t* set_quad_swarm_roll_pitch_yaw_thrust) -{ - return mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_pack(system_id, component_id, msg, set_quad_swarm_roll_pitch_yaw_thrust->target_systems, set_quad_swarm_roll_pitch_yaw_thrust->roll, set_quad_swarm_roll_pitch_yaw_thrust->pitch, set_quad_swarm_roll_pitch_yaw_thrust->yaw, set_quad_swarm_roll_pitch_yaw_thrust->thrust); -} - -/** - * @brief Send a set_quad_swarm_roll_pitch_yaw_thrust message - * @param chan MAVLink channel to send the message - * - * @param target_systems System IDs for 6 quadrotors: 0..5, the ID's are the MAVLink IDs - * @param roll Desired roll angle in radians, scaled to int16 for 6 quadrotors: 0..5 - * @param pitch Desired pitch angle in radians, scaled to int16 for 6 quadrotors: 0..5 - * @param yaw Desired yaw angle in radians, scaled to int16 for 6 quadrotors: 0..5 - * @param thrust Collective thrust, scaled to uint16 for 6 quadrotors: 0..5 - */ -#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS - -static inline void mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_send(mavlink_channel_t chan, const uint8_t *target_systems, const int16_t *roll, const int16_t *pitch, const int16_t *yaw, const uint16_t *thrust) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[54]; - - _mav_put_int16_t_array(buf, 0, roll, 6); - _mav_put_int16_t_array(buf, 12, pitch, 6); - _mav_put_int16_t_array(buf, 24, yaw, 6); - _mav_put_uint16_t_array(buf, 36, thrust, 6); - _mav_put_uint8_t_array(buf, 48, target_systems, 6); - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, buf, 54, 200); -#else - mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t packet; - - mav_array_memcpy(packet.roll, roll, sizeof(int16_t)*6); - mav_array_memcpy(packet.pitch, pitch, sizeof(int16_t)*6); - mav_array_memcpy(packet.yaw, yaw, sizeof(int16_t)*6); - mav_array_memcpy(packet.thrust, thrust, sizeof(uint16_t)*6); - mav_array_memcpy(packet.target_systems, target_systems, sizeof(uint8_t)*6); - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, (const char *)&packet, 54, 200); -#endif -} - -#endif - -// MESSAGE SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST UNPACKING - - -/** - * @brief Get field target_systems from set_quad_swarm_roll_pitch_yaw_thrust message - * - * @return System IDs for 6 quadrotors: 0..5, the ID's are the MAVLink IDs - */ -static inline uint16_t mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_get_target_systems(const mavlink_message_t* msg, uint8_t *target_systems) -{ - return _MAV_RETURN_uint8_t_array(msg, target_systems, 6, 48); -} - -/** - * @brief Get field roll from set_quad_swarm_roll_pitch_yaw_thrust message - * - * @return Desired roll angle in radians, scaled to int16 for 6 quadrotors: 0..5 - */ -static inline uint16_t mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_get_roll(const mavlink_message_t* msg, int16_t *roll) -{ - return _MAV_RETURN_int16_t_array(msg, roll, 6, 0); -} - -/** - * @brief Get field pitch from set_quad_swarm_roll_pitch_yaw_thrust message - * - * @return Desired pitch angle in radians, scaled to int16 for 6 quadrotors: 0..5 - */ -static inline uint16_t mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_get_pitch(const mavlink_message_t* msg, int16_t *pitch) -{ - return _MAV_RETURN_int16_t_array(msg, pitch, 6, 12); -} - -/** - * @brief Get field yaw from set_quad_swarm_roll_pitch_yaw_thrust message - * - * @return Desired yaw angle in radians, scaled to int16 for 6 quadrotors: 0..5 - */ -static inline uint16_t mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_get_yaw(const mavlink_message_t* msg, int16_t *yaw) -{ - return _MAV_RETURN_int16_t_array(msg, yaw, 6, 24); -} - -/** - * @brief Get field thrust from set_quad_swarm_roll_pitch_yaw_thrust message - * - * @return Collective thrust, scaled to uint16 for 6 quadrotors: 0..5 - */ -static inline uint16_t mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_get_thrust(const mavlink_message_t* msg, uint16_t *thrust) -{ - return _MAV_RETURN_uint16_t_array(msg, thrust, 6, 36); -} - -/** - * @brief Decode a set_quad_swarm_roll_pitch_yaw_thrust message into a struct - * - * @param msg The message to decode - * @param set_quad_swarm_roll_pitch_yaw_thrust C-struct to decode the message contents into - */ -static inline void mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_decode(const mavlink_message_t* msg, mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t* set_quad_swarm_roll_pitch_yaw_thrust) -{ -#if MAVLINK_NEED_BYTE_SWAP - mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_get_roll(msg, set_quad_swarm_roll_pitch_yaw_thrust->roll); - mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_get_pitch(msg, set_quad_swarm_roll_pitch_yaw_thrust->pitch); - mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_get_yaw(msg, set_quad_swarm_roll_pitch_yaw_thrust->yaw); - mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_get_thrust(msg, set_quad_swarm_roll_pitch_yaw_thrust->thrust); - mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_get_target_systems(msg, set_quad_swarm_roll_pitch_yaw_thrust->target_systems); -#else - memcpy(set_quad_swarm_roll_pitch_yaw_thrust, _MAV_PAYLOAD(msg), 54); -#endif -} diff --git a/thirdParty/mavlink/include/mavlink_protobuf_manager.hpp b/thirdParty/mavlink/include/mavlink_protobuf_manager.hpp deleted file mode 100644 index d16668ed8e9c94861a69525b912e1b96cec5a419..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/include/mavlink_protobuf_manager.hpp +++ /dev/null @@ -1,371 +0,0 @@ -#ifndef MAVLINKPROTOBUFMANAGER_HPP -#define MAVLINKPROTOBUFMANAGER_HPP - -#include -#include -#include -#include - -#include -#include -#include -#include - -namespace mavlink -{ - -class ProtobufManager -{ -public: - ProtobufManager() - : mRegisteredTypeCount(0) - , mStreamID(0) - , mVerbose(false) - , kExtendedHeaderSize(MAVLINK_EXTENDED_HEADER_LEN) - , kExtendedPayloadMaxSize(MAVLINK_MAX_EXTENDED_PAYLOAD_LEN) - { - // register PointCloudXYZI - { - std::tr1::shared_ptr msg(new px::PointCloudXYZI); - registerType(msg); - } - - // register PointCloudXYZRGB - { - std::tr1::shared_ptr msg(new px::PointCloudXYZRGB); - registerType(msg); - } - - // register RGBDImage - { - std::tr1::shared_ptr msg(new px::RGBDImage); - registerType(msg); - } - - // register ObstacleList - { - std::tr1::shared_ptr msg(new px::ObstacleList); - registerType(msg); - } - - // register ObstacleMap - { - std::tr1::shared_ptr msg(new px::ObstacleMap); - registerType(msg); - } - - // register Path - { - std::tr1::shared_ptr msg(new px::Path); - registerType(msg); - } - - srand(time(NULL)); - mStreamID = rand() + 1; - } - - bool fragmentMessage(uint8_t system_id, uint8_t component_id, - uint8_t target_system, uint8_t target_component, - const google::protobuf::Message& protobuf_msg, - std::vector& fragments) const - { - TypeMap::const_iterator it = mTypeMap.find(protobuf_msg.GetTypeName()); - if (it == mTypeMap.end()) - { - std::cout << "# WARNING: Protobuf message with type " - << protobuf_msg.GetTypeName() << " is not registered." - << std::endl; - return false; - } - - uint8_t typecode = it->second; - - std::string data = protobuf_msg.SerializeAsString(); - - int fragmentCount = (protobuf_msg.ByteSize() + kExtendedPayloadMaxSize - 1) / kExtendedPayloadMaxSize; - unsigned int offset = 0; - - for (int i = 0; i < fragmentCount; ++i) - { - mavlink_extended_message_t fragment; - - // write extended header data - uint8_t* payload = reinterpret_cast(fragment.base_msg.payload64); - unsigned int length = 0; - uint8_t flags = 0; - - if (i < fragmentCount - 1) - { - length = kExtendedPayloadMaxSize; - flags |= 0x1; - } - else - { - length = protobuf_msg.ByteSize() - kExtendedPayloadMaxSize * (fragmentCount - 1); - } - - memcpy(payload, &target_system, 1); - memcpy(payload + 1, &target_component, 1); - memcpy(payload + 2, &typecode, 1); - memcpy(payload + 3, &length, 4); - memcpy(payload + 7, &mStreamID, 2); - memcpy(payload + 9, &offset, 4); - memcpy(payload + 13, &flags, 1); - - fragment.base_msg.msgid = MAVLINK_MSG_ID_EXTENDED_MESSAGE; - mavlink_finalize_message(&fragment.base_msg, system_id, component_id, kExtendedHeaderSize, 0); - - // write extended payload data - fragment.extended_payload_len = length; - memcpy(fragment.extended_payload, &data[offset], length); - - fragments.push_back(fragment); - offset += length; - } - - if (mVerbose) - { - std::cerr << "# INFO: Split extended message with size " - << protobuf_msg.ByteSize() << " into " - << fragmentCount << " fragments." << std::endl; - } - - return true; - } - - bool cacheFragment(mavlink_extended_message_t& msg) - { - if (!validFragment(msg)) - { - if (mVerbose) - { - std::cerr << "# WARNING: Message is not a valid fragment. " - << "Dropping message..." << std::endl; - } - return false; - } - - // read extended header - uint8_t* payload = reinterpret_cast(msg.base_msg.payload64); - uint8_t typecode = 0; - unsigned int length = 0; - unsigned short streamID = 0; - unsigned int offset = 0; - uint8_t flags = 0; - - memcpy(&typecode, payload + 2, 1); - memcpy(&length, payload + 3, 4); - memcpy(&streamID, payload + 7, 2); - memcpy(&offset, payload + 9, 4); - memcpy(&flags, payload + 13, 1); - - if (typecode >= mTypeMap.size()) - { - std::cout << "# WARNING: Protobuf message with type code " - << static_cast(typecode) << " is not registered." << std::endl; - return false; - } - - bool reassemble = false; - - FragmentQueue::iterator it = mFragmentQueue.find(streamID); - if (it == mFragmentQueue.end()) - { - if (offset == 0) - { - mFragmentQueue[streamID].push_back(msg); - - if ((flags & 0x1) != 0x1) - { - reassemble = true; - } - - if (mVerbose) - { - std::cerr << "# INFO: Added fragment to new queue." - << std::endl; - } - } - else - { - if (mVerbose) - { - std::cerr << "# WARNING: Message is not a valid fragment. " - << "Dropping message..." << std::endl; - } - } - } - else - { - std::deque& queue = it->second; - - if (queue.empty()) - { - if (offset == 0) - { - queue.push_back(msg); - - if ((flags & 0x1) != 0x1) - { - reassemble = true; - } - } - else - { - if (mVerbose) - { - std::cerr << "# WARNING: Message is not a valid fragment. " - << "Dropping message..." << std::endl; - } - } - } - else - { - if (fragmentDataSize(queue.back()) + fragmentOffset(queue.back()) != offset) - { - if (mVerbose) - { - std::cerr << "# WARNING: Previous fragment(s) have been lost. " - << "Dropping message and clearing queue..." << std::endl; - } - queue.clear(); - } - else - { - queue.push_back(msg); - - if ((flags & 0x1) != 0x1) - { - reassemble = true; - } - } - } - } - - if (reassemble) - { - std::deque& queue = mFragmentQueue[streamID]; - - std::string data; - for (size_t i = 0; i < queue.size(); ++i) - { - mavlink_extended_message_t& mavlink_msg = queue.at(i); - - data.append(reinterpret_cast(&mavlink_msg.extended_payload[0]), - static_cast(mavlink_msg.extended_payload_len)); - } - - mMessages.at(typecode)->ParseFromString(data); - - mMessageAvailable.at(typecode) = true; - - queue.clear(); - - if (mVerbose) - { - std::cerr << "# INFO: Reassembled fragments for message with typename " - << mMessages.at(typecode)->GetTypeName() << " and size " - << mMessages.at(typecode)->ByteSize() - << "." << std::endl; - } - } - - return true; - } - - bool getMessage(std::tr1::shared_ptr& msg) - { - for (size_t i = 0; i < mMessageAvailable.size(); ++i) - { - if (mMessageAvailable.at(i)) - { - msg = mMessages.at(i); - mMessageAvailable.at(i) = false; - - return true; - } - } - - return false; - } - -private: - void registerType(const std::tr1::shared_ptr& msg) - { - mTypeMap[msg->GetTypeName()] = mRegisteredTypeCount; - ++mRegisteredTypeCount; - mMessages.push_back(msg); - mMessageAvailable.push_back(false); - } - - bool validFragment(const mavlink_extended_message_t& msg) const - { - if (msg.base_msg.magic != MAVLINK_STX || - msg.base_msg.len != kExtendedHeaderSize || - msg.base_msg.msgid != MAVLINK_MSG_ID_EXTENDED_MESSAGE) - { - return false; - } - - uint16_t checksum; - checksum = crc_calculate(reinterpret_cast(&msg.base_msg.len), MAVLINK_CORE_HEADER_LEN); - crc_accumulate_buffer(&checksum, reinterpret_cast(&msg.base_msg.payload64), kExtendedHeaderSize); -#if MAVLINK_CRC_EXTRA - static const uint8_t mavlink_message_crcs[256] = MAVLINK_MESSAGE_CRCS; - crc_accumulate(mavlink_message_crcs[msg.base_msg.msgid], &checksum); -#endif - - if (mavlink_ck_a(&(msg.base_msg)) != (uint8_t)(checksum & 0xFF) && - mavlink_ck_b(&(msg.base_msg)) != (uint8_t)(checksum >> 8)) - { - return false; - } - - return true; - } - - unsigned int fragmentDataSize(const mavlink_extended_message_t& msg) const - { - const uint8_t* payload = reinterpret_cast(msg.base_msg.payload64); - - return *(reinterpret_cast(payload + 3)); - } - - unsigned int fragmentOffset(const mavlink_extended_message_t& msg) const - { - const uint8_t* payload = reinterpret_cast(msg.base_msg.payload64); - - return *(reinterpret_cast(payload + 9)); - } - - int mRegisteredTypeCount; - unsigned short mStreamID; - bool mVerbose; - - typedef std::map TypeMap; - TypeMap mTypeMap; - std::vector< std::tr1::shared_ptr > mMessages; - std::vector mMessageAvailable; - - typedef std::map > FragmentQueue; - FragmentQueue mFragmentQueue; - - const int kExtendedHeaderSize; - /** - * Extended header structure - * ========================= - * byte 0 - target_system - * byte 1 - target_component - * byte 2 - extended message id (type code) - * bytes 3-6 - extended payload size in bytes - * byte 7-8 - stream ID - * byte 9-12 - fragment offset - * byte 13 - fragment flags (bit 0 - 1=more fragments, 0=last fragment) - */ - - const int kExtendedPayloadMaxSize; -}; - -} - -#endif diff --git a/thirdParty/mavlink/include/minimal/minimal.h b/thirdParty/mavlink/include/minimal/minimal.h deleted file mode 100644 index 43c6bd3adfed40feacea05e3da7e166a3ec37e5c..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/include/minimal/minimal.h +++ /dev/null @@ -1,53 +0,0 @@ -/** @file - * @brief MAVLink comm protocol generated from minimal.xml - * @see http://qgroundcontrol.org/mavlink/ - */ -#ifndef MINIMAL_H -#define MINIMAL_H - -#ifdef __cplusplus -extern "C" { -#endif - -// MESSAGE LENGTHS AND CRCS - -#ifndef MAVLINK_MESSAGE_LENGTHS -#define MAVLINK_MESSAGE_LENGTHS {9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0} -#endif - -#ifndef MAVLINK_MESSAGE_CRCS -#define MAVLINK_MESSAGE_CRCS {50, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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{"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}} -#endif - -#include "../protocol.h" - -#define MAVLINK_ENABLED_MINIMAL - - - -// MAVLINK VERSION - -#ifndef MAVLINK_VERSION -#define MAVLINK_VERSION 2 -#endif - -#if (MAVLINK_VERSION == 0) -#undef MAVLINK_VERSION -#define MAVLINK_VERSION 2 -#endif - -// ENUM DEFINITIONS - - - -// MESSAGE DEFINITIONS -#include "./mavlink_msg_heartbeat.h" - -#ifdef __cplusplus -} -#endif // __cplusplus -#endif // MINIMAL_H diff --git a/thirdParty/mavlink/include/pixhawk/pixhawk.h b/thirdParty/mavlink/include/pixhawk/pixhawk.h deleted file mode 100644 index ece4b87e9d6bf8be3af637fb741784996882a2ab..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/include/pixhawk/pixhawk.h +++ /dev/null @@ -1,82 +0,0 @@ -/** @file - * @brief MAVLink comm protocol generated from pixhawk.xml - * @see http://qgroundcontrol.org/mavlink/ - */ -#ifndef PIXHAWK_H -#define PIXHAWK_H - -#ifdef __cplusplus -extern "C" { -#endif - -// MESSAGE LENGTHS AND CRCS - -#ifndef MAVLINK_MESSAGE_LENGTHS -#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 54, 26, 0, 36, 0, 6, 4, 0, 21, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 18, 32, 32, 20, 32, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 11, 52, 1, 92, 0, 0, 0, 0, 0, 18, 0, 0, 0, 0, 0, 0, 0, 0, 0, 18, 26, 16, 0, 0, 0, 0, 0, 0, 0, 4, 255, 12, 6, 0, 0, 0, 0, 0, 0, 106, 43, 55, 12, 255, 53, 0, 0, 0, 0, 21, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 0} -#endif - -#ifndef MAVLINK_MESSAGE_CRCS -#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 200, 183, 0, 130, 0, 148, 21, 0, 52, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 19, 102, 158, 208, 56, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 108, 86, 95, 224, 0, 0, 0, 0, 0, 22, 0, 0, 0, 0, 0, 0, 0, 0, 0, 28, 249, 182, 0, 0, 0, 0, 0, 0, 0, 153, 16, 29, 162, 0, 0, 0, 0, 0, 0, 90, 95, 36, 23, 223, 88, 0, 0, 0, 0, 254, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0} -#endif - -#ifndef MAVLINK_MESSAGE_INFO -#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_MODE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_WRITE_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_ITEM, MAVLINK_MESSAGE_INFO_MISSION_REQUEST, MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST, MAVLINK_MESSAGE_INFO_MISSION_COUNT, MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL, MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED, MAVLINK_MESSAGE_INFO_MISSION_ACK, MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_MOTORS_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_DATA_STREAM, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_VFR_HUD, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_COMMAND_LONG, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_HIL_RC_INPUTS_RAW, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE, MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_CAM_SHUTTER, MAVLINK_MESSAGE_INFO_IMAGE_TRIGGERED, MAVLINK_MESSAGE_INFO_IMAGE_TRIGGER_CONTROL, MAVLINK_MESSAGE_INFO_IMAGE_AVAILABLE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_POSITION_CONTROL_OFFSET, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_POSITION_CONTROL_SETPOINT, MAVLINK_MESSAGE_INFO_MARKER, MAVLINK_MESSAGE_INFO_RAW_AUX, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_WATCHDOG_HEARTBEAT, MAVLINK_MESSAGE_INFO_WATCHDOG_PROCESS_INFO, MAVLINK_MESSAGE_INFO_WATCHDOG_PROCESS_STATUS, MAVLINK_MESSAGE_INFO_WATCHDOG_COMMAND, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PATTERN_DETECTED, MAVLINK_MESSAGE_INFO_POINT_OF_INTEREST, MAVLINK_MESSAGE_INFO_POINT_OF_INTEREST_CONNECTION, MAVLINK_MESSAGE_INFO_DATA_TRANSMISSION_HANDSHAKE, MAVLINK_MESSAGE_INFO_ENCAPSULATED_DATA, MAVLINK_MESSAGE_INFO_BRIEF_FEATURE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_ATTITUDE_CONTROL, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MEMORY_VECT, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}} -#endif - -#include "../protocol.h" - -#define MAVLINK_ENABLED_PIXHAWK - -#include "../common/common.h" - -// MAVLINK VERSION - -#ifndef MAVLINK_VERSION -#define MAVLINK_VERSION 2 -#endif - -#if (MAVLINK_VERSION == 0) -#undef MAVLINK_VERSION -#define MAVLINK_VERSION 2 -#endif - -// ENUM DEFINITIONS - - -/** @brief Content Types for data transmission handshake */ -#ifndef HAVE_ENUM_DATA_TYPES -#define HAVE_ENUM_DATA_TYPES -enum DATA_TYPES -{ - DATA_TYPE_JPEG_IMAGE=1, /* | */ - DATA_TYPE_RAW_IMAGE=2, /* | */ - DATA_TYPE_KINECT=3, /* | */ - DATA_TYPES_ENUM_END=4, /* | */ -}; -#endif - -// MESSAGE DEFINITIONS -#include "./mavlink_msg_set_cam_shutter.h" -#include "./mavlink_msg_image_triggered.h" -#include "./mavlink_msg_image_trigger_control.h" -#include "./mavlink_msg_image_available.h" -#include "./mavlink_msg_set_position_control_offset.h" -#include "./mavlink_msg_position_control_setpoint.h" -#include "./mavlink_msg_marker.h" -#include "./mavlink_msg_raw_aux.h" -#include "./mavlink_msg_watchdog_heartbeat.h" -#include "./mavlink_msg_watchdog_process_info.h" -#include "./mavlink_msg_watchdog_process_status.h" -#include "./mavlink_msg_watchdog_command.h" -#include "./mavlink_msg_pattern_detected.h" -#include "./mavlink_msg_point_of_interest.h" -#include "./mavlink_msg_point_of_interest_connection.h" -#include "./mavlink_msg_data_transmission_handshake.h" -#include "./mavlink_msg_encapsulated_data.h" -#include "./mavlink_msg_brief_feature.h" -#include "./mavlink_msg_attitude_control.h" - -#ifdef __cplusplus -} -#endif // __cplusplus -#endif // PIXHAWK_H diff --git a/thirdParty/mavlink/include/pixhawk/pixhawk.pb.h b/thirdParty/mavlink/include/pixhawk/pixhawk.pb.h deleted file mode 100644 index 63279d3bb123b1e808b9a3636e662728c4b27555..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/include/pixhawk/pixhawk.pb.h +++ /dev/null @@ -1,3088 +0,0 @@ -// Generated by the protocol buffer compiler. DO NOT EDIT! -// source: pixhawk.proto - -#ifndef PROTOBUF_pixhawk_2eproto__INCLUDED -#define PROTOBUF_pixhawk_2eproto__INCLUDED - -#include - -#include - -#if GOOGLE_PROTOBUF_VERSION < 2004000 -#error This file was generated by a newer version of protoc which is -#error incompatible with your Protocol Buffer headers. Please update -#error your headers. -#endif -#if 2004001 < GOOGLE_PROTOBUF_MIN_PROTOC_VERSION -#error This file was generated by an older version of protoc which is -#error incompatible with your Protocol Buffer headers. Please -#error regenerate this file with a newer version of protoc. -#endif - -#include -#include -#include -#include -// @@protoc_insertion_point(includes) - -namespace px { - -// Internal implementation detail -- do not call these. -void protobuf_AddDesc_pixhawk_2eproto(); -void protobuf_AssignDesc_pixhawk_2eproto(); -void protobuf_ShutdownFile_pixhawk_2eproto(); - -class HeaderInfo; -class PointCloudXYZI; -class PointCloudXYZI_PointXYZI; -class PointCloudXYZRGB; -class PointCloudXYZRGB_PointXYZRGB; -class RGBDImage; -class Obstacle; -class ObstacleList; -class ObstacleMap; -class Waypoint; -class Path; - -// =================================================================== - -class HeaderInfo : public ::google::protobuf::Message { - public: - HeaderInfo(); - virtual ~HeaderInfo(); - - HeaderInfo(const HeaderInfo& from); - - inline HeaderInfo& operator=(const HeaderInfo& from) { - CopyFrom(from); - return *this; - } - - inline const ::google::protobuf::UnknownFieldSet& unknown_fields() const { - return _unknown_fields_; - } - - inline ::google::protobuf::UnknownFieldSet* mutable_unknown_fields() { - return &_unknown_fields_; - } - - static const ::google::protobuf::Descriptor* descriptor(); - static const HeaderInfo& default_instance(); - - void Swap(HeaderInfo* other); - - // implements Message ---------------------------------------------- - - HeaderInfo* New() const; - void CopyFrom(const ::google::protobuf::Message& from); - void MergeFrom(const ::google::protobuf::Message& from); - void CopyFrom(const HeaderInfo& from); - void MergeFrom(const HeaderInfo& from); - void Clear(); - bool IsInitialized() const; - - int ByteSize() const; - bool MergePartialFromCodedStream( - ::google::protobuf::io::CodedInputStream* input); - void SerializeWithCachedSizes( - ::google::protobuf::io::CodedOutputStream* output) const; - ::google::protobuf::uint8* SerializeWithCachedSizesToArray(::google::protobuf::uint8* output) const; - int GetCachedSize() const { return _cached_size_; } - private: - void SharedCtor(); - void SharedDtor(); - void SetCachedSize(int size) const; - public: - - ::google::protobuf::Metadata GetMetadata() const; - - // nested types ---------------------------------------------------- - - // accessors ------------------------------------------------------- - - // required int32 source_sysid = 1; - inline bool has_source_sysid() const; - inline void clear_source_sysid(); - static const int kSourceSysidFieldNumber = 1; - inline ::google::protobuf::int32 source_sysid() const; - inline void set_source_sysid(::google::protobuf::int32 value); - - // required int32 source_compid = 2; - inline bool has_source_compid() const; - inline void clear_source_compid(); - static const int kSourceCompidFieldNumber = 2; - inline ::google::protobuf::int32 source_compid() const; - inline void set_source_compid(::google::protobuf::int32 value); - - // required double timestamp = 3; - inline bool has_timestamp() const; - inline void clear_timestamp(); - static const int kTimestampFieldNumber = 3; - inline double timestamp() const; - inline void set_timestamp(double value); - - // @@protoc_insertion_point(class_scope:px.HeaderInfo) - private: - inline void set_has_source_sysid(); - inline void clear_has_source_sysid(); - inline void set_has_source_compid(); - inline void clear_has_source_compid(); - inline void set_has_timestamp(); - inline void clear_has_timestamp(); - - ::google::protobuf::UnknownFieldSet _unknown_fields_; - - ::google::protobuf::int32 source_sysid_; - ::google::protobuf::int32 source_compid_; - double timestamp_; - - mutable int _cached_size_; - ::google::protobuf::uint32 _has_bits_[(3 + 31) / 32]; - - friend void protobuf_AddDesc_pixhawk_2eproto(); - friend void protobuf_AssignDesc_pixhawk_2eproto(); - friend void protobuf_ShutdownFile_pixhawk_2eproto(); - - void InitAsDefaultInstance(); - static HeaderInfo* default_instance_; -}; -// ------------------------------------------------------------------- - -class PointCloudXYZI_PointXYZI : public ::google::protobuf::Message { - public: - PointCloudXYZI_PointXYZI(); - virtual ~PointCloudXYZI_PointXYZI(); - - PointCloudXYZI_PointXYZI(const PointCloudXYZI_PointXYZI& from); - - inline PointCloudXYZI_PointXYZI& operator=(const PointCloudXYZI_PointXYZI& from) { - CopyFrom(from); - return *this; - } - - inline const ::google::protobuf::UnknownFieldSet& unknown_fields() const { - return _unknown_fields_; - } - - inline ::google::protobuf::UnknownFieldSet* mutable_unknown_fields() { - return &_unknown_fields_; - } - - static const ::google::protobuf::Descriptor* descriptor(); - static const PointCloudXYZI_PointXYZI& default_instance(); - - void Swap(PointCloudXYZI_PointXYZI* other); - - // implements Message ---------------------------------------------- - - PointCloudXYZI_PointXYZI* New() const; - void CopyFrom(const ::google::protobuf::Message& from); - void MergeFrom(const ::google::protobuf::Message& from); - void CopyFrom(const PointCloudXYZI_PointXYZI& from); - void MergeFrom(const PointCloudXYZI_PointXYZI& from); - void Clear(); - bool IsInitialized() const; - - int ByteSize() const; - bool MergePartialFromCodedStream( - ::google::protobuf::io::CodedInputStream* input); - void SerializeWithCachedSizes( - ::google::protobuf::io::CodedOutputStream* output) const; - ::google::protobuf::uint8* SerializeWithCachedSizesToArray(::google::protobuf::uint8* output) const; - int GetCachedSize() const { return _cached_size_; } - private: - void SharedCtor(); - void SharedDtor(); - void SetCachedSize(int size) const; - public: - - ::google::protobuf::Metadata GetMetadata() const; - - // nested types ---------------------------------------------------- - - // accessors ------------------------------------------------------- - - // required float x = 1; - inline bool has_x() const; - inline void clear_x(); - static const int kXFieldNumber = 1; - inline float x() const; - inline void set_x(float value); - - // required float y = 2; - inline bool has_y() const; - inline void clear_y(); - static const int kYFieldNumber = 2; - inline float y() const; - inline void set_y(float value); - - // required float z = 3; - inline bool has_z() const; - inline void clear_z(); - static const int kZFieldNumber = 3; - inline float z() const; - inline void set_z(float value); - - // required float intensity = 4; - inline bool has_intensity() const; - inline void clear_intensity(); - static const int kIntensityFieldNumber = 4; - inline float intensity() const; - inline void set_intensity(float value); - - // @@protoc_insertion_point(class_scope:px.PointCloudXYZI.PointXYZI) - private: - inline void set_has_x(); - inline void clear_has_x(); - inline void set_has_y(); - inline void clear_has_y(); - inline void set_has_z(); - inline void clear_has_z(); - inline void set_has_intensity(); - inline void clear_has_intensity(); - - ::google::protobuf::UnknownFieldSet _unknown_fields_; - - float x_; - float y_; - float z_; - float intensity_; - - mutable int _cached_size_; - ::google::protobuf::uint32 _has_bits_[(4 + 31) / 32]; - - friend void protobuf_AddDesc_pixhawk_2eproto(); - friend void protobuf_AssignDesc_pixhawk_2eproto(); - friend void protobuf_ShutdownFile_pixhawk_2eproto(); - - void InitAsDefaultInstance(); - static PointCloudXYZI_PointXYZI* default_instance_; -}; -// ------------------------------------------------------------------- - -class PointCloudXYZI : public ::google::protobuf::Message { - public: - PointCloudXYZI(); - virtual ~PointCloudXYZI(); - - PointCloudXYZI(const PointCloudXYZI& from); - - inline PointCloudXYZI& operator=(const PointCloudXYZI& from) { - CopyFrom(from); - return *this; - } - - inline const ::google::protobuf::UnknownFieldSet& unknown_fields() const { - return _unknown_fields_; - } - - inline ::google::protobuf::UnknownFieldSet* mutable_unknown_fields() { - return &_unknown_fields_; - } - - static const ::google::protobuf::Descriptor* descriptor(); - static const PointCloudXYZI& default_instance(); - - void Swap(PointCloudXYZI* other); - - // implements Message ---------------------------------------------- - - PointCloudXYZI* New() const; - void CopyFrom(const ::google::protobuf::Message& from); - void MergeFrom(const ::google::protobuf::Message& from); - void CopyFrom(const PointCloudXYZI& from); - void MergeFrom(const PointCloudXYZI& from); - void Clear(); - bool IsInitialized() const; - - int ByteSize() const; - bool MergePartialFromCodedStream( - ::google::protobuf::io::CodedInputStream* input); - void SerializeWithCachedSizes( - ::google::protobuf::io::CodedOutputStream* output) const; - ::google::protobuf::uint8* SerializeWithCachedSizesToArray(::google::protobuf::uint8* output) const; - int GetCachedSize() const { return _cached_size_; } - private: - void SharedCtor(); - void SharedDtor(); - void SetCachedSize(int size) const; - public: - - ::google::protobuf::Metadata GetMetadata() const; - - // nested types ---------------------------------------------------- - - typedef PointCloudXYZI_PointXYZI PointXYZI; - - // accessors ------------------------------------------------------- - - // required .px.HeaderInfo header = 1; - inline bool has_header() const; - inline void clear_header(); - static const int kHeaderFieldNumber = 1; - inline const ::px::HeaderInfo& header() const; - inline ::px::HeaderInfo* mutable_header(); - inline ::px::HeaderInfo* release_header(); - - // repeated .px.PointCloudXYZI.PointXYZI points = 2; - inline int points_size() const; - inline void clear_points(); - static const int kPointsFieldNumber = 2; - inline const ::px::PointCloudXYZI_PointXYZI& points(int index) const; - inline ::px::PointCloudXYZI_PointXYZI* mutable_points(int index); - inline ::px::PointCloudXYZI_PointXYZI* add_points(); - inline const ::google::protobuf::RepeatedPtrField< ::px::PointCloudXYZI_PointXYZI >& - points() const; - inline ::google::protobuf::RepeatedPtrField< ::px::PointCloudXYZI_PointXYZI >* - mutable_points(); - - // @@protoc_insertion_point(class_scope:px.PointCloudXYZI) - private: - inline void set_has_header(); - inline void clear_has_header(); - - ::google::protobuf::UnknownFieldSet _unknown_fields_; - - ::px::HeaderInfo* header_; - ::google::protobuf::RepeatedPtrField< ::px::PointCloudXYZI_PointXYZI > points_; - - mutable int _cached_size_; - ::google::protobuf::uint32 _has_bits_[(2 + 31) / 32]; - - friend void protobuf_AddDesc_pixhawk_2eproto(); - friend void protobuf_AssignDesc_pixhawk_2eproto(); - friend void protobuf_ShutdownFile_pixhawk_2eproto(); - - void InitAsDefaultInstance(); - static PointCloudXYZI* default_instance_; -}; -// ------------------------------------------------------------------- - -class PointCloudXYZRGB_PointXYZRGB : public ::google::protobuf::Message { - public: - PointCloudXYZRGB_PointXYZRGB(); - virtual ~PointCloudXYZRGB_PointXYZRGB(); - - PointCloudXYZRGB_PointXYZRGB(const PointCloudXYZRGB_PointXYZRGB& from); - - inline PointCloudXYZRGB_PointXYZRGB& operator=(const PointCloudXYZRGB_PointXYZRGB& from) { - CopyFrom(from); - return *this; - } - - inline const ::google::protobuf::UnknownFieldSet& unknown_fields() const { - return _unknown_fields_; - } - - inline ::google::protobuf::UnknownFieldSet* mutable_unknown_fields() { - return &_unknown_fields_; - } - - static const ::google::protobuf::Descriptor* descriptor(); - static const PointCloudXYZRGB_PointXYZRGB& default_instance(); - - void Swap(PointCloudXYZRGB_PointXYZRGB* other); - - // implements Message ---------------------------------------------- - - PointCloudXYZRGB_PointXYZRGB* New() const; - void CopyFrom(const ::google::protobuf::Message& from); - void MergeFrom(const ::google::protobuf::Message& from); - void CopyFrom(const PointCloudXYZRGB_PointXYZRGB& from); - void MergeFrom(const PointCloudXYZRGB_PointXYZRGB& from); - void Clear(); - bool IsInitialized() const; - - int ByteSize() const; - bool MergePartialFromCodedStream( - ::google::protobuf::io::CodedInputStream* input); - void SerializeWithCachedSizes( - ::google::protobuf::io::CodedOutputStream* output) const; - ::google::protobuf::uint8* SerializeWithCachedSizesToArray(::google::protobuf::uint8* output) const; - int GetCachedSize() const { return _cached_size_; } - private: - void SharedCtor(); - void SharedDtor(); - void SetCachedSize(int size) const; - public: - - ::google::protobuf::Metadata GetMetadata() const; - - // nested types ---------------------------------------------------- - - // accessors ------------------------------------------------------- - - // required float x = 1; - inline bool has_x() const; - inline void clear_x(); - static const int kXFieldNumber = 1; - inline float x() const; - inline void set_x(float value); - - // required float y = 2; - inline bool has_y() const; - inline void clear_y(); - static const int kYFieldNumber = 2; - inline float y() const; - inline void set_y(float value); - - // required float z = 3; - inline bool has_z() const; - inline void clear_z(); - static const int kZFieldNumber = 3; - inline float z() const; - inline void set_z(float value); - - // required float rgb = 4; - inline bool has_rgb() const; - inline void clear_rgb(); - static const int kRgbFieldNumber = 4; - inline float rgb() const; - inline void set_rgb(float value); - - // @@protoc_insertion_point(class_scope:px.PointCloudXYZRGB.PointXYZRGB) - private: - inline void set_has_x(); - inline void clear_has_x(); - inline void set_has_y(); - inline void clear_has_y(); - inline void set_has_z(); - inline void clear_has_z(); - inline void set_has_rgb(); - inline void clear_has_rgb(); - - ::google::protobuf::UnknownFieldSet _unknown_fields_; - - float x_; - float y_; - float z_; - float rgb_; - - mutable int _cached_size_; - ::google::protobuf::uint32 _has_bits_[(4 + 31) / 32]; - - friend void protobuf_AddDesc_pixhawk_2eproto(); - friend void protobuf_AssignDesc_pixhawk_2eproto(); - friend void protobuf_ShutdownFile_pixhawk_2eproto(); - - void InitAsDefaultInstance(); - static PointCloudXYZRGB_PointXYZRGB* default_instance_; -}; -// ------------------------------------------------------------------- - -class PointCloudXYZRGB : public ::google::protobuf::Message { - public: - PointCloudXYZRGB(); - virtual ~PointCloudXYZRGB(); - - PointCloudXYZRGB(const PointCloudXYZRGB& from); - - inline PointCloudXYZRGB& operator=(const PointCloudXYZRGB& from) { - CopyFrom(from); - return *this; - } - - inline const ::google::protobuf::UnknownFieldSet& unknown_fields() const { - return _unknown_fields_; - } - - inline ::google::protobuf::UnknownFieldSet* mutable_unknown_fields() { - return &_unknown_fields_; - } - - static const ::google::protobuf::Descriptor* descriptor(); - static const PointCloudXYZRGB& default_instance(); - - void Swap(PointCloudXYZRGB* other); - - // implements Message ---------------------------------------------- - - PointCloudXYZRGB* New() const; - void CopyFrom(const ::google::protobuf::Message& from); - void MergeFrom(const ::google::protobuf::Message& from); - void CopyFrom(const PointCloudXYZRGB& from); - void MergeFrom(const PointCloudXYZRGB& from); - void Clear(); - bool IsInitialized() const; - - int ByteSize() const; - bool MergePartialFromCodedStream( - ::google::protobuf::io::CodedInputStream* input); - void SerializeWithCachedSizes( - ::google::protobuf::io::CodedOutputStream* output) const; - ::google::protobuf::uint8* SerializeWithCachedSizesToArray(::google::protobuf::uint8* output) const; - int GetCachedSize() const { return _cached_size_; } - private: - void SharedCtor(); - void SharedDtor(); - void SetCachedSize(int size) const; - public: - - ::google::protobuf::Metadata GetMetadata() const; - - // nested types ---------------------------------------------------- - - typedef PointCloudXYZRGB_PointXYZRGB PointXYZRGB; - - // accessors ------------------------------------------------------- - - // required .px.HeaderInfo header = 1; - inline bool has_header() const; - inline void clear_header(); - static const int kHeaderFieldNumber = 1; - inline const ::px::HeaderInfo& header() const; - inline ::px::HeaderInfo* mutable_header(); - inline ::px::HeaderInfo* release_header(); - - // repeated .px.PointCloudXYZRGB.PointXYZRGB points = 2; - inline int points_size() const; - inline void clear_points(); - static const int kPointsFieldNumber = 2; - inline const ::px::PointCloudXYZRGB_PointXYZRGB& points(int index) const; - inline ::px::PointCloudXYZRGB_PointXYZRGB* mutable_points(int index); - inline ::px::PointCloudXYZRGB_PointXYZRGB* add_points(); - inline const ::google::protobuf::RepeatedPtrField< ::px::PointCloudXYZRGB_PointXYZRGB >& - points() const; - inline ::google::protobuf::RepeatedPtrField< ::px::PointCloudXYZRGB_PointXYZRGB >* - mutable_points(); - - // @@protoc_insertion_point(class_scope:px.PointCloudXYZRGB) - private: - inline void set_has_header(); - inline void clear_has_header(); - - ::google::protobuf::UnknownFieldSet _unknown_fields_; - - ::px::HeaderInfo* header_; - ::google::protobuf::RepeatedPtrField< ::px::PointCloudXYZRGB_PointXYZRGB > points_; - - mutable int _cached_size_; - ::google::protobuf::uint32 _has_bits_[(2 + 31) / 32]; - - friend void protobuf_AddDesc_pixhawk_2eproto(); - friend void protobuf_AssignDesc_pixhawk_2eproto(); - friend void protobuf_ShutdownFile_pixhawk_2eproto(); - - void InitAsDefaultInstance(); - static PointCloudXYZRGB* default_instance_; -}; -// ------------------------------------------------------------------- - -class RGBDImage : public ::google::protobuf::Message { - public: - RGBDImage(); - virtual ~RGBDImage(); - - RGBDImage(const RGBDImage& from); - - inline RGBDImage& operator=(const RGBDImage& from) { - CopyFrom(from); - return *this; - } - - inline const ::google::protobuf::UnknownFieldSet& unknown_fields() const { - return _unknown_fields_; - } - - inline ::google::protobuf::UnknownFieldSet* mutable_unknown_fields() { - return &_unknown_fields_; - } - - static const ::google::protobuf::Descriptor* descriptor(); - static const RGBDImage& default_instance(); - - void Swap(RGBDImage* other); - - // implements Message ---------------------------------------------- - - RGBDImage* New() const; - void CopyFrom(const ::google::protobuf::Message& from); - void MergeFrom(const ::google::protobuf::Message& from); - void CopyFrom(const RGBDImage& from); - void MergeFrom(const RGBDImage& from); - void Clear(); - bool IsInitialized() const; - - int ByteSize() const; - bool MergePartialFromCodedStream( - ::google::protobuf::io::CodedInputStream* input); - void SerializeWithCachedSizes( - ::google::protobuf::io::CodedOutputStream* output) const; - ::google::protobuf::uint8* SerializeWithCachedSizesToArray(::google::protobuf::uint8* output) const; - int GetCachedSize() const { return _cached_size_; } - private: - void SharedCtor(); - void SharedDtor(); - void SetCachedSize(int size) const; - public: - - ::google::protobuf::Metadata GetMetadata() const; - - // nested types ---------------------------------------------------- - - // accessors ------------------------------------------------------- - - // required .px.HeaderInfo header = 1; - inline bool has_header() const; - inline void clear_header(); - static const int kHeaderFieldNumber = 1; - inline const ::px::HeaderInfo& header() const; - inline ::px::HeaderInfo* mutable_header(); - inline ::px::HeaderInfo* release_header(); - - // required uint32 cols = 2; - inline bool has_cols() const; - inline void clear_cols(); - static const int kColsFieldNumber = 2; - inline ::google::protobuf::uint32 cols() const; - inline void set_cols(::google::protobuf::uint32 value); - - // required uint32 rows = 3; - inline bool has_rows() const; - inline void clear_rows(); - static const int kRowsFieldNumber = 3; - inline ::google::protobuf::uint32 rows() const; - inline void set_rows(::google::protobuf::uint32 value); - - // required uint32 step1 = 4; - inline bool has_step1() const; - inline void clear_step1(); - static const int kStep1FieldNumber = 4; - inline ::google::protobuf::uint32 step1() const; - inline void set_step1(::google::protobuf::uint32 value); - - // required uint32 type1 = 5; - inline bool has_type1() const; - inline void clear_type1(); - static const int kType1FieldNumber = 5; - inline ::google::protobuf::uint32 type1() const; - inline void set_type1(::google::protobuf::uint32 value); - - // required bytes imageData1 = 6; - inline bool has_imagedata1() const; - inline void clear_imagedata1(); - static const int kImageData1FieldNumber = 6; - inline const ::std::string& imagedata1() const; - inline void set_imagedata1(const ::std::string& value); - inline void set_imagedata1(const char* value); - inline void set_imagedata1(const void* value, size_t size); - inline ::std::string* mutable_imagedata1(); - inline ::std::string* release_imagedata1(); - - // required uint32 step2 = 7; - inline bool has_step2() const; - inline void clear_step2(); - static const int kStep2FieldNumber = 7; - inline ::google::protobuf::uint32 step2() const; - inline void set_step2(::google::protobuf::uint32 value); - - // required uint32 type2 = 8; - inline bool has_type2() const; - inline void clear_type2(); - static const int kType2FieldNumber = 8; - inline ::google::protobuf::uint32 type2() const; - inline void set_type2(::google::protobuf::uint32 value); - - // required bytes imageData2 = 9; - inline bool has_imagedata2() const; - inline void clear_imagedata2(); - static const int kImageData2FieldNumber = 9; - inline const ::std::string& imagedata2() const; - inline void set_imagedata2(const ::std::string& value); - inline void set_imagedata2(const char* value); - inline void set_imagedata2(const void* value, size_t size); - inline ::std::string* mutable_imagedata2(); - inline ::std::string* release_imagedata2(); - - // optional uint32 camera_config = 10; - inline bool has_camera_config() const; - inline void clear_camera_config(); - static const int kCameraConfigFieldNumber = 10; - inline ::google::protobuf::uint32 camera_config() const; - inline void set_camera_config(::google::protobuf::uint32 value); - - // optional uint32 camera_type = 11; - inline bool has_camera_type() const; - inline void clear_camera_type(); - static const int kCameraTypeFieldNumber = 11; - inline ::google::protobuf::uint32 camera_type() const; - inline void set_camera_type(::google::protobuf::uint32 value); - - // optional float roll = 12; - inline bool has_roll() const; - inline void clear_roll(); - static const int kRollFieldNumber = 12; - inline float roll() const; - inline void set_roll(float value); - - // optional float pitch = 13; - inline bool has_pitch() const; - inline void clear_pitch(); - static const int kPitchFieldNumber = 13; - inline float pitch() const; - inline void set_pitch(float value); - - // optional float yaw = 14; - inline bool has_yaw() const; - inline void clear_yaw(); - static const int kYawFieldNumber = 14; - inline float yaw() const; - inline void set_yaw(float value); - - // optional float lon = 15; - inline bool has_lon() const; - inline void clear_lon(); - static const int kLonFieldNumber = 15; - inline float lon() const; - inline void set_lon(float value); - - // optional float lat = 16; - inline bool has_lat() const; - inline void clear_lat(); - static const int kLatFieldNumber = 16; - inline float lat() const; - inline void set_lat(float value); - - // optional float alt = 17; - inline bool has_alt() const; - inline void clear_alt(); - static const int kAltFieldNumber = 17; - inline float alt() const; - inline void set_alt(float value); - - // optional float ground_x = 18; - inline bool has_ground_x() const; - inline void clear_ground_x(); - static const int kGroundXFieldNumber = 18; - inline float ground_x() const; - inline void set_ground_x(float value); - - // optional float ground_y = 19; - inline bool has_ground_y() const; - inline void clear_ground_y(); - static const int kGroundYFieldNumber = 19; - inline float ground_y() const; - inline void set_ground_y(float value); - - // optional float ground_z = 20; - inline bool has_ground_z() const; - inline void clear_ground_z(); - static const int kGroundZFieldNumber = 20; - inline float ground_z() const; - inline void set_ground_z(float value); - - // repeated float camera_matrix = 21; - inline int camera_matrix_size() const; - inline void clear_camera_matrix(); - static const int kCameraMatrixFieldNumber = 21; - inline float camera_matrix(int index) const; - inline void set_camera_matrix(int index, float value); - inline void add_camera_matrix(float value); - inline const ::google::protobuf::RepeatedField< float >& - camera_matrix() const; - inline ::google::protobuf::RepeatedField< float >* - mutable_camera_matrix(); - - // @@protoc_insertion_point(class_scope:px.RGBDImage) - private: - inline void set_has_header(); - inline void clear_has_header(); - inline void set_has_cols(); - inline void clear_has_cols(); - inline void set_has_rows(); - inline void clear_has_rows(); - inline void set_has_step1(); - inline void clear_has_step1(); - inline void set_has_type1(); - inline void clear_has_type1(); - inline void set_has_imagedata1(); - inline void clear_has_imagedata1(); - inline void set_has_step2(); - inline void clear_has_step2(); - inline void set_has_type2(); - inline void clear_has_type2(); - inline void set_has_imagedata2(); - inline void clear_has_imagedata2(); - inline void set_has_camera_config(); - inline void clear_has_camera_config(); - inline void set_has_camera_type(); - inline void clear_has_camera_type(); - inline void set_has_roll(); - inline void clear_has_roll(); - inline void set_has_pitch(); - inline void clear_has_pitch(); - inline void set_has_yaw(); - inline void clear_has_yaw(); - inline void set_has_lon(); - inline void clear_has_lon(); - inline void set_has_lat(); - inline void clear_has_lat(); - inline void set_has_alt(); - inline void clear_has_alt(); - inline void set_has_ground_x(); - inline void clear_has_ground_x(); - inline void set_has_ground_y(); - inline void clear_has_ground_y(); - inline void set_has_ground_z(); - inline void clear_has_ground_z(); - - ::google::protobuf::UnknownFieldSet _unknown_fields_; - - ::px::HeaderInfo* header_; - ::google::protobuf::uint32 cols_; - ::google::protobuf::uint32 rows_; - ::google::protobuf::uint32 step1_; - ::google::protobuf::uint32 type1_; - ::std::string* imagedata1_; - ::google::protobuf::uint32 step2_; - ::google::protobuf::uint32 type2_; - ::std::string* imagedata2_; - ::google::protobuf::uint32 camera_config_; - ::google::protobuf::uint32 camera_type_; - float roll_; - float pitch_; - float yaw_; - float lon_; - float lat_; - float alt_; - float ground_x_; - float ground_y_; - ::google::protobuf::RepeatedField< float > camera_matrix_; - float ground_z_; - - mutable int _cached_size_; - ::google::protobuf::uint32 _has_bits_[(21 + 31) / 32]; - - friend void protobuf_AddDesc_pixhawk_2eproto(); - friend void protobuf_AssignDesc_pixhawk_2eproto(); - friend void protobuf_ShutdownFile_pixhawk_2eproto(); - - void InitAsDefaultInstance(); - static RGBDImage* default_instance_; -}; -// ------------------------------------------------------------------- - -class Obstacle : public ::google::protobuf::Message { - public: - Obstacle(); - virtual ~Obstacle(); - - Obstacle(const Obstacle& from); - - inline Obstacle& operator=(const Obstacle& from) { - CopyFrom(from); - return *this; - } - - inline const ::google::protobuf::UnknownFieldSet& unknown_fields() const { - return _unknown_fields_; - } - - inline ::google::protobuf::UnknownFieldSet* mutable_unknown_fields() { - return &_unknown_fields_; - } - - static const ::google::protobuf::Descriptor* descriptor(); - static const Obstacle& default_instance(); - - void Swap(Obstacle* other); - - // implements Message ---------------------------------------------- - - Obstacle* New() const; - void CopyFrom(const ::google::protobuf::Message& from); - void MergeFrom(const ::google::protobuf::Message& from); - void CopyFrom(const Obstacle& from); - void MergeFrom(const Obstacle& from); - void Clear(); - bool IsInitialized() const; - - int ByteSize() const; - bool MergePartialFromCodedStream( - ::google::protobuf::io::CodedInputStream* input); - void SerializeWithCachedSizes( - ::google::protobuf::io::CodedOutputStream* output) const; - ::google::protobuf::uint8* SerializeWithCachedSizesToArray(::google::protobuf::uint8* output) const; - int GetCachedSize() const { return _cached_size_; } - private: - void SharedCtor(); - void SharedDtor(); - void SetCachedSize(int size) const; - public: - - ::google::protobuf::Metadata GetMetadata() const; - - // nested types ---------------------------------------------------- - - // accessors ------------------------------------------------------- - - // optional float x = 1; - inline bool has_x() const; - inline void clear_x(); - static const int kXFieldNumber = 1; - inline float x() const; - inline void set_x(float value); - - // optional float y = 2; - inline bool has_y() const; - inline void clear_y(); - static const int kYFieldNumber = 2; - inline float y() const; - inline void set_y(float value); - - // optional float z = 3; - inline bool has_z() const; - inline void clear_z(); - static const int kZFieldNumber = 3; - inline float z() const; - inline void set_z(float value); - - // optional float length = 4; - inline bool has_length() const; - inline void clear_length(); - static const int kLengthFieldNumber = 4; - inline float length() const; - inline void set_length(float value); - - // optional float width = 5; - inline bool has_width() const; - inline void clear_width(); - static const int kWidthFieldNumber = 5; - inline float width() const; - inline void set_width(float value); - - // optional float height = 6; - inline bool has_height() const; - inline void clear_height(); - static const int kHeightFieldNumber = 6; - inline float height() const; - inline void set_height(float value); - - // @@protoc_insertion_point(class_scope:px.Obstacle) - private: - inline void set_has_x(); - inline void clear_has_x(); - inline void set_has_y(); - inline void clear_has_y(); - inline void set_has_z(); - inline void clear_has_z(); - inline void set_has_length(); - inline void clear_has_length(); - inline void set_has_width(); - inline void clear_has_width(); - inline void set_has_height(); - inline void clear_has_height(); - - ::google::protobuf::UnknownFieldSet _unknown_fields_; - - float x_; - float y_; - float z_; - float length_; - float width_; - float height_; - - mutable int _cached_size_; - ::google::protobuf::uint32 _has_bits_[(6 + 31) / 32]; - - friend void protobuf_AddDesc_pixhawk_2eproto(); - friend void protobuf_AssignDesc_pixhawk_2eproto(); - friend void protobuf_ShutdownFile_pixhawk_2eproto(); - - void InitAsDefaultInstance(); - static Obstacle* default_instance_; -}; -// ------------------------------------------------------------------- - -class ObstacleList : public ::google::protobuf::Message { - public: - ObstacleList(); - virtual ~ObstacleList(); - - ObstacleList(const ObstacleList& from); - - inline ObstacleList& operator=(const ObstacleList& from) { - CopyFrom(from); - return *this; - } - - inline const ::google::protobuf::UnknownFieldSet& unknown_fields() const { - return _unknown_fields_; - } - - inline ::google::protobuf::UnknownFieldSet* mutable_unknown_fields() { - return &_unknown_fields_; - } - - static const ::google::protobuf::Descriptor* descriptor(); - static const ObstacleList& default_instance(); - - void Swap(ObstacleList* other); - - // implements Message ---------------------------------------------- - - ObstacleList* New() const; - void CopyFrom(const ::google::protobuf::Message& from); - void MergeFrom(const ::google::protobuf::Message& from); - void CopyFrom(const ObstacleList& from); - void MergeFrom(const ObstacleList& from); - void Clear(); - bool IsInitialized() const; - - int ByteSize() const; - bool MergePartialFromCodedStream( - ::google::protobuf::io::CodedInputStream* input); - void SerializeWithCachedSizes( - ::google::protobuf::io::CodedOutputStream* output) const; - ::google::protobuf::uint8* SerializeWithCachedSizesToArray(::google::protobuf::uint8* output) const; - int GetCachedSize() const { return _cached_size_; } - private: - void SharedCtor(); - void SharedDtor(); - void SetCachedSize(int size) const; - public: - - ::google::protobuf::Metadata GetMetadata() const; - - // nested types ---------------------------------------------------- - - // accessors ------------------------------------------------------- - - // required .px.HeaderInfo header = 1; - inline bool has_header() const; - inline void clear_header(); - static const int kHeaderFieldNumber = 1; - inline const ::px::HeaderInfo& header() const; - inline ::px::HeaderInfo* mutable_header(); - inline ::px::HeaderInfo* release_header(); - - // repeated .px.Obstacle obstacles = 2; - inline int obstacles_size() const; - inline void clear_obstacles(); - static const int kObstaclesFieldNumber = 2; - inline const ::px::Obstacle& obstacles(int index) const; - inline ::px::Obstacle* mutable_obstacles(int index); - inline ::px::Obstacle* add_obstacles(); - inline const ::google::protobuf::RepeatedPtrField< ::px::Obstacle >& - obstacles() const; - inline ::google::protobuf::RepeatedPtrField< ::px::Obstacle >* - mutable_obstacles(); - - // @@protoc_insertion_point(class_scope:px.ObstacleList) - private: - inline void set_has_header(); - inline void clear_has_header(); - - ::google::protobuf::UnknownFieldSet _unknown_fields_; - - ::px::HeaderInfo* header_; - ::google::protobuf::RepeatedPtrField< ::px::Obstacle > obstacles_; - - mutable int _cached_size_; - ::google::protobuf::uint32 _has_bits_[(2 + 31) / 32]; - - friend void protobuf_AddDesc_pixhawk_2eproto(); - friend void protobuf_AssignDesc_pixhawk_2eproto(); - friend void protobuf_ShutdownFile_pixhawk_2eproto(); - - void InitAsDefaultInstance(); - static ObstacleList* default_instance_; -}; -// ------------------------------------------------------------------- - -class ObstacleMap : public ::google::protobuf::Message { - public: - ObstacleMap(); - virtual ~ObstacleMap(); - - ObstacleMap(const ObstacleMap& from); - - inline ObstacleMap& operator=(const ObstacleMap& from) { - CopyFrom(from); - return *this; - } - - inline const ::google::protobuf::UnknownFieldSet& unknown_fields() const { - return _unknown_fields_; - } - - inline ::google::protobuf::UnknownFieldSet* mutable_unknown_fields() { - return &_unknown_fields_; - } - - static const ::google::protobuf::Descriptor* descriptor(); - static const ObstacleMap& default_instance(); - - void Swap(ObstacleMap* other); - - // implements Message ---------------------------------------------- - - ObstacleMap* New() const; - void CopyFrom(const ::google::protobuf::Message& from); - void MergeFrom(const ::google::protobuf::Message& from); - void CopyFrom(const ObstacleMap& from); - void MergeFrom(const ObstacleMap& from); - void Clear(); - bool IsInitialized() const; - - int ByteSize() const; - bool MergePartialFromCodedStream( - ::google::protobuf::io::CodedInputStream* input); - void SerializeWithCachedSizes( - ::google::protobuf::io::CodedOutputStream* output) const; - ::google::protobuf::uint8* SerializeWithCachedSizesToArray(::google::protobuf::uint8* output) const; - int GetCachedSize() const { return _cached_size_; } - private: - void SharedCtor(); - void SharedDtor(); - void SetCachedSize(int size) const; - public: - - ::google::protobuf::Metadata GetMetadata() const; - - // nested types ---------------------------------------------------- - - // accessors ------------------------------------------------------- - - // required .px.HeaderInfo header = 1; - inline bool has_header() const; - inline void clear_header(); - static const int kHeaderFieldNumber = 1; - inline const ::px::HeaderInfo& header() const; - inline ::px::HeaderInfo* mutable_header(); - inline ::px::HeaderInfo* release_header(); - - // required int32 type = 2; - inline bool has_type() const; - inline void clear_type(); - static const int kTypeFieldNumber = 2; - inline ::google::protobuf::int32 type() const; - inline void set_type(::google::protobuf::int32 value); - - // optional float resolution = 3; - inline bool has_resolution() const; - inline void clear_resolution(); - static const int kResolutionFieldNumber = 3; - inline float resolution() const; - inline void set_resolution(float value); - - // optional int32 rows = 4; - inline bool has_rows() const; - inline void clear_rows(); - static const int kRowsFieldNumber = 4; - inline ::google::protobuf::int32 rows() const; - inline void set_rows(::google::protobuf::int32 value); - - // optional int32 cols = 5; - inline bool has_cols() const; - inline void clear_cols(); - static const int kColsFieldNumber = 5; - inline ::google::protobuf::int32 cols() const; - inline void set_cols(::google::protobuf::int32 value); - - // optional int32 mapR0 = 6; - inline bool has_mapr0() const; - inline void clear_mapr0(); - static const int kMapR0FieldNumber = 6; - inline ::google::protobuf::int32 mapr0() const; - inline void set_mapr0(::google::protobuf::int32 value); - - // optional int32 mapC0 = 7; - inline bool has_mapc0() const; - inline void clear_mapc0(); - static const int kMapC0FieldNumber = 7; - inline ::google::protobuf::int32 mapc0() const; - inline void set_mapc0(::google::protobuf::int32 value); - - // optional int32 arrayR0 = 8; - inline bool has_arrayr0() const; - inline void clear_arrayr0(); - static const int kArrayR0FieldNumber = 8; - inline ::google::protobuf::int32 arrayr0() const; - inline void set_arrayr0(::google::protobuf::int32 value); - - // optional int32 arrayC0 = 9; - inline bool has_arrayc0() const; - inline void clear_arrayc0(); - static const int kArrayC0FieldNumber = 9; - inline ::google::protobuf::int32 arrayc0() const; - inline void set_arrayc0(::google::protobuf::int32 value); - - // optional bytes data = 10; - inline bool has_data() const; - inline void clear_data(); - static const int kDataFieldNumber = 10; - inline const ::std::string& data() const; - inline void set_data(const ::std::string& value); - inline void set_data(const char* value); - inline void set_data(const void* value, size_t size); - inline ::std::string* mutable_data(); - inline ::std::string* release_data(); - - // @@protoc_insertion_point(class_scope:px.ObstacleMap) - private: - inline void set_has_header(); - inline void clear_has_header(); - inline void set_has_type(); - inline void clear_has_type(); - inline void set_has_resolution(); - inline void clear_has_resolution(); - inline void set_has_rows(); - inline void clear_has_rows(); - inline void set_has_cols(); - inline void clear_has_cols(); - inline void set_has_mapr0(); - inline void clear_has_mapr0(); - inline void set_has_mapc0(); - inline void clear_has_mapc0(); - inline void set_has_arrayr0(); - inline void clear_has_arrayr0(); - inline void set_has_arrayc0(); - inline void clear_has_arrayc0(); - inline void set_has_data(); - inline void clear_has_data(); - - ::google::protobuf::UnknownFieldSet _unknown_fields_; - - ::px::HeaderInfo* header_; - ::google::protobuf::int32 type_; - float resolution_; - ::google::protobuf::int32 rows_; - ::google::protobuf::int32 cols_; - ::google::protobuf::int32 mapr0_; - ::google::protobuf::int32 mapc0_; - ::google::protobuf::int32 arrayr0_; - ::google::protobuf::int32 arrayc0_; - ::std::string* data_; - - mutable int _cached_size_; - ::google::protobuf::uint32 _has_bits_[(10 + 31) / 32]; - - friend void protobuf_AddDesc_pixhawk_2eproto(); - friend void protobuf_AssignDesc_pixhawk_2eproto(); - friend void protobuf_ShutdownFile_pixhawk_2eproto(); - - void InitAsDefaultInstance(); - static ObstacleMap* default_instance_; -}; -// ------------------------------------------------------------------- - -class Waypoint : public ::google::protobuf::Message { - public: - Waypoint(); - virtual ~Waypoint(); - - Waypoint(const Waypoint& from); - - inline Waypoint& operator=(const Waypoint& from) { - CopyFrom(from); - return *this; - } - - inline const ::google::protobuf::UnknownFieldSet& unknown_fields() const { - return _unknown_fields_; - } - - inline ::google::protobuf::UnknownFieldSet* mutable_unknown_fields() { - return &_unknown_fields_; - } - - static const ::google::protobuf::Descriptor* descriptor(); - static const Waypoint& default_instance(); - - void Swap(Waypoint* other); - - // implements Message ---------------------------------------------- - - Waypoint* New() const; - void CopyFrom(const ::google::protobuf::Message& from); - void MergeFrom(const ::google::protobuf::Message& from); - void CopyFrom(const Waypoint& from); - void MergeFrom(const Waypoint& from); - void Clear(); - bool IsInitialized() const; - - int ByteSize() const; - bool MergePartialFromCodedStream( - ::google::protobuf::io::CodedInputStream* input); - void SerializeWithCachedSizes( - ::google::protobuf::io::CodedOutputStream* output) const; - ::google::protobuf::uint8* SerializeWithCachedSizesToArray(::google::protobuf::uint8* output) const; - int GetCachedSize() const { return _cached_size_; } - private: - void SharedCtor(); - void SharedDtor(); - void SetCachedSize(int size) const; - public: - - ::google::protobuf::Metadata GetMetadata() const; - - // nested types ---------------------------------------------------- - - // accessors ------------------------------------------------------- - - // required double x = 1; - inline bool has_x() const; - inline void clear_x(); - static const int kXFieldNumber = 1; - inline double x() const; - inline void set_x(double value); - - // required double y = 2; - inline bool has_y() const; - inline void clear_y(); - static const int kYFieldNumber = 2; - inline double y() const; - inline void set_y(double value); - - // optional double z = 3; - inline bool has_z() const; - inline void clear_z(); - static const int kZFieldNumber = 3; - inline double z() const; - inline void set_z(double value); - - // optional double roll = 4; - inline bool has_roll() const; - inline void clear_roll(); - static const int kRollFieldNumber = 4; - inline double roll() const; - inline void set_roll(double value); - - // optional double pitch = 5; - inline bool has_pitch() const; - inline void clear_pitch(); - static const int kPitchFieldNumber = 5; - inline double pitch() const; - inline void set_pitch(double value); - - // optional double yaw = 6; - inline bool has_yaw() const; - inline void clear_yaw(); - static const int kYawFieldNumber = 6; - inline double yaw() const; - inline void set_yaw(double value); - - // @@protoc_insertion_point(class_scope:px.Waypoint) - private: - inline void set_has_x(); - inline void clear_has_x(); - inline void set_has_y(); - inline void clear_has_y(); - inline void set_has_z(); - inline void clear_has_z(); - inline void set_has_roll(); - inline void clear_has_roll(); - inline void set_has_pitch(); - inline void clear_has_pitch(); - inline void set_has_yaw(); - inline void clear_has_yaw(); - - ::google::protobuf::UnknownFieldSet _unknown_fields_; - - double x_; - double y_; - double z_; - double roll_; - double pitch_; - double yaw_; - - mutable int _cached_size_; - ::google::protobuf::uint32 _has_bits_[(6 + 31) / 32]; - - friend void protobuf_AddDesc_pixhawk_2eproto(); - friend void protobuf_AssignDesc_pixhawk_2eproto(); - friend void protobuf_ShutdownFile_pixhawk_2eproto(); - - void InitAsDefaultInstance(); - static Waypoint* default_instance_; -}; -// ------------------------------------------------------------------- - -class Path : public ::google::protobuf::Message { - public: - Path(); - virtual ~Path(); - - Path(const Path& from); - - inline Path& operator=(const Path& from) { - CopyFrom(from); - return *this; - } - - inline const ::google::protobuf::UnknownFieldSet& unknown_fields() const { - return _unknown_fields_; - } - - inline ::google::protobuf::UnknownFieldSet* mutable_unknown_fields() { - return &_unknown_fields_; - } - - static const ::google::protobuf::Descriptor* descriptor(); - static const Path& default_instance(); - - void Swap(Path* other); - - // implements Message ---------------------------------------------- - - Path* New() const; - void CopyFrom(const ::google::protobuf::Message& from); - void MergeFrom(const ::google::protobuf::Message& from); - void CopyFrom(const Path& from); - void MergeFrom(const Path& from); - void Clear(); - bool IsInitialized() const; - - int ByteSize() const; - bool MergePartialFromCodedStream( - ::google::protobuf::io::CodedInputStream* input); - void SerializeWithCachedSizes( - ::google::protobuf::io::CodedOutputStream* output) const; - ::google::protobuf::uint8* SerializeWithCachedSizesToArray(::google::protobuf::uint8* output) const; - int GetCachedSize() const { return _cached_size_; } - private: - void SharedCtor(); - void SharedDtor(); - void SetCachedSize(int size) const; - public: - - ::google::protobuf::Metadata GetMetadata() const; - - // nested types ---------------------------------------------------- - - // accessors ------------------------------------------------------- - - // required .px.HeaderInfo header = 1; - inline bool has_header() const; - inline void clear_header(); - static const int kHeaderFieldNumber = 1; - inline const ::px::HeaderInfo& header() const; - inline ::px::HeaderInfo* mutable_header(); - inline ::px::HeaderInfo* release_header(); - - // repeated .px.Waypoint waypoints = 2; - inline int waypoints_size() const; - inline void clear_waypoints(); - static const int kWaypointsFieldNumber = 2; - inline const ::px::Waypoint& waypoints(int index) const; - inline ::px::Waypoint* mutable_waypoints(int index); - inline ::px::Waypoint* add_waypoints(); - inline const ::google::protobuf::RepeatedPtrField< ::px::Waypoint >& - waypoints() const; - inline ::google::protobuf::RepeatedPtrField< ::px::Waypoint >* - mutable_waypoints(); - - // @@protoc_insertion_point(class_scope:px.Path) - private: - inline void set_has_header(); - inline void clear_has_header(); - - ::google::protobuf::UnknownFieldSet _unknown_fields_; - - ::px::HeaderInfo* header_; - ::google::protobuf::RepeatedPtrField< ::px::Waypoint > waypoints_; - - mutable int _cached_size_; - ::google::protobuf::uint32 _has_bits_[(2 + 31) / 32]; - - friend void protobuf_AddDesc_pixhawk_2eproto(); - friend void protobuf_AssignDesc_pixhawk_2eproto(); - friend void protobuf_ShutdownFile_pixhawk_2eproto(); - - void InitAsDefaultInstance(); - static Path* default_instance_; -}; -// =================================================================== - - -// =================================================================== - -// HeaderInfo - -// required int32 source_sysid = 1; -inline bool HeaderInfo::has_source_sysid() const { - return (_has_bits_[0] & 0x00000001u) != 0; -} -inline void HeaderInfo::set_has_source_sysid() { - _has_bits_[0] |= 0x00000001u; -} -inline void HeaderInfo::clear_has_source_sysid() { - _has_bits_[0] &= ~0x00000001u; -} -inline void HeaderInfo::clear_source_sysid() { - source_sysid_ = 0; - clear_has_source_sysid(); -} -inline ::google::protobuf::int32 HeaderInfo::source_sysid() const { - return source_sysid_; -} -inline void HeaderInfo::set_source_sysid(::google::protobuf::int32 value) { - set_has_source_sysid(); - source_sysid_ = value; -} - -// required int32 source_compid = 2; -inline bool HeaderInfo::has_source_compid() const { - return (_has_bits_[0] & 0x00000002u) != 0; -} -inline void HeaderInfo::set_has_source_compid() { - _has_bits_[0] |= 0x00000002u; -} -inline void HeaderInfo::clear_has_source_compid() { - _has_bits_[0] &= ~0x00000002u; -} -inline void HeaderInfo::clear_source_compid() { - source_compid_ = 0; - clear_has_source_compid(); -} -inline ::google::protobuf::int32 HeaderInfo::source_compid() const { - return source_compid_; -} -inline void HeaderInfo::set_source_compid(::google::protobuf::int32 value) { - set_has_source_compid(); - source_compid_ = value; -} - -// required double timestamp = 3; -inline bool HeaderInfo::has_timestamp() const { - return (_has_bits_[0] & 0x00000004u) != 0; -} -inline void HeaderInfo::set_has_timestamp() { - _has_bits_[0] |= 0x00000004u; -} -inline void HeaderInfo::clear_has_timestamp() { - _has_bits_[0] &= ~0x00000004u; -} -inline void HeaderInfo::clear_timestamp() { - timestamp_ = 0; - clear_has_timestamp(); -} -inline double HeaderInfo::timestamp() const { - return timestamp_; -} -inline void HeaderInfo::set_timestamp(double value) { - set_has_timestamp(); - timestamp_ = value; -} - -// ------------------------------------------------------------------- - -// PointCloudXYZI_PointXYZI - -// required float x = 1; -inline bool PointCloudXYZI_PointXYZI::has_x() const { - return (_has_bits_[0] & 0x00000001u) != 0; -} -inline void PointCloudXYZI_PointXYZI::set_has_x() { - _has_bits_[0] |= 0x00000001u; -} -inline void PointCloudXYZI_PointXYZI::clear_has_x() { - _has_bits_[0] &= ~0x00000001u; -} -inline void PointCloudXYZI_PointXYZI::clear_x() { - x_ = 0; - clear_has_x(); -} -inline float PointCloudXYZI_PointXYZI::x() const { - return x_; -} -inline void PointCloudXYZI_PointXYZI::set_x(float value) { - set_has_x(); - x_ = value; -} - -// required float y = 2; -inline bool PointCloudXYZI_PointXYZI::has_y() const { - return (_has_bits_[0] & 0x00000002u) != 0; -} -inline void PointCloudXYZI_PointXYZI::set_has_y() { - _has_bits_[0] |= 0x00000002u; -} -inline void PointCloudXYZI_PointXYZI::clear_has_y() { - _has_bits_[0] &= ~0x00000002u; -} -inline void PointCloudXYZI_PointXYZI::clear_y() { - y_ = 0; - clear_has_y(); -} -inline float PointCloudXYZI_PointXYZI::y() const { - return y_; -} -inline void PointCloudXYZI_PointXYZI::set_y(float value) { - set_has_y(); - y_ = value; -} - -// required float z = 3; -inline bool PointCloudXYZI_PointXYZI::has_z() const { - return (_has_bits_[0] & 0x00000004u) != 0; -} -inline void PointCloudXYZI_PointXYZI::set_has_z() { - _has_bits_[0] |= 0x00000004u; -} -inline void PointCloudXYZI_PointXYZI::clear_has_z() { - _has_bits_[0] &= ~0x00000004u; -} -inline void PointCloudXYZI_PointXYZI::clear_z() { - z_ = 0; - clear_has_z(); -} -inline float PointCloudXYZI_PointXYZI::z() const { - return z_; -} -inline void PointCloudXYZI_PointXYZI::set_z(float value) { - set_has_z(); - z_ = value; -} - -// required float intensity = 4; -inline bool PointCloudXYZI_PointXYZI::has_intensity() const { - return (_has_bits_[0] & 0x00000008u) != 0; -} -inline void PointCloudXYZI_PointXYZI::set_has_intensity() { - _has_bits_[0] |= 0x00000008u; -} -inline void PointCloudXYZI_PointXYZI::clear_has_intensity() { - _has_bits_[0] &= ~0x00000008u; -} -inline void PointCloudXYZI_PointXYZI::clear_intensity() { - intensity_ = 0; - clear_has_intensity(); -} -inline float PointCloudXYZI_PointXYZI::intensity() const { - return intensity_; -} -inline void PointCloudXYZI_PointXYZI::set_intensity(float value) { - set_has_intensity(); - intensity_ = value; -} - -// ------------------------------------------------------------------- - -// PointCloudXYZI - -// required .px.HeaderInfo header = 1; -inline bool PointCloudXYZI::has_header() const { - return (_has_bits_[0] & 0x00000001u) != 0; -} -inline void PointCloudXYZI::set_has_header() { - _has_bits_[0] |= 0x00000001u; -} -inline void PointCloudXYZI::clear_has_header() { - _has_bits_[0] &= ~0x00000001u; -} -inline void PointCloudXYZI::clear_header() { - if (header_ != NULL) header_->::px::HeaderInfo::Clear(); - clear_has_header(); -} -inline const ::px::HeaderInfo& PointCloudXYZI::header() const { - return header_ != NULL ? *header_ : *default_instance_->header_; -} -inline ::px::HeaderInfo* PointCloudXYZI::mutable_header() { - set_has_header(); - if (header_ == NULL) header_ = new ::px::HeaderInfo; - return header_; -} -inline ::px::HeaderInfo* PointCloudXYZI::release_header() { - clear_has_header(); - ::px::HeaderInfo* temp = header_; - header_ = NULL; - return temp; -} - -// repeated .px.PointCloudXYZI.PointXYZI points = 2; -inline int PointCloudXYZI::points_size() const { - return points_.size(); -} -inline void PointCloudXYZI::clear_points() { - points_.Clear(); -} -inline const ::px::PointCloudXYZI_PointXYZI& PointCloudXYZI::points(int index) const { - return points_.Get(index); -} -inline ::px::PointCloudXYZI_PointXYZI* PointCloudXYZI::mutable_points(int index) { - return points_.Mutable(index); -} -inline ::px::PointCloudXYZI_PointXYZI* PointCloudXYZI::add_points() { - return points_.Add(); -} -inline const ::google::protobuf::RepeatedPtrField< ::px::PointCloudXYZI_PointXYZI >& -PointCloudXYZI::points() const { - return points_; -} -inline ::google::protobuf::RepeatedPtrField< ::px::PointCloudXYZI_PointXYZI >* -PointCloudXYZI::mutable_points() { - return &points_; -} - -// ------------------------------------------------------------------- - -// PointCloudXYZRGB_PointXYZRGB - -// required float x = 1; -inline bool PointCloudXYZRGB_PointXYZRGB::has_x() const { - return (_has_bits_[0] & 0x00000001u) != 0; -} -inline void PointCloudXYZRGB_PointXYZRGB::set_has_x() { - _has_bits_[0] |= 0x00000001u; -} -inline void PointCloudXYZRGB_PointXYZRGB::clear_has_x() { - _has_bits_[0] &= ~0x00000001u; -} -inline void PointCloudXYZRGB_PointXYZRGB::clear_x() { - x_ = 0; - clear_has_x(); -} -inline float PointCloudXYZRGB_PointXYZRGB::x() const { - return x_; -} -inline void PointCloudXYZRGB_PointXYZRGB::set_x(float value) { - set_has_x(); - x_ = value; -} - -// required float y = 2; -inline bool PointCloudXYZRGB_PointXYZRGB::has_y() const { - return (_has_bits_[0] & 0x00000002u) != 0; -} -inline void PointCloudXYZRGB_PointXYZRGB::set_has_y() { - _has_bits_[0] |= 0x00000002u; -} -inline void PointCloudXYZRGB_PointXYZRGB::clear_has_y() { - _has_bits_[0] &= ~0x00000002u; -} -inline void PointCloudXYZRGB_PointXYZRGB::clear_y() { - y_ = 0; - clear_has_y(); -} -inline float PointCloudXYZRGB_PointXYZRGB::y() const { - return y_; -} -inline void PointCloudXYZRGB_PointXYZRGB::set_y(float value) { - set_has_y(); - y_ = value; -} - -// required float z = 3; -inline bool PointCloudXYZRGB_PointXYZRGB::has_z() const { - return (_has_bits_[0] & 0x00000004u) != 0; -} -inline void PointCloudXYZRGB_PointXYZRGB::set_has_z() { - _has_bits_[0] |= 0x00000004u; -} -inline void PointCloudXYZRGB_PointXYZRGB::clear_has_z() { - _has_bits_[0] &= ~0x00000004u; -} -inline void PointCloudXYZRGB_PointXYZRGB::clear_z() { - z_ = 0; - clear_has_z(); -} -inline float PointCloudXYZRGB_PointXYZRGB::z() const { - return z_; -} -inline void PointCloudXYZRGB_PointXYZRGB::set_z(float value) { - set_has_z(); - z_ = value; -} - -// required float rgb = 4; -inline bool PointCloudXYZRGB_PointXYZRGB::has_rgb() const { - return (_has_bits_[0] & 0x00000008u) != 0; -} -inline void PointCloudXYZRGB_PointXYZRGB::set_has_rgb() { - _has_bits_[0] |= 0x00000008u; -} -inline void PointCloudXYZRGB_PointXYZRGB::clear_has_rgb() { - _has_bits_[0] &= ~0x00000008u; -} -inline void PointCloudXYZRGB_PointXYZRGB::clear_rgb() { - rgb_ = 0; - clear_has_rgb(); -} -inline float PointCloudXYZRGB_PointXYZRGB::rgb() const { - return rgb_; -} -inline void PointCloudXYZRGB_PointXYZRGB::set_rgb(float value) { - set_has_rgb(); - rgb_ = value; -} - -// ------------------------------------------------------------------- - -// PointCloudXYZRGB - -// required .px.HeaderInfo header = 1; -inline bool PointCloudXYZRGB::has_header() const { - return (_has_bits_[0] & 0x00000001u) != 0; -} -inline void PointCloudXYZRGB::set_has_header() { - _has_bits_[0] |= 0x00000001u; -} -inline void PointCloudXYZRGB::clear_has_header() { - _has_bits_[0] &= ~0x00000001u; -} -inline void PointCloudXYZRGB::clear_header() { - if (header_ != NULL) header_->::px::HeaderInfo::Clear(); - clear_has_header(); -} -inline const ::px::HeaderInfo& PointCloudXYZRGB::header() const { - return header_ != NULL ? *header_ : *default_instance_->header_; -} -inline ::px::HeaderInfo* PointCloudXYZRGB::mutable_header() { - set_has_header(); - if (header_ == NULL) header_ = new ::px::HeaderInfo; - return header_; -} -inline ::px::HeaderInfo* PointCloudXYZRGB::release_header() { - clear_has_header(); - ::px::HeaderInfo* temp = header_; - header_ = NULL; - return temp; -} - -// repeated .px.PointCloudXYZRGB.PointXYZRGB points = 2; -inline int PointCloudXYZRGB::points_size() const { - return points_.size(); -} -inline void PointCloudXYZRGB::clear_points() { - points_.Clear(); -} -inline const ::px::PointCloudXYZRGB_PointXYZRGB& PointCloudXYZRGB::points(int index) const { - return points_.Get(index); -} -inline ::px::PointCloudXYZRGB_PointXYZRGB* PointCloudXYZRGB::mutable_points(int index) { - return points_.Mutable(index); -} -inline ::px::PointCloudXYZRGB_PointXYZRGB* PointCloudXYZRGB::add_points() { - return points_.Add(); -} -inline const ::google::protobuf::RepeatedPtrField< ::px::PointCloudXYZRGB_PointXYZRGB >& -PointCloudXYZRGB::points() const { - return points_; -} -inline ::google::protobuf::RepeatedPtrField< ::px::PointCloudXYZRGB_PointXYZRGB >* -PointCloudXYZRGB::mutable_points() { - return &points_; -} - -// ------------------------------------------------------------------- - -// RGBDImage - -// required .px.HeaderInfo header = 1; -inline bool RGBDImage::has_header() const { - return (_has_bits_[0] & 0x00000001u) != 0; -} -inline void RGBDImage::set_has_header() { - _has_bits_[0] |= 0x00000001u; -} -inline void RGBDImage::clear_has_header() { - _has_bits_[0] &= ~0x00000001u; -} -inline void RGBDImage::clear_header() { - if (header_ != NULL) header_->::px::HeaderInfo::Clear(); - clear_has_header(); -} -inline const ::px::HeaderInfo& RGBDImage::header() const { - return header_ != NULL ? *header_ : *default_instance_->header_; -} -inline ::px::HeaderInfo* RGBDImage::mutable_header() { - set_has_header(); - if (header_ == NULL) header_ = new ::px::HeaderInfo; - return header_; -} -inline ::px::HeaderInfo* RGBDImage::release_header() { - clear_has_header(); - ::px::HeaderInfo* temp = header_; - header_ = NULL; - return temp; -} - -// required uint32 cols = 2; -inline bool RGBDImage::has_cols() const { - return (_has_bits_[0] & 0x00000002u) != 0; -} -inline void RGBDImage::set_has_cols() { - _has_bits_[0] |= 0x00000002u; -} -inline void RGBDImage::clear_has_cols() { - _has_bits_[0] &= ~0x00000002u; -} -inline void RGBDImage::clear_cols() { - cols_ = 0u; - clear_has_cols(); -} -inline ::google::protobuf::uint32 RGBDImage::cols() const { - return cols_; -} -inline void RGBDImage::set_cols(::google::protobuf::uint32 value) { - set_has_cols(); - cols_ = value; -} - -// required uint32 rows = 3; -inline bool RGBDImage::has_rows() const { - return (_has_bits_[0] & 0x00000004u) != 0; -} -inline void RGBDImage::set_has_rows() { - _has_bits_[0] |= 0x00000004u; -} -inline void RGBDImage::clear_has_rows() { - _has_bits_[0] &= ~0x00000004u; -} -inline void RGBDImage::clear_rows() { - rows_ = 0u; - clear_has_rows(); -} -inline ::google::protobuf::uint32 RGBDImage::rows() const { - return rows_; -} -inline void RGBDImage::set_rows(::google::protobuf::uint32 value) { - set_has_rows(); - rows_ = value; -} - -// required uint32 step1 = 4; -inline bool RGBDImage::has_step1() const { - return (_has_bits_[0] & 0x00000008u) != 0; -} -inline void RGBDImage::set_has_step1() { - _has_bits_[0] |= 0x00000008u; -} -inline void RGBDImage::clear_has_step1() { - _has_bits_[0] &= ~0x00000008u; -} -inline void RGBDImage::clear_step1() { - step1_ = 0u; - clear_has_step1(); -} -inline ::google::protobuf::uint32 RGBDImage::step1() const { - return step1_; -} -inline void RGBDImage::set_step1(::google::protobuf::uint32 value) { - set_has_step1(); - step1_ = value; -} - -// required uint32 type1 = 5; -inline bool RGBDImage::has_type1() const { - return (_has_bits_[0] & 0x00000010u) != 0; -} -inline void RGBDImage::set_has_type1() { - _has_bits_[0] |= 0x00000010u; -} -inline void RGBDImage::clear_has_type1() { - _has_bits_[0] &= ~0x00000010u; -} -inline void RGBDImage::clear_type1() { - type1_ = 0u; - clear_has_type1(); -} -inline ::google::protobuf::uint32 RGBDImage::type1() const { - return type1_; -} -inline void RGBDImage::set_type1(::google::protobuf::uint32 value) { - set_has_type1(); - type1_ = value; -} - -// required bytes imageData1 = 6; -inline bool RGBDImage::has_imagedata1() const { - return (_has_bits_[0] & 0x00000020u) != 0; -} -inline void RGBDImage::set_has_imagedata1() { - _has_bits_[0] |= 0x00000020u; -} -inline void RGBDImage::clear_has_imagedata1() { - _has_bits_[0] &= ~0x00000020u; -} -inline void RGBDImage::clear_imagedata1() { - if (imagedata1_ != &::google::protobuf::internal::kEmptyString) { - imagedata1_->clear(); - } - clear_has_imagedata1(); -} -inline const ::std::string& RGBDImage::imagedata1() const { - return *imagedata1_; -} -inline void RGBDImage::set_imagedata1(const ::std::string& value) { - set_has_imagedata1(); - if (imagedata1_ == &::google::protobuf::internal::kEmptyString) { - imagedata1_ = new ::std::string; - } - imagedata1_->assign(value); -} -inline void RGBDImage::set_imagedata1(const char* value) { - set_has_imagedata1(); - if (imagedata1_ == &::google::protobuf::internal::kEmptyString) { - imagedata1_ = new ::std::string; - } - imagedata1_->assign(value); -} -inline void RGBDImage::set_imagedata1(const void* value, size_t size) { - set_has_imagedata1(); - if (imagedata1_ == &::google::protobuf::internal::kEmptyString) { - imagedata1_ = new ::std::string; - } - imagedata1_->assign(reinterpret_cast(value), size); -} -inline ::std::string* RGBDImage::mutable_imagedata1() { - set_has_imagedata1(); - if (imagedata1_ == &::google::protobuf::internal::kEmptyString) { - imagedata1_ = new ::std::string; - } - return imagedata1_; -} -inline ::std::string* RGBDImage::release_imagedata1() { - clear_has_imagedata1(); - if (imagedata1_ == &::google::protobuf::internal::kEmptyString) { - return NULL; - } else { - ::std::string* temp = imagedata1_; - imagedata1_ = const_cast< ::std::string*>(&::google::protobuf::internal::kEmptyString); - return temp; - } -} - -// required uint32 step2 = 7; -inline bool RGBDImage::has_step2() const { - return (_has_bits_[0] & 0x00000040u) != 0; -} -inline void RGBDImage::set_has_step2() { - _has_bits_[0] |= 0x00000040u; -} -inline void RGBDImage::clear_has_step2() { - _has_bits_[0] &= ~0x00000040u; -} -inline void RGBDImage::clear_step2() { - step2_ = 0u; - clear_has_step2(); -} -inline ::google::protobuf::uint32 RGBDImage::step2() const { - return step2_; -} -inline void RGBDImage::set_step2(::google::protobuf::uint32 value) { - set_has_step2(); - step2_ = value; -} - -// required uint32 type2 = 8; -inline bool RGBDImage::has_type2() const { - return (_has_bits_[0] & 0x00000080u) != 0; -} -inline void RGBDImage::set_has_type2() { - _has_bits_[0] |= 0x00000080u; -} -inline void RGBDImage::clear_has_type2() { - _has_bits_[0] &= ~0x00000080u; -} -inline void RGBDImage::clear_type2() { - type2_ = 0u; - clear_has_type2(); -} -inline ::google::protobuf::uint32 RGBDImage::type2() const { - return type2_; -} -inline void RGBDImage::set_type2(::google::protobuf::uint32 value) { - set_has_type2(); - type2_ = value; -} - -// required bytes imageData2 = 9; -inline bool RGBDImage::has_imagedata2() const { - return (_has_bits_[0] & 0x00000100u) != 0; -} -inline void RGBDImage::set_has_imagedata2() { - _has_bits_[0] |= 0x00000100u; -} -inline void RGBDImage::clear_has_imagedata2() { - _has_bits_[0] &= ~0x00000100u; -} -inline void RGBDImage::clear_imagedata2() { - if (imagedata2_ != &::google::protobuf::internal::kEmptyString) { - imagedata2_->clear(); - } - clear_has_imagedata2(); -} -inline const ::std::string& RGBDImage::imagedata2() const { - return *imagedata2_; -} -inline void RGBDImage::set_imagedata2(const ::std::string& value) { - set_has_imagedata2(); - if (imagedata2_ == &::google::protobuf::internal::kEmptyString) { - imagedata2_ = new ::std::string; - } - imagedata2_->assign(value); -} -inline void RGBDImage::set_imagedata2(const char* value) { - set_has_imagedata2(); - if (imagedata2_ == &::google::protobuf::internal::kEmptyString) { - imagedata2_ = new ::std::string; - } - imagedata2_->assign(value); -} -inline void RGBDImage::set_imagedata2(const void* value, size_t size) { - set_has_imagedata2(); - if (imagedata2_ == &::google::protobuf::internal::kEmptyString) { - imagedata2_ = new ::std::string; - } - imagedata2_->assign(reinterpret_cast(value), size); -} -inline ::std::string* RGBDImage::mutable_imagedata2() { - set_has_imagedata2(); - if (imagedata2_ == &::google::protobuf::internal::kEmptyString) { - imagedata2_ = new ::std::string; - } - return imagedata2_; -} -inline ::std::string* RGBDImage::release_imagedata2() { - clear_has_imagedata2(); - if (imagedata2_ == &::google::protobuf::internal::kEmptyString) { - return NULL; - } else { - ::std::string* temp = imagedata2_; - imagedata2_ = const_cast< ::std::string*>(&::google::protobuf::internal::kEmptyString); - return temp; - } -} - -// optional uint32 camera_config = 10; -inline bool RGBDImage::has_camera_config() const { - return (_has_bits_[0] & 0x00000200u) != 0; -} -inline void RGBDImage::set_has_camera_config() { - _has_bits_[0] |= 0x00000200u; -} -inline void RGBDImage::clear_has_camera_config() { - _has_bits_[0] &= ~0x00000200u; -} -inline void RGBDImage::clear_camera_config() { - camera_config_ = 0u; - clear_has_camera_config(); -} -inline ::google::protobuf::uint32 RGBDImage::camera_config() const { - return camera_config_; -} -inline void RGBDImage::set_camera_config(::google::protobuf::uint32 value) { - set_has_camera_config(); - camera_config_ = value; -} - -// optional uint32 camera_type = 11; -inline bool RGBDImage::has_camera_type() const { - return (_has_bits_[0] & 0x00000400u) != 0; -} -inline void RGBDImage::set_has_camera_type() { - _has_bits_[0] |= 0x00000400u; -} -inline void RGBDImage::clear_has_camera_type() { - _has_bits_[0] &= ~0x00000400u; -} -inline void RGBDImage::clear_camera_type() { - camera_type_ = 0u; - clear_has_camera_type(); -} -inline ::google::protobuf::uint32 RGBDImage::camera_type() const { - return camera_type_; -} -inline void RGBDImage::set_camera_type(::google::protobuf::uint32 value) { - set_has_camera_type(); - camera_type_ = value; -} - -// optional float roll = 12; -inline bool RGBDImage::has_roll() const { - return (_has_bits_[0] & 0x00000800u) != 0; -} -inline void RGBDImage::set_has_roll() { - _has_bits_[0] |= 0x00000800u; -} -inline void RGBDImage::clear_has_roll() { - _has_bits_[0] &= ~0x00000800u; -} -inline void RGBDImage::clear_roll() { - roll_ = 0; - clear_has_roll(); -} -inline float RGBDImage::roll() const { - return roll_; -} -inline void RGBDImage::set_roll(float value) { - set_has_roll(); - roll_ = value; -} - -// optional float pitch = 13; -inline bool RGBDImage::has_pitch() const { - return (_has_bits_[0] & 0x00001000u) != 0; -} -inline void RGBDImage::set_has_pitch() { - _has_bits_[0] |= 0x00001000u; -} -inline void RGBDImage::clear_has_pitch() { - _has_bits_[0] &= ~0x00001000u; -} -inline void RGBDImage::clear_pitch() { - pitch_ = 0; - clear_has_pitch(); -} -inline float RGBDImage::pitch() const { - return pitch_; -} -inline void RGBDImage::set_pitch(float value) { - set_has_pitch(); - pitch_ = value; -} - -// optional float yaw = 14; -inline bool RGBDImage::has_yaw() const { - return (_has_bits_[0] & 0x00002000u) != 0; -} -inline void RGBDImage::set_has_yaw() { - _has_bits_[0] |= 0x00002000u; -} -inline void RGBDImage::clear_has_yaw() { - _has_bits_[0] &= ~0x00002000u; -} -inline void RGBDImage::clear_yaw() { - yaw_ = 0; - clear_has_yaw(); -} -inline float RGBDImage::yaw() const { - return yaw_; -} -inline void RGBDImage::set_yaw(float value) { - set_has_yaw(); - yaw_ = value; -} - -// optional float lon = 15; -inline bool RGBDImage::has_lon() const { - return (_has_bits_[0] & 0x00004000u) != 0; -} -inline void RGBDImage::set_has_lon() { - _has_bits_[0] |= 0x00004000u; -} -inline void RGBDImage::clear_has_lon() { - _has_bits_[0] &= ~0x00004000u; -} -inline void RGBDImage::clear_lon() { - lon_ = 0; - clear_has_lon(); -} -inline float RGBDImage::lon() const { - return lon_; -} -inline void RGBDImage::set_lon(float value) { - set_has_lon(); - lon_ = value; -} - -// optional float lat = 16; -inline bool RGBDImage::has_lat() const { - return (_has_bits_[0] & 0x00008000u) != 0; -} -inline void RGBDImage::set_has_lat() { - _has_bits_[0] |= 0x00008000u; -} -inline void RGBDImage::clear_has_lat() { - _has_bits_[0] &= ~0x00008000u; -} -inline void RGBDImage::clear_lat() { - lat_ = 0; - clear_has_lat(); -} -inline float RGBDImage::lat() const { - return lat_; -} -inline void RGBDImage::set_lat(float value) { - set_has_lat(); - lat_ = value; -} - -// optional float alt = 17; -inline bool RGBDImage::has_alt() const { - return (_has_bits_[0] & 0x00010000u) != 0; -} -inline void RGBDImage::set_has_alt() { - _has_bits_[0] |= 0x00010000u; -} -inline void RGBDImage::clear_has_alt() { - _has_bits_[0] &= ~0x00010000u; -} -inline void RGBDImage::clear_alt() { - alt_ = 0; - clear_has_alt(); -} -inline float RGBDImage::alt() const { - return alt_; -} -inline void RGBDImage::set_alt(float value) { - set_has_alt(); - alt_ = value; -} - -// optional float ground_x = 18; -inline bool RGBDImage::has_ground_x() const { - return (_has_bits_[0] & 0x00020000u) != 0; -} -inline void RGBDImage::set_has_ground_x() { - _has_bits_[0] |= 0x00020000u; -} -inline void RGBDImage::clear_has_ground_x() { - _has_bits_[0] &= ~0x00020000u; -} -inline void RGBDImage::clear_ground_x() { - ground_x_ = 0; - clear_has_ground_x(); -} -inline float RGBDImage::ground_x() const { - return ground_x_; -} -inline void RGBDImage::set_ground_x(float value) { - set_has_ground_x(); - ground_x_ = value; -} - -// optional float ground_y = 19; -inline bool RGBDImage::has_ground_y() const { - return (_has_bits_[0] & 0x00040000u) != 0; -} -inline void RGBDImage::set_has_ground_y() { - _has_bits_[0] |= 0x00040000u; -} -inline void RGBDImage::clear_has_ground_y() { - _has_bits_[0] &= ~0x00040000u; -} -inline void RGBDImage::clear_ground_y() { - ground_y_ = 0; - clear_has_ground_y(); -} -inline float RGBDImage::ground_y() const { - return ground_y_; -} -inline void RGBDImage::set_ground_y(float value) { - set_has_ground_y(); - ground_y_ = value; -} - -// optional float ground_z = 20; -inline bool RGBDImage::has_ground_z() const { - return (_has_bits_[0] & 0x00080000u) != 0; -} -inline void RGBDImage::set_has_ground_z() { - _has_bits_[0] |= 0x00080000u; -} -inline void RGBDImage::clear_has_ground_z() { - _has_bits_[0] &= ~0x00080000u; -} -inline void RGBDImage::clear_ground_z() { - ground_z_ = 0; - clear_has_ground_z(); -} -inline float RGBDImage::ground_z() const { - return ground_z_; -} -inline void RGBDImage::set_ground_z(float value) { - set_has_ground_z(); - ground_z_ = value; -} - -// repeated float camera_matrix = 21; -inline int RGBDImage::camera_matrix_size() const { - return camera_matrix_.size(); -} -inline void RGBDImage::clear_camera_matrix() { - camera_matrix_.Clear(); -} -inline float RGBDImage::camera_matrix(int index) const { - return camera_matrix_.Get(index); -} -inline void RGBDImage::set_camera_matrix(int index, float value) { - camera_matrix_.Set(index, value); -} -inline void RGBDImage::add_camera_matrix(float value) { - camera_matrix_.Add(value); -} -inline const ::google::protobuf::RepeatedField< float >& -RGBDImage::camera_matrix() const { - return camera_matrix_; -} -inline ::google::protobuf::RepeatedField< float >* -RGBDImage::mutable_camera_matrix() { - return &camera_matrix_; -} - -// ------------------------------------------------------------------- - -// Obstacle - -// optional float x = 1; -inline bool Obstacle::has_x() const { - return (_has_bits_[0] & 0x00000001u) != 0; -} -inline void Obstacle::set_has_x() { - _has_bits_[0] |= 0x00000001u; -} -inline void Obstacle::clear_has_x() { - _has_bits_[0] &= ~0x00000001u; -} -inline void Obstacle::clear_x() { - x_ = 0; - clear_has_x(); -} -inline float Obstacle::x() const { - return x_; -} -inline void Obstacle::set_x(float value) { - set_has_x(); - x_ = value; -} - -// optional float y = 2; -inline bool Obstacle::has_y() const { - return (_has_bits_[0] & 0x00000002u) != 0; -} -inline void Obstacle::set_has_y() { - _has_bits_[0] |= 0x00000002u; -} -inline void Obstacle::clear_has_y() { - _has_bits_[0] &= ~0x00000002u; -} -inline void Obstacle::clear_y() { - y_ = 0; - clear_has_y(); -} -inline float Obstacle::y() const { - return y_; -} -inline void Obstacle::set_y(float value) { - set_has_y(); - y_ = value; -} - -// optional float z = 3; -inline bool Obstacle::has_z() const { - return (_has_bits_[0] & 0x00000004u) != 0; -} -inline void Obstacle::set_has_z() { - _has_bits_[0] |= 0x00000004u; -} -inline void Obstacle::clear_has_z() { - _has_bits_[0] &= ~0x00000004u; -} -inline void Obstacle::clear_z() { - z_ = 0; - clear_has_z(); -} -inline float Obstacle::z() const { - return z_; -} -inline void Obstacle::set_z(float value) { - set_has_z(); - z_ = value; -} - -// optional float length = 4; -inline bool Obstacle::has_length() const { - return (_has_bits_[0] & 0x00000008u) != 0; -} -inline void Obstacle::set_has_length() { - _has_bits_[0] |= 0x00000008u; -} -inline void Obstacle::clear_has_length() { - _has_bits_[0] &= ~0x00000008u; -} -inline void Obstacle::clear_length() { - length_ = 0; - clear_has_length(); -} -inline float Obstacle::length() const { - return length_; -} -inline void Obstacle::set_length(float value) { - set_has_length(); - length_ = value; -} - -// optional float width = 5; -inline bool Obstacle::has_width() const { - return (_has_bits_[0] & 0x00000010u) != 0; -} -inline void Obstacle::set_has_width() { - _has_bits_[0] |= 0x00000010u; -} -inline void Obstacle::clear_has_width() { - _has_bits_[0] &= ~0x00000010u; -} -inline void Obstacle::clear_width() { - width_ = 0; - clear_has_width(); -} -inline float Obstacle::width() const { - return width_; -} -inline void Obstacle::set_width(float value) { - set_has_width(); - width_ = value; -} - -// optional float height = 6; -inline bool Obstacle::has_height() const { - return (_has_bits_[0] & 0x00000020u) != 0; -} -inline void Obstacle::set_has_height() { - _has_bits_[0] |= 0x00000020u; -} -inline void Obstacle::clear_has_height() { - _has_bits_[0] &= ~0x00000020u; -} -inline void Obstacle::clear_height() { - height_ = 0; - clear_has_height(); -} -inline float Obstacle::height() const { - return height_; -} -inline void Obstacle::set_height(float value) { - set_has_height(); - height_ = value; -} - -// ------------------------------------------------------------------- - -// ObstacleList - -// required .px.HeaderInfo header = 1; -inline bool ObstacleList::has_header() const { - return (_has_bits_[0] & 0x00000001u) != 0; -} -inline void ObstacleList::set_has_header() { - _has_bits_[0] |= 0x00000001u; -} -inline void ObstacleList::clear_has_header() { - _has_bits_[0] &= ~0x00000001u; -} -inline void ObstacleList::clear_header() { - if (header_ != NULL) header_->::px::HeaderInfo::Clear(); - clear_has_header(); -} -inline const ::px::HeaderInfo& ObstacleList::header() const { - return header_ != NULL ? *header_ : *default_instance_->header_; -} -inline ::px::HeaderInfo* ObstacleList::mutable_header() { - set_has_header(); - if (header_ == NULL) header_ = new ::px::HeaderInfo; - return header_; -} -inline ::px::HeaderInfo* ObstacleList::release_header() { - clear_has_header(); - ::px::HeaderInfo* temp = header_; - header_ = NULL; - return temp; -} - -// repeated .px.Obstacle obstacles = 2; -inline int ObstacleList::obstacles_size() const { - return obstacles_.size(); -} -inline void ObstacleList::clear_obstacles() { - obstacles_.Clear(); -} -inline const ::px::Obstacle& ObstacleList::obstacles(int index) const { - return obstacles_.Get(index); -} -inline ::px::Obstacle* ObstacleList::mutable_obstacles(int index) { - return obstacles_.Mutable(index); -} -inline ::px::Obstacle* ObstacleList::add_obstacles() { - return obstacles_.Add(); -} -inline const ::google::protobuf::RepeatedPtrField< ::px::Obstacle >& -ObstacleList::obstacles() const { - return obstacles_; -} -inline ::google::protobuf::RepeatedPtrField< ::px::Obstacle >* -ObstacleList::mutable_obstacles() { - return &obstacles_; -} - -// ------------------------------------------------------------------- - -// ObstacleMap - -// required .px.HeaderInfo header = 1; -inline bool ObstacleMap::has_header() const { - return (_has_bits_[0] & 0x00000001u) != 0; -} -inline void ObstacleMap::set_has_header() { - _has_bits_[0] |= 0x00000001u; -} -inline void ObstacleMap::clear_has_header() { - _has_bits_[0] &= ~0x00000001u; -} -inline void ObstacleMap::clear_header() { - if (header_ != NULL) header_->::px::HeaderInfo::Clear(); - clear_has_header(); -} -inline const ::px::HeaderInfo& ObstacleMap::header() const { - return header_ != NULL ? *header_ : *default_instance_->header_; -} -inline ::px::HeaderInfo* ObstacleMap::mutable_header() { - set_has_header(); - if (header_ == NULL) header_ = new ::px::HeaderInfo; - return header_; -} -inline ::px::HeaderInfo* ObstacleMap::release_header() { - clear_has_header(); - ::px::HeaderInfo* temp = header_; - header_ = NULL; - return temp; -} - -// required int32 type = 2; -inline bool ObstacleMap::has_type() const { - return (_has_bits_[0] & 0x00000002u) != 0; -} -inline void ObstacleMap::set_has_type() { - _has_bits_[0] |= 0x00000002u; -} -inline void ObstacleMap::clear_has_type() { - _has_bits_[0] &= ~0x00000002u; -} -inline void ObstacleMap::clear_type() { - type_ = 0; - clear_has_type(); -} -inline ::google::protobuf::int32 ObstacleMap::type() const { - return type_; -} -inline void ObstacleMap::set_type(::google::protobuf::int32 value) { - set_has_type(); - type_ = value; -} - -// optional float resolution = 3; -inline bool ObstacleMap::has_resolution() const { - return (_has_bits_[0] & 0x00000004u) != 0; -} -inline void ObstacleMap::set_has_resolution() { - _has_bits_[0] |= 0x00000004u; -} -inline void ObstacleMap::clear_has_resolution() { - _has_bits_[0] &= ~0x00000004u; -} -inline void ObstacleMap::clear_resolution() { - resolution_ = 0; - clear_has_resolution(); -} -inline float ObstacleMap::resolution() const { - return resolution_; -} -inline void ObstacleMap::set_resolution(float value) { - set_has_resolution(); - resolution_ = value; -} - -// optional int32 rows = 4; -inline bool ObstacleMap::has_rows() const { - return (_has_bits_[0] & 0x00000008u) != 0; -} -inline void ObstacleMap::set_has_rows() { - _has_bits_[0] |= 0x00000008u; -} -inline void ObstacleMap::clear_has_rows() { - _has_bits_[0] &= ~0x00000008u; -} -inline void ObstacleMap::clear_rows() { - rows_ = 0; - clear_has_rows(); -} -inline ::google::protobuf::int32 ObstacleMap::rows() const { - return rows_; -} -inline void ObstacleMap::set_rows(::google::protobuf::int32 value) { - set_has_rows(); - rows_ = value; -} - -// optional int32 cols = 5; -inline bool ObstacleMap::has_cols() const { - return (_has_bits_[0] & 0x00000010u) != 0; -} -inline void ObstacleMap::set_has_cols() { - _has_bits_[0] |= 0x00000010u; -} -inline void ObstacleMap::clear_has_cols() { - _has_bits_[0] &= ~0x00000010u; -} -inline void ObstacleMap::clear_cols() { - cols_ = 0; - clear_has_cols(); -} -inline ::google::protobuf::int32 ObstacleMap::cols() const { - return cols_; -} -inline void ObstacleMap::set_cols(::google::protobuf::int32 value) { - set_has_cols(); - cols_ = value; -} - -// optional int32 mapR0 = 6; -inline bool ObstacleMap::has_mapr0() const { - return (_has_bits_[0] & 0x00000020u) != 0; -} -inline void ObstacleMap::set_has_mapr0() { - _has_bits_[0] |= 0x00000020u; -} -inline void ObstacleMap::clear_has_mapr0() { - _has_bits_[0] &= ~0x00000020u; -} -inline void ObstacleMap::clear_mapr0() { - mapr0_ = 0; - clear_has_mapr0(); -} -inline ::google::protobuf::int32 ObstacleMap::mapr0() const { - return mapr0_; -} -inline void ObstacleMap::set_mapr0(::google::protobuf::int32 value) { - set_has_mapr0(); - mapr0_ = value; -} - -// optional int32 mapC0 = 7; -inline bool ObstacleMap::has_mapc0() const { - return (_has_bits_[0] & 0x00000040u) != 0; -} -inline void ObstacleMap::set_has_mapc0() { - _has_bits_[0] |= 0x00000040u; -} -inline void ObstacleMap::clear_has_mapc0() { - _has_bits_[0] &= ~0x00000040u; -} -inline void ObstacleMap::clear_mapc0() { - mapc0_ = 0; - clear_has_mapc0(); -} -inline ::google::protobuf::int32 ObstacleMap::mapc0() const { - return mapc0_; -} -inline void ObstacleMap::set_mapc0(::google::protobuf::int32 value) { - set_has_mapc0(); - mapc0_ = value; -} - -// optional int32 arrayR0 = 8; -inline bool ObstacleMap::has_arrayr0() const { - return (_has_bits_[0] & 0x00000080u) != 0; -} -inline void ObstacleMap::set_has_arrayr0() { - _has_bits_[0] |= 0x00000080u; -} -inline void ObstacleMap::clear_has_arrayr0() { - _has_bits_[0] &= ~0x00000080u; -} -inline void ObstacleMap::clear_arrayr0() { - arrayr0_ = 0; - clear_has_arrayr0(); -} -inline ::google::protobuf::int32 ObstacleMap::arrayr0() const { - return arrayr0_; -} -inline void ObstacleMap::set_arrayr0(::google::protobuf::int32 value) { - set_has_arrayr0(); - arrayr0_ = value; -} - -// optional int32 arrayC0 = 9; -inline bool ObstacleMap::has_arrayc0() const { - return (_has_bits_[0] & 0x00000100u) != 0; -} -inline void ObstacleMap::set_has_arrayc0() { - _has_bits_[0] |= 0x00000100u; -} -inline void ObstacleMap::clear_has_arrayc0() { - _has_bits_[0] &= ~0x00000100u; -} -inline void ObstacleMap::clear_arrayc0() { - arrayc0_ = 0; - clear_has_arrayc0(); -} -inline ::google::protobuf::int32 ObstacleMap::arrayc0() const { - return arrayc0_; -} -inline void ObstacleMap::set_arrayc0(::google::protobuf::int32 value) { - set_has_arrayc0(); - arrayc0_ = value; -} - -// optional bytes data = 10; -inline bool ObstacleMap::has_data() const { - return (_has_bits_[0] & 0x00000200u) != 0; -} -inline void ObstacleMap::set_has_data() { - _has_bits_[0] |= 0x00000200u; -} -inline void ObstacleMap::clear_has_data() { - _has_bits_[0] &= ~0x00000200u; -} -inline void ObstacleMap::clear_data() { - if (data_ != &::google::protobuf::internal::kEmptyString) { - data_->clear(); - } - clear_has_data(); -} -inline const ::std::string& ObstacleMap::data() const { - return *data_; -} -inline void ObstacleMap::set_data(const ::std::string& value) { - set_has_data(); - if (data_ == &::google::protobuf::internal::kEmptyString) { - data_ = new ::std::string; - } - data_->assign(value); -} -inline void ObstacleMap::set_data(const char* value) { - set_has_data(); - if (data_ == &::google::protobuf::internal::kEmptyString) { - data_ = new ::std::string; - } - data_->assign(value); -} -inline void ObstacleMap::set_data(const void* value, size_t size) { - set_has_data(); - if (data_ == &::google::protobuf::internal::kEmptyString) { - data_ = new ::std::string; - } - data_->assign(reinterpret_cast(value), size); -} -inline ::std::string* ObstacleMap::mutable_data() { - set_has_data(); - if (data_ == &::google::protobuf::internal::kEmptyString) { - data_ = new ::std::string; - } - return data_; -} -inline ::std::string* ObstacleMap::release_data() { - clear_has_data(); - if (data_ == &::google::protobuf::internal::kEmptyString) { - return NULL; - } else { - ::std::string* temp = data_; - data_ = const_cast< ::std::string*>(&::google::protobuf::internal::kEmptyString); - return temp; - } -} - -// ------------------------------------------------------------------- - -// Waypoint - -// required double x = 1; -inline bool Waypoint::has_x() const { - return (_has_bits_[0] & 0x00000001u) != 0; -} -inline void Waypoint::set_has_x() { - _has_bits_[0] |= 0x00000001u; -} -inline void Waypoint::clear_has_x() { - _has_bits_[0] &= ~0x00000001u; -} -inline void Waypoint::clear_x() { - x_ = 0; - clear_has_x(); -} -inline double Waypoint::x() const { - return x_; -} -inline void Waypoint::set_x(double value) { - set_has_x(); - x_ = value; -} - -// required double y = 2; -inline bool Waypoint::has_y() const { - return (_has_bits_[0] & 0x00000002u) != 0; -} -inline void Waypoint::set_has_y() { - _has_bits_[0] |= 0x00000002u; -} -inline void Waypoint::clear_has_y() { - _has_bits_[0] &= ~0x00000002u; -} -inline void Waypoint::clear_y() { - y_ = 0; - clear_has_y(); -} -inline double Waypoint::y() const { - return y_; -} -inline void Waypoint::set_y(double value) { - set_has_y(); - y_ = value; -} - -// optional double z = 3; -inline bool Waypoint::has_z() const { - return (_has_bits_[0] & 0x00000004u) != 0; -} -inline void Waypoint::set_has_z() { - _has_bits_[0] |= 0x00000004u; -} -inline void Waypoint::clear_has_z() { - _has_bits_[0] &= ~0x00000004u; -} -inline void Waypoint::clear_z() { - z_ = 0; - clear_has_z(); -} -inline double Waypoint::z() const { - return z_; -} -inline void Waypoint::set_z(double value) { - set_has_z(); - z_ = value; -} - -// optional double roll = 4; -inline bool Waypoint::has_roll() const { - return (_has_bits_[0] & 0x00000008u) != 0; -} -inline void Waypoint::set_has_roll() { - _has_bits_[0] |= 0x00000008u; -} -inline void Waypoint::clear_has_roll() { - _has_bits_[0] &= ~0x00000008u; -} -inline void Waypoint::clear_roll() { - roll_ = 0; - clear_has_roll(); -} -inline double Waypoint::roll() const { - return roll_; -} -inline void Waypoint::set_roll(double value) { - set_has_roll(); - roll_ = value; -} - -// optional double pitch = 5; -inline bool Waypoint::has_pitch() const { - return (_has_bits_[0] & 0x00000010u) != 0; -} -inline void Waypoint::set_has_pitch() { - _has_bits_[0] |= 0x00000010u; -} -inline void Waypoint::clear_has_pitch() { - _has_bits_[0] &= ~0x00000010u; -} -inline void Waypoint::clear_pitch() { - pitch_ = 0; - clear_has_pitch(); -} -inline double Waypoint::pitch() const { - return pitch_; -} -inline void Waypoint::set_pitch(double value) { - set_has_pitch(); - pitch_ = value; -} - -// optional double yaw = 6; -inline bool Waypoint::has_yaw() const { - return (_has_bits_[0] & 0x00000020u) != 0; -} -inline void Waypoint::set_has_yaw() { - _has_bits_[0] |= 0x00000020u; -} -inline void Waypoint::clear_has_yaw() { - _has_bits_[0] &= ~0x00000020u; -} -inline void Waypoint::clear_yaw() { - yaw_ = 0; - clear_has_yaw(); -} -inline double Waypoint::yaw() const { - return yaw_; -} -inline void Waypoint::set_yaw(double value) { - set_has_yaw(); - yaw_ = value; -} - -// ------------------------------------------------------------------- - -// Path - -// required .px.HeaderInfo header = 1; -inline bool Path::has_header() const { - return (_has_bits_[0] & 0x00000001u) != 0; -} -inline void Path::set_has_header() { - _has_bits_[0] |= 0x00000001u; -} -inline void Path::clear_has_header() { - _has_bits_[0] &= ~0x00000001u; -} -inline void Path::clear_header() { - if (header_ != NULL) header_->::px::HeaderInfo::Clear(); - clear_has_header(); -} -inline const ::px::HeaderInfo& Path::header() const { - return header_ != NULL ? *header_ : *default_instance_->header_; -} -inline ::px::HeaderInfo* Path::mutable_header() { - set_has_header(); - if (header_ == NULL) header_ = new ::px::HeaderInfo; - return header_; -} -inline ::px::HeaderInfo* Path::release_header() { - clear_has_header(); - ::px::HeaderInfo* temp = header_; - header_ = NULL; - return temp; -} - -// repeated .px.Waypoint waypoints = 2; -inline int Path::waypoints_size() const { - return waypoints_.size(); -} -inline void Path::clear_waypoints() { - waypoints_.Clear(); -} -inline const ::px::Waypoint& Path::waypoints(int index) const { - return waypoints_.Get(index); -} -inline ::px::Waypoint* Path::mutable_waypoints(int index) { - return waypoints_.Mutable(index); -} -inline ::px::Waypoint* Path::add_waypoints() { - return waypoints_.Add(); -} -inline const ::google::protobuf::RepeatedPtrField< ::px::Waypoint >& -Path::waypoints() const { - return waypoints_; -} -inline ::google::protobuf::RepeatedPtrField< ::px::Waypoint >* -Path::mutable_waypoints() { - return &waypoints_; -} - - -// @@protoc_insertion_point(namespace_scope) - -} // namespace px - -#ifndef SWIG -namespace google { -namespace protobuf { - - -} // namespace google -} // namespace protobuf -#endif // SWIG - -// @@protoc_insertion_point(global_scope) - -#endif // PROTOBUF_pixhawk_2eproto__INCLUDED diff --git a/thirdParty/mavlink/include/sensesoar/mavlink_msg_cmd_airspeed_ack.h b/thirdParty/mavlink/include/sensesoar/mavlink_msg_cmd_airspeed_ack.h deleted file mode 100644 index 6dcab9fa822edaa7cc888cf0e53ab7783340e72e..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/include/sensesoar/mavlink_msg_cmd_airspeed_ack.h +++ /dev/null @@ -1,166 +0,0 @@ -// MESSAGE CMD_AIRSPEED_ACK PACKING - -#define MAVLINK_MSG_ID_CMD_AIRSPEED_ACK 194 - -typedef struct __mavlink_cmd_airspeed_ack_t -{ - float spCmd; ///< commanded airspeed - uint8_t ack; ///< 0:ack, 1:nack -} mavlink_cmd_airspeed_ack_t; - -#define MAVLINK_MSG_ID_CMD_AIRSPEED_ACK_LEN 5 -#define MAVLINK_MSG_ID_194_LEN 5 - - - -#define MAVLINK_MESSAGE_INFO_CMD_AIRSPEED_ACK { \ - "CMD_AIRSPEED_ACK", \ - 2, \ - { { "spCmd", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_cmd_airspeed_ack_t, spCmd) }, \ - { "ack", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_cmd_airspeed_ack_t, ack) }, \ - } \ -} - - -/** - * @brief Pack a cmd_airspeed_ack 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 spCmd commanded airspeed - * @param ack 0:ack, 1:nack - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_cmd_airspeed_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, - float spCmd, uint8_t ack) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[5]; - _mav_put_float(buf, 0, spCmd); - _mav_put_uint8_t(buf, 4, ack); - - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 5); -#else - mavlink_cmd_airspeed_ack_t packet; - packet.spCmd = spCmd; - packet.ack = ack; - - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 5); -#endif - - msg->msgid = MAVLINK_MSG_ID_CMD_AIRSPEED_ACK; - return mavlink_finalize_message(msg, system_id, component_id, 5, 243); -} - -/** - * @brief Pack a cmd_airspeed_ack 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 spCmd commanded airspeed - * @param ack 0:ack, 1:nack - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_cmd_airspeed_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, - mavlink_message_t* msg, - float spCmd,uint8_t ack) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[5]; - _mav_put_float(buf, 0, spCmd); - _mav_put_uint8_t(buf, 4, ack); - - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 5); -#else - mavlink_cmd_airspeed_ack_t packet; - packet.spCmd = spCmd; - packet.ack = ack; - - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 5); -#endif - - msg->msgid = MAVLINK_MSG_ID_CMD_AIRSPEED_ACK; - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 5, 243); -} - -/** - * @brief Encode a cmd_airspeed_ack 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 cmd_airspeed_ack C-struct to read the message contents from - */ -static inline uint16_t mavlink_msg_cmd_airspeed_ack_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_cmd_airspeed_ack_t* cmd_airspeed_ack) -{ - return mavlink_msg_cmd_airspeed_ack_pack(system_id, component_id, msg, cmd_airspeed_ack->spCmd, cmd_airspeed_ack->ack); -} - -/** - * @brief Send a cmd_airspeed_ack message - * @param chan MAVLink channel to send the message - * - * @param spCmd commanded airspeed - * @param ack 0:ack, 1:nack - */ -#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS - -static inline void mavlink_msg_cmd_airspeed_ack_send(mavlink_channel_t chan, float spCmd, uint8_t ack) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[5]; - _mav_put_float(buf, 0, spCmd); - _mav_put_uint8_t(buf, 4, ack); - - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CMD_AIRSPEED_ACK, buf, 5, 243); -#else - mavlink_cmd_airspeed_ack_t packet; - packet.spCmd = spCmd; - packet.ack = ack; - - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CMD_AIRSPEED_ACK, (const char *)&packet, 5, 243); -#endif -} - -#endif - -// MESSAGE CMD_AIRSPEED_ACK UNPACKING - - -/** - * @brief Get field spCmd from cmd_airspeed_ack message - * - * @return commanded airspeed - */ -static inline float mavlink_msg_cmd_airspeed_ack_get_spCmd(const mavlink_message_t* msg) -{ - return _MAV_RETURN_float(msg, 0); -} - -/** - * @brief Get field ack from cmd_airspeed_ack message - * - * @return 0:ack, 1:nack - */ -static inline uint8_t mavlink_msg_cmd_airspeed_ack_get_ack(const mavlink_message_t* msg) -{ - return _MAV_RETURN_uint8_t(msg, 4); -} - -/** - * @brief Decode a cmd_airspeed_ack message into a struct - * - * @param msg The message to decode - * @param cmd_airspeed_ack C-struct to decode the message contents into - */ -static inline void mavlink_msg_cmd_airspeed_ack_decode(const mavlink_message_t* msg, mavlink_cmd_airspeed_ack_t* cmd_airspeed_ack) -{ -#if MAVLINK_NEED_BYTE_SWAP - cmd_airspeed_ack->spCmd = mavlink_msg_cmd_airspeed_ack_get_spCmd(msg); - cmd_airspeed_ack->ack = mavlink_msg_cmd_airspeed_ack_get_ack(msg); -#else - memcpy(cmd_airspeed_ack, _MAV_PAYLOAD(msg), 5); -#endif -} diff --git a/thirdParty/mavlink/include/sensesoar/mavlink_msg_cmd_airspeed_chng.h b/thirdParty/mavlink/include/sensesoar/mavlink_msg_cmd_airspeed_chng.h deleted file mode 100644 index d5b21b8d79b69be6622885d1f13f0339e33dfab2..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/include/sensesoar/mavlink_msg_cmd_airspeed_chng.h +++ /dev/null @@ -1,166 +0,0 @@ -// MESSAGE CMD_AIRSPEED_CHNG PACKING - -#define MAVLINK_MSG_ID_CMD_AIRSPEED_CHNG 192 - -typedef struct __mavlink_cmd_airspeed_chng_t -{ - float spCmd; ///< commanded airspeed - uint8_t target; ///< Target ID -} mavlink_cmd_airspeed_chng_t; - -#define MAVLINK_MSG_ID_CMD_AIRSPEED_CHNG_LEN 5 -#define MAVLINK_MSG_ID_192_LEN 5 - - - -#define MAVLINK_MESSAGE_INFO_CMD_AIRSPEED_CHNG { \ - "CMD_AIRSPEED_CHNG", \ - 2, \ - { { "spCmd", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_cmd_airspeed_chng_t, spCmd) }, \ - { "target", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_cmd_airspeed_chng_t, target) }, \ - } \ -} - - -/** - * @brief Pack a cmd_airspeed_chng 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 Target ID - * @param spCmd commanded airspeed - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_cmd_airspeed_chng_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, - uint8_t target, float spCmd) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[5]; - _mav_put_float(buf, 0, spCmd); - _mav_put_uint8_t(buf, 4, target); - - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 5); -#else - mavlink_cmd_airspeed_chng_t packet; - packet.spCmd = spCmd; - packet.target = target; - - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 5); -#endif - - msg->msgid = MAVLINK_MSG_ID_CMD_AIRSPEED_CHNG; - return mavlink_finalize_message(msg, system_id, component_id, 5, 209); -} - -/** - * @brief Pack a cmd_airspeed_chng 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 Target ID - * @param spCmd commanded airspeed - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_cmd_airspeed_chng_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, - mavlink_message_t* msg, - uint8_t target,float spCmd) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[5]; - _mav_put_float(buf, 0, spCmd); - _mav_put_uint8_t(buf, 4, target); - - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 5); -#else - mavlink_cmd_airspeed_chng_t packet; - packet.spCmd = spCmd; - packet.target = target; - - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 5); -#endif - - msg->msgid = MAVLINK_MSG_ID_CMD_AIRSPEED_CHNG; - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 5, 209); -} - -/** - * @brief Encode a cmd_airspeed_chng 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 cmd_airspeed_chng C-struct to read the message contents from - */ -static inline uint16_t mavlink_msg_cmd_airspeed_chng_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_cmd_airspeed_chng_t* cmd_airspeed_chng) -{ - return mavlink_msg_cmd_airspeed_chng_pack(system_id, component_id, msg, cmd_airspeed_chng->target, cmd_airspeed_chng->spCmd); -} - -/** - * @brief Send a cmd_airspeed_chng message - * @param chan MAVLink channel to send the message - * - * @param target Target ID - * @param spCmd commanded airspeed - */ -#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS - -static inline void mavlink_msg_cmd_airspeed_chng_send(mavlink_channel_t chan, uint8_t target, float spCmd) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[5]; - _mav_put_float(buf, 0, spCmd); - _mav_put_uint8_t(buf, 4, target); - - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CMD_AIRSPEED_CHNG, buf, 5, 209); -#else - mavlink_cmd_airspeed_chng_t packet; - packet.spCmd = spCmd; - packet.target = target; - - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CMD_AIRSPEED_CHNG, (const char *)&packet, 5, 209); -#endif -} - -#endif - -// MESSAGE CMD_AIRSPEED_CHNG UNPACKING - - -/** - * @brief Get field target from cmd_airspeed_chng message - * - * @return Target ID - */ -static inline uint8_t mavlink_msg_cmd_airspeed_chng_get_target(const mavlink_message_t* msg) -{ - return _MAV_RETURN_uint8_t(msg, 4); -} - -/** - * @brief Get field spCmd from cmd_airspeed_chng message - * - * @return commanded airspeed - */ -static inline float mavlink_msg_cmd_airspeed_chng_get_spCmd(const mavlink_message_t* msg) -{ - return _MAV_RETURN_float(msg, 0); -} - -/** - * @brief Decode a cmd_airspeed_chng message into a struct - * - * @param msg The message to decode - * @param cmd_airspeed_chng C-struct to decode the message contents into - */ -static inline void mavlink_msg_cmd_airspeed_chng_decode(const mavlink_message_t* msg, mavlink_cmd_airspeed_chng_t* cmd_airspeed_chng) -{ -#if MAVLINK_NEED_BYTE_SWAP - cmd_airspeed_chng->spCmd = mavlink_msg_cmd_airspeed_chng_get_spCmd(msg); - cmd_airspeed_chng->target = mavlink_msg_cmd_airspeed_chng_get_target(msg); -#else - memcpy(cmd_airspeed_chng, _MAV_PAYLOAD(msg), 5); -#endif -} diff --git a/thirdParty/mavlink/include/sensesoar/mavlink_msg_filt_rot_vel.h b/thirdParty/mavlink/include/sensesoar/mavlink_msg_filt_rot_vel.h deleted file mode 100644 index f5fef06f0438cfe04423ee101aa7b5920f440211..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/include/sensesoar/mavlink_msg_filt_rot_vel.h +++ /dev/null @@ -1,144 +0,0 @@ -// MESSAGE FILT_ROT_VEL PACKING - -#define MAVLINK_MSG_ID_FILT_ROT_VEL 184 - -typedef struct __mavlink_filt_rot_vel_t -{ - float rotVel[3]; ///< rotational velocity -} mavlink_filt_rot_vel_t; - -#define MAVLINK_MSG_ID_FILT_ROT_VEL_LEN 12 -#define MAVLINK_MSG_ID_184_LEN 12 - -#define MAVLINK_MSG_FILT_ROT_VEL_FIELD_ROTVEL_LEN 3 - -#define MAVLINK_MESSAGE_INFO_FILT_ROT_VEL { \ - "FILT_ROT_VEL", \ - 1, \ - { { "rotVel", NULL, MAVLINK_TYPE_FLOAT, 3, 0, offsetof(mavlink_filt_rot_vel_t, rotVel) }, \ - } \ -} - - -/** - * @brief Pack a filt_rot_vel 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 rotVel rotational velocity - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_filt_rot_vel_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, - const float *rotVel) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[12]; - - _mav_put_float_array(buf, 0, rotVel, 3); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12); -#else - mavlink_filt_rot_vel_t packet; - - mav_array_memcpy(packet.rotVel, rotVel, sizeof(float)*3); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12); -#endif - - msg->msgid = MAVLINK_MSG_ID_FILT_ROT_VEL; - return mavlink_finalize_message(msg, system_id, component_id, 12, 79); -} - -/** - * @brief Pack a filt_rot_vel 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 rotVel rotational velocity - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_filt_rot_vel_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, - mavlink_message_t* msg, - const float *rotVel) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[12]; - - _mav_put_float_array(buf, 0, rotVel, 3); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12); -#else - mavlink_filt_rot_vel_t packet; - - mav_array_memcpy(packet.rotVel, rotVel, sizeof(float)*3); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12); -#endif - - msg->msgid = MAVLINK_MSG_ID_FILT_ROT_VEL; - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 12, 79); -} - -/** - * @brief Encode a filt_rot_vel 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 filt_rot_vel C-struct to read the message contents from - */ -static inline uint16_t mavlink_msg_filt_rot_vel_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_filt_rot_vel_t* filt_rot_vel) -{ - return mavlink_msg_filt_rot_vel_pack(system_id, component_id, msg, filt_rot_vel->rotVel); -} - -/** - * @brief Send a filt_rot_vel message - * @param chan MAVLink channel to send the message - * - * @param rotVel rotational velocity - */ -#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS - -static inline void mavlink_msg_filt_rot_vel_send(mavlink_channel_t chan, const float *rotVel) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[12]; - - _mav_put_float_array(buf, 0, rotVel, 3); - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILT_ROT_VEL, buf, 12, 79); -#else - mavlink_filt_rot_vel_t packet; - - mav_array_memcpy(packet.rotVel, rotVel, sizeof(float)*3); - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILT_ROT_VEL, (const char *)&packet, 12, 79); -#endif -} - -#endif - -// MESSAGE FILT_ROT_VEL UNPACKING - - -/** - * @brief Get field rotVel from filt_rot_vel message - * - * @return rotational velocity - */ -static inline uint16_t mavlink_msg_filt_rot_vel_get_rotVel(const mavlink_message_t* msg, float *rotVel) -{ - return _MAV_RETURN_float_array(msg, rotVel, 3, 0); -} - -/** - * @brief Decode a filt_rot_vel message into a struct - * - * @param msg The message to decode - * @param filt_rot_vel C-struct to decode the message contents into - */ -static inline void mavlink_msg_filt_rot_vel_decode(const mavlink_message_t* msg, mavlink_filt_rot_vel_t* filt_rot_vel) -{ -#if MAVLINK_NEED_BYTE_SWAP - mavlink_msg_filt_rot_vel_get_rotVel(msg, filt_rot_vel->rotVel); -#else - memcpy(filt_rot_vel, _MAV_PAYLOAD(msg), 12); -#endif -} diff --git a/thirdParty/mavlink/include/sensesoar/mavlink_msg_llc_out.h b/thirdParty/mavlink/include/sensesoar/mavlink_msg_llc_out.h deleted file mode 100644 index 5ee3d5a19f2a92da8fcbfbefbf65fcdcbeb3c01c..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/include/sensesoar/mavlink_msg_llc_out.h +++ /dev/null @@ -1,167 +0,0 @@ -// MESSAGE LLC_OUT PACKING - -#define MAVLINK_MSG_ID_LLC_OUT 186 - -typedef struct __mavlink_llc_out_t -{ - int16_t servoOut[4]; ///< Servo signal - int16_t MotorOut[2]; ///< motor signal -} mavlink_llc_out_t; - -#define MAVLINK_MSG_ID_LLC_OUT_LEN 12 -#define MAVLINK_MSG_ID_186_LEN 12 - -#define MAVLINK_MSG_LLC_OUT_FIELD_SERVOOUT_LEN 4 -#define MAVLINK_MSG_LLC_OUT_FIELD_MOTOROUT_LEN 2 - -#define MAVLINK_MESSAGE_INFO_LLC_OUT { \ - "LLC_OUT", \ - 2, \ - { { "servoOut", NULL, MAVLINK_TYPE_INT16_T, 4, 0, offsetof(mavlink_llc_out_t, servoOut) }, \ - { "MotorOut", NULL, MAVLINK_TYPE_INT16_T, 2, 8, offsetof(mavlink_llc_out_t, MotorOut) }, \ - } \ -} - - -/** - * @brief Pack a llc_out 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 servoOut Servo signal - * @param MotorOut motor signal - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_llc_out_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, - const int16_t *servoOut, const int16_t *MotorOut) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[12]; - - _mav_put_int16_t_array(buf, 0, servoOut, 4); - _mav_put_int16_t_array(buf, 8, MotorOut, 2); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12); -#else - mavlink_llc_out_t packet; - - mav_array_memcpy(packet.servoOut, servoOut, sizeof(int16_t)*4); - mav_array_memcpy(packet.MotorOut, MotorOut, sizeof(int16_t)*2); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12); -#endif - - msg->msgid = MAVLINK_MSG_ID_LLC_OUT; - return mavlink_finalize_message(msg, system_id, component_id, 12, 5); -} - -/** - * @brief Pack a llc_out 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 servoOut Servo signal - * @param MotorOut motor signal - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_llc_out_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, - mavlink_message_t* msg, - const int16_t *servoOut,const int16_t *MotorOut) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[12]; - - _mav_put_int16_t_array(buf, 0, servoOut, 4); - _mav_put_int16_t_array(buf, 8, MotorOut, 2); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12); -#else - mavlink_llc_out_t packet; - - mav_array_memcpy(packet.servoOut, servoOut, sizeof(int16_t)*4); - mav_array_memcpy(packet.MotorOut, MotorOut, sizeof(int16_t)*2); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12); -#endif - - msg->msgid = MAVLINK_MSG_ID_LLC_OUT; - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 12, 5); -} - -/** - * @brief Encode a llc_out 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 llc_out C-struct to read the message contents from - */ -static inline uint16_t mavlink_msg_llc_out_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_llc_out_t* llc_out) -{ - return mavlink_msg_llc_out_pack(system_id, component_id, msg, llc_out->servoOut, llc_out->MotorOut); -} - -/** - * @brief Send a llc_out message - * @param chan MAVLink channel to send the message - * - * @param servoOut Servo signal - * @param MotorOut motor signal - */ -#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS - -static inline void mavlink_msg_llc_out_send(mavlink_channel_t chan, const int16_t *servoOut, const int16_t *MotorOut) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[12]; - - _mav_put_int16_t_array(buf, 0, servoOut, 4); - _mav_put_int16_t_array(buf, 8, MotorOut, 2); - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LLC_OUT, buf, 12, 5); -#else - mavlink_llc_out_t packet; - - mav_array_memcpy(packet.servoOut, servoOut, sizeof(int16_t)*4); - mav_array_memcpy(packet.MotorOut, MotorOut, sizeof(int16_t)*2); - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LLC_OUT, (const char *)&packet, 12, 5); -#endif -} - -#endif - -// MESSAGE LLC_OUT UNPACKING - - -/** - * @brief Get field servoOut from llc_out message - * - * @return Servo signal - */ -static inline uint16_t mavlink_msg_llc_out_get_servoOut(const mavlink_message_t* msg, int16_t *servoOut) -{ - return _MAV_RETURN_int16_t_array(msg, servoOut, 4, 0); -} - -/** - * @brief Get field MotorOut from llc_out message - * - * @return motor signal - */ -static inline uint16_t mavlink_msg_llc_out_get_MotorOut(const mavlink_message_t* msg, int16_t *MotorOut) -{ - return _MAV_RETURN_int16_t_array(msg, MotorOut, 2, 8); -} - -/** - * @brief Decode a llc_out message into a struct - * - * @param msg The message to decode - * @param llc_out C-struct to decode the message contents into - */ -static inline void mavlink_msg_llc_out_decode(const mavlink_message_t* msg, mavlink_llc_out_t* llc_out) -{ -#if MAVLINK_NEED_BYTE_SWAP - mavlink_msg_llc_out_get_servoOut(msg, llc_out->servoOut); - mavlink_msg_llc_out_get_MotorOut(msg, llc_out->MotorOut); -#else - memcpy(llc_out, _MAV_PAYLOAD(msg), 12); -#endif -} diff --git a/thirdParty/mavlink/include/sensesoar/mavlink_msg_obs_air_temp.h b/thirdParty/mavlink/include/sensesoar/mavlink_msg_obs_air_temp.h deleted file mode 100644 index 60cf01845470911949dc7f48c0c895221dbcbdeb..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/include/sensesoar/mavlink_msg_obs_air_temp.h +++ /dev/null @@ -1,144 +0,0 @@ -// MESSAGE OBS_AIR_TEMP PACKING - -#define MAVLINK_MSG_ID_OBS_AIR_TEMP 183 - -typedef struct __mavlink_obs_air_temp_t -{ - float airT; ///< Air Temperatur -} mavlink_obs_air_temp_t; - -#define MAVLINK_MSG_ID_OBS_AIR_TEMP_LEN 4 -#define MAVLINK_MSG_ID_183_LEN 4 - - - -#define MAVLINK_MESSAGE_INFO_OBS_AIR_TEMP { \ - "OBS_AIR_TEMP", \ - 1, \ - { { "airT", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_obs_air_temp_t, airT) }, \ - } \ -} - - -/** - * @brief Pack a obs_air_temp 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 airT Air Temperatur - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_obs_air_temp_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, - float airT) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[4]; - _mav_put_float(buf, 0, airT); - - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 4); -#else - mavlink_obs_air_temp_t packet; - packet.airT = airT; - - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 4); -#endif - - msg->msgid = MAVLINK_MSG_ID_OBS_AIR_TEMP; - return mavlink_finalize_message(msg, system_id, component_id, 4, 248); -} - -/** - * @brief Pack a obs_air_temp 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 airT Air Temperatur - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_obs_air_temp_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, - mavlink_message_t* msg, - float airT) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[4]; - _mav_put_float(buf, 0, airT); - - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 4); -#else - mavlink_obs_air_temp_t packet; - packet.airT = airT; - - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 4); -#endif - - msg->msgid = MAVLINK_MSG_ID_OBS_AIR_TEMP; - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 4, 248); -} - -/** - * @brief Encode a obs_air_temp 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 obs_air_temp C-struct to read the message contents from - */ -static inline uint16_t mavlink_msg_obs_air_temp_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_obs_air_temp_t* obs_air_temp) -{ - return mavlink_msg_obs_air_temp_pack(system_id, component_id, msg, obs_air_temp->airT); -} - -/** - * @brief Send a obs_air_temp message - * @param chan MAVLink channel to send the message - * - * @param airT Air Temperatur - */ -#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS - -static inline void mavlink_msg_obs_air_temp_send(mavlink_channel_t chan, float airT) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[4]; - _mav_put_float(buf, 0, airT); - - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_AIR_TEMP, buf, 4, 248); -#else - mavlink_obs_air_temp_t packet; - packet.airT = airT; - - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_AIR_TEMP, (const char *)&packet, 4, 248); -#endif -} - -#endif - -// MESSAGE OBS_AIR_TEMP UNPACKING - - -/** - * @brief Get field airT from obs_air_temp message - * - * @return Air Temperatur - */ -static inline float mavlink_msg_obs_air_temp_get_airT(const mavlink_message_t* msg) -{ - return _MAV_RETURN_float(msg, 0); -} - -/** - * @brief Decode a obs_air_temp message into a struct - * - * @param msg The message to decode - * @param obs_air_temp C-struct to decode the message contents into - */ -static inline void mavlink_msg_obs_air_temp_decode(const mavlink_message_t* msg, mavlink_obs_air_temp_t* obs_air_temp) -{ -#if MAVLINK_NEED_BYTE_SWAP - obs_air_temp->airT = mavlink_msg_obs_air_temp_get_airT(msg); -#else - memcpy(obs_air_temp, _MAV_PAYLOAD(msg), 4); -#endif -} diff --git a/thirdParty/mavlink/include/sensesoar/mavlink_msg_obs_air_velocity.h b/thirdParty/mavlink/include/sensesoar/mavlink_msg_obs_air_velocity.h deleted file mode 100644 index ef56c5c61780e00ac1fa32d3e57aadf0f4de4516..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/include/sensesoar/mavlink_msg_obs_air_velocity.h +++ /dev/null @@ -1,188 +0,0 @@ -// MESSAGE OBS_AIR_VELOCITY PACKING - -#define MAVLINK_MSG_ID_OBS_AIR_VELOCITY 178 - -typedef struct __mavlink_obs_air_velocity_t -{ - float magnitude; ///< Air speed - float aoa; ///< angle of attack - float slip; ///< slip angle -} mavlink_obs_air_velocity_t; - -#define MAVLINK_MSG_ID_OBS_AIR_VELOCITY_LEN 12 -#define MAVLINK_MSG_ID_178_LEN 12 - - - -#define MAVLINK_MESSAGE_INFO_OBS_AIR_VELOCITY { \ - "OBS_AIR_VELOCITY", \ - 3, \ - { { "magnitude", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_obs_air_velocity_t, magnitude) }, \ - { "aoa", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_obs_air_velocity_t, aoa) }, \ - { "slip", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_obs_air_velocity_t, slip) }, \ - } \ -} - - -/** - * @brief Pack a obs_air_velocity 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 magnitude Air speed - * @param aoa angle of attack - * @param slip slip angle - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_obs_air_velocity_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, - float magnitude, float aoa, float slip) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[12]; - _mav_put_float(buf, 0, magnitude); - _mav_put_float(buf, 4, aoa); - _mav_put_float(buf, 8, slip); - - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12); -#else - mavlink_obs_air_velocity_t packet; - packet.magnitude = magnitude; - packet.aoa = aoa; - packet.slip = slip; - - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12); -#endif - - msg->msgid = MAVLINK_MSG_ID_OBS_AIR_VELOCITY; - return mavlink_finalize_message(msg, system_id, component_id, 12, 32); -} - -/** - * @brief Pack a obs_air_velocity 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 magnitude Air speed - * @param aoa angle of attack - * @param slip slip angle - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_obs_air_velocity_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, - mavlink_message_t* msg, - float magnitude,float aoa,float slip) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[12]; - _mav_put_float(buf, 0, magnitude); - _mav_put_float(buf, 4, aoa); - _mav_put_float(buf, 8, slip); - - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12); -#else - mavlink_obs_air_velocity_t packet; - packet.magnitude = magnitude; - packet.aoa = aoa; - packet.slip = slip; - - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12); -#endif - - msg->msgid = MAVLINK_MSG_ID_OBS_AIR_VELOCITY; - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 12, 32); -} - -/** - * @brief Encode a obs_air_velocity 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 obs_air_velocity C-struct to read the message contents from - */ -static inline uint16_t mavlink_msg_obs_air_velocity_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_obs_air_velocity_t* obs_air_velocity) -{ - return mavlink_msg_obs_air_velocity_pack(system_id, component_id, msg, obs_air_velocity->magnitude, obs_air_velocity->aoa, obs_air_velocity->slip); -} - -/** - * @brief Send a obs_air_velocity message - * @param chan MAVLink channel to send the message - * - * @param magnitude Air speed - * @param aoa angle of attack - * @param slip slip angle - */ -#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS - -static inline void mavlink_msg_obs_air_velocity_send(mavlink_channel_t chan, float magnitude, float aoa, float slip) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[12]; - _mav_put_float(buf, 0, magnitude); - _mav_put_float(buf, 4, aoa); - _mav_put_float(buf, 8, slip); - - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_AIR_VELOCITY, buf, 12, 32); -#else - mavlink_obs_air_velocity_t packet; - packet.magnitude = magnitude; - packet.aoa = aoa; - packet.slip = slip; - - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_AIR_VELOCITY, (const char *)&packet, 12, 32); -#endif -} - -#endif - -// MESSAGE OBS_AIR_VELOCITY UNPACKING - - -/** - * @brief Get field magnitude from obs_air_velocity message - * - * @return Air speed - */ -static inline float mavlink_msg_obs_air_velocity_get_magnitude(const mavlink_message_t* msg) -{ - return _MAV_RETURN_float(msg, 0); -} - -/** - * @brief Get field aoa from obs_air_velocity message - * - * @return angle of attack - */ -static inline float mavlink_msg_obs_air_velocity_get_aoa(const mavlink_message_t* msg) -{ - return _MAV_RETURN_float(msg, 4); -} - -/** - * @brief Get field slip from obs_air_velocity message - * - * @return slip angle - */ -static inline float mavlink_msg_obs_air_velocity_get_slip(const mavlink_message_t* msg) -{ - return _MAV_RETURN_float(msg, 8); -} - -/** - * @brief Decode a obs_air_velocity message into a struct - * - * @param msg The message to decode - * @param obs_air_velocity C-struct to decode the message contents into - */ -static inline void mavlink_msg_obs_air_velocity_decode(const mavlink_message_t* msg, mavlink_obs_air_velocity_t* obs_air_velocity) -{ -#if MAVLINK_NEED_BYTE_SWAP - obs_air_velocity->magnitude = mavlink_msg_obs_air_velocity_get_magnitude(msg); - obs_air_velocity->aoa = mavlink_msg_obs_air_velocity_get_aoa(msg); - obs_air_velocity->slip = mavlink_msg_obs_air_velocity_get_slip(msg); -#else - memcpy(obs_air_velocity, _MAV_PAYLOAD(msg), 12); -#endif -} diff --git a/thirdParty/mavlink/include/sensesoar/mavlink_msg_obs_attitude.h b/thirdParty/mavlink/include/sensesoar/mavlink_msg_obs_attitude.h deleted file mode 100644 index 7a3e6d0ba48b16270acfe67d6091738bdcb078d8..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/include/sensesoar/mavlink_msg_obs_attitude.h +++ /dev/null @@ -1,144 +0,0 @@ -// MESSAGE OBS_ATTITUDE PACKING - -#define MAVLINK_MSG_ID_OBS_ATTITUDE 174 - -typedef struct __mavlink_obs_attitude_t -{ - double quat[4]; ///< Quaternion re;im -} mavlink_obs_attitude_t; - -#define MAVLINK_MSG_ID_OBS_ATTITUDE_LEN 32 -#define MAVLINK_MSG_ID_174_LEN 32 - -#define MAVLINK_MSG_OBS_ATTITUDE_FIELD_QUAT_LEN 4 - -#define MAVLINK_MESSAGE_INFO_OBS_ATTITUDE { \ - "OBS_ATTITUDE", \ - 1, \ - { { "quat", NULL, MAVLINK_TYPE_DOUBLE, 4, 0, offsetof(mavlink_obs_attitude_t, quat) }, \ - } \ -} - - -/** - * @brief Pack a obs_attitude 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 quat Quaternion re;im - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_obs_attitude_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, - const double *quat) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[32]; - - _mav_put_double_array(buf, 0, quat, 4); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 32); -#else - mavlink_obs_attitude_t packet; - - mav_array_memcpy(packet.quat, quat, sizeof(double)*4); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 32); -#endif - - msg->msgid = MAVLINK_MSG_ID_OBS_ATTITUDE; - return mavlink_finalize_message(msg, system_id, component_id, 32, 146); -} - -/** - * @brief Pack a obs_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 msg The MAVLink message to compress the data into - * @param quat Quaternion re;im - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_obs_attitude_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, - mavlink_message_t* msg, - const double *quat) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[32]; - - _mav_put_double_array(buf, 0, quat, 4); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 32); -#else - mavlink_obs_attitude_t packet; - - mav_array_memcpy(packet.quat, quat, sizeof(double)*4); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 32); -#endif - - msg->msgid = MAVLINK_MSG_ID_OBS_ATTITUDE; - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 32, 146); -} - -/** - * @brief Encode a obs_attitude 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 obs_attitude C-struct to read the message contents from - */ -static inline uint16_t mavlink_msg_obs_attitude_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_obs_attitude_t* obs_attitude) -{ - return mavlink_msg_obs_attitude_pack(system_id, component_id, msg, obs_attitude->quat); -} - -/** - * @brief Send a obs_attitude message - * @param chan MAVLink channel to send the message - * - * @param quat Quaternion re;im - */ -#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS - -static inline void mavlink_msg_obs_attitude_send(mavlink_channel_t chan, const double *quat) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[32]; - - _mav_put_double_array(buf, 0, quat, 4); - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_ATTITUDE, buf, 32, 146); -#else - mavlink_obs_attitude_t packet; - - mav_array_memcpy(packet.quat, quat, sizeof(double)*4); - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_ATTITUDE, (const char *)&packet, 32, 146); -#endif -} - -#endif - -// MESSAGE OBS_ATTITUDE UNPACKING - - -/** - * @brief Get field quat from obs_attitude message - * - * @return Quaternion re;im - */ -static inline uint16_t mavlink_msg_obs_attitude_get_quat(const mavlink_message_t* msg, double *quat) -{ - return _MAV_RETURN_double_array(msg, quat, 4, 0); -} - -/** - * @brief Decode a obs_attitude message into a struct - * - * @param msg The message to decode - * @param obs_attitude C-struct to decode the message contents into - */ -static inline void mavlink_msg_obs_attitude_decode(const mavlink_message_t* msg, mavlink_obs_attitude_t* obs_attitude) -{ -#if MAVLINK_NEED_BYTE_SWAP - mavlink_msg_obs_attitude_get_quat(msg, obs_attitude->quat); -#else - memcpy(obs_attitude, _MAV_PAYLOAD(msg), 32); -#endif -} diff --git a/thirdParty/mavlink/include/sensesoar/mavlink_msg_obs_bias.h b/thirdParty/mavlink/include/sensesoar/mavlink_msg_obs_bias.h deleted file mode 100644 index 565ab0cd8647906a7c74d2928fc72fa0509d9ea3..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/include/sensesoar/mavlink_msg_obs_bias.h +++ /dev/null @@ -1,167 +0,0 @@ -// MESSAGE OBS_BIAS PACKING - -#define MAVLINK_MSG_ID_OBS_BIAS 180 - -typedef struct __mavlink_obs_bias_t -{ - float accBias[3]; ///< accelerometer bias - float gyroBias[3]; ///< gyroscope bias -} mavlink_obs_bias_t; - -#define MAVLINK_MSG_ID_OBS_BIAS_LEN 24 -#define MAVLINK_MSG_ID_180_LEN 24 - -#define MAVLINK_MSG_OBS_BIAS_FIELD_ACCBIAS_LEN 3 -#define MAVLINK_MSG_OBS_BIAS_FIELD_GYROBIAS_LEN 3 - -#define MAVLINK_MESSAGE_INFO_OBS_BIAS { \ - "OBS_BIAS", \ - 2, \ - { { "accBias", NULL, MAVLINK_TYPE_FLOAT, 3, 0, offsetof(mavlink_obs_bias_t, accBias) }, \ - { "gyroBias", NULL, MAVLINK_TYPE_FLOAT, 3, 12, offsetof(mavlink_obs_bias_t, gyroBias) }, \ - } \ -} - - -/** - * @brief Pack a obs_bias 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 accBias accelerometer bias - * @param gyroBias gyroscope bias - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_obs_bias_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, - const float *accBias, const float *gyroBias) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[24]; - - _mav_put_float_array(buf, 0, accBias, 3); - _mav_put_float_array(buf, 12, gyroBias, 3); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 24); -#else - mavlink_obs_bias_t packet; - - mav_array_memcpy(packet.accBias, accBias, sizeof(float)*3); - mav_array_memcpy(packet.gyroBias, gyroBias, sizeof(float)*3); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 24); -#endif - - msg->msgid = MAVLINK_MSG_ID_OBS_BIAS; - return mavlink_finalize_message(msg, system_id, component_id, 24, 159); -} - -/** - * @brief Pack a obs_bias 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 accBias accelerometer bias - * @param gyroBias gyroscope bias - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_obs_bias_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, - mavlink_message_t* msg, - const float *accBias,const float *gyroBias) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[24]; - - _mav_put_float_array(buf, 0, accBias, 3); - _mav_put_float_array(buf, 12, gyroBias, 3); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 24); -#else - mavlink_obs_bias_t packet; - - mav_array_memcpy(packet.accBias, accBias, sizeof(float)*3); - mav_array_memcpy(packet.gyroBias, gyroBias, sizeof(float)*3); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 24); -#endif - - msg->msgid = MAVLINK_MSG_ID_OBS_BIAS; - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 24, 159); -} - -/** - * @brief Encode a obs_bias 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 obs_bias C-struct to read the message contents from - */ -static inline uint16_t mavlink_msg_obs_bias_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_obs_bias_t* obs_bias) -{ - return mavlink_msg_obs_bias_pack(system_id, component_id, msg, obs_bias->accBias, obs_bias->gyroBias); -} - -/** - * @brief Send a obs_bias message - * @param chan MAVLink channel to send the message - * - * @param accBias accelerometer bias - * @param gyroBias gyroscope bias - */ -#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS - -static inline void mavlink_msg_obs_bias_send(mavlink_channel_t chan, const float *accBias, const float *gyroBias) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[24]; - - _mav_put_float_array(buf, 0, accBias, 3); - _mav_put_float_array(buf, 12, gyroBias, 3); - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_BIAS, buf, 24, 159); -#else - mavlink_obs_bias_t packet; - - mav_array_memcpy(packet.accBias, accBias, sizeof(float)*3); - mav_array_memcpy(packet.gyroBias, gyroBias, sizeof(float)*3); - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_BIAS, (const char *)&packet, 24, 159); -#endif -} - -#endif - -// MESSAGE OBS_BIAS UNPACKING - - -/** - * @brief Get field accBias from obs_bias message - * - * @return accelerometer bias - */ -static inline uint16_t mavlink_msg_obs_bias_get_accBias(const mavlink_message_t* msg, float *accBias) -{ - return _MAV_RETURN_float_array(msg, accBias, 3, 0); -} - -/** - * @brief Get field gyroBias from obs_bias message - * - * @return gyroscope bias - */ -static inline uint16_t mavlink_msg_obs_bias_get_gyroBias(const mavlink_message_t* msg, float *gyroBias) -{ - return _MAV_RETURN_float_array(msg, gyroBias, 3, 12); -} - -/** - * @brief Decode a obs_bias message into a struct - * - * @param msg The message to decode - * @param obs_bias C-struct to decode the message contents into - */ -static inline void mavlink_msg_obs_bias_decode(const mavlink_message_t* msg, mavlink_obs_bias_t* obs_bias) -{ -#if MAVLINK_NEED_BYTE_SWAP - mavlink_msg_obs_bias_get_accBias(msg, obs_bias->accBias); - mavlink_msg_obs_bias_get_gyroBias(msg, obs_bias->gyroBias); -#else - memcpy(obs_bias, _MAV_PAYLOAD(msg), 24); -#endif -} diff --git a/thirdParty/mavlink/include/sensesoar/mavlink_msg_obs_position.h b/thirdParty/mavlink/include/sensesoar/mavlink_msg_obs_position.h deleted file mode 100644 index e886c8c24fc95467923a6634e01aea2598d685f3..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/include/sensesoar/mavlink_msg_obs_position.h +++ /dev/null @@ -1,188 +0,0 @@ -// MESSAGE OBS_POSITION PACKING - -#define MAVLINK_MSG_ID_OBS_POSITION 170 - -typedef struct __mavlink_obs_position_t -{ - int32_t lon; ///< Longitude expressed in 1E7 - int32_t lat; ///< Latitude expressed in 1E7 - int32_t alt; ///< Altitude expressed in milimeters -} mavlink_obs_position_t; - -#define MAVLINK_MSG_ID_OBS_POSITION_LEN 12 -#define MAVLINK_MSG_ID_170_LEN 12 - - - -#define MAVLINK_MESSAGE_INFO_OBS_POSITION { \ - "OBS_POSITION", \ - 3, \ - { { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_obs_position_t, lon) }, \ - { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_obs_position_t, lat) }, \ - { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_obs_position_t, alt) }, \ - } \ -} - - -/** - * @brief Pack a obs_position 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 lon Longitude expressed in 1E7 - * @param lat Latitude expressed in 1E7 - * @param alt Altitude expressed in milimeters - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_obs_position_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, - int32_t lon, int32_t lat, int32_t alt) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[12]; - _mav_put_int32_t(buf, 0, lon); - _mav_put_int32_t(buf, 4, lat); - _mav_put_int32_t(buf, 8, alt); - - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12); -#else - mavlink_obs_position_t packet; - packet.lon = lon; - packet.lat = lat; - packet.alt = alt; - - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12); -#endif - - msg->msgid = MAVLINK_MSG_ID_OBS_POSITION; - return mavlink_finalize_message(msg, system_id, component_id, 12, 15); -} - -/** - * @brief Pack a obs_position 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 lon Longitude expressed in 1E7 - * @param lat Latitude expressed in 1E7 - * @param alt Altitude expressed in milimeters - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_obs_position_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, - mavlink_message_t* msg, - int32_t lon,int32_t lat,int32_t alt) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[12]; - _mav_put_int32_t(buf, 0, lon); - _mav_put_int32_t(buf, 4, lat); - _mav_put_int32_t(buf, 8, alt); - - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12); -#else - mavlink_obs_position_t packet; - packet.lon = lon; - packet.lat = lat; - packet.alt = alt; - - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12); -#endif - - msg->msgid = MAVLINK_MSG_ID_OBS_POSITION; - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 12, 15); -} - -/** - * @brief Encode a obs_position 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 obs_position C-struct to read the message contents from - */ -static inline uint16_t mavlink_msg_obs_position_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_obs_position_t* obs_position) -{ - return mavlink_msg_obs_position_pack(system_id, component_id, msg, obs_position->lon, obs_position->lat, obs_position->alt); -} - -/** - * @brief Send a obs_position message - * @param chan MAVLink channel to send the message - * - * @param lon Longitude expressed in 1E7 - * @param lat Latitude expressed in 1E7 - * @param alt Altitude expressed in milimeters - */ -#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS - -static inline void mavlink_msg_obs_position_send(mavlink_channel_t chan, int32_t lon, int32_t lat, int32_t alt) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[12]; - _mav_put_int32_t(buf, 0, lon); - _mav_put_int32_t(buf, 4, lat); - _mav_put_int32_t(buf, 8, alt); - - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_POSITION, buf, 12, 15); -#else - mavlink_obs_position_t packet; - packet.lon = lon; - packet.lat = lat; - packet.alt = alt; - - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_POSITION, (const char *)&packet, 12, 15); -#endif -} - -#endif - -// MESSAGE OBS_POSITION UNPACKING - - -/** - * @brief Get field lon from obs_position message - * - * @return Longitude expressed in 1E7 - */ -static inline int32_t mavlink_msg_obs_position_get_lon(const mavlink_message_t* msg) -{ - return _MAV_RETURN_int32_t(msg, 0); -} - -/** - * @brief Get field lat from obs_position message - * - * @return Latitude expressed in 1E7 - */ -static inline int32_t mavlink_msg_obs_position_get_lat(const mavlink_message_t* msg) -{ - return _MAV_RETURN_int32_t(msg, 4); -} - -/** - * @brief Get field alt from obs_position message - * - * @return Altitude expressed in milimeters - */ -static inline int32_t mavlink_msg_obs_position_get_alt(const mavlink_message_t* msg) -{ - return _MAV_RETURN_int32_t(msg, 8); -} - -/** - * @brief Decode a obs_position message into a struct - * - * @param msg The message to decode - * @param obs_position C-struct to decode the message contents into - */ -static inline void mavlink_msg_obs_position_decode(const mavlink_message_t* msg, mavlink_obs_position_t* obs_position) -{ -#if MAVLINK_NEED_BYTE_SWAP - obs_position->lon = mavlink_msg_obs_position_get_lon(msg); - obs_position->lat = mavlink_msg_obs_position_get_lat(msg); - obs_position->alt = mavlink_msg_obs_position_get_alt(msg); -#else - memcpy(obs_position, _MAV_PAYLOAD(msg), 12); -#endif -} diff --git a/thirdParty/mavlink/include/sensesoar/mavlink_msg_obs_qff.h b/thirdParty/mavlink/include/sensesoar/mavlink_msg_obs_qff.h deleted file mode 100644 index 4ab10ca07cecb9577cb58597e9385486935bfb9a..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/include/sensesoar/mavlink_msg_obs_qff.h +++ /dev/null @@ -1,144 +0,0 @@ -// MESSAGE OBS_QFF PACKING - -#define MAVLINK_MSG_ID_OBS_QFF 182 - -typedef struct __mavlink_obs_qff_t -{ - float qff; ///< Wind -} mavlink_obs_qff_t; - -#define MAVLINK_MSG_ID_OBS_QFF_LEN 4 -#define MAVLINK_MSG_ID_182_LEN 4 - - - -#define MAVLINK_MESSAGE_INFO_OBS_QFF { \ - "OBS_QFF", \ - 1, \ - { { "qff", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_obs_qff_t, qff) }, \ - } \ -} - - -/** - * @brief Pack a obs_qff 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 qff Wind - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_obs_qff_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, - float qff) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[4]; - _mav_put_float(buf, 0, qff); - - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 4); -#else - mavlink_obs_qff_t packet; - packet.qff = qff; - - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 4); -#endif - - msg->msgid = MAVLINK_MSG_ID_OBS_QFF; - return mavlink_finalize_message(msg, system_id, component_id, 4, 24); -} - -/** - * @brief Pack a obs_qff 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 qff Wind - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_obs_qff_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, - mavlink_message_t* msg, - float qff) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[4]; - _mav_put_float(buf, 0, qff); - - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 4); -#else - mavlink_obs_qff_t packet; - packet.qff = qff; - - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 4); -#endif - - msg->msgid = MAVLINK_MSG_ID_OBS_QFF; - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 4, 24); -} - -/** - * @brief Encode a obs_qff 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 obs_qff C-struct to read the message contents from - */ -static inline uint16_t mavlink_msg_obs_qff_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_obs_qff_t* obs_qff) -{ - return mavlink_msg_obs_qff_pack(system_id, component_id, msg, obs_qff->qff); -} - -/** - * @brief Send a obs_qff message - * @param chan MAVLink channel to send the message - * - * @param qff Wind - */ -#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS - -static inline void mavlink_msg_obs_qff_send(mavlink_channel_t chan, float qff) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[4]; - _mav_put_float(buf, 0, qff); - - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_QFF, buf, 4, 24); -#else - mavlink_obs_qff_t packet; - packet.qff = qff; - - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_QFF, (const char *)&packet, 4, 24); -#endif -} - -#endif - -// MESSAGE OBS_QFF UNPACKING - - -/** - * @brief Get field qff from obs_qff message - * - * @return Wind - */ -static inline float mavlink_msg_obs_qff_get_qff(const mavlink_message_t* msg) -{ - return _MAV_RETURN_float(msg, 0); -} - -/** - * @brief Decode a obs_qff message into a struct - * - * @param msg The message to decode - * @param obs_qff C-struct to decode the message contents into - */ -static inline void mavlink_msg_obs_qff_decode(const mavlink_message_t* msg, mavlink_obs_qff_t* obs_qff) -{ -#if MAVLINK_NEED_BYTE_SWAP - obs_qff->qff = mavlink_msg_obs_qff_get_qff(msg); -#else - memcpy(obs_qff, _MAV_PAYLOAD(msg), 4); -#endif -} diff --git a/thirdParty/mavlink/include/sensesoar/mavlink_msg_obs_velocity.h b/thirdParty/mavlink/include/sensesoar/mavlink_msg_obs_velocity.h deleted file mode 100644 index e5ace9f85e2e85614ecbfb0c6e2422d3b1d99185..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/include/sensesoar/mavlink_msg_obs_velocity.h +++ /dev/null @@ -1,144 +0,0 @@ -// MESSAGE OBS_VELOCITY PACKING - -#define MAVLINK_MSG_ID_OBS_VELOCITY 172 - -typedef struct __mavlink_obs_velocity_t -{ - float vel[3]; ///< Velocity -} mavlink_obs_velocity_t; - -#define MAVLINK_MSG_ID_OBS_VELOCITY_LEN 12 -#define MAVLINK_MSG_ID_172_LEN 12 - -#define MAVLINK_MSG_OBS_VELOCITY_FIELD_VEL_LEN 3 - -#define MAVLINK_MESSAGE_INFO_OBS_VELOCITY { \ - "OBS_VELOCITY", \ - 1, \ - { { "vel", NULL, MAVLINK_TYPE_FLOAT, 3, 0, offsetof(mavlink_obs_velocity_t, vel) }, \ - } \ -} - - -/** - * @brief Pack a obs_velocity 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 vel Velocity - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_obs_velocity_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, - const float *vel) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[12]; - - _mav_put_float_array(buf, 0, vel, 3); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12); -#else - mavlink_obs_velocity_t packet; - - mav_array_memcpy(packet.vel, vel, sizeof(float)*3); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12); -#endif - - msg->msgid = MAVLINK_MSG_ID_OBS_VELOCITY; - return mavlink_finalize_message(msg, system_id, component_id, 12, 108); -} - -/** - * @brief Pack a obs_velocity 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 vel Velocity - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_obs_velocity_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, - mavlink_message_t* msg, - const float *vel) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[12]; - - _mav_put_float_array(buf, 0, vel, 3); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12); -#else - mavlink_obs_velocity_t packet; - - mav_array_memcpy(packet.vel, vel, sizeof(float)*3); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12); -#endif - - msg->msgid = MAVLINK_MSG_ID_OBS_VELOCITY; - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 12, 108); -} - -/** - * @brief Encode a obs_velocity 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 obs_velocity C-struct to read the message contents from - */ -static inline uint16_t mavlink_msg_obs_velocity_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_obs_velocity_t* obs_velocity) -{ - return mavlink_msg_obs_velocity_pack(system_id, component_id, msg, obs_velocity->vel); -} - -/** - * @brief Send a obs_velocity message - * @param chan MAVLink channel to send the message - * - * @param vel Velocity - */ -#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS - -static inline void mavlink_msg_obs_velocity_send(mavlink_channel_t chan, const float *vel) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[12]; - - _mav_put_float_array(buf, 0, vel, 3); - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_VELOCITY, buf, 12, 108); -#else - mavlink_obs_velocity_t packet; - - mav_array_memcpy(packet.vel, vel, sizeof(float)*3); - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_VELOCITY, (const char *)&packet, 12, 108); -#endif -} - -#endif - -// MESSAGE OBS_VELOCITY UNPACKING - - -/** - * @brief Get field vel from obs_velocity message - * - * @return Velocity - */ -static inline uint16_t mavlink_msg_obs_velocity_get_vel(const mavlink_message_t* msg, float *vel) -{ - return _MAV_RETURN_float_array(msg, vel, 3, 0); -} - -/** - * @brief Decode a obs_velocity message into a struct - * - * @param msg The message to decode - * @param obs_velocity C-struct to decode the message contents into - */ -static inline void mavlink_msg_obs_velocity_decode(const mavlink_message_t* msg, mavlink_obs_velocity_t* obs_velocity) -{ -#if MAVLINK_NEED_BYTE_SWAP - mavlink_msg_obs_velocity_get_vel(msg, obs_velocity->vel); -#else - memcpy(obs_velocity, _MAV_PAYLOAD(msg), 12); -#endif -} diff --git a/thirdParty/mavlink/include/sensesoar/mavlink_msg_obs_wind.h b/thirdParty/mavlink/include/sensesoar/mavlink_msg_obs_wind.h deleted file mode 100644 index 6011a1caadd0c8f05fe5cf744ebf527ef3c62a51..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/include/sensesoar/mavlink_msg_obs_wind.h +++ /dev/null @@ -1,144 +0,0 @@ -// MESSAGE OBS_WIND PACKING - -#define MAVLINK_MSG_ID_OBS_WIND 176 - -typedef struct __mavlink_obs_wind_t -{ - float wind[3]; ///< Wind -} mavlink_obs_wind_t; - -#define MAVLINK_MSG_ID_OBS_WIND_LEN 12 -#define MAVLINK_MSG_ID_176_LEN 12 - -#define MAVLINK_MSG_OBS_WIND_FIELD_WIND_LEN 3 - -#define MAVLINK_MESSAGE_INFO_OBS_WIND { \ - "OBS_WIND", \ - 1, \ - { { "wind", NULL, MAVLINK_TYPE_FLOAT, 3, 0, offsetof(mavlink_obs_wind_t, wind) }, \ - } \ -} - - -/** - * @brief Pack a obs_wind 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 wind Wind - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_obs_wind_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, - const float *wind) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[12]; - - _mav_put_float_array(buf, 0, wind, 3); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12); -#else - mavlink_obs_wind_t packet; - - mav_array_memcpy(packet.wind, wind, sizeof(float)*3); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12); -#endif - - msg->msgid = MAVLINK_MSG_ID_OBS_WIND; - return mavlink_finalize_message(msg, system_id, component_id, 12, 16); -} - -/** - * @brief Pack a obs_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 msg The MAVLink message to compress the data into - * @param wind Wind - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_obs_wind_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, - mavlink_message_t* msg, - const float *wind) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[12]; - - _mav_put_float_array(buf, 0, wind, 3); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12); -#else - mavlink_obs_wind_t packet; - - mav_array_memcpy(packet.wind, wind, sizeof(float)*3); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12); -#endif - - msg->msgid = MAVLINK_MSG_ID_OBS_WIND; - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 12, 16); -} - -/** - * @brief Encode a obs_wind 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 obs_wind C-struct to read the message contents from - */ -static inline uint16_t mavlink_msg_obs_wind_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_obs_wind_t* obs_wind) -{ - return mavlink_msg_obs_wind_pack(system_id, component_id, msg, obs_wind->wind); -} - -/** - * @brief Send a obs_wind message - * @param chan MAVLink channel to send the message - * - * @param wind Wind - */ -#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS - -static inline void mavlink_msg_obs_wind_send(mavlink_channel_t chan, const float *wind) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[12]; - - _mav_put_float_array(buf, 0, wind, 3); - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_WIND, buf, 12, 16); -#else - mavlink_obs_wind_t packet; - - mav_array_memcpy(packet.wind, wind, sizeof(float)*3); - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_WIND, (const char *)&packet, 12, 16); -#endif -} - -#endif - -// MESSAGE OBS_WIND UNPACKING - - -/** - * @brief Get field wind from obs_wind message - * - * @return Wind - */ -static inline uint16_t mavlink_msg_obs_wind_get_wind(const mavlink_message_t* msg, float *wind) -{ - return _MAV_RETURN_float_array(msg, wind, 3, 0); -} - -/** - * @brief Decode a obs_wind message into a struct - * - * @param msg The message to decode - * @param obs_wind C-struct to decode the message contents into - */ -static inline void mavlink_msg_obs_wind_decode(const mavlink_message_t* msg, mavlink_obs_wind_t* obs_wind) -{ -#if MAVLINK_NEED_BYTE_SWAP - mavlink_msg_obs_wind_get_wind(msg, obs_wind->wind); -#else - memcpy(obs_wind, _MAV_PAYLOAD(msg), 12); -#endif -} diff --git a/thirdParty/mavlink/include/sensesoar/mavlink_msg_pm_elec.h b/thirdParty/mavlink/include/sensesoar/mavlink_msg_pm_elec.h deleted file mode 100644 index d194dae9bc4b31f1b32fd857c5c67533de1a8d77..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/include/sensesoar/mavlink_msg_pm_elec.h +++ /dev/null @@ -1,182 +0,0 @@ -// MESSAGE PM_ELEC PACKING - -#define MAVLINK_MSG_ID_PM_ELEC 188 - -typedef struct __mavlink_pm_elec_t -{ - float PwCons; ///< current power consumption - float BatStat; ///< battery status - float PwGen[3]; ///< Power generation from each module -} mavlink_pm_elec_t; - -#define MAVLINK_MSG_ID_PM_ELEC_LEN 20 -#define MAVLINK_MSG_ID_188_LEN 20 - -#define MAVLINK_MSG_PM_ELEC_FIELD_PWGEN_LEN 3 - -#define MAVLINK_MESSAGE_INFO_PM_ELEC { \ - "PM_ELEC", \ - 3, \ - { { "PwCons", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_pm_elec_t, PwCons) }, \ - { "BatStat", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_pm_elec_t, BatStat) }, \ - { "PwGen", NULL, MAVLINK_TYPE_FLOAT, 3, 8, offsetof(mavlink_pm_elec_t, PwGen) }, \ - } \ -} - - -/** - * @brief Pack a pm_elec 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 PwCons current power consumption - * @param BatStat battery status - * @param PwGen Power generation from each module - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_pm_elec_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, - float PwCons, float BatStat, const float *PwGen) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[20]; - _mav_put_float(buf, 0, PwCons); - _mav_put_float(buf, 4, BatStat); - _mav_put_float_array(buf, 8, PwGen, 3); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 20); -#else - mavlink_pm_elec_t packet; - packet.PwCons = PwCons; - packet.BatStat = BatStat; - mav_array_memcpy(packet.PwGen, PwGen, sizeof(float)*3); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 20); -#endif - - msg->msgid = MAVLINK_MSG_ID_PM_ELEC; - return mavlink_finalize_message(msg, system_id, component_id, 20, 170); -} - -/** - * @brief Pack a pm_elec 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 PwCons current power consumption - * @param BatStat battery status - * @param PwGen Power generation from each module - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_pm_elec_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, - mavlink_message_t* msg, - float PwCons,float BatStat,const float *PwGen) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[20]; - _mav_put_float(buf, 0, PwCons); - _mav_put_float(buf, 4, BatStat); - _mav_put_float_array(buf, 8, PwGen, 3); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 20); -#else - mavlink_pm_elec_t packet; - packet.PwCons = PwCons; - packet.BatStat = BatStat; - mav_array_memcpy(packet.PwGen, PwGen, sizeof(float)*3); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 20); -#endif - - msg->msgid = MAVLINK_MSG_ID_PM_ELEC; - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 20, 170); -} - -/** - * @brief Encode a pm_elec 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 pm_elec C-struct to read the message contents from - */ -static inline uint16_t mavlink_msg_pm_elec_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_pm_elec_t* pm_elec) -{ - return mavlink_msg_pm_elec_pack(system_id, component_id, msg, pm_elec->PwCons, pm_elec->BatStat, pm_elec->PwGen); -} - -/** - * @brief Send a pm_elec message - * @param chan MAVLink channel to send the message - * - * @param PwCons current power consumption - * @param BatStat battery status - * @param PwGen Power generation from each module - */ -#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS - -static inline void mavlink_msg_pm_elec_send(mavlink_channel_t chan, float PwCons, float BatStat, const float *PwGen) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[20]; - _mav_put_float(buf, 0, PwCons); - _mav_put_float(buf, 4, BatStat); - _mav_put_float_array(buf, 8, PwGen, 3); - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PM_ELEC, buf, 20, 170); -#else - mavlink_pm_elec_t packet; - packet.PwCons = PwCons; - packet.BatStat = BatStat; - mav_array_memcpy(packet.PwGen, PwGen, sizeof(float)*3); - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PM_ELEC, (const char *)&packet, 20, 170); -#endif -} - -#endif - -// MESSAGE PM_ELEC UNPACKING - - -/** - * @brief Get field PwCons from pm_elec message - * - * @return current power consumption - */ -static inline float mavlink_msg_pm_elec_get_PwCons(const mavlink_message_t* msg) -{ - return _MAV_RETURN_float(msg, 0); -} - -/** - * @brief Get field BatStat from pm_elec message - * - * @return battery status - */ -static inline float mavlink_msg_pm_elec_get_BatStat(const mavlink_message_t* msg) -{ - return _MAV_RETURN_float(msg, 4); -} - -/** - * @brief Get field PwGen from pm_elec message - * - * @return Power generation from each module - */ -static inline uint16_t mavlink_msg_pm_elec_get_PwGen(const mavlink_message_t* msg, float *PwGen) -{ - return _MAV_RETURN_float_array(msg, PwGen, 3, 8); -} - -/** - * @brief Decode a pm_elec message into a struct - * - * @param msg The message to decode - * @param pm_elec C-struct to decode the message contents into - */ -static inline void mavlink_msg_pm_elec_decode(const mavlink_message_t* msg, mavlink_pm_elec_t* pm_elec) -{ -#if MAVLINK_NEED_BYTE_SWAP - pm_elec->PwCons = mavlink_msg_pm_elec_get_PwCons(msg); - pm_elec->BatStat = mavlink_msg_pm_elec_get_BatStat(msg); - mavlink_msg_pm_elec_get_PwGen(msg, pm_elec->PwGen); -#else - memcpy(pm_elec, _MAV_PAYLOAD(msg), 20); -#endif -} diff --git a/thirdParty/mavlink/include/sensesoar/mavlink_msg_sys_stat.h b/thirdParty/mavlink/include/sensesoar/mavlink_msg_sys_stat.h deleted file mode 100644 index 597fdf911f47ee9ca3eeed15cc543f4bbb37bbf4..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/include/sensesoar/mavlink_msg_sys_stat.h +++ /dev/null @@ -1,210 +0,0 @@ -// MESSAGE SYS_Stat PACKING - -#define MAVLINK_MSG_ID_SYS_Stat 190 - -typedef struct __mavlink_sys_stat_t -{ - uint8_t gps; ///< gps status - uint8_t act; ///< actuator status - uint8_t mod; ///< module status - uint8_t commRssi; ///< module status -} mavlink_sys_stat_t; - -#define MAVLINK_MSG_ID_SYS_Stat_LEN 4 -#define MAVLINK_MSG_ID_190_LEN 4 - - - -#define MAVLINK_MESSAGE_INFO_SYS_Stat { \ - "SYS_Stat", \ - 4, \ - { { "gps", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_sys_stat_t, gps) }, \ - { "act", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_sys_stat_t, act) }, \ - { "mod", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_sys_stat_t, mod) }, \ - { "commRssi", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_sys_stat_t, commRssi) }, \ - } \ -} - - -/** - * @brief Pack a sys_stat 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 gps gps status - * @param act actuator status - * @param mod module status - * @param commRssi module status - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_sys_stat_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, - uint8_t gps, uint8_t act, uint8_t mod, uint8_t commRssi) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[4]; - _mav_put_uint8_t(buf, 0, gps); - _mav_put_uint8_t(buf, 1, act); - _mav_put_uint8_t(buf, 2, mod); - _mav_put_uint8_t(buf, 3, commRssi); - - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 4); -#else - mavlink_sys_stat_t packet; - packet.gps = gps; - packet.act = act; - packet.mod = mod; - packet.commRssi = commRssi; - - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 4); -#endif - - msg->msgid = MAVLINK_MSG_ID_SYS_Stat; - return mavlink_finalize_message(msg, system_id, component_id, 4, 157); -} - -/** - * @brief Pack a sys_stat 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 gps gps status - * @param act actuator status - * @param mod module status - * @param commRssi module status - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_sys_stat_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, - mavlink_message_t* msg, - uint8_t gps,uint8_t act,uint8_t mod,uint8_t commRssi) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[4]; - _mav_put_uint8_t(buf, 0, gps); - _mav_put_uint8_t(buf, 1, act); - _mav_put_uint8_t(buf, 2, mod); - _mav_put_uint8_t(buf, 3, commRssi); - - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 4); -#else - mavlink_sys_stat_t packet; - packet.gps = gps; - packet.act = act; - packet.mod = mod; - packet.commRssi = commRssi; - - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 4); -#endif - - msg->msgid = MAVLINK_MSG_ID_SYS_Stat; - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 4, 157); -} - -/** - * @brief Encode a sys_stat 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 sys_stat C-struct to read the message contents from - */ -static inline uint16_t mavlink_msg_sys_stat_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_sys_stat_t* sys_stat) -{ - return mavlink_msg_sys_stat_pack(system_id, component_id, msg, sys_stat->gps, sys_stat->act, sys_stat->mod, sys_stat->commRssi); -} - -/** - * @brief Send a sys_stat message - * @param chan MAVLink channel to send the message - * - * @param gps gps status - * @param act actuator status - * @param mod module status - * @param commRssi module status - */ -#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS - -static inline void mavlink_msg_sys_stat_send(mavlink_channel_t chan, uint8_t gps, uint8_t act, uint8_t mod, uint8_t commRssi) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[4]; - _mav_put_uint8_t(buf, 0, gps); - _mav_put_uint8_t(buf, 1, act); - _mav_put_uint8_t(buf, 2, mod); - _mav_put_uint8_t(buf, 3, commRssi); - - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYS_Stat, buf, 4, 157); -#else - mavlink_sys_stat_t packet; - packet.gps = gps; - packet.act = act; - packet.mod = mod; - packet.commRssi = commRssi; - - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYS_Stat, (const char *)&packet, 4, 157); -#endif -} - -#endif - -// MESSAGE SYS_Stat UNPACKING - - -/** - * @brief Get field gps from sys_stat message - * - * @return gps status - */ -static inline uint8_t mavlink_msg_sys_stat_get_gps(const mavlink_message_t* msg) -{ - return _MAV_RETURN_uint8_t(msg, 0); -} - -/** - * @brief Get field act from sys_stat message - * - * @return actuator status - */ -static inline uint8_t mavlink_msg_sys_stat_get_act(const mavlink_message_t* msg) -{ - return _MAV_RETURN_uint8_t(msg, 1); -} - -/** - * @brief Get field mod from sys_stat message - * - * @return module status - */ -static inline uint8_t mavlink_msg_sys_stat_get_mod(const mavlink_message_t* msg) -{ - return _MAV_RETURN_uint8_t(msg, 2); -} - -/** - * @brief Get field commRssi from sys_stat message - * - * @return module status - */ -static inline uint8_t mavlink_msg_sys_stat_get_commRssi(const mavlink_message_t* msg) -{ - return _MAV_RETURN_uint8_t(msg, 3); -} - -/** - * @brief Decode a sys_stat message into a struct - * - * @param msg The message to decode - * @param sys_stat C-struct to decode the message contents into - */ -static inline void mavlink_msg_sys_stat_decode(const mavlink_message_t* msg, mavlink_sys_stat_t* sys_stat) -{ -#if MAVLINK_NEED_BYTE_SWAP - sys_stat->gps = mavlink_msg_sys_stat_get_gps(msg); - sys_stat->act = mavlink_msg_sys_stat_get_act(msg); - sys_stat->mod = mavlink_msg_sys_stat_get_mod(msg); - sys_stat->commRssi = mavlink_msg_sys_stat_get_commRssi(msg); -#else - memcpy(sys_stat, _MAV_PAYLOAD(msg), 4); -#endif -} diff --git a/thirdParty/mavlink/include/sensesoar/sensesoar.h b/thirdParty/mavlink/include/sensesoar/sensesoar.h deleted file mode 100644 index 0e71525281be2cd16696606833fd725095b161fc..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/include/sensesoar/sensesoar.h +++ /dev/null @@ -1,77 +0,0 @@ -/** @file - * @brief MAVLink comm protocol generated from sensesoar.xml - * @see http://qgroundcontrol.org/mavlink/ - */ -#ifndef SENSESOAR_H -#define SENSESOAR_H - -#ifdef __cplusplus -extern "C" { -#endif - -// MESSAGE LENGTHS AND CRCS - -#ifndef MAVLINK_MESSAGE_LENGTHS -#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 54, 26, 0, 36, 0, 6, 4, 0, 21, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 18, 32, 32, 20, 32, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 12, 0, 12, 0, 32, 0, 12, 0, 12, 0, 24, 0, 4, 4, 12, 0, 12, 0, 20, 0, 4, 0, 5, 0, 5, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 0} -#endif - -#ifndef MAVLINK_MESSAGE_CRCS -#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 200, 183, 0, 130, 0, 148, 21, 0, 52, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 19, 102, 158, 208, 56, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 15, 0, 108, 0, 146, 0, 16, 0, 32, 0, 159, 0, 24, 248, 79, 0, 5, 0, 170, 0, 157, 0, 209, 0, 243, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0} -#endif - -#ifndef MAVLINK_MESSAGE_INFO -#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_MODE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_WRITE_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_ITEM, MAVLINK_MESSAGE_INFO_MISSION_REQUEST, MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST, MAVLINK_MESSAGE_INFO_MISSION_COUNT, MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL, MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED, MAVLINK_MESSAGE_INFO_MISSION_ACK, MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_MOTORS_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_DATA_STREAM, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_VFR_HUD, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_COMMAND_LONG, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_HIL_RC_INPUTS_RAW, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE, MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, 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{"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OBS_POSITION, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OBS_VELOCITY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OBS_ATTITUDE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OBS_WIND, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OBS_AIR_VELOCITY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OBS_BIAS, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OBS_QFF, MAVLINK_MESSAGE_INFO_OBS_AIR_TEMP, MAVLINK_MESSAGE_INFO_FILT_ROT_VEL, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_LLC_OUT, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PM_ELEC, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SYS_Stat, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_CMD_AIRSPEED_CHNG, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_CMD_AIRSPEED_ACK, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, 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{"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MEMORY_VECT, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}} -#endif - -#include "../protocol.h" - -#define MAVLINK_ENABLED_SENSESOAR - -#include "../common/common.h" - -// MAVLINK VERSION - -#ifndef MAVLINK_VERSION -#define MAVLINK_VERSION 2 -#endif - -#if (MAVLINK_VERSION == 0) -#undef MAVLINK_VERSION -#define MAVLINK_VERSION 2 -#endif - -// ENUM DEFINITIONS - - -/** @brief Different flight modes */ -#ifndef HAVE_ENUM_SENSESOAR_MODE -#define HAVE_ENUM_SENSESOAR_MODE -enum SENSESOAR_MODE -{ - SENSESOAR_MODE_GLIDING=1, /* | */ - SENSESOAR_MODE_AUTONOMOUS=2, /* | */ - SENSESOAR_MODE_MANUAL=3, /* | */ - SENSESOAR_MODE_ENUM_END=4, /* | */ -}; -#endif - -// MESSAGE DEFINITIONS -#include "./mavlink_msg_obs_position.h" -#include "./mavlink_msg_obs_velocity.h" -#include "./mavlink_msg_obs_attitude.h" -#include "./mavlink_msg_obs_wind.h" -#include "./mavlink_msg_obs_air_velocity.h" -#include "./mavlink_msg_obs_bias.h" -#include "./mavlink_msg_obs_qff.h" -#include "./mavlink_msg_obs_air_temp.h" -#include "./mavlink_msg_filt_rot_vel.h" -#include "./mavlink_msg_llc_out.h" -#include "./mavlink_msg_pm_elec.h" -#include "./mavlink_msg_sys_stat.h" -#include "./mavlink_msg_cmd_airspeed_chng.h" -#include "./mavlink_msg_cmd_airspeed_ack.h" - -#ifdef __cplusplus -} -#endif // __cplusplus -#endif // SENSESOAR_H diff --git a/thirdParty/mavlink/include/sensesoar/testsuite.h b/thirdParty/mavlink/include/sensesoar/testsuite.h deleted file mode 100644 index 4c8f73c5b79b648d3544b9da2e8ce83f55f7354c..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/include/sensesoar/testsuite.h +++ /dev/null @@ -1,676 +0,0 @@ -/** @file - * @brief MAVLink comm protocol testsuite generated from sensesoar.xml - * @see http://qgroundcontrol.org/mavlink/ - */ -#ifndef SENSESOAR_TESTSUITE_H -#define SENSESOAR_TESTSUITE_H - -#ifdef __cplusplus -extern "C" { -#endif - -#ifndef MAVLINK_TEST_ALL -#define MAVLINK_TEST_ALL -static void mavlink_test_common(uint8_t, uint8_t, mavlink_message_t *last_msg); -static void mavlink_test_sensesoar(uint8_t, uint8_t, mavlink_message_t *last_msg); - -static void mavlink_test_all(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) -{ - mavlink_test_common(system_id, component_id, last_msg); - mavlink_test_sensesoar(system_id, component_id, last_msg); -} -#endif - -#include "../common/testsuite.h" - - -static void mavlink_test_obs_position(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_obs_position_t packet_in = { - 963497464, - 963497672, - 963497880, - }; - mavlink_obs_position_t packet1, packet2; - memset(&packet1, 0, sizeof(packet1)); - packet1.lon = packet_in.lon; - packet1.lat = packet_in.lat; - packet1.alt = packet_in.alt; - - - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_obs_position_encode(system_id, component_id, &msg, &packet1); - mavlink_msg_obs_position_decode(&msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_obs_position_pack(system_id, component_id, &msg , packet1.lon , packet1.lat , packet1.alt ); - mavlink_msg_obs_position_decode(&msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_obs_position_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.lon , packet1.lat , packet1.alt ); - mavlink_msg_obs_position_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 - Everyone is permitted to copy and distribute verbatim copies - of this license 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If the Library as you -received it does not specify a version number of the GNU Lesser -General Public License, you may choose any version of the GNU Lesser -General Public License ever published by the Free Software Foundation. - - If the Library as you received it specifies that a proxy can decide -whether future versions of the GNU Lesser General Public License shall -apply, that proxy's public statement of acceptance of any version is -permanent authorization for you to choose that version for the -Library. diff --git a/thirdParty/mavlink/message_definitions/ardupilotmega.xml b/thirdParty/mavlink/message_definitions/ardupilotmega.xml deleted file mode 100644 index e8ba191238ae362d7d90337b09b07df79c88a6fb..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/message_definitions/ardupilotmega.xml +++ /dev/null @@ -1,229 +0,0 @@ - - - common.xml - - - - - - - Enumeration of possible mount operation modes - Load and keep safe position (Roll,Pitch,Yaw) from EEPROM and stop stabilization - Load and keep neutral position (Roll,Pitch,Yaw) from EEPROM. - Load neutral position and start MAVLink Roll,Pitch,Yaw control with stabilization - Load neutral position and start RC Roll,Pitch,Yaw control with stabilization - Load neutral position and start to point to Lat,Lon,Alt - - - - - - Mission command to configure an on-board camera controller system. - Modes: P, TV, AV, M, Etc - Shutter speed: Divisor number for one second - Aperture: F stop number - ISO number e.g. 80, 100, 200, Etc - Exposure type enumerator - Command Identity - Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off) - - - - Mission command to control an on-board camera controller system. - Session control e.g. show/hide lens - Zoom's absolute position - Zooming step value to offset zoom from the current position - Focus Locking, Unlocking or Re-locking - Shooting Command - Command Identity - Empty - - - - - Mission command to configure a camera or antenna mount - Mount operation mode (see MAV_MOUNT_MODE enum) - stabilize roll? (1 = yes, 0 = no) - stabilize pitch? (1 = yes, 0 = no) - stabilize yaw? (1 = yes, 0 = no) - Empty - Empty - Empty - - - - Mission command to control a camera or antenna mount - pitch(deg*100) or lat, depending on mount mode. - roll(deg*100) or lon depending on mount mode - yaw(deg*100) or alt (in cm) depending on mount mode - Empty - Empty - Empty - Empty - - - - - - - Disable fenced mode - - - Switched to guided mode to return point (fence point 0) - - - - - - No last fence breach - - - Breached minimum altitude - - - Breached minimum altitude - - - Breached fence boundary - - - - - - - Offsets and calibrations values for hardware - sensors. This makes it easier to debug the calibration process. - magnetometer X offset - magnetometer Y offset - magnetometer Z offset - magnetic declination (radians) - raw pressure from barometer - raw temperature from barometer - gyro X calibration - gyro Y calibration - gyro Z calibration - accel X calibration - accel Y calibration - accel Z calibration - - - - set the magnetometer offsets - System ID - Component ID - magnetometer X offset - magnetometer Y offset - magnetometer Z offset - - - - state of APM memory - heap top - free memory - - - - raw ADC output - ADC output 1 - ADC output 2 - ADC output 3 - ADC output 4 - ADC output 5 - ADC output 6 - - - - - Configure on-board Camera Control System. - System ID - Component ID - Mode enumeration from 1 to N //P, TV, AV, M, Etc (0 means ignore) - Divisor number //e.g. 1000 means 1/1000 (0 means ignore) - F stop number x 10 //e.g. 28 means 2.8 (0 means ignore) - ISO enumeration from 1 to N //e.g. 80, 100, 200, Etc (0 means ignore) - Exposure type enumeration from 1 to N (0 means ignore) - Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once - Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off) - Extra parameters enumeration (0 means ignore) - Correspondent value to given extra_param - - - - Control on-board Camera Control System to take shots. - System ID - Component ID - 0: stop, 1: start or keep it up //Session control e.g. show/hide lens - 1 to N //Zoom's absolute position (0 means ignore) - -100 to 100 //Zooming step value to offset zoom from the current position - 0: unlock focus or keep unlocked, 1: lock focus or keep locked, 3: re-lock focus - 0: ignore, 1: shot or start filming - Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once - Extra parameters enumeration (0 means ignore) - Correspondent value to given extra_param - - - - - Message to configure a camera mount, directional antenna, etc. - System ID - Component ID - mount operating mode (see MAV_MOUNT_MODE enum) - (1 = yes, 0 = no) - (1 = yes, 0 = no) - (1 = yes, 0 = no) - - - - Message to control a camera mount, directional antenna, etc. - System ID - Component ID - pitch(deg*100) or lat, depending on mount mode - roll(deg*100) or lon depending on mount mode - yaw(deg*100) or alt (in cm) depending on mount mode - if "1" it will save current trimmed position on EEPROM (just valid for NEUTRAL and LANDING) - - - - Message with some status from APM to GCS about camera or antenna mount - System ID - Component ID - pitch(deg*100) or lat, depending on mount mode - roll(deg*100) or lon depending on mount mode - yaw(deg*100) or alt (in cm) depending on mount mode - - - - - A fence point. Used to set a point when from - GCS -> MAV. Also used to return a point from MAV -> GCS - System ID - Component ID - point index (first point is 1, 0 is for return point) - total number of points (for sanity checking) - Latitude of point - Longitude of point - - - - Request a current fence point from MAV - System ID - Component ID - point index (first point is 1, 0 is for return point) - - - - Status of geo-fencing. Sent in extended - status stream when fencing enabled - 0 if currently inside fence, 1 if outside - number of fence breaches - last breach type (see FENCE_BREACH_* enum) - time of last breach in milliseconds since boot - - - diff --git a/thirdParty/mavlink/message_definitions/common.xml b/thirdParty/mavlink/message_definitions/common.xml deleted file mode 100644 index 8e80f6c66811308bf1ca3977d3dab420f68ff894..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/message_definitions/common.xml +++ /dev/null @@ -1,1539 +0,0 @@ - - - 3 - - - Micro air vehicle / autopilot classes. This identifies the individual model. - - Generic autopilot, full support for everything - - - PIXHAWK autopilot, http://pixhawk.ethz.ch - - - SLUGS autopilot, http://slugsuav.soe.ucsc.edu - - - ArduPilotMega / ArduCopter, http://diydrones.com - - - OpenPilot, http://openpilot.org - - - Generic autopilot only supporting simple waypoints - - - Generic autopilot supporting waypoints and other simple navigation commands - - - Generic autopilot supporting the full mission command set - - - No valid autopilot, e.g. a GCS or other MAVLink component - - - PPZ UAV - http://nongnu.org/paparazzi - - - UAV Dev Board - - - FlexiPilot - - - - - These flags encode the MAV mode. - - 0b10000000 MAV safety set to armed. Motors are enabled / running / can start. Ready to fly. - - - 0b01000000 remote control input is enabled. - - - 0b00100000 hardware in the loop simulation. All motors / actuators are blocked, but internal software is full operational. - - - 0b00010000 system stabilizes electronically its attitude (and optionally position). It needs however further control inputs to move around. - - - 0b00001000 guided mode enabled, system flies MISSIONs / mission items. - - - 0b00000100 autonomous mode enabled, system finds its own goal positions. Guided flag can be set or not, depends on the actual implementation. - - - 0b00000010 system has a test mode enabled. This flag is intended for temporary system tests and should not be used for stable implementations. - - - 0b00000001 Reserved for future use. - - - - These values encode the bit positions of the decode position. These values can be used to read the value of a flag bit by combining the base_mode variable with AND with the flag position value. The result will be either 0 or 1, depending on if the flag is set or not. - - First bit: 10000000 - - - Second bit: 01000000 - - - Third bit: 00100000 - - - Fourth bit: 00010000 - - - Fifth bit: 00001000 - - - Sixt bit: 00000100 - - - Seventh bit: 00000010 - - - Eighth bit: 00000001 - - - - Override command, pauses current mission execution and moves immediately to a position - - Hold at the current position. - - - Continue with the next item in mission execution. - - - Hold at the current position of the system - - - Hold at the position specified in the parameters of the DO_HOLD action - - - - These defines are predefined OR-combined mode flags. There is no need to use values from this enum, but it - simplifies the use of the mode flags. Note that manual input is enabled in all modes as a safety override. - - System is not ready to fly, booting, calibrating, etc. No flag is set. - - - System is allowed to be active, under assisted RC control. - - - System is allowed to be active, under assisted RC control. - - - System is allowed to be active, under manual (RC) control, no stabilization - - - System is allowed to be active, under manual (RC) control, no stabilization - - - System is allowed to be active, under autonomous control, manual setpoint - - - System is allowed to be active, under autonomous control, manual setpoint - - - System is allowed to be active, under autonomous control and navigation (the trajectory is decided onboard and not pre-programmed by MISSIONs) - - - System is allowed to be active, under autonomous control and navigation (the trajectory is decided onboard and not pre-programmed by MISSIONs) - - - UNDEFINED mode. This solely depends on the autopilot - use with caution, intended for developers only. - - - UNDEFINED mode. This solely depends on the autopilot - use with caution, intended for developers only. - - - - - Uninitialized system, state is unknown. - - - System is booting up. - - - System is calibrating and not flight-ready. - - - System is grounded and on standby. It can be launched any time. - - - System is active and might be already airborne. Motors are engaged. - - - System is in a non-normal flight mode. It can however still navigate. - - - System is in a non-normal flight mode. It lost control over parts or over the whole airframe. It is in mayday and going down. - - - System just initialized its power-down sequence, will shut down now. - - - - - Generic micro air vehicle. - - - Fixed wing aircraft. - - - Quadrotor - - - Coaxial helicopter - - - Normal helicopter with tail rotor. - - - Ground installation - - - Operator control unit / ground control station - - - Airship, controlled - - - Free balloon, uncontrolled - - - Rocket - - - Ground rover - - - Surface vessel, boat, ship - - - Submarine - - - Hexarotor - - - Octorotor - - - Octorotor - - - Flapping wing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - Global coordinate frame, WGS84 coordinate system. First value / x: latitude, second value / y: longitude, third value / z: positive altitude over mean sea level (MSL) - - - Local coordinate frame, Z-up (x: north, y: east, z: down). - - - NOT a coordinate frame, indicates a mission command. - - - Global coordinate frame, WGS84 coordinate system, relative altitude over ground with respect to the home position. First value / x: latitude, second value / y: longitude, third value / z: positive altitude with 0 being at the altitude of the home location. - - - Local coordinate frame, Z-down (x: east, y: north, z: up) - - - - - - - - - - - - - - - - - - - - - - - - Commands to be executed by the MAV. They can be executed on user request, - or as part of a mission script. If the action is used in a mission, the parameter mapping - to the waypoint/mission message is as follows: - Param 1, Param 2, Param 3, Param 4, X: Param 5, Y:Param 6, Z:Param 7. This command list is similar what - ARINC 424 is for commercial aircraft: A data format how to interpret waypoint/mission data. - - Navigate to MISSION. - Hold time in decimal seconds. (ignored by fixed wing, time to stay at MISSION for rotary wing) - Acceptance radius in meters (if the sphere with this radius is hit, the MISSION counts as reached) - 0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control. - Desired yaw angle at MISSION (rotary wing) - Latitude - Longitude - Altitude - - - Loiter around this MISSION an unlimited amount of time - Empty - Empty - Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise - Desired yaw angle. - Latitude - Longitude - Altitude - - - Loiter around this MISSION for X turns - Turns - Empty - Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise - Desired yaw angle. - Latitude - Longitude - Altitude - - - Loiter around this MISSION for X seconds - Seconds (decimal) - Empty - Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise - Desired yaw angle. - Latitude - Longitude - Altitude - - - Return to launch location - Empty - Empty - Empty - Empty - Empty - Empty - Empty - - - Land at location - Empty - Empty - Empty - Desired yaw angle. - Latitude - Longitude - Altitude - - - Takeoff from ground / hand - Minimum pitch (if airspeed sensor present), desired pitch without sensor - Empty - Empty - Yaw angle (if magnetometer present), ignored without magnetometer - Latitude - Longitude - Altitude - - - 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 - - - Control autonomous path planning on the MAV. - 0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning - 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid - Empty - Yaw angle at goal, in compass degrees, [0..360] - Latitude/X of goal - Longitude/Y of goal - Altitude/Z of goal - - - NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration - Empty - Empty - Empty - Empty - Empty - Empty - Empty - - - Delay mission state machine. - Delay in seconds (decimal) - Empty - Empty - Empty - Empty - Empty - Empty - - - Ascend/descend at rate. Delay mission state machine until desired altitude reached. - Descent / Ascend rate (m/s) - Empty - Empty - Empty - Empty - Empty - Finish Altitude - - - Delay mission state machine until within desired distance of next NAV point. - Distance (meters) - Empty - Empty - Empty - Empty - Empty - Empty - - - Reach a certain target angle. - target angle: [0-360], 0 is north - speed during yaw change:[deg per second] - direction: negative: counter clockwise, positive: clockwise [-1,1] - relative offset or absolute angle: [ 1,0] - Empty - Empty - Empty - - - NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration - Empty - Empty - Empty - Empty - Empty - Empty - Empty - - - Set system mode. - Mode, as defined by ENUM MAV_MODE - Empty - Empty - Empty - Empty - Empty - Empty - - - Jump to the desired command in the mission list. Repeat this action only the specified number of times - Sequence number - Repeat count - Empty - Empty - Empty - Empty - Empty - - - Change speed and/or throttle set points. - Speed type (0=Airspeed, 1=Ground Speed) - Speed (m/s, -1 indicates no change) - Throttle ( Percent, -1 indicates no change) - Empty - Empty - Empty - Empty - - - Changes the home location either to the current location or a specified location. - Use current (1=use current location, 0=use specified location) - Empty - Empty - Empty - Latitude - Longitude - Altitude - - - Set a system parameter. Caution! Use of this command requires knowledge of the numeric enumeration value of the parameter. - Parameter number - Parameter value - Empty - Empty - Empty - Empty - Empty - - - Set a relay to a condition. - Relay number - Setting (1=on, 0=off, others possible depending on system hardware) - Empty - Empty - Empty - Empty - Empty - - - Cycle a relay on and off for a desired number of cyles with a desired period. - Relay number - Cycle count - Cycle time (seconds, decimal) - Empty - Empty - Empty - Empty - - - Set a servo to a desired PWM value. - Servo number - PWM (microseconds, 1000 to 2000 typical) - Empty - Empty - Empty - Empty - Empty - - - 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 - - - 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 - - - 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 - - - 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 - Empty - Empty - Empty - - - 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 - - - Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. - Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM - Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM - Reserved - Reserved - Empty - Empty - Empty - - - Request the reboot or shutdown of system components. - 0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot. - 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer. - Reserved - Reserved - Empty - Empty - Empty - - - 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 - - - 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) - - - - Data stream IDs. A data stream is not a fixed set of messages, but rather a - recommendation to the autopilot software. Individual autopilots may or may not obey - the recommended messages. - - - Enable all data streams - - - Enable IMU_RAW, GPS_RAW, GPS_STATUS packets. - - - Enable GPS_STATUS, CONTROL_STATUS, AUX_STATUS - - - Enable RC_CHANNELS_SCALED, RC_CHANNELS_RAW, SERVO_OUTPUT_RAW - - - Enable ATTITUDE_CONTROLLER_OUTPUT, POSITION_CONTROLLER_OUTPUT, NAV_CONTROLLER_OUTPUT. - - - Enable LOCAL_POSITION, GLOBAL_POSITION/GLOBAL_POSITION_INT messages. - - - Dependent on the autopilot - - - Dependent on the autopilot - - - Dependent on the autopilot - - - - The ROI (region of interest) for the vehicle. This can be - be used by the vehicle for camera/vehicle attitude alignment (see - MAV_CMD_NAV_ROI). - - - No region of interest. - - - Point toward next MISSION. - - - Point toward given MISSION. - - - Point toward fixed location. - - - Point toward of given id. - - - - ACK / NACK / ERROR values as a result of MAV_CMDs and for mission item transmission. - - Command / mission item is ok. - - - Generic error message if none of the other reasons fails or if no detailed error reporting is implemented. - - - The system is refusing to accept this command from this source / communication partner. - - - Command or mission item is not supported, other commands would be accepted. - - - The coordinate frame of this command / mission item is not supported. - - - The coordinate frame of this command is ok, but he coordinate values exceed the safety limits of this system. This is a generic error, please use the more specific error messages below if possible. - - - The X or latitude value is out of range. - - - The Y or longitude value is out of range. - - - The Z or altitude value is out of range. - - - - type of a mavlink parameter - - 32 bit float - - - 8 bit unsigned integer - - - 8 bit signed integer - - - 16 bit unsigned integer - - - 16 bit signed integer - - - 32 bit unsigned integer - - - 32 bit signed integer - - - - result from a mavlink command - - Command ACCEPTED and EXECUTED - - - Command TEMPORARY REJECTED/DENIED - - - Command PERMANENTLY DENIED - - - Command UNKNOWN/UNSUPPORTED - - - Command executed, but failed - - - - result in a mavlink mission ack - - mission accepted OK - - - generic error / not accepting mission commands at all right now - - - coordinate frame is not supported - - - command is not supported - - - mission item exceeds storage space - - - one of the parameters has an invalid value - - - param1 has an invalid value - - - param2 has an invalid value - - - param3 has an invalid value - - - param4 has an invalid value - - - x/param5 has an invalid value - - - y/param6 has an invalid value - - - param7 has an invalid value - - - received waypoint out of sequence - - - not accepting any mission commands from this communication partner - - - - - - The heartbeat message shows that a system is present and responding. The type of the MAV and Autopilot hardware allow the receiving system to treat further messages from this system appropriate (e.g. by laying out the user interface based on the autopilot). - Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) - Autopilot type / class. defined in MAV_CLASS ENUM - System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h - Navigation mode bitfield, see MAV_AUTOPILOT_CUSTOM_MODE ENUM for some examples. This field is autopilot-specific. - System status flag, see MAV_STATUS ENUM - MAVLink version - - - The general system state. If the system is following the MAVLink standard, the system state is mainly defined by three orthogonal states/modes: The system mode, which is either LOCKED (motors shut down and locked), MANUAL (system under RC control), GUIDED (system with autonomous position control, position setpoint controlled manually) or AUTO (system guided by path/waypoint planner). The NAV_MODE defined the current flight state: LIFTOFF (often an open-loop maneuver), LANDING, WAYPOINTS or VECTOR. This represents the internal navigation state machine. The system status shows wether the system is currently active or not and if an emergency occured. During the CRITICAL and EMERGENCY states the MAV is still considered to be active, but should start emergency procedures autonomously. After a failure occured it should first move from active to critical to allow manual intervention and then move to emergency after a certain timeout. - Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control - Bitmask showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control - Bitmask showing which onboard controllers and sensors are operational or have an error: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control - Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 - Battery voltage, in millivolts (1 = 1 millivolt) - Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current - Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot estimate the remaining battery - Communication drops in percent, (0%: 0, 100%: 10'000), (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV) - Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV) - Autopilot-specific errors - Autopilot-specific errors - Autopilot-specific errors - Autopilot-specific errors - - - The system time is the time of the master clock, typically the computer clock of the main onboard computer. - Timestamp of the master clock in microseconds since UNIX epoch. - Timestamp of the component clock since boot time in milliseconds. - - - - A ping message either requesting or responding to a ping. This allows to measure the system latencies, including serial port, radio modem and UDP connections. - Unix timestamp in microseconds - PING sequence - 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system - 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system - - - Request to control this MAV - System the GCS requests control for - 0: request control of this MAV, 1: Release control of this MAV - 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch. - Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-" - - - Accept / deny control of this MAV - ID of the GCS this message - 0: request control of this MAV, 1: Release control of this MAV - 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control - - - Emit an encrypted signature / key identifying this system. PLEASE NOTE: This protocol has been kept simple, so transmitting the key requires an encrypted channel for true safety. - key - - - Set the system mode, as defined by enum MAV_MODE. There is no target component id as the mode is by definition for the overall aircraft, not only for one component. - The system setting the mode - The new base mode - The new autopilot-specific mode. This field can be ignored by an autopilot. - - - Request to read the onboard parameter with the param_id string id. Onboard parameters are stored as key[const char*] -> value[float]. This allows to send a parameter to any other component (such as the GCS) without the need of previous knowledge of possible parameter names. Thus the same GCS can store different parameters for different autopilots. See also http://qgroundcontrol.org/parameter_interface for a full documentation of QGroundControl and IMU code. - System ID - Component ID - Onboard parameter id - Parameter index. Send -1 to use the param ID field as identifier - - - Request all parameters of this component. After his request, all parameters are emitted. - System ID - Component ID - - - Emit the value of a onboard parameter. The inclusion of param_count and param_index in the message allows the recipient to keep track of received parameters and allows him to re-request missing parameters after a loss or timeout. - Onboard parameter id - Onboard parameter value - Onboard parameter type: see MAV_VAR enum - Total number of onboard parameters - Index of this onboard parameter - - - Set a parameter value TEMPORARILY to RAM. It will be reset to default on system reboot. Send the ACTION MAV_ACTION_STORAGE_WRITE to PERMANENTLY write the RAM contents to EEPROM. IMPORTANT: The receiving component should acknowledge the new parameter value by sending a param_value message to all communication partners. This will also ensure that multiple GCS all have an up-to-date list of all parameters. If the sending GCS did not receive a PARAM_VALUE message within its timeout time, it should re-send the PARAM_SET message. - System ID - Component ID - Onboard parameter id - Onboard parameter value - Onboard parameter type: see MAV_VAR enum - - - The global position, as returned by the Global Positioning System (GPS). This is - NOT the global position estimate of the sytem, but rather a RAW sensor value. See message GLOBAL_POSITION for the global position estimate. Coordinate frame is right-handed, Z-axis up (GPS frame) - - Timestamp (microseconds since UNIX epoch or microseconds since system boot) - 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. - Latitude in 1E7 degrees - Longitude in 1E7 degrees - Altitude in 1E3 meters (millimeters) above MSL - GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 - GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 - GPS ground speed (m/s * 100). If unknown, set to: 65535 - Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535 - Number of satellites visible. If unknown, set to 255 - - - The positioning status, as reported by GPS. This message is intended to display status information about each satellite visible to the receiver. See message GLOBAL_POSITION for the global position estimate. This message can contain information for up to 20 satellites. - Number of satellites visible - Global satellite ID - 0: Satellite not used, 1: used for localization - Elevation (0: right on top of receiver, 90: on the horizon) of satellite - Direction of satellite, 0: 0 deg, 255: 360 deg. - Signal to noise ratio of satellite - - - The RAW IMU readings for the usual 9DOF sensor setup. This message should contain the scaled values to the described units - Timestamp (milliseconds since system boot) - X acceleration (mg) - Y acceleration (mg) - Z acceleration (mg) - Angular speed around X axis (millirad /sec) - Angular speed around Y axis (millirad /sec) - Angular speed around Z axis (millirad /sec) - X Magnetic field (milli tesla) - Y Magnetic field (milli tesla) - Z Magnetic field (milli tesla) - - - The RAW IMU readings for the usual 9DOF sensor setup. This message should always contain the true raw values without any scaling to allow data capture and system debugging. - Timestamp (microseconds since UNIX epoch or microseconds since system boot) - X acceleration (raw) - Y acceleration (raw) - Z acceleration (raw) - Angular speed around X axis (raw) - Angular speed around Y axis (raw) - Angular speed around Z axis (raw) - X Magnetic field (raw) - Y Magnetic field (raw) - Z Magnetic field (raw) - - - The RAW pressure readings for the typical setup of one absolute pressure and one differential pressure sensor. The sensor values should be the raw, UNSCALED ADC values. - Timestamp (microseconds since UNIX epoch or microseconds since system boot) - Absolute pressure (raw) - Differential pressure 1 (raw) - Differential pressure 2 (raw) - Raw Temperature measurement (raw) - - - The pressure readings for the typical setup of one absolute and differential pressure sensor. The units are as specified in each field. - Timestamp (microseconds since UNIX epoch or microseconds since system boot) - Absolute pressure (hectopascal) - Differential pressure 1 (hectopascal) - Temperature measurement (0.01 degrees celsius) - - - The attitude in the aeronautical frame (right-handed, Z-down, X-front, Y-right). - Timestamp (milliseconds since system boot) - Roll angle (rad) - Pitch angle (rad) - Yaw angle (rad) - Roll angular speed (rad/s) - Pitch angular speed (rad/s) - Yaw angular speed (rad/s) - - - The attitude in the aeronautical frame (right-handed, Z-down, X-front, Y-right), expressed as quaternion. - Timestamp (milliseconds since system boot) - Quaternion component 1 - Quaternion component 2 - Quaternion component 3 - Quaternion component 4 - Roll angular speed (rad/s) - Pitch angular speed (rad/s) - Yaw angular speed (rad/s) - - - The filtered local position (e.g. fused computer vision and accelerometers). Coordinate frame is right-handed, Z-axis down (aeronautical frame, NED / north-east-down convention) - Timestamp (milliseconds since system boot) - X Position - Y Position - Z Position - X Speed - Y Speed - Z Speed - - - The filtered global position (e.g. fused GPS and accelerometers). The position is in GPS-frame (right-handed, Z-up). It - is designed as scaled integer message since the resolution of float is not sufficient. - Timestamp (milliseconds since system boot) - Latitude, expressed as * 1E7 - Longitude, expressed as * 1E7 - Altitude in meters, expressed as * 1000 (millimeters), above MSL - Altitude above ground in meters, expressed as * 1000 (millimeters) - Ground X Speed (Latitude), expressed as m/s * 100 - Ground Y Speed (Longitude), expressed as m/s * 100 - Ground Z Speed (Altitude), expressed as m/s * 100 - Compass heading in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535 - - - The scaled values of the RC channels received. (-100%) -10000, (0%) 0, (100%) 10000 - Timestamp (milliseconds since system boot) - Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. - RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 - RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 - RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 - RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 - RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 - RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 - RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 - RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 - Receive signal strength indicator, 0: 0%, 255: 100% - - - The RAW values of the RC channels received. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. Individual receivers/transmitters might violate this specification. - Timestamp (milliseconds since system boot) - Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. - RC channel 1 value, in microseconds - RC channel 2 value, in microseconds - RC channel 3 value, in microseconds - RC channel 4 value, in microseconds - RC channel 5 value, in microseconds - RC channel 6 value, in microseconds - RC channel 7 value, in microseconds - RC channel 8 value, in microseconds - Receive signal strength indicator, 0: 0%, 255: 100% - - - The RAW values of the servo outputs (for RC input from the remote, use the RC_CHANNELS messages). The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. - Timestamp (since UNIX epoch or microseconds since system boot) - Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. - Servo output 1 value, in microseconds - Servo output 2 value, in microseconds - Servo output 3 value, in microseconds - Servo output 4 value, in microseconds - Servo output 5 value, in microseconds - Servo output 6 value, in microseconds - Servo output 7 value, in microseconds - Servo output 8 value, in microseconds - - - Request the overall list of MISSIONs from the system/component. http://qgroundcontrol.org/mavlink/waypoint_protocol - System ID - Component ID - Start index, 0 by default - End index, -1 by default (-1: send list to end). Else a valid index of the list - - - This message is sent to the MAV to write a partial list. If start index == end index, only one item will be transmitted / updated. If the start index is NOT 0 and above the current list size, this request should be REJECTED! - System ID - Component ID - Start index, 0 by default and smaller / equal to the largest index of the current onboard list. - End index, equal or greater than start index. - - - Message encoding a mission item. This message is emitted to announce - the presence of a mission item and to set a mission item on the system. The mission item can be either in x, y, z meters (type: LOCAL) or x:lat, y:lon, z:altitude. Local frame is Z-down, right handed (NED), global frame is Z-up, right handed (ENU). http://qgroundcontrol.org/mavlink/waypoint_protocol - - System ID - Component ID - Sequence - The coordinate system of the MISSION. see MAV_FRAME in mavlink_types.h - The scheduled action for the MISSION. see MAV_CMD in common.xml MAVLink specs - false:0, true:1 - autocontinue to next wp - PARAM1 / For NAV command MISSIONs: Radius in which the MISSION is accepted as reached, in meters - PARAM2 / For NAV command MISSIONs: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds - PARAM3 / For LOITER command MISSIONs: Orbit to circle around the MISSION, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise. - PARAM4 / For NAV and LOITER command MISSIONs: Yaw orientation in degrees, [0..360] 0 = NORTH - PARAM5 / local: x position, global: latitude - PARAM6 / y position: global: longitude - PARAM7 / z position: global: altitude - - - Request the information of the mission item with the sequence number seq. The response of the system to this message should be a MISSION_ITEM message. http://qgroundcontrol.org/mavlink/waypoint_protocol - System ID - Component ID - Sequence - - - Set the mission item with sequence number seq as current item. This means that the MAV will continue to this mission item on the shortest path (not following the mission items in-between). - System ID - Component ID - Sequence - - - Message that announces the sequence number of the current active mission item. The MAV will fly towards this mission item. - Sequence - - - Request the overall list of mission items from the system/component. - System ID - Component ID - - - This message is emitted as response to MISSION_REQUEST_LIST by the MAV and to initiate a write transaction. The GCS can then request the individual mission item based on the knowledge of the total number of MISSIONs. - System ID - Component ID - Number of mission items in the sequence - - - Delete all mission items at once. - System ID - Component ID - - - A certain mission item has been reached. The system will either hold this position (or circle on the orbit) or (if the autocontinue on the WP was set) continue to the next MISSION. - Sequence - - - Ack message during MISSION handling. The type field states if this message is a positive ack (type=0) or if an error happened (type=non-zero). - System ID - Component ID - See MAV_MISSION_RESULT enum - - - As local MISSIONs exist, the global MISSION reference allows to transform between the local coordinate frame and the global (GPS) coordinate frame. This can be necessary when e.g. in- and outdoor settings are connected and the MAV should move from in- to outdoor. - System ID - global position * 1E7 - global position * 1E7 - global position * 1000 - - - Once the MAV sets a new GPS-Local correspondence, this message announces the origin (0,0,0) position - Latitude (WGS84), expressed as * 1E7 - Longitude (WGS84), expressed as * 1E7 - Altitude(WGS84), expressed as * 1000 - - - Set the setpoint for a local position controller. This is the position in local coordinates the MAV should fly to. This message is sent by the path/MISSION planner to the onboard position controller. As some MAVs have a degree of freedom in yaw (e.g. all helicopters/quadrotors), the desired yaw angle is part of the message. - System ID - Component ID - Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU - x position - y position - z position - Desired yaw angle - - - Transmit the current local setpoint of the controller to other MAVs (collision avoidance) and to the GCS. - Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU - x position - y position - z position - Desired yaw angle - - - Transmit the current local setpoint of the controller to other MAVs (collision avoidance) and to the GCS. - Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT - WGS84 Latitude position in degrees * 1E7 - WGS84 Longitude position in degrees * 1E7 - WGS84 Altitude in meters * 1000 (positive for up) - Desired yaw angle in degrees * 100 - - - Set the current global position setpoint. - Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT - WGS84 Latitude position in degrees * 1E7 - WGS84 Longitude position in degrees * 1E7 - WGS84 Altitude in meters * 1000 (positive for up) - Desired yaw angle in degrees * 100 - - - Set a safety zone (volume), which is defined by two corners of a cube. This message can be used to tell the MAV which setpoints/MISSIONs to accept and which to reject. Safety areas are often enforced by national or competition regulations. - System ID - Component ID - Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down. - x position 1 / Latitude 1 - y position 1 / Longitude 1 - z position 1 / Altitude 1 - x position 2 / Latitude 2 - y position 2 / Longitude 2 - z position 2 / Altitude 2 - - - Read out the safety zone the MAV currently assumes. - Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down. - x position 1 / Latitude 1 - y position 1 / Longitude 1 - z position 1 / Altitude 1 - x position 2 / Latitude 2 - y position 2 / Longitude 2 - z position 2 / Altitude 2 - - - Set roll, pitch and yaw. - System ID - Component ID - Desired roll angle in radians - Desired pitch angle in radians - Desired yaw angle in radians - Collective thrust, normalized to 0 .. 1 - - - Set roll, pitch and yaw. - System ID - Component ID - Desired roll angular speed in rad/s - Desired pitch angular speed in rad/s - Desired yaw angular speed in rad/s - Collective thrust, normalized to 0 .. 1 - - - Setpoint in roll, pitch, yaw currently active on the system. - Timestamp in milliseconds since system boot - Desired roll angle in radians - Desired pitch angle in radians - Desired yaw angle in radians - Collective thrust, normalized to 0 .. 1 - - - Setpoint in rollspeed, pitchspeed, yawspeed currently active on the system. - Timestamp in milliseconds since system boot - Desired roll angular speed in rad/s - Desired pitch angular speed in rad/s - Desired yaw angular speed in rad/s - Collective thrust, normalized to 0 .. 1 - - - Setpoint in the four motor speeds - System ID of the system that should set these motor commands - Front motor in + configuration, front left motor in x configuration - Right motor in + configuration, front right motor in x configuration - Back motor in + configuration, back right motor in x configuration - Left motor in + configuration, back left motor in x configuration - - - - System IDs for 6 quadrotors: 0..5, the ID's are the MAVLink IDs - Desired roll angle in radians, scaled to int16 for 6 quadrotors: 0..5 - Desired pitch angle in radians, scaled to int16 for 6 quadrotors: 0..5 - Desired yaw angle in radians, scaled to int16 for 6 quadrotors: 0..5 - Collective thrust, scaled to uint16 for 6 quadrotors: 0..5 - - - Outputs of the APM navigation controller. The primary use of this message is to check the response and signs - of the controller before actual flight and to assist with tuning controller parameters - - Current desired roll in degrees - Current desired pitch in degrees - Current desired heading in degrees - Bearing to current MISSION/target in degrees - Distance to active MISSION in meters - Current altitude error in meters - Current airspeed error in meters/second - Current crosstrack error on x-y plane in meters - - - Corrects the systems state by adding an error correction term to the position and velocity, and by rotating the attitude by a correction angle. - x position error - y position error - z position error - roll error (radians) - pitch error (radians) - yaw error (radians) - x velocity - y velocity - z velocity - - - The target requested to send the message stream. - The target requested to send the message stream. - The ID of the requested data stream - The requested interval between two messages of this type - 1 to start sending, 0 to stop sending. - - - The ID of the requested data stream - The requested interval between two messages of this type - 1 stream is enabled, 0 stream is stopped. - - - The system to be controlled - roll - pitch - yaw - thrust - roll control enabled auto:0, manual:1 - pitch auto:0, manual:1 - yaw auto:0, manual:1 - thrust auto:0, manual:1 - - - The RAW values of the RC channels sent to the MAV to override info received from the RC radio. A value of -1 means no change to that channel. A value of 0 means control of that channel should be released back to the RC radio. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. Individual receivers/transmitters might violate this specification. - System ID - Component ID - RC channel 1 value, in microseconds - RC channel 2 value, in microseconds - RC channel 3 value, in microseconds - RC channel 4 value, in microseconds - RC channel 5 value, in microseconds - RC channel 6 value, in microseconds - RC channel 7 value, in microseconds - RC channel 8 value, in microseconds - - - Metrics typically displayed on a HUD for fixed wing aircraft - Current airspeed in m/s - Current ground speed in m/s - Current heading in degrees, in compass units (0..360, 0=north) - Current throttle setting in integer percent, 0 to 100 - Current altitude (MSL), in meters - Current climb rate in meters/second - - - Send a command with up to four parameters to the MAV - System which should execute the command - Component which should execute the command, 0 for all components - Command ID, as defined by MAV_CMD enum. - 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) - Parameter 1, as defined by MAV_CMD enum. - Parameter 2, as defined by MAV_CMD enum. - Parameter 3, as defined by MAV_CMD enum. - Parameter 4, as defined by MAV_CMD enum. - Parameter 5, as defined by MAV_CMD enum. - Parameter 6, as defined by MAV_CMD enum. - Parameter 7, as defined by MAV_CMD enum. - - - Report status of a command. Includes feedback wether the command was executed - Command ID, as defined by MAV_CMD enum. - See MAV_RESULT enum - - - - Sent from simulation to autopilot. This packet is useful for high throughput - applications such as hardware in the loop simulations. - - Timestamp (microseconds since UNIX epoch or microseconds since system boot) - Roll angle (rad) - Pitch angle (rad) - Yaw angle (rad) - Roll angular speed (rad/s) - Pitch angular speed (rad/s) - Yaw angular speed (rad/s) - Latitude, expressed as * 1E7 - Longitude, expressed as * 1E7 - Altitude in meters, expressed as * 1000 (millimeters) - Ground X Speed (Latitude), expressed as m/s * 100 - Ground Y Speed (Longitude), expressed as m/s * 100 - Ground Z Speed (Altitude), expressed as m/s * 100 - X acceleration (mg) - Y acceleration (mg) - Z acceleration (mg) - - - Sent from autopilot to simulation. Hardware in the loop control outputs - Timestamp (microseconds since UNIX epoch or microseconds since system boot) - Control output -1 .. 1 - Control output -1 .. 1 - Control output -1 .. 1 - Throttle 0 .. 1 - Aux 1, -1 .. 1 - Aux 2, -1 .. 1 - Aux 3, -1 .. 1 - Aux 4, -1 .. 1 - System mode (MAV_MODE) - Navigation mode (MAV_NAV_MODE) - - - Sent from simulation to autopilot. The RAW values of the RC channels received. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. Individual receivers/transmitters might violate this specification. - Timestamp (microseconds since UNIX epoch or microseconds since system boot) - RC channel 1 value, in microseconds - RC channel 2 value, in microseconds - RC channel 3 value, in microseconds - RC channel 4 value, in microseconds - RC channel 5 value, in microseconds - RC channel 6 value, in microseconds - RC channel 7 value, in microseconds - RC channel 8 value, in microseconds - RC channel 9 value, in microseconds - RC channel 10 value, in microseconds - RC channel 11 value, in microseconds - RC channel 12 value, in microseconds - Receive signal strength indicator, 0: 0%, 255: 100% - - - Optical flow from a flow sensor (e.g. optical mouse sensor) - Timestamp (UNIX) - Sensor ID - Flow in x-sensor direction - Flow in y-sensor direction - Optical flow quality / confidence. 0: bad, 255: maximum quality - Ground distance in meters (-1 for unknown, flow is then in pixel / arbitrary scale) - - - Timestamp (milliseconds) - Global X position - Global Y position - Global Z position - Roll angle in rad - Pitch angle in rad - Yaw angle in rad - - - Timestamp (milliseconds) - Global X position - Global Y position - Global Z position - Roll angle in rad - Pitch angle in rad - Yaw angle in rad - - - Timestamp (milliseconds) - Global X speed - Global Y speed - Global Z speed - - - Timestamp (milliseconds) - Global X position - Global Y position - Global Z position - Roll angle in rad - Pitch angle in rad - Yaw angle in rad - - - - Send raw controller memory. The use of this message is discouraged for normal packets, but a quite efficient way for testing new messages and getting experimental debug output. - Starting address of the debug variables - Version code of the type variable. 0=unknown, type ignored and assumed int16_t. 1=as below - Type code of the memory variables. for ver = 1: 0=16 x int16_t, 1=16 x uint16_t, 2=16 x Q15, 3=16 x 1Q14 - Memory contents at specified address - - - Name - Timestamp - x - y - z - - - Send a key-value pair as float. The use of this message is discouraged for normal packets, but a quite efficient way for testing new messages and getting experimental debug output. - Timestamp (milliseconds since system boot) - Name of the debug variable - Floating point value - - - Send a key-value pair as integer. The use of this message is discouraged for normal packets, but a quite efficient way for testing new messages and getting experimental debug output. - Timestamp (milliseconds since system boot) - Name of the debug variable - Signed integer value - - - Status text message. These messages are printed in yellow in the COMM console of QGroundControl. WARNING: They consume quite some bandwidth, so use only for important status and error messages. If implemented wisely, these messages are buffered on the MCU and sent only at a limited rate (e.g. 10 Hz). - Severity of status, 0 = info message, 255 = critical fault - Status text message, without null termination character - - - Send a debug value. The index is used to discriminate between values. These values show up in the plot of QGroundControl as DEBUG N. - Timestamp (milliseconds since system boot) - index of debug variable - DEBUG value - - - diff --git a/thirdParty/mavlink/message_definitions/minimal.xml b/thirdParty/mavlink/message_definitions/minimal.xml deleted file mode 100644 index 185a657de94c14e7e69d7f50578353f04e4d5db4..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/message_definitions/minimal.xml +++ /dev/null @@ -1,16 +0,0 @@ - - - 2 - - - - The heartbeat message shows that a system is present and responding. The type of the MAV and Autopilot hardware allow the receiving system to treat further messages from this system appropriate (e.g. by laying out the user interface based on the autopilot). - Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) - Autopilot type / class. defined in MAV_CLASS ENUM - System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h - Navigation mode bitfield, see MAV_AUTOPILOT_CUSTOM_MODE ENUM for some examples. This field is autopilot-specific. - System status flag, see MAV_STATUS ENUM - MAVLink version - - - diff --git a/thirdParty/mavlink/message_definitions/pixhawk.proto b/thirdParty/mavlink/message_definitions/pixhawk.proto deleted file mode 100644 index e658cf575c1175c60a0020099d9bb85e652d717d..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/message_definitions/pixhawk.proto +++ /dev/null @@ -1,108 +0,0 @@ -package px; - -message HeaderInfo { - required int32 source_sysid = 1; - required int32 source_compid = 2; - required double timestamp = 3; // in seconds -} - -message PointCloudXYZI { - message PointXYZI { - required float x = 1; - required float y = 2; - required float z = 3; - required float intensity = 4; - } - - required HeaderInfo header = 1; - repeated PointXYZI points = 2; -} - -message PointCloudXYZRGB { - message PointXYZRGB { - required float x = 1; - required float y = 2; - required float z = 3; - required float rgb = 4; - } - - required HeaderInfo header = 1; - repeated PointXYZRGB points = 2; -} - -message RGBDImage -{ - required HeaderInfo header = 1; - - required uint32 cols = 2; ///< Number of columns in image(s) - required uint32 rows = 3; ///< Number of rows in image(s) - required uint32 step1 = 4; ///< Step (stride) of image 1 - required uint32 type1 = 5; ///< Type of image 1 - required bytes imageData1 = 6; - required uint32 step2 = 7; ///< Step (stride) of image 2 - required uint32 type2 = 8; ///< Type of image 2 - required bytes imageData2 = 9; - optional uint32 camera_config = 10; ///< PxSHM::Camera enumeration - optional uint32 camera_type = 11; ///< PxSHM::CameraType enumeration - optional float roll = 12; - optional float pitch = 13; - optional float yaw = 14; - optional float lon = 15; - optional float lat = 16; - optional float alt = 17; - optional float ground_x = 18; - optional float ground_y = 19; - optional float ground_z = 20; - repeated float camera_matrix = 21; -} - -message Obstacle -{ - optional float x = 1; - optional float y = 2; - optional float z = 3; - optional float length = 4; - optional float width = 5; - optional float height = 6; -} - -message ObstacleList -{ - required HeaderInfo header = 1; - - repeated Obstacle obstacles = 2; -} - -message ObstacleMap -{ - required HeaderInfo header = 1; - - required int32 type = 2; - - optional float resolution = 3; - optional int32 rows = 4; - optional int32 cols = 5; - optional int32 mapR0 = 6; - optional int32 mapC0 = 7; - optional int32 arrayR0 = 8; - optional int32 arrayC0 = 9; - - optional bytes data = 10; -} - -message Waypoint -{ - required double x = 1; - required double y = 2; - optional double z = 3; - optional double roll = 4; - optional double pitch = 5; - optional double yaw = 6; -} - -message Path -{ - required HeaderInfo header = 1; - - repeated Waypoint waypoints = 2; -} diff --git a/thirdParty/mavlink/message_definitions/pixhawk.xml b/thirdParty/mavlink/message_definitions/pixhawk.xml deleted file mode 100644 index 8efe0f8ec1b8f98bc6b5e88de3701770a71a4c7f..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/message_definitions/pixhawk.xml +++ /dev/null @@ -1,195 +0,0 @@ - - - common.xml - - - Content Types for data transmission handshake - - - - - - - - Camera id - Camera mode: 0 = auto, 1 = manual - Trigger pin, 0-3 for PtGrey FireFly - Shutter interval, in microseconds - Exposure time, in microseconds - Camera gain - - - Timestamp - IMU seq - Roll angle in rad - Pitch angle in rad - Yaw angle in rad - Local frame Z coordinate (height over ground) - GPS X coordinate - GPS Y coordinate - Global frame altitude - Ground truth X - Ground truth Y - Ground truth Z - - - 0 to disable, 1 to enable - - - Camera id - Camera # (starts with 0) - Timestamp - Until which timestamp this buffer will stay valid - The image sequence number - Position of the image in the buffer, starts with 0 - Image width - Image height - Image depth - Image channels - Shared memory area key - Exposure time, in microseconds - Camera gain - Roll angle in rad - Pitch angle in rad - Yaw angle in rad - Local frame Z coordinate (height over ground) - GPS X coordinate - GPS Y coordinate - Global frame altitude - Ground truth X - Ground truth Y - Ground truth Z - - - Message sent to the MAV to set a new offset from the currently controlled position - System ID - Component ID - x position offset - y position offset - z position offset - yaw orientation offset in radians, 0 = NORTH - - - - ID of waypoint, 0 for plain position - x position - y position - z position - yaw orientation in radians, 0 = NORTH - - - ID - x position - y position - z position - roll orientation - pitch orientation - yaw orientation - - - ADC1 (J405 ADC3, LPC2148 AD0.6) - ADC2 (J405 ADC5, LPC2148 AD0.2) - ADC3 (J405 ADC6, LPC2148 AD0.1) - ADC4 (J405 ADC7, LPC2148 AD1.3) - Battery voltage - Temperature (degrees celcius) - Barometric pressure (hecto Pascal) - - - Watchdog ID - Number of processes - - - Watchdog ID - Process ID - Process name - Process arguments - Timeout (seconds) - - - Watchdog ID - Process ID - Is running / finished / suspended / crashed - Is muted - PID - Number of crashes - - - Target system ID - Watchdog ID - Process ID - Command ID - - - 0: Pattern, 1: Letter - Confidence of detection - Pattern file name - Accepted as true detection, 0 no, 1 yes - - - Notifies the operator about a point of interest (POI). This can be anything detected by the - system. This generic message is intented to help interfacing to generic visualizations and to display - the POI on a map. - - 0: Notice, 1: Warning, 2: Critical, 3: Emergency, 4: Debug - 0: blue, 1: yellow, 2: red, 3: orange, 4: green, 5: magenta - 0: global, 1:local - 0: no timeout, >1: timeout in seconds - X Position - Y Position - Z Position - POI name - - - Notifies the operator about the connection of two point of interests (POI). This can be anything detected by the - system. This generic message is intented to help interfacing to generic visualizations and to display - the POI on a map. - - 0: Notice, 1: Warning, 2: Critical, 3: Emergency, 4: Debug - 0: blue, 1: yellow, 2: red, 3: orange, 4: green, 5: magenta - 0: global, 1:local - 0: no timeout, >1: timeout in seconds - X1 Position - Y1 Position - Z1 Position - X2 Position - Y2 Position - Z2 Position - POI connection name - - - type of requested/acknowledged data (as defined in ENUM DATA_TYPES in mavlink/include/mavlink_types.h) - total data size in bytes (set on ACK only) - Width of a matrix or image - Height of a matrix or image - number of packets beeing sent (set on ACK only) - payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only) - JPEG quality out of [1,100] - - - sequence number (starting with 0 on every transmission) - image data bytes - - - x position in m - y position in m - z position in m - Orientation assignment 0: false, 1:true - Size in pixels - Orientation - Descriptor - Harris operator response at this location - - - The system to be controlled - roll - pitch - yaw - thrust - roll control enabled auto:0, manual:1 - pitch auto:0, manual:1 - yaw auto:0, manual:1 - thrust auto:0, manual:1 - - - diff --git a/thirdParty/mavlink/message_definitions/sensesoar.xml b/thirdParty/mavlink/message_definitions/sensesoar.xml deleted file mode 100644 index 4c7140f93d690128b2e0feaf51f8ec9292875110..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/message_definitions/sensesoar.xml +++ /dev/null @@ -1,83 +0,0 @@ - - - common.xml - - - Different flight modes - Gliding mode with motors off - Autonomous flight - RC controlled - - - - - Position estimate of the observer in global frame - Longitude expressed in 1E7 - Latitude expressed in 1E7 - Altitude expressed in milimeters - - - velocity estimate of the observer in NED inertial frame - Velocity - - - attitude estimate of the observer - Quaternion re;im - - - Wind estimate in NED inertial frame - Wind - - - Estimate of the air velocity - Air speed - angle of attack - slip angle - - - IMU biases - accelerometer bias - gyroscope bias - - - estimate of the pressure at sea level - Wind - - - ambient air temperature - Air Temperatur - - - filtered rotational velocity - rotational velocity - - - low level control output - Servo signal - motor signal - - - Power managment - current power consumption - battery status - Power generation from each module - - - system status - gps status - actuator status - module status - module status - - - change commanded air speed - Target ID - commanded airspeed - - - accept change of airspeed - commanded airspeed - 0:ack, 1:nack - - - diff --git a/thirdParty/mavlink/message_definitions/slugs.xml b/thirdParty/mavlink/message_definitions/slugs.xml deleted file mode 100644 index f8644c5c4be7e497178d892e9c15c25ba3c5131c..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/message_definitions/slugs.xml +++ /dev/null @@ -1,144 +0,0 @@ - - - common.xml - - - - - - - Sensor and DSC control loads. - Sensor DSC Load - Control DSC Load - Battery Voltage in millivolts - - - - Air data for altitude and airspeed computation. - Dynamic pressure (Pa) - Static pressure (Pa) - Board temperature - - - - Accelerometer and gyro biases. - Accelerometer X bias (m/s) - Accelerometer Y bias (m/s) - Accelerometer Z bias (m/s) - Gyro X bias (rad/s) - Gyro Y bias (rad/s) - Gyro Z bias (rad/s) - - - - Configurable diagnostic messages. - Diagnostic float 1 - Diagnostic float 2 - Diagnostic float 3 - Diagnostic short 1 - Diagnostic short 2 - Diagnostic short 3 - - - - Data used in the navigation algorithm. - Measured Airspeed prior to the Nav Filter - Commanded Roll - Commanded Pitch - Commanded Turn rate - Y component of the body acceleration - Total Distance to Run on this leg of Navigation - Remaining distance to Run on this leg of Navigation - Origin WP - Destination WP - - - - Configurable data log probes to be used inside Simulink - Log value 1 - Log value 2 - Log value 3 - Log value 4 - Log value 5 - Log value 6 - - - - Pilot console PWM messges. - Year reported by Gps - Month reported by Gps - Day reported by Gps - Hour reported by Gps - Min reported by Gps - Sec reported by Gps - Visible sattelites reported by Gps - - - - Mid Level commands sent from the GS to the autopilot. These are only sent when being opperated in mid-level commands mode from the ground; for periodic report of these commands generated from the autopilot see message XXXX. - The system setting the commands - Commanded Airspeed - Log value 2 - Log value 3 - - - - - This message configures the Selective Passthrough mode. it allows to select which control surfaces the Pilot can control from his console. It is implemented as a bitfield as follows: - Position Bit Code - ================================= - 15-8 Reserved - 7 dt_pass 128 - 6 dla_pass 64 - 5 dra_pass 32 - 4 dr_pass 16 - 3 dle_pass 8 - 2 dre_pass 4 - 1 dlf_pass 2 - 0 drf_pass 1 - Where Bit 15 is the MSb. 0 = AP has control of the surface; 1 = Pilot Console has control of the surface. - The system setting the commands - Bitfield containing the PT configuration - - - - - - Action messages focused on the SLUGS AP. - The system reporting the action - Action ID. See apDefinitions.h in the SLUGS /clib directory for the ID names - Value associated with the action - - - - diff --git a/thirdParty/mavlink/message_definitions/test.xml b/thirdParty/mavlink/message_definitions/test.xml deleted file mode 100644 index 02bc03204d11a3565e9a39ce4b2646e935a6bd2b..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/message_definitions/test.xml +++ /dev/null @@ -1,31 +0,0 @@ - - - 3 - - - Test all field types - char - string - uint8_t - uint16_t - uint32_t - uint64_t - int8_t - int16_t - int32_t - int64_t - float - double - uint8_t_array - uint16_t_array - uint32_t_array - uint64_t_array - int8_t_array - int16_t_array - int32_t_array - int64_t_array - float_array - double_array - - - diff --git a/thirdParty/mavlink/message_definitions/ualberta.xml b/thirdParty/mavlink/message_definitions/ualberta.xml deleted file mode 100644 index 5e53e141e9f018e943abfd25bc1f58c0a0091574..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/message_definitions/ualberta.xml +++ /dev/null @@ -1,54 +0,0 @@ - - - common.xml - - - Available autopilot modes for ualberta uav - Raw input pulse widts sent to output - Inputs are normalized using calibration, the converted back to raw pulse widths for output - dfsdfs - dfsfds - dfsdfsdfs - - - Navigation filter mode - - AHRS mode - INS/GPS initialization mode - INS/GPS mode - - - Mode currently commanded by pilot - sdf - dfs - Rotomotion mode - - - - - Accelerometer and Gyro biases from the navigation filter - Timestamp (microseconds) - b_f[0] - b_f[1] - b_f[2] - b_f[0] - b_f[1] - b_f[2] - - - Complete set of calibration parameters for the radio - Aileron setpoints: left, center, right - Elevator setpoints: nose down, center, nose up - Rudder setpoints: nose left, center, nose right - Tail gyro mode/gain setpoints: heading hold, rate mode - Pitch curve setpoints (every 25%) - Throttle curve setpoints (every 25%) - - - System status specific to ualberta uav - System mode, see UALBERTA_AUTOPILOT_MODE ENUM - Navigation mode, see UALBERTA_NAV_MODE ENUM - Pilot mode, see UALBERTA_PILOT_MODE - - - diff --git a/thirdParty/mavlink/missionlib/mavlink_missionlib_data.h b/thirdParty/mavlink/missionlib/mavlink_missionlib_data.h deleted file mode 100644 index c825fbcef803917f2d57dfc98499248c1ee46058..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/missionlib/mavlink_missionlib_data.h +++ /dev/null @@ -1,58 +0,0 @@ -/******************************************************************************* - - Copyright (C) 2011 Lorenz Meier lm ( a t ) inf.ethz.ch - - This program is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation, either version 3 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program. If not, see . - - ****************************************************************************/ - -/* This assumes you have the mavlink headers on your include path - or in the same folder as this source file */ - -// Disable auto-data structures -#ifndef MAVLINK_NO_DATA -#define MAVLINK_NO_DATA -#endif - -#include "mavlink.h" -#include - -/* MISSION LIB DATA STORAGE */ - -enum MAVLINK_PM_PARAMETERS -{ - MAVLINK_PM_PARAM_SYSTEM_ID, - MAVLINK_PM_PARAM_ATT_K_D, - MAVLINK_PM_MAX_PARAM_COUNT // VERY IMPORTANT! KEEP THIS AS LAST ENTRY -}; - - -/* DO NOT EDIT THIS FILE BELOW THIS POINT! */ - -#ifndef MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN -#define MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN 16 -#endif - - -//extern void mavlink_pm_queued_send(); -struct mavlink_pm_storage { - char param_names[MAVLINK_PM_MAX_PARAM_COUNT][MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN]; ///< Parameter names - float param_values[MAVLINK_PM_MAX_PARAM_COUNT]; ///< Parameter values - uint16_t next_param; - uint16_t size; -}; - -typedef struct mavlink_pm_storage mavlink_pm_storage; - -void mavlink_pm_reset_params(mavlink_pm_storage* pm); diff --git a/thirdParty/mavlink/missionlib/mavlink_parameters.c b/thirdParty/mavlink/missionlib/mavlink_parameters.c deleted file mode 100644 index 7ed8e7955d6576b41aee16af400d905a05d768a6..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/missionlib/mavlink_parameters.c +++ /dev/null @@ -1,150 +0,0 @@ -/******************************************************************************* - - Copyright (C) 2011 Lorenz Meier lm ( a t ) inf.ethz.ch - - This program is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation, either version 3 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program. If not, see . - - ****************************************************************************/ - -#include "testing/mavlink_missionlib_data.h" -#include "mavlink_parameters.h" -#include "math.h" /* isinf / isnan checks */ - -extern mavlink_system_t mavlink_system; -extern mavlink_pm_storage pm; - -extern void mavlink_missionlib_send_message(mavlink_message_t* msg); -extern void mavlink_missionlib_send_gcs_string(const char* string); - -void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_message_t* msg) -{ - switch (msg->msgid) - { - case MAVLINK_MSG_ID_PARAM_REQUEST_LIST: - { - // Start sending parameters - pm.next_param = 0; - mavlink_missionlib_send_gcs_string("PM SENDING LIST"); - } - break; - case MAVLINK_MSG_ID_PARAM_SET: - { - mavlink_param_set_t set; - mavlink_msg_param_set_decode(msg, &set); - - // Check if this message is for this system - if (set.target_system == mavlink_system.sysid && set.target_component == mavlink_system.compid) - { - char* key = set.param_id; - - for (uint16_t i = 0; i < MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN; i++) - { - bool match = true; - for (uint16_t j = 0; j < MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN; j++) - { - // Compare - if (pm.param_names[i][j] != key[j]) - { - match = false; - } - - // End matching if null termination is reached - if (pm.param_names[i][j] == '\0') - { - break; - } - } - - // Check if matched - if (match) - { - // Only write and emit changes if there is actually a difference - // AND only write if new value is NOT "not-a-number" - // AND is NOT infinity - if (pm.param_values[i] != set.param_value - && !isnan(set.param_value) - && !isinf(set.param_value)) - { - pm.param_values[i] = set.param_value; - // Report back new value -#ifndef MAVLINK_USE_CONVENIENCE_FUNCTIONS - mavlink_message_t tx_msg; - mavlink_msg_param_value_pack_chan(mavlink_system.sysid, - mavlink_system.compid, - MAVLINK_COMM_0, - &tx_msg, - pm.param_names[i], - pm.param_values[i], - MAVLINK_TYPE_FLOAT, - pm.size, - i); - mavlink_missionlib_send_message(&tx_msg); -#else - mavlink_msg_param_value_send(MAVLINK_COMM_0, - pm.param_names[i], - pm.param_values[i], - MAVLINK_TYPE_FLOAT, - pm.size, - i); -#endif - - mavlink_missionlib_send_gcs_string("PM received param"); - } // End valid value check - } // End match check - } // End for loop - } // End system ID check - - } // End case - break; - - } // End switch - -} - - /** - * @brief Send low-priority messages at a maximum rate of xx Hertz - * - * This function sends messages at a lower rate to not exceed the wireless - * bandwidth. It sends one message each time it is called until the buffer is empty. - * Call this function with xx Hertz to increase/decrease the bandwidth. - */ - void mavlink_pm_queued_send(void) - { - //send parameters one by one - if (pm.next_param < pm.size) - { - //for (int i.. all active comm links) -#ifndef MAVLINK_USE_CONVENIENCE_FUNCTIONS - mavlink_message_t tx_msg; - mavlink_msg_param_value_pack_chan(mavlink_system.sysid, - mavlink_system.compid, - MAVLINK_COMM_0, - &tx_msg, - pm.param_names[pm.next_param], - pm.param_values[pm.next_param], - MAVLINK_TYPE_FLOAT, - pm.size, - pm.next_param); - mavlink_missionlib_send_message(&tx_msg); -#else - mavlink_msg_param_value_send(MAVLINK_COMM_0, - pm.param_names[pm.next_param], - pm.param_values[pm.next_param], - MAV_DATA_TYPE_FLOAT, - pm.size, - pm.next_param); -#endif - pm.next_param++; - } - } diff --git a/thirdParty/mavlink/missionlib/mavlink_parameters.h b/thirdParty/mavlink/missionlib/mavlink_parameters.h deleted file mode 100644 index 0d7841fcdd85807988aa05dbc5f13c00426f1712..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/missionlib/mavlink_parameters.h +++ /dev/null @@ -1,38 +0,0 @@ -/******************************************************************************* - - Copyright (C) 2011 Lorenz Meier lm ( a t ) inf.ethz.ch - - This program is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation, either version 3 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program. If not, see . - - ****************************************************************************/ - -/* This assumes you have the mavlink headers on your include path - or in the same folder as this source file */ - -// Disable auto-data structures -#ifndef MAVLINK_NO_DATA -#define MAVLINK_NO_DATA -#endif - -#include "mavlink.h" -#include - -/* PARAMETER MANAGER - MISSION LIB */ - -#ifndef MAVLINK_PM_TEXT_FEEDBACK -#define MAVLINK_PM_TEXT_FEEDBACK 1 ///< Report back status information as text -#endif - -void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_message_t* msg); -void mavlink_pm_queued_send(void); \ No newline at end of file diff --git a/thirdParty/mavlink/missionlib/testing/.gitignore b/thirdParty/mavlink/missionlib/testing/.gitignore deleted file mode 100644 index 0776965a63b239ff52dbd7c2afe5aaa7db6c2262..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/missionlib/testing/.gitignore +++ /dev/null @@ -1,3 +0,0 @@ -*.o -udptest -build diff --git a/thirdParty/mavlink/missionlib/testing/main.c b/thirdParty/mavlink/missionlib/testing/main.c deleted file mode 100644 index 21aa1f7e15fae4367a5b0f8ab191f98d875e777f..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/missionlib/testing/main.c +++ /dev/null @@ -1,373 +0,0 @@ -/******************************************************************************* - - Copyright (C) 2011 Lorenz Meier lm ( a t ) inf.ethz.ch - and Bryan Godbolt godbolt ( a t ) ualberta.ca - - adapted from example written by Bryan Godbolt godbolt ( a t ) ualberta.ca - - This program is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation, either version 3 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program. If not, see . - - ****************************************************************************/ -/* - This program sends some data to qgroundcontrol using the mavlink protocol. The sent packets - cause qgroundcontrol to respond with heartbeats. Any settings or custom commands sent from - qgroundcontrol are printed by this program along with the heartbeats. - - - I compiled this program sucessfully on Ubuntu 10.04 with the following command - - gcc -I ../../pixhawk/mavlink/include -o udp-server udp.c - - the rt library is needed for the clock_gettime on linux - */ -/* These headers are for QNX, but should all be standard on unix/linux */ -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#if (defined __QNX__) | (defined __QNXNTO__) -/* QNX specific headers */ -#include -#else -/* Linux / MacOS POSIX timer headers */ -#include -#include -#include -#endif - -/* FIRST: MAVLink setup */ -//#define MAVLINK_CONFIGURED -//#define MAVLINK_NO_DATA -//#define MAVLINK_WPM_VERBOSE - -/* 0: Include MAVLink types */ -#include "mavlink_types.h" - -/* 1: Define mavlink system storage */ -mavlink_system_t mavlink_system; - -/* 2: Include actual protocol, REQUIRES mavlink_system */ -#include "mavlink.h" - -/* 3: Define waypoint helper functions */ -void mavlink_wpm_send_message(mavlink_message_t* msg); -void mavlink_wpm_send_gcs_string(const char* string); -uint64_t mavlink_wpm_get_system_timestamp(); -void mavlink_missionlib_send_message(mavlink_message_t* msg); -void mavlink_missionlib_send_gcs_string(const char* string); -uint64_t mavlink_missionlib_get_system_timestamp(); - -/* 4: Include waypoint protocol */ -#include "waypoints.h" -mavlink_wpm_storage wpm; - - -#include "mavlink_missionlib_data.h" -#include "mavlink_parameters.h" - -mavlink_pm_storage pm; - -/** - * @brief reset all parameters to default - * @warning DO NOT USE THIS IN FLIGHT! - */ -void mavlink_pm_reset_params(mavlink_pm_storage* pm) -{ - pm->size = MAVLINK_PM_MAX_PARAM_COUNT; - // 1) MAVLINK_PM_PARAM_SYSTEM_ID - pm->param_values[MAVLINK_PM_PARAM_SYSTEM_ID] = 12; - strcpy(pm->param_names[MAVLINK_PM_PARAM_SYSTEM_ID], "SYS_ID"); - // 2) MAVLINK_PM_PARAM_ATT_K_D - pm->param_values[MAVLINK_PM_PARAM_ATT_K_D] = 0.3f; - strcpy(pm->param_names[MAVLINK_PM_PARAM_ATT_K_D], "ATT_K_D"); -} - - -#define BUFFER_LENGTH 2041 // minimum buffer size that can be used with qnx (I don't know why) - -char help[] = "--help"; - - -char target_ip[100]; - -float position[6] = {}; -int sock; -struct sockaddr_in gcAddr; -struct sockaddr_in locAddr; -uint8_t buf[BUFFER_LENGTH]; -ssize_t recsize; -socklen_t fromlen; -int bytes_sent; -mavlink_message_t msg; -uint16_t len; -int i = 0; -unsigned int temp = 0; - -uint64_t microsSinceEpoch(); - - - - -/* Provide the interface functions for the waypoint manager */ - -/* - * @brief Sends a MAVLink message over UDP - */ - -void mavlink_missionlib_send_message(mavlink_message_t* msg) -{ - uint8_t buf[MAVLINK_MAX_PACKET_LEN]; - uint16_t len = mavlink_msg_to_send_buffer(buf, msg); - uint16_t bytes_sent = sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof (struct sockaddr_in)); - - printf("SENT %d bytes\n", bytes_sent); -} - -void mavlink_missionlib_send_gcs_string(const char* string) -{ - const int len = 50; - mavlink_statustext_t status; - int i = 0; - while (i < len - 1) - { - status.text[i] = string[i]; - if (string[i] == '\0') - break; - i++; - } - status.text[i] = '\0'; // Enforce null termination - mavlink_message_t msg; - - mavlink_msg_statustext_encode(mavlink_system.sysid, mavlink_system.compid, &msg, &status); - mavlink_missionlib_send_message(&msg); -} - -uint64_t mavlink_missionlib_get_system_timestamp() -{ - struct timeval tv; - gettimeofday(&tv, NULL); - return ((uint64_t)tv.tv_sec) * 1000000 + tv.tv_usec; -} - -float roll, pitch, yaw; -uint32_t latitude, longitude, altitude; -uint16_t speedx, speedy, speedz; -float rollspeed, pitchspeed, yawspeed; -bool hilEnabled = false; - -int main(int argc, char* argv[]) -{ - // Initialize MAVLink - mavlink_wpm_init(&wpm); - mavlink_system.sysid = 5; - mavlink_system.compid = 20; - mavlink_pm_reset_params(&pm); - - int32_t ground_distance; - uint32_t time_ms; - - - - // Create socket - sock = socket(PF_INET, SOCK_DGRAM, IPPROTO_UDP); - - // Check if --help flag was used - if ((argc == 2) && (strcmp(argv[1], help) == 0)) - { - printf("\n"); - printf("\tUsage:\n\n"); - printf("\t"); - printf("%s", argv[0]); - printf(" \n"); - printf("\tDefault for localhost: udp-server 127.0.0.1\n\n"); - exit(EXIT_FAILURE); - } - - - // Change the target ip if parameter was given - strcpy(target_ip, "127.0.0.1"); - if (argc == 2) - { - strcpy(target_ip, argv[1]); - } - - - memset(&locAddr, 0, sizeof(locAddr)); - locAddr.sin_family = AF_INET; - locAddr.sin_addr.s_addr = INADDR_ANY; - locAddr.sin_port = htons(14551); - - /* Bind the socket to port 14551 - necessary to receive packets from qgroundcontrol */ - if (-1 == bind(sock,(struct sockaddr *)&locAddr, sizeof(struct sockaddr))) - { - perror("error bind failed"); - close(sock); - exit(EXIT_FAILURE); - } - - /* Attempt to make it non blocking */ - if (fcntl(sock, F_SETFL, O_NONBLOCK | FASYNC) < 0) - { - fprintf(stderr, "error setting nonblocking: %s\n", strerror(errno)); - close(sock); - exit(EXIT_FAILURE); - } - - - memset(&gcAddr, 0, sizeof(gcAddr)); - gcAddr.sin_family = AF_INET; - gcAddr.sin_addr.s_addr = inet_addr(target_ip); - gcAddr.sin_port = htons(14550); - - - printf("MAVLINK MISSION LIBRARY EXAMPLE PROCESS INITIALIZATION DONE, RUNNING..\n"); - - - for (;;) - { - bytes_sent = 0; - - /* Send Heartbeat */ - mavlink_msg_heartbeat_pack(mavlink_system.sysid, 200, &msg, MAV_TYPE_HELICOPTER, MAV_AUTOPILOT_GENERIC, 0, 0, 0); - len = mavlink_msg_to_send_buffer(buf, &msg); - bytes_sent += sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in)); - - /* Send Status */ - mavlink_msg_sys_status_pack(1, 200, &msg, MAV_MODE_GUIDED_ARMED, 0, MAV_STATE_ACTIVE, 500, 7500, 0, 0, 0, 0, 0, 0, 0, 0); - len = mavlink_msg_to_send_buffer(buf, &msg); - bytes_sent += sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof (struct sockaddr_in)); - - /* Send Local Position */ - mavlink_msg_local_position_ned_pack(mavlink_system.sysid, 200, &msg, microsSinceEpoch(), - position[0], position[1], position[2], - position[3], position[4], position[5]); - len = mavlink_msg_to_send_buffer(buf, &msg); - bytes_sent += sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in)); - - /* Send global position */ - if (hilEnabled) - { - mavlink_msg_global_position_int_pack(mavlink_system.sysid, 200, &msg, time_ms, latitude, longitude, altitude, ground_distance, speedx, speedy, speedz, (yaw/M_PI)*180*100); - len = mavlink_msg_to_send_buffer(buf, &msg); - bytes_sent += sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in)); - } - - /* Send attitude */ - mavlink_msg_attitude_pack(mavlink_system.sysid, 200, &msg, microsSinceEpoch(), roll, pitch, yaw, rollspeed, pitchspeed, yawspeed); - len = mavlink_msg_to_send_buffer(buf, &msg); - bytes_sent += sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in)); - - /* Send HIL outputs */ - float roll_ailerons = 0; // -1 .. 1 - float pitch_elevator = 0.2; // -1 .. 1 - float yaw_rudder = 0.1; // -1 .. 1 - float throttle = 0.9; // 0 .. 1 - mavlink_msg_hil_controls_pack_chan(mavlink_system.sysid, mavlink_system.compid, MAVLINK_COMM_0, &msg, microsSinceEpoch(), roll_ailerons, pitch_elevator, yaw_rudder, throttle, mavlink_system.mode, mavlink_system.nav_mode, 0, 0, 0, 0); - len = mavlink_msg_to_send_buffer(buf, &msg); - bytes_sent += sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in)); - - memset(buf, 0, BUFFER_LENGTH); - recsize = recvfrom(sock, (void *)buf, BUFFER_LENGTH, 0, (struct sockaddr *)&gcAddr, &fromlen); - if (recsize > 0) - { - // Something received - print out all bytes and parse packet - mavlink_message_t msg; - mavlink_status_t status; - - printf("Bytes Received: %d\nDatagram: ", (int)recsize); - for (i = 0; i < recsize; ++i) - { - temp = buf[i]; - printf("%02x ", (unsigned char)temp); - if (mavlink_parse_char(MAVLINK_COMM_0, buf[i], &msg, &status)) - { - // Packet received - printf("\nReceived packet: SYS: %d, COMP: %d, LEN: %d, MSG ID: %d\n", msg.sysid, msg.compid, msg.len, msg.msgid); - - // Handle packet with waypoint component - mavlink_wpm_message_handler(&msg); - - // Handle packet with parameter component - mavlink_pm_message_handler(MAVLINK_COMM_0, &msg); - - // Print HIL values sent to system - if (msg.msgid == MAVLINK_MSG_ID_HIL_STATE) - { - mavlink_hil_state_t hil; - mavlink_msg_hil_state_decode(&msg, &hil); - printf("Received HIL state:\n"); - printf("R: %f P: %f Y: %f\n", hil.roll, hil.pitch, hil.yaw); - roll = hil.roll; - pitch = hil.pitch; - yaw = hil.yaw; - rollspeed = hil.rollspeed; - pitchspeed = hil.pitchspeed; - yawspeed = hil.yawspeed; - speedx = hil.vx; - speedy = hil.vy; - speedz = hil.vz; - latitude = hil.lat; - longitude = hil.lon; - altitude = hil.alt; - hilEnabled = true; - } - } - } - printf("\n"); - } - memset(buf, 0, BUFFER_LENGTH); - usleep(10000); // Sleep 10 ms - - - // Send one parameter - mavlink_pm_queued_send(); - } -} - - -/* QNX timer version */ -#if (defined __QNX__) | (defined __QNXNTO__) -uint64_t microsSinceEpoch() -{ - - struct timespec time; - - uint64_t micros = 0; - - clock_gettime(CLOCK_REALTIME, &time); - micros = (uint64_t)time.tv_sec * 100000 + time.tv_nsec/1000; - - return micros; -} -#else -uint64_t microsSinceEpoch() -{ - - struct timeval tv; - - uint64_t micros = 0; - - gettimeofday(&tv, NULL); - micros = ((uint64_t)tv.tv_sec) * 1000000 + tv.tv_usec; - - return micros; -} -#endif \ No newline at end of file diff --git a/thirdParty/mavlink/missionlib/testing/mavlink_missionlib_data.h b/thirdParty/mavlink/missionlib/testing/mavlink_missionlib_data.h deleted file mode 100644 index a040941e2ccbafcd87b7170cc2534e0b0199d29f..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/missionlib/testing/mavlink_missionlib_data.h +++ /dev/null @@ -1,54 +0,0 @@ -/******************************************************************************* - - Copyright (C) 2011 Lorenz Meier lm ( a t ) inf.ethz.ch - - This program is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation, either version 3 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program. If not, see . - - ****************************************************************************/ - -/* This assumes you have the mavlink headers on your include path - or in the same folder as this source file */ - -// Disable auto-data structures -#ifndef MAVLINK_NO_DATA -#define MAVLINK_NO_DATA -#endif - -#include "mavlink.h" -#include - -/* MISSION LIB DATA STORAGE */ - -enum MAVLINK_PM_PARAMETERS -{ - MAVLINK_PM_PARAM_SYSTEM_ID, - MAVLINK_PM_PARAM_ATT_K_D, - MAVLINK_PM_MAX_PARAM_COUNT // VERY IMPORTANT! KEEP THIS AS LAST ENTRY -}; - - -/* DO NOT EDIT THIS FILE BELOW THIS POINT! */ - - -//extern void mavlink_pm_queued_send(); -struct mavlink_pm_storage { - char param_names[MAVLINK_PM_MAX_PARAM_COUNT][MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN]; ///< Parameter names - float param_values[MAVLINK_PM_MAX_PARAM_COUNT]; ///< Parameter values - uint16_t next_param; - uint16_t size; -}; - -typedef struct mavlink_pm_storage mavlink_pm_storage; - -void mavlink_pm_reset_params(mavlink_pm_storage* pm); \ No newline at end of file diff --git a/thirdParty/mavlink/missionlib/testing/udptest.xcodeproj/project.pbxproj b/thirdParty/mavlink/missionlib/testing/udptest.xcodeproj/project.pbxproj deleted file mode 100644 index 7bc76570d341d36f8e1d7e23978de495501ada27..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/missionlib/testing/udptest.xcodeproj/project.pbxproj +++ /dev/null @@ -1,222 +0,0 @@ -// !$*UTF8*$! -{ - archiveVersion = 1; - classes = { - }; - objectVersion = 45; - objects = { - -/* Begin PBXBuildFile section */ - 348868D013F512010005F759 /* mavlink_parameters.c in Sources */ = {isa = PBXBuildFile; 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without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program. If not, see . - - ****************************************************************************/ - -#include "waypoints.h" -#include - -bool debug = true; -bool verbose = true; - -extern mavlink_wpm_storage wpm; - -extern void mavlink_missionlib_send_message(mavlink_message_t* msg); -extern void mavlink_missionlib_send_gcs_string(const char* string); -extern uint64_t mavlink_missionlib_get_system_timestamp(); -extern void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1, - float param2, float param3, float param4, float param5_lat_x, - float param6_lon_y, float param7_alt_z, uint8_t frame, uint16_t command); - - -#define MAVLINK_WPM_NO_PRINTF - -uint8_t mavlink_wpm_comp_id = MAV_COMP_ID_MISSIONPLANNER; - -void mavlink_wpm_init(mavlink_wpm_storage* state) -{ - // Set all waypoints to zero - - // Set count to zero - state->size = 0; - state->max_size = MAVLINK_WPM_MAX_WP_COUNT; - state->current_state = MAVLINK_WPM_STATE_IDLE; - state->current_partner_sysid = 0; - state->current_partner_compid = 0; - state->timestamp_lastaction = 0; - state->timestamp_last_send_setpoint = 0; - state->timeout = MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT; - state->delay_setpoint = MAVLINK_WPM_SETPOINT_DELAY_DEFAULT; - state->idle = false; ///< indicates if the system is following the waypoints or is waiting - state->current_active_wp_id = -1; ///< id of current waypoint - state->yaw_reached = false; ///< boolean for yaw attitude reached - state->pos_reached = false; ///< boolean for position reached - state->timestamp_lastoutside_orbit = 0;///< timestamp when the MAV was last outside the orbit or had the wrong yaw value - state->timestamp_firstinside_orbit = 0;///< timestamp when the MAV was the first time after a waypoint change inside the orbit and had the correct yaw value - -} - -/* - * @brief Sends an waypoint ack message - */ -void mavlink_wpm_send_waypoint_ack(uint8_t sysid, uint8_t compid, uint8_t type) -{ - mavlink_message_t msg; - mavlink_mission_ack_t wpa; - - wpa.target_system = wpm.current_partner_sysid; - wpa.target_component = wpm.current_partner_compid; - wpa.type = type; - - mavlink_msg_mission_ack_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpa); - mavlink_missionlib_send_message(&msg); - - // FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY")); - - if (MAVLINK_WPM_TEXT_FEEDBACK) - { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("Sent waypoint ACK"); -#else - if (MAVLINK_WPM_VERBOSE) printf("Sent waypoint ack (%u) to ID %u\n", wpa.type, wpa.target_system); -#endif - mavlink_missionlib_send_gcs_string("Sent waypoint ACK"); - } -} - -/* - * @brief Broadcasts the new target waypoint and directs the MAV to fly there - * - * This function broadcasts its new active waypoint sequence number and - * sends a message to the controller, advising it to fly to the coordinates - * of the waypoint with a given orientation - * - * @param seq The waypoint sequence number the MAV should fly to. - */ -void mavlink_wpm_send_waypoint_current(uint16_t seq) -{ - if(seq < wpm.size) - { - mavlink_mission_item_t *cur = &(wpm.waypoints[seq]); - - mavlink_message_t msg; - mavlink_mission_current_t wpc; - - wpc.seq = cur->seq; - - mavlink_msg_mission_current_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpc); - mavlink_missionlib_send_message(&msg); - - // FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY")); - - if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("Set current waypoint\n"); //// printf("Broadcasted new current waypoint %u\n", wpc.seq); - } - else - { - if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("ERROR: wp index out of bounds\n"); - } -} - -/* - * @brief Directs the MAV to fly to a position - * - * Sends a message to the controller, advising it to fly to the coordinates - * of the waypoint with a given orientation - * - * @param seq The waypoint sequence number the MAV should fly to. - */ -void mavlink_wpm_send_setpoint(uint16_t seq) -{ - if(seq < wpm.size) - { - mavlink_mission_item_t *cur = &(wpm.waypoints[seq]); - mavlink_missionlib_current_waypoint_changed(cur->seq, cur->param1, - cur->param2, cur->param3, cur->param4, cur->x, - cur->y, cur->z, cur->frame, cur->command); - - wpm.timestamp_last_send_setpoint = mavlink_missionlib_get_system_timestamp(); - } - else - { - if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("ERROR: Waypoint index out of bounds\n"); //// if (verbose) // printf("ERROR: index out of bounds\n"); - } -} - -void mavlink_wpm_send_waypoint_count(uint8_t sysid, uint8_t compid, uint16_t count) -{ - mavlink_message_t msg; - mavlink_mission_count_t wpc; - - wpc.target_system = wpm.current_partner_sysid; - wpc.target_component = wpm.current_partner_compid; - wpc.count = count; - - mavlink_msg_mission_count_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpc); - mavlink_missionlib_send_message(&msg); - - if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("Sent waypoint count"); //// if (verbose) // printf("Sent waypoint count (%u) to ID %u\n", wpc.count, wpc.target_system); - - // FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY")); -} - -void mavlink_wpm_send_waypoint(uint8_t sysid, uint8_t compid, uint16_t seq) -{ - if (seq < wpm.size) - { - mavlink_message_t msg; - mavlink_mission_item_t *wp = &(wpm.waypoints[seq]); - wp->target_system = wpm.current_partner_sysid; - wp->target_component = wpm.current_partner_compid; - mavlink_msg_mission_item_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, wp); - mavlink_missionlib_send_message(&msg); - if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("Sent waypoint"); //// if (verbose) // printf("Sent waypoint %u to ID %u\n", wp->seq, wp->target_system); - - // FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY")); - } - else - { - if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("ERROR: Waypoint index out of bounds\n"); - } -} - -void mavlink_wpm_send_waypoint_request(uint8_t sysid, uint8_t compid, uint16_t seq) -{ - if (seq < wpm.max_size) - { - mavlink_message_t msg; - mavlink_mission_request_t wpr; - wpr.target_system = wpm.current_partner_sysid; - wpr.target_component = wpm.current_partner_compid; - wpr.seq = seq; - mavlink_msg_mission_request_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpr); - mavlink_missionlib_send_message(&msg); - if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("Sent waypoint request"); //// if (verbose) // printf("Sent waypoint request %u to ID %u\n", wpr.seq, wpr.target_system); - - // FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY")); - } - else - { - if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("ERROR: Waypoint index exceeds list capacity\n"); - } -} - -/* - * @brief emits a message that a waypoint reached - * - * This function broadcasts a message that a waypoint is reached. - * - * @param seq The waypoint sequence number the MAV has reached. - */ -void mavlink_wpm_send_waypoint_reached(uint16_t seq) -{ - mavlink_message_t msg; - mavlink_mission_item_reached_t wp_reached; - - wp_reached.seq = seq; - - mavlink_msg_mission_item_reached_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wp_reached); - mavlink_missionlib_send_message(&msg); - - if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("Sent waypoint reached message"); //// if (verbose) // printf("Sent waypoint %u reached message\n", wp_reached.seq); - - // FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY")); -} - -//float mavlink_wpm_distance_to_segment(uint16_t seq, float x, float y, float z) -//{ -// if (seq < wpm.size) -// { -// mavlink_mission_item_t *cur = waypoints->at(seq); -// -// const PxVector3 A(cur->x, cur->y, cur->z); -// const PxVector3 C(x, y, z); -// -// // seq not the second last waypoint -// if ((uint16_t)(seq+1) < wpm.size) -// { -// mavlink_mission_item_t *next = waypoints->at(seq+1); -// const PxVector3 B(next->x, next->y, next->z); -// const float r = (B-A).dot(C-A) / (B-A).lengthSquared(); -// if (r >= 0 && r <= 1) -// { -// const PxVector3 P(A + r*(B-A)); -// return (P-C).length(); -// } -// else if (r < 0.f) -// { -// return (C-A).length(); -// } -// else -// { -// return (C-B).length(); -// } -// } -// else -// { -// return (C-A).length(); -// } -// } -// else -// { -// // if (verbose) // printf("ERROR: index out of bounds\n"); -// } -// return -1.f; -//} - -float mavlink_wpm_distance_to_point(uint16_t seq, float x, float y, float z) -{ -// if (seq < wpm.size) -// { -// mavlink_mission_item_t *cur = waypoints->at(seq); -// -// const PxVector3 A(cur->x, cur->y, cur->z); -// const PxVector3 C(x, y, z); -// -// return (C-A).length(); -// } -// else -// { -// // if (verbose) // printf("ERROR: index out of bounds\n"); -// } - return -1.f; -} - -void mavlink_wpm_loop() -{ - //check for timed-out operations - uint64_t now = mavlink_missionlib_get_system_timestamp(); - if (now-wpm.timestamp_lastaction > wpm.timeout && wpm.current_state != MAVLINK_WPM_STATE_IDLE) - { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("Operation timeout switching -> IDLE"); -#else - if (MAVLINK_WPM_VERBOSE) printf("Last operation (state=%u) timed out, changing state to MAVLINK_WPM_STATE_IDLE\n", wpm.current_state); -#endif - wpm.current_state = MAVLINK_WPM_STATE_IDLE; - wpm.current_count = 0; - wpm.current_partner_sysid = 0; - wpm.current_partner_compid = 0; - wpm.current_wp_id = -1; - - if(wpm.size == 0) - { - wpm.current_active_wp_id = -1; - } - } - - if(now-wpm.timestamp_last_send_setpoint > wpm.delay_setpoint && wpm.current_active_wp_id < wpm.size) - { - mavlink_wpm_send_setpoint(wpm.current_active_wp_id); - } -} - -void mavlink_wpm_message_handler(const mavlink_message_t* msg) -{ - uint64_t now = mavlink_missionlib_get_system_timestamp(); - switch(msg->msgid) - { - case MAVLINK_MSG_ID_ATTITUDE: - { - if(msg->sysid == mavlink_system.sysid && wpm.current_active_wp_id < wpm.size) - { - mavlink_mission_item_t *wp = &(wpm.waypoints[wpm.current_active_wp_id]); - if(wp->frame == MAV_FRAME_LOCAL_ENU || wp->frame == MAV_FRAME_LOCAL_NED) - { - mavlink_attitude_t att; - mavlink_msg_attitude_decode(msg, &att); - float yaw_tolerance = wpm.accept_range_yaw; - //compare current yaw - if (att.yaw - yaw_tolerance >= 0.0f && att.yaw + yaw_tolerance < 2.f*M_PI) - { - if (att.yaw - yaw_tolerance <= wp->param4 && att.yaw + yaw_tolerance >= wp->param4) - wpm.yaw_reached = true; - } - else if(att.yaw - yaw_tolerance < 0.0f) - { - float lowerBound = 360.0f + att.yaw - yaw_tolerance; - if (lowerBound < wp->param4 || wp->param4 < att.yaw + yaw_tolerance) - wpm.yaw_reached = true; - } - else - { - float upperBound = att.yaw + yaw_tolerance - 2.f*M_PI; - if (att.yaw - yaw_tolerance < wp->param4 || wp->param4 < upperBound) - wpm.yaw_reached = true; - } - } - } - break; - } - - case MAVLINK_MSG_ID_LOCAL_POSITION_NED: - { - if(msg->sysid == mavlink_system.sysid && wpm.current_active_wp_id < wpm.size) - { - mavlink_mission_item_t *wp = &(wpm.waypoints[wpm.current_active_wp_id]); - - if(wp->frame == MAV_FRAME_LOCAL_ENU || MAV_FRAME_LOCAL_NED) - { - mavlink_local_position_ned_t pos; - mavlink_msg_local_position_ned_decode(msg, &pos); - //// if (debug) // printf("Received new position: x: %f | y: %f | z: %f\n", pos.x, pos.y, pos.z); - - wpm.pos_reached = false; - - // compare current position (given in message) with current waypoint - float orbit = wp->param1; - - float dist; -// if (wp->param2 == 0) -// { -// // FIXME segment distance -// //dist = mavlink_wpm_distance_to_segment(current_active_wp_id, pos.x, pos.y, pos.z); -// } -// else -// { - dist = mavlink_wpm_distance_to_point(wpm.current_active_wp_id, pos.x, pos.y, pos.z); -// } - - if (dist >= 0.f && dist <= orbit && wpm.yaw_reached) - { - wpm.pos_reached = true; - } - } - } - break; - } - -// case MAVLINK_MSG_ID_CMD: // special action from ground station -// { -// mavlink_cmd_t action; -// mavlink_msg_cmd_decode(msg, &action); -// if(action.target == mavlink_system.sysid) -// { -// // if (verbose) std::cerr << "Waypoint: received message with action " << action.action << std::endl; -// switch (action.action) -// { -// // case MAV_ACTION_LAUNCH: -// // // if (verbose) std::cerr << "Launch received" << std::endl; -// // current_active_wp_id = 0; -// // if (wpm.size>0) -// // { -// // setActive(waypoints[current_active_wp_id]); -// // } -// // else -// // // if (verbose) std::cerr << "No launch, waypointList empty" << std::endl; -// // break; -// -// // case MAV_ACTION_CONTINUE: -// // // if (verbose) std::c -// // err << "Continue received" << std::endl; -// // idle = false; -// // setActive(waypoints[current_active_wp_id]); -// // break; -// -// // case MAV_ACTION_HALT: -// // // if (verbose) std::cerr << "Halt received" << std::endl; -// // idle = true; -// // break; -// -// // default: -// // // if (verbose) std::cerr << "Unknown action received with id " << action.action << ", no action taken" << std::endl; -// // break; -// } -// } -// break; -// } - - case MAVLINK_MSG_ID_MISSION_ACK: - { - mavlink_mission_ack_t wpa; - mavlink_msg_mission_ack_decode(msg, &wpa); - - if((msg->sysid == wpm.current_partner_sysid && msg->compid == wpm.current_partner_compid) && (wpa.target_system == mavlink_system.sysid /*&& wpa.target_component == mavlink_wpm_comp_id*/)) - { - wpm.timestamp_lastaction = now; - - if (wpm.current_state == MAVLINK_WPM_STATE_SENDLIST || wpm.current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS) - { - if (wpm.current_wp_id == wpm.size-1) - { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("Got last WP ACK state -> IDLE"); -#else - if (MAVLINK_WPM_VERBOSE) printf("Received ACK after having sent last waypoint, going to state MAVLINK_WPM_STATE_IDLE\n"); -#endif - wpm.current_state = MAVLINK_WPM_STATE_IDLE; - wpm.current_wp_id = 0; - } - } - } - else - { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("REJ. WP CMD: curr partner id mismatch"); -#else - if (MAVLINK_WPM_VERBOSE) printf("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH\n"); -#endif - } - break; - } - - case MAVLINK_MSG_ID_MISSION_SET_CURRENT: - { - mavlink_mission_set_current_t wpc; - mavlink_msg_mission_set_current_decode(msg, &wpc); - - if(wpc.target_system == mavlink_system.sysid /*&& wpc.target_component == mavlink_wpm_comp_id*/) - { - wpm.timestamp_lastaction = now; - - if (wpm.current_state == MAVLINK_WPM_STATE_IDLE) - { - if (wpc.seq < wpm.size) - { - // if (verbose) // printf("Received MAVLINK_MSG_ID_MISSION_ITEM_SET_CURRENT\n"); - wpm.current_active_wp_id = wpc.seq; - uint32_t i; - for(i = 0; i < wpm.size; i++) - { - if (i == wpm.current_active_wp_id) - { - wpm.waypoints[i].current = true; - } - else - { - wpm.waypoints[i].current = false; - } - } -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("NEW WP SET"); -#else - if (MAVLINK_WPM_VERBOSE) printf("New current waypoint %u\n", wpm.current_active_wp_id); -#endif - wpm.yaw_reached = false; - wpm.pos_reached = false; - mavlink_wpm_send_waypoint_current(wpm.current_active_wp_id); - mavlink_wpm_send_setpoint(wpm.current_active_wp_id); - wpm.timestamp_firstinside_orbit = 0; - } - else - { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("IGN WP CURR CMD: Not in list"); -#else - if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_SET_CURRENT: Index out of bounds\n"); -#endif - } - } - else - { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("IGN WP CURR CMD: Busy"); -#else - if (MAVLINK_WPM_VERBOSE) printf("IGNORED WAYPOINT COMMAND BECAUSE NOT IN IDLE STATE\n"); -#endif - } - } - else - { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("REJ. WP CMD: target id mismatch"); -#else - if (MAVLINK_WPM_VERBOSE) printf("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH\n"); -#endif - } - break; - } - - case MAVLINK_MSG_ID_MISSION_REQUEST_LIST: - { - mavlink_mission_request_list_t wprl; - mavlink_msg_mission_request_list_decode(msg, &wprl); - if(wprl.target_system == mavlink_system.sysid /*&& wprl.target_component == mavlink_wpm_comp_id*/) - { - wpm.timestamp_lastaction = now; - - if (wpm.current_state == MAVLINK_WPM_STATE_IDLE || wpm.current_state == MAVLINK_WPM_STATE_SENDLIST) - { - if (wpm.size > 0) - { - //if (verbose && wpm.current_state == MAVLINK_WPM_STATE_IDLE) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST from %u changing state to MAVLINK_WPM_STATE_SENDLIST\n", msg->sysid); -// if (verbose && wpm.current_state == MAVLINK_WPM_STATE_SENDLIST) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST again from %u staying in state MAVLINK_WPM_STATE_SENDLIST\n", msg->sysid); - wpm.current_state = MAVLINK_WPM_STATE_SENDLIST; - wpm.current_wp_id = 0; - wpm.current_partner_sysid = msg->sysid; - wpm.current_partner_compid = msg->compid; - } - else - { - // if (verbose) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST from %u but have no waypoints, staying in \n", msg->sysid); - } - wpm.current_count = wpm.size; - mavlink_wpm_send_waypoint_count(msg->sysid,msg->compid, wpm.current_count); - } - else - { - // if (verbose) // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST because i'm doing something else already (state=%i).\n", wpm.current_state); - } - } - else - { - // if (verbose) // printf("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT MISMATCH\n"); - } - - break; - } - - case MAVLINK_MSG_ID_MISSION_REQUEST: - { - mavlink_mission_request_t wpr; - mavlink_msg_mission_request_decode(msg, &wpr); - if(msg->sysid == wpm.current_partner_sysid && msg->compid == wpm.current_partner_compid && wpr.target_system == mavlink_system.sysid /*&& wpr.target_component == mavlink_wpm_comp_id*/) - { - wpm.timestamp_lastaction = now; - - //ensure that we are in the correct state and that the first request has id 0 and the following requests have either the last id (re-send last waypoint) or last_id+1 (next waypoint) - if ((wpm.current_state == MAVLINK_WPM_STATE_SENDLIST && wpr.seq == 0) || (wpm.current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS && (wpr.seq == wpm.current_wp_id || wpr.seq == wpm.current_wp_id + 1) && wpr.seq < wpm.size)) - { - if (wpm.current_state == MAVLINK_WPM_STATE_SENDLIST) - { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("GOT WP REQ, state -> SEND"); -#else - if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u from %u changing state to MAVLINK_WPM_STATE_SENDLIST_SENDWPS\n", wpr.seq, msg->sysid); -#endif - } - if (wpm.current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS && wpr.seq == wpm.current_wp_id + 1) - { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("GOT 2nd WP REQ"); -#else - if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u from %u staying in state MAVLINK_WPM_STATE_SENDLIST_SENDWPS\n", wpr.seq, msg->sysid); -#endif - } - if (wpm.current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS && wpr.seq == wpm.current_wp_id) - { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("GOT 2nd WP REQ"); -#else - if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u (again) from %u staying in state MAVLINK_WPM_STATE_SENDLIST_SENDWPS\n", wpr.seq, msg->sysid); -#endif - } - - wpm.current_state = MAVLINK_WPM_STATE_SENDLIST_SENDWPS; - wpm.current_wp_id = wpr.seq; - mavlink_wpm_send_waypoint(wpm.current_partner_sysid, wpm.current_partner_compid, wpr.seq); - } - else - { - // if (verbose) - { - if (!(wpm.current_state == MAVLINK_WPM_STATE_SENDLIST || wpm.current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS)) - { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy"); -#else - if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because i'm doing something else already (state=%i).\n", wpm.current_state); -#endif - break; - } - else if (wpm.current_state == MAVLINK_WPM_STATE_SENDLIST) - { - if (wpr.seq != 0) - { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("REJ. WP CMD: First id != 0"); -#else - if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the first requested waypoint ID (%u) was not 0.\n", wpr.seq); -#endif - } - } - else if (wpm.current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS) - { - if (wpr.seq != wpm.current_wp_id && wpr.seq != wpm.current_wp_id + 1) - { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("REJ. WP CMD: Req. WP was unexpected"); -#else - if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the requested waypoint ID (%u) was not the expected (%u or %u).\n", wpr.seq, wpm.current_wp_id, wpm.current_wp_id+1); -#endif - } - else if (wpr.seq >= wpm.size) - { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("REJ. WP CMD: Req. WP not in list"); -#else - if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the requested waypoint ID (%u) was out of bounds.\n", wpr.seq); -#endif - } - } - else - { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("REJ. WP CMD: ?"); -#else - if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST - FIXME: missed error description\n"); -#endif - } - } - } - } - else - { - //we we're target but already communicating with someone else - if((wpr.target_system == mavlink_system.sysid /*&& wpr.target_component == mavlink_wpm_comp_id*/) && !(msg->sysid == wpm.current_partner_sysid && msg->compid == wpm.current_partner_compid)) - { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy"); -#else - if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST from ID %u because i'm already talking to ID %u.\n", msg->sysid, wpm.current_partner_sysid); -#endif - } - else - { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("REJ. WP CMD: target id mismatch"); -#else - if (MAVLINK_WPM_VERBOSE) printf("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH\n"); -#endif - } - - } - break; - } - - case MAVLINK_MSG_ID_MISSION_COUNT: - { - mavlink_mission_count_t wpc; - mavlink_msg_mission_count_decode(msg, &wpc); - if(wpc.target_system == mavlink_system.sysid/* && wpc.target_component == mavlink_wpm_comp_id*/) - { - wpm.timestamp_lastaction = now; - - if (wpm.current_state == MAVLINK_WPM_STATE_IDLE || (wpm.current_state == MAVLINK_WPM_STATE_GETLIST && wpm.current_wp_id == 0)) - { - if (wpc.count > 0) - { - if (wpm.current_state == MAVLINK_WPM_STATE_IDLE) - { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("WP CMD OK: state -> GETLIST"); -#else - if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_MISSION_ITEM_COUNT (%u) from %u changing state to MAVLINK_WPM_STATE_GETLIST\n", wpc.count, msg->sysid); -#endif - } - if (wpm.current_state == MAVLINK_WPM_STATE_GETLIST) - { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("WP CMD OK AGAIN"); -#else - if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_MISSION_ITEM_COUNT (%u) again from %u\n", wpc.count, msg->sysid); -#endif - } - - wpm.current_state = MAVLINK_WPM_STATE_GETLIST; - wpm.current_wp_id = 0; - wpm.current_partner_sysid = msg->sysid; - wpm.current_partner_compid = msg->compid; - wpm.current_count = wpc.count; - -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("CLR RCV BUF: READY"); -#else - if (MAVLINK_WPM_VERBOSE) printf("clearing receive buffer and readying for receiving waypoints\n"); -#endif - wpm.rcv_size = 0; - //while(waypoints_receive_buffer->size() > 0) -// { -// delete waypoints_receive_buffer->back(); -// waypoints_receive_buffer->pop_back(); -// } - - mavlink_wpm_send_waypoint_request(wpm.current_partner_sysid, wpm.current_partner_compid, wpm.current_wp_id); - } - else if (wpc.count == 0) - { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("COUNT 0"); -#else - if (MAVLINK_WPM_VERBOSE) printf("got waypoint count of 0, clearing waypoint list and staying in state MAVLINK_WPM_STATE_IDLE\n"); -#endif - wpm.rcv_size = 0; - //while(waypoints_receive_buffer->size() > 0) -// { -// delete waypoints->back(); -// waypoints->pop_back(); -// } - wpm.current_active_wp_id = -1; - wpm.yaw_reached = false; - wpm.pos_reached = false; - break; - - } - else - { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("IGN WP CMD"); -#else - if (MAVLINK_WPM_VERBOSE) printf("Ignoring MAVLINK_MSG_ID_MISSION_ITEM_COUNT from %u with count of %u\n", msg->sysid, wpc.count); -#endif - } - } - else - { - if (!(wpm.current_state == MAVLINK_WPM_STATE_IDLE || wpm.current_state == MAVLINK_WPM_STATE_GETLIST)) - { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy"); -#else - if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_COUNT because i'm doing something else already (state=%i).\n", wpm.current_state); -#endif - } - else if (wpm.current_state == MAVLINK_WPM_STATE_GETLIST && wpm.current_wp_id != 0) - { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy"); -#else - if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_COUNT because i'm already receiving waypoint %u.\n", wpm.current_wp_id); -#endif - } - else - { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("REJ. WP CMD: ?"); -#else - if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_COUNT - FIXME: missed error description\n"); -#endif - } - } - } - else - { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("REJ. WP CMD: target id mismatch"); -#else - if (MAVLINK_WPM_VERBOSE) printf("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH\n"); -#endif - } - - } - break; - - case MAVLINK_MSG_ID_MISSION_ITEM: - { - mavlink_mission_item_t wp; - mavlink_msg_mission_item_decode(msg, &wp); - - mavlink_missionlib_send_gcs_string("GOT WP"); - - if((msg->sysid == wpm.current_partner_sysid && msg->compid == wpm.current_partner_compid) && (wp.target_system == mavlink_system.sysid /*&& wp.target_component == mavlink_wpm_comp_id*/)) - { - wpm.timestamp_lastaction = now; - - //ensure that we are in the correct state and that the first waypoint has id 0 and the following waypoints have the correct ids - if ((wpm.current_state == MAVLINK_WPM_STATE_GETLIST && wp.seq == 0) || (wpm.current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS && wp.seq == wpm.current_wp_id && wp.seq < wpm.current_count)) - { -// if (verbose && wpm.current_state == MAVLINK_WPM_STATE_GETLIST) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM %u from %u changing state to MAVLINK_WPM_STATE_GETLIST_GETWPS\n", wp.seq, msg->sysid); -// if (verbose && wpm.current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS && wp.seq == wpm.current_wp_id) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM %u from %u\n", wp.seq, msg->sysid); -// if (verbose && wpm.current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS && wp.seq-1 == wpm.current_wp_id) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM %u (again) from %u\n", wp.seq, msg->sysid); -// - wpm.current_state = MAVLINK_WPM_STATE_GETLIST_GETWPS; - mavlink_mission_item_t* newwp = &(wpm.rcv_waypoints[wp.seq]); - memcpy(newwp, &wp, sizeof(mavlink_mission_item_t)); - wpm.current_wp_id = wp.seq + 1; - - // if (verbose) // printf ("Added new waypoint to list. X= %f\t Y= %f\t Z= %f\t Yaw= %f\n", newwp->x, newwp->y, newwp->z, newwp->param4); - - if(wpm.current_wp_id == wpm.current_count && wpm.current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS) - { - mavlink_missionlib_send_gcs_string("GOT ALL WPS"); - // if (verbose) // printf("Got all %u waypoints, changing state to MAVLINK_WPM_STATE_IDLE\n", wpm.current_count); - - mavlink_wpm_send_waypoint_ack(wpm.current_partner_sysid, wpm.current_partner_compid, 0); - - if (wpm.current_active_wp_id > wpm.rcv_size-1) - { - wpm.current_active_wp_id = wpm.rcv_size-1; - } - - // switch the waypoints list - // FIXME CHECK!!! - for (int i = 0; i < wpm.current_count; ++i) - { - wpm.waypoints[i] = wpm.rcv_waypoints[i]; - } - wpm.size = wpm.current_count; - - //get the new current waypoint - uint32_t i; - for(i = 0; i < wpm.size; i++) - { - if (wpm.waypoints[i].current == 1) - { - wpm.current_active_wp_id = i; - //// if (verbose) // printf("New current waypoint %u\n", current_active_wp_id); - wpm.yaw_reached = false; - wpm.pos_reached = false; - mavlink_wpm_send_waypoint_current(wpm.current_active_wp_id); - mavlink_wpm_send_setpoint(wpm.current_active_wp_id); - wpm.timestamp_firstinside_orbit = 0; - break; - } - } - - if (i == wpm.size) - { - wpm.current_active_wp_id = -1; - wpm.yaw_reached = false; - wpm.pos_reached = false; - wpm.timestamp_firstinside_orbit = 0; - } - - wpm.current_state = MAVLINK_WPM_STATE_IDLE; - } - else - { - mavlink_wpm_send_waypoint_request(wpm.current_partner_sysid, wpm.current_partner_compid, wpm.current_wp_id); - } - } - else - { - if (wpm.current_state == MAVLINK_WPM_STATE_IDLE) - { - //we're done receiving waypoints, answer with ack. - mavlink_wpm_send_waypoint_ack(wpm.current_partner_sysid, wpm.current_partner_compid, 0); - // printf("Received MAVLINK_MSG_ID_MISSION_ITEM while state=MAVLINK_WPM_STATE_IDLE, answered with WAYPOINT_ACK.\n"); - } - // if (verbose) - { - if (!(wpm.current_state == MAVLINK_WPM_STATE_GETLIST || wpm.current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS)) - { - // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u because i'm doing something else already (state=%i).\n", wp.seq, wpm.current_state); - break; - } - else if (wpm.current_state == MAVLINK_WPM_STATE_GETLIST) - { - if(!(wp.seq == 0)) - { - // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the first waypoint ID (%u) was not 0.\n", wp.seq); - } - else - { - // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u - FIXME: missed error description\n", wp.seq); - } - } - else if (wpm.current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS) - { - if (!(wp.seq == wpm.current_wp_id)) - { - // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the waypoint ID (%u) was not the expected %u.\n", wp.seq, wpm.current_wp_id); - } - else if (!(wp.seq < wpm.current_count)) - { - // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the waypoint ID (%u) was out of bounds.\n", wp.seq); - } - else - { - // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u - FIXME: missed error description\n", wp.seq); - } - } - else - { - // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u - FIXME: missed error description\n", wp.seq); - } - } - } - } - else - { - //we we're target but already communicating with someone else - if((wp.target_system == mavlink_system.sysid /*&& wp.target_component == mavlink_wpm_comp_id*/) && !(msg->sysid == wpm.current_partner_sysid && msg->compid == wpm.current_partner_compid) && wpm.current_state != MAVLINK_WPM_STATE_IDLE) - { - // if (verbose) // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u from ID %u because i'm already talking to ID %u.\n", wp.seq, msg->sysid, wpm.current_partner_sysid); - } - else if(wp.target_system == mavlink_system.sysid /* && wp.target_component == mavlink_wpm_comp_id*/) - { - // if (verbose) // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u from ID %u because i have no idea what to do with it\n", wp.seq, msg->sysid); - } - } - break; - } - - case MAVLINK_MSG_ID_MISSION_CLEAR_ALL: - { - mavlink_mission_clear_all_t wpca; - mavlink_msg_mission_clear_all_decode(msg, &wpca); - - if(wpca.target_system == mavlink_system.sysid /*&& wpca.target_component == mavlink_wpm_comp_id */ && wpm.current_state == MAVLINK_WPM_STATE_IDLE) - { - wpm.timestamp_lastaction = now; - - // if (verbose) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM_CLEAR_LIST from %u deleting all waypoints\n", msg->sysid); - // Delete all waypoints - wpm.size = 0; - wpm.current_active_wp_id = -1; - wpm.yaw_reached = false; - wpm.pos_reached = false; - } - else if (wpca.target_system == mavlink_system.sysid /*&& wpca.target_component == mavlink_wpm_comp_id */ && wpm.current_state != MAVLINK_WPM_STATE_IDLE) - { - // if (verbose) // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_CLEAR_LIST from %u because i'm doing something else already (state=%i).\n", msg->sysid, wpm.current_state); - } - break; - } - - default: - { - // if (debug) // printf("Waypoint: received message of unknown type"); - break; - } - } - - //check if the current waypoint was reached - if (wpm.pos_reached /*wpm.yaw_reached &&*/ && !wpm.idle) - { - if (wpm.current_active_wp_id < wpm.size) - { - mavlink_mission_item_t *cur_wp = &(wpm.waypoints[wpm.current_active_wp_id]); - - if (wpm.timestamp_firstinside_orbit == 0) - { - // Announce that last waypoint was reached - // if (verbose) // printf("*** Reached waypoint %u ***\n", cur_wp->seq); - mavlink_wpm_send_waypoint_reached(cur_wp->seq); - wpm.timestamp_firstinside_orbit = now; - } - - // check if the MAV was long enough inside the waypoint orbit - //if (now-timestamp_lastoutside_orbit > (cur_wp->hold_time*1000)) - if(now-wpm.timestamp_firstinside_orbit >= cur_wp->param2*1000) - { - if (cur_wp->autocontinue) - { - cur_wp->current = 0; - if (wpm.current_active_wp_id == wpm.size - 1 && wpm.size > 1) - { - //the last waypoint was reached, if auto continue is - //activated restart the waypoint list from the beginning - wpm.current_active_wp_id = 1; - } - else - { - if ((uint16_t)(wpm.current_active_wp_id + 1) < wpm.size) - wpm.current_active_wp_id++; - } - - // Fly to next waypoint - wpm.timestamp_firstinside_orbit = 0; - mavlink_wpm_send_waypoint_current(wpm.current_active_wp_id); - mavlink_wpm_send_setpoint(wpm.current_active_wp_id); - wpm.waypoints[wpm.current_active_wp_id].current = true; - wpm.pos_reached = false; - wpm.yaw_reached = false; - // if (verbose) // printf("Set new waypoint (%u)\n", wpm.current_active_wp_id); - } - } - } - } - else - { - wpm.timestamp_lastoutside_orbit = now; - } -} - diff --git a/thirdParty/mavlink/missionlib/waypoints.h b/thirdParty/mavlink/missionlib/waypoints.h deleted file mode 100644 index 49374f6a3d4c56b930ec265f6f77fad83f3f88a4..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/missionlib/waypoints.h +++ /dev/null @@ -1,104 +0,0 @@ -/******************************************************************************* - - Copyright (C) 2011 Lorenz Meier lm ( a t ) inf.ethz.ch - - This program is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation, either version 3 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program. If not, see . - - ****************************************************************************/ - -/* This assumes you have the mavlink headers on your include path - or in the same folder as this source file */ - -// Disable auto-data structures -#ifndef MAVLINK_NO_DATA -#define MAVLINK_NO_DATA -#endif - -#include -extern void mavlink_send_uart_bytes(mavlink_channel_t chan, uint8_t* buffer, uint16_t len); - -#ifndef MAVLINK_SEND_UART_BYTES -#define MAVLINK_SEND_UART_BYTES(chan, buffer, len) mavlink_send_uart_bytes(chan, buffer, len) -#endif -extern mavlink_system_t mavlink_system; -#include -#include - -// FIXME XXX - TO BE MOVED TO XML -enum MAVLINK_WPM_STATES -{ - MAVLINK_WPM_STATE_IDLE = 0, - MAVLINK_WPM_STATE_SENDLIST, - MAVLINK_WPM_STATE_SENDLIST_SENDWPS, - MAVLINK_WPM_STATE_GETLIST, - MAVLINK_WPM_STATE_GETLIST_GETWPS, - MAVLINK_WPM_STATE_GETLIST_GOTALL, - MAVLINK_WPM_STATE_ENUM_END -}; - -enum MAVLINK_WPM_CODES -{ - MAVLINK_WPM_CODE_OK = 0, - MAVLINK_WPM_CODE_ERR_WAYPOINT_ACTION_NOT_SUPPORTED, - MAVLINK_WPM_CODE_ERR_WAYPOINT_FRAME_NOT_SUPPORTED, - MAVLINK_WPM_CODE_ERR_WAYPOINT_OUT_OF_BOUNDS, - MAVLINK_WPM_CODE_ERR_WAYPOINT_MAX_NUMBER_EXCEEDED, - MAVLINK_WPM_CODE_ENUM_END -}; - - -/* WAYPOINT MANAGER - MISSION LIB */ - -#define MAVLINK_WPM_MAX_WP_COUNT 15 -#define MAVLINK_WPM_CONFIG_IN_FLIGHT_UPDATE ///< Enable double buffer and in-flight updates -#ifndef MAVLINK_WPM_TEXT_FEEDBACK -#define MAVLINK_WPM_TEXT_FEEDBACK 0 ///< Report back status information as text -#endif -#define MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT 5000 ///< Protocol communication timeout in milliseconds -#define MAVLINK_WPM_SETPOINT_DELAY_DEFAULT 1000 ///< When to send a new setpoint -#define MAVLINK_WPM_PROTOCOL_DELAY_DEFAULT 40 - - -struct mavlink_wpm_storage { - mavlink_mission_item_t waypoints[MAVLINK_WPM_MAX_WP_COUNT]; ///< Currently active waypoints -#ifdef MAVLINK_WPM_CONFIG_IN_FLIGHT_UPDATE - mavlink_mission_item_t rcv_waypoints[MAVLINK_WPM_MAX_WP_COUNT]; ///< Receive buffer for next waypoints -#endif - uint16_t size; - uint16_t max_size; - uint16_t rcv_size; - enum MAVLINK_WPM_STATES current_state; - uint16_t current_wp_id; ///< Waypoint in current transmission - uint16_t current_active_wp_id; ///< Waypoint the system is currently heading towards - uint16_t current_count; - uint8_t current_partner_sysid; - uint8_t current_partner_compid; - uint64_t timestamp_lastaction; - uint64_t timestamp_last_send_setpoint; - uint64_t timestamp_firstinside_orbit; - uint64_t timestamp_lastoutside_orbit; - uint32_t timeout; - uint32_t delay_setpoint; - float accept_range_yaw; - float accept_range_distance; - bool yaw_reached; - bool pos_reached; - bool idle; -}; - -typedef struct mavlink_wpm_storage mavlink_wpm_storage; - -void mavlink_wpm_init(mavlink_wpm_storage* state); -void mavlink_wpm_loop(); -void mavlink_wpm_message_handler(const mavlink_message_t* msg); diff --git a/thirdParty/mavlink/src/pixhawk/pixhawk.pb.cc b/thirdParty/mavlink/src/pixhawk/pixhawk.pb.cc deleted file mode 100644 index 2e2058224a421351b8c5cff77601cc322272d30c..0000000000000000000000000000000000000000 --- a/thirdParty/mavlink/src/pixhawk/pixhawk.pb.cc +++ /dev/null @@ -1,4790 +0,0 @@ -// Generated by the protocol buffer compiler. DO NOT EDIT! - -#define INTERNAL_SUPPRESS_PROTOBUF_FIELD_DEPRECATION -#include "pixhawk.pb.h" - -#include - -#include -#include -#include -#include -#include -#include -// @@protoc_insertion_point(includes) - -namespace px { - -namespace { - -const ::google::protobuf::Descriptor* HeaderInfo_descriptor_ = NULL; -const ::google::protobuf::internal::GeneratedMessageReflection* - HeaderInfo_reflection_ = NULL; -const ::google::protobuf::Descriptor* PointCloudXYZI_descriptor_ = NULL; -const ::google::protobuf::internal::GeneratedMessageReflection* - PointCloudXYZI_reflection_ = NULL; -const ::google::protobuf::Descriptor* PointCloudXYZI_PointXYZI_descriptor_ = NULL; -const ::google::protobuf::internal::GeneratedMessageReflection* - PointCloudXYZI_PointXYZI_reflection_ = NULL; -const ::google::protobuf::Descriptor* PointCloudXYZRGB_descriptor_ = NULL; -const ::google::protobuf::internal::GeneratedMessageReflection* - PointCloudXYZRGB_reflection_ = NULL; -const ::google::protobuf::Descriptor* PointCloudXYZRGB_PointXYZRGB_descriptor_ = NULL; -const ::google::protobuf::internal::GeneratedMessageReflection* - PointCloudXYZRGB_PointXYZRGB_reflection_ = NULL; -const ::google::protobuf::Descriptor* RGBDImage_descriptor_ = NULL; -const ::google::protobuf::internal::GeneratedMessageReflection* - RGBDImage_reflection_ = NULL; -const ::google::protobuf::Descriptor* Obstacle_descriptor_ = NULL; -const ::google::protobuf::internal::GeneratedMessageReflection* - Obstacle_reflection_ = NULL; -const ::google::protobuf::Descriptor* ObstacleList_descriptor_ = NULL; -const ::google::protobuf::internal::GeneratedMessageReflection* - ObstacleList_reflection_ = NULL; -const ::google::protobuf::Descriptor* ObstacleMap_descriptor_ = NULL; -const ::google::protobuf::internal::GeneratedMessageReflection* - ObstacleMap_reflection_ = NULL; -const ::google::protobuf::Descriptor* Waypoint_descriptor_ = NULL; -const ::google::protobuf::internal::GeneratedMessageReflection* - Waypoint_reflection_ = NULL; -const ::google::protobuf::Descriptor* Path_descriptor_ = NULL; -const ::google::protobuf::internal::GeneratedMessageReflection* - Path_reflection_ = NULL; - -} // namespace - - -void protobuf_AssignDesc_pixhawk_2eproto() { - protobuf_AddDesc_pixhawk_2eproto(); - const ::google::protobuf::FileDescriptor* file = - ::google::protobuf::DescriptorPool::generated_pool()->FindFileByName( - "pixhawk.proto"); - GOOGLE_CHECK(file != NULL); - HeaderInfo_descriptor_ = file->message_type(0); - static const int HeaderInfo_offsets_[3] = { - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(HeaderInfo, source_sysid_), - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(HeaderInfo, source_compid_), - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(HeaderInfo, timestamp_), - }; - HeaderInfo_reflection_ = - new ::google::protobuf::internal::GeneratedMessageReflection( - HeaderInfo_descriptor_, - HeaderInfo::default_instance_, - HeaderInfo_offsets_, - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(HeaderInfo, _has_bits_[0]), - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(HeaderInfo, _unknown_fields_), - -1, - ::google::protobuf::DescriptorPool::generated_pool(), - ::google::protobuf::MessageFactory::generated_factory(), - sizeof(HeaderInfo)); - PointCloudXYZI_descriptor_ = file->message_type(1); - static const int PointCloudXYZI_offsets_[2] = { - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZI, header_), - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZI, points_), - }; - PointCloudXYZI_reflection_ = - new ::google::protobuf::internal::GeneratedMessageReflection( - PointCloudXYZI_descriptor_, - PointCloudXYZI::default_instance_, - PointCloudXYZI_offsets_, - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZI, _has_bits_[0]), - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZI, _unknown_fields_), - -1, - ::google::protobuf::DescriptorPool::generated_pool(), - ::google::protobuf::MessageFactory::generated_factory(), - sizeof(PointCloudXYZI)); - PointCloudXYZI_PointXYZI_descriptor_ = PointCloudXYZI_descriptor_->nested_type(0); - static const int PointCloudXYZI_PointXYZI_offsets_[4] = { - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZI_PointXYZI, x_), - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZI_PointXYZI, y_), - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZI_PointXYZI, z_), - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZI_PointXYZI, intensity_), - }; - PointCloudXYZI_PointXYZI_reflection_ = - new ::google::protobuf::internal::GeneratedMessageReflection( - PointCloudXYZI_PointXYZI_descriptor_, - PointCloudXYZI_PointXYZI::default_instance_, - PointCloudXYZI_PointXYZI_offsets_, - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZI_PointXYZI, _has_bits_[0]), - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZI_PointXYZI, _unknown_fields_), - -1, - ::google::protobuf::DescriptorPool::generated_pool(), - ::google::protobuf::MessageFactory::generated_factory(), - sizeof(PointCloudXYZI_PointXYZI)); - PointCloudXYZRGB_descriptor_ = file->message_type(2); - static const int PointCloudXYZRGB_offsets_[2] = { - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZRGB, header_), - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZRGB, points_), - }; - PointCloudXYZRGB_reflection_ = - new ::google::protobuf::internal::GeneratedMessageReflection( - PointCloudXYZRGB_descriptor_, - PointCloudXYZRGB::default_instance_, - PointCloudXYZRGB_offsets_, - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZRGB, _has_bits_[0]), - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZRGB, _unknown_fields_), - -1, - ::google::protobuf::DescriptorPool::generated_pool(), - ::google::protobuf::MessageFactory::generated_factory(), - sizeof(PointCloudXYZRGB)); - PointCloudXYZRGB_PointXYZRGB_descriptor_ = PointCloudXYZRGB_descriptor_->nested_type(0); - static const int PointCloudXYZRGB_PointXYZRGB_offsets_[4] = { - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZRGB_PointXYZRGB, x_), - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZRGB_PointXYZRGB, y_), - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZRGB_PointXYZRGB, z_), - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZRGB_PointXYZRGB, rgb_), - }; - PointCloudXYZRGB_PointXYZRGB_reflection_ = - new ::google::protobuf::internal::GeneratedMessageReflection( - PointCloudXYZRGB_PointXYZRGB_descriptor_, - PointCloudXYZRGB_PointXYZRGB::default_instance_, - PointCloudXYZRGB_PointXYZRGB_offsets_, - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZRGB_PointXYZRGB, _has_bits_[0]), - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZRGB_PointXYZRGB, _unknown_fields_), - -1, - ::google::protobuf::DescriptorPool::generated_pool(), - ::google::protobuf::MessageFactory::generated_factory(), - sizeof(PointCloudXYZRGB_PointXYZRGB)); - RGBDImage_descriptor_ = file->message_type(3); - static const int RGBDImage_offsets_[21] = { - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, header_), - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, cols_), - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, rows_), - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, step1_), - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, type1_), - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, imagedata1_), - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, step2_), - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, type2_), - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, imagedata2_), - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, camera_config_), - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, camera_type_), - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, roll_), - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, pitch_), - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, yaw_), - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, lon_), - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, lat_), - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, alt_), - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, ground_x_), - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, ground_y_), - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, ground_z_), - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, camera_matrix_), - }; - RGBDImage_reflection_ = - new ::google::protobuf::internal::GeneratedMessageReflection( - RGBDImage_descriptor_, - RGBDImage::default_instance_, - RGBDImage_offsets_, - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, _has_bits_[0]), - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, _unknown_fields_), - -1, - ::google::protobuf::DescriptorPool::generated_pool(), - ::google::protobuf::MessageFactory::generated_factory(), - sizeof(RGBDImage)); - Obstacle_descriptor_ = file->message_type(4); - static const int Obstacle_offsets_[6] = { - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Obstacle, x_), - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Obstacle, y_), - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Obstacle, z_), - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Obstacle, length_), - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Obstacle, width_), - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Obstacle, height_), - }; - Obstacle_reflection_ = - new ::google::protobuf::internal::GeneratedMessageReflection( - Obstacle_descriptor_, - Obstacle::default_instance_, - Obstacle_offsets_, - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Obstacle, _has_bits_[0]), - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Obstacle, _unknown_fields_), - -1, - ::google::protobuf::DescriptorPool::generated_pool(), - ::google::protobuf::MessageFactory::generated_factory(), - sizeof(Obstacle)); - ObstacleList_descriptor_ = file->message_type(5); - static const int ObstacleList_offsets_[2] = { - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleList, header_), - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleList, obstacles_), - }; - ObstacleList_reflection_ = - new ::google::protobuf::internal::GeneratedMessageReflection( - ObstacleList_descriptor_, - ObstacleList::default_instance_, - ObstacleList_offsets_, - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleList, _has_bits_[0]), - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleList, _unknown_fields_), - -1, - ::google::protobuf::DescriptorPool::generated_pool(), - ::google::protobuf::MessageFactory::generated_factory(), - sizeof(ObstacleList)); - ObstacleMap_descriptor_ = file->message_type(6); - static const int ObstacleMap_offsets_[10] = { - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleMap, header_), - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleMap, type_), - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleMap, resolution_), - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleMap, rows_), - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleMap, cols_), - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleMap, mapr0_), - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleMap, mapc0_), - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleMap, arrayr0_), - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleMap, arrayc0_), - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleMap, data_), - }; - ObstacleMap_reflection_ = - new ::google::protobuf::internal::GeneratedMessageReflection( - ObstacleMap_descriptor_, - ObstacleMap::default_instance_, - ObstacleMap_offsets_, - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleMap, _has_bits_[0]), - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleMap, _unknown_fields_), - -1, - ::google::protobuf::DescriptorPool::generated_pool(), - ::google::protobuf::MessageFactory::generated_factory(), - sizeof(ObstacleMap)); - Waypoint_descriptor_ = file->message_type(7); - static const int Waypoint_offsets_[6] = { - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Waypoint, x_), - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Waypoint, y_), - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Waypoint, z_), - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Waypoint, roll_), - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Waypoint, pitch_), - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Waypoint, yaw_), - }; - Waypoint_reflection_ = - new ::google::protobuf::internal::GeneratedMessageReflection( - Waypoint_descriptor_, - Waypoint::default_instance_, - Waypoint_offsets_, - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Waypoint, _has_bits_[0]), - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Waypoint, _unknown_fields_), - -1, - ::google::protobuf::DescriptorPool::generated_pool(), - ::google::protobuf::MessageFactory::generated_factory(), - sizeof(Waypoint)); - Path_descriptor_ = file->message_type(8); - static const int Path_offsets_[2] = { - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Path, header_), - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Path, waypoints_), - }; - Path_reflection_ = - new ::google::protobuf::internal::GeneratedMessageReflection( - Path_descriptor_, - Path::default_instance_, - Path_offsets_, - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Path, _has_bits_[0]), - GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Path, _unknown_fields_), - -1, - ::google::protobuf::DescriptorPool::generated_pool(), - ::google::protobuf::MessageFactory::generated_factory(), - sizeof(Path)); -} - -namespace { - -GOOGLE_PROTOBUF_DECLARE_ONCE(protobuf_AssignDescriptors_once_); -inline void protobuf_AssignDescriptorsOnce() { - ::google::protobuf::GoogleOnceInit(&protobuf_AssignDescriptors_once_, - &protobuf_AssignDesc_pixhawk_2eproto); -} - -void protobuf_RegisterTypes(const ::std::string&) { - protobuf_AssignDescriptorsOnce(); - ::google::protobuf::MessageFactory::InternalRegisterGeneratedMessage( - HeaderInfo_descriptor_, &HeaderInfo::default_instance()); - ::google::protobuf::MessageFactory::InternalRegisterGeneratedMessage( - PointCloudXYZI_descriptor_, &PointCloudXYZI::default_instance()); - ::google::protobuf::MessageFactory::InternalRegisterGeneratedMessage( - PointCloudXYZI_PointXYZI_descriptor_, &PointCloudXYZI_PointXYZI::default_instance()); - ::google::protobuf::MessageFactory::InternalRegisterGeneratedMessage( - PointCloudXYZRGB_descriptor_, &PointCloudXYZRGB::default_instance()); - ::google::protobuf::MessageFactory::InternalRegisterGeneratedMessage( - PointCloudXYZRGB_PointXYZRGB_descriptor_, &PointCloudXYZRGB_PointXYZRGB::default_instance()); - ::google::protobuf::MessageFactory::InternalRegisterGeneratedMessage( - RGBDImage_descriptor_, &RGBDImage::default_instance()); - ::google::protobuf::MessageFactory::InternalRegisterGeneratedMessage( - Obstacle_descriptor_, &Obstacle::default_instance()); - ::google::protobuf::MessageFactory::InternalRegisterGeneratedMessage( - ObstacleList_descriptor_, &ObstacleList::default_instance()); - ::google::protobuf::MessageFactory::InternalRegisterGeneratedMessage( - ObstacleMap_descriptor_, &ObstacleMap::default_instance()); - ::google::protobuf::MessageFactory::InternalRegisterGeneratedMessage( - Waypoint_descriptor_, &Waypoint::default_instance()); - ::google::protobuf::MessageFactory::InternalRegisterGeneratedMessage( - Path_descriptor_, &Path::default_instance()); -} - -} // namespace - -void protobuf_ShutdownFile_pixhawk_2eproto() { - delete HeaderInfo::default_instance_; - delete HeaderInfo_reflection_; - delete PointCloudXYZI::default_instance_; - delete PointCloudXYZI_reflection_; - delete PointCloudXYZI_PointXYZI::default_instance_; - delete PointCloudXYZI_PointXYZI_reflection_; - delete PointCloudXYZRGB::default_instance_; - delete PointCloudXYZRGB_reflection_; - delete PointCloudXYZRGB_PointXYZRGB::default_instance_; - delete PointCloudXYZRGB_PointXYZRGB_reflection_; - delete RGBDImage::default_instance_; - delete RGBDImage_reflection_; - delete Obstacle::default_instance_; - delete Obstacle_reflection_; - delete ObstacleList::default_instance_; - delete ObstacleList_reflection_; - delete ObstacleMap::default_instance_; - delete ObstacleMap_reflection_; - delete Waypoint::default_instance_; - delete Waypoint_reflection_; - delete Path::default_instance_; - delete Path_reflection_; -} - -void protobuf_AddDesc_pixhawk_2eproto() { - static bool already_here = false; - if (already_here) return; - already_here = true; - GOOGLE_PROTOBUF_VERIFY_VERSION; - - ::google::protobuf::DescriptorPool::InternalAddGeneratedFile( - "\n\rpixhawk.proto\022\002px\"L\n\nHeaderInfo\022\024\n\014sou" - "rce_sysid\030\001 \002(\005\022\025\n\rsource_compid\030\002 \002(\005\022\021" - "\n\ttimestamp\030\003 \002(\001\"\237\001\n\016PointCloudXYZI\022\036\n\006" - "header\030\001 \002(\0132\016.px.HeaderInfo\022,\n\006points\030\002" - " \003(\0132\034.px.PointCloudXYZI.PointXYZI\032\?\n\tPo" - "intXYZI\022\t\n\001x\030\001 \002(\002\022\t\n\001y\030\002 \002(\002\022\t\n\001z\030\003 \002(\002" - "\022\021\n\tintensity\030\004 \002(\002\"\241\001\n\020PointCloudXYZRGB" - "\022\036\n\006header\030\001 \002(\0132\016.px.HeaderInfo\0220\n\006poin" - "ts\030\002 \003(\0132 .px.PointCloudXYZRGB.PointXYZR" - "GB\032;\n\013PointXYZRGB\022\t\n\001x\030\001 \002(\002\022\t\n\001y\030\002 \002(\002\022" - "\t\n\001z\030\003 \002(\002\022\013\n\003rgb\030\004 \002(\002\"\365\002\n\tRGBDImage\022\036\n" - "\006header\030\001 \002(\0132\016.px.HeaderInfo\022\014\n\004cols\030\002 " - "\002(\r\022\014\n\004rows\030\003 \002(\r\022\r\n\005step1\030\004 \002(\r\022\r\n\005type" - "1\030\005 \002(\r\022\022\n\nimageData1\030\006 \002(\014\022\r\n\005step2\030\007 \002" - "(\r\022\r\n\005type2\030\010 \002(\r\022\022\n\nimageData2\030\t \002(\014\022\025\n" - "\rcamera_config\030\n \001(\r\022\023\n\013camera_type\030\013 \001(" - "\r\022\014\n\004roll\030\014 \001(\002\022\r\n\005pitch\030\r \001(\002\022\013\n\003yaw\030\016 " - "\001(\002\022\013\n\003lon\030\017 \001(\002\022\013\n\003lat\030\020 \001(\002\022\013\n\003alt\030\021 \001" - "(\002\022\020\n\010ground_x\030\022 \001(\002\022\020\n\010ground_y\030\023 \001(\002\022\020" - "\n\010ground_z\030\024 \001(\002\022\025\n\rcamera_matrix\030\025 \003(\002\"" - "Z\n\010Obstacle\022\t\n\001x\030\001 \001(\002\022\t\n\001y\030\002 \001(\002\022\t\n\001z\030\003" - " \001(\002\022\016\n\006length\030\004 \001(\002\022\r\n\005width\030\005 \001(\002\022\016\n\006h" - "eight\030\006 \001(\002\"O\n\014ObstacleList\022\036\n\006header\030\001 " - "\002(\0132\016.px.HeaderInfo\022\037\n\tobstacles\030\002 \003(\0132\014" - ".px.Obstacle\"\271\001\n\013ObstacleMap\022\036\n\006header\030\001" - " \002(\0132\016.px.HeaderInfo\022\014\n\004type\030\002 \002(\005\022\022\n\nre" - "solution\030\003 \001(\002\022\014\n\004rows\030\004 \001(\005\022\014\n\004cols\030\005 \001" - "(\005\022\r\n\005mapR0\030\006 \001(\005\022\r\n\005mapC0\030\007 \001(\005\022\017\n\007arra" - "yR0\030\010 \001(\005\022\017\n\007arrayC0\030\t \001(\005\022\014\n\004data\030\n \001(\014" - "\"U\n\010Waypoint\022\t\n\001x\030\001 \002(\001\022\t\n\001y\030\002 \002(\001\022\t\n\001z\030" - "\003 \001(\001\022\014\n\004roll\030\004 \001(\001\022\r\n\005pitch\030\005 \001(\001\022\013\n\003ya" - "w\030\006 \001(\001\"G\n\004Path\022\036\n\006header\030\001 \002(\0132\016.px.Hea" - "derInfo\022\037\n\twaypoints\030\002 \003(\0132\014.px.Waypoint", 1320); - ::google::protobuf::MessageFactory::InternalRegisterGeneratedFile( - "pixhawk.proto", &protobuf_RegisterTypes); - HeaderInfo::default_instance_ = new HeaderInfo(); - PointCloudXYZI::default_instance_ = new PointCloudXYZI(); - PointCloudXYZI_PointXYZI::default_instance_ = new PointCloudXYZI_PointXYZI(); - PointCloudXYZRGB::default_instance_ = new PointCloudXYZRGB(); - PointCloudXYZRGB_PointXYZRGB::default_instance_ = new PointCloudXYZRGB_PointXYZRGB(); - RGBDImage::default_instance_ = new RGBDImage(); - Obstacle::default_instance_ = new Obstacle(); - ObstacleList::default_instance_ = new ObstacleList(); - ObstacleMap::default_instance_ = new ObstacleMap(); - Waypoint::default_instance_ = new Waypoint(); - Path::default_instance_ = new Path(); - HeaderInfo::default_instance_->InitAsDefaultInstance(); - PointCloudXYZI::default_instance_->InitAsDefaultInstance(); - PointCloudXYZI_PointXYZI::default_instance_->InitAsDefaultInstance(); - PointCloudXYZRGB::default_instance_->InitAsDefaultInstance(); - PointCloudXYZRGB_PointXYZRGB::default_instance_->InitAsDefaultInstance(); - RGBDImage::default_instance_->InitAsDefaultInstance(); - Obstacle::default_instance_->InitAsDefaultInstance(); - ObstacleList::default_instance_->InitAsDefaultInstance(); - ObstacleMap::default_instance_->InitAsDefaultInstance(); - Waypoint::default_instance_->InitAsDefaultInstance(); - Path::default_instance_->InitAsDefaultInstance(); - ::google::protobuf::internal::OnShutdown(&protobuf_ShutdownFile_pixhawk_2eproto); -} - -// Force AddDescriptors() to be called at static initialization time. -struct StaticDescriptorInitializer_pixhawk_2eproto { - StaticDescriptorInitializer_pixhawk_2eproto() { - protobuf_AddDesc_pixhawk_2eproto(); - } -} static_descriptor_initializer_pixhawk_2eproto_; - - -// =================================================================== - -#ifndef _MSC_VER -const int HeaderInfo::kSourceSysidFieldNumber; -const int HeaderInfo::kSourceCompidFieldNumber; -const int HeaderInfo::kTimestampFieldNumber; -#endif // !_MSC_VER - -HeaderInfo::HeaderInfo() - : ::google::protobuf::Message() { - SharedCtor(); -} - -void HeaderInfo::InitAsDefaultInstance() { -} - -HeaderInfo::HeaderInfo(const HeaderInfo& from) - : ::google::protobuf::Message() { - SharedCtor(); - MergeFrom(from); -} - -void HeaderInfo::SharedCtor() { - _cached_size_ = 0; - source_sysid_ = 0; - source_compid_ = 0; - timestamp_ = 0; - ::memset(_has_bits_, 0, sizeof(_has_bits_)); -} - -HeaderInfo::~HeaderInfo() { - SharedDtor(); -} - -void HeaderInfo::SharedDtor() { - if (this != default_instance_) { - } -} - -void HeaderInfo::SetCachedSize(int size) const { - GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN(); - _cached_size_ = size; - GOOGLE_SAFE_CONCURRENT_WRITES_END(); -} -const ::google::protobuf::Descriptor* HeaderInfo::descriptor() { - protobuf_AssignDescriptorsOnce(); - return HeaderInfo_descriptor_; -} - -const HeaderInfo& HeaderInfo::default_instance() { - if (default_instance_ == NULL) protobuf_AddDesc_pixhawk_2eproto(); return *default_instance_; -} - -HeaderInfo* HeaderInfo::default_instance_ = NULL; - -HeaderInfo* HeaderInfo::New() const { - return new HeaderInfo; -} - -void HeaderInfo::Clear() { - if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) { - source_sysid_ = 0; - source_compid_ = 0; - timestamp_ = 0; - } - ::memset(_has_bits_, 0, sizeof(_has_bits_)); - mutable_unknown_fields()->Clear(); -} - -bool HeaderInfo::MergePartialFromCodedStream( - ::google::protobuf::io::CodedInputStream* input) { -#define DO_(EXPRESSION) if (!(EXPRESSION)) return false - ::google::protobuf::uint32 tag; - while ((tag = input->ReadTag()) != 0) { - switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { - // required int32 source_sysid = 1; - case 1: { - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) { - DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< - ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>( - input, &source_sysid_))); - set_has_source_sysid(); - } else { - goto handle_uninterpreted; - } - if (input->ExpectTag(16)) goto parse_source_compid; - break; - } - - // required int32 source_compid = 2; - case 2: { - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) { - parse_source_compid: - DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< - ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>( - input, &source_compid_))); - set_has_source_compid(); - } else { - goto handle_uninterpreted; - } - if (input->ExpectTag(25)) goto parse_timestamp; - break; - } - - // required double timestamp = 3; - case 3: { - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED64) { - parse_timestamp: - DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< - double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( - input, ×tamp_))); - set_has_timestamp(); - } else { - goto handle_uninterpreted; - } - if (input->ExpectAtEnd()) return true; - break; - } - - default: { - handle_uninterpreted: - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_END_GROUP) { - return true; - } - DO_(::google::protobuf::internal::WireFormat::SkipField( - input, tag, mutable_unknown_fields())); - break; - } - } - } - return true; -#undef DO_ -} - -void HeaderInfo::SerializeWithCachedSizes( - ::google::protobuf::io::CodedOutputStream* output) const { - // required int32 source_sysid = 1; - if (has_source_sysid()) { - ::google::protobuf::internal::WireFormatLite::WriteInt32(1, this->source_sysid(), output); - } - - // required int32 source_compid = 2; - if (has_source_compid()) { - ::google::protobuf::internal::WireFormatLite::WriteInt32(2, this->source_compid(), output); - } - - // required double timestamp = 3; - if (has_timestamp()) { - ::google::protobuf::internal::WireFormatLite::WriteDouble(3, this->timestamp(), output); - } - - if (!unknown_fields().empty()) { - ::google::protobuf::internal::WireFormat::SerializeUnknownFields( - unknown_fields(), output); - } -} - -::google::protobuf::uint8* HeaderInfo::SerializeWithCachedSizesToArray( - ::google::protobuf::uint8* target) const { - // required int32 source_sysid = 1; - if (has_source_sysid()) { - target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(1, this->source_sysid(), target); - } - - // required int32 source_compid = 2; - if (has_source_compid()) { - target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(2, this->source_compid(), target); - } - - // required double timestamp = 3; - if (has_timestamp()) { - target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(3, this->timestamp(), target); - } - - if (!unknown_fields().empty()) { - target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( - unknown_fields(), target); - } - return target; -} - -int HeaderInfo::ByteSize() const { - int total_size = 0; - - if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) { - // required int32 source_sysid = 1; - if (has_source_sysid()) { - total_size += 1 + - ::google::protobuf::internal::WireFormatLite::Int32Size( - this->source_sysid()); - } - - // required int32 source_compid = 2; - if (has_source_compid()) { - total_size += 1 + - ::google::protobuf::internal::WireFormatLite::Int32Size( - this->source_compid()); - } - - // required double timestamp = 3; - if (has_timestamp()) { - total_size += 1 + 8; - } - - } - if (!unknown_fields().empty()) { - total_size += - ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( - unknown_fields()); - } - GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN(); - _cached_size_ = total_size; - GOOGLE_SAFE_CONCURRENT_WRITES_END(); - return total_size; -} - -void HeaderInfo::MergeFrom(const ::google::protobuf::Message& from) { - GOOGLE_CHECK_NE(&from, this); - const HeaderInfo* source = - ::google::protobuf::internal::dynamic_cast_if_available( - &from); - if (source == NULL) { - ::google::protobuf::internal::ReflectionOps::Merge(from, this); - } else { - MergeFrom(*source); - } -} - -void HeaderInfo::MergeFrom(const HeaderInfo& from) { - GOOGLE_CHECK_NE(&from, this); - if (from._has_bits_[0 / 32] & (0xffu << (0 % 32))) { - if (from.has_source_sysid()) { - set_source_sysid(from.source_sysid()); - } - if (from.has_source_compid()) { - set_source_compid(from.source_compid()); - } - if (from.has_timestamp()) { - set_timestamp(from.timestamp()); - } - } - mutable_unknown_fields()->MergeFrom(from.unknown_fields()); -} - -void HeaderInfo::CopyFrom(const ::google::protobuf::Message& from) { - if (&from == this) return; - Clear(); - MergeFrom(from); -} - -void HeaderInfo::CopyFrom(const HeaderInfo& from) { - if (&from == this) return; - Clear(); - MergeFrom(from); -} - -bool HeaderInfo::IsInitialized() const { - if ((_has_bits_[0] & 0x00000007) != 0x00000007) return false; - - return true; -} - -void HeaderInfo::Swap(HeaderInfo* other) { - if (other != this) { - std::swap(source_sysid_, other->source_sysid_); - std::swap(source_compid_, other->source_compid_); - std::swap(timestamp_, other->timestamp_); - std::swap(_has_bits_[0], other->_has_bits_[0]); - _unknown_fields_.Swap(&other->_unknown_fields_); - std::swap(_cached_size_, other->_cached_size_); - } -} - -::google::protobuf::Metadata HeaderInfo::GetMetadata() const { - protobuf_AssignDescriptorsOnce(); - ::google::protobuf::Metadata metadata; - metadata.descriptor = HeaderInfo_descriptor_; - metadata.reflection = HeaderInfo_reflection_; - return metadata; -} - - -// =================================================================== - -#ifndef _MSC_VER -const int PointCloudXYZI_PointXYZI::kXFieldNumber; -const int PointCloudXYZI_PointXYZI::kYFieldNumber; -const int PointCloudXYZI_PointXYZI::kZFieldNumber; -const int PointCloudXYZI_PointXYZI::kIntensityFieldNumber; -#endif // !_MSC_VER - -PointCloudXYZI_PointXYZI::PointCloudXYZI_PointXYZI() - : ::google::protobuf::Message() { - SharedCtor(); -} - -void PointCloudXYZI_PointXYZI::InitAsDefaultInstance() { -} - -PointCloudXYZI_PointXYZI::PointCloudXYZI_PointXYZI(const PointCloudXYZI_PointXYZI& from) - : ::google::protobuf::Message() { - SharedCtor(); - MergeFrom(from); -} - -void PointCloudXYZI_PointXYZI::SharedCtor() { - _cached_size_ = 0; - x_ = 0; - y_ = 0; - z_ = 0; - intensity_ = 0; - ::memset(_has_bits_, 0, sizeof(_has_bits_)); -} - -PointCloudXYZI_PointXYZI::~PointCloudXYZI_PointXYZI() { - SharedDtor(); -} - -void PointCloudXYZI_PointXYZI::SharedDtor() { - if (this != default_instance_) { - } -} - -void PointCloudXYZI_PointXYZI::SetCachedSize(int size) const { - GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN(); - _cached_size_ = size; - GOOGLE_SAFE_CONCURRENT_WRITES_END(); -} -const ::google::protobuf::Descriptor* PointCloudXYZI_PointXYZI::descriptor() { - protobuf_AssignDescriptorsOnce(); - return PointCloudXYZI_PointXYZI_descriptor_; -} - -const PointCloudXYZI_PointXYZI& PointCloudXYZI_PointXYZI::default_instance() { - if (default_instance_ == NULL) protobuf_AddDesc_pixhawk_2eproto(); return *default_instance_; -} - -PointCloudXYZI_PointXYZI* PointCloudXYZI_PointXYZI::default_instance_ = NULL; - -PointCloudXYZI_PointXYZI* PointCloudXYZI_PointXYZI::New() const { - return new PointCloudXYZI_PointXYZI; -} - -void PointCloudXYZI_PointXYZI::Clear() { - if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) { - x_ = 0; - y_ = 0; - z_ = 0; - intensity_ = 0; - } - ::memset(_has_bits_, 0, sizeof(_has_bits_)); - mutable_unknown_fields()->Clear(); -} - -bool PointCloudXYZI_PointXYZI::MergePartialFromCodedStream( - ::google::protobuf::io::CodedInputStream* input) { -#define DO_(EXPRESSION) if (!(EXPRESSION)) return false - ::google::protobuf::uint32 tag; - while ((tag = input->ReadTag()) != 0) { - switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { - // required float x = 1; - case 1: { - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) { - DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< - float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>( - input, &x_))); - set_has_x(); - } else { - goto handle_uninterpreted; - } - if (input->ExpectTag(21)) goto parse_y; - break; - } - - // required float y = 2; - case 2: { - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) { - parse_y: - DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< - float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>( - input, &y_))); - set_has_y(); - } else { - goto handle_uninterpreted; - } - if (input->ExpectTag(29)) goto parse_z; - break; - } - - // required float z = 3; - case 3: { - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) { - parse_z: - DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< - float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>( - input, &z_))); - set_has_z(); - } else { - goto handle_uninterpreted; - } - if (input->ExpectTag(37)) goto parse_intensity; - break; - } - - // required float intensity = 4; - case 4: { - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) { - parse_intensity: - DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< - float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>( - input, &intensity_))); - set_has_intensity(); - } else { - goto handle_uninterpreted; - } - if (input->ExpectAtEnd()) return true; - break; - } - - default: { - handle_uninterpreted: - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_END_GROUP) { - return true; - } - DO_(::google::protobuf::internal::WireFormat::SkipField( - input, tag, mutable_unknown_fields())); - break; - } - } - } - return true; -#undef DO_ -} - -void PointCloudXYZI_PointXYZI::SerializeWithCachedSizes( - ::google::protobuf::io::CodedOutputStream* output) const { - // required float x = 1; - if (has_x()) { - ::google::protobuf::internal::WireFormatLite::WriteFloat(1, this->x(), output); - } - - // required float y = 2; - if (has_y()) { - ::google::protobuf::internal::WireFormatLite::WriteFloat(2, this->y(), output); - } - - // required float z = 3; - if (has_z()) { - ::google::protobuf::internal::WireFormatLite::WriteFloat(3, this->z(), output); - } - - // required float intensity = 4; - if (has_intensity()) { - ::google::protobuf::internal::WireFormatLite::WriteFloat(4, this->intensity(), output); - } - - if (!unknown_fields().empty()) { - ::google::protobuf::internal::WireFormat::SerializeUnknownFields( - unknown_fields(), output); - } -} - -::google::protobuf::uint8* PointCloudXYZI_PointXYZI::SerializeWithCachedSizesToArray( - ::google::protobuf::uint8* target) const { - // required float x = 1; - if (has_x()) { - target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(1, this->x(), target); - } - - // required float y = 2; - if (has_y()) { - target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(2, this->y(), target); - } - - // required float z = 3; - if (has_z()) { - target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(3, this->z(), target); - } - - // required float intensity = 4; - if (has_intensity()) { - target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(4, this->intensity(), target); - } - - if (!unknown_fields().empty()) { - target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( - unknown_fields(), target); - } - return target; -} - -int PointCloudXYZI_PointXYZI::ByteSize() const { - int total_size = 0; - - if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) { - // required float x = 1; - if (has_x()) { - total_size += 1 + 4; - } - - // required float y = 2; - if (has_y()) { - total_size += 1 + 4; - } - - // required float z = 3; - if (has_z()) { - total_size += 1 + 4; - } - - // required float intensity = 4; - if (has_intensity()) { - total_size += 1 + 4; - } - - } - if (!unknown_fields().empty()) { - total_size += - ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( - unknown_fields()); - } - GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN(); - _cached_size_ = total_size; - GOOGLE_SAFE_CONCURRENT_WRITES_END(); - return total_size; -} - -void PointCloudXYZI_PointXYZI::MergeFrom(const ::google::protobuf::Message& from) { - GOOGLE_CHECK_NE(&from, this); - const PointCloudXYZI_PointXYZI* source = - ::google::protobuf::internal::dynamic_cast_if_available( - &from); - if (source == NULL) { - ::google::protobuf::internal::ReflectionOps::Merge(from, this); - } else { - MergeFrom(*source); - } -} - -void PointCloudXYZI_PointXYZI::MergeFrom(const PointCloudXYZI_PointXYZI& from) { - GOOGLE_CHECK_NE(&from, this); - if (from._has_bits_[0 / 32] & (0xffu << (0 % 32))) { - if (from.has_x()) { - set_x(from.x()); - } - if (from.has_y()) { - set_y(from.y()); - } - if (from.has_z()) { - set_z(from.z()); - } - if (from.has_intensity()) { - set_intensity(from.intensity()); - } - } - mutable_unknown_fields()->MergeFrom(from.unknown_fields()); -} - -void PointCloudXYZI_PointXYZI::CopyFrom(const ::google::protobuf::Message& from) { - if (&from == this) return; - Clear(); - MergeFrom(from); -} - -void PointCloudXYZI_PointXYZI::CopyFrom(const PointCloudXYZI_PointXYZI& from) { - if (&from == this) return; - Clear(); - MergeFrom(from); -} - -bool PointCloudXYZI_PointXYZI::IsInitialized() const { - if ((_has_bits_[0] & 0x0000000f) != 0x0000000f) return false; - - return true; -} - -void PointCloudXYZI_PointXYZI::Swap(PointCloudXYZI_PointXYZI* other) { - if (other != this) { - std::swap(x_, other->x_); - std::swap(y_, other->y_); - std::swap(z_, other->z_); - std::swap(intensity_, other->intensity_); - std::swap(_has_bits_[0], other->_has_bits_[0]); - _unknown_fields_.Swap(&other->_unknown_fields_); - std::swap(_cached_size_, other->_cached_size_); - } -} - -::google::protobuf::Metadata PointCloudXYZI_PointXYZI::GetMetadata() const { - protobuf_AssignDescriptorsOnce(); - ::google::protobuf::Metadata metadata; - metadata.descriptor = PointCloudXYZI_PointXYZI_descriptor_; - metadata.reflection = PointCloudXYZI_PointXYZI_reflection_; - return metadata; -} - - -// ------------------------------------------------------------------- - -#ifndef _MSC_VER -const int PointCloudXYZI::kHeaderFieldNumber; -const int PointCloudXYZI::kPointsFieldNumber; -#endif // !_MSC_VER - -PointCloudXYZI::PointCloudXYZI() - : ::google::protobuf::Message() { - SharedCtor(); -} - -void PointCloudXYZI::InitAsDefaultInstance() { - header_ = const_cast< ::px::HeaderInfo*>(&::px::HeaderInfo::default_instance()); -} - -PointCloudXYZI::PointCloudXYZI(const PointCloudXYZI& from) - : ::google::protobuf::Message() { - SharedCtor(); - MergeFrom(from); -} - -void PointCloudXYZI::SharedCtor() { - _cached_size_ = 0; - header_ = NULL; - ::memset(_has_bits_, 0, sizeof(_has_bits_)); -} - -PointCloudXYZI::~PointCloudXYZI() { - SharedDtor(); -} - -void PointCloudXYZI::SharedDtor() { - if (this != default_instance_) { - delete header_; - } -} - -void PointCloudXYZI::SetCachedSize(int size) const { - GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN(); - _cached_size_ = size; - GOOGLE_SAFE_CONCURRENT_WRITES_END(); -} -const ::google::protobuf::Descriptor* PointCloudXYZI::descriptor() { - protobuf_AssignDescriptorsOnce(); - return PointCloudXYZI_descriptor_; -} - -const PointCloudXYZI& PointCloudXYZI::default_instance() { - if (default_instance_ == NULL) protobuf_AddDesc_pixhawk_2eproto(); return *default_instance_; -} - -PointCloudXYZI* PointCloudXYZI::default_instance_ = NULL; - -PointCloudXYZI* PointCloudXYZI::New() const { - return new PointCloudXYZI; -} - -void PointCloudXYZI::Clear() { - if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) { - if (has_header()) { - if (header_ != NULL) header_->::px::HeaderInfo::Clear(); - } - } - points_.Clear(); - ::memset(_has_bits_, 0, sizeof(_has_bits_)); - mutable_unknown_fields()->Clear(); -} - -bool PointCloudXYZI::MergePartialFromCodedStream( - ::google::protobuf::io::CodedInputStream* input) { -#define DO_(EXPRESSION) if (!(EXPRESSION)) return false - ::google::protobuf::uint32 tag; - while ((tag = input->ReadTag()) != 0) { - switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { - // required .px.HeaderInfo header = 1; - case 1: { - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) { - DO_(::google::protobuf::internal::WireFormatLite::ReadMessageNoVirtual( - input, mutable_header())); - } else { - goto handle_uninterpreted; - } - if (input->ExpectTag(18)) goto parse_points; - break; - } - - // repeated .px.PointCloudXYZI.PointXYZI points = 2; - case 2: { - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) { - parse_points: - DO_(::google::protobuf::internal::WireFormatLite::ReadMessageNoVirtual( - input, add_points())); - } else { - goto handle_uninterpreted; - } - if (input->ExpectTag(18)) goto parse_points; - if (input->ExpectAtEnd()) return true; - break; - } - - default: { - handle_uninterpreted: - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_END_GROUP) { - return true; - } - DO_(::google::protobuf::internal::WireFormat::SkipField( - input, tag, mutable_unknown_fields())); - break; - } - } - } - return true; -#undef DO_ -} - -void PointCloudXYZI::SerializeWithCachedSizes( - ::google::protobuf::io::CodedOutputStream* output) const { - // required .px.HeaderInfo header = 1; - if (has_header()) { - ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( - 1, this->header(), output); - } - - // repeated .px.PointCloudXYZI.PointXYZI points = 2; - for (int i = 0; i < this->points_size(); i++) { - ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( - 2, this->points(i), output); - } - - if (!unknown_fields().empty()) { - ::google::protobuf::internal::WireFormat::SerializeUnknownFields( - unknown_fields(), output); - } -} - -::google::protobuf::uint8* PointCloudXYZI::SerializeWithCachedSizesToArray( - ::google::protobuf::uint8* target) const { - // required .px.HeaderInfo header = 1; - if (has_header()) { - target = ::google::protobuf::internal::WireFormatLite:: - WriteMessageNoVirtualToArray( - 1, this->header(), target); - } - - // repeated .px.PointCloudXYZI.PointXYZI points = 2; - for (int i = 0; i < this->points_size(); i++) { - target = ::google::protobuf::internal::WireFormatLite:: - WriteMessageNoVirtualToArray( - 2, this->points(i), target); - } - - if (!unknown_fields().empty()) { - target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( - unknown_fields(), target); - } - return target; -} - -int PointCloudXYZI::ByteSize() const { - int total_size = 0; - - if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) { - // required .px.HeaderInfo header = 1; - if (has_header()) { - total_size += 1 + - ::google::protobuf::internal::WireFormatLite::MessageSizeNoVirtual( - this->header()); - } - - } - // repeated .px.PointCloudXYZI.PointXYZI points = 2; - total_size += 1 * this->points_size(); - for (int i = 0; i < this->points_size(); i++) { - total_size += - ::google::protobuf::internal::WireFormatLite::MessageSizeNoVirtual( - this->points(i)); - } - - if (!unknown_fields().empty()) { - total_size += - ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( - unknown_fields()); - } - GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN(); - _cached_size_ = total_size; - GOOGLE_SAFE_CONCURRENT_WRITES_END(); - return total_size; -} - -void PointCloudXYZI::MergeFrom(const ::google::protobuf::Message& from) { - GOOGLE_CHECK_NE(&from, this); - const PointCloudXYZI* source = - ::google::protobuf::internal::dynamic_cast_if_available( - &from); - if (source == NULL) { - ::google::protobuf::internal::ReflectionOps::Merge(from, this); - } else { - MergeFrom(*source); - } -} - -void PointCloudXYZI::MergeFrom(const PointCloudXYZI& from) { - GOOGLE_CHECK_NE(&from, this); - points_.MergeFrom(from.points_); - if (from._has_bits_[0 / 32] & (0xffu << (0 % 32))) { - if (from.has_header()) { - mutable_header()->::px::HeaderInfo::MergeFrom(from.header()); - } - } - mutable_unknown_fields()->MergeFrom(from.unknown_fields()); -} - -void PointCloudXYZI::CopyFrom(const ::google::protobuf::Message& from) { - if (&from == this) return; - Clear(); - MergeFrom(from); -} - -void PointCloudXYZI::CopyFrom(const PointCloudXYZI& from) { - if (&from == this) return; - Clear(); - MergeFrom(from); -} - -bool PointCloudXYZI::IsInitialized() const { - if ((_has_bits_[0] & 0x00000001) != 0x00000001) return false; - - if (has_header()) { - if (!this->header().IsInitialized()) return false; - } - for (int i = 0; i < points_size(); i++) { - if (!this->points(i).IsInitialized()) return false; - } - return true; -} - -void PointCloudXYZI::Swap(PointCloudXYZI* other) { - if (other != this) { - std::swap(header_, other->header_); - points_.Swap(&other->points_); - std::swap(_has_bits_[0], other->_has_bits_[0]); - _unknown_fields_.Swap(&other->_unknown_fields_); - std::swap(_cached_size_, other->_cached_size_); - } -} - -::google::protobuf::Metadata PointCloudXYZI::GetMetadata() const { - protobuf_AssignDescriptorsOnce(); - ::google::protobuf::Metadata metadata; - metadata.descriptor = PointCloudXYZI_descriptor_; - metadata.reflection = PointCloudXYZI_reflection_; - return metadata; -} - - -// =================================================================== - -#ifndef _MSC_VER -const int PointCloudXYZRGB_PointXYZRGB::kXFieldNumber; -const int PointCloudXYZRGB_PointXYZRGB::kYFieldNumber; -const int PointCloudXYZRGB_PointXYZRGB::kZFieldNumber; -const int PointCloudXYZRGB_PointXYZRGB::kRgbFieldNumber; -#endif // !_MSC_VER - -PointCloudXYZRGB_PointXYZRGB::PointCloudXYZRGB_PointXYZRGB() - : ::google::protobuf::Message() { - SharedCtor(); -} - -void PointCloudXYZRGB_PointXYZRGB::InitAsDefaultInstance() { -} - -PointCloudXYZRGB_PointXYZRGB::PointCloudXYZRGB_PointXYZRGB(const PointCloudXYZRGB_PointXYZRGB& from) - : ::google::protobuf::Message() { - SharedCtor(); - MergeFrom(from); -} - -void PointCloudXYZRGB_PointXYZRGB::SharedCtor() { - _cached_size_ = 0; - x_ = 0; - y_ = 0; - z_ = 0; - rgb_ = 0; - ::memset(_has_bits_, 0, sizeof(_has_bits_)); -} - -PointCloudXYZRGB_PointXYZRGB::~PointCloudXYZRGB_PointXYZRGB() { - SharedDtor(); -} - -void PointCloudXYZRGB_PointXYZRGB::SharedDtor() { - if (this != default_instance_) { - } -} - -void PointCloudXYZRGB_PointXYZRGB::SetCachedSize(int size) const { - GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN(); - _cached_size_ = size; - GOOGLE_SAFE_CONCURRENT_WRITES_END(); -} -const ::google::protobuf::Descriptor* PointCloudXYZRGB_PointXYZRGB::descriptor() { - protobuf_AssignDescriptorsOnce(); - return PointCloudXYZRGB_PointXYZRGB_descriptor_; -} - -const PointCloudXYZRGB_PointXYZRGB& PointCloudXYZRGB_PointXYZRGB::default_instance() { - if (default_instance_ == NULL) protobuf_AddDesc_pixhawk_2eproto(); return *default_instance_; -} - -PointCloudXYZRGB_PointXYZRGB* PointCloudXYZRGB_PointXYZRGB::default_instance_ = NULL; - -PointCloudXYZRGB_PointXYZRGB* PointCloudXYZRGB_PointXYZRGB::New() const { - return new PointCloudXYZRGB_PointXYZRGB; -} - -void PointCloudXYZRGB_PointXYZRGB::Clear() { - if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) { - x_ = 0; - y_ = 0; - z_ = 0; - rgb_ = 0; - } - ::memset(_has_bits_, 0, sizeof(_has_bits_)); - mutable_unknown_fields()->Clear(); -} - -bool PointCloudXYZRGB_PointXYZRGB::MergePartialFromCodedStream( - ::google::protobuf::io::CodedInputStream* input) { -#define DO_(EXPRESSION) if (!(EXPRESSION)) return false - ::google::protobuf::uint32 tag; - while ((tag = input->ReadTag()) != 0) { - switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { - // required float x = 1; - case 1: { - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) { - DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< - float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>( - input, &x_))); - set_has_x(); - } else { - goto handle_uninterpreted; - } - if (input->ExpectTag(21)) goto parse_y; - break; - } - - // required float y = 2; - case 2: { - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) { - parse_y: - DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< - float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>( - input, &y_))); - set_has_y(); - } else { - goto handle_uninterpreted; - } - if (input->ExpectTag(29)) goto parse_z; - break; - } - - // required float z = 3; - case 3: { - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) { - parse_z: - DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< - float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>( - input, &z_))); - set_has_z(); - } else { - goto handle_uninterpreted; - } - if (input->ExpectTag(37)) goto parse_rgb; - break; - } - - // required float rgb = 4; - case 4: { - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) { - parse_rgb: - DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< - float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>( - input, &rgb_))); - set_has_rgb(); - } else { - goto handle_uninterpreted; - } - if (input->ExpectAtEnd()) return true; - break; - } - - default: { - handle_uninterpreted: - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_END_GROUP) { - return true; - } - DO_(::google::protobuf::internal::WireFormat::SkipField( - input, tag, mutable_unknown_fields())); - break; - } - } - } - return true; -#undef DO_ -} - -void PointCloudXYZRGB_PointXYZRGB::SerializeWithCachedSizes( - ::google::protobuf::io::CodedOutputStream* output) const { - // required float x = 1; - if (has_x()) { - ::google::protobuf::internal::WireFormatLite::WriteFloat(1, this->x(), output); - } - - // required float y = 2; - if (has_y()) { - ::google::protobuf::internal::WireFormatLite::WriteFloat(2, this->y(), output); - } - - // required float z = 3; - if (has_z()) { - ::google::protobuf::internal::WireFormatLite::WriteFloat(3, this->z(), output); - } - - // required float rgb = 4; - if (has_rgb()) { - ::google::protobuf::internal::WireFormatLite::WriteFloat(4, this->rgb(), output); - } - - if (!unknown_fields().empty()) { - ::google::protobuf::internal::WireFormat::SerializeUnknownFields( - unknown_fields(), output); - } -} - -::google::protobuf::uint8* PointCloudXYZRGB_PointXYZRGB::SerializeWithCachedSizesToArray( - ::google::protobuf::uint8* target) const { - // required float x = 1; - if (has_x()) { - target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(1, this->x(), target); - } - - // required float y = 2; - if (has_y()) { - target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(2, this->y(), target); - } - - // required float z = 3; - if (has_z()) { - target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(3, this->z(), target); - } - - // required float rgb = 4; - if (has_rgb()) { - target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(4, this->rgb(), target); - } - - if (!unknown_fields().empty()) { - target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( - unknown_fields(), target); - } - return target; -} - -int PointCloudXYZRGB_PointXYZRGB::ByteSize() const { - int total_size = 0; - - if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) { - // required float x = 1; - if (has_x()) { - total_size += 1 + 4; - } - - // required float y = 2; - if (has_y()) { - total_size += 1 + 4; - } - - // required float z = 3; - if (has_z()) { - total_size += 1 + 4; - } - - // required float rgb = 4; - if (has_rgb()) { - total_size += 1 + 4; - } - - } - if (!unknown_fields().empty()) { - total_size += - ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( - unknown_fields()); - } - GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN(); - _cached_size_ = total_size; - GOOGLE_SAFE_CONCURRENT_WRITES_END(); - return total_size; -} - -void PointCloudXYZRGB_PointXYZRGB::MergeFrom(const ::google::protobuf::Message& from) { - GOOGLE_CHECK_NE(&from, this); - const PointCloudXYZRGB_PointXYZRGB* source = - ::google::protobuf::internal::dynamic_cast_if_available( - &from); - if (source == NULL) { - ::google::protobuf::internal::ReflectionOps::Merge(from, this); - } else { - MergeFrom(*source); - } -} - -void PointCloudXYZRGB_PointXYZRGB::MergeFrom(const PointCloudXYZRGB_PointXYZRGB& from) { - GOOGLE_CHECK_NE(&from, this); - if (from._has_bits_[0 / 32] & (0xffu << (0 % 32))) { - if (from.has_x()) { - set_x(from.x()); - } - if (from.has_y()) { - set_y(from.y()); - } - if (from.has_z()) { - set_z(from.z()); - } - if (from.has_rgb()) { - set_rgb(from.rgb()); - } - } - mutable_unknown_fields()->MergeFrom(from.unknown_fields()); -} - -void PointCloudXYZRGB_PointXYZRGB::CopyFrom(const ::google::protobuf::Message& from) { - if (&from == this) return; - Clear(); - MergeFrom(from); -} - -void PointCloudXYZRGB_PointXYZRGB::CopyFrom(const PointCloudXYZRGB_PointXYZRGB& from) { - if (&from == this) return; - Clear(); - MergeFrom(from); -} - -bool PointCloudXYZRGB_PointXYZRGB::IsInitialized() const { - if ((_has_bits_[0] & 0x0000000f) != 0x0000000f) return false; - - return true; -} - -void PointCloudXYZRGB_PointXYZRGB::Swap(PointCloudXYZRGB_PointXYZRGB* other) { - if (other != this) { - std::swap(x_, other->x_); - std::swap(y_, other->y_); - std::swap(z_, other->z_); - std::swap(rgb_, other->rgb_); - std::swap(_has_bits_[0], other->_has_bits_[0]); - _unknown_fields_.Swap(&other->_unknown_fields_); - std::swap(_cached_size_, other->_cached_size_); - } -} - -::google::protobuf::Metadata PointCloudXYZRGB_PointXYZRGB::GetMetadata() const { - protobuf_AssignDescriptorsOnce(); - ::google::protobuf::Metadata metadata; - metadata.descriptor = PointCloudXYZRGB_PointXYZRGB_descriptor_; - metadata.reflection = PointCloudXYZRGB_PointXYZRGB_reflection_; - return metadata; -} - - -// ------------------------------------------------------------------- - -#ifndef _MSC_VER -const int PointCloudXYZRGB::kHeaderFieldNumber; -const int PointCloudXYZRGB::kPointsFieldNumber; -#endif // !_MSC_VER - -PointCloudXYZRGB::PointCloudXYZRGB() - : ::google::protobuf::Message() { - SharedCtor(); -} - -void PointCloudXYZRGB::InitAsDefaultInstance() { - header_ = const_cast< ::px::HeaderInfo*>(&::px::HeaderInfo::default_instance()); -} - -PointCloudXYZRGB::PointCloudXYZRGB(const PointCloudXYZRGB& from) - : ::google::protobuf::Message() { - SharedCtor(); - MergeFrom(from); -} - -void PointCloudXYZRGB::SharedCtor() { - _cached_size_ = 0; - header_ = NULL; - ::memset(_has_bits_, 0, sizeof(_has_bits_)); -} - -PointCloudXYZRGB::~PointCloudXYZRGB() { - SharedDtor(); -} - -void PointCloudXYZRGB::SharedDtor() { - if (this != default_instance_) { - delete header_; - } -} - -void PointCloudXYZRGB::SetCachedSize(int size) const { - GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN(); - _cached_size_ = size; - GOOGLE_SAFE_CONCURRENT_WRITES_END(); -} -const ::google::protobuf::Descriptor* PointCloudXYZRGB::descriptor() { - protobuf_AssignDescriptorsOnce(); - return PointCloudXYZRGB_descriptor_; -} - -const PointCloudXYZRGB& PointCloudXYZRGB::default_instance() { - if (default_instance_ == NULL) protobuf_AddDesc_pixhawk_2eproto(); return *default_instance_; -} - -PointCloudXYZRGB* PointCloudXYZRGB::default_instance_ = NULL; - -PointCloudXYZRGB* PointCloudXYZRGB::New() const { - return new PointCloudXYZRGB; -} - -void PointCloudXYZRGB::Clear() { - if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) { - if (has_header()) { - if (header_ != NULL) header_->::px::HeaderInfo::Clear(); - } - } - points_.Clear(); - ::memset(_has_bits_, 0, sizeof(_has_bits_)); - mutable_unknown_fields()->Clear(); -} - -bool PointCloudXYZRGB::MergePartialFromCodedStream( - ::google::protobuf::io::CodedInputStream* input) { -#define DO_(EXPRESSION) if (!(EXPRESSION)) return false - ::google::protobuf::uint32 tag; - while ((tag = input->ReadTag()) != 0) { - switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { - // required .px.HeaderInfo header = 1; - case 1: { - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) { - DO_(::google::protobuf::internal::WireFormatLite::ReadMessageNoVirtual( - input, mutable_header())); - } else { - goto handle_uninterpreted; - } - if (input->ExpectTag(18)) goto parse_points; - break; - } - - // repeated .px.PointCloudXYZRGB.PointXYZRGB points = 2; - case 2: { - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) { - parse_points: - DO_(::google::protobuf::internal::WireFormatLite::ReadMessageNoVirtual( - input, add_points())); - } else { - goto handle_uninterpreted; - } - if (input->ExpectTag(18)) goto parse_points; - if (input->ExpectAtEnd()) return true; - break; - } - - default: { - handle_uninterpreted: - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_END_GROUP) { - return true; - } - DO_(::google::protobuf::internal::WireFormat::SkipField( - input, tag, mutable_unknown_fields())); - break; - } - } - } - return true; -#undef DO_ -} - -void PointCloudXYZRGB::SerializeWithCachedSizes( - ::google::protobuf::io::CodedOutputStream* output) const { - // required .px.HeaderInfo header = 1; - if (has_header()) { - ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( - 1, this->header(), output); - } - - // repeated .px.PointCloudXYZRGB.PointXYZRGB points = 2; - for (int i = 0; i < this->points_size(); i++) { - ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( - 2, this->points(i), output); - } - - if (!unknown_fields().empty()) { - ::google::protobuf::internal::WireFormat::SerializeUnknownFields( - unknown_fields(), output); - } -} - -::google::protobuf::uint8* PointCloudXYZRGB::SerializeWithCachedSizesToArray( - ::google::protobuf::uint8* target) const { - // required .px.HeaderInfo header = 1; - if (has_header()) { - target = ::google::protobuf::internal::WireFormatLite:: - WriteMessageNoVirtualToArray( - 1, this->header(), target); - } - - // repeated .px.PointCloudXYZRGB.PointXYZRGB points = 2; - for (int i = 0; i < this->points_size(); i++) { - target = ::google::protobuf::internal::WireFormatLite:: - WriteMessageNoVirtualToArray( - 2, this->points(i), target); - } - - if (!unknown_fields().empty()) { - target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( - unknown_fields(), target); - } - return target; -} - -int PointCloudXYZRGB::ByteSize() const { - int total_size = 0; - - if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) { - // required .px.HeaderInfo header = 1; - if (has_header()) { - total_size += 1 + - ::google::protobuf::internal::WireFormatLite::MessageSizeNoVirtual( - this->header()); - } - - } - // repeated .px.PointCloudXYZRGB.PointXYZRGB points = 2; - total_size += 1 * this->points_size(); - for (int i = 0; i < this->points_size(); i++) { - total_size += - ::google::protobuf::internal::WireFormatLite::MessageSizeNoVirtual( - this->points(i)); - } - - if (!unknown_fields().empty()) { - total_size += - ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( - unknown_fields()); - } - GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN(); - _cached_size_ = total_size; - GOOGLE_SAFE_CONCURRENT_WRITES_END(); - return total_size; -} - -void PointCloudXYZRGB::MergeFrom(const ::google::protobuf::Message& from) { - GOOGLE_CHECK_NE(&from, this); - const PointCloudXYZRGB* source = - ::google::protobuf::internal::dynamic_cast_if_available( - &from); - if (source == NULL) { - ::google::protobuf::internal::ReflectionOps::Merge(from, this); - } else { - MergeFrom(*source); - } -} - -void PointCloudXYZRGB::MergeFrom(const PointCloudXYZRGB& from) { - GOOGLE_CHECK_NE(&from, this); - points_.MergeFrom(from.points_); - if (from._has_bits_[0 / 32] & (0xffu << (0 % 32))) { - if (from.has_header()) { - mutable_header()->::px::HeaderInfo::MergeFrom(from.header()); - } - } - mutable_unknown_fields()->MergeFrom(from.unknown_fields()); -} - -void PointCloudXYZRGB::CopyFrom(const ::google::protobuf::Message& from) { - if (&from == this) return; - Clear(); - MergeFrom(from); -} - -void PointCloudXYZRGB::CopyFrom(const PointCloudXYZRGB& from) { - if (&from == this) return; - Clear(); - MergeFrom(from); -} - -bool PointCloudXYZRGB::IsInitialized() const { - if ((_has_bits_[0] & 0x00000001) != 0x00000001) return false; - - if (has_header()) { - if (!this->header().IsInitialized()) return false; - } - for (int i = 0; i < points_size(); i++) { - if (!this->points(i).IsInitialized()) return false; - } - return true; -} - -void PointCloudXYZRGB::Swap(PointCloudXYZRGB* other) { - if (other != this) { - std::swap(header_, other->header_); - points_.Swap(&other->points_); - std::swap(_has_bits_[0], other->_has_bits_[0]); - _unknown_fields_.Swap(&other->_unknown_fields_); - std::swap(_cached_size_, other->_cached_size_); - } -} - -::google::protobuf::Metadata PointCloudXYZRGB::GetMetadata() const { - protobuf_AssignDescriptorsOnce(); - ::google::protobuf::Metadata metadata; - metadata.descriptor = PointCloudXYZRGB_descriptor_; - metadata.reflection = PointCloudXYZRGB_reflection_; - return metadata; -} - - -// =================================================================== - -#ifndef _MSC_VER -const int RGBDImage::kHeaderFieldNumber; -const int RGBDImage::kColsFieldNumber; -const int RGBDImage::kRowsFieldNumber; -const int RGBDImage::kStep1FieldNumber; -const int RGBDImage::kType1FieldNumber; -const int RGBDImage::kImageData1FieldNumber; -const int RGBDImage::kStep2FieldNumber; -const int RGBDImage::kType2FieldNumber; -const int RGBDImage::kImageData2FieldNumber; -const int RGBDImage::kCameraConfigFieldNumber; -const int RGBDImage::kCameraTypeFieldNumber; -const int RGBDImage::kRollFieldNumber; -const int RGBDImage::kPitchFieldNumber; -const int RGBDImage::kYawFieldNumber; -const int RGBDImage::kLonFieldNumber; -const int RGBDImage::kLatFieldNumber; -const int RGBDImage::kAltFieldNumber; -const int RGBDImage::kGroundXFieldNumber; -const int RGBDImage::kGroundYFieldNumber; -const int RGBDImage::kGroundZFieldNumber; -const int RGBDImage::kCameraMatrixFieldNumber; -#endif // !_MSC_VER - -RGBDImage::RGBDImage() - : ::google::protobuf::Message() { - SharedCtor(); -} - -void RGBDImage::InitAsDefaultInstance() { - header_ = const_cast< ::px::HeaderInfo*>(&::px::HeaderInfo::default_instance()); -} - -RGBDImage::RGBDImage(const RGBDImage& from) - : ::google::protobuf::Message() { - SharedCtor(); - MergeFrom(from); -} - -void RGBDImage::SharedCtor() { - _cached_size_ = 0; - header_ = NULL; - cols_ = 0u; - rows_ = 0u; - step1_ = 0u; - type1_ = 0u; - imagedata1_ = const_cast< ::std::string*>(&::google::protobuf::internal::kEmptyString); - step2_ = 0u; - type2_ = 0u; - imagedata2_ = const_cast< ::std::string*>(&::google::protobuf::internal::kEmptyString); - camera_config_ = 0u; - camera_type_ = 0u; - roll_ = 0; - pitch_ = 0; - yaw_ = 0; - lon_ = 0; - lat_ = 0; - alt_ = 0; - ground_x_ = 0; - ground_y_ = 0; - ground_z_ = 0; - ::memset(_has_bits_, 0, sizeof(_has_bits_)); -} - -RGBDImage::~RGBDImage() { - SharedDtor(); -} - -void RGBDImage::SharedDtor() { - if (imagedata1_ != &::google::protobuf::internal::kEmptyString) { - delete imagedata1_; - } - if (imagedata2_ != &::google::protobuf::internal::kEmptyString) { - delete imagedata2_; - } - if (this != default_instance_) { - delete header_; - } -} - -void RGBDImage::SetCachedSize(int size) const { - GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN(); - _cached_size_ = size; - GOOGLE_SAFE_CONCURRENT_WRITES_END(); -} -const ::google::protobuf::Descriptor* RGBDImage::descriptor() { - protobuf_AssignDescriptorsOnce(); - return RGBDImage_descriptor_; -} - -const RGBDImage& RGBDImage::default_instance() { - if (default_instance_ == NULL) protobuf_AddDesc_pixhawk_2eproto(); return *default_instance_; -} - -RGBDImage* RGBDImage::default_instance_ = NULL; - -RGBDImage* RGBDImage::New() const { - return new RGBDImage; -} - -void RGBDImage::Clear() { - if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) { - if (has_header()) { - if (header_ != NULL) header_->::px::HeaderInfo::Clear(); - } - cols_ = 0u; - rows_ = 0u; - step1_ = 0u; - type1_ = 0u; - if (has_imagedata1()) { - if (imagedata1_ != &::google::protobuf::internal::kEmptyString) { - imagedata1_->clear(); - } - } - step2_ = 0u; - type2_ = 0u; - } - if (_has_bits_[8 / 32] & (0xffu << (8 % 32))) { - if (has_imagedata2()) { - if (imagedata2_ != &::google::protobuf::internal::kEmptyString) { - imagedata2_->clear(); - } - } - camera_config_ = 0u; - camera_type_ = 0u; - roll_ = 0; - pitch_ = 0; - yaw_ = 0; - lon_ = 0; - lat_ = 0; - } - if (_has_bits_[16 / 32] & (0xffu << (16 % 32))) { - alt_ = 0; - ground_x_ = 0; - ground_y_ = 0; - ground_z_ = 0; - } - camera_matrix_.Clear(); - ::memset(_has_bits_, 0, sizeof(_has_bits_)); - mutable_unknown_fields()->Clear(); -} - -bool RGBDImage::MergePartialFromCodedStream( - ::google::protobuf::io::CodedInputStream* input) { -#define DO_(EXPRESSION) if (!(EXPRESSION)) return false - ::google::protobuf::uint32 tag; - while ((tag = input->ReadTag()) != 0) { - switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { - // required .px.HeaderInfo header = 1; - case 1: { - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) { - DO_(::google::protobuf::internal::WireFormatLite::ReadMessageNoVirtual( - input, mutable_header())); - } else { - goto handle_uninterpreted; - } - if (input->ExpectTag(16)) goto parse_cols; - break; - } - - // required uint32 cols = 2; - case 2: { - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) { - parse_cols: - DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< - ::google::protobuf::uint32, ::google::protobuf::internal::WireFormatLite::TYPE_UINT32>( - input, &cols_))); - set_has_cols(); - } else { - goto handle_uninterpreted; - } - if (input->ExpectTag(24)) goto parse_rows; - break; - } - - // required uint32 rows = 3; - case 3: { - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) { - parse_rows: - DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< - ::google::protobuf::uint32, ::google::protobuf::internal::WireFormatLite::TYPE_UINT32>( - input, &rows_))); - set_has_rows(); - } else { - goto handle_uninterpreted; - } - if (input->ExpectTag(32)) goto parse_step1; - break; - } - - // required uint32 step1 = 4; - case 4: { - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) { - parse_step1: - DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< - ::google::protobuf::uint32, ::google::protobuf::internal::WireFormatLite::TYPE_UINT32>( - input, &step1_))); - set_has_step1(); - } else { - goto handle_uninterpreted; - } - if (input->ExpectTag(40)) goto parse_type1; - break; - } - - // required uint32 type1 = 5; - case 5: { - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) { - parse_type1: - DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< - ::google::protobuf::uint32, ::google::protobuf::internal::WireFormatLite::TYPE_UINT32>( - input, &type1_))); - set_has_type1(); - } else { - goto handle_uninterpreted; - } - if (input->ExpectTag(50)) goto parse_imageData1; - break; - } - - // required bytes imageData1 = 6; - case 6: { - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) { - parse_imageData1: - DO_(::google::protobuf::internal::WireFormatLite::ReadBytes( - input, this->mutable_imagedata1())); - } else { - goto handle_uninterpreted; - } - if (input->ExpectTag(56)) goto parse_step2; - break; - } - - // required uint32 step2 = 7; - case 7: { - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) { - parse_step2: - DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< - ::google::protobuf::uint32, ::google::protobuf::internal::WireFormatLite::TYPE_UINT32>( - input, &step2_))); - set_has_step2(); - } else { - goto handle_uninterpreted; - } - if (input->ExpectTag(64)) goto parse_type2; - break; - } - - // required uint32 type2 = 8; - case 8: { - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) { - parse_type2: - DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< - ::google::protobuf::uint32, ::google::protobuf::internal::WireFormatLite::TYPE_UINT32>( - input, &type2_))); - set_has_type2(); - } else { - goto handle_uninterpreted; - } - if (input->ExpectTag(74)) goto parse_imageData2; - break; - } - - // required bytes imageData2 = 9; - case 9: { - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) { - parse_imageData2: - DO_(::google::protobuf::internal::WireFormatLite::ReadBytes( - input, this->mutable_imagedata2())); - } else { - goto handle_uninterpreted; - } - if (input->ExpectTag(80)) goto parse_camera_config; - break; - } - - // optional uint32 camera_config = 10; - case 10: { - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) { - parse_camera_config: - DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< - ::google::protobuf::uint32, ::google::protobuf::internal::WireFormatLite::TYPE_UINT32>( - input, &camera_config_))); - set_has_camera_config(); - } else { - goto handle_uninterpreted; - } - if (input->ExpectTag(88)) goto parse_camera_type; - break; - } - - // optional uint32 camera_type = 11; - case 11: { - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) { - parse_camera_type: - DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< - ::google::protobuf::uint32, ::google::protobuf::internal::WireFormatLite::TYPE_UINT32>( - input, &camera_type_))); - set_has_camera_type(); - } else { - goto handle_uninterpreted; - } - if (input->ExpectTag(101)) goto parse_roll; - break; - } - - // optional float roll = 12; - case 12: { - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) { - parse_roll: - DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< - float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>( - input, &roll_))); - set_has_roll(); - } else { - goto handle_uninterpreted; - } - if (input->ExpectTag(109)) goto parse_pitch; - break; - } - - // optional float pitch = 13; - case 13: { - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) { - parse_pitch: - DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< - float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>( - input, &pitch_))); - set_has_pitch(); - } else { - goto handle_uninterpreted; - } - if (input->ExpectTag(117)) goto parse_yaw; - break; - } - - // optional float yaw = 14; - case 14: { - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) { - parse_yaw: - DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< - float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>( - input, &yaw_))); - set_has_yaw(); - } else { - goto handle_uninterpreted; - } - if (input->ExpectTag(125)) goto parse_lon; - break; - } - - // optional float lon = 15; - case 15: { - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) { - parse_lon: - DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< - float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>( - input, &lon_))); - set_has_lon(); - } else { - goto handle_uninterpreted; - } - if (input->ExpectTag(133)) goto parse_lat; - break; - } - - // optional float lat = 16; - case 16: { - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) { - parse_lat: - DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< - float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>( - input, &lat_))); - set_has_lat(); - } else { - goto handle_uninterpreted; - } - if (input->ExpectTag(141)) goto parse_alt; - break; - } - - // optional float alt = 17; - case 17: { - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) { - parse_alt: - DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< - float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>( - input, &alt_))); - set_has_alt(); - } else { - goto handle_uninterpreted; - } - if (input->ExpectTag(149)) goto parse_ground_x; - break; - } - - // optional float ground_x = 18; - case 18: { - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) { - parse_ground_x: - DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< - float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>( - input, &ground_x_))); - set_has_ground_x(); - } else { - goto handle_uninterpreted; - } - if (input->ExpectTag(157)) goto parse_ground_y; - break; - } - - // optional float ground_y = 19; - case 19: { - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) { - parse_ground_y: - DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< - float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>( - input, &ground_y_))); - set_has_ground_y(); - } else { - goto handle_uninterpreted; - } - if (input->ExpectTag(165)) goto parse_ground_z; - break; - } - - // optional float ground_z = 20; - case 20: { - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) { - parse_ground_z: - DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< - float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>( - input, &ground_z_))); - set_has_ground_z(); - } else { - goto handle_uninterpreted; - } - if (input->ExpectTag(173)) goto parse_camera_matrix; - break; - } - - // repeated float camera_matrix = 21; - case 21: { - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) { - parse_camera_matrix: - DO_((::google::protobuf::internal::WireFormatLite::ReadRepeatedPrimitive< - float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>( - 2, 173, input, this->mutable_camera_matrix()))); - } else if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) - == ::google::protobuf::internal::WireFormatLite:: - WIRETYPE_LENGTH_DELIMITED) { - DO_((::google::protobuf::internal::WireFormatLite::ReadPackedPrimitiveNoInline< - float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>( - input, this->mutable_camera_matrix()))); - } else { - goto handle_uninterpreted; - } - if (input->ExpectTag(173)) goto parse_camera_matrix; - if (input->ExpectAtEnd()) return true; - break; - } - - default: { - handle_uninterpreted: - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_END_GROUP) { - return true; - } - DO_(::google::protobuf::internal::WireFormat::SkipField( - input, tag, mutable_unknown_fields())); - break; - } - } - } - return true; -#undef DO_ -} - -void RGBDImage::SerializeWithCachedSizes( - ::google::protobuf::io::CodedOutputStream* output) const { - // required .px.HeaderInfo header = 1; - if (has_header()) { - ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( - 1, this->header(), output); - } - - // required uint32 cols = 2; - if (has_cols()) { - ::google::protobuf::internal::WireFormatLite::WriteUInt32(2, this->cols(), output); - } - - // required uint32 rows = 3; - if (has_rows()) { - ::google::protobuf::internal::WireFormatLite::WriteUInt32(3, this->rows(), output); - } - - // required uint32 step1 = 4; - if (has_step1()) { - ::google::protobuf::internal::WireFormatLite::WriteUInt32(4, this->step1(), output); - } - - // required uint32 type1 = 5; - if (has_type1()) { - ::google::protobuf::internal::WireFormatLite::WriteUInt32(5, this->type1(), output); - } - - // required bytes imageData1 = 6; - if (has_imagedata1()) { - ::google::protobuf::internal::WireFormatLite::WriteBytes( - 6, this->imagedata1(), output); - } - - // required uint32 step2 = 7; - if (has_step2()) { - ::google::protobuf::internal::WireFormatLite::WriteUInt32(7, this->step2(), output); - } - - // required uint32 type2 = 8; - if (has_type2()) { - ::google::protobuf::internal::WireFormatLite::WriteUInt32(8, this->type2(), output); - } - - // required bytes imageData2 = 9; - if (has_imagedata2()) { - ::google::protobuf::internal::WireFormatLite::WriteBytes( - 9, this->imagedata2(), output); - } - - // optional uint32 camera_config = 10; - if (has_camera_config()) { - ::google::protobuf::internal::WireFormatLite::WriteUInt32(10, this->camera_config(), output); - } - - // optional uint32 camera_type = 11; - if (has_camera_type()) { - ::google::protobuf::internal::WireFormatLite::WriteUInt32(11, this->camera_type(), output); - } - - // optional float roll = 12; - if (has_roll()) { - ::google::protobuf::internal::WireFormatLite::WriteFloat(12, this->roll(), output); - } - - // optional float pitch = 13; - if (has_pitch()) { - ::google::protobuf::internal::WireFormatLite::WriteFloat(13, this->pitch(), output); - } - - // optional float yaw = 14; - if (has_yaw()) { - ::google::protobuf::internal::WireFormatLite::WriteFloat(14, this->yaw(), output); - } - - // optional float lon = 15; - if (has_lon()) { - ::google::protobuf::internal::WireFormatLite::WriteFloat(15, this->lon(), output); - } - - // optional float lat = 16; - if (has_lat()) { - ::google::protobuf::internal::WireFormatLite::WriteFloat(16, this->lat(), output); - } - - // optional float alt = 17; - if (has_alt()) { - ::google::protobuf::internal::WireFormatLite::WriteFloat(17, this->alt(), output); - } - - // optional float ground_x = 18; - if (has_ground_x()) { - ::google::protobuf::internal::WireFormatLite::WriteFloat(18, this->ground_x(), output); - } - - // optional float ground_y = 19; - if (has_ground_y()) { - ::google::protobuf::internal::WireFormatLite::WriteFloat(19, this->ground_y(), output); - } - - // optional float ground_z = 20; - if (has_ground_z()) { - ::google::protobuf::internal::WireFormatLite::WriteFloat(20, this->ground_z(), output); - } - - // repeated float camera_matrix = 21; - for (int i = 0; i < this->camera_matrix_size(); i++) { - ::google::protobuf::internal::WireFormatLite::WriteFloat( - 21, this->camera_matrix(i), output); - } - - if (!unknown_fields().empty()) { - ::google::protobuf::internal::WireFormat::SerializeUnknownFields( - unknown_fields(), output); - } -} - -::google::protobuf::uint8* RGBDImage::SerializeWithCachedSizesToArray( - ::google::protobuf::uint8* target) const { - // required .px.HeaderInfo header = 1; - if (has_header()) { - target = ::google::protobuf::internal::WireFormatLite:: - WriteMessageNoVirtualToArray( - 1, this->header(), target); - } - - // required uint32 cols = 2; - if (has_cols()) { - target = ::google::protobuf::internal::WireFormatLite::WriteUInt32ToArray(2, this->cols(), target); - } - - // required uint32 rows = 3; - if (has_rows()) { - target = ::google::protobuf::internal::WireFormatLite::WriteUInt32ToArray(3, this->rows(), target); - } - - // required uint32 step1 = 4; - if (has_step1()) { - target = ::google::protobuf::internal::WireFormatLite::WriteUInt32ToArray(4, this->step1(), target); - } - - // required uint32 type1 = 5; - if (has_type1()) { - target = ::google::protobuf::internal::WireFormatLite::WriteUInt32ToArray(5, this->type1(), target); - } - - // required bytes imageData1 = 6; - if (has_imagedata1()) { - target = - ::google::protobuf::internal::WireFormatLite::WriteBytesToArray( - 6, this->imagedata1(), target); - } - - // required uint32 step2 = 7; - if (has_step2()) { - target = ::google::protobuf::internal::WireFormatLite::WriteUInt32ToArray(7, this->step2(), target); - } - - // required uint32 type2 = 8; - if (has_type2()) { - target = ::google::protobuf::internal::WireFormatLite::WriteUInt32ToArray(8, this->type2(), target); - } - - // required bytes imageData2 = 9; - if (has_imagedata2()) { - target = - ::google::protobuf::internal::WireFormatLite::WriteBytesToArray( - 9, this->imagedata2(), target); - } - - // optional uint32 camera_config = 10; - if (has_camera_config()) { - target = ::google::protobuf::internal::WireFormatLite::WriteUInt32ToArray(10, this->camera_config(), target); - } - - // optional uint32 camera_type = 11; - if (has_camera_type()) { - target = ::google::protobuf::internal::WireFormatLite::WriteUInt32ToArray(11, this->camera_type(), target); - } - - // optional float roll = 12; - if (has_roll()) { - target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(12, this->roll(), target); - } - - // optional float pitch = 13; - if (has_pitch()) { - target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(13, this->pitch(), target); - } - - // optional float yaw = 14; - if (has_yaw()) { - target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(14, this->yaw(), target); - } - - // optional float lon = 15; - if (has_lon()) { - target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(15, this->lon(), target); - } - - // optional float lat = 16; - if (has_lat()) { - target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(16, this->lat(), target); - } - - // optional float alt = 17; - if (has_alt()) { - target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(17, this->alt(), target); - } - - // optional float ground_x = 18; - if (has_ground_x()) { - target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(18, this->ground_x(), target); - } - - // optional float ground_y = 19; - if (has_ground_y()) { - target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(19, this->ground_y(), target); - } - - // optional float ground_z = 20; - if (has_ground_z()) { - target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(20, this->ground_z(), target); - } - - // repeated float camera_matrix = 21; - for (int i = 0; i < this->camera_matrix_size(); i++) { - target = ::google::protobuf::internal::WireFormatLite:: - WriteFloatToArray(21, this->camera_matrix(i), target); - } - - if (!unknown_fields().empty()) { - target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( - unknown_fields(), target); - } - return target; -} - -int RGBDImage::ByteSize() const { - int total_size = 0; - - if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) { - // required .px.HeaderInfo header = 1; - if (has_header()) { - total_size += 1 + - ::google::protobuf::internal::WireFormatLite::MessageSizeNoVirtual( - this->header()); - } - - // required uint32 cols = 2; - if (has_cols()) { - total_size += 1 + - ::google::protobuf::internal::WireFormatLite::UInt32Size( - this->cols()); - } - - // required uint32 rows = 3; - if (has_rows()) { - total_size += 1 + - ::google::protobuf::internal::WireFormatLite::UInt32Size( - this->rows()); - } - - // required uint32 step1 = 4; - if (has_step1()) { - total_size += 1 + - ::google::protobuf::internal::WireFormatLite::UInt32Size( - this->step1()); - } - - // required uint32 type1 = 5; - if (has_type1()) { - total_size += 1 + - ::google::protobuf::internal::WireFormatLite::UInt32Size( - this->type1()); - } - - // required bytes imageData1 = 6; - if (has_imagedata1()) { - total_size += 1 + - ::google::protobuf::internal::WireFormatLite::BytesSize( - this->imagedata1()); - } - - // required uint32 step2 = 7; - if (has_step2()) { - total_size += 1 + - ::google::protobuf::internal::WireFormatLite::UInt32Size( - this->step2()); - } - - // required uint32 type2 = 8; - if (has_type2()) { - total_size += 1 + - ::google::protobuf::internal::WireFormatLite::UInt32Size( - this->type2()); - } - - } - if (_has_bits_[8 / 32] & (0xffu << (8 % 32))) { - // required bytes imageData2 = 9; - if (has_imagedata2()) { - total_size += 1 + - ::google::protobuf::internal::WireFormatLite::BytesSize( - this->imagedata2()); - } - - // optional uint32 camera_config = 10; - if (has_camera_config()) { - total_size += 1 + - ::google::protobuf::internal::WireFormatLite::UInt32Size( - this->camera_config()); - } - - // optional uint32 camera_type = 11; - if (has_camera_type()) { - total_size += 1 + - ::google::protobuf::internal::WireFormatLite::UInt32Size( - this->camera_type()); - } - - // optional float roll = 12; - if (has_roll()) { - total_size += 1 + 4; - } - - // optional float pitch = 13; - if (has_pitch()) { - total_size += 1 + 4; - } - - // optional float yaw = 14; - if (has_yaw()) { - total_size += 1 + 4; - } - - // optional float lon = 15; - if (has_lon()) { - total_size += 1 + 4; - } - - // optional float lat = 16; - if (has_lat()) { - total_size += 2 + 4; - } - - } - if (_has_bits_[16 / 32] & (0xffu << (16 % 32))) { - // optional float alt = 17; - if (has_alt()) { - total_size += 2 + 4; - } - - // optional float ground_x = 18; - if (has_ground_x()) { - total_size += 2 + 4; - } - - // optional float ground_y = 19; - if (has_ground_y()) { - total_size += 2 + 4; - } - - // optional float ground_z = 20; - if (has_ground_z()) { - total_size += 2 + 4; - } - - } - // repeated float camera_matrix = 21; - { - int data_size = 0; - data_size = 4 * this->camera_matrix_size(); - total_size += 2 * this->camera_matrix_size() + data_size; - } - - if (!unknown_fields().empty()) { - total_size += - ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( - unknown_fields()); - } - GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN(); - _cached_size_ = total_size; - GOOGLE_SAFE_CONCURRENT_WRITES_END(); - return total_size; -} - -void RGBDImage::MergeFrom(const ::google::protobuf::Message& from) { - GOOGLE_CHECK_NE(&from, this); - const RGBDImage* source = - ::google::protobuf::internal::dynamic_cast_if_available( - &from); - if (source == NULL) { - ::google::protobuf::internal::ReflectionOps::Merge(from, this); - } else { - MergeFrom(*source); - } -} - -void RGBDImage::MergeFrom(const RGBDImage& from) { - GOOGLE_CHECK_NE(&from, this); - camera_matrix_.MergeFrom(from.camera_matrix_); - if (from._has_bits_[0 / 32] & (0xffu << (0 % 32))) { - if (from.has_header()) { - mutable_header()->::px::HeaderInfo::MergeFrom(from.header()); - } - if (from.has_cols()) { - set_cols(from.cols()); - } - if (from.has_rows()) { - set_rows(from.rows()); - } - if (from.has_step1()) { - set_step1(from.step1()); - } - if (from.has_type1()) { - set_type1(from.type1()); - } - if (from.has_imagedata1()) { - set_imagedata1(from.imagedata1()); - } - if (from.has_step2()) { - set_step2(from.step2()); - } - if (from.has_type2()) { - set_type2(from.type2()); - } - } - if (from._has_bits_[8 / 32] & (0xffu << (8 % 32))) { - if (from.has_imagedata2()) { - set_imagedata2(from.imagedata2()); - } - if (from.has_camera_config()) { - set_camera_config(from.camera_config()); - } - if (from.has_camera_type()) { - set_camera_type(from.camera_type()); - } - if (from.has_roll()) { - set_roll(from.roll()); - } - if (from.has_pitch()) { - set_pitch(from.pitch()); - } - if (from.has_yaw()) { - set_yaw(from.yaw()); - } - if (from.has_lon()) { - set_lon(from.lon()); - } - if (from.has_lat()) { - set_lat(from.lat()); - } - } - if (from._has_bits_[16 / 32] & (0xffu << (16 % 32))) { - if (from.has_alt()) { - set_alt(from.alt()); - } - if (from.has_ground_x()) { - set_ground_x(from.ground_x()); - } - if (from.has_ground_y()) { - set_ground_y(from.ground_y()); - } - if (from.has_ground_z()) { - set_ground_z(from.ground_z()); - } - } - mutable_unknown_fields()->MergeFrom(from.unknown_fields()); -} - -void RGBDImage::CopyFrom(const ::google::protobuf::Message& from) { - if (&from == this) return; - Clear(); - MergeFrom(from); -} - -void RGBDImage::CopyFrom(const RGBDImage& from) { - if (&from == this) return; - Clear(); - MergeFrom(from); -} - -bool RGBDImage::IsInitialized() const { - if ((_has_bits_[0] & 0x000001ff) != 0x000001ff) return false; - - if (has_header()) { - if (!this->header().IsInitialized()) return false; - } - return true; -} - -void RGBDImage::Swap(RGBDImage* other) { - if (other != this) { - std::swap(header_, other->header_); - std::swap(cols_, other->cols_); - std::swap(rows_, other->rows_); - std::swap(step1_, other->step1_); - std::swap(type1_, other->type1_); - std::swap(imagedata1_, other->imagedata1_); - std::swap(step2_, other->step2_); - std::swap(type2_, other->type2_); - std::swap(imagedata2_, other->imagedata2_); - std::swap(camera_config_, other->camera_config_); - std::swap(camera_type_, other->camera_type_); - std::swap(roll_, other->roll_); - std::swap(pitch_, other->pitch_); - std::swap(yaw_, other->yaw_); - std::swap(lon_, other->lon_); - std::swap(lat_, other->lat_); - std::swap(alt_, other->alt_); - std::swap(ground_x_, other->ground_x_); - std::swap(ground_y_, other->ground_y_); - std::swap(ground_z_, other->ground_z_); - camera_matrix_.Swap(&other->camera_matrix_); - std::swap(_has_bits_[0], other->_has_bits_[0]); - _unknown_fields_.Swap(&other->_unknown_fields_); - std::swap(_cached_size_, other->_cached_size_); - } -} - -::google::protobuf::Metadata RGBDImage::GetMetadata() const { - protobuf_AssignDescriptorsOnce(); - ::google::protobuf::Metadata metadata; - metadata.descriptor = RGBDImage_descriptor_; - metadata.reflection = RGBDImage_reflection_; - return metadata; -} - - -// =================================================================== - -#ifndef _MSC_VER -const int Obstacle::kXFieldNumber; -const int Obstacle::kYFieldNumber; -const int Obstacle::kZFieldNumber; -const int Obstacle::kLengthFieldNumber; -const int Obstacle::kWidthFieldNumber; -const int Obstacle::kHeightFieldNumber; -#endif // !_MSC_VER - -Obstacle::Obstacle() - : ::google::protobuf::Message() { - SharedCtor(); -} - -void Obstacle::InitAsDefaultInstance() { -} - -Obstacle::Obstacle(const Obstacle& from) - : ::google::protobuf::Message() { - SharedCtor(); - MergeFrom(from); -} - -void Obstacle::SharedCtor() { - _cached_size_ = 0; - x_ = 0; - y_ = 0; - z_ = 0; - length_ = 0; - width_ = 0; - height_ = 0; - ::memset(_has_bits_, 0, sizeof(_has_bits_)); -} - -Obstacle::~Obstacle() { - SharedDtor(); -} - -void Obstacle::SharedDtor() { - if (this != default_instance_) { - } -} - -void Obstacle::SetCachedSize(int size) const { - GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN(); - _cached_size_ = size; - GOOGLE_SAFE_CONCURRENT_WRITES_END(); -} -const ::google::protobuf::Descriptor* Obstacle::descriptor() { - protobuf_AssignDescriptorsOnce(); - return Obstacle_descriptor_; -} - -const Obstacle& Obstacle::default_instance() { - if (default_instance_ == NULL) protobuf_AddDesc_pixhawk_2eproto(); return *default_instance_; -} - -Obstacle* Obstacle::default_instance_ = NULL; - -Obstacle* Obstacle::New() const { - return new Obstacle; -} - -void Obstacle::Clear() { - if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) { - x_ = 0; - y_ = 0; - z_ = 0; - length_ = 0; - width_ = 0; - height_ = 0; - } - ::memset(_has_bits_, 0, sizeof(_has_bits_)); - mutable_unknown_fields()->Clear(); -} - -bool Obstacle::MergePartialFromCodedStream( - ::google::protobuf::io::CodedInputStream* input) { -#define DO_(EXPRESSION) if (!(EXPRESSION)) return false - ::google::protobuf::uint32 tag; - while ((tag = input->ReadTag()) != 0) { - switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { - // optional float x = 1; - case 1: { - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) { - DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< - float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>( - input, &x_))); - set_has_x(); - } else { - goto handle_uninterpreted; - } - if (input->ExpectTag(21)) goto parse_y; - break; - } - - // optional float y = 2; - case 2: { - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) { - parse_y: - DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< - float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>( - input, &y_))); - set_has_y(); - } else { - goto handle_uninterpreted; - } - if (input->ExpectTag(29)) goto parse_z; - break; - } - - // optional float z = 3; - case 3: { - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) { - parse_z: - DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< - float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>( - input, &z_))); - set_has_z(); - } else { - goto handle_uninterpreted; - } - if (input->ExpectTag(37)) goto parse_length; - break; - } - - // optional float length = 4; - case 4: { - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) { - parse_length: - DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< - float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>( - input, &length_))); - set_has_length(); - } else { - goto handle_uninterpreted; - } - if (input->ExpectTag(45)) goto parse_width; - break; - } - - // optional float width = 5; - case 5: { - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) { - parse_width: - DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< - float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>( - input, &width_))); - set_has_width(); - } else { - goto handle_uninterpreted; - } - if (input->ExpectTag(53)) goto parse_height; - break; - } - - // optional float height = 6; - case 6: { - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) { - parse_height: - DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< - float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>( - input, &height_))); - set_has_height(); - } else { - goto handle_uninterpreted; - } - if (input->ExpectAtEnd()) return true; - break; - } - - default: { - handle_uninterpreted: - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_END_GROUP) { - return true; - } - DO_(::google::protobuf::internal::WireFormat::SkipField( - input, tag, mutable_unknown_fields())); - break; - } - } - } - return true; -#undef DO_ -} - -void Obstacle::SerializeWithCachedSizes( - ::google::protobuf::io::CodedOutputStream* output) const { - // optional float x = 1; - if (has_x()) { - ::google::protobuf::internal::WireFormatLite::WriteFloat(1, this->x(), output); - } - - // optional float y = 2; - if (has_y()) { - ::google::protobuf::internal::WireFormatLite::WriteFloat(2, this->y(), output); - } - - // optional float z = 3; - if (has_z()) { - ::google::protobuf::internal::WireFormatLite::WriteFloat(3, this->z(), output); - } - - // optional float length = 4; - if (has_length()) { - ::google::protobuf::internal::WireFormatLite::WriteFloat(4, this->length(), output); - } - - // optional float width = 5; - if (has_width()) { - ::google::protobuf::internal::WireFormatLite::WriteFloat(5, this->width(), output); - } - - // optional float height = 6; - if (has_height()) { - ::google::protobuf::internal::WireFormatLite::WriteFloat(6, this->height(), output); - } - - if (!unknown_fields().empty()) { - ::google::protobuf::internal::WireFormat::SerializeUnknownFields( - unknown_fields(), output); - } -} - -::google::protobuf::uint8* Obstacle::SerializeWithCachedSizesToArray( - ::google::protobuf::uint8* target) const { - // optional float x = 1; - if (has_x()) { - target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(1, this->x(), target); - } - - // optional float y = 2; - if (has_y()) { - target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(2, this->y(), target); - } - - // optional float z = 3; - if (has_z()) { - target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(3, this->z(), target); - } - - // optional float length = 4; - if (has_length()) { - target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(4, this->length(), target); - } - - // optional float width = 5; - if (has_width()) { - target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(5, this->width(), target); - } - - // optional float height = 6; - if (has_height()) { - target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(6, this->height(), target); - } - - if (!unknown_fields().empty()) { - target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( - unknown_fields(), target); - } - return target; -} - -int Obstacle::ByteSize() const { - int total_size = 0; - - if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) { - // optional float x = 1; - if (has_x()) { - total_size += 1 + 4; - } - - // optional float y = 2; - if (has_y()) { - total_size += 1 + 4; - } - - // optional float z = 3; - if (has_z()) { - total_size += 1 + 4; - } - - // optional float length = 4; - if (has_length()) { - total_size += 1 + 4; - } - - // optional float width = 5; - if (has_width()) { - total_size += 1 + 4; - } - - // optional float height = 6; - if (has_height()) { - total_size += 1 + 4; - } - - } - if (!unknown_fields().empty()) { - total_size += - ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( - unknown_fields()); - } - GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN(); - _cached_size_ = total_size; - GOOGLE_SAFE_CONCURRENT_WRITES_END(); - return total_size; -} - -void Obstacle::MergeFrom(const ::google::protobuf::Message& from) { - GOOGLE_CHECK_NE(&from, this); - const Obstacle* source = - ::google::protobuf::internal::dynamic_cast_if_available( - &from); - if (source == NULL) { - ::google::protobuf::internal::ReflectionOps::Merge(from, this); - } else { - MergeFrom(*source); - } -} - -void Obstacle::MergeFrom(const Obstacle& from) { - GOOGLE_CHECK_NE(&from, this); - if (from._has_bits_[0 / 32] & (0xffu << (0 % 32))) { - if (from.has_x()) { - set_x(from.x()); - } - if (from.has_y()) { - set_y(from.y()); - } - if (from.has_z()) { - set_z(from.z()); - } - if (from.has_length()) { - set_length(from.length()); - } - if (from.has_width()) { - set_width(from.width()); - } - if (from.has_height()) { - set_height(from.height()); - } - } - mutable_unknown_fields()->MergeFrom(from.unknown_fields()); -} - -void Obstacle::CopyFrom(const ::google::protobuf::Message& from) { - if (&from == this) return; - Clear(); - MergeFrom(from); -} - -void Obstacle::CopyFrom(const Obstacle& from) { - if (&from == this) return; - Clear(); - MergeFrom(from); -} - -bool Obstacle::IsInitialized() const { - - return true; -} - -void Obstacle::Swap(Obstacle* other) { - if (other != this) { - std::swap(x_, other->x_); - std::swap(y_, other->y_); - std::swap(z_, other->z_); - std::swap(length_, other->length_); - std::swap(width_, other->width_); - std::swap(height_, other->height_); - std::swap(_has_bits_[0], other->_has_bits_[0]); - _unknown_fields_.Swap(&other->_unknown_fields_); - std::swap(_cached_size_, other->_cached_size_); - } -} - -::google::protobuf::Metadata Obstacle::GetMetadata() const { - protobuf_AssignDescriptorsOnce(); - ::google::protobuf::Metadata metadata; - metadata.descriptor = Obstacle_descriptor_; - metadata.reflection = Obstacle_reflection_; - return metadata; -} - - -// =================================================================== - -#ifndef _MSC_VER -const int ObstacleList::kHeaderFieldNumber; -const int ObstacleList::kObstaclesFieldNumber; -#endif // !_MSC_VER - -ObstacleList::ObstacleList() - : ::google::protobuf::Message() { - SharedCtor(); -} - -void ObstacleList::InitAsDefaultInstance() { - header_ = const_cast< ::px::HeaderInfo*>(&::px::HeaderInfo::default_instance()); -} - -ObstacleList::ObstacleList(const ObstacleList& from) - : ::google::protobuf::Message() { - SharedCtor(); - MergeFrom(from); -} - -void ObstacleList::SharedCtor() { - _cached_size_ = 0; - header_ = NULL; - ::memset(_has_bits_, 0, sizeof(_has_bits_)); -} - -ObstacleList::~ObstacleList() { - SharedDtor(); -} - -void ObstacleList::SharedDtor() { - if (this != default_instance_) { - delete header_; - } -} - -void ObstacleList::SetCachedSize(int size) const { - GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN(); - _cached_size_ = size; - GOOGLE_SAFE_CONCURRENT_WRITES_END(); -} -const ::google::protobuf::Descriptor* ObstacleList::descriptor() { - protobuf_AssignDescriptorsOnce(); - return ObstacleList_descriptor_; -} - -const ObstacleList& ObstacleList::default_instance() { - if (default_instance_ == NULL) protobuf_AddDesc_pixhawk_2eproto(); return *default_instance_; -} - -ObstacleList* ObstacleList::default_instance_ = NULL; - -ObstacleList* ObstacleList::New() const { - return new ObstacleList; -} - -void ObstacleList::Clear() { - if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) { - if (has_header()) { - if (header_ != NULL) header_->::px::HeaderInfo::Clear(); - } - } - obstacles_.Clear(); - ::memset(_has_bits_, 0, sizeof(_has_bits_)); - mutable_unknown_fields()->Clear(); -} - -bool ObstacleList::MergePartialFromCodedStream( - ::google::protobuf::io::CodedInputStream* input) { -#define DO_(EXPRESSION) if (!(EXPRESSION)) return false - ::google::protobuf::uint32 tag; - while ((tag = input->ReadTag()) != 0) { - switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { - // required .px.HeaderInfo header = 1; - case 1: { - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) { - DO_(::google::protobuf::internal::WireFormatLite::ReadMessageNoVirtual( - input, mutable_header())); - } else { - goto handle_uninterpreted; - } - if (input->ExpectTag(18)) goto parse_obstacles; - break; - } - - // repeated .px.Obstacle obstacles = 2; - case 2: { - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) { - parse_obstacles: - DO_(::google::protobuf::internal::WireFormatLite::ReadMessageNoVirtual( - input, add_obstacles())); - } else { - goto handle_uninterpreted; - } - if (input->ExpectTag(18)) goto parse_obstacles; - if (input->ExpectAtEnd()) return true; - break; - } - - default: { - handle_uninterpreted: - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_END_GROUP) { - return true; - } - DO_(::google::protobuf::internal::WireFormat::SkipField( - input, tag, mutable_unknown_fields())); - break; - } - } - } - return true; -#undef DO_ -} - -void ObstacleList::SerializeWithCachedSizes( - ::google::protobuf::io::CodedOutputStream* output) const { - // required .px.HeaderInfo header = 1; - if (has_header()) { - ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( - 1, this->header(), output); - } - - // repeated .px.Obstacle obstacles = 2; - for (int i = 0; i < this->obstacles_size(); i++) { - ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( - 2, this->obstacles(i), output); - } - - if (!unknown_fields().empty()) { - ::google::protobuf::internal::WireFormat::SerializeUnknownFields( - unknown_fields(), output); - } -} - -::google::protobuf::uint8* ObstacleList::SerializeWithCachedSizesToArray( - ::google::protobuf::uint8* target) const { - // required .px.HeaderInfo header = 1; - if (has_header()) { - target = ::google::protobuf::internal::WireFormatLite:: - WriteMessageNoVirtualToArray( - 1, this->header(), target); - } - - // repeated .px.Obstacle obstacles = 2; - for (int i = 0; i < this->obstacles_size(); i++) { - target = ::google::protobuf::internal::WireFormatLite:: - WriteMessageNoVirtualToArray( - 2, this->obstacles(i), target); - } - - if (!unknown_fields().empty()) { - target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( - unknown_fields(), target); - } - return target; -} - -int ObstacleList::ByteSize() const { - int total_size = 0; - - if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) { - // required .px.HeaderInfo header = 1; - if (has_header()) { - total_size += 1 + - ::google::protobuf::internal::WireFormatLite::MessageSizeNoVirtual( - this->header()); - } - - } - // repeated .px.Obstacle obstacles = 2; - total_size += 1 * this->obstacles_size(); - for (int i = 0; i < this->obstacles_size(); i++) { - total_size += - ::google::protobuf::internal::WireFormatLite::MessageSizeNoVirtual( - this->obstacles(i)); - } - - if (!unknown_fields().empty()) { - total_size += - ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( - unknown_fields()); - } - GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN(); - _cached_size_ = total_size; - GOOGLE_SAFE_CONCURRENT_WRITES_END(); - return total_size; -} - -void ObstacleList::MergeFrom(const ::google::protobuf::Message& from) { - GOOGLE_CHECK_NE(&from, this); - const ObstacleList* source = - ::google::protobuf::internal::dynamic_cast_if_available( - &from); - if (source == NULL) { - ::google::protobuf::internal::ReflectionOps::Merge(from, this); - } else { - MergeFrom(*source); - } -} - -void ObstacleList::MergeFrom(const ObstacleList& from) { - GOOGLE_CHECK_NE(&from, this); - obstacles_.MergeFrom(from.obstacles_); - if (from._has_bits_[0 / 32] & (0xffu << (0 % 32))) { - if (from.has_header()) { - mutable_header()->::px::HeaderInfo::MergeFrom(from.header()); - } - } - mutable_unknown_fields()->MergeFrom(from.unknown_fields()); -} - -void ObstacleList::CopyFrom(const ::google::protobuf::Message& from) { - if (&from == this) return; - Clear(); - MergeFrom(from); -} - -void ObstacleList::CopyFrom(const ObstacleList& from) { - if (&from == this) return; - Clear(); - MergeFrom(from); -} - -bool ObstacleList::IsInitialized() const { - if ((_has_bits_[0] & 0x00000001) != 0x00000001) return false; - - if (has_header()) { - if (!this->header().IsInitialized()) return false; - } - return true; -} - -void ObstacleList::Swap(ObstacleList* other) { - if (other != this) { - std::swap(header_, other->header_); - obstacles_.Swap(&other->obstacles_); - std::swap(_has_bits_[0], other->_has_bits_[0]); - _unknown_fields_.Swap(&other->_unknown_fields_); - std::swap(_cached_size_, other->_cached_size_); - } -} - -::google::protobuf::Metadata ObstacleList::GetMetadata() const { - protobuf_AssignDescriptorsOnce(); - ::google::protobuf::Metadata metadata; - metadata.descriptor = ObstacleList_descriptor_; - metadata.reflection = ObstacleList_reflection_; - return metadata; -} - - -// =================================================================== - -#ifndef _MSC_VER -const int ObstacleMap::kHeaderFieldNumber; -const int ObstacleMap::kTypeFieldNumber; -const int ObstacleMap::kResolutionFieldNumber; -const int ObstacleMap::kRowsFieldNumber; -const int ObstacleMap::kColsFieldNumber; -const int ObstacleMap::kMapR0FieldNumber; -const int ObstacleMap::kMapC0FieldNumber; -const int ObstacleMap::kArrayR0FieldNumber; -const int ObstacleMap::kArrayC0FieldNumber; -const int ObstacleMap::kDataFieldNumber; -#endif // !_MSC_VER - -ObstacleMap::ObstacleMap() - : ::google::protobuf::Message() { - SharedCtor(); -} - -void ObstacleMap::InitAsDefaultInstance() { - header_ = const_cast< ::px::HeaderInfo*>(&::px::HeaderInfo::default_instance()); -} - -ObstacleMap::ObstacleMap(const ObstacleMap& from) - : ::google::protobuf::Message() { - SharedCtor(); - MergeFrom(from); -} - -void ObstacleMap::SharedCtor() { - _cached_size_ = 0; - header_ = NULL; - type_ = 0; - resolution_ = 0; - rows_ = 0; - cols_ = 0; - mapr0_ = 0; - mapc0_ = 0; - arrayr0_ = 0; - arrayc0_ = 0; - data_ = const_cast< ::std::string*>(&::google::protobuf::internal::kEmptyString); - ::memset(_has_bits_, 0, sizeof(_has_bits_)); -} - -ObstacleMap::~ObstacleMap() { - SharedDtor(); -} - -void ObstacleMap::SharedDtor() { - if (data_ != &::google::protobuf::internal::kEmptyString) { - delete data_; - } - if (this != default_instance_) { - delete header_; - } -} - -void ObstacleMap::SetCachedSize(int size) const { - GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN(); - _cached_size_ = size; - GOOGLE_SAFE_CONCURRENT_WRITES_END(); -} -const ::google::protobuf::Descriptor* ObstacleMap::descriptor() { - protobuf_AssignDescriptorsOnce(); - return ObstacleMap_descriptor_; -} - -const ObstacleMap& ObstacleMap::default_instance() { - if (default_instance_ == NULL) protobuf_AddDesc_pixhawk_2eproto(); return *default_instance_; -} - -ObstacleMap* ObstacleMap::default_instance_ = NULL; - -ObstacleMap* ObstacleMap::New() const { - return new ObstacleMap; -} - -void ObstacleMap::Clear() { - if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) { - if (has_header()) { - if (header_ != NULL) header_->::px::HeaderInfo::Clear(); - } - type_ = 0; - resolution_ = 0; - rows_ = 0; - cols_ = 0; - mapr0_ = 0; - mapc0_ = 0; - arrayr0_ = 0; - } - if (_has_bits_[8 / 32] & (0xffu << (8 % 32))) { - arrayc0_ = 0; - if (has_data()) { - if (data_ != &::google::protobuf::internal::kEmptyString) { - data_->clear(); - } - } - } - ::memset(_has_bits_, 0, sizeof(_has_bits_)); - mutable_unknown_fields()->Clear(); -} - -bool ObstacleMap::MergePartialFromCodedStream( - ::google::protobuf::io::CodedInputStream* input) { -#define DO_(EXPRESSION) if (!(EXPRESSION)) return false - ::google::protobuf::uint32 tag; - while ((tag = input->ReadTag()) != 0) { - switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { - // required .px.HeaderInfo header = 1; - case 1: { - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) { - DO_(::google::protobuf::internal::WireFormatLite::ReadMessageNoVirtual( - input, mutable_header())); - } else { - goto handle_uninterpreted; - } - if (input->ExpectTag(16)) goto parse_type; - break; - } - - // required int32 type = 2; - case 2: { - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) { - parse_type: - DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< - ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>( - input, &type_))); - set_has_type(); - } else { - goto handle_uninterpreted; - } - if (input->ExpectTag(29)) goto parse_resolution; - break; - } - - // optional float resolution = 3; - case 3: { - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) { - parse_resolution: - DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< - float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>( - input, &resolution_))); - set_has_resolution(); - } else { - goto handle_uninterpreted; - } - if (input->ExpectTag(32)) goto parse_rows; - break; - } - - // optional int32 rows = 4; - case 4: { - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) { - parse_rows: - DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< - ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>( - input, &rows_))); - set_has_rows(); - } else { - goto handle_uninterpreted; - } - if (input->ExpectTag(40)) goto parse_cols; - break; - } - - // optional int32 cols = 5; - case 5: { - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) { - parse_cols: - DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< - ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>( - input, &cols_))); - set_has_cols(); - } else { - goto handle_uninterpreted; - } - if (input->ExpectTag(48)) goto parse_mapR0; - break; - } - - // optional int32 mapR0 = 6; - case 6: { - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) { - parse_mapR0: - DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< - ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>( - input, &mapr0_))); - set_has_mapr0(); - } else { - goto handle_uninterpreted; - } - if (input->ExpectTag(56)) goto parse_mapC0; - break; - } - - // optional int32 mapC0 = 7; - case 7: { - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) { - parse_mapC0: - DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< - ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>( - input, &mapc0_))); - set_has_mapc0(); - } else { - goto handle_uninterpreted; - } - if (input->ExpectTag(64)) goto parse_arrayR0; - break; - } - - // optional int32 arrayR0 = 8; - case 8: { - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) { - parse_arrayR0: - DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< - ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>( - input, &arrayr0_))); - set_has_arrayr0(); - } else { - goto handle_uninterpreted; - } - if (input->ExpectTag(72)) goto parse_arrayC0; - break; - } - - // optional int32 arrayC0 = 9; - case 9: { - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) { - parse_arrayC0: - DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< - ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>( - input, &arrayc0_))); - set_has_arrayc0(); - } else { - goto handle_uninterpreted; - } - if (input->ExpectTag(82)) goto parse_data; - break; - } - - // optional bytes data = 10; - case 10: { - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) { - parse_data: - DO_(::google::protobuf::internal::WireFormatLite::ReadBytes( - input, this->mutable_data())); - } else { - goto handle_uninterpreted; - } - if (input->ExpectAtEnd()) return true; - break; - } - - default: { - handle_uninterpreted: - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_END_GROUP) { - return true; - } - DO_(::google::protobuf::internal::WireFormat::SkipField( - input, tag, mutable_unknown_fields())); - break; - } - } - } - return true; -#undef DO_ -} - -void ObstacleMap::SerializeWithCachedSizes( - ::google::protobuf::io::CodedOutputStream* output) const { - // required .px.HeaderInfo header = 1; - if (has_header()) { - ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( - 1, this->header(), output); - } - - // required int32 type = 2; - if (has_type()) { - ::google::protobuf::internal::WireFormatLite::WriteInt32(2, this->type(), output); - } - - // optional float resolution = 3; - if (has_resolution()) { - ::google::protobuf::internal::WireFormatLite::WriteFloat(3, this->resolution(), output); - } - - // optional int32 rows = 4; - if (has_rows()) { - ::google::protobuf::internal::WireFormatLite::WriteInt32(4, this->rows(), output); - } - - // optional int32 cols = 5; - if (has_cols()) { - ::google::protobuf::internal::WireFormatLite::WriteInt32(5, this->cols(), output); - } - - // optional int32 mapR0 = 6; - if (has_mapr0()) { - ::google::protobuf::internal::WireFormatLite::WriteInt32(6, this->mapr0(), output); - } - - // optional int32 mapC0 = 7; - if (has_mapc0()) { - ::google::protobuf::internal::WireFormatLite::WriteInt32(7, this->mapc0(), output); - } - - // optional int32 arrayR0 = 8; - if (has_arrayr0()) { - ::google::protobuf::internal::WireFormatLite::WriteInt32(8, this->arrayr0(), output); - } - - // optional int32 arrayC0 = 9; - if (has_arrayc0()) { - ::google::protobuf::internal::WireFormatLite::WriteInt32(9, this->arrayc0(), output); - } - - // optional bytes data = 10; - if (has_data()) { - ::google::protobuf::internal::WireFormatLite::WriteBytes( - 10, this->data(), output); - } - - if (!unknown_fields().empty()) { - ::google::protobuf::internal::WireFormat::SerializeUnknownFields( - unknown_fields(), output); - } -} - -::google::protobuf::uint8* ObstacleMap::SerializeWithCachedSizesToArray( - ::google::protobuf::uint8* target) const { - // required .px.HeaderInfo header = 1; - if (has_header()) { - target = ::google::protobuf::internal::WireFormatLite:: - WriteMessageNoVirtualToArray( - 1, this->header(), target); - } - - // required int32 type = 2; - if (has_type()) { - target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(2, this->type(), target); - } - - // optional float resolution = 3; - if (has_resolution()) { - target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(3, this->resolution(), target); - } - - // optional int32 rows = 4; - if (has_rows()) { - target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(4, this->rows(), target); - } - - // optional int32 cols = 5; - if (has_cols()) { - target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(5, this->cols(), target); - } - - // optional int32 mapR0 = 6; - if (has_mapr0()) { - target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(6, this->mapr0(), target); - } - - // optional int32 mapC0 = 7; - if (has_mapc0()) { - target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(7, this->mapc0(), target); - } - - // optional int32 arrayR0 = 8; - if (has_arrayr0()) { - target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(8, this->arrayr0(), target); - } - - // optional int32 arrayC0 = 9; - if (has_arrayc0()) { - target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(9, this->arrayc0(), target); - } - - // optional bytes data = 10; - if (has_data()) { - target = - ::google::protobuf::internal::WireFormatLite::WriteBytesToArray( - 10, this->data(), target); - } - - if (!unknown_fields().empty()) { - target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( - unknown_fields(), target); - } - return target; -} - -int ObstacleMap::ByteSize() const { - int total_size = 0; - - if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) { - // required .px.HeaderInfo header = 1; - if (has_header()) { - total_size += 1 + - ::google::protobuf::internal::WireFormatLite::MessageSizeNoVirtual( - this->header()); - } - - // required int32 type = 2; - if (has_type()) { - total_size += 1 + - ::google::protobuf::internal::WireFormatLite::Int32Size( - this->type()); - } - - // optional float resolution = 3; - if (has_resolution()) { - total_size += 1 + 4; - } - - // optional int32 rows = 4; - if (has_rows()) { - total_size += 1 + - ::google::protobuf::internal::WireFormatLite::Int32Size( - this->rows()); - } - - // optional int32 cols = 5; - if (has_cols()) { - total_size += 1 + - ::google::protobuf::internal::WireFormatLite::Int32Size( - this->cols()); - } - - // optional int32 mapR0 = 6; - if (has_mapr0()) { - total_size += 1 + - ::google::protobuf::internal::WireFormatLite::Int32Size( - this->mapr0()); - } - - // optional int32 mapC0 = 7; - if (has_mapc0()) { - total_size += 1 + - ::google::protobuf::internal::WireFormatLite::Int32Size( - this->mapc0()); - } - - // optional int32 arrayR0 = 8; - if (has_arrayr0()) { - total_size += 1 + - ::google::protobuf::internal::WireFormatLite::Int32Size( - this->arrayr0()); - } - - } - if (_has_bits_[8 / 32] & (0xffu << (8 % 32))) { - // optional int32 arrayC0 = 9; - if (has_arrayc0()) { - total_size += 1 + - ::google::protobuf::internal::WireFormatLite::Int32Size( - this->arrayc0()); - } - - // optional bytes data = 10; - if (has_data()) { - total_size += 1 + - ::google::protobuf::internal::WireFormatLite::BytesSize( - this->data()); - } - - } - if (!unknown_fields().empty()) { - total_size += - ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( - unknown_fields()); - } - GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN(); - _cached_size_ = total_size; - GOOGLE_SAFE_CONCURRENT_WRITES_END(); - return total_size; -} - -void ObstacleMap::MergeFrom(const ::google::protobuf::Message& from) { - GOOGLE_CHECK_NE(&from, this); - const ObstacleMap* source = - ::google::protobuf::internal::dynamic_cast_if_available( - &from); - if (source == NULL) { - ::google::protobuf::internal::ReflectionOps::Merge(from, this); - } else { - MergeFrom(*source); - } -} - -void ObstacleMap::MergeFrom(const ObstacleMap& from) { - GOOGLE_CHECK_NE(&from, this); - if (from._has_bits_[0 / 32] & (0xffu << (0 % 32))) { - if (from.has_header()) { - mutable_header()->::px::HeaderInfo::MergeFrom(from.header()); - } - if (from.has_type()) { - set_type(from.type()); - } - if (from.has_resolution()) { - set_resolution(from.resolution()); - } - if (from.has_rows()) { - set_rows(from.rows()); - } - if (from.has_cols()) { - set_cols(from.cols()); - } - if (from.has_mapr0()) { - set_mapr0(from.mapr0()); - } - if (from.has_mapc0()) { - set_mapc0(from.mapc0()); - } - if (from.has_arrayr0()) { - set_arrayr0(from.arrayr0()); - } - } - if (from._has_bits_[8 / 32] & (0xffu << (8 % 32))) { - if (from.has_arrayc0()) { - set_arrayc0(from.arrayc0()); - } - if (from.has_data()) { - set_data(from.data()); - } - } - mutable_unknown_fields()->MergeFrom(from.unknown_fields()); -} - -void ObstacleMap::CopyFrom(const ::google::protobuf::Message& from) { - if (&from == this) return; - Clear(); - MergeFrom(from); -} - -void ObstacleMap::CopyFrom(const ObstacleMap& from) { - if (&from == this) return; - Clear(); - MergeFrom(from); -} - -bool ObstacleMap::IsInitialized() const { - if ((_has_bits_[0] & 0x00000003) != 0x00000003) return false; - - if (has_header()) { - if (!this->header().IsInitialized()) return false; - } - return true; -} - -void ObstacleMap::Swap(ObstacleMap* other) { - if (other != this) { - std::swap(header_, other->header_); - std::swap(type_, other->type_); - std::swap(resolution_, other->resolution_); - std::swap(rows_, other->rows_); - std::swap(cols_, other->cols_); - std::swap(mapr0_, other->mapr0_); - std::swap(mapc0_, other->mapc0_); - std::swap(arrayr0_, other->arrayr0_); - std::swap(arrayc0_, other->arrayc0_); - std::swap(data_, other->data_); - std::swap(_has_bits_[0], other->_has_bits_[0]); - _unknown_fields_.Swap(&other->_unknown_fields_); - std::swap(_cached_size_, other->_cached_size_); - } -} - -::google::protobuf::Metadata ObstacleMap::GetMetadata() const { - protobuf_AssignDescriptorsOnce(); - ::google::protobuf::Metadata metadata; - metadata.descriptor = ObstacleMap_descriptor_; - metadata.reflection = ObstacleMap_reflection_; - return metadata; -} - - -// =================================================================== - -#ifndef _MSC_VER -const int Waypoint::kXFieldNumber; -const int Waypoint::kYFieldNumber; -const int Waypoint::kZFieldNumber; -const int Waypoint::kRollFieldNumber; -const int Waypoint::kPitchFieldNumber; -const int Waypoint::kYawFieldNumber; -#endif // !_MSC_VER - -Waypoint::Waypoint() - : ::google::protobuf::Message() { - SharedCtor(); -} - -void Waypoint::InitAsDefaultInstance() { -} - -Waypoint::Waypoint(const Waypoint& from) - : ::google::protobuf::Message() { - SharedCtor(); - MergeFrom(from); -} - -void Waypoint::SharedCtor() { - _cached_size_ = 0; - x_ = 0; - y_ = 0; - z_ = 0; - roll_ = 0; - pitch_ = 0; - yaw_ = 0; - ::memset(_has_bits_, 0, sizeof(_has_bits_)); -} - -Waypoint::~Waypoint() { - SharedDtor(); -} - -void Waypoint::SharedDtor() { - if (this != default_instance_) { - } -} - -void Waypoint::SetCachedSize(int size) const { - GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN(); - _cached_size_ = size; - GOOGLE_SAFE_CONCURRENT_WRITES_END(); -} -const ::google::protobuf::Descriptor* Waypoint::descriptor() { - protobuf_AssignDescriptorsOnce(); - return Waypoint_descriptor_; -} - -const Waypoint& Waypoint::default_instance() { - if (default_instance_ == NULL) protobuf_AddDesc_pixhawk_2eproto(); return *default_instance_; -} - -Waypoint* Waypoint::default_instance_ = NULL; - -Waypoint* Waypoint::New() const { - return new Waypoint; -} - -void Waypoint::Clear() { - if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) { - x_ = 0; - y_ = 0; - z_ = 0; - roll_ = 0; - pitch_ = 0; - yaw_ = 0; - } - ::memset(_has_bits_, 0, sizeof(_has_bits_)); - mutable_unknown_fields()->Clear(); -} - -bool Waypoint::MergePartialFromCodedStream( - ::google::protobuf::io::CodedInputStream* input) { -#define DO_(EXPRESSION) if (!(EXPRESSION)) return false - ::google::protobuf::uint32 tag; - while ((tag = input->ReadTag()) != 0) { - switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { - // required double x = 1; - case 1: { - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED64) { - DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< - double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( - input, &x_))); - set_has_x(); - } else { - goto handle_uninterpreted; - } - if (input->ExpectTag(17)) goto parse_y; - break; - } - - // required double y = 2; - case 2: { - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED64) { - parse_y: - DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< - double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( - input, &y_))); - set_has_y(); - } else { - goto handle_uninterpreted; - } - if (input->ExpectTag(25)) goto parse_z; - break; - } - - // optional double z = 3; - case 3: { - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED64) { - parse_z: - DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< - double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( - input, &z_))); - set_has_z(); - } else { - goto handle_uninterpreted; - } - if (input->ExpectTag(33)) goto parse_roll; - break; - } - - // optional double roll = 4; - case 4: { - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED64) { - parse_roll: - DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< - double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( - input, &roll_))); - set_has_roll(); - } else { - goto handle_uninterpreted; - } - if (input->ExpectTag(41)) goto parse_pitch; - break; - } - - // optional double pitch = 5; - case 5: { - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED64) { - parse_pitch: - DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< - double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( - input, &pitch_))); - set_has_pitch(); - } else { - goto handle_uninterpreted; - } - if (input->ExpectTag(49)) goto parse_yaw; - break; - } - - // optional double yaw = 6; - case 6: { - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED64) { - parse_yaw: - DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< - double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( - input, &yaw_))); - set_has_yaw(); - } else { - goto handle_uninterpreted; - } - if (input->ExpectAtEnd()) return true; - break; - } - - default: { - handle_uninterpreted: - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_END_GROUP) { - return true; - } - DO_(::google::protobuf::internal::WireFormat::SkipField( - input, tag, mutable_unknown_fields())); - break; - } - } - } - return true; -#undef DO_ -} - -void Waypoint::SerializeWithCachedSizes( - ::google::protobuf::io::CodedOutputStream* output) const { - // required double x = 1; - if (has_x()) { - ::google::protobuf::internal::WireFormatLite::WriteDouble(1, this->x(), output); - } - - // required double y = 2; - if (has_y()) { - ::google::protobuf::internal::WireFormatLite::WriteDouble(2, this->y(), output); - } - - // optional double z = 3; - if (has_z()) { - ::google::protobuf::internal::WireFormatLite::WriteDouble(3, this->z(), output); - } - - // optional double roll = 4; - if (has_roll()) { - ::google::protobuf::internal::WireFormatLite::WriteDouble(4, this->roll(), output); - } - - // optional double pitch = 5; - if (has_pitch()) { - ::google::protobuf::internal::WireFormatLite::WriteDouble(5, this->pitch(), output); - } - - // optional double yaw = 6; - if (has_yaw()) { - ::google::protobuf::internal::WireFormatLite::WriteDouble(6, this->yaw(), output); - } - - if (!unknown_fields().empty()) { - ::google::protobuf::internal::WireFormat::SerializeUnknownFields( - unknown_fields(), output); - } -} - -::google::protobuf::uint8* Waypoint::SerializeWithCachedSizesToArray( - ::google::protobuf::uint8* target) const { - // required double x = 1; - if (has_x()) { - target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(1, this->x(), target); - } - - // required double y = 2; - if (has_y()) { - target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(2, this->y(), target); - } - - // optional double z = 3; - if (has_z()) { - target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(3, this->z(), target); - } - - // optional double roll = 4; - if (has_roll()) { - target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(4, this->roll(), target); - } - - // optional double pitch = 5; - if (has_pitch()) { - target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(5, this->pitch(), target); - } - - // optional double yaw = 6; - if (has_yaw()) { - target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(6, this->yaw(), target); - } - - if (!unknown_fields().empty()) { - target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( - unknown_fields(), target); - } - return target; -} - -int Waypoint::ByteSize() const { - int total_size = 0; - - if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) { - // required double x = 1; - if (has_x()) { - total_size += 1 + 8; - } - - // required double y = 2; - if (has_y()) { - total_size += 1 + 8; - } - - // optional double z = 3; - if (has_z()) { - total_size += 1 + 8; - } - - // optional double roll = 4; - if (has_roll()) { - total_size += 1 + 8; - } - - // optional double pitch = 5; - if (has_pitch()) { - total_size += 1 + 8; - } - - // optional double yaw = 6; - if (has_yaw()) { - total_size += 1 + 8; - } - - } - if (!unknown_fields().empty()) { - total_size += - ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( - unknown_fields()); - } - GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN(); - _cached_size_ = total_size; - GOOGLE_SAFE_CONCURRENT_WRITES_END(); - return total_size; -} - -void Waypoint::MergeFrom(const ::google::protobuf::Message& from) { - GOOGLE_CHECK_NE(&from, this); - const Waypoint* source = - ::google::protobuf::internal::dynamic_cast_if_available( - &from); - if (source == NULL) { - ::google::protobuf::internal::ReflectionOps::Merge(from, this); - } else { - MergeFrom(*source); - } -} - -void Waypoint::MergeFrom(const Waypoint& from) { - GOOGLE_CHECK_NE(&from, this); - if (from._has_bits_[0 / 32] & (0xffu << (0 % 32))) { - if (from.has_x()) { - set_x(from.x()); - } - if (from.has_y()) { - set_y(from.y()); - } - if (from.has_z()) { - set_z(from.z()); - } - if (from.has_roll()) { - set_roll(from.roll()); - } - if (from.has_pitch()) { - set_pitch(from.pitch()); - } - if (from.has_yaw()) { - set_yaw(from.yaw()); - } - } - mutable_unknown_fields()->MergeFrom(from.unknown_fields()); -} - -void Waypoint::CopyFrom(const ::google::protobuf::Message& from) { - if (&from == this) return; - Clear(); - MergeFrom(from); -} - -void Waypoint::CopyFrom(const Waypoint& from) { - if (&from == this) return; - Clear(); - MergeFrom(from); -} - -bool Waypoint::IsInitialized() const { - if ((_has_bits_[0] & 0x00000003) != 0x00000003) return false; - - return true; -} - -void Waypoint::Swap(Waypoint* other) { - if (other != this) { - std::swap(x_, other->x_); - std::swap(y_, other->y_); - std::swap(z_, other->z_); - std::swap(roll_, other->roll_); - std::swap(pitch_, other->pitch_); - std::swap(yaw_, other->yaw_); - std::swap(_has_bits_[0], other->_has_bits_[0]); - _unknown_fields_.Swap(&other->_unknown_fields_); - std::swap(_cached_size_, other->_cached_size_); - } -} - -::google::protobuf::Metadata Waypoint::GetMetadata() const { - protobuf_AssignDescriptorsOnce(); - ::google::protobuf::Metadata metadata; - metadata.descriptor = Waypoint_descriptor_; - metadata.reflection = Waypoint_reflection_; - return metadata; -} - - -// =================================================================== - -#ifndef _MSC_VER -const int Path::kHeaderFieldNumber; -const int Path::kWaypointsFieldNumber; -#endif // !_MSC_VER - -Path::Path() - : ::google::protobuf::Message() { - SharedCtor(); -} - -void Path::InitAsDefaultInstance() { - header_ = const_cast< ::px::HeaderInfo*>(&::px::HeaderInfo::default_instance()); -} - -Path::Path(const Path& from) - : ::google::protobuf::Message() { - SharedCtor(); - MergeFrom(from); -} - -void Path::SharedCtor() { - _cached_size_ = 0; - header_ = NULL; - ::memset(_has_bits_, 0, sizeof(_has_bits_)); -} - -Path::~Path() { - SharedDtor(); -} - -void Path::SharedDtor() { - if (this != default_instance_) { - delete header_; - } -} - -void Path::SetCachedSize(int size) const { - GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN(); - _cached_size_ = size; - GOOGLE_SAFE_CONCURRENT_WRITES_END(); -} -const ::google::protobuf::Descriptor* Path::descriptor() { - protobuf_AssignDescriptorsOnce(); - return Path_descriptor_; -} - -const Path& Path::default_instance() { - if (default_instance_ == NULL) protobuf_AddDesc_pixhawk_2eproto(); return *default_instance_; -} - -Path* Path::default_instance_ = NULL; - -Path* Path::New() const { - return new Path; -} - -void Path::Clear() { - if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) { - if (has_header()) { - if (header_ != NULL) header_->::px::HeaderInfo::Clear(); - } - } - waypoints_.Clear(); - ::memset(_has_bits_, 0, sizeof(_has_bits_)); - mutable_unknown_fields()->Clear(); -} - -bool Path::MergePartialFromCodedStream( - ::google::protobuf::io::CodedInputStream* input) { -#define DO_(EXPRESSION) if (!(EXPRESSION)) return false - ::google::protobuf::uint32 tag; - while ((tag = input->ReadTag()) != 0) { - switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { - // required .px.HeaderInfo header = 1; - case 1: { - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) { - DO_(::google::protobuf::internal::WireFormatLite::ReadMessageNoVirtual( - input, mutable_header())); - } else { - goto handle_uninterpreted; - } - if (input->ExpectTag(18)) goto parse_waypoints; - break; - } - - // repeated .px.Waypoint waypoints = 2; - case 2: { - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) { - parse_waypoints: - DO_(::google::protobuf::internal::WireFormatLite::ReadMessageNoVirtual( - input, add_waypoints())); - } else { - goto handle_uninterpreted; - } - if (input->ExpectTag(18)) goto parse_waypoints; - if (input->ExpectAtEnd()) return true; - break; - } - - default: { - handle_uninterpreted: - if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) == - ::google::protobuf::internal::WireFormatLite::WIRETYPE_END_GROUP) { - return true; - } - DO_(::google::protobuf::internal::WireFormat::SkipField( - input, tag, mutable_unknown_fields())); - break; - } - } - } - return true; -#undef DO_ -} - -void Path::SerializeWithCachedSizes( - ::google::protobuf::io::CodedOutputStream* output) const { - // required .px.HeaderInfo header = 1; - if (has_header()) { - ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( - 1, this->header(), output); - } - - // repeated .px.Waypoint waypoints = 2; - for (int i = 0; i < this->waypoints_size(); i++) { - ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( - 2, this->waypoints(i), output); - } - - if (!unknown_fields().empty()) { - ::google::protobuf::internal::WireFormat::SerializeUnknownFields( - unknown_fields(), output); - } -} - -::google::protobuf::uint8* Path::SerializeWithCachedSizesToArray( - ::google::protobuf::uint8* target) const { - // required .px.HeaderInfo header = 1; - if (has_header()) { - target = ::google::protobuf::internal::WireFormatLite:: - WriteMessageNoVirtualToArray( - 1, this->header(), target); - } - - // repeated .px.Waypoint waypoints = 2; - for (int i = 0; i < this->waypoints_size(); i++) { - target = ::google::protobuf::internal::WireFormatLite:: - WriteMessageNoVirtualToArray( - 2, this->waypoints(i), target); - } - - if (!unknown_fields().empty()) { - target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( - unknown_fields(), target); - } - return target; -} - -int Path::ByteSize() const { - int total_size = 0; - - if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) { - // required .px.HeaderInfo header = 1; - if (has_header()) { - total_size += 1 + - ::google::protobuf::internal::WireFormatLite::MessageSizeNoVirtual( - this->header()); - } - - } - // repeated .px.Waypoint waypoints = 2; - total_size += 1 * this->waypoints_size(); - for (int i = 0; i < this->waypoints_size(); i++) { - total_size += - ::google::protobuf::internal::WireFormatLite::MessageSizeNoVirtual( - this->waypoints(i)); - } - - if (!unknown_fields().empty()) { - total_size += - ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( - unknown_fields()); - } - GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN(); - _cached_size_ = total_size; - GOOGLE_SAFE_CONCURRENT_WRITES_END(); - return total_size; -} - -void Path::MergeFrom(const ::google::protobuf::Message& from) { - GOOGLE_CHECK_NE(&from, this); - const Path* source = - ::google::protobuf::internal::dynamic_cast_if_available( - &from); - if (source == NULL) { - ::google::protobuf::internal::ReflectionOps::Merge(from, this); - } else { - MergeFrom(*source); - } -} - -void Path::MergeFrom(const Path& from) { - GOOGLE_CHECK_NE(&from, this); - waypoints_.MergeFrom(from.waypoints_); - if (from._has_bits_[0 / 32] & (0xffu << (0 % 32))) { - if (from.has_header()) { - mutable_header()->::px::HeaderInfo::MergeFrom(from.header()); - } - } - mutable_unknown_fields()->MergeFrom(from.unknown_fields()); -} - -void Path::CopyFrom(const ::google::protobuf::Message& from) { - if (&from == this) return; - Clear(); - MergeFrom(from); -} - -void Path::CopyFrom(const Path& from) { - if (&from == this) return; - Clear(); - MergeFrom(from); -} - -bool Path::IsInitialized() const { - if ((_has_bits_[0] & 0x00000001) != 0x00000001) return false; - - if (has_header()) { - if (!this->header().IsInitialized()) return false; - } - for (int i = 0; i < waypoints_size(); i++) { - if (!this->waypoints(i).IsInitialized()) return false; - } - return true; -} - -void Path::Swap(Path* other) { - if (other != this) { - std::swap(header_, other->header_); - waypoints_.Swap(&other->waypoints_); - std::swap(_has_bits_[0], other->_has_bits_[0]); - _unknown_fields_.Swap(&other->_unknown_fields_); - std::swap(_cached_size_, other->_cached_size_); - } -} - -::google::protobuf::Metadata Path::GetMetadata() const { - protobuf_AssignDescriptorsOnce(); - ::google::protobuf::Metadata metadata; - metadata.descriptor = Path_descriptor_; - metadata.reflection = Path_reflection_; - return metadata; -} - - -// @@protoc_insertion_point(namespace_scope) - -} // namespace px - -// @@protoc_insertion_point(global_scope) diff --git a/thirdParty/mavlink/v0.9/ardupilotmega/ardupilotmega.h b/thirdParty/mavlink/v0.9/ardupilotmega/ardupilotmega.h new file mode 100644 index 0000000000000000000000000000000000000000..9192bacf010f82840c3e97cbbfe868636add2874 --- /dev/null +++ b/thirdParty/mavlink/v0.9/ardupilotmega/ardupilotmega.h @@ -0,0 +1,150 @@ +/** @file + * @brief MAVLink comm protocol generated from ardupilotmega.xml + * @see http://qgroundcontrol.org/mavlink/ + */ +#ifndef ARDUPILOTMEGA_H +#define ARDUPILOTMEGA_H + +#ifdef __cplusplus +extern "C" { +#endif + +// MESSAGE LENGTHS AND CRCS + +#ifndef MAVLINK_MESSAGE_LENGTHS +#define MAVLINK_MESSAGE_LENGTHS {3, 4, 8, 14, 8, 28, 3, 32, 0, 2, 3, 2, 2, 0, 0, 0, 0, 0, 0, 0, 19, 2, 23, 21, 0, 37, 26, 101, 26, 16, 32, 32, 37, 32, 11, 17, 17, 16, 18, 36, 4, 4, 2, 2, 4, 2, 2, 3, 14, 12, 18, 16, 8, 27, 25, 18, 18, 24, 24, 0, 0, 0, 26, 16, 36, 5, 6, 56, 26, 21, 18, 0, 0, 18, 20, 20, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 18, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 0, 0, 0, 0, 0, 0, 0, 0, 0, 42, 8, 4, 12, 15, 13, 6, 15, 14, 0, 12, 3, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 30, 14, 14, 51, 5} +#endif + +#ifndef MAVLINK_MESSAGE_CRCS +#define MAVLINK_MESSAGE_CRCS {72, 39, 190, 92, 191, 217, 104, 119, 0, 219, 60, 186, 10, 0, 0, 0, 0, 0, 0, 0, 89, 159, 162, 121, 0, 149, 222, 110, 179, 136, 66, 126, 185, 147, 112, 252, 162, 215, 229, 128, 9, 106, 101, 213, 4, 229, 21, 214, 215, 14, 206, 50, 157, 126, 108, 213, 95, 5, 127, 0, 0, 0, 57, 126, 130, 119, 193, 191, 236, 158, 143, 0, 0, 104, 123, 131, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 174, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 155, 0, 0, 0, 0, 0, 0, 0, 0, 0, 143, 29, 208, 188, 118, 242, 19, 97, 233, 0, 18, 68, 136, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 178, 224, 60, 106, 7} +#endif + +#ifndef MAVLINK_MESSAGE_INFO +#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_BOOT, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_SYSTEM_TIME_UTC, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {NULL}, MAVLINK_MESSAGE_INFO_ACTION_ACK, MAVLINK_MESSAGE_INFO_ACTION, MAVLINK_MESSAGE_INFO_SET_MODE, MAVLINK_MESSAGE_INFO_SET_NAV_MODE, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, {NULL}, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_LOCAL_POSITION, MAVLINK_MESSAGE_INFO_GPS_RAW, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_WAYPOINT, MAVLINK_MESSAGE_INFO_WAYPOINT_REQUEST, MAVLINK_MESSAGE_INFO_WAYPOINT_SET_CURRENT, MAVLINK_MESSAGE_INFO_WAYPOINT_CURRENT, MAVLINK_MESSAGE_INFO_WAYPOINT_REQUEST_LIST, MAVLINK_MESSAGE_INFO_WAYPOINT_COUNT, MAVLINK_MESSAGE_INFO_WAYPOINT_CLEAR_ALL, MAVLINK_MESSAGE_INFO_WAYPOINT_REACHED, MAVLINK_MESSAGE_INFO_WAYPOINT_ACK, MAVLINK_MESSAGE_INFO_GPS_SET_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_LOCAL_ORIGIN_SET, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT_SET, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_CONTROL_STATUS, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, MAVLINK_MESSAGE_INFO_POSITION_TARGET, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, MAVLINK_MESSAGE_INFO_SET_ALTITUDE, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_VFR_HUD, MAVLINK_MESSAGE_INFO_COMMAND, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_OBJECT_DETECTION_EVENT, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_SENSOR_OFFSETS, MAVLINK_MESSAGE_INFO_SET_MAG_OFFSETS, MAVLINK_MESSAGE_INFO_MEMINFO, MAVLINK_MESSAGE_INFO_AP_ADC, MAVLINK_MESSAGE_INFO_DIGICAM_CONFIGURE, MAVLINK_MESSAGE_INFO_DIGICAM_CONTROL, MAVLINK_MESSAGE_INFO_MOUNT_CONFIGURE, MAVLINK_MESSAGE_INFO_MOUNT_CONTROL, MAVLINK_MESSAGE_INFO_MOUNT_STATUS, {NULL}, MAVLINK_MESSAGE_INFO_FENCE_POINT, MAVLINK_MESSAGE_INFO_FENCE_FETCH_POINT, MAVLINK_MESSAGE_INFO_FENCE_STATUS, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG} +#endif + +#include "../protocol.h" + +#define MAVLINK_ENABLED_ARDUPILOTMEGA + +#include "../common/common.h" + +// MAVLINK VERSION + +#ifndef MAVLINK_VERSION +#define MAVLINK_VERSION 2 +#endif + +#if (MAVLINK_VERSION == 0) +#undef MAVLINK_VERSION +#define MAVLINK_VERSION 2 +#endif + +// ENUM DEFINITIONS + + +/** @brief Enumeration of possible mount operation modes */ +#ifndef HAVE_ENUM_MAV_MOUNT_MODE +#define HAVE_ENUM_MAV_MOUNT_MODE +enum MAV_MOUNT_MODE +{ + MAV_MOUNT_MODE_RETRACT=0, /* Load and keep safe position (Roll,Pitch,Yaw) from EEPROM and stop stabilization | */ + MAV_MOUNT_MODE_NEUTRAL=1, /* Load and keep neutral position (Roll,Pitch,Yaw) from EEPROM. | */ + MAV_MOUNT_MODE_MAVLINK_TARGETING=2, /* Load neutral position and start MAVLink Roll,Pitch,Yaw control with stabilization | */ + MAV_MOUNT_MODE_RC_TARGETING=3, /* Load neutral position and start RC Roll,Pitch,Yaw control with stabilization | */ + MAV_MOUNT_MODE_GPS_POINT=4, /* Load neutral position and start to point to Lat,Lon,Alt | */ + MAV_MOUNT_MODE_ENUM_END=5, /* | */ +}; +#endif + +/** @brief */ +#ifndef HAVE_ENUM_MAV_CMD +#define HAVE_ENUM_MAV_CMD +enum MAV_CMD +{ + MAV_CMD_NAV_WAYPOINT=16, /* Navigate to waypoint. |Hold time in decimal seconds. (ignored by fixed wing, time to stay at waypoint for rotary wing)| Acceptance radius in meters (if the sphere with this radius is hit, the waypoint counts as reached)| 0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at waypoint (rotary wing)| Latitude| Longitude| Altitude| */ + MAV_CMD_NAV_LOITER_UNLIM=17, /* Loiter around this waypoint an unlimited amount of time |Empty| Empty| Radius around waypoint, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */ + MAV_CMD_NAV_LOITER_TURNS=18, /* Loiter around this waypoint for X turns |Turns| Empty| Radius around waypoint, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */ + MAV_CMD_NAV_LOITER_TIME=19, /* Loiter around this waypoint for X seconds |Seconds (decimal)| Empty| Radius around waypoint, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */ + MAV_CMD_NAV_RETURN_TO_LAUNCH=20, /* Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_NAV_LAND=21, /* Land at location |Empty| Empty| Empty| Desired yaw angle.| Latitude| Longitude| Altitude| */ + MAV_CMD_NAV_TAKEOFF=22, /* Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude| */ + MAV_CMD_NAV_ROI=80, /* 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)| Waypoint 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_NAV_PATHPLANNING=81, /* Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal, in compass degrees, [0..360]| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal| */ + MAV_CMD_NAV_LAST=95, /* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_CONDITION_DELAY=112, /* Delay mission state machine. |Delay in seconds (decimal)| Empty| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_CONDITION_CHANGE_ALT=113, /* Ascend/descend at rate. Delay mission state machine until desired altitude reached. |Descent / Ascend rate (m/s)| Empty| Empty| Empty| Empty| Empty| Finish Altitude| */ + MAV_CMD_CONDITION_DISTANCE=114, /* Delay mission state machine until within desired distance of next NAV point. |Distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_CONDITION_YAW=115, /* Reach a certain target angle. |target angle: [0-360], 0 is north| speed during yaw change:[deg per second]| direction: negative: counter clockwise, positive: clockwise [-1,1]| relative offset or absolute angle: [ 1,0]| Empty| Empty| Empty| */ + MAV_CMD_CONDITION_LAST=159, /* NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_DO_SET_MODE=176, /* Set system mode. |Mode, as defined by ENUM MAV_MODE| Empty| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_DO_JUMP=177, /* Jump to the desired command in the mission list. Repeat this action only the specified number of times |Sequence number| Repeat count| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_DO_CHANGE_SPEED=178, /* Change speed and/or throttle set points. |Speed type (0=Airspeed, 1=Ground Speed)| Speed (m/s, -1 indicates no change)| Throttle ( Percent, -1 indicates no change)| Empty| Empty| Empty| Empty| */ + MAV_CMD_DO_SET_HOME=179, /* Changes the home location either to the current location or a specified location. |Use current (1=use current location, 0=use specified location)| Empty| Empty| Empty| Latitude| Longitude| Altitude| */ + MAV_CMD_DO_SET_PARAMETER=180, /* Set a system parameter. Caution! Use of this command requires knowledge of the numeric enumeration value of the parameter. |Parameter number| Parameter value| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_DO_SET_RELAY=181, /* Set a relay to a condition. |Relay number| Setting (1=on, 0=off, others possible depending on system hardware)| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_DO_REPEAT_RELAY=182, /* Cycle a relay on and off for a desired number of cyles with a desired period. |Relay number| Cycle count| Cycle time (seconds, decimal)| Empty| Empty| Empty| Empty| */ + 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 capturing. |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 + devices such as cameras. + |Region of interest mode. (see MAV_ROI enum)| Waypoint index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple cameras etc.)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z| */ + MAV_CMD_DO_DIGICAM_CONFIGURE=202, /* Mission command to configure an on-board camera controller system. |Modes: P, TV, AV, M, Etc| Shutter speed: Divisor number for one second| Aperture: F stop number| ISO number e.g. 80, 100, 200, Etc| Exposure type enumerator| Command Identity| Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off)| */ + MAV_CMD_DO_DIGICAM_CONTROL=203, /* Mission command to control an on-board camera controller system. |Session control e.g. show/hide lens| Zoom's absolute position| Zooming step value to offset zoom from the current position| Focus Locking, Unlocking or Re-locking| Shooting Command| Command Identity| Empty| */ + MAV_CMD_DO_MOUNT_CONFIGURE=204, /* Mission command to configure a camera or antenna mount |Mount operation mode (see MAV_MOUNT_MODE enum)| stabilize roll? (1 = yes, 0 = no)| stabilize pitch? (1 = yes, 0 = no)| stabilize yaw? (1 = yes, 0 = no)| Empty| Empty| Empty| */ + MAV_CMD_DO_MOUNT_CONTROL=205, /* Mission command to control a camera or antenna mount |pitch(deg*100) or lat, depending on mount mode.| roll(deg*100) or lon depending on mount mode| yaw(deg*100) or alt (in cm) depending on mount mode| Empty| Empty| Empty| Empty| */ + 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| Empty| Empty| Empty| */ + MAV_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Reserved| Reserved| Empty| Empty| Empty| */ + MAV_CMD_ENUM_END=246, /* | */ +}; +#endif + +/** @brief */ +#ifndef HAVE_ENUM_FENCE_ACTION +#define HAVE_ENUM_FENCE_ACTION +enum FENCE_ACTION +{ + FENCE_ACTION_NONE=0, /* Disable fenced mode | */ + FENCE_ACTION_GUIDED=1, /* Switched to guided mode to return point (fence point 0) | */ + FENCE_ACTION_ENUM_END=2, /* | */ +}; +#endif + +/** @brief */ +#ifndef HAVE_ENUM_FENCE_BREACH +#define HAVE_ENUM_FENCE_BREACH +enum FENCE_BREACH +{ + FENCE_BREACH_NONE=0, /* No last fence breach | */ + FENCE_BREACH_MINALT=1, /* Breached minimum altitude | */ + FENCE_BREACH_MAXALT=2, /* Breached minimum altitude | */ + FENCE_BREACH_BOUNDARY=3, /* Breached fence boundary | */ + FENCE_BREACH_ENUM_END=4, /* | */ +}; +#endif + +// MESSAGE DEFINITIONS +#include "./mavlink_msg_sensor_offsets.h" +#include "./mavlink_msg_set_mag_offsets.h" +#include "./mavlink_msg_meminfo.h" +#include "./mavlink_msg_ap_adc.h" +#include "./mavlink_msg_digicam_configure.h" +#include "./mavlink_msg_digicam_control.h" +#include "./mavlink_msg_mount_configure.h" +#include "./mavlink_msg_mount_control.h" +#include "./mavlink_msg_mount_status.h" +#include "./mavlink_msg_fence_point.h" +#include "./mavlink_msg_fence_fetch_point.h" +#include "./mavlink_msg_fence_status.h" + +#ifdef __cplusplus +} +#endif // __cplusplus +#endif // ARDUPILOTMEGA_H diff --git a/thirdParty/mavlink/v0.9/ardupilotmega/mavlink.h b/thirdParty/mavlink/v0.9/ardupilotmega/mavlink.h new file mode 100644 index 0000000000000000000000000000000000000000..72e0248d9808aeca80f0cb236e9b0912eb736a32 --- /dev/null +++ b/thirdParty/mavlink/v0.9/ardupilotmega/mavlink.h @@ -0,0 +1,27 @@ +/** @file + * @brief MAVLink comm protocol built from ardupilotmega.xml + * @see http://pixhawk.ethz.ch/software/mavlink + */ +#ifndef MAVLINK_H +#define MAVLINK_H + +#ifndef MAVLINK_STX +#define MAVLINK_STX 85 +#endif + +#ifndef MAVLINK_ENDIAN +#define MAVLINK_ENDIAN MAVLINK_BIG_ENDIAN +#endif + +#ifndef MAVLINK_ALIGNED_FIELDS +#define MAVLINK_ALIGNED_FIELDS 0 +#endif + +#ifndef MAVLINK_CRC_EXTRA +#define MAVLINK_CRC_EXTRA 0 +#endif + +#include "version.h" +#include "ardupilotmega.h" + +#endif // MAVLINK_H diff --git a/thirdParty/mavlink/v0.9/ardupilotmega/mavlink_msg_ap_adc.h b/thirdParty/mavlink/v0.9/ardupilotmega/mavlink_msg_ap_adc.h new file mode 100644 index 0000000000000000000000000000000000000000..d42edb15d39a782153fdf0556231b35349bed88d --- /dev/null +++ b/thirdParty/mavlink/v0.9/ardupilotmega/mavlink_msg_ap_adc.h @@ -0,0 +1,254 @@ +// MESSAGE AP_ADC PACKING + +#define MAVLINK_MSG_ID_AP_ADC 153 + +typedef struct __mavlink_ap_adc_t +{ + uint16_t adc1; ///< ADC output 1 + uint16_t adc2; ///< ADC output 2 + uint16_t adc3; ///< ADC output 3 + uint16_t adc4; ///< ADC output 4 + uint16_t adc5; ///< ADC output 5 + uint16_t adc6; ///< ADC output 6 +} mavlink_ap_adc_t; + +#define MAVLINK_MSG_ID_AP_ADC_LEN 12 +#define MAVLINK_MSG_ID_153_LEN 12 + + + +#define MAVLINK_MESSAGE_INFO_AP_ADC { \ + "AP_ADC", \ + 6, \ + { { "adc1", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_ap_adc_t, adc1) }, \ + { "adc2", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_ap_adc_t, adc2) }, \ + { "adc3", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_ap_adc_t, adc3) }, \ + { "adc4", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_ap_adc_t, adc4) }, \ + { "adc5", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_ap_adc_t, adc5) }, \ + { "adc6", NULL, MAVLINK_TYPE_UINT16_T, 0, 10, offsetof(mavlink_ap_adc_t, adc6) }, \ + } \ +} + + +/** + * @brief Pack a ap_adc 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 adc1 ADC output 1 + * @param adc2 ADC output 2 + * @param adc3 ADC output 3 + * @param adc4 ADC output 4 + * @param adc5 ADC output 5 + * @param adc6 ADC output 6 + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_ap_adc_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint16_t adc1, uint16_t adc2, uint16_t adc3, uint16_t adc4, uint16_t adc5, uint16_t adc6) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[12]; + _mav_put_uint16_t(buf, 0, adc1); + _mav_put_uint16_t(buf, 2, adc2); + _mav_put_uint16_t(buf, 4, adc3); + _mav_put_uint16_t(buf, 6, adc4); + _mav_put_uint16_t(buf, 8, adc5); + _mav_put_uint16_t(buf, 10, adc6); + + memcpy(_MAV_PAYLOAD(msg), buf, 12); +#else + mavlink_ap_adc_t packet; + packet.adc1 = adc1; + packet.adc2 = adc2; + packet.adc3 = adc3; + packet.adc4 = adc4; + packet.adc5 = adc5; + packet.adc6 = adc6; + + memcpy(_MAV_PAYLOAD(msg), &packet, 12); +#endif + + msg->msgid = MAVLINK_MSG_ID_AP_ADC; + return mavlink_finalize_message(msg, system_id, component_id, 12); +} + +/** + * @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 msg The MAVLink message to compress the data into + * @param adc1 ADC output 1 + * @param adc2 ADC output 2 + * @param adc3 ADC output 3 + * @param adc4 ADC output 4 + * @param adc5 ADC output 5 + * @param adc6 ADC output 6 + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_ap_adc_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint16_t adc1,uint16_t adc2,uint16_t adc3,uint16_t adc4,uint16_t adc5,uint16_t adc6) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[12]; + _mav_put_uint16_t(buf, 0, adc1); + _mav_put_uint16_t(buf, 2, adc2); + _mav_put_uint16_t(buf, 4, adc3); + _mav_put_uint16_t(buf, 6, adc4); + _mav_put_uint16_t(buf, 8, adc5); + _mav_put_uint16_t(buf, 10, adc6); + + memcpy(_MAV_PAYLOAD(msg), buf, 12); +#else + mavlink_ap_adc_t packet; + packet.adc1 = adc1; + packet.adc2 = adc2; + packet.adc3 = adc3; + packet.adc4 = adc4; + packet.adc5 = adc5; + packet.adc6 = adc6; + + memcpy(_MAV_PAYLOAD(msg), &packet, 12); +#endif + + msg->msgid = MAVLINK_MSG_ID_AP_ADC; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 12); +} + +/** + * @brief Encode a ap_adc 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 ap_adc C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_ap_adc_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_ap_adc_t* ap_adc) +{ + 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 Send a ap_adc message + * @param chan MAVLink channel to send the message + * + * @param adc1 ADC output 1 + * @param adc2 ADC output 2 + * @param adc3 ADC output 3 + * @param adc4 ADC output 4 + * @param adc5 ADC output 5 + * @param adc6 ADC output 6 + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_ap_adc_send(mavlink_channel_t chan, uint16_t adc1, uint16_t adc2, uint16_t adc3, uint16_t adc4, uint16_t adc5, uint16_t adc6) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[12]; + _mav_put_uint16_t(buf, 0, adc1); + _mav_put_uint16_t(buf, 2, adc2); + _mav_put_uint16_t(buf, 4, adc3); + _mav_put_uint16_t(buf, 6, adc4); + _mav_put_uint16_t(buf, 8, adc5); + _mav_put_uint16_t(buf, 10, adc6); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AP_ADC, buf, 12); +#else + mavlink_ap_adc_t packet; + packet.adc1 = adc1; + packet.adc2 = adc2; + packet.adc3 = adc3; + packet.adc4 = adc4; + packet.adc5 = adc5; + packet.adc6 = adc6; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AP_ADC, (const char *)&packet, 12); +#endif +} + +#endif + +// MESSAGE AP_ADC UNPACKING + + +/** + * @brief Get field adc1 from ap_adc message + * + * @return ADC output 1 + */ +static inline uint16_t mavlink_msg_ap_adc_get_adc1(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 0); +} + +/** + * @brief Get field adc2 from ap_adc message + * + * @return ADC output 2 + */ +static inline uint16_t mavlink_msg_ap_adc_get_adc2(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 2); +} + +/** + * @brief Get field adc3 from ap_adc message + * + * @return ADC output 3 + */ +static inline uint16_t mavlink_msg_ap_adc_get_adc3(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 4); +} + +/** + * @brief Get field adc4 from ap_adc message + * + * @return ADC output 4 + */ +static inline uint16_t mavlink_msg_ap_adc_get_adc4(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 6); +} + +/** + * @brief Get field adc5 from ap_adc message + * + * @return ADC output 5 + */ +static inline uint16_t mavlink_msg_ap_adc_get_adc5(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 8); +} + +/** + * @brief Get field adc6 from ap_adc message + * + * @return ADC output 6 + */ +static inline uint16_t mavlink_msg_ap_adc_get_adc6(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 10); +} + +/** + * @brief Decode a ap_adc message into a struct + * + * @param msg The message to decode + * @param ap_adc C-struct to decode the message contents into + */ +static inline void mavlink_msg_ap_adc_decode(const mavlink_message_t* msg, mavlink_ap_adc_t* ap_adc) +{ +#if MAVLINK_NEED_BYTE_SWAP + ap_adc->adc1 = mavlink_msg_ap_adc_get_adc1(msg); + ap_adc->adc2 = mavlink_msg_ap_adc_get_adc2(msg); + ap_adc->adc3 = mavlink_msg_ap_adc_get_adc3(msg); + ap_adc->adc4 = mavlink_msg_ap_adc_get_adc4(msg); + ap_adc->adc5 = mavlink_msg_ap_adc_get_adc5(msg); + ap_adc->adc6 = mavlink_msg_ap_adc_get_adc6(msg); +#else + memcpy(ap_adc, _MAV_PAYLOAD(msg), 12); +#endif +} diff --git a/thirdParty/mavlink/v0.9/ardupilotmega/mavlink_msg_digicam_configure.h b/thirdParty/mavlink/v0.9/ardupilotmega/mavlink_msg_digicam_configure.h new file mode 100644 index 0000000000000000000000000000000000000000..92263b86a290fed442585644e449bdabc1d59863 --- /dev/null +++ b/thirdParty/mavlink/v0.9/ardupilotmega/mavlink_msg_digicam_configure.h @@ -0,0 +1,364 @@ +// MESSAGE DIGICAM_CONFIGURE PACKING + +#define MAVLINK_MSG_ID_DIGICAM_CONFIGURE 154 + +typedef struct __mavlink_digicam_configure_t +{ + uint8_t target_system; ///< System ID + uint8_t target_component; ///< Component ID + uint8_t mode; ///< Mode enumeration from 1 to N //P, TV, AV, M, Etc (0 means ignore) + uint16_t shutter_speed; ///< Divisor number //e.g. 1000 means 1/1000 (0 means ignore) + uint8_t aperture; ///< F stop number x 10 //e.g. 28 means 2.8 (0 means ignore) + uint8_t iso; ///< ISO enumeration from 1 to N //e.g. 80, 100, 200, Etc (0 means ignore) + uint8_t exposure_type; ///< Exposure type enumeration from 1 to N (0 means ignore) + uint8_t command_id; ///< Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once + uint8_t engine_cut_off; ///< Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off) + uint8_t extra_param; ///< Extra parameters enumeration (0 means ignore) + float extra_value; ///< Correspondent value to given extra_param +} mavlink_digicam_configure_t; + +#define MAVLINK_MSG_ID_DIGICAM_CONFIGURE_LEN 15 +#define MAVLINK_MSG_ID_154_LEN 15 + + + +#define MAVLINK_MESSAGE_INFO_DIGICAM_CONFIGURE { \ + "DIGICAM_CONFIGURE", \ + 11, \ + { { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_digicam_configure_t, target_system) }, \ + { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_digicam_configure_t, target_component) }, \ + { "mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_digicam_configure_t, mode) }, \ + { "shutter_speed", NULL, MAVLINK_TYPE_UINT16_T, 0, 3, offsetof(mavlink_digicam_configure_t, shutter_speed) }, \ + { "aperture", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_digicam_configure_t, aperture) }, \ + { "iso", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_digicam_configure_t, iso) }, \ + { "exposure_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_digicam_configure_t, exposure_type) }, \ + { "command_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_digicam_configure_t, command_id) }, \ + { "engine_cut_off", NULL, MAVLINK_TYPE_UINT8_T, 0, 9, offsetof(mavlink_digicam_configure_t, engine_cut_off) }, \ + { "extra_param", NULL, MAVLINK_TYPE_UINT8_T, 0, 10, offsetof(mavlink_digicam_configure_t, extra_param) }, \ + { "extra_value", NULL, MAVLINK_TYPE_FLOAT, 0, 11, offsetof(mavlink_digicam_configure_t, extra_value) }, \ + } \ +} + + +/** + * @brief Pack a digicam_configure 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 target_component Component ID + * @param mode Mode enumeration from 1 to N //P, TV, AV, M, Etc (0 means ignore) + * @param shutter_speed Divisor number //e.g. 1000 means 1/1000 (0 means ignore) + * @param aperture F stop number x 10 //e.g. 28 means 2.8 (0 means ignore) + * @param iso ISO enumeration from 1 to N //e.g. 80, 100, 200, Etc (0 means ignore) + * @param exposure_type Exposure type enumeration from 1 to N (0 means ignore) + * @param command_id Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once + * @param engine_cut_off Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off) + * @param extra_param Extra parameters enumeration (0 means ignore) + * @param extra_value Correspondent value to given extra_param + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_digicam_configure_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target_system, uint8_t target_component, uint8_t mode, uint16_t shutter_speed, uint8_t aperture, uint8_t iso, uint8_t exposure_type, uint8_t command_id, uint8_t engine_cut_off, uint8_t extra_param, float extra_value) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[15]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_uint8_t(buf, 2, mode); + _mav_put_uint16_t(buf, 3, shutter_speed); + _mav_put_uint8_t(buf, 5, aperture); + _mav_put_uint8_t(buf, 6, iso); + _mav_put_uint8_t(buf, 7, exposure_type); + _mav_put_uint8_t(buf, 8, command_id); + _mav_put_uint8_t(buf, 9, engine_cut_off); + _mav_put_uint8_t(buf, 10, extra_param); + _mav_put_float(buf, 11, extra_value); + + memcpy(_MAV_PAYLOAD(msg), buf, 15); +#else + mavlink_digicam_configure_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.mode = mode; + packet.shutter_speed = shutter_speed; + packet.aperture = aperture; + packet.iso = iso; + packet.exposure_type = exposure_type; + packet.command_id = command_id; + packet.engine_cut_off = engine_cut_off; + packet.extra_param = extra_param; + packet.extra_value = extra_value; + + memcpy(_MAV_PAYLOAD(msg), &packet, 15); +#endif + + msg->msgid = MAVLINK_MSG_ID_DIGICAM_CONFIGURE; + return mavlink_finalize_message(msg, system_id, component_id, 15); +} + +/** + * @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 msg The MAVLink message to compress the data into + * @param target_system System ID + * @param target_component Component ID + * @param mode Mode enumeration from 1 to N //P, TV, AV, M, Etc (0 means ignore) + * @param shutter_speed Divisor number //e.g. 1000 means 1/1000 (0 means ignore) + * @param aperture F stop number x 10 //e.g. 28 means 2.8 (0 means ignore) + * @param iso ISO enumeration from 1 to N //e.g. 80, 100, 200, Etc (0 means ignore) + * @param exposure_type Exposure type enumeration from 1 to N (0 means ignore) + * @param command_id Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once + * @param engine_cut_off Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off) + * @param extra_param Extra parameters enumeration (0 means ignore) + * @param extra_value Correspondent value to given extra_param + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_digicam_configure_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t target_system,uint8_t target_component,uint8_t mode,uint16_t shutter_speed,uint8_t aperture,uint8_t iso,uint8_t exposure_type,uint8_t command_id,uint8_t engine_cut_off,uint8_t extra_param,float extra_value) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[15]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_uint8_t(buf, 2, mode); + _mav_put_uint16_t(buf, 3, shutter_speed); + _mav_put_uint8_t(buf, 5, aperture); + _mav_put_uint8_t(buf, 6, iso); + _mav_put_uint8_t(buf, 7, exposure_type); + _mav_put_uint8_t(buf, 8, command_id); + _mav_put_uint8_t(buf, 9, engine_cut_off); + _mav_put_uint8_t(buf, 10, extra_param); + _mav_put_float(buf, 11, extra_value); + + memcpy(_MAV_PAYLOAD(msg), buf, 15); +#else + mavlink_digicam_configure_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.mode = mode; + packet.shutter_speed = shutter_speed; + packet.aperture = aperture; + packet.iso = iso; + packet.exposure_type = exposure_type; + packet.command_id = command_id; + packet.engine_cut_off = engine_cut_off; + packet.extra_param = extra_param; + packet.extra_value = extra_value; + + memcpy(_MAV_PAYLOAD(msg), &packet, 15); +#endif + + msg->msgid = MAVLINK_MSG_ID_DIGICAM_CONFIGURE; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 15); +} + +/** + * @brief Encode a digicam_configure 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 digicam_configure C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_digicam_configure_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_digicam_configure_t* digicam_configure) +{ + 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 Send a digicam_configure message + * @param chan MAVLink channel to send the message + * + * @param target_system System ID + * @param target_component Component ID + * @param mode Mode enumeration from 1 to N //P, TV, AV, M, Etc (0 means ignore) + * @param shutter_speed Divisor number //e.g. 1000 means 1/1000 (0 means ignore) + * @param aperture F stop number x 10 //e.g. 28 means 2.8 (0 means ignore) + * @param iso ISO enumeration from 1 to N //e.g. 80, 100, 200, Etc (0 means ignore) + * @param exposure_type Exposure type enumeration from 1 to N (0 means ignore) + * @param command_id Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once + * @param engine_cut_off Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off) + * @param extra_param Extra parameters enumeration (0 means ignore) + * @param extra_value Correspondent value to given extra_param + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_digicam_configure_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t mode, uint16_t shutter_speed, uint8_t aperture, uint8_t iso, uint8_t exposure_type, uint8_t command_id, uint8_t engine_cut_off, uint8_t extra_param, float extra_value) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[15]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_uint8_t(buf, 2, mode); + _mav_put_uint16_t(buf, 3, shutter_speed); + _mav_put_uint8_t(buf, 5, aperture); + _mav_put_uint8_t(buf, 6, iso); + _mav_put_uint8_t(buf, 7, exposure_type); + _mav_put_uint8_t(buf, 8, command_id); + _mav_put_uint8_t(buf, 9, engine_cut_off); + _mav_put_uint8_t(buf, 10, extra_param); + _mav_put_float(buf, 11, extra_value); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DIGICAM_CONFIGURE, buf, 15); +#else + mavlink_digicam_configure_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.mode = mode; + packet.shutter_speed = shutter_speed; + packet.aperture = aperture; + packet.iso = iso; + packet.exposure_type = exposure_type; + packet.command_id = command_id; + packet.engine_cut_off = engine_cut_off; + packet.extra_param = extra_param; + packet.extra_value = extra_value; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DIGICAM_CONFIGURE, (const char *)&packet, 15); +#endif +} + +#endif + +// MESSAGE DIGICAM_CONFIGURE UNPACKING + + +/** + * @brief Get field target_system from digicam_configure message + * + * @return System ID + */ +static inline uint8_t mavlink_msg_digicam_configure_get_target_system(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field target_component from digicam_configure message + * + * @return Component ID + */ +static inline uint8_t mavlink_msg_digicam_configure_get_target_component(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 1); +} + +/** + * @brief Get field mode from digicam_configure message + * + * @return Mode enumeration from 1 to N //P, TV, AV, M, Etc (0 means ignore) + */ +static inline uint8_t mavlink_msg_digicam_configure_get_mode(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 2); +} + +/** + * @brief Get field shutter_speed from digicam_configure message + * + * @return Divisor number //e.g. 1000 means 1/1000 (0 means ignore) + */ +static inline uint16_t mavlink_msg_digicam_configure_get_shutter_speed(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 3); +} + +/** + * @brief Get field aperture from digicam_configure message + * + * @return F stop number x 10 //e.g. 28 means 2.8 (0 means ignore) + */ +static inline uint8_t mavlink_msg_digicam_configure_get_aperture(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 5); +} + +/** + * @brief Get field iso from digicam_configure message + * + * @return ISO enumeration from 1 to N //e.g. 80, 100, 200, Etc (0 means ignore) + */ +static inline uint8_t mavlink_msg_digicam_configure_get_iso(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 6); +} + +/** + * @brief Get field exposure_type from digicam_configure message + * + * @return Exposure type enumeration from 1 to N (0 means ignore) + */ +static inline uint8_t mavlink_msg_digicam_configure_get_exposure_type(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 7); +} + +/** + * @brief Get field command_id from digicam_configure message + * + * @return Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once + */ +static inline uint8_t mavlink_msg_digicam_configure_get_command_id(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 8); +} + +/** + * @brief Get field engine_cut_off from digicam_configure message + * + * @return Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off) + */ +static inline uint8_t mavlink_msg_digicam_configure_get_engine_cut_off(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 9); +} + +/** + * @brief Get field extra_param from digicam_configure message + * + * @return Extra parameters enumeration (0 means ignore) + */ +static inline uint8_t mavlink_msg_digicam_configure_get_extra_param(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 10); +} + +/** + * @brief Get field extra_value from digicam_configure message + * + * @return Correspondent value to given extra_param + */ +static inline float mavlink_msg_digicam_configure_get_extra_value(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 11); +} + +/** + * @brief Decode a digicam_configure message into a struct + * + * @param msg The message to decode + * @param digicam_configure C-struct to decode the message contents into + */ +static inline void mavlink_msg_digicam_configure_decode(const mavlink_message_t* msg, mavlink_digicam_configure_t* digicam_configure) +{ +#if MAVLINK_NEED_BYTE_SWAP + digicam_configure->target_system = mavlink_msg_digicam_configure_get_target_system(msg); + digicam_configure->target_component = mavlink_msg_digicam_configure_get_target_component(msg); + digicam_configure->mode = mavlink_msg_digicam_configure_get_mode(msg); + digicam_configure->shutter_speed = mavlink_msg_digicam_configure_get_shutter_speed(msg); + digicam_configure->aperture = mavlink_msg_digicam_configure_get_aperture(msg); + digicam_configure->iso = mavlink_msg_digicam_configure_get_iso(msg); + digicam_configure->exposure_type = mavlink_msg_digicam_configure_get_exposure_type(msg); + digicam_configure->command_id = mavlink_msg_digicam_configure_get_command_id(msg); + digicam_configure->engine_cut_off = mavlink_msg_digicam_configure_get_engine_cut_off(msg); + digicam_configure->extra_param = mavlink_msg_digicam_configure_get_extra_param(msg); + digicam_configure->extra_value = mavlink_msg_digicam_configure_get_extra_value(msg); +#else + memcpy(digicam_configure, _MAV_PAYLOAD(msg), 15); +#endif +} diff --git a/thirdParty/mavlink/v0.9/ardupilotmega/mavlink_msg_digicam_control.h b/thirdParty/mavlink/v0.9/ardupilotmega/mavlink_msg_digicam_control.h new file mode 100644 index 0000000000000000000000000000000000000000..ee7d68124c0699dab52ff075d52b2170ac9e9a6f --- /dev/null +++ b/thirdParty/mavlink/v0.9/ardupilotmega/mavlink_msg_digicam_control.h @@ -0,0 +1,342 @@ +// MESSAGE DIGICAM_CONTROL PACKING + +#define MAVLINK_MSG_ID_DIGICAM_CONTROL 155 + +typedef struct __mavlink_digicam_control_t +{ + uint8_t target_system; ///< System ID + uint8_t target_component; ///< Component ID + uint8_t session; ///< 0: stop, 1: start or keep it up //Session control e.g. show/hide lens + uint8_t zoom_pos; ///< 1 to N //Zoom's absolute position (0 means ignore) + int8_t zoom_step; ///< -100 to 100 //Zooming step value to offset zoom from the current position + uint8_t focus_lock; ///< 0: unlock focus or keep unlocked, 1: lock focus or keep locked, 3: re-lock focus + uint8_t shot; ///< 0: ignore, 1: shot or start filming + uint8_t command_id; ///< Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once + uint8_t extra_param; ///< Extra parameters enumeration (0 means ignore) + float extra_value; ///< Correspondent value to given extra_param +} mavlink_digicam_control_t; + +#define MAVLINK_MSG_ID_DIGICAM_CONTROL_LEN 13 +#define MAVLINK_MSG_ID_155_LEN 13 + + + +#define MAVLINK_MESSAGE_INFO_DIGICAM_CONTROL { \ + "DIGICAM_CONTROL", \ + 10, \ + { { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_digicam_control_t, target_system) }, \ + { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_digicam_control_t, target_component) }, \ + { "session", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_digicam_control_t, session) }, \ + { "zoom_pos", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_digicam_control_t, zoom_pos) }, \ + { "zoom_step", NULL, MAVLINK_TYPE_INT8_T, 0, 4, offsetof(mavlink_digicam_control_t, zoom_step) }, \ + { "focus_lock", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_digicam_control_t, focus_lock) }, \ + { "shot", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_digicam_control_t, shot) }, \ + { "command_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_digicam_control_t, command_id) }, \ + { "extra_param", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_digicam_control_t, extra_param) }, \ + { "extra_value", NULL, MAVLINK_TYPE_FLOAT, 0, 9, offsetof(mavlink_digicam_control_t, extra_value) }, \ + } \ +} + + +/** + * @brief Pack a digicam_control 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 target_component Component ID + * @param session 0: stop, 1: start or keep it up //Session control e.g. show/hide lens + * @param zoom_pos 1 to N //Zoom's absolute position (0 means ignore) + * @param zoom_step -100 to 100 //Zooming step value to offset zoom from the current position + * @param focus_lock 0: unlock focus or keep unlocked, 1: lock focus or keep locked, 3: re-lock focus + * @param shot 0: ignore, 1: shot or start filming + * @param command_id Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once + * @param extra_param Extra parameters enumeration (0 means ignore) + * @param extra_value Correspondent value to given extra_param + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_digicam_control_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target_system, uint8_t target_component, uint8_t session, uint8_t zoom_pos, int8_t zoom_step, uint8_t focus_lock, uint8_t shot, uint8_t command_id, uint8_t extra_param, float extra_value) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[13]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_uint8_t(buf, 2, session); + _mav_put_uint8_t(buf, 3, zoom_pos); + _mav_put_int8_t(buf, 4, zoom_step); + _mav_put_uint8_t(buf, 5, focus_lock); + _mav_put_uint8_t(buf, 6, shot); + _mav_put_uint8_t(buf, 7, command_id); + _mav_put_uint8_t(buf, 8, extra_param); + _mav_put_float(buf, 9, extra_value); + + memcpy(_MAV_PAYLOAD(msg), buf, 13); +#else + mavlink_digicam_control_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.session = session; + packet.zoom_pos = zoom_pos; + packet.zoom_step = zoom_step; + packet.focus_lock = focus_lock; + packet.shot = shot; + packet.command_id = command_id; + packet.extra_param = extra_param; + packet.extra_value = extra_value; + + memcpy(_MAV_PAYLOAD(msg), &packet, 13); +#endif + + msg->msgid = MAVLINK_MSG_ID_DIGICAM_CONTROL; + return mavlink_finalize_message(msg, system_id, component_id, 13); +} + +/** + * @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 msg The MAVLink message to compress the data into + * @param target_system System ID + * @param target_component Component ID + * @param session 0: stop, 1: start or keep it up //Session control e.g. show/hide lens + * @param zoom_pos 1 to N //Zoom's absolute position (0 means ignore) + * @param zoom_step -100 to 100 //Zooming step value to offset zoom from the current position + * @param focus_lock 0: unlock focus or keep unlocked, 1: lock focus or keep locked, 3: re-lock focus + * @param shot 0: ignore, 1: shot or start filming + * @param command_id Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once + * @param extra_param Extra parameters enumeration (0 means ignore) + * @param extra_value Correspondent value to given extra_param + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_digicam_control_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t target_system,uint8_t target_component,uint8_t session,uint8_t zoom_pos,int8_t zoom_step,uint8_t focus_lock,uint8_t shot,uint8_t command_id,uint8_t extra_param,float extra_value) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[13]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_uint8_t(buf, 2, session); + _mav_put_uint8_t(buf, 3, zoom_pos); + _mav_put_int8_t(buf, 4, zoom_step); + _mav_put_uint8_t(buf, 5, focus_lock); + _mav_put_uint8_t(buf, 6, shot); + _mav_put_uint8_t(buf, 7, command_id); + _mav_put_uint8_t(buf, 8, extra_param); + _mav_put_float(buf, 9, extra_value); + + memcpy(_MAV_PAYLOAD(msg), buf, 13); +#else + mavlink_digicam_control_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.session = session; + packet.zoom_pos = zoom_pos; + packet.zoom_step = zoom_step; + packet.focus_lock = focus_lock; + packet.shot = shot; + packet.command_id = command_id; + packet.extra_param = extra_param; + packet.extra_value = extra_value; + + memcpy(_MAV_PAYLOAD(msg), &packet, 13); +#endif + + msg->msgid = MAVLINK_MSG_ID_DIGICAM_CONTROL; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 13); +} + +/** + * @brief Encode a digicam_control 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 digicam_control C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_digicam_control_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_digicam_control_t* digicam_control) +{ + 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 Send a digicam_control message + * @param chan MAVLink channel to send the message + * + * @param target_system System ID + * @param target_component Component ID + * @param session 0: stop, 1: start or keep it up //Session control e.g. show/hide lens + * @param zoom_pos 1 to N //Zoom's absolute position (0 means ignore) + * @param zoom_step -100 to 100 //Zooming step value to offset zoom from the current position + * @param focus_lock 0: unlock focus or keep unlocked, 1: lock focus or keep locked, 3: re-lock focus + * @param shot 0: ignore, 1: shot or start filming + * @param command_id Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once + * @param extra_param Extra parameters enumeration (0 means ignore) + * @param extra_value Correspondent value to given extra_param + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_digicam_control_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t session, uint8_t zoom_pos, int8_t zoom_step, uint8_t focus_lock, uint8_t shot, uint8_t command_id, uint8_t extra_param, float extra_value) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[13]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_uint8_t(buf, 2, session); + _mav_put_uint8_t(buf, 3, zoom_pos); + _mav_put_int8_t(buf, 4, zoom_step); + _mav_put_uint8_t(buf, 5, focus_lock); + _mav_put_uint8_t(buf, 6, shot); + _mav_put_uint8_t(buf, 7, command_id); + _mav_put_uint8_t(buf, 8, extra_param); + _mav_put_float(buf, 9, extra_value); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DIGICAM_CONTROL, buf, 13); +#else + mavlink_digicam_control_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.session = session; + packet.zoom_pos = zoom_pos; + packet.zoom_step = zoom_step; + packet.focus_lock = focus_lock; + packet.shot = shot; + packet.command_id = command_id; + packet.extra_param = extra_param; + packet.extra_value = extra_value; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DIGICAM_CONTROL, (const char *)&packet, 13); +#endif +} + +#endif + +// MESSAGE DIGICAM_CONTROL UNPACKING + + +/** + * @brief Get field target_system from digicam_control message + * + * @return System ID + */ +static inline uint8_t mavlink_msg_digicam_control_get_target_system(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field target_component from digicam_control message + * + * @return Component ID + */ +static inline uint8_t mavlink_msg_digicam_control_get_target_component(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 1); +} + +/** + * @brief Get field session from digicam_control message + * + * @return 0: stop, 1: start or keep it up //Session control e.g. show/hide lens + */ +static inline uint8_t mavlink_msg_digicam_control_get_session(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 2); +} + +/** + * @brief Get field zoom_pos from digicam_control message + * + * @return 1 to N //Zoom's absolute position (0 means ignore) + */ +static inline uint8_t mavlink_msg_digicam_control_get_zoom_pos(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 3); +} + +/** + * @brief Get field zoom_step from digicam_control message + * + * @return -100 to 100 //Zooming step value to offset zoom from the current position + */ +static inline int8_t mavlink_msg_digicam_control_get_zoom_step(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int8_t(msg, 4); +} + +/** + * @brief Get field focus_lock from digicam_control message + * + * @return 0: unlock focus or keep unlocked, 1: lock focus or keep locked, 3: re-lock focus + */ +static inline uint8_t mavlink_msg_digicam_control_get_focus_lock(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 5); +} + +/** + * @brief Get field shot from digicam_control message + * + * @return 0: ignore, 1: shot or start filming + */ +static inline uint8_t mavlink_msg_digicam_control_get_shot(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 6); +} + +/** + * @brief Get field command_id from digicam_control message + * + * @return Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once + */ +static inline uint8_t mavlink_msg_digicam_control_get_command_id(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 7); +} + +/** + * @brief Get field extra_param from digicam_control message + * + * @return Extra parameters enumeration (0 means ignore) + */ +static inline uint8_t mavlink_msg_digicam_control_get_extra_param(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 8); +} + +/** + * @brief Get field extra_value from digicam_control message + * + * @return Correspondent value to given extra_param + */ +static inline float mavlink_msg_digicam_control_get_extra_value(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 9); +} + +/** + * @brief Decode a digicam_control message into a struct + * + * @param msg The message to decode + * @param digicam_control C-struct to decode the message contents into + */ +static inline void mavlink_msg_digicam_control_decode(const mavlink_message_t* msg, mavlink_digicam_control_t* digicam_control) +{ +#if MAVLINK_NEED_BYTE_SWAP + digicam_control->target_system = mavlink_msg_digicam_control_get_target_system(msg); + digicam_control->target_component = mavlink_msg_digicam_control_get_target_component(msg); + digicam_control->session = mavlink_msg_digicam_control_get_session(msg); + digicam_control->zoom_pos = mavlink_msg_digicam_control_get_zoom_pos(msg); + digicam_control->zoom_step = mavlink_msg_digicam_control_get_zoom_step(msg); + digicam_control->focus_lock = mavlink_msg_digicam_control_get_focus_lock(msg); + digicam_control->shot = mavlink_msg_digicam_control_get_shot(msg); + digicam_control->command_id = mavlink_msg_digicam_control_get_command_id(msg); + digicam_control->extra_param = mavlink_msg_digicam_control_get_extra_param(msg); + digicam_control->extra_value = mavlink_msg_digicam_control_get_extra_value(msg); +#else + memcpy(digicam_control, _MAV_PAYLOAD(msg), 13); +#endif +} diff --git a/thirdParty/mavlink/v0.9/ardupilotmega/mavlink_msg_fence_fetch_point.h b/thirdParty/mavlink/v0.9/ardupilotmega/mavlink_msg_fence_fetch_point.h new file mode 100644 index 0000000000000000000000000000000000000000..fb2a9831a4cafcd8e9874693c238c79c9c7fb6aa --- /dev/null +++ b/thirdParty/mavlink/v0.9/ardupilotmega/mavlink_msg_fence_fetch_point.h @@ -0,0 +1,188 @@ +// MESSAGE FENCE_FETCH_POINT PACKING + +#define MAVLINK_MSG_ID_FENCE_FETCH_POINT 161 + +typedef struct __mavlink_fence_fetch_point_t +{ + uint8_t target_system; ///< System ID + uint8_t target_component; ///< Component ID + uint8_t idx; ///< point index (first point is 1, 0 is for return point) +} mavlink_fence_fetch_point_t; + +#define MAVLINK_MSG_ID_FENCE_FETCH_POINT_LEN 3 +#define MAVLINK_MSG_ID_161_LEN 3 + + + +#define MAVLINK_MESSAGE_INFO_FENCE_FETCH_POINT { \ + "FENCE_FETCH_POINT", \ + 3, \ + { { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_fence_fetch_point_t, target_system) }, \ + { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_fence_fetch_point_t, target_component) }, \ + { "idx", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_fence_fetch_point_t, idx) }, \ + } \ +} + + +/** + * @brief Pack a fence_fetch_point 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 target_component Component ID + * @param idx point index (first point is 1, 0 is for return point) + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_fence_fetch_point_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target_system, uint8_t target_component, uint8_t idx) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[3]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_uint8_t(buf, 2, idx); + + memcpy(_MAV_PAYLOAD(msg), buf, 3); +#else + mavlink_fence_fetch_point_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.idx = idx; + + memcpy(_MAV_PAYLOAD(msg), &packet, 3); +#endif + + msg->msgid = MAVLINK_MSG_ID_FENCE_FETCH_POINT; + return mavlink_finalize_message(msg, system_id, component_id, 3); +} + +/** + * @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 msg The MAVLink message to compress the data into + * @param target_system System ID + * @param target_component Component ID + * @param idx point index (first point is 1, 0 is for return point) + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_fence_fetch_point_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t target_system,uint8_t target_component,uint8_t idx) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[3]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_uint8_t(buf, 2, idx); + + memcpy(_MAV_PAYLOAD(msg), buf, 3); +#else + mavlink_fence_fetch_point_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.idx = idx; + + memcpy(_MAV_PAYLOAD(msg), &packet, 3); +#endif + + msg->msgid = MAVLINK_MSG_ID_FENCE_FETCH_POINT; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 3); +} + +/** + * @brief Encode a fence_fetch_point 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 fence_fetch_point C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_fence_fetch_point_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_fence_fetch_point_t* fence_fetch_point) +{ + 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 Send a fence_fetch_point message + * @param chan MAVLink channel to send the message + * + * @param target_system System ID + * @param target_component Component ID + * @param idx point index (first point is 1, 0 is for return point) + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_fence_fetch_point_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t idx) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[3]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_uint8_t(buf, 2, idx); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_FETCH_POINT, buf, 3); +#else + mavlink_fence_fetch_point_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.idx = idx; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_FETCH_POINT, (const char *)&packet, 3); +#endif +} + +#endif + +// MESSAGE FENCE_FETCH_POINT UNPACKING + + +/** + * @brief Get field target_system from fence_fetch_point message + * + * @return System ID + */ +static inline uint8_t mavlink_msg_fence_fetch_point_get_target_system(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field target_component from fence_fetch_point message + * + * @return Component ID + */ +static inline uint8_t mavlink_msg_fence_fetch_point_get_target_component(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 1); +} + +/** + * @brief Get field idx from fence_fetch_point message + * + * @return point index (first point is 1, 0 is for return point) + */ +static inline uint8_t mavlink_msg_fence_fetch_point_get_idx(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 2); +} + +/** + * @brief Decode a fence_fetch_point message into a struct + * + * @param msg The message to decode + * @param fence_fetch_point C-struct to decode the message contents into + */ +static inline void mavlink_msg_fence_fetch_point_decode(const mavlink_message_t* msg, mavlink_fence_fetch_point_t* fence_fetch_point) +{ +#if MAVLINK_NEED_BYTE_SWAP + fence_fetch_point->target_system = mavlink_msg_fence_fetch_point_get_target_system(msg); + fence_fetch_point->target_component = mavlink_msg_fence_fetch_point_get_target_component(msg); + fence_fetch_point->idx = mavlink_msg_fence_fetch_point_get_idx(msg); +#else + memcpy(fence_fetch_point, _MAV_PAYLOAD(msg), 3); +#endif +} diff --git a/thirdParty/mavlink/v0.9/ardupilotmega/mavlink_msg_fence_point.h b/thirdParty/mavlink/v0.9/ardupilotmega/mavlink_msg_fence_point.h new file mode 100644 index 0000000000000000000000000000000000000000..35d41de4107af1083f4b3bd029ca2cbdbbf61070 --- /dev/null +++ b/thirdParty/mavlink/v0.9/ardupilotmega/mavlink_msg_fence_point.h @@ -0,0 +1,254 @@ +// MESSAGE FENCE_POINT PACKING + +#define MAVLINK_MSG_ID_FENCE_POINT 160 + +typedef struct __mavlink_fence_point_t +{ + uint8_t target_system; ///< System ID + uint8_t target_component; ///< Component ID + uint8_t idx; ///< point index (first point is 1, 0 is for return point) + uint8_t count; ///< total number of points (for sanity checking) + float lat; ///< Latitude of point + float lng; ///< Longitude of point +} mavlink_fence_point_t; + +#define MAVLINK_MSG_ID_FENCE_POINT_LEN 12 +#define MAVLINK_MSG_ID_160_LEN 12 + + + +#define MAVLINK_MESSAGE_INFO_FENCE_POINT { \ + "FENCE_POINT", \ + 6, \ + { { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_fence_point_t, target_system) }, \ + { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_fence_point_t, target_component) }, \ + { "idx", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_fence_point_t, idx) }, \ + { "count", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_fence_point_t, count) }, \ + { "lat", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_fence_point_t, lat) }, \ + { "lng", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_fence_point_t, lng) }, \ + } \ +} + + +/** + * @brief Pack a fence_point 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 target_component Component ID + * @param idx point index (first point is 1, 0 is for return point) + * @param count total number of points (for sanity checking) + * @param lat Latitude of point + * @param lng Longitude of point + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_fence_point_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target_system, uint8_t target_component, uint8_t idx, uint8_t count, float lat, float lng) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[12]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_uint8_t(buf, 2, idx); + _mav_put_uint8_t(buf, 3, count); + _mav_put_float(buf, 4, lat); + _mav_put_float(buf, 8, lng); + + memcpy(_MAV_PAYLOAD(msg), buf, 12); +#else + mavlink_fence_point_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.idx = idx; + packet.count = count; + packet.lat = lat; + packet.lng = lng; + + memcpy(_MAV_PAYLOAD(msg), &packet, 12); +#endif + + msg->msgid = MAVLINK_MSG_ID_FENCE_POINT; + return mavlink_finalize_message(msg, system_id, component_id, 12); +} + +/** + * @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 msg The MAVLink message to compress the data into + * @param target_system System ID + * @param target_component Component ID + * @param idx point index (first point is 1, 0 is for return point) + * @param count total number of points (for sanity checking) + * @param lat Latitude of point + * @param lng Longitude of point + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_fence_point_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t target_system,uint8_t target_component,uint8_t idx,uint8_t count,float lat,float lng) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[12]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_uint8_t(buf, 2, idx); + _mav_put_uint8_t(buf, 3, count); + _mav_put_float(buf, 4, lat); + _mav_put_float(buf, 8, lng); + + memcpy(_MAV_PAYLOAD(msg), buf, 12); +#else + mavlink_fence_point_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.idx = idx; + packet.count = count; + packet.lat = lat; + packet.lng = lng; + + memcpy(_MAV_PAYLOAD(msg), &packet, 12); +#endif + + msg->msgid = MAVLINK_MSG_ID_FENCE_POINT; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 12); +} + +/** + * @brief Encode a fence_point 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 fence_point C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_fence_point_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_fence_point_t* fence_point) +{ + 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 Send a fence_point message + * @param chan MAVLink channel to send the message + * + * @param target_system System ID + * @param target_component Component ID + * @param idx point index (first point is 1, 0 is for return point) + * @param count total number of points (for sanity checking) + * @param lat Latitude of point + * @param lng Longitude of point + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_fence_point_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t idx, uint8_t count, float lat, float lng) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[12]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_uint8_t(buf, 2, idx); + _mav_put_uint8_t(buf, 3, count); + _mav_put_float(buf, 4, lat); + _mav_put_float(buf, 8, lng); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_POINT, buf, 12); +#else + mavlink_fence_point_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.idx = idx; + packet.count = count; + packet.lat = lat; + packet.lng = lng; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_POINT, (const char *)&packet, 12); +#endif +} + +#endif + +// MESSAGE FENCE_POINT UNPACKING + + +/** + * @brief Get field target_system from fence_point message + * + * @return System ID + */ +static inline uint8_t mavlink_msg_fence_point_get_target_system(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field target_component from fence_point message + * + * @return Component ID + */ +static inline uint8_t mavlink_msg_fence_point_get_target_component(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 1); +} + +/** + * @brief Get field idx from fence_point message + * + * @return point index (first point is 1, 0 is for return point) + */ +static inline uint8_t mavlink_msg_fence_point_get_idx(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 2); +} + +/** + * @brief Get field count from fence_point message + * + * @return total number of points (for sanity checking) + */ +static inline uint8_t mavlink_msg_fence_point_get_count(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 3); +} + +/** + * @brief Get field lat from fence_point message + * + * @return Latitude of point + */ +static inline float mavlink_msg_fence_point_get_lat(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 4); +} + +/** + * @brief Get field lng from fence_point message + * + * @return Longitude of point + */ +static inline float mavlink_msg_fence_point_get_lng(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 8); +} + +/** + * @brief Decode a fence_point message into a struct + * + * @param msg The message to decode + * @param fence_point C-struct to decode the message contents into + */ +static inline void mavlink_msg_fence_point_decode(const mavlink_message_t* msg, mavlink_fence_point_t* fence_point) +{ +#if MAVLINK_NEED_BYTE_SWAP + fence_point->target_system = mavlink_msg_fence_point_get_target_system(msg); + fence_point->target_component = mavlink_msg_fence_point_get_target_component(msg); + fence_point->idx = mavlink_msg_fence_point_get_idx(msg); + fence_point->count = mavlink_msg_fence_point_get_count(msg); + fence_point->lat = mavlink_msg_fence_point_get_lat(msg); + fence_point->lng = mavlink_msg_fence_point_get_lng(msg); +#else + memcpy(fence_point, _MAV_PAYLOAD(msg), 12); +#endif +} diff --git a/thirdParty/mavlink/v0.9/ardupilotmega/mavlink_msg_fence_status.h b/thirdParty/mavlink/v0.9/ardupilotmega/mavlink_msg_fence_status.h new file mode 100644 index 0000000000000000000000000000000000000000..cb72301117e2c9775112d51fcadcd9a7b7a72e44 --- /dev/null +++ b/thirdParty/mavlink/v0.9/ardupilotmega/mavlink_msg_fence_status.h @@ -0,0 +1,210 @@ +// MESSAGE FENCE_STATUS PACKING + +#define MAVLINK_MSG_ID_FENCE_STATUS 162 + +typedef struct __mavlink_fence_status_t +{ + uint8_t breach_status; ///< 0 if currently inside fence, 1 if outside + uint16_t breach_count; ///< number of fence breaches + uint8_t breach_type; ///< last breach type (see FENCE_BREACH_* enum) + uint32_t breach_time; ///< time of last breach in milliseconds since boot +} mavlink_fence_status_t; + +#define MAVLINK_MSG_ID_FENCE_STATUS_LEN 8 +#define MAVLINK_MSG_ID_162_LEN 8 + + + +#define MAVLINK_MESSAGE_INFO_FENCE_STATUS { \ + "FENCE_STATUS", \ + 4, \ + { { "breach_status", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_fence_status_t, breach_status) }, \ + { "breach_count", NULL, MAVLINK_TYPE_UINT16_T, 0, 1, offsetof(mavlink_fence_status_t, breach_count) }, \ + { "breach_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_fence_status_t, breach_type) }, \ + { "breach_time", NULL, MAVLINK_TYPE_UINT32_T, 0, 4, offsetof(mavlink_fence_status_t, breach_time) }, \ + } \ +} + + +/** + * @brief Pack a fence_status message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * + * @param breach_status 0 if currently inside fence, 1 if outside + * @param breach_count number of fence breaches + * @param breach_type last breach type (see FENCE_BREACH_* enum) + * @param breach_time time of last breach in milliseconds since boot + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_fence_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t breach_status, uint16_t breach_count, uint8_t breach_type, uint32_t breach_time) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[8]; + _mav_put_uint8_t(buf, 0, breach_status); + _mav_put_uint16_t(buf, 1, breach_count); + _mav_put_uint8_t(buf, 3, breach_type); + _mav_put_uint32_t(buf, 4, breach_time); + + memcpy(_MAV_PAYLOAD(msg), buf, 8); +#else + mavlink_fence_status_t packet; + packet.breach_status = breach_status; + packet.breach_count = breach_count; + packet.breach_type = breach_type; + packet.breach_time = breach_time; + + memcpy(_MAV_PAYLOAD(msg), &packet, 8); +#endif + + msg->msgid = MAVLINK_MSG_ID_FENCE_STATUS; + return mavlink_finalize_message(msg, system_id, component_id, 8); +} + +/** + * @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 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 + * @param breach_type last breach type (see FENCE_BREACH_* enum) + * @param breach_time time of last breach in milliseconds since boot + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_fence_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t breach_status,uint16_t breach_count,uint8_t breach_type,uint32_t breach_time) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[8]; + _mav_put_uint8_t(buf, 0, breach_status); + _mav_put_uint16_t(buf, 1, breach_count); + _mav_put_uint8_t(buf, 3, breach_type); + _mav_put_uint32_t(buf, 4, breach_time); + + memcpy(_MAV_PAYLOAD(msg), buf, 8); +#else + mavlink_fence_status_t packet; + packet.breach_status = breach_status; + packet.breach_count = breach_count; + packet.breach_type = breach_type; + packet.breach_time = breach_time; + + memcpy(_MAV_PAYLOAD(msg), &packet, 8); +#endif + + msg->msgid = MAVLINK_MSG_ID_FENCE_STATUS; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 8); +} + +/** + * @brief Encode a fence_status struct into a message + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * @param fence_status C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_fence_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_fence_status_t* fence_status) +{ + 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 Send a fence_status message + * @param chan MAVLink channel to send the message + * + * @param breach_status 0 if currently inside fence, 1 if outside + * @param breach_count number of fence breaches + * @param breach_type last breach type (see FENCE_BREACH_* enum) + * @param breach_time time of last breach in milliseconds since boot + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_fence_status_send(mavlink_channel_t chan, uint8_t breach_status, uint16_t breach_count, uint8_t breach_type, uint32_t breach_time) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[8]; + _mav_put_uint8_t(buf, 0, breach_status); + _mav_put_uint16_t(buf, 1, breach_count); + _mav_put_uint8_t(buf, 3, breach_type); + _mav_put_uint32_t(buf, 4, breach_time); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_STATUS, buf, 8); +#else + mavlink_fence_status_t packet; + packet.breach_status = breach_status; + packet.breach_count = breach_count; + packet.breach_type = breach_type; + packet.breach_time = breach_time; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_STATUS, (const char *)&packet, 8); +#endif +} + +#endif + +// MESSAGE FENCE_STATUS UNPACKING + + +/** + * @brief Get field breach_status from fence_status message + * + * @return 0 if currently inside fence, 1 if outside + */ +static inline uint8_t mavlink_msg_fence_status_get_breach_status(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field breach_count from fence_status message + * + * @return number of fence breaches + */ +static inline uint16_t mavlink_msg_fence_status_get_breach_count(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 1); +} + +/** + * @brief Get field breach_type from fence_status message + * + * @return last breach type (see FENCE_BREACH_* enum) + */ +static inline uint8_t mavlink_msg_fence_status_get_breach_type(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 3); +} + +/** + * @brief Get field breach_time from fence_status message + * + * @return time of last breach in milliseconds since boot + */ +static inline uint32_t mavlink_msg_fence_status_get_breach_time(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint32_t(msg, 4); +} + +/** + * @brief Decode a fence_status message into a struct + * + * @param msg The message to decode + * @param fence_status C-struct to decode the message contents into + */ +static inline void mavlink_msg_fence_status_decode(const mavlink_message_t* msg, mavlink_fence_status_t* fence_status) +{ +#if MAVLINK_NEED_BYTE_SWAP + fence_status->breach_status = mavlink_msg_fence_status_get_breach_status(msg); + fence_status->breach_count = mavlink_msg_fence_status_get_breach_count(msg); + fence_status->breach_type = mavlink_msg_fence_status_get_breach_type(msg); + fence_status->breach_time = mavlink_msg_fence_status_get_breach_time(msg); +#else + memcpy(fence_status, _MAV_PAYLOAD(msg), 8); +#endif +} diff --git a/thirdParty/mavlink/v0.9/ardupilotmega/mavlink_msg_meminfo.h b/thirdParty/mavlink/v0.9/ardupilotmega/mavlink_msg_meminfo.h new file mode 100644 index 0000000000000000000000000000000000000000..b131967df97b4d08fc0b7682dcbb37bbb5de186c --- /dev/null +++ b/thirdParty/mavlink/v0.9/ardupilotmega/mavlink_msg_meminfo.h @@ -0,0 +1,166 @@ +// MESSAGE MEMINFO PACKING + +#define MAVLINK_MSG_ID_MEMINFO 152 + +typedef struct __mavlink_meminfo_t +{ + uint16_t brkval; ///< heap top + uint16_t freemem; ///< free memory +} mavlink_meminfo_t; + +#define MAVLINK_MSG_ID_MEMINFO_LEN 4 +#define MAVLINK_MSG_ID_152_LEN 4 + + + +#define MAVLINK_MESSAGE_INFO_MEMINFO { \ + "MEMINFO", \ + 2, \ + { { "brkval", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_meminfo_t, brkval) }, \ + { "freemem", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_meminfo_t, freemem) }, \ + } \ +} + + +/** + * @brief Pack a meminfo 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 brkval heap top + * @param freemem free memory + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_meminfo_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint16_t brkval, uint16_t freemem) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[4]; + _mav_put_uint16_t(buf, 0, brkval); + _mav_put_uint16_t(buf, 2, freemem); + + memcpy(_MAV_PAYLOAD(msg), buf, 4); +#else + mavlink_meminfo_t packet; + packet.brkval = brkval; + packet.freemem = freemem; + + memcpy(_MAV_PAYLOAD(msg), &packet, 4); +#endif + + msg->msgid = MAVLINK_MSG_ID_MEMINFO; + return mavlink_finalize_message(msg, system_id, component_id, 4); +} + +/** + * @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 msg The MAVLink message to compress the data into + * @param brkval heap top + * @param freemem free memory + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_meminfo_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint16_t brkval,uint16_t freemem) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[4]; + _mav_put_uint16_t(buf, 0, brkval); + _mav_put_uint16_t(buf, 2, freemem); + + memcpy(_MAV_PAYLOAD(msg), buf, 4); +#else + mavlink_meminfo_t packet; + packet.brkval = brkval; + packet.freemem = freemem; + + memcpy(_MAV_PAYLOAD(msg), &packet, 4); +#endif + + msg->msgid = MAVLINK_MSG_ID_MEMINFO; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 4); +} + +/** + * @brief Encode a meminfo 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 meminfo C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_meminfo_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_meminfo_t* meminfo) +{ + return mavlink_msg_meminfo_pack(system_id, component_id, msg, meminfo->brkval, meminfo->freemem); +} + +/** + * @brief Send a meminfo message + * @param chan MAVLink channel to send the message + * + * @param brkval heap top + * @param freemem free memory + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_meminfo_send(mavlink_channel_t chan, uint16_t brkval, uint16_t freemem) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[4]; + _mav_put_uint16_t(buf, 0, brkval); + _mav_put_uint16_t(buf, 2, freemem); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MEMINFO, buf, 4); +#else + mavlink_meminfo_t packet; + packet.brkval = brkval; + packet.freemem = freemem; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MEMINFO, (const char *)&packet, 4); +#endif +} + +#endif + +// MESSAGE MEMINFO UNPACKING + + +/** + * @brief Get field brkval from meminfo message + * + * @return heap top + */ +static inline uint16_t mavlink_msg_meminfo_get_brkval(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 0); +} + +/** + * @brief Get field freemem from meminfo message + * + * @return free memory + */ +static inline uint16_t mavlink_msg_meminfo_get_freemem(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 2); +} + +/** + * @brief Decode a meminfo message into a struct + * + * @param msg The message to decode + * @param meminfo C-struct to decode the message contents into + */ +static inline void mavlink_msg_meminfo_decode(const mavlink_message_t* msg, mavlink_meminfo_t* meminfo) +{ +#if MAVLINK_NEED_BYTE_SWAP + meminfo->brkval = mavlink_msg_meminfo_get_brkval(msg); + meminfo->freemem = mavlink_msg_meminfo_get_freemem(msg); +#else + memcpy(meminfo, _MAV_PAYLOAD(msg), 4); +#endif +} diff --git a/thirdParty/mavlink/v0.9/ardupilotmega/mavlink_msg_mount_configure.h b/thirdParty/mavlink/v0.9/ardupilotmega/mavlink_msg_mount_configure.h new file mode 100644 index 0000000000000000000000000000000000000000..f2c73d301f2a6b4973810578efafb6c5eb12f097 --- /dev/null +++ b/thirdParty/mavlink/v0.9/ardupilotmega/mavlink_msg_mount_configure.h @@ -0,0 +1,254 @@ +// MESSAGE MOUNT_CONFIGURE PACKING + +#define MAVLINK_MSG_ID_MOUNT_CONFIGURE 156 + +typedef struct __mavlink_mount_configure_t +{ + uint8_t target_system; ///< System ID + uint8_t target_component; ///< Component ID + uint8_t mount_mode; ///< mount operating mode (see MAV_MOUNT_MODE enum) + uint8_t stab_roll; ///< (1 = yes, 0 = no) + uint8_t stab_pitch; ///< (1 = yes, 0 = no) + uint8_t stab_yaw; ///< (1 = yes, 0 = no) +} mavlink_mount_configure_t; + +#define MAVLINK_MSG_ID_MOUNT_CONFIGURE_LEN 6 +#define MAVLINK_MSG_ID_156_LEN 6 + + + +#define MAVLINK_MESSAGE_INFO_MOUNT_CONFIGURE { \ + "MOUNT_CONFIGURE", \ + 6, \ + { { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_mount_configure_t, target_system) }, \ + { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_mount_configure_t, target_component) }, \ + { "mount_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_mount_configure_t, mount_mode) }, \ + { "stab_roll", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_mount_configure_t, stab_roll) }, \ + { "stab_pitch", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_mount_configure_t, stab_pitch) }, \ + { "stab_yaw", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_mount_configure_t, stab_yaw) }, \ + } \ +} + + +/** + * @brief Pack a mount_configure 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 target_component Component ID + * @param mount_mode mount operating mode (see MAV_MOUNT_MODE enum) + * @param stab_roll (1 = yes, 0 = no) + * @param stab_pitch (1 = yes, 0 = no) + * @param stab_yaw (1 = yes, 0 = no) + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_mount_configure_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target_system, uint8_t target_component, uint8_t mount_mode, uint8_t stab_roll, uint8_t stab_pitch, uint8_t stab_yaw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[6]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_uint8_t(buf, 2, mount_mode); + _mav_put_uint8_t(buf, 3, stab_roll); + _mav_put_uint8_t(buf, 4, stab_pitch); + _mav_put_uint8_t(buf, 5, stab_yaw); + + memcpy(_MAV_PAYLOAD(msg), buf, 6); +#else + mavlink_mount_configure_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.mount_mode = mount_mode; + packet.stab_roll = stab_roll; + packet.stab_pitch = stab_pitch; + packet.stab_yaw = stab_yaw; + + memcpy(_MAV_PAYLOAD(msg), &packet, 6); +#endif + + msg->msgid = MAVLINK_MSG_ID_MOUNT_CONFIGURE; + return mavlink_finalize_message(msg, system_id, component_id, 6); +} + +/** + * @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 msg The MAVLink message to compress the data into + * @param target_system System ID + * @param target_component Component ID + * @param mount_mode mount operating mode (see MAV_MOUNT_MODE enum) + * @param stab_roll (1 = yes, 0 = no) + * @param stab_pitch (1 = yes, 0 = no) + * @param stab_yaw (1 = yes, 0 = no) + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_mount_configure_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t target_system,uint8_t target_component,uint8_t mount_mode,uint8_t stab_roll,uint8_t stab_pitch,uint8_t stab_yaw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[6]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_uint8_t(buf, 2, mount_mode); + _mav_put_uint8_t(buf, 3, stab_roll); + _mav_put_uint8_t(buf, 4, stab_pitch); + _mav_put_uint8_t(buf, 5, stab_yaw); + + memcpy(_MAV_PAYLOAD(msg), buf, 6); +#else + mavlink_mount_configure_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.mount_mode = mount_mode; + packet.stab_roll = stab_roll; + packet.stab_pitch = stab_pitch; + packet.stab_yaw = stab_yaw; + + memcpy(_MAV_PAYLOAD(msg), &packet, 6); +#endif + + msg->msgid = MAVLINK_MSG_ID_MOUNT_CONFIGURE; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 6); +} + +/** + * @brief Encode a mount_configure 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 mount_configure C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_mount_configure_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_mount_configure_t* mount_configure) +{ + 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 Send a mount_configure message + * @param chan MAVLink channel to send the message + * + * @param target_system System ID + * @param target_component Component ID + * @param mount_mode mount operating mode (see MAV_MOUNT_MODE enum) + * @param stab_roll (1 = yes, 0 = no) + * @param stab_pitch (1 = yes, 0 = no) + * @param stab_yaw (1 = yes, 0 = no) + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_mount_configure_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t mount_mode, uint8_t stab_roll, uint8_t stab_pitch, uint8_t stab_yaw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[6]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_uint8_t(buf, 2, mount_mode); + _mav_put_uint8_t(buf, 3, stab_roll); + _mav_put_uint8_t(buf, 4, stab_pitch); + _mav_put_uint8_t(buf, 5, stab_yaw); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_CONFIGURE, buf, 6); +#else + mavlink_mount_configure_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.mount_mode = mount_mode; + packet.stab_roll = stab_roll; + packet.stab_pitch = stab_pitch; + packet.stab_yaw = stab_yaw; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_CONFIGURE, (const char *)&packet, 6); +#endif +} + +#endif + +// MESSAGE MOUNT_CONFIGURE UNPACKING + + +/** + * @brief Get field target_system from mount_configure message + * + * @return System ID + */ +static inline uint8_t mavlink_msg_mount_configure_get_target_system(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field target_component from mount_configure message + * + * @return Component ID + */ +static inline uint8_t mavlink_msg_mount_configure_get_target_component(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 1); +} + +/** + * @brief Get field mount_mode from mount_configure message + * + * @return mount operating mode (see MAV_MOUNT_MODE enum) + */ +static inline uint8_t mavlink_msg_mount_configure_get_mount_mode(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 2); +} + +/** + * @brief Get field stab_roll from mount_configure message + * + * @return (1 = yes, 0 = no) + */ +static inline uint8_t mavlink_msg_mount_configure_get_stab_roll(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 3); +} + +/** + * @brief Get field stab_pitch from mount_configure message + * + * @return (1 = yes, 0 = no) + */ +static inline uint8_t mavlink_msg_mount_configure_get_stab_pitch(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 4); +} + +/** + * @brief Get field stab_yaw from mount_configure message + * + * @return (1 = yes, 0 = no) + */ +static inline uint8_t mavlink_msg_mount_configure_get_stab_yaw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 5); +} + +/** + * @brief Decode a mount_configure message into a struct + * + * @param msg The message to decode + * @param mount_configure C-struct to decode the message contents into + */ +static inline void mavlink_msg_mount_configure_decode(const mavlink_message_t* msg, mavlink_mount_configure_t* mount_configure) +{ +#if MAVLINK_NEED_BYTE_SWAP + mount_configure->target_system = mavlink_msg_mount_configure_get_target_system(msg); + mount_configure->target_component = mavlink_msg_mount_configure_get_target_component(msg); + mount_configure->mount_mode = mavlink_msg_mount_configure_get_mount_mode(msg); + mount_configure->stab_roll = mavlink_msg_mount_configure_get_stab_roll(msg); + mount_configure->stab_pitch = mavlink_msg_mount_configure_get_stab_pitch(msg); + mount_configure->stab_yaw = mavlink_msg_mount_configure_get_stab_yaw(msg); +#else + memcpy(mount_configure, _MAV_PAYLOAD(msg), 6); +#endif +} diff --git a/thirdParty/mavlink/v0.9/ardupilotmega/mavlink_msg_mount_control.h b/thirdParty/mavlink/v0.9/ardupilotmega/mavlink_msg_mount_control.h new file mode 100644 index 0000000000000000000000000000000000000000..5f1d13eb8e5c144d52f382b2bebbb36b5d91f89e --- /dev/null +++ b/thirdParty/mavlink/v0.9/ardupilotmega/mavlink_msg_mount_control.h @@ -0,0 +1,254 @@ +// MESSAGE MOUNT_CONTROL PACKING + +#define MAVLINK_MSG_ID_MOUNT_CONTROL 157 + +typedef struct __mavlink_mount_control_t +{ + uint8_t target_system; ///< System ID + uint8_t target_component; ///< Component ID + int32_t input_a; ///< pitch(deg*100) or lat, depending on mount mode + int32_t input_b; ///< roll(deg*100) or lon depending on mount mode + int32_t input_c; ///< yaw(deg*100) or alt (in cm) depending on mount mode + uint8_t save_position; ///< if "1" it will save current trimmed position on EEPROM (just valid for NEUTRAL and LANDING) +} mavlink_mount_control_t; + +#define MAVLINK_MSG_ID_MOUNT_CONTROL_LEN 15 +#define MAVLINK_MSG_ID_157_LEN 15 + + + +#define MAVLINK_MESSAGE_INFO_MOUNT_CONTROL { \ + "MOUNT_CONTROL", \ + 6, \ + { { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_mount_control_t, target_system) }, \ + { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_mount_control_t, target_component) }, \ + { "input_a", NULL, MAVLINK_TYPE_INT32_T, 0, 2, offsetof(mavlink_mount_control_t, input_a) }, \ + { "input_b", NULL, MAVLINK_TYPE_INT32_T, 0, 6, offsetof(mavlink_mount_control_t, input_b) }, \ + { "input_c", NULL, MAVLINK_TYPE_INT32_T, 0, 10, offsetof(mavlink_mount_control_t, input_c) }, \ + { "save_position", NULL, MAVLINK_TYPE_UINT8_T, 0, 14, offsetof(mavlink_mount_control_t, save_position) }, \ + } \ +} + + +/** + * @brief Pack a mount_control 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 target_component Component ID + * @param input_a pitch(deg*100) or lat, depending on mount mode + * @param input_b roll(deg*100) or lon depending on mount mode + * @param input_c yaw(deg*100) or alt (in cm) depending on mount mode + * @param save_position if "1" it will save current trimmed position on EEPROM (just valid for NEUTRAL and LANDING) + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_mount_control_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target_system, uint8_t target_component, int32_t input_a, int32_t input_b, int32_t input_c, uint8_t save_position) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[15]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_int32_t(buf, 2, input_a); + _mav_put_int32_t(buf, 6, input_b); + _mav_put_int32_t(buf, 10, input_c); + _mav_put_uint8_t(buf, 14, save_position); + + memcpy(_MAV_PAYLOAD(msg), buf, 15); +#else + mavlink_mount_control_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.input_a = input_a; + packet.input_b = input_b; + packet.input_c = input_c; + packet.save_position = save_position; + + memcpy(_MAV_PAYLOAD(msg), &packet, 15); +#endif + + msg->msgid = MAVLINK_MSG_ID_MOUNT_CONTROL; + return mavlink_finalize_message(msg, system_id, component_id, 15); +} + +/** + * @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 msg The MAVLink message to compress the data into + * @param target_system System ID + * @param target_component Component ID + * @param input_a pitch(deg*100) or lat, depending on mount mode + * @param input_b roll(deg*100) or lon depending on mount mode + * @param input_c yaw(deg*100) or alt (in cm) depending on mount mode + * @param save_position if "1" it will save current trimmed position on EEPROM (just valid for NEUTRAL and LANDING) + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_mount_control_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t target_system,uint8_t target_component,int32_t input_a,int32_t input_b,int32_t input_c,uint8_t save_position) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[15]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_int32_t(buf, 2, input_a); + _mav_put_int32_t(buf, 6, input_b); + _mav_put_int32_t(buf, 10, input_c); + _mav_put_uint8_t(buf, 14, save_position); + + memcpy(_MAV_PAYLOAD(msg), buf, 15); +#else + mavlink_mount_control_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.input_a = input_a; + packet.input_b = input_b; + packet.input_c = input_c; + packet.save_position = save_position; + + memcpy(_MAV_PAYLOAD(msg), &packet, 15); +#endif + + msg->msgid = MAVLINK_MSG_ID_MOUNT_CONTROL; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 15); +} + +/** + * @brief Encode a mount_control 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 mount_control C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_mount_control_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_mount_control_t* mount_control) +{ + 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 Send a mount_control message + * @param chan MAVLink channel to send the message + * + * @param target_system System ID + * @param target_component Component ID + * @param input_a pitch(deg*100) or lat, depending on mount mode + * @param input_b roll(deg*100) or lon depending on mount mode + * @param input_c yaw(deg*100) or alt (in cm) depending on mount mode + * @param save_position if "1" it will save current trimmed position on EEPROM (just valid for NEUTRAL and LANDING) + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_mount_control_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, int32_t input_a, int32_t input_b, int32_t input_c, uint8_t save_position) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[15]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_int32_t(buf, 2, input_a); + _mav_put_int32_t(buf, 6, input_b); + _mav_put_int32_t(buf, 10, input_c); + _mav_put_uint8_t(buf, 14, save_position); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_CONTROL, buf, 15); +#else + mavlink_mount_control_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.input_a = input_a; + packet.input_b = input_b; + packet.input_c = input_c; + packet.save_position = save_position; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_CONTROL, (const char *)&packet, 15); +#endif +} + +#endif + +// MESSAGE MOUNT_CONTROL UNPACKING + + +/** + * @brief Get field target_system from mount_control message + * + * @return System ID + */ +static inline uint8_t mavlink_msg_mount_control_get_target_system(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field target_component from mount_control message + * + * @return Component ID + */ +static inline uint8_t mavlink_msg_mount_control_get_target_component(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 1); +} + +/** + * @brief Get field input_a from mount_control message + * + * @return pitch(deg*100) or lat, depending on mount mode + */ +static inline int32_t mavlink_msg_mount_control_get_input_a(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int32_t(msg, 2); +} + +/** + * @brief Get field input_b from mount_control message + * + * @return roll(deg*100) or lon depending on mount mode + */ +static inline int32_t mavlink_msg_mount_control_get_input_b(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int32_t(msg, 6); +} + +/** + * @brief Get field input_c from mount_control message + * + * @return yaw(deg*100) or alt (in cm) depending on mount mode + */ +static inline int32_t mavlink_msg_mount_control_get_input_c(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int32_t(msg, 10); +} + +/** + * @brief Get field save_position from mount_control message + * + * @return if "1" it will save current trimmed position on EEPROM (just valid for NEUTRAL and LANDING) + */ +static inline uint8_t mavlink_msg_mount_control_get_save_position(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 14); +} + +/** + * @brief Decode a mount_control message into a struct + * + * @param msg The message to decode + * @param mount_control C-struct to decode the message contents into + */ +static inline void mavlink_msg_mount_control_decode(const mavlink_message_t* msg, mavlink_mount_control_t* mount_control) +{ +#if MAVLINK_NEED_BYTE_SWAP + mount_control->target_system = mavlink_msg_mount_control_get_target_system(msg); + mount_control->target_component = mavlink_msg_mount_control_get_target_component(msg); + mount_control->input_a = mavlink_msg_mount_control_get_input_a(msg); + mount_control->input_b = mavlink_msg_mount_control_get_input_b(msg); + mount_control->input_c = mavlink_msg_mount_control_get_input_c(msg); + mount_control->save_position = mavlink_msg_mount_control_get_save_position(msg); +#else + memcpy(mount_control, _MAV_PAYLOAD(msg), 15); +#endif +} diff --git a/thirdParty/mavlink/v0.9/ardupilotmega/mavlink_msg_mount_status.h b/thirdParty/mavlink/v0.9/ardupilotmega/mavlink_msg_mount_status.h new file mode 100644 index 0000000000000000000000000000000000000000..04bddae2877503e90f5bf0da18de4b06543dff73 --- /dev/null +++ b/thirdParty/mavlink/v0.9/ardupilotmega/mavlink_msg_mount_status.h @@ -0,0 +1,232 @@ +// MESSAGE MOUNT_STATUS PACKING + +#define MAVLINK_MSG_ID_MOUNT_STATUS 158 + +typedef struct __mavlink_mount_status_t +{ + uint8_t target_system; ///< System ID + uint8_t target_component; ///< Component ID + int32_t pointing_a; ///< pitch(deg*100) or lat, depending on mount mode + int32_t pointing_b; ///< roll(deg*100) or lon depending on mount mode + int32_t pointing_c; ///< yaw(deg*100) or alt (in cm) depending on mount mode +} mavlink_mount_status_t; + +#define MAVLINK_MSG_ID_MOUNT_STATUS_LEN 14 +#define MAVLINK_MSG_ID_158_LEN 14 + + + +#define MAVLINK_MESSAGE_INFO_MOUNT_STATUS { \ + "MOUNT_STATUS", \ + 5, \ + { { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_mount_status_t, target_system) }, \ + { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_mount_status_t, target_component) }, \ + { "pointing_a", NULL, MAVLINK_TYPE_INT32_T, 0, 2, offsetof(mavlink_mount_status_t, pointing_a) }, \ + { "pointing_b", NULL, MAVLINK_TYPE_INT32_T, 0, 6, offsetof(mavlink_mount_status_t, pointing_b) }, \ + { "pointing_c", NULL, MAVLINK_TYPE_INT32_T, 0, 10, offsetof(mavlink_mount_status_t, pointing_c) }, \ + } \ +} + + +/** + * @brief Pack a mount_status message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * + * @param target_system System ID + * @param target_component Component ID + * @param pointing_a pitch(deg*100) or lat, depending on mount mode + * @param pointing_b roll(deg*100) or lon depending on mount mode + * @param pointing_c yaw(deg*100) or alt (in cm) depending on mount mode + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_mount_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target_system, uint8_t target_component, int32_t pointing_a, int32_t pointing_b, int32_t pointing_c) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[14]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_int32_t(buf, 2, pointing_a); + _mav_put_int32_t(buf, 6, pointing_b); + _mav_put_int32_t(buf, 10, pointing_c); + + memcpy(_MAV_PAYLOAD(msg), buf, 14); +#else + mavlink_mount_status_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.pointing_a = pointing_a; + packet.pointing_b = pointing_b; + packet.pointing_c = pointing_c; + + memcpy(_MAV_PAYLOAD(msg), &packet, 14); +#endif + + msg->msgid = MAVLINK_MSG_ID_MOUNT_STATUS; + return mavlink_finalize_message(msg, system_id, component_id, 14); +} + +/** + * @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 msg The MAVLink message to compress the data into + * @param target_system System ID + * @param target_component Component ID + * @param pointing_a pitch(deg*100) or lat, depending on mount mode + * @param pointing_b roll(deg*100) or lon depending on mount mode + * @param pointing_c yaw(deg*100) or alt (in cm) depending on mount mode + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_mount_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t target_system,uint8_t target_component,int32_t pointing_a,int32_t pointing_b,int32_t pointing_c) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[14]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_int32_t(buf, 2, pointing_a); + _mav_put_int32_t(buf, 6, pointing_b); + _mav_put_int32_t(buf, 10, pointing_c); + + memcpy(_MAV_PAYLOAD(msg), buf, 14); +#else + mavlink_mount_status_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.pointing_a = pointing_a; + packet.pointing_b = pointing_b; + packet.pointing_c = pointing_c; + + memcpy(_MAV_PAYLOAD(msg), &packet, 14); +#endif + + msg->msgid = MAVLINK_MSG_ID_MOUNT_STATUS; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 14); +} + +/** + * @brief Encode a mount_status struct into a message + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * @param mount_status C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_mount_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_mount_status_t* mount_status) +{ + 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 Send a mount_status message + * @param chan MAVLink channel to send the message + * + * @param target_system System ID + * @param target_component Component ID + * @param pointing_a pitch(deg*100) or lat, depending on mount mode + * @param pointing_b roll(deg*100) or lon depending on mount mode + * @param pointing_c yaw(deg*100) or alt (in cm) depending on mount mode + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_mount_status_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, int32_t pointing_a, int32_t pointing_b, int32_t pointing_c) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[14]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_int32_t(buf, 2, pointing_a); + _mav_put_int32_t(buf, 6, pointing_b); + _mav_put_int32_t(buf, 10, pointing_c); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_STATUS, buf, 14); +#else + mavlink_mount_status_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.pointing_a = pointing_a; + packet.pointing_b = pointing_b; + packet.pointing_c = pointing_c; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_STATUS, (const char *)&packet, 14); +#endif +} + +#endif + +// MESSAGE MOUNT_STATUS UNPACKING + + +/** + * @brief Get field target_system from mount_status message + * + * @return System ID + */ +static inline uint8_t mavlink_msg_mount_status_get_target_system(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field target_component from mount_status message + * + * @return Component ID + */ +static inline uint8_t mavlink_msg_mount_status_get_target_component(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 1); +} + +/** + * @brief Get field pointing_a from mount_status message + * + * @return pitch(deg*100) or lat, depending on mount mode + */ +static inline int32_t mavlink_msg_mount_status_get_pointing_a(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int32_t(msg, 2); +} + +/** + * @brief Get field pointing_b from mount_status message + * + * @return roll(deg*100) or lon depending on mount mode + */ +static inline int32_t mavlink_msg_mount_status_get_pointing_b(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int32_t(msg, 6); +} + +/** + * @brief Get field pointing_c from mount_status message + * + * @return yaw(deg*100) or alt (in cm) depending on mount mode + */ +static inline int32_t mavlink_msg_mount_status_get_pointing_c(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int32_t(msg, 10); +} + +/** + * @brief Decode a mount_status message into a struct + * + * @param msg The message to decode + * @param mount_status C-struct to decode the message contents into + */ +static inline void mavlink_msg_mount_status_decode(const mavlink_message_t* msg, mavlink_mount_status_t* mount_status) +{ +#if MAVLINK_NEED_BYTE_SWAP + mount_status->target_system = mavlink_msg_mount_status_get_target_system(msg); + mount_status->target_component = mavlink_msg_mount_status_get_target_component(msg); + mount_status->pointing_a = mavlink_msg_mount_status_get_pointing_a(msg); + mount_status->pointing_b = mavlink_msg_mount_status_get_pointing_b(msg); + mount_status->pointing_c = mavlink_msg_mount_status_get_pointing_c(msg); +#else + memcpy(mount_status, _MAV_PAYLOAD(msg), 14); +#endif +} diff --git a/thirdParty/mavlink/v0.9/ardupilotmega/mavlink_msg_sensor_offsets.h b/thirdParty/mavlink/v0.9/ardupilotmega/mavlink_msg_sensor_offsets.h new file mode 100644 index 0000000000000000000000000000000000000000..216211a8f85db66e0d646abb13f69fd64bf58864 --- /dev/null +++ b/thirdParty/mavlink/v0.9/ardupilotmega/mavlink_msg_sensor_offsets.h @@ -0,0 +1,386 @@ +// MESSAGE SENSOR_OFFSETS PACKING + +#define MAVLINK_MSG_ID_SENSOR_OFFSETS 150 + +typedef struct __mavlink_sensor_offsets_t +{ + int16_t mag_ofs_x; ///< magnetometer X offset + int16_t mag_ofs_y; ///< magnetometer Y offset + int16_t mag_ofs_z; ///< magnetometer Z offset + float mag_declination; ///< magnetic declination (radians) + int32_t raw_press; ///< raw pressure from barometer + int32_t raw_temp; ///< raw temperature from barometer + float gyro_cal_x; ///< gyro X calibration + float gyro_cal_y; ///< gyro Y calibration + float gyro_cal_z; ///< gyro Z calibration + float accel_cal_x; ///< accel X calibration + float accel_cal_y; ///< accel Y calibration + float accel_cal_z; ///< accel Z calibration +} mavlink_sensor_offsets_t; + +#define MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN 42 +#define MAVLINK_MSG_ID_150_LEN 42 + + + +#define MAVLINK_MESSAGE_INFO_SENSOR_OFFSETS { \ + "SENSOR_OFFSETS", \ + 12, \ + { { "mag_ofs_x", NULL, MAVLINK_TYPE_INT16_T, 0, 0, offsetof(mavlink_sensor_offsets_t, mag_ofs_x) }, \ + { "mag_ofs_y", NULL, MAVLINK_TYPE_INT16_T, 0, 2, offsetof(mavlink_sensor_offsets_t, mag_ofs_y) }, \ + { "mag_ofs_z", NULL, MAVLINK_TYPE_INT16_T, 0, 4, offsetof(mavlink_sensor_offsets_t, mag_ofs_z) }, \ + { "mag_declination", NULL, MAVLINK_TYPE_FLOAT, 0, 6, offsetof(mavlink_sensor_offsets_t, mag_declination) }, \ + { "raw_press", NULL, MAVLINK_TYPE_INT32_T, 0, 10, offsetof(mavlink_sensor_offsets_t, raw_press) }, \ + { "raw_temp", NULL, MAVLINK_TYPE_INT32_T, 0, 14, offsetof(mavlink_sensor_offsets_t, raw_temp) }, \ + { "gyro_cal_x", NULL, MAVLINK_TYPE_FLOAT, 0, 18, offsetof(mavlink_sensor_offsets_t, gyro_cal_x) }, \ + { "gyro_cal_y", NULL, MAVLINK_TYPE_FLOAT, 0, 22, offsetof(mavlink_sensor_offsets_t, gyro_cal_y) }, \ + { "gyro_cal_z", NULL, MAVLINK_TYPE_FLOAT, 0, 26, offsetof(mavlink_sensor_offsets_t, gyro_cal_z) }, \ + { "accel_cal_x", NULL, MAVLINK_TYPE_FLOAT, 0, 30, offsetof(mavlink_sensor_offsets_t, accel_cal_x) }, \ + { "accel_cal_y", NULL, MAVLINK_TYPE_FLOAT, 0, 34, offsetof(mavlink_sensor_offsets_t, accel_cal_y) }, \ + { "accel_cal_z", NULL, MAVLINK_TYPE_FLOAT, 0, 38, offsetof(mavlink_sensor_offsets_t, accel_cal_z) }, \ + } \ +} + + +/** + * @brief Pack a sensor_offsets 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 mag_ofs_x magnetometer X offset + * @param mag_ofs_y magnetometer Y offset + * @param mag_ofs_z magnetometer Z offset + * @param mag_declination magnetic declination (radians) + * @param raw_press raw pressure from barometer + * @param raw_temp raw temperature from barometer + * @param gyro_cal_x gyro X calibration + * @param gyro_cal_y gyro Y calibration + * @param gyro_cal_z gyro Z calibration + * @param accel_cal_x accel X calibration + * @param accel_cal_y accel Y calibration + * @param accel_cal_z accel Z calibration + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_sensor_offsets_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + int16_t mag_ofs_x, int16_t mag_ofs_y, int16_t mag_ofs_z, float mag_declination, int32_t raw_press, int32_t raw_temp, float gyro_cal_x, float gyro_cal_y, float gyro_cal_z, float accel_cal_x, float accel_cal_y, float accel_cal_z) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[42]; + _mav_put_int16_t(buf, 0, mag_ofs_x); + _mav_put_int16_t(buf, 2, mag_ofs_y); + _mav_put_int16_t(buf, 4, mag_ofs_z); + _mav_put_float(buf, 6, mag_declination); + _mav_put_int32_t(buf, 10, raw_press); + _mav_put_int32_t(buf, 14, raw_temp); + _mav_put_float(buf, 18, gyro_cal_x); + _mav_put_float(buf, 22, gyro_cal_y); + _mav_put_float(buf, 26, gyro_cal_z); + _mav_put_float(buf, 30, accel_cal_x); + _mav_put_float(buf, 34, accel_cal_y); + _mav_put_float(buf, 38, accel_cal_z); + + memcpy(_MAV_PAYLOAD(msg), buf, 42); +#else + mavlink_sensor_offsets_t packet; + packet.mag_ofs_x = mag_ofs_x; + packet.mag_ofs_y = mag_ofs_y; + packet.mag_ofs_z = mag_ofs_z; + packet.mag_declination = mag_declination; + packet.raw_press = raw_press; + packet.raw_temp = raw_temp; + packet.gyro_cal_x = gyro_cal_x; + packet.gyro_cal_y = gyro_cal_y; + packet.gyro_cal_z = gyro_cal_z; + packet.accel_cal_x = accel_cal_x; + packet.accel_cal_y = accel_cal_y; + packet.accel_cal_z = accel_cal_z; + + memcpy(_MAV_PAYLOAD(msg), &packet, 42); +#endif + + msg->msgid = MAVLINK_MSG_ID_SENSOR_OFFSETS; + return mavlink_finalize_message(msg, system_id, component_id, 42); +} + +/** + * @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 msg The MAVLink message to compress the data into + * @param mag_ofs_x magnetometer X offset + * @param mag_ofs_y magnetometer Y offset + * @param mag_ofs_z magnetometer Z offset + * @param mag_declination magnetic declination (radians) + * @param raw_press raw pressure from barometer + * @param raw_temp raw temperature from barometer + * @param gyro_cal_x gyro X calibration + * @param gyro_cal_y gyro Y calibration + * @param gyro_cal_z gyro Z calibration + * @param accel_cal_x accel X calibration + * @param accel_cal_y accel Y calibration + * @param accel_cal_z accel Z calibration + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_sensor_offsets_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + int16_t mag_ofs_x,int16_t mag_ofs_y,int16_t mag_ofs_z,float mag_declination,int32_t raw_press,int32_t raw_temp,float gyro_cal_x,float gyro_cal_y,float gyro_cal_z,float accel_cal_x,float accel_cal_y,float accel_cal_z) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[42]; + _mav_put_int16_t(buf, 0, mag_ofs_x); + _mav_put_int16_t(buf, 2, mag_ofs_y); + _mav_put_int16_t(buf, 4, mag_ofs_z); + _mav_put_float(buf, 6, mag_declination); + _mav_put_int32_t(buf, 10, raw_press); + _mav_put_int32_t(buf, 14, raw_temp); + _mav_put_float(buf, 18, gyro_cal_x); + _mav_put_float(buf, 22, gyro_cal_y); + _mav_put_float(buf, 26, gyro_cal_z); + _mav_put_float(buf, 30, accel_cal_x); + _mav_put_float(buf, 34, accel_cal_y); + _mav_put_float(buf, 38, accel_cal_z); + + memcpy(_MAV_PAYLOAD(msg), buf, 42); +#else + mavlink_sensor_offsets_t packet; + packet.mag_ofs_x = mag_ofs_x; + packet.mag_ofs_y = mag_ofs_y; + packet.mag_ofs_z = mag_ofs_z; + packet.mag_declination = mag_declination; + packet.raw_press = raw_press; + packet.raw_temp = raw_temp; + packet.gyro_cal_x = gyro_cal_x; + packet.gyro_cal_y = gyro_cal_y; + packet.gyro_cal_z = gyro_cal_z; + packet.accel_cal_x = accel_cal_x; + packet.accel_cal_y = accel_cal_y; + packet.accel_cal_z = accel_cal_z; + + memcpy(_MAV_PAYLOAD(msg), &packet, 42); +#endif + + msg->msgid = MAVLINK_MSG_ID_SENSOR_OFFSETS; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 42); +} + +/** + * @brief Encode a sensor_offsets 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 sensor_offsets C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_sensor_offsets_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_sensor_offsets_t* sensor_offsets) +{ + 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 Send a sensor_offsets message + * @param chan MAVLink channel to send the message + * + * @param mag_ofs_x magnetometer X offset + * @param mag_ofs_y magnetometer Y offset + * @param mag_ofs_z magnetometer Z offset + * @param mag_declination magnetic declination (radians) + * @param raw_press raw pressure from barometer + * @param raw_temp raw temperature from barometer + * @param gyro_cal_x gyro X calibration + * @param gyro_cal_y gyro Y calibration + * @param gyro_cal_z gyro Z calibration + * @param accel_cal_x accel X calibration + * @param accel_cal_y accel Y calibration + * @param accel_cal_z accel Z calibration + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_sensor_offsets_send(mavlink_channel_t chan, int16_t mag_ofs_x, int16_t mag_ofs_y, int16_t mag_ofs_z, float mag_declination, int32_t raw_press, int32_t raw_temp, float gyro_cal_x, float gyro_cal_y, float gyro_cal_z, float accel_cal_x, float accel_cal_y, float accel_cal_z) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[42]; + _mav_put_int16_t(buf, 0, mag_ofs_x); + _mav_put_int16_t(buf, 2, mag_ofs_y); + _mav_put_int16_t(buf, 4, mag_ofs_z); + _mav_put_float(buf, 6, mag_declination); + _mav_put_int32_t(buf, 10, raw_press); + _mav_put_int32_t(buf, 14, raw_temp); + _mav_put_float(buf, 18, gyro_cal_x); + _mav_put_float(buf, 22, gyro_cal_y); + _mav_put_float(buf, 26, gyro_cal_z); + _mav_put_float(buf, 30, accel_cal_x); + _mav_put_float(buf, 34, accel_cal_y); + _mav_put_float(buf, 38, accel_cal_z); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SENSOR_OFFSETS, buf, 42); +#else + mavlink_sensor_offsets_t packet; + packet.mag_ofs_x = mag_ofs_x; + packet.mag_ofs_y = mag_ofs_y; + packet.mag_ofs_z = mag_ofs_z; + packet.mag_declination = mag_declination; + packet.raw_press = raw_press; + packet.raw_temp = raw_temp; + packet.gyro_cal_x = gyro_cal_x; + packet.gyro_cal_y = gyro_cal_y; + packet.gyro_cal_z = gyro_cal_z; + packet.accel_cal_x = accel_cal_x; + packet.accel_cal_y = accel_cal_y; + packet.accel_cal_z = accel_cal_z; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SENSOR_OFFSETS, (const char *)&packet, 42); +#endif +} + +#endif + +// MESSAGE SENSOR_OFFSETS UNPACKING + + +/** + * @brief Get field mag_ofs_x from sensor_offsets message + * + * @return magnetometer X offset + */ +static inline int16_t mavlink_msg_sensor_offsets_get_mag_ofs_x(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 0); +} + +/** + * @brief Get field mag_ofs_y from sensor_offsets message + * + * @return magnetometer Y offset + */ +static inline int16_t mavlink_msg_sensor_offsets_get_mag_ofs_y(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 2); +} + +/** + * @brief Get field mag_ofs_z from sensor_offsets message + * + * @return magnetometer Z offset + */ +static inline int16_t mavlink_msg_sensor_offsets_get_mag_ofs_z(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 4); +} + +/** + * @brief Get field mag_declination from sensor_offsets message + * + * @return magnetic declination (radians) + */ +static inline float mavlink_msg_sensor_offsets_get_mag_declination(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 6); +} + +/** + * @brief Get field raw_press from sensor_offsets message + * + * @return raw pressure from barometer + */ +static inline int32_t mavlink_msg_sensor_offsets_get_raw_press(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int32_t(msg, 10); +} + +/** + * @brief Get field raw_temp from sensor_offsets message + * + * @return raw temperature from barometer + */ +static inline int32_t mavlink_msg_sensor_offsets_get_raw_temp(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int32_t(msg, 14); +} + +/** + * @brief Get field gyro_cal_x from sensor_offsets message + * + * @return gyro X calibration + */ +static inline float mavlink_msg_sensor_offsets_get_gyro_cal_x(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 18); +} + +/** + * @brief Get field gyro_cal_y from sensor_offsets message + * + * @return gyro Y calibration + */ +static inline float mavlink_msg_sensor_offsets_get_gyro_cal_y(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 22); +} + +/** + * @brief Get field gyro_cal_z from sensor_offsets message + * + * @return gyro Z calibration + */ +static inline float mavlink_msg_sensor_offsets_get_gyro_cal_z(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 26); +} + +/** + * @brief Get field accel_cal_x from sensor_offsets message + * + * @return accel X calibration + */ +static inline float mavlink_msg_sensor_offsets_get_accel_cal_x(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 30); +} + +/** + * @brief Get field accel_cal_y from sensor_offsets message + * + * @return accel Y calibration + */ +static inline float mavlink_msg_sensor_offsets_get_accel_cal_y(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 34); +} + +/** + * @brief Get field accel_cal_z from sensor_offsets message + * + * @return accel Z calibration + */ +static inline float mavlink_msg_sensor_offsets_get_accel_cal_z(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 38); +} + +/** + * @brief Decode a sensor_offsets message into a struct + * + * @param msg The message to decode + * @param sensor_offsets C-struct to decode the message contents into + */ +static inline void mavlink_msg_sensor_offsets_decode(const mavlink_message_t* msg, mavlink_sensor_offsets_t* sensor_offsets) +{ +#if MAVLINK_NEED_BYTE_SWAP + sensor_offsets->mag_ofs_x = mavlink_msg_sensor_offsets_get_mag_ofs_x(msg); + sensor_offsets->mag_ofs_y = mavlink_msg_sensor_offsets_get_mag_ofs_y(msg); + sensor_offsets->mag_ofs_z = mavlink_msg_sensor_offsets_get_mag_ofs_z(msg); + sensor_offsets->mag_declination = mavlink_msg_sensor_offsets_get_mag_declination(msg); + sensor_offsets->raw_press = mavlink_msg_sensor_offsets_get_raw_press(msg); + sensor_offsets->raw_temp = mavlink_msg_sensor_offsets_get_raw_temp(msg); + sensor_offsets->gyro_cal_x = mavlink_msg_sensor_offsets_get_gyro_cal_x(msg); + sensor_offsets->gyro_cal_y = mavlink_msg_sensor_offsets_get_gyro_cal_y(msg); + sensor_offsets->gyro_cal_z = mavlink_msg_sensor_offsets_get_gyro_cal_z(msg); + sensor_offsets->accel_cal_x = mavlink_msg_sensor_offsets_get_accel_cal_x(msg); + sensor_offsets->accel_cal_y = mavlink_msg_sensor_offsets_get_accel_cal_y(msg); + sensor_offsets->accel_cal_z = mavlink_msg_sensor_offsets_get_accel_cal_z(msg); +#else + memcpy(sensor_offsets, _MAV_PAYLOAD(msg), 42); +#endif +} diff --git a/thirdParty/mavlink/v0.9/ardupilotmega/mavlink_msg_set_mag_offsets.h b/thirdParty/mavlink/v0.9/ardupilotmega/mavlink_msg_set_mag_offsets.h new file mode 100644 index 0000000000000000000000000000000000000000..6243b440a972316c499fa8e339e1f9723da229e1 --- /dev/null +++ b/thirdParty/mavlink/v0.9/ardupilotmega/mavlink_msg_set_mag_offsets.h @@ -0,0 +1,232 @@ +// MESSAGE SET_MAG_OFFSETS PACKING + +#define MAVLINK_MSG_ID_SET_MAG_OFFSETS 151 + +typedef struct __mavlink_set_mag_offsets_t +{ + uint8_t target_system; ///< System ID + uint8_t target_component; ///< Component ID + int16_t mag_ofs_x; ///< magnetometer X offset + int16_t mag_ofs_y; ///< magnetometer Y offset + int16_t mag_ofs_z; ///< magnetometer Z offset +} mavlink_set_mag_offsets_t; + +#define MAVLINK_MSG_ID_SET_MAG_OFFSETS_LEN 8 +#define MAVLINK_MSG_ID_151_LEN 8 + + + +#define MAVLINK_MESSAGE_INFO_SET_MAG_OFFSETS { \ + "SET_MAG_OFFSETS", \ + 5, \ + { { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_set_mag_offsets_t, target_system) }, \ + { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_set_mag_offsets_t, target_component) }, \ + { "mag_ofs_x", NULL, MAVLINK_TYPE_INT16_T, 0, 2, offsetof(mavlink_set_mag_offsets_t, mag_ofs_x) }, \ + { "mag_ofs_y", NULL, MAVLINK_TYPE_INT16_T, 0, 4, offsetof(mavlink_set_mag_offsets_t, mag_ofs_y) }, \ + { "mag_ofs_z", NULL, MAVLINK_TYPE_INT16_T, 0, 6, offsetof(mavlink_set_mag_offsets_t, mag_ofs_z) }, \ + } \ +} + + +/** + * @brief Pack a set_mag_offsets 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 target_component Component ID + * @param mag_ofs_x magnetometer X offset + * @param mag_ofs_y magnetometer Y offset + * @param mag_ofs_z magnetometer Z offset + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_set_mag_offsets_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target_system, uint8_t target_component, int16_t mag_ofs_x, int16_t mag_ofs_y, int16_t mag_ofs_z) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[8]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_int16_t(buf, 2, mag_ofs_x); + _mav_put_int16_t(buf, 4, mag_ofs_y); + _mav_put_int16_t(buf, 6, mag_ofs_z); + + memcpy(_MAV_PAYLOAD(msg), buf, 8); +#else + mavlink_set_mag_offsets_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.mag_ofs_x = mag_ofs_x; + packet.mag_ofs_y = mag_ofs_y; + packet.mag_ofs_z = mag_ofs_z; + + memcpy(_MAV_PAYLOAD(msg), &packet, 8); +#endif + + msg->msgid = MAVLINK_MSG_ID_SET_MAG_OFFSETS; + return mavlink_finalize_message(msg, system_id, component_id, 8); +} + +/** + * @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 msg The MAVLink message to compress the data into + * @param target_system System ID + * @param target_component Component ID + * @param mag_ofs_x magnetometer X offset + * @param mag_ofs_y magnetometer Y offset + * @param mag_ofs_z magnetometer Z offset + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_set_mag_offsets_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t target_system,uint8_t target_component,int16_t mag_ofs_x,int16_t mag_ofs_y,int16_t mag_ofs_z) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[8]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_int16_t(buf, 2, mag_ofs_x); + _mav_put_int16_t(buf, 4, mag_ofs_y); + _mav_put_int16_t(buf, 6, mag_ofs_z); + + memcpy(_MAV_PAYLOAD(msg), buf, 8); +#else + mavlink_set_mag_offsets_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.mag_ofs_x = mag_ofs_x; + packet.mag_ofs_y = mag_ofs_y; + packet.mag_ofs_z = mag_ofs_z; + + memcpy(_MAV_PAYLOAD(msg), &packet, 8); +#endif + + msg->msgid = MAVLINK_MSG_ID_SET_MAG_OFFSETS; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 8); +} + +/** + * @brief Encode a set_mag_offsets 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 set_mag_offsets C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_set_mag_offsets_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_mag_offsets_t* set_mag_offsets) +{ + 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 Send a set_mag_offsets message + * @param chan MAVLink channel to send the message + * + * @param target_system System ID + * @param target_component Component ID + * @param mag_ofs_x magnetometer X offset + * @param mag_ofs_y magnetometer Y offset + * @param mag_ofs_z magnetometer Z offset + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_set_mag_offsets_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, int16_t mag_ofs_x, int16_t mag_ofs_y, int16_t mag_ofs_z) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[8]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_int16_t(buf, 2, mag_ofs_x); + _mav_put_int16_t(buf, 4, mag_ofs_y); + _mav_put_int16_t(buf, 6, mag_ofs_z); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_MAG_OFFSETS, buf, 8); +#else + mavlink_set_mag_offsets_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.mag_ofs_x = mag_ofs_x; + packet.mag_ofs_y = mag_ofs_y; + packet.mag_ofs_z = mag_ofs_z; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_MAG_OFFSETS, (const char *)&packet, 8); +#endif +} + +#endif + +// MESSAGE SET_MAG_OFFSETS UNPACKING + + +/** + * @brief Get field target_system from set_mag_offsets message + * + * @return System ID + */ +static inline uint8_t mavlink_msg_set_mag_offsets_get_target_system(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field target_component from set_mag_offsets message + * + * @return Component ID + */ +static inline uint8_t mavlink_msg_set_mag_offsets_get_target_component(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 1); +} + +/** + * @brief Get field mag_ofs_x from set_mag_offsets message + * + * @return magnetometer X offset + */ +static inline int16_t mavlink_msg_set_mag_offsets_get_mag_ofs_x(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 2); +} + +/** + * @brief Get field mag_ofs_y from set_mag_offsets message + * + * @return magnetometer Y offset + */ +static inline int16_t mavlink_msg_set_mag_offsets_get_mag_ofs_y(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 4); +} + +/** + * @brief Get field mag_ofs_z from set_mag_offsets message + * + * @return magnetometer Z offset + */ +static inline int16_t mavlink_msg_set_mag_offsets_get_mag_ofs_z(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 6); +} + +/** + * @brief Decode a set_mag_offsets message into a struct + * + * @param msg The message to decode + * @param set_mag_offsets C-struct to decode the message contents into + */ +static inline void mavlink_msg_set_mag_offsets_decode(const mavlink_message_t* msg, mavlink_set_mag_offsets_t* set_mag_offsets) +{ +#if MAVLINK_NEED_BYTE_SWAP + set_mag_offsets->target_system = mavlink_msg_set_mag_offsets_get_target_system(msg); + set_mag_offsets->target_component = mavlink_msg_set_mag_offsets_get_target_component(msg); + set_mag_offsets->mag_ofs_x = mavlink_msg_set_mag_offsets_get_mag_ofs_x(msg); + set_mag_offsets->mag_ofs_y = mavlink_msg_set_mag_offsets_get_mag_ofs_y(msg); + set_mag_offsets->mag_ofs_z = mavlink_msg_set_mag_offsets_get_mag_ofs_z(msg); +#else + memcpy(set_mag_offsets, _MAV_PAYLOAD(msg), 8); +#endif +} diff --git a/thirdParty/mavlink/v0.9/ardupilotmega/testsuite.h b/thirdParty/mavlink/v0.9/ardupilotmega/testsuite.h new file mode 100644 index 0000000000000000000000000000000000000000..5799e2f9588310416457d9f8c417eb8faa16c9c1 --- /dev/null +++ b/thirdParty/mavlink/v0.9/ardupilotmega/testsuite.h @@ -0,0 +1,690 @@ +/** @file + * @brief MAVLink comm protocol testsuite generated from ardupilotmega.xml + * @see http://qgroundcontrol.org/mavlink/ + */ +#ifndef ARDUPILOTMEGA_TESTSUITE_H +#define ARDUPILOTMEGA_TESTSUITE_H + +#ifdef __cplusplus +extern "C" { +#endif + +#ifndef MAVLINK_TEST_ALL +#define MAVLINK_TEST_ALL +static void mavlink_test_common(uint8_t, uint8_t, mavlink_message_t *last_msg); +static void mavlink_test_ardupilotmega(uint8_t, uint8_t, mavlink_message_t *last_msg); + +static void mavlink_test_all(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) +{ + mavlink_test_common(system_id, component_id, last_msg); + mavlink_test_ardupilotmega(system_id, component_id, last_msg); +} +#endif + +#include "../common/testsuite.h" + + +static void mavlink_test_sensor_offsets(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_sensor_offsets_t packet_in = { + 17235, + 17339, + 17443, + 59.0, + 963497984, + 963498192, + 143.0, + 171.0, + 199.0, + 227.0, + 255.0, + 283.0, + }; + mavlink_sensor_offsets_t packet1, packet2; + memset(&packet1, 0, sizeof(packet1)); + packet1.mag_ofs_x = packet_in.mag_ofs_x; + packet1.mag_ofs_y = packet_in.mag_ofs_y; + packet1.mag_ofs_z = packet_in.mag_ofs_z; + packet1.mag_declination = packet_in.mag_declination; + packet1.raw_press = packet_in.raw_press; + packet1.raw_temp = packet_in.raw_temp; + packet1.gyro_cal_x = packet_in.gyro_cal_x; + packet1.gyro_cal_y = packet_in.gyro_cal_y; + packet1.gyro_cal_z = packet_in.gyro_cal_z; + packet1.accel_cal_x = packet_in.accel_cal_x; + packet1.accel_cal_y = packet_in.accel_cal_y; + packet1.accel_cal_z = packet_in.accel_cal_z; + + + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_sensor_offsets_encode(system_id, component_id, &msg, &packet1); + mavlink_msg_sensor_offsets_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_sensor_offsets_pack(system_id, component_id, &msg , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z , packet1.mag_declination , packet1.raw_press , packet1.raw_temp , packet1.gyro_cal_x , packet1.gyro_cal_y , packet1.gyro_cal_z , packet1.accel_cal_x , packet1.accel_cal_y , packet1.accel_cal_z ); + mavlink_msg_sensor_offsets_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_sensor_offsets_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z , packet1.mag_declination , packet1.raw_press , packet1.raw_temp , packet1.gyro_cal_x , packet1.gyro_cal_y , packet1.gyro_cal_z , packet1.accel_cal_x , packet1.accel_cal_y , packet1.accel_cal_z ); + mavlink_msg_sensor_offsets_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 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at waypoint (rotary wing)| Latitude| Longitude| Altitude| */ + MAV_CMD_NAV_LOITER_UNLIM=17, /* Loiter around this waypoint an unlimited amount of time |Empty| Empty| Radius around waypoint, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */ + MAV_CMD_NAV_LOITER_TURNS=18, /* Loiter around this waypoint for X turns |Turns| Empty| Radius around waypoint, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */ + MAV_CMD_NAV_LOITER_TIME=19, /* Loiter around this waypoint for X seconds |Seconds (decimal)| Empty| Radius around waypoint, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */ + MAV_CMD_NAV_RETURN_TO_LAUNCH=20, /* Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_NAV_LAND=21, /* Land at location |Empty| Empty| Empty| Desired yaw angle.| Latitude| Longitude| Altitude| */ + MAV_CMD_NAV_TAKEOFF=22, /* Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude| */ + MAV_CMD_NAV_ROI=80, /* 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)| Waypoint 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_NAV_PATHPLANNING=81, /* Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal, in compass degrees, [0..360]| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal| */ + MAV_CMD_NAV_LAST=95, /* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_CONDITION_DELAY=112, /* Delay mission state machine. |Delay in seconds (decimal)| Empty| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_CONDITION_CHANGE_ALT=113, /* Ascend/descend at rate. Delay mission state machine until desired altitude reached. |Descent / Ascend rate (m/s)| Empty| Empty| Empty| Empty| Empty| Finish Altitude| */ + MAV_CMD_CONDITION_DISTANCE=114, /* Delay mission state machine until within desired distance of next NAV point. |Distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_CONDITION_YAW=115, /* Reach a certain target angle. |target angle: [0-360], 0 is north| speed during yaw change:[deg per second]| direction: negative: counter clockwise, positive: clockwise [-1,1]| relative offset or absolute angle: [ 1,0]| Empty| Empty| Empty| */ + MAV_CMD_CONDITION_LAST=159, /* NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_DO_SET_MODE=176, /* Set system mode. |Mode, as defined by ENUM MAV_MODE| Empty| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_DO_JUMP=177, /* Jump to the desired command in the mission list. Repeat this action only the specified number of times |Sequence number| Repeat count| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_DO_CHANGE_SPEED=178, /* Change speed and/or throttle set points. |Speed type (0=Airspeed, 1=Ground Speed)| Speed (m/s, -1 indicates no change)| Throttle ( Percent, -1 indicates no change)| Empty| Empty| Empty| Empty| */ + MAV_CMD_DO_SET_HOME=179, /* Changes the home location either to the current location or a specified location. |Use current (1=use current location, 0=use specified location)| Empty| Empty| Empty| Latitude| Longitude| Altitude| */ + MAV_CMD_DO_SET_PARAMETER=180, /* Set a system parameter. Caution! Use of this command requires knowledge of the numeric enumeration value of the parameter. |Parameter number| Parameter value| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_DO_SET_RELAY=181, /* Set a relay to a condition. |Relay number| Setting (1=on, 0=off, others possible depending on system hardware)| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_DO_REPEAT_RELAY=182, /* Cycle a relay on and off for a desired number of cyles with a desired period. |Relay number| Cycle count| Cycle time (seconds, decimal)| Empty| Empty| Empty| Empty| */ + 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 capturing. |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 + devices such as cameras. + |Region of interest mode. (see MAV_ROI enum)| Waypoint index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple cameras etc.)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z| */ + 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| Empty| Empty| Empty| */ + MAV_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Reserved| Reserved| Empty| Empty| Empty| */ + MAV_CMD_ENUM_END=246, /* | */ +}; +#endif + +/** @brief Data stream IDs. A data stream is not a fixed set of messages, but rather a + recommendation to the autopilot software. Individual autopilots may or may not obey + the recommended messages. + */ +#ifndef HAVE_ENUM_MAV_DATA_STREAM +#define HAVE_ENUM_MAV_DATA_STREAM +enum MAV_DATA_STREAM +{ + MAV_DATA_STREAM_ALL=0, /* Enable all data streams | */ + MAV_DATA_STREAM_RAW_SENSORS=1, /* Enable IMU_RAW, GPS_RAW, GPS_STATUS packets. | */ + MAV_DATA_STREAM_EXTENDED_STATUS=2, /* Enable GPS_STATUS, CONTROL_STATUS, AUX_STATUS | */ + MAV_DATA_STREAM_RC_CHANNELS=3, /* Enable RC_CHANNELS_SCALED, RC_CHANNELS_RAW, SERVO_OUTPUT_RAW | */ + MAV_DATA_STREAM_RAW_CONTROLLER=4, /* Enable ATTITUDE_CONTROLLER_OUTPUT, POSITION_CONTROLLER_OUTPUT, NAV_CONTROLLER_OUTPUT. | */ + MAV_DATA_STREAM_POSITION=6, /* Enable LOCAL_POSITION, GLOBAL_POSITION/GLOBAL_POSITION_INT messages. | */ + MAV_DATA_STREAM_EXTRA1=10, /* Dependent on the autopilot | */ + MAV_DATA_STREAM_EXTRA2=11, /* Dependent on the autopilot | */ + MAV_DATA_STREAM_EXTRA3=12, /* Dependent on the autopilot | */ + MAV_DATA_STREAM_ENUM_END=13, /* | */ +}; +#endif + +/** @brief The ROI (region of interest) for the vehicle. This can be + be used by the vehicle for camera/vehicle attitude alignment (see + MAV_CMD_NAV_ROI). + */ +#ifndef HAVE_ENUM_MAV_ROI +#define HAVE_ENUM_MAV_ROI +enum MAV_ROI +{ + MAV_ROI_NONE=0, /* No region of interest. | */ + MAV_ROI_WPNEXT=1, /* Point toward next waypoint. | */ + MAV_ROI_WPINDEX=2, /* Point toward given waypoint. | */ + MAV_ROI_LOCATION=3, /* Point toward fixed location. | */ + MAV_ROI_TARGET=4, /* Point toward of given id. | */ + MAV_ROI_ENUM_END=5, /* | */ +}; +#endif + +// MESSAGE DEFINITIONS +#include "./mavlink_msg_heartbeat.h" +#include "./mavlink_msg_boot.h" +#include "./mavlink_msg_system_time.h" +#include "./mavlink_msg_ping.h" +#include "./mavlink_msg_system_time_utc.h" +#include "./mavlink_msg_change_operator_control.h" +#include "./mavlink_msg_change_operator_control_ack.h" +#include "./mavlink_msg_auth_key.h" +#include "./mavlink_msg_action_ack.h" +#include "./mavlink_msg_action.h" +#include "./mavlink_msg_set_mode.h" +#include "./mavlink_msg_set_nav_mode.h" +#include "./mavlink_msg_param_request_read.h" +#include "./mavlink_msg_param_request_list.h" +#include "./mavlink_msg_param_value.h" +#include "./mavlink_msg_param_set.h" +#include "./mavlink_msg_gps_raw_int.h" +#include "./mavlink_msg_scaled_imu.h" +#include "./mavlink_msg_gps_status.h" +#include "./mavlink_msg_raw_imu.h" +#include "./mavlink_msg_raw_pressure.h" +#include "./mavlink_msg_scaled_pressure.h" +#include "./mavlink_msg_attitude.h" +#include "./mavlink_msg_local_position.h" +#include "./mavlink_msg_global_position.h" +#include "./mavlink_msg_gps_raw.h" +#include "./mavlink_msg_sys_status.h" +#include "./mavlink_msg_rc_channels_raw.h" +#include "./mavlink_msg_rc_channels_scaled.h" +#include "./mavlink_msg_servo_output_raw.h" +#include "./mavlink_msg_waypoint.h" +#include "./mavlink_msg_waypoint_request.h" +#include "./mavlink_msg_waypoint_set_current.h" +#include "./mavlink_msg_waypoint_current.h" +#include "./mavlink_msg_waypoint_request_list.h" +#include "./mavlink_msg_waypoint_count.h" +#include "./mavlink_msg_waypoint_clear_all.h" +#include "./mavlink_msg_waypoint_reached.h" +#include "./mavlink_msg_waypoint_ack.h" +#include "./mavlink_msg_gps_set_global_origin.h" +#include "./mavlink_msg_gps_local_origin_set.h" +#include "./mavlink_msg_local_position_setpoint_set.h" +#include "./mavlink_msg_local_position_setpoint.h" +#include "./mavlink_msg_control_status.h" +#include "./mavlink_msg_safety_set_allowed_area.h" +#include "./mavlink_msg_safety_allowed_area.h" +#include "./mavlink_msg_set_roll_pitch_yaw_thrust.h" +#include "./mavlink_msg_set_roll_pitch_yaw_speed_thrust.h" +#include "./mavlink_msg_roll_pitch_yaw_thrust_setpoint.h" +#include "./mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint.h" +#include "./mavlink_msg_nav_controller_output.h" +#include "./mavlink_msg_position_target.h" +#include "./mavlink_msg_state_correction.h" +#include "./mavlink_msg_set_altitude.h" +#include "./mavlink_msg_request_data_stream.h" +#include "./mavlink_msg_hil_state.h" +#include "./mavlink_msg_hil_controls.h" +#include "./mavlink_msg_manual_control.h" +#include "./mavlink_msg_rc_channels_override.h" +#include "./mavlink_msg_global_position_int.h" +#include "./mavlink_msg_vfr_hud.h" +#include "./mavlink_msg_command.h" +#include "./mavlink_msg_command_ack.h" +#include "./mavlink_msg_optical_flow.h" +#include "./mavlink_msg_object_detection_event.h" +#include "./mavlink_msg_debug_vect.h" +#include "./mavlink_msg_named_value_float.h" +#include "./mavlink_msg_named_value_int.h" +#include "./mavlink_msg_statustext.h" +#include "./mavlink_msg_debug.h" + +#ifdef __cplusplus +} +#endif // __cplusplus +#endif // COMMON_H diff --git a/thirdParty/mavlink/v0.9/common/mavlink.h b/thirdParty/mavlink/v0.9/common/mavlink.h new file mode 100644 index 0000000000000000000000000000000000000000..02ff5bd3927263cf6288f3ff2cbba842b1d6afe5 --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink.h @@ -0,0 +1,27 @@ +/** @file + * @brief MAVLink comm protocol built from common.xml + * @see http://pixhawk.ethz.ch/software/mavlink + */ +#ifndef MAVLINK_H +#define MAVLINK_H + +#ifndef MAVLINK_STX +#define MAVLINK_STX 85 +#endif + +#ifndef MAVLINK_ENDIAN +#define MAVLINK_ENDIAN MAVLINK_BIG_ENDIAN +#endif + +#ifndef MAVLINK_ALIGNED_FIELDS +#define MAVLINK_ALIGNED_FIELDS 0 +#endif + +#ifndef MAVLINK_CRC_EXTRA +#define MAVLINK_CRC_EXTRA 0 +#endif + +#include "version.h" +#include "common.h" + +#endif // MAVLINK_H diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_action.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_action.h new file mode 100644 index 0000000000000000000000000000000000000000..a92f3e0052634f8d67d3aa02d7b39f4913326dd7 --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_action.h @@ -0,0 +1,188 @@ +// MESSAGE ACTION PACKING + +#define MAVLINK_MSG_ID_ACTION 10 + +typedef struct __mavlink_action_t +{ + uint8_t target; ///< The system executing the action + uint8_t target_component; ///< The component executing the action + uint8_t action; ///< The action id +} mavlink_action_t; + +#define MAVLINK_MSG_ID_ACTION_LEN 3 +#define MAVLINK_MSG_ID_10_LEN 3 + + + +#define MAVLINK_MESSAGE_INFO_ACTION { \ + "ACTION", \ + 3, \ + { { "target", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_action_t, target) }, \ + { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_action_t, target_component) }, \ + { "action", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_action_t, action) }, \ + } \ +} + + +/** + * @brief Pack a action 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 The system executing the action + * @param target_component The component executing the action + * @param action The action id + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_action_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target, uint8_t target_component, uint8_t action) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[3]; + _mav_put_uint8_t(buf, 0, target); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_uint8_t(buf, 2, action); + + memcpy(_MAV_PAYLOAD(msg), buf, 3); +#else + mavlink_action_t packet; + packet.target = target; + packet.target_component = target_component; + packet.action = action; + + memcpy(_MAV_PAYLOAD(msg), &packet, 3); +#endif + + msg->msgid = MAVLINK_MSG_ID_ACTION; + return mavlink_finalize_message(msg, system_id, component_id, 3); +} + +/** + * @brief Pack a action 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 The system executing the action + * @param target_component The component executing the action + * @param action The action id + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_action_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t target,uint8_t target_component,uint8_t action) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[3]; + _mav_put_uint8_t(buf, 0, target); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_uint8_t(buf, 2, action); + + memcpy(_MAV_PAYLOAD(msg), buf, 3); +#else + mavlink_action_t packet; + packet.target = target; + packet.target_component = target_component; + packet.action = action; + + memcpy(_MAV_PAYLOAD(msg), &packet, 3); +#endif + + msg->msgid = MAVLINK_MSG_ID_ACTION; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 3); +} + +/** + * @brief Encode a action 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 action C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_action_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_action_t* action) +{ + return mavlink_msg_action_pack(system_id, component_id, msg, action->target, action->target_component, action->action); +} + +/** + * @brief Send a action message + * @param chan MAVLink channel to send the message + * + * @param target The system executing the action + * @param target_component The component executing the action + * @param action The action id + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_action_send(mavlink_channel_t chan, uint8_t target, uint8_t target_component, uint8_t action) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[3]; + _mav_put_uint8_t(buf, 0, target); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_uint8_t(buf, 2, action); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ACTION, buf, 3); +#else + mavlink_action_t packet; + packet.target = target; + packet.target_component = target_component; + packet.action = action; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ACTION, (const char *)&packet, 3); +#endif +} + +#endif + +// MESSAGE ACTION UNPACKING + + +/** + * @brief Get field target from action message + * + * @return The system executing the action + */ +static inline uint8_t mavlink_msg_action_get_target(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field target_component from action message + * + * @return The component executing the action + */ +static inline uint8_t mavlink_msg_action_get_target_component(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 1); +} + +/** + * @brief Get field action from action message + * + * @return The action id + */ +static inline uint8_t mavlink_msg_action_get_action(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 2); +} + +/** + * @brief Decode a action message into a struct + * + * @param msg The message to decode + * @param action C-struct to decode the message contents into + */ +static inline void mavlink_msg_action_decode(const mavlink_message_t* msg, mavlink_action_t* action) +{ +#if MAVLINK_NEED_BYTE_SWAP + action->target = mavlink_msg_action_get_target(msg); + action->target_component = mavlink_msg_action_get_target_component(msg); + action->action = mavlink_msg_action_get_action(msg); +#else + memcpy(action, _MAV_PAYLOAD(msg), 3); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_action_ack.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_action_ack.h new file mode 100644 index 0000000000000000000000000000000000000000..b7fb3256db1f0e64dd089707dd02fb795b1927e6 --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_action_ack.h @@ -0,0 +1,166 @@ +// MESSAGE ACTION_ACK PACKING + +#define MAVLINK_MSG_ID_ACTION_ACK 9 + +typedef struct __mavlink_action_ack_t +{ + uint8_t action; ///< The action id + uint8_t result; ///< 0: Action DENIED, 1: Action executed +} mavlink_action_ack_t; + +#define MAVLINK_MSG_ID_ACTION_ACK_LEN 2 +#define MAVLINK_MSG_ID_9_LEN 2 + + + +#define MAVLINK_MESSAGE_INFO_ACTION_ACK { \ + "ACTION_ACK", \ + 2, \ + { { "action", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_action_ack_t, action) }, \ + { "result", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_action_ack_t, result) }, \ + } \ +} + + +/** + * @brief Pack a action_ack 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 action The action id + * @param result 0: Action DENIED, 1: Action executed + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_action_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t action, uint8_t result) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[2]; + _mav_put_uint8_t(buf, 0, action); + _mav_put_uint8_t(buf, 1, result); + + memcpy(_MAV_PAYLOAD(msg), buf, 2); +#else + mavlink_action_ack_t packet; + packet.action = action; + packet.result = result; + + memcpy(_MAV_PAYLOAD(msg), &packet, 2); +#endif + + msg->msgid = MAVLINK_MSG_ID_ACTION_ACK; + return mavlink_finalize_message(msg, system_id, component_id, 2); +} + +/** + * @brief Pack a action_ack 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 action The action id + * @param result 0: Action DENIED, 1: Action executed + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_action_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t action,uint8_t result) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[2]; + _mav_put_uint8_t(buf, 0, action); + _mav_put_uint8_t(buf, 1, result); + + memcpy(_MAV_PAYLOAD(msg), buf, 2); +#else + mavlink_action_ack_t packet; + packet.action = action; + packet.result = result; + + memcpy(_MAV_PAYLOAD(msg), &packet, 2); +#endif + + msg->msgid = MAVLINK_MSG_ID_ACTION_ACK; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 2); +} + +/** + * @brief Encode a action_ack 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 action_ack C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_action_ack_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_action_ack_t* action_ack) +{ + return mavlink_msg_action_ack_pack(system_id, component_id, msg, action_ack->action, action_ack->result); +} + +/** + * @brief Send a action_ack message + * @param chan MAVLink channel to send the message + * + * @param action The action id + * @param result 0: Action DENIED, 1: Action executed + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_action_ack_send(mavlink_channel_t chan, uint8_t action, uint8_t result) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[2]; + _mav_put_uint8_t(buf, 0, action); + _mav_put_uint8_t(buf, 1, result); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ACTION_ACK, buf, 2); +#else + mavlink_action_ack_t packet; + packet.action = action; + packet.result = result; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ACTION_ACK, (const char *)&packet, 2); +#endif +} + +#endif + +// MESSAGE ACTION_ACK UNPACKING + + +/** + * @brief Get field action from action_ack message + * + * @return The action id + */ +static inline uint8_t mavlink_msg_action_ack_get_action(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field result from action_ack message + * + * @return 0: Action DENIED, 1: Action executed + */ +static inline uint8_t mavlink_msg_action_ack_get_result(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 1); +} + +/** + * @brief Decode a action_ack message into a struct + * + * @param msg The message to decode + * @param action_ack C-struct to decode the message contents into + */ +static inline void mavlink_msg_action_ack_decode(const mavlink_message_t* msg, mavlink_action_ack_t* action_ack) +{ +#if MAVLINK_NEED_BYTE_SWAP + action_ack->action = mavlink_msg_action_ack_get_action(msg); + action_ack->result = mavlink_msg_action_ack_get_result(msg); +#else + memcpy(action_ack, _MAV_PAYLOAD(msg), 2); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_attitude.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_attitude.h new file mode 100644 index 0000000000000000000000000000000000000000..d3e3cb3dc274592b9a51a4d0b581e862c413c4d5 --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_attitude.h @@ -0,0 +1,276 @@ +// MESSAGE ATTITUDE PACKING + +#define MAVLINK_MSG_ID_ATTITUDE 30 + +typedef struct __mavlink_attitude_t +{ + uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot) + float roll; ///< Roll angle (rad) + float pitch; ///< Pitch angle (rad) + float yaw; ///< Yaw angle (rad) + float rollspeed; ///< Roll angular speed (rad/s) + float pitchspeed; ///< Pitch angular speed (rad/s) + float yawspeed; ///< Yaw angular speed (rad/s) +} mavlink_attitude_t; + +#define MAVLINK_MSG_ID_ATTITUDE_LEN 32 +#define MAVLINK_MSG_ID_30_LEN 32 + + + +#define MAVLINK_MESSAGE_INFO_ATTITUDE { \ + "ATTITUDE", \ + 7, \ + { { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_attitude_t, usec) }, \ + { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_attitude_t, roll) }, \ + { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_attitude_t, pitch) }, \ + { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_attitude_t, yaw) }, \ + { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_attitude_t, rollspeed) }, \ + { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_attitude_t, pitchspeed) }, \ + { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_attitude_t, yawspeed) }, \ + } \ +} + + +/** + * @brief Pack a attitude 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 usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @param roll Roll angle (rad) + * @param pitch Pitch angle (rad) + * @param yaw Yaw angle (rad) + * @param rollspeed Roll angular speed (rad/s) + * @param pitchspeed Pitch angular speed (rad/s) + * @param yawspeed Yaw angular speed (rad/s) + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_attitude_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint64_t usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[32]; + _mav_put_uint64_t(buf, 0, usec); + _mav_put_float(buf, 8, roll); + _mav_put_float(buf, 12, pitch); + _mav_put_float(buf, 16, yaw); + _mav_put_float(buf, 20, rollspeed); + _mav_put_float(buf, 24, pitchspeed); + _mav_put_float(buf, 28, yawspeed); + + memcpy(_MAV_PAYLOAD(msg), buf, 32); +#else + mavlink_attitude_t packet; + packet.usec = usec; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + packet.rollspeed = rollspeed; + packet.pitchspeed = pitchspeed; + packet.yawspeed = yawspeed; + + memcpy(_MAV_PAYLOAD(msg), &packet, 32); +#endif + + msg->msgid = MAVLINK_MSG_ID_ATTITUDE; + return mavlink_finalize_message(msg, system_id, component_id, 32); +} + +/** + * @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 msg The MAVLink message to compress the data into + * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @param roll Roll angle (rad) + * @param pitch Pitch angle (rad) + * @param yaw Yaw angle (rad) + * @param rollspeed Roll angular speed (rad/s) + * @param pitchspeed Pitch angular speed (rad/s) + * @param yawspeed Yaw angular speed (rad/s) + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_attitude_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint64_t usec,float roll,float pitch,float yaw,float rollspeed,float pitchspeed,float yawspeed) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[32]; + _mav_put_uint64_t(buf, 0, usec); + _mav_put_float(buf, 8, roll); + _mav_put_float(buf, 12, pitch); + _mav_put_float(buf, 16, yaw); + _mav_put_float(buf, 20, rollspeed); + _mav_put_float(buf, 24, pitchspeed); + _mav_put_float(buf, 28, yawspeed); + + memcpy(_MAV_PAYLOAD(msg), buf, 32); +#else + mavlink_attitude_t packet; + packet.usec = usec; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + packet.rollspeed = rollspeed; + packet.pitchspeed = pitchspeed; + packet.yawspeed = yawspeed; + + memcpy(_MAV_PAYLOAD(msg), &packet, 32); +#endif + + msg->msgid = MAVLINK_MSG_ID_ATTITUDE; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 32); +} + +/** + * @brief Encode a attitude 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 attitude C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_attitude_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_attitude_t* attitude) +{ + return mavlink_msg_attitude_pack(system_id, component_id, msg, attitude->usec, 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 + * + * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @param roll Roll angle (rad) + * @param pitch Pitch angle (rad) + * @param yaw Yaw angle (rad) + * @param rollspeed Roll angular speed (rad/s) + * @param pitchspeed Pitch angular speed (rad/s) + * @param yawspeed Yaw angular speed (rad/s) + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_attitude_send(mavlink_channel_t chan, uint64_t usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[32]; + _mav_put_uint64_t(buf, 0, usec); + _mav_put_float(buf, 8, roll); + _mav_put_float(buf, 12, pitch); + _mav_put_float(buf, 16, yaw); + _mav_put_float(buf, 20, rollspeed); + _mav_put_float(buf, 24, pitchspeed); + _mav_put_float(buf, 28, yawspeed); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, buf, 32); +#else + mavlink_attitude_t packet; + packet.usec = usec; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + packet.rollspeed = rollspeed; + packet.pitchspeed = pitchspeed; + packet.yawspeed = yawspeed; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, (const char *)&packet, 32); +#endif +} + +#endif + +// MESSAGE ATTITUDE UNPACKING + + +/** + * @brief Get field usec from attitude message + * + * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot) + */ +static inline uint64_t mavlink_msg_attitude_get_usec(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint64_t(msg, 0); +} + +/** + * @brief Get field roll from attitude message + * + * @return Roll angle (rad) + */ +static inline float mavlink_msg_attitude_get_roll(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 8); +} + +/** + * @brief Get field pitch from attitude message + * + * @return Pitch angle (rad) + */ +static inline float mavlink_msg_attitude_get_pitch(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 12); +} + +/** + * @brief Get field yaw from attitude message + * + * @return Yaw angle (rad) + */ +static inline float mavlink_msg_attitude_get_yaw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 16); +} + +/** + * @brief Get field rollspeed from attitude message + * + * @return Roll angular speed (rad/s) + */ +static inline float mavlink_msg_attitude_get_rollspeed(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 20); +} + +/** + * @brief Get field pitchspeed from attitude message + * + * @return Pitch angular speed (rad/s) + */ +static inline float mavlink_msg_attitude_get_pitchspeed(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 24); +} + +/** + * @brief Get field yawspeed from attitude message + * + * @return Yaw angular speed (rad/s) + */ +static inline float mavlink_msg_attitude_get_yawspeed(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 28); +} + +/** + * @brief Decode a attitude message into a struct + * + * @param msg The message to decode + * @param attitude C-struct to decode the message contents into + */ +static inline void mavlink_msg_attitude_decode(const mavlink_message_t* msg, mavlink_attitude_t* attitude) +{ +#if MAVLINK_NEED_BYTE_SWAP + attitude->usec = mavlink_msg_attitude_get_usec(msg); + attitude->roll = mavlink_msg_attitude_get_roll(msg); + attitude->pitch = mavlink_msg_attitude_get_pitch(msg); + attitude->yaw = mavlink_msg_attitude_get_yaw(msg); + attitude->rollspeed = mavlink_msg_attitude_get_rollspeed(msg); + attitude->pitchspeed = mavlink_msg_attitude_get_pitchspeed(msg); + attitude->yawspeed = mavlink_msg_attitude_get_yawspeed(msg); +#else + memcpy(attitude, _MAV_PAYLOAD(msg), 32); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_auth_key.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_auth_key.h new file mode 100644 index 0000000000000000000000000000000000000000..c563fb7828b9c433a7a0838a0a1a3aa82626fa3a --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_auth_key.h @@ -0,0 +1,144 @@ +// MESSAGE AUTH_KEY PACKING + +#define MAVLINK_MSG_ID_AUTH_KEY 7 + +typedef struct __mavlink_auth_key_t +{ + char key[32]; ///< key +} mavlink_auth_key_t; + +#define MAVLINK_MSG_ID_AUTH_KEY_LEN 32 +#define MAVLINK_MSG_ID_7_LEN 32 + +#define MAVLINK_MSG_AUTH_KEY_FIELD_KEY_LEN 32 + +#define MAVLINK_MESSAGE_INFO_AUTH_KEY { \ + "AUTH_KEY", \ + 1, \ + { { "key", NULL, MAVLINK_TYPE_CHAR, 32, 0, offsetof(mavlink_auth_key_t, key) }, \ + } \ +} + + +/** + * @brief Pack a auth_key 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 key key + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_auth_key_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + const char *key) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[32]; + + _mav_put_char_array(buf, 0, key, 32); + memcpy(_MAV_PAYLOAD(msg), buf, 32); +#else + mavlink_auth_key_t packet; + + mav_array_memcpy(packet.key, key, sizeof(char)*32); + memcpy(_MAV_PAYLOAD(msg), &packet, 32); +#endif + + msg->msgid = MAVLINK_MSG_ID_AUTH_KEY; + return mavlink_finalize_message(msg, system_id, component_id, 32); +} + +/** + * @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 msg The MAVLink message to compress the data into + * @param key key + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_auth_key_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + const char *key) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[32]; + + _mav_put_char_array(buf, 0, key, 32); + memcpy(_MAV_PAYLOAD(msg), buf, 32); +#else + mavlink_auth_key_t packet; + + mav_array_memcpy(packet.key, key, sizeof(char)*32); + memcpy(_MAV_PAYLOAD(msg), &packet, 32); +#endif + + msg->msgid = MAVLINK_MSG_ID_AUTH_KEY; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 32); +} + +/** + * @brief Encode a auth_key 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 auth_key C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_auth_key_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_auth_key_t* auth_key) +{ + return mavlink_msg_auth_key_pack(system_id, component_id, msg, auth_key->key); +} + +/** + * @brief Send a auth_key message + * @param chan MAVLink channel to send the message + * + * @param key key + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_auth_key_send(mavlink_channel_t chan, const char *key) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[32]; + + _mav_put_char_array(buf, 0, key, 32); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AUTH_KEY, buf, 32); +#else + mavlink_auth_key_t packet; + + mav_array_memcpy(packet.key, key, sizeof(char)*32); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AUTH_KEY, (const char *)&packet, 32); +#endif +} + +#endif + +// MESSAGE AUTH_KEY UNPACKING + + +/** + * @brief Get field key from auth_key message + * + * @return key + */ +static inline uint16_t mavlink_msg_auth_key_get_key(const mavlink_message_t* msg, char *key) +{ + return _MAV_RETURN_char_array(msg, key, 32, 0); +} + +/** + * @brief Decode a auth_key message into a struct + * + * @param msg The message to decode + * @param auth_key C-struct to decode the message contents into + */ +static inline void mavlink_msg_auth_key_decode(const mavlink_message_t* msg, mavlink_auth_key_t* auth_key) +{ +#if MAVLINK_NEED_BYTE_SWAP + mavlink_msg_auth_key_get_key(msg, auth_key->key); +#else + memcpy(auth_key, _MAV_PAYLOAD(msg), 32); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_boot.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_boot.h new file mode 100644 index 0000000000000000000000000000000000000000..7541cabef69febdfc9e183d83e29a01717d9e86b --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_boot.h @@ -0,0 +1,144 @@ +// MESSAGE BOOT PACKING + +#define MAVLINK_MSG_ID_BOOT 1 + +typedef struct __mavlink_boot_t +{ + uint32_t version; ///< The onboard software version +} mavlink_boot_t; + +#define MAVLINK_MSG_ID_BOOT_LEN 4 +#define MAVLINK_MSG_ID_1_LEN 4 + + + +#define MAVLINK_MESSAGE_INFO_BOOT { \ + "BOOT", \ + 1, \ + { { "version", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_boot_t, version) }, \ + } \ +} + + +/** + * @brief Pack a boot 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 version The onboard software version + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_boot_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint32_t version) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[4]; + _mav_put_uint32_t(buf, 0, version); + + memcpy(_MAV_PAYLOAD(msg), buf, 4); +#else + mavlink_boot_t packet; + packet.version = version; + + memcpy(_MAV_PAYLOAD(msg), &packet, 4); +#endif + + msg->msgid = MAVLINK_MSG_ID_BOOT; + return mavlink_finalize_message(msg, system_id, component_id, 4); +} + +/** + * @brief Pack a boot 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 version The onboard software version + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_boot_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint32_t version) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[4]; + _mav_put_uint32_t(buf, 0, version); + + memcpy(_MAV_PAYLOAD(msg), buf, 4); +#else + mavlink_boot_t packet; + packet.version = version; + + memcpy(_MAV_PAYLOAD(msg), &packet, 4); +#endif + + msg->msgid = MAVLINK_MSG_ID_BOOT; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 4); +} + +/** + * @brief Encode a boot 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 boot C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_boot_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_boot_t* boot) +{ + return mavlink_msg_boot_pack(system_id, component_id, msg, boot->version); +} + +/** + * @brief Send a boot message + * @param chan MAVLink channel to send the message + * + * @param version The onboard software version + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_boot_send(mavlink_channel_t chan, uint32_t version) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[4]; + _mav_put_uint32_t(buf, 0, version); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BOOT, buf, 4); +#else + mavlink_boot_t packet; + packet.version = version; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BOOT, (const char *)&packet, 4); +#endif +} + +#endif + +// MESSAGE BOOT UNPACKING + + +/** + * @brief Get field version from boot message + * + * @return The onboard software version + */ +static inline uint32_t mavlink_msg_boot_get_version(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint32_t(msg, 0); +} + +/** + * @brief Decode a boot message into a struct + * + * @param msg The message to decode + * @param boot C-struct to decode the message contents into + */ +static inline void mavlink_msg_boot_decode(const mavlink_message_t* msg, mavlink_boot_t* boot) +{ +#if MAVLINK_NEED_BYTE_SWAP + boot->version = mavlink_msg_boot_get_version(msg); +#else + memcpy(boot, _MAV_PAYLOAD(msg), 4); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_change_operator_control.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_change_operator_control.h new file mode 100644 index 0000000000000000000000000000000000000000..6292849bd064217308973ef288660e2ce7db2511 --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_change_operator_control.h @@ -0,0 +1,204 @@ +// MESSAGE CHANGE_OPERATOR_CONTROL PACKING + +#define MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL 5 + +typedef struct __mavlink_change_operator_control_t +{ + uint8_t target_system; ///< System the GCS requests control for + uint8_t control_request; ///< 0: request control of this MAV, 1: Release control of this MAV + uint8_t version; ///< 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch. + char passkey[25]; ///< Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-" +} mavlink_change_operator_control_t; + +#define MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_LEN 28 +#define MAVLINK_MSG_ID_5_LEN 28 + +#define MAVLINK_MSG_CHANGE_OPERATOR_CONTROL_FIELD_PASSKEY_LEN 25 + +#define MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL { \ + "CHANGE_OPERATOR_CONTROL", \ + 4, \ + { { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_change_operator_control_t, target_system) }, \ + { "control_request", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_change_operator_control_t, control_request) }, \ + { "version", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_change_operator_control_t, version) }, \ + { "passkey", NULL, MAVLINK_TYPE_CHAR, 25, 3, offsetof(mavlink_change_operator_control_t, passkey) }, \ + } \ +} + + +/** + * @brief Pack a change_operator_control 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 the GCS requests control for + * @param control_request 0: request control of this MAV, 1: Release control of this MAV + * @param version 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch. + * @param passkey Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-" + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_change_operator_control_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target_system, uint8_t control_request, uint8_t version, const char *passkey) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[28]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, control_request); + _mav_put_uint8_t(buf, 2, version); + _mav_put_char_array(buf, 3, passkey, 25); + memcpy(_MAV_PAYLOAD(msg), buf, 28); +#else + mavlink_change_operator_control_t packet; + packet.target_system = target_system; + packet.control_request = control_request; + packet.version = version; + mav_array_memcpy(packet.passkey, passkey, sizeof(char)*25); + memcpy(_MAV_PAYLOAD(msg), &packet, 28); +#endif + + msg->msgid = MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL; + return mavlink_finalize_message(msg, system_id, component_id, 28); +} + +/** + * @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 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 + * @param version 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch. + * @param passkey Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-" + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_change_operator_control_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t target_system,uint8_t control_request,uint8_t version,const char *passkey) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[28]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, control_request); + _mav_put_uint8_t(buf, 2, version); + _mav_put_char_array(buf, 3, passkey, 25); + memcpy(_MAV_PAYLOAD(msg), buf, 28); +#else + mavlink_change_operator_control_t packet; + packet.target_system = target_system; + packet.control_request = control_request; + packet.version = version; + mav_array_memcpy(packet.passkey, passkey, sizeof(char)*25); + memcpy(_MAV_PAYLOAD(msg), &packet, 28); +#endif + + msg->msgid = MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 28); +} + +/** + * @brief Encode a change_operator_control 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 change_operator_control C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_change_operator_control_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_change_operator_control_t* change_operator_control) +{ + 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 Send a change_operator_control message + * @param chan MAVLink channel to send the message + * + * @param target_system System the GCS requests control for + * @param control_request 0: request control of this MAV, 1: Release control of this MAV + * @param version 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch. + * @param passkey Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-" + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_change_operator_control_send(mavlink_channel_t chan, uint8_t target_system, uint8_t control_request, uint8_t version, const char *passkey) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[28]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, control_request); + _mav_put_uint8_t(buf, 2, version); + _mav_put_char_array(buf, 3, passkey, 25); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL, buf, 28); +#else + mavlink_change_operator_control_t packet; + packet.target_system = target_system; + packet.control_request = control_request; + packet.version = version; + mav_array_memcpy(packet.passkey, passkey, sizeof(char)*25); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL, (const char *)&packet, 28); +#endif +} + +#endif + +// MESSAGE CHANGE_OPERATOR_CONTROL UNPACKING + + +/** + * @brief Get field target_system from change_operator_control message + * + * @return System the GCS requests control for + */ +static inline uint8_t mavlink_msg_change_operator_control_get_target_system(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field control_request from change_operator_control message + * + * @return 0: request control of this MAV, 1: Release control of this MAV + */ +static inline uint8_t mavlink_msg_change_operator_control_get_control_request(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 1); +} + +/** + * @brief Get field version from change_operator_control message + * + * @return 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch. + */ +static inline uint8_t mavlink_msg_change_operator_control_get_version(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 2); +} + +/** + * @brief Get field passkey from change_operator_control message + * + * @return Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-" + */ +static inline uint16_t mavlink_msg_change_operator_control_get_passkey(const mavlink_message_t* msg, char *passkey) +{ + return _MAV_RETURN_char_array(msg, passkey, 25, 3); +} + +/** + * @brief Decode a change_operator_control message into a struct + * + * @param msg The message to decode + * @param change_operator_control C-struct to decode the message contents into + */ +static inline void mavlink_msg_change_operator_control_decode(const mavlink_message_t* msg, mavlink_change_operator_control_t* change_operator_control) +{ +#if MAVLINK_NEED_BYTE_SWAP + change_operator_control->target_system = mavlink_msg_change_operator_control_get_target_system(msg); + change_operator_control->control_request = mavlink_msg_change_operator_control_get_control_request(msg); + change_operator_control->version = mavlink_msg_change_operator_control_get_version(msg); + mavlink_msg_change_operator_control_get_passkey(msg, change_operator_control->passkey); +#else + memcpy(change_operator_control, _MAV_PAYLOAD(msg), 28); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_change_operator_control_ack.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_change_operator_control_ack.h new file mode 100644 index 0000000000000000000000000000000000000000..a24c6f5a06071301cca3ecae6e41ccce9850bf80 --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_change_operator_control_ack.h @@ -0,0 +1,188 @@ +// MESSAGE CHANGE_OPERATOR_CONTROL_ACK PACKING + +#define MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK 6 + +typedef struct __mavlink_change_operator_control_ack_t +{ + uint8_t gcs_system_id; ///< ID of the GCS this message + uint8_t control_request; ///< 0: request control of this MAV, 1: Release control of this MAV + uint8_t ack; ///< 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control +} mavlink_change_operator_control_ack_t; + +#define MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK_LEN 3 +#define MAVLINK_MSG_ID_6_LEN 3 + + + +#define MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK { \ + "CHANGE_OPERATOR_CONTROL_ACK", \ + 3, \ + { { "gcs_system_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_change_operator_control_ack_t, gcs_system_id) }, \ + { "control_request", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_change_operator_control_ack_t, control_request) }, \ + { "ack", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_change_operator_control_ack_t, ack) }, \ + } \ +} + + +/** + * @brief Pack a change_operator_control_ack 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 gcs_system_id ID of the GCS this message + * @param control_request 0: request control of this MAV, 1: Release control of this MAV + * @param ack 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_change_operator_control_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t gcs_system_id, uint8_t control_request, uint8_t ack) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[3]; + _mav_put_uint8_t(buf, 0, gcs_system_id); + _mav_put_uint8_t(buf, 1, control_request); + _mav_put_uint8_t(buf, 2, ack); + + memcpy(_MAV_PAYLOAD(msg), buf, 3); +#else + mavlink_change_operator_control_ack_t packet; + packet.gcs_system_id = gcs_system_id; + packet.control_request = control_request; + packet.ack = ack; + + memcpy(_MAV_PAYLOAD(msg), &packet, 3); +#endif + + msg->msgid = MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK; + return mavlink_finalize_message(msg, system_id, component_id, 3); +} + +/** + * @brief Pack a change_operator_control_ack 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 gcs_system_id ID of the GCS this message + * @param control_request 0: request control of this MAV, 1: Release control of this MAV + * @param ack 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_change_operator_control_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t gcs_system_id,uint8_t control_request,uint8_t ack) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[3]; + _mav_put_uint8_t(buf, 0, gcs_system_id); + _mav_put_uint8_t(buf, 1, control_request); + _mav_put_uint8_t(buf, 2, ack); + + memcpy(_MAV_PAYLOAD(msg), buf, 3); +#else + mavlink_change_operator_control_ack_t packet; + packet.gcs_system_id = gcs_system_id; + packet.control_request = control_request; + packet.ack = ack; + + memcpy(_MAV_PAYLOAD(msg), &packet, 3); +#endif + + msg->msgid = MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 3); +} + +/** + * @brief Encode a change_operator_control_ack 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 change_operator_control_ack C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_change_operator_control_ack_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_change_operator_control_ack_t* change_operator_control_ack) +{ + return mavlink_msg_change_operator_control_ack_pack(system_id, component_id, msg, change_operator_control_ack->gcs_system_id, change_operator_control_ack->control_request, change_operator_control_ack->ack); +} + +/** + * @brief Send a change_operator_control_ack message + * @param chan MAVLink channel to send the message + * + * @param gcs_system_id ID of the GCS this message + * @param control_request 0: request control of this MAV, 1: Release control of this MAV + * @param ack 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_change_operator_control_ack_send(mavlink_channel_t chan, uint8_t gcs_system_id, uint8_t control_request, uint8_t ack) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[3]; + _mav_put_uint8_t(buf, 0, gcs_system_id); + _mav_put_uint8_t(buf, 1, control_request); + _mav_put_uint8_t(buf, 2, ack); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK, buf, 3); +#else + mavlink_change_operator_control_ack_t packet; + packet.gcs_system_id = gcs_system_id; + packet.control_request = control_request; + packet.ack = ack; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK, (const char *)&packet, 3); +#endif +} + +#endif + +// MESSAGE CHANGE_OPERATOR_CONTROL_ACK UNPACKING + + +/** + * @brief Get field gcs_system_id from change_operator_control_ack message + * + * @return ID of the GCS this message + */ +static inline uint8_t mavlink_msg_change_operator_control_ack_get_gcs_system_id(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field control_request from change_operator_control_ack message + * + * @return 0: request control of this MAV, 1: Release control of this MAV + */ +static inline uint8_t mavlink_msg_change_operator_control_ack_get_control_request(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 1); +} + +/** + * @brief Get field ack from change_operator_control_ack message + * + * @return 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control + */ +static inline uint8_t mavlink_msg_change_operator_control_ack_get_ack(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 2); +} + +/** + * @brief Decode a change_operator_control_ack message into a struct + * + * @param msg The message to decode + * @param change_operator_control_ack C-struct to decode the message contents into + */ +static inline void mavlink_msg_change_operator_control_ack_decode(const mavlink_message_t* msg, mavlink_change_operator_control_ack_t* change_operator_control_ack) +{ +#if MAVLINK_NEED_BYTE_SWAP + change_operator_control_ack->gcs_system_id = mavlink_msg_change_operator_control_ack_get_gcs_system_id(msg); + change_operator_control_ack->control_request = mavlink_msg_change_operator_control_ack_get_control_request(msg); + change_operator_control_ack->ack = mavlink_msg_change_operator_control_ack_get_ack(msg); +#else + memcpy(change_operator_control_ack, _MAV_PAYLOAD(msg), 3); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_command.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_command.h new file mode 100644 index 0000000000000000000000000000000000000000..a7221fa444a303b9c09ee4ce46da52425c480724 --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_command.h @@ -0,0 +1,298 @@ +// MESSAGE COMMAND PACKING + +#define MAVLINK_MSG_ID_COMMAND 75 + +typedef struct __mavlink_command_t +{ + uint8_t target_system; ///< System which should execute the command + uint8_t target_component; ///< Component which should execute the command, 0 for all components + uint8_t command; ///< Command ID, as defined by MAV_CMD enum. + uint8_t confirmation; ///< 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) + float param1; ///< Parameter 1, as defined by MAV_CMD enum. + float param2; ///< Parameter 2, as defined by MAV_CMD enum. + float param3; ///< Parameter 3, as defined by MAV_CMD enum. + float param4; ///< Parameter 4, as defined by MAV_CMD enum. +} mavlink_command_t; + +#define MAVLINK_MSG_ID_COMMAND_LEN 20 +#define MAVLINK_MSG_ID_75_LEN 20 + + + +#define MAVLINK_MESSAGE_INFO_COMMAND { \ + "COMMAND", \ + 8, \ + { { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_command_t, target_system) }, \ + { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_command_t, target_component) }, \ + { "command", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_command_t, command) }, \ + { "confirmation", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_command_t, confirmation) }, \ + { "param1", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_command_t, param1) }, \ + { "param2", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_command_t, param2) }, \ + { "param3", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_command_t, param3) }, \ + { "param4", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_command_t, param4) }, \ + } \ +} + + +/** + * @brief Pack a command 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 which should execute the command + * @param target_component Component which should execute the command, 0 for all components + * @param command Command ID, as defined by MAV_CMD enum. + * @param confirmation 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) + * @param param1 Parameter 1, as defined by MAV_CMD enum. + * @param param2 Parameter 2, as defined by MAV_CMD enum. + * @param param3 Parameter 3, as defined by MAV_CMD enum. + * @param param4 Parameter 4, as defined by MAV_CMD enum. + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_command_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target_system, uint8_t target_component, uint8_t command, uint8_t confirmation, float param1, float param2, float param3, float param4) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[20]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_uint8_t(buf, 2, command); + _mav_put_uint8_t(buf, 3, confirmation); + _mav_put_float(buf, 4, param1); + _mav_put_float(buf, 8, param2); + _mav_put_float(buf, 12, param3); + _mav_put_float(buf, 16, param4); + + memcpy(_MAV_PAYLOAD(msg), buf, 20); +#else + mavlink_command_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.command = command; + packet.confirmation = confirmation; + packet.param1 = param1; + packet.param2 = param2; + packet.param3 = param3; + packet.param4 = param4; + + memcpy(_MAV_PAYLOAD(msg), &packet, 20); +#endif + + msg->msgid = MAVLINK_MSG_ID_COMMAND; + return mavlink_finalize_message(msg, system_id, component_id, 20); +} + +/** + * @brief Pack a command 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 which should execute the command + * @param target_component Component which should execute the command, 0 for all components + * @param command Command ID, as defined by MAV_CMD enum. + * @param confirmation 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) + * @param param1 Parameter 1, as defined by MAV_CMD enum. + * @param param2 Parameter 2, as defined by MAV_CMD enum. + * @param param3 Parameter 3, as defined by MAV_CMD enum. + * @param param4 Parameter 4, as defined by MAV_CMD enum. + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_command_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t target_system,uint8_t target_component,uint8_t command,uint8_t confirmation,float param1,float param2,float param3,float param4) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[20]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_uint8_t(buf, 2, command); + _mav_put_uint8_t(buf, 3, confirmation); + _mav_put_float(buf, 4, param1); + _mav_put_float(buf, 8, param2); + _mav_put_float(buf, 12, param3); + _mav_put_float(buf, 16, param4); + + memcpy(_MAV_PAYLOAD(msg), buf, 20); +#else + mavlink_command_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.command = command; + packet.confirmation = confirmation; + packet.param1 = param1; + packet.param2 = param2; + packet.param3 = param3; + packet.param4 = param4; + + memcpy(_MAV_PAYLOAD(msg), &packet, 20); +#endif + + msg->msgid = MAVLINK_MSG_ID_COMMAND; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 20); +} + +/** + * @brief Encode a command 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 command C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_command_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_command_t* command) +{ + return mavlink_msg_command_pack(system_id, component_id, msg, command->target_system, command->target_component, command->command, command->confirmation, command->param1, command->param2, command->param3, command->param4); +} + +/** + * @brief Send a command message + * @param chan MAVLink channel to send the message + * + * @param target_system System which should execute the command + * @param target_component Component which should execute the command, 0 for all components + * @param command Command ID, as defined by MAV_CMD enum. + * @param confirmation 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) + * @param param1 Parameter 1, as defined by MAV_CMD enum. + * @param param2 Parameter 2, as defined by MAV_CMD enum. + * @param param3 Parameter 3, as defined by MAV_CMD enum. + * @param param4 Parameter 4, as defined by MAV_CMD enum. + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_command_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t command, uint8_t confirmation, float param1, float param2, float param3, float param4) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[20]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_uint8_t(buf, 2, command); + _mav_put_uint8_t(buf, 3, confirmation); + _mav_put_float(buf, 4, param1); + _mav_put_float(buf, 8, param2); + _mav_put_float(buf, 12, param3); + _mav_put_float(buf, 16, param4); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND, buf, 20); +#else + mavlink_command_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.command = command; + packet.confirmation = confirmation; + packet.param1 = param1; + packet.param2 = param2; + packet.param3 = param3; + packet.param4 = param4; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND, (const char *)&packet, 20); +#endif +} + +#endif + +// MESSAGE COMMAND UNPACKING + + +/** + * @brief Get field target_system from command message + * + * @return System which should execute the command + */ +static inline uint8_t mavlink_msg_command_get_target_system(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field target_component from command message + * + * @return Component which should execute the command, 0 for all components + */ +static inline uint8_t mavlink_msg_command_get_target_component(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 1); +} + +/** + * @brief Get field command from command message + * + * @return Command ID, as defined by MAV_CMD enum. + */ +static inline uint8_t mavlink_msg_command_get_command(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 2); +} + +/** + * @brief Get field confirmation from command message + * + * @return 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) + */ +static inline uint8_t mavlink_msg_command_get_confirmation(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 3); +} + +/** + * @brief Get field param1 from command message + * + * @return Parameter 1, as defined by MAV_CMD enum. + */ +static inline float mavlink_msg_command_get_param1(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 4); +} + +/** + * @brief Get field param2 from command message + * + * @return Parameter 2, as defined by MAV_CMD enum. + */ +static inline float mavlink_msg_command_get_param2(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 8); +} + +/** + * @brief Get field param3 from command message + * + * @return Parameter 3, as defined by MAV_CMD enum. + */ +static inline float mavlink_msg_command_get_param3(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 12); +} + +/** + * @brief Get field param4 from command message + * + * @return Parameter 4, as defined by MAV_CMD enum. + */ +static inline float mavlink_msg_command_get_param4(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 16); +} + +/** + * @brief Decode a command message into a struct + * + * @param msg The message to decode + * @param command C-struct to decode the message contents into + */ +static inline void mavlink_msg_command_decode(const mavlink_message_t* msg, mavlink_command_t* command) +{ +#if MAVLINK_NEED_BYTE_SWAP + command->target_system = mavlink_msg_command_get_target_system(msg); + command->target_component = mavlink_msg_command_get_target_component(msg); + command->command = mavlink_msg_command_get_command(msg); + command->confirmation = mavlink_msg_command_get_confirmation(msg); + command->param1 = mavlink_msg_command_get_param1(msg); + command->param2 = mavlink_msg_command_get_param2(msg); + command->param3 = mavlink_msg_command_get_param3(msg); + command->param4 = mavlink_msg_command_get_param4(msg); +#else + memcpy(command, _MAV_PAYLOAD(msg), 20); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_command_ack.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_command_ack.h new file mode 100644 index 0000000000000000000000000000000000000000..7fc8c86232d40256f8b59cbb54933a0d4ca36a9d --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_command_ack.h @@ -0,0 +1,166 @@ +// MESSAGE COMMAND_ACK PACKING + +#define MAVLINK_MSG_ID_COMMAND_ACK 76 + +typedef struct __mavlink_command_ack_t +{ + float command; ///< Current airspeed in m/s + float result; ///< 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION +} mavlink_command_ack_t; + +#define MAVLINK_MSG_ID_COMMAND_ACK_LEN 8 +#define MAVLINK_MSG_ID_76_LEN 8 + + + +#define MAVLINK_MESSAGE_INFO_COMMAND_ACK { \ + "COMMAND_ACK", \ + 2, \ + { { "command", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_command_ack_t, command) }, \ + { "result", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_command_ack_t, result) }, \ + } \ +} + + +/** + * @brief Pack a command_ack 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 command Current airspeed in m/s + * @param result 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_command_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + float command, float result) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[8]; + _mav_put_float(buf, 0, command); + _mav_put_float(buf, 4, result); + + memcpy(_MAV_PAYLOAD(msg), buf, 8); +#else + mavlink_command_ack_t packet; + packet.command = command; + packet.result = result; + + memcpy(_MAV_PAYLOAD(msg), &packet, 8); +#endif + + msg->msgid = MAVLINK_MSG_ID_COMMAND_ACK; + return mavlink_finalize_message(msg, system_id, component_id, 8); +} + +/** + * @brief Pack a command_ack 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 command Current airspeed in m/s + * @param result 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_command_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + float command,float result) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[8]; + _mav_put_float(buf, 0, command); + _mav_put_float(buf, 4, result); + + memcpy(_MAV_PAYLOAD(msg), buf, 8); +#else + mavlink_command_ack_t packet; + packet.command = command; + packet.result = result; + + memcpy(_MAV_PAYLOAD(msg), &packet, 8); +#endif + + msg->msgid = MAVLINK_MSG_ID_COMMAND_ACK; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 8); +} + +/** + * @brief Encode a command_ack 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 command_ack C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_command_ack_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_command_ack_t* command_ack) +{ + return mavlink_msg_command_ack_pack(system_id, component_id, msg, command_ack->command, command_ack->result); +} + +/** + * @brief Send a command_ack message + * @param chan MAVLink channel to send the message + * + * @param command Current airspeed in m/s + * @param result 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_command_ack_send(mavlink_channel_t chan, float command, float result) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[8]; + _mav_put_float(buf, 0, command); + _mav_put_float(buf, 4, result); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, buf, 8); +#else + mavlink_command_ack_t packet; + packet.command = command; + packet.result = result; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, (const char *)&packet, 8); +#endif +} + +#endif + +// MESSAGE COMMAND_ACK UNPACKING + + +/** + * @brief Get field command from command_ack message + * + * @return Current airspeed in m/s + */ +static inline float mavlink_msg_command_ack_get_command(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 0); +} + +/** + * @brief Get field result from command_ack message + * + * @return 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION + */ +static inline float mavlink_msg_command_ack_get_result(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 4); +} + +/** + * @brief Decode a command_ack message into a struct + * + * @param msg The message to decode + * @param command_ack C-struct to decode the message contents into + */ +static inline void mavlink_msg_command_ack_decode(const mavlink_message_t* msg, mavlink_command_ack_t* command_ack) +{ +#if MAVLINK_NEED_BYTE_SWAP + command_ack->command = mavlink_msg_command_ack_get_command(msg); + command_ack->result = mavlink_msg_command_ack_get_result(msg); +#else + memcpy(command_ack, _MAV_PAYLOAD(msg), 8); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_control_status.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_control_status.h new file mode 100644 index 0000000000000000000000000000000000000000..617cf5ba98446f6d35037d724b1abde3326e9606 --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_control_status.h @@ -0,0 +1,298 @@ +// MESSAGE CONTROL_STATUS PACKING + +#define MAVLINK_MSG_ID_CONTROL_STATUS 52 + +typedef struct __mavlink_control_status_t +{ + uint8_t position_fix; ///< Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix + uint8_t vision_fix; ///< Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix + uint8_t gps_fix; ///< GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix + uint8_t ahrs_health; ///< Attitude estimation health: 0: poor, 255: excellent + uint8_t control_att; ///< 0: Attitude control disabled, 1: enabled + uint8_t control_pos_xy; ///< 0: X, Y position control disabled, 1: enabled + uint8_t control_pos_z; ///< 0: Z position control disabled, 1: enabled + uint8_t control_pos_yaw; ///< 0: Yaw angle control disabled, 1: enabled +} mavlink_control_status_t; + +#define MAVLINK_MSG_ID_CONTROL_STATUS_LEN 8 +#define MAVLINK_MSG_ID_52_LEN 8 + + + +#define MAVLINK_MESSAGE_INFO_CONTROL_STATUS { \ + "CONTROL_STATUS", \ + 8, \ + { { "position_fix", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_control_status_t, position_fix) }, \ + { "vision_fix", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_control_status_t, vision_fix) }, \ + { "gps_fix", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_control_status_t, gps_fix) }, \ + { "ahrs_health", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_control_status_t, ahrs_health) }, \ + { "control_att", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_control_status_t, control_att) }, \ + { "control_pos_xy", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_control_status_t, control_pos_xy) }, \ + { "control_pos_z", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_control_status_t, control_pos_z) }, \ + { "control_pos_yaw", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_control_status_t, control_pos_yaw) }, \ + } \ +} + + +/** + * @brief Pack a control_status message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * + * @param position_fix Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix + * @param vision_fix Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix + * @param gps_fix GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix + * @param ahrs_health Attitude estimation health: 0: poor, 255: excellent + * @param control_att 0: Attitude control disabled, 1: enabled + * @param control_pos_xy 0: X, Y position control disabled, 1: enabled + * @param control_pos_z 0: Z position control disabled, 1: enabled + * @param control_pos_yaw 0: Yaw angle control disabled, 1: enabled + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_control_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t position_fix, uint8_t vision_fix, uint8_t gps_fix, uint8_t ahrs_health, uint8_t control_att, uint8_t control_pos_xy, uint8_t control_pos_z, uint8_t control_pos_yaw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[8]; + _mav_put_uint8_t(buf, 0, position_fix); + _mav_put_uint8_t(buf, 1, vision_fix); + _mav_put_uint8_t(buf, 2, gps_fix); + _mav_put_uint8_t(buf, 3, ahrs_health); + _mav_put_uint8_t(buf, 4, control_att); + _mav_put_uint8_t(buf, 5, control_pos_xy); + _mav_put_uint8_t(buf, 6, control_pos_z); + _mav_put_uint8_t(buf, 7, control_pos_yaw); + + memcpy(_MAV_PAYLOAD(msg), buf, 8); +#else + mavlink_control_status_t packet; + packet.position_fix = position_fix; + packet.vision_fix = vision_fix; + packet.gps_fix = gps_fix; + packet.ahrs_health = ahrs_health; + packet.control_att = control_att; + packet.control_pos_xy = control_pos_xy; + packet.control_pos_z = control_pos_z; + packet.control_pos_yaw = control_pos_yaw; + + memcpy(_MAV_PAYLOAD(msg), &packet, 8); +#endif + + msg->msgid = MAVLINK_MSG_ID_CONTROL_STATUS; + return mavlink_finalize_message(msg, system_id, component_id, 8); +} + +/** + * @brief Pack a control_status message on a channel + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message was sent over + * @param msg The MAVLink message to compress the data into + * @param position_fix Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix + * @param vision_fix Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix + * @param gps_fix GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix + * @param ahrs_health Attitude estimation health: 0: poor, 255: excellent + * @param control_att 0: Attitude control disabled, 1: enabled + * @param control_pos_xy 0: X, Y position control disabled, 1: enabled + * @param control_pos_z 0: Z position control disabled, 1: enabled + * @param control_pos_yaw 0: Yaw angle control disabled, 1: enabled + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_control_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t position_fix,uint8_t vision_fix,uint8_t gps_fix,uint8_t ahrs_health,uint8_t control_att,uint8_t control_pos_xy,uint8_t control_pos_z,uint8_t control_pos_yaw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[8]; + _mav_put_uint8_t(buf, 0, position_fix); + _mav_put_uint8_t(buf, 1, vision_fix); + _mav_put_uint8_t(buf, 2, gps_fix); + _mav_put_uint8_t(buf, 3, ahrs_health); + _mav_put_uint8_t(buf, 4, control_att); + _mav_put_uint8_t(buf, 5, control_pos_xy); + _mav_put_uint8_t(buf, 6, control_pos_z); + _mav_put_uint8_t(buf, 7, control_pos_yaw); + + memcpy(_MAV_PAYLOAD(msg), buf, 8); +#else + mavlink_control_status_t packet; + packet.position_fix = position_fix; + packet.vision_fix = vision_fix; + packet.gps_fix = gps_fix; + packet.ahrs_health = ahrs_health; + packet.control_att = control_att; + packet.control_pos_xy = control_pos_xy; + packet.control_pos_z = control_pos_z; + packet.control_pos_yaw = control_pos_yaw; + + memcpy(_MAV_PAYLOAD(msg), &packet, 8); +#endif + + msg->msgid = MAVLINK_MSG_ID_CONTROL_STATUS; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 8); +} + +/** + * @brief Encode a control_status struct into a message + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * @param control_status C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_control_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_control_status_t* control_status) +{ + return mavlink_msg_control_status_pack(system_id, component_id, msg, control_status->position_fix, control_status->vision_fix, control_status->gps_fix, control_status->ahrs_health, control_status->control_att, control_status->control_pos_xy, control_status->control_pos_z, control_status->control_pos_yaw); +} + +/** + * @brief Send a control_status message + * @param chan MAVLink channel to send the message + * + * @param position_fix Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix + * @param vision_fix Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix + * @param gps_fix GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix + * @param ahrs_health Attitude estimation health: 0: poor, 255: excellent + * @param control_att 0: Attitude control disabled, 1: enabled + * @param control_pos_xy 0: X, Y position control disabled, 1: enabled + * @param control_pos_z 0: Z position control disabled, 1: enabled + * @param control_pos_yaw 0: Yaw angle control disabled, 1: enabled + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_control_status_send(mavlink_channel_t chan, uint8_t position_fix, uint8_t vision_fix, uint8_t gps_fix, uint8_t ahrs_health, uint8_t control_att, uint8_t control_pos_xy, uint8_t control_pos_z, uint8_t control_pos_yaw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[8]; + _mav_put_uint8_t(buf, 0, position_fix); + _mav_put_uint8_t(buf, 1, vision_fix); + _mav_put_uint8_t(buf, 2, gps_fix); + _mav_put_uint8_t(buf, 3, ahrs_health); + _mav_put_uint8_t(buf, 4, control_att); + _mav_put_uint8_t(buf, 5, control_pos_xy); + _mav_put_uint8_t(buf, 6, control_pos_z); + _mav_put_uint8_t(buf, 7, control_pos_yaw); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CONTROL_STATUS, buf, 8); +#else + mavlink_control_status_t packet; + packet.position_fix = position_fix; + packet.vision_fix = vision_fix; + packet.gps_fix = gps_fix; + packet.ahrs_health = ahrs_health; + packet.control_att = control_att; + packet.control_pos_xy = control_pos_xy; + packet.control_pos_z = control_pos_z; + packet.control_pos_yaw = control_pos_yaw; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CONTROL_STATUS, (const char *)&packet, 8); +#endif +} + +#endif + +// MESSAGE CONTROL_STATUS UNPACKING + + +/** + * @brief Get field position_fix from control_status message + * + * @return Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix + */ +static inline uint8_t mavlink_msg_control_status_get_position_fix(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field vision_fix from control_status message + * + * @return Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix + */ +static inline uint8_t mavlink_msg_control_status_get_vision_fix(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 1); +} + +/** + * @brief Get field gps_fix from control_status message + * + * @return GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix + */ +static inline uint8_t mavlink_msg_control_status_get_gps_fix(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 2); +} + +/** + * @brief Get field ahrs_health from control_status message + * + * @return Attitude estimation health: 0: poor, 255: excellent + */ +static inline uint8_t mavlink_msg_control_status_get_ahrs_health(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 3); +} + +/** + * @brief Get field control_att from control_status message + * + * @return 0: Attitude control disabled, 1: enabled + */ +static inline uint8_t mavlink_msg_control_status_get_control_att(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 4); +} + +/** + * @brief Get field control_pos_xy from control_status message + * + * @return 0: X, Y position control disabled, 1: enabled + */ +static inline uint8_t mavlink_msg_control_status_get_control_pos_xy(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 5); +} + +/** + * @brief Get field control_pos_z from control_status message + * + * @return 0: Z position control disabled, 1: enabled + */ +static inline uint8_t mavlink_msg_control_status_get_control_pos_z(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 6); +} + +/** + * @brief Get field control_pos_yaw from control_status message + * + * @return 0: Yaw angle control disabled, 1: enabled + */ +static inline uint8_t mavlink_msg_control_status_get_control_pos_yaw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 7); +} + +/** + * @brief Decode a control_status message into a struct + * + * @param msg The message to decode + * @param control_status C-struct to decode the message contents into + */ +static inline void mavlink_msg_control_status_decode(const mavlink_message_t* msg, mavlink_control_status_t* control_status) +{ +#if MAVLINK_NEED_BYTE_SWAP + control_status->position_fix = mavlink_msg_control_status_get_position_fix(msg); + control_status->vision_fix = mavlink_msg_control_status_get_vision_fix(msg); + control_status->gps_fix = mavlink_msg_control_status_get_gps_fix(msg); + control_status->ahrs_health = mavlink_msg_control_status_get_ahrs_health(msg); + control_status->control_att = mavlink_msg_control_status_get_control_att(msg); + control_status->control_pos_xy = mavlink_msg_control_status_get_control_pos_xy(msg); + control_status->control_pos_z = mavlink_msg_control_status_get_control_pos_z(msg); + control_status->control_pos_yaw = mavlink_msg_control_status_get_control_pos_yaw(msg); +#else + memcpy(control_status, _MAV_PAYLOAD(msg), 8); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_debug.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_debug.h new file mode 100644 index 0000000000000000000000000000000000000000..1f0788a3a47aeba79311d596cdfaf3a0e3db63f3 --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_debug.h @@ -0,0 +1,166 @@ +// MESSAGE DEBUG PACKING + +#define MAVLINK_MSG_ID_DEBUG 255 + +typedef struct __mavlink_debug_t +{ + uint8_t ind; ///< index of debug variable + float value; ///< DEBUG value +} mavlink_debug_t; + +#define MAVLINK_MSG_ID_DEBUG_LEN 5 +#define MAVLINK_MSG_ID_255_LEN 5 + + + +#define MAVLINK_MESSAGE_INFO_DEBUG { \ + "DEBUG", \ + 2, \ + { { "ind", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_debug_t, ind) }, \ + { "value", NULL, MAVLINK_TYPE_FLOAT, 0, 1, offsetof(mavlink_debug_t, value) }, \ + } \ +} + + +/** + * @brief Pack a debug 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 ind index of debug variable + * @param value DEBUG value + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_debug_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t ind, float value) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[5]; + _mav_put_uint8_t(buf, 0, ind); + _mav_put_float(buf, 1, value); + + memcpy(_MAV_PAYLOAD(msg), buf, 5); +#else + mavlink_debug_t packet; + packet.ind = ind; + packet.value = value; + + memcpy(_MAV_PAYLOAD(msg), &packet, 5); +#endif + + msg->msgid = MAVLINK_MSG_ID_DEBUG; + return mavlink_finalize_message(msg, system_id, component_id, 5); +} + +/** + * @brief Pack a debug 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 ind index of debug variable + * @param value DEBUG value + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_debug_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t ind,float value) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[5]; + _mav_put_uint8_t(buf, 0, ind); + _mav_put_float(buf, 1, value); + + memcpy(_MAV_PAYLOAD(msg), buf, 5); +#else + mavlink_debug_t packet; + packet.ind = ind; + packet.value = value; + + memcpy(_MAV_PAYLOAD(msg), &packet, 5); +#endif + + msg->msgid = MAVLINK_MSG_ID_DEBUG; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 5); +} + +/** + * @brief Encode a debug 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 debug C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_debug_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_debug_t* debug) +{ + return mavlink_msg_debug_pack(system_id, component_id, msg, debug->ind, debug->value); +} + +/** + * @brief Send a debug message + * @param chan MAVLink channel to send the message + * + * @param ind index of debug variable + * @param value DEBUG value + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_debug_send(mavlink_channel_t chan, uint8_t ind, float value) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[5]; + _mav_put_uint8_t(buf, 0, ind); + _mav_put_float(buf, 1, value); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG, buf, 5); +#else + mavlink_debug_t packet; + packet.ind = ind; + packet.value = value; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG, (const char *)&packet, 5); +#endif +} + +#endif + +// MESSAGE DEBUG UNPACKING + + +/** + * @brief Get field ind from debug message + * + * @return index of debug variable + */ +static inline uint8_t mavlink_msg_debug_get_ind(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field value from debug message + * + * @return DEBUG value + */ +static inline float mavlink_msg_debug_get_value(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 1); +} + +/** + * @brief Decode a debug message into a struct + * + * @param msg The message to decode + * @param debug C-struct to decode the message contents into + */ +static inline void mavlink_msg_debug_decode(const mavlink_message_t* msg, mavlink_debug_t* debug) +{ +#if MAVLINK_NEED_BYTE_SWAP + debug->ind = mavlink_msg_debug_get_ind(msg); + debug->value = mavlink_msg_debug_get_value(msg); +#else + memcpy(debug, _MAV_PAYLOAD(msg), 5); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_debug_vect.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_debug_vect.h new file mode 100644 index 0000000000000000000000000000000000000000..5a1a070997820a59a33e33f86ef31efee6f6647a --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_debug_vect.h @@ -0,0 +1,226 @@ +// MESSAGE DEBUG_VECT PACKING + +#define MAVLINK_MSG_ID_DEBUG_VECT 251 + +typedef struct __mavlink_debug_vect_t +{ + char name[10]; ///< Name + uint64_t usec; ///< Timestamp + float x; ///< x + float y; ///< y + float z; ///< z +} mavlink_debug_vect_t; + +#define MAVLINK_MSG_ID_DEBUG_VECT_LEN 30 +#define MAVLINK_MSG_ID_251_LEN 30 + +#define MAVLINK_MSG_DEBUG_VECT_FIELD_NAME_LEN 10 + +#define MAVLINK_MESSAGE_INFO_DEBUG_VECT { \ + "DEBUG_VECT", \ + 5, \ + { { "name", NULL, MAVLINK_TYPE_CHAR, 10, 0, offsetof(mavlink_debug_vect_t, name) }, \ + { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 10, offsetof(mavlink_debug_vect_t, usec) }, \ + { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 18, offsetof(mavlink_debug_vect_t, x) }, \ + { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 22, offsetof(mavlink_debug_vect_t, y) }, \ + { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 26, offsetof(mavlink_debug_vect_t, z) }, \ + } \ +} + + +/** + * @brief Pack a debug_vect 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 name Name + * @param usec Timestamp + * @param x x + * @param y y + * @param z z + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_debug_vect_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + const char *name, uint64_t usec, float x, float y, float z) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[30]; + _mav_put_uint64_t(buf, 10, usec); + _mav_put_float(buf, 18, x); + _mav_put_float(buf, 22, y); + _mav_put_float(buf, 26, z); + _mav_put_char_array(buf, 0, name, 10); + memcpy(_MAV_PAYLOAD(msg), buf, 30); +#else + mavlink_debug_vect_t packet; + packet.usec = usec; + packet.x = x; + packet.y = y; + packet.z = z; + mav_array_memcpy(packet.name, name, sizeof(char)*10); + memcpy(_MAV_PAYLOAD(msg), &packet, 30); +#endif + + msg->msgid = MAVLINK_MSG_ID_DEBUG_VECT; + return mavlink_finalize_message(msg, system_id, component_id, 30); +} + +/** + * @brief Pack a debug_vect 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 name Name + * @param usec Timestamp + * @param x x + * @param y y + * @param z z + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_debug_vect_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + const char *name,uint64_t usec,float x,float y,float z) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[30]; + _mav_put_uint64_t(buf, 10, usec); + _mav_put_float(buf, 18, x); + _mav_put_float(buf, 22, y); + _mav_put_float(buf, 26, z); + _mav_put_char_array(buf, 0, name, 10); + memcpy(_MAV_PAYLOAD(msg), buf, 30); +#else + mavlink_debug_vect_t packet; + packet.usec = usec; + packet.x = x; + packet.y = y; + packet.z = z; + mav_array_memcpy(packet.name, name, sizeof(char)*10); + memcpy(_MAV_PAYLOAD(msg), &packet, 30); +#endif + + msg->msgid = MAVLINK_MSG_ID_DEBUG_VECT; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 30); +} + +/** + * @brief Encode a debug_vect 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 debug_vect C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_debug_vect_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_debug_vect_t* debug_vect) +{ + return mavlink_msg_debug_vect_pack(system_id, component_id, msg, debug_vect->name, debug_vect->usec, debug_vect->x, debug_vect->y, debug_vect->z); +} + +/** + * @brief Send a debug_vect message + * @param chan MAVLink channel to send the message + * + * @param name Name + * @param usec Timestamp + * @param x x + * @param y y + * @param z z + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_debug_vect_send(mavlink_channel_t chan, const char *name, uint64_t usec, float x, float y, float z) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[30]; + _mav_put_uint64_t(buf, 10, usec); + _mav_put_float(buf, 18, x); + _mav_put_float(buf, 22, y); + _mav_put_float(buf, 26, z); + _mav_put_char_array(buf, 0, name, 10); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG_VECT, buf, 30); +#else + mavlink_debug_vect_t packet; + packet.usec = usec; + packet.x = x; + packet.y = y; + packet.z = z; + mav_array_memcpy(packet.name, name, sizeof(char)*10); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG_VECT, (const char *)&packet, 30); +#endif +} + +#endif + +// MESSAGE DEBUG_VECT UNPACKING + + +/** + * @brief Get field name from debug_vect message + * + * @return Name + */ +static inline uint16_t mavlink_msg_debug_vect_get_name(const mavlink_message_t* msg, char *name) +{ + return _MAV_RETURN_char_array(msg, name, 10, 0); +} + +/** + * @brief Get field usec from debug_vect message + * + * @return Timestamp + */ +static inline uint64_t mavlink_msg_debug_vect_get_usec(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint64_t(msg, 10); +} + +/** + * @brief Get field x from debug_vect message + * + * @return x + */ +static inline float mavlink_msg_debug_vect_get_x(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 18); +} + +/** + * @brief Get field y from debug_vect message + * + * @return y + */ +static inline float mavlink_msg_debug_vect_get_y(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 22); +} + +/** + * @brief Get field z from debug_vect message + * + * @return z + */ +static inline float mavlink_msg_debug_vect_get_z(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 26); +} + +/** + * @brief Decode a debug_vect message into a struct + * + * @param msg The message to decode + * @param debug_vect C-struct to decode the message contents into + */ +static inline void mavlink_msg_debug_vect_decode(const mavlink_message_t* msg, mavlink_debug_vect_t* debug_vect) +{ +#if MAVLINK_NEED_BYTE_SWAP + mavlink_msg_debug_vect_get_name(msg, debug_vect->name); + debug_vect->usec = mavlink_msg_debug_vect_get_usec(msg); + debug_vect->x = mavlink_msg_debug_vect_get_x(msg); + debug_vect->y = mavlink_msg_debug_vect_get_y(msg); + debug_vect->z = mavlink_msg_debug_vect_get_z(msg); +#else + memcpy(debug_vect, _MAV_PAYLOAD(msg), 30); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_global_position.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_global_position.h new file mode 100644 index 0000000000000000000000000000000000000000..d281646a56cc08086eec7f7c3e9fc02e4d35a64a --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_global_position.h @@ -0,0 +1,276 @@ +// MESSAGE GLOBAL_POSITION PACKING + +#define MAVLINK_MSG_ID_GLOBAL_POSITION 33 + +typedef struct __mavlink_global_position_t +{ + uint64_t usec; ///< Timestamp (microseconds since unix epoch) + float lat; ///< Latitude, in degrees + float lon; ///< Longitude, in degrees + float alt; ///< Absolute altitude, in meters + float vx; ///< X Speed (in Latitude direction, positive: going north) + float vy; ///< Y Speed (in Longitude direction, positive: going east) + float vz; ///< Z Speed (in Altitude direction, positive: going up) +} mavlink_global_position_t; + +#define MAVLINK_MSG_ID_GLOBAL_POSITION_LEN 32 +#define MAVLINK_MSG_ID_33_LEN 32 + + + +#define MAVLINK_MESSAGE_INFO_GLOBAL_POSITION { \ + "GLOBAL_POSITION", \ + 7, \ + { { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_global_position_t, usec) }, \ + { "lat", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_global_position_t, lat) }, \ + { "lon", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_global_position_t, lon) }, \ + { "alt", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_global_position_t, alt) }, \ + { "vx", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_global_position_t, vx) }, \ + { "vy", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_global_position_t, vy) }, \ + { "vz", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_global_position_t, vz) }, \ + } \ +} + + +/** + * @brief Pack a global_position 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 usec Timestamp (microseconds since unix epoch) + * @param lat Latitude, in degrees + * @param lon Longitude, in degrees + * @param alt Absolute altitude, in meters + * @param vx X Speed (in Latitude direction, positive: going north) + * @param vy Y Speed (in Longitude direction, positive: going east) + * @param vz Z Speed (in Altitude direction, positive: going up) + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_global_position_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint64_t usec, float lat, float lon, float alt, float vx, float vy, float vz) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[32]; + _mav_put_uint64_t(buf, 0, usec); + _mav_put_float(buf, 8, lat); + _mav_put_float(buf, 12, lon); + _mav_put_float(buf, 16, alt); + _mav_put_float(buf, 20, vx); + _mav_put_float(buf, 24, vy); + _mav_put_float(buf, 28, vz); + + memcpy(_MAV_PAYLOAD(msg), buf, 32); +#else + mavlink_global_position_t packet; + packet.usec = usec; + packet.lat = lat; + packet.lon = lon; + packet.alt = alt; + packet.vx = vx; + packet.vy = vy; + packet.vz = vz; + + memcpy(_MAV_PAYLOAD(msg), &packet, 32); +#endif + + msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION; + return mavlink_finalize_message(msg, system_id, component_id, 32); +} + +/** + * @brief Pack a global_position 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 usec Timestamp (microseconds since unix epoch) + * @param lat Latitude, in degrees + * @param lon Longitude, in degrees + * @param alt Absolute altitude, in meters + * @param vx X Speed (in Latitude direction, positive: going north) + * @param vy Y Speed (in Longitude direction, positive: going east) + * @param vz Z Speed (in Altitude direction, positive: going up) + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_global_position_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint64_t usec,float lat,float lon,float alt,float vx,float vy,float vz) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[32]; + _mav_put_uint64_t(buf, 0, usec); + _mav_put_float(buf, 8, lat); + _mav_put_float(buf, 12, lon); + _mav_put_float(buf, 16, alt); + _mav_put_float(buf, 20, vx); + _mav_put_float(buf, 24, vy); + _mav_put_float(buf, 28, vz); + + memcpy(_MAV_PAYLOAD(msg), buf, 32); +#else + mavlink_global_position_t packet; + packet.usec = usec; + packet.lat = lat; + packet.lon = lon; + packet.alt = alt; + packet.vx = vx; + packet.vy = vy; + packet.vz = vz; + + memcpy(_MAV_PAYLOAD(msg), &packet, 32); +#endif + + msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 32); +} + +/** + * @brief Encode a global_position 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 global_position C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_global_position_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_global_position_t* global_position) +{ + return mavlink_msg_global_position_pack(system_id, component_id, msg, global_position->usec, global_position->lat, global_position->lon, global_position->alt, global_position->vx, global_position->vy, global_position->vz); +} + +/** + * @brief Send a global_position message + * @param chan MAVLink channel to send the message + * + * @param usec Timestamp (microseconds since unix epoch) + * @param lat Latitude, in degrees + * @param lon Longitude, in degrees + * @param alt Absolute altitude, in meters + * @param vx X Speed (in Latitude direction, positive: going north) + * @param vy Y Speed (in Longitude direction, positive: going east) + * @param vz Z Speed (in Altitude direction, positive: going up) + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_global_position_send(mavlink_channel_t chan, uint64_t usec, float lat, float lon, float alt, float vx, float vy, float vz) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[32]; + _mav_put_uint64_t(buf, 0, usec); + _mav_put_float(buf, 8, lat); + _mav_put_float(buf, 12, lon); + _mav_put_float(buf, 16, alt); + _mav_put_float(buf, 20, vx); + _mav_put_float(buf, 24, vy); + _mav_put_float(buf, 28, vz); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION, buf, 32); +#else + mavlink_global_position_t packet; + packet.usec = usec; + packet.lat = lat; + packet.lon = lon; + packet.alt = alt; + packet.vx = vx; + packet.vy = vy; + packet.vz = vz; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION, (const char *)&packet, 32); +#endif +} + +#endif + +// MESSAGE GLOBAL_POSITION UNPACKING + + +/** + * @brief Get field usec from global_position message + * + * @return Timestamp (microseconds since unix epoch) + */ +static inline uint64_t mavlink_msg_global_position_get_usec(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint64_t(msg, 0); +} + +/** + * @brief Get field lat from global_position message + * + * @return Latitude, in degrees + */ +static inline float mavlink_msg_global_position_get_lat(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 8); +} + +/** + * @brief Get field lon from global_position message + * + * @return Longitude, in degrees + */ +static inline float mavlink_msg_global_position_get_lon(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 12); +} + +/** + * @brief Get field alt from global_position message + * + * @return Absolute altitude, in meters + */ +static inline float mavlink_msg_global_position_get_alt(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 16); +} + +/** + * @brief Get field vx from global_position message + * + * @return X Speed (in Latitude direction, positive: going north) + */ +static inline float mavlink_msg_global_position_get_vx(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 20); +} + +/** + * @brief Get field vy from global_position message + * + * @return Y Speed (in Longitude direction, positive: going east) + */ +static inline float mavlink_msg_global_position_get_vy(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 24); +} + +/** + * @brief Get field vz from global_position message + * + * @return Z Speed (in Altitude direction, positive: going up) + */ +static inline float mavlink_msg_global_position_get_vz(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 28); +} + +/** + * @brief Decode a global_position message into a struct + * + * @param msg The message to decode + * @param global_position C-struct to decode the message contents into + */ +static inline void mavlink_msg_global_position_decode(const mavlink_message_t* msg, mavlink_global_position_t* global_position) +{ +#if MAVLINK_NEED_BYTE_SWAP + global_position->usec = mavlink_msg_global_position_get_usec(msg); + global_position->lat = mavlink_msg_global_position_get_lat(msg); + global_position->lon = mavlink_msg_global_position_get_lon(msg); + global_position->alt = mavlink_msg_global_position_get_alt(msg); + global_position->vx = mavlink_msg_global_position_get_vx(msg); + global_position->vy = mavlink_msg_global_position_get_vy(msg); + global_position->vz = mavlink_msg_global_position_get_vz(msg); +#else + memcpy(global_position, _MAV_PAYLOAD(msg), 32); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_global_position_int.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_global_position_int.h new file mode 100644 index 0000000000000000000000000000000000000000..fa984daadf8da725bd8bacec515d4403afa3996b --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_global_position_int.h @@ -0,0 +1,254 @@ +// MESSAGE GLOBAL_POSITION_INT PACKING + +#define MAVLINK_MSG_ID_GLOBAL_POSITION_INT 73 + +typedef struct __mavlink_global_position_int_t +{ + int32_t lat; ///< Latitude, expressed as * 1E7 + int32_t lon; ///< Longitude, expressed as * 1E7 + int32_t alt; ///< Altitude in meters, expressed as * 1000 (millimeters) + int16_t vx; ///< Ground X Speed (Latitude), expressed as m/s * 100 + int16_t vy; ///< Ground Y Speed (Longitude), expressed as m/s * 100 + int16_t vz; ///< Ground Z Speed (Altitude), expressed as m/s * 100 +} mavlink_global_position_int_t; + +#define MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN 18 +#define MAVLINK_MSG_ID_73_LEN 18 + + + +#define MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT { \ + "GLOBAL_POSITION_INT", \ + 6, \ + { { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_global_position_int_t, lat) }, \ + { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_global_position_int_t, lon) }, \ + { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_global_position_int_t, alt) }, \ + { "vx", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_global_position_int_t, vx) }, \ + { "vy", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_global_position_int_t, vy) }, \ + { "vz", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_global_position_int_t, vz) }, \ + } \ +} + + +/** + * @brief Pack a global_position_int 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 lat Latitude, expressed as * 1E7 + * @param lon Longitude, expressed as * 1E7 + * @param alt Altitude in meters, expressed as * 1000 (millimeters) + * @param vx Ground X Speed (Latitude), expressed as m/s * 100 + * @param vy Ground Y Speed (Longitude), expressed as m/s * 100 + * @param vz Ground Z Speed (Altitude), expressed as m/s * 100 + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_global_position_int_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[18]; + _mav_put_int32_t(buf, 0, lat); + _mav_put_int32_t(buf, 4, lon); + _mav_put_int32_t(buf, 8, alt); + _mav_put_int16_t(buf, 12, vx); + _mav_put_int16_t(buf, 14, vy); + _mav_put_int16_t(buf, 16, vz); + + memcpy(_MAV_PAYLOAD(msg), buf, 18); +#else + mavlink_global_position_int_t packet; + packet.lat = lat; + packet.lon = lon; + packet.alt = alt; + packet.vx = vx; + packet.vy = vy; + packet.vz = vz; + + memcpy(_MAV_PAYLOAD(msg), &packet, 18); +#endif + + msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT; + return mavlink_finalize_message(msg, system_id, component_id, 18); +} + +/** + * @brief Pack a global_position_int 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 lat Latitude, expressed as * 1E7 + * @param lon Longitude, expressed as * 1E7 + * @param alt Altitude in meters, expressed as * 1000 (millimeters) + * @param vx Ground X Speed (Latitude), expressed as m/s * 100 + * @param vy Ground Y Speed (Longitude), expressed as m/s * 100 + * @param vz Ground Z Speed (Altitude), expressed as m/s * 100 + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_global_position_int_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + int32_t lat,int32_t lon,int32_t alt,int16_t vx,int16_t vy,int16_t vz) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[18]; + _mav_put_int32_t(buf, 0, lat); + _mav_put_int32_t(buf, 4, lon); + _mav_put_int32_t(buf, 8, alt); + _mav_put_int16_t(buf, 12, vx); + _mav_put_int16_t(buf, 14, vy); + _mav_put_int16_t(buf, 16, vz); + + memcpy(_MAV_PAYLOAD(msg), buf, 18); +#else + mavlink_global_position_int_t packet; + packet.lat = lat; + packet.lon = lon; + packet.alt = alt; + packet.vx = vx; + packet.vy = vy; + packet.vz = vz; + + memcpy(_MAV_PAYLOAD(msg), &packet, 18); +#endif + + msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 18); +} + +/** + * @brief Encode a global_position_int 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 global_position_int C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_global_position_int_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_global_position_int_t* global_position_int) +{ + return mavlink_msg_global_position_int_pack(system_id, component_id, msg, global_position_int->lat, global_position_int->lon, global_position_int->alt, global_position_int->vx, global_position_int->vy, global_position_int->vz); +} + +/** + * @brief Send a global_position_int message + * @param chan MAVLink channel to send the message + * + * @param lat Latitude, expressed as * 1E7 + * @param lon Longitude, expressed as * 1E7 + * @param alt Altitude in meters, expressed as * 1000 (millimeters) + * @param vx Ground X Speed (Latitude), expressed as m/s * 100 + * @param vy Ground Y Speed (Longitude), expressed as m/s * 100 + * @param vz Ground Z Speed (Altitude), expressed as m/s * 100 + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_global_position_int_send(mavlink_channel_t chan, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[18]; + _mav_put_int32_t(buf, 0, lat); + _mav_put_int32_t(buf, 4, lon); + _mav_put_int32_t(buf, 8, alt); + _mav_put_int16_t(buf, 12, vx); + _mav_put_int16_t(buf, 14, vy); + _mav_put_int16_t(buf, 16, vz); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, buf, 18); +#else + mavlink_global_position_int_t packet; + packet.lat = lat; + packet.lon = lon; + packet.alt = alt; + packet.vx = vx; + packet.vy = vy; + packet.vz = vz; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, (const char *)&packet, 18); +#endif +} + +#endif + +// MESSAGE GLOBAL_POSITION_INT UNPACKING + + +/** + * @brief Get field lat from global_position_int message + * + * @return Latitude, expressed as * 1E7 + */ +static inline int32_t mavlink_msg_global_position_int_get_lat(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int32_t(msg, 0); +} + +/** + * @brief Get field lon from global_position_int message + * + * @return Longitude, expressed as * 1E7 + */ +static inline int32_t mavlink_msg_global_position_int_get_lon(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int32_t(msg, 4); +} + +/** + * @brief Get field alt from global_position_int message + * + * @return Altitude in meters, expressed as * 1000 (millimeters) + */ +static inline int32_t mavlink_msg_global_position_int_get_alt(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int32_t(msg, 8); +} + +/** + * @brief Get field vx from global_position_int message + * + * @return Ground X Speed (Latitude), expressed as m/s * 100 + */ +static inline int16_t mavlink_msg_global_position_int_get_vx(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 12); +} + +/** + * @brief Get field vy from global_position_int message + * + * @return Ground Y Speed (Longitude), expressed as m/s * 100 + */ +static inline int16_t mavlink_msg_global_position_int_get_vy(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 14); +} + +/** + * @brief Get field vz from global_position_int message + * + * @return Ground Z Speed (Altitude), expressed as m/s * 100 + */ +static inline int16_t mavlink_msg_global_position_int_get_vz(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 16); +} + +/** + * @brief Decode a global_position_int message into a struct + * + * @param msg The message to decode + * @param global_position_int C-struct to decode the message contents into + */ +static inline void mavlink_msg_global_position_int_decode(const mavlink_message_t* msg, mavlink_global_position_int_t* global_position_int) +{ +#if MAVLINK_NEED_BYTE_SWAP + global_position_int->lat = mavlink_msg_global_position_int_get_lat(msg); + global_position_int->lon = mavlink_msg_global_position_int_get_lon(msg); + global_position_int->alt = mavlink_msg_global_position_int_get_alt(msg); + global_position_int->vx = mavlink_msg_global_position_int_get_vx(msg); + global_position_int->vy = mavlink_msg_global_position_int_get_vy(msg); + global_position_int->vz = mavlink_msg_global_position_int_get_vz(msg); +#else + memcpy(global_position_int, _MAV_PAYLOAD(msg), 18); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_gps_local_origin_set.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_gps_local_origin_set.h new file mode 100644 index 0000000000000000000000000000000000000000..0e011483bd2c2dd01c0e19a4a32444cceb7d22c1 --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_gps_local_origin_set.h @@ -0,0 +1,188 @@ +// MESSAGE GPS_LOCAL_ORIGIN_SET PACKING + +#define MAVLINK_MSG_ID_GPS_LOCAL_ORIGIN_SET 49 + +typedef struct __mavlink_gps_local_origin_set_t +{ + int32_t latitude; ///< Latitude (WGS84), expressed as * 1E7 + int32_t longitude; ///< Longitude (WGS84), expressed as * 1E7 + int32_t altitude; ///< Altitude(WGS84), expressed as * 1000 +} mavlink_gps_local_origin_set_t; + +#define MAVLINK_MSG_ID_GPS_LOCAL_ORIGIN_SET_LEN 12 +#define MAVLINK_MSG_ID_49_LEN 12 + + + +#define MAVLINK_MESSAGE_INFO_GPS_LOCAL_ORIGIN_SET { \ + "GPS_LOCAL_ORIGIN_SET", \ + 3, \ + { { "latitude", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_gps_local_origin_set_t, latitude) }, \ + { "longitude", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_gps_local_origin_set_t, longitude) }, \ + { "altitude", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_gps_local_origin_set_t, altitude) }, \ + } \ +} + + +/** + * @brief Pack a gps_local_origin_set 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 latitude Latitude (WGS84), expressed as * 1E7 + * @param longitude Longitude (WGS84), expressed as * 1E7 + * @param altitude Altitude(WGS84), expressed as * 1000 + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_gps_local_origin_set_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + int32_t latitude, int32_t longitude, int32_t altitude) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[12]; + _mav_put_int32_t(buf, 0, latitude); + _mav_put_int32_t(buf, 4, longitude); + _mav_put_int32_t(buf, 8, altitude); + + memcpy(_MAV_PAYLOAD(msg), buf, 12); +#else + mavlink_gps_local_origin_set_t packet; + packet.latitude = latitude; + packet.longitude = longitude; + packet.altitude = altitude; + + memcpy(_MAV_PAYLOAD(msg), &packet, 12); +#endif + + msg->msgid = MAVLINK_MSG_ID_GPS_LOCAL_ORIGIN_SET; + return mavlink_finalize_message(msg, system_id, component_id, 12); +} + +/** + * @brief Pack a gps_local_origin_set 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 latitude Latitude (WGS84), expressed as * 1E7 + * @param longitude Longitude (WGS84), expressed as * 1E7 + * @param altitude Altitude(WGS84), expressed as * 1000 + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_gps_local_origin_set_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + int32_t latitude,int32_t longitude,int32_t altitude) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[12]; + _mav_put_int32_t(buf, 0, latitude); + _mav_put_int32_t(buf, 4, longitude); + _mav_put_int32_t(buf, 8, altitude); + + memcpy(_MAV_PAYLOAD(msg), buf, 12); +#else + mavlink_gps_local_origin_set_t packet; + packet.latitude = latitude; + packet.longitude = longitude; + packet.altitude = altitude; + + memcpy(_MAV_PAYLOAD(msg), &packet, 12); +#endif + + msg->msgid = MAVLINK_MSG_ID_GPS_LOCAL_ORIGIN_SET; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 12); +} + +/** + * @brief Encode a gps_local_origin_set 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 gps_local_origin_set C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_gps_local_origin_set_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps_local_origin_set_t* gps_local_origin_set) +{ + return mavlink_msg_gps_local_origin_set_pack(system_id, component_id, msg, gps_local_origin_set->latitude, gps_local_origin_set->longitude, gps_local_origin_set->altitude); +} + +/** + * @brief Send a gps_local_origin_set message + * @param chan MAVLink channel to send the message + * + * @param latitude Latitude (WGS84), expressed as * 1E7 + * @param longitude Longitude (WGS84), expressed as * 1E7 + * @param altitude Altitude(WGS84), expressed as * 1000 + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_gps_local_origin_set_send(mavlink_channel_t chan, int32_t latitude, int32_t longitude, int32_t altitude) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[12]; + _mav_put_int32_t(buf, 0, latitude); + _mav_put_int32_t(buf, 4, longitude); + _mav_put_int32_t(buf, 8, altitude); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_LOCAL_ORIGIN_SET, buf, 12); +#else + mavlink_gps_local_origin_set_t packet; + packet.latitude = latitude; + packet.longitude = longitude; + packet.altitude = altitude; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_LOCAL_ORIGIN_SET, (const char *)&packet, 12); +#endif +} + +#endif + +// MESSAGE GPS_LOCAL_ORIGIN_SET UNPACKING + + +/** + * @brief Get field latitude from gps_local_origin_set message + * + * @return Latitude (WGS84), expressed as * 1E7 + */ +static inline int32_t mavlink_msg_gps_local_origin_set_get_latitude(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int32_t(msg, 0); +} + +/** + * @brief Get field longitude from gps_local_origin_set message + * + * @return Longitude (WGS84), expressed as * 1E7 + */ +static inline int32_t mavlink_msg_gps_local_origin_set_get_longitude(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int32_t(msg, 4); +} + +/** + * @brief Get field altitude from gps_local_origin_set message + * + * @return Altitude(WGS84), expressed as * 1000 + */ +static inline int32_t mavlink_msg_gps_local_origin_set_get_altitude(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int32_t(msg, 8); +} + +/** + * @brief Decode a gps_local_origin_set message into a struct + * + * @param msg The message to decode + * @param gps_local_origin_set C-struct to decode the message contents into + */ +static inline void mavlink_msg_gps_local_origin_set_decode(const mavlink_message_t* msg, mavlink_gps_local_origin_set_t* gps_local_origin_set) +{ +#if MAVLINK_NEED_BYTE_SWAP + gps_local_origin_set->latitude = mavlink_msg_gps_local_origin_set_get_latitude(msg); + gps_local_origin_set->longitude = mavlink_msg_gps_local_origin_set_get_longitude(msg); + gps_local_origin_set->altitude = mavlink_msg_gps_local_origin_set_get_altitude(msg); +#else + memcpy(gps_local_origin_set, _MAV_PAYLOAD(msg), 12); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_gps_raw.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_gps_raw.h new file mode 100644 index 0000000000000000000000000000000000000000..e2e0051498f23812e8b7794a1e56fe6d15648ca9 --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_gps_raw.h @@ -0,0 +1,320 @@ +// MESSAGE GPS_RAW PACKING + +#define MAVLINK_MSG_ID_GPS_RAW 32 + +typedef struct __mavlink_gps_raw_t +{ + uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot) + uint8_t fix_type; ///< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. + float lat; ///< Latitude in degrees + float lon; ///< Longitude in degrees + float alt; ///< Altitude in meters + float eph; ///< GPS HDOP + float epv; ///< GPS VDOP + float v; ///< GPS ground speed + float hdg; ///< Compass heading in degrees, 0..360 degrees +} mavlink_gps_raw_t; + +#define MAVLINK_MSG_ID_GPS_RAW_LEN 37 +#define MAVLINK_MSG_ID_32_LEN 37 + + + +#define MAVLINK_MESSAGE_INFO_GPS_RAW { \ + "GPS_RAW", \ + 9, \ + { { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_gps_raw_t, usec) }, \ + { "fix_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_gps_raw_t, fix_type) }, \ + { "lat", NULL, MAVLINK_TYPE_FLOAT, 0, 9, offsetof(mavlink_gps_raw_t, lat) }, \ + { "lon", NULL, MAVLINK_TYPE_FLOAT, 0, 13, offsetof(mavlink_gps_raw_t, lon) }, \ + { "alt", NULL, MAVLINK_TYPE_FLOAT, 0, 17, offsetof(mavlink_gps_raw_t, alt) }, \ + { "eph", NULL, MAVLINK_TYPE_FLOAT, 0, 21, offsetof(mavlink_gps_raw_t, eph) }, \ + { "epv", NULL, MAVLINK_TYPE_FLOAT, 0, 25, offsetof(mavlink_gps_raw_t, epv) }, \ + { "v", NULL, MAVLINK_TYPE_FLOAT, 0, 29, offsetof(mavlink_gps_raw_t, v) }, \ + { "hdg", NULL, MAVLINK_TYPE_FLOAT, 0, 33, offsetof(mavlink_gps_raw_t, hdg) }, \ + } \ +} + + +/** + * @brief Pack a gps_raw 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 usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. + * @param lat Latitude in degrees + * @param lon Longitude in degrees + * @param alt Altitude in meters + * @param eph GPS HDOP + * @param epv GPS VDOP + * @param v GPS ground speed + * @param hdg Compass heading in degrees, 0..360 degrees + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_gps_raw_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint64_t usec, uint8_t fix_type, float lat, float lon, float alt, float eph, float epv, float v, float hdg) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[37]; + _mav_put_uint64_t(buf, 0, usec); + _mav_put_uint8_t(buf, 8, fix_type); + _mav_put_float(buf, 9, lat); + _mav_put_float(buf, 13, lon); + _mav_put_float(buf, 17, alt); + _mav_put_float(buf, 21, eph); + _mav_put_float(buf, 25, epv); + _mav_put_float(buf, 29, v); + _mav_put_float(buf, 33, hdg); + + memcpy(_MAV_PAYLOAD(msg), buf, 37); +#else + mavlink_gps_raw_t packet; + packet.usec = usec; + packet.fix_type = fix_type; + packet.lat = lat; + packet.lon = lon; + packet.alt = alt; + packet.eph = eph; + packet.epv = epv; + packet.v = v; + packet.hdg = hdg; + + memcpy(_MAV_PAYLOAD(msg), &packet, 37); +#endif + + msg->msgid = MAVLINK_MSG_ID_GPS_RAW; + return mavlink_finalize_message(msg, system_id, component_id, 37); +} + +/** + * @brief Pack a gps_raw 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 usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. + * @param lat Latitude in degrees + * @param lon Longitude in degrees + * @param alt Altitude in meters + * @param eph GPS HDOP + * @param epv GPS VDOP + * @param v GPS ground speed + * @param hdg Compass heading in degrees, 0..360 degrees + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_gps_raw_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint64_t usec,uint8_t fix_type,float lat,float lon,float alt,float eph,float epv,float v,float hdg) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[37]; + _mav_put_uint64_t(buf, 0, usec); + _mav_put_uint8_t(buf, 8, fix_type); + _mav_put_float(buf, 9, lat); + _mav_put_float(buf, 13, lon); + _mav_put_float(buf, 17, alt); + _mav_put_float(buf, 21, eph); + _mav_put_float(buf, 25, epv); + _mav_put_float(buf, 29, v); + _mav_put_float(buf, 33, hdg); + + memcpy(_MAV_PAYLOAD(msg), buf, 37); +#else + mavlink_gps_raw_t packet; + packet.usec = usec; + packet.fix_type = fix_type; + packet.lat = lat; + packet.lon = lon; + packet.alt = alt; + packet.eph = eph; + packet.epv = epv; + packet.v = v; + packet.hdg = hdg; + + memcpy(_MAV_PAYLOAD(msg), &packet, 37); +#endif + + msg->msgid = MAVLINK_MSG_ID_GPS_RAW; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 37); +} + +/** + * @brief Encode a gps_raw 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 gps_raw C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_gps_raw_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps_raw_t* gps_raw) +{ + return mavlink_msg_gps_raw_pack(system_id, component_id, msg, gps_raw->usec, gps_raw->fix_type, gps_raw->lat, gps_raw->lon, gps_raw->alt, gps_raw->eph, gps_raw->epv, gps_raw->v, gps_raw->hdg); +} + +/** + * @brief Send a gps_raw message + * @param chan MAVLink channel to send the message + * + * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. + * @param lat Latitude in degrees + * @param lon Longitude in degrees + * @param alt Altitude in meters + * @param eph GPS HDOP + * @param epv GPS VDOP + * @param v GPS ground speed + * @param hdg Compass heading in degrees, 0..360 degrees + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_gps_raw_send(mavlink_channel_t chan, uint64_t usec, uint8_t fix_type, float lat, float lon, float alt, float eph, float epv, float v, float hdg) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[37]; + _mav_put_uint64_t(buf, 0, usec); + _mav_put_uint8_t(buf, 8, fix_type); + _mav_put_float(buf, 9, lat); + _mav_put_float(buf, 13, lon); + _mav_put_float(buf, 17, alt); + _mav_put_float(buf, 21, eph); + _mav_put_float(buf, 25, epv); + _mav_put_float(buf, 29, v); + _mav_put_float(buf, 33, hdg); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RAW, buf, 37); +#else + mavlink_gps_raw_t packet; + packet.usec = usec; + packet.fix_type = fix_type; + packet.lat = lat; + packet.lon = lon; + packet.alt = alt; + packet.eph = eph; + packet.epv = epv; + packet.v = v; + packet.hdg = hdg; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RAW, (const char *)&packet, 37); +#endif +} + +#endif + +// MESSAGE GPS_RAW UNPACKING + + +/** + * @brief Get field usec from gps_raw message + * + * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot) + */ +static inline uint64_t mavlink_msg_gps_raw_get_usec(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint64_t(msg, 0); +} + +/** + * @brief Get field fix_type from gps_raw message + * + * @return 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. + */ +static inline uint8_t mavlink_msg_gps_raw_get_fix_type(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 8); +} + +/** + * @brief Get field lat from gps_raw message + * + * @return Latitude in degrees + */ +static inline float mavlink_msg_gps_raw_get_lat(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 9); +} + +/** + * @brief Get field lon from gps_raw message + * + * @return Longitude in degrees + */ +static inline float mavlink_msg_gps_raw_get_lon(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 13); +} + +/** + * @brief Get field alt from gps_raw message + * + * @return Altitude in meters + */ +static inline float mavlink_msg_gps_raw_get_alt(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 17); +} + +/** + * @brief Get field eph from gps_raw message + * + * @return GPS HDOP + */ +static inline float mavlink_msg_gps_raw_get_eph(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 21); +} + +/** + * @brief Get field epv from gps_raw message + * + * @return GPS VDOP + */ +static inline float mavlink_msg_gps_raw_get_epv(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 25); +} + +/** + * @brief Get field v from gps_raw message + * + * @return GPS ground speed + */ +static inline float mavlink_msg_gps_raw_get_v(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 29); +} + +/** + * @brief Get field hdg from gps_raw message + * + * @return Compass heading in degrees, 0..360 degrees + */ +static inline float mavlink_msg_gps_raw_get_hdg(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 33); +} + +/** + * @brief Decode a gps_raw message into a struct + * + * @param msg The message to decode + * @param gps_raw C-struct to decode the message contents into + */ +static inline void mavlink_msg_gps_raw_decode(const mavlink_message_t* msg, mavlink_gps_raw_t* gps_raw) +{ +#if MAVLINK_NEED_BYTE_SWAP + gps_raw->usec = mavlink_msg_gps_raw_get_usec(msg); + gps_raw->fix_type = mavlink_msg_gps_raw_get_fix_type(msg); + gps_raw->lat = mavlink_msg_gps_raw_get_lat(msg); + gps_raw->lon = mavlink_msg_gps_raw_get_lon(msg); + gps_raw->alt = mavlink_msg_gps_raw_get_alt(msg); + gps_raw->eph = mavlink_msg_gps_raw_get_eph(msg); + gps_raw->epv = mavlink_msg_gps_raw_get_epv(msg); + gps_raw->v = mavlink_msg_gps_raw_get_v(msg); + gps_raw->hdg = mavlink_msg_gps_raw_get_hdg(msg); +#else + memcpy(gps_raw, _MAV_PAYLOAD(msg), 37); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_gps_raw_int.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_gps_raw_int.h new file mode 100644 index 0000000000000000000000000000000000000000..5f5b595601c4b3786bcce7d5d7f527e39a511785 --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_gps_raw_int.h @@ -0,0 +1,320 @@ +// MESSAGE GPS_RAW_INT PACKING + +#define MAVLINK_MSG_ID_GPS_RAW_INT 25 + +typedef struct __mavlink_gps_raw_int_t +{ + uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot) + uint8_t fix_type; ///< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. + int32_t lat; ///< Latitude in 1E7 degrees + int32_t lon; ///< Longitude in 1E7 degrees + int32_t alt; ///< Altitude in 1E3 meters (millimeters) + float eph; ///< GPS HDOP + float epv; ///< GPS VDOP + float v; ///< GPS ground speed (m/s) + float hdg; ///< Compass heading in degrees, 0..360 degrees +} mavlink_gps_raw_int_t; + +#define MAVLINK_MSG_ID_GPS_RAW_INT_LEN 37 +#define MAVLINK_MSG_ID_25_LEN 37 + + + +#define MAVLINK_MESSAGE_INFO_GPS_RAW_INT { \ + "GPS_RAW_INT", \ + 9, \ + { { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_gps_raw_int_t, usec) }, \ + { "fix_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_gps_raw_int_t, fix_type) }, \ + { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 9, offsetof(mavlink_gps_raw_int_t, lat) }, \ + { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 13, offsetof(mavlink_gps_raw_int_t, lon) }, \ + { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 17, offsetof(mavlink_gps_raw_int_t, alt) }, \ + { "eph", NULL, MAVLINK_TYPE_FLOAT, 0, 21, offsetof(mavlink_gps_raw_int_t, eph) }, \ + { "epv", NULL, MAVLINK_TYPE_FLOAT, 0, 25, offsetof(mavlink_gps_raw_int_t, epv) }, \ + { "v", NULL, MAVLINK_TYPE_FLOAT, 0, 29, offsetof(mavlink_gps_raw_int_t, v) }, \ + { "hdg", NULL, MAVLINK_TYPE_FLOAT, 0, 33, offsetof(mavlink_gps_raw_int_t, hdg) }, \ + } \ +} + + +/** + * @brief Pack a gps_raw_int 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 usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. + * @param lat Latitude in 1E7 degrees + * @param lon Longitude in 1E7 degrees + * @param alt Altitude in 1E3 meters (millimeters) + * @param eph GPS HDOP + * @param epv GPS VDOP + * @param v GPS ground speed (m/s) + * @param hdg Compass heading in degrees, 0..360 degrees + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_gps_raw_int_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint64_t usec, uint8_t fix_type, int32_t lat, int32_t lon, int32_t alt, float eph, float epv, float v, float hdg) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[37]; + _mav_put_uint64_t(buf, 0, usec); + _mav_put_uint8_t(buf, 8, fix_type); + _mav_put_int32_t(buf, 9, lat); + _mav_put_int32_t(buf, 13, lon); + _mav_put_int32_t(buf, 17, alt); + _mav_put_float(buf, 21, eph); + _mav_put_float(buf, 25, epv); + _mav_put_float(buf, 29, v); + _mav_put_float(buf, 33, hdg); + + memcpy(_MAV_PAYLOAD(msg), buf, 37); +#else + mavlink_gps_raw_int_t packet; + packet.usec = usec; + packet.fix_type = fix_type; + packet.lat = lat; + packet.lon = lon; + packet.alt = alt; + packet.eph = eph; + packet.epv = epv; + packet.v = v; + packet.hdg = hdg; + + memcpy(_MAV_PAYLOAD(msg), &packet, 37); +#endif + + msg->msgid = MAVLINK_MSG_ID_GPS_RAW_INT; + return mavlink_finalize_message(msg, system_id, component_id, 37); +} + +/** + * @brief Pack a gps_raw_int 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 usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. + * @param lat Latitude in 1E7 degrees + * @param lon Longitude in 1E7 degrees + * @param alt Altitude in 1E3 meters (millimeters) + * @param eph GPS HDOP + * @param epv GPS VDOP + * @param v GPS ground speed (m/s) + * @param hdg Compass heading in degrees, 0..360 degrees + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_gps_raw_int_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint64_t usec,uint8_t fix_type,int32_t lat,int32_t lon,int32_t alt,float eph,float epv,float v,float hdg) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[37]; + _mav_put_uint64_t(buf, 0, usec); + _mav_put_uint8_t(buf, 8, fix_type); + _mav_put_int32_t(buf, 9, lat); + _mav_put_int32_t(buf, 13, lon); + _mav_put_int32_t(buf, 17, alt); + _mav_put_float(buf, 21, eph); + _mav_put_float(buf, 25, epv); + _mav_put_float(buf, 29, v); + _mav_put_float(buf, 33, hdg); + + memcpy(_MAV_PAYLOAD(msg), buf, 37); +#else + mavlink_gps_raw_int_t packet; + packet.usec = usec; + packet.fix_type = fix_type; + packet.lat = lat; + packet.lon = lon; + packet.alt = alt; + packet.eph = eph; + packet.epv = epv; + packet.v = v; + packet.hdg = hdg; + + memcpy(_MAV_PAYLOAD(msg), &packet, 37); +#endif + + msg->msgid = MAVLINK_MSG_ID_GPS_RAW_INT; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 37); +} + +/** + * @brief Encode a gps_raw_int 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 gps_raw_int C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_gps_raw_int_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps_raw_int_t* gps_raw_int) +{ + return mavlink_msg_gps_raw_int_pack(system_id, component_id, msg, gps_raw_int->usec, gps_raw_int->fix_type, gps_raw_int->lat, gps_raw_int->lon, gps_raw_int->alt, gps_raw_int->eph, gps_raw_int->epv, gps_raw_int->v, gps_raw_int->hdg); +} + +/** + * @brief Send a gps_raw_int message + * @param chan MAVLink channel to send the message + * + * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. + * @param lat Latitude in 1E7 degrees + * @param lon Longitude in 1E7 degrees + * @param alt Altitude in 1E3 meters (millimeters) + * @param eph GPS HDOP + * @param epv GPS VDOP + * @param v GPS ground speed (m/s) + * @param hdg Compass heading in degrees, 0..360 degrees + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_gps_raw_int_send(mavlink_channel_t chan, uint64_t usec, uint8_t fix_type, int32_t lat, int32_t lon, int32_t alt, float eph, float epv, float v, float hdg) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[37]; + _mav_put_uint64_t(buf, 0, usec); + _mav_put_uint8_t(buf, 8, fix_type); + _mav_put_int32_t(buf, 9, lat); + _mav_put_int32_t(buf, 13, lon); + _mav_put_int32_t(buf, 17, alt); + _mav_put_float(buf, 21, eph); + _mav_put_float(buf, 25, epv); + _mav_put_float(buf, 29, v); + _mav_put_float(buf, 33, hdg); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RAW_INT, buf, 37); +#else + mavlink_gps_raw_int_t packet; + packet.usec = usec; + packet.fix_type = fix_type; + packet.lat = lat; + packet.lon = lon; + packet.alt = alt; + packet.eph = eph; + packet.epv = epv; + packet.v = v; + packet.hdg = hdg; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RAW_INT, (const char *)&packet, 37); +#endif +} + +#endif + +// MESSAGE GPS_RAW_INT UNPACKING + + +/** + * @brief Get field usec from gps_raw_int message + * + * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot) + */ +static inline uint64_t mavlink_msg_gps_raw_int_get_usec(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint64_t(msg, 0); +} + +/** + * @brief Get field fix_type from gps_raw_int message + * + * @return 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. + */ +static inline uint8_t mavlink_msg_gps_raw_int_get_fix_type(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 8); +} + +/** + * @brief Get field lat from gps_raw_int message + * + * @return Latitude in 1E7 degrees + */ +static inline int32_t mavlink_msg_gps_raw_int_get_lat(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int32_t(msg, 9); +} + +/** + * @brief Get field lon from gps_raw_int message + * + * @return Longitude in 1E7 degrees + */ +static inline int32_t mavlink_msg_gps_raw_int_get_lon(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int32_t(msg, 13); +} + +/** + * @brief Get field alt from gps_raw_int message + * + * @return Altitude in 1E3 meters (millimeters) + */ +static inline int32_t mavlink_msg_gps_raw_int_get_alt(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int32_t(msg, 17); +} + +/** + * @brief Get field eph from gps_raw_int message + * + * @return GPS HDOP + */ +static inline float mavlink_msg_gps_raw_int_get_eph(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 21); +} + +/** + * @brief Get field epv from gps_raw_int message + * + * @return GPS VDOP + */ +static inline float mavlink_msg_gps_raw_int_get_epv(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 25); +} + +/** + * @brief Get field v from gps_raw_int message + * + * @return GPS ground speed (m/s) + */ +static inline float mavlink_msg_gps_raw_int_get_v(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 29); +} + +/** + * @brief Get field hdg from gps_raw_int message + * + * @return Compass heading in degrees, 0..360 degrees + */ +static inline float mavlink_msg_gps_raw_int_get_hdg(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 33); +} + +/** + * @brief Decode a gps_raw_int message into a struct + * + * @param msg The message to decode + * @param gps_raw_int C-struct to decode the message contents into + */ +static inline void mavlink_msg_gps_raw_int_decode(const mavlink_message_t* msg, mavlink_gps_raw_int_t* gps_raw_int) +{ +#if MAVLINK_NEED_BYTE_SWAP + gps_raw_int->usec = mavlink_msg_gps_raw_int_get_usec(msg); + gps_raw_int->fix_type = mavlink_msg_gps_raw_int_get_fix_type(msg); + gps_raw_int->lat = mavlink_msg_gps_raw_int_get_lat(msg); + gps_raw_int->lon = mavlink_msg_gps_raw_int_get_lon(msg); + gps_raw_int->alt = mavlink_msg_gps_raw_int_get_alt(msg); + gps_raw_int->eph = mavlink_msg_gps_raw_int_get_eph(msg); + gps_raw_int->epv = mavlink_msg_gps_raw_int_get_epv(msg); + gps_raw_int->v = mavlink_msg_gps_raw_int_get_v(msg); + gps_raw_int->hdg = mavlink_msg_gps_raw_int_get_hdg(msg); +#else + memcpy(gps_raw_int, _MAV_PAYLOAD(msg), 37); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_gps_set_global_origin.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_gps_set_global_origin.h new file mode 100644 index 0000000000000000000000000000000000000000..664f78164675cf62f680e0d1120f352ebf9c03d9 --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_gps_set_global_origin.h @@ -0,0 +1,232 @@ +// MESSAGE GPS_SET_GLOBAL_ORIGIN PACKING + +#define MAVLINK_MSG_ID_GPS_SET_GLOBAL_ORIGIN 48 + +typedef struct __mavlink_gps_set_global_origin_t +{ + uint8_t target_system; ///< System ID + uint8_t target_component; ///< Component ID + int32_t latitude; ///< global position * 1E7 + int32_t longitude; ///< global position * 1E7 + int32_t altitude; ///< global position * 1000 +} mavlink_gps_set_global_origin_t; + +#define MAVLINK_MSG_ID_GPS_SET_GLOBAL_ORIGIN_LEN 14 +#define MAVLINK_MSG_ID_48_LEN 14 + + + +#define MAVLINK_MESSAGE_INFO_GPS_SET_GLOBAL_ORIGIN { \ + "GPS_SET_GLOBAL_ORIGIN", \ + 5, \ + { { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_gps_set_global_origin_t, target_system) }, \ + { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_gps_set_global_origin_t, target_component) }, \ + { "latitude", NULL, MAVLINK_TYPE_INT32_T, 0, 2, offsetof(mavlink_gps_set_global_origin_t, latitude) }, \ + { "longitude", NULL, MAVLINK_TYPE_INT32_T, 0, 6, offsetof(mavlink_gps_set_global_origin_t, longitude) }, \ + { "altitude", NULL, MAVLINK_TYPE_INT32_T, 0, 10, offsetof(mavlink_gps_set_global_origin_t, altitude) }, \ + } \ +} + + +/** + * @brief Pack a gps_set_global_origin 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 target_component Component ID + * @param latitude global position * 1E7 + * @param longitude global position * 1E7 + * @param altitude global position * 1000 + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_gps_set_global_origin_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target_system, uint8_t target_component, int32_t latitude, int32_t longitude, int32_t altitude) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[14]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_int32_t(buf, 2, latitude); + _mav_put_int32_t(buf, 6, longitude); + _mav_put_int32_t(buf, 10, altitude); + + memcpy(_MAV_PAYLOAD(msg), buf, 14); +#else + mavlink_gps_set_global_origin_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.latitude = latitude; + packet.longitude = longitude; + packet.altitude = altitude; + + memcpy(_MAV_PAYLOAD(msg), &packet, 14); +#endif + + msg->msgid = MAVLINK_MSG_ID_GPS_SET_GLOBAL_ORIGIN; + return mavlink_finalize_message(msg, system_id, component_id, 14); +} + +/** + * @brief Pack a gps_set_global_origin 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 target_component Component ID + * @param latitude global position * 1E7 + * @param longitude global position * 1E7 + * @param altitude global position * 1000 + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_gps_set_global_origin_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t target_system,uint8_t target_component,int32_t latitude,int32_t longitude,int32_t altitude) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[14]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_int32_t(buf, 2, latitude); + _mav_put_int32_t(buf, 6, longitude); + _mav_put_int32_t(buf, 10, altitude); + + memcpy(_MAV_PAYLOAD(msg), buf, 14); +#else + mavlink_gps_set_global_origin_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.latitude = latitude; + packet.longitude = longitude; + packet.altitude = altitude; + + memcpy(_MAV_PAYLOAD(msg), &packet, 14); +#endif + + msg->msgid = MAVLINK_MSG_ID_GPS_SET_GLOBAL_ORIGIN; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 14); +} + +/** + * @brief Encode a gps_set_global_origin 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 gps_set_global_origin C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_gps_set_global_origin_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps_set_global_origin_t* gps_set_global_origin) +{ + return mavlink_msg_gps_set_global_origin_pack(system_id, component_id, msg, gps_set_global_origin->target_system, gps_set_global_origin->target_component, gps_set_global_origin->latitude, gps_set_global_origin->longitude, gps_set_global_origin->altitude); +} + +/** + * @brief Send a gps_set_global_origin message + * @param chan MAVLink channel to send the message + * + * @param target_system System ID + * @param target_component Component ID + * @param latitude global position * 1E7 + * @param longitude global position * 1E7 + * @param altitude global position * 1000 + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_gps_set_global_origin_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, int32_t latitude, int32_t longitude, int32_t altitude) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[14]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_int32_t(buf, 2, latitude); + _mav_put_int32_t(buf, 6, longitude); + _mav_put_int32_t(buf, 10, altitude); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_SET_GLOBAL_ORIGIN, buf, 14); +#else + mavlink_gps_set_global_origin_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.latitude = latitude; + packet.longitude = longitude; + packet.altitude = altitude; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_SET_GLOBAL_ORIGIN, (const char *)&packet, 14); +#endif +} + +#endif + +// MESSAGE GPS_SET_GLOBAL_ORIGIN UNPACKING + + +/** + * @brief Get field target_system from gps_set_global_origin message + * + * @return System ID + */ +static inline uint8_t mavlink_msg_gps_set_global_origin_get_target_system(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field target_component from gps_set_global_origin message + * + * @return Component ID + */ +static inline uint8_t mavlink_msg_gps_set_global_origin_get_target_component(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 1); +} + +/** + * @brief Get field latitude from gps_set_global_origin message + * + * @return global position * 1E7 + */ +static inline int32_t mavlink_msg_gps_set_global_origin_get_latitude(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int32_t(msg, 2); +} + +/** + * @brief Get field longitude from gps_set_global_origin message + * + * @return global position * 1E7 + */ +static inline int32_t mavlink_msg_gps_set_global_origin_get_longitude(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int32_t(msg, 6); +} + +/** + * @brief Get field altitude from gps_set_global_origin message + * + * @return global position * 1000 + */ +static inline int32_t mavlink_msg_gps_set_global_origin_get_altitude(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int32_t(msg, 10); +} + +/** + * @brief Decode a gps_set_global_origin message into a struct + * + * @param msg The message to decode + * @param gps_set_global_origin C-struct to decode the message contents into + */ +static inline void mavlink_msg_gps_set_global_origin_decode(const mavlink_message_t* msg, mavlink_gps_set_global_origin_t* gps_set_global_origin) +{ +#if MAVLINK_NEED_BYTE_SWAP + gps_set_global_origin->target_system = mavlink_msg_gps_set_global_origin_get_target_system(msg); + gps_set_global_origin->target_component = mavlink_msg_gps_set_global_origin_get_target_component(msg); + gps_set_global_origin->latitude = mavlink_msg_gps_set_global_origin_get_latitude(msg); + gps_set_global_origin->longitude = mavlink_msg_gps_set_global_origin_get_longitude(msg); + gps_set_global_origin->altitude = mavlink_msg_gps_set_global_origin_get_altitude(msg); +#else + memcpy(gps_set_global_origin, _MAV_PAYLOAD(msg), 14); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_gps_status.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_gps_status.h new file mode 100644 index 0000000000000000000000000000000000000000..c0ed8c1a78a025fb6865d5d8fd5a33c0c0b6e445 --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_gps_status.h @@ -0,0 +1,252 @@ +// MESSAGE GPS_STATUS PACKING + +#define MAVLINK_MSG_ID_GPS_STATUS 27 + +typedef struct __mavlink_gps_status_t +{ + uint8_t satellites_visible; ///< Number of satellites visible + int8_t satellite_prn[20]; ///< Global satellite ID + int8_t satellite_used[20]; ///< 0: Satellite not used, 1: used for localization + int8_t satellite_elevation[20]; ///< Elevation (0: right on top of receiver, 90: on the horizon) of satellite + int8_t satellite_azimuth[20]; ///< Direction of satellite, 0: 0 deg, 255: 360 deg. + int8_t satellite_snr[20]; ///< Signal to noise ratio of satellite +} mavlink_gps_status_t; + +#define MAVLINK_MSG_ID_GPS_STATUS_LEN 101 +#define MAVLINK_MSG_ID_27_LEN 101 + +#define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_PRN_LEN 20 +#define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_USED_LEN 20 +#define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_ELEVATION_LEN 20 +#define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_AZIMUTH_LEN 20 +#define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_SNR_LEN 20 + +#define MAVLINK_MESSAGE_INFO_GPS_STATUS { \ + "GPS_STATUS", \ + 6, \ + { { "satellites_visible", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_gps_status_t, satellites_visible) }, \ + { "satellite_prn", NULL, MAVLINK_TYPE_INT8_T, 20, 1, offsetof(mavlink_gps_status_t, satellite_prn) }, \ + { "satellite_used", NULL, MAVLINK_TYPE_INT8_T, 20, 21, offsetof(mavlink_gps_status_t, satellite_used) }, \ + { "satellite_elevation", NULL, MAVLINK_TYPE_INT8_T, 20, 41, offsetof(mavlink_gps_status_t, satellite_elevation) }, \ + { "satellite_azimuth", NULL, MAVLINK_TYPE_INT8_T, 20, 61, offsetof(mavlink_gps_status_t, satellite_azimuth) }, \ + { "satellite_snr", NULL, MAVLINK_TYPE_INT8_T, 20, 81, offsetof(mavlink_gps_status_t, satellite_snr) }, \ + } \ +} + + +/** + * @brief Pack a gps_status message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * + * @param satellites_visible Number of satellites visible + * @param satellite_prn Global satellite ID + * @param satellite_used 0: Satellite not used, 1: used for localization + * @param satellite_elevation Elevation (0: right on top of receiver, 90: on the horizon) of satellite + * @param satellite_azimuth Direction of satellite, 0: 0 deg, 255: 360 deg. + * @param satellite_snr Signal to noise ratio of satellite + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_gps_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t satellites_visible, const int8_t *satellite_prn, const int8_t *satellite_used, const int8_t *satellite_elevation, const int8_t *satellite_azimuth, const int8_t *satellite_snr) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[101]; + _mav_put_uint8_t(buf, 0, satellites_visible); + _mav_put_int8_t_array(buf, 1, satellite_prn, 20); + _mav_put_int8_t_array(buf, 21, satellite_used, 20); + _mav_put_int8_t_array(buf, 41, satellite_elevation, 20); + _mav_put_int8_t_array(buf, 61, satellite_azimuth, 20); + _mav_put_int8_t_array(buf, 81, satellite_snr, 20); + memcpy(_MAV_PAYLOAD(msg), buf, 101); +#else + mavlink_gps_status_t packet; + packet.satellites_visible = satellites_visible; + mav_array_memcpy(packet.satellite_prn, satellite_prn, sizeof(int8_t)*20); + mav_array_memcpy(packet.satellite_used, satellite_used, sizeof(int8_t)*20); + mav_array_memcpy(packet.satellite_elevation, satellite_elevation, sizeof(int8_t)*20); + mav_array_memcpy(packet.satellite_azimuth, satellite_azimuth, sizeof(int8_t)*20); + mav_array_memcpy(packet.satellite_snr, satellite_snr, sizeof(int8_t)*20); + memcpy(_MAV_PAYLOAD(msg), &packet, 101); +#endif + + msg->msgid = MAVLINK_MSG_ID_GPS_STATUS; + return mavlink_finalize_message(msg, system_id, component_id, 101); +} + +/** + * @brief Pack a gps_status message on a channel + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message was sent over + * @param msg The MAVLink message to compress the data into + * @param satellites_visible Number of satellites visible + * @param satellite_prn Global satellite ID + * @param satellite_used 0: Satellite not used, 1: used for localization + * @param satellite_elevation Elevation (0: right on top of receiver, 90: on the horizon) of satellite + * @param satellite_azimuth Direction of satellite, 0: 0 deg, 255: 360 deg. + * @param satellite_snr Signal to noise ratio of satellite + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_gps_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t satellites_visible,const int8_t *satellite_prn,const int8_t *satellite_used,const int8_t *satellite_elevation,const int8_t *satellite_azimuth,const int8_t *satellite_snr) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[101]; + _mav_put_uint8_t(buf, 0, satellites_visible); + _mav_put_int8_t_array(buf, 1, satellite_prn, 20); + _mav_put_int8_t_array(buf, 21, satellite_used, 20); + _mav_put_int8_t_array(buf, 41, satellite_elevation, 20); + _mav_put_int8_t_array(buf, 61, satellite_azimuth, 20); + _mav_put_int8_t_array(buf, 81, satellite_snr, 20); + memcpy(_MAV_PAYLOAD(msg), buf, 101); +#else + mavlink_gps_status_t packet; + packet.satellites_visible = satellites_visible; + mav_array_memcpy(packet.satellite_prn, satellite_prn, sizeof(int8_t)*20); + mav_array_memcpy(packet.satellite_used, satellite_used, sizeof(int8_t)*20); + mav_array_memcpy(packet.satellite_elevation, satellite_elevation, sizeof(int8_t)*20); + mav_array_memcpy(packet.satellite_azimuth, satellite_azimuth, sizeof(int8_t)*20); + mav_array_memcpy(packet.satellite_snr, satellite_snr, sizeof(int8_t)*20); + memcpy(_MAV_PAYLOAD(msg), &packet, 101); +#endif + + msg->msgid = MAVLINK_MSG_ID_GPS_STATUS; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 101); +} + +/** + * @brief Encode a gps_status struct into a message + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * @param gps_status C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_gps_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps_status_t* gps_status) +{ + return mavlink_msg_gps_status_pack(system_id, component_id, msg, gps_status->satellites_visible, gps_status->satellite_prn, gps_status->satellite_used, gps_status->satellite_elevation, gps_status->satellite_azimuth, gps_status->satellite_snr); +} + +/** + * @brief Send a gps_status message + * @param chan MAVLink channel to send the message + * + * @param satellites_visible Number of satellites visible + * @param satellite_prn Global satellite ID + * @param satellite_used 0: Satellite not used, 1: used for localization + * @param satellite_elevation Elevation (0: right on top of receiver, 90: on the horizon) of satellite + * @param satellite_azimuth Direction of satellite, 0: 0 deg, 255: 360 deg. + * @param satellite_snr Signal to noise ratio of satellite + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_gps_status_send(mavlink_channel_t chan, uint8_t satellites_visible, const int8_t *satellite_prn, const int8_t *satellite_used, const int8_t *satellite_elevation, const int8_t *satellite_azimuth, const int8_t *satellite_snr) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[101]; + _mav_put_uint8_t(buf, 0, satellites_visible); + _mav_put_int8_t_array(buf, 1, satellite_prn, 20); + _mav_put_int8_t_array(buf, 21, satellite_used, 20); + _mav_put_int8_t_array(buf, 41, satellite_elevation, 20); + _mav_put_int8_t_array(buf, 61, satellite_azimuth, 20); + _mav_put_int8_t_array(buf, 81, satellite_snr, 20); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_STATUS, buf, 101); +#else + mavlink_gps_status_t packet; + packet.satellites_visible = satellites_visible; + mav_array_memcpy(packet.satellite_prn, satellite_prn, sizeof(int8_t)*20); + mav_array_memcpy(packet.satellite_used, satellite_used, sizeof(int8_t)*20); + mav_array_memcpy(packet.satellite_elevation, satellite_elevation, sizeof(int8_t)*20); + mav_array_memcpy(packet.satellite_azimuth, satellite_azimuth, sizeof(int8_t)*20); + mav_array_memcpy(packet.satellite_snr, satellite_snr, sizeof(int8_t)*20); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_STATUS, (const char *)&packet, 101); +#endif +} + +#endif + +// MESSAGE GPS_STATUS UNPACKING + + +/** + * @brief Get field satellites_visible from gps_status message + * + * @return Number of satellites visible + */ +static inline uint8_t mavlink_msg_gps_status_get_satellites_visible(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field satellite_prn from gps_status message + * + * @return Global satellite ID + */ +static inline uint16_t mavlink_msg_gps_status_get_satellite_prn(const mavlink_message_t* msg, int8_t *satellite_prn) +{ + return _MAV_RETURN_int8_t_array(msg, satellite_prn, 20, 1); +} + +/** + * @brief Get field satellite_used from gps_status message + * + * @return 0: Satellite not used, 1: used for localization + */ +static inline uint16_t mavlink_msg_gps_status_get_satellite_used(const mavlink_message_t* msg, int8_t *satellite_used) +{ + return _MAV_RETURN_int8_t_array(msg, satellite_used, 20, 21); +} + +/** + * @brief Get field satellite_elevation from gps_status message + * + * @return Elevation (0: right on top of receiver, 90: on the horizon) of satellite + */ +static inline uint16_t mavlink_msg_gps_status_get_satellite_elevation(const mavlink_message_t* msg, int8_t *satellite_elevation) +{ + return _MAV_RETURN_int8_t_array(msg, satellite_elevation, 20, 41); +} + +/** + * @brief Get field satellite_azimuth from gps_status message + * + * @return Direction of satellite, 0: 0 deg, 255: 360 deg. + */ +static inline uint16_t mavlink_msg_gps_status_get_satellite_azimuth(const mavlink_message_t* msg, int8_t *satellite_azimuth) +{ + return _MAV_RETURN_int8_t_array(msg, satellite_azimuth, 20, 61); +} + +/** + * @brief Get field satellite_snr from gps_status message + * + * @return Signal to noise ratio of satellite + */ +static inline uint16_t mavlink_msg_gps_status_get_satellite_snr(const mavlink_message_t* msg, int8_t *satellite_snr) +{ + return _MAV_RETURN_int8_t_array(msg, satellite_snr, 20, 81); +} + +/** + * @brief Decode a gps_status message into a struct + * + * @param msg The message to decode + * @param gps_status C-struct to decode the message contents into + */ +static inline void mavlink_msg_gps_status_decode(const mavlink_message_t* msg, mavlink_gps_status_t* gps_status) +{ +#if MAVLINK_NEED_BYTE_SWAP + gps_status->satellites_visible = mavlink_msg_gps_status_get_satellites_visible(msg); + mavlink_msg_gps_status_get_satellite_prn(msg, gps_status->satellite_prn); + mavlink_msg_gps_status_get_satellite_used(msg, gps_status->satellite_used); + mavlink_msg_gps_status_get_satellite_elevation(msg, gps_status->satellite_elevation); + mavlink_msg_gps_status_get_satellite_azimuth(msg, gps_status->satellite_azimuth); + mavlink_msg_gps_status_get_satellite_snr(msg, gps_status->satellite_snr); +#else + memcpy(gps_status, _MAV_PAYLOAD(msg), 101); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_heartbeat.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_heartbeat.h new file mode 100644 index 0000000000000000000000000000000000000000..86bf637b1b439cdb77079fa657b21426be213889 --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_heartbeat.h @@ -0,0 +1,185 @@ +// MESSAGE HEARTBEAT PACKING + +#define MAVLINK_MSG_ID_HEARTBEAT 0 + +typedef struct __mavlink_heartbeat_t +{ + uint8_t type; ///< Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) + uint8_t autopilot; ///< Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM + uint8_t mavlink_version; ///< MAVLink version +} mavlink_heartbeat_t; + +#define MAVLINK_MSG_ID_HEARTBEAT_LEN 3 +#define MAVLINK_MSG_ID_0_LEN 3 + + + +#define MAVLINK_MESSAGE_INFO_HEARTBEAT { \ + "HEARTBEAT", \ + 3, \ + { { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_heartbeat_t, type) }, \ + { "autopilot", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_heartbeat_t, autopilot) }, \ + { "mavlink_version", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_heartbeat_t, mavlink_version) }, \ + } \ +} + + +/** + * @brief Pack a heartbeat message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * + * @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) + * @param autopilot Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_heartbeat_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t type, uint8_t autopilot) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[3]; + _mav_put_uint8_t(buf, 0, type); + _mav_put_uint8_t(buf, 1, autopilot); + _mav_put_uint8_t(buf, 2, 2); + + memcpy(_MAV_PAYLOAD(msg), buf, 3); +#else + mavlink_heartbeat_t packet; + packet.type = type; + packet.autopilot = autopilot; + packet.mavlink_version = 2; + + memcpy(_MAV_PAYLOAD(msg), &packet, 3); +#endif + + msg->msgid = MAVLINK_MSG_ID_HEARTBEAT; + return mavlink_finalize_message(msg, system_id, component_id, 3); +} + +/** + * @brief Pack a heartbeat message on a channel + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message was sent over + * @param msg The MAVLink message to compress the data into + * @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) + * @param autopilot Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_heartbeat_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t type,uint8_t autopilot) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[3]; + _mav_put_uint8_t(buf, 0, type); + _mav_put_uint8_t(buf, 1, autopilot); + _mav_put_uint8_t(buf, 2, 2); + + memcpy(_MAV_PAYLOAD(msg), buf, 3); +#else + mavlink_heartbeat_t packet; + packet.type = type; + packet.autopilot = autopilot; + packet.mavlink_version = 2; + + memcpy(_MAV_PAYLOAD(msg), &packet, 3); +#endif + + msg->msgid = MAVLINK_MSG_ID_HEARTBEAT; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 3); +} + +/** + * @brief Encode a heartbeat 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 heartbeat C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_heartbeat_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_heartbeat_t* heartbeat) +{ + return mavlink_msg_heartbeat_pack(system_id, component_id, msg, heartbeat->type, heartbeat->autopilot); +} + +/** + * @brief Send a heartbeat message + * @param chan MAVLink channel to send the message + * + * @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) + * @param autopilot Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_heartbeat_send(mavlink_channel_t chan, uint8_t type, uint8_t autopilot) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[3]; + _mav_put_uint8_t(buf, 0, type); + _mav_put_uint8_t(buf, 1, autopilot); + _mav_put_uint8_t(buf, 2, 2); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, buf, 3); +#else + mavlink_heartbeat_t packet; + packet.type = type; + packet.autopilot = autopilot; + packet.mavlink_version = 2; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, (const char *)&packet, 3); +#endif +} + +#endif + +// MESSAGE HEARTBEAT UNPACKING + + +/** + * @brief Get field type from heartbeat message + * + * @return Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) + */ +static inline uint8_t mavlink_msg_heartbeat_get_type(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field autopilot from heartbeat message + * + * @return Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM + */ +static inline uint8_t mavlink_msg_heartbeat_get_autopilot(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 1); +} + +/** + * @brief Get field mavlink_version from heartbeat message + * + * @return MAVLink version + */ +static inline uint8_t mavlink_msg_heartbeat_get_mavlink_version(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 2); +} + +/** + * @brief Decode a heartbeat message into a struct + * + * @param msg The message to decode + * @param heartbeat C-struct to decode the message contents into + */ +static inline void mavlink_msg_heartbeat_decode(const mavlink_message_t* msg, mavlink_heartbeat_t* heartbeat) +{ +#if MAVLINK_NEED_BYTE_SWAP + heartbeat->type = mavlink_msg_heartbeat_get_type(msg); + heartbeat->autopilot = mavlink_msg_heartbeat_get_autopilot(msg); + heartbeat->mavlink_version = mavlink_msg_heartbeat_get_mavlink_version(msg); +#else + memcpy(heartbeat, _MAV_PAYLOAD(msg), 3); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_hil_controls.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_hil_controls.h new file mode 100644 index 0000000000000000000000000000000000000000..302b23d41c04fcb8ed8bce55bd4041a02462d90f --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_hil_controls.h @@ -0,0 +1,276 @@ +// MESSAGE HIL_CONTROLS PACKING + +#define MAVLINK_MSG_ID_HIL_CONTROLS 68 + +typedef struct __mavlink_hil_controls_t +{ + uint64_t time_us; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot) + float roll_ailerons; ///< Control output -3 .. 1 + float pitch_elevator; ///< Control output -1 .. 1 + float yaw_rudder; ///< Control output -1 .. 1 + float throttle; ///< Throttle 0 .. 1 + uint8_t mode; ///< System mode (MAV_MODE) + uint8_t nav_mode; ///< Navigation mode (MAV_NAV_MODE) +} mavlink_hil_controls_t; + +#define MAVLINK_MSG_ID_HIL_CONTROLS_LEN 26 +#define MAVLINK_MSG_ID_68_LEN 26 + + + +#define MAVLINK_MESSAGE_INFO_HIL_CONTROLS { \ + "HIL_CONTROLS", \ + 7, \ + { { "time_us", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_controls_t, time_us) }, \ + { "roll_ailerons", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_hil_controls_t, roll_ailerons) }, \ + { "pitch_elevator", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_controls_t, pitch_elevator) }, \ + { "yaw_rudder", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_controls_t, yaw_rudder) }, \ + { "throttle", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_hil_controls_t, throttle) }, \ + { "mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 24, offsetof(mavlink_hil_controls_t, mode) }, \ + { "nav_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 25, offsetof(mavlink_hil_controls_t, nav_mode) }, \ + } \ +} + + +/** + * @brief Pack a hil_controls message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * + * @param time_us Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @param roll_ailerons Control output -3 .. 1 + * @param pitch_elevator Control output -1 .. 1 + * @param yaw_rudder Control output -1 .. 1 + * @param throttle Throttle 0 .. 1 + * @param mode System mode (MAV_MODE) + * @param nav_mode Navigation mode (MAV_NAV_MODE) + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_hil_controls_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint64_t time_us, float roll_ailerons, float pitch_elevator, float yaw_rudder, float throttle, uint8_t mode, uint8_t nav_mode) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[26]; + _mav_put_uint64_t(buf, 0, time_us); + _mav_put_float(buf, 8, roll_ailerons); + _mav_put_float(buf, 12, pitch_elevator); + _mav_put_float(buf, 16, yaw_rudder); + _mav_put_float(buf, 20, throttle); + _mav_put_uint8_t(buf, 24, mode); + _mav_put_uint8_t(buf, 25, nav_mode); + + memcpy(_MAV_PAYLOAD(msg), buf, 26); +#else + mavlink_hil_controls_t packet; + packet.time_us = time_us; + packet.roll_ailerons = roll_ailerons; + packet.pitch_elevator = pitch_elevator; + packet.yaw_rudder = yaw_rudder; + packet.throttle = throttle; + packet.mode = mode; + packet.nav_mode = nav_mode; + + memcpy(_MAV_PAYLOAD(msg), &packet, 26); +#endif + + msg->msgid = MAVLINK_MSG_ID_HIL_CONTROLS; + return mavlink_finalize_message(msg, system_id, component_id, 26); +} + +/** + * @brief Pack a hil_controls message on a channel + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message was sent over + * @param msg The MAVLink message to compress the data into + * @param time_us Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @param roll_ailerons Control output -3 .. 1 + * @param pitch_elevator Control output -1 .. 1 + * @param yaw_rudder Control output -1 .. 1 + * @param throttle Throttle 0 .. 1 + * @param mode System mode (MAV_MODE) + * @param nav_mode Navigation mode (MAV_NAV_MODE) + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_hil_controls_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint64_t time_us,float roll_ailerons,float pitch_elevator,float yaw_rudder,float throttle,uint8_t mode,uint8_t nav_mode) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[26]; + _mav_put_uint64_t(buf, 0, time_us); + _mav_put_float(buf, 8, roll_ailerons); + _mav_put_float(buf, 12, pitch_elevator); + _mav_put_float(buf, 16, yaw_rudder); + _mav_put_float(buf, 20, throttle); + _mav_put_uint8_t(buf, 24, mode); + _mav_put_uint8_t(buf, 25, nav_mode); + + memcpy(_MAV_PAYLOAD(msg), buf, 26); +#else + mavlink_hil_controls_t packet; + packet.time_us = time_us; + packet.roll_ailerons = roll_ailerons; + packet.pitch_elevator = pitch_elevator; + packet.yaw_rudder = yaw_rudder; + packet.throttle = throttle; + packet.mode = mode; + packet.nav_mode = nav_mode; + + memcpy(_MAV_PAYLOAD(msg), &packet, 26); +#endif + + msg->msgid = MAVLINK_MSG_ID_HIL_CONTROLS; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 26); +} + +/** + * @brief Encode a hil_controls 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 hil_controls C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_hil_controls_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_controls_t* hil_controls) +{ + return mavlink_msg_hil_controls_pack(system_id, component_id, msg, hil_controls->time_us, hil_controls->roll_ailerons, hil_controls->pitch_elevator, hil_controls->yaw_rudder, hil_controls->throttle, hil_controls->mode, hil_controls->nav_mode); +} + +/** + * @brief Send a hil_controls message + * @param chan MAVLink channel to send the message + * + * @param time_us Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @param roll_ailerons Control output -3 .. 1 + * @param pitch_elevator Control output -1 .. 1 + * @param yaw_rudder Control output -1 .. 1 + * @param throttle Throttle 0 .. 1 + * @param mode System mode (MAV_MODE) + * @param nav_mode Navigation mode (MAV_NAV_MODE) + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_hil_controls_send(mavlink_channel_t chan, uint64_t time_us, float roll_ailerons, float pitch_elevator, float yaw_rudder, float throttle, uint8_t mode, uint8_t nav_mode) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[26]; + _mav_put_uint64_t(buf, 0, time_us); + _mav_put_float(buf, 8, roll_ailerons); + _mav_put_float(buf, 12, pitch_elevator); + _mav_put_float(buf, 16, yaw_rudder); + _mav_put_float(buf, 20, throttle); + _mav_put_uint8_t(buf, 24, mode); + _mav_put_uint8_t(buf, 25, nav_mode); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_CONTROLS, buf, 26); +#else + mavlink_hil_controls_t packet; + packet.time_us = time_us; + packet.roll_ailerons = roll_ailerons; + packet.pitch_elevator = pitch_elevator; + packet.yaw_rudder = yaw_rudder; + packet.throttle = throttle; + packet.mode = mode; + packet.nav_mode = nav_mode; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_CONTROLS, (const char *)&packet, 26); +#endif +} + +#endif + +// MESSAGE HIL_CONTROLS UNPACKING + + +/** + * @brief Get field time_us from hil_controls message + * + * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot) + */ +static inline uint64_t mavlink_msg_hil_controls_get_time_us(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint64_t(msg, 0); +} + +/** + * @brief Get field roll_ailerons from hil_controls message + * + * @return Control output -3 .. 1 + */ +static inline float mavlink_msg_hil_controls_get_roll_ailerons(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 8); +} + +/** + * @brief Get field pitch_elevator from hil_controls message + * + * @return Control output -1 .. 1 + */ +static inline float mavlink_msg_hil_controls_get_pitch_elevator(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 12); +} + +/** + * @brief Get field yaw_rudder from hil_controls message + * + * @return Control output -1 .. 1 + */ +static inline float mavlink_msg_hil_controls_get_yaw_rudder(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 16); +} + +/** + * @brief Get field throttle from hil_controls message + * + * @return Throttle 0 .. 1 + */ +static inline float mavlink_msg_hil_controls_get_throttle(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 20); +} + +/** + * @brief Get field mode from hil_controls message + * + * @return System mode (MAV_MODE) + */ +static inline uint8_t mavlink_msg_hil_controls_get_mode(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 24); +} + +/** + * @brief Get field nav_mode from hil_controls message + * + * @return Navigation mode (MAV_NAV_MODE) + */ +static inline uint8_t mavlink_msg_hil_controls_get_nav_mode(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 25); +} + +/** + * @brief Decode a hil_controls message into a struct + * + * @param msg The message to decode + * @param hil_controls C-struct to decode the message contents into + */ +static inline void mavlink_msg_hil_controls_decode(const mavlink_message_t* msg, mavlink_hil_controls_t* hil_controls) +{ +#if MAVLINK_NEED_BYTE_SWAP + hil_controls->time_us = mavlink_msg_hil_controls_get_time_us(msg); + hil_controls->roll_ailerons = mavlink_msg_hil_controls_get_roll_ailerons(msg); + hil_controls->pitch_elevator = mavlink_msg_hil_controls_get_pitch_elevator(msg); + hil_controls->yaw_rudder = mavlink_msg_hil_controls_get_yaw_rudder(msg); + hil_controls->throttle = mavlink_msg_hil_controls_get_throttle(msg); + hil_controls->mode = mavlink_msg_hil_controls_get_mode(msg); + hil_controls->nav_mode = mavlink_msg_hil_controls_get_nav_mode(msg); +#else + memcpy(hil_controls, _MAV_PAYLOAD(msg), 26); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_hil_state.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_hil_state.h new file mode 100644 index 0000000000000000000000000000000000000000..53c3a8efeb7b5d8519fa8706fe550cbc7aa37215 --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_hil_state.h @@ -0,0 +1,474 @@ +// MESSAGE HIL_STATE PACKING + +#define MAVLINK_MSG_ID_HIL_STATE 67 + +typedef struct __mavlink_hil_state_t +{ + uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot) + float roll; ///< Roll angle (rad) + float pitch; ///< Pitch angle (rad) + float yaw; ///< Yaw angle (rad) + float rollspeed; ///< Roll angular speed (rad/s) + float pitchspeed; ///< Pitch angular speed (rad/s) + float yawspeed; ///< Yaw angular speed (rad/s) + int32_t lat; ///< Latitude, expressed as * 1E7 + int32_t lon; ///< Longitude, expressed as * 1E7 + int32_t alt; ///< Altitude in meters, expressed as * 1000 (millimeters) + int16_t vx; ///< Ground X Speed (Latitude), expressed as m/s * 100 + int16_t vy; ///< Ground Y Speed (Longitude), expressed as m/s * 100 + int16_t vz; ///< Ground Z Speed (Altitude), expressed as m/s * 100 + int16_t xacc; ///< X acceleration (mg) + int16_t yacc; ///< Y acceleration (mg) + int16_t zacc; ///< Z acceleration (mg) +} mavlink_hil_state_t; + +#define MAVLINK_MSG_ID_HIL_STATE_LEN 56 +#define MAVLINK_MSG_ID_67_LEN 56 + + + +#define MAVLINK_MESSAGE_INFO_HIL_STATE { \ + "HIL_STATE", \ + 16, \ + { { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_state_t, usec) }, \ + { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_hil_state_t, roll) }, \ + { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_state_t, pitch) }, \ + { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_state_t, yaw) }, \ + { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_hil_state_t, rollspeed) }, \ + { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_state_t, pitchspeed) }, \ + { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_state_t, yawspeed) }, \ + { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 32, offsetof(mavlink_hil_state_t, lat) }, \ + { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 36, offsetof(mavlink_hil_state_t, lon) }, \ + { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 40, offsetof(mavlink_hil_state_t, alt) }, \ + { "vx", NULL, MAVLINK_TYPE_INT16_T, 0, 44, offsetof(mavlink_hil_state_t, vx) }, \ + { "vy", NULL, MAVLINK_TYPE_INT16_T, 0, 46, offsetof(mavlink_hil_state_t, vy) }, \ + { "vz", NULL, MAVLINK_TYPE_INT16_T, 0, 48, offsetof(mavlink_hil_state_t, vz) }, \ + { "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 50, offsetof(mavlink_hil_state_t, xacc) }, \ + { "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 52, offsetof(mavlink_hil_state_t, yacc) }, \ + { "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 54, offsetof(mavlink_hil_state_t, zacc) }, \ + } \ +} + + +/** + * @brief Pack a hil_state 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 usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @param roll Roll angle (rad) + * @param pitch Pitch angle (rad) + * @param yaw Yaw angle (rad) + * @param rollspeed Roll angular speed (rad/s) + * @param pitchspeed Pitch angular speed (rad/s) + * @param yawspeed Yaw angular speed (rad/s) + * @param lat Latitude, expressed as * 1E7 + * @param lon Longitude, expressed as * 1E7 + * @param alt Altitude in meters, expressed as * 1000 (millimeters) + * @param vx Ground X Speed (Latitude), expressed as m/s * 100 + * @param vy Ground Y Speed (Longitude), expressed as m/s * 100 + * @param vz Ground Z Speed (Altitude), expressed as m/s * 100 + * @param xacc X acceleration (mg) + * @param yacc Y acceleration (mg) + * @param zacc Z acceleration (mg) + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_hil_state_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint64_t usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[56]; + _mav_put_uint64_t(buf, 0, usec); + _mav_put_float(buf, 8, roll); + _mav_put_float(buf, 12, pitch); + _mav_put_float(buf, 16, yaw); + _mav_put_float(buf, 20, rollspeed); + _mav_put_float(buf, 24, pitchspeed); + _mav_put_float(buf, 28, yawspeed); + _mav_put_int32_t(buf, 32, lat); + _mav_put_int32_t(buf, 36, lon); + _mav_put_int32_t(buf, 40, alt); + _mav_put_int16_t(buf, 44, vx); + _mav_put_int16_t(buf, 46, vy); + _mav_put_int16_t(buf, 48, vz); + _mav_put_int16_t(buf, 50, xacc); + _mav_put_int16_t(buf, 52, yacc); + _mav_put_int16_t(buf, 54, zacc); + + memcpy(_MAV_PAYLOAD(msg), buf, 56); +#else + mavlink_hil_state_t packet; + packet.usec = usec; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + packet.rollspeed = rollspeed; + packet.pitchspeed = pitchspeed; + packet.yawspeed = yawspeed; + packet.lat = lat; + packet.lon = lon; + packet.alt = alt; + packet.vx = vx; + packet.vy = vy; + packet.vz = vz; + packet.xacc = xacc; + packet.yacc = yacc; + packet.zacc = zacc; + + memcpy(_MAV_PAYLOAD(msg), &packet, 56); +#endif + + msg->msgid = MAVLINK_MSG_ID_HIL_STATE; + return mavlink_finalize_message(msg, system_id, component_id, 56); +} + +/** + * @brief Pack a hil_state 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 usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @param roll Roll angle (rad) + * @param pitch Pitch angle (rad) + * @param yaw Yaw angle (rad) + * @param rollspeed Roll angular speed (rad/s) + * @param pitchspeed Pitch angular speed (rad/s) + * @param yawspeed Yaw angular speed (rad/s) + * @param lat Latitude, expressed as * 1E7 + * @param lon Longitude, expressed as * 1E7 + * @param alt Altitude in meters, expressed as * 1000 (millimeters) + * @param vx Ground X Speed (Latitude), expressed as m/s * 100 + * @param vy Ground Y Speed (Longitude), expressed as m/s * 100 + * @param vz Ground Z Speed (Altitude), expressed as m/s * 100 + * @param xacc X acceleration (mg) + * @param yacc Y acceleration (mg) + * @param zacc Z acceleration (mg) + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_hil_state_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint64_t usec,float roll,float pitch,float yaw,float rollspeed,float pitchspeed,float yawspeed,int32_t lat,int32_t lon,int32_t alt,int16_t vx,int16_t vy,int16_t vz,int16_t xacc,int16_t yacc,int16_t zacc) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[56]; + _mav_put_uint64_t(buf, 0, usec); + _mav_put_float(buf, 8, roll); + _mav_put_float(buf, 12, pitch); + _mav_put_float(buf, 16, yaw); + _mav_put_float(buf, 20, rollspeed); + _mav_put_float(buf, 24, pitchspeed); + _mav_put_float(buf, 28, yawspeed); + _mav_put_int32_t(buf, 32, lat); + _mav_put_int32_t(buf, 36, lon); + _mav_put_int32_t(buf, 40, alt); + _mav_put_int16_t(buf, 44, vx); + _mav_put_int16_t(buf, 46, vy); + _mav_put_int16_t(buf, 48, vz); + _mav_put_int16_t(buf, 50, xacc); + _mav_put_int16_t(buf, 52, yacc); + _mav_put_int16_t(buf, 54, zacc); + + memcpy(_MAV_PAYLOAD(msg), buf, 56); +#else + mavlink_hil_state_t packet; + packet.usec = usec; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + packet.rollspeed = rollspeed; + packet.pitchspeed = pitchspeed; + packet.yawspeed = yawspeed; + packet.lat = lat; + packet.lon = lon; + packet.alt = alt; + packet.vx = vx; + packet.vy = vy; + packet.vz = vz; + packet.xacc = xacc; + packet.yacc = yacc; + packet.zacc = zacc; + + memcpy(_MAV_PAYLOAD(msg), &packet, 56); +#endif + + msg->msgid = MAVLINK_MSG_ID_HIL_STATE; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 56); +} + +/** + * @brief Encode a hil_state 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 hil_state C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_hil_state_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_state_t* hil_state) +{ + return mavlink_msg_hil_state_pack(system_id, component_id, msg, hil_state->usec, hil_state->roll, hil_state->pitch, hil_state->yaw, hil_state->rollspeed, hil_state->pitchspeed, hil_state->yawspeed, hil_state->lat, hil_state->lon, hil_state->alt, hil_state->vx, hil_state->vy, hil_state->vz, hil_state->xacc, hil_state->yacc, hil_state->zacc); +} + +/** + * @brief Send a hil_state message + * @param chan MAVLink channel to send the message + * + * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @param roll Roll angle (rad) + * @param pitch Pitch angle (rad) + * @param yaw Yaw angle (rad) + * @param rollspeed Roll angular speed (rad/s) + * @param pitchspeed Pitch angular speed (rad/s) + * @param yawspeed Yaw angular speed (rad/s) + * @param lat Latitude, expressed as * 1E7 + * @param lon Longitude, expressed as * 1E7 + * @param alt Altitude in meters, expressed as * 1000 (millimeters) + * @param vx Ground X Speed (Latitude), expressed as m/s * 100 + * @param vy Ground Y Speed (Longitude), expressed as m/s * 100 + * @param vz Ground Z Speed (Altitude), expressed as m/s * 100 + * @param xacc X acceleration (mg) + * @param yacc Y acceleration (mg) + * @param zacc Z acceleration (mg) + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_hil_state_send(mavlink_channel_t chan, uint64_t usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[56]; + _mav_put_uint64_t(buf, 0, usec); + _mav_put_float(buf, 8, roll); + _mav_put_float(buf, 12, pitch); + _mav_put_float(buf, 16, yaw); + _mav_put_float(buf, 20, rollspeed); + _mav_put_float(buf, 24, pitchspeed); + _mav_put_float(buf, 28, yawspeed); + _mav_put_int32_t(buf, 32, lat); + _mav_put_int32_t(buf, 36, lon); + _mav_put_int32_t(buf, 40, alt); + _mav_put_int16_t(buf, 44, vx); + _mav_put_int16_t(buf, 46, vy); + _mav_put_int16_t(buf, 48, vz); + _mav_put_int16_t(buf, 50, xacc); + _mav_put_int16_t(buf, 52, yacc); + _mav_put_int16_t(buf, 54, zacc); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, buf, 56); +#else + mavlink_hil_state_t packet; + packet.usec = usec; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + packet.rollspeed = rollspeed; + packet.pitchspeed = pitchspeed; + packet.yawspeed = yawspeed; + packet.lat = lat; + packet.lon = lon; + packet.alt = alt; + packet.vx = vx; + packet.vy = vy; + packet.vz = vz; + packet.xacc = xacc; + packet.yacc = yacc; + packet.zacc = zacc; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, (const char *)&packet, 56); +#endif +} + +#endif + +// MESSAGE HIL_STATE UNPACKING + + +/** + * @brief Get field usec from hil_state message + * + * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot) + */ +static inline uint64_t mavlink_msg_hil_state_get_usec(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint64_t(msg, 0); +} + +/** + * @brief Get field roll from hil_state message + * + * @return Roll angle (rad) + */ +static inline float mavlink_msg_hil_state_get_roll(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 8); +} + +/** + * @brief Get field pitch from hil_state message + * + * @return Pitch angle (rad) + */ +static inline float mavlink_msg_hil_state_get_pitch(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 12); +} + +/** + * @brief Get field yaw from hil_state message + * + * @return Yaw angle (rad) + */ +static inline float mavlink_msg_hil_state_get_yaw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 16); +} + +/** + * @brief Get field rollspeed from hil_state message + * + * @return Roll angular speed (rad/s) + */ +static inline float mavlink_msg_hil_state_get_rollspeed(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 20); +} + +/** + * @brief Get field pitchspeed from hil_state message + * + * @return Pitch angular speed (rad/s) + */ +static inline float mavlink_msg_hil_state_get_pitchspeed(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 24); +} + +/** + * @brief Get field yawspeed from hil_state message + * + * @return Yaw angular speed (rad/s) + */ +static inline float mavlink_msg_hil_state_get_yawspeed(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 28); +} + +/** + * @brief Get field lat from hil_state message + * + * @return Latitude, expressed as * 1E7 + */ +static inline int32_t mavlink_msg_hil_state_get_lat(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int32_t(msg, 32); +} + +/** + * @brief Get field lon from hil_state message + * + * @return Longitude, expressed as * 1E7 + */ +static inline int32_t mavlink_msg_hil_state_get_lon(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int32_t(msg, 36); +} + +/** + * @brief Get field alt from hil_state message + * + * @return Altitude in meters, expressed as * 1000 (millimeters) + */ +static inline int32_t mavlink_msg_hil_state_get_alt(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int32_t(msg, 40); +} + +/** + * @brief Get field vx from hil_state message + * + * @return Ground X Speed (Latitude), expressed as m/s * 100 + */ +static inline int16_t mavlink_msg_hil_state_get_vx(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 44); +} + +/** + * @brief Get field vy from hil_state message + * + * @return Ground Y Speed (Longitude), expressed as m/s * 100 + */ +static inline int16_t mavlink_msg_hil_state_get_vy(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 46); +} + +/** + * @brief Get field vz from hil_state message + * + * @return Ground Z Speed (Altitude), expressed as m/s * 100 + */ +static inline int16_t mavlink_msg_hil_state_get_vz(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 48); +} + +/** + * @brief Get field xacc from hil_state message + * + * @return X acceleration (mg) + */ +static inline int16_t mavlink_msg_hil_state_get_xacc(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 50); +} + +/** + * @brief Get field yacc from hil_state message + * + * @return Y acceleration (mg) + */ +static inline int16_t mavlink_msg_hil_state_get_yacc(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 52); +} + +/** + * @brief Get field zacc from hil_state message + * + * @return Z acceleration (mg) + */ +static inline int16_t mavlink_msg_hil_state_get_zacc(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 54); +} + +/** + * @brief Decode a hil_state message into a struct + * + * @param msg The message to decode + * @param hil_state C-struct to decode the message contents into + */ +static inline void mavlink_msg_hil_state_decode(const mavlink_message_t* msg, mavlink_hil_state_t* hil_state) +{ +#if MAVLINK_NEED_BYTE_SWAP + hil_state->usec = mavlink_msg_hil_state_get_usec(msg); + hil_state->roll = mavlink_msg_hil_state_get_roll(msg); + hil_state->pitch = mavlink_msg_hil_state_get_pitch(msg); + hil_state->yaw = mavlink_msg_hil_state_get_yaw(msg); + hil_state->rollspeed = mavlink_msg_hil_state_get_rollspeed(msg); + hil_state->pitchspeed = mavlink_msg_hil_state_get_pitchspeed(msg); + hil_state->yawspeed = mavlink_msg_hil_state_get_yawspeed(msg); + hil_state->lat = mavlink_msg_hil_state_get_lat(msg); + hil_state->lon = mavlink_msg_hil_state_get_lon(msg); + hil_state->alt = mavlink_msg_hil_state_get_alt(msg); + hil_state->vx = mavlink_msg_hil_state_get_vx(msg); + hil_state->vy = mavlink_msg_hil_state_get_vy(msg); + hil_state->vz = mavlink_msg_hil_state_get_vz(msg); + hil_state->xacc = mavlink_msg_hil_state_get_xacc(msg); + hil_state->yacc = mavlink_msg_hil_state_get_yacc(msg); + hil_state->zacc = mavlink_msg_hil_state_get_zacc(msg); +#else + memcpy(hil_state, _MAV_PAYLOAD(msg), 56); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_local_position.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_local_position.h new file mode 100644 index 0000000000000000000000000000000000000000..fca313b8e92cceeca8acfd1484ca5a683ae96f63 --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_local_position.h @@ -0,0 +1,276 @@ +// MESSAGE LOCAL_POSITION PACKING + +#define MAVLINK_MSG_ID_LOCAL_POSITION 31 + +typedef struct __mavlink_local_position_t +{ + uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot) + float x; ///< X Position + float y; ///< Y Position + float z; ///< Z Position + float vx; ///< X Speed + float vy; ///< Y Speed + float vz; ///< Z Speed +} mavlink_local_position_t; + +#define MAVLINK_MSG_ID_LOCAL_POSITION_LEN 32 +#define MAVLINK_MSG_ID_31_LEN 32 + + + +#define MAVLINK_MESSAGE_INFO_LOCAL_POSITION { \ + "LOCAL_POSITION", \ + 7, \ + { { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_local_position_t, usec) }, \ + { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_local_position_t, x) }, \ + { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_local_position_t, y) }, \ + { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_local_position_t, z) }, \ + { "vx", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_local_position_t, vx) }, \ + { "vy", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_local_position_t, vy) }, \ + { "vz", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_local_position_t, vz) }, \ + } \ +} + + +/** + * @brief Pack a local_position 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 usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @param x X Position + * @param y Y Position + * @param z Z Position + * @param vx X Speed + * @param vy Y Speed + * @param vz Z Speed + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_local_position_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint64_t usec, float x, float y, float z, float vx, float vy, float vz) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[32]; + _mav_put_uint64_t(buf, 0, usec); + _mav_put_float(buf, 8, x); + _mav_put_float(buf, 12, y); + _mav_put_float(buf, 16, z); + _mav_put_float(buf, 20, vx); + _mav_put_float(buf, 24, vy); + _mav_put_float(buf, 28, vz); + + memcpy(_MAV_PAYLOAD(msg), buf, 32); +#else + mavlink_local_position_t packet; + packet.usec = usec; + packet.x = x; + packet.y = y; + packet.z = z; + packet.vx = vx; + packet.vy = vy; + packet.vz = vz; + + memcpy(_MAV_PAYLOAD(msg), &packet, 32); +#endif + + msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION; + return mavlink_finalize_message(msg, system_id, component_id, 32); +} + +/** + * @brief Pack a local_position 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 usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @param x X Position + * @param y Y Position + * @param z Z Position + * @param vx X Speed + * @param vy Y Speed + * @param vz Z Speed + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_local_position_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint64_t usec,float x,float y,float z,float vx,float vy,float vz) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[32]; + _mav_put_uint64_t(buf, 0, usec); + _mav_put_float(buf, 8, x); + _mav_put_float(buf, 12, y); + _mav_put_float(buf, 16, z); + _mav_put_float(buf, 20, vx); + _mav_put_float(buf, 24, vy); + _mav_put_float(buf, 28, vz); + + memcpy(_MAV_PAYLOAD(msg), buf, 32); +#else + mavlink_local_position_t packet; + packet.usec = usec; + packet.x = x; + packet.y = y; + packet.z = z; + packet.vx = vx; + packet.vy = vy; + packet.vz = vz; + + memcpy(_MAV_PAYLOAD(msg), &packet, 32); +#endif + + msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 32); +} + +/** + * @brief Encode a local_position 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 local_position C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_local_position_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_local_position_t* local_position) +{ + return mavlink_msg_local_position_pack(system_id, component_id, msg, local_position->usec, local_position->x, local_position->y, local_position->z, local_position->vx, local_position->vy, local_position->vz); +} + +/** + * @brief Send a local_position message + * @param chan MAVLink channel to send the message + * + * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @param x X Position + * @param y Y Position + * @param z Z Position + * @param vx X Speed + * @param vy Y Speed + * @param vz Z Speed + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_local_position_send(mavlink_channel_t chan, uint64_t usec, float x, float y, float z, float vx, float vy, float vz) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[32]; + _mav_put_uint64_t(buf, 0, usec); + _mav_put_float(buf, 8, x); + _mav_put_float(buf, 12, y); + _mav_put_float(buf, 16, z); + _mav_put_float(buf, 20, vx); + _mav_put_float(buf, 24, vy); + _mav_put_float(buf, 28, vz); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION, buf, 32); +#else + mavlink_local_position_t packet; + packet.usec = usec; + packet.x = x; + packet.y = y; + packet.z = z; + packet.vx = vx; + packet.vy = vy; + packet.vz = vz; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION, (const char *)&packet, 32); +#endif +} + +#endif + +// MESSAGE LOCAL_POSITION UNPACKING + + +/** + * @brief Get field usec from local_position message + * + * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot) + */ +static inline uint64_t mavlink_msg_local_position_get_usec(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint64_t(msg, 0); +} + +/** + * @brief Get field x from local_position message + * + * @return X Position + */ +static inline float mavlink_msg_local_position_get_x(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 8); +} + +/** + * @brief Get field y from local_position message + * + * @return Y Position + */ +static inline float mavlink_msg_local_position_get_y(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 12); +} + +/** + * @brief Get field z from local_position message + * + * @return Z Position + */ +static inline float mavlink_msg_local_position_get_z(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 16); +} + +/** + * @brief Get field vx from local_position message + * + * @return X Speed + */ +static inline float mavlink_msg_local_position_get_vx(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 20); +} + +/** + * @brief Get field vy from local_position message + * + * @return Y Speed + */ +static inline float mavlink_msg_local_position_get_vy(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 24); +} + +/** + * @brief Get field vz from local_position message + * + * @return Z Speed + */ +static inline float mavlink_msg_local_position_get_vz(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 28); +} + +/** + * @brief Decode a local_position message into a struct + * + * @param msg The message to decode + * @param local_position C-struct to decode the message contents into + */ +static inline void mavlink_msg_local_position_decode(const mavlink_message_t* msg, mavlink_local_position_t* local_position) +{ +#if MAVLINK_NEED_BYTE_SWAP + local_position->usec = mavlink_msg_local_position_get_usec(msg); + local_position->x = mavlink_msg_local_position_get_x(msg); + local_position->y = mavlink_msg_local_position_get_y(msg); + local_position->z = mavlink_msg_local_position_get_z(msg); + local_position->vx = mavlink_msg_local_position_get_vx(msg); + local_position->vy = mavlink_msg_local_position_get_vy(msg); + local_position->vz = mavlink_msg_local_position_get_vz(msg); +#else + memcpy(local_position, _MAV_PAYLOAD(msg), 32); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_local_position_setpoint.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_local_position_setpoint.h new file mode 100644 index 0000000000000000000000000000000000000000..08c8e35eb26a49d3554c591850ad545a7b24ddd5 --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_local_position_setpoint.h @@ -0,0 +1,210 @@ +// MESSAGE LOCAL_POSITION_SETPOINT PACKING + +#define MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT 51 + +typedef struct __mavlink_local_position_setpoint_t +{ + float x; ///< x position + float y; ///< y position + float z; ///< z position + float yaw; ///< Desired yaw angle +} mavlink_local_position_setpoint_t; + +#define MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_LEN 16 +#define MAVLINK_MSG_ID_51_LEN 16 + + + +#define MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT { \ + "LOCAL_POSITION_SETPOINT", \ + 4, \ + { { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_local_position_setpoint_t, x) }, \ + { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_local_position_setpoint_t, y) }, \ + { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_local_position_setpoint_t, z) }, \ + { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_local_position_setpoint_t, yaw) }, \ + } \ +} + + +/** + * @brief Pack a local_position_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 x x position + * @param y y position + * @param z z position + * @param yaw Desired yaw angle + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_local_position_setpoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + float x, float y, float z, float yaw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[16]; + _mav_put_float(buf, 0, x); + _mav_put_float(buf, 4, y); + _mav_put_float(buf, 8, z); + _mav_put_float(buf, 12, yaw); + + memcpy(_MAV_PAYLOAD(msg), buf, 16); +#else + mavlink_local_position_setpoint_t packet; + packet.x = x; + packet.y = y; + packet.z = z; + packet.yaw = yaw; + + memcpy(_MAV_PAYLOAD(msg), &packet, 16); +#endif + + msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT; + return mavlink_finalize_message(msg, system_id, component_id, 16); +} + +/** + * @brief Pack a local_position_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 x x position + * @param y y position + * @param z z position + * @param yaw Desired yaw angle + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_local_position_setpoint_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + float x,float y,float z,float yaw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[16]; + _mav_put_float(buf, 0, x); + _mav_put_float(buf, 4, y); + _mav_put_float(buf, 8, z); + _mav_put_float(buf, 12, yaw); + + memcpy(_MAV_PAYLOAD(msg), buf, 16); +#else + mavlink_local_position_setpoint_t packet; + packet.x = x; + packet.y = y; + packet.z = z; + packet.yaw = yaw; + + memcpy(_MAV_PAYLOAD(msg), &packet, 16); +#endif + + msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 16); +} + +/** + * @brief Encode a local_position_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 local_position_setpoint C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_local_position_setpoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_local_position_setpoint_t* local_position_setpoint) +{ + return mavlink_msg_local_position_setpoint_pack(system_id, component_id, msg, local_position_setpoint->x, local_position_setpoint->y, local_position_setpoint->z, local_position_setpoint->yaw); +} + +/** + * @brief Send a local_position_setpoint message + * @param chan MAVLink channel to send the message + * + * @param x x position + * @param y y position + * @param z z position + * @param yaw Desired yaw angle + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_local_position_setpoint_send(mavlink_channel_t chan, float x, float y, float z, float yaw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[16]; + _mav_put_float(buf, 0, x); + _mav_put_float(buf, 4, y); + _mav_put_float(buf, 8, z); + _mav_put_float(buf, 12, yaw); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT, buf, 16); +#else + mavlink_local_position_setpoint_t packet; + packet.x = x; + packet.y = y; + packet.z = z; + packet.yaw = yaw; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT, (const char *)&packet, 16); +#endif +} + +#endif + +// MESSAGE LOCAL_POSITION_SETPOINT UNPACKING + + +/** + * @brief Get field x from local_position_setpoint message + * + * @return x position + */ +static inline float mavlink_msg_local_position_setpoint_get_x(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 0); +} + +/** + * @brief Get field y from local_position_setpoint message + * + * @return y position + */ +static inline float mavlink_msg_local_position_setpoint_get_y(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 4); +} + +/** + * @brief Get field z from local_position_setpoint message + * + * @return z position + */ +static inline float mavlink_msg_local_position_setpoint_get_z(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 8); +} + +/** + * @brief Get field yaw from local_position_setpoint message + * + * @return Desired yaw angle + */ +static inline float mavlink_msg_local_position_setpoint_get_yaw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 12); +} + +/** + * @brief Decode a local_position_setpoint message into a struct + * + * @param msg The message to decode + * @param local_position_setpoint C-struct to decode the message contents into + */ +static inline void mavlink_msg_local_position_setpoint_decode(const mavlink_message_t* msg, mavlink_local_position_setpoint_t* local_position_setpoint) +{ +#if MAVLINK_NEED_BYTE_SWAP + local_position_setpoint->x = mavlink_msg_local_position_setpoint_get_x(msg); + local_position_setpoint->y = mavlink_msg_local_position_setpoint_get_y(msg); + local_position_setpoint->z = mavlink_msg_local_position_setpoint_get_z(msg); + local_position_setpoint->yaw = mavlink_msg_local_position_setpoint_get_yaw(msg); +#else + memcpy(local_position_setpoint, _MAV_PAYLOAD(msg), 16); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_local_position_setpoint_set.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_local_position_setpoint_set.h new file mode 100644 index 0000000000000000000000000000000000000000..de3aee949813dabd21c148b4a70f106b4c330370 --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_local_position_setpoint_set.h @@ -0,0 +1,254 @@ +// MESSAGE LOCAL_POSITION_SETPOINT_SET PACKING + +#define MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_SET 50 + +typedef struct __mavlink_local_position_setpoint_set_t +{ + uint8_t target_system; ///< System ID + uint8_t target_component; ///< Component ID + float x; ///< x position + float y; ///< y position + float z; ///< z position + float yaw; ///< Desired yaw angle +} mavlink_local_position_setpoint_set_t; + +#define MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_SET_LEN 18 +#define MAVLINK_MSG_ID_50_LEN 18 + + + +#define MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT_SET { \ + "LOCAL_POSITION_SETPOINT_SET", \ + 6, \ + { { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_local_position_setpoint_set_t, target_system) }, \ + { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_local_position_setpoint_set_t, target_component) }, \ + { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 2, offsetof(mavlink_local_position_setpoint_set_t, x) }, \ + { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 6, offsetof(mavlink_local_position_setpoint_set_t, y) }, \ + { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 10, offsetof(mavlink_local_position_setpoint_set_t, z) }, \ + { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 14, offsetof(mavlink_local_position_setpoint_set_t, yaw) }, \ + } \ +} + + +/** + * @brief Pack a local_position_setpoint_set 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 target_component Component ID + * @param x x position + * @param y y position + * @param z z position + * @param yaw Desired yaw angle + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_local_position_setpoint_set_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target_system, uint8_t target_component, float x, float y, float z, float yaw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[18]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_float(buf, 2, x); + _mav_put_float(buf, 6, y); + _mav_put_float(buf, 10, z); + _mav_put_float(buf, 14, yaw); + + memcpy(_MAV_PAYLOAD(msg), buf, 18); +#else + mavlink_local_position_setpoint_set_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.x = x; + packet.y = y; + packet.z = z; + packet.yaw = yaw; + + memcpy(_MAV_PAYLOAD(msg), &packet, 18); +#endif + + msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_SET; + return mavlink_finalize_message(msg, system_id, component_id, 18); +} + +/** + * @brief Pack a local_position_setpoint_set 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 target_component Component ID + * @param x x position + * @param y y position + * @param z z position + * @param yaw Desired yaw angle + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_local_position_setpoint_set_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t target_system,uint8_t target_component,float x,float y,float z,float yaw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[18]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_float(buf, 2, x); + _mav_put_float(buf, 6, y); + _mav_put_float(buf, 10, z); + _mav_put_float(buf, 14, yaw); + + memcpy(_MAV_PAYLOAD(msg), buf, 18); +#else + mavlink_local_position_setpoint_set_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.x = x; + packet.y = y; + packet.z = z; + packet.yaw = yaw; + + memcpy(_MAV_PAYLOAD(msg), &packet, 18); +#endif + + msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_SET; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 18); +} + +/** + * @brief Encode a local_position_setpoint_set 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 local_position_setpoint_set C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_local_position_setpoint_set_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_local_position_setpoint_set_t* local_position_setpoint_set) +{ + return mavlink_msg_local_position_setpoint_set_pack(system_id, component_id, msg, local_position_setpoint_set->target_system, local_position_setpoint_set->target_component, local_position_setpoint_set->x, local_position_setpoint_set->y, local_position_setpoint_set->z, local_position_setpoint_set->yaw); +} + +/** + * @brief Send a local_position_setpoint_set message + * @param chan MAVLink channel to send the message + * + * @param target_system System ID + * @param target_component Component ID + * @param x x position + * @param y y position + * @param z z position + * @param yaw Desired yaw angle + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_local_position_setpoint_set_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, float x, float y, float z, float yaw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[18]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_float(buf, 2, x); + _mav_put_float(buf, 6, y); + _mav_put_float(buf, 10, z); + _mav_put_float(buf, 14, yaw); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_SET, buf, 18); +#else + mavlink_local_position_setpoint_set_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.x = x; + packet.y = y; + packet.z = z; + packet.yaw = yaw; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_SET, (const char *)&packet, 18); +#endif +} + +#endif + +// MESSAGE LOCAL_POSITION_SETPOINT_SET UNPACKING + + +/** + * @brief Get field target_system from local_position_setpoint_set message + * + * @return System ID + */ +static inline uint8_t mavlink_msg_local_position_setpoint_set_get_target_system(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field target_component from local_position_setpoint_set message + * + * @return Component ID + */ +static inline uint8_t mavlink_msg_local_position_setpoint_set_get_target_component(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 1); +} + +/** + * @brief Get field x from local_position_setpoint_set message + * + * @return x position + */ +static inline float mavlink_msg_local_position_setpoint_set_get_x(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 2); +} + +/** + * @brief Get field y from local_position_setpoint_set message + * + * @return y position + */ +static inline float mavlink_msg_local_position_setpoint_set_get_y(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 6); +} + +/** + * @brief Get field z from local_position_setpoint_set message + * + * @return z position + */ +static inline float mavlink_msg_local_position_setpoint_set_get_z(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 10); +} + +/** + * @brief Get field yaw from local_position_setpoint_set message + * + * @return Desired yaw angle + */ +static inline float mavlink_msg_local_position_setpoint_set_get_yaw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 14); +} + +/** + * @brief Decode a local_position_setpoint_set message into a struct + * + * @param msg The message to decode + * @param local_position_setpoint_set C-struct to decode the message contents into + */ +static inline void mavlink_msg_local_position_setpoint_set_decode(const mavlink_message_t* msg, mavlink_local_position_setpoint_set_t* local_position_setpoint_set) +{ +#if MAVLINK_NEED_BYTE_SWAP + local_position_setpoint_set->target_system = mavlink_msg_local_position_setpoint_set_get_target_system(msg); + local_position_setpoint_set->target_component = mavlink_msg_local_position_setpoint_set_get_target_component(msg); + local_position_setpoint_set->x = mavlink_msg_local_position_setpoint_set_get_x(msg); + local_position_setpoint_set->y = mavlink_msg_local_position_setpoint_set_get_y(msg); + local_position_setpoint_set->z = mavlink_msg_local_position_setpoint_set_get_z(msg); + local_position_setpoint_set->yaw = mavlink_msg_local_position_setpoint_set_get_yaw(msg); +#else + memcpy(local_position_setpoint_set, _MAV_PAYLOAD(msg), 18); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_manual_control.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_manual_control.h new file mode 100644 index 0000000000000000000000000000000000000000..09db3d9216f3cca07e5e9401e60906ed88750094 --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_manual_control.h @@ -0,0 +1,320 @@ +// MESSAGE MANUAL_CONTROL PACKING + +#define MAVLINK_MSG_ID_MANUAL_CONTROL 69 + +typedef struct __mavlink_manual_control_t +{ + uint8_t target; ///< The system to be controlled + float roll; ///< roll + float pitch; ///< pitch + float yaw; ///< yaw + float thrust; ///< thrust + uint8_t roll_manual; ///< roll control enabled auto:0, manual:1 + uint8_t pitch_manual; ///< pitch auto:0, manual:1 + uint8_t yaw_manual; ///< yaw auto:0, manual:1 + uint8_t thrust_manual; ///< thrust auto:0, manual:1 +} mavlink_manual_control_t; + +#define MAVLINK_MSG_ID_MANUAL_CONTROL_LEN 21 +#define MAVLINK_MSG_ID_69_LEN 21 + + + +#define MAVLINK_MESSAGE_INFO_MANUAL_CONTROL { \ + "MANUAL_CONTROL", \ + 9, \ + { { "target", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_manual_control_t, target) }, \ + { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 1, offsetof(mavlink_manual_control_t, roll) }, \ + { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 5, offsetof(mavlink_manual_control_t, pitch) }, \ + { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 9, offsetof(mavlink_manual_control_t, yaw) }, \ + { "thrust", NULL, MAVLINK_TYPE_FLOAT, 0, 13, offsetof(mavlink_manual_control_t, thrust) }, \ + { "roll_manual", NULL, MAVLINK_TYPE_UINT8_T, 0, 17, offsetof(mavlink_manual_control_t, roll_manual) }, \ + { "pitch_manual", NULL, MAVLINK_TYPE_UINT8_T, 0, 18, offsetof(mavlink_manual_control_t, pitch_manual) }, \ + { "yaw_manual", NULL, MAVLINK_TYPE_UINT8_T, 0, 19, offsetof(mavlink_manual_control_t, yaw_manual) }, \ + { "thrust_manual", NULL, MAVLINK_TYPE_UINT8_T, 0, 20, offsetof(mavlink_manual_control_t, thrust_manual) }, \ + } \ +} + + +/** + * @brief Pack a manual_control 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 The system to be controlled + * @param roll roll + * @param pitch pitch + * @param yaw yaw + * @param thrust thrust + * @param roll_manual roll control enabled auto:0, manual:1 + * @param pitch_manual pitch auto:0, manual:1 + * @param yaw_manual yaw auto:0, manual:1 + * @param thrust_manual thrust auto:0, manual:1 + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_manual_control_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target, float roll, float pitch, float yaw, float thrust, uint8_t roll_manual, uint8_t pitch_manual, uint8_t yaw_manual, uint8_t thrust_manual) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[21]; + _mav_put_uint8_t(buf, 0, target); + _mav_put_float(buf, 1, roll); + _mav_put_float(buf, 5, pitch); + _mav_put_float(buf, 9, yaw); + _mav_put_float(buf, 13, thrust); + _mav_put_uint8_t(buf, 17, roll_manual); + _mav_put_uint8_t(buf, 18, pitch_manual); + _mav_put_uint8_t(buf, 19, yaw_manual); + _mav_put_uint8_t(buf, 20, thrust_manual); + + memcpy(_MAV_PAYLOAD(msg), buf, 21); +#else + mavlink_manual_control_t packet; + packet.target = target; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + packet.thrust = thrust; + packet.roll_manual = roll_manual; + packet.pitch_manual = pitch_manual; + packet.yaw_manual = yaw_manual; + packet.thrust_manual = thrust_manual; + + memcpy(_MAV_PAYLOAD(msg), &packet, 21); +#endif + + msg->msgid = MAVLINK_MSG_ID_MANUAL_CONTROL; + return mavlink_finalize_message(msg, system_id, component_id, 21); +} + +/** + * @brief Pack a manual_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 msg The MAVLink message to compress the data into + * @param target The system to be controlled + * @param roll roll + * @param pitch pitch + * @param yaw yaw + * @param thrust thrust + * @param roll_manual roll control enabled auto:0, manual:1 + * @param pitch_manual pitch auto:0, manual:1 + * @param yaw_manual yaw auto:0, manual:1 + * @param thrust_manual thrust auto:0, manual:1 + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_manual_control_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t target,float roll,float pitch,float yaw,float thrust,uint8_t roll_manual,uint8_t pitch_manual,uint8_t yaw_manual,uint8_t thrust_manual) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[21]; + _mav_put_uint8_t(buf, 0, target); + _mav_put_float(buf, 1, roll); + _mav_put_float(buf, 5, pitch); + _mav_put_float(buf, 9, yaw); + _mav_put_float(buf, 13, thrust); + _mav_put_uint8_t(buf, 17, roll_manual); + _mav_put_uint8_t(buf, 18, pitch_manual); + _mav_put_uint8_t(buf, 19, yaw_manual); + _mav_put_uint8_t(buf, 20, thrust_manual); + + memcpy(_MAV_PAYLOAD(msg), buf, 21); +#else + mavlink_manual_control_t packet; + packet.target = target; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + packet.thrust = thrust; + packet.roll_manual = roll_manual; + packet.pitch_manual = pitch_manual; + packet.yaw_manual = yaw_manual; + packet.thrust_manual = thrust_manual; + + memcpy(_MAV_PAYLOAD(msg), &packet, 21); +#endif + + msg->msgid = MAVLINK_MSG_ID_MANUAL_CONTROL; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 21); +} + +/** + * @brief Encode a manual_control struct into a message + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * @param manual_control C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_manual_control_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_manual_control_t* manual_control) +{ + return mavlink_msg_manual_control_pack(system_id, component_id, msg, manual_control->target, manual_control->roll, manual_control->pitch, manual_control->yaw, manual_control->thrust, manual_control->roll_manual, manual_control->pitch_manual, manual_control->yaw_manual, manual_control->thrust_manual); +} + +/** + * @brief Send a manual_control message + * @param chan MAVLink channel to send the message + * + * @param target The system to be controlled + * @param roll roll + * @param pitch pitch + * @param yaw yaw + * @param thrust thrust + * @param roll_manual roll control enabled auto:0, manual:1 + * @param pitch_manual pitch auto:0, manual:1 + * @param yaw_manual yaw auto:0, manual:1 + * @param thrust_manual thrust auto:0, manual:1 + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_manual_control_send(mavlink_channel_t chan, uint8_t target, float roll, float pitch, float yaw, float thrust, uint8_t roll_manual, uint8_t pitch_manual, uint8_t yaw_manual, uint8_t thrust_manual) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[21]; + _mav_put_uint8_t(buf, 0, target); + _mav_put_float(buf, 1, roll); + _mav_put_float(buf, 5, pitch); + _mav_put_float(buf, 9, yaw); + _mav_put_float(buf, 13, thrust); + _mav_put_uint8_t(buf, 17, roll_manual); + _mav_put_uint8_t(buf, 18, pitch_manual); + _mav_put_uint8_t(buf, 19, yaw_manual); + _mav_put_uint8_t(buf, 20, thrust_manual); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, buf, 21); +#else + mavlink_manual_control_t packet; + packet.target = target; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + packet.thrust = thrust; + packet.roll_manual = roll_manual; + packet.pitch_manual = pitch_manual; + packet.yaw_manual = yaw_manual; + packet.thrust_manual = thrust_manual; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, (const char *)&packet, 21); +#endif +} + +#endif + +// MESSAGE MANUAL_CONTROL UNPACKING + + +/** + * @brief Get field target from manual_control message + * + * @return The system to be controlled + */ +static inline uint8_t mavlink_msg_manual_control_get_target(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field roll from manual_control message + * + * @return roll + */ +static inline float mavlink_msg_manual_control_get_roll(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 1); +} + +/** + * @brief Get field pitch from manual_control message + * + * @return pitch + */ +static inline float mavlink_msg_manual_control_get_pitch(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 5); +} + +/** + * @brief Get field yaw from manual_control message + * + * @return yaw + */ +static inline float mavlink_msg_manual_control_get_yaw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 9); +} + +/** + * @brief Get field thrust from manual_control message + * + * @return thrust + */ +static inline float mavlink_msg_manual_control_get_thrust(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 13); +} + +/** + * @brief Get field roll_manual from manual_control message + * + * @return roll control enabled auto:0, manual:1 + */ +static inline uint8_t mavlink_msg_manual_control_get_roll_manual(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 17); +} + +/** + * @brief Get field pitch_manual from manual_control message + * + * @return pitch auto:0, manual:1 + */ +static inline uint8_t mavlink_msg_manual_control_get_pitch_manual(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 18); +} + +/** + * @brief Get field yaw_manual from manual_control message + * + * @return yaw auto:0, manual:1 + */ +static inline uint8_t mavlink_msg_manual_control_get_yaw_manual(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 19); +} + +/** + * @brief Get field thrust_manual from manual_control message + * + * @return thrust auto:0, manual:1 + */ +static inline uint8_t mavlink_msg_manual_control_get_thrust_manual(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 20); +} + +/** + * @brief Decode a manual_control message into a struct + * + * @param msg The message to decode + * @param manual_control C-struct to decode the message contents into + */ +static inline void mavlink_msg_manual_control_decode(const mavlink_message_t* msg, mavlink_manual_control_t* manual_control) +{ +#if MAVLINK_NEED_BYTE_SWAP + manual_control->target = mavlink_msg_manual_control_get_target(msg); + manual_control->roll = mavlink_msg_manual_control_get_roll(msg); + manual_control->pitch = mavlink_msg_manual_control_get_pitch(msg); + manual_control->yaw = mavlink_msg_manual_control_get_yaw(msg); + manual_control->thrust = mavlink_msg_manual_control_get_thrust(msg); + manual_control->roll_manual = mavlink_msg_manual_control_get_roll_manual(msg); + manual_control->pitch_manual = mavlink_msg_manual_control_get_pitch_manual(msg); + manual_control->yaw_manual = mavlink_msg_manual_control_get_yaw_manual(msg); + manual_control->thrust_manual = mavlink_msg_manual_control_get_thrust_manual(msg); +#else + memcpy(manual_control, _MAV_PAYLOAD(msg), 21); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_named_value_float.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_named_value_float.h new file mode 100644 index 0000000000000000000000000000000000000000..7b41755d21a9014854af77b90847740f117fd45e --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_named_value_float.h @@ -0,0 +1,160 @@ +// MESSAGE NAMED_VALUE_FLOAT PACKING + +#define MAVLINK_MSG_ID_NAMED_VALUE_FLOAT 252 + +typedef struct __mavlink_named_value_float_t +{ + char name[10]; ///< Name of the debug variable + float value; ///< Floating point value +} mavlink_named_value_float_t; + +#define MAVLINK_MSG_ID_NAMED_VALUE_FLOAT_LEN 14 +#define MAVLINK_MSG_ID_252_LEN 14 + +#define MAVLINK_MSG_NAMED_VALUE_FLOAT_FIELD_NAME_LEN 10 + +#define MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT { \ + "NAMED_VALUE_FLOAT", \ + 2, \ + { { "name", NULL, MAVLINK_TYPE_CHAR, 10, 0, offsetof(mavlink_named_value_float_t, name) }, \ + { "value", NULL, MAVLINK_TYPE_FLOAT, 0, 10, offsetof(mavlink_named_value_float_t, value) }, \ + } \ +} + + +/** + * @brief Pack a named_value_float 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 name Name of the debug variable + * @param value Floating point value + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_named_value_float_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + const char *name, float value) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[14]; + _mav_put_float(buf, 10, value); + _mav_put_char_array(buf, 0, name, 10); + memcpy(_MAV_PAYLOAD(msg), buf, 14); +#else + mavlink_named_value_float_t packet; + packet.value = value; + mav_array_memcpy(packet.name, name, sizeof(char)*10); + memcpy(_MAV_PAYLOAD(msg), &packet, 14); +#endif + + msg->msgid = MAVLINK_MSG_ID_NAMED_VALUE_FLOAT; + return mavlink_finalize_message(msg, system_id, component_id, 14); +} + +/** + * @brief Pack a named_value_float 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 name Name of the debug variable + * @param value Floating point value + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_named_value_float_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + const char *name,float value) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[14]; + _mav_put_float(buf, 10, value); + _mav_put_char_array(buf, 0, name, 10); + memcpy(_MAV_PAYLOAD(msg), buf, 14); +#else + mavlink_named_value_float_t packet; + packet.value = value; + mav_array_memcpy(packet.name, name, sizeof(char)*10); + memcpy(_MAV_PAYLOAD(msg), &packet, 14); +#endif + + msg->msgid = MAVLINK_MSG_ID_NAMED_VALUE_FLOAT; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 14); +} + +/** + * @brief Encode a named_value_float 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 named_value_float C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_named_value_float_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_named_value_float_t* named_value_float) +{ + return mavlink_msg_named_value_float_pack(system_id, component_id, msg, named_value_float->name, named_value_float->value); +} + +/** + * @brief Send a named_value_float message + * @param chan MAVLink channel to send the message + * + * @param name Name of the debug variable + * @param value Floating point value + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_named_value_float_send(mavlink_channel_t chan, const char *name, float value) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[14]; + _mav_put_float(buf, 10, value); + _mav_put_char_array(buf, 0, name, 10); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, buf, 14); +#else + mavlink_named_value_float_t packet; + packet.value = value; + mav_array_memcpy(packet.name, name, sizeof(char)*10); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, (const char *)&packet, 14); +#endif +} + +#endif + +// MESSAGE NAMED_VALUE_FLOAT UNPACKING + + +/** + * @brief Get field name from named_value_float message + * + * @return Name of the debug variable + */ +static inline uint16_t mavlink_msg_named_value_float_get_name(const mavlink_message_t* msg, char *name) +{ + return _MAV_RETURN_char_array(msg, name, 10, 0); +} + +/** + * @brief Get field value from named_value_float message + * + * @return Floating point value + */ +static inline float mavlink_msg_named_value_float_get_value(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 10); +} + +/** + * @brief Decode a named_value_float message into a struct + * + * @param msg The message to decode + * @param named_value_float C-struct to decode the message contents into + */ +static inline void mavlink_msg_named_value_float_decode(const mavlink_message_t* msg, mavlink_named_value_float_t* named_value_float) +{ +#if MAVLINK_NEED_BYTE_SWAP + mavlink_msg_named_value_float_get_name(msg, named_value_float->name); + named_value_float->value = mavlink_msg_named_value_float_get_value(msg); +#else + memcpy(named_value_float, _MAV_PAYLOAD(msg), 14); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_named_value_int.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_named_value_int.h new file mode 100644 index 0000000000000000000000000000000000000000..a484e6e1f119ebabbc106f3ab2ace9f473b4512b --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_named_value_int.h @@ -0,0 +1,160 @@ +// MESSAGE NAMED_VALUE_INT PACKING + +#define MAVLINK_MSG_ID_NAMED_VALUE_INT 253 + +typedef struct __mavlink_named_value_int_t +{ + char name[10]; ///< Name of the debug variable + int32_t value; ///< Signed integer value +} mavlink_named_value_int_t; + +#define MAVLINK_MSG_ID_NAMED_VALUE_INT_LEN 14 +#define MAVLINK_MSG_ID_253_LEN 14 + +#define MAVLINK_MSG_NAMED_VALUE_INT_FIELD_NAME_LEN 10 + +#define MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT { \ + "NAMED_VALUE_INT", \ + 2, \ + { { "name", NULL, MAVLINK_TYPE_CHAR, 10, 0, offsetof(mavlink_named_value_int_t, name) }, \ + { "value", NULL, MAVLINK_TYPE_INT32_T, 0, 10, offsetof(mavlink_named_value_int_t, value) }, \ + } \ +} + + +/** + * @brief Pack a named_value_int 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 name Name of the debug variable + * @param value Signed integer value + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_named_value_int_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + const char *name, int32_t value) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[14]; + _mav_put_int32_t(buf, 10, value); + _mav_put_char_array(buf, 0, name, 10); + memcpy(_MAV_PAYLOAD(msg), buf, 14); +#else + mavlink_named_value_int_t packet; + packet.value = value; + mav_array_memcpy(packet.name, name, sizeof(char)*10); + memcpy(_MAV_PAYLOAD(msg), &packet, 14); +#endif + + msg->msgid = MAVLINK_MSG_ID_NAMED_VALUE_INT; + return mavlink_finalize_message(msg, system_id, component_id, 14); +} + +/** + * @brief Pack a named_value_int 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 name Name of the debug variable + * @param value Signed integer value + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_named_value_int_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + const char *name,int32_t value) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[14]; + _mav_put_int32_t(buf, 10, value); + _mav_put_char_array(buf, 0, name, 10); + memcpy(_MAV_PAYLOAD(msg), buf, 14); +#else + mavlink_named_value_int_t packet; + packet.value = value; + mav_array_memcpy(packet.name, name, sizeof(char)*10); + memcpy(_MAV_PAYLOAD(msg), &packet, 14); +#endif + + msg->msgid = MAVLINK_MSG_ID_NAMED_VALUE_INT; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 14); +} + +/** + * @brief Encode a named_value_int 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 named_value_int C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_named_value_int_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_named_value_int_t* named_value_int) +{ + return mavlink_msg_named_value_int_pack(system_id, component_id, msg, named_value_int->name, named_value_int->value); +} + +/** + * @brief Send a named_value_int message + * @param chan MAVLink channel to send the message + * + * @param name Name of the debug variable + * @param value Signed integer value + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_named_value_int_send(mavlink_channel_t chan, const char *name, int32_t value) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[14]; + _mav_put_int32_t(buf, 10, value); + _mav_put_char_array(buf, 0, name, 10); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAMED_VALUE_INT, buf, 14); +#else + mavlink_named_value_int_t packet; + packet.value = value; + mav_array_memcpy(packet.name, name, sizeof(char)*10); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAMED_VALUE_INT, (const char *)&packet, 14); +#endif +} + +#endif + +// MESSAGE NAMED_VALUE_INT UNPACKING + + +/** + * @brief Get field name from named_value_int message + * + * @return Name of the debug variable + */ +static inline uint16_t mavlink_msg_named_value_int_get_name(const mavlink_message_t* msg, char *name) +{ + return _MAV_RETURN_char_array(msg, name, 10, 0); +} + +/** + * @brief Get field value from named_value_int message + * + * @return Signed integer value + */ +static inline int32_t mavlink_msg_named_value_int_get_value(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int32_t(msg, 10); +} + +/** + * @brief Decode a named_value_int message into a struct + * + * @param msg The message to decode + * @param named_value_int C-struct to decode the message contents into + */ +static inline void mavlink_msg_named_value_int_decode(const mavlink_message_t* msg, mavlink_named_value_int_t* named_value_int) +{ +#if MAVLINK_NEED_BYTE_SWAP + mavlink_msg_named_value_int_get_name(msg, named_value_int->name); + named_value_int->value = mavlink_msg_named_value_int_get_value(msg); +#else + memcpy(named_value_int, _MAV_PAYLOAD(msg), 14); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_nav_controller_output.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_nav_controller_output.h new file mode 100644 index 0000000000000000000000000000000000000000..8322c8fabbc6339e0238de8fd45b2c9279d11941 --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_nav_controller_output.h @@ -0,0 +1,298 @@ +// MESSAGE NAV_CONTROLLER_OUTPUT PACKING + +#define MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT 62 + +typedef struct __mavlink_nav_controller_output_t +{ + float nav_roll; ///< Current desired roll in degrees + float nav_pitch; ///< Current desired pitch in degrees + int16_t nav_bearing; ///< Current desired heading in degrees + int16_t target_bearing; ///< Bearing to current waypoint/target in degrees + uint16_t wp_dist; ///< Distance to active waypoint in meters + float alt_error; ///< Current altitude error in meters + float aspd_error; ///< Current airspeed error in meters/second + float xtrack_error; ///< Current crosstrack error on x-y plane in meters +} mavlink_nav_controller_output_t; + +#define MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN 26 +#define MAVLINK_MSG_ID_62_LEN 26 + + + +#define MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT { \ + "NAV_CONTROLLER_OUTPUT", \ + 8, \ + { { "nav_roll", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_nav_controller_output_t, nav_roll) }, \ + { "nav_pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_nav_controller_output_t, nav_pitch) }, \ + { "nav_bearing", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_nav_controller_output_t, nav_bearing) }, \ + { "target_bearing", NULL, MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_nav_controller_output_t, target_bearing) }, \ + { "wp_dist", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_nav_controller_output_t, wp_dist) }, \ + { "alt_error", NULL, MAVLINK_TYPE_FLOAT, 0, 14, offsetof(mavlink_nav_controller_output_t, alt_error) }, \ + { "aspd_error", NULL, MAVLINK_TYPE_FLOAT, 0, 18, offsetof(mavlink_nav_controller_output_t, aspd_error) }, \ + { "xtrack_error", NULL, MAVLINK_TYPE_FLOAT, 0, 22, offsetof(mavlink_nav_controller_output_t, xtrack_error) }, \ + } \ +} + + +/** + * @brief Pack a nav_controller_output 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 nav_roll Current desired roll in degrees + * @param nav_pitch Current desired pitch in degrees + * @param nav_bearing Current desired heading in degrees + * @param target_bearing Bearing to current waypoint/target in degrees + * @param wp_dist Distance to active waypoint in meters + * @param alt_error Current altitude error in meters + * @param aspd_error Current airspeed error in meters/second + * @param xtrack_error Current crosstrack error on x-y plane in meters + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_nav_controller_output_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + float nav_roll, float nav_pitch, int16_t nav_bearing, int16_t target_bearing, uint16_t wp_dist, float alt_error, float aspd_error, float xtrack_error) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[26]; + _mav_put_float(buf, 0, nav_roll); + _mav_put_float(buf, 4, nav_pitch); + _mav_put_int16_t(buf, 8, nav_bearing); + _mav_put_int16_t(buf, 10, target_bearing); + _mav_put_uint16_t(buf, 12, wp_dist); + _mav_put_float(buf, 14, alt_error); + _mav_put_float(buf, 18, aspd_error); + _mav_put_float(buf, 22, xtrack_error); + + memcpy(_MAV_PAYLOAD(msg), buf, 26); +#else + mavlink_nav_controller_output_t packet; + packet.nav_roll = nav_roll; + packet.nav_pitch = nav_pitch; + packet.nav_bearing = nav_bearing; + packet.target_bearing = target_bearing; + packet.wp_dist = wp_dist; + packet.alt_error = alt_error; + packet.aspd_error = aspd_error; + packet.xtrack_error = xtrack_error; + + memcpy(_MAV_PAYLOAD(msg), &packet, 26); +#endif + + msg->msgid = MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT; + return mavlink_finalize_message(msg, system_id, component_id, 26); +} + +/** + * @brief Pack a nav_controller_output 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 nav_roll Current desired roll in degrees + * @param nav_pitch Current desired pitch in degrees + * @param nav_bearing Current desired heading in degrees + * @param target_bearing Bearing to current waypoint/target in degrees + * @param wp_dist Distance to active waypoint in meters + * @param alt_error Current altitude error in meters + * @param aspd_error Current airspeed error in meters/second + * @param xtrack_error Current crosstrack error on x-y plane in meters + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_nav_controller_output_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + float nav_roll,float nav_pitch,int16_t nav_bearing,int16_t target_bearing,uint16_t wp_dist,float alt_error,float aspd_error,float xtrack_error) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[26]; + _mav_put_float(buf, 0, nav_roll); + _mav_put_float(buf, 4, nav_pitch); + _mav_put_int16_t(buf, 8, nav_bearing); + _mav_put_int16_t(buf, 10, target_bearing); + _mav_put_uint16_t(buf, 12, wp_dist); + _mav_put_float(buf, 14, alt_error); + _mav_put_float(buf, 18, aspd_error); + _mav_put_float(buf, 22, xtrack_error); + + memcpy(_MAV_PAYLOAD(msg), buf, 26); +#else + mavlink_nav_controller_output_t packet; + packet.nav_roll = nav_roll; + packet.nav_pitch = nav_pitch; + packet.nav_bearing = nav_bearing; + packet.target_bearing = target_bearing; + packet.wp_dist = wp_dist; + packet.alt_error = alt_error; + packet.aspd_error = aspd_error; + packet.xtrack_error = xtrack_error; + + memcpy(_MAV_PAYLOAD(msg), &packet, 26); +#endif + + msg->msgid = MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 26); +} + +/** + * @brief Encode a nav_controller_output 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 nav_controller_output C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_nav_controller_output_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_nav_controller_output_t* nav_controller_output) +{ + return mavlink_msg_nav_controller_output_pack(system_id, component_id, msg, nav_controller_output->nav_roll, nav_controller_output->nav_pitch, nav_controller_output->nav_bearing, nav_controller_output->target_bearing, nav_controller_output->wp_dist, nav_controller_output->alt_error, nav_controller_output->aspd_error, nav_controller_output->xtrack_error); +} + +/** + * @brief Send a nav_controller_output message + * @param chan MAVLink channel to send the message + * + * @param nav_roll Current desired roll in degrees + * @param nav_pitch Current desired pitch in degrees + * @param nav_bearing Current desired heading in degrees + * @param target_bearing Bearing to current waypoint/target in degrees + * @param wp_dist Distance to active waypoint in meters + * @param alt_error Current altitude error in meters + * @param aspd_error Current airspeed error in meters/second + * @param xtrack_error Current crosstrack error on x-y plane in meters + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_nav_controller_output_send(mavlink_channel_t chan, float nav_roll, float nav_pitch, int16_t nav_bearing, int16_t target_bearing, uint16_t wp_dist, float alt_error, float aspd_error, float xtrack_error) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[26]; + _mav_put_float(buf, 0, nav_roll); + _mav_put_float(buf, 4, nav_pitch); + _mav_put_int16_t(buf, 8, nav_bearing); + _mav_put_int16_t(buf, 10, target_bearing); + _mav_put_uint16_t(buf, 12, wp_dist); + _mav_put_float(buf, 14, alt_error); + _mav_put_float(buf, 18, aspd_error); + _mav_put_float(buf, 22, xtrack_error); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT, buf, 26); +#else + mavlink_nav_controller_output_t packet; + packet.nav_roll = nav_roll; + packet.nav_pitch = nav_pitch; + packet.nav_bearing = nav_bearing; + packet.target_bearing = target_bearing; + packet.wp_dist = wp_dist; + packet.alt_error = alt_error; + packet.aspd_error = aspd_error; + packet.xtrack_error = xtrack_error; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT, (const char *)&packet, 26); +#endif +} + +#endif + +// MESSAGE NAV_CONTROLLER_OUTPUT UNPACKING + + +/** + * @brief Get field nav_roll from nav_controller_output message + * + * @return Current desired roll in degrees + */ +static inline float mavlink_msg_nav_controller_output_get_nav_roll(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 0); +} + +/** + * @brief Get field nav_pitch from nav_controller_output message + * + * @return Current desired pitch in degrees + */ +static inline float mavlink_msg_nav_controller_output_get_nav_pitch(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 4); +} + +/** + * @brief Get field nav_bearing from nav_controller_output message + * + * @return Current desired heading in degrees + */ +static inline int16_t mavlink_msg_nav_controller_output_get_nav_bearing(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 8); +} + +/** + * @brief Get field target_bearing from nav_controller_output message + * + * @return Bearing to current waypoint/target in degrees + */ +static inline int16_t mavlink_msg_nav_controller_output_get_target_bearing(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 10); +} + +/** + * @brief Get field wp_dist from nav_controller_output message + * + * @return Distance to active waypoint in meters + */ +static inline uint16_t mavlink_msg_nav_controller_output_get_wp_dist(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 12); +} + +/** + * @brief Get field alt_error from nav_controller_output message + * + * @return Current altitude error in meters + */ +static inline float mavlink_msg_nav_controller_output_get_alt_error(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 14); +} + +/** + * @brief Get field aspd_error from nav_controller_output message + * + * @return Current airspeed error in meters/second + */ +static inline float mavlink_msg_nav_controller_output_get_aspd_error(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 18); +} + +/** + * @brief Get field xtrack_error from nav_controller_output message + * + * @return Current crosstrack error on x-y plane in meters + */ +static inline float mavlink_msg_nav_controller_output_get_xtrack_error(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 22); +} + +/** + * @brief Decode a nav_controller_output message into a struct + * + * @param msg The message to decode + * @param nav_controller_output C-struct to decode the message contents into + */ +static inline void mavlink_msg_nav_controller_output_decode(const mavlink_message_t* msg, mavlink_nav_controller_output_t* nav_controller_output) +{ +#if MAVLINK_NEED_BYTE_SWAP + nav_controller_output->nav_roll = mavlink_msg_nav_controller_output_get_nav_roll(msg); + nav_controller_output->nav_pitch = mavlink_msg_nav_controller_output_get_nav_pitch(msg); + nav_controller_output->nav_bearing = mavlink_msg_nav_controller_output_get_nav_bearing(msg); + nav_controller_output->target_bearing = mavlink_msg_nav_controller_output_get_target_bearing(msg); + nav_controller_output->wp_dist = mavlink_msg_nav_controller_output_get_wp_dist(msg); + nav_controller_output->alt_error = mavlink_msg_nav_controller_output_get_alt_error(msg); + nav_controller_output->aspd_error = mavlink_msg_nav_controller_output_get_aspd_error(msg); + nav_controller_output->xtrack_error = mavlink_msg_nav_controller_output_get_xtrack_error(msg); +#else + memcpy(nav_controller_output, _MAV_PAYLOAD(msg), 26); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_object_detection_event.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_object_detection_event.h new file mode 100644 index 0000000000000000000000000000000000000000..fc707cb7397b9bb0abc01022164daf8676e03e59 --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_object_detection_event.h @@ -0,0 +1,270 @@ +// MESSAGE OBJECT_DETECTION_EVENT PACKING + +#define MAVLINK_MSG_ID_OBJECT_DETECTION_EVENT 140 + +typedef struct __mavlink_object_detection_event_t +{ + uint32_t time; ///< Timestamp in milliseconds since system boot + uint16_t object_id; ///< Object ID + uint8_t type; ///< Object type: 0: image, 1: letter, 2: ground vehicle, 3: air vehicle, 4: surface vehicle, 5: sub-surface vehicle, 6: human, 7: animal + char name[20]; ///< Name of the object as defined by the detector + uint8_t quality; ///< Detection quality / confidence. 0: bad, 255: maximum confidence + float bearing; ///< Angle of the object with respect to the body frame in NED coordinates in radians. 0: front + float distance; ///< Ground distance in meters +} mavlink_object_detection_event_t; + +#define MAVLINK_MSG_ID_OBJECT_DETECTION_EVENT_LEN 36 +#define MAVLINK_MSG_ID_140_LEN 36 + +#define MAVLINK_MSG_OBJECT_DETECTION_EVENT_FIELD_NAME_LEN 20 + +#define MAVLINK_MESSAGE_INFO_OBJECT_DETECTION_EVENT { \ + "OBJECT_DETECTION_EVENT", \ + 7, \ + { { "time", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_object_detection_event_t, time) }, \ + { "object_id", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_object_detection_event_t, object_id) }, \ + { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_object_detection_event_t, type) }, \ + { "name", NULL, MAVLINK_TYPE_CHAR, 20, 7, offsetof(mavlink_object_detection_event_t, name) }, \ + { "quality", NULL, MAVLINK_TYPE_UINT8_T, 0, 27, offsetof(mavlink_object_detection_event_t, quality) }, \ + { "bearing", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_object_detection_event_t, bearing) }, \ + { "distance", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_object_detection_event_t, distance) }, \ + } \ +} + + +/** + * @brief Pack a object_detection_event message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * + * @param time Timestamp in milliseconds since system boot + * @param object_id Object ID + * @param type Object type: 0: image, 1: letter, 2: ground vehicle, 3: air vehicle, 4: surface vehicle, 5: sub-surface vehicle, 6: human, 7: animal + * @param name Name of the object as defined by the detector + * @param quality Detection quality / confidence. 0: bad, 255: maximum confidence + * @param bearing Angle of the object with respect to the body frame in NED coordinates in radians. 0: front + * @param distance Ground distance in meters + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_object_detection_event_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint32_t time, uint16_t object_id, uint8_t type, const char *name, uint8_t quality, float bearing, float distance) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[36]; + _mav_put_uint32_t(buf, 0, time); + _mav_put_uint16_t(buf, 4, object_id); + _mav_put_uint8_t(buf, 6, type); + _mav_put_uint8_t(buf, 27, quality); + _mav_put_float(buf, 28, bearing); + _mav_put_float(buf, 32, distance); + _mav_put_char_array(buf, 7, name, 20); + memcpy(_MAV_PAYLOAD(msg), buf, 36); +#else + mavlink_object_detection_event_t packet; + packet.time = time; + packet.object_id = object_id; + packet.type = type; + packet.quality = quality; + packet.bearing = bearing; + packet.distance = distance; + mav_array_memcpy(packet.name, name, sizeof(char)*20); + memcpy(_MAV_PAYLOAD(msg), &packet, 36); +#endif + + msg->msgid = MAVLINK_MSG_ID_OBJECT_DETECTION_EVENT; + return mavlink_finalize_message(msg, system_id, component_id, 36); +} + +/** + * @brief Pack a object_detection_event message on a channel + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message was sent over + * @param msg The MAVLink message to compress the data into + * @param time Timestamp in milliseconds since system boot + * @param object_id Object ID + * @param type Object type: 0: image, 1: letter, 2: ground vehicle, 3: air vehicle, 4: surface vehicle, 5: sub-surface vehicle, 6: human, 7: animal + * @param name Name of the object as defined by the detector + * @param quality Detection quality / confidence. 0: bad, 255: maximum confidence + * @param bearing Angle of the object with respect to the body frame in NED coordinates in radians. 0: front + * @param distance Ground distance in meters + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_object_detection_event_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint32_t time,uint16_t object_id,uint8_t type,const char *name,uint8_t quality,float bearing,float distance) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[36]; + _mav_put_uint32_t(buf, 0, time); + _mav_put_uint16_t(buf, 4, object_id); + _mav_put_uint8_t(buf, 6, type); + _mav_put_uint8_t(buf, 27, quality); + _mav_put_float(buf, 28, bearing); + _mav_put_float(buf, 32, distance); + _mav_put_char_array(buf, 7, name, 20); + memcpy(_MAV_PAYLOAD(msg), buf, 36); +#else + mavlink_object_detection_event_t packet; + packet.time = time; + packet.object_id = object_id; + packet.type = type; + packet.quality = quality; + packet.bearing = bearing; + packet.distance = distance; + mav_array_memcpy(packet.name, name, sizeof(char)*20); + memcpy(_MAV_PAYLOAD(msg), &packet, 36); +#endif + + msg->msgid = MAVLINK_MSG_ID_OBJECT_DETECTION_EVENT; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 36); +} + +/** + * @brief Encode a object_detection_event 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 object_detection_event C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_object_detection_event_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_object_detection_event_t* object_detection_event) +{ + return mavlink_msg_object_detection_event_pack(system_id, component_id, msg, object_detection_event->time, object_detection_event->object_id, object_detection_event->type, object_detection_event->name, object_detection_event->quality, object_detection_event->bearing, object_detection_event->distance); +} + +/** + * @brief Send a object_detection_event message + * @param chan MAVLink channel to send the message + * + * @param time Timestamp in milliseconds since system boot + * @param object_id Object ID + * @param type Object type: 0: image, 1: letter, 2: ground vehicle, 3: air vehicle, 4: surface vehicle, 5: sub-surface vehicle, 6: human, 7: animal + * @param name Name of the object as defined by the detector + * @param quality Detection quality / confidence. 0: bad, 255: maximum confidence + * @param bearing Angle of the object with respect to the body frame in NED coordinates in radians. 0: front + * @param distance Ground distance in meters + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_object_detection_event_send(mavlink_channel_t chan, uint32_t time, uint16_t object_id, uint8_t type, const char *name, uint8_t quality, float bearing, float distance) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[36]; + _mav_put_uint32_t(buf, 0, time); + _mav_put_uint16_t(buf, 4, object_id); + _mav_put_uint8_t(buf, 6, type); + _mav_put_uint8_t(buf, 27, quality); + _mav_put_float(buf, 28, bearing); + _mav_put_float(buf, 32, distance); + _mav_put_char_array(buf, 7, name, 20); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBJECT_DETECTION_EVENT, buf, 36); +#else + mavlink_object_detection_event_t packet; + packet.time = time; + packet.object_id = object_id; + packet.type = type; + packet.quality = quality; + packet.bearing = bearing; + packet.distance = distance; + mav_array_memcpy(packet.name, name, sizeof(char)*20); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBJECT_DETECTION_EVENT, (const char *)&packet, 36); +#endif +} + +#endif + +// MESSAGE OBJECT_DETECTION_EVENT UNPACKING + + +/** + * @brief Get field time from object_detection_event message + * + * @return Timestamp in milliseconds since system boot + */ +static inline uint32_t mavlink_msg_object_detection_event_get_time(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint32_t(msg, 0); +} + +/** + * @brief Get field object_id from object_detection_event message + * + * @return Object ID + */ +static inline uint16_t mavlink_msg_object_detection_event_get_object_id(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 4); +} + +/** + * @brief Get field type from object_detection_event message + * + * @return Object type: 0: image, 1: letter, 2: ground vehicle, 3: air vehicle, 4: surface vehicle, 5: sub-surface vehicle, 6: human, 7: animal + */ +static inline uint8_t mavlink_msg_object_detection_event_get_type(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 6); +} + +/** + * @brief Get field name from object_detection_event message + * + * @return Name of the object as defined by the detector + */ +static inline uint16_t mavlink_msg_object_detection_event_get_name(const mavlink_message_t* msg, char *name) +{ + return _MAV_RETURN_char_array(msg, name, 20, 7); +} + +/** + * @brief Get field quality from object_detection_event message + * + * @return Detection quality / confidence. 0: bad, 255: maximum confidence + */ +static inline uint8_t mavlink_msg_object_detection_event_get_quality(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 27); +} + +/** + * @brief Get field bearing from object_detection_event message + * + * @return Angle of the object with respect to the body frame in NED coordinates in radians. 0: front + */ +static inline float mavlink_msg_object_detection_event_get_bearing(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 28); +} + +/** + * @brief Get field distance from object_detection_event message + * + * @return Ground distance in meters + */ +static inline float mavlink_msg_object_detection_event_get_distance(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 32); +} + +/** + * @brief Decode a object_detection_event message into a struct + * + * @param msg The message to decode + * @param object_detection_event C-struct to decode the message contents into + */ +static inline void mavlink_msg_object_detection_event_decode(const mavlink_message_t* msg, mavlink_object_detection_event_t* object_detection_event) +{ +#if MAVLINK_NEED_BYTE_SWAP + object_detection_event->time = mavlink_msg_object_detection_event_get_time(msg); + object_detection_event->object_id = mavlink_msg_object_detection_event_get_object_id(msg); + object_detection_event->type = mavlink_msg_object_detection_event_get_type(msg); + mavlink_msg_object_detection_event_get_name(msg, object_detection_event->name); + object_detection_event->quality = mavlink_msg_object_detection_event_get_quality(msg); + object_detection_event->bearing = mavlink_msg_object_detection_event_get_bearing(msg); + object_detection_event->distance = mavlink_msg_object_detection_event_get_distance(msg); +#else + memcpy(object_detection_event, _MAV_PAYLOAD(msg), 36); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_optical_flow.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_optical_flow.h new file mode 100644 index 0000000000000000000000000000000000000000..a4bfb18a7ca3208bb89689ae2b11e6f53b4cfae0 --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_optical_flow.h @@ -0,0 +1,254 @@ +// MESSAGE OPTICAL_FLOW PACKING + +#define MAVLINK_MSG_ID_OPTICAL_FLOW 100 + +typedef struct __mavlink_optical_flow_t +{ + uint64_t time; ///< Timestamp (UNIX) + uint8_t sensor_id; ///< Sensor ID + int16_t flow_x; ///< Flow in pixels in x-sensor direction + int16_t flow_y; ///< Flow in pixels in y-sensor direction + uint8_t quality; ///< Optical flow quality / confidence. 0: bad, 255: maximum quality + float ground_distance; ///< Ground distance in meters +} mavlink_optical_flow_t; + +#define MAVLINK_MSG_ID_OPTICAL_FLOW_LEN 18 +#define MAVLINK_MSG_ID_100_LEN 18 + + + +#define MAVLINK_MESSAGE_INFO_OPTICAL_FLOW { \ + "OPTICAL_FLOW", \ + 6, \ + { { "time", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_optical_flow_t, time) }, \ + { "sensor_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_optical_flow_t, sensor_id) }, \ + { "flow_x", NULL, MAVLINK_TYPE_INT16_T, 0, 9, offsetof(mavlink_optical_flow_t, flow_x) }, \ + { "flow_y", NULL, MAVLINK_TYPE_INT16_T, 0, 11, offsetof(mavlink_optical_flow_t, flow_y) }, \ + { "quality", NULL, MAVLINK_TYPE_UINT8_T, 0, 13, offsetof(mavlink_optical_flow_t, quality) }, \ + { "ground_distance", NULL, MAVLINK_TYPE_FLOAT, 0, 14, offsetof(mavlink_optical_flow_t, ground_distance) }, \ + } \ +} + + +/** + * @brief Pack a optical_flow message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * + * @param time Timestamp (UNIX) + * @param sensor_id Sensor ID + * @param flow_x Flow in pixels in x-sensor direction + * @param flow_y Flow in pixels in y-sensor direction + * @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality + * @param ground_distance Ground distance in meters + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_optical_flow_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint64_t time, uint8_t sensor_id, int16_t flow_x, int16_t flow_y, uint8_t quality, float ground_distance) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[18]; + _mav_put_uint64_t(buf, 0, time); + _mav_put_uint8_t(buf, 8, sensor_id); + _mav_put_int16_t(buf, 9, flow_x); + _mav_put_int16_t(buf, 11, flow_y); + _mav_put_uint8_t(buf, 13, quality); + _mav_put_float(buf, 14, ground_distance); + + memcpy(_MAV_PAYLOAD(msg), buf, 18); +#else + mavlink_optical_flow_t packet; + packet.time = time; + packet.sensor_id = sensor_id; + packet.flow_x = flow_x; + packet.flow_y = flow_y; + packet.quality = quality; + packet.ground_distance = ground_distance; + + memcpy(_MAV_PAYLOAD(msg), &packet, 18); +#endif + + msg->msgid = MAVLINK_MSG_ID_OPTICAL_FLOW; + return mavlink_finalize_message(msg, system_id, component_id, 18); +} + +/** + * @brief Pack a optical_flow message on a channel + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message was sent over + * @param msg The MAVLink message to compress the data into + * @param time Timestamp (UNIX) + * @param sensor_id Sensor ID + * @param flow_x Flow in pixels in x-sensor direction + * @param flow_y Flow in pixels in y-sensor direction + * @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality + * @param ground_distance Ground distance in meters + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_optical_flow_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint64_t time,uint8_t sensor_id,int16_t flow_x,int16_t flow_y,uint8_t quality,float ground_distance) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[18]; + _mav_put_uint64_t(buf, 0, time); + _mav_put_uint8_t(buf, 8, sensor_id); + _mav_put_int16_t(buf, 9, flow_x); + _mav_put_int16_t(buf, 11, flow_y); + _mav_put_uint8_t(buf, 13, quality); + _mav_put_float(buf, 14, ground_distance); + + memcpy(_MAV_PAYLOAD(msg), buf, 18); +#else + mavlink_optical_flow_t packet; + packet.time = time; + packet.sensor_id = sensor_id; + packet.flow_x = flow_x; + packet.flow_y = flow_y; + packet.quality = quality; + packet.ground_distance = ground_distance; + + memcpy(_MAV_PAYLOAD(msg), &packet, 18); +#endif + + msg->msgid = MAVLINK_MSG_ID_OPTICAL_FLOW; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 18); +} + +/** + * @brief Encode a optical_flow 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 optical_flow C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_optical_flow_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_optical_flow_t* optical_flow) +{ + return mavlink_msg_optical_flow_pack(system_id, component_id, msg, optical_flow->time, optical_flow->sensor_id, optical_flow->flow_x, optical_flow->flow_y, optical_flow->quality, optical_flow->ground_distance); +} + +/** + * @brief Send a optical_flow message + * @param chan MAVLink channel to send the message + * + * @param time Timestamp (UNIX) + * @param sensor_id Sensor ID + * @param flow_x Flow in pixels in x-sensor direction + * @param flow_y Flow in pixels in y-sensor direction + * @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality + * @param ground_distance Ground distance in meters + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_optical_flow_send(mavlink_channel_t chan, uint64_t time, uint8_t sensor_id, int16_t flow_x, int16_t flow_y, uint8_t quality, float ground_distance) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[18]; + _mav_put_uint64_t(buf, 0, time); + _mav_put_uint8_t(buf, 8, sensor_id); + _mav_put_int16_t(buf, 9, flow_x); + _mav_put_int16_t(buf, 11, flow_y); + _mav_put_uint8_t(buf, 13, quality); + _mav_put_float(buf, 14, ground_distance); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, buf, 18); +#else + mavlink_optical_flow_t packet; + packet.time = time; + packet.sensor_id = sensor_id; + packet.flow_x = flow_x; + packet.flow_y = flow_y; + packet.quality = quality; + packet.ground_distance = ground_distance; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, (const char *)&packet, 18); +#endif +} + +#endif + +// MESSAGE OPTICAL_FLOW UNPACKING + + +/** + * @brief Get field time from optical_flow message + * + * @return Timestamp (UNIX) + */ +static inline uint64_t mavlink_msg_optical_flow_get_time(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint64_t(msg, 0); +} + +/** + * @brief Get field sensor_id from optical_flow message + * + * @return Sensor ID + */ +static inline uint8_t mavlink_msg_optical_flow_get_sensor_id(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 8); +} + +/** + * @brief Get field flow_x from optical_flow message + * + * @return Flow in pixels in x-sensor direction + */ +static inline int16_t mavlink_msg_optical_flow_get_flow_x(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 9); +} + +/** + * @brief Get field flow_y from optical_flow message + * + * @return Flow in pixels in y-sensor direction + */ +static inline int16_t mavlink_msg_optical_flow_get_flow_y(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 11); +} + +/** + * @brief Get field quality from optical_flow message + * + * @return Optical flow quality / confidence. 0: bad, 255: maximum quality + */ +static inline uint8_t mavlink_msg_optical_flow_get_quality(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 13); +} + +/** + * @brief Get field ground_distance from optical_flow message + * + * @return Ground distance in meters + */ +static inline float mavlink_msg_optical_flow_get_ground_distance(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 14); +} + +/** + * @brief Decode a optical_flow message into a struct + * + * @param msg The message to decode + * @param optical_flow C-struct to decode the message contents into + */ +static inline void mavlink_msg_optical_flow_decode(const mavlink_message_t* msg, mavlink_optical_flow_t* optical_flow) +{ +#if MAVLINK_NEED_BYTE_SWAP + optical_flow->time = mavlink_msg_optical_flow_get_time(msg); + optical_flow->sensor_id = mavlink_msg_optical_flow_get_sensor_id(msg); + optical_flow->flow_x = mavlink_msg_optical_flow_get_flow_x(msg); + optical_flow->flow_y = mavlink_msg_optical_flow_get_flow_y(msg); + optical_flow->quality = mavlink_msg_optical_flow_get_quality(msg); + optical_flow->ground_distance = mavlink_msg_optical_flow_get_ground_distance(msg); +#else + memcpy(optical_flow, _MAV_PAYLOAD(msg), 18); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_param_request_list.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_param_request_list.h new file mode 100644 index 0000000000000000000000000000000000000000..123ac7977878d1fa70beeb30d22202e3c5c1df95 --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_param_request_list.h @@ -0,0 +1,166 @@ +// MESSAGE PARAM_REQUEST_LIST PACKING + +#define MAVLINK_MSG_ID_PARAM_REQUEST_LIST 21 + +typedef struct __mavlink_param_request_list_t +{ + uint8_t target_system; ///< System ID + uint8_t target_component; ///< Component ID +} mavlink_param_request_list_t; + +#define MAVLINK_MSG_ID_PARAM_REQUEST_LIST_LEN 2 +#define MAVLINK_MSG_ID_21_LEN 2 + + + +#define MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST { \ + "PARAM_REQUEST_LIST", \ + 2, \ + { { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_param_request_list_t, target_system) }, \ + { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_param_request_list_t, target_component) }, \ + } \ +} + + +/** + * @brief Pack a param_request_list message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * + * @param target_system System ID + * @param target_component Component ID + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_param_request_list_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target_system, uint8_t target_component) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[2]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + + memcpy(_MAV_PAYLOAD(msg), buf, 2); +#else + mavlink_param_request_list_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + + memcpy(_MAV_PAYLOAD(msg), &packet, 2); +#endif + + msg->msgid = MAVLINK_MSG_ID_PARAM_REQUEST_LIST; + return mavlink_finalize_message(msg, system_id, component_id, 2); +} + +/** + * @brief Pack a param_request_list message on a channel + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message was sent over + * @param msg The MAVLink message to compress the data into + * @param target_system System ID + * @param target_component Component ID + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_param_request_list_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t target_system,uint8_t target_component) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[2]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + + memcpy(_MAV_PAYLOAD(msg), buf, 2); +#else + mavlink_param_request_list_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + + memcpy(_MAV_PAYLOAD(msg), &packet, 2); +#endif + + msg->msgid = MAVLINK_MSG_ID_PARAM_REQUEST_LIST; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 2); +} + +/** + * @brief Encode a param_request_list struct into a message + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * @param param_request_list C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_param_request_list_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_param_request_list_t* param_request_list) +{ + return mavlink_msg_param_request_list_pack(system_id, component_id, msg, param_request_list->target_system, param_request_list->target_component); +} + +/** + * @brief Send a param_request_list message + * @param chan MAVLink channel to send the message + * + * @param target_system System ID + * @param target_component Component ID + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_param_request_list_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[2]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_REQUEST_LIST, buf, 2); +#else + mavlink_param_request_list_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_REQUEST_LIST, (const char *)&packet, 2); +#endif +} + +#endif + +// MESSAGE PARAM_REQUEST_LIST UNPACKING + + +/** + * @brief Get field target_system from param_request_list message + * + * @return System ID + */ +static inline uint8_t mavlink_msg_param_request_list_get_target_system(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field target_component from param_request_list message + * + * @return Component ID + */ +static inline uint8_t mavlink_msg_param_request_list_get_target_component(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 1); +} + +/** + * @brief Decode a param_request_list message into a struct + * + * @param msg The message to decode + * @param param_request_list C-struct to decode the message contents into + */ +static inline void mavlink_msg_param_request_list_decode(const mavlink_message_t* msg, mavlink_param_request_list_t* param_request_list) +{ +#if MAVLINK_NEED_BYTE_SWAP + param_request_list->target_system = mavlink_msg_param_request_list_get_target_system(msg); + param_request_list->target_component = mavlink_msg_param_request_list_get_target_component(msg); +#else + memcpy(param_request_list, _MAV_PAYLOAD(msg), 2); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_param_request_read.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_param_request_read.h new file mode 100644 index 0000000000000000000000000000000000000000..d84ed5f03203279cf5884d254d415c0ace73e921 --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_param_request_read.h @@ -0,0 +1,204 @@ +// MESSAGE PARAM_REQUEST_READ PACKING + +#define MAVLINK_MSG_ID_PARAM_REQUEST_READ 20 + +typedef struct __mavlink_param_request_read_t +{ + uint8_t target_system; ///< System ID + uint8_t target_component; ///< Component ID + int8_t param_id[15]; ///< Onboard parameter id + int16_t param_index; ///< Parameter index. Send -1 to use the param ID field as identifier +} mavlink_param_request_read_t; + +#define MAVLINK_MSG_ID_PARAM_REQUEST_READ_LEN 19 +#define MAVLINK_MSG_ID_20_LEN 19 + +#define MAVLINK_MSG_PARAM_REQUEST_READ_FIELD_PARAM_ID_LEN 15 + +#define MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ { \ + "PARAM_REQUEST_READ", \ + 4, \ + { { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_param_request_read_t, target_system) }, \ + { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_param_request_read_t, target_component) }, \ + { "param_id", NULL, MAVLINK_TYPE_INT8_T, 15, 2, offsetof(mavlink_param_request_read_t, param_id) }, \ + { "param_index", NULL, MAVLINK_TYPE_INT16_T, 0, 17, offsetof(mavlink_param_request_read_t, param_index) }, \ + } \ +} + + +/** + * @brief Pack a param_request_read 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 target_component Component ID + * @param param_id Onboard parameter id + * @param param_index Parameter index. Send -1 to use the param ID field as identifier + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_param_request_read_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target_system, uint8_t target_component, const int8_t *param_id, int16_t param_index) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[19]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_int16_t(buf, 17, param_index); + _mav_put_int8_t_array(buf, 2, param_id, 15); + memcpy(_MAV_PAYLOAD(msg), buf, 19); +#else + mavlink_param_request_read_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.param_index = param_index; + mav_array_memcpy(packet.param_id, param_id, sizeof(int8_t)*15); + memcpy(_MAV_PAYLOAD(msg), &packet, 19); +#endif + + msg->msgid = MAVLINK_MSG_ID_PARAM_REQUEST_READ; + return mavlink_finalize_message(msg, system_id, component_id, 19); +} + +/** + * @brief Pack a param_request_read 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 target_component Component ID + * @param param_id Onboard parameter id + * @param param_index Parameter index. Send -1 to use the param ID field as identifier + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_param_request_read_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t target_system,uint8_t target_component,const int8_t *param_id,int16_t param_index) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[19]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_int16_t(buf, 17, param_index); + _mav_put_int8_t_array(buf, 2, param_id, 15); + memcpy(_MAV_PAYLOAD(msg), buf, 19); +#else + mavlink_param_request_read_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.param_index = param_index; + mav_array_memcpy(packet.param_id, param_id, sizeof(int8_t)*15); + memcpy(_MAV_PAYLOAD(msg), &packet, 19); +#endif + + msg->msgid = MAVLINK_MSG_ID_PARAM_REQUEST_READ; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 19); +} + +/** + * @brief Encode a param_request_read 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 param_request_read C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_param_request_read_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_param_request_read_t* param_request_read) +{ + return mavlink_msg_param_request_read_pack(system_id, component_id, msg, param_request_read->target_system, param_request_read->target_component, param_request_read->param_id, param_request_read->param_index); +} + +/** + * @brief Send a param_request_read message + * @param chan MAVLink channel to send the message + * + * @param target_system System ID + * @param target_component Component ID + * @param param_id Onboard parameter id + * @param param_index Parameter index. Send -1 to use the param ID field as identifier + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_param_request_read_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, const int8_t *param_id, int16_t param_index) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[19]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_int16_t(buf, 17, param_index); + _mav_put_int8_t_array(buf, 2, param_id, 15); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_REQUEST_READ, buf, 19); +#else + mavlink_param_request_read_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.param_index = param_index; + mav_array_memcpy(packet.param_id, param_id, sizeof(int8_t)*15); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_REQUEST_READ, (const char *)&packet, 19); +#endif +} + +#endif + +// MESSAGE PARAM_REQUEST_READ UNPACKING + + +/** + * @brief Get field target_system from param_request_read message + * + * @return System ID + */ +static inline uint8_t mavlink_msg_param_request_read_get_target_system(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field target_component from param_request_read message + * + * @return Component ID + */ +static inline uint8_t mavlink_msg_param_request_read_get_target_component(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 1); +} + +/** + * @brief Get field param_id from param_request_read message + * + * @return Onboard parameter id + */ +static inline uint16_t mavlink_msg_param_request_read_get_param_id(const mavlink_message_t* msg, int8_t *param_id) +{ + return _MAV_RETURN_int8_t_array(msg, param_id, 15, 2); +} + +/** + * @brief Get field param_index from param_request_read message + * + * @return Parameter index. Send -1 to use the param ID field as identifier + */ +static inline int16_t mavlink_msg_param_request_read_get_param_index(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 17); +} + +/** + * @brief Decode a param_request_read message into a struct + * + * @param msg The message to decode + * @param param_request_read C-struct to decode the message contents into + */ +static inline void mavlink_msg_param_request_read_decode(const mavlink_message_t* msg, mavlink_param_request_read_t* param_request_read) +{ +#if MAVLINK_NEED_BYTE_SWAP + param_request_read->target_system = mavlink_msg_param_request_read_get_target_system(msg); + param_request_read->target_component = mavlink_msg_param_request_read_get_target_component(msg); + mavlink_msg_param_request_read_get_param_id(msg, param_request_read->param_id); + param_request_read->param_index = mavlink_msg_param_request_read_get_param_index(msg); +#else + memcpy(param_request_read, _MAV_PAYLOAD(msg), 19); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_param_set.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_param_set.h new file mode 100644 index 0000000000000000000000000000000000000000..2703b70765f9340797548b18214a879d050d10a0 --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_param_set.h @@ -0,0 +1,204 @@ +// MESSAGE PARAM_SET PACKING + +#define MAVLINK_MSG_ID_PARAM_SET 23 + +typedef struct __mavlink_param_set_t +{ + uint8_t target_system; ///< System ID + uint8_t target_component; ///< Component ID + int8_t param_id[15]; ///< Onboard parameter id + float param_value; ///< Onboard parameter value +} mavlink_param_set_t; + +#define MAVLINK_MSG_ID_PARAM_SET_LEN 21 +#define MAVLINK_MSG_ID_23_LEN 21 + +#define MAVLINK_MSG_PARAM_SET_FIELD_PARAM_ID_LEN 15 + +#define MAVLINK_MESSAGE_INFO_PARAM_SET { \ + "PARAM_SET", \ + 4, \ + { { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_param_set_t, target_system) }, \ + { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_param_set_t, target_component) }, \ + { "param_id", NULL, MAVLINK_TYPE_INT8_T, 15, 2, offsetof(mavlink_param_set_t, param_id) }, \ + { "param_value", NULL, MAVLINK_TYPE_FLOAT, 0, 17, offsetof(mavlink_param_set_t, param_value) }, \ + } \ +} + + +/** + * @brief Pack a param_set 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 target_component Component ID + * @param param_id Onboard parameter id + * @param param_value Onboard parameter value + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_param_set_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target_system, uint8_t target_component, const int8_t *param_id, float param_value) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[21]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_float(buf, 17, param_value); + _mav_put_int8_t_array(buf, 2, param_id, 15); + memcpy(_MAV_PAYLOAD(msg), buf, 21); +#else + mavlink_param_set_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.param_value = param_value; + mav_array_memcpy(packet.param_id, param_id, sizeof(int8_t)*15); + memcpy(_MAV_PAYLOAD(msg), &packet, 21); +#endif + + msg->msgid = MAVLINK_MSG_ID_PARAM_SET; + return mavlink_finalize_message(msg, system_id, component_id, 21); +} + +/** + * @brief Pack a param_set 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 target_component Component ID + * @param param_id Onboard parameter id + * @param param_value Onboard parameter value + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_param_set_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t target_system,uint8_t target_component,const int8_t *param_id,float param_value) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[21]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_float(buf, 17, param_value); + _mav_put_int8_t_array(buf, 2, param_id, 15); + memcpy(_MAV_PAYLOAD(msg), buf, 21); +#else + mavlink_param_set_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.param_value = param_value; + mav_array_memcpy(packet.param_id, param_id, sizeof(int8_t)*15); + memcpy(_MAV_PAYLOAD(msg), &packet, 21); +#endif + + msg->msgid = MAVLINK_MSG_ID_PARAM_SET; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 21); +} + +/** + * @brief Encode a param_set 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 param_set C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_param_set_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_param_set_t* param_set) +{ + return mavlink_msg_param_set_pack(system_id, component_id, msg, param_set->target_system, param_set->target_component, param_set->param_id, param_set->param_value); +} + +/** + * @brief Send a param_set message + * @param chan MAVLink channel to send the message + * + * @param target_system System ID + * @param target_component Component ID + * @param param_id Onboard parameter id + * @param param_value Onboard parameter value + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_param_set_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, const int8_t *param_id, float param_value) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[21]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_float(buf, 17, param_value); + _mav_put_int8_t_array(buf, 2, param_id, 15); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_SET, buf, 21); +#else + mavlink_param_set_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.param_value = param_value; + mav_array_memcpy(packet.param_id, param_id, sizeof(int8_t)*15); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_SET, (const char *)&packet, 21); +#endif +} + +#endif + +// MESSAGE PARAM_SET UNPACKING + + +/** + * @brief Get field target_system from param_set message + * + * @return System ID + */ +static inline uint8_t mavlink_msg_param_set_get_target_system(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field target_component from param_set message + * + * @return Component ID + */ +static inline uint8_t mavlink_msg_param_set_get_target_component(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 1); +} + +/** + * @brief Get field param_id from param_set message + * + * @return Onboard parameter id + */ +static inline uint16_t mavlink_msg_param_set_get_param_id(const mavlink_message_t* msg, int8_t *param_id) +{ + return _MAV_RETURN_int8_t_array(msg, param_id, 15, 2); +} + +/** + * @brief Get field param_value from param_set message + * + * @return Onboard parameter value + */ +static inline float mavlink_msg_param_set_get_param_value(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 17); +} + +/** + * @brief Decode a param_set message into a struct + * + * @param msg The message to decode + * @param param_set C-struct to decode the message contents into + */ +static inline void mavlink_msg_param_set_decode(const mavlink_message_t* msg, mavlink_param_set_t* param_set) +{ +#if MAVLINK_NEED_BYTE_SWAP + param_set->target_system = mavlink_msg_param_set_get_target_system(msg); + param_set->target_component = mavlink_msg_param_set_get_target_component(msg); + mavlink_msg_param_set_get_param_id(msg, param_set->param_id); + param_set->param_value = mavlink_msg_param_set_get_param_value(msg); +#else + memcpy(param_set, _MAV_PAYLOAD(msg), 21); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_param_value.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_param_value.h new file mode 100644 index 0000000000000000000000000000000000000000..1ded094763ea8347320dfa88a9c5767e3f13006f --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_param_value.h @@ -0,0 +1,204 @@ +// MESSAGE PARAM_VALUE PACKING + +#define MAVLINK_MSG_ID_PARAM_VALUE 22 + +typedef struct __mavlink_param_value_t +{ + int8_t param_id[15]; ///< Onboard parameter id + float param_value; ///< Onboard parameter value + uint16_t param_count; ///< Total number of onboard parameters + uint16_t param_index; ///< Index of this onboard parameter +} mavlink_param_value_t; + +#define MAVLINK_MSG_ID_PARAM_VALUE_LEN 23 +#define MAVLINK_MSG_ID_22_LEN 23 + +#define MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN 15 + +#define MAVLINK_MESSAGE_INFO_PARAM_VALUE { \ + "PARAM_VALUE", \ + 4, \ + { { "param_id", NULL, MAVLINK_TYPE_INT8_T, 15, 0, offsetof(mavlink_param_value_t, param_id) }, \ + { "param_value", NULL, MAVLINK_TYPE_FLOAT, 0, 15, offsetof(mavlink_param_value_t, param_value) }, \ + { "param_count", NULL, MAVLINK_TYPE_UINT16_T, 0, 19, offsetof(mavlink_param_value_t, param_count) }, \ + { "param_index", NULL, MAVLINK_TYPE_UINT16_T, 0, 21, offsetof(mavlink_param_value_t, param_index) }, \ + } \ +} + + +/** + * @brief Pack a param_value 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 param_id Onboard parameter id + * @param param_value Onboard parameter value + * @param param_count Total number of onboard parameters + * @param param_index Index of this onboard parameter + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_param_value_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + const int8_t *param_id, float param_value, uint16_t param_count, uint16_t param_index) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[23]; + _mav_put_float(buf, 15, param_value); + _mav_put_uint16_t(buf, 19, param_count); + _mav_put_uint16_t(buf, 21, param_index); + _mav_put_int8_t_array(buf, 0, param_id, 15); + memcpy(_MAV_PAYLOAD(msg), buf, 23); +#else + mavlink_param_value_t packet; + packet.param_value = param_value; + packet.param_count = param_count; + packet.param_index = param_index; + mav_array_memcpy(packet.param_id, param_id, sizeof(int8_t)*15); + memcpy(_MAV_PAYLOAD(msg), &packet, 23); +#endif + + msg->msgid = MAVLINK_MSG_ID_PARAM_VALUE; + return mavlink_finalize_message(msg, system_id, component_id, 23); +} + +/** + * @brief Pack a param_value 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 param_id Onboard parameter id + * @param param_value Onboard parameter value + * @param param_count Total number of onboard parameters + * @param param_index Index of this onboard parameter + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_param_value_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + const int8_t *param_id,float param_value,uint16_t param_count,uint16_t param_index) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[23]; + _mav_put_float(buf, 15, param_value); + _mav_put_uint16_t(buf, 19, param_count); + _mav_put_uint16_t(buf, 21, param_index); + _mav_put_int8_t_array(buf, 0, param_id, 15); + memcpy(_MAV_PAYLOAD(msg), buf, 23); +#else + mavlink_param_value_t packet; + packet.param_value = param_value; + packet.param_count = param_count; + packet.param_index = param_index; + mav_array_memcpy(packet.param_id, param_id, sizeof(int8_t)*15); + memcpy(_MAV_PAYLOAD(msg), &packet, 23); +#endif + + msg->msgid = MAVLINK_MSG_ID_PARAM_VALUE; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 23); +} + +/** + * @brief Encode a param_value 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 param_value C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_param_value_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_param_value_t* param_value) +{ + return mavlink_msg_param_value_pack(system_id, component_id, msg, param_value->param_id, param_value->param_value, param_value->param_count, param_value->param_index); +} + +/** + * @brief Send a param_value message + * @param chan MAVLink channel to send the message + * + * @param param_id Onboard parameter id + * @param param_value Onboard parameter value + * @param param_count Total number of onboard parameters + * @param param_index Index of this onboard parameter + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_param_value_send(mavlink_channel_t chan, const int8_t *param_id, float param_value, uint16_t param_count, uint16_t param_index) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[23]; + _mav_put_float(buf, 15, param_value); + _mav_put_uint16_t(buf, 19, param_count); + _mav_put_uint16_t(buf, 21, param_index); + _mav_put_int8_t_array(buf, 0, param_id, 15); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_VALUE, buf, 23); +#else + mavlink_param_value_t packet; + packet.param_value = param_value; + packet.param_count = param_count; + packet.param_index = param_index; + mav_array_memcpy(packet.param_id, param_id, sizeof(int8_t)*15); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_VALUE, (const char *)&packet, 23); +#endif +} + +#endif + +// MESSAGE PARAM_VALUE UNPACKING + + +/** + * @brief Get field param_id from param_value message + * + * @return Onboard parameter id + */ +static inline uint16_t mavlink_msg_param_value_get_param_id(const mavlink_message_t* msg, int8_t *param_id) +{ + return _MAV_RETURN_int8_t_array(msg, param_id, 15, 0); +} + +/** + * @brief Get field param_value from param_value message + * + * @return Onboard parameter value + */ +static inline float mavlink_msg_param_value_get_param_value(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 15); +} + +/** + * @brief Get field param_count from param_value message + * + * @return Total number of onboard parameters + */ +static inline uint16_t mavlink_msg_param_value_get_param_count(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 19); +} + +/** + * @brief Get field param_index from param_value message + * + * @return Index of this onboard parameter + */ +static inline uint16_t mavlink_msg_param_value_get_param_index(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 21); +} + +/** + * @brief Decode a param_value message into a struct + * + * @param msg The message to decode + * @param param_value C-struct to decode the message contents into + */ +static inline void mavlink_msg_param_value_decode(const mavlink_message_t* msg, mavlink_param_value_t* param_value) +{ +#if MAVLINK_NEED_BYTE_SWAP + mavlink_msg_param_value_get_param_id(msg, param_value->param_id); + param_value->param_value = mavlink_msg_param_value_get_param_value(msg); + param_value->param_count = mavlink_msg_param_value_get_param_count(msg); + param_value->param_index = mavlink_msg_param_value_get_param_index(msg); +#else + memcpy(param_value, _MAV_PAYLOAD(msg), 23); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_ping.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_ping.h new file mode 100644 index 0000000000000000000000000000000000000000..c424221380df4fc5ef0b7b7175fcecc7a4ec317a --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_ping.h @@ -0,0 +1,210 @@ +// MESSAGE PING PACKING + +#define MAVLINK_MSG_ID_PING 3 + +typedef struct __mavlink_ping_t +{ + uint32_t seq; ///< PING sequence + uint8_t target_system; ///< 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system + uint8_t target_component; ///< 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system + uint64_t time; ///< Unix timestamp in microseconds +} mavlink_ping_t; + +#define MAVLINK_MSG_ID_PING_LEN 14 +#define MAVLINK_MSG_ID_3_LEN 14 + + + +#define MAVLINK_MESSAGE_INFO_PING { \ + "PING", \ + 4, \ + { { "seq", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_ping_t, seq) }, \ + { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_ping_t, target_system) }, \ + { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_ping_t, target_component) }, \ + { "time", NULL, MAVLINK_TYPE_UINT64_T, 0, 6, offsetof(mavlink_ping_t, time) }, \ + } \ +} + + +/** + * @brief Pack a ping 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 seq PING sequence + * @param target_system 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system + * @param target_component 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system + * @param time Unix timestamp in microseconds + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_ping_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint32_t seq, uint8_t target_system, uint8_t target_component, uint64_t time) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[14]; + _mav_put_uint32_t(buf, 0, seq); + _mav_put_uint8_t(buf, 4, target_system); + _mav_put_uint8_t(buf, 5, target_component); + _mav_put_uint64_t(buf, 6, time); + + memcpy(_MAV_PAYLOAD(msg), buf, 14); +#else + mavlink_ping_t packet; + packet.seq = seq; + packet.target_system = target_system; + packet.target_component = target_component; + packet.time = time; + + memcpy(_MAV_PAYLOAD(msg), &packet, 14); +#endif + + msg->msgid = MAVLINK_MSG_ID_PING; + return mavlink_finalize_message(msg, system_id, component_id, 14); +} + +/** + * @brief Pack a ping 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 seq PING sequence + * @param target_system 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system + * @param target_component 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system + * @param time Unix timestamp in microseconds + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_ping_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint32_t seq,uint8_t target_system,uint8_t target_component,uint64_t time) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[14]; + _mav_put_uint32_t(buf, 0, seq); + _mav_put_uint8_t(buf, 4, target_system); + _mav_put_uint8_t(buf, 5, target_component); + _mav_put_uint64_t(buf, 6, time); + + memcpy(_MAV_PAYLOAD(msg), buf, 14); +#else + mavlink_ping_t packet; + packet.seq = seq; + packet.target_system = target_system; + packet.target_component = target_component; + packet.time = time; + + memcpy(_MAV_PAYLOAD(msg), &packet, 14); +#endif + + msg->msgid = MAVLINK_MSG_ID_PING; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 14); +} + +/** + * @brief Encode a ping 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 ping C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_ping_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_ping_t* ping) +{ + return mavlink_msg_ping_pack(system_id, component_id, msg, ping->seq, ping->target_system, ping->target_component, ping->time); +} + +/** + * @brief Send a ping message + * @param chan MAVLink channel to send the message + * + * @param seq PING sequence + * @param target_system 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system + * @param target_component 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system + * @param time Unix timestamp in microseconds + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_ping_send(mavlink_channel_t chan, uint32_t seq, uint8_t target_system, uint8_t target_component, uint64_t time) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[14]; + _mav_put_uint32_t(buf, 0, seq); + _mav_put_uint8_t(buf, 4, target_system); + _mav_put_uint8_t(buf, 5, target_component); + _mav_put_uint64_t(buf, 6, time); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PING, buf, 14); +#else + mavlink_ping_t packet; + packet.seq = seq; + packet.target_system = target_system; + packet.target_component = target_component; + packet.time = time; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PING, (const char *)&packet, 14); +#endif +} + +#endif + +// MESSAGE PING UNPACKING + + +/** + * @brief Get field seq from ping message + * + * @return PING sequence + */ +static inline uint32_t mavlink_msg_ping_get_seq(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint32_t(msg, 0); +} + +/** + * @brief Get field target_system from ping message + * + * @return 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system + */ +static inline uint8_t mavlink_msg_ping_get_target_system(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 4); +} + +/** + * @brief Get field target_component from ping message + * + * @return 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system + */ +static inline uint8_t mavlink_msg_ping_get_target_component(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 5); +} + +/** + * @brief Get field time from ping message + * + * @return Unix timestamp in microseconds + */ +static inline uint64_t mavlink_msg_ping_get_time(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint64_t(msg, 6); +} + +/** + * @brief Decode a ping message into a struct + * + * @param msg The message to decode + * @param ping C-struct to decode the message contents into + */ +static inline void mavlink_msg_ping_decode(const mavlink_message_t* msg, mavlink_ping_t* ping) +{ +#if MAVLINK_NEED_BYTE_SWAP + ping->seq = mavlink_msg_ping_get_seq(msg); + ping->target_system = mavlink_msg_ping_get_target_system(msg); + ping->target_component = mavlink_msg_ping_get_target_component(msg); + ping->time = mavlink_msg_ping_get_time(msg); +#else + memcpy(ping, _MAV_PAYLOAD(msg), 14); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_position_target.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_position_target.h new file mode 100644 index 0000000000000000000000000000000000000000..4d9cdc48067aa1d7518eb98421db41122350d32a --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_position_target.h @@ -0,0 +1,210 @@ +// MESSAGE POSITION_TARGET PACKING + +#define MAVLINK_MSG_ID_POSITION_TARGET 63 + +typedef struct __mavlink_position_target_t +{ + float x; ///< x position + float y; ///< y position + float z; ///< z position + float yaw; ///< yaw orientation in radians, 0 = NORTH +} mavlink_position_target_t; + +#define MAVLINK_MSG_ID_POSITION_TARGET_LEN 16 +#define MAVLINK_MSG_ID_63_LEN 16 + + + +#define MAVLINK_MESSAGE_INFO_POSITION_TARGET { \ + "POSITION_TARGET", \ + 4, \ + { { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_position_target_t, x) }, \ + { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_position_target_t, y) }, \ + { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_position_target_t, z) }, \ + { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_position_target_t, yaw) }, \ + } \ +} + + +/** + * @brief Pack a position_target 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 x x position + * @param y y position + * @param z z position + * @param yaw yaw orientation in radians, 0 = NORTH + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_position_target_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + float x, float y, float z, float yaw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[16]; + _mav_put_float(buf, 0, x); + _mav_put_float(buf, 4, y); + _mav_put_float(buf, 8, z); + _mav_put_float(buf, 12, yaw); + + memcpy(_MAV_PAYLOAD(msg), buf, 16); +#else + mavlink_position_target_t packet; + packet.x = x; + packet.y = y; + packet.z = z; + packet.yaw = yaw; + + memcpy(_MAV_PAYLOAD(msg), &packet, 16); +#endif + + msg->msgid = MAVLINK_MSG_ID_POSITION_TARGET; + return mavlink_finalize_message(msg, system_id, component_id, 16); +} + +/** + * @brief Pack a position_target 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 x x position + * @param y y position + * @param z z position + * @param yaw yaw orientation in radians, 0 = NORTH + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_position_target_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + float x,float y,float z,float yaw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[16]; + _mav_put_float(buf, 0, x); + _mav_put_float(buf, 4, y); + _mav_put_float(buf, 8, z); + _mav_put_float(buf, 12, yaw); + + memcpy(_MAV_PAYLOAD(msg), buf, 16); +#else + mavlink_position_target_t packet; + packet.x = x; + packet.y = y; + packet.z = z; + packet.yaw = yaw; + + memcpy(_MAV_PAYLOAD(msg), &packet, 16); +#endif + + msg->msgid = MAVLINK_MSG_ID_POSITION_TARGET; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 16); +} + +/** + * @brief Encode a position_target 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 position_target C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_position_target_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_position_target_t* position_target) +{ + return mavlink_msg_position_target_pack(system_id, component_id, msg, position_target->x, position_target->y, position_target->z, position_target->yaw); +} + +/** + * @brief Send a position_target message + * @param chan MAVLink channel to send the message + * + * @param x x position + * @param y y position + * @param z z position + * @param yaw yaw orientation in radians, 0 = NORTH + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_position_target_send(mavlink_channel_t chan, float x, float y, float z, float yaw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[16]; + _mav_put_float(buf, 0, x); + _mav_put_float(buf, 4, y); + _mav_put_float(buf, 8, z); + _mav_put_float(buf, 12, yaw); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_TARGET, buf, 16); +#else + mavlink_position_target_t packet; + packet.x = x; + packet.y = y; + packet.z = z; + packet.yaw = yaw; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_TARGET, (const char *)&packet, 16); +#endif +} + +#endif + +// MESSAGE POSITION_TARGET UNPACKING + + +/** + * @brief Get field x from position_target message + * + * @return x position + */ +static inline float mavlink_msg_position_target_get_x(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 0); +} + +/** + * @brief Get field y from position_target message + * + * @return y position + */ +static inline float mavlink_msg_position_target_get_y(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 4); +} + +/** + * @brief Get field z from position_target message + * + * @return z position + */ +static inline float mavlink_msg_position_target_get_z(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 8); +} + +/** + * @brief Get field yaw from position_target message + * + * @return yaw orientation in radians, 0 = NORTH + */ +static inline float mavlink_msg_position_target_get_yaw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 12); +} + +/** + * @brief Decode a position_target message into a struct + * + * @param msg The message to decode + * @param position_target C-struct to decode the message contents into + */ +static inline void mavlink_msg_position_target_decode(const mavlink_message_t* msg, mavlink_position_target_t* position_target) +{ +#if MAVLINK_NEED_BYTE_SWAP + position_target->x = mavlink_msg_position_target_get_x(msg); + position_target->y = mavlink_msg_position_target_get_y(msg); + position_target->z = mavlink_msg_position_target_get_z(msg); + position_target->yaw = mavlink_msg_position_target_get_yaw(msg); +#else + memcpy(position_target, _MAV_PAYLOAD(msg), 16); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_raw_imu.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_raw_imu.h new file mode 100644 index 0000000000000000000000000000000000000000..a3a3500fde74490beb8985a1c774ea2b7deca812 --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_raw_imu.h @@ -0,0 +1,342 @@ +// MESSAGE RAW_IMU PACKING + +#define MAVLINK_MSG_ID_RAW_IMU 28 + +typedef struct __mavlink_raw_imu_t +{ + uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot) + int16_t xacc; ///< X acceleration (raw) + int16_t yacc; ///< Y acceleration (raw) + int16_t zacc; ///< Z acceleration (raw) + int16_t xgyro; ///< Angular speed around X axis (raw) + int16_t ygyro; ///< Angular speed around Y axis (raw) + int16_t zgyro; ///< Angular speed around Z axis (raw) + int16_t xmag; ///< X Magnetic field (raw) + int16_t ymag; ///< Y Magnetic field (raw) + int16_t zmag; ///< Z Magnetic field (raw) +} mavlink_raw_imu_t; + +#define MAVLINK_MSG_ID_RAW_IMU_LEN 26 +#define MAVLINK_MSG_ID_28_LEN 26 + + + +#define MAVLINK_MESSAGE_INFO_RAW_IMU { \ + "RAW_IMU", \ + 10, \ + { { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_raw_imu_t, usec) }, \ + { "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_raw_imu_t, xacc) }, \ + { "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_raw_imu_t, yacc) }, \ + { "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_raw_imu_t, zacc) }, \ + { "xgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_raw_imu_t, xgyro) }, \ + { "ygyro", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_raw_imu_t, ygyro) }, \ + { "zgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 18, offsetof(mavlink_raw_imu_t, zgyro) }, \ + { "xmag", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_raw_imu_t, xmag) }, \ + { "ymag", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_raw_imu_t, ymag) }, \ + { "zmag", NULL, MAVLINK_TYPE_INT16_T, 0, 24, offsetof(mavlink_raw_imu_t, zmag) }, \ + } \ +} + + +/** + * @brief Pack a raw_imu message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * + * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @param xacc X acceleration (raw) + * @param yacc Y acceleration (raw) + * @param zacc Z acceleration (raw) + * @param xgyro Angular speed around X axis (raw) + * @param ygyro Angular speed around Y axis (raw) + * @param zgyro Angular speed around Z axis (raw) + * @param xmag X Magnetic field (raw) + * @param ymag Y Magnetic field (raw) + * @param zmag Z Magnetic field (raw) + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_raw_imu_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint64_t usec, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[26]; + _mav_put_uint64_t(buf, 0, usec); + _mav_put_int16_t(buf, 8, xacc); + _mav_put_int16_t(buf, 10, yacc); + _mav_put_int16_t(buf, 12, zacc); + _mav_put_int16_t(buf, 14, xgyro); + _mav_put_int16_t(buf, 16, ygyro); + _mav_put_int16_t(buf, 18, zgyro); + _mav_put_int16_t(buf, 20, xmag); + _mav_put_int16_t(buf, 22, ymag); + _mav_put_int16_t(buf, 24, zmag); + + memcpy(_MAV_PAYLOAD(msg), buf, 26); +#else + mavlink_raw_imu_t packet; + packet.usec = usec; + packet.xacc = xacc; + packet.yacc = yacc; + packet.zacc = zacc; + packet.xgyro = xgyro; + packet.ygyro = ygyro; + packet.zgyro = zgyro; + packet.xmag = xmag; + packet.ymag = ymag; + packet.zmag = zmag; + + memcpy(_MAV_PAYLOAD(msg), &packet, 26); +#endif + + msg->msgid = MAVLINK_MSG_ID_RAW_IMU; + return mavlink_finalize_message(msg, system_id, component_id, 26); +} + +/** + * @brief Pack a raw_imu message on a channel + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message was sent over + * @param msg The MAVLink message to compress the data into + * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @param xacc X acceleration (raw) + * @param yacc Y acceleration (raw) + * @param zacc Z acceleration (raw) + * @param xgyro Angular speed around X axis (raw) + * @param ygyro Angular speed around Y axis (raw) + * @param zgyro Angular speed around Z axis (raw) + * @param xmag X Magnetic field (raw) + * @param ymag Y Magnetic field (raw) + * @param zmag Z Magnetic field (raw) + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_raw_imu_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint64_t usec,int16_t xacc,int16_t yacc,int16_t zacc,int16_t xgyro,int16_t ygyro,int16_t zgyro,int16_t xmag,int16_t ymag,int16_t zmag) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[26]; + _mav_put_uint64_t(buf, 0, usec); + _mav_put_int16_t(buf, 8, xacc); + _mav_put_int16_t(buf, 10, yacc); + _mav_put_int16_t(buf, 12, zacc); + _mav_put_int16_t(buf, 14, xgyro); + _mav_put_int16_t(buf, 16, ygyro); + _mav_put_int16_t(buf, 18, zgyro); + _mav_put_int16_t(buf, 20, xmag); + _mav_put_int16_t(buf, 22, ymag); + _mav_put_int16_t(buf, 24, zmag); + + memcpy(_MAV_PAYLOAD(msg), buf, 26); +#else + mavlink_raw_imu_t packet; + packet.usec = usec; + packet.xacc = xacc; + packet.yacc = yacc; + packet.zacc = zacc; + packet.xgyro = xgyro; + packet.ygyro = ygyro; + packet.zgyro = zgyro; + packet.xmag = xmag; + packet.ymag = ymag; + packet.zmag = zmag; + + memcpy(_MAV_PAYLOAD(msg), &packet, 26); +#endif + + msg->msgid = MAVLINK_MSG_ID_RAW_IMU; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 26); +} + +/** + * @brief Encode a raw_imu struct into a message + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * @param raw_imu C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_raw_imu_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_raw_imu_t* raw_imu) +{ + return mavlink_msg_raw_imu_pack(system_id, component_id, msg, raw_imu->usec, raw_imu->xacc, raw_imu->yacc, raw_imu->zacc, raw_imu->xgyro, raw_imu->ygyro, raw_imu->zgyro, raw_imu->xmag, raw_imu->ymag, raw_imu->zmag); +} + +/** + * @brief Send a raw_imu message + * @param chan MAVLink channel to send the message + * + * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @param xacc X acceleration (raw) + * @param yacc Y acceleration (raw) + * @param zacc Z acceleration (raw) + * @param xgyro Angular speed around X axis (raw) + * @param ygyro Angular speed around Y axis (raw) + * @param zgyro Angular speed around Z axis (raw) + * @param xmag X Magnetic field (raw) + * @param ymag Y Magnetic field (raw) + * @param zmag Z Magnetic field (raw) + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_raw_imu_send(mavlink_channel_t chan, uint64_t usec, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[26]; + _mav_put_uint64_t(buf, 0, usec); + _mav_put_int16_t(buf, 8, xacc); + _mav_put_int16_t(buf, 10, yacc); + _mav_put_int16_t(buf, 12, zacc); + _mav_put_int16_t(buf, 14, xgyro); + _mav_put_int16_t(buf, 16, ygyro); + _mav_put_int16_t(buf, 18, zgyro); + _mav_put_int16_t(buf, 20, xmag); + _mav_put_int16_t(buf, 22, ymag); + _mav_put_int16_t(buf, 24, zmag); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_IMU, buf, 26); +#else + mavlink_raw_imu_t packet; + packet.usec = usec; + packet.xacc = xacc; + packet.yacc = yacc; + packet.zacc = zacc; + packet.xgyro = xgyro; + packet.ygyro = ygyro; + packet.zgyro = zgyro; + packet.xmag = xmag; + packet.ymag = ymag; + packet.zmag = zmag; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_IMU, (const char *)&packet, 26); +#endif +} + +#endif + +// MESSAGE RAW_IMU UNPACKING + + +/** + * @brief Get field usec from raw_imu message + * + * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot) + */ +static inline uint64_t mavlink_msg_raw_imu_get_usec(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint64_t(msg, 0); +} + +/** + * @brief Get field xacc from raw_imu message + * + * @return X acceleration (raw) + */ +static inline int16_t mavlink_msg_raw_imu_get_xacc(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 8); +} + +/** + * @brief Get field yacc from raw_imu message + * + * @return Y acceleration (raw) + */ +static inline int16_t mavlink_msg_raw_imu_get_yacc(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 10); +} + +/** + * @brief Get field zacc from raw_imu message + * + * @return Z acceleration (raw) + */ +static inline int16_t mavlink_msg_raw_imu_get_zacc(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 12); +} + +/** + * @brief Get field xgyro from raw_imu message + * + * @return Angular speed around X axis (raw) + */ +static inline int16_t mavlink_msg_raw_imu_get_xgyro(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 14); +} + +/** + * @brief Get field ygyro from raw_imu message + * + * @return Angular speed around Y axis (raw) + */ +static inline int16_t mavlink_msg_raw_imu_get_ygyro(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 16); +} + +/** + * @brief Get field zgyro from raw_imu message + * + * @return Angular speed around Z axis (raw) + */ +static inline int16_t mavlink_msg_raw_imu_get_zgyro(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 18); +} + +/** + * @brief Get field xmag from raw_imu message + * + * @return X Magnetic field (raw) + */ +static inline int16_t mavlink_msg_raw_imu_get_xmag(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 20); +} + +/** + * @brief Get field ymag from raw_imu message + * + * @return Y Magnetic field (raw) + */ +static inline int16_t mavlink_msg_raw_imu_get_ymag(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 22); +} + +/** + * @brief Get field zmag from raw_imu message + * + * @return Z Magnetic field (raw) + */ +static inline int16_t mavlink_msg_raw_imu_get_zmag(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 24); +} + +/** + * @brief Decode a raw_imu message into a struct + * + * @param msg The message to decode + * @param raw_imu C-struct to decode the message contents into + */ +static inline void mavlink_msg_raw_imu_decode(const mavlink_message_t* msg, mavlink_raw_imu_t* raw_imu) +{ +#if MAVLINK_NEED_BYTE_SWAP + raw_imu->usec = mavlink_msg_raw_imu_get_usec(msg); + raw_imu->xacc = mavlink_msg_raw_imu_get_xacc(msg); + raw_imu->yacc = mavlink_msg_raw_imu_get_yacc(msg); + raw_imu->zacc = mavlink_msg_raw_imu_get_zacc(msg); + raw_imu->xgyro = mavlink_msg_raw_imu_get_xgyro(msg); + raw_imu->ygyro = mavlink_msg_raw_imu_get_ygyro(msg); + raw_imu->zgyro = mavlink_msg_raw_imu_get_zgyro(msg); + raw_imu->xmag = mavlink_msg_raw_imu_get_xmag(msg); + raw_imu->ymag = mavlink_msg_raw_imu_get_ymag(msg); + raw_imu->zmag = mavlink_msg_raw_imu_get_zmag(msg); +#else + memcpy(raw_imu, _MAV_PAYLOAD(msg), 26); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_raw_pressure.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_raw_pressure.h new file mode 100644 index 0000000000000000000000000000000000000000..b56d3e622e547fd22f4c3211206edcd93eec5777 --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_raw_pressure.h @@ -0,0 +1,232 @@ +// MESSAGE RAW_PRESSURE PACKING + +#define MAVLINK_MSG_ID_RAW_PRESSURE 29 + +typedef struct __mavlink_raw_pressure_t +{ + uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot) + int16_t press_abs; ///< Absolute pressure (raw) + int16_t press_diff1; ///< Differential pressure 1 (raw) + int16_t press_diff2; ///< Differential pressure 2 (raw) + int16_t temperature; ///< Raw Temperature measurement (raw) +} mavlink_raw_pressure_t; + +#define MAVLINK_MSG_ID_RAW_PRESSURE_LEN 16 +#define MAVLINK_MSG_ID_29_LEN 16 + + + +#define MAVLINK_MESSAGE_INFO_RAW_PRESSURE { \ + "RAW_PRESSURE", \ + 5, \ + { { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_raw_pressure_t, usec) }, \ + { "press_abs", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_raw_pressure_t, press_abs) }, \ + { "press_diff1", NULL, MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_raw_pressure_t, press_diff1) }, \ + { "press_diff2", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_raw_pressure_t, press_diff2) }, \ + { "temperature", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_raw_pressure_t, temperature) }, \ + } \ +} + + +/** + * @brief Pack a raw_pressure 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 usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @param press_abs Absolute pressure (raw) + * @param press_diff1 Differential pressure 1 (raw) + * @param press_diff2 Differential pressure 2 (raw) + * @param temperature Raw Temperature measurement (raw) + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_raw_pressure_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint64_t usec, int16_t press_abs, int16_t press_diff1, int16_t press_diff2, int16_t temperature) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[16]; + _mav_put_uint64_t(buf, 0, usec); + _mav_put_int16_t(buf, 8, press_abs); + _mav_put_int16_t(buf, 10, press_diff1); + _mav_put_int16_t(buf, 12, press_diff2); + _mav_put_int16_t(buf, 14, temperature); + + memcpy(_MAV_PAYLOAD(msg), buf, 16); +#else + mavlink_raw_pressure_t packet; + packet.usec = usec; + packet.press_abs = press_abs; + packet.press_diff1 = press_diff1; + packet.press_diff2 = press_diff2; + packet.temperature = temperature; + + memcpy(_MAV_PAYLOAD(msg), &packet, 16); +#endif + + msg->msgid = MAVLINK_MSG_ID_RAW_PRESSURE; + return mavlink_finalize_message(msg, system_id, component_id, 16); +} + +/** + * @brief Pack a raw_pressure 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 usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @param press_abs Absolute pressure (raw) + * @param press_diff1 Differential pressure 1 (raw) + * @param press_diff2 Differential pressure 2 (raw) + * @param temperature Raw Temperature measurement (raw) + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_raw_pressure_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint64_t usec,int16_t press_abs,int16_t press_diff1,int16_t press_diff2,int16_t temperature) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[16]; + _mav_put_uint64_t(buf, 0, usec); + _mav_put_int16_t(buf, 8, press_abs); + _mav_put_int16_t(buf, 10, press_diff1); + _mav_put_int16_t(buf, 12, press_diff2); + _mav_put_int16_t(buf, 14, temperature); + + memcpy(_MAV_PAYLOAD(msg), buf, 16); +#else + mavlink_raw_pressure_t packet; + packet.usec = usec; + packet.press_abs = press_abs; + packet.press_diff1 = press_diff1; + packet.press_diff2 = press_diff2; + packet.temperature = temperature; + + memcpy(_MAV_PAYLOAD(msg), &packet, 16); +#endif + + msg->msgid = MAVLINK_MSG_ID_RAW_PRESSURE; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 16); +} + +/** + * @brief Encode a raw_pressure 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 raw_pressure C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_raw_pressure_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_raw_pressure_t* raw_pressure) +{ + return mavlink_msg_raw_pressure_pack(system_id, component_id, msg, raw_pressure->usec, raw_pressure->press_abs, raw_pressure->press_diff1, raw_pressure->press_diff2, raw_pressure->temperature); +} + +/** + * @brief Send a raw_pressure message + * @param chan MAVLink channel to send the message + * + * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @param press_abs Absolute pressure (raw) + * @param press_diff1 Differential pressure 1 (raw) + * @param press_diff2 Differential pressure 2 (raw) + * @param temperature Raw Temperature measurement (raw) + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_raw_pressure_send(mavlink_channel_t chan, uint64_t usec, int16_t press_abs, int16_t press_diff1, int16_t press_diff2, int16_t temperature) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[16]; + _mav_put_uint64_t(buf, 0, usec); + _mav_put_int16_t(buf, 8, press_abs); + _mav_put_int16_t(buf, 10, press_diff1); + _mav_put_int16_t(buf, 12, press_diff2); + _mav_put_int16_t(buf, 14, temperature); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_PRESSURE, buf, 16); +#else + mavlink_raw_pressure_t packet; + packet.usec = usec; + packet.press_abs = press_abs; + packet.press_diff1 = press_diff1; + packet.press_diff2 = press_diff2; + packet.temperature = temperature; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_PRESSURE, (const char *)&packet, 16); +#endif +} + +#endif + +// MESSAGE RAW_PRESSURE UNPACKING + + +/** + * @brief Get field usec from raw_pressure message + * + * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot) + */ +static inline uint64_t mavlink_msg_raw_pressure_get_usec(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint64_t(msg, 0); +} + +/** + * @brief Get field press_abs from raw_pressure message + * + * @return Absolute pressure (raw) + */ +static inline int16_t mavlink_msg_raw_pressure_get_press_abs(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 8); +} + +/** + * @brief Get field press_diff1 from raw_pressure message + * + * @return Differential pressure 1 (raw) + */ +static inline int16_t mavlink_msg_raw_pressure_get_press_diff1(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 10); +} + +/** + * @brief Get field press_diff2 from raw_pressure message + * + * @return Differential pressure 2 (raw) + */ +static inline int16_t mavlink_msg_raw_pressure_get_press_diff2(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 12); +} + +/** + * @brief Get field temperature from raw_pressure message + * + * @return Raw Temperature measurement (raw) + */ +static inline int16_t mavlink_msg_raw_pressure_get_temperature(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 14); +} + +/** + * @brief Decode a raw_pressure message into a struct + * + * @param msg The message to decode + * @param raw_pressure C-struct to decode the message contents into + */ +static inline void mavlink_msg_raw_pressure_decode(const mavlink_message_t* msg, mavlink_raw_pressure_t* raw_pressure) +{ +#if MAVLINK_NEED_BYTE_SWAP + raw_pressure->usec = mavlink_msg_raw_pressure_get_usec(msg); + raw_pressure->press_abs = mavlink_msg_raw_pressure_get_press_abs(msg); + raw_pressure->press_diff1 = mavlink_msg_raw_pressure_get_press_diff1(msg); + raw_pressure->press_diff2 = mavlink_msg_raw_pressure_get_press_diff2(msg); + raw_pressure->temperature = mavlink_msg_raw_pressure_get_temperature(msg); +#else + memcpy(raw_pressure, _MAV_PAYLOAD(msg), 16); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_rc_channels_override.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_rc_channels_override.h new file mode 100644 index 0000000000000000000000000000000000000000..d163158f7f97807dff1ae9c377f2f36a65fe59dd --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_rc_channels_override.h @@ -0,0 +1,342 @@ +// MESSAGE RC_CHANNELS_OVERRIDE PACKING + +#define MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE 70 + +typedef struct __mavlink_rc_channels_override_t +{ + uint8_t target_system; ///< System ID + uint8_t target_component; ///< Component ID + uint16_t chan1_raw; ///< RC channel 1 value, in microseconds + uint16_t chan2_raw; ///< RC channel 2 value, in microseconds + uint16_t chan3_raw; ///< RC channel 3 value, in microseconds + uint16_t chan4_raw; ///< RC channel 4 value, in microseconds + uint16_t chan5_raw; ///< RC channel 5 value, in microseconds + uint16_t chan6_raw; ///< RC channel 6 value, in microseconds + uint16_t chan7_raw; ///< RC channel 7 value, in microseconds + uint16_t chan8_raw; ///< RC channel 8 value, in microseconds +} mavlink_rc_channels_override_t; + +#define MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE_LEN 18 +#define MAVLINK_MSG_ID_70_LEN 18 + + + +#define MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE { \ + "RC_CHANNELS_OVERRIDE", \ + 10, \ + { { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_rc_channels_override_t, target_system) }, \ + { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_rc_channels_override_t, target_component) }, \ + { "chan1_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_rc_channels_override_t, chan1_raw) }, \ + { "chan2_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_rc_channels_override_t, chan2_raw) }, \ + { "chan3_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_rc_channels_override_t, chan3_raw) }, \ + { "chan4_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_rc_channels_override_t, chan4_raw) }, \ + { "chan5_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 10, offsetof(mavlink_rc_channels_override_t, chan5_raw) }, \ + { "chan6_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_rc_channels_override_t, chan6_raw) }, \ + { "chan7_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 14, offsetof(mavlink_rc_channels_override_t, chan7_raw) }, \ + { "chan8_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 16, offsetof(mavlink_rc_channels_override_t, chan8_raw) }, \ + } \ +} + + +/** + * @brief Pack a rc_channels_override 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 target_component Component ID + * @param chan1_raw RC channel 1 value, in microseconds + * @param chan2_raw RC channel 2 value, in microseconds + * @param chan3_raw RC channel 3 value, in microseconds + * @param chan4_raw RC channel 4 value, in microseconds + * @param chan5_raw RC channel 5 value, in microseconds + * @param chan6_raw RC channel 6 value, in microseconds + * @param chan7_raw RC channel 7 value, in microseconds + * @param chan8_raw RC channel 8 value, in microseconds + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_rc_channels_override_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target_system, uint8_t target_component, uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw, uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw, uint16_t chan7_raw, uint16_t chan8_raw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[18]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_uint16_t(buf, 2, chan1_raw); + _mav_put_uint16_t(buf, 4, chan2_raw); + _mav_put_uint16_t(buf, 6, chan3_raw); + _mav_put_uint16_t(buf, 8, chan4_raw); + _mav_put_uint16_t(buf, 10, chan5_raw); + _mav_put_uint16_t(buf, 12, chan6_raw); + _mav_put_uint16_t(buf, 14, chan7_raw); + _mav_put_uint16_t(buf, 16, chan8_raw); + + memcpy(_MAV_PAYLOAD(msg), buf, 18); +#else + mavlink_rc_channels_override_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.chan1_raw = chan1_raw; + packet.chan2_raw = chan2_raw; + packet.chan3_raw = chan3_raw; + packet.chan4_raw = chan4_raw; + packet.chan5_raw = chan5_raw; + packet.chan6_raw = chan6_raw; + packet.chan7_raw = chan7_raw; + packet.chan8_raw = chan8_raw; + + memcpy(_MAV_PAYLOAD(msg), &packet, 18); +#endif + + msg->msgid = MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE; + return mavlink_finalize_message(msg, system_id, component_id, 18); +} + +/** + * @brief Pack a rc_channels_override 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 target_component Component ID + * @param chan1_raw RC channel 1 value, in microseconds + * @param chan2_raw RC channel 2 value, in microseconds + * @param chan3_raw RC channel 3 value, in microseconds + * @param chan4_raw RC channel 4 value, in microseconds + * @param chan5_raw RC channel 5 value, in microseconds + * @param chan6_raw RC channel 6 value, in microseconds + * @param chan7_raw RC channel 7 value, in microseconds + * @param chan8_raw RC channel 8 value, in microseconds + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_rc_channels_override_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t target_system,uint8_t target_component,uint16_t chan1_raw,uint16_t chan2_raw,uint16_t chan3_raw,uint16_t chan4_raw,uint16_t chan5_raw,uint16_t chan6_raw,uint16_t chan7_raw,uint16_t chan8_raw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[18]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_uint16_t(buf, 2, chan1_raw); + _mav_put_uint16_t(buf, 4, chan2_raw); + _mav_put_uint16_t(buf, 6, chan3_raw); + _mav_put_uint16_t(buf, 8, chan4_raw); + _mav_put_uint16_t(buf, 10, chan5_raw); + _mav_put_uint16_t(buf, 12, chan6_raw); + _mav_put_uint16_t(buf, 14, chan7_raw); + _mav_put_uint16_t(buf, 16, chan8_raw); + + memcpy(_MAV_PAYLOAD(msg), buf, 18); +#else + mavlink_rc_channels_override_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.chan1_raw = chan1_raw; + packet.chan2_raw = chan2_raw; + packet.chan3_raw = chan3_raw; + packet.chan4_raw = chan4_raw; + packet.chan5_raw = chan5_raw; + packet.chan6_raw = chan6_raw; + packet.chan7_raw = chan7_raw; + packet.chan8_raw = chan8_raw; + + memcpy(_MAV_PAYLOAD(msg), &packet, 18); +#endif + + msg->msgid = MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 18); +} + +/** + * @brief Encode a rc_channels_override 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 rc_channels_override C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_rc_channels_override_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_rc_channels_override_t* rc_channels_override) +{ + return mavlink_msg_rc_channels_override_pack(system_id, component_id, msg, rc_channels_override->target_system, rc_channels_override->target_component, rc_channels_override->chan1_raw, rc_channels_override->chan2_raw, rc_channels_override->chan3_raw, rc_channels_override->chan4_raw, rc_channels_override->chan5_raw, rc_channels_override->chan6_raw, rc_channels_override->chan7_raw, rc_channels_override->chan8_raw); +} + +/** + * @brief Send a rc_channels_override message + * @param chan MAVLink channel to send the message + * + * @param target_system System ID + * @param target_component Component ID + * @param chan1_raw RC channel 1 value, in microseconds + * @param chan2_raw RC channel 2 value, in microseconds + * @param chan3_raw RC channel 3 value, in microseconds + * @param chan4_raw RC channel 4 value, in microseconds + * @param chan5_raw RC channel 5 value, in microseconds + * @param chan6_raw RC channel 6 value, in microseconds + * @param chan7_raw RC channel 7 value, in microseconds + * @param chan8_raw RC channel 8 value, in microseconds + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_rc_channels_override_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw, uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw, uint16_t chan7_raw, uint16_t chan8_raw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[18]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_uint16_t(buf, 2, chan1_raw); + _mav_put_uint16_t(buf, 4, chan2_raw); + _mav_put_uint16_t(buf, 6, chan3_raw); + _mav_put_uint16_t(buf, 8, chan4_raw); + _mav_put_uint16_t(buf, 10, chan5_raw); + _mav_put_uint16_t(buf, 12, chan6_raw); + _mav_put_uint16_t(buf, 14, chan7_raw); + _mav_put_uint16_t(buf, 16, chan8_raw); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE, buf, 18); +#else + mavlink_rc_channels_override_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.chan1_raw = chan1_raw; + packet.chan2_raw = chan2_raw; + packet.chan3_raw = chan3_raw; + packet.chan4_raw = chan4_raw; + packet.chan5_raw = chan5_raw; + packet.chan6_raw = chan6_raw; + packet.chan7_raw = chan7_raw; + packet.chan8_raw = chan8_raw; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE, (const char *)&packet, 18); +#endif +} + +#endif + +// MESSAGE RC_CHANNELS_OVERRIDE UNPACKING + + +/** + * @brief Get field target_system from rc_channels_override message + * + * @return System ID + */ +static inline uint8_t mavlink_msg_rc_channels_override_get_target_system(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field target_component from rc_channels_override message + * + * @return Component ID + */ +static inline uint8_t mavlink_msg_rc_channels_override_get_target_component(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 1); +} + +/** + * @brief Get field chan1_raw from rc_channels_override message + * + * @return RC channel 1 value, in microseconds + */ +static inline uint16_t mavlink_msg_rc_channels_override_get_chan1_raw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 2); +} + +/** + * @brief Get field chan2_raw from rc_channels_override message + * + * @return RC channel 2 value, in microseconds + */ +static inline uint16_t mavlink_msg_rc_channels_override_get_chan2_raw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 4); +} + +/** + * @brief Get field chan3_raw from rc_channels_override message + * + * @return RC channel 3 value, in microseconds + */ +static inline uint16_t mavlink_msg_rc_channels_override_get_chan3_raw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 6); +} + +/** + * @brief Get field chan4_raw from rc_channels_override message + * + * @return RC channel 4 value, in microseconds + */ +static inline uint16_t mavlink_msg_rc_channels_override_get_chan4_raw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 8); +} + +/** + * @brief Get field chan5_raw from rc_channels_override message + * + * @return RC channel 5 value, in microseconds + */ +static inline uint16_t mavlink_msg_rc_channels_override_get_chan5_raw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 10); +} + +/** + * @brief Get field chan6_raw from rc_channels_override message + * + * @return RC channel 6 value, in microseconds + */ +static inline uint16_t mavlink_msg_rc_channels_override_get_chan6_raw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 12); +} + +/** + * @brief Get field chan7_raw from rc_channels_override message + * + * @return RC channel 7 value, in microseconds + */ +static inline uint16_t mavlink_msg_rc_channels_override_get_chan7_raw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 14); +} + +/** + * @brief Get field chan8_raw from rc_channels_override message + * + * @return RC channel 8 value, in microseconds + */ +static inline uint16_t mavlink_msg_rc_channels_override_get_chan8_raw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 16); +} + +/** + * @brief Decode a rc_channels_override message into a struct + * + * @param msg The message to decode + * @param rc_channels_override C-struct to decode the message contents into + */ +static inline void mavlink_msg_rc_channels_override_decode(const mavlink_message_t* msg, mavlink_rc_channels_override_t* rc_channels_override) +{ +#if MAVLINK_NEED_BYTE_SWAP + rc_channels_override->target_system = mavlink_msg_rc_channels_override_get_target_system(msg); + rc_channels_override->target_component = mavlink_msg_rc_channels_override_get_target_component(msg); + rc_channels_override->chan1_raw = mavlink_msg_rc_channels_override_get_chan1_raw(msg); + rc_channels_override->chan2_raw = mavlink_msg_rc_channels_override_get_chan2_raw(msg); + rc_channels_override->chan3_raw = mavlink_msg_rc_channels_override_get_chan3_raw(msg); + rc_channels_override->chan4_raw = mavlink_msg_rc_channels_override_get_chan4_raw(msg); + rc_channels_override->chan5_raw = mavlink_msg_rc_channels_override_get_chan5_raw(msg); + rc_channels_override->chan6_raw = mavlink_msg_rc_channels_override_get_chan6_raw(msg); + rc_channels_override->chan7_raw = mavlink_msg_rc_channels_override_get_chan7_raw(msg); + rc_channels_override->chan8_raw = mavlink_msg_rc_channels_override_get_chan8_raw(msg); +#else + memcpy(rc_channels_override, _MAV_PAYLOAD(msg), 18); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_rc_channels_raw.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_rc_channels_raw.h new file mode 100644 index 0000000000000000000000000000000000000000..6df3485082aac610d2b89a3301fd924b4bebfc80 --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_rc_channels_raw.h @@ -0,0 +1,320 @@ +// MESSAGE RC_CHANNELS_RAW PACKING + +#define MAVLINK_MSG_ID_RC_CHANNELS_RAW 35 + +typedef struct __mavlink_rc_channels_raw_t +{ + uint16_t chan1_raw; ///< RC channel 1 value, in microseconds + uint16_t chan2_raw; ///< RC channel 2 value, in microseconds + uint16_t chan3_raw; ///< RC channel 3 value, in microseconds + uint16_t chan4_raw; ///< RC channel 4 value, in microseconds + uint16_t chan5_raw; ///< RC channel 5 value, in microseconds + uint16_t chan6_raw; ///< RC channel 6 value, in microseconds + uint16_t chan7_raw; ///< RC channel 7 value, in microseconds + uint16_t chan8_raw; ///< RC channel 8 value, in microseconds + uint8_t rssi; ///< Receive signal strength indicator, 0: 0%, 255: 100% +} mavlink_rc_channels_raw_t; + +#define MAVLINK_MSG_ID_RC_CHANNELS_RAW_LEN 17 +#define MAVLINK_MSG_ID_35_LEN 17 + + + +#define MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW { \ + "RC_CHANNELS_RAW", \ + 9, \ + { { "chan1_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_rc_channels_raw_t, chan1_raw) }, \ + { "chan2_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_rc_channels_raw_t, chan2_raw) }, \ + { "chan3_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_rc_channels_raw_t, chan3_raw) }, \ + { "chan4_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_rc_channels_raw_t, chan4_raw) }, \ + { "chan5_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_rc_channels_raw_t, chan5_raw) }, \ + { "chan6_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 10, offsetof(mavlink_rc_channels_raw_t, chan6_raw) }, \ + { "chan7_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_rc_channels_raw_t, chan7_raw) }, \ + { "chan8_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 14, offsetof(mavlink_rc_channels_raw_t, chan8_raw) }, \ + { "rssi", NULL, MAVLINK_TYPE_UINT8_T, 0, 16, offsetof(mavlink_rc_channels_raw_t, rssi) }, \ + } \ +} + + +/** + * @brief Pack a rc_channels_raw 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 chan1_raw RC channel 1 value, in microseconds + * @param chan2_raw RC channel 2 value, in microseconds + * @param chan3_raw RC channel 3 value, in microseconds + * @param chan4_raw RC channel 4 value, in microseconds + * @param chan5_raw RC channel 5 value, in microseconds + * @param chan6_raw RC channel 6 value, in microseconds + * @param chan7_raw RC channel 7 value, in microseconds + * @param chan8_raw RC channel 8 value, in microseconds + * @param rssi Receive signal strength indicator, 0: 0%, 255: 100% + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_rc_channels_raw_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw, uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw, uint16_t chan7_raw, uint16_t chan8_raw, uint8_t rssi) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[17]; + _mav_put_uint16_t(buf, 0, chan1_raw); + _mav_put_uint16_t(buf, 2, chan2_raw); + _mav_put_uint16_t(buf, 4, chan3_raw); + _mav_put_uint16_t(buf, 6, chan4_raw); + _mav_put_uint16_t(buf, 8, chan5_raw); + _mav_put_uint16_t(buf, 10, chan6_raw); + _mav_put_uint16_t(buf, 12, chan7_raw); + _mav_put_uint16_t(buf, 14, chan8_raw); + _mav_put_uint8_t(buf, 16, rssi); + + memcpy(_MAV_PAYLOAD(msg), buf, 17); +#else + mavlink_rc_channels_raw_t packet; + packet.chan1_raw = chan1_raw; + packet.chan2_raw = chan2_raw; + packet.chan3_raw = chan3_raw; + packet.chan4_raw = chan4_raw; + packet.chan5_raw = chan5_raw; + packet.chan6_raw = chan6_raw; + packet.chan7_raw = chan7_raw; + packet.chan8_raw = chan8_raw; + packet.rssi = rssi; + + memcpy(_MAV_PAYLOAD(msg), &packet, 17); +#endif + + msg->msgid = MAVLINK_MSG_ID_RC_CHANNELS_RAW; + return mavlink_finalize_message(msg, system_id, component_id, 17); +} + +/** + * @brief Pack a rc_channels_raw 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 chan1_raw RC channel 1 value, in microseconds + * @param chan2_raw RC channel 2 value, in microseconds + * @param chan3_raw RC channel 3 value, in microseconds + * @param chan4_raw RC channel 4 value, in microseconds + * @param chan5_raw RC channel 5 value, in microseconds + * @param chan6_raw RC channel 6 value, in microseconds + * @param chan7_raw RC channel 7 value, in microseconds + * @param chan8_raw RC channel 8 value, in microseconds + * @param rssi Receive signal strength indicator, 0: 0%, 255: 100% + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_rc_channels_raw_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint16_t chan1_raw,uint16_t chan2_raw,uint16_t chan3_raw,uint16_t chan4_raw,uint16_t chan5_raw,uint16_t chan6_raw,uint16_t chan7_raw,uint16_t chan8_raw,uint8_t rssi) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[17]; + _mav_put_uint16_t(buf, 0, chan1_raw); + _mav_put_uint16_t(buf, 2, chan2_raw); + _mav_put_uint16_t(buf, 4, chan3_raw); + _mav_put_uint16_t(buf, 6, chan4_raw); + _mav_put_uint16_t(buf, 8, chan5_raw); + _mav_put_uint16_t(buf, 10, chan6_raw); + _mav_put_uint16_t(buf, 12, chan7_raw); + _mav_put_uint16_t(buf, 14, chan8_raw); + _mav_put_uint8_t(buf, 16, rssi); + + memcpy(_MAV_PAYLOAD(msg), buf, 17); +#else + mavlink_rc_channels_raw_t packet; + packet.chan1_raw = chan1_raw; + packet.chan2_raw = chan2_raw; + packet.chan3_raw = chan3_raw; + packet.chan4_raw = chan4_raw; + packet.chan5_raw = chan5_raw; + packet.chan6_raw = chan6_raw; + packet.chan7_raw = chan7_raw; + packet.chan8_raw = chan8_raw; + packet.rssi = rssi; + + memcpy(_MAV_PAYLOAD(msg), &packet, 17); +#endif + + msg->msgid = MAVLINK_MSG_ID_RC_CHANNELS_RAW; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 17); +} + +/** + * @brief Encode a rc_channels_raw 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 rc_channels_raw C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_rc_channels_raw_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_rc_channels_raw_t* rc_channels_raw) +{ + return mavlink_msg_rc_channels_raw_pack(system_id, component_id, msg, rc_channels_raw->chan1_raw, rc_channels_raw->chan2_raw, rc_channels_raw->chan3_raw, rc_channels_raw->chan4_raw, rc_channels_raw->chan5_raw, rc_channels_raw->chan6_raw, rc_channels_raw->chan7_raw, rc_channels_raw->chan8_raw, rc_channels_raw->rssi); +} + +/** + * @brief Send a rc_channels_raw message + * @param chan MAVLink channel to send the message + * + * @param chan1_raw RC channel 1 value, in microseconds + * @param chan2_raw RC channel 2 value, in microseconds + * @param chan3_raw RC channel 3 value, in microseconds + * @param chan4_raw RC channel 4 value, in microseconds + * @param chan5_raw RC channel 5 value, in microseconds + * @param chan6_raw RC channel 6 value, in microseconds + * @param chan7_raw RC channel 7 value, in microseconds + * @param chan8_raw RC channel 8 value, in microseconds + * @param rssi Receive signal strength indicator, 0: 0%, 255: 100% + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_rc_channels_raw_send(mavlink_channel_t chan, uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw, uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw, uint16_t chan7_raw, uint16_t chan8_raw, uint8_t rssi) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[17]; + _mav_put_uint16_t(buf, 0, chan1_raw); + _mav_put_uint16_t(buf, 2, chan2_raw); + _mav_put_uint16_t(buf, 4, chan3_raw); + _mav_put_uint16_t(buf, 6, chan4_raw); + _mav_put_uint16_t(buf, 8, chan5_raw); + _mav_put_uint16_t(buf, 10, chan6_raw); + _mav_put_uint16_t(buf, 12, chan7_raw); + _mav_put_uint16_t(buf, 14, chan8_raw); + _mav_put_uint8_t(buf, 16, rssi); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RC_CHANNELS_RAW, buf, 17); +#else + mavlink_rc_channels_raw_t packet; + packet.chan1_raw = chan1_raw; + packet.chan2_raw = chan2_raw; + packet.chan3_raw = chan3_raw; + packet.chan4_raw = chan4_raw; + packet.chan5_raw = chan5_raw; + packet.chan6_raw = chan6_raw; + packet.chan7_raw = chan7_raw; + packet.chan8_raw = chan8_raw; + packet.rssi = rssi; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RC_CHANNELS_RAW, (const char *)&packet, 17); +#endif +} + +#endif + +// MESSAGE RC_CHANNELS_RAW UNPACKING + + +/** + * @brief Get field chan1_raw from rc_channels_raw message + * + * @return RC channel 1 value, in microseconds + */ +static inline uint16_t mavlink_msg_rc_channels_raw_get_chan1_raw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 0); +} + +/** + * @brief Get field chan2_raw from rc_channels_raw message + * + * @return RC channel 2 value, in microseconds + */ +static inline uint16_t mavlink_msg_rc_channels_raw_get_chan2_raw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 2); +} + +/** + * @brief Get field chan3_raw from rc_channels_raw message + * + * @return RC channel 3 value, in microseconds + */ +static inline uint16_t mavlink_msg_rc_channels_raw_get_chan3_raw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 4); +} + +/** + * @brief Get field chan4_raw from rc_channels_raw message + * + * @return RC channel 4 value, in microseconds + */ +static inline uint16_t mavlink_msg_rc_channels_raw_get_chan4_raw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 6); +} + +/** + * @brief Get field chan5_raw from rc_channels_raw message + * + * @return RC channel 5 value, in microseconds + */ +static inline uint16_t mavlink_msg_rc_channels_raw_get_chan5_raw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 8); +} + +/** + * @brief Get field chan6_raw from rc_channels_raw message + * + * @return RC channel 6 value, in microseconds + */ +static inline uint16_t mavlink_msg_rc_channels_raw_get_chan6_raw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 10); +} + +/** + * @brief Get field chan7_raw from rc_channels_raw message + * + * @return RC channel 7 value, in microseconds + */ +static inline uint16_t mavlink_msg_rc_channels_raw_get_chan7_raw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 12); +} + +/** + * @brief Get field chan8_raw from rc_channels_raw message + * + * @return RC channel 8 value, in microseconds + */ +static inline uint16_t mavlink_msg_rc_channels_raw_get_chan8_raw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 14); +} + +/** + * @brief Get field rssi from rc_channels_raw message + * + * @return Receive signal strength indicator, 0: 0%, 255: 100% + */ +static inline uint8_t mavlink_msg_rc_channels_raw_get_rssi(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 16); +} + +/** + * @brief Decode a rc_channels_raw message into a struct + * + * @param msg The message to decode + * @param rc_channels_raw C-struct to decode the message contents into + */ +static inline void mavlink_msg_rc_channels_raw_decode(const mavlink_message_t* msg, mavlink_rc_channels_raw_t* rc_channels_raw) +{ +#if MAVLINK_NEED_BYTE_SWAP + rc_channels_raw->chan1_raw = mavlink_msg_rc_channels_raw_get_chan1_raw(msg); + rc_channels_raw->chan2_raw = mavlink_msg_rc_channels_raw_get_chan2_raw(msg); + rc_channels_raw->chan3_raw = mavlink_msg_rc_channels_raw_get_chan3_raw(msg); + rc_channels_raw->chan4_raw = mavlink_msg_rc_channels_raw_get_chan4_raw(msg); + rc_channels_raw->chan5_raw = mavlink_msg_rc_channels_raw_get_chan5_raw(msg); + rc_channels_raw->chan6_raw = mavlink_msg_rc_channels_raw_get_chan6_raw(msg); + rc_channels_raw->chan7_raw = mavlink_msg_rc_channels_raw_get_chan7_raw(msg); + rc_channels_raw->chan8_raw = mavlink_msg_rc_channels_raw_get_chan8_raw(msg); + rc_channels_raw->rssi = mavlink_msg_rc_channels_raw_get_rssi(msg); +#else + memcpy(rc_channels_raw, _MAV_PAYLOAD(msg), 17); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_rc_channels_scaled.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_rc_channels_scaled.h new file mode 100644 index 0000000000000000000000000000000000000000..b178ad1731f18e909af5344045f46f968e0d14cd --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_rc_channels_scaled.h @@ -0,0 +1,320 @@ +// MESSAGE RC_CHANNELS_SCALED PACKING + +#define MAVLINK_MSG_ID_RC_CHANNELS_SCALED 36 + +typedef struct __mavlink_rc_channels_scaled_t +{ + int16_t chan1_scaled; ///< RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 + int16_t chan2_scaled; ///< RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 + int16_t chan3_scaled; ///< RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 + int16_t chan4_scaled; ///< RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 + int16_t chan5_scaled; ///< RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 + int16_t chan6_scaled; ///< RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 + int16_t chan7_scaled; ///< RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 + int16_t chan8_scaled; ///< RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 + uint8_t rssi; ///< Receive signal strength indicator, 0: 0%, 255: 100% +} mavlink_rc_channels_scaled_t; + +#define MAVLINK_MSG_ID_RC_CHANNELS_SCALED_LEN 17 +#define MAVLINK_MSG_ID_36_LEN 17 + + + +#define MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED { \ + "RC_CHANNELS_SCALED", \ + 9, \ + { { "chan1_scaled", NULL, MAVLINK_TYPE_INT16_T, 0, 0, offsetof(mavlink_rc_channels_scaled_t, chan1_scaled) }, \ + { "chan2_scaled", NULL, MAVLINK_TYPE_INT16_T, 0, 2, offsetof(mavlink_rc_channels_scaled_t, chan2_scaled) }, \ + { "chan3_scaled", NULL, MAVLINK_TYPE_INT16_T, 0, 4, offsetof(mavlink_rc_channels_scaled_t, chan3_scaled) }, \ + { "chan4_scaled", NULL, MAVLINK_TYPE_INT16_T, 0, 6, offsetof(mavlink_rc_channels_scaled_t, chan4_scaled) }, \ + { "chan5_scaled", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_rc_channels_scaled_t, chan5_scaled) }, \ + { "chan6_scaled", NULL, MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_rc_channels_scaled_t, chan6_scaled) }, \ + { "chan7_scaled", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_rc_channels_scaled_t, chan7_scaled) }, \ + { "chan8_scaled", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_rc_channels_scaled_t, chan8_scaled) }, \ + { "rssi", NULL, MAVLINK_TYPE_UINT8_T, 0, 16, offsetof(mavlink_rc_channels_scaled_t, rssi) }, \ + } \ +} + + +/** + * @brief Pack a rc_channels_scaled 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 chan1_scaled RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 + * @param chan2_scaled RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 + * @param chan3_scaled RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 + * @param chan4_scaled RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 + * @param chan5_scaled RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 + * @param chan6_scaled RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 + * @param chan7_scaled RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 + * @param chan8_scaled RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 + * @param rssi Receive signal strength indicator, 0: 0%, 255: 100% + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_rc_channels_scaled_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + int16_t chan1_scaled, int16_t chan2_scaled, int16_t chan3_scaled, int16_t chan4_scaled, int16_t chan5_scaled, int16_t chan6_scaled, int16_t chan7_scaled, int16_t chan8_scaled, uint8_t rssi) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[17]; + _mav_put_int16_t(buf, 0, chan1_scaled); + _mav_put_int16_t(buf, 2, chan2_scaled); + _mav_put_int16_t(buf, 4, chan3_scaled); + _mav_put_int16_t(buf, 6, chan4_scaled); + _mav_put_int16_t(buf, 8, chan5_scaled); + _mav_put_int16_t(buf, 10, chan6_scaled); + _mav_put_int16_t(buf, 12, chan7_scaled); + _mav_put_int16_t(buf, 14, chan8_scaled); + _mav_put_uint8_t(buf, 16, rssi); + + memcpy(_MAV_PAYLOAD(msg), buf, 17); +#else + mavlink_rc_channels_scaled_t packet; + packet.chan1_scaled = chan1_scaled; + packet.chan2_scaled = chan2_scaled; + packet.chan3_scaled = chan3_scaled; + packet.chan4_scaled = chan4_scaled; + packet.chan5_scaled = chan5_scaled; + packet.chan6_scaled = chan6_scaled; + packet.chan7_scaled = chan7_scaled; + packet.chan8_scaled = chan8_scaled; + packet.rssi = rssi; + + memcpy(_MAV_PAYLOAD(msg), &packet, 17); +#endif + + msg->msgid = MAVLINK_MSG_ID_RC_CHANNELS_SCALED; + return mavlink_finalize_message(msg, system_id, component_id, 17); +} + +/** + * @brief Pack a rc_channels_scaled 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 chan1_scaled RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 + * @param chan2_scaled RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 + * @param chan3_scaled RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 + * @param chan4_scaled RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 + * @param chan5_scaled RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 + * @param chan6_scaled RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 + * @param chan7_scaled RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 + * @param chan8_scaled RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 + * @param rssi Receive signal strength indicator, 0: 0%, 255: 100% + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_rc_channels_scaled_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + int16_t chan1_scaled,int16_t chan2_scaled,int16_t chan3_scaled,int16_t chan4_scaled,int16_t chan5_scaled,int16_t chan6_scaled,int16_t chan7_scaled,int16_t chan8_scaled,uint8_t rssi) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[17]; + _mav_put_int16_t(buf, 0, chan1_scaled); + _mav_put_int16_t(buf, 2, chan2_scaled); + _mav_put_int16_t(buf, 4, chan3_scaled); + _mav_put_int16_t(buf, 6, chan4_scaled); + _mav_put_int16_t(buf, 8, chan5_scaled); + _mav_put_int16_t(buf, 10, chan6_scaled); + _mav_put_int16_t(buf, 12, chan7_scaled); + _mav_put_int16_t(buf, 14, chan8_scaled); + _mav_put_uint8_t(buf, 16, rssi); + + memcpy(_MAV_PAYLOAD(msg), buf, 17); +#else + mavlink_rc_channels_scaled_t packet; + packet.chan1_scaled = chan1_scaled; + packet.chan2_scaled = chan2_scaled; + packet.chan3_scaled = chan3_scaled; + packet.chan4_scaled = chan4_scaled; + packet.chan5_scaled = chan5_scaled; + packet.chan6_scaled = chan6_scaled; + packet.chan7_scaled = chan7_scaled; + packet.chan8_scaled = chan8_scaled; + packet.rssi = rssi; + + memcpy(_MAV_PAYLOAD(msg), &packet, 17); +#endif + + msg->msgid = MAVLINK_MSG_ID_RC_CHANNELS_SCALED; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 17); +} + +/** + * @brief Encode a rc_channels_scaled 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 rc_channels_scaled C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_rc_channels_scaled_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_rc_channels_scaled_t* rc_channels_scaled) +{ + return mavlink_msg_rc_channels_scaled_pack(system_id, component_id, msg, rc_channels_scaled->chan1_scaled, rc_channels_scaled->chan2_scaled, rc_channels_scaled->chan3_scaled, rc_channels_scaled->chan4_scaled, rc_channels_scaled->chan5_scaled, rc_channels_scaled->chan6_scaled, rc_channels_scaled->chan7_scaled, rc_channels_scaled->chan8_scaled, rc_channels_scaled->rssi); +} + +/** + * @brief Send a rc_channels_scaled message + * @param chan MAVLink channel to send the message + * + * @param chan1_scaled RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 + * @param chan2_scaled RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 + * @param chan3_scaled RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 + * @param chan4_scaled RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 + * @param chan5_scaled RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 + * @param chan6_scaled RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 + * @param chan7_scaled RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 + * @param chan8_scaled RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 + * @param rssi Receive signal strength indicator, 0: 0%, 255: 100% + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_rc_channels_scaled_send(mavlink_channel_t chan, int16_t chan1_scaled, int16_t chan2_scaled, int16_t chan3_scaled, int16_t chan4_scaled, int16_t chan5_scaled, int16_t chan6_scaled, int16_t chan7_scaled, int16_t chan8_scaled, uint8_t rssi) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[17]; + _mav_put_int16_t(buf, 0, chan1_scaled); + _mav_put_int16_t(buf, 2, chan2_scaled); + _mav_put_int16_t(buf, 4, chan3_scaled); + _mav_put_int16_t(buf, 6, chan4_scaled); + _mav_put_int16_t(buf, 8, chan5_scaled); + _mav_put_int16_t(buf, 10, chan6_scaled); + _mav_put_int16_t(buf, 12, chan7_scaled); + _mav_put_int16_t(buf, 14, chan8_scaled); + _mav_put_uint8_t(buf, 16, rssi); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RC_CHANNELS_SCALED, buf, 17); +#else + mavlink_rc_channels_scaled_t packet; + packet.chan1_scaled = chan1_scaled; + packet.chan2_scaled = chan2_scaled; + packet.chan3_scaled = chan3_scaled; + packet.chan4_scaled = chan4_scaled; + packet.chan5_scaled = chan5_scaled; + packet.chan6_scaled = chan6_scaled; + packet.chan7_scaled = chan7_scaled; + packet.chan8_scaled = chan8_scaled; + packet.rssi = rssi; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RC_CHANNELS_SCALED, (const char *)&packet, 17); +#endif +} + +#endif + +// MESSAGE RC_CHANNELS_SCALED UNPACKING + + +/** + * @brief Get field chan1_scaled from rc_channels_scaled message + * + * @return RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 + */ +static inline int16_t mavlink_msg_rc_channels_scaled_get_chan1_scaled(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 0); +} + +/** + * @brief Get field chan2_scaled from rc_channels_scaled message + * + * @return RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 + */ +static inline int16_t mavlink_msg_rc_channels_scaled_get_chan2_scaled(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 2); +} + +/** + * @brief Get field chan3_scaled from rc_channels_scaled message + * + * @return RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 + */ +static inline int16_t mavlink_msg_rc_channels_scaled_get_chan3_scaled(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 4); +} + +/** + * @brief Get field chan4_scaled from rc_channels_scaled message + * + * @return RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 + */ +static inline int16_t mavlink_msg_rc_channels_scaled_get_chan4_scaled(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 6); +} + +/** + * @brief Get field chan5_scaled from rc_channels_scaled message + * + * @return RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 + */ +static inline int16_t mavlink_msg_rc_channels_scaled_get_chan5_scaled(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 8); +} + +/** + * @brief Get field chan6_scaled from rc_channels_scaled message + * + * @return RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 + */ +static inline int16_t mavlink_msg_rc_channels_scaled_get_chan6_scaled(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 10); +} + +/** + * @brief Get field chan7_scaled from rc_channels_scaled message + * + * @return RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 + */ +static inline int16_t mavlink_msg_rc_channels_scaled_get_chan7_scaled(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 12); +} + +/** + * @brief Get field chan8_scaled from rc_channels_scaled message + * + * @return RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 + */ +static inline int16_t mavlink_msg_rc_channels_scaled_get_chan8_scaled(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 14); +} + +/** + * @brief Get field rssi from rc_channels_scaled message + * + * @return Receive signal strength indicator, 0: 0%, 255: 100% + */ +static inline uint8_t mavlink_msg_rc_channels_scaled_get_rssi(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 16); +} + +/** + * @brief Decode a rc_channels_scaled message into a struct + * + * @param msg The message to decode + * @param rc_channels_scaled C-struct to decode the message contents into + */ +static inline void mavlink_msg_rc_channels_scaled_decode(const mavlink_message_t* msg, mavlink_rc_channels_scaled_t* rc_channels_scaled) +{ +#if MAVLINK_NEED_BYTE_SWAP + rc_channels_scaled->chan1_scaled = mavlink_msg_rc_channels_scaled_get_chan1_scaled(msg); + rc_channels_scaled->chan2_scaled = mavlink_msg_rc_channels_scaled_get_chan2_scaled(msg); + rc_channels_scaled->chan3_scaled = mavlink_msg_rc_channels_scaled_get_chan3_scaled(msg); + rc_channels_scaled->chan4_scaled = mavlink_msg_rc_channels_scaled_get_chan4_scaled(msg); + rc_channels_scaled->chan5_scaled = mavlink_msg_rc_channels_scaled_get_chan5_scaled(msg); + rc_channels_scaled->chan6_scaled = mavlink_msg_rc_channels_scaled_get_chan6_scaled(msg); + rc_channels_scaled->chan7_scaled = mavlink_msg_rc_channels_scaled_get_chan7_scaled(msg); + rc_channels_scaled->chan8_scaled = mavlink_msg_rc_channels_scaled_get_chan8_scaled(msg); + rc_channels_scaled->rssi = mavlink_msg_rc_channels_scaled_get_rssi(msg); +#else + memcpy(rc_channels_scaled, _MAV_PAYLOAD(msg), 17); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_request_data_stream.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_request_data_stream.h new file mode 100644 index 0000000000000000000000000000000000000000..895897738cad4a87edee111f596a5694408c62c1 --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_request_data_stream.h @@ -0,0 +1,232 @@ +// MESSAGE REQUEST_DATA_STREAM PACKING + +#define MAVLINK_MSG_ID_REQUEST_DATA_STREAM 66 + +typedef struct __mavlink_request_data_stream_t +{ + uint8_t target_system; ///< The target requested to send the message stream. + uint8_t target_component; ///< The target requested to send the message stream. + uint8_t req_stream_id; ///< The ID of the requested message type + uint16_t req_message_rate; ///< Update rate in Hertz + uint8_t start_stop; ///< 1 to start sending, 0 to stop sending. +} mavlink_request_data_stream_t; + +#define MAVLINK_MSG_ID_REQUEST_DATA_STREAM_LEN 6 +#define MAVLINK_MSG_ID_66_LEN 6 + + + +#define MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM { \ + "REQUEST_DATA_STREAM", \ + 5, \ + { { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_request_data_stream_t, target_system) }, \ + { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_request_data_stream_t, target_component) }, \ + { "req_stream_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_request_data_stream_t, req_stream_id) }, \ + { "req_message_rate", NULL, MAVLINK_TYPE_UINT16_T, 0, 3, offsetof(mavlink_request_data_stream_t, req_message_rate) }, \ + { "start_stop", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_request_data_stream_t, start_stop) }, \ + } \ +} + + +/** + * @brief Pack a request_data_stream 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 The target requested to send the message stream. + * @param target_component The target requested to send the message stream. + * @param req_stream_id The ID of the requested message type + * @param req_message_rate Update rate in Hertz + * @param start_stop 1 to start sending, 0 to stop sending. + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_request_data_stream_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target_system, uint8_t target_component, uint8_t req_stream_id, uint16_t req_message_rate, uint8_t start_stop) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[6]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_uint8_t(buf, 2, req_stream_id); + _mav_put_uint16_t(buf, 3, req_message_rate); + _mav_put_uint8_t(buf, 5, start_stop); + + memcpy(_MAV_PAYLOAD(msg), buf, 6); +#else + mavlink_request_data_stream_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.req_stream_id = req_stream_id; + packet.req_message_rate = req_message_rate; + packet.start_stop = start_stop; + + memcpy(_MAV_PAYLOAD(msg), &packet, 6); +#endif + + msg->msgid = MAVLINK_MSG_ID_REQUEST_DATA_STREAM; + return mavlink_finalize_message(msg, system_id, component_id, 6); +} + +/** + * @brief Pack a request_data_stream 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 The target requested to send the message stream. + * @param target_component The target requested to send the message stream. + * @param req_stream_id The ID of the requested message type + * @param req_message_rate Update rate in Hertz + * @param start_stop 1 to start sending, 0 to stop sending. + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_request_data_stream_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t target_system,uint8_t target_component,uint8_t req_stream_id,uint16_t req_message_rate,uint8_t start_stop) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[6]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_uint8_t(buf, 2, req_stream_id); + _mav_put_uint16_t(buf, 3, req_message_rate); + _mav_put_uint8_t(buf, 5, start_stop); + + memcpy(_MAV_PAYLOAD(msg), buf, 6); +#else + mavlink_request_data_stream_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.req_stream_id = req_stream_id; + packet.req_message_rate = req_message_rate; + packet.start_stop = start_stop; + + memcpy(_MAV_PAYLOAD(msg), &packet, 6); +#endif + + msg->msgid = MAVLINK_MSG_ID_REQUEST_DATA_STREAM; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 6); +} + +/** + * @brief Encode a request_data_stream 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 request_data_stream C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_request_data_stream_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_request_data_stream_t* request_data_stream) +{ + return mavlink_msg_request_data_stream_pack(system_id, component_id, msg, request_data_stream->target_system, request_data_stream->target_component, request_data_stream->req_stream_id, request_data_stream->req_message_rate, request_data_stream->start_stop); +} + +/** + * @brief Send a request_data_stream message + * @param chan MAVLink channel to send the message + * + * @param target_system The target requested to send the message stream. + * @param target_component The target requested to send the message stream. + * @param req_stream_id The ID of the requested message type + * @param req_message_rate Update rate in Hertz + * @param start_stop 1 to start sending, 0 to stop sending. + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_request_data_stream_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t req_stream_id, uint16_t req_message_rate, uint8_t start_stop) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[6]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_uint8_t(buf, 2, req_stream_id); + _mav_put_uint16_t(buf, 3, req_message_rate); + _mav_put_uint8_t(buf, 5, start_stop); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_REQUEST_DATA_STREAM, buf, 6); +#else + mavlink_request_data_stream_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.req_stream_id = req_stream_id; + packet.req_message_rate = req_message_rate; + packet.start_stop = start_stop; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_REQUEST_DATA_STREAM, (const char *)&packet, 6); +#endif +} + +#endif + +// MESSAGE REQUEST_DATA_STREAM UNPACKING + + +/** + * @brief Get field target_system from request_data_stream message + * + * @return The target requested to send the message stream. + */ +static inline uint8_t mavlink_msg_request_data_stream_get_target_system(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field target_component from request_data_stream message + * + * @return The target requested to send the message stream. + */ +static inline uint8_t mavlink_msg_request_data_stream_get_target_component(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 1); +} + +/** + * @brief Get field req_stream_id from request_data_stream message + * + * @return The ID of the requested message type + */ +static inline uint8_t mavlink_msg_request_data_stream_get_req_stream_id(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 2); +} + +/** + * @brief Get field req_message_rate from request_data_stream message + * + * @return Update rate in Hertz + */ +static inline uint16_t mavlink_msg_request_data_stream_get_req_message_rate(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 3); +} + +/** + * @brief Get field start_stop from request_data_stream message + * + * @return 1 to start sending, 0 to stop sending. + */ +static inline uint8_t mavlink_msg_request_data_stream_get_start_stop(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 5); +} + +/** + * @brief Decode a request_data_stream message into a struct + * + * @param msg The message to decode + * @param request_data_stream C-struct to decode the message contents into + */ +static inline void mavlink_msg_request_data_stream_decode(const mavlink_message_t* msg, mavlink_request_data_stream_t* request_data_stream) +{ +#if MAVLINK_NEED_BYTE_SWAP + request_data_stream->target_system = mavlink_msg_request_data_stream_get_target_system(msg); + request_data_stream->target_component = mavlink_msg_request_data_stream_get_target_component(msg); + request_data_stream->req_stream_id = mavlink_msg_request_data_stream_get_req_stream_id(msg); + request_data_stream->req_message_rate = mavlink_msg_request_data_stream_get_req_message_rate(msg); + request_data_stream->start_stop = mavlink_msg_request_data_stream_get_start_stop(msg); +#else + memcpy(request_data_stream, _MAV_PAYLOAD(msg), 6); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint.h new file mode 100644 index 0000000000000000000000000000000000000000..4d0a87e2fda4ebffbe59de87dd525dce8f682f9f --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint.h @@ -0,0 +1,232 @@ +// MESSAGE ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT PACKING + +#define MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT 58 + +typedef struct __mavlink_roll_pitch_yaw_speed_thrust_setpoint_t +{ + uint64_t time_us; ///< Timestamp in micro seconds since unix epoch + float roll_speed; ///< Desired roll angular speed in rad/s + float pitch_speed; ///< Desired pitch angular speed in rad/s + float yaw_speed; ///< Desired yaw angular speed in rad/s + float thrust; ///< Collective thrust, normalized to 0 .. 1 +} mavlink_roll_pitch_yaw_speed_thrust_setpoint_t; + +#define MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT_LEN 24 +#define MAVLINK_MSG_ID_58_LEN 24 + + + +#define MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT { \ + "ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT", \ + 5, \ + { { "time_us", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_roll_pitch_yaw_speed_thrust_setpoint_t, time_us) }, \ + { "roll_speed", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_roll_pitch_yaw_speed_thrust_setpoint_t, roll_speed) }, \ + { "pitch_speed", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_roll_pitch_yaw_speed_thrust_setpoint_t, pitch_speed) }, \ + { "yaw_speed", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_roll_pitch_yaw_speed_thrust_setpoint_t, yaw_speed) }, \ + { "thrust", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_roll_pitch_yaw_speed_thrust_setpoint_t, thrust) }, \ + } \ +} + + +/** + * @brief Pack a roll_pitch_yaw_speed_thrust_setpoint message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * + * @param time_us Timestamp in micro seconds since unix epoch + * @param roll_speed Desired roll angular speed in rad/s + * @param pitch_speed Desired pitch angular speed in rad/s + * @param yaw_speed Desired yaw angular speed in rad/s + * @param thrust Collective thrust, normalized to 0 .. 1 + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint64_t time_us, float roll_speed, float pitch_speed, float yaw_speed, float thrust) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[24]; + _mav_put_uint64_t(buf, 0, time_us); + _mav_put_float(buf, 8, roll_speed); + _mav_put_float(buf, 12, pitch_speed); + _mav_put_float(buf, 16, yaw_speed); + _mav_put_float(buf, 20, thrust); + + memcpy(_MAV_PAYLOAD(msg), buf, 24); +#else + mavlink_roll_pitch_yaw_speed_thrust_setpoint_t packet; + packet.time_us = time_us; + packet.roll_speed = roll_speed; + packet.pitch_speed = pitch_speed; + packet.yaw_speed = yaw_speed; + packet.thrust = thrust; + + memcpy(_MAV_PAYLOAD(msg), &packet, 24); +#endif + + msg->msgid = MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT; + return mavlink_finalize_message(msg, system_id, component_id, 24); +} + +/** + * @brief Pack a roll_pitch_yaw_speed_thrust_setpoint message on a channel + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message was sent over + * @param msg The MAVLink message to compress the data into + * @param time_us Timestamp in micro seconds since unix epoch + * @param roll_speed Desired roll angular speed in rad/s + * @param pitch_speed Desired pitch angular speed in rad/s + * @param yaw_speed Desired yaw angular speed in rad/s + * @param thrust Collective thrust, normalized to 0 .. 1 + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint64_t time_us,float roll_speed,float pitch_speed,float yaw_speed,float thrust) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[24]; + _mav_put_uint64_t(buf, 0, time_us); + _mav_put_float(buf, 8, roll_speed); + _mav_put_float(buf, 12, pitch_speed); + _mav_put_float(buf, 16, yaw_speed); + _mav_put_float(buf, 20, thrust); + + memcpy(_MAV_PAYLOAD(msg), buf, 24); +#else + mavlink_roll_pitch_yaw_speed_thrust_setpoint_t packet; + packet.time_us = time_us; + packet.roll_speed = roll_speed; + packet.pitch_speed = pitch_speed; + packet.yaw_speed = yaw_speed; + packet.thrust = thrust; + + memcpy(_MAV_PAYLOAD(msg), &packet, 24); +#endif + + msg->msgid = MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 24); +} + +/** + * @brief Encode a roll_pitch_yaw_speed_thrust_setpoint struct into a message + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * @param roll_pitch_yaw_speed_thrust_setpoint C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_roll_pitch_yaw_speed_thrust_setpoint_t* roll_pitch_yaw_speed_thrust_setpoint) +{ + return mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_pack(system_id, component_id, msg, roll_pitch_yaw_speed_thrust_setpoint->time_us, roll_pitch_yaw_speed_thrust_setpoint->roll_speed, roll_pitch_yaw_speed_thrust_setpoint->pitch_speed, roll_pitch_yaw_speed_thrust_setpoint->yaw_speed, roll_pitch_yaw_speed_thrust_setpoint->thrust); +} + +/** + * @brief Send a roll_pitch_yaw_speed_thrust_setpoint message + * @param chan MAVLink channel to send the message + * + * @param time_us Timestamp in micro seconds since unix epoch + * @param roll_speed Desired roll angular speed in rad/s + * @param pitch_speed Desired pitch angular speed in rad/s + * @param yaw_speed Desired yaw angular speed in rad/s + * @param thrust Collective thrust, normalized to 0 .. 1 + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_send(mavlink_channel_t chan, uint64_t time_us, float roll_speed, float pitch_speed, float yaw_speed, float thrust) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[24]; + _mav_put_uint64_t(buf, 0, time_us); + _mav_put_float(buf, 8, roll_speed); + _mav_put_float(buf, 12, pitch_speed); + _mav_put_float(buf, 16, yaw_speed); + _mav_put_float(buf, 20, thrust); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, buf, 24); +#else + mavlink_roll_pitch_yaw_speed_thrust_setpoint_t packet; + packet.time_us = time_us; + packet.roll_speed = roll_speed; + packet.pitch_speed = pitch_speed; + packet.yaw_speed = yaw_speed; + packet.thrust = thrust; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, (const char *)&packet, 24); +#endif +} + +#endif + +// MESSAGE ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT UNPACKING + + +/** + * @brief Get field time_us from roll_pitch_yaw_speed_thrust_setpoint message + * + * @return Timestamp in micro seconds since unix epoch + */ +static inline uint64_t mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_time_us(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint64_t(msg, 0); +} + +/** + * @brief Get field roll_speed from roll_pitch_yaw_speed_thrust_setpoint message + * + * @return Desired roll angular speed in rad/s + */ +static inline float mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_roll_speed(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 8); +} + +/** + * @brief Get field pitch_speed from roll_pitch_yaw_speed_thrust_setpoint message + * + * @return Desired pitch angular speed in rad/s + */ +static inline float mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_pitch_speed(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 12); +} + +/** + * @brief Get field yaw_speed from roll_pitch_yaw_speed_thrust_setpoint message + * + * @return Desired yaw angular speed in rad/s + */ +static inline float mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_yaw_speed(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 16); +} + +/** + * @brief Get field thrust from roll_pitch_yaw_speed_thrust_setpoint message + * + * @return Collective thrust, normalized to 0 .. 1 + */ +static inline float mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_thrust(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 20); +} + +/** + * @brief Decode a roll_pitch_yaw_speed_thrust_setpoint message into a struct + * + * @param msg The message to decode + * @param roll_pitch_yaw_speed_thrust_setpoint C-struct to decode the message contents into + */ +static inline void mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_decode(const mavlink_message_t* msg, mavlink_roll_pitch_yaw_speed_thrust_setpoint_t* roll_pitch_yaw_speed_thrust_setpoint) +{ +#if MAVLINK_NEED_BYTE_SWAP + roll_pitch_yaw_speed_thrust_setpoint->time_us = mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_time_us(msg); + roll_pitch_yaw_speed_thrust_setpoint->roll_speed = mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_roll_speed(msg); + roll_pitch_yaw_speed_thrust_setpoint->pitch_speed = mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_pitch_speed(msg); + roll_pitch_yaw_speed_thrust_setpoint->yaw_speed = mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_yaw_speed(msg); + roll_pitch_yaw_speed_thrust_setpoint->thrust = mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_thrust(msg); +#else + memcpy(roll_pitch_yaw_speed_thrust_setpoint, _MAV_PAYLOAD(msg), 24); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_roll_pitch_yaw_thrust_setpoint.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_roll_pitch_yaw_thrust_setpoint.h new file mode 100644 index 0000000000000000000000000000000000000000..7de8441ab0e03bd1324027935824aefcf2f9fa29 --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_roll_pitch_yaw_thrust_setpoint.h @@ -0,0 +1,232 @@ +// MESSAGE ROLL_PITCH_YAW_THRUST_SETPOINT PACKING + +#define MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT 57 + +typedef struct __mavlink_roll_pitch_yaw_thrust_setpoint_t +{ + uint64_t time_us; ///< Timestamp in micro seconds since unix epoch + float roll; ///< Desired roll angle in radians + float pitch; ///< Desired pitch angle in radians + float yaw; ///< Desired yaw angle in radians + float thrust; ///< Collective thrust, normalized to 0 .. 1 +} mavlink_roll_pitch_yaw_thrust_setpoint_t; + +#define MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT_LEN 24 +#define MAVLINK_MSG_ID_57_LEN 24 + + + +#define MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT { \ + "ROLL_PITCH_YAW_THRUST_SETPOINT", \ + 5, \ + { { "time_us", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_roll_pitch_yaw_thrust_setpoint_t, time_us) }, \ + { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_roll_pitch_yaw_thrust_setpoint_t, roll) }, \ + { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_roll_pitch_yaw_thrust_setpoint_t, pitch) }, \ + { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_roll_pitch_yaw_thrust_setpoint_t, yaw) }, \ + { "thrust", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_roll_pitch_yaw_thrust_setpoint_t, thrust) }, \ + } \ +} + + +/** + * @brief Pack a roll_pitch_yaw_thrust_setpoint message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * + * @param time_us Timestamp in micro seconds since unix epoch + * @param roll Desired roll angle in radians + * @param pitch Desired pitch angle in radians + * @param yaw Desired yaw angle in radians + * @param thrust Collective thrust, normalized to 0 .. 1 + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_roll_pitch_yaw_thrust_setpoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint64_t time_us, float roll, float pitch, float yaw, float thrust) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[24]; + _mav_put_uint64_t(buf, 0, time_us); + _mav_put_float(buf, 8, roll); + _mav_put_float(buf, 12, pitch); + _mav_put_float(buf, 16, yaw); + _mav_put_float(buf, 20, thrust); + + memcpy(_MAV_PAYLOAD(msg), buf, 24); +#else + mavlink_roll_pitch_yaw_thrust_setpoint_t packet; + packet.time_us = time_us; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + packet.thrust = thrust; + + memcpy(_MAV_PAYLOAD(msg), &packet, 24); +#endif + + msg->msgid = MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT; + return mavlink_finalize_message(msg, system_id, component_id, 24); +} + +/** + * @brief Pack a roll_pitch_yaw_thrust_setpoint message on a channel + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message was sent over + * @param msg The MAVLink message to compress the data into + * @param time_us Timestamp in micro seconds since unix epoch + * @param roll Desired roll angle in radians + * @param pitch Desired pitch angle in radians + * @param yaw Desired yaw angle in radians + * @param thrust Collective thrust, normalized to 0 .. 1 + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_roll_pitch_yaw_thrust_setpoint_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint64_t time_us,float roll,float pitch,float yaw,float thrust) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[24]; + _mav_put_uint64_t(buf, 0, time_us); + _mav_put_float(buf, 8, roll); + _mav_put_float(buf, 12, pitch); + _mav_put_float(buf, 16, yaw); + _mav_put_float(buf, 20, thrust); + + memcpy(_MAV_PAYLOAD(msg), buf, 24); +#else + mavlink_roll_pitch_yaw_thrust_setpoint_t packet; + packet.time_us = time_us; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + packet.thrust = thrust; + + memcpy(_MAV_PAYLOAD(msg), &packet, 24); +#endif + + msg->msgid = MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 24); +} + +/** + * @brief Encode a roll_pitch_yaw_thrust_setpoint struct into a message + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * @param roll_pitch_yaw_thrust_setpoint C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_roll_pitch_yaw_thrust_setpoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_roll_pitch_yaw_thrust_setpoint_t* roll_pitch_yaw_thrust_setpoint) +{ + return mavlink_msg_roll_pitch_yaw_thrust_setpoint_pack(system_id, component_id, msg, roll_pitch_yaw_thrust_setpoint->time_us, roll_pitch_yaw_thrust_setpoint->roll, roll_pitch_yaw_thrust_setpoint->pitch, roll_pitch_yaw_thrust_setpoint->yaw, roll_pitch_yaw_thrust_setpoint->thrust); +} + +/** + * @brief Send a roll_pitch_yaw_thrust_setpoint message + * @param chan MAVLink channel to send the message + * + * @param time_us Timestamp in micro seconds since unix epoch + * @param roll Desired roll angle in radians + * @param pitch Desired pitch angle in radians + * @param yaw Desired yaw angle in radians + * @param thrust Collective thrust, normalized to 0 .. 1 + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_roll_pitch_yaw_thrust_setpoint_send(mavlink_channel_t chan, uint64_t time_us, float roll, float pitch, float yaw, float thrust) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[24]; + _mav_put_uint64_t(buf, 0, time_us); + _mav_put_float(buf, 8, roll); + _mav_put_float(buf, 12, pitch); + _mav_put_float(buf, 16, yaw); + _mav_put_float(buf, 20, thrust); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT, buf, 24); +#else + mavlink_roll_pitch_yaw_thrust_setpoint_t packet; + packet.time_us = time_us; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + packet.thrust = thrust; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT, (const char *)&packet, 24); +#endif +} + +#endif + +// MESSAGE ROLL_PITCH_YAW_THRUST_SETPOINT UNPACKING + + +/** + * @brief Get field time_us from roll_pitch_yaw_thrust_setpoint message + * + * @return Timestamp in micro seconds since unix epoch + */ +static inline uint64_t mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_time_us(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint64_t(msg, 0); +} + +/** + * @brief Get field roll from roll_pitch_yaw_thrust_setpoint message + * + * @return Desired roll angle in radians + */ +static inline float mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_roll(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 8); +} + +/** + * @brief Get field pitch from roll_pitch_yaw_thrust_setpoint message + * + * @return Desired pitch angle in radians + */ +static inline float mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_pitch(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 12); +} + +/** + * @brief Get field yaw from roll_pitch_yaw_thrust_setpoint message + * + * @return Desired yaw angle in radians + */ +static inline float mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_yaw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 16); +} + +/** + * @brief Get field thrust from roll_pitch_yaw_thrust_setpoint message + * + * @return Collective thrust, normalized to 0 .. 1 + */ +static inline float mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_thrust(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 20); +} + +/** + * @brief Decode a roll_pitch_yaw_thrust_setpoint message into a struct + * + * @param msg The message to decode + * @param roll_pitch_yaw_thrust_setpoint C-struct to decode the message contents into + */ +static inline void mavlink_msg_roll_pitch_yaw_thrust_setpoint_decode(const mavlink_message_t* msg, mavlink_roll_pitch_yaw_thrust_setpoint_t* roll_pitch_yaw_thrust_setpoint) +{ +#if MAVLINK_NEED_BYTE_SWAP + roll_pitch_yaw_thrust_setpoint->time_us = mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_time_us(msg); + roll_pitch_yaw_thrust_setpoint->roll = mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_roll(msg); + roll_pitch_yaw_thrust_setpoint->pitch = mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_pitch(msg); + roll_pitch_yaw_thrust_setpoint->yaw = mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_yaw(msg); + roll_pitch_yaw_thrust_setpoint->thrust = mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_thrust(msg); +#else + memcpy(roll_pitch_yaw_thrust_setpoint, _MAV_PAYLOAD(msg), 24); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_safety_allowed_area.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_safety_allowed_area.h new file mode 100644 index 0000000000000000000000000000000000000000..d76c204f7a151c203765911c0df99b3c44e65774 --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_safety_allowed_area.h @@ -0,0 +1,276 @@ +// MESSAGE SAFETY_ALLOWED_AREA PACKING + +#define MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA 54 + +typedef struct __mavlink_safety_allowed_area_t +{ + uint8_t frame; ///< Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down. + float p1x; ///< x position 1 / Latitude 1 + float p1y; ///< y position 1 / Longitude 1 + float p1z; ///< z position 1 / Altitude 1 + float p2x; ///< x position 2 / Latitude 2 + float p2y; ///< y position 2 / Longitude 2 + float p2z; ///< z position 2 / Altitude 2 +} mavlink_safety_allowed_area_t; + +#define MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA_LEN 25 +#define MAVLINK_MSG_ID_54_LEN 25 + + + +#define MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA { \ + "SAFETY_ALLOWED_AREA", \ + 7, \ + { { "frame", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_safety_allowed_area_t, frame) }, \ + { "p1x", NULL, MAVLINK_TYPE_FLOAT, 0, 1, offsetof(mavlink_safety_allowed_area_t, p1x) }, \ + { "p1y", NULL, MAVLINK_TYPE_FLOAT, 0, 5, offsetof(mavlink_safety_allowed_area_t, p1y) }, \ + { "p1z", NULL, MAVLINK_TYPE_FLOAT, 0, 9, offsetof(mavlink_safety_allowed_area_t, p1z) }, \ + { "p2x", NULL, MAVLINK_TYPE_FLOAT, 0, 13, offsetof(mavlink_safety_allowed_area_t, p2x) }, \ + { "p2y", NULL, MAVLINK_TYPE_FLOAT, 0, 17, offsetof(mavlink_safety_allowed_area_t, p2y) }, \ + { "p2z", NULL, MAVLINK_TYPE_FLOAT, 0, 21, offsetof(mavlink_safety_allowed_area_t, p2z) }, \ + } \ +} + + +/** + * @brief Pack a safety_allowed_area 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 frame Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down. + * @param p1x x position 1 / Latitude 1 + * @param p1y y position 1 / Longitude 1 + * @param p1z z position 1 / Altitude 1 + * @param p2x x position 2 / Latitude 2 + * @param p2y y position 2 / Longitude 2 + * @param p2z z position 2 / Altitude 2 + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_safety_allowed_area_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t frame, float p1x, float p1y, float p1z, float p2x, float p2y, float p2z) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[25]; + _mav_put_uint8_t(buf, 0, frame); + _mav_put_float(buf, 1, p1x); + _mav_put_float(buf, 5, p1y); + _mav_put_float(buf, 9, p1z); + _mav_put_float(buf, 13, p2x); + _mav_put_float(buf, 17, p2y); + _mav_put_float(buf, 21, p2z); + + memcpy(_MAV_PAYLOAD(msg), buf, 25); +#else + mavlink_safety_allowed_area_t packet; + packet.frame = frame; + packet.p1x = p1x; + packet.p1y = p1y; + packet.p1z = p1z; + packet.p2x = p2x; + packet.p2y = p2y; + packet.p2z = p2z; + + memcpy(_MAV_PAYLOAD(msg), &packet, 25); +#endif + + msg->msgid = MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA; + return mavlink_finalize_message(msg, system_id, component_id, 25); +} + +/** + * @brief Pack a safety_allowed_area 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 frame Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down. + * @param p1x x position 1 / Latitude 1 + * @param p1y y position 1 / Longitude 1 + * @param p1z z position 1 / Altitude 1 + * @param p2x x position 2 / Latitude 2 + * @param p2y y position 2 / Longitude 2 + * @param p2z z position 2 / Altitude 2 + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_safety_allowed_area_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t frame,float p1x,float p1y,float p1z,float p2x,float p2y,float p2z) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[25]; + _mav_put_uint8_t(buf, 0, frame); + _mav_put_float(buf, 1, p1x); + _mav_put_float(buf, 5, p1y); + _mav_put_float(buf, 9, p1z); + _mav_put_float(buf, 13, p2x); + _mav_put_float(buf, 17, p2y); + _mav_put_float(buf, 21, p2z); + + memcpy(_MAV_PAYLOAD(msg), buf, 25); +#else + mavlink_safety_allowed_area_t packet; + packet.frame = frame; + packet.p1x = p1x; + packet.p1y = p1y; + packet.p1z = p1z; + packet.p2x = p2x; + packet.p2y = p2y; + packet.p2z = p2z; + + memcpy(_MAV_PAYLOAD(msg), &packet, 25); +#endif + + msg->msgid = MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 25); +} + +/** + * @brief Encode a safety_allowed_area 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 safety_allowed_area C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_safety_allowed_area_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_safety_allowed_area_t* safety_allowed_area) +{ + return mavlink_msg_safety_allowed_area_pack(system_id, component_id, msg, safety_allowed_area->frame, safety_allowed_area->p1x, safety_allowed_area->p1y, safety_allowed_area->p1z, safety_allowed_area->p2x, safety_allowed_area->p2y, safety_allowed_area->p2z); +} + +/** + * @brief Send a safety_allowed_area message + * @param chan MAVLink channel to send the message + * + * @param frame Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down. + * @param p1x x position 1 / Latitude 1 + * @param p1y y position 1 / Longitude 1 + * @param p1z z position 1 / Altitude 1 + * @param p2x x position 2 / Latitude 2 + * @param p2y y position 2 / Longitude 2 + * @param p2z z position 2 / Altitude 2 + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_safety_allowed_area_send(mavlink_channel_t chan, uint8_t frame, float p1x, float p1y, float p1z, float p2x, float p2y, float p2z) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[25]; + _mav_put_uint8_t(buf, 0, frame); + _mav_put_float(buf, 1, p1x); + _mav_put_float(buf, 5, p1y); + _mav_put_float(buf, 9, p1z); + _mav_put_float(buf, 13, p2x); + _mav_put_float(buf, 17, p2y); + _mav_put_float(buf, 21, p2z); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA, buf, 25); +#else + mavlink_safety_allowed_area_t packet; + packet.frame = frame; + packet.p1x = p1x; + packet.p1y = p1y; + packet.p1z = p1z; + packet.p2x = p2x; + packet.p2y = p2y; + packet.p2z = p2z; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA, (const char *)&packet, 25); +#endif +} + +#endif + +// MESSAGE SAFETY_ALLOWED_AREA UNPACKING + + +/** + * @brief Get field frame from safety_allowed_area message + * + * @return Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down. + */ +static inline uint8_t mavlink_msg_safety_allowed_area_get_frame(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field p1x from safety_allowed_area message + * + * @return x position 1 / Latitude 1 + */ +static inline float mavlink_msg_safety_allowed_area_get_p1x(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 1); +} + +/** + * @brief Get field p1y from safety_allowed_area message + * + * @return y position 1 / Longitude 1 + */ +static inline float mavlink_msg_safety_allowed_area_get_p1y(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 5); +} + +/** + * @brief Get field p1z from safety_allowed_area message + * + * @return z position 1 / Altitude 1 + */ +static inline float mavlink_msg_safety_allowed_area_get_p1z(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 9); +} + +/** + * @brief Get field p2x from safety_allowed_area message + * + * @return x position 2 / Latitude 2 + */ +static inline float mavlink_msg_safety_allowed_area_get_p2x(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 13); +} + +/** + * @brief Get field p2y from safety_allowed_area message + * + * @return y position 2 / Longitude 2 + */ +static inline float mavlink_msg_safety_allowed_area_get_p2y(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 17); +} + +/** + * @brief Get field p2z from safety_allowed_area message + * + * @return z position 2 / Altitude 2 + */ +static inline float mavlink_msg_safety_allowed_area_get_p2z(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 21); +} + +/** + * @brief Decode a safety_allowed_area message into a struct + * + * @param msg The message to decode + * @param safety_allowed_area C-struct to decode the message contents into + */ +static inline void mavlink_msg_safety_allowed_area_decode(const mavlink_message_t* msg, mavlink_safety_allowed_area_t* safety_allowed_area) +{ +#if MAVLINK_NEED_BYTE_SWAP + safety_allowed_area->frame = mavlink_msg_safety_allowed_area_get_frame(msg); + safety_allowed_area->p1x = mavlink_msg_safety_allowed_area_get_p1x(msg); + safety_allowed_area->p1y = mavlink_msg_safety_allowed_area_get_p1y(msg); + safety_allowed_area->p1z = mavlink_msg_safety_allowed_area_get_p1z(msg); + safety_allowed_area->p2x = mavlink_msg_safety_allowed_area_get_p2x(msg); + safety_allowed_area->p2y = mavlink_msg_safety_allowed_area_get_p2y(msg); + safety_allowed_area->p2z = mavlink_msg_safety_allowed_area_get_p2z(msg); +#else + memcpy(safety_allowed_area, _MAV_PAYLOAD(msg), 25); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_safety_set_allowed_area.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_safety_set_allowed_area.h new file mode 100644 index 0000000000000000000000000000000000000000..8afdf6f13318085dccffa100177a149ae0fc89cd --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_safety_set_allowed_area.h @@ -0,0 +1,320 @@ +// MESSAGE SAFETY_SET_ALLOWED_AREA PACKING + +#define MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA 53 + +typedef struct __mavlink_safety_set_allowed_area_t +{ + uint8_t target_system; ///< System ID + uint8_t target_component; ///< Component ID + uint8_t frame; ///< Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down. + float p1x; ///< x position 1 / Latitude 1 + float p1y; ///< y position 1 / Longitude 1 + float p1z; ///< z position 1 / Altitude 1 + float p2x; ///< x position 2 / Latitude 2 + float p2y; ///< y position 2 / Longitude 2 + float p2z; ///< z position 2 / Altitude 2 +} mavlink_safety_set_allowed_area_t; + +#define MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA_LEN 27 +#define MAVLINK_MSG_ID_53_LEN 27 + + + +#define MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA { \ + "SAFETY_SET_ALLOWED_AREA", \ + 9, \ + { { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_safety_set_allowed_area_t, target_system) }, \ + { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_safety_set_allowed_area_t, target_component) }, \ + { "frame", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_safety_set_allowed_area_t, frame) }, \ + { "p1x", NULL, MAVLINK_TYPE_FLOAT, 0, 3, offsetof(mavlink_safety_set_allowed_area_t, p1x) }, \ + { "p1y", NULL, MAVLINK_TYPE_FLOAT, 0, 7, offsetof(mavlink_safety_set_allowed_area_t, p1y) }, \ + { "p1z", NULL, MAVLINK_TYPE_FLOAT, 0, 11, offsetof(mavlink_safety_set_allowed_area_t, p1z) }, \ + { "p2x", NULL, MAVLINK_TYPE_FLOAT, 0, 15, offsetof(mavlink_safety_set_allowed_area_t, p2x) }, \ + { "p2y", NULL, MAVLINK_TYPE_FLOAT, 0, 19, offsetof(mavlink_safety_set_allowed_area_t, p2y) }, \ + { "p2z", NULL, MAVLINK_TYPE_FLOAT, 0, 23, offsetof(mavlink_safety_set_allowed_area_t, p2z) }, \ + } \ +} + + +/** + * @brief Pack a safety_set_allowed_area 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 target_component Component ID + * @param frame Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down. + * @param p1x x position 1 / Latitude 1 + * @param p1y y position 1 / Longitude 1 + * @param p1z z position 1 / Altitude 1 + * @param p2x x position 2 / Latitude 2 + * @param p2y y position 2 / Longitude 2 + * @param p2z z position 2 / Altitude 2 + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_safety_set_allowed_area_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target_system, uint8_t target_component, uint8_t frame, float p1x, float p1y, float p1z, float p2x, float p2y, float p2z) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[27]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_uint8_t(buf, 2, frame); + _mav_put_float(buf, 3, p1x); + _mav_put_float(buf, 7, p1y); + _mav_put_float(buf, 11, p1z); + _mav_put_float(buf, 15, p2x); + _mav_put_float(buf, 19, p2y); + _mav_put_float(buf, 23, p2z); + + memcpy(_MAV_PAYLOAD(msg), buf, 27); +#else + mavlink_safety_set_allowed_area_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.frame = frame; + packet.p1x = p1x; + packet.p1y = p1y; + packet.p1z = p1z; + packet.p2x = p2x; + packet.p2y = p2y; + packet.p2z = p2z; + + memcpy(_MAV_PAYLOAD(msg), &packet, 27); +#endif + + msg->msgid = MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA; + return mavlink_finalize_message(msg, system_id, component_id, 27); +} + +/** + * @brief Pack a safety_set_allowed_area 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 target_component Component ID + * @param frame Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down. + * @param p1x x position 1 / Latitude 1 + * @param p1y y position 1 / Longitude 1 + * @param p1z z position 1 / Altitude 1 + * @param p2x x position 2 / Latitude 2 + * @param p2y y position 2 / Longitude 2 + * @param p2z z position 2 / Altitude 2 + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_safety_set_allowed_area_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t target_system,uint8_t target_component,uint8_t frame,float p1x,float p1y,float p1z,float p2x,float p2y,float p2z) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[27]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_uint8_t(buf, 2, frame); + _mav_put_float(buf, 3, p1x); + _mav_put_float(buf, 7, p1y); + _mav_put_float(buf, 11, p1z); + _mav_put_float(buf, 15, p2x); + _mav_put_float(buf, 19, p2y); + _mav_put_float(buf, 23, p2z); + + memcpy(_MAV_PAYLOAD(msg), buf, 27); +#else + mavlink_safety_set_allowed_area_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.frame = frame; + packet.p1x = p1x; + packet.p1y = p1y; + packet.p1z = p1z; + packet.p2x = p2x; + packet.p2y = p2y; + packet.p2z = p2z; + + memcpy(_MAV_PAYLOAD(msg), &packet, 27); +#endif + + msg->msgid = MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 27); +} + +/** + * @brief Encode a safety_set_allowed_area 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 safety_set_allowed_area C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_safety_set_allowed_area_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_safety_set_allowed_area_t* safety_set_allowed_area) +{ + return mavlink_msg_safety_set_allowed_area_pack(system_id, component_id, msg, safety_set_allowed_area->target_system, safety_set_allowed_area->target_component, safety_set_allowed_area->frame, safety_set_allowed_area->p1x, safety_set_allowed_area->p1y, safety_set_allowed_area->p1z, safety_set_allowed_area->p2x, safety_set_allowed_area->p2y, safety_set_allowed_area->p2z); +} + +/** + * @brief Send a safety_set_allowed_area message + * @param chan MAVLink channel to send the message + * + * @param target_system System ID + * @param target_component Component ID + * @param frame Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down. + * @param p1x x position 1 / Latitude 1 + * @param p1y y position 1 / Longitude 1 + * @param p1z z position 1 / Altitude 1 + * @param p2x x position 2 / Latitude 2 + * @param p2y y position 2 / Longitude 2 + * @param p2z z position 2 / Altitude 2 + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_safety_set_allowed_area_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t frame, float p1x, float p1y, float p1z, float p2x, float p2y, float p2z) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[27]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_uint8_t(buf, 2, frame); + _mav_put_float(buf, 3, p1x); + _mav_put_float(buf, 7, p1y); + _mav_put_float(buf, 11, p1z); + _mav_put_float(buf, 15, p2x); + _mav_put_float(buf, 19, p2y); + _mav_put_float(buf, 23, p2z); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA, buf, 27); +#else + mavlink_safety_set_allowed_area_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.frame = frame; + packet.p1x = p1x; + packet.p1y = p1y; + packet.p1z = p1z; + packet.p2x = p2x; + packet.p2y = p2y; + packet.p2z = p2z; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA, (const char *)&packet, 27); +#endif +} + +#endif + +// MESSAGE SAFETY_SET_ALLOWED_AREA UNPACKING + + +/** + * @brief Get field target_system from safety_set_allowed_area message + * + * @return System ID + */ +static inline uint8_t mavlink_msg_safety_set_allowed_area_get_target_system(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field target_component from safety_set_allowed_area message + * + * @return Component ID + */ +static inline uint8_t mavlink_msg_safety_set_allowed_area_get_target_component(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 1); +} + +/** + * @brief Get field frame from safety_set_allowed_area message + * + * @return Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down. + */ +static inline uint8_t mavlink_msg_safety_set_allowed_area_get_frame(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 2); +} + +/** + * @brief Get field p1x from safety_set_allowed_area message + * + * @return x position 1 / Latitude 1 + */ +static inline float mavlink_msg_safety_set_allowed_area_get_p1x(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 3); +} + +/** + * @brief Get field p1y from safety_set_allowed_area message + * + * @return y position 1 / Longitude 1 + */ +static inline float mavlink_msg_safety_set_allowed_area_get_p1y(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 7); +} + +/** + * @brief Get field p1z from safety_set_allowed_area message + * + * @return z position 1 / Altitude 1 + */ +static inline float mavlink_msg_safety_set_allowed_area_get_p1z(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 11); +} + +/** + * @brief Get field p2x from safety_set_allowed_area message + * + * @return x position 2 / Latitude 2 + */ +static inline float mavlink_msg_safety_set_allowed_area_get_p2x(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 15); +} + +/** + * @brief Get field p2y from safety_set_allowed_area message + * + * @return y position 2 / Longitude 2 + */ +static inline float mavlink_msg_safety_set_allowed_area_get_p2y(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 19); +} + +/** + * @brief Get field p2z from safety_set_allowed_area message + * + * @return z position 2 / Altitude 2 + */ +static inline float mavlink_msg_safety_set_allowed_area_get_p2z(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 23); +} + +/** + * @brief Decode a safety_set_allowed_area message into a struct + * + * @param msg The message to decode + * @param safety_set_allowed_area C-struct to decode the message contents into + */ +static inline void mavlink_msg_safety_set_allowed_area_decode(const mavlink_message_t* msg, mavlink_safety_set_allowed_area_t* safety_set_allowed_area) +{ +#if MAVLINK_NEED_BYTE_SWAP + safety_set_allowed_area->target_system = mavlink_msg_safety_set_allowed_area_get_target_system(msg); + safety_set_allowed_area->target_component = mavlink_msg_safety_set_allowed_area_get_target_component(msg); + safety_set_allowed_area->frame = mavlink_msg_safety_set_allowed_area_get_frame(msg); + safety_set_allowed_area->p1x = mavlink_msg_safety_set_allowed_area_get_p1x(msg); + safety_set_allowed_area->p1y = mavlink_msg_safety_set_allowed_area_get_p1y(msg); + safety_set_allowed_area->p1z = mavlink_msg_safety_set_allowed_area_get_p1z(msg); + safety_set_allowed_area->p2x = mavlink_msg_safety_set_allowed_area_get_p2x(msg); + safety_set_allowed_area->p2y = mavlink_msg_safety_set_allowed_area_get_p2y(msg); + safety_set_allowed_area->p2z = mavlink_msg_safety_set_allowed_area_get_p2z(msg); +#else + memcpy(safety_set_allowed_area, _MAV_PAYLOAD(msg), 27); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_scaled_imu.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_scaled_imu.h new file mode 100644 index 0000000000000000000000000000000000000000..7bec81d9d5c7e341ed972a2f6257ef596491f716 --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_scaled_imu.h @@ -0,0 +1,342 @@ +// MESSAGE SCALED_IMU PACKING + +#define MAVLINK_MSG_ID_SCALED_IMU 26 + +typedef struct __mavlink_scaled_imu_t +{ + uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot) + int16_t xacc; ///< X acceleration (mg) + int16_t yacc; ///< Y acceleration (mg) + int16_t zacc; ///< Z acceleration (mg) + int16_t xgyro; ///< Angular speed around X axis (millirad /sec) + int16_t ygyro; ///< Angular speed around Y axis (millirad /sec) + int16_t zgyro; ///< Angular speed around Z axis (millirad /sec) + int16_t xmag; ///< X Magnetic field (milli tesla) + int16_t ymag; ///< Y Magnetic field (milli tesla) + int16_t zmag; ///< Z Magnetic field (milli tesla) +} mavlink_scaled_imu_t; + +#define MAVLINK_MSG_ID_SCALED_IMU_LEN 26 +#define MAVLINK_MSG_ID_26_LEN 26 + + + +#define MAVLINK_MESSAGE_INFO_SCALED_IMU { \ + "SCALED_IMU", \ + 10, \ + { { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_scaled_imu_t, usec) }, \ + { "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_scaled_imu_t, xacc) }, \ + { "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_scaled_imu_t, yacc) }, \ + { "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_scaled_imu_t, zacc) }, \ + { "xgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_scaled_imu_t, xgyro) }, \ + { "ygyro", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_scaled_imu_t, ygyro) }, \ + { "zgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 18, offsetof(mavlink_scaled_imu_t, zgyro) }, \ + { "xmag", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_scaled_imu_t, xmag) }, \ + { "ymag", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_scaled_imu_t, ymag) }, \ + { "zmag", NULL, MAVLINK_TYPE_INT16_T, 0, 24, offsetof(mavlink_scaled_imu_t, zmag) }, \ + } \ +} + + +/** + * @brief Pack a scaled_imu message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * + * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @param xacc X acceleration (mg) + * @param yacc Y acceleration (mg) + * @param zacc Z acceleration (mg) + * @param xgyro Angular speed around X axis (millirad /sec) + * @param ygyro Angular speed around Y axis (millirad /sec) + * @param zgyro Angular speed around Z axis (millirad /sec) + * @param xmag X Magnetic field (milli tesla) + * @param ymag Y Magnetic field (milli tesla) + * @param zmag Z Magnetic field (milli tesla) + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_scaled_imu_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint64_t usec, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[26]; + _mav_put_uint64_t(buf, 0, usec); + _mav_put_int16_t(buf, 8, xacc); + _mav_put_int16_t(buf, 10, yacc); + _mav_put_int16_t(buf, 12, zacc); + _mav_put_int16_t(buf, 14, xgyro); + _mav_put_int16_t(buf, 16, ygyro); + _mav_put_int16_t(buf, 18, zgyro); + _mav_put_int16_t(buf, 20, xmag); + _mav_put_int16_t(buf, 22, ymag); + _mav_put_int16_t(buf, 24, zmag); + + memcpy(_MAV_PAYLOAD(msg), buf, 26); +#else + mavlink_scaled_imu_t packet; + packet.usec = usec; + packet.xacc = xacc; + packet.yacc = yacc; + packet.zacc = zacc; + packet.xgyro = xgyro; + packet.ygyro = ygyro; + packet.zgyro = zgyro; + packet.xmag = xmag; + packet.ymag = ymag; + packet.zmag = zmag; + + memcpy(_MAV_PAYLOAD(msg), &packet, 26); +#endif + + msg->msgid = MAVLINK_MSG_ID_SCALED_IMU; + return mavlink_finalize_message(msg, system_id, component_id, 26); +} + +/** + * @brief Pack a scaled_imu message on a channel + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message was sent over + * @param msg The MAVLink message to compress the data into + * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @param xacc X acceleration (mg) + * @param yacc Y acceleration (mg) + * @param zacc Z acceleration (mg) + * @param xgyro Angular speed around X axis (millirad /sec) + * @param ygyro Angular speed around Y axis (millirad /sec) + * @param zgyro Angular speed around Z axis (millirad /sec) + * @param xmag X Magnetic field (milli tesla) + * @param ymag Y Magnetic field (milli tesla) + * @param zmag Z Magnetic field (milli tesla) + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_scaled_imu_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint64_t usec,int16_t xacc,int16_t yacc,int16_t zacc,int16_t xgyro,int16_t ygyro,int16_t zgyro,int16_t xmag,int16_t ymag,int16_t zmag) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[26]; + _mav_put_uint64_t(buf, 0, usec); + _mav_put_int16_t(buf, 8, xacc); + _mav_put_int16_t(buf, 10, yacc); + _mav_put_int16_t(buf, 12, zacc); + _mav_put_int16_t(buf, 14, xgyro); + _mav_put_int16_t(buf, 16, ygyro); + _mav_put_int16_t(buf, 18, zgyro); + _mav_put_int16_t(buf, 20, xmag); + _mav_put_int16_t(buf, 22, ymag); + _mav_put_int16_t(buf, 24, zmag); + + memcpy(_MAV_PAYLOAD(msg), buf, 26); +#else + mavlink_scaled_imu_t packet; + packet.usec = usec; + packet.xacc = xacc; + packet.yacc = yacc; + packet.zacc = zacc; + packet.xgyro = xgyro; + packet.ygyro = ygyro; + packet.zgyro = zgyro; + packet.xmag = xmag; + packet.ymag = ymag; + packet.zmag = zmag; + + memcpy(_MAV_PAYLOAD(msg), &packet, 26); +#endif + + msg->msgid = MAVLINK_MSG_ID_SCALED_IMU; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 26); +} + +/** + * @brief Encode a scaled_imu struct into a message + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * @param scaled_imu C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_scaled_imu_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_scaled_imu_t* scaled_imu) +{ + return mavlink_msg_scaled_imu_pack(system_id, component_id, msg, scaled_imu->usec, scaled_imu->xacc, scaled_imu->yacc, scaled_imu->zacc, scaled_imu->xgyro, scaled_imu->ygyro, scaled_imu->zgyro, scaled_imu->xmag, scaled_imu->ymag, scaled_imu->zmag); +} + +/** + * @brief Send a scaled_imu message + * @param chan MAVLink channel to send the message + * + * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @param xacc X acceleration (mg) + * @param yacc Y acceleration (mg) + * @param zacc Z acceleration (mg) + * @param xgyro Angular speed around X axis (millirad /sec) + * @param ygyro Angular speed around Y axis (millirad /sec) + * @param zgyro Angular speed around Z axis (millirad /sec) + * @param xmag X Magnetic field (milli tesla) + * @param ymag Y Magnetic field (milli tesla) + * @param zmag Z Magnetic field (milli tesla) + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_scaled_imu_send(mavlink_channel_t chan, uint64_t usec, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[26]; + _mav_put_uint64_t(buf, 0, usec); + _mav_put_int16_t(buf, 8, xacc); + _mav_put_int16_t(buf, 10, yacc); + _mav_put_int16_t(buf, 12, zacc); + _mav_put_int16_t(buf, 14, xgyro); + _mav_put_int16_t(buf, 16, ygyro); + _mav_put_int16_t(buf, 18, zgyro); + _mav_put_int16_t(buf, 20, xmag); + _mav_put_int16_t(buf, 22, ymag); + _mav_put_int16_t(buf, 24, zmag); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU, buf, 26); +#else + mavlink_scaled_imu_t packet; + packet.usec = usec; + packet.xacc = xacc; + packet.yacc = yacc; + packet.zacc = zacc; + packet.xgyro = xgyro; + packet.ygyro = ygyro; + packet.zgyro = zgyro; + packet.xmag = xmag; + packet.ymag = ymag; + packet.zmag = zmag; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU, (const char *)&packet, 26); +#endif +} + +#endif + +// MESSAGE SCALED_IMU UNPACKING + + +/** + * @brief Get field usec from scaled_imu message + * + * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot) + */ +static inline uint64_t mavlink_msg_scaled_imu_get_usec(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint64_t(msg, 0); +} + +/** + * @brief Get field xacc from scaled_imu message + * + * @return X acceleration (mg) + */ +static inline int16_t mavlink_msg_scaled_imu_get_xacc(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 8); +} + +/** + * @brief Get field yacc from scaled_imu message + * + * @return Y acceleration (mg) + */ +static inline int16_t mavlink_msg_scaled_imu_get_yacc(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 10); +} + +/** + * @brief Get field zacc from scaled_imu message + * + * @return Z acceleration (mg) + */ +static inline int16_t mavlink_msg_scaled_imu_get_zacc(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 12); +} + +/** + * @brief Get field xgyro from scaled_imu message + * + * @return Angular speed around X axis (millirad /sec) + */ +static inline int16_t mavlink_msg_scaled_imu_get_xgyro(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 14); +} + +/** + * @brief Get field ygyro from scaled_imu message + * + * @return Angular speed around Y axis (millirad /sec) + */ +static inline int16_t mavlink_msg_scaled_imu_get_ygyro(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 16); +} + +/** + * @brief Get field zgyro from scaled_imu message + * + * @return Angular speed around Z axis (millirad /sec) + */ +static inline int16_t mavlink_msg_scaled_imu_get_zgyro(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 18); +} + +/** + * @brief Get field xmag from scaled_imu message + * + * @return X Magnetic field (milli tesla) + */ +static inline int16_t mavlink_msg_scaled_imu_get_xmag(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 20); +} + +/** + * @brief Get field ymag from scaled_imu message + * + * @return Y Magnetic field (milli tesla) + */ +static inline int16_t mavlink_msg_scaled_imu_get_ymag(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 22); +} + +/** + * @brief Get field zmag from scaled_imu message + * + * @return Z Magnetic field (milli tesla) + */ +static inline int16_t mavlink_msg_scaled_imu_get_zmag(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 24); +} + +/** + * @brief Decode a scaled_imu message into a struct + * + * @param msg The message to decode + * @param scaled_imu C-struct to decode the message contents into + */ +static inline void mavlink_msg_scaled_imu_decode(const mavlink_message_t* msg, mavlink_scaled_imu_t* scaled_imu) +{ +#if MAVLINK_NEED_BYTE_SWAP + scaled_imu->usec = mavlink_msg_scaled_imu_get_usec(msg); + scaled_imu->xacc = mavlink_msg_scaled_imu_get_xacc(msg); + scaled_imu->yacc = mavlink_msg_scaled_imu_get_yacc(msg); + scaled_imu->zacc = mavlink_msg_scaled_imu_get_zacc(msg); + scaled_imu->xgyro = mavlink_msg_scaled_imu_get_xgyro(msg); + scaled_imu->ygyro = mavlink_msg_scaled_imu_get_ygyro(msg); + scaled_imu->zgyro = mavlink_msg_scaled_imu_get_zgyro(msg); + scaled_imu->xmag = mavlink_msg_scaled_imu_get_xmag(msg); + scaled_imu->ymag = mavlink_msg_scaled_imu_get_ymag(msg); + scaled_imu->zmag = mavlink_msg_scaled_imu_get_zmag(msg); +#else + memcpy(scaled_imu, _MAV_PAYLOAD(msg), 26); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_scaled_pressure.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_scaled_pressure.h new file mode 100644 index 0000000000000000000000000000000000000000..287c9a95b7b2ce45d43ef7c1c41e0c224826af0c --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_scaled_pressure.h @@ -0,0 +1,210 @@ +// MESSAGE SCALED_PRESSURE PACKING + +#define MAVLINK_MSG_ID_SCALED_PRESSURE 38 + +typedef struct __mavlink_scaled_pressure_t +{ + uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot) + float press_abs; ///< Absolute pressure (hectopascal) + float press_diff; ///< Differential pressure 1 (hectopascal) + int16_t temperature; ///< Temperature measurement (0.01 degrees celsius) +} mavlink_scaled_pressure_t; + +#define MAVLINK_MSG_ID_SCALED_PRESSURE_LEN 18 +#define MAVLINK_MSG_ID_38_LEN 18 + + + +#define MAVLINK_MESSAGE_INFO_SCALED_PRESSURE { \ + "SCALED_PRESSURE", \ + 4, \ + { { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_scaled_pressure_t, usec) }, \ + { "press_abs", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_scaled_pressure_t, press_abs) }, \ + { "press_diff", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_scaled_pressure_t, press_diff) }, \ + { "temperature", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_scaled_pressure_t, temperature) }, \ + } \ +} + + +/** + * @brief Pack a scaled_pressure 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 usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @param press_abs Absolute pressure (hectopascal) + * @param press_diff Differential pressure 1 (hectopascal) + * @param temperature Temperature measurement (0.01 degrees celsius) + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_scaled_pressure_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint64_t usec, float press_abs, float press_diff, int16_t temperature) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[18]; + _mav_put_uint64_t(buf, 0, usec); + _mav_put_float(buf, 8, press_abs); + _mav_put_float(buf, 12, press_diff); + _mav_put_int16_t(buf, 16, temperature); + + memcpy(_MAV_PAYLOAD(msg), buf, 18); +#else + mavlink_scaled_pressure_t packet; + packet.usec = usec; + packet.press_abs = press_abs; + packet.press_diff = press_diff; + packet.temperature = temperature; + + memcpy(_MAV_PAYLOAD(msg), &packet, 18); +#endif + + msg->msgid = MAVLINK_MSG_ID_SCALED_PRESSURE; + return mavlink_finalize_message(msg, system_id, component_id, 18); +} + +/** + * @brief Pack a scaled_pressure 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 usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @param press_abs Absolute pressure (hectopascal) + * @param press_diff Differential pressure 1 (hectopascal) + * @param temperature Temperature measurement (0.01 degrees celsius) + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_scaled_pressure_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint64_t usec,float press_abs,float press_diff,int16_t temperature) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[18]; + _mav_put_uint64_t(buf, 0, usec); + _mav_put_float(buf, 8, press_abs); + _mav_put_float(buf, 12, press_diff); + _mav_put_int16_t(buf, 16, temperature); + + memcpy(_MAV_PAYLOAD(msg), buf, 18); +#else + mavlink_scaled_pressure_t packet; + packet.usec = usec; + packet.press_abs = press_abs; + packet.press_diff = press_diff; + packet.temperature = temperature; + + memcpy(_MAV_PAYLOAD(msg), &packet, 18); +#endif + + msg->msgid = MAVLINK_MSG_ID_SCALED_PRESSURE; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 18); +} + +/** + * @brief Encode a scaled_pressure 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 scaled_pressure C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_scaled_pressure_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_scaled_pressure_t* scaled_pressure) +{ + return mavlink_msg_scaled_pressure_pack(system_id, component_id, msg, scaled_pressure->usec, scaled_pressure->press_abs, scaled_pressure->press_diff, scaled_pressure->temperature); +} + +/** + * @brief Send a scaled_pressure message + * @param chan MAVLink channel to send the message + * + * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @param press_abs Absolute pressure (hectopascal) + * @param press_diff Differential pressure 1 (hectopascal) + * @param temperature Temperature measurement (0.01 degrees celsius) + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_scaled_pressure_send(mavlink_channel_t chan, uint64_t usec, float press_abs, float press_diff, int16_t temperature) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[18]; + _mav_put_uint64_t(buf, 0, usec); + _mav_put_float(buf, 8, press_abs); + _mav_put_float(buf, 12, press_diff); + _mav_put_int16_t(buf, 16, temperature); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_PRESSURE, buf, 18); +#else + mavlink_scaled_pressure_t packet; + packet.usec = usec; + packet.press_abs = press_abs; + packet.press_diff = press_diff; + packet.temperature = temperature; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_PRESSURE, (const char *)&packet, 18); +#endif +} + +#endif + +// MESSAGE SCALED_PRESSURE UNPACKING + + +/** + * @brief Get field usec from scaled_pressure message + * + * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot) + */ +static inline uint64_t mavlink_msg_scaled_pressure_get_usec(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint64_t(msg, 0); +} + +/** + * @brief Get field press_abs from scaled_pressure message + * + * @return Absolute pressure (hectopascal) + */ +static inline float mavlink_msg_scaled_pressure_get_press_abs(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 8); +} + +/** + * @brief Get field press_diff from scaled_pressure message + * + * @return Differential pressure 1 (hectopascal) + */ +static inline float mavlink_msg_scaled_pressure_get_press_diff(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 12); +} + +/** + * @brief Get field temperature from scaled_pressure message + * + * @return Temperature measurement (0.01 degrees celsius) + */ +static inline int16_t mavlink_msg_scaled_pressure_get_temperature(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 16); +} + +/** + * @brief Decode a scaled_pressure message into a struct + * + * @param msg The message to decode + * @param scaled_pressure C-struct to decode the message contents into + */ +static inline void mavlink_msg_scaled_pressure_decode(const mavlink_message_t* msg, mavlink_scaled_pressure_t* scaled_pressure) +{ +#if MAVLINK_NEED_BYTE_SWAP + scaled_pressure->usec = mavlink_msg_scaled_pressure_get_usec(msg); + scaled_pressure->press_abs = mavlink_msg_scaled_pressure_get_press_abs(msg); + scaled_pressure->press_diff = mavlink_msg_scaled_pressure_get_press_diff(msg); + scaled_pressure->temperature = mavlink_msg_scaled_pressure_get_temperature(msg); +#else + memcpy(scaled_pressure, _MAV_PAYLOAD(msg), 18); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_servo_output_raw.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_servo_output_raw.h new file mode 100644 index 0000000000000000000000000000000000000000..3c2b52e906452aefb3095170b08b48cd3b95e497 --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_servo_output_raw.h @@ -0,0 +1,298 @@ +// MESSAGE SERVO_OUTPUT_RAW PACKING + +#define MAVLINK_MSG_ID_SERVO_OUTPUT_RAW 37 + +typedef struct __mavlink_servo_output_raw_t +{ + uint16_t servo1_raw; ///< Servo output 1 value, in microseconds + uint16_t servo2_raw; ///< Servo output 2 value, in microseconds + uint16_t servo3_raw; ///< Servo output 3 value, in microseconds + uint16_t servo4_raw; ///< Servo output 4 value, in microseconds + uint16_t servo5_raw; ///< Servo output 5 value, in microseconds + uint16_t servo6_raw; ///< Servo output 6 value, in microseconds + uint16_t servo7_raw; ///< Servo output 7 value, in microseconds + uint16_t servo8_raw; ///< Servo output 8 value, in microseconds +} mavlink_servo_output_raw_t; + +#define MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN 16 +#define MAVLINK_MSG_ID_37_LEN 16 + + + +#define MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW { \ + "SERVO_OUTPUT_RAW", \ + 8, \ + { { "servo1_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_servo_output_raw_t, servo1_raw) }, \ + { "servo2_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_servo_output_raw_t, servo2_raw) }, \ + { "servo3_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_servo_output_raw_t, servo3_raw) }, \ + { "servo4_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_servo_output_raw_t, servo4_raw) }, \ + { "servo5_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_servo_output_raw_t, servo5_raw) }, \ + { "servo6_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 10, offsetof(mavlink_servo_output_raw_t, servo6_raw) }, \ + { "servo7_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_servo_output_raw_t, servo7_raw) }, \ + { "servo8_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 14, offsetof(mavlink_servo_output_raw_t, servo8_raw) }, \ + } \ +} + + +/** + * @brief Pack a servo_output_raw 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 servo1_raw Servo output 1 value, in microseconds + * @param servo2_raw Servo output 2 value, in microseconds + * @param servo3_raw Servo output 3 value, in microseconds + * @param servo4_raw Servo output 4 value, in microseconds + * @param servo5_raw Servo output 5 value, in microseconds + * @param servo6_raw Servo output 6 value, in microseconds + * @param servo7_raw Servo output 7 value, in microseconds + * @param servo8_raw Servo output 8 value, in microseconds + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_servo_output_raw_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint16_t servo1_raw, uint16_t servo2_raw, uint16_t servo3_raw, uint16_t servo4_raw, uint16_t servo5_raw, uint16_t servo6_raw, uint16_t servo7_raw, uint16_t servo8_raw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[16]; + _mav_put_uint16_t(buf, 0, servo1_raw); + _mav_put_uint16_t(buf, 2, servo2_raw); + _mav_put_uint16_t(buf, 4, servo3_raw); + _mav_put_uint16_t(buf, 6, servo4_raw); + _mav_put_uint16_t(buf, 8, servo5_raw); + _mav_put_uint16_t(buf, 10, servo6_raw); + _mav_put_uint16_t(buf, 12, servo7_raw); + _mav_put_uint16_t(buf, 14, servo8_raw); + + memcpy(_MAV_PAYLOAD(msg), buf, 16); +#else + mavlink_servo_output_raw_t packet; + packet.servo1_raw = servo1_raw; + packet.servo2_raw = servo2_raw; + packet.servo3_raw = servo3_raw; + packet.servo4_raw = servo4_raw; + packet.servo5_raw = servo5_raw; + packet.servo6_raw = servo6_raw; + packet.servo7_raw = servo7_raw; + packet.servo8_raw = servo8_raw; + + memcpy(_MAV_PAYLOAD(msg), &packet, 16); +#endif + + msg->msgid = MAVLINK_MSG_ID_SERVO_OUTPUT_RAW; + return mavlink_finalize_message(msg, system_id, component_id, 16); +} + +/** + * @brief Pack a servo_output_raw 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 servo1_raw Servo output 1 value, in microseconds + * @param servo2_raw Servo output 2 value, in microseconds + * @param servo3_raw Servo output 3 value, in microseconds + * @param servo4_raw Servo output 4 value, in microseconds + * @param servo5_raw Servo output 5 value, in microseconds + * @param servo6_raw Servo output 6 value, in microseconds + * @param servo7_raw Servo output 7 value, in microseconds + * @param servo8_raw Servo output 8 value, in microseconds + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_servo_output_raw_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint16_t servo1_raw,uint16_t servo2_raw,uint16_t servo3_raw,uint16_t servo4_raw,uint16_t servo5_raw,uint16_t servo6_raw,uint16_t servo7_raw,uint16_t servo8_raw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[16]; + _mav_put_uint16_t(buf, 0, servo1_raw); + _mav_put_uint16_t(buf, 2, servo2_raw); + _mav_put_uint16_t(buf, 4, servo3_raw); + _mav_put_uint16_t(buf, 6, servo4_raw); + _mav_put_uint16_t(buf, 8, servo5_raw); + _mav_put_uint16_t(buf, 10, servo6_raw); + _mav_put_uint16_t(buf, 12, servo7_raw); + _mav_put_uint16_t(buf, 14, servo8_raw); + + memcpy(_MAV_PAYLOAD(msg), buf, 16); +#else + mavlink_servo_output_raw_t packet; + packet.servo1_raw = servo1_raw; + packet.servo2_raw = servo2_raw; + packet.servo3_raw = servo3_raw; + packet.servo4_raw = servo4_raw; + packet.servo5_raw = servo5_raw; + packet.servo6_raw = servo6_raw; + packet.servo7_raw = servo7_raw; + packet.servo8_raw = servo8_raw; + + memcpy(_MAV_PAYLOAD(msg), &packet, 16); +#endif + + msg->msgid = MAVLINK_MSG_ID_SERVO_OUTPUT_RAW; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 16); +} + +/** + * @brief Encode a servo_output_raw 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 servo_output_raw C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_servo_output_raw_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_servo_output_raw_t* servo_output_raw) +{ + return mavlink_msg_servo_output_raw_pack(system_id, component_id, msg, servo_output_raw->servo1_raw, servo_output_raw->servo2_raw, servo_output_raw->servo3_raw, servo_output_raw->servo4_raw, servo_output_raw->servo5_raw, servo_output_raw->servo6_raw, servo_output_raw->servo7_raw, servo_output_raw->servo8_raw); +} + +/** + * @brief Send a servo_output_raw message + * @param chan MAVLink channel to send the message + * + * @param servo1_raw Servo output 1 value, in microseconds + * @param servo2_raw Servo output 2 value, in microseconds + * @param servo3_raw Servo output 3 value, in microseconds + * @param servo4_raw Servo output 4 value, in microseconds + * @param servo5_raw Servo output 5 value, in microseconds + * @param servo6_raw Servo output 6 value, in microseconds + * @param servo7_raw Servo output 7 value, in microseconds + * @param servo8_raw Servo output 8 value, in microseconds + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_servo_output_raw_send(mavlink_channel_t chan, uint16_t servo1_raw, uint16_t servo2_raw, uint16_t servo3_raw, uint16_t servo4_raw, uint16_t servo5_raw, uint16_t servo6_raw, uint16_t servo7_raw, uint16_t servo8_raw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[16]; + _mav_put_uint16_t(buf, 0, servo1_raw); + _mav_put_uint16_t(buf, 2, servo2_raw); + _mav_put_uint16_t(buf, 4, servo3_raw); + _mav_put_uint16_t(buf, 6, servo4_raw); + _mav_put_uint16_t(buf, 8, servo5_raw); + _mav_put_uint16_t(buf, 10, servo6_raw); + _mav_put_uint16_t(buf, 12, servo7_raw); + _mav_put_uint16_t(buf, 14, servo8_raw); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, buf, 16); +#else + mavlink_servo_output_raw_t packet; + packet.servo1_raw = servo1_raw; + packet.servo2_raw = servo2_raw; + packet.servo3_raw = servo3_raw; + packet.servo4_raw = servo4_raw; + packet.servo5_raw = servo5_raw; + packet.servo6_raw = servo6_raw; + packet.servo7_raw = servo7_raw; + packet.servo8_raw = servo8_raw; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, (const char *)&packet, 16); +#endif +} + +#endif + +// MESSAGE SERVO_OUTPUT_RAW UNPACKING + + +/** + * @brief Get field servo1_raw from servo_output_raw message + * + * @return Servo output 1 value, in microseconds + */ +static inline uint16_t mavlink_msg_servo_output_raw_get_servo1_raw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 0); +} + +/** + * @brief Get field servo2_raw from servo_output_raw message + * + * @return Servo output 2 value, in microseconds + */ +static inline uint16_t mavlink_msg_servo_output_raw_get_servo2_raw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 2); +} + +/** + * @brief Get field servo3_raw from servo_output_raw message + * + * @return Servo output 3 value, in microseconds + */ +static inline uint16_t mavlink_msg_servo_output_raw_get_servo3_raw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 4); +} + +/** + * @brief Get field servo4_raw from servo_output_raw message + * + * @return Servo output 4 value, in microseconds + */ +static inline uint16_t mavlink_msg_servo_output_raw_get_servo4_raw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 6); +} + +/** + * @brief Get field servo5_raw from servo_output_raw message + * + * @return Servo output 5 value, in microseconds + */ +static inline uint16_t mavlink_msg_servo_output_raw_get_servo5_raw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 8); +} + +/** + * @brief Get field servo6_raw from servo_output_raw message + * + * @return Servo output 6 value, in microseconds + */ +static inline uint16_t mavlink_msg_servo_output_raw_get_servo6_raw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 10); +} + +/** + * @brief Get field servo7_raw from servo_output_raw message + * + * @return Servo output 7 value, in microseconds + */ +static inline uint16_t mavlink_msg_servo_output_raw_get_servo7_raw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 12); +} + +/** + * @brief Get field servo8_raw from servo_output_raw message + * + * @return Servo output 8 value, in microseconds + */ +static inline uint16_t mavlink_msg_servo_output_raw_get_servo8_raw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 14); +} + +/** + * @brief Decode a servo_output_raw message into a struct + * + * @param msg The message to decode + * @param servo_output_raw C-struct to decode the message contents into + */ +static inline void mavlink_msg_servo_output_raw_decode(const mavlink_message_t* msg, mavlink_servo_output_raw_t* servo_output_raw) +{ +#if MAVLINK_NEED_BYTE_SWAP + servo_output_raw->servo1_raw = mavlink_msg_servo_output_raw_get_servo1_raw(msg); + servo_output_raw->servo2_raw = mavlink_msg_servo_output_raw_get_servo2_raw(msg); + servo_output_raw->servo3_raw = mavlink_msg_servo_output_raw_get_servo3_raw(msg); + servo_output_raw->servo4_raw = mavlink_msg_servo_output_raw_get_servo4_raw(msg); + servo_output_raw->servo5_raw = mavlink_msg_servo_output_raw_get_servo5_raw(msg); + servo_output_raw->servo6_raw = mavlink_msg_servo_output_raw_get_servo6_raw(msg); + servo_output_raw->servo7_raw = mavlink_msg_servo_output_raw_get_servo7_raw(msg); + servo_output_raw->servo8_raw = mavlink_msg_servo_output_raw_get_servo8_raw(msg); +#else + memcpy(servo_output_raw, _MAV_PAYLOAD(msg), 16); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_set_altitude.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_set_altitude.h new file mode 100644 index 0000000000000000000000000000000000000000..14398bc53e2ab1c47a73aaf5da7eafb7fc0b3a01 --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_set_altitude.h @@ -0,0 +1,166 @@ +// MESSAGE SET_ALTITUDE PACKING + +#define MAVLINK_MSG_ID_SET_ALTITUDE 65 + +typedef struct __mavlink_set_altitude_t +{ + uint8_t target; ///< The system setting the altitude + uint32_t mode; ///< The new altitude in meters +} mavlink_set_altitude_t; + +#define MAVLINK_MSG_ID_SET_ALTITUDE_LEN 5 +#define MAVLINK_MSG_ID_65_LEN 5 + + + +#define MAVLINK_MESSAGE_INFO_SET_ALTITUDE { \ + "SET_ALTITUDE", \ + 2, \ + { { "target", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_set_altitude_t, target) }, \ + { "mode", NULL, MAVLINK_TYPE_UINT32_T, 0, 1, offsetof(mavlink_set_altitude_t, mode) }, \ + } \ +} + + +/** + * @brief Pack a set_altitude 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 The system setting the altitude + * @param mode The new altitude in meters + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_set_altitude_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target, uint32_t mode) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[5]; + _mav_put_uint8_t(buf, 0, target); + _mav_put_uint32_t(buf, 1, mode); + + memcpy(_MAV_PAYLOAD(msg), buf, 5); +#else + mavlink_set_altitude_t packet; + packet.target = target; + packet.mode = mode; + + memcpy(_MAV_PAYLOAD(msg), &packet, 5); +#endif + + msg->msgid = MAVLINK_MSG_ID_SET_ALTITUDE; + return mavlink_finalize_message(msg, system_id, component_id, 5); +} + +/** + * @brief Pack a set_altitude 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 The system setting the altitude + * @param mode The new altitude in meters + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_set_altitude_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t target,uint32_t mode) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[5]; + _mav_put_uint8_t(buf, 0, target); + _mav_put_uint32_t(buf, 1, mode); + + memcpy(_MAV_PAYLOAD(msg), buf, 5); +#else + mavlink_set_altitude_t packet; + packet.target = target; + packet.mode = mode; + + memcpy(_MAV_PAYLOAD(msg), &packet, 5); +#endif + + msg->msgid = MAVLINK_MSG_ID_SET_ALTITUDE; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 5); +} + +/** + * @brief Encode a set_altitude 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 set_altitude C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_set_altitude_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_altitude_t* set_altitude) +{ + return mavlink_msg_set_altitude_pack(system_id, component_id, msg, set_altitude->target, set_altitude->mode); +} + +/** + * @brief Send a set_altitude message + * @param chan MAVLink channel to send the message + * + * @param target The system setting the altitude + * @param mode The new altitude in meters + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_set_altitude_send(mavlink_channel_t chan, uint8_t target, uint32_t mode) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[5]; + _mav_put_uint8_t(buf, 0, target); + _mav_put_uint32_t(buf, 1, mode); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ALTITUDE, buf, 5); +#else + mavlink_set_altitude_t packet; + packet.target = target; + packet.mode = mode; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ALTITUDE, (const char *)&packet, 5); +#endif +} + +#endif + +// MESSAGE SET_ALTITUDE UNPACKING + + +/** + * @brief Get field target from set_altitude message + * + * @return The system setting the altitude + */ +static inline uint8_t mavlink_msg_set_altitude_get_target(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field mode from set_altitude message + * + * @return The new altitude in meters + */ +static inline uint32_t mavlink_msg_set_altitude_get_mode(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint32_t(msg, 1); +} + +/** + * @brief Decode a set_altitude message into a struct + * + * @param msg The message to decode + * @param set_altitude C-struct to decode the message contents into + */ +static inline void mavlink_msg_set_altitude_decode(const mavlink_message_t* msg, mavlink_set_altitude_t* set_altitude) +{ +#if MAVLINK_NEED_BYTE_SWAP + set_altitude->target = mavlink_msg_set_altitude_get_target(msg); + set_altitude->mode = mavlink_msg_set_altitude_get_mode(msg); +#else + memcpy(set_altitude, _MAV_PAYLOAD(msg), 5); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_set_mode.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_set_mode.h new file mode 100644 index 0000000000000000000000000000000000000000..6630aea486317cfce13044a1117d2dc8cc49bfa3 --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_set_mode.h @@ -0,0 +1,166 @@ +// MESSAGE SET_MODE PACKING + +#define MAVLINK_MSG_ID_SET_MODE 11 + +typedef struct __mavlink_set_mode_t +{ + uint8_t target; ///< The system setting the mode + uint8_t mode; ///< The new mode +} mavlink_set_mode_t; + +#define MAVLINK_MSG_ID_SET_MODE_LEN 2 +#define MAVLINK_MSG_ID_11_LEN 2 + + + +#define MAVLINK_MESSAGE_INFO_SET_MODE { \ + "SET_MODE", \ + 2, \ + { { "target", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_set_mode_t, target) }, \ + { "mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_set_mode_t, mode) }, \ + } \ +} + + +/** + * @brief Pack a set_mode 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 The system setting the mode + * @param mode The new mode + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_set_mode_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target, uint8_t mode) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[2]; + _mav_put_uint8_t(buf, 0, target); + _mav_put_uint8_t(buf, 1, mode); + + memcpy(_MAV_PAYLOAD(msg), buf, 2); +#else + mavlink_set_mode_t packet; + packet.target = target; + packet.mode = mode; + + memcpy(_MAV_PAYLOAD(msg), &packet, 2); +#endif + + msg->msgid = MAVLINK_MSG_ID_SET_MODE; + return mavlink_finalize_message(msg, system_id, component_id, 2); +} + +/** + * @brief Pack a set_mode 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 The system setting the mode + * @param mode The new mode + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_set_mode_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t target,uint8_t mode) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[2]; + _mav_put_uint8_t(buf, 0, target); + _mav_put_uint8_t(buf, 1, mode); + + memcpy(_MAV_PAYLOAD(msg), buf, 2); +#else + mavlink_set_mode_t packet; + packet.target = target; + packet.mode = mode; + + memcpy(_MAV_PAYLOAD(msg), &packet, 2); +#endif + + msg->msgid = MAVLINK_MSG_ID_SET_MODE; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 2); +} + +/** + * @brief Encode a set_mode 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 set_mode C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_set_mode_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_mode_t* set_mode) +{ + return mavlink_msg_set_mode_pack(system_id, component_id, msg, set_mode->target, set_mode->mode); +} + +/** + * @brief Send a set_mode message + * @param chan MAVLink channel to send the message + * + * @param target The system setting the mode + * @param mode The new mode + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_set_mode_send(mavlink_channel_t chan, uint8_t target, uint8_t mode) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[2]; + _mav_put_uint8_t(buf, 0, target); + _mav_put_uint8_t(buf, 1, mode); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_MODE, buf, 2); +#else + mavlink_set_mode_t packet; + packet.target = target; + packet.mode = mode; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_MODE, (const char *)&packet, 2); +#endif +} + +#endif + +// MESSAGE SET_MODE UNPACKING + + +/** + * @brief Get field target from set_mode message + * + * @return The system setting the mode + */ +static inline uint8_t mavlink_msg_set_mode_get_target(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field mode from set_mode message + * + * @return The new mode + */ +static inline uint8_t mavlink_msg_set_mode_get_mode(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 1); +} + +/** + * @brief Decode a set_mode message into a struct + * + * @param msg The message to decode + * @param set_mode C-struct to decode the message contents into + */ +static inline void mavlink_msg_set_mode_decode(const mavlink_message_t* msg, mavlink_set_mode_t* set_mode) +{ +#if MAVLINK_NEED_BYTE_SWAP + set_mode->target = mavlink_msg_set_mode_get_target(msg); + set_mode->mode = mavlink_msg_set_mode_get_mode(msg); +#else + memcpy(set_mode, _MAV_PAYLOAD(msg), 2); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_set_nav_mode.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_set_nav_mode.h new file mode 100644 index 0000000000000000000000000000000000000000..fafb6ec7e5434cb910eb4a448751104fed4ca24b --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_set_nav_mode.h @@ -0,0 +1,166 @@ +// MESSAGE SET_NAV_MODE PACKING + +#define MAVLINK_MSG_ID_SET_NAV_MODE 12 + +typedef struct __mavlink_set_nav_mode_t +{ + uint8_t target; ///< The system setting the mode + uint8_t nav_mode; ///< The new navigation mode +} mavlink_set_nav_mode_t; + +#define MAVLINK_MSG_ID_SET_NAV_MODE_LEN 2 +#define MAVLINK_MSG_ID_12_LEN 2 + + + +#define MAVLINK_MESSAGE_INFO_SET_NAV_MODE { \ + "SET_NAV_MODE", \ + 2, \ + { { "target", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_set_nav_mode_t, target) }, \ + { "nav_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_set_nav_mode_t, nav_mode) }, \ + } \ +} + + +/** + * @brief Pack a set_nav_mode 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 The system setting the mode + * @param nav_mode The new navigation mode + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_set_nav_mode_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target, uint8_t nav_mode) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[2]; + _mav_put_uint8_t(buf, 0, target); + _mav_put_uint8_t(buf, 1, nav_mode); + + memcpy(_MAV_PAYLOAD(msg), buf, 2); +#else + mavlink_set_nav_mode_t packet; + packet.target = target; + packet.nav_mode = nav_mode; + + memcpy(_MAV_PAYLOAD(msg), &packet, 2); +#endif + + msg->msgid = MAVLINK_MSG_ID_SET_NAV_MODE; + return mavlink_finalize_message(msg, system_id, component_id, 2); +} + +/** + * @brief Pack a set_nav_mode 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 The system setting the mode + * @param nav_mode The new navigation mode + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_set_nav_mode_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t target,uint8_t nav_mode) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[2]; + _mav_put_uint8_t(buf, 0, target); + _mav_put_uint8_t(buf, 1, nav_mode); + + memcpy(_MAV_PAYLOAD(msg), buf, 2); +#else + mavlink_set_nav_mode_t packet; + packet.target = target; + packet.nav_mode = nav_mode; + + memcpy(_MAV_PAYLOAD(msg), &packet, 2); +#endif + + msg->msgid = MAVLINK_MSG_ID_SET_NAV_MODE; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 2); +} + +/** + * @brief Encode a set_nav_mode 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 set_nav_mode C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_set_nav_mode_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_nav_mode_t* set_nav_mode) +{ + return mavlink_msg_set_nav_mode_pack(system_id, component_id, msg, set_nav_mode->target, set_nav_mode->nav_mode); +} + +/** + * @brief Send a set_nav_mode message + * @param chan MAVLink channel to send the message + * + * @param target The system setting the mode + * @param nav_mode The new navigation mode + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_set_nav_mode_send(mavlink_channel_t chan, uint8_t target, uint8_t nav_mode) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[2]; + _mav_put_uint8_t(buf, 0, target); + _mav_put_uint8_t(buf, 1, nav_mode); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_NAV_MODE, buf, 2); +#else + mavlink_set_nav_mode_t packet; + packet.target = target; + packet.nav_mode = nav_mode; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_NAV_MODE, (const char *)&packet, 2); +#endif +} + +#endif + +// MESSAGE SET_NAV_MODE UNPACKING + + +/** + * @brief Get field target from set_nav_mode message + * + * @return The system setting the mode + */ +static inline uint8_t mavlink_msg_set_nav_mode_get_target(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field nav_mode from set_nav_mode message + * + * @return The new navigation mode + */ +static inline uint8_t mavlink_msg_set_nav_mode_get_nav_mode(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 1); +} + +/** + * @brief Decode a set_nav_mode message into a struct + * + * @param msg The message to decode + * @param set_nav_mode C-struct to decode the message contents into + */ +static inline void mavlink_msg_set_nav_mode_decode(const mavlink_message_t* msg, mavlink_set_nav_mode_t* set_nav_mode) +{ +#if MAVLINK_NEED_BYTE_SWAP + set_nav_mode->target = mavlink_msg_set_nav_mode_get_target(msg); + set_nav_mode->nav_mode = mavlink_msg_set_nav_mode_get_nav_mode(msg); +#else + memcpy(set_nav_mode, _MAV_PAYLOAD(msg), 2); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_set_roll_pitch_yaw_speed_thrust.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_set_roll_pitch_yaw_speed_thrust.h new file mode 100644 index 0000000000000000000000000000000000000000..d666d0cca67efb5f79a2fe2b67af4c0f724ecd5a --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_set_roll_pitch_yaw_speed_thrust.h @@ -0,0 +1,254 @@ +// MESSAGE SET_ROLL_PITCH_YAW_SPEED_THRUST PACKING + +#define MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST 56 + +typedef struct __mavlink_set_roll_pitch_yaw_speed_thrust_t +{ + uint8_t target_system; ///< System ID + uint8_t target_component; ///< Component ID + float roll_speed; ///< Desired roll angular speed in rad/s + float pitch_speed; ///< Desired pitch angular speed in rad/s + float yaw_speed; ///< Desired yaw angular speed in rad/s + float thrust; ///< Collective thrust, normalized to 0 .. 1 +} mavlink_set_roll_pitch_yaw_speed_thrust_t; + +#define MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST_LEN 18 +#define MAVLINK_MSG_ID_56_LEN 18 + + + +#define MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST { \ + "SET_ROLL_PITCH_YAW_SPEED_THRUST", \ + 6, \ + { { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_set_roll_pitch_yaw_speed_thrust_t, target_system) }, \ + { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_set_roll_pitch_yaw_speed_thrust_t, target_component) }, \ + { "roll_speed", NULL, MAVLINK_TYPE_FLOAT, 0, 2, offsetof(mavlink_set_roll_pitch_yaw_speed_thrust_t, roll_speed) }, \ + { "pitch_speed", NULL, MAVLINK_TYPE_FLOAT, 0, 6, offsetof(mavlink_set_roll_pitch_yaw_speed_thrust_t, pitch_speed) }, \ + { "yaw_speed", NULL, MAVLINK_TYPE_FLOAT, 0, 10, offsetof(mavlink_set_roll_pitch_yaw_speed_thrust_t, yaw_speed) }, \ + { "thrust", NULL, MAVLINK_TYPE_FLOAT, 0, 14, offsetof(mavlink_set_roll_pitch_yaw_speed_thrust_t, thrust) }, \ + } \ +} + + +/** + * @brief Pack a set_roll_pitch_yaw_speed_thrust 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 target_component Component ID + * @param roll_speed Desired roll angular speed in rad/s + * @param pitch_speed Desired pitch angular speed in rad/s + * @param yaw_speed Desired yaw angular speed in rad/s + * @param thrust Collective thrust, normalized to 0 .. 1 + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_set_roll_pitch_yaw_speed_thrust_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target_system, uint8_t target_component, float roll_speed, float pitch_speed, float yaw_speed, float thrust) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[18]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_float(buf, 2, roll_speed); + _mav_put_float(buf, 6, pitch_speed); + _mav_put_float(buf, 10, yaw_speed); + _mav_put_float(buf, 14, thrust); + + memcpy(_MAV_PAYLOAD(msg), buf, 18); +#else + mavlink_set_roll_pitch_yaw_speed_thrust_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.roll_speed = roll_speed; + packet.pitch_speed = pitch_speed; + packet.yaw_speed = yaw_speed; + packet.thrust = thrust; + + memcpy(_MAV_PAYLOAD(msg), &packet, 18); +#endif + + msg->msgid = MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST; + return mavlink_finalize_message(msg, system_id, component_id, 18); +} + +/** + * @brief Pack a set_roll_pitch_yaw_speed_thrust 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 target_component Component ID + * @param roll_speed Desired roll angular speed in rad/s + * @param pitch_speed Desired pitch angular speed in rad/s + * @param yaw_speed Desired yaw angular speed in rad/s + * @param thrust Collective thrust, normalized to 0 .. 1 + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_set_roll_pitch_yaw_speed_thrust_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t target_system,uint8_t target_component,float roll_speed,float pitch_speed,float yaw_speed,float thrust) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[18]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_float(buf, 2, roll_speed); + _mav_put_float(buf, 6, pitch_speed); + _mav_put_float(buf, 10, yaw_speed); + _mav_put_float(buf, 14, thrust); + + memcpy(_MAV_PAYLOAD(msg), buf, 18); +#else + mavlink_set_roll_pitch_yaw_speed_thrust_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.roll_speed = roll_speed; + packet.pitch_speed = pitch_speed; + packet.yaw_speed = yaw_speed; + packet.thrust = thrust; + + memcpy(_MAV_PAYLOAD(msg), &packet, 18); +#endif + + msg->msgid = MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 18); +} + +/** + * @brief Encode a set_roll_pitch_yaw_speed_thrust 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 set_roll_pitch_yaw_speed_thrust C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_set_roll_pitch_yaw_speed_thrust_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_roll_pitch_yaw_speed_thrust_t* set_roll_pitch_yaw_speed_thrust) +{ + return mavlink_msg_set_roll_pitch_yaw_speed_thrust_pack(system_id, component_id, msg, set_roll_pitch_yaw_speed_thrust->target_system, set_roll_pitch_yaw_speed_thrust->target_component, set_roll_pitch_yaw_speed_thrust->roll_speed, set_roll_pitch_yaw_speed_thrust->pitch_speed, set_roll_pitch_yaw_speed_thrust->yaw_speed, set_roll_pitch_yaw_speed_thrust->thrust); +} + +/** + * @brief Send a set_roll_pitch_yaw_speed_thrust message + * @param chan MAVLink channel to send the message + * + * @param target_system System ID + * @param target_component Component ID + * @param roll_speed Desired roll angular speed in rad/s + * @param pitch_speed Desired pitch angular speed in rad/s + * @param yaw_speed Desired yaw angular speed in rad/s + * @param thrust Collective thrust, normalized to 0 .. 1 + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_set_roll_pitch_yaw_speed_thrust_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, float roll_speed, float pitch_speed, float yaw_speed, float thrust) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[18]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_float(buf, 2, roll_speed); + _mav_put_float(buf, 6, pitch_speed); + _mav_put_float(buf, 10, yaw_speed); + _mav_put_float(buf, 14, thrust); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST, buf, 18); +#else + mavlink_set_roll_pitch_yaw_speed_thrust_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.roll_speed = roll_speed; + packet.pitch_speed = pitch_speed; + packet.yaw_speed = yaw_speed; + packet.thrust = thrust; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST, (const char *)&packet, 18); +#endif +} + +#endif + +// MESSAGE SET_ROLL_PITCH_YAW_SPEED_THRUST UNPACKING + + +/** + * @brief Get field target_system from set_roll_pitch_yaw_speed_thrust message + * + * @return System ID + */ +static inline uint8_t mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_target_system(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field target_component from set_roll_pitch_yaw_speed_thrust message + * + * @return Component ID + */ +static inline uint8_t mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_target_component(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 1); +} + +/** + * @brief Get field roll_speed from set_roll_pitch_yaw_speed_thrust message + * + * @return Desired roll angular speed in rad/s + */ +static inline float mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_roll_speed(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 2); +} + +/** + * @brief Get field pitch_speed from set_roll_pitch_yaw_speed_thrust message + * + * @return Desired pitch angular speed in rad/s + */ +static inline float mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_pitch_speed(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 6); +} + +/** + * @brief Get field yaw_speed from set_roll_pitch_yaw_speed_thrust message + * + * @return Desired yaw angular speed in rad/s + */ +static inline float mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_yaw_speed(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 10); +} + +/** + * @brief Get field thrust from set_roll_pitch_yaw_speed_thrust message + * + * @return Collective thrust, normalized to 0 .. 1 + */ +static inline float mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_thrust(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 14); +} + +/** + * @brief Decode a set_roll_pitch_yaw_speed_thrust message into a struct + * + * @param msg The message to decode + * @param set_roll_pitch_yaw_speed_thrust C-struct to decode the message contents into + */ +static inline void mavlink_msg_set_roll_pitch_yaw_speed_thrust_decode(const mavlink_message_t* msg, mavlink_set_roll_pitch_yaw_speed_thrust_t* set_roll_pitch_yaw_speed_thrust) +{ +#if MAVLINK_NEED_BYTE_SWAP + set_roll_pitch_yaw_speed_thrust->target_system = mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_target_system(msg); + set_roll_pitch_yaw_speed_thrust->target_component = mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_target_component(msg); + set_roll_pitch_yaw_speed_thrust->roll_speed = mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_roll_speed(msg); + set_roll_pitch_yaw_speed_thrust->pitch_speed = mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_pitch_speed(msg); + set_roll_pitch_yaw_speed_thrust->yaw_speed = mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_yaw_speed(msg); + set_roll_pitch_yaw_speed_thrust->thrust = mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_thrust(msg); +#else + memcpy(set_roll_pitch_yaw_speed_thrust, _MAV_PAYLOAD(msg), 18); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_set_roll_pitch_yaw_thrust.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_set_roll_pitch_yaw_thrust.h new file mode 100644 index 0000000000000000000000000000000000000000..ad9425158e1da894b8d837cf478773525dd0fcdb --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_set_roll_pitch_yaw_thrust.h @@ -0,0 +1,254 @@ +// MESSAGE SET_ROLL_PITCH_YAW_THRUST PACKING + +#define MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST 55 + +typedef struct __mavlink_set_roll_pitch_yaw_thrust_t +{ + uint8_t target_system; ///< System ID + uint8_t target_component; ///< Component ID + float roll; ///< Desired roll angle in radians + float pitch; ///< Desired pitch angle in radians + float yaw; ///< Desired yaw angle in radians + float thrust; ///< Collective thrust, normalized to 0 .. 1 +} mavlink_set_roll_pitch_yaw_thrust_t; + +#define MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST_LEN 18 +#define MAVLINK_MSG_ID_55_LEN 18 + + + +#define MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST { \ + "SET_ROLL_PITCH_YAW_THRUST", \ + 6, \ + { { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_set_roll_pitch_yaw_thrust_t, target_system) }, \ + { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_set_roll_pitch_yaw_thrust_t, target_component) }, \ + { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 2, offsetof(mavlink_set_roll_pitch_yaw_thrust_t, roll) }, \ + { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 6, offsetof(mavlink_set_roll_pitch_yaw_thrust_t, pitch) }, \ + { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 10, offsetof(mavlink_set_roll_pitch_yaw_thrust_t, yaw) }, \ + { "thrust", NULL, MAVLINK_TYPE_FLOAT, 0, 14, offsetof(mavlink_set_roll_pitch_yaw_thrust_t, thrust) }, \ + } \ +} + + +/** + * @brief Pack a set_roll_pitch_yaw_thrust 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 target_component Component ID + * @param roll Desired roll angle in radians + * @param pitch Desired pitch angle in radians + * @param yaw Desired yaw angle in radians + * @param thrust Collective thrust, normalized to 0 .. 1 + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_set_roll_pitch_yaw_thrust_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target_system, uint8_t target_component, float roll, float pitch, float yaw, float thrust) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[18]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_float(buf, 2, roll); + _mav_put_float(buf, 6, pitch); + _mav_put_float(buf, 10, yaw); + _mav_put_float(buf, 14, thrust); + + memcpy(_MAV_PAYLOAD(msg), buf, 18); +#else + mavlink_set_roll_pitch_yaw_thrust_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + packet.thrust = thrust; + + memcpy(_MAV_PAYLOAD(msg), &packet, 18); +#endif + + msg->msgid = MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST; + return mavlink_finalize_message(msg, system_id, component_id, 18); +} + +/** + * @brief Pack a set_roll_pitch_yaw_thrust 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 target_component Component ID + * @param roll Desired roll angle in radians + * @param pitch Desired pitch angle in radians + * @param yaw Desired yaw angle in radians + * @param thrust Collective thrust, normalized to 0 .. 1 + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_set_roll_pitch_yaw_thrust_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t target_system,uint8_t target_component,float roll,float pitch,float yaw,float thrust) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[18]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_float(buf, 2, roll); + _mav_put_float(buf, 6, pitch); + _mav_put_float(buf, 10, yaw); + _mav_put_float(buf, 14, thrust); + + memcpy(_MAV_PAYLOAD(msg), buf, 18); +#else + mavlink_set_roll_pitch_yaw_thrust_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + packet.thrust = thrust; + + memcpy(_MAV_PAYLOAD(msg), &packet, 18); +#endif + + msg->msgid = MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 18); +} + +/** + * @brief Encode a set_roll_pitch_yaw_thrust 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 set_roll_pitch_yaw_thrust C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_set_roll_pitch_yaw_thrust_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_roll_pitch_yaw_thrust_t* set_roll_pitch_yaw_thrust) +{ + return mavlink_msg_set_roll_pitch_yaw_thrust_pack(system_id, component_id, msg, set_roll_pitch_yaw_thrust->target_system, set_roll_pitch_yaw_thrust->target_component, set_roll_pitch_yaw_thrust->roll, set_roll_pitch_yaw_thrust->pitch, set_roll_pitch_yaw_thrust->yaw, set_roll_pitch_yaw_thrust->thrust); +} + +/** + * @brief Send a set_roll_pitch_yaw_thrust message + * @param chan MAVLink channel to send the message + * + * @param target_system System ID + * @param target_component Component ID + * @param roll Desired roll angle in radians + * @param pitch Desired pitch angle in radians + * @param yaw Desired yaw angle in radians + * @param thrust Collective thrust, normalized to 0 .. 1 + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_set_roll_pitch_yaw_thrust_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, float roll, float pitch, float yaw, float thrust) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[18]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_float(buf, 2, roll); + _mav_put_float(buf, 6, pitch); + _mav_put_float(buf, 10, yaw); + _mav_put_float(buf, 14, thrust); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST, buf, 18); +#else + mavlink_set_roll_pitch_yaw_thrust_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + packet.thrust = thrust; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST, (const char *)&packet, 18); +#endif +} + +#endif + +// MESSAGE SET_ROLL_PITCH_YAW_THRUST UNPACKING + + +/** + * @brief Get field target_system from set_roll_pitch_yaw_thrust message + * + * @return System ID + */ +static inline uint8_t mavlink_msg_set_roll_pitch_yaw_thrust_get_target_system(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field target_component from set_roll_pitch_yaw_thrust message + * + * @return Component ID + */ +static inline uint8_t mavlink_msg_set_roll_pitch_yaw_thrust_get_target_component(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 1); +} + +/** + * @brief Get field roll from set_roll_pitch_yaw_thrust message + * + * @return Desired roll angle in radians + */ +static inline float mavlink_msg_set_roll_pitch_yaw_thrust_get_roll(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 2); +} + +/** + * @brief Get field pitch from set_roll_pitch_yaw_thrust message + * + * @return Desired pitch angle in radians + */ +static inline float mavlink_msg_set_roll_pitch_yaw_thrust_get_pitch(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 6); +} + +/** + * @brief Get field yaw from set_roll_pitch_yaw_thrust message + * + * @return Desired yaw angle in radians + */ +static inline float mavlink_msg_set_roll_pitch_yaw_thrust_get_yaw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 10); +} + +/** + * @brief Get field thrust from set_roll_pitch_yaw_thrust message + * + * @return Collective thrust, normalized to 0 .. 1 + */ +static inline float mavlink_msg_set_roll_pitch_yaw_thrust_get_thrust(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 14); +} + +/** + * @brief Decode a set_roll_pitch_yaw_thrust message into a struct + * + * @param msg The message to decode + * @param set_roll_pitch_yaw_thrust C-struct to decode the message contents into + */ +static inline void mavlink_msg_set_roll_pitch_yaw_thrust_decode(const mavlink_message_t* msg, mavlink_set_roll_pitch_yaw_thrust_t* set_roll_pitch_yaw_thrust) +{ +#if MAVLINK_NEED_BYTE_SWAP + set_roll_pitch_yaw_thrust->target_system = mavlink_msg_set_roll_pitch_yaw_thrust_get_target_system(msg); + set_roll_pitch_yaw_thrust->target_component = mavlink_msg_set_roll_pitch_yaw_thrust_get_target_component(msg); + set_roll_pitch_yaw_thrust->roll = mavlink_msg_set_roll_pitch_yaw_thrust_get_roll(msg); + set_roll_pitch_yaw_thrust->pitch = mavlink_msg_set_roll_pitch_yaw_thrust_get_pitch(msg); + set_roll_pitch_yaw_thrust->yaw = mavlink_msg_set_roll_pitch_yaw_thrust_get_yaw(msg); + set_roll_pitch_yaw_thrust->thrust = mavlink_msg_set_roll_pitch_yaw_thrust_get_thrust(msg); +#else + memcpy(set_roll_pitch_yaw_thrust, _MAV_PAYLOAD(msg), 18); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_state_correction.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_state_correction.h new file mode 100644 index 0000000000000000000000000000000000000000..9c9f6d9b8964ba0f85971dfe5dc9c130ea38133d --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_state_correction.h @@ -0,0 +1,320 @@ +// MESSAGE STATE_CORRECTION PACKING + +#define MAVLINK_MSG_ID_STATE_CORRECTION 64 + +typedef struct __mavlink_state_correction_t +{ + float xErr; ///< x position error + float yErr; ///< y position error + float zErr; ///< z position error + float rollErr; ///< roll error (radians) + float pitchErr; ///< pitch error (radians) + float yawErr; ///< yaw error (radians) + float vxErr; ///< x velocity + float vyErr; ///< y velocity + float vzErr; ///< z velocity +} mavlink_state_correction_t; + +#define MAVLINK_MSG_ID_STATE_CORRECTION_LEN 36 +#define MAVLINK_MSG_ID_64_LEN 36 + + + +#define MAVLINK_MESSAGE_INFO_STATE_CORRECTION { \ + "STATE_CORRECTION", \ + 9, \ + { { "xErr", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_state_correction_t, xErr) }, \ + { "yErr", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_state_correction_t, yErr) }, \ + { "zErr", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_state_correction_t, zErr) }, \ + { "rollErr", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_state_correction_t, rollErr) }, \ + { "pitchErr", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_state_correction_t, pitchErr) }, \ + { "yawErr", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_state_correction_t, yawErr) }, \ + { "vxErr", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_state_correction_t, vxErr) }, \ + { "vyErr", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_state_correction_t, vyErr) }, \ + { "vzErr", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_state_correction_t, vzErr) }, \ + } \ +} + + +/** + * @brief Pack a state_correction 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 xErr x position error + * @param yErr y position error + * @param zErr z position error + * @param rollErr roll error (radians) + * @param pitchErr pitch error (radians) + * @param yawErr yaw error (radians) + * @param vxErr x velocity + * @param vyErr y velocity + * @param vzErr z velocity + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_state_correction_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + float xErr, float yErr, float zErr, float rollErr, float pitchErr, float yawErr, float vxErr, float vyErr, float vzErr) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[36]; + _mav_put_float(buf, 0, xErr); + _mav_put_float(buf, 4, yErr); + _mav_put_float(buf, 8, zErr); + _mav_put_float(buf, 12, rollErr); + _mav_put_float(buf, 16, pitchErr); + _mav_put_float(buf, 20, yawErr); + _mav_put_float(buf, 24, vxErr); + _mav_put_float(buf, 28, vyErr); + _mav_put_float(buf, 32, vzErr); + + memcpy(_MAV_PAYLOAD(msg), buf, 36); +#else + mavlink_state_correction_t packet; + packet.xErr = xErr; + packet.yErr = yErr; + packet.zErr = zErr; + packet.rollErr = rollErr; + packet.pitchErr = pitchErr; + packet.yawErr = yawErr; + packet.vxErr = vxErr; + packet.vyErr = vyErr; + packet.vzErr = vzErr; + + memcpy(_MAV_PAYLOAD(msg), &packet, 36); +#endif + + msg->msgid = MAVLINK_MSG_ID_STATE_CORRECTION; + return mavlink_finalize_message(msg, system_id, component_id, 36); +} + +/** + * @brief Pack a state_correction 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 xErr x position error + * @param yErr y position error + * @param zErr z position error + * @param rollErr roll error (radians) + * @param pitchErr pitch error (radians) + * @param yawErr yaw error (radians) + * @param vxErr x velocity + * @param vyErr y velocity + * @param vzErr z velocity + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_state_correction_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + float xErr,float yErr,float zErr,float rollErr,float pitchErr,float yawErr,float vxErr,float vyErr,float vzErr) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[36]; + _mav_put_float(buf, 0, xErr); + _mav_put_float(buf, 4, yErr); + _mav_put_float(buf, 8, zErr); + _mav_put_float(buf, 12, rollErr); + _mav_put_float(buf, 16, pitchErr); + _mav_put_float(buf, 20, yawErr); + _mav_put_float(buf, 24, vxErr); + _mav_put_float(buf, 28, vyErr); + _mav_put_float(buf, 32, vzErr); + + memcpy(_MAV_PAYLOAD(msg), buf, 36); +#else + mavlink_state_correction_t packet; + packet.xErr = xErr; + packet.yErr = yErr; + packet.zErr = zErr; + packet.rollErr = rollErr; + packet.pitchErr = pitchErr; + packet.yawErr = yawErr; + packet.vxErr = vxErr; + packet.vyErr = vyErr; + packet.vzErr = vzErr; + + memcpy(_MAV_PAYLOAD(msg), &packet, 36); +#endif + + msg->msgid = MAVLINK_MSG_ID_STATE_CORRECTION; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 36); +} + +/** + * @brief Encode a state_correction 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 state_correction C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_state_correction_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_state_correction_t* state_correction) +{ + return mavlink_msg_state_correction_pack(system_id, component_id, msg, state_correction->xErr, state_correction->yErr, state_correction->zErr, state_correction->rollErr, state_correction->pitchErr, state_correction->yawErr, state_correction->vxErr, state_correction->vyErr, state_correction->vzErr); +} + +/** + * @brief Send a state_correction message + * @param chan MAVLink channel to send the message + * + * @param xErr x position error + * @param yErr y position error + * @param zErr z position error + * @param rollErr roll error (radians) + * @param pitchErr pitch error (radians) + * @param yawErr yaw error (radians) + * @param vxErr x velocity + * @param vyErr y velocity + * @param vzErr z velocity + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_state_correction_send(mavlink_channel_t chan, float xErr, float yErr, float zErr, float rollErr, float pitchErr, float yawErr, float vxErr, float vyErr, float vzErr) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[36]; + _mav_put_float(buf, 0, xErr); + _mav_put_float(buf, 4, yErr); + _mav_put_float(buf, 8, zErr); + _mav_put_float(buf, 12, rollErr); + _mav_put_float(buf, 16, pitchErr); + _mav_put_float(buf, 20, yawErr); + _mav_put_float(buf, 24, vxErr); + _mav_put_float(buf, 28, vyErr); + _mav_put_float(buf, 32, vzErr); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_STATE_CORRECTION, buf, 36); +#else + mavlink_state_correction_t packet; + packet.xErr = xErr; + packet.yErr = yErr; + packet.zErr = zErr; + packet.rollErr = rollErr; + packet.pitchErr = pitchErr; + packet.yawErr = yawErr; + packet.vxErr = vxErr; + packet.vyErr = vyErr; + packet.vzErr = vzErr; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_STATE_CORRECTION, (const char *)&packet, 36); +#endif +} + +#endif + +// MESSAGE STATE_CORRECTION UNPACKING + + +/** + * @brief Get field xErr from state_correction message + * + * @return x position error + */ +static inline float mavlink_msg_state_correction_get_xErr(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 0); +} + +/** + * @brief Get field yErr from state_correction message + * + * @return y position error + */ +static inline float mavlink_msg_state_correction_get_yErr(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 4); +} + +/** + * @brief Get field zErr from state_correction message + * + * @return z position error + */ +static inline float mavlink_msg_state_correction_get_zErr(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 8); +} + +/** + * @brief Get field rollErr from state_correction message + * + * @return roll error (radians) + */ +static inline float mavlink_msg_state_correction_get_rollErr(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 12); +} + +/** + * @brief Get field pitchErr from state_correction message + * + * @return pitch error (radians) + */ +static inline float mavlink_msg_state_correction_get_pitchErr(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 16); +} + +/** + * @brief Get field yawErr from state_correction message + * + * @return yaw error (radians) + */ +static inline float mavlink_msg_state_correction_get_yawErr(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 20); +} + +/** + * @brief Get field vxErr from state_correction message + * + * @return x velocity + */ +static inline float mavlink_msg_state_correction_get_vxErr(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 24); +} + +/** + * @brief Get field vyErr from state_correction message + * + * @return y velocity + */ +static inline float mavlink_msg_state_correction_get_vyErr(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 28); +} + +/** + * @brief Get field vzErr from state_correction message + * + * @return z velocity + */ +static inline float mavlink_msg_state_correction_get_vzErr(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 32); +} + +/** + * @brief Decode a state_correction message into a struct + * + * @param msg The message to decode + * @param state_correction C-struct to decode the message contents into + */ +static inline void mavlink_msg_state_correction_decode(const mavlink_message_t* msg, mavlink_state_correction_t* state_correction) +{ +#if MAVLINK_NEED_BYTE_SWAP + state_correction->xErr = mavlink_msg_state_correction_get_xErr(msg); + state_correction->yErr = mavlink_msg_state_correction_get_yErr(msg); + state_correction->zErr = mavlink_msg_state_correction_get_zErr(msg); + state_correction->rollErr = mavlink_msg_state_correction_get_rollErr(msg); + state_correction->pitchErr = mavlink_msg_state_correction_get_pitchErr(msg); + state_correction->yawErr = mavlink_msg_state_correction_get_yawErr(msg); + state_correction->vxErr = mavlink_msg_state_correction_get_vxErr(msg); + state_correction->vyErr = mavlink_msg_state_correction_get_vyErr(msg); + state_correction->vzErr = mavlink_msg_state_correction_get_vzErr(msg); +#else + memcpy(state_correction, _MAV_PAYLOAD(msg), 36); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_statustext.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_statustext.h new file mode 100644 index 0000000000000000000000000000000000000000..da6cd7a18c675b0e619f14388370adc954aa0e1f --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_statustext.h @@ -0,0 +1,160 @@ +// MESSAGE STATUSTEXT PACKING + +#define MAVLINK_MSG_ID_STATUSTEXT 254 + +typedef struct __mavlink_statustext_t +{ + uint8_t severity; ///< Severity of status, 0 = info message, 255 = critical fault + int8_t text[50]; ///< Status text message, without null termination character +} mavlink_statustext_t; + +#define MAVLINK_MSG_ID_STATUSTEXT_LEN 51 +#define MAVLINK_MSG_ID_254_LEN 51 + +#define MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN 50 + +#define MAVLINK_MESSAGE_INFO_STATUSTEXT { \ + "STATUSTEXT", \ + 2, \ + { { "severity", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_statustext_t, severity) }, \ + { "text", NULL, MAVLINK_TYPE_INT8_T, 50, 1, offsetof(mavlink_statustext_t, text) }, \ + } \ +} + + +/** + * @brief Pack a statustext 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 severity Severity of status, 0 = info message, 255 = critical fault + * @param text Status text message, without null termination character + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_statustext_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t severity, const int8_t *text) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[51]; + _mav_put_uint8_t(buf, 0, severity); + _mav_put_int8_t_array(buf, 1, text, 50); + memcpy(_MAV_PAYLOAD(msg), buf, 51); +#else + mavlink_statustext_t packet; + packet.severity = severity; + mav_array_memcpy(packet.text, text, sizeof(int8_t)*50); + memcpy(_MAV_PAYLOAD(msg), &packet, 51); +#endif + + msg->msgid = MAVLINK_MSG_ID_STATUSTEXT; + return mavlink_finalize_message(msg, system_id, component_id, 51); +} + +/** + * @brief Pack a statustext 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 severity Severity of status, 0 = info message, 255 = critical fault + * @param text Status text message, without null termination character + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_statustext_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t severity,const int8_t *text) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[51]; + _mav_put_uint8_t(buf, 0, severity); + _mav_put_int8_t_array(buf, 1, text, 50); + memcpy(_MAV_PAYLOAD(msg), buf, 51); +#else + mavlink_statustext_t packet; + packet.severity = severity; + mav_array_memcpy(packet.text, text, sizeof(int8_t)*50); + memcpy(_MAV_PAYLOAD(msg), &packet, 51); +#endif + + msg->msgid = MAVLINK_MSG_ID_STATUSTEXT; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 51); +} + +/** + * @brief Encode a statustext 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 statustext C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_statustext_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_statustext_t* statustext) +{ + return mavlink_msg_statustext_pack(system_id, component_id, msg, statustext->severity, statustext->text); +} + +/** + * @brief Send a statustext message + * @param chan MAVLink channel to send the message + * + * @param severity Severity of status, 0 = info message, 255 = critical fault + * @param text Status text message, without null termination character + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_statustext_send(mavlink_channel_t chan, uint8_t severity, const int8_t *text) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[51]; + _mav_put_uint8_t(buf, 0, severity); + _mav_put_int8_t_array(buf, 1, text, 50); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_STATUSTEXT, buf, 51); +#else + mavlink_statustext_t packet; + packet.severity = severity; + mav_array_memcpy(packet.text, text, sizeof(int8_t)*50); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_STATUSTEXT, (const char *)&packet, 51); +#endif +} + +#endif + +// MESSAGE STATUSTEXT UNPACKING + + +/** + * @brief Get field severity from statustext message + * + * @return Severity of status, 0 = info message, 255 = critical fault + */ +static inline uint8_t mavlink_msg_statustext_get_severity(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field text from statustext message + * + * @return Status text message, without null termination character + */ +static inline uint16_t mavlink_msg_statustext_get_text(const mavlink_message_t* msg, int8_t *text) +{ + return _MAV_RETURN_int8_t_array(msg, text, 50, 1); +} + +/** + * @brief Decode a statustext message into a struct + * + * @param msg The message to decode + * @param statustext C-struct to decode the message contents into + */ +static inline void mavlink_msg_statustext_decode(const mavlink_message_t* msg, mavlink_statustext_t* statustext) +{ +#if MAVLINK_NEED_BYTE_SWAP + statustext->severity = mavlink_msg_statustext_get_severity(msg); + mavlink_msg_statustext_get_text(msg, statustext->text); +#else + memcpy(statustext, _MAV_PAYLOAD(msg), 51); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_sys_status.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_sys_status.h new file mode 100644 index 0000000000000000000000000000000000000000..9add0d069fa9416988faf4aac20b4f98693b729f --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_sys_status.h @@ -0,0 +1,276 @@ +// MESSAGE SYS_STATUS PACKING + +#define MAVLINK_MSG_ID_SYS_STATUS 34 + +typedef struct __mavlink_sys_status_t +{ + uint8_t mode; ///< System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h + uint8_t nav_mode; ///< Navigation mode, see MAV_NAV_MODE ENUM + uint8_t status; ///< System status flag, see MAV_STATUS ENUM + uint16_t load; ///< Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 + uint16_t vbat; ///< Battery voltage, in millivolts (1 = 1 millivolt) + uint16_t battery_remaining; ///< Remaining battery energy: (0%: 0, 100%: 1000) + uint16_t packet_drop; ///< Dropped packets (packets that were corrupted on reception on the MAV) +} mavlink_sys_status_t; + +#define MAVLINK_MSG_ID_SYS_STATUS_LEN 11 +#define MAVLINK_MSG_ID_34_LEN 11 + + + +#define MAVLINK_MESSAGE_INFO_SYS_STATUS { \ + "SYS_STATUS", \ + 7, \ + { { "mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_sys_status_t, mode) }, \ + { "nav_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_sys_status_t, nav_mode) }, \ + { "status", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_sys_status_t, status) }, \ + { "load", NULL, MAVLINK_TYPE_UINT16_T, 0, 3, offsetof(mavlink_sys_status_t, load) }, \ + { "vbat", NULL, MAVLINK_TYPE_UINT16_T, 0, 5, offsetof(mavlink_sys_status_t, vbat) }, \ + { "battery_remaining", NULL, MAVLINK_TYPE_UINT16_T, 0, 7, offsetof(mavlink_sys_status_t, battery_remaining) }, \ + { "packet_drop", NULL, MAVLINK_TYPE_UINT16_T, 0, 9, offsetof(mavlink_sys_status_t, packet_drop) }, \ + } \ +} + + +/** + * @brief Pack a sys_status message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * + * @param mode System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h + * @param nav_mode Navigation mode, see MAV_NAV_MODE ENUM + * @param status System status flag, see MAV_STATUS ENUM + * @param load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 + * @param vbat Battery voltage, in millivolts (1 = 1 millivolt) + * @param battery_remaining Remaining battery energy: (0%: 0, 100%: 1000) + * @param packet_drop Dropped packets (packets that were corrupted on reception on the MAV) + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_sys_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t mode, uint8_t nav_mode, uint8_t status, uint16_t load, uint16_t vbat, uint16_t battery_remaining, uint16_t packet_drop) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[11]; + _mav_put_uint8_t(buf, 0, mode); + _mav_put_uint8_t(buf, 1, nav_mode); + _mav_put_uint8_t(buf, 2, status); + _mav_put_uint16_t(buf, 3, load); + _mav_put_uint16_t(buf, 5, vbat); + _mav_put_uint16_t(buf, 7, battery_remaining); + _mav_put_uint16_t(buf, 9, packet_drop); + + memcpy(_MAV_PAYLOAD(msg), buf, 11); +#else + mavlink_sys_status_t packet; + packet.mode = mode; + packet.nav_mode = nav_mode; + packet.status = status; + packet.load = load; + packet.vbat = vbat; + packet.battery_remaining = battery_remaining; + packet.packet_drop = packet_drop; + + memcpy(_MAV_PAYLOAD(msg), &packet, 11); +#endif + + msg->msgid = MAVLINK_MSG_ID_SYS_STATUS; + return mavlink_finalize_message(msg, system_id, component_id, 11); +} + +/** + * @brief Pack a sys_status message on a channel + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message was sent over + * @param msg The MAVLink message to compress the data into + * @param mode System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h + * @param nav_mode Navigation mode, see MAV_NAV_MODE ENUM + * @param status System status flag, see MAV_STATUS ENUM + * @param load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 + * @param vbat Battery voltage, in millivolts (1 = 1 millivolt) + * @param battery_remaining Remaining battery energy: (0%: 0, 100%: 1000) + * @param packet_drop Dropped packets (packets that were corrupted on reception on the MAV) + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_sys_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t mode,uint8_t nav_mode,uint8_t status,uint16_t load,uint16_t vbat,uint16_t battery_remaining,uint16_t packet_drop) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[11]; + _mav_put_uint8_t(buf, 0, mode); + _mav_put_uint8_t(buf, 1, nav_mode); + _mav_put_uint8_t(buf, 2, status); + _mav_put_uint16_t(buf, 3, load); + _mav_put_uint16_t(buf, 5, vbat); + _mav_put_uint16_t(buf, 7, battery_remaining); + _mav_put_uint16_t(buf, 9, packet_drop); + + memcpy(_MAV_PAYLOAD(msg), buf, 11); +#else + mavlink_sys_status_t packet; + packet.mode = mode; + packet.nav_mode = nav_mode; + packet.status = status; + packet.load = load; + packet.vbat = vbat; + packet.battery_remaining = battery_remaining; + packet.packet_drop = packet_drop; + + memcpy(_MAV_PAYLOAD(msg), &packet, 11); +#endif + + msg->msgid = MAVLINK_MSG_ID_SYS_STATUS; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 11); +} + +/** + * @brief Encode a sys_status struct into a message + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * @param sys_status C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_sys_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_sys_status_t* sys_status) +{ + return mavlink_msg_sys_status_pack(system_id, component_id, msg, sys_status->mode, sys_status->nav_mode, sys_status->status, sys_status->load, sys_status->vbat, sys_status->battery_remaining, sys_status->packet_drop); +} + +/** + * @brief Send a sys_status message + * @param chan MAVLink channel to send the message + * + * @param mode System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h + * @param nav_mode Navigation mode, see MAV_NAV_MODE ENUM + * @param status System status flag, see MAV_STATUS ENUM + * @param load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 + * @param vbat Battery voltage, in millivolts (1 = 1 millivolt) + * @param battery_remaining Remaining battery energy: (0%: 0, 100%: 1000) + * @param packet_drop Dropped packets (packets that were corrupted on reception on the MAV) + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_sys_status_send(mavlink_channel_t chan, uint8_t mode, uint8_t nav_mode, uint8_t status, uint16_t load, uint16_t vbat, uint16_t battery_remaining, uint16_t packet_drop) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[11]; + _mav_put_uint8_t(buf, 0, mode); + _mav_put_uint8_t(buf, 1, nav_mode); + _mav_put_uint8_t(buf, 2, status); + _mav_put_uint16_t(buf, 3, load); + _mav_put_uint16_t(buf, 5, vbat); + _mav_put_uint16_t(buf, 7, battery_remaining); + _mav_put_uint16_t(buf, 9, packet_drop); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYS_STATUS, buf, 11); +#else + mavlink_sys_status_t packet; + packet.mode = mode; + packet.nav_mode = nav_mode; + packet.status = status; + packet.load = load; + packet.vbat = vbat; + packet.battery_remaining = battery_remaining; + packet.packet_drop = packet_drop; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYS_STATUS, (const char *)&packet, 11); +#endif +} + +#endif + +// MESSAGE SYS_STATUS UNPACKING + + +/** + * @brief Get field mode from sys_status message + * + * @return System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h + */ +static inline uint8_t mavlink_msg_sys_status_get_mode(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field nav_mode from sys_status message + * + * @return Navigation mode, see MAV_NAV_MODE ENUM + */ +static inline uint8_t mavlink_msg_sys_status_get_nav_mode(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 1); +} + +/** + * @brief Get field status from sys_status message + * + * @return System status flag, see MAV_STATUS ENUM + */ +static inline uint8_t mavlink_msg_sys_status_get_status(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 2); +} + +/** + * @brief Get field load from sys_status message + * + * @return Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 + */ +static inline uint16_t mavlink_msg_sys_status_get_load(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 3); +} + +/** + * @brief Get field vbat from sys_status message + * + * @return Battery voltage, in millivolts (1 = 1 millivolt) + */ +static inline uint16_t mavlink_msg_sys_status_get_vbat(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 5); +} + +/** + * @brief Get field battery_remaining from sys_status message + * + * @return Remaining battery energy: (0%: 0, 100%: 1000) + */ +static inline uint16_t mavlink_msg_sys_status_get_battery_remaining(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 7); +} + +/** + * @brief Get field packet_drop from sys_status message + * + * @return Dropped packets (packets that were corrupted on reception on the MAV) + */ +static inline uint16_t mavlink_msg_sys_status_get_packet_drop(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 9); +} + +/** + * @brief Decode a sys_status message into a struct + * + * @param msg The message to decode + * @param sys_status C-struct to decode the message contents into + */ +static inline void mavlink_msg_sys_status_decode(const mavlink_message_t* msg, mavlink_sys_status_t* sys_status) +{ +#if MAVLINK_NEED_BYTE_SWAP + sys_status->mode = mavlink_msg_sys_status_get_mode(msg); + sys_status->nav_mode = mavlink_msg_sys_status_get_nav_mode(msg); + sys_status->status = mavlink_msg_sys_status_get_status(msg); + sys_status->load = mavlink_msg_sys_status_get_load(msg); + sys_status->vbat = mavlink_msg_sys_status_get_vbat(msg); + sys_status->battery_remaining = mavlink_msg_sys_status_get_battery_remaining(msg); + sys_status->packet_drop = mavlink_msg_sys_status_get_packet_drop(msg); +#else + memcpy(sys_status, _MAV_PAYLOAD(msg), 11); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_system_time.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_system_time.h new file mode 100644 index 0000000000000000000000000000000000000000..cf2b1f6fe9462bb655540d95f38f6cc4a1ceaefc --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_system_time.h @@ -0,0 +1,144 @@ +// MESSAGE SYSTEM_TIME PACKING + +#define MAVLINK_MSG_ID_SYSTEM_TIME 2 + +typedef struct __mavlink_system_time_t +{ + uint64_t time_usec; ///< Timestamp of the master clock in microseconds since UNIX epoch. +} mavlink_system_time_t; + +#define MAVLINK_MSG_ID_SYSTEM_TIME_LEN 8 +#define MAVLINK_MSG_ID_2_LEN 8 + + + +#define MAVLINK_MESSAGE_INFO_SYSTEM_TIME { \ + "SYSTEM_TIME", \ + 1, \ + { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_system_time_t, time_usec) }, \ + } \ +} + + +/** + * @brief Pack a system_time message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * + * @param time_usec Timestamp of the master clock in microseconds since UNIX epoch. + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_system_time_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint64_t time_usec) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[8]; + _mav_put_uint64_t(buf, 0, time_usec); + + memcpy(_MAV_PAYLOAD(msg), buf, 8); +#else + mavlink_system_time_t packet; + packet.time_usec = time_usec; + + memcpy(_MAV_PAYLOAD(msg), &packet, 8); +#endif + + msg->msgid = MAVLINK_MSG_ID_SYSTEM_TIME; + return mavlink_finalize_message(msg, system_id, component_id, 8); +} + +/** + * @brief Pack a system_time message on a channel + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message was sent over + * @param msg The MAVLink message to compress the data into + * @param time_usec Timestamp of the master clock in microseconds since UNIX epoch. + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_system_time_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint64_t time_usec) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[8]; + _mav_put_uint64_t(buf, 0, time_usec); + + memcpy(_MAV_PAYLOAD(msg), buf, 8); +#else + mavlink_system_time_t packet; + packet.time_usec = time_usec; + + memcpy(_MAV_PAYLOAD(msg), &packet, 8); +#endif + + msg->msgid = MAVLINK_MSG_ID_SYSTEM_TIME; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 8); +} + +/** + * @brief Encode a system_time 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 system_time C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_system_time_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_system_time_t* system_time) +{ + return mavlink_msg_system_time_pack(system_id, component_id, msg, system_time->time_usec); +} + +/** + * @brief Send a system_time message + * @param chan MAVLink channel to send the message + * + * @param time_usec Timestamp of the master clock in microseconds since UNIX epoch. + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_system_time_send(mavlink_channel_t chan, uint64_t time_usec) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[8]; + _mav_put_uint64_t(buf, 0, time_usec); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYSTEM_TIME, buf, 8); +#else + mavlink_system_time_t packet; + packet.time_usec = time_usec; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYSTEM_TIME, (const char *)&packet, 8); +#endif +} + +#endif + +// MESSAGE SYSTEM_TIME UNPACKING + + +/** + * @brief Get field time_usec from system_time message + * + * @return Timestamp of the master clock in microseconds since UNIX epoch. + */ +static inline uint64_t mavlink_msg_system_time_get_time_usec(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint64_t(msg, 0); +} + +/** + * @brief Decode a system_time message into a struct + * + * @param msg The message to decode + * @param system_time C-struct to decode the message contents into + */ +static inline void mavlink_msg_system_time_decode(const mavlink_message_t* msg, mavlink_system_time_t* system_time) +{ +#if MAVLINK_NEED_BYTE_SWAP + system_time->time_usec = mavlink_msg_system_time_get_time_usec(msg); +#else + memcpy(system_time, _MAV_PAYLOAD(msg), 8); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_system_time_utc.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_system_time_utc.h new file mode 100644 index 0000000000000000000000000000000000000000..70ebf56389d41fe6d98122b4f0caaa300bb152f6 --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_system_time_utc.h @@ -0,0 +1,166 @@ +// MESSAGE SYSTEM_TIME_UTC PACKING + +#define MAVLINK_MSG_ID_SYSTEM_TIME_UTC 4 + +typedef struct __mavlink_system_time_utc_t +{ + uint32_t utc_date; ///< GPS UTC date ddmmyy + uint32_t utc_time; ///< GPS UTC time hhmmss +} mavlink_system_time_utc_t; + +#define MAVLINK_MSG_ID_SYSTEM_TIME_UTC_LEN 8 +#define MAVLINK_MSG_ID_4_LEN 8 + + + +#define MAVLINK_MESSAGE_INFO_SYSTEM_TIME_UTC { \ + "SYSTEM_TIME_UTC", \ + 2, \ + { { "utc_date", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_system_time_utc_t, utc_date) }, \ + { "utc_time", NULL, MAVLINK_TYPE_UINT32_T, 0, 4, offsetof(mavlink_system_time_utc_t, utc_time) }, \ + } \ +} + + +/** + * @brief Pack a system_time_utc 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 utc_date GPS UTC date ddmmyy + * @param utc_time GPS UTC time hhmmss + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_system_time_utc_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint32_t utc_date, uint32_t utc_time) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[8]; + _mav_put_uint32_t(buf, 0, utc_date); + _mav_put_uint32_t(buf, 4, utc_time); + + memcpy(_MAV_PAYLOAD(msg), buf, 8); +#else + mavlink_system_time_utc_t packet; + packet.utc_date = utc_date; + packet.utc_time = utc_time; + + memcpy(_MAV_PAYLOAD(msg), &packet, 8); +#endif + + msg->msgid = MAVLINK_MSG_ID_SYSTEM_TIME_UTC; + return mavlink_finalize_message(msg, system_id, component_id, 8); +} + +/** + * @brief Pack a system_time_utc 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 utc_date GPS UTC date ddmmyy + * @param utc_time GPS UTC time hhmmss + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_system_time_utc_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint32_t utc_date,uint32_t utc_time) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[8]; + _mav_put_uint32_t(buf, 0, utc_date); + _mav_put_uint32_t(buf, 4, utc_time); + + memcpy(_MAV_PAYLOAD(msg), buf, 8); +#else + mavlink_system_time_utc_t packet; + packet.utc_date = utc_date; + packet.utc_time = utc_time; + + memcpy(_MAV_PAYLOAD(msg), &packet, 8); +#endif + + msg->msgid = MAVLINK_MSG_ID_SYSTEM_TIME_UTC; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 8); +} + +/** + * @brief Encode a system_time_utc 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 system_time_utc C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_system_time_utc_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_system_time_utc_t* system_time_utc) +{ + return mavlink_msg_system_time_utc_pack(system_id, component_id, msg, system_time_utc->utc_date, system_time_utc->utc_time); +} + +/** + * @brief Send a system_time_utc message + * @param chan MAVLink channel to send the message + * + * @param utc_date GPS UTC date ddmmyy + * @param utc_time GPS UTC time hhmmss + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_system_time_utc_send(mavlink_channel_t chan, uint32_t utc_date, uint32_t utc_time) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[8]; + _mav_put_uint32_t(buf, 0, utc_date); + _mav_put_uint32_t(buf, 4, utc_time); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYSTEM_TIME_UTC, buf, 8); +#else + mavlink_system_time_utc_t packet; + packet.utc_date = utc_date; + packet.utc_time = utc_time; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYSTEM_TIME_UTC, (const char *)&packet, 8); +#endif +} + +#endif + +// MESSAGE SYSTEM_TIME_UTC UNPACKING + + +/** + * @brief Get field utc_date from system_time_utc message + * + * @return GPS UTC date ddmmyy + */ +static inline uint32_t mavlink_msg_system_time_utc_get_utc_date(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint32_t(msg, 0); +} + +/** + * @brief Get field utc_time from system_time_utc message + * + * @return GPS UTC time hhmmss + */ +static inline uint32_t mavlink_msg_system_time_utc_get_utc_time(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint32_t(msg, 4); +} + +/** + * @brief Decode a system_time_utc message into a struct + * + * @param msg The message to decode + * @param system_time_utc C-struct to decode the message contents into + */ +static inline void mavlink_msg_system_time_utc_decode(const mavlink_message_t* msg, mavlink_system_time_utc_t* system_time_utc) +{ +#if MAVLINK_NEED_BYTE_SWAP + system_time_utc->utc_date = mavlink_msg_system_time_utc_get_utc_date(msg); + system_time_utc->utc_time = mavlink_msg_system_time_utc_get_utc_time(msg); +#else + memcpy(system_time_utc, _MAV_PAYLOAD(msg), 8); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_vfr_hud.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_vfr_hud.h new file mode 100644 index 0000000000000000000000000000000000000000..705d8d4db0a1789cf66bc3c1337d94ec50bde843 --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_vfr_hud.h @@ -0,0 +1,254 @@ +// MESSAGE VFR_HUD PACKING + +#define MAVLINK_MSG_ID_VFR_HUD 74 + +typedef struct __mavlink_vfr_hud_t +{ + float airspeed; ///< Current airspeed in m/s + float groundspeed; ///< Current ground speed in m/s + int16_t heading; ///< Current heading in degrees, in compass units (0..360, 0=north) + uint16_t throttle; ///< Current throttle setting in integer percent, 0 to 100 + float alt; ///< Current altitude (MSL), in meters + float climb; ///< Current climb rate in meters/second +} mavlink_vfr_hud_t; + +#define MAVLINK_MSG_ID_VFR_HUD_LEN 20 +#define MAVLINK_MSG_ID_74_LEN 20 + + + +#define MAVLINK_MESSAGE_INFO_VFR_HUD { \ + "VFR_HUD", \ + 6, \ + { { "airspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_vfr_hud_t, airspeed) }, \ + { "groundspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_vfr_hud_t, groundspeed) }, \ + { "heading", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_vfr_hud_t, heading) }, \ + { "throttle", NULL, MAVLINK_TYPE_UINT16_T, 0, 10, offsetof(mavlink_vfr_hud_t, throttle) }, \ + { "alt", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_vfr_hud_t, alt) }, \ + { "climb", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_vfr_hud_t, climb) }, \ + } \ +} + + +/** + * @brief Pack a vfr_hud 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 airspeed Current airspeed in m/s + * @param groundspeed Current ground speed in m/s + * @param heading Current heading in degrees, in compass units (0..360, 0=north) + * @param throttle Current throttle setting in integer percent, 0 to 100 + * @param alt Current altitude (MSL), in meters + * @param climb Current climb rate in meters/second + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_vfr_hud_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + float airspeed, float groundspeed, int16_t heading, uint16_t throttle, float alt, float climb) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[20]; + _mav_put_float(buf, 0, airspeed); + _mav_put_float(buf, 4, groundspeed); + _mav_put_int16_t(buf, 8, heading); + _mav_put_uint16_t(buf, 10, throttle); + _mav_put_float(buf, 12, alt); + _mav_put_float(buf, 16, climb); + + memcpy(_MAV_PAYLOAD(msg), buf, 20); +#else + mavlink_vfr_hud_t packet; + packet.airspeed = airspeed; + packet.groundspeed = groundspeed; + packet.heading = heading; + packet.throttle = throttle; + packet.alt = alt; + packet.climb = climb; + + memcpy(_MAV_PAYLOAD(msg), &packet, 20); +#endif + + msg->msgid = MAVLINK_MSG_ID_VFR_HUD; + return mavlink_finalize_message(msg, system_id, component_id, 20); +} + +/** + * @brief Pack a vfr_hud 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 airspeed Current airspeed in m/s + * @param groundspeed Current ground speed in m/s + * @param heading Current heading in degrees, in compass units (0..360, 0=north) + * @param throttle Current throttle setting in integer percent, 0 to 100 + * @param alt Current altitude (MSL), in meters + * @param climb Current climb rate in meters/second + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_vfr_hud_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + float airspeed,float groundspeed,int16_t heading,uint16_t throttle,float alt,float climb) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[20]; + _mav_put_float(buf, 0, airspeed); + _mav_put_float(buf, 4, groundspeed); + _mav_put_int16_t(buf, 8, heading); + _mav_put_uint16_t(buf, 10, throttle); + _mav_put_float(buf, 12, alt); + _mav_put_float(buf, 16, climb); + + memcpy(_MAV_PAYLOAD(msg), buf, 20); +#else + mavlink_vfr_hud_t packet; + packet.airspeed = airspeed; + packet.groundspeed = groundspeed; + packet.heading = heading; + packet.throttle = throttle; + packet.alt = alt; + packet.climb = climb; + + memcpy(_MAV_PAYLOAD(msg), &packet, 20); +#endif + + msg->msgid = MAVLINK_MSG_ID_VFR_HUD; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 20); +} + +/** + * @brief Encode a vfr_hud 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 vfr_hud C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_vfr_hud_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_vfr_hud_t* vfr_hud) +{ + return mavlink_msg_vfr_hud_pack(system_id, component_id, msg, vfr_hud->airspeed, vfr_hud->groundspeed, vfr_hud->heading, vfr_hud->throttle, vfr_hud->alt, vfr_hud->climb); +} + +/** + * @brief Send a vfr_hud message + * @param chan MAVLink channel to send the message + * + * @param airspeed Current airspeed in m/s + * @param groundspeed Current ground speed in m/s + * @param heading Current heading in degrees, in compass units (0..360, 0=north) + * @param throttle Current throttle setting in integer percent, 0 to 100 + * @param alt Current altitude (MSL), in meters + * @param climb Current climb rate in meters/second + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_vfr_hud_send(mavlink_channel_t chan, float airspeed, float groundspeed, int16_t heading, uint16_t throttle, float alt, float climb) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[20]; + _mav_put_float(buf, 0, airspeed); + _mav_put_float(buf, 4, groundspeed); + _mav_put_int16_t(buf, 8, heading); + _mav_put_uint16_t(buf, 10, throttle); + _mav_put_float(buf, 12, alt); + _mav_put_float(buf, 16, climb); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VFR_HUD, buf, 20); +#else + mavlink_vfr_hud_t packet; + packet.airspeed = airspeed; + packet.groundspeed = groundspeed; + packet.heading = heading; + packet.throttle = throttle; + packet.alt = alt; + packet.climb = climb; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VFR_HUD, (const char *)&packet, 20); +#endif +} + +#endif + +// MESSAGE VFR_HUD UNPACKING + + +/** + * @brief Get field airspeed from vfr_hud message + * + * @return Current airspeed in m/s + */ +static inline float mavlink_msg_vfr_hud_get_airspeed(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 0); +} + +/** + * @brief Get field groundspeed from vfr_hud message + * + * @return Current ground speed in m/s + */ +static inline float mavlink_msg_vfr_hud_get_groundspeed(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 4); +} + +/** + * @brief Get field heading from vfr_hud message + * + * @return Current heading in degrees, in compass units (0..360, 0=north) + */ +static inline int16_t mavlink_msg_vfr_hud_get_heading(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 8); +} + +/** + * @brief Get field throttle from vfr_hud message + * + * @return Current throttle setting in integer percent, 0 to 100 + */ +static inline uint16_t mavlink_msg_vfr_hud_get_throttle(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 10); +} + +/** + * @brief Get field alt from vfr_hud message + * + * @return Current altitude (MSL), in meters + */ +static inline float mavlink_msg_vfr_hud_get_alt(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 12); +} + +/** + * @brief Get field climb from vfr_hud message + * + * @return Current climb rate in meters/second + */ +static inline float mavlink_msg_vfr_hud_get_climb(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 16); +} + +/** + * @brief Decode a vfr_hud message into a struct + * + * @param msg The message to decode + * @param vfr_hud C-struct to decode the message contents into + */ +static inline void mavlink_msg_vfr_hud_decode(const mavlink_message_t* msg, mavlink_vfr_hud_t* vfr_hud) +{ +#if MAVLINK_NEED_BYTE_SWAP + vfr_hud->airspeed = mavlink_msg_vfr_hud_get_airspeed(msg); + vfr_hud->groundspeed = mavlink_msg_vfr_hud_get_groundspeed(msg); + vfr_hud->heading = mavlink_msg_vfr_hud_get_heading(msg); + vfr_hud->throttle = mavlink_msg_vfr_hud_get_throttle(msg); + vfr_hud->alt = mavlink_msg_vfr_hud_get_alt(msg); + vfr_hud->climb = mavlink_msg_vfr_hud_get_climb(msg); +#else + memcpy(vfr_hud, _MAV_PAYLOAD(msg), 20); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_waypoint.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_waypoint.h new file mode 100644 index 0000000000000000000000000000000000000000..27e89de1f7de68f09dc167b0f2819670a935c5bb --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_waypoint.h @@ -0,0 +1,430 @@ +// MESSAGE WAYPOINT PACKING + +#define MAVLINK_MSG_ID_WAYPOINT 39 + +typedef struct __mavlink_waypoint_t +{ + uint8_t target_system; ///< System ID + uint8_t target_component; ///< Component ID + uint16_t seq; ///< Sequence + uint8_t frame; ///< The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h + uint8_t command; ///< The scheduled action for the waypoint. see MAV_COMMAND in common.xml MAVLink specs + uint8_t current; ///< false:0, true:1 + uint8_t autocontinue; ///< autocontinue to next wp + float param1; ///< PARAM1 / For NAV command waypoints: Radius in which the waypoint is accepted as reached, in meters + float param2; ///< PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds + float param3; ///< PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise. + float param4; ///< PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH + float x; ///< PARAM5 / local: x position, global: latitude + float y; ///< PARAM6 / y position: global: longitude + float z; ///< PARAM7 / z position: global: altitude +} mavlink_waypoint_t; + +#define MAVLINK_MSG_ID_WAYPOINT_LEN 36 +#define MAVLINK_MSG_ID_39_LEN 36 + + + +#define MAVLINK_MESSAGE_INFO_WAYPOINT { \ + "WAYPOINT", \ + 14, \ + { { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_waypoint_t, target_system) }, \ + { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_waypoint_t, target_component) }, \ + { "seq", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_waypoint_t, seq) }, \ + { "frame", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_waypoint_t, frame) }, \ + { "command", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_waypoint_t, command) }, \ + { "current", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_waypoint_t, current) }, \ + { "autocontinue", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_waypoint_t, autocontinue) }, \ + { "param1", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_waypoint_t, param1) }, \ + { "param2", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_waypoint_t, param2) }, \ + { "param3", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_waypoint_t, param3) }, \ + { "param4", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_waypoint_t, param4) }, \ + { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_waypoint_t, x) }, \ + { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_waypoint_t, y) }, \ + { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_waypoint_t, z) }, \ + } \ +} + + +/** + * @brief Pack a waypoint 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 target_component Component ID + * @param seq Sequence + * @param frame The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h + * @param command The scheduled action for the waypoint. see MAV_COMMAND in common.xml MAVLink specs + * @param current false:0, true:1 + * @param autocontinue autocontinue to next wp + * @param param1 PARAM1 / For NAV command waypoints: Radius in which the waypoint is accepted as reached, in meters + * @param param2 PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds + * @param param3 PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise. + * @param param4 PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH + * @param x PARAM5 / local: x position, global: latitude + * @param y PARAM6 / y position: global: longitude + * @param z PARAM7 / z position: global: altitude + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_waypoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target_system, uint8_t target_component, uint16_t seq, uint8_t frame, uint8_t command, uint8_t current, uint8_t autocontinue, float param1, float param2, float param3, float param4, float x, float y, float z) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[36]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_uint16_t(buf, 2, seq); + _mav_put_uint8_t(buf, 4, frame); + _mav_put_uint8_t(buf, 5, command); + _mav_put_uint8_t(buf, 6, current); + _mav_put_uint8_t(buf, 7, autocontinue); + _mav_put_float(buf, 8, param1); + _mav_put_float(buf, 12, param2); + _mav_put_float(buf, 16, param3); + _mav_put_float(buf, 20, param4); + _mav_put_float(buf, 24, x); + _mav_put_float(buf, 28, y); + _mav_put_float(buf, 32, z); + + memcpy(_MAV_PAYLOAD(msg), buf, 36); +#else + mavlink_waypoint_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.seq = seq; + packet.frame = frame; + packet.command = command; + packet.current = current; + packet.autocontinue = autocontinue; + packet.param1 = param1; + packet.param2 = param2; + packet.param3 = param3; + packet.param4 = param4; + packet.x = x; + packet.y = y; + packet.z = z; + + memcpy(_MAV_PAYLOAD(msg), &packet, 36); +#endif + + msg->msgid = MAVLINK_MSG_ID_WAYPOINT; + return mavlink_finalize_message(msg, system_id, component_id, 36); +} + +/** + * @brief Pack a waypoint 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 target_component Component ID + * @param seq Sequence + * @param frame The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h + * @param command The scheduled action for the waypoint. see MAV_COMMAND in common.xml MAVLink specs + * @param current false:0, true:1 + * @param autocontinue autocontinue to next wp + * @param param1 PARAM1 / For NAV command waypoints: Radius in which the waypoint is accepted as reached, in meters + * @param param2 PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds + * @param param3 PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise. + * @param param4 PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH + * @param x PARAM5 / local: x position, global: latitude + * @param y PARAM6 / y position: global: longitude + * @param z PARAM7 / z position: global: altitude + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_waypoint_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t target_system,uint8_t target_component,uint16_t seq,uint8_t frame,uint8_t command,uint8_t current,uint8_t autocontinue,float param1,float param2,float param3,float param4,float x,float y,float z) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[36]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_uint16_t(buf, 2, seq); + _mav_put_uint8_t(buf, 4, frame); + _mav_put_uint8_t(buf, 5, command); + _mav_put_uint8_t(buf, 6, current); + _mav_put_uint8_t(buf, 7, autocontinue); + _mav_put_float(buf, 8, param1); + _mav_put_float(buf, 12, param2); + _mav_put_float(buf, 16, param3); + _mav_put_float(buf, 20, param4); + _mav_put_float(buf, 24, x); + _mav_put_float(buf, 28, y); + _mav_put_float(buf, 32, z); + + memcpy(_MAV_PAYLOAD(msg), buf, 36); +#else + mavlink_waypoint_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.seq = seq; + packet.frame = frame; + packet.command = command; + packet.current = current; + packet.autocontinue = autocontinue; + packet.param1 = param1; + packet.param2 = param2; + packet.param3 = param3; + packet.param4 = param4; + packet.x = x; + packet.y = y; + packet.z = z; + + memcpy(_MAV_PAYLOAD(msg), &packet, 36); +#endif + + msg->msgid = MAVLINK_MSG_ID_WAYPOINT; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 36); +} + +/** + * @brief Encode a waypoint 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 waypoint C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_waypoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_waypoint_t* waypoint) +{ + return mavlink_msg_waypoint_pack(system_id, component_id, msg, waypoint->target_system, waypoint->target_component, waypoint->seq, waypoint->frame, waypoint->command, waypoint->current, waypoint->autocontinue, waypoint->param1, waypoint->param2, waypoint->param3, waypoint->param4, waypoint->x, waypoint->y, waypoint->z); +} + +/** + * @brief Send a waypoint message + * @param chan MAVLink channel to send the message + * + * @param target_system System ID + * @param target_component Component ID + * @param seq Sequence + * @param frame The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h + * @param command The scheduled action for the waypoint. see MAV_COMMAND in common.xml MAVLink specs + * @param current false:0, true:1 + * @param autocontinue autocontinue to next wp + * @param param1 PARAM1 / For NAV command waypoints: Radius in which the waypoint is accepted as reached, in meters + * @param param2 PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds + * @param param3 PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise. + * @param param4 PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH + * @param x PARAM5 / local: x position, global: latitude + * @param y PARAM6 / y position: global: longitude + * @param z PARAM7 / z position: global: altitude + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_waypoint_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t seq, uint8_t frame, uint8_t command, uint8_t current, uint8_t autocontinue, float param1, float param2, float param3, float param4, float x, float y, float z) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[36]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_uint16_t(buf, 2, seq); + _mav_put_uint8_t(buf, 4, frame); + _mav_put_uint8_t(buf, 5, command); + _mav_put_uint8_t(buf, 6, current); + _mav_put_uint8_t(buf, 7, autocontinue); + _mav_put_float(buf, 8, param1); + _mav_put_float(buf, 12, param2); + _mav_put_float(buf, 16, param3); + _mav_put_float(buf, 20, param4); + _mav_put_float(buf, 24, x); + _mav_put_float(buf, 28, y); + _mav_put_float(buf, 32, z); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WAYPOINT, buf, 36); +#else + mavlink_waypoint_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.seq = seq; + packet.frame = frame; + packet.command = command; + packet.current = current; + packet.autocontinue = autocontinue; + packet.param1 = param1; + packet.param2 = param2; + packet.param3 = param3; + packet.param4 = param4; + packet.x = x; + packet.y = y; + packet.z = z; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WAYPOINT, (const char *)&packet, 36); +#endif +} + +#endif + +// MESSAGE WAYPOINT UNPACKING + + +/** + * @brief Get field target_system from waypoint message + * + * @return System ID + */ +static inline uint8_t mavlink_msg_waypoint_get_target_system(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field target_component from waypoint message + * + * @return Component ID + */ +static inline uint8_t mavlink_msg_waypoint_get_target_component(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 1); +} + +/** + * @brief Get field seq from waypoint message + * + * @return Sequence + */ +static inline uint16_t mavlink_msg_waypoint_get_seq(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 2); +} + +/** + * @brief Get field frame from waypoint message + * + * @return The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h + */ +static inline uint8_t mavlink_msg_waypoint_get_frame(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 4); +} + +/** + * @brief Get field command from waypoint message + * + * @return The scheduled action for the waypoint. see MAV_COMMAND in common.xml MAVLink specs + */ +static inline uint8_t mavlink_msg_waypoint_get_command(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 5); +} + +/** + * @brief Get field current from waypoint message + * + * @return false:0, true:1 + */ +static inline uint8_t mavlink_msg_waypoint_get_current(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 6); +} + +/** + * @brief Get field autocontinue from waypoint message + * + * @return autocontinue to next wp + */ +static inline uint8_t mavlink_msg_waypoint_get_autocontinue(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 7); +} + +/** + * @brief Get field param1 from waypoint message + * + * @return PARAM1 / For NAV command waypoints: Radius in which the waypoint is accepted as reached, in meters + */ +static inline float mavlink_msg_waypoint_get_param1(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 8); +} + +/** + * @brief Get field param2 from waypoint message + * + * @return PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds + */ +static inline float mavlink_msg_waypoint_get_param2(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 12); +} + +/** + * @brief Get field param3 from waypoint message + * + * @return PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise. + */ +static inline float mavlink_msg_waypoint_get_param3(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 16); +} + +/** + * @brief Get field param4 from waypoint message + * + * @return PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH + */ +static inline float mavlink_msg_waypoint_get_param4(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 20); +} + +/** + * @brief Get field x from waypoint message + * + * @return PARAM5 / local: x position, global: latitude + */ +static inline float mavlink_msg_waypoint_get_x(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 24); +} + +/** + * @brief Get field y from waypoint message + * + * @return PARAM6 / y position: global: longitude + */ +static inline float mavlink_msg_waypoint_get_y(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 28); +} + +/** + * @brief Get field z from waypoint message + * + * @return PARAM7 / z position: global: altitude + */ +static inline float mavlink_msg_waypoint_get_z(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 32); +} + +/** + * @brief Decode a waypoint message into a struct + * + * @param msg The message to decode + * @param waypoint C-struct to decode the message contents into + */ +static inline void mavlink_msg_waypoint_decode(const mavlink_message_t* msg, mavlink_waypoint_t* waypoint) +{ +#if MAVLINK_NEED_BYTE_SWAP + waypoint->target_system = mavlink_msg_waypoint_get_target_system(msg); + waypoint->target_component = mavlink_msg_waypoint_get_target_component(msg); + waypoint->seq = mavlink_msg_waypoint_get_seq(msg); + waypoint->frame = mavlink_msg_waypoint_get_frame(msg); + waypoint->command = mavlink_msg_waypoint_get_command(msg); + waypoint->current = mavlink_msg_waypoint_get_current(msg); + waypoint->autocontinue = mavlink_msg_waypoint_get_autocontinue(msg); + waypoint->param1 = mavlink_msg_waypoint_get_param1(msg); + waypoint->param2 = mavlink_msg_waypoint_get_param2(msg); + waypoint->param3 = mavlink_msg_waypoint_get_param3(msg); + waypoint->param4 = mavlink_msg_waypoint_get_param4(msg); + waypoint->x = mavlink_msg_waypoint_get_x(msg); + waypoint->y = mavlink_msg_waypoint_get_y(msg); + waypoint->z = mavlink_msg_waypoint_get_z(msg); +#else + memcpy(waypoint, _MAV_PAYLOAD(msg), 36); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_waypoint_ack.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_waypoint_ack.h new file mode 100644 index 0000000000000000000000000000000000000000..2b36087189f0b0cd2ae98ac834ecbb6e3c53cd51 --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_waypoint_ack.h @@ -0,0 +1,188 @@ +// MESSAGE WAYPOINT_ACK PACKING + +#define MAVLINK_MSG_ID_WAYPOINT_ACK 47 + +typedef struct __mavlink_waypoint_ack_t +{ + uint8_t target_system; ///< System ID + uint8_t target_component; ///< Component ID + uint8_t type; ///< 0: OK, 1: Error +} mavlink_waypoint_ack_t; + +#define MAVLINK_MSG_ID_WAYPOINT_ACK_LEN 3 +#define MAVLINK_MSG_ID_47_LEN 3 + + + +#define MAVLINK_MESSAGE_INFO_WAYPOINT_ACK { \ + "WAYPOINT_ACK", \ + 3, \ + { { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_waypoint_ack_t, target_system) }, \ + { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_waypoint_ack_t, target_component) }, \ + { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_waypoint_ack_t, type) }, \ + } \ +} + + +/** + * @brief Pack a waypoint_ack 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 target_component Component ID + * @param type 0: OK, 1: Error + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_waypoint_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target_system, uint8_t target_component, uint8_t type) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[3]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_uint8_t(buf, 2, type); + + memcpy(_MAV_PAYLOAD(msg), buf, 3); +#else + mavlink_waypoint_ack_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.type = type; + + memcpy(_MAV_PAYLOAD(msg), &packet, 3); +#endif + + msg->msgid = MAVLINK_MSG_ID_WAYPOINT_ACK; + return mavlink_finalize_message(msg, system_id, component_id, 3); +} + +/** + * @brief Pack a waypoint_ack 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 target_component Component ID + * @param type 0: OK, 1: Error + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_waypoint_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t target_system,uint8_t target_component,uint8_t type) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[3]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_uint8_t(buf, 2, type); + + memcpy(_MAV_PAYLOAD(msg), buf, 3); +#else + mavlink_waypoint_ack_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.type = type; + + memcpy(_MAV_PAYLOAD(msg), &packet, 3); +#endif + + msg->msgid = MAVLINK_MSG_ID_WAYPOINT_ACK; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 3); +} + +/** + * @brief Encode a waypoint_ack 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 waypoint_ack C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_waypoint_ack_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_waypoint_ack_t* waypoint_ack) +{ + return mavlink_msg_waypoint_ack_pack(system_id, component_id, msg, waypoint_ack->target_system, waypoint_ack->target_component, waypoint_ack->type); +} + +/** + * @brief Send a waypoint_ack message + * @param chan MAVLink channel to send the message + * + * @param target_system System ID + * @param target_component Component ID + * @param type 0: OK, 1: Error + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_waypoint_ack_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t type) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[3]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_uint8_t(buf, 2, type); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WAYPOINT_ACK, buf, 3); +#else + mavlink_waypoint_ack_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.type = type; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WAYPOINT_ACK, (const char *)&packet, 3); +#endif +} + +#endif + +// MESSAGE WAYPOINT_ACK UNPACKING + + +/** + * @brief Get field target_system from waypoint_ack message + * + * @return System ID + */ +static inline uint8_t mavlink_msg_waypoint_ack_get_target_system(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field target_component from waypoint_ack message + * + * @return Component ID + */ +static inline uint8_t mavlink_msg_waypoint_ack_get_target_component(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 1); +} + +/** + * @brief Get field type from waypoint_ack message + * + * @return 0: OK, 1: Error + */ +static inline uint8_t mavlink_msg_waypoint_ack_get_type(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 2); +} + +/** + * @brief Decode a waypoint_ack message into a struct + * + * @param msg The message to decode + * @param waypoint_ack C-struct to decode the message contents into + */ +static inline void mavlink_msg_waypoint_ack_decode(const mavlink_message_t* msg, mavlink_waypoint_ack_t* waypoint_ack) +{ +#if MAVLINK_NEED_BYTE_SWAP + waypoint_ack->target_system = mavlink_msg_waypoint_ack_get_target_system(msg); + waypoint_ack->target_component = mavlink_msg_waypoint_ack_get_target_component(msg); + waypoint_ack->type = mavlink_msg_waypoint_ack_get_type(msg); +#else + memcpy(waypoint_ack, _MAV_PAYLOAD(msg), 3); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_waypoint_clear_all.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_waypoint_clear_all.h new file mode 100644 index 0000000000000000000000000000000000000000..bca8dcc1f4b25a9b857093a0cabe0f8d10cff5c8 --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_waypoint_clear_all.h @@ -0,0 +1,166 @@ +// MESSAGE WAYPOINT_CLEAR_ALL PACKING + +#define MAVLINK_MSG_ID_WAYPOINT_CLEAR_ALL 45 + +typedef struct __mavlink_waypoint_clear_all_t +{ + uint8_t target_system; ///< System ID + uint8_t target_component; ///< Component ID +} mavlink_waypoint_clear_all_t; + +#define MAVLINK_MSG_ID_WAYPOINT_CLEAR_ALL_LEN 2 +#define MAVLINK_MSG_ID_45_LEN 2 + + + +#define MAVLINK_MESSAGE_INFO_WAYPOINT_CLEAR_ALL { \ + "WAYPOINT_CLEAR_ALL", \ + 2, \ + { { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_waypoint_clear_all_t, target_system) }, \ + { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_waypoint_clear_all_t, target_component) }, \ + } \ +} + + +/** + * @brief Pack a waypoint_clear_all 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 target_component Component ID + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_waypoint_clear_all_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target_system, uint8_t target_component) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[2]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + + memcpy(_MAV_PAYLOAD(msg), buf, 2); +#else + mavlink_waypoint_clear_all_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + + memcpy(_MAV_PAYLOAD(msg), &packet, 2); +#endif + + msg->msgid = MAVLINK_MSG_ID_WAYPOINT_CLEAR_ALL; + return mavlink_finalize_message(msg, system_id, component_id, 2); +} + +/** + * @brief Pack a waypoint_clear_all 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 target_component Component ID + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_waypoint_clear_all_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t target_system,uint8_t target_component) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[2]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + + memcpy(_MAV_PAYLOAD(msg), buf, 2); +#else + mavlink_waypoint_clear_all_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + + memcpy(_MAV_PAYLOAD(msg), &packet, 2); +#endif + + msg->msgid = MAVLINK_MSG_ID_WAYPOINT_CLEAR_ALL; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 2); +} + +/** + * @brief Encode a waypoint_clear_all 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 waypoint_clear_all C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_waypoint_clear_all_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_waypoint_clear_all_t* waypoint_clear_all) +{ + return mavlink_msg_waypoint_clear_all_pack(system_id, component_id, msg, waypoint_clear_all->target_system, waypoint_clear_all->target_component); +} + +/** + * @brief Send a waypoint_clear_all message + * @param chan MAVLink channel to send the message + * + * @param target_system System ID + * @param target_component Component ID + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_waypoint_clear_all_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[2]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WAYPOINT_CLEAR_ALL, buf, 2); +#else + mavlink_waypoint_clear_all_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WAYPOINT_CLEAR_ALL, (const char *)&packet, 2); +#endif +} + +#endif + +// MESSAGE WAYPOINT_CLEAR_ALL UNPACKING + + +/** + * @brief Get field target_system from waypoint_clear_all message + * + * @return System ID + */ +static inline uint8_t mavlink_msg_waypoint_clear_all_get_target_system(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field target_component from waypoint_clear_all message + * + * @return Component ID + */ +static inline uint8_t mavlink_msg_waypoint_clear_all_get_target_component(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 1); +} + +/** + * @brief Decode a waypoint_clear_all message into a struct + * + * @param msg The message to decode + * @param waypoint_clear_all C-struct to decode the message contents into + */ +static inline void mavlink_msg_waypoint_clear_all_decode(const mavlink_message_t* msg, mavlink_waypoint_clear_all_t* waypoint_clear_all) +{ +#if MAVLINK_NEED_BYTE_SWAP + waypoint_clear_all->target_system = mavlink_msg_waypoint_clear_all_get_target_system(msg); + waypoint_clear_all->target_component = mavlink_msg_waypoint_clear_all_get_target_component(msg); +#else + memcpy(waypoint_clear_all, _MAV_PAYLOAD(msg), 2); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_waypoint_count.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_waypoint_count.h new file mode 100644 index 0000000000000000000000000000000000000000..73c62f831dd971ecdcf7509bf7ad22e16cfdf1c5 --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_waypoint_count.h @@ -0,0 +1,188 @@ +// MESSAGE WAYPOINT_COUNT PACKING + +#define MAVLINK_MSG_ID_WAYPOINT_COUNT 44 + +typedef struct __mavlink_waypoint_count_t +{ + uint8_t target_system; ///< System ID + uint8_t target_component; ///< Component ID + uint16_t count; ///< Number of Waypoints in the Sequence +} mavlink_waypoint_count_t; + +#define MAVLINK_MSG_ID_WAYPOINT_COUNT_LEN 4 +#define MAVLINK_MSG_ID_44_LEN 4 + + + +#define MAVLINK_MESSAGE_INFO_WAYPOINT_COUNT { \ + "WAYPOINT_COUNT", \ + 3, \ + { { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_waypoint_count_t, target_system) }, \ + { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_waypoint_count_t, target_component) }, \ + { "count", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_waypoint_count_t, count) }, \ + } \ +} + + +/** + * @brief Pack a waypoint_count 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 target_component Component ID + * @param count Number of Waypoints in the Sequence + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_waypoint_count_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target_system, uint8_t target_component, uint16_t count) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[4]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_uint16_t(buf, 2, count); + + memcpy(_MAV_PAYLOAD(msg), buf, 4); +#else + mavlink_waypoint_count_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.count = count; + + memcpy(_MAV_PAYLOAD(msg), &packet, 4); +#endif + + msg->msgid = MAVLINK_MSG_ID_WAYPOINT_COUNT; + return mavlink_finalize_message(msg, system_id, component_id, 4); +} + +/** + * @brief Pack a waypoint_count 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 target_component Component ID + * @param count Number of Waypoints in the Sequence + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_waypoint_count_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t target_system,uint8_t target_component,uint16_t count) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[4]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_uint16_t(buf, 2, count); + + memcpy(_MAV_PAYLOAD(msg), buf, 4); +#else + mavlink_waypoint_count_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.count = count; + + memcpy(_MAV_PAYLOAD(msg), &packet, 4); +#endif + + msg->msgid = MAVLINK_MSG_ID_WAYPOINT_COUNT; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 4); +} + +/** + * @brief Encode a waypoint_count 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 waypoint_count C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_waypoint_count_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_waypoint_count_t* waypoint_count) +{ + return mavlink_msg_waypoint_count_pack(system_id, component_id, msg, waypoint_count->target_system, waypoint_count->target_component, waypoint_count->count); +} + +/** + * @brief Send a waypoint_count message + * @param chan MAVLink channel to send the message + * + * @param target_system System ID + * @param target_component Component ID + * @param count Number of Waypoints in the Sequence + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_waypoint_count_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t count) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[4]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_uint16_t(buf, 2, count); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WAYPOINT_COUNT, buf, 4); +#else + mavlink_waypoint_count_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.count = count; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WAYPOINT_COUNT, (const char *)&packet, 4); +#endif +} + +#endif + +// MESSAGE WAYPOINT_COUNT UNPACKING + + +/** + * @brief Get field target_system from waypoint_count message + * + * @return System ID + */ +static inline uint8_t mavlink_msg_waypoint_count_get_target_system(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field target_component from waypoint_count message + * + * @return Component ID + */ +static inline uint8_t mavlink_msg_waypoint_count_get_target_component(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 1); +} + +/** + * @brief Get field count from waypoint_count message + * + * @return Number of Waypoints in the Sequence + */ +static inline uint16_t mavlink_msg_waypoint_count_get_count(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 2); +} + +/** + * @brief Decode a waypoint_count message into a struct + * + * @param msg The message to decode + * @param waypoint_count C-struct to decode the message contents into + */ +static inline void mavlink_msg_waypoint_count_decode(const mavlink_message_t* msg, mavlink_waypoint_count_t* waypoint_count) +{ +#if MAVLINK_NEED_BYTE_SWAP + waypoint_count->target_system = mavlink_msg_waypoint_count_get_target_system(msg); + waypoint_count->target_component = mavlink_msg_waypoint_count_get_target_component(msg); + waypoint_count->count = mavlink_msg_waypoint_count_get_count(msg); +#else + memcpy(waypoint_count, _MAV_PAYLOAD(msg), 4); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_waypoint_current.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_waypoint_current.h new file mode 100644 index 0000000000000000000000000000000000000000..411b867667c8f7731b96162bc83a0f7f9d0d194d --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_waypoint_current.h @@ -0,0 +1,144 @@ +// MESSAGE WAYPOINT_CURRENT PACKING + +#define MAVLINK_MSG_ID_WAYPOINT_CURRENT 42 + +typedef struct __mavlink_waypoint_current_t +{ + uint16_t seq; ///< Sequence +} mavlink_waypoint_current_t; + +#define MAVLINK_MSG_ID_WAYPOINT_CURRENT_LEN 2 +#define MAVLINK_MSG_ID_42_LEN 2 + + + +#define MAVLINK_MESSAGE_INFO_WAYPOINT_CURRENT { \ + "WAYPOINT_CURRENT", \ + 1, \ + { { "seq", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_waypoint_current_t, seq) }, \ + } \ +} + + +/** + * @brief Pack a waypoint_current 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 seq Sequence + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_waypoint_current_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint16_t seq) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[2]; + _mav_put_uint16_t(buf, 0, seq); + + memcpy(_MAV_PAYLOAD(msg), buf, 2); +#else + mavlink_waypoint_current_t packet; + packet.seq = seq; + + memcpy(_MAV_PAYLOAD(msg), &packet, 2); +#endif + + msg->msgid = MAVLINK_MSG_ID_WAYPOINT_CURRENT; + return mavlink_finalize_message(msg, system_id, component_id, 2); +} + +/** + * @brief Pack a waypoint_current 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 seq Sequence + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_waypoint_current_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint16_t seq) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[2]; + _mav_put_uint16_t(buf, 0, seq); + + memcpy(_MAV_PAYLOAD(msg), buf, 2); +#else + mavlink_waypoint_current_t packet; + packet.seq = seq; + + memcpy(_MAV_PAYLOAD(msg), &packet, 2); +#endif + + msg->msgid = MAVLINK_MSG_ID_WAYPOINT_CURRENT; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 2); +} + +/** + * @brief Encode a waypoint_current 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 waypoint_current C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_waypoint_current_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_waypoint_current_t* waypoint_current) +{ + return mavlink_msg_waypoint_current_pack(system_id, component_id, msg, waypoint_current->seq); +} + +/** + * @brief Send a waypoint_current message + * @param chan MAVLink channel to send the message + * + * @param seq Sequence + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_waypoint_current_send(mavlink_channel_t chan, uint16_t seq) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[2]; + _mav_put_uint16_t(buf, 0, seq); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WAYPOINT_CURRENT, buf, 2); +#else + mavlink_waypoint_current_t packet; + packet.seq = seq; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WAYPOINT_CURRENT, (const char *)&packet, 2); +#endif +} + +#endif + +// MESSAGE WAYPOINT_CURRENT UNPACKING + + +/** + * @brief Get field seq from waypoint_current message + * + * @return Sequence + */ +static inline uint16_t mavlink_msg_waypoint_current_get_seq(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 0); +} + +/** + * @brief Decode a waypoint_current message into a struct + * + * @param msg The message to decode + * @param waypoint_current C-struct to decode the message contents into + */ +static inline void mavlink_msg_waypoint_current_decode(const mavlink_message_t* msg, mavlink_waypoint_current_t* waypoint_current) +{ +#if MAVLINK_NEED_BYTE_SWAP + waypoint_current->seq = mavlink_msg_waypoint_current_get_seq(msg); +#else + memcpy(waypoint_current, _MAV_PAYLOAD(msg), 2); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_waypoint_reached.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_waypoint_reached.h new file mode 100644 index 0000000000000000000000000000000000000000..6f291c7095f4b0147bc30f889372bd921f89346f --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_waypoint_reached.h @@ -0,0 +1,144 @@ +// MESSAGE WAYPOINT_REACHED PACKING + +#define MAVLINK_MSG_ID_WAYPOINT_REACHED 46 + +typedef struct __mavlink_waypoint_reached_t +{ + uint16_t seq; ///< Sequence +} mavlink_waypoint_reached_t; + +#define MAVLINK_MSG_ID_WAYPOINT_REACHED_LEN 2 +#define MAVLINK_MSG_ID_46_LEN 2 + + + +#define MAVLINK_MESSAGE_INFO_WAYPOINT_REACHED { \ + "WAYPOINT_REACHED", \ + 1, \ + { { "seq", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_waypoint_reached_t, seq) }, \ + } \ +} + + +/** + * @brief Pack a waypoint_reached 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 seq Sequence + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_waypoint_reached_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint16_t seq) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[2]; + _mav_put_uint16_t(buf, 0, seq); + + memcpy(_MAV_PAYLOAD(msg), buf, 2); +#else + mavlink_waypoint_reached_t packet; + packet.seq = seq; + + memcpy(_MAV_PAYLOAD(msg), &packet, 2); +#endif + + msg->msgid = MAVLINK_MSG_ID_WAYPOINT_REACHED; + return mavlink_finalize_message(msg, system_id, component_id, 2); +} + +/** + * @brief Pack a waypoint_reached 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 seq Sequence + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_waypoint_reached_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint16_t seq) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[2]; + _mav_put_uint16_t(buf, 0, seq); + + memcpy(_MAV_PAYLOAD(msg), buf, 2); +#else + mavlink_waypoint_reached_t packet; + packet.seq = seq; + + memcpy(_MAV_PAYLOAD(msg), &packet, 2); +#endif + + msg->msgid = MAVLINK_MSG_ID_WAYPOINT_REACHED; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 2); +} + +/** + * @brief Encode a waypoint_reached 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 waypoint_reached C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_waypoint_reached_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_waypoint_reached_t* waypoint_reached) +{ + return mavlink_msg_waypoint_reached_pack(system_id, component_id, msg, waypoint_reached->seq); +} + +/** + * @brief Send a waypoint_reached message + * @param chan MAVLink channel to send the message + * + * @param seq Sequence + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_waypoint_reached_send(mavlink_channel_t chan, uint16_t seq) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[2]; + _mav_put_uint16_t(buf, 0, seq); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WAYPOINT_REACHED, buf, 2); +#else + mavlink_waypoint_reached_t packet; + packet.seq = seq; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WAYPOINT_REACHED, (const char *)&packet, 2); +#endif +} + +#endif + +// MESSAGE WAYPOINT_REACHED UNPACKING + + +/** + * @brief Get field seq from waypoint_reached message + * + * @return Sequence + */ +static inline uint16_t mavlink_msg_waypoint_reached_get_seq(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 0); +} + +/** + * @brief Decode a waypoint_reached message into a struct + * + * @param msg The message to decode + * @param waypoint_reached C-struct to decode the message contents into + */ +static inline void mavlink_msg_waypoint_reached_decode(const mavlink_message_t* msg, mavlink_waypoint_reached_t* waypoint_reached) +{ +#if MAVLINK_NEED_BYTE_SWAP + waypoint_reached->seq = mavlink_msg_waypoint_reached_get_seq(msg); +#else + memcpy(waypoint_reached, _MAV_PAYLOAD(msg), 2); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_waypoint_request.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_waypoint_request.h new file mode 100644 index 0000000000000000000000000000000000000000..e9d616ab1dd1d7f9686ce628041045711beb20b9 --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_waypoint_request.h @@ -0,0 +1,188 @@ +// MESSAGE WAYPOINT_REQUEST PACKING + +#define MAVLINK_MSG_ID_WAYPOINT_REQUEST 40 + +typedef struct __mavlink_waypoint_request_t +{ + uint8_t target_system; ///< System ID + uint8_t target_component; ///< Component ID + uint16_t seq; ///< Sequence +} mavlink_waypoint_request_t; + +#define MAVLINK_MSG_ID_WAYPOINT_REQUEST_LEN 4 +#define MAVLINK_MSG_ID_40_LEN 4 + + + +#define MAVLINK_MESSAGE_INFO_WAYPOINT_REQUEST { \ + "WAYPOINT_REQUEST", \ + 3, \ + { { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_waypoint_request_t, target_system) }, \ + { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_waypoint_request_t, target_component) }, \ + { "seq", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_waypoint_request_t, seq) }, \ + } \ +} + + +/** + * @brief Pack a waypoint_request 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 target_component Component ID + * @param seq Sequence + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_waypoint_request_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target_system, uint8_t target_component, uint16_t seq) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[4]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_uint16_t(buf, 2, seq); + + memcpy(_MAV_PAYLOAD(msg), buf, 4); +#else + mavlink_waypoint_request_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.seq = seq; + + memcpy(_MAV_PAYLOAD(msg), &packet, 4); +#endif + + msg->msgid = MAVLINK_MSG_ID_WAYPOINT_REQUEST; + return mavlink_finalize_message(msg, system_id, component_id, 4); +} + +/** + * @brief Pack a waypoint_request 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 target_component Component ID + * @param seq Sequence + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_waypoint_request_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t target_system,uint8_t target_component,uint16_t seq) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[4]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_uint16_t(buf, 2, seq); + + memcpy(_MAV_PAYLOAD(msg), buf, 4); +#else + mavlink_waypoint_request_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.seq = seq; + + memcpy(_MAV_PAYLOAD(msg), &packet, 4); +#endif + + msg->msgid = MAVLINK_MSG_ID_WAYPOINT_REQUEST; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 4); +} + +/** + * @brief Encode a waypoint_request 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 waypoint_request C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_waypoint_request_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_waypoint_request_t* waypoint_request) +{ + return mavlink_msg_waypoint_request_pack(system_id, component_id, msg, waypoint_request->target_system, waypoint_request->target_component, waypoint_request->seq); +} + +/** + * @brief Send a waypoint_request message + * @param chan MAVLink channel to send the message + * + * @param target_system System ID + * @param target_component Component ID + * @param seq Sequence + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_waypoint_request_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t seq) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[4]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_uint16_t(buf, 2, seq); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WAYPOINT_REQUEST, buf, 4); +#else + mavlink_waypoint_request_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.seq = seq; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WAYPOINT_REQUEST, (const char *)&packet, 4); +#endif +} + +#endif + +// MESSAGE WAYPOINT_REQUEST UNPACKING + + +/** + * @brief Get field target_system from waypoint_request message + * + * @return System ID + */ +static inline uint8_t mavlink_msg_waypoint_request_get_target_system(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field target_component from waypoint_request message + * + * @return Component ID + */ +static inline uint8_t mavlink_msg_waypoint_request_get_target_component(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 1); +} + +/** + * @brief Get field seq from waypoint_request message + * + * @return Sequence + */ +static inline uint16_t mavlink_msg_waypoint_request_get_seq(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 2); +} + +/** + * @brief Decode a waypoint_request message into a struct + * + * @param msg The message to decode + * @param waypoint_request C-struct to decode the message contents into + */ +static inline void mavlink_msg_waypoint_request_decode(const mavlink_message_t* msg, mavlink_waypoint_request_t* waypoint_request) +{ +#if MAVLINK_NEED_BYTE_SWAP + waypoint_request->target_system = mavlink_msg_waypoint_request_get_target_system(msg); + waypoint_request->target_component = mavlink_msg_waypoint_request_get_target_component(msg); + waypoint_request->seq = mavlink_msg_waypoint_request_get_seq(msg); +#else + memcpy(waypoint_request, _MAV_PAYLOAD(msg), 4); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_waypoint_request_list.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_waypoint_request_list.h new file mode 100644 index 0000000000000000000000000000000000000000..caeb62037505ae4f46590daec64f70c8cae335c9 --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_waypoint_request_list.h @@ -0,0 +1,166 @@ +// MESSAGE WAYPOINT_REQUEST_LIST PACKING + +#define MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST 43 + +typedef struct __mavlink_waypoint_request_list_t +{ + uint8_t target_system; ///< System ID + uint8_t target_component; ///< Component ID +} mavlink_waypoint_request_list_t; + +#define MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST_LEN 2 +#define MAVLINK_MSG_ID_43_LEN 2 + + + +#define MAVLINK_MESSAGE_INFO_WAYPOINT_REQUEST_LIST { \ + "WAYPOINT_REQUEST_LIST", \ + 2, \ + { { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_waypoint_request_list_t, target_system) }, \ + { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_waypoint_request_list_t, target_component) }, \ + } \ +} + + +/** + * @brief Pack a waypoint_request_list message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * + * @param target_system System ID + * @param target_component Component ID + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_waypoint_request_list_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target_system, uint8_t target_component) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[2]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + + memcpy(_MAV_PAYLOAD(msg), buf, 2); +#else + mavlink_waypoint_request_list_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + + memcpy(_MAV_PAYLOAD(msg), &packet, 2); +#endif + + msg->msgid = MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST; + return mavlink_finalize_message(msg, system_id, component_id, 2); +} + +/** + * @brief Pack a waypoint_request_list message on a channel + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message was sent over + * @param msg The MAVLink message to compress the data into + * @param target_system System ID + * @param target_component Component ID + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_waypoint_request_list_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t target_system,uint8_t target_component) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[2]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + + memcpy(_MAV_PAYLOAD(msg), buf, 2); +#else + mavlink_waypoint_request_list_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + + memcpy(_MAV_PAYLOAD(msg), &packet, 2); +#endif + + msg->msgid = MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 2); +} + +/** + * @brief Encode a waypoint_request_list struct into a message + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * @param waypoint_request_list C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_waypoint_request_list_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_waypoint_request_list_t* waypoint_request_list) +{ + return mavlink_msg_waypoint_request_list_pack(system_id, component_id, msg, waypoint_request_list->target_system, waypoint_request_list->target_component); +} + +/** + * @brief Send a waypoint_request_list message + * @param chan MAVLink channel to send the message + * + * @param target_system System ID + * @param target_component Component ID + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_waypoint_request_list_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[2]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST, buf, 2); +#else + mavlink_waypoint_request_list_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST, (const char *)&packet, 2); +#endif +} + +#endif + +// MESSAGE WAYPOINT_REQUEST_LIST UNPACKING + + +/** + * @brief Get field target_system from waypoint_request_list message + * + * @return System ID + */ +static inline uint8_t mavlink_msg_waypoint_request_list_get_target_system(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field target_component from waypoint_request_list message + * + * @return Component ID + */ +static inline uint8_t mavlink_msg_waypoint_request_list_get_target_component(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 1); +} + +/** + * @brief Decode a waypoint_request_list message into a struct + * + * @param msg The message to decode + * @param waypoint_request_list C-struct to decode the message contents into + */ +static inline void mavlink_msg_waypoint_request_list_decode(const mavlink_message_t* msg, mavlink_waypoint_request_list_t* waypoint_request_list) +{ +#if MAVLINK_NEED_BYTE_SWAP + waypoint_request_list->target_system = mavlink_msg_waypoint_request_list_get_target_system(msg); + waypoint_request_list->target_component = mavlink_msg_waypoint_request_list_get_target_component(msg); +#else + memcpy(waypoint_request_list, _MAV_PAYLOAD(msg), 2); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/mavlink_msg_waypoint_set_current.h b/thirdParty/mavlink/v0.9/common/mavlink_msg_waypoint_set_current.h new file mode 100644 index 0000000000000000000000000000000000000000..7a9fd614a4369dac0903706c0d2c7a8a69cc6ca3 --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/mavlink_msg_waypoint_set_current.h @@ -0,0 +1,188 @@ +// MESSAGE WAYPOINT_SET_CURRENT PACKING + +#define MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT 41 + +typedef struct __mavlink_waypoint_set_current_t +{ + uint8_t target_system; ///< System ID + uint8_t target_component; ///< Component ID + uint16_t seq; ///< Sequence +} mavlink_waypoint_set_current_t; + +#define MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT_LEN 4 +#define MAVLINK_MSG_ID_41_LEN 4 + + + +#define MAVLINK_MESSAGE_INFO_WAYPOINT_SET_CURRENT { \ + "WAYPOINT_SET_CURRENT", \ + 3, \ + { { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_waypoint_set_current_t, target_system) }, \ + { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_waypoint_set_current_t, target_component) }, \ + { "seq", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_waypoint_set_current_t, seq) }, \ + } \ +} + + +/** + * @brief Pack a waypoint_set_current 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 target_component Component ID + * @param seq Sequence + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_waypoint_set_current_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target_system, uint8_t target_component, uint16_t seq) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[4]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_uint16_t(buf, 2, seq); + + memcpy(_MAV_PAYLOAD(msg), buf, 4); +#else + mavlink_waypoint_set_current_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.seq = seq; + + memcpy(_MAV_PAYLOAD(msg), &packet, 4); +#endif + + msg->msgid = MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT; + return mavlink_finalize_message(msg, system_id, component_id, 4); +} + +/** + * @brief Pack a waypoint_set_current 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 target_component Component ID + * @param seq Sequence + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_waypoint_set_current_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t target_system,uint8_t target_component,uint16_t seq) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[4]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_uint16_t(buf, 2, seq); + + memcpy(_MAV_PAYLOAD(msg), buf, 4); +#else + mavlink_waypoint_set_current_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.seq = seq; + + memcpy(_MAV_PAYLOAD(msg), &packet, 4); +#endif + + msg->msgid = MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 4); +} + +/** + * @brief Encode a waypoint_set_current 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 waypoint_set_current C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_waypoint_set_current_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_waypoint_set_current_t* waypoint_set_current) +{ + return mavlink_msg_waypoint_set_current_pack(system_id, component_id, msg, waypoint_set_current->target_system, waypoint_set_current->target_component, waypoint_set_current->seq); +} + +/** + * @brief Send a waypoint_set_current message + * @param chan MAVLink channel to send the message + * + * @param target_system System ID + * @param target_component Component ID + * @param seq Sequence + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_waypoint_set_current_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t seq) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[4]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_uint16_t(buf, 2, seq); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT, buf, 4); +#else + mavlink_waypoint_set_current_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.seq = seq; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT, (const char *)&packet, 4); +#endif +} + +#endif + +// MESSAGE WAYPOINT_SET_CURRENT UNPACKING + + +/** + * @brief Get field target_system from waypoint_set_current message + * + * @return System ID + */ +static inline uint8_t mavlink_msg_waypoint_set_current_get_target_system(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field target_component from waypoint_set_current message + * + * @return Component ID + */ +static inline uint8_t mavlink_msg_waypoint_set_current_get_target_component(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 1); +} + +/** + * @brief Get field seq from waypoint_set_current message + * + * @return Sequence + */ +static inline uint16_t mavlink_msg_waypoint_set_current_get_seq(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 2); +} + +/** + * @brief Decode a waypoint_set_current message into a struct + * + * @param msg The message to decode + * @param waypoint_set_current C-struct to decode the message contents into + */ +static inline void mavlink_msg_waypoint_set_current_decode(const mavlink_message_t* msg, mavlink_waypoint_set_current_t* waypoint_set_current) +{ +#if MAVLINK_NEED_BYTE_SWAP + waypoint_set_current->target_system = mavlink_msg_waypoint_set_current_get_target_system(msg); + waypoint_set_current->target_component = mavlink_msg_waypoint_set_current_get_target_component(msg); + waypoint_set_current->seq = mavlink_msg_waypoint_set_current_get_seq(msg); +#else + memcpy(waypoint_set_current, _MAV_PAYLOAD(msg), 4); +#endif +} diff --git a/thirdParty/mavlink/v0.9/common/testsuite.h b/thirdParty/mavlink/v0.9/common/testsuite.h new file mode 100644 index 0000000000000000000000000000000000000000..b3a94e96ea447a8319f97ba3e31bcdb0b034d6d5 --- /dev/null +++ b/thirdParty/mavlink/v0.9/common/testsuite.h @@ -0,0 +1,3700 @@ +/** @file + * @brief MAVLink comm protocol testsuite generated from common.xml + * @see http://qgroundcontrol.org/mavlink/ + */ +#ifndef COMMON_TESTSUITE_H +#define COMMON_TESTSUITE_H + +#ifdef __cplusplus +extern "C" { +#endif + +#ifndef MAVLINK_TEST_ALL +#define MAVLINK_TEST_ALL + +static void mavlink_test_common(uint8_t, uint8_t, mavlink_message_t *last_msg); + +static void mavlink_test_all(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) +{ + + mavlink_test_common(system_id, component_id, last_msg); +} +#endif + + + + +static void mavlink_test_heartbeat(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_heartbeat_t packet_in = { + 5, + 72, + 2, + }; + mavlink_heartbeat_t packet1, packet2; + memset(&packet1, 0, sizeof(packet1)); + packet1.type = packet_in.type; + packet1.autopilot = packet_in.autopilot; + packet1.mavlink_version = packet_in.mavlink_version; + + + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_heartbeat_encode(system_id, component_id, &msg, &packet1); + mavlink_msg_heartbeat_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_heartbeat_pack(system_id, component_id, &msg , packet1.type , packet1.autopilot ); + mavlink_msg_heartbeat_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_heartbeat_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.type , packet1.autopilot ); + mavlink_msg_heartbeat_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; imagic = MAVLINK_STX; + msg->len = length; + msg->sysid = system_id; + msg->compid = component_id; + // One sequence number per component + msg->seq = mavlink_get_channel_status(chan)->current_tx_seq; + mavlink_get_channel_status(chan)->current_tx_seq = mavlink_get_channel_status(chan)->current_tx_seq+1; + checksum = crc_calculate((uint8_t*)&msg->len, length + MAVLINK_CORE_HEADER_LEN); +#if MAVLINK_CRC_EXTRA + crc_accumulate(crc_extra, &checksum); +#endif + mavlink_ck_a(msg) = (uint8_t)(checksum & 0xFF); + mavlink_ck_b(msg) = (uint8_t)(checksum >> 8); + + return length + MAVLINK_NUM_NON_PAYLOAD_BYTES; +} + + +/** + * @brief Finalize a MAVLink message with MAVLINK_COMM_0 as default channel + */ +#if MAVLINK_CRC_EXTRA +MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, + uint8_t length, uint8_t crc_extra) +{ + return mavlink_finalize_message_chan(msg, system_id, component_id, MAVLINK_COMM_0, length, crc_extra); +} +#else +MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, + uint8_t length) +{ + return mavlink_finalize_message_chan(msg, system_id, component_id, MAVLINK_COMM_0, length); +} +#endif + +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS +MAVLINK_HELPER void _mavlink_send_uart(mavlink_channel_t chan, const char *buf, uint16_t len); + +/** + * @brief Finalize a MAVLink message with channel assignment and send + */ +#if MAVLINK_CRC_EXTRA +MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet, + uint8_t length, uint8_t crc_extra) +#else +MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet, uint8_t length) +#endif +{ + uint16_t checksum; + uint8_t buf[MAVLINK_NUM_HEADER_BYTES]; + uint8_t ck[2]; + mavlink_status_t *status = mavlink_get_channel_status(chan); + buf[0] = MAVLINK_STX; + buf[1] = length; + buf[2] = status->current_tx_seq; + buf[3] = mavlink_system.sysid; + buf[4] = mavlink_system.compid; + buf[5] = msgid; + status->current_tx_seq++; + checksum = crc_calculate((uint8_t*)&buf[1], MAVLINK_CORE_HEADER_LEN); + crc_accumulate_buffer(&checksum, packet, length); +#if MAVLINK_CRC_EXTRA + crc_accumulate(crc_extra, &checksum); +#endif + ck[0] = (uint8_t)(checksum & 0xFF); + ck[1] = (uint8_t)(checksum >> 8); + + MAVLINK_START_UART_SEND(chan, MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)length); + _mavlink_send_uart(chan, (const char *)buf, MAVLINK_NUM_HEADER_BYTES); + _mavlink_send_uart(chan, packet, length); + _mavlink_send_uart(chan, (const char *)ck, 2); + MAVLINK_END_UART_SEND(chan, MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)length); +} +#endif // MAVLINK_USE_CONVENIENCE_FUNCTIONS + +/** + * @brief Pack a message to send it over a serial byte stream + */ +MAVLINK_HELPER uint16_t mavlink_msg_to_send_buffer(uint8_t *buffer, const mavlink_message_t *msg) +{ + memcpy(buffer, (uint8_t *)&msg->magic, MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)msg->len); + return MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)msg->len; +} + +union __mavlink_bitfield { + uint8_t uint8; + int8_t int8; + uint16_t uint16; + int16_t int16; + uint32_t uint32; + int32_t int32; +}; + + +MAVLINK_HELPER void mavlink_start_checksum(mavlink_message_t* msg) +{ + crc_init(&msg->checksum); +} + +MAVLINK_HELPER void mavlink_update_checksum(mavlink_message_t* msg, uint8_t c) +{ + crc_accumulate(c, &msg->checksum); +} + +/** + * This is a convenience function which handles the complete MAVLink parsing. + * the function will parse one byte at a time and return the complete packet once + * it could be successfully decoded. Checksum and other failures will be silently + * ignored. + * + * @param chan ID of the current channel. This allows to parse different channels with this function. + * a channel is not a physical message channel like a serial port, but a logic partition of + * the communication streams in this case. COMM_NB is the limit for the number of channels + * on MCU (e.g. ARM7), while COMM_NB_HIGH is the limit for the number of channels in Linux/Windows + * @param c The char to barse + * + * @param returnMsg NULL if no message could be decoded, the message data else + * @return 0 if no message could be decoded, 1 else + * + * A typical use scenario of this function call is: + * + * @code + * #include // For fixed-width uint8_t type + * + * mavlink_message_t msg; + * int chan = 0; + * + * + * while(serial.bytesAvailable > 0) + * { + * uint8_t byte = serial.getNextByte(); + * if (mavlink_parse_char(chan, byte, &msg)) + * { + * printf("Received message with ID %d, sequence: %d from component %d of system %d", msg.msgid, msg.seq, msg.compid, msg.sysid); + * } + * } + * + * + * @endcode + */ +MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status) +{ + static mavlink_message_t m_mavlink_message[MAVLINK_COMM_NUM_BUFFERS]; + + /* + default message crc function. You can override this per-system to + put this data in a different memory segment + */ +#if MAVLINK_CRC_EXTRA +#ifndef MAVLINK_MESSAGE_CRC + static const uint8_t mavlink_message_crcs[256] = MAVLINK_MESSAGE_CRCS; +#define MAVLINK_MESSAGE_CRC(msgid) mavlink_message_crcs[msgid] +#endif +#endif + + mavlink_message_t* rxmsg = &m_mavlink_message[chan]; ///< The currently decoded message + mavlink_status_t* status = mavlink_get_channel_status(chan); ///< The current decode status + int bufferIndex = 0; + + status->msg_received = 0; + + switch (status->parse_state) + { + case MAVLINK_PARSE_STATE_UNINIT: + case MAVLINK_PARSE_STATE_IDLE: + if (c == MAVLINK_STX) + { + status->parse_state = MAVLINK_PARSE_STATE_GOT_STX; + rxmsg->len = 0; + mavlink_start_checksum(rxmsg); + } + break; + + case MAVLINK_PARSE_STATE_GOT_STX: + if (status->msg_received + /* Support shorter buffers than the + default maximum packet size */ +#if (MAVLINK_MAX_PAYLOAD_LEN < 255) + || c > MAVLINK_MAX_PAYLOAD_LEN +#endif + ) + { + status->buffer_overrun++; + status->parse_error++; + status->msg_received = 0; + status->parse_state = MAVLINK_PARSE_STATE_IDLE; + } + else + { + // NOT counting STX, LENGTH, SEQ, SYSID, COMPID, MSGID, CRC1 and CRC2 + rxmsg->len = c; + status->packet_idx = 0; + mavlink_update_checksum(rxmsg, c); + status->parse_state = MAVLINK_PARSE_STATE_GOT_LENGTH; + } + break; + + case MAVLINK_PARSE_STATE_GOT_LENGTH: + rxmsg->seq = c; + mavlink_update_checksum(rxmsg, c); + status->parse_state = MAVLINK_PARSE_STATE_GOT_SEQ; + break; + + case MAVLINK_PARSE_STATE_GOT_SEQ: + rxmsg->sysid = c; + mavlink_update_checksum(rxmsg, c); + status->parse_state = MAVLINK_PARSE_STATE_GOT_SYSID; + break; + + case MAVLINK_PARSE_STATE_GOT_SYSID: + rxmsg->compid = c; + mavlink_update_checksum(rxmsg, c); + status->parse_state = MAVLINK_PARSE_STATE_GOT_COMPID; + break; + + case MAVLINK_PARSE_STATE_GOT_COMPID: + rxmsg->msgid = c; + mavlink_update_checksum(rxmsg, c); + if (rxmsg->len == 0) + { + status->parse_state = MAVLINK_PARSE_STATE_GOT_PAYLOAD; + } + else + { + status->parse_state = MAVLINK_PARSE_STATE_GOT_MSGID; + } + break; + + case MAVLINK_PARSE_STATE_GOT_MSGID: + _MAV_PAYLOAD(rxmsg)[status->packet_idx++] = (char)c; + mavlink_update_checksum(rxmsg, c); + if (status->packet_idx == rxmsg->len) + { + status->parse_state = MAVLINK_PARSE_STATE_GOT_PAYLOAD; + } + break; + + case MAVLINK_PARSE_STATE_GOT_PAYLOAD: +#if MAVLINK_CRC_EXTRA + mavlink_update_checksum(rxmsg, MAVLINK_MESSAGE_CRC(rxmsg->msgid)); +#endif + if (c != (rxmsg->checksum & 0xFF)) { + // Check first checksum byte + status->parse_error++; + status->msg_received = 0; + status->parse_state = MAVLINK_PARSE_STATE_IDLE; + if (c == MAVLINK_STX) + { + status->parse_state = MAVLINK_PARSE_STATE_GOT_STX; + rxmsg->len = 0; + mavlink_start_checksum(rxmsg); + } + } + else + { + status->parse_state = MAVLINK_PARSE_STATE_GOT_CRC1; + } + break; + + case MAVLINK_PARSE_STATE_GOT_CRC1: + if (c != (rxmsg->checksum >> 8)) { + // Check second checksum byte + status->parse_error++; + status->msg_received = 0; + status->parse_state = MAVLINK_PARSE_STATE_IDLE; + if (c == MAVLINK_STX) + { + status->parse_state = MAVLINK_PARSE_STATE_GOT_STX; + rxmsg->len = 0; + mavlink_start_checksum(rxmsg); + } + } + else + { + // Successfully got message + status->msg_received = 1; + status->parse_state = MAVLINK_PARSE_STATE_IDLE; + memcpy(r_message, rxmsg, sizeof(mavlink_message_t)); + } + break; + } + + bufferIndex++; + // If a message has been sucessfully decoded, check index + if (status->msg_received == 1) + { + //while(status->current_seq != rxmsg->seq) + //{ + // status->packet_rx_drop_count++; + // status->current_seq++; + //} + status->current_rx_seq = rxmsg->seq; + // Initial condition: If no packet has been received so far, drop count is undefined + if (status->packet_rx_success_count == 0) status->packet_rx_drop_count = 0; + // Count this packet as received + status->packet_rx_success_count++; + } + + r_mavlink_status->current_rx_seq = status->current_rx_seq+1; + r_mavlink_status->packet_rx_success_count = status->packet_rx_success_count; + r_mavlink_status->packet_rx_drop_count = status->parse_error; + status->parse_error = 0; + return status->msg_received; +} + +/** + * @brief Put a bitfield of length 1-32 bit into the buffer + * + * @param b the value to add, will be encoded in the bitfield + * @param bits number of bits to use to encode b, e.g. 1 for boolean, 2, 3, etc. + * @param packet_index the position in the packet (the index of the first byte to use) + * @param bit_index the position in the byte (the index of the first bit to use) + * @param buffer packet buffer to write into + * @return new position of the last used byte in the buffer + */ +MAVLINK_HELPER uint8_t put_bitfield_n_by_index(int32_t b, uint8_t bits, uint8_t packet_index, uint8_t bit_index, uint8_t* r_bit_index, uint8_t* buffer) +{ + uint16_t bits_remain = bits; + // Transform number into network order + int32_t v; + uint8_t i_bit_index, i_byte_index, curr_bits_n; +#if MAVLINK_NEED_BYTE_SWAP + union { + int32_t i; + uint8_t b[4]; + } bin, bout; + bin.i = b; + bout.b[0] = bin.b[3]; + bout.b[1] = bin.b[2]; + bout.b[2] = bin.b[1]; + bout.b[3] = bin.b[0]; + v = bout.i; +#else + v = b; +#endif + + // buffer in + // 01100000 01000000 00000000 11110001 + // buffer out + // 11110001 00000000 01000000 01100000 + + // Existing partly filled byte (four free slots) + // 0111xxxx + + // Mask n free bits + // 00001111 = 2^0 + 2^1 + 2^2 + 2^3 = 2^n - 1 + // = ((uint32_t)(1 << n)) - 1; // = 2^n - 1 + + // Shift n bits into the right position + // out = in >> n; + + // Mask and shift bytes + i_bit_index = bit_index; + i_byte_index = packet_index; + if (bit_index > 0) + { + // If bits were available at start, they were available + // in the byte before the current index + i_byte_index--; + } + + // While bits have not been packed yet + while (bits_remain > 0) + { + // Bits still have to be packed + // there can be more than 8 bits, so + // we might have to pack them into more than one byte + + // First pack everything we can into the current 'open' byte + //curr_bits_n = bits_remain << 3; // Equals bits_remain mod 8 + //FIXME + if (bits_remain <= (uint8_t)(8 - i_bit_index)) + { + // Enough space + curr_bits_n = (uint8_t)bits_remain; + } + else + { + curr_bits_n = (8 - i_bit_index); + } + + // Pack these n bits into the current byte + // Mask out whatever was at that position with ones (xxx11111) + buffer[i_byte_index] &= (0xFF >> (8 - curr_bits_n)); + // Put content to this position, by masking out the non-used part + buffer[i_byte_index] |= ((0x00 << curr_bits_n) & v); + + // Increment the bit index + i_bit_index += curr_bits_n; + + // Now proceed to the next byte, if necessary + bits_remain -= curr_bits_n; + if (bits_remain > 0) + { + // Offer another 8 bits / one byte + i_byte_index++; + i_bit_index = 0; + } + } + + *r_bit_index = i_bit_index; + // If a partly filled byte is present, mark this as consumed + if (i_bit_index != 7) i_byte_index++; + return i_byte_index - packet_index; +} + +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +// To make MAVLink work on your MCU, define comm_send_ch() if you wish +// to send 1 byte at a time, or MAVLINK_SEND_UART_BYTES() to send a +// whole packet at a time + +/* + +#include "mavlink_types.h" + +void comm_send_ch(mavlink_channel_t chan, uint8_t ch) +{ + if (chan == MAVLINK_COMM_0) + { + uart0_transmit(ch); + } + if (chan == MAVLINK_COMM_1) + { + uart1_transmit(ch); + } +} + */ + +MAVLINK_HELPER void _mavlink_send_uart(mavlink_channel_t chan, const char *buf, uint16_t len) +{ +#ifdef MAVLINK_SEND_UART_BYTES + /* this is the more efficient approach, if the platform + defines it */ + MAVLINK_SEND_UART_BYTES(chan, (uint8_t *)buf, len); +#else + /* fallback to one byte at a time */ + uint16_t i; + for (i = 0; i < len; i++) { + comm_send_ch(chan, (uint8_t)buf[i]); + } +#endif +} +#endif // MAVLINK_USE_CONVENIENCE_FUNCTIONS + +#endif /* _MAVLINK_HELPERS_H_ */ diff --git a/thirdParty/mavlink/v0.9/mavlink_types.h b/thirdParty/mavlink/v0.9/mavlink_types.h new file mode 100644 index 0000000000000000000000000000000000000000..9daeffc63f7347027bffed188c00431744898174 --- /dev/null +++ b/thirdParty/mavlink/v0.9/mavlink_types.h @@ -0,0 +1,298 @@ +#ifndef MAVLINK_TYPES_H_ +#define MAVLINK_TYPES_H_ + +#include "inttypes.h" + +enum MAV_CLASS +{ + MAV_CLASS_GENERIC = 0, ///< Generic autopilot, full support for everything + MAV_CLASS_PIXHAWK = 1, ///< PIXHAWK autopilot, http://pixhawk.ethz.ch + MAV_CLASS_SLUGS = 2, ///< SLUGS autopilot, http://slugsuav.soe.ucsc.edu + MAV_CLASS_ARDUPILOTMEGA = 3, ///< ArduPilotMega / ArduCopter, http://diydrones.com + MAV_CLASS_OPENPILOT = 4, ///< OpenPilot, http://openpilot.org + MAV_CLASS_GENERIC_MISSION_WAYPOINTS_ONLY = 5, ///< Generic autopilot only supporting simple waypoints + MAV_CLASS_GENERIC_MISSION_NAVIGATION_ONLY = 6, ///< Generic autopilot supporting waypoints and other simple navigation commands + MAV_CLASS_GENERIC_MISSION_FULL = 7, ///< Generic autopilot supporting the full mission command set + MAV_CLASS_NONE = 8, ///< No valid autopilot + MAV_CLASS_NB ///< Number of autopilot classes +}; + +enum MAV_ACTION +{ + MAV_ACTION_HOLD = 0, + MAV_ACTION_MOTORS_START = 1, + MAV_ACTION_LAUNCH = 2, + MAV_ACTION_RETURN = 3, + MAV_ACTION_EMCY_LAND = 4, + MAV_ACTION_EMCY_KILL = 5, + MAV_ACTION_CONFIRM_KILL = 6, + MAV_ACTION_CONTINUE = 7, + MAV_ACTION_MOTORS_STOP = 8, + MAV_ACTION_HALT = 9, + MAV_ACTION_SHUTDOWN = 10, + MAV_ACTION_REBOOT = 11, + MAV_ACTION_SET_MANUAL = 12, + MAV_ACTION_SET_AUTO = 13, + MAV_ACTION_STORAGE_READ = 14, + MAV_ACTION_STORAGE_WRITE = 15, + MAV_ACTION_CALIBRATE_RC = 16, + MAV_ACTION_CALIBRATE_GYRO = 17, + MAV_ACTION_CALIBRATE_MAG = 18, + MAV_ACTION_CALIBRATE_ACC = 19, + MAV_ACTION_CALIBRATE_PRESSURE = 20, + MAV_ACTION_REC_START = 21, + MAV_ACTION_REC_PAUSE = 22, + MAV_ACTION_REC_STOP = 23, + MAV_ACTION_TAKEOFF = 24, + MAV_ACTION_NAVIGATE = 25, + MAV_ACTION_LAND = 26, + MAV_ACTION_LOITER = 27, + MAV_ACTION_SET_ORIGIN = 28, + MAV_ACTION_RELAY_ON = 29, + MAV_ACTION_RELAY_OFF = 30, + MAV_ACTION_GET_IMAGE = 31, + MAV_ACTION_VIDEO_START = 32, + MAV_ACTION_VIDEO_STOP = 33, + MAV_ACTION_RESET_MAP = 34, + MAV_ACTION_RESET_PLAN = 35, + MAV_ACTION_DELAY_BEFORE_COMMAND = 36, + MAV_ACTION_ASCEND_AT_RATE = 37, + MAV_ACTION_CHANGE_MODE = 38, + MAV_ACTION_LOITER_MAX_TURNS = 39, + MAV_ACTION_LOITER_MAX_TIME = 40, + MAV_ACTION_START_HILSIM = 41, + MAV_ACTION_STOP_HILSIM = 42, + MAV_ACTION_NB ///< Number of MAV actions +}; + +enum MAV_MODE +{ + MAV_MODE_UNINIT = 0, ///< System is in undefined state + MAV_MODE_LOCKED = 1, ///< Motors are blocked, system is safe + MAV_MODE_MANUAL = 2, ///< System is allowed to be active, under manual (RC) control + MAV_MODE_GUIDED = 3, ///< System is allowed to be active, under autonomous control, manual setpoint + MAV_MODE_AUTO = 4, ///< System is allowed to be active, under autonomous control and navigation + MAV_MODE_TEST1 = 5, ///< Generic test mode, for custom use + MAV_MODE_TEST2 = 6, ///< Generic test mode, for custom use + MAV_MODE_TEST3 = 7, ///< Generic test mode, for custom use + MAV_MODE_READY = 8, ///< System is ready, motors are unblocked, but controllers are inactive + MAV_MODE_RC_TRAINING = 9 ///< System is blocked, only RC valued are read and reported back +}; + +enum MAV_STATE +{ + MAV_STATE_UNINIT = 0, + MAV_STATE_BOOT, + MAV_STATE_CALIBRATING, + MAV_STATE_STANDBY, + MAV_STATE_ACTIVE, + MAV_STATE_CRITICAL, + MAV_STATE_EMERGENCY, + MAV_STATE_HILSIM, + MAV_STATE_POWEROFF +}; + +enum MAV_NAV +{ + MAV_NAV_GROUNDED = 0, + MAV_NAV_LIFTOFF, + MAV_NAV_HOLD, + MAV_NAV_WAYPOINT, + MAV_NAV_VECTOR, + MAV_NAV_RETURNING, + MAV_NAV_LANDING, + MAV_NAV_LOST, + MAV_NAV_LOITER, + MAV_NAV_FREE_DRIFT +}; + +enum MAV_TYPE +{ + MAV_GENERIC = 0, + MAV_FIXED_WING = 1, + MAV_QUADROTOR = 2, + MAV_COAXIAL = 3, + MAV_HELICOPTER = 4, + MAV_GROUND = 5, + OCU = 6, + MAV_AIRSHIP = 7, + MAV_FREE_BALLOON = 8, + MAV_ROCKET = 9, + UGV_GROUND_ROVER = 10, + UGV_SURFACE_SHIP = 11 +}; + +enum MAV_AUTOPILOT_TYPE +{ + MAV_AUTOPILOT_GENERIC = 0, + MAV_AUTOPILOT_PIXHAWK = 1, + MAV_AUTOPILOT_SLUGS = 2, + MAV_AUTOPILOT_ARDUPILOTMEGA = 3, + MAV_AUTOPILOT_NONE = 4 +}; + +enum MAV_COMPONENT +{ + MAV_COMP_ID_GPS, + MAV_COMP_ID_WAYPOINTPLANNER, + MAV_COMP_ID_BLOBTRACKER, + MAV_COMP_ID_PATHPLANNER, + MAV_COMP_ID_AIRSLAM, + MAV_COMP_ID_MAPPER, + MAV_COMP_ID_CAMERA, + MAV_COMP_ID_IMU = 200, + MAV_COMP_ID_IMU_2 = 201, + MAV_COMP_ID_IMU_3 = 202, + MAV_COMP_ID_UDP_BRIDGE = 240, + MAV_COMP_ID_UART_BRIDGE = 241, + MAV_COMP_ID_SYSTEM_CONTROL = 250 +}; + +enum MAV_FRAME +{ + MAV_FRAME_GLOBAL = 0, + MAV_FRAME_LOCAL = 1, + MAV_FRAME_MISSION = 2, + MAV_FRAME_GLOBAL_RELATIVE_ALT = 3, + MAV_FRAME_LOCAL_ENU = 4 +}; + +enum MAVLINK_DATA_STREAM_TYPE +{ + MAVLINK_DATA_STREAM_IMG_JPEG, + MAVLINK_DATA_STREAM_IMG_BMP, + MAVLINK_DATA_STREAM_IMG_RAW8U, + MAVLINK_DATA_STREAM_IMG_RAW32U, + MAVLINK_DATA_STREAM_IMG_PGM, + MAVLINK_DATA_STREAM_IMG_PNG +}; + +#ifndef MAVLINK_MAX_PAYLOAD_LEN +// it is possible to override this, but be careful! +#define MAVLINK_MAX_PAYLOAD_LEN 255 ///< Maximum payload length +#endif + +#define MAVLINK_CORE_HEADER_LEN 5 ///< Length of core header (of the comm. layer): message length (1 byte) + message sequence (1 byte) + message system id (1 byte) + message component id (1 byte) + message type id (1 byte) +#define MAVLINK_NUM_HEADER_BYTES (MAVLINK_CORE_HEADER_LEN + 1) ///< Length of all header bytes, including core and checksum +#define MAVLINK_NUM_CHECKSUM_BYTES 2 +#define MAVLINK_NUM_NON_PAYLOAD_BYTES (MAVLINK_NUM_HEADER_BYTES + MAVLINK_NUM_CHECKSUM_BYTES) + +#define MAVLINK_MAX_PACKET_LEN (MAVLINK_MAX_PAYLOAD_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) ///< Maximum packet length + +typedef struct param_union { + union { + float param_float; + int32_t param_int32; + uint32_t param_uint32; + }; + uint8_t type; +} mavlink_param_union_t; + +typedef struct __mavlink_system { + uint8_t sysid; ///< Used by the MAVLink message_xx_send() convenience function + uint8_t compid; ///< Used by the MAVLink message_xx_send() convenience function + uint8_t type; ///< Unused, can be used by user to store the system's type + uint8_t state; ///< Unused, can be used by user to store the system's state + uint8_t mode; ///< Unused, can be used by user to store the system's mode + uint8_t nav_mode; ///< Unused, can be used by user to store the system's navigation mode +} mavlink_system_t; + +typedef struct __mavlink_message { + uint16_t checksum; /// sent at end of packet + uint8_t magic; ///< protocol magic marker + uint8_t len; ///< Length of payload + uint8_t seq; ///< Sequence of packet + uint8_t sysid; ///< ID of message sender system/aircraft + uint8_t compid; ///< ID of the message sender component + uint8_t msgid; ///< ID of message in payload + uint64_t payload64[(MAVLINK_MAX_PAYLOAD_LEN+MAVLINK_NUM_CHECKSUM_BYTES+7)/8]; +} mavlink_message_t; + +typedef enum { + MAVLINK_TYPE_CHAR = 0, + MAVLINK_TYPE_UINT8_T = 1, + MAVLINK_TYPE_INT8_T = 2, + MAVLINK_TYPE_UINT16_T = 3, + MAVLINK_TYPE_INT16_T = 4, + MAVLINK_TYPE_UINT32_T = 5, + MAVLINK_TYPE_INT32_T = 6, + MAVLINK_TYPE_UINT64_T = 7, + MAVLINK_TYPE_INT64_T = 8, + MAVLINK_TYPE_FLOAT = 9, + MAVLINK_TYPE_DOUBLE = 10 +} mavlink_message_type_t; + +#define MAVLINK_MAX_FIELDS 64 + +typedef struct __mavlink_field_info { + const char *name; // name of this field + const char *print_format; // printing format hint, or NULL + mavlink_message_type_t type; // type of this field + unsigned array_length; // if non-zero, field is an array + unsigned wire_offset; // offset of each field in the payload + unsigned structure_offset; // offset in a C structure +} mavlink_field_info_t; + +// note that in this structure the order of fields is the order +// in the XML file, not necessary the wire order +typedef struct __mavlink_message_info { + const char *name; // name of the message + unsigned num_fields; // how many fields in this message + mavlink_field_info_t fields[MAVLINK_MAX_FIELDS]; // field information +} mavlink_message_info_t; + +#define _MAV_PAYLOAD(msg) ((char *)(&(msg)->payload64[0])) + +// checksum is immediately after the payload bytes +#define mavlink_ck_a(msg) *(msg->len + (uint8_t *)_MAV_PAYLOAD(msg)) +#define mavlink_ck_b(msg) *((msg->len+(uint16_t)1) + (uint8_t *)_MAV_PAYLOAD(msg)) + +typedef enum { + MAVLINK_COMM_0, + MAVLINK_COMM_1, + MAVLINK_COMM_2, + MAVLINK_COMM_3 +} mavlink_channel_t; + +/* + * applications can set MAVLINK_COMM_NUM_BUFFERS to the maximum number + * of buffers they will use. If more are used, then the result will be + * a stack overrun + */ +#ifndef MAVLINK_COMM_NUM_BUFFERS +#if (defined linux) | (defined __linux) | (defined __MACH__) | (defined _WIN32) +# define MAVLINK_COMM_NUM_BUFFERS 16 +#else +# define MAVLINK_COMM_NUM_BUFFERS 4 +#endif +#endif + +typedef enum { + MAVLINK_PARSE_STATE_UNINIT=0, + MAVLINK_PARSE_STATE_IDLE, + MAVLINK_PARSE_STATE_GOT_STX, + MAVLINK_PARSE_STATE_GOT_SEQ, + MAVLINK_PARSE_STATE_GOT_LENGTH, + MAVLINK_PARSE_STATE_GOT_SYSID, + MAVLINK_PARSE_STATE_GOT_COMPID, + MAVLINK_PARSE_STATE_GOT_MSGID, + MAVLINK_PARSE_STATE_GOT_PAYLOAD, + MAVLINK_PARSE_STATE_GOT_CRC1 +} mavlink_parse_state_t; ///< The state machine for the comm parser + +typedef struct __mavlink_status { + uint8_t msg_received; ///< Number of received messages + uint8_t buffer_overrun; ///< Number of buffer overruns + uint8_t parse_error; ///< Number of parse errors + mavlink_parse_state_t parse_state; ///< Parsing state machine + uint8_t packet_idx; ///< Index in current packet + uint8_t current_rx_seq; ///< Sequence number of last packet received + uint8_t current_tx_seq; ///< Sequence number of last packet sent + uint16_t packet_rx_success_count; ///< Received packets + uint16_t packet_rx_drop_count; ///< Number of packet drops +} mavlink_status_t; + +#define MAVLINK_BIG_ENDIAN 0 +#define MAVLINK_LITTLE_ENDIAN 1 + +#endif /* MAVLINK_TYPES_H_ */ diff --git a/thirdParty/mavlink/v0.9/minimal/mavlink.h b/thirdParty/mavlink/v0.9/minimal/mavlink.h new file mode 100644 index 0000000000000000000000000000000000000000..3f1c8b42959926722e4272631b3b6ff139531a85 --- /dev/null +++ b/thirdParty/mavlink/v0.9/minimal/mavlink.h @@ -0,0 +1,27 @@ +/** @file + * @brief MAVLink comm protocol built from minimal.xml + * @see http://pixhawk.ethz.ch/software/mavlink + */ +#ifndef MAVLINK_H +#define MAVLINK_H + +#ifndef MAVLINK_STX +#define MAVLINK_STX 85 +#endif + +#ifndef MAVLINK_ENDIAN +#define MAVLINK_ENDIAN MAVLINK_BIG_ENDIAN +#endif + +#ifndef MAVLINK_ALIGNED_FIELDS +#define MAVLINK_ALIGNED_FIELDS 0 +#endif + +#ifndef MAVLINK_CRC_EXTRA +#define MAVLINK_CRC_EXTRA 0 +#endif + +#include "version.h" +#include "minimal.h" + +#endif // MAVLINK_H diff --git a/thirdParty/mavlink/v0.9/minimal/mavlink_msg_heartbeat.h b/thirdParty/mavlink/v0.9/minimal/mavlink_msg_heartbeat.h new file mode 100644 index 0000000000000000000000000000000000000000..86bf637b1b439cdb77079fa657b21426be213889 --- /dev/null +++ b/thirdParty/mavlink/v0.9/minimal/mavlink_msg_heartbeat.h @@ -0,0 +1,185 @@ +// MESSAGE HEARTBEAT PACKING + +#define MAVLINK_MSG_ID_HEARTBEAT 0 + +typedef struct __mavlink_heartbeat_t +{ + uint8_t type; ///< Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) + uint8_t autopilot; ///< Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM + uint8_t mavlink_version; ///< MAVLink version +} mavlink_heartbeat_t; + +#define MAVLINK_MSG_ID_HEARTBEAT_LEN 3 +#define MAVLINK_MSG_ID_0_LEN 3 + + + +#define MAVLINK_MESSAGE_INFO_HEARTBEAT { \ + "HEARTBEAT", \ + 3, \ + { { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_heartbeat_t, type) }, \ + { "autopilot", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_heartbeat_t, autopilot) }, \ + { "mavlink_version", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_heartbeat_t, mavlink_version) }, \ + } \ +} + + +/** + * @brief Pack a heartbeat message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * + * @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) + * @param autopilot Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_heartbeat_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t type, uint8_t autopilot) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[3]; + _mav_put_uint8_t(buf, 0, type); + _mav_put_uint8_t(buf, 1, autopilot); + _mav_put_uint8_t(buf, 2, 2); + + memcpy(_MAV_PAYLOAD(msg), buf, 3); +#else + mavlink_heartbeat_t packet; + packet.type = type; + packet.autopilot = autopilot; + packet.mavlink_version = 2; + + memcpy(_MAV_PAYLOAD(msg), &packet, 3); +#endif + + msg->msgid = MAVLINK_MSG_ID_HEARTBEAT; + return mavlink_finalize_message(msg, system_id, component_id, 3); +} + +/** + * @brief Pack a heartbeat message on a channel + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message was sent over + * @param msg The MAVLink message to compress the data into + * @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) + * @param autopilot Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_heartbeat_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t type,uint8_t autopilot) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[3]; + _mav_put_uint8_t(buf, 0, type); + _mav_put_uint8_t(buf, 1, autopilot); + _mav_put_uint8_t(buf, 2, 2); + + memcpy(_MAV_PAYLOAD(msg), buf, 3); +#else + mavlink_heartbeat_t packet; + packet.type = type; + packet.autopilot = autopilot; + packet.mavlink_version = 2; + + memcpy(_MAV_PAYLOAD(msg), &packet, 3); +#endif + + msg->msgid = MAVLINK_MSG_ID_HEARTBEAT; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 3); +} + +/** + * @brief Encode a heartbeat 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 heartbeat C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_heartbeat_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_heartbeat_t* heartbeat) +{ + return mavlink_msg_heartbeat_pack(system_id, component_id, msg, heartbeat->type, heartbeat->autopilot); +} + +/** + * @brief Send a heartbeat message + * @param chan MAVLink channel to send the message + * + * @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) + * @param autopilot Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_heartbeat_send(mavlink_channel_t chan, uint8_t type, uint8_t autopilot) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[3]; + _mav_put_uint8_t(buf, 0, type); + _mav_put_uint8_t(buf, 1, autopilot); + _mav_put_uint8_t(buf, 2, 2); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, buf, 3); +#else + mavlink_heartbeat_t packet; + packet.type = type; + packet.autopilot = autopilot; + packet.mavlink_version = 2; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, (const char *)&packet, 3); +#endif +} + +#endif + +// MESSAGE HEARTBEAT UNPACKING + + +/** + * @brief Get field type from heartbeat message + * + * @return Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) + */ +static inline uint8_t mavlink_msg_heartbeat_get_type(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field autopilot from heartbeat message + * + * @return Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM + */ +static inline uint8_t mavlink_msg_heartbeat_get_autopilot(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 1); +} + +/** + * @brief Get field mavlink_version from heartbeat message + * + * @return MAVLink version + */ +static inline uint8_t mavlink_msg_heartbeat_get_mavlink_version(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 2); +} + +/** + * @brief Decode a heartbeat message into a struct + * + * @param msg The message to decode + * @param heartbeat C-struct to decode the message contents into + */ +static inline void mavlink_msg_heartbeat_decode(const mavlink_message_t* msg, mavlink_heartbeat_t* heartbeat) +{ +#if MAVLINK_NEED_BYTE_SWAP + heartbeat->type = mavlink_msg_heartbeat_get_type(msg); + heartbeat->autopilot = mavlink_msg_heartbeat_get_autopilot(msg); + heartbeat->mavlink_version = mavlink_msg_heartbeat_get_mavlink_version(msg); +#else + memcpy(heartbeat, _MAV_PAYLOAD(msg), 3); +#endif +} diff --git a/thirdParty/mavlink/v0.9/minimal/minimal.h b/thirdParty/mavlink/v0.9/minimal/minimal.h new file mode 100644 index 0000000000000000000000000000000000000000..c70668bca540635df16322b7ad9e445a57248ca1 --- /dev/null +++ b/thirdParty/mavlink/v0.9/minimal/minimal.h @@ -0,0 +1,53 @@ +/** @file + * @brief MAVLink comm protocol generated from minimal.xml + * @see http://qgroundcontrol.org/mavlink/ + */ +#ifndef MINIMAL_H +#define MINIMAL_H + +#ifdef __cplusplus +extern "C" { +#endif + +// MESSAGE LENGTHS AND CRCS + +#ifndef MAVLINK_MESSAGE_LENGTHS +#define MAVLINK_MESSAGE_LENGTHS {3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0} +#endif + +#ifndef MAVLINK_MESSAGE_CRCS +#define MAVLINK_MESSAGE_CRCS {72, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0} +#endif + +#ifndef MAVLINK_MESSAGE_INFO +#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}} +#endif + +#include "../protocol.h" + +#define MAVLINK_ENABLED_MINIMAL + + + +// MAVLINK VERSION + +#ifndef MAVLINK_VERSION +#define MAVLINK_VERSION 2 +#endif + +#if (MAVLINK_VERSION == 0) +#undef MAVLINK_VERSION +#define MAVLINK_VERSION 2 +#endif + +// ENUM DEFINITIONS + + + +// MESSAGE DEFINITIONS +#include "./mavlink_msg_heartbeat.h" + +#ifdef __cplusplus +} +#endif // __cplusplus +#endif // MINIMAL_H diff --git a/thirdParty/mavlink/v0.9/minimal/testsuite.h b/thirdParty/mavlink/v0.9/minimal/testsuite.h new file mode 100644 index 0000000000000000000000000000000000000000..be1d5ed6ddfaf6cd4465aa2577b7cb68a7d23fb2 --- /dev/null +++ b/thirdParty/mavlink/v0.9/minimal/testsuite.h @@ -0,0 +1,82 @@ +/** @file + * @brief MAVLink comm protocol testsuite generated from minimal.xml + * @see http://qgroundcontrol.org/mavlink/ + */ +#ifndef MINIMAL_TESTSUITE_H +#define MINIMAL_TESTSUITE_H + +#ifdef __cplusplus +extern "C" { +#endif + +#ifndef MAVLINK_TEST_ALL +#define MAVLINK_TEST_ALL + +static void mavlink_test_minimal(uint8_t, uint8_t, mavlink_message_t *last_msg); + +static void mavlink_test_all(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) +{ + + mavlink_test_minimal(system_id, component_id, last_msg); +} +#endif + + + + +static void mavlink_test_heartbeat(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_heartbeat_t packet_in = { + 5, + 72, + 2, + }; + mavlink_heartbeat_t packet1, packet2; + memset(&packet1, 0, sizeof(packet1)); + packet1.type = packet_in.type; + packet1.autopilot = packet_in.autopilot; + packet1.mavlink_version = packet_in.mavlink_version; + + + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_heartbeat_encode(system_id, component_id, &msg, &packet1); + mavlink_msg_heartbeat_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_heartbeat_pack(system_id, component_id, &msg , packet1.type , packet1.autopilot ); + mavlink_msg_heartbeat_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_heartbeat_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.type , packet1.autopilot ); + mavlink_msg_heartbeat_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; imsgid = MAVLINK_MSG_ID_ATTITUDE_CONTROL; + return mavlink_finalize_message(msg, system_id, component_id, 21); +} + +/** + * @brief Pack a attitude_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 msg The MAVLink message to compress the data into + * @param target The system to be controlled + * @param roll roll + * @param pitch pitch + * @param yaw yaw + * @param thrust thrust + * @param roll_manual roll control enabled auto:0, manual:1 + * @param pitch_manual pitch auto:0, manual:1 + * @param yaw_manual yaw auto:0, manual:1 + * @param thrust_manual thrust auto:0, manual:1 + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_attitude_control_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t target,float roll,float pitch,float yaw,float thrust,uint8_t roll_manual,uint8_t pitch_manual,uint8_t yaw_manual,uint8_t thrust_manual) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[21]; + _mav_put_uint8_t(buf, 0, target); + _mav_put_float(buf, 1, roll); + _mav_put_float(buf, 5, pitch); + _mav_put_float(buf, 9, yaw); + _mav_put_float(buf, 13, thrust); + _mav_put_uint8_t(buf, 17, roll_manual); + _mav_put_uint8_t(buf, 18, pitch_manual); + _mav_put_uint8_t(buf, 19, yaw_manual); + _mav_put_uint8_t(buf, 20, thrust_manual); + + memcpy(_MAV_PAYLOAD(msg), buf, 21); +#else + mavlink_attitude_control_t packet; + packet.target = target; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + packet.thrust = thrust; + packet.roll_manual = roll_manual; + packet.pitch_manual = pitch_manual; + packet.yaw_manual = yaw_manual; + packet.thrust_manual = thrust_manual; + + memcpy(_MAV_PAYLOAD(msg), &packet, 21); +#endif + + msg->msgid = MAVLINK_MSG_ID_ATTITUDE_CONTROL; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 21); +} + +/** + * @brief Encode a attitude_control 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 attitude_control C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_attitude_control_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_attitude_control_t* attitude_control) +{ + return mavlink_msg_attitude_control_pack(system_id, component_id, msg, attitude_control->target, attitude_control->roll, attitude_control->pitch, attitude_control->yaw, attitude_control->thrust, attitude_control->roll_manual, attitude_control->pitch_manual, attitude_control->yaw_manual, attitude_control->thrust_manual); +} + +/** + * @brief Send a attitude_control message + * @param chan MAVLink channel to send the message + * + * @param target The system to be controlled + * @param roll roll + * @param pitch pitch + * @param yaw yaw + * @param thrust thrust + * @param roll_manual roll control enabled auto:0, manual:1 + * @param pitch_manual pitch auto:0, manual:1 + * @param yaw_manual yaw auto:0, manual:1 + * @param thrust_manual thrust auto:0, manual:1 + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_attitude_control_send(mavlink_channel_t chan, uint8_t target, float roll, float pitch, float yaw, float thrust, uint8_t roll_manual, uint8_t pitch_manual, uint8_t yaw_manual, uint8_t thrust_manual) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[21]; + _mav_put_uint8_t(buf, 0, target); + _mav_put_float(buf, 1, roll); + _mav_put_float(buf, 5, pitch); + _mav_put_float(buf, 9, yaw); + _mav_put_float(buf, 13, thrust); + _mav_put_uint8_t(buf, 17, roll_manual); + _mav_put_uint8_t(buf, 18, pitch_manual); + _mav_put_uint8_t(buf, 19, yaw_manual); + _mav_put_uint8_t(buf, 20, thrust_manual); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_CONTROL, buf, 21); +#else + mavlink_attitude_control_t packet; + packet.target = target; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + packet.thrust = thrust; + packet.roll_manual = roll_manual; + packet.pitch_manual = pitch_manual; + packet.yaw_manual = yaw_manual; + packet.thrust_manual = thrust_manual; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_CONTROL, (const char *)&packet, 21); +#endif +} + +#endif + +// MESSAGE ATTITUDE_CONTROL UNPACKING + + +/** + * @brief Get field target from attitude_control message + * + * @return The system to be controlled + */ +static inline uint8_t mavlink_msg_attitude_control_get_target(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field roll from attitude_control message + * + * @return roll + */ +static inline float mavlink_msg_attitude_control_get_roll(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 1); +} + +/** + * @brief Get field pitch from attitude_control message + * + * @return pitch + */ +static inline float mavlink_msg_attitude_control_get_pitch(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 5); +} + +/** + * @brief Get field yaw from attitude_control message + * + * @return yaw + */ +static inline float mavlink_msg_attitude_control_get_yaw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 9); +} + +/** + * @brief Get field thrust from attitude_control message + * + * @return thrust + */ +static inline float mavlink_msg_attitude_control_get_thrust(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 13); +} + +/** + * @brief Get field roll_manual from attitude_control message + * + * @return roll control enabled auto:0, manual:1 + */ +static inline uint8_t mavlink_msg_attitude_control_get_roll_manual(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 17); +} + +/** + * @brief Get field pitch_manual from attitude_control message + * + * @return pitch auto:0, manual:1 + */ +static inline uint8_t mavlink_msg_attitude_control_get_pitch_manual(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 18); +} + +/** + * @brief Get field yaw_manual from attitude_control message + * + * @return yaw auto:0, manual:1 + */ +static inline uint8_t mavlink_msg_attitude_control_get_yaw_manual(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 19); +} + +/** + * @brief Get field thrust_manual from attitude_control message + * + * @return thrust auto:0, manual:1 + */ +static inline uint8_t mavlink_msg_attitude_control_get_thrust_manual(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 20); +} + +/** + * @brief Decode a attitude_control message into a struct + * + * @param msg The message to decode + * @param attitude_control C-struct to decode the message contents into + */ +static inline void mavlink_msg_attitude_control_decode(const mavlink_message_t* msg, mavlink_attitude_control_t* attitude_control) +{ +#if MAVLINK_NEED_BYTE_SWAP + attitude_control->target = mavlink_msg_attitude_control_get_target(msg); + attitude_control->roll = mavlink_msg_attitude_control_get_roll(msg); + attitude_control->pitch = mavlink_msg_attitude_control_get_pitch(msg); + attitude_control->yaw = mavlink_msg_attitude_control_get_yaw(msg); + attitude_control->thrust = mavlink_msg_attitude_control_get_thrust(msg); + attitude_control->roll_manual = mavlink_msg_attitude_control_get_roll_manual(msg); + attitude_control->pitch_manual = mavlink_msg_attitude_control_get_pitch_manual(msg); + attitude_control->yaw_manual = mavlink_msg_attitude_control_get_yaw_manual(msg); + attitude_control->thrust_manual = mavlink_msg_attitude_control_get_thrust_manual(msg); +#else + memcpy(attitude_control, _MAV_PAYLOAD(msg), 21); +#endif +} diff --git a/thirdParty/mavlink/v0.9/pixhawk/mavlink_msg_brief_feature.h b/thirdParty/mavlink/v0.9/pixhawk/mavlink_msg_brief_feature.h new file mode 100644 index 0000000000000000000000000000000000000000..52b7fcfa7366b7541bc0fb18051406e1019dba61 --- /dev/null +++ b/thirdParty/mavlink/v0.9/pixhawk/mavlink_msg_brief_feature.h @@ -0,0 +1,292 @@ +// MESSAGE BRIEF_FEATURE PACKING + +#define MAVLINK_MSG_ID_BRIEF_FEATURE 195 + +typedef struct __mavlink_brief_feature_t +{ + float x; ///< x position in m + float y; ///< y position in m + float z; ///< z position in m + uint8_t orientation_assignment; ///< Orientation assignment 0: false, 1:true + uint16_t size; ///< Size in pixels + uint16_t orientation; ///< Orientation + uint8_t descriptor[32]; ///< Descriptor + float response; ///< Harris operator response at this location +} mavlink_brief_feature_t; + +#define MAVLINK_MSG_ID_BRIEF_FEATURE_LEN 53 +#define MAVLINK_MSG_ID_195_LEN 53 + +#define MAVLINK_MSG_BRIEF_FEATURE_FIELD_DESCRIPTOR_LEN 32 + +#define MAVLINK_MESSAGE_INFO_BRIEF_FEATURE { \ + "BRIEF_FEATURE", \ + 8, \ + { { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_brief_feature_t, x) }, \ + { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_brief_feature_t, y) }, \ + { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_brief_feature_t, z) }, \ + { "orientation_assignment", NULL, MAVLINK_TYPE_UINT8_T, 0, 12, offsetof(mavlink_brief_feature_t, orientation_assignment) }, \ + { "size", NULL, MAVLINK_TYPE_UINT16_T, 0, 13, offsetof(mavlink_brief_feature_t, size) }, \ + { "orientation", NULL, MAVLINK_TYPE_UINT16_T, 0, 15, offsetof(mavlink_brief_feature_t, orientation) }, \ + { "descriptor", NULL, MAVLINK_TYPE_UINT8_T, 32, 17, offsetof(mavlink_brief_feature_t, descriptor) }, \ + { "response", NULL, MAVLINK_TYPE_FLOAT, 0, 49, offsetof(mavlink_brief_feature_t, response) }, \ + } \ +} + + +/** + * @brief Pack a brief_feature 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 x x position in m + * @param y y position in m + * @param z z position in m + * @param orientation_assignment Orientation assignment 0: false, 1:true + * @param size Size in pixels + * @param orientation Orientation + * @param descriptor Descriptor + * @param response Harris operator response at this location + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_brief_feature_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + float x, float y, float z, uint8_t orientation_assignment, uint16_t size, uint16_t orientation, const uint8_t *descriptor, float response) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[53]; + _mav_put_float(buf, 0, x); + _mav_put_float(buf, 4, y); + _mav_put_float(buf, 8, z); + _mav_put_uint8_t(buf, 12, orientation_assignment); + _mav_put_uint16_t(buf, 13, size); + _mav_put_uint16_t(buf, 15, orientation); + _mav_put_float(buf, 49, response); + _mav_put_uint8_t_array(buf, 17, descriptor, 32); + memcpy(_MAV_PAYLOAD(msg), buf, 53); +#else + mavlink_brief_feature_t packet; + packet.x = x; + packet.y = y; + packet.z = z; + packet.orientation_assignment = orientation_assignment; + packet.size = size; + packet.orientation = orientation; + packet.response = response; + mav_array_memcpy(packet.descriptor, descriptor, sizeof(uint8_t)*32); + memcpy(_MAV_PAYLOAD(msg), &packet, 53); +#endif + + msg->msgid = MAVLINK_MSG_ID_BRIEF_FEATURE; + return mavlink_finalize_message(msg, system_id, component_id, 53); +} + +/** + * @brief Pack a brief_feature 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 x x position in m + * @param y y position in m + * @param z z position in m + * @param orientation_assignment Orientation assignment 0: false, 1:true + * @param size Size in pixels + * @param orientation Orientation + * @param descriptor Descriptor + * @param response Harris operator response at this location + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_brief_feature_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + float x,float y,float z,uint8_t orientation_assignment,uint16_t size,uint16_t orientation,const uint8_t *descriptor,float response) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[53]; + _mav_put_float(buf, 0, x); + _mav_put_float(buf, 4, y); + _mav_put_float(buf, 8, z); + _mav_put_uint8_t(buf, 12, orientation_assignment); + _mav_put_uint16_t(buf, 13, size); + _mav_put_uint16_t(buf, 15, orientation); + _mav_put_float(buf, 49, response); + _mav_put_uint8_t_array(buf, 17, descriptor, 32); + memcpy(_MAV_PAYLOAD(msg), buf, 53); +#else + mavlink_brief_feature_t packet; + packet.x = x; + packet.y = y; + packet.z = z; + packet.orientation_assignment = orientation_assignment; + packet.size = size; + packet.orientation = orientation; + packet.response = response; + mav_array_memcpy(packet.descriptor, descriptor, sizeof(uint8_t)*32); + memcpy(_MAV_PAYLOAD(msg), &packet, 53); +#endif + + msg->msgid = MAVLINK_MSG_ID_BRIEF_FEATURE; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 53); +} + +/** + * @brief Encode a brief_feature 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 brief_feature C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_brief_feature_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_brief_feature_t* brief_feature) +{ + return mavlink_msg_brief_feature_pack(system_id, component_id, msg, brief_feature->x, brief_feature->y, brief_feature->z, brief_feature->orientation_assignment, brief_feature->size, brief_feature->orientation, brief_feature->descriptor, brief_feature->response); +} + +/** + * @brief Send a brief_feature message + * @param chan MAVLink channel to send the message + * + * @param x x position in m + * @param y y position in m + * @param z z position in m + * @param orientation_assignment Orientation assignment 0: false, 1:true + * @param size Size in pixels + * @param orientation Orientation + * @param descriptor Descriptor + * @param response Harris operator response at this location + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_brief_feature_send(mavlink_channel_t chan, float x, float y, float z, uint8_t orientation_assignment, uint16_t size, uint16_t orientation, const uint8_t *descriptor, float response) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[53]; + _mav_put_float(buf, 0, x); + _mav_put_float(buf, 4, y); + _mav_put_float(buf, 8, z); + _mav_put_uint8_t(buf, 12, orientation_assignment); + _mav_put_uint16_t(buf, 13, size); + _mav_put_uint16_t(buf, 15, orientation); + _mav_put_float(buf, 49, response); + _mav_put_uint8_t_array(buf, 17, descriptor, 32); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BRIEF_FEATURE, buf, 53); +#else + mavlink_brief_feature_t packet; + packet.x = x; + packet.y = y; + packet.z = z; + packet.orientation_assignment = orientation_assignment; + packet.size = size; + packet.orientation = orientation; + packet.response = response; + mav_array_memcpy(packet.descriptor, descriptor, sizeof(uint8_t)*32); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BRIEF_FEATURE, (const char *)&packet, 53); +#endif +} + +#endif + +// MESSAGE BRIEF_FEATURE UNPACKING + + +/** + * @brief Get field x from brief_feature message + * + * @return x position in m + */ +static inline float mavlink_msg_brief_feature_get_x(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 0); +} + +/** + * @brief Get field y from brief_feature message + * + * @return y position in m + */ +static inline float mavlink_msg_brief_feature_get_y(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 4); +} + +/** + * @brief Get field z from brief_feature message + * + * @return z position in m + */ +static inline float mavlink_msg_brief_feature_get_z(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 8); +} + +/** + * @brief Get field orientation_assignment from brief_feature message + * + * @return Orientation assignment 0: false, 1:true + */ +static inline uint8_t mavlink_msg_brief_feature_get_orientation_assignment(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 12); +} + +/** + * @brief Get field size from brief_feature message + * + * @return Size in pixels + */ +static inline uint16_t mavlink_msg_brief_feature_get_size(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 13); +} + +/** + * @brief Get field orientation from brief_feature message + * + * @return Orientation + */ +static inline uint16_t mavlink_msg_brief_feature_get_orientation(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 15); +} + +/** + * @brief Get field descriptor from brief_feature message + * + * @return Descriptor + */ +static inline uint16_t mavlink_msg_brief_feature_get_descriptor(const mavlink_message_t* msg, uint8_t *descriptor) +{ + return _MAV_RETURN_uint8_t_array(msg, descriptor, 32, 17); +} + +/** + * @brief Get field response from brief_feature message + * + * @return Harris operator response at this location + */ +static inline float mavlink_msg_brief_feature_get_response(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 49); +} + +/** + * @brief Decode a brief_feature message into a struct + * + * @param msg The message to decode + * @param brief_feature C-struct to decode the message contents into + */ +static inline void mavlink_msg_brief_feature_decode(const mavlink_message_t* msg, mavlink_brief_feature_t* brief_feature) +{ +#if MAVLINK_NEED_BYTE_SWAP + brief_feature->x = mavlink_msg_brief_feature_get_x(msg); + brief_feature->y = mavlink_msg_brief_feature_get_y(msg); + brief_feature->z = mavlink_msg_brief_feature_get_z(msg); + brief_feature->orientation_assignment = mavlink_msg_brief_feature_get_orientation_assignment(msg); + brief_feature->size = mavlink_msg_brief_feature_get_size(msg); + brief_feature->orientation = mavlink_msg_brief_feature_get_orientation(msg); + mavlink_msg_brief_feature_get_descriptor(msg, brief_feature->descriptor); + brief_feature->response = mavlink_msg_brief_feature_get_response(msg); +#else + memcpy(brief_feature, _MAV_PAYLOAD(msg), 53); +#endif +} diff --git a/thirdParty/mavlink/v0.9/pixhawk/mavlink_msg_data_transmission_handshake.h b/thirdParty/mavlink/v0.9/pixhawk/mavlink_msg_data_transmission_handshake.h new file mode 100644 index 0000000000000000000000000000000000000000..1026439ccf468651dede26ade8a3fd6b14d5f146 --- /dev/null +++ b/thirdParty/mavlink/v0.9/pixhawk/mavlink_msg_data_transmission_handshake.h @@ -0,0 +1,232 @@ +// MESSAGE DATA_TRANSMISSION_HANDSHAKE PACKING + +#define MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE 193 + +typedef struct __mavlink_data_transmission_handshake_t +{ + uint8_t type; ///< type of requested/acknowledged data (as defined in ENUM DATA_TYPES in mavlink/include/mavlink_types.h) + uint32_t size; ///< total data size in bytes (set on ACK only) + uint8_t packets; ///< number of packets beeing sent (set on ACK only) + uint8_t payload; ///< payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only) + uint8_t jpg_quality; ///< JPEG quality out of [1,100] +} mavlink_data_transmission_handshake_t; + +#define MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_LEN 8 +#define MAVLINK_MSG_ID_193_LEN 8 + + + +#define MAVLINK_MESSAGE_INFO_DATA_TRANSMISSION_HANDSHAKE { \ + "DATA_TRANSMISSION_HANDSHAKE", \ + 5, \ + { { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_data_transmission_handshake_t, type) }, \ + { "size", NULL, MAVLINK_TYPE_UINT32_T, 0, 1, offsetof(mavlink_data_transmission_handshake_t, size) }, \ + { "packets", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_data_transmission_handshake_t, packets) }, \ + { "payload", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_data_transmission_handshake_t, payload) }, \ + { "jpg_quality", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_data_transmission_handshake_t, jpg_quality) }, \ + } \ +} + + +/** + * @brief Pack a data_transmission_handshake message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * + * @param type type of requested/acknowledged data (as defined in ENUM DATA_TYPES in mavlink/include/mavlink_types.h) + * @param size total data size in bytes (set on ACK only) + * @param packets number of packets beeing sent (set on ACK only) + * @param payload payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only) + * @param jpg_quality JPEG quality out of [1,100] + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_data_transmission_handshake_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t type, uint32_t size, uint8_t packets, uint8_t payload, uint8_t jpg_quality) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[8]; + _mav_put_uint8_t(buf, 0, type); + _mav_put_uint32_t(buf, 1, size); + _mav_put_uint8_t(buf, 5, packets); + _mav_put_uint8_t(buf, 6, payload); + _mav_put_uint8_t(buf, 7, jpg_quality); + + memcpy(_MAV_PAYLOAD(msg), buf, 8); +#else + mavlink_data_transmission_handshake_t packet; + packet.type = type; + packet.size = size; + packet.packets = packets; + packet.payload = payload; + packet.jpg_quality = jpg_quality; + + memcpy(_MAV_PAYLOAD(msg), &packet, 8); +#endif + + msg->msgid = MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE; + return mavlink_finalize_message(msg, system_id, component_id, 8); +} + +/** + * @brief Pack a data_transmission_handshake message on a channel + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message was sent over + * @param msg The MAVLink message to compress the data into + * @param type type of requested/acknowledged data (as defined in ENUM DATA_TYPES in mavlink/include/mavlink_types.h) + * @param size total data size in bytes (set on ACK only) + * @param packets number of packets beeing sent (set on ACK only) + * @param payload payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only) + * @param jpg_quality JPEG quality out of [1,100] + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_data_transmission_handshake_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t type,uint32_t size,uint8_t packets,uint8_t payload,uint8_t jpg_quality) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[8]; + _mav_put_uint8_t(buf, 0, type); + _mav_put_uint32_t(buf, 1, size); + _mav_put_uint8_t(buf, 5, packets); + _mav_put_uint8_t(buf, 6, payload); + _mav_put_uint8_t(buf, 7, jpg_quality); + + memcpy(_MAV_PAYLOAD(msg), buf, 8); +#else + mavlink_data_transmission_handshake_t packet; + packet.type = type; + packet.size = size; + packet.packets = packets; + packet.payload = payload; + packet.jpg_quality = jpg_quality; + + memcpy(_MAV_PAYLOAD(msg), &packet, 8); +#endif + + msg->msgid = MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 8); +} + +/** + * @brief Encode a data_transmission_handshake 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 data_transmission_handshake C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_data_transmission_handshake_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_data_transmission_handshake_t* data_transmission_handshake) +{ + return mavlink_msg_data_transmission_handshake_pack(system_id, component_id, msg, data_transmission_handshake->type, data_transmission_handshake->size, data_transmission_handshake->packets, data_transmission_handshake->payload, data_transmission_handshake->jpg_quality); +} + +/** + * @brief Send a data_transmission_handshake message + * @param chan MAVLink channel to send the message + * + * @param type type of requested/acknowledged data (as defined in ENUM DATA_TYPES in mavlink/include/mavlink_types.h) + * @param size total data size in bytes (set on ACK only) + * @param packets number of packets beeing sent (set on ACK only) + * @param payload payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only) + * @param jpg_quality JPEG quality out of [1,100] + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_data_transmission_handshake_send(mavlink_channel_t chan, uint8_t type, uint32_t size, uint8_t packets, uint8_t payload, uint8_t jpg_quality) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[8]; + _mav_put_uint8_t(buf, 0, type); + _mav_put_uint32_t(buf, 1, size); + _mav_put_uint8_t(buf, 5, packets); + _mav_put_uint8_t(buf, 6, payload); + _mav_put_uint8_t(buf, 7, jpg_quality); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE, buf, 8); +#else + mavlink_data_transmission_handshake_t packet; + packet.type = type; + packet.size = size; + packet.packets = packets; + packet.payload = payload; + packet.jpg_quality = jpg_quality; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE, (const char *)&packet, 8); +#endif +} + +#endif + +// MESSAGE DATA_TRANSMISSION_HANDSHAKE UNPACKING + + +/** + * @brief Get field type from data_transmission_handshake message + * + * @return type of requested/acknowledged data (as defined in ENUM DATA_TYPES in mavlink/include/mavlink_types.h) + */ +static inline uint8_t mavlink_msg_data_transmission_handshake_get_type(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field size from data_transmission_handshake message + * + * @return total data size in bytes (set on ACK only) + */ +static inline uint32_t mavlink_msg_data_transmission_handshake_get_size(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint32_t(msg, 1); +} + +/** + * @brief Get field packets from data_transmission_handshake message + * + * @return number of packets beeing sent (set on ACK only) + */ +static inline uint8_t mavlink_msg_data_transmission_handshake_get_packets(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 5); +} + +/** + * @brief Get field payload from data_transmission_handshake message + * + * @return payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only) + */ +static inline uint8_t mavlink_msg_data_transmission_handshake_get_payload(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 6); +} + +/** + * @brief Get field jpg_quality from data_transmission_handshake message + * + * @return JPEG quality out of [1,100] + */ +static inline uint8_t mavlink_msg_data_transmission_handshake_get_jpg_quality(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 7); +} + +/** + * @brief Decode a data_transmission_handshake message into a struct + * + * @param msg The message to decode + * @param data_transmission_handshake C-struct to decode the message contents into + */ +static inline void mavlink_msg_data_transmission_handshake_decode(const mavlink_message_t* msg, mavlink_data_transmission_handshake_t* data_transmission_handshake) +{ +#if MAVLINK_NEED_BYTE_SWAP + data_transmission_handshake->type = mavlink_msg_data_transmission_handshake_get_type(msg); + data_transmission_handshake->size = mavlink_msg_data_transmission_handshake_get_size(msg); + data_transmission_handshake->packets = mavlink_msg_data_transmission_handshake_get_packets(msg); + data_transmission_handshake->payload = mavlink_msg_data_transmission_handshake_get_payload(msg); + data_transmission_handshake->jpg_quality = mavlink_msg_data_transmission_handshake_get_jpg_quality(msg); +#else + memcpy(data_transmission_handshake, _MAV_PAYLOAD(msg), 8); +#endif +} diff --git a/thirdParty/mavlink/v0.9/pixhawk/mavlink_msg_encapsulated_data.h b/thirdParty/mavlink/v0.9/pixhawk/mavlink_msg_encapsulated_data.h new file mode 100644 index 0000000000000000000000000000000000000000..d730d547fd3139299277379cd9efda59bde2ad99 --- /dev/null +++ b/thirdParty/mavlink/v0.9/pixhawk/mavlink_msg_encapsulated_data.h @@ -0,0 +1,160 @@ +// MESSAGE ENCAPSULATED_DATA PACKING + +#define MAVLINK_MSG_ID_ENCAPSULATED_DATA 194 + +typedef struct __mavlink_encapsulated_data_t +{ + uint16_t seqnr; ///< sequence number (starting with 0 on every transmission) + uint8_t data[253]; ///< image data bytes +} mavlink_encapsulated_data_t; + +#define MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN 255 +#define MAVLINK_MSG_ID_194_LEN 255 + +#define MAVLINK_MSG_ENCAPSULATED_DATA_FIELD_DATA_LEN 253 + +#define MAVLINK_MESSAGE_INFO_ENCAPSULATED_DATA { \ + "ENCAPSULATED_DATA", \ + 2, \ + { { "seqnr", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_encapsulated_data_t, seqnr) }, \ + { "data", NULL, MAVLINK_TYPE_UINT8_T, 253, 2, offsetof(mavlink_encapsulated_data_t, data) }, \ + } \ +} + + +/** + * @brief Pack a encapsulated_data 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 seqnr sequence number (starting with 0 on every transmission) + * @param data image data bytes + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_encapsulated_data_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint16_t seqnr, const uint8_t *data) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[255]; + _mav_put_uint16_t(buf, 0, seqnr); + _mav_put_uint8_t_array(buf, 2, data, 253); + memcpy(_MAV_PAYLOAD(msg), buf, 255); +#else + mavlink_encapsulated_data_t packet; + packet.seqnr = seqnr; + mav_array_memcpy(packet.data, data, sizeof(uint8_t)*253); + memcpy(_MAV_PAYLOAD(msg), &packet, 255); +#endif + + msg->msgid = MAVLINK_MSG_ID_ENCAPSULATED_DATA; + return mavlink_finalize_message(msg, system_id, component_id, 255); +} + +/** + * @brief Pack a encapsulated_data 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 seqnr sequence number (starting with 0 on every transmission) + * @param data image data bytes + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_encapsulated_data_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint16_t seqnr,const uint8_t *data) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[255]; + _mav_put_uint16_t(buf, 0, seqnr); + _mav_put_uint8_t_array(buf, 2, data, 253); + memcpy(_MAV_PAYLOAD(msg), buf, 255); +#else + mavlink_encapsulated_data_t packet; + packet.seqnr = seqnr; + mav_array_memcpy(packet.data, data, sizeof(uint8_t)*253); + memcpy(_MAV_PAYLOAD(msg), &packet, 255); +#endif + + msg->msgid = MAVLINK_MSG_ID_ENCAPSULATED_DATA; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 255); +} + +/** + * @brief Encode a encapsulated_data 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 encapsulated_data C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_encapsulated_data_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_encapsulated_data_t* encapsulated_data) +{ + return mavlink_msg_encapsulated_data_pack(system_id, component_id, msg, encapsulated_data->seqnr, encapsulated_data->data); +} + +/** + * @brief Send a encapsulated_data message + * @param chan MAVLink channel to send the message + * + * @param seqnr sequence number (starting with 0 on every transmission) + * @param data image data bytes + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_encapsulated_data_send(mavlink_channel_t chan, uint16_t seqnr, const uint8_t *data) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[255]; + _mav_put_uint16_t(buf, 0, seqnr); + _mav_put_uint8_t_array(buf, 2, data, 253); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ENCAPSULATED_DATA, buf, 255); +#else + mavlink_encapsulated_data_t packet; + packet.seqnr = seqnr; + mav_array_memcpy(packet.data, data, sizeof(uint8_t)*253); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ENCAPSULATED_DATA, (const char *)&packet, 255); +#endif +} + +#endif + +// MESSAGE ENCAPSULATED_DATA UNPACKING + + +/** + * @brief Get field seqnr from encapsulated_data message + * + * @return sequence number (starting with 0 on every transmission) + */ +static inline uint16_t mavlink_msg_encapsulated_data_get_seqnr(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 0); +} + +/** + * @brief Get field data from encapsulated_data message + * + * @return image data bytes + */ +static inline uint16_t mavlink_msg_encapsulated_data_get_data(const mavlink_message_t* msg, uint8_t *data) +{ + return _MAV_RETURN_uint8_t_array(msg, data, 253, 2); +} + +/** + * @brief Decode a encapsulated_data message into a struct + * + * @param msg The message to decode + * @param encapsulated_data C-struct to decode the message contents into + */ +static inline void mavlink_msg_encapsulated_data_decode(const mavlink_message_t* msg, mavlink_encapsulated_data_t* encapsulated_data) +{ +#if MAVLINK_NEED_BYTE_SWAP + encapsulated_data->seqnr = mavlink_msg_encapsulated_data_get_seqnr(msg); + mavlink_msg_encapsulated_data_get_data(msg, encapsulated_data->data); +#else + memcpy(encapsulated_data, _MAV_PAYLOAD(msg), 255); +#endif +} diff --git a/thirdParty/mavlink/v0.9/pixhawk/mavlink_msg_image_available.h b/thirdParty/mavlink/v0.9/pixhawk/mavlink_msg_image_available.h new file mode 100644 index 0000000000000000000000000000000000000000..37cc547edd5f2da7b2a8b7cd0b3ef964f0855bea --- /dev/null +++ b/thirdParty/mavlink/v0.9/pixhawk/mavlink_msg_image_available.h @@ -0,0 +1,628 @@ +// MESSAGE IMAGE_AVAILABLE PACKING + +#define MAVLINK_MSG_ID_IMAGE_AVAILABLE 154 + +typedef struct __mavlink_image_available_t +{ + uint64_t cam_id; ///< Camera id + uint8_t cam_no; ///< Camera # (starts with 0) + uint64_t timestamp; ///< Timestamp + uint64_t valid_until; ///< Until which timestamp this buffer will stay valid + uint32_t img_seq; ///< The image sequence number + uint32_t img_buf_index; ///< Position of the image in the buffer, starts with 0 + uint16_t width; ///< Image width + uint16_t height; ///< Image height + uint16_t depth; ///< Image depth + uint8_t channels; ///< Image channels + uint32_t key; ///< Shared memory area key + uint32_t exposure; ///< Exposure time, in microseconds + float gain; ///< Camera gain + float roll; ///< Roll angle in rad + float pitch; ///< Pitch angle in rad + float yaw; ///< Yaw angle in rad + float local_z; ///< Local frame Z coordinate (height over ground) + float lat; ///< GPS X coordinate + float lon; ///< GPS Y coordinate + float alt; ///< Global frame altitude + float ground_x; ///< Ground truth X + float ground_y; ///< Ground truth Y + float ground_z; ///< Ground truth Z +} mavlink_image_available_t; + +#define MAVLINK_MSG_ID_IMAGE_AVAILABLE_LEN 92 +#define MAVLINK_MSG_ID_154_LEN 92 + + + +#define MAVLINK_MESSAGE_INFO_IMAGE_AVAILABLE { \ + "IMAGE_AVAILABLE", \ + 23, \ + { { "cam_id", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_image_available_t, cam_id) }, \ + { "cam_no", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_image_available_t, cam_no) }, \ + { "timestamp", NULL, MAVLINK_TYPE_UINT64_T, 0, 9, offsetof(mavlink_image_available_t, timestamp) }, \ + { "valid_until", NULL, MAVLINK_TYPE_UINT64_T, 0, 17, offsetof(mavlink_image_available_t, valid_until) }, \ + { "img_seq", NULL, MAVLINK_TYPE_UINT32_T, 0, 25, offsetof(mavlink_image_available_t, img_seq) }, \ + { "img_buf_index", NULL, MAVLINK_TYPE_UINT32_T, 0, 29, offsetof(mavlink_image_available_t, img_buf_index) }, \ + { "width", NULL, MAVLINK_TYPE_UINT16_T, 0, 33, offsetof(mavlink_image_available_t, width) }, \ + { "height", NULL, MAVLINK_TYPE_UINT16_T, 0, 35, offsetof(mavlink_image_available_t, height) }, \ + { "depth", NULL, MAVLINK_TYPE_UINT16_T, 0, 37, offsetof(mavlink_image_available_t, depth) }, \ + { "channels", NULL, MAVLINK_TYPE_UINT8_T, 0, 39, offsetof(mavlink_image_available_t, channels) }, \ + { "key", NULL, MAVLINK_TYPE_UINT32_T, 0, 40, offsetof(mavlink_image_available_t, key) }, \ + { "exposure", NULL, MAVLINK_TYPE_UINT32_T, 0, 44, offsetof(mavlink_image_available_t, exposure) }, \ + { "gain", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_image_available_t, gain) }, \ + { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 52, offsetof(mavlink_image_available_t, roll) }, \ + { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 56, offsetof(mavlink_image_available_t, pitch) }, \ + { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 60, offsetof(mavlink_image_available_t, yaw) }, \ + { "local_z", NULL, MAVLINK_TYPE_FLOAT, 0, 64, offsetof(mavlink_image_available_t, local_z) }, \ + { "lat", NULL, MAVLINK_TYPE_FLOAT, 0, 68, offsetof(mavlink_image_available_t, lat) }, \ + { "lon", NULL, MAVLINK_TYPE_FLOAT, 0, 72, offsetof(mavlink_image_available_t, lon) }, \ + { "alt", NULL, MAVLINK_TYPE_FLOAT, 0, 76, offsetof(mavlink_image_available_t, alt) }, \ + { "ground_x", NULL, MAVLINK_TYPE_FLOAT, 0, 80, offsetof(mavlink_image_available_t, ground_x) }, \ + { "ground_y", NULL, MAVLINK_TYPE_FLOAT, 0, 84, offsetof(mavlink_image_available_t, ground_y) }, \ + { "ground_z", NULL, MAVLINK_TYPE_FLOAT, 0, 88, offsetof(mavlink_image_available_t, ground_z) }, \ + } \ +} + + +/** + * @brief Pack a image_available 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 cam_id Camera id + * @param cam_no Camera # (starts with 0) + * @param timestamp Timestamp + * @param valid_until Until which timestamp this buffer will stay valid + * @param img_seq The image sequence number + * @param img_buf_index Position of the image in the buffer, starts with 0 + * @param width Image width + * @param height Image height + * @param depth Image depth + * @param channels Image channels + * @param key Shared memory area key + * @param exposure Exposure time, in microseconds + * @param gain Camera gain + * @param roll Roll angle in rad + * @param pitch Pitch angle in rad + * @param yaw Yaw angle in rad + * @param local_z Local frame Z coordinate (height over ground) + * @param lat GPS X coordinate + * @param lon GPS Y coordinate + * @param alt Global frame altitude + * @param ground_x Ground truth X + * @param ground_y Ground truth Y + * @param ground_z Ground truth Z + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_image_available_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint64_t cam_id, uint8_t cam_no, uint64_t timestamp, uint64_t valid_until, uint32_t img_seq, uint32_t img_buf_index, uint16_t width, uint16_t height, uint16_t depth, uint8_t channels, uint32_t key, uint32_t exposure, float gain, float roll, float pitch, float yaw, float local_z, float lat, float lon, float alt, float ground_x, float ground_y, float ground_z) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[92]; + _mav_put_uint64_t(buf, 0, cam_id); + _mav_put_uint8_t(buf, 8, cam_no); + _mav_put_uint64_t(buf, 9, timestamp); + _mav_put_uint64_t(buf, 17, valid_until); + _mav_put_uint32_t(buf, 25, img_seq); + _mav_put_uint32_t(buf, 29, img_buf_index); + _mav_put_uint16_t(buf, 33, width); + _mav_put_uint16_t(buf, 35, height); + _mav_put_uint16_t(buf, 37, depth); + _mav_put_uint8_t(buf, 39, channels); + _mav_put_uint32_t(buf, 40, key); + _mav_put_uint32_t(buf, 44, exposure); + _mav_put_float(buf, 48, gain); + _mav_put_float(buf, 52, roll); + _mav_put_float(buf, 56, pitch); + _mav_put_float(buf, 60, yaw); + _mav_put_float(buf, 64, local_z); + _mav_put_float(buf, 68, lat); + _mav_put_float(buf, 72, lon); + _mav_put_float(buf, 76, alt); + _mav_put_float(buf, 80, ground_x); + _mav_put_float(buf, 84, ground_y); + _mav_put_float(buf, 88, ground_z); + + memcpy(_MAV_PAYLOAD(msg), buf, 92); +#else + mavlink_image_available_t packet; + packet.cam_id = cam_id; + packet.cam_no = cam_no; + packet.timestamp = timestamp; + packet.valid_until = valid_until; + packet.img_seq = img_seq; + packet.img_buf_index = img_buf_index; + packet.width = width; + packet.height = height; + packet.depth = depth; + packet.channels = channels; + packet.key = key; + packet.exposure = exposure; + packet.gain = gain; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + packet.local_z = local_z; + packet.lat = lat; + packet.lon = lon; + packet.alt = alt; + packet.ground_x = ground_x; + packet.ground_y = ground_y; + packet.ground_z = ground_z; + + memcpy(_MAV_PAYLOAD(msg), &packet, 92); +#endif + + msg->msgid = MAVLINK_MSG_ID_IMAGE_AVAILABLE; + return mavlink_finalize_message(msg, system_id, component_id, 92); +} + +/** + * @brief Pack a image_available 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 cam_id Camera id + * @param cam_no Camera # (starts with 0) + * @param timestamp Timestamp + * @param valid_until Until which timestamp this buffer will stay valid + * @param img_seq The image sequence number + * @param img_buf_index Position of the image in the buffer, starts with 0 + * @param width Image width + * @param height Image height + * @param depth Image depth + * @param channels Image channels + * @param key Shared memory area key + * @param exposure Exposure time, in microseconds + * @param gain Camera gain + * @param roll Roll angle in rad + * @param pitch Pitch angle in rad + * @param yaw Yaw angle in rad + * @param local_z Local frame Z coordinate (height over ground) + * @param lat GPS X coordinate + * @param lon GPS Y coordinate + * @param alt Global frame altitude + * @param ground_x Ground truth X + * @param ground_y Ground truth Y + * @param ground_z Ground truth Z + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_image_available_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint64_t cam_id,uint8_t cam_no,uint64_t timestamp,uint64_t valid_until,uint32_t img_seq,uint32_t img_buf_index,uint16_t width,uint16_t height,uint16_t depth,uint8_t channels,uint32_t key,uint32_t exposure,float gain,float roll,float pitch,float yaw,float local_z,float lat,float lon,float alt,float ground_x,float ground_y,float ground_z) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[92]; + _mav_put_uint64_t(buf, 0, cam_id); + _mav_put_uint8_t(buf, 8, cam_no); + _mav_put_uint64_t(buf, 9, timestamp); + _mav_put_uint64_t(buf, 17, valid_until); + _mav_put_uint32_t(buf, 25, img_seq); + _mav_put_uint32_t(buf, 29, img_buf_index); + _mav_put_uint16_t(buf, 33, width); + _mav_put_uint16_t(buf, 35, height); + _mav_put_uint16_t(buf, 37, depth); + _mav_put_uint8_t(buf, 39, channels); + _mav_put_uint32_t(buf, 40, key); + _mav_put_uint32_t(buf, 44, exposure); + _mav_put_float(buf, 48, gain); + _mav_put_float(buf, 52, roll); + _mav_put_float(buf, 56, pitch); + _mav_put_float(buf, 60, yaw); + _mav_put_float(buf, 64, local_z); + _mav_put_float(buf, 68, lat); + _mav_put_float(buf, 72, lon); + _mav_put_float(buf, 76, alt); + _mav_put_float(buf, 80, ground_x); + _mav_put_float(buf, 84, ground_y); + _mav_put_float(buf, 88, ground_z); + + memcpy(_MAV_PAYLOAD(msg), buf, 92); +#else + mavlink_image_available_t packet; + packet.cam_id = cam_id; + packet.cam_no = cam_no; + packet.timestamp = timestamp; + packet.valid_until = valid_until; + packet.img_seq = img_seq; + packet.img_buf_index = img_buf_index; + packet.width = width; + packet.height = height; + packet.depth = depth; + packet.channels = channels; + packet.key = key; + packet.exposure = exposure; + packet.gain = gain; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + packet.local_z = local_z; + packet.lat = lat; + packet.lon = lon; + packet.alt = alt; + packet.ground_x = ground_x; + packet.ground_y = ground_y; + packet.ground_z = ground_z; + + memcpy(_MAV_PAYLOAD(msg), &packet, 92); +#endif + + msg->msgid = MAVLINK_MSG_ID_IMAGE_AVAILABLE; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 92); +} + +/** + * @brief Encode a image_available 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 image_available C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_image_available_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_image_available_t* image_available) +{ + return mavlink_msg_image_available_pack(system_id, component_id, msg, image_available->cam_id, image_available->cam_no, image_available->timestamp, image_available->valid_until, image_available->img_seq, image_available->img_buf_index, image_available->width, image_available->height, image_available->depth, image_available->channels, image_available->key, image_available->exposure, image_available->gain, image_available->roll, image_available->pitch, image_available->yaw, image_available->local_z, image_available->lat, image_available->lon, image_available->alt, image_available->ground_x, image_available->ground_y, image_available->ground_z); +} + +/** + * @brief Send a image_available message + * @param chan MAVLink channel to send the message + * + * @param cam_id Camera id + * @param cam_no Camera # (starts with 0) + * @param timestamp Timestamp + * @param valid_until Until which timestamp this buffer will stay valid + * @param img_seq The image sequence number + * @param img_buf_index Position of the image in the buffer, starts with 0 + * @param width Image width + * @param height Image height + * @param depth Image depth + * @param channels Image channels + * @param key Shared memory area key + * @param exposure Exposure time, in microseconds + * @param gain Camera gain + * @param roll Roll angle in rad + * @param pitch Pitch angle in rad + * @param yaw Yaw angle in rad + * @param local_z Local frame Z coordinate (height over ground) + * @param lat GPS X coordinate + * @param lon GPS Y coordinate + * @param alt Global frame altitude + * @param ground_x Ground truth X + * @param ground_y Ground truth Y + * @param ground_z Ground truth Z + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_image_available_send(mavlink_channel_t chan, uint64_t cam_id, uint8_t cam_no, uint64_t timestamp, uint64_t valid_until, uint32_t img_seq, uint32_t img_buf_index, uint16_t width, uint16_t height, uint16_t depth, uint8_t channels, uint32_t key, uint32_t exposure, float gain, float roll, float pitch, float yaw, float local_z, float lat, float lon, float alt, float ground_x, float ground_y, float ground_z) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[92]; + _mav_put_uint64_t(buf, 0, cam_id); + _mav_put_uint8_t(buf, 8, cam_no); + _mav_put_uint64_t(buf, 9, timestamp); + _mav_put_uint64_t(buf, 17, valid_until); + _mav_put_uint32_t(buf, 25, img_seq); + _mav_put_uint32_t(buf, 29, img_buf_index); + _mav_put_uint16_t(buf, 33, width); + _mav_put_uint16_t(buf, 35, height); + _mav_put_uint16_t(buf, 37, depth); + _mav_put_uint8_t(buf, 39, channels); + _mav_put_uint32_t(buf, 40, key); + _mav_put_uint32_t(buf, 44, exposure); + _mav_put_float(buf, 48, gain); + _mav_put_float(buf, 52, roll); + _mav_put_float(buf, 56, pitch); + _mav_put_float(buf, 60, yaw); + _mav_put_float(buf, 64, local_z); + _mav_put_float(buf, 68, lat); + _mav_put_float(buf, 72, lon); + _mav_put_float(buf, 76, alt); + _mav_put_float(buf, 80, ground_x); + _mav_put_float(buf, 84, ground_y); + _mav_put_float(buf, 88, ground_z); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_IMAGE_AVAILABLE, buf, 92); +#else + mavlink_image_available_t packet; + packet.cam_id = cam_id; + packet.cam_no = cam_no; + packet.timestamp = timestamp; + packet.valid_until = valid_until; + packet.img_seq = img_seq; + packet.img_buf_index = img_buf_index; + packet.width = width; + packet.height = height; + packet.depth = depth; + packet.channels = channels; + packet.key = key; + packet.exposure = exposure; + packet.gain = gain; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + packet.local_z = local_z; + packet.lat = lat; + packet.lon = lon; + packet.alt = alt; + packet.ground_x = ground_x; + packet.ground_y = ground_y; + packet.ground_z = ground_z; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_IMAGE_AVAILABLE, (const char *)&packet, 92); +#endif +} + +#endif + +// MESSAGE IMAGE_AVAILABLE UNPACKING + + +/** + * @brief Get field cam_id from image_available message + * + * @return Camera id + */ +static inline uint64_t mavlink_msg_image_available_get_cam_id(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint64_t(msg, 0); +} + +/** + * @brief Get field cam_no from image_available message + * + * @return Camera # (starts with 0) + */ +static inline uint8_t mavlink_msg_image_available_get_cam_no(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 8); +} + +/** + * @brief Get field timestamp from image_available message + * + * @return Timestamp + */ +static inline uint64_t mavlink_msg_image_available_get_timestamp(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint64_t(msg, 9); +} + +/** + * @brief Get field valid_until from image_available message + * + * @return Until which timestamp this buffer will stay valid + */ +static inline uint64_t mavlink_msg_image_available_get_valid_until(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint64_t(msg, 17); +} + +/** + * @brief Get field img_seq from image_available message + * + * @return The image sequence number + */ +static inline uint32_t mavlink_msg_image_available_get_img_seq(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint32_t(msg, 25); +} + +/** + * @brief Get field img_buf_index from image_available message + * + * @return Position of the image in the buffer, starts with 0 + */ +static inline uint32_t mavlink_msg_image_available_get_img_buf_index(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint32_t(msg, 29); +} + +/** + * @brief Get field width from image_available message + * + * @return Image width + */ +static inline uint16_t mavlink_msg_image_available_get_width(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 33); +} + +/** + * @brief Get field height from image_available message + * + * @return Image height + */ +static inline uint16_t mavlink_msg_image_available_get_height(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 35); +} + +/** + * @brief Get field depth from image_available message + * + * @return Image depth + */ +static inline uint16_t mavlink_msg_image_available_get_depth(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 37); +} + +/** + * @brief Get field channels from image_available message + * + * @return Image channels + */ +static inline uint8_t mavlink_msg_image_available_get_channels(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 39); +} + +/** + * @brief Get field key from image_available message + * + * @return Shared memory area key + */ +static inline uint32_t mavlink_msg_image_available_get_key(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint32_t(msg, 40); +} + +/** + * @brief Get field exposure from image_available message + * + * @return Exposure time, in microseconds + */ +static inline uint32_t mavlink_msg_image_available_get_exposure(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint32_t(msg, 44); +} + +/** + * @brief Get field gain from image_available message + * + * @return Camera gain + */ +static inline float mavlink_msg_image_available_get_gain(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 48); +} + +/** + * @brief Get field roll from image_available message + * + * @return Roll angle in rad + */ +static inline float mavlink_msg_image_available_get_roll(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 52); +} + +/** + * @brief Get field pitch from image_available message + * + * @return Pitch angle in rad + */ +static inline float mavlink_msg_image_available_get_pitch(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 56); +} + +/** + * @brief Get field yaw from image_available message + * + * @return Yaw angle in rad + */ +static inline float mavlink_msg_image_available_get_yaw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 60); +} + +/** + * @brief Get field local_z from image_available message + * + * @return Local frame Z coordinate (height over ground) + */ +static inline float mavlink_msg_image_available_get_local_z(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 64); +} + +/** + * @brief Get field lat from image_available message + * + * @return GPS X coordinate + */ +static inline float mavlink_msg_image_available_get_lat(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 68); +} + +/** + * @brief Get field lon from image_available message + * + * @return GPS Y coordinate + */ +static inline float mavlink_msg_image_available_get_lon(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 72); +} + +/** + * @brief Get field alt from image_available message + * + * @return Global frame altitude + */ +static inline float mavlink_msg_image_available_get_alt(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 76); +} + +/** + * @brief Get field ground_x from image_available message + * + * @return Ground truth X + */ +static inline float mavlink_msg_image_available_get_ground_x(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 80); +} + +/** + * @brief Get field ground_y from image_available message + * + * @return Ground truth Y + */ +static inline float mavlink_msg_image_available_get_ground_y(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 84); +} + +/** + * @brief Get field ground_z from image_available message + * + * @return Ground truth Z + */ +static inline float mavlink_msg_image_available_get_ground_z(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 88); +} + +/** + * @brief Decode a image_available message into a struct + * + * @param msg The message to decode + * @param image_available C-struct to decode the message contents into + */ +static inline void mavlink_msg_image_available_decode(const mavlink_message_t* msg, mavlink_image_available_t* image_available) +{ +#if MAVLINK_NEED_BYTE_SWAP + image_available->cam_id = mavlink_msg_image_available_get_cam_id(msg); + image_available->cam_no = mavlink_msg_image_available_get_cam_no(msg); + image_available->timestamp = mavlink_msg_image_available_get_timestamp(msg); + image_available->valid_until = mavlink_msg_image_available_get_valid_until(msg); + image_available->img_seq = mavlink_msg_image_available_get_img_seq(msg); + image_available->img_buf_index = mavlink_msg_image_available_get_img_buf_index(msg); + image_available->width = mavlink_msg_image_available_get_width(msg); + image_available->height = mavlink_msg_image_available_get_height(msg); + image_available->depth = mavlink_msg_image_available_get_depth(msg); + image_available->channels = mavlink_msg_image_available_get_channels(msg); + image_available->key = mavlink_msg_image_available_get_key(msg); + image_available->exposure = mavlink_msg_image_available_get_exposure(msg); + image_available->gain = mavlink_msg_image_available_get_gain(msg); + image_available->roll = mavlink_msg_image_available_get_roll(msg); + image_available->pitch = mavlink_msg_image_available_get_pitch(msg); + image_available->yaw = mavlink_msg_image_available_get_yaw(msg); + image_available->local_z = mavlink_msg_image_available_get_local_z(msg); + image_available->lat = mavlink_msg_image_available_get_lat(msg); + image_available->lon = mavlink_msg_image_available_get_lon(msg); + image_available->alt = mavlink_msg_image_available_get_alt(msg); + image_available->ground_x = mavlink_msg_image_available_get_ground_x(msg); + image_available->ground_y = mavlink_msg_image_available_get_ground_y(msg); + image_available->ground_z = mavlink_msg_image_available_get_ground_z(msg); +#else + memcpy(image_available, _MAV_PAYLOAD(msg), 92); +#endif +} diff --git a/thirdParty/mavlink/v0.9/pixhawk/mavlink_msg_image_trigger_control.h b/thirdParty/mavlink/v0.9/pixhawk/mavlink_msg_image_trigger_control.h new file mode 100644 index 0000000000000000000000000000000000000000..b381adac26c5ffa0bc433126b843148d444af600 --- /dev/null +++ b/thirdParty/mavlink/v0.9/pixhawk/mavlink_msg_image_trigger_control.h @@ -0,0 +1,144 @@ +// MESSAGE IMAGE_TRIGGER_CONTROL PACKING + +#define MAVLINK_MSG_ID_IMAGE_TRIGGER_CONTROL 153 + +typedef struct __mavlink_image_trigger_control_t +{ + uint8_t enable; ///< 0 to disable, 1 to enable +} mavlink_image_trigger_control_t; + +#define MAVLINK_MSG_ID_IMAGE_TRIGGER_CONTROL_LEN 1 +#define MAVLINK_MSG_ID_153_LEN 1 + + + +#define MAVLINK_MESSAGE_INFO_IMAGE_TRIGGER_CONTROL { \ + "IMAGE_TRIGGER_CONTROL", \ + 1, \ + { { "enable", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_image_trigger_control_t, enable) }, \ + } \ +} + + +/** + * @brief Pack a image_trigger_control 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 enable 0 to disable, 1 to enable + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_image_trigger_control_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t enable) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[1]; + _mav_put_uint8_t(buf, 0, enable); + + memcpy(_MAV_PAYLOAD(msg), buf, 1); +#else + mavlink_image_trigger_control_t packet; + packet.enable = enable; + + memcpy(_MAV_PAYLOAD(msg), &packet, 1); +#endif + + msg->msgid = MAVLINK_MSG_ID_IMAGE_TRIGGER_CONTROL; + return mavlink_finalize_message(msg, system_id, component_id, 1); +} + +/** + * @brief Pack a image_trigger_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 msg The MAVLink message to compress the data into + * @param enable 0 to disable, 1 to enable + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_image_trigger_control_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t enable) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[1]; + _mav_put_uint8_t(buf, 0, enable); + + memcpy(_MAV_PAYLOAD(msg), buf, 1); +#else + mavlink_image_trigger_control_t packet; + packet.enable = enable; + + memcpy(_MAV_PAYLOAD(msg), &packet, 1); +#endif + + msg->msgid = MAVLINK_MSG_ID_IMAGE_TRIGGER_CONTROL; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 1); +} + +/** + * @brief Encode a image_trigger_control 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 image_trigger_control C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_image_trigger_control_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_image_trigger_control_t* image_trigger_control) +{ + return mavlink_msg_image_trigger_control_pack(system_id, component_id, msg, image_trigger_control->enable); +} + +/** + * @brief Send a image_trigger_control message + * @param chan MAVLink channel to send the message + * + * @param enable 0 to disable, 1 to enable + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_image_trigger_control_send(mavlink_channel_t chan, uint8_t enable) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[1]; + _mav_put_uint8_t(buf, 0, enable); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_IMAGE_TRIGGER_CONTROL, buf, 1); +#else + mavlink_image_trigger_control_t packet; + packet.enable = enable; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_IMAGE_TRIGGER_CONTROL, (const char *)&packet, 1); +#endif +} + +#endif + +// MESSAGE IMAGE_TRIGGER_CONTROL UNPACKING + + +/** + * @brief Get field enable from image_trigger_control message + * + * @return 0 to disable, 1 to enable + */ +static inline uint8_t mavlink_msg_image_trigger_control_get_enable(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Decode a image_trigger_control message into a struct + * + * @param msg The message to decode + * @param image_trigger_control C-struct to decode the message contents into + */ +static inline void mavlink_msg_image_trigger_control_decode(const mavlink_message_t* msg, mavlink_image_trigger_control_t* image_trigger_control) +{ +#if MAVLINK_NEED_BYTE_SWAP + image_trigger_control->enable = mavlink_msg_image_trigger_control_get_enable(msg); +#else + memcpy(image_trigger_control, _MAV_PAYLOAD(msg), 1); +#endif +} diff --git a/thirdParty/mavlink/v0.9/pixhawk/mavlink_msg_image_triggered.h b/thirdParty/mavlink/v0.9/pixhawk/mavlink_msg_image_triggered.h new file mode 100644 index 0000000000000000000000000000000000000000..485721fd707d57a838432e0f1157547ba17f3930 --- /dev/null +++ b/thirdParty/mavlink/v0.9/pixhawk/mavlink_msg_image_triggered.h @@ -0,0 +1,386 @@ +// MESSAGE IMAGE_TRIGGERED PACKING + +#define MAVLINK_MSG_ID_IMAGE_TRIGGERED 152 + +typedef struct __mavlink_image_triggered_t +{ + uint64_t timestamp; ///< Timestamp + uint32_t seq; ///< IMU seq + float roll; ///< Roll angle in rad + float pitch; ///< Pitch angle in rad + float yaw; ///< Yaw angle in rad + float local_z; ///< Local frame Z coordinate (height over ground) + float lat; ///< GPS X coordinate + float lon; ///< GPS Y coordinate + float alt; ///< Global frame altitude + float ground_x; ///< Ground truth X + float ground_y; ///< Ground truth Y + float ground_z; ///< Ground truth Z +} mavlink_image_triggered_t; + +#define MAVLINK_MSG_ID_IMAGE_TRIGGERED_LEN 52 +#define MAVLINK_MSG_ID_152_LEN 52 + + + +#define MAVLINK_MESSAGE_INFO_IMAGE_TRIGGERED { \ + "IMAGE_TRIGGERED", \ + 12, \ + { { "timestamp", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_image_triggered_t, timestamp) }, \ + { "seq", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_image_triggered_t, seq) }, \ + { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_image_triggered_t, roll) }, \ + { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_image_triggered_t, pitch) }, \ + { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_image_triggered_t, yaw) }, \ + { "local_z", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_image_triggered_t, local_z) }, \ + { "lat", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_image_triggered_t, lat) }, \ + { "lon", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_image_triggered_t, lon) }, \ + { "alt", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_image_triggered_t, alt) }, \ + { "ground_x", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_image_triggered_t, ground_x) }, \ + { "ground_y", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_image_triggered_t, ground_y) }, \ + { "ground_z", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_image_triggered_t, ground_z) }, \ + } \ +} + + +/** + * @brief Pack a image_triggered 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 timestamp Timestamp + * @param seq IMU seq + * @param roll Roll angle in rad + * @param pitch Pitch angle in rad + * @param yaw Yaw angle in rad + * @param local_z Local frame Z coordinate (height over ground) + * @param lat GPS X coordinate + * @param lon GPS Y coordinate + * @param alt Global frame altitude + * @param ground_x Ground truth X + * @param ground_y Ground truth Y + * @param ground_z Ground truth Z + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_image_triggered_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint64_t timestamp, uint32_t seq, float roll, float pitch, float yaw, float local_z, float lat, float lon, float alt, float ground_x, float ground_y, float ground_z) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[52]; + _mav_put_uint64_t(buf, 0, timestamp); + _mav_put_uint32_t(buf, 8, seq); + _mav_put_float(buf, 12, roll); + _mav_put_float(buf, 16, pitch); + _mav_put_float(buf, 20, yaw); + _mav_put_float(buf, 24, local_z); + _mav_put_float(buf, 28, lat); + _mav_put_float(buf, 32, lon); + _mav_put_float(buf, 36, alt); + _mav_put_float(buf, 40, ground_x); + _mav_put_float(buf, 44, ground_y); + _mav_put_float(buf, 48, ground_z); + + memcpy(_MAV_PAYLOAD(msg), buf, 52); +#else + mavlink_image_triggered_t packet; + packet.timestamp = timestamp; + packet.seq = seq; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + packet.local_z = local_z; + packet.lat = lat; + packet.lon = lon; + packet.alt = alt; + packet.ground_x = ground_x; + packet.ground_y = ground_y; + packet.ground_z = ground_z; + + memcpy(_MAV_PAYLOAD(msg), &packet, 52); +#endif + + msg->msgid = MAVLINK_MSG_ID_IMAGE_TRIGGERED; + return mavlink_finalize_message(msg, system_id, component_id, 52); +} + +/** + * @brief Pack a image_triggered 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 timestamp Timestamp + * @param seq IMU seq + * @param roll Roll angle in rad + * @param pitch Pitch angle in rad + * @param yaw Yaw angle in rad + * @param local_z Local frame Z coordinate (height over ground) + * @param lat GPS X coordinate + * @param lon GPS Y coordinate + * @param alt Global frame altitude + * @param ground_x Ground truth X + * @param ground_y Ground truth Y + * @param ground_z Ground truth Z + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_image_triggered_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint64_t timestamp,uint32_t seq,float roll,float pitch,float yaw,float local_z,float lat,float lon,float alt,float ground_x,float ground_y,float ground_z) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[52]; + _mav_put_uint64_t(buf, 0, timestamp); + _mav_put_uint32_t(buf, 8, seq); + _mav_put_float(buf, 12, roll); + _mav_put_float(buf, 16, pitch); + _mav_put_float(buf, 20, yaw); + _mav_put_float(buf, 24, local_z); + _mav_put_float(buf, 28, lat); + _mav_put_float(buf, 32, lon); + _mav_put_float(buf, 36, alt); + _mav_put_float(buf, 40, ground_x); + _mav_put_float(buf, 44, ground_y); + _mav_put_float(buf, 48, ground_z); + + memcpy(_MAV_PAYLOAD(msg), buf, 52); +#else + mavlink_image_triggered_t packet; + packet.timestamp = timestamp; + packet.seq = seq; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + packet.local_z = local_z; + packet.lat = lat; + packet.lon = lon; + packet.alt = alt; + packet.ground_x = ground_x; + packet.ground_y = ground_y; + packet.ground_z = ground_z; + + memcpy(_MAV_PAYLOAD(msg), &packet, 52); +#endif + + msg->msgid = MAVLINK_MSG_ID_IMAGE_TRIGGERED; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 52); +} + +/** + * @brief Encode a image_triggered 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 image_triggered C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_image_triggered_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_image_triggered_t* image_triggered) +{ + return mavlink_msg_image_triggered_pack(system_id, component_id, msg, image_triggered->timestamp, image_triggered->seq, image_triggered->roll, image_triggered->pitch, image_triggered->yaw, image_triggered->local_z, image_triggered->lat, image_triggered->lon, image_triggered->alt, image_triggered->ground_x, image_triggered->ground_y, image_triggered->ground_z); +} + +/** + * @brief Send a image_triggered message + * @param chan MAVLink channel to send the message + * + * @param timestamp Timestamp + * @param seq IMU seq + * @param roll Roll angle in rad + * @param pitch Pitch angle in rad + * @param yaw Yaw angle in rad + * @param local_z Local frame Z coordinate (height over ground) + * @param lat GPS X coordinate + * @param lon GPS Y coordinate + * @param alt Global frame altitude + * @param ground_x Ground truth X + * @param ground_y Ground truth Y + * @param ground_z Ground truth Z + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_image_triggered_send(mavlink_channel_t chan, uint64_t timestamp, uint32_t seq, float roll, float pitch, float yaw, float local_z, float lat, float lon, float alt, float ground_x, float ground_y, float ground_z) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[52]; + _mav_put_uint64_t(buf, 0, timestamp); + _mav_put_uint32_t(buf, 8, seq); + _mav_put_float(buf, 12, roll); + _mav_put_float(buf, 16, pitch); + _mav_put_float(buf, 20, yaw); + _mav_put_float(buf, 24, local_z); + _mav_put_float(buf, 28, lat); + _mav_put_float(buf, 32, lon); + _mav_put_float(buf, 36, alt); + _mav_put_float(buf, 40, ground_x); + _mav_put_float(buf, 44, ground_y); + _mav_put_float(buf, 48, ground_z); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_IMAGE_TRIGGERED, buf, 52); +#else + mavlink_image_triggered_t packet; + packet.timestamp = timestamp; + packet.seq = seq; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + packet.local_z = local_z; + packet.lat = lat; + packet.lon = lon; + packet.alt = alt; + packet.ground_x = ground_x; + packet.ground_y = ground_y; + packet.ground_z = ground_z; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_IMAGE_TRIGGERED, (const char *)&packet, 52); +#endif +} + +#endif + +// MESSAGE IMAGE_TRIGGERED UNPACKING + + +/** + * @brief Get field timestamp from image_triggered message + * + * @return Timestamp + */ +static inline uint64_t mavlink_msg_image_triggered_get_timestamp(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint64_t(msg, 0); +} + +/** + * @brief Get field seq from image_triggered message + * + * @return IMU seq + */ +static inline uint32_t mavlink_msg_image_triggered_get_seq(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint32_t(msg, 8); +} + +/** + * @brief Get field roll from image_triggered message + * + * @return Roll angle in rad + */ +static inline float mavlink_msg_image_triggered_get_roll(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 12); +} + +/** + * @brief Get field pitch from image_triggered message + * + * @return Pitch angle in rad + */ +static inline float mavlink_msg_image_triggered_get_pitch(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 16); +} + +/** + * @brief Get field yaw from image_triggered message + * + * @return Yaw angle in rad + */ +static inline float mavlink_msg_image_triggered_get_yaw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 20); +} + +/** + * @brief Get field local_z from image_triggered message + * + * @return Local frame Z coordinate (height over ground) + */ +static inline float mavlink_msg_image_triggered_get_local_z(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 24); +} + +/** + * @brief Get field lat from image_triggered message + * + * @return GPS X coordinate + */ +static inline float mavlink_msg_image_triggered_get_lat(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 28); +} + +/** + * @brief Get field lon from image_triggered message + * + * @return GPS Y coordinate + */ +static inline float mavlink_msg_image_triggered_get_lon(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 32); +} + +/** + * @brief Get field alt from image_triggered message + * + * @return Global frame altitude + */ +static inline float mavlink_msg_image_triggered_get_alt(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 36); +} + +/** + * @brief Get field ground_x from image_triggered message + * + * @return Ground truth X + */ +static inline float mavlink_msg_image_triggered_get_ground_x(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 40); +} + +/** + * @brief Get field ground_y from image_triggered message + * + * @return Ground truth Y + */ +static inline float mavlink_msg_image_triggered_get_ground_y(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 44); +} + +/** + * @brief Get field ground_z from image_triggered message + * + * @return Ground truth Z + */ +static inline float mavlink_msg_image_triggered_get_ground_z(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 48); +} + +/** + * @brief Decode a image_triggered message into a struct + * + * @param msg The message to decode + * @param image_triggered C-struct to decode the message contents into + */ +static inline void mavlink_msg_image_triggered_decode(const mavlink_message_t* msg, mavlink_image_triggered_t* image_triggered) +{ +#if MAVLINK_NEED_BYTE_SWAP + image_triggered->timestamp = mavlink_msg_image_triggered_get_timestamp(msg); + image_triggered->seq = mavlink_msg_image_triggered_get_seq(msg); + image_triggered->roll = mavlink_msg_image_triggered_get_roll(msg); + image_triggered->pitch = mavlink_msg_image_triggered_get_pitch(msg); + image_triggered->yaw = mavlink_msg_image_triggered_get_yaw(msg); + image_triggered->local_z = mavlink_msg_image_triggered_get_local_z(msg); + image_triggered->lat = mavlink_msg_image_triggered_get_lat(msg); + image_triggered->lon = mavlink_msg_image_triggered_get_lon(msg); + image_triggered->alt = mavlink_msg_image_triggered_get_alt(msg); + image_triggered->ground_x = mavlink_msg_image_triggered_get_ground_x(msg); + image_triggered->ground_y = mavlink_msg_image_triggered_get_ground_y(msg); + image_triggered->ground_z = mavlink_msg_image_triggered_get_ground_z(msg); +#else + memcpy(image_triggered, _MAV_PAYLOAD(msg), 52); +#endif +} diff --git a/thirdParty/mavlink/v0.9/pixhawk/mavlink_msg_marker.h b/thirdParty/mavlink/v0.9/pixhawk/mavlink_msg_marker.h new file mode 100644 index 0000000000000000000000000000000000000000..4ce4cba5be776c993d8ef868935edd62e3650da5 --- /dev/null +++ b/thirdParty/mavlink/v0.9/pixhawk/mavlink_msg_marker.h @@ -0,0 +1,276 @@ +// MESSAGE MARKER PACKING + +#define MAVLINK_MSG_ID_MARKER 171 + +typedef struct __mavlink_marker_t +{ + uint16_t id; ///< ID + float x; ///< x position + float y; ///< y position + float z; ///< z position + float roll; ///< roll orientation + float pitch; ///< pitch orientation + float yaw; ///< yaw orientation +} mavlink_marker_t; + +#define MAVLINK_MSG_ID_MARKER_LEN 26 +#define MAVLINK_MSG_ID_171_LEN 26 + + + +#define MAVLINK_MESSAGE_INFO_MARKER { \ + "MARKER", \ + 7, \ + { { "id", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_marker_t, id) }, \ + { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 2, offsetof(mavlink_marker_t, x) }, \ + { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 6, offsetof(mavlink_marker_t, y) }, \ + { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 10, offsetof(mavlink_marker_t, z) }, \ + { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 14, offsetof(mavlink_marker_t, roll) }, \ + { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 18, offsetof(mavlink_marker_t, pitch) }, \ + { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 22, offsetof(mavlink_marker_t, yaw) }, \ + } \ +} + + +/** + * @brief Pack a marker 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 id ID + * @param x x position + * @param y y position + * @param z z position + * @param roll roll orientation + * @param pitch pitch orientation + * @param yaw yaw orientation + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_marker_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint16_t id, float x, float y, float z, float roll, float pitch, float yaw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[26]; + _mav_put_uint16_t(buf, 0, id); + _mav_put_float(buf, 2, x); + _mav_put_float(buf, 6, y); + _mav_put_float(buf, 10, z); + _mav_put_float(buf, 14, roll); + _mav_put_float(buf, 18, pitch); + _mav_put_float(buf, 22, yaw); + + memcpy(_MAV_PAYLOAD(msg), buf, 26); +#else + mavlink_marker_t packet; + packet.id = id; + packet.x = x; + packet.y = y; + packet.z = z; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + + memcpy(_MAV_PAYLOAD(msg), &packet, 26); +#endif + + msg->msgid = MAVLINK_MSG_ID_MARKER; + return mavlink_finalize_message(msg, system_id, component_id, 26); +} + +/** + * @brief Pack a marker 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 id ID + * @param x x position + * @param y y position + * @param z z position + * @param roll roll orientation + * @param pitch pitch orientation + * @param yaw yaw orientation + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_marker_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint16_t id,float x,float y,float z,float roll,float pitch,float yaw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[26]; + _mav_put_uint16_t(buf, 0, id); + _mav_put_float(buf, 2, x); + _mav_put_float(buf, 6, y); + _mav_put_float(buf, 10, z); + _mav_put_float(buf, 14, roll); + _mav_put_float(buf, 18, pitch); + _mav_put_float(buf, 22, yaw); + + memcpy(_MAV_PAYLOAD(msg), buf, 26); +#else + mavlink_marker_t packet; + packet.id = id; + packet.x = x; + packet.y = y; + packet.z = z; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + + memcpy(_MAV_PAYLOAD(msg), &packet, 26); +#endif + + msg->msgid = MAVLINK_MSG_ID_MARKER; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 26); +} + +/** + * @brief Encode a marker 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 marker C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_marker_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_marker_t* marker) +{ + return mavlink_msg_marker_pack(system_id, component_id, msg, marker->id, marker->x, marker->y, marker->z, marker->roll, marker->pitch, marker->yaw); +} + +/** + * @brief Send a marker message + * @param chan MAVLink channel to send the message + * + * @param id ID + * @param x x position + * @param y y position + * @param z z position + * @param roll roll orientation + * @param pitch pitch orientation + * @param yaw yaw orientation + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_marker_send(mavlink_channel_t chan, uint16_t id, float x, float y, float z, float roll, float pitch, float yaw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[26]; + _mav_put_uint16_t(buf, 0, id); + _mav_put_float(buf, 2, x); + _mav_put_float(buf, 6, y); + _mav_put_float(buf, 10, z); + _mav_put_float(buf, 14, roll); + _mav_put_float(buf, 18, pitch); + _mav_put_float(buf, 22, yaw); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MARKER, buf, 26); +#else + mavlink_marker_t packet; + packet.id = id; + packet.x = x; + packet.y = y; + packet.z = z; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MARKER, (const char *)&packet, 26); +#endif +} + +#endif + +// MESSAGE MARKER UNPACKING + + +/** + * @brief Get field id from marker message + * + * @return ID + */ +static inline uint16_t mavlink_msg_marker_get_id(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 0); +} + +/** + * @brief Get field x from marker message + * + * @return x position + */ +static inline float mavlink_msg_marker_get_x(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 2); +} + +/** + * @brief Get field y from marker message + * + * @return y position + */ +static inline float mavlink_msg_marker_get_y(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 6); +} + +/** + * @brief Get field z from marker message + * + * @return z position + */ +static inline float mavlink_msg_marker_get_z(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 10); +} + +/** + * @brief Get field roll from marker message + * + * @return roll orientation + */ +static inline float mavlink_msg_marker_get_roll(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 14); +} + +/** + * @brief Get field pitch from marker message + * + * @return pitch orientation + */ +static inline float mavlink_msg_marker_get_pitch(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 18); +} + +/** + * @brief Get field yaw from marker message + * + * @return yaw orientation + */ +static inline float mavlink_msg_marker_get_yaw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 22); +} + +/** + * @brief Decode a marker message into a struct + * + * @param msg The message to decode + * @param marker C-struct to decode the message contents into + */ +static inline void mavlink_msg_marker_decode(const mavlink_message_t* msg, mavlink_marker_t* marker) +{ +#if MAVLINK_NEED_BYTE_SWAP + marker->id = mavlink_msg_marker_get_id(msg); + marker->x = mavlink_msg_marker_get_x(msg); + marker->y = mavlink_msg_marker_get_y(msg); + marker->z = mavlink_msg_marker_get_z(msg); + marker->roll = mavlink_msg_marker_get_roll(msg); + marker->pitch = mavlink_msg_marker_get_pitch(msg); + marker->yaw = mavlink_msg_marker_get_yaw(msg); +#else + memcpy(marker, _MAV_PAYLOAD(msg), 26); +#endif +} diff --git a/thirdParty/mavlink/v0.9/pixhawk/mavlink_msg_pattern_detected.h b/thirdParty/mavlink/v0.9/pixhawk/mavlink_msg_pattern_detected.h new file mode 100644 index 0000000000000000000000000000000000000000..ec9c098fd6a3c3d8e8426c0473d86eb501bb8bf3 --- /dev/null +++ b/thirdParty/mavlink/v0.9/pixhawk/mavlink_msg_pattern_detected.h @@ -0,0 +1,204 @@ +// MESSAGE PATTERN_DETECTED PACKING + +#define MAVLINK_MSG_ID_PATTERN_DETECTED 190 + +typedef struct __mavlink_pattern_detected_t +{ + uint8_t type; ///< 0: Pattern, 1: Letter + float confidence; ///< Confidence of detection + char file[100]; ///< Pattern file name + uint8_t detected; ///< Accepted as true detection, 0 no, 1 yes +} mavlink_pattern_detected_t; + +#define MAVLINK_MSG_ID_PATTERN_DETECTED_LEN 106 +#define MAVLINK_MSG_ID_190_LEN 106 + +#define MAVLINK_MSG_PATTERN_DETECTED_FIELD_FILE_LEN 100 + +#define MAVLINK_MESSAGE_INFO_PATTERN_DETECTED { \ + "PATTERN_DETECTED", \ + 4, \ + { { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_pattern_detected_t, type) }, \ + { "confidence", NULL, MAVLINK_TYPE_FLOAT, 0, 1, offsetof(mavlink_pattern_detected_t, confidence) }, \ + { "file", NULL, MAVLINK_TYPE_CHAR, 100, 5, offsetof(mavlink_pattern_detected_t, file) }, \ + { "detected", NULL, MAVLINK_TYPE_UINT8_T, 0, 105, offsetof(mavlink_pattern_detected_t, detected) }, \ + } \ +} + + +/** + * @brief Pack a pattern_detected message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * + * @param type 0: Pattern, 1: Letter + * @param confidence Confidence of detection + * @param file Pattern file name + * @param detected Accepted as true detection, 0 no, 1 yes + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_pattern_detected_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t type, float confidence, const char *file, uint8_t detected) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[106]; + _mav_put_uint8_t(buf, 0, type); + _mav_put_float(buf, 1, confidence); + _mav_put_uint8_t(buf, 105, detected); + _mav_put_char_array(buf, 5, file, 100); + memcpy(_MAV_PAYLOAD(msg), buf, 106); +#else + mavlink_pattern_detected_t packet; + packet.type = type; + packet.confidence = confidence; + packet.detected = detected; + mav_array_memcpy(packet.file, file, sizeof(char)*100); + memcpy(_MAV_PAYLOAD(msg), &packet, 106); +#endif + + msg->msgid = MAVLINK_MSG_ID_PATTERN_DETECTED; + return mavlink_finalize_message(msg, system_id, component_id, 106); +} + +/** + * @brief Pack a pattern_detected message on a channel + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message was sent over + * @param msg The MAVLink message to compress the data into + * @param type 0: Pattern, 1: Letter + * @param confidence Confidence of detection + * @param file Pattern file name + * @param detected Accepted as true detection, 0 no, 1 yes + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_pattern_detected_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t type,float confidence,const char *file,uint8_t detected) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[106]; + _mav_put_uint8_t(buf, 0, type); + _mav_put_float(buf, 1, confidence); + _mav_put_uint8_t(buf, 105, detected); + _mav_put_char_array(buf, 5, file, 100); + memcpy(_MAV_PAYLOAD(msg), buf, 106); +#else + mavlink_pattern_detected_t packet; + packet.type = type; + packet.confidence = confidence; + packet.detected = detected; + mav_array_memcpy(packet.file, file, sizeof(char)*100); + memcpy(_MAV_PAYLOAD(msg), &packet, 106); +#endif + + msg->msgid = MAVLINK_MSG_ID_PATTERN_DETECTED; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 106); +} + +/** + * @brief Encode a pattern_detected 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 pattern_detected C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_pattern_detected_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_pattern_detected_t* pattern_detected) +{ + return mavlink_msg_pattern_detected_pack(system_id, component_id, msg, pattern_detected->type, pattern_detected->confidence, pattern_detected->file, pattern_detected->detected); +} + +/** + * @brief Send a pattern_detected message + * @param chan MAVLink channel to send the message + * + * @param type 0: Pattern, 1: Letter + * @param confidence Confidence of detection + * @param file Pattern file name + * @param detected Accepted as true detection, 0 no, 1 yes + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_pattern_detected_send(mavlink_channel_t chan, uint8_t type, float confidence, const char *file, uint8_t detected) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[106]; + _mav_put_uint8_t(buf, 0, type); + _mav_put_float(buf, 1, confidence); + _mav_put_uint8_t(buf, 105, detected); + _mav_put_char_array(buf, 5, file, 100); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PATTERN_DETECTED, buf, 106); +#else + mavlink_pattern_detected_t packet; + packet.type = type; + packet.confidence = confidence; + packet.detected = detected; + mav_array_memcpy(packet.file, file, sizeof(char)*100); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PATTERN_DETECTED, (const char *)&packet, 106); +#endif +} + +#endif + +// MESSAGE PATTERN_DETECTED UNPACKING + + +/** + * @brief Get field type from pattern_detected message + * + * @return 0: Pattern, 1: Letter + */ +static inline uint8_t mavlink_msg_pattern_detected_get_type(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field confidence from pattern_detected message + * + * @return Confidence of detection + */ +static inline float mavlink_msg_pattern_detected_get_confidence(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 1); +} + +/** + * @brief Get field file from pattern_detected message + * + * @return Pattern file name + */ +static inline uint16_t mavlink_msg_pattern_detected_get_file(const mavlink_message_t* msg, char *file) +{ + return _MAV_RETURN_char_array(msg, file, 100, 5); +} + +/** + * @brief Get field detected from pattern_detected message + * + * @return Accepted as true detection, 0 no, 1 yes + */ +static inline uint8_t mavlink_msg_pattern_detected_get_detected(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 105); +} + +/** + * @brief Decode a pattern_detected message into a struct + * + * @param msg The message to decode + * @param pattern_detected C-struct to decode the message contents into + */ +static inline void mavlink_msg_pattern_detected_decode(const mavlink_message_t* msg, mavlink_pattern_detected_t* pattern_detected) +{ +#if MAVLINK_NEED_BYTE_SWAP + pattern_detected->type = mavlink_msg_pattern_detected_get_type(msg); + pattern_detected->confidence = mavlink_msg_pattern_detected_get_confidence(msg); + mavlink_msg_pattern_detected_get_file(msg, pattern_detected->file); + pattern_detected->detected = mavlink_msg_pattern_detected_get_detected(msg); +#else + memcpy(pattern_detected, _MAV_PAYLOAD(msg), 106); +#endif +} diff --git a/thirdParty/mavlink/v0.9/pixhawk/mavlink_msg_point_of_interest.h b/thirdParty/mavlink/v0.9/pixhawk/mavlink_msg_point_of_interest.h new file mode 100644 index 0000000000000000000000000000000000000000..543f93d109c02a9721bd5ddddce20bb89146ec6c --- /dev/null +++ b/thirdParty/mavlink/v0.9/pixhawk/mavlink_msg_point_of_interest.h @@ -0,0 +1,292 @@ +// MESSAGE POINT_OF_INTEREST PACKING + +#define MAVLINK_MSG_ID_POINT_OF_INTEREST 191 + +typedef struct __mavlink_point_of_interest_t +{ + uint8_t type; ///< 0: Notice, 1: Warning, 2: Critical, 3: Emergency, 4: Debug + uint8_t color; ///< 0: blue, 1: yellow, 2: red, 3: orange, 4: green, 5: magenta + uint8_t coordinate_system; ///< 0: global, 1:local + uint16_t timeout; ///< 0: no timeout, >1: timeout in seconds + float x; ///< X Position + float y; ///< Y Position + float z; ///< Z Position + char name[26]; ///< POI name +} mavlink_point_of_interest_t; + +#define MAVLINK_MSG_ID_POINT_OF_INTEREST_LEN 43 +#define MAVLINK_MSG_ID_191_LEN 43 + +#define MAVLINK_MSG_POINT_OF_INTEREST_FIELD_NAME_LEN 26 + +#define MAVLINK_MESSAGE_INFO_POINT_OF_INTEREST { \ + "POINT_OF_INTEREST", \ + 8, \ + { { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_point_of_interest_t, type) }, \ + { "color", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_point_of_interest_t, color) }, \ + { "coordinate_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_point_of_interest_t, coordinate_system) }, \ + { "timeout", NULL, MAVLINK_TYPE_UINT16_T, 0, 3, offsetof(mavlink_point_of_interest_t, timeout) }, \ + { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 5, offsetof(mavlink_point_of_interest_t, x) }, \ + { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 9, offsetof(mavlink_point_of_interest_t, y) }, \ + { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 13, offsetof(mavlink_point_of_interest_t, z) }, \ + { "name", NULL, MAVLINK_TYPE_CHAR, 26, 17, offsetof(mavlink_point_of_interest_t, name) }, \ + } \ +} + + +/** + * @brief Pack a point_of_interest message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * + * @param type 0: Notice, 1: Warning, 2: Critical, 3: Emergency, 4: Debug + * @param color 0: blue, 1: yellow, 2: red, 3: orange, 4: green, 5: magenta + * @param coordinate_system 0: global, 1:local + * @param timeout 0: no timeout, >1: timeout in seconds + * @param x X Position + * @param y Y Position + * @param z Z Position + * @param name POI name + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_point_of_interest_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t type, uint8_t color, uint8_t coordinate_system, uint16_t timeout, float x, float y, float z, const char *name) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[43]; + _mav_put_uint8_t(buf, 0, type); + _mav_put_uint8_t(buf, 1, color); + _mav_put_uint8_t(buf, 2, coordinate_system); + _mav_put_uint16_t(buf, 3, timeout); + _mav_put_float(buf, 5, x); + _mav_put_float(buf, 9, y); + _mav_put_float(buf, 13, z); + _mav_put_char_array(buf, 17, name, 26); + memcpy(_MAV_PAYLOAD(msg), buf, 43); +#else + mavlink_point_of_interest_t packet; + packet.type = type; + packet.color = color; + packet.coordinate_system = coordinate_system; + packet.timeout = timeout; + packet.x = x; + packet.y = y; + packet.z = z; + mav_array_memcpy(packet.name, name, sizeof(char)*26); + memcpy(_MAV_PAYLOAD(msg), &packet, 43); +#endif + + msg->msgid = MAVLINK_MSG_ID_POINT_OF_INTEREST; + return mavlink_finalize_message(msg, system_id, component_id, 43); +} + +/** + * @brief Pack a point_of_interest message on a channel + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message was sent over + * @param msg The MAVLink message to compress the data into + * @param type 0: Notice, 1: Warning, 2: Critical, 3: Emergency, 4: Debug + * @param color 0: blue, 1: yellow, 2: red, 3: orange, 4: green, 5: magenta + * @param coordinate_system 0: global, 1:local + * @param timeout 0: no timeout, >1: timeout in seconds + * @param x X Position + * @param y Y Position + * @param z Z Position + * @param name POI name + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_point_of_interest_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t type,uint8_t color,uint8_t coordinate_system,uint16_t timeout,float x,float y,float z,const char *name) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[43]; + _mav_put_uint8_t(buf, 0, type); + _mav_put_uint8_t(buf, 1, color); + _mav_put_uint8_t(buf, 2, coordinate_system); + _mav_put_uint16_t(buf, 3, timeout); + _mav_put_float(buf, 5, x); + _mav_put_float(buf, 9, y); + _mav_put_float(buf, 13, z); + _mav_put_char_array(buf, 17, name, 26); + memcpy(_MAV_PAYLOAD(msg), buf, 43); +#else + mavlink_point_of_interest_t packet; + packet.type = type; + packet.color = color; + packet.coordinate_system = coordinate_system; + packet.timeout = timeout; + packet.x = x; + packet.y = y; + packet.z = z; + mav_array_memcpy(packet.name, name, sizeof(char)*26); + memcpy(_MAV_PAYLOAD(msg), &packet, 43); +#endif + + msg->msgid = MAVLINK_MSG_ID_POINT_OF_INTEREST; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 43); +} + +/** + * @brief Encode a point_of_interest 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 point_of_interest C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_point_of_interest_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_point_of_interest_t* point_of_interest) +{ + return mavlink_msg_point_of_interest_pack(system_id, component_id, msg, point_of_interest->type, point_of_interest->color, point_of_interest->coordinate_system, point_of_interest->timeout, point_of_interest->x, point_of_interest->y, point_of_interest->z, point_of_interest->name); +} + +/** + * @brief Send a point_of_interest message + * @param chan MAVLink channel to send the message + * + * @param type 0: Notice, 1: Warning, 2: Critical, 3: Emergency, 4: Debug + * @param color 0: blue, 1: yellow, 2: red, 3: orange, 4: green, 5: magenta + * @param coordinate_system 0: global, 1:local + * @param timeout 0: no timeout, >1: timeout in seconds + * @param x X Position + * @param y Y Position + * @param z Z Position + * @param name POI name + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_point_of_interest_send(mavlink_channel_t chan, uint8_t type, uint8_t color, uint8_t coordinate_system, uint16_t timeout, float x, float y, float z, const char *name) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[43]; + _mav_put_uint8_t(buf, 0, type); + _mav_put_uint8_t(buf, 1, color); + _mav_put_uint8_t(buf, 2, coordinate_system); + _mav_put_uint16_t(buf, 3, timeout); + _mav_put_float(buf, 5, x); + _mav_put_float(buf, 9, y); + _mav_put_float(buf, 13, z); + _mav_put_char_array(buf, 17, name, 26); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POINT_OF_INTEREST, buf, 43); +#else + mavlink_point_of_interest_t packet; + packet.type = type; + packet.color = color; + packet.coordinate_system = coordinate_system; + packet.timeout = timeout; + packet.x = x; + packet.y = y; + packet.z = z; + mav_array_memcpy(packet.name, name, sizeof(char)*26); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POINT_OF_INTEREST, (const char *)&packet, 43); +#endif +} + +#endif + +// MESSAGE POINT_OF_INTEREST UNPACKING + + +/** + * @brief Get field type from point_of_interest message + * + * @return 0: Notice, 1: Warning, 2: Critical, 3: Emergency, 4: Debug + */ +static inline uint8_t mavlink_msg_point_of_interest_get_type(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field color from point_of_interest message + * + * @return 0: blue, 1: yellow, 2: red, 3: orange, 4: green, 5: magenta + */ +static inline uint8_t mavlink_msg_point_of_interest_get_color(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 1); +} + +/** + * @brief Get field coordinate_system from point_of_interest message + * + * @return 0: global, 1:local + */ +static inline uint8_t mavlink_msg_point_of_interest_get_coordinate_system(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 2); +} + +/** + * @brief Get field timeout from point_of_interest message + * + * @return 0: no timeout, >1: timeout in seconds + */ +static inline uint16_t mavlink_msg_point_of_interest_get_timeout(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 3); +} + +/** + * @brief Get field x from point_of_interest message + * + * @return X Position + */ +static inline float mavlink_msg_point_of_interest_get_x(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 5); +} + +/** + * @brief Get field y from point_of_interest message + * + * @return Y Position + */ +static inline float mavlink_msg_point_of_interest_get_y(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 9); +} + +/** + * @brief Get field z from point_of_interest message + * + * @return Z Position + */ +static inline float mavlink_msg_point_of_interest_get_z(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 13); +} + +/** + * @brief Get field name from point_of_interest message + * + * @return POI name + */ +static inline uint16_t mavlink_msg_point_of_interest_get_name(const mavlink_message_t* msg, char *name) +{ + return _MAV_RETURN_char_array(msg, name, 26, 17); +} + +/** + * @brief Decode a point_of_interest message into a struct + * + * @param msg The message to decode + * @param point_of_interest C-struct to decode the message contents into + */ +static inline void mavlink_msg_point_of_interest_decode(const mavlink_message_t* msg, mavlink_point_of_interest_t* point_of_interest) +{ +#if MAVLINK_NEED_BYTE_SWAP + point_of_interest->type = mavlink_msg_point_of_interest_get_type(msg); + point_of_interest->color = mavlink_msg_point_of_interest_get_color(msg); + point_of_interest->coordinate_system = mavlink_msg_point_of_interest_get_coordinate_system(msg); + point_of_interest->timeout = mavlink_msg_point_of_interest_get_timeout(msg); + point_of_interest->x = mavlink_msg_point_of_interest_get_x(msg); + point_of_interest->y = mavlink_msg_point_of_interest_get_y(msg); + point_of_interest->z = mavlink_msg_point_of_interest_get_z(msg); + mavlink_msg_point_of_interest_get_name(msg, point_of_interest->name); +#else + memcpy(point_of_interest, _MAV_PAYLOAD(msg), 43); +#endif +} diff --git a/thirdParty/mavlink/v0.9/pixhawk/mavlink_msg_point_of_interest_connection.h b/thirdParty/mavlink/v0.9/pixhawk/mavlink_msg_point_of_interest_connection.h new file mode 100644 index 0000000000000000000000000000000000000000..d9c70a138c11b8a36f2dcba31945f6eb71581653 --- /dev/null +++ b/thirdParty/mavlink/v0.9/pixhawk/mavlink_msg_point_of_interest_connection.h @@ -0,0 +1,358 @@ +// MESSAGE POINT_OF_INTEREST_CONNECTION PACKING + +#define MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION 192 + +typedef struct __mavlink_point_of_interest_connection_t +{ + uint8_t type; ///< 0: Notice, 1: Warning, 2: Critical, 3: Emergency, 4: Debug + uint8_t color; ///< 0: blue, 1: yellow, 2: red, 3: orange, 4: green, 5: magenta + uint8_t coordinate_system; ///< 0: global, 1:local + uint16_t timeout; ///< 0: no timeout, >1: timeout in seconds + float xp1; ///< X1 Position + float yp1; ///< Y1 Position + float zp1; ///< Z1 Position + float xp2; ///< X2 Position + float yp2; ///< Y2 Position + float zp2; ///< Z2 Position + char name[26]; ///< POI connection name +} mavlink_point_of_interest_connection_t; + +#define MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION_LEN 55 +#define MAVLINK_MSG_ID_192_LEN 55 + +#define MAVLINK_MSG_POINT_OF_INTEREST_CONNECTION_FIELD_NAME_LEN 26 + +#define MAVLINK_MESSAGE_INFO_POINT_OF_INTEREST_CONNECTION { \ + "POINT_OF_INTEREST_CONNECTION", \ + 11, \ + { { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_point_of_interest_connection_t, type) }, \ + { "color", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_point_of_interest_connection_t, color) }, \ + { "coordinate_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_point_of_interest_connection_t, coordinate_system) }, \ + { "timeout", NULL, MAVLINK_TYPE_UINT16_T, 0, 3, offsetof(mavlink_point_of_interest_connection_t, timeout) }, \ + { "xp1", NULL, MAVLINK_TYPE_FLOAT, 0, 5, offsetof(mavlink_point_of_interest_connection_t, xp1) }, \ + { "yp1", NULL, MAVLINK_TYPE_FLOAT, 0, 9, offsetof(mavlink_point_of_interest_connection_t, yp1) }, \ + { "zp1", NULL, MAVLINK_TYPE_FLOAT, 0, 13, offsetof(mavlink_point_of_interest_connection_t, zp1) }, \ + { "xp2", NULL, MAVLINK_TYPE_FLOAT, 0, 17, offsetof(mavlink_point_of_interest_connection_t, xp2) }, \ + { "yp2", NULL, MAVLINK_TYPE_FLOAT, 0, 21, offsetof(mavlink_point_of_interest_connection_t, yp2) }, \ + { "zp2", NULL, MAVLINK_TYPE_FLOAT, 0, 25, offsetof(mavlink_point_of_interest_connection_t, zp2) }, \ + { "name", NULL, MAVLINK_TYPE_CHAR, 26, 29, offsetof(mavlink_point_of_interest_connection_t, name) }, \ + } \ +} + + +/** + * @brief Pack a point_of_interest_connection message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * + * @param type 0: Notice, 1: Warning, 2: Critical, 3: Emergency, 4: Debug + * @param color 0: blue, 1: yellow, 2: red, 3: orange, 4: green, 5: magenta + * @param coordinate_system 0: global, 1:local + * @param timeout 0: no timeout, >1: timeout in seconds + * @param xp1 X1 Position + * @param yp1 Y1 Position + * @param zp1 Z1 Position + * @param xp2 X2 Position + * @param yp2 Y2 Position + * @param zp2 Z2 Position + * @param name POI connection name + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_point_of_interest_connection_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t type, uint8_t color, uint8_t coordinate_system, uint16_t timeout, float xp1, float yp1, float zp1, float xp2, float yp2, float zp2, const char *name) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[55]; + _mav_put_uint8_t(buf, 0, type); + _mav_put_uint8_t(buf, 1, color); + _mav_put_uint8_t(buf, 2, coordinate_system); + _mav_put_uint16_t(buf, 3, timeout); + _mav_put_float(buf, 5, xp1); + _mav_put_float(buf, 9, yp1); + _mav_put_float(buf, 13, zp1); + _mav_put_float(buf, 17, xp2); + _mav_put_float(buf, 21, yp2); + _mav_put_float(buf, 25, zp2); + _mav_put_char_array(buf, 29, name, 26); + memcpy(_MAV_PAYLOAD(msg), buf, 55); +#else + mavlink_point_of_interest_connection_t packet; + packet.type = type; + packet.color = color; + packet.coordinate_system = coordinate_system; + packet.timeout = timeout; + packet.xp1 = xp1; + packet.yp1 = yp1; + packet.zp1 = zp1; + packet.xp2 = xp2; + packet.yp2 = yp2; + packet.zp2 = zp2; + mav_array_memcpy(packet.name, name, sizeof(char)*26); + memcpy(_MAV_PAYLOAD(msg), &packet, 55); +#endif + + msg->msgid = MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION; + return mavlink_finalize_message(msg, system_id, component_id, 55); +} + +/** + * @brief Pack a point_of_interest_connection message on a channel + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message was sent over + * @param msg The MAVLink message to compress the data into + * @param type 0: Notice, 1: Warning, 2: Critical, 3: Emergency, 4: Debug + * @param color 0: blue, 1: yellow, 2: red, 3: orange, 4: green, 5: magenta + * @param coordinate_system 0: global, 1:local + * @param timeout 0: no timeout, >1: timeout in seconds + * @param xp1 X1 Position + * @param yp1 Y1 Position + * @param zp1 Z1 Position + * @param xp2 X2 Position + * @param yp2 Y2 Position + * @param zp2 Z2 Position + * @param name POI connection name + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_point_of_interest_connection_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t type,uint8_t color,uint8_t coordinate_system,uint16_t timeout,float xp1,float yp1,float zp1,float xp2,float yp2,float zp2,const char *name) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[55]; + _mav_put_uint8_t(buf, 0, type); + _mav_put_uint8_t(buf, 1, color); + _mav_put_uint8_t(buf, 2, coordinate_system); + _mav_put_uint16_t(buf, 3, timeout); + _mav_put_float(buf, 5, xp1); + _mav_put_float(buf, 9, yp1); + _mav_put_float(buf, 13, zp1); + _mav_put_float(buf, 17, xp2); + _mav_put_float(buf, 21, yp2); + _mav_put_float(buf, 25, zp2); + _mav_put_char_array(buf, 29, name, 26); + memcpy(_MAV_PAYLOAD(msg), buf, 55); +#else + mavlink_point_of_interest_connection_t packet; + packet.type = type; + packet.color = color; + packet.coordinate_system = coordinate_system; + packet.timeout = timeout; + packet.xp1 = xp1; + packet.yp1 = yp1; + packet.zp1 = zp1; + packet.xp2 = xp2; + packet.yp2 = yp2; + packet.zp2 = zp2; + mav_array_memcpy(packet.name, name, sizeof(char)*26); + memcpy(_MAV_PAYLOAD(msg), &packet, 55); +#endif + + msg->msgid = MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 55); +} + +/** + * @brief Encode a point_of_interest_connection 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 point_of_interest_connection C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_point_of_interest_connection_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_point_of_interest_connection_t* point_of_interest_connection) +{ + return mavlink_msg_point_of_interest_connection_pack(system_id, component_id, msg, point_of_interest_connection->type, point_of_interest_connection->color, point_of_interest_connection->coordinate_system, point_of_interest_connection->timeout, point_of_interest_connection->xp1, point_of_interest_connection->yp1, point_of_interest_connection->zp1, point_of_interest_connection->xp2, point_of_interest_connection->yp2, point_of_interest_connection->zp2, point_of_interest_connection->name); +} + +/** + * @brief Send a point_of_interest_connection message + * @param chan MAVLink channel to send the message + * + * @param type 0: Notice, 1: Warning, 2: Critical, 3: Emergency, 4: Debug + * @param color 0: blue, 1: yellow, 2: red, 3: orange, 4: green, 5: magenta + * @param coordinate_system 0: global, 1:local + * @param timeout 0: no timeout, >1: timeout in seconds + * @param xp1 X1 Position + * @param yp1 Y1 Position + * @param zp1 Z1 Position + * @param xp2 X2 Position + * @param yp2 Y2 Position + * @param zp2 Z2 Position + * @param name POI connection name + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_point_of_interest_connection_send(mavlink_channel_t chan, uint8_t type, uint8_t color, uint8_t coordinate_system, uint16_t timeout, float xp1, float yp1, float zp1, float xp2, float yp2, float zp2, const char *name) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[55]; + _mav_put_uint8_t(buf, 0, type); + _mav_put_uint8_t(buf, 1, color); + _mav_put_uint8_t(buf, 2, coordinate_system); + _mav_put_uint16_t(buf, 3, timeout); + _mav_put_float(buf, 5, xp1); + _mav_put_float(buf, 9, yp1); + _mav_put_float(buf, 13, zp1); + _mav_put_float(buf, 17, xp2); + _mav_put_float(buf, 21, yp2); + _mav_put_float(buf, 25, zp2); + _mav_put_char_array(buf, 29, name, 26); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION, buf, 55); +#else + mavlink_point_of_interest_connection_t packet; + packet.type = type; + packet.color = color; + packet.coordinate_system = coordinate_system; + packet.timeout = timeout; + packet.xp1 = xp1; + packet.yp1 = yp1; + packet.zp1 = zp1; + packet.xp2 = xp2; + packet.yp2 = yp2; + packet.zp2 = zp2; + mav_array_memcpy(packet.name, name, sizeof(char)*26); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION, (const char *)&packet, 55); +#endif +} + +#endif + +// MESSAGE POINT_OF_INTEREST_CONNECTION UNPACKING + + +/** + * @brief Get field type from point_of_interest_connection message + * + * @return 0: Notice, 1: Warning, 2: Critical, 3: Emergency, 4: Debug + */ +static inline uint8_t mavlink_msg_point_of_interest_connection_get_type(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field color from point_of_interest_connection message + * + * @return 0: blue, 1: yellow, 2: red, 3: orange, 4: green, 5: magenta + */ +static inline uint8_t mavlink_msg_point_of_interest_connection_get_color(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 1); +} + +/** + * @brief Get field coordinate_system from point_of_interest_connection message + * + * @return 0: global, 1:local + */ +static inline uint8_t mavlink_msg_point_of_interest_connection_get_coordinate_system(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 2); +} + +/** + * @brief Get field timeout from point_of_interest_connection message + * + * @return 0: no timeout, >1: timeout in seconds + */ +static inline uint16_t mavlink_msg_point_of_interest_connection_get_timeout(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 3); +} + +/** + * @brief Get field xp1 from point_of_interest_connection message + * + * @return X1 Position + */ +static inline float mavlink_msg_point_of_interest_connection_get_xp1(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 5); +} + +/** + * @brief Get field yp1 from point_of_interest_connection message + * + * @return Y1 Position + */ +static inline float mavlink_msg_point_of_interest_connection_get_yp1(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 9); +} + +/** + * @brief Get field zp1 from point_of_interest_connection message + * + * @return Z1 Position + */ +static inline float mavlink_msg_point_of_interest_connection_get_zp1(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 13); +} + +/** + * @brief Get field xp2 from point_of_interest_connection message + * + * @return X2 Position + */ +static inline float mavlink_msg_point_of_interest_connection_get_xp2(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 17); +} + +/** + * @brief Get field yp2 from point_of_interest_connection message + * + * @return Y2 Position + */ +static inline float mavlink_msg_point_of_interest_connection_get_yp2(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 21); +} + +/** + * @brief Get field zp2 from point_of_interest_connection message + * + * @return Z2 Position + */ +static inline float mavlink_msg_point_of_interest_connection_get_zp2(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 25); +} + +/** + * @brief Get field name from point_of_interest_connection message + * + * @return POI connection name + */ +static inline uint16_t mavlink_msg_point_of_interest_connection_get_name(const mavlink_message_t* msg, char *name) +{ + return _MAV_RETURN_char_array(msg, name, 26, 29); +} + +/** + * @brief Decode a point_of_interest_connection message into a struct + * + * @param msg The message to decode + * @param point_of_interest_connection C-struct to decode the message contents into + */ +static inline void mavlink_msg_point_of_interest_connection_decode(const mavlink_message_t* msg, mavlink_point_of_interest_connection_t* point_of_interest_connection) +{ +#if MAVLINK_NEED_BYTE_SWAP + point_of_interest_connection->type = mavlink_msg_point_of_interest_connection_get_type(msg); + point_of_interest_connection->color = mavlink_msg_point_of_interest_connection_get_color(msg); + point_of_interest_connection->coordinate_system = mavlink_msg_point_of_interest_connection_get_coordinate_system(msg); + point_of_interest_connection->timeout = mavlink_msg_point_of_interest_connection_get_timeout(msg); + point_of_interest_connection->xp1 = mavlink_msg_point_of_interest_connection_get_xp1(msg); + point_of_interest_connection->yp1 = mavlink_msg_point_of_interest_connection_get_yp1(msg); + point_of_interest_connection->zp1 = mavlink_msg_point_of_interest_connection_get_zp1(msg); + point_of_interest_connection->xp2 = mavlink_msg_point_of_interest_connection_get_xp2(msg); + point_of_interest_connection->yp2 = mavlink_msg_point_of_interest_connection_get_yp2(msg); + point_of_interest_connection->zp2 = mavlink_msg_point_of_interest_connection_get_zp2(msg); + mavlink_msg_point_of_interest_connection_get_name(msg, point_of_interest_connection->name); +#else + memcpy(point_of_interest_connection, _MAV_PAYLOAD(msg), 55); +#endif +} diff --git a/thirdParty/mavlink/v0.9/pixhawk/mavlink_msg_position_control_offset_set.h b/thirdParty/mavlink/v0.9/pixhawk/mavlink_msg_position_control_offset_set.h new file mode 100644 index 0000000000000000000000000000000000000000..2d5f400e44ddeca6c8f686a7a981f6836773c543 --- /dev/null +++ b/thirdParty/mavlink/v0.9/pixhawk/mavlink_msg_position_control_offset_set.h @@ -0,0 +1,254 @@ +// MESSAGE POSITION_CONTROL_OFFSET_SET PACKING + +#define MAVLINK_MSG_ID_POSITION_CONTROL_OFFSET_SET 160 + +typedef struct __mavlink_position_control_offset_set_t +{ + uint8_t target_system; ///< System ID + uint8_t target_component; ///< Component ID + float x; ///< x position offset + float y; ///< y position offset + float z; ///< z position offset + float yaw; ///< yaw orientation offset in radians, 0 = NORTH +} mavlink_position_control_offset_set_t; + +#define MAVLINK_MSG_ID_POSITION_CONTROL_OFFSET_SET_LEN 18 +#define MAVLINK_MSG_ID_160_LEN 18 + + + +#define MAVLINK_MESSAGE_INFO_POSITION_CONTROL_OFFSET_SET { \ + "POSITION_CONTROL_OFFSET_SET", \ + 6, \ + { { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_position_control_offset_set_t, target_system) }, \ + { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_position_control_offset_set_t, target_component) }, \ + { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 2, offsetof(mavlink_position_control_offset_set_t, x) }, \ + { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 6, offsetof(mavlink_position_control_offset_set_t, y) }, \ + { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 10, offsetof(mavlink_position_control_offset_set_t, z) }, \ + { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 14, offsetof(mavlink_position_control_offset_set_t, yaw) }, \ + } \ +} + + +/** + * @brief Pack a position_control_offset_set 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 target_component Component ID + * @param x x position offset + * @param y y position offset + * @param z z position offset + * @param yaw yaw orientation offset in radians, 0 = NORTH + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_position_control_offset_set_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target_system, uint8_t target_component, float x, float y, float z, float yaw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[18]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_float(buf, 2, x); + _mav_put_float(buf, 6, y); + _mav_put_float(buf, 10, z); + _mav_put_float(buf, 14, yaw); + + memcpy(_MAV_PAYLOAD(msg), buf, 18); +#else + mavlink_position_control_offset_set_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.x = x; + packet.y = y; + packet.z = z; + packet.yaw = yaw; + + memcpy(_MAV_PAYLOAD(msg), &packet, 18); +#endif + + msg->msgid = MAVLINK_MSG_ID_POSITION_CONTROL_OFFSET_SET; + return mavlink_finalize_message(msg, system_id, component_id, 18); +} + +/** + * @brief Pack a position_control_offset_set 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 target_component Component ID + * @param x x position offset + * @param y y position offset + * @param z z position offset + * @param yaw yaw orientation offset in radians, 0 = NORTH + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_position_control_offset_set_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t target_system,uint8_t target_component,float x,float y,float z,float yaw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[18]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_float(buf, 2, x); + _mav_put_float(buf, 6, y); + _mav_put_float(buf, 10, z); + _mav_put_float(buf, 14, yaw); + + memcpy(_MAV_PAYLOAD(msg), buf, 18); +#else + mavlink_position_control_offset_set_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.x = x; + packet.y = y; + packet.z = z; + packet.yaw = yaw; + + memcpy(_MAV_PAYLOAD(msg), &packet, 18); +#endif + + msg->msgid = MAVLINK_MSG_ID_POSITION_CONTROL_OFFSET_SET; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 18); +} + +/** + * @brief Encode a position_control_offset_set 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 position_control_offset_set C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_position_control_offset_set_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_position_control_offset_set_t* position_control_offset_set) +{ + return mavlink_msg_position_control_offset_set_pack(system_id, component_id, msg, position_control_offset_set->target_system, position_control_offset_set->target_component, position_control_offset_set->x, position_control_offset_set->y, position_control_offset_set->z, position_control_offset_set->yaw); +} + +/** + * @brief Send a position_control_offset_set message + * @param chan MAVLink channel to send the message + * + * @param target_system System ID + * @param target_component Component ID + * @param x x position offset + * @param y y position offset + * @param z z position offset + * @param yaw yaw orientation offset in radians, 0 = NORTH + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_position_control_offset_set_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, float x, float y, float z, float yaw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[18]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_float(buf, 2, x); + _mav_put_float(buf, 6, y); + _mav_put_float(buf, 10, z); + _mav_put_float(buf, 14, yaw); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_CONTROL_OFFSET_SET, buf, 18); +#else + mavlink_position_control_offset_set_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.x = x; + packet.y = y; + packet.z = z; + packet.yaw = yaw; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_CONTROL_OFFSET_SET, (const char *)&packet, 18); +#endif +} + +#endif + +// MESSAGE POSITION_CONTROL_OFFSET_SET UNPACKING + + +/** + * @brief Get field target_system from position_control_offset_set message + * + * @return System ID + */ +static inline uint8_t mavlink_msg_position_control_offset_set_get_target_system(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field target_component from position_control_offset_set message + * + * @return Component ID + */ +static inline uint8_t mavlink_msg_position_control_offset_set_get_target_component(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 1); +} + +/** + * @brief Get field x from position_control_offset_set message + * + * @return x position offset + */ +static inline float mavlink_msg_position_control_offset_set_get_x(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 2); +} + +/** + * @brief Get field y from position_control_offset_set message + * + * @return y position offset + */ +static inline float mavlink_msg_position_control_offset_set_get_y(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 6); +} + +/** + * @brief Get field z from position_control_offset_set message + * + * @return z position offset + */ +static inline float mavlink_msg_position_control_offset_set_get_z(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 10); +} + +/** + * @brief Get field yaw from position_control_offset_set message + * + * @return yaw orientation offset in radians, 0 = NORTH + */ +static inline float mavlink_msg_position_control_offset_set_get_yaw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 14); +} + +/** + * @brief Decode a position_control_offset_set message into a struct + * + * @param msg The message to decode + * @param position_control_offset_set C-struct to decode the message contents into + */ +static inline void mavlink_msg_position_control_offset_set_decode(const mavlink_message_t* msg, mavlink_position_control_offset_set_t* position_control_offset_set) +{ +#if MAVLINK_NEED_BYTE_SWAP + position_control_offset_set->target_system = mavlink_msg_position_control_offset_set_get_target_system(msg); + position_control_offset_set->target_component = mavlink_msg_position_control_offset_set_get_target_component(msg); + position_control_offset_set->x = mavlink_msg_position_control_offset_set_get_x(msg); + position_control_offset_set->y = mavlink_msg_position_control_offset_set_get_y(msg); + position_control_offset_set->z = mavlink_msg_position_control_offset_set_get_z(msg); + position_control_offset_set->yaw = mavlink_msg_position_control_offset_set_get_yaw(msg); +#else + memcpy(position_control_offset_set, _MAV_PAYLOAD(msg), 18); +#endif +} diff --git a/thirdParty/mavlink/v0.9/pixhawk/mavlink_msg_position_control_setpoint.h b/thirdParty/mavlink/v0.9/pixhawk/mavlink_msg_position_control_setpoint.h new file mode 100644 index 0000000000000000000000000000000000000000..154805205829aac34b33cff5558c410f64312e78 --- /dev/null +++ b/thirdParty/mavlink/v0.9/pixhawk/mavlink_msg_position_control_setpoint.h @@ -0,0 +1,232 @@ +// MESSAGE POSITION_CONTROL_SETPOINT PACKING + +#define MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT 170 + +typedef struct __mavlink_position_control_setpoint_t +{ + uint16_t id; ///< ID of waypoint, 0 for plain position + float x; ///< x position + float y; ///< y position + float z; ///< z position + float yaw; ///< yaw orientation in radians, 0 = NORTH +} mavlink_position_control_setpoint_t; + +#define MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_LEN 18 +#define MAVLINK_MSG_ID_170_LEN 18 + + + +#define MAVLINK_MESSAGE_INFO_POSITION_CONTROL_SETPOINT { \ + "POSITION_CONTROL_SETPOINT", \ + 5, \ + { { "id", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_position_control_setpoint_t, id) }, \ + { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 2, offsetof(mavlink_position_control_setpoint_t, x) }, \ + { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 6, offsetof(mavlink_position_control_setpoint_t, y) }, \ + { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 10, offsetof(mavlink_position_control_setpoint_t, z) }, \ + { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 14, offsetof(mavlink_position_control_setpoint_t, yaw) }, \ + } \ +} + + +/** + * @brief Pack a position_control_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 id ID of waypoint, 0 for plain position + * @param x x position + * @param y y position + * @param z z position + * @param yaw yaw orientation in radians, 0 = NORTH + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_position_control_setpoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint16_t id, float x, float y, float z, float yaw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[18]; + _mav_put_uint16_t(buf, 0, id); + _mav_put_float(buf, 2, x); + _mav_put_float(buf, 6, y); + _mav_put_float(buf, 10, z); + _mav_put_float(buf, 14, yaw); + + memcpy(_MAV_PAYLOAD(msg), buf, 18); +#else + mavlink_position_control_setpoint_t packet; + packet.id = id; + packet.x = x; + packet.y = y; + packet.z = z; + packet.yaw = yaw; + + memcpy(_MAV_PAYLOAD(msg), &packet, 18); +#endif + + msg->msgid = MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT; + return mavlink_finalize_message(msg, system_id, component_id, 18); +} + +/** + * @brief Pack a position_control_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 id ID of waypoint, 0 for plain position + * @param x x position + * @param y y position + * @param z z position + * @param yaw yaw orientation in radians, 0 = NORTH + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_position_control_setpoint_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint16_t id,float x,float y,float z,float yaw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[18]; + _mav_put_uint16_t(buf, 0, id); + _mav_put_float(buf, 2, x); + _mav_put_float(buf, 6, y); + _mav_put_float(buf, 10, z); + _mav_put_float(buf, 14, yaw); + + memcpy(_MAV_PAYLOAD(msg), buf, 18); +#else + mavlink_position_control_setpoint_t packet; + packet.id = id; + packet.x = x; + packet.y = y; + packet.z = z; + packet.yaw = yaw; + + memcpy(_MAV_PAYLOAD(msg), &packet, 18); +#endif + + msg->msgid = MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 18); +} + +/** + * @brief Encode a position_control_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 position_control_setpoint C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_position_control_setpoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_position_control_setpoint_t* position_control_setpoint) +{ + return mavlink_msg_position_control_setpoint_pack(system_id, component_id, msg, position_control_setpoint->id, position_control_setpoint->x, position_control_setpoint->y, position_control_setpoint->z, position_control_setpoint->yaw); +} + +/** + * @brief Send a position_control_setpoint message + * @param chan MAVLink channel to send the message + * + * @param id ID of waypoint, 0 for plain position + * @param x x position + * @param y y position + * @param z z position + * @param yaw yaw orientation in radians, 0 = NORTH + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_position_control_setpoint_send(mavlink_channel_t chan, uint16_t id, float x, float y, float z, float yaw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[18]; + _mav_put_uint16_t(buf, 0, id); + _mav_put_float(buf, 2, x); + _mav_put_float(buf, 6, y); + _mav_put_float(buf, 10, z); + _mav_put_float(buf, 14, yaw); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT, buf, 18); +#else + mavlink_position_control_setpoint_t packet; + packet.id = id; + packet.x = x; + packet.y = y; + packet.z = z; + packet.yaw = yaw; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT, (const char *)&packet, 18); +#endif +} + +#endif + +// MESSAGE POSITION_CONTROL_SETPOINT UNPACKING + + +/** + * @brief Get field id from position_control_setpoint message + * + * @return ID of waypoint, 0 for plain position + */ +static inline uint16_t mavlink_msg_position_control_setpoint_get_id(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 0); +} + +/** + * @brief Get field x from position_control_setpoint message + * + * @return x position + */ +static inline float mavlink_msg_position_control_setpoint_get_x(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 2); +} + +/** + * @brief Get field y from position_control_setpoint message + * + * @return y position + */ +static inline float mavlink_msg_position_control_setpoint_get_y(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 6); +} + +/** + * @brief Get field z from position_control_setpoint message + * + * @return z position + */ +static inline float mavlink_msg_position_control_setpoint_get_z(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 10); +} + +/** + * @brief Get field yaw from position_control_setpoint message + * + * @return yaw orientation in radians, 0 = NORTH + */ +static inline float mavlink_msg_position_control_setpoint_get_yaw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 14); +} + +/** + * @brief Decode a position_control_setpoint message into a struct + * + * @param msg The message to decode + * @param position_control_setpoint C-struct to decode the message contents into + */ +static inline void mavlink_msg_position_control_setpoint_decode(const mavlink_message_t* msg, mavlink_position_control_setpoint_t* position_control_setpoint) +{ +#if MAVLINK_NEED_BYTE_SWAP + position_control_setpoint->id = mavlink_msg_position_control_setpoint_get_id(msg); + position_control_setpoint->x = mavlink_msg_position_control_setpoint_get_x(msg); + position_control_setpoint->y = mavlink_msg_position_control_setpoint_get_y(msg); + position_control_setpoint->z = mavlink_msg_position_control_setpoint_get_z(msg); + position_control_setpoint->yaw = mavlink_msg_position_control_setpoint_get_yaw(msg); +#else + memcpy(position_control_setpoint, _MAV_PAYLOAD(msg), 18); +#endif +} diff --git a/thirdParty/mavlink/v0.9/pixhawk/mavlink_msg_position_control_setpoint_set.h b/thirdParty/mavlink/v0.9/pixhawk/mavlink_msg_position_control_setpoint_set.h new file mode 100644 index 0000000000000000000000000000000000000000..e2369202732b181cddd4c8f4a249ffa0b89d3471 --- /dev/null +++ b/thirdParty/mavlink/v0.9/pixhawk/mavlink_msg_position_control_setpoint_set.h @@ -0,0 +1,276 @@ +// MESSAGE POSITION_CONTROL_SETPOINT_SET PACKING + +#define MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_SET 159 + +typedef struct __mavlink_position_control_setpoint_set_t +{ + uint8_t target_system; ///< System ID + uint8_t target_component; ///< Component ID + uint16_t id; ///< ID of waypoint, 0 for plain position + float x; ///< x position + float y; ///< y position + float z; ///< z position + float yaw; ///< yaw orientation in radians, 0 = NORTH +} mavlink_position_control_setpoint_set_t; + +#define MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_SET_LEN 20 +#define MAVLINK_MSG_ID_159_LEN 20 + + + +#define MAVLINK_MESSAGE_INFO_POSITION_CONTROL_SETPOINT_SET { \ + "POSITION_CONTROL_SETPOINT_SET", \ + 7, \ + { { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_position_control_setpoint_set_t, target_system) }, \ + { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_position_control_setpoint_set_t, target_component) }, \ + { "id", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_position_control_setpoint_set_t, id) }, \ + { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_position_control_setpoint_set_t, x) }, \ + { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_position_control_setpoint_set_t, y) }, \ + { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_position_control_setpoint_set_t, z) }, \ + { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_position_control_setpoint_set_t, yaw) }, \ + } \ +} + + +/** + * @brief Pack a position_control_setpoint_set 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 target_component Component ID + * @param id ID of waypoint, 0 for plain position + * @param x x position + * @param y y position + * @param z z position + * @param yaw yaw orientation in radians, 0 = NORTH + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_position_control_setpoint_set_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target_system, uint8_t target_component, uint16_t id, float x, float y, float z, float yaw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[20]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_uint16_t(buf, 2, id); + _mav_put_float(buf, 4, x); + _mav_put_float(buf, 8, y); + _mav_put_float(buf, 12, z); + _mav_put_float(buf, 16, yaw); + + memcpy(_MAV_PAYLOAD(msg), buf, 20); +#else + mavlink_position_control_setpoint_set_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.id = id; + packet.x = x; + packet.y = y; + packet.z = z; + packet.yaw = yaw; + + memcpy(_MAV_PAYLOAD(msg), &packet, 20); +#endif + + msg->msgid = MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_SET; + return mavlink_finalize_message(msg, system_id, component_id, 20); +} + +/** + * @brief Pack a position_control_setpoint_set 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 target_component Component ID + * @param id ID of waypoint, 0 for plain position + * @param x x position + * @param y y position + * @param z z position + * @param yaw yaw orientation in radians, 0 = NORTH + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_position_control_setpoint_set_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t target_system,uint8_t target_component,uint16_t id,float x,float y,float z,float yaw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[20]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_uint16_t(buf, 2, id); + _mav_put_float(buf, 4, x); + _mav_put_float(buf, 8, y); + _mav_put_float(buf, 12, z); + _mav_put_float(buf, 16, yaw); + + memcpy(_MAV_PAYLOAD(msg), buf, 20); +#else + mavlink_position_control_setpoint_set_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.id = id; + packet.x = x; + packet.y = y; + packet.z = z; + packet.yaw = yaw; + + memcpy(_MAV_PAYLOAD(msg), &packet, 20); +#endif + + msg->msgid = MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_SET; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 20); +} + +/** + * @brief Encode a position_control_setpoint_set 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 position_control_setpoint_set C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_position_control_setpoint_set_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_position_control_setpoint_set_t* position_control_setpoint_set) +{ + return mavlink_msg_position_control_setpoint_set_pack(system_id, component_id, msg, position_control_setpoint_set->target_system, position_control_setpoint_set->target_component, position_control_setpoint_set->id, position_control_setpoint_set->x, position_control_setpoint_set->y, position_control_setpoint_set->z, position_control_setpoint_set->yaw); +} + +/** + * @brief Send a position_control_setpoint_set message + * @param chan MAVLink channel to send the message + * + * @param target_system System ID + * @param target_component Component ID + * @param id ID of waypoint, 0 for plain position + * @param x x position + * @param y y position + * @param z z position + * @param yaw yaw orientation in radians, 0 = NORTH + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_position_control_setpoint_set_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t id, float x, float y, float z, float yaw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[20]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_uint16_t(buf, 2, id); + _mav_put_float(buf, 4, x); + _mav_put_float(buf, 8, y); + _mav_put_float(buf, 12, z); + _mav_put_float(buf, 16, yaw); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_SET, buf, 20); +#else + mavlink_position_control_setpoint_set_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.id = id; + packet.x = x; + packet.y = y; + packet.z = z; + packet.yaw = yaw; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_SET, (const char *)&packet, 20); +#endif +} + +#endif + +// MESSAGE POSITION_CONTROL_SETPOINT_SET UNPACKING + + +/** + * @brief Get field target_system from position_control_setpoint_set message + * + * @return System ID + */ +static inline uint8_t mavlink_msg_position_control_setpoint_set_get_target_system(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field target_component from position_control_setpoint_set message + * + * @return Component ID + */ +static inline uint8_t mavlink_msg_position_control_setpoint_set_get_target_component(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 1); +} + +/** + * @brief Get field id from position_control_setpoint_set message + * + * @return ID of waypoint, 0 for plain position + */ +static inline uint16_t mavlink_msg_position_control_setpoint_set_get_id(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 2); +} + +/** + * @brief Get field x from position_control_setpoint_set message + * + * @return x position + */ +static inline float mavlink_msg_position_control_setpoint_set_get_x(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 4); +} + +/** + * @brief Get field y from position_control_setpoint_set message + * + * @return y position + */ +static inline float mavlink_msg_position_control_setpoint_set_get_y(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 8); +} + +/** + * @brief Get field z from position_control_setpoint_set message + * + * @return z position + */ +static inline float mavlink_msg_position_control_setpoint_set_get_z(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 12); +} + +/** + * @brief Get field yaw from position_control_setpoint_set message + * + * @return yaw orientation in radians, 0 = NORTH + */ +static inline float mavlink_msg_position_control_setpoint_set_get_yaw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 16); +} + +/** + * @brief Decode a position_control_setpoint_set message into a struct + * + * @param msg The message to decode + * @param position_control_setpoint_set C-struct to decode the message contents into + */ +static inline void mavlink_msg_position_control_setpoint_set_decode(const mavlink_message_t* msg, mavlink_position_control_setpoint_set_t* position_control_setpoint_set) +{ +#if MAVLINK_NEED_BYTE_SWAP + position_control_setpoint_set->target_system = mavlink_msg_position_control_setpoint_set_get_target_system(msg); + position_control_setpoint_set->target_component = mavlink_msg_position_control_setpoint_set_get_target_component(msg); + position_control_setpoint_set->id = mavlink_msg_position_control_setpoint_set_get_id(msg); + position_control_setpoint_set->x = mavlink_msg_position_control_setpoint_set_get_x(msg); + position_control_setpoint_set->y = mavlink_msg_position_control_setpoint_set_get_y(msg); + position_control_setpoint_set->z = mavlink_msg_position_control_setpoint_set_get_z(msg); + position_control_setpoint_set->yaw = mavlink_msg_position_control_setpoint_set_get_yaw(msg); +#else + memcpy(position_control_setpoint_set, _MAV_PAYLOAD(msg), 20); +#endif +} diff --git a/thirdParty/mavlink/v0.9/pixhawk/mavlink_msg_raw_aux.h b/thirdParty/mavlink/v0.9/pixhawk/mavlink_msg_raw_aux.h new file mode 100644 index 0000000000000000000000000000000000000000..dad8126b67c8691ec26f5afb826f4667fa98a340 --- /dev/null +++ b/thirdParty/mavlink/v0.9/pixhawk/mavlink_msg_raw_aux.h @@ -0,0 +1,276 @@ +// MESSAGE RAW_AUX PACKING + +#define MAVLINK_MSG_ID_RAW_AUX 172 + +typedef struct __mavlink_raw_aux_t +{ + uint16_t adc1; ///< ADC1 (J405 ADC3, LPC2148 AD0.6) + uint16_t adc2; ///< ADC2 (J405 ADC5, LPC2148 AD0.2) + uint16_t adc3; ///< ADC3 (J405 ADC6, LPC2148 AD0.1) + uint16_t adc4; ///< ADC4 (J405 ADC7, LPC2148 AD1.3) + uint16_t vbat; ///< Battery voltage + int16_t temp; ///< Temperature (degrees celcius) + int32_t baro; ///< Barometric pressure (hecto Pascal) +} mavlink_raw_aux_t; + +#define MAVLINK_MSG_ID_RAW_AUX_LEN 16 +#define MAVLINK_MSG_ID_172_LEN 16 + + + +#define MAVLINK_MESSAGE_INFO_RAW_AUX { \ + "RAW_AUX", \ + 7, \ + { { "adc1", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_raw_aux_t, adc1) }, \ + { "adc2", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_raw_aux_t, adc2) }, \ + { "adc3", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_raw_aux_t, adc3) }, \ + { "adc4", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_raw_aux_t, adc4) }, \ + { "vbat", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_raw_aux_t, vbat) }, \ + { "temp", NULL, MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_raw_aux_t, temp) }, \ + { "baro", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_raw_aux_t, baro) }, \ + } \ +} + + +/** + * @brief Pack a raw_aux 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 adc1 ADC1 (J405 ADC3, LPC2148 AD0.6) + * @param adc2 ADC2 (J405 ADC5, LPC2148 AD0.2) + * @param adc3 ADC3 (J405 ADC6, LPC2148 AD0.1) + * @param adc4 ADC4 (J405 ADC7, LPC2148 AD1.3) + * @param vbat Battery voltage + * @param temp Temperature (degrees celcius) + * @param baro Barometric pressure (hecto Pascal) + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_raw_aux_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint16_t adc1, uint16_t adc2, uint16_t adc3, uint16_t adc4, uint16_t vbat, int16_t temp, int32_t baro) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[16]; + _mav_put_uint16_t(buf, 0, adc1); + _mav_put_uint16_t(buf, 2, adc2); + _mav_put_uint16_t(buf, 4, adc3); + _mav_put_uint16_t(buf, 6, adc4); + _mav_put_uint16_t(buf, 8, vbat); + _mav_put_int16_t(buf, 10, temp); + _mav_put_int32_t(buf, 12, baro); + + memcpy(_MAV_PAYLOAD(msg), buf, 16); +#else + mavlink_raw_aux_t packet; + packet.adc1 = adc1; + packet.adc2 = adc2; + packet.adc3 = adc3; + packet.adc4 = adc4; + packet.vbat = vbat; + packet.temp = temp; + packet.baro = baro; + + memcpy(_MAV_PAYLOAD(msg), &packet, 16); +#endif + + msg->msgid = MAVLINK_MSG_ID_RAW_AUX; + return mavlink_finalize_message(msg, system_id, component_id, 16); +} + +/** + * @brief Pack a raw_aux 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 adc1 ADC1 (J405 ADC3, LPC2148 AD0.6) + * @param adc2 ADC2 (J405 ADC5, LPC2148 AD0.2) + * @param adc3 ADC3 (J405 ADC6, LPC2148 AD0.1) + * @param adc4 ADC4 (J405 ADC7, LPC2148 AD1.3) + * @param vbat Battery voltage + * @param temp Temperature (degrees celcius) + * @param baro Barometric pressure (hecto Pascal) + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_raw_aux_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint16_t adc1,uint16_t adc2,uint16_t adc3,uint16_t adc4,uint16_t vbat,int16_t temp,int32_t baro) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[16]; + _mav_put_uint16_t(buf, 0, adc1); + _mav_put_uint16_t(buf, 2, adc2); + _mav_put_uint16_t(buf, 4, adc3); + _mav_put_uint16_t(buf, 6, adc4); + _mav_put_uint16_t(buf, 8, vbat); + _mav_put_int16_t(buf, 10, temp); + _mav_put_int32_t(buf, 12, baro); + + memcpy(_MAV_PAYLOAD(msg), buf, 16); +#else + mavlink_raw_aux_t packet; + packet.adc1 = adc1; + packet.adc2 = adc2; + packet.adc3 = adc3; + packet.adc4 = adc4; + packet.vbat = vbat; + packet.temp = temp; + packet.baro = baro; + + memcpy(_MAV_PAYLOAD(msg), &packet, 16); +#endif + + msg->msgid = MAVLINK_MSG_ID_RAW_AUX; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 16); +} + +/** + * @brief Encode a raw_aux 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 raw_aux C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_raw_aux_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_raw_aux_t* raw_aux) +{ + return mavlink_msg_raw_aux_pack(system_id, component_id, msg, raw_aux->adc1, raw_aux->adc2, raw_aux->adc3, raw_aux->adc4, raw_aux->vbat, raw_aux->temp, raw_aux->baro); +} + +/** + * @brief Send a raw_aux message + * @param chan MAVLink channel to send the message + * + * @param adc1 ADC1 (J405 ADC3, LPC2148 AD0.6) + * @param adc2 ADC2 (J405 ADC5, LPC2148 AD0.2) + * @param adc3 ADC3 (J405 ADC6, LPC2148 AD0.1) + * @param adc4 ADC4 (J405 ADC7, LPC2148 AD1.3) + * @param vbat Battery voltage + * @param temp Temperature (degrees celcius) + * @param baro Barometric pressure (hecto Pascal) + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_raw_aux_send(mavlink_channel_t chan, uint16_t adc1, uint16_t adc2, uint16_t adc3, uint16_t adc4, uint16_t vbat, int16_t temp, int32_t baro) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[16]; + _mav_put_uint16_t(buf, 0, adc1); + _mav_put_uint16_t(buf, 2, adc2); + _mav_put_uint16_t(buf, 4, adc3); + _mav_put_uint16_t(buf, 6, adc4); + _mav_put_uint16_t(buf, 8, vbat); + _mav_put_int16_t(buf, 10, temp); + _mav_put_int32_t(buf, 12, baro); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_AUX, buf, 16); +#else + mavlink_raw_aux_t packet; + packet.adc1 = adc1; + packet.adc2 = adc2; + packet.adc3 = adc3; + packet.adc4 = adc4; + packet.vbat = vbat; + packet.temp = temp; + packet.baro = baro; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_AUX, (const char *)&packet, 16); +#endif +} + +#endif + +// MESSAGE RAW_AUX UNPACKING + + +/** + * @brief Get field adc1 from raw_aux message + * + * @return ADC1 (J405 ADC3, LPC2148 AD0.6) + */ +static inline uint16_t mavlink_msg_raw_aux_get_adc1(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 0); +} + +/** + * @brief Get field adc2 from raw_aux message + * + * @return ADC2 (J405 ADC5, LPC2148 AD0.2) + */ +static inline uint16_t mavlink_msg_raw_aux_get_adc2(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 2); +} + +/** + * @brief Get field adc3 from raw_aux message + * + * @return ADC3 (J405 ADC6, LPC2148 AD0.1) + */ +static inline uint16_t mavlink_msg_raw_aux_get_adc3(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 4); +} + +/** + * @brief Get field adc4 from raw_aux message + * + * @return ADC4 (J405 ADC7, LPC2148 AD1.3) + */ +static inline uint16_t mavlink_msg_raw_aux_get_adc4(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 6); +} + +/** + * @brief Get field vbat from raw_aux message + * + * @return Battery voltage + */ +static inline uint16_t mavlink_msg_raw_aux_get_vbat(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 8); +} + +/** + * @brief Get field temp from raw_aux message + * + * @return Temperature (degrees celcius) + */ +static inline int16_t mavlink_msg_raw_aux_get_temp(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 10); +} + +/** + * @brief Get field baro from raw_aux message + * + * @return Barometric pressure (hecto Pascal) + */ +static inline int32_t mavlink_msg_raw_aux_get_baro(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int32_t(msg, 12); +} + +/** + * @brief Decode a raw_aux message into a struct + * + * @param msg The message to decode + * @param raw_aux C-struct to decode the message contents into + */ +static inline void mavlink_msg_raw_aux_decode(const mavlink_message_t* msg, mavlink_raw_aux_t* raw_aux) +{ +#if MAVLINK_NEED_BYTE_SWAP + raw_aux->adc1 = mavlink_msg_raw_aux_get_adc1(msg); + raw_aux->adc2 = mavlink_msg_raw_aux_get_adc2(msg); + raw_aux->adc3 = mavlink_msg_raw_aux_get_adc3(msg); + raw_aux->adc4 = mavlink_msg_raw_aux_get_adc4(msg); + raw_aux->vbat = mavlink_msg_raw_aux_get_vbat(msg); + raw_aux->temp = mavlink_msg_raw_aux_get_temp(msg); + raw_aux->baro = mavlink_msg_raw_aux_get_baro(msg); +#else + memcpy(raw_aux, _MAV_PAYLOAD(msg), 16); +#endif +} diff --git a/thirdParty/mavlink/v0.9/pixhawk/mavlink_msg_set_cam_shutter.h b/thirdParty/mavlink/v0.9/pixhawk/mavlink_msg_set_cam_shutter.h new file mode 100644 index 0000000000000000000000000000000000000000..feb13cd734a7c40072168e9b9d36e1a01c50e120 --- /dev/null +++ b/thirdParty/mavlink/v0.9/pixhawk/mavlink_msg_set_cam_shutter.h @@ -0,0 +1,254 @@ +// MESSAGE SET_CAM_SHUTTER PACKING + +#define MAVLINK_MSG_ID_SET_CAM_SHUTTER 151 + +typedef struct __mavlink_set_cam_shutter_t +{ + uint8_t cam_no; ///< Camera id + uint8_t cam_mode; ///< Camera mode: 0 = auto, 1 = manual + uint8_t trigger_pin; ///< Trigger pin, 0-3 for PtGrey FireFly + uint16_t interval; ///< Shutter interval, in microseconds + uint16_t exposure; ///< Exposure time, in microseconds + float gain; ///< Camera gain +} mavlink_set_cam_shutter_t; + +#define MAVLINK_MSG_ID_SET_CAM_SHUTTER_LEN 11 +#define MAVLINK_MSG_ID_151_LEN 11 + + + +#define MAVLINK_MESSAGE_INFO_SET_CAM_SHUTTER { \ + "SET_CAM_SHUTTER", \ + 6, \ + { { "cam_no", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_set_cam_shutter_t, cam_no) }, \ + { "cam_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_set_cam_shutter_t, cam_mode) }, \ + { "trigger_pin", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_set_cam_shutter_t, trigger_pin) }, \ + { "interval", NULL, MAVLINK_TYPE_UINT16_T, 0, 3, offsetof(mavlink_set_cam_shutter_t, interval) }, \ + { "exposure", NULL, MAVLINK_TYPE_UINT16_T, 0, 5, offsetof(mavlink_set_cam_shutter_t, exposure) }, \ + { "gain", NULL, MAVLINK_TYPE_FLOAT, 0, 7, offsetof(mavlink_set_cam_shutter_t, gain) }, \ + } \ +} + + +/** + * @brief Pack a set_cam_shutter 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 cam_no Camera id + * @param cam_mode Camera mode: 0 = auto, 1 = manual + * @param trigger_pin Trigger pin, 0-3 for PtGrey FireFly + * @param interval Shutter interval, in microseconds + * @param exposure Exposure time, in microseconds + * @param gain Camera gain + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_set_cam_shutter_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t cam_no, uint8_t cam_mode, uint8_t trigger_pin, uint16_t interval, uint16_t exposure, float gain) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[11]; + _mav_put_uint8_t(buf, 0, cam_no); + _mav_put_uint8_t(buf, 1, cam_mode); + _mav_put_uint8_t(buf, 2, trigger_pin); + _mav_put_uint16_t(buf, 3, interval); + _mav_put_uint16_t(buf, 5, exposure); + _mav_put_float(buf, 7, gain); + + memcpy(_MAV_PAYLOAD(msg), buf, 11); +#else + mavlink_set_cam_shutter_t packet; + packet.cam_no = cam_no; + packet.cam_mode = cam_mode; + packet.trigger_pin = trigger_pin; + packet.interval = interval; + packet.exposure = exposure; + packet.gain = gain; + + memcpy(_MAV_PAYLOAD(msg), &packet, 11); +#endif + + msg->msgid = MAVLINK_MSG_ID_SET_CAM_SHUTTER; + return mavlink_finalize_message(msg, system_id, component_id, 11); +} + +/** + * @brief Pack a set_cam_shutter 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 cam_no Camera id + * @param cam_mode Camera mode: 0 = auto, 1 = manual + * @param trigger_pin Trigger pin, 0-3 for PtGrey FireFly + * @param interval Shutter interval, in microseconds + * @param exposure Exposure time, in microseconds + * @param gain Camera gain + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_set_cam_shutter_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t cam_no,uint8_t cam_mode,uint8_t trigger_pin,uint16_t interval,uint16_t exposure,float gain) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[11]; + _mav_put_uint8_t(buf, 0, cam_no); + _mav_put_uint8_t(buf, 1, cam_mode); + _mav_put_uint8_t(buf, 2, trigger_pin); + _mav_put_uint16_t(buf, 3, interval); + _mav_put_uint16_t(buf, 5, exposure); + _mav_put_float(buf, 7, gain); + + memcpy(_MAV_PAYLOAD(msg), buf, 11); +#else + mavlink_set_cam_shutter_t packet; + packet.cam_no = cam_no; + packet.cam_mode = cam_mode; + packet.trigger_pin = trigger_pin; + packet.interval = interval; + packet.exposure = exposure; + packet.gain = gain; + + memcpy(_MAV_PAYLOAD(msg), &packet, 11); +#endif + + msg->msgid = MAVLINK_MSG_ID_SET_CAM_SHUTTER; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 11); +} + +/** + * @brief Encode a set_cam_shutter 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 set_cam_shutter C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_set_cam_shutter_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_cam_shutter_t* set_cam_shutter) +{ + return mavlink_msg_set_cam_shutter_pack(system_id, component_id, msg, set_cam_shutter->cam_no, set_cam_shutter->cam_mode, set_cam_shutter->trigger_pin, set_cam_shutter->interval, set_cam_shutter->exposure, set_cam_shutter->gain); +} + +/** + * @brief Send a set_cam_shutter message + * @param chan MAVLink channel to send the message + * + * @param cam_no Camera id + * @param cam_mode Camera mode: 0 = auto, 1 = manual + * @param trigger_pin Trigger pin, 0-3 for PtGrey FireFly + * @param interval Shutter interval, in microseconds + * @param exposure Exposure time, in microseconds + * @param gain Camera gain + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_set_cam_shutter_send(mavlink_channel_t chan, uint8_t cam_no, uint8_t cam_mode, uint8_t trigger_pin, uint16_t interval, uint16_t exposure, float gain) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[11]; + _mav_put_uint8_t(buf, 0, cam_no); + _mav_put_uint8_t(buf, 1, cam_mode); + _mav_put_uint8_t(buf, 2, trigger_pin); + _mav_put_uint16_t(buf, 3, interval); + _mav_put_uint16_t(buf, 5, exposure); + _mav_put_float(buf, 7, gain); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_CAM_SHUTTER, buf, 11); +#else + mavlink_set_cam_shutter_t packet; + packet.cam_no = cam_no; + packet.cam_mode = cam_mode; + packet.trigger_pin = trigger_pin; + packet.interval = interval; + packet.exposure = exposure; + packet.gain = gain; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_CAM_SHUTTER, (const char *)&packet, 11); +#endif +} + +#endif + +// MESSAGE SET_CAM_SHUTTER UNPACKING + + +/** + * @brief Get field cam_no from set_cam_shutter message + * + * @return Camera id + */ +static inline uint8_t mavlink_msg_set_cam_shutter_get_cam_no(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field cam_mode from set_cam_shutter message + * + * @return Camera mode: 0 = auto, 1 = manual + */ +static inline uint8_t mavlink_msg_set_cam_shutter_get_cam_mode(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 1); +} + +/** + * @brief Get field trigger_pin from set_cam_shutter message + * + * @return Trigger pin, 0-3 for PtGrey FireFly + */ +static inline uint8_t mavlink_msg_set_cam_shutter_get_trigger_pin(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 2); +} + +/** + * @brief Get field interval from set_cam_shutter message + * + * @return Shutter interval, in microseconds + */ +static inline uint16_t mavlink_msg_set_cam_shutter_get_interval(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 3); +} + +/** + * @brief Get field exposure from set_cam_shutter message + * + * @return Exposure time, in microseconds + */ +static inline uint16_t mavlink_msg_set_cam_shutter_get_exposure(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 5); +} + +/** + * @brief Get field gain from set_cam_shutter message + * + * @return Camera gain + */ +static inline float mavlink_msg_set_cam_shutter_get_gain(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 7); +} + +/** + * @brief Decode a set_cam_shutter message into a struct + * + * @param msg The message to decode + * @param set_cam_shutter C-struct to decode the message contents into + */ +static inline void mavlink_msg_set_cam_shutter_decode(const mavlink_message_t* msg, mavlink_set_cam_shutter_t* set_cam_shutter) +{ +#if MAVLINK_NEED_BYTE_SWAP + set_cam_shutter->cam_no = mavlink_msg_set_cam_shutter_get_cam_no(msg); + set_cam_shutter->cam_mode = mavlink_msg_set_cam_shutter_get_cam_mode(msg); + set_cam_shutter->trigger_pin = mavlink_msg_set_cam_shutter_get_trigger_pin(msg); + set_cam_shutter->interval = mavlink_msg_set_cam_shutter_get_interval(msg); + set_cam_shutter->exposure = mavlink_msg_set_cam_shutter_get_exposure(msg); + set_cam_shutter->gain = mavlink_msg_set_cam_shutter_get_gain(msg); +#else + memcpy(set_cam_shutter, _MAV_PAYLOAD(msg), 11); +#endif +} diff --git a/thirdParty/mavlink/v0.9/pixhawk/mavlink_msg_vicon_position_estimate.h b/thirdParty/mavlink/v0.9/pixhawk/mavlink_msg_vicon_position_estimate.h new file mode 100644 index 0000000000000000000000000000000000000000..0df8174924fb58436dfacffa12150077f317155e --- /dev/null +++ b/thirdParty/mavlink/v0.9/pixhawk/mavlink_msg_vicon_position_estimate.h @@ -0,0 +1,276 @@ +// MESSAGE VICON_POSITION_ESTIMATE PACKING + +#define MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE 157 + +typedef struct __mavlink_vicon_position_estimate_t +{ + uint64_t usec; ///< Timestamp (milliseconds) + float x; ///< Global X position + float y; ///< Global Y position + float z; ///< Global Z position + float roll; ///< Roll angle in rad + float pitch; ///< Pitch angle in rad + float yaw; ///< Yaw angle in rad +} mavlink_vicon_position_estimate_t; + +#define MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN 32 +#define MAVLINK_MSG_ID_157_LEN 32 + + + +#define MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE { \ + "VICON_POSITION_ESTIMATE", \ + 7, \ + { { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_vicon_position_estimate_t, usec) }, \ + { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_vicon_position_estimate_t, x) }, \ + { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_vicon_position_estimate_t, y) }, \ + { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_vicon_position_estimate_t, z) }, \ + { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_vicon_position_estimate_t, roll) }, \ + { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_vicon_position_estimate_t, pitch) }, \ + { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_vicon_position_estimate_t, yaw) }, \ + } \ +} + + +/** + * @brief Pack a vicon_position_estimate 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 usec Timestamp (milliseconds) + * @param x Global X position + * @param y Global Y position + * @param z Global Z position + * @param roll Roll angle in rad + * @param pitch Pitch angle in rad + * @param yaw Yaw angle in rad + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_vicon_position_estimate_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[32]; + _mav_put_uint64_t(buf, 0, usec); + _mav_put_float(buf, 8, x); + _mav_put_float(buf, 12, y); + _mav_put_float(buf, 16, z); + _mav_put_float(buf, 20, roll); + _mav_put_float(buf, 24, pitch); + _mav_put_float(buf, 28, yaw); + + memcpy(_MAV_PAYLOAD(msg), buf, 32); +#else + mavlink_vicon_position_estimate_t packet; + packet.usec = usec; + packet.x = x; + packet.y = y; + packet.z = z; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + + memcpy(_MAV_PAYLOAD(msg), &packet, 32); +#endif + + msg->msgid = MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE; + return mavlink_finalize_message(msg, system_id, component_id, 32); +} + +/** + * @brief Pack a vicon_position_estimate 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 usec Timestamp (milliseconds) + * @param x Global X position + * @param y Global Y position + * @param z Global Z position + * @param roll Roll angle in rad + * @param pitch Pitch angle in rad + * @param yaw Yaw angle in rad + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_vicon_position_estimate_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint64_t usec,float x,float y,float z,float roll,float pitch,float yaw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[32]; + _mav_put_uint64_t(buf, 0, usec); + _mav_put_float(buf, 8, x); + _mav_put_float(buf, 12, y); + _mav_put_float(buf, 16, z); + _mav_put_float(buf, 20, roll); + _mav_put_float(buf, 24, pitch); + _mav_put_float(buf, 28, yaw); + + memcpy(_MAV_PAYLOAD(msg), buf, 32); +#else + mavlink_vicon_position_estimate_t packet; + packet.usec = usec; + packet.x = x; + packet.y = y; + packet.z = z; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + + memcpy(_MAV_PAYLOAD(msg), &packet, 32); +#endif + + msg->msgid = MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 32); +} + +/** + * @brief Encode a vicon_position_estimate 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 vicon_position_estimate C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_vicon_position_estimate_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_vicon_position_estimate_t* vicon_position_estimate) +{ + return mavlink_msg_vicon_position_estimate_pack(system_id, component_id, msg, vicon_position_estimate->usec, vicon_position_estimate->x, vicon_position_estimate->y, vicon_position_estimate->z, vicon_position_estimate->roll, vicon_position_estimate->pitch, vicon_position_estimate->yaw); +} + +/** + * @brief Send a vicon_position_estimate message + * @param chan MAVLink channel to send the message + * + * @param usec Timestamp (milliseconds) + * @param x Global X position + * @param y Global Y position + * @param z Global Z position + * @param roll Roll angle in rad + * @param pitch Pitch angle in rad + * @param yaw Yaw angle in rad + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_vicon_position_estimate_send(mavlink_channel_t chan, uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[32]; + _mav_put_uint64_t(buf, 0, usec); + _mav_put_float(buf, 8, x); + _mav_put_float(buf, 12, y); + _mav_put_float(buf, 16, z); + _mav_put_float(buf, 20, roll); + _mav_put_float(buf, 24, pitch); + _mav_put_float(buf, 28, yaw); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE, buf, 32); +#else + mavlink_vicon_position_estimate_t packet; + packet.usec = usec; + packet.x = x; + packet.y = y; + packet.z = z; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE, (const char *)&packet, 32); +#endif +} + +#endif + +// MESSAGE VICON_POSITION_ESTIMATE UNPACKING + + +/** + * @brief Get field usec from vicon_position_estimate message + * + * @return Timestamp (milliseconds) + */ +static inline uint64_t mavlink_msg_vicon_position_estimate_get_usec(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint64_t(msg, 0); +} + +/** + * @brief Get field x from vicon_position_estimate message + * + * @return Global X position + */ +static inline float mavlink_msg_vicon_position_estimate_get_x(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 8); +} + +/** + * @brief Get field y from vicon_position_estimate message + * + * @return Global Y position + */ +static inline float mavlink_msg_vicon_position_estimate_get_y(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 12); +} + +/** + * @brief Get field z from vicon_position_estimate message + * + * @return Global Z position + */ +static inline float mavlink_msg_vicon_position_estimate_get_z(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 16); +} + +/** + * @brief Get field roll from vicon_position_estimate message + * + * @return Roll angle in rad + */ +static inline float mavlink_msg_vicon_position_estimate_get_roll(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 20); +} + +/** + * @brief Get field pitch from vicon_position_estimate message + * + * @return Pitch angle in rad + */ +static inline float mavlink_msg_vicon_position_estimate_get_pitch(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 24); +} + +/** + * @brief Get field yaw from vicon_position_estimate message + * + * @return Yaw angle in rad + */ +static inline float mavlink_msg_vicon_position_estimate_get_yaw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 28); +} + +/** + * @brief Decode a vicon_position_estimate message into a struct + * + * @param msg The message to decode + * @param vicon_position_estimate C-struct to decode the message contents into + */ +static inline void mavlink_msg_vicon_position_estimate_decode(const mavlink_message_t* msg, mavlink_vicon_position_estimate_t* vicon_position_estimate) +{ +#if MAVLINK_NEED_BYTE_SWAP + vicon_position_estimate->usec = mavlink_msg_vicon_position_estimate_get_usec(msg); + vicon_position_estimate->x = mavlink_msg_vicon_position_estimate_get_x(msg); + vicon_position_estimate->y = mavlink_msg_vicon_position_estimate_get_y(msg); + vicon_position_estimate->z = mavlink_msg_vicon_position_estimate_get_z(msg); + vicon_position_estimate->roll = mavlink_msg_vicon_position_estimate_get_roll(msg); + vicon_position_estimate->pitch = mavlink_msg_vicon_position_estimate_get_pitch(msg); + vicon_position_estimate->yaw = mavlink_msg_vicon_position_estimate_get_yaw(msg); +#else + memcpy(vicon_position_estimate, _MAV_PAYLOAD(msg), 32); +#endif +} diff --git a/thirdParty/mavlink/v0.9/pixhawk/mavlink_msg_vision_position_estimate.h b/thirdParty/mavlink/v0.9/pixhawk/mavlink_msg_vision_position_estimate.h new file mode 100644 index 0000000000000000000000000000000000000000..ac186fbc0dcda2a3410f98ddc2e658d2497b773a --- /dev/null +++ b/thirdParty/mavlink/v0.9/pixhawk/mavlink_msg_vision_position_estimate.h @@ -0,0 +1,276 @@ +// MESSAGE VISION_POSITION_ESTIMATE PACKING + +#define MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE 156 + +typedef struct __mavlink_vision_position_estimate_t +{ + uint64_t usec; ///< Timestamp (milliseconds) + float x; ///< Global X position + float y; ///< Global Y position + float z; ///< Global Z position + float roll; ///< Roll angle in rad + float pitch; ///< Pitch angle in rad + float yaw; ///< Yaw angle in rad +} mavlink_vision_position_estimate_t; + +#define MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN 32 +#define MAVLINK_MSG_ID_156_LEN 32 + + + +#define MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE { \ + "VISION_POSITION_ESTIMATE", \ + 7, \ + { { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_vision_position_estimate_t, usec) }, \ + { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_vision_position_estimate_t, x) }, \ + { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_vision_position_estimate_t, y) }, \ + { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_vision_position_estimate_t, z) }, \ + { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_vision_position_estimate_t, roll) }, \ + { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_vision_position_estimate_t, pitch) }, \ + { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_vision_position_estimate_t, yaw) }, \ + } \ +} + + +/** + * @brief Pack a vision_position_estimate 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 usec Timestamp (milliseconds) + * @param x Global X position + * @param y Global Y position + * @param z Global Z position + * @param roll Roll angle in rad + * @param pitch Pitch angle in rad + * @param yaw Yaw angle in rad + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_vision_position_estimate_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[32]; + _mav_put_uint64_t(buf, 0, usec); + _mav_put_float(buf, 8, x); + _mav_put_float(buf, 12, y); + _mav_put_float(buf, 16, z); + _mav_put_float(buf, 20, roll); + _mav_put_float(buf, 24, pitch); + _mav_put_float(buf, 28, yaw); + + memcpy(_MAV_PAYLOAD(msg), buf, 32); +#else + mavlink_vision_position_estimate_t packet; + packet.usec = usec; + packet.x = x; + packet.y = y; + packet.z = z; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + + memcpy(_MAV_PAYLOAD(msg), &packet, 32); +#endif + + msg->msgid = MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE; + return mavlink_finalize_message(msg, system_id, component_id, 32); +} + +/** + * @brief Pack a vision_position_estimate 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 usec Timestamp (milliseconds) + * @param x Global X position + * @param y Global Y position + * @param z Global Z position + * @param roll Roll angle in rad + * @param pitch Pitch angle in rad + * @param yaw Yaw angle in rad + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_vision_position_estimate_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint64_t usec,float x,float y,float z,float roll,float pitch,float yaw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[32]; + _mav_put_uint64_t(buf, 0, usec); + _mav_put_float(buf, 8, x); + _mav_put_float(buf, 12, y); + _mav_put_float(buf, 16, z); + _mav_put_float(buf, 20, roll); + _mav_put_float(buf, 24, pitch); + _mav_put_float(buf, 28, yaw); + + memcpy(_MAV_PAYLOAD(msg), buf, 32); +#else + mavlink_vision_position_estimate_t packet; + packet.usec = usec; + packet.x = x; + packet.y = y; + packet.z = z; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + + memcpy(_MAV_PAYLOAD(msg), &packet, 32); +#endif + + msg->msgid = MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 32); +} + +/** + * @brief Encode a vision_position_estimate 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 vision_position_estimate C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_vision_position_estimate_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_vision_position_estimate_t* vision_position_estimate) +{ + return mavlink_msg_vision_position_estimate_pack(system_id, component_id, msg, vision_position_estimate->usec, vision_position_estimate->x, vision_position_estimate->y, vision_position_estimate->z, vision_position_estimate->roll, vision_position_estimate->pitch, vision_position_estimate->yaw); +} + +/** + * @brief Send a vision_position_estimate message + * @param chan MAVLink channel to send the message + * + * @param usec Timestamp (milliseconds) + * @param x Global X position + * @param y Global Y position + * @param z Global Z position + * @param roll Roll angle in rad + * @param pitch Pitch angle in rad + * @param yaw Yaw angle in rad + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_vision_position_estimate_send(mavlink_channel_t chan, uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[32]; + _mav_put_uint64_t(buf, 0, usec); + _mav_put_float(buf, 8, x); + _mav_put_float(buf, 12, y); + _mav_put_float(buf, 16, z); + _mav_put_float(buf, 20, roll); + _mav_put_float(buf, 24, pitch); + _mav_put_float(buf, 28, yaw); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE, buf, 32); +#else + mavlink_vision_position_estimate_t packet; + packet.usec = usec; + packet.x = x; + packet.y = y; + packet.z = z; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE, (const char *)&packet, 32); +#endif +} + +#endif + +// MESSAGE VISION_POSITION_ESTIMATE UNPACKING + + +/** + * @brief Get field usec from vision_position_estimate message + * + * @return Timestamp (milliseconds) + */ +static inline uint64_t mavlink_msg_vision_position_estimate_get_usec(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint64_t(msg, 0); +} + +/** + * @brief Get field x from vision_position_estimate message + * + * @return Global X position + */ +static inline float mavlink_msg_vision_position_estimate_get_x(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 8); +} + +/** + * @brief Get field y from vision_position_estimate message + * + * @return Global Y position + */ +static inline float mavlink_msg_vision_position_estimate_get_y(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 12); +} + +/** + * @brief Get field z from vision_position_estimate message + * + * @return Global Z position + */ +static inline float mavlink_msg_vision_position_estimate_get_z(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 16); +} + +/** + * @brief Get field roll from vision_position_estimate message + * + * @return Roll angle in rad + */ +static inline float mavlink_msg_vision_position_estimate_get_roll(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 20); +} + +/** + * @brief Get field pitch from vision_position_estimate message + * + * @return Pitch angle in rad + */ +static inline float mavlink_msg_vision_position_estimate_get_pitch(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 24); +} + +/** + * @brief Get field yaw from vision_position_estimate message + * + * @return Yaw angle in rad + */ +static inline float mavlink_msg_vision_position_estimate_get_yaw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 28); +} + +/** + * @brief Decode a vision_position_estimate message into a struct + * + * @param msg The message to decode + * @param vision_position_estimate C-struct to decode the message contents into + */ +static inline void mavlink_msg_vision_position_estimate_decode(const mavlink_message_t* msg, mavlink_vision_position_estimate_t* vision_position_estimate) +{ +#if MAVLINK_NEED_BYTE_SWAP + vision_position_estimate->usec = mavlink_msg_vision_position_estimate_get_usec(msg); + vision_position_estimate->x = mavlink_msg_vision_position_estimate_get_x(msg); + vision_position_estimate->y = mavlink_msg_vision_position_estimate_get_y(msg); + vision_position_estimate->z = mavlink_msg_vision_position_estimate_get_z(msg); + vision_position_estimate->roll = mavlink_msg_vision_position_estimate_get_roll(msg); + vision_position_estimate->pitch = mavlink_msg_vision_position_estimate_get_pitch(msg); + vision_position_estimate->yaw = mavlink_msg_vision_position_estimate_get_yaw(msg); +#else + memcpy(vision_position_estimate, _MAV_PAYLOAD(msg), 32); +#endif +} diff --git a/thirdParty/mavlink/v0.9/pixhawk/mavlink_msg_vision_speed_estimate.h b/thirdParty/mavlink/v0.9/pixhawk/mavlink_msg_vision_speed_estimate.h new file mode 100644 index 0000000000000000000000000000000000000000..17c7809ea6356bed589db4e11940f57df44c994c --- /dev/null +++ b/thirdParty/mavlink/v0.9/pixhawk/mavlink_msg_vision_speed_estimate.h @@ -0,0 +1,210 @@ +// MESSAGE VISION_SPEED_ESTIMATE PACKING + +#define MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE 158 + +typedef struct __mavlink_vision_speed_estimate_t +{ + uint64_t usec; ///< Timestamp (milliseconds) + float x; ///< Global X speed + float y; ///< Global Y speed + float z; ///< Global Z speed +} mavlink_vision_speed_estimate_t; + +#define MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN 20 +#define MAVLINK_MSG_ID_158_LEN 20 + + + +#define MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE { \ + "VISION_SPEED_ESTIMATE", \ + 4, \ + { { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_vision_speed_estimate_t, usec) }, \ + { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_vision_speed_estimate_t, x) }, \ + { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_vision_speed_estimate_t, y) }, \ + { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_vision_speed_estimate_t, z) }, \ + } \ +} + + +/** + * @brief Pack a vision_speed_estimate 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 usec Timestamp (milliseconds) + * @param x Global X speed + * @param y Global Y speed + * @param z Global Z speed + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_vision_speed_estimate_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint64_t usec, float x, float y, float z) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[20]; + _mav_put_uint64_t(buf, 0, usec); + _mav_put_float(buf, 8, x); + _mav_put_float(buf, 12, y); + _mav_put_float(buf, 16, z); + + memcpy(_MAV_PAYLOAD(msg), buf, 20); +#else + mavlink_vision_speed_estimate_t packet; + packet.usec = usec; + packet.x = x; + packet.y = y; + packet.z = z; + + memcpy(_MAV_PAYLOAD(msg), &packet, 20); +#endif + + msg->msgid = MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE; + return mavlink_finalize_message(msg, system_id, component_id, 20); +} + +/** + * @brief Pack a vision_speed_estimate 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 usec Timestamp (milliseconds) + * @param x Global X speed + * @param y Global Y speed + * @param z Global Z speed + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_vision_speed_estimate_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint64_t usec,float x,float y,float z) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[20]; + _mav_put_uint64_t(buf, 0, usec); + _mav_put_float(buf, 8, x); + _mav_put_float(buf, 12, y); + _mav_put_float(buf, 16, z); + + memcpy(_MAV_PAYLOAD(msg), buf, 20); +#else + mavlink_vision_speed_estimate_t packet; + packet.usec = usec; + packet.x = x; + packet.y = y; + packet.z = z; + + memcpy(_MAV_PAYLOAD(msg), &packet, 20); +#endif + + msg->msgid = MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 20); +} + +/** + * @brief Encode a vision_speed_estimate 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 vision_speed_estimate C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_vision_speed_estimate_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_vision_speed_estimate_t* vision_speed_estimate) +{ + return mavlink_msg_vision_speed_estimate_pack(system_id, component_id, msg, vision_speed_estimate->usec, vision_speed_estimate->x, vision_speed_estimate->y, vision_speed_estimate->z); +} + +/** + * @brief Send a vision_speed_estimate message + * @param chan MAVLink channel to send the message + * + * @param usec Timestamp (milliseconds) + * @param x Global X speed + * @param y Global Y speed + * @param z Global Z speed + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_vision_speed_estimate_send(mavlink_channel_t chan, uint64_t usec, float x, float y, float z) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[20]; + _mav_put_uint64_t(buf, 0, usec); + _mav_put_float(buf, 8, x); + _mav_put_float(buf, 12, y); + _mav_put_float(buf, 16, z); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE, buf, 20); +#else + mavlink_vision_speed_estimate_t packet; + packet.usec = usec; + packet.x = x; + packet.y = y; + packet.z = z; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE, (const char *)&packet, 20); +#endif +} + +#endif + +// MESSAGE VISION_SPEED_ESTIMATE UNPACKING + + +/** + * @brief Get field usec from vision_speed_estimate message + * + * @return Timestamp (milliseconds) + */ +static inline uint64_t mavlink_msg_vision_speed_estimate_get_usec(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint64_t(msg, 0); +} + +/** + * @brief Get field x from vision_speed_estimate message + * + * @return Global X speed + */ +static inline float mavlink_msg_vision_speed_estimate_get_x(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 8); +} + +/** + * @brief Get field y from vision_speed_estimate message + * + * @return Global Y speed + */ +static inline float mavlink_msg_vision_speed_estimate_get_y(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 12); +} + +/** + * @brief Get field z from vision_speed_estimate message + * + * @return Global Z speed + */ +static inline float mavlink_msg_vision_speed_estimate_get_z(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 16); +} + +/** + * @brief Decode a vision_speed_estimate message into a struct + * + * @param msg The message to decode + * @param vision_speed_estimate C-struct to decode the message contents into + */ +static inline void mavlink_msg_vision_speed_estimate_decode(const mavlink_message_t* msg, mavlink_vision_speed_estimate_t* vision_speed_estimate) +{ +#if MAVLINK_NEED_BYTE_SWAP + vision_speed_estimate->usec = mavlink_msg_vision_speed_estimate_get_usec(msg); + vision_speed_estimate->x = mavlink_msg_vision_speed_estimate_get_x(msg); + vision_speed_estimate->y = mavlink_msg_vision_speed_estimate_get_y(msg); + vision_speed_estimate->z = mavlink_msg_vision_speed_estimate_get_z(msg); +#else + memcpy(vision_speed_estimate, _MAV_PAYLOAD(msg), 20); +#endif +} diff --git a/thirdParty/mavlink/v0.9/pixhawk/mavlink_msg_watchdog_command.h b/thirdParty/mavlink/v0.9/pixhawk/mavlink_msg_watchdog_command.h new file mode 100644 index 0000000000000000000000000000000000000000..8d87b2d78917f1e7622e3eef03477658ff56f4cf --- /dev/null +++ b/thirdParty/mavlink/v0.9/pixhawk/mavlink_msg_watchdog_command.h @@ -0,0 +1,210 @@ +// MESSAGE WATCHDOG_COMMAND PACKING + +#define MAVLINK_MSG_ID_WATCHDOG_COMMAND 183 + +typedef struct __mavlink_watchdog_command_t +{ + uint8_t target_system_id; ///< Target system ID + uint16_t watchdog_id; ///< Watchdog ID + uint16_t process_id; ///< Process ID + uint8_t command_id; ///< Command ID +} mavlink_watchdog_command_t; + +#define MAVLINK_MSG_ID_WATCHDOG_COMMAND_LEN 6 +#define MAVLINK_MSG_ID_183_LEN 6 + + + +#define MAVLINK_MESSAGE_INFO_WATCHDOG_COMMAND { \ + "WATCHDOG_COMMAND", \ + 4, \ + { { "target_system_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_watchdog_command_t, target_system_id) }, \ + { "watchdog_id", NULL, MAVLINK_TYPE_UINT16_T, 0, 1, offsetof(mavlink_watchdog_command_t, watchdog_id) }, \ + { "process_id", NULL, MAVLINK_TYPE_UINT16_T, 0, 3, offsetof(mavlink_watchdog_command_t, process_id) }, \ + { "command_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_watchdog_command_t, command_id) }, \ + } \ +} + + +/** + * @brief Pack a watchdog_command 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_id Target system ID + * @param watchdog_id Watchdog ID + * @param process_id Process ID + * @param command_id Command ID + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_watchdog_command_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target_system_id, uint16_t watchdog_id, uint16_t process_id, uint8_t command_id) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[6]; + _mav_put_uint8_t(buf, 0, target_system_id); + _mav_put_uint16_t(buf, 1, watchdog_id); + _mav_put_uint16_t(buf, 3, process_id); + _mav_put_uint8_t(buf, 5, command_id); + + memcpy(_MAV_PAYLOAD(msg), buf, 6); +#else + mavlink_watchdog_command_t packet; + packet.target_system_id = target_system_id; + packet.watchdog_id = watchdog_id; + packet.process_id = process_id; + packet.command_id = command_id; + + memcpy(_MAV_PAYLOAD(msg), &packet, 6); +#endif + + msg->msgid = MAVLINK_MSG_ID_WATCHDOG_COMMAND; + return mavlink_finalize_message(msg, system_id, component_id, 6); +} + +/** + * @brief Pack a watchdog_command 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_id Target system ID + * @param watchdog_id Watchdog ID + * @param process_id Process ID + * @param command_id Command ID + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_watchdog_command_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t target_system_id,uint16_t watchdog_id,uint16_t process_id,uint8_t command_id) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[6]; + _mav_put_uint8_t(buf, 0, target_system_id); + _mav_put_uint16_t(buf, 1, watchdog_id); + _mav_put_uint16_t(buf, 3, process_id); + _mav_put_uint8_t(buf, 5, command_id); + + memcpy(_MAV_PAYLOAD(msg), buf, 6); +#else + mavlink_watchdog_command_t packet; + packet.target_system_id = target_system_id; + packet.watchdog_id = watchdog_id; + packet.process_id = process_id; + packet.command_id = command_id; + + memcpy(_MAV_PAYLOAD(msg), &packet, 6); +#endif + + msg->msgid = MAVLINK_MSG_ID_WATCHDOG_COMMAND; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 6); +} + +/** + * @brief Encode a watchdog_command 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 watchdog_command C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_watchdog_command_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_watchdog_command_t* watchdog_command) +{ + return mavlink_msg_watchdog_command_pack(system_id, component_id, msg, watchdog_command->target_system_id, watchdog_command->watchdog_id, watchdog_command->process_id, watchdog_command->command_id); +} + +/** + * @brief Send a watchdog_command message + * @param chan MAVLink channel to send the message + * + * @param target_system_id Target system ID + * @param watchdog_id Watchdog ID + * @param process_id Process ID + * @param command_id Command ID + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_watchdog_command_send(mavlink_channel_t chan, uint8_t target_system_id, uint16_t watchdog_id, uint16_t process_id, uint8_t command_id) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[6]; + _mav_put_uint8_t(buf, 0, target_system_id); + _mav_put_uint16_t(buf, 1, watchdog_id); + _mav_put_uint16_t(buf, 3, process_id); + _mav_put_uint8_t(buf, 5, command_id); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WATCHDOG_COMMAND, buf, 6); +#else + mavlink_watchdog_command_t packet; + packet.target_system_id = target_system_id; + packet.watchdog_id = watchdog_id; + packet.process_id = process_id; + packet.command_id = command_id; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WATCHDOG_COMMAND, (const char *)&packet, 6); +#endif +} + +#endif + +// MESSAGE WATCHDOG_COMMAND UNPACKING + + +/** + * @brief Get field target_system_id from watchdog_command message + * + * @return Target system ID + */ +static inline uint8_t mavlink_msg_watchdog_command_get_target_system_id(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field watchdog_id from watchdog_command message + * + * @return Watchdog ID + */ +static inline uint16_t mavlink_msg_watchdog_command_get_watchdog_id(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 1); +} + +/** + * @brief Get field process_id from watchdog_command message + * + * @return Process ID + */ +static inline uint16_t mavlink_msg_watchdog_command_get_process_id(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 3); +} + +/** + * @brief Get field command_id from watchdog_command message + * + * @return Command ID + */ +static inline uint8_t mavlink_msg_watchdog_command_get_command_id(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 5); +} + +/** + * @brief Decode a watchdog_command message into a struct + * + * @param msg The message to decode + * @param watchdog_command C-struct to decode the message contents into + */ +static inline void mavlink_msg_watchdog_command_decode(const mavlink_message_t* msg, mavlink_watchdog_command_t* watchdog_command) +{ +#if MAVLINK_NEED_BYTE_SWAP + watchdog_command->target_system_id = mavlink_msg_watchdog_command_get_target_system_id(msg); + watchdog_command->watchdog_id = mavlink_msg_watchdog_command_get_watchdog_id(msg); + watchdog_command->process_id = mavlink_msg_watchdog_command_get_process_id(msg); + watchdog_command->command_id = mavlink_msg_watchdog_command_get_command_id(msg); +#else + memcpy(watchdog_command, _MAV_PAYLOAD(msg), 6); +#endif +} diff --git a/thirdParty/mavlink/v0.9/pixhawk/mavlink_msg_watchdog_heartbeat.h b/thirdParty/mavlink/v0.9/pixhawk/mavlink_msg_watchdog_heartbeat.h new file mode 100644 index 0000000000000000000000000000000000000000..0232e01c3fe8049a47127da039786578525b9736 --- /dev/null +++ b/thirdParty/mavlink/v0.9/pixhawk/mavlink_msg_watchdog_heartbeat.h @@ -0,0 +1,166 @@ +// MESSAGE WATCHDOG_HEARTBEAT PACKING + +#define MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT 180 + +typedef struct __mavlink_watchdog_heartbeat_t +{ + uint16_t watchdog_id; ///< Watchdog ID + uint16_t process_count; ///< Number of processes +} mavlink_watchdog_heartbeat_t; + +#define MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT_LEN 4 +#define MAVLINK_MSG_ID_180_LEN 4 + + + +#define MAVLINK_MESSAGE_INFO_WATCHDOG_HEARTBEAT { \ + "WATCHDOG_HEARTBEAT", \ + 2, \ + { { "watchdog_id", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_watchdog_heartbeat_t, watchdog_id) }, \ + { "process_count", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_watchdog_heartbeat_t, process_count) }, \ + } \ +} + + +/** + * @brief Pack a watchdog_heartbeat 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 watchdog_id Watchdog ID + * @param process_count Number of processes + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_watchdog_heartbeat_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint16_t watchdog_id, uint16_t process_count) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[4]; + _mav_put_uint16_t(buf, 0, watchdog_id); + _mav_put_uint16_t(buf, 2, process_count); + + memcpy(_MAV_PAYLOAD(msg), buf, 4); +#else + mavlink_watchdog_heartbeat_t packet; + packet.watchdog_id = watchdog_id; + packet.process_count = process_count; + + memcpy(_MAV_PAYLOAD(msg), &packet, 4); +#endif + + msg->msgid = MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT; + return mavlink_finalize_message(msg, system_id, component_id, 4); +} + +/** + * @brief Pack a watchdog_heartbeat 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 watchdog_id Watchdog ID + * @param process_count Number of processes + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_watchdog_heartbeat_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint16_t watchdog_id,uint16_t process_count) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[4]; + _mav_put_uint16_t(buf, 0, watchdog_id); + _mav_put_uint16_t(buf, 2, process_count); + + memcpy(_MAV_PAYLOAD(msg), buf, 4); +#else + mavlink_watchdog_heartbeat_t packet; + packet.watchdog_id = watchdog_id; + packet.process_count = process_count; + + memcpy(_MAV_PAYLOAD(msg), &packet, 4); +#endif + + msg->msgid = MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 4); +} + +/** + * @brief Encode a watchdog_heartbeat 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 watchdog_heartbeat C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_watchdog_heartbeat_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_watchdog_heartbeat_t* watchdog_heartbeat) +{ + return mavlink_msg_watchdog_heartbeat_pack(system_id, component_id, msg, watchdog_heartbeat->watchdog_id, watchdog_heartbeat->process_count); +} + +/** + * @brief Send a watchdog_heartbeat message + * @param chan MAVLink channel to send the message + * + * @param watchdog_id Watchdog ID + * @param process_count Number of processes + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_watchdog_heartbeat_send(mavlink_channel_t chan, uint16_t watchdog_id, uint16_t process_count) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[4]; + _mav_put_uint16_t(buf, 0, watchdog_id); + _mav_put_uint16_t(buf, 2, process_count); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT, buf, 4); +#else + mavlink_watchdog_heartbeat_t packet; + packet.watchdog_id = watchdog_id; + packet.process_count = process_count; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT, (const char *)&packet, 4); +#endif +} + +#endif + +// MESSAGE WATCHDOG_HEARTBEAT UNPACKING + + +/** + * @brief Get field watchdog_id from watchdog_heartbeat message + * + * @return Watchdog ID + */ +static inline uint16_t mavlink_msg_watchdog_heartbeat_get_watchdog_id(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 0); +} + +/** + * @brief Get field process_count from watchdog_heartbeat message + * + * @return Number of processes + */ +static inline uint16_t mavlink_msg_watchdog_heartbeat_get_process_count(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 2); +} + +/** + * @brief Decode a watchdog_heartbeat message into a struct + * + * @param msg The message to decode + * @param watchdog_heartbeat C-struct to decode the message contents into + */ +static inline void mavlink_msg_watchdog_heartbeat_decode(const mavlink_message_t* msg, mavlink_watchdog_heartbeat_t* watchdog_heartbeat) +{ +#if MAVLINK_NEED_BYTE_SWAP + watchdog_heartbeat->watchdog_id = mavlink_msg_watchdog_heartbeat_get_watchdog_id(msg); + watchdog_heartbeat->process_count = mavlink_msg_watchdog_heartbeat_get_process_count(msg); +#else + memcpy(watchdog_heartbeat, _MAV_PAYLOAD(msg), 4); +#endif +} diff --git a/thirdParty/mavlink/v0.9/pixhawk/mavlink_msg_watchdog_process_info.h b/thirdParty/mavlink/v0.9/pixhawk/mavlink_msg_watchdog_process_info.h new file mode 100644 index 0000000000000000000000000000000000000000..5b3ced0d40f8b836f2f9eb7a0c6eec64bc25e336 --- /dev/null +++ b/thirdParty/mavlink/v0.9/pixhawk/mavlink_msg_watchdog_process_info.h @@ -0,0 +1,227 @@ +// MESSAGE WATCHDOG_PROCESS_INFO PACKING + +#define MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO 181 + +typedef struct __mavlink_watchdog_process_info_t +{ + uint16_t watchdog_id; ///< Watchdog ID + uint16_t process_id; ///< Process ID + char name[100]; ///< Process name + char arguments[147]; ///< Process arguments + int32_t timeout; ///< Timeout (seconds) +} mavlink_watchdog_process_info_t; + +#define MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO_LEN 255 +#define MAVLINK_MSG_ID_181_LEN 255 + +#define MAVLINK_MSG_WATCHDOG_PROCESS_INFO_FIELD_NAME_LEN 100 +#define MAVLINK_MSG_WATCHDOG_PROCESS_INFO_FIELD_ARGUMENTS_LEN 147 + +#define MAVLINK_MESSAGE_INFO_WATCHDOG_PROCESS_INFO { \ + "WATCHDOG_PROCESS_INFO", \ + 5, \ + { { "watchdog_id", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_watchdog_process_info_t, watchdog_id) }, \ + { "process_id", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_watchdog_process_info_t, process_id) }, \ + { "name", NULL, MAVLINK_TYPE_CHAR, 100, 4, offsetof(mavlink_watchdog_process_info_t, name) }, \ + { "arguments", NULL, MAVLINK_TYPE_CHAR, 147, 104, offsetof(mavlink_watchdog_process_info_t, arguments) }, \ + { "timeout", NULL, MAVLINK_TYPE_INT32_T, 0, 251, offsetof(mavlink_watchdog_process_info_t, timeout) }, \ + } \ +} + + +/** + * @brief Pack a watchdog_process_info 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 watchdog_id Watchdog ID + * @param process_id Process ID + * @param name Process name + * @param arguments Process arguments + * @param timeout Timeout (seconds) + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_watchdog_process_info_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint16_t watchdog_id, uint16_t process_id, const char *name, const char *arguments, int32_t timeout) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[255]; + _mav_put_uint16_t(buf, 0, watchdog_id); + _mav_put_uint16_t(buf, 2, process_id); + _mav_put_int32_t(buf, 251, timeout); + _mav_put_char_array(buf, 4, name, 100); + _mav_put_char_array(buf, 104, arguments, 147); + memcpy(_MAV_PAYLOAD(msg), buf, 255); +#else + mavlink_watchdog_process_info_t packet; + packet.watchdog_id = watchdog_id; + packet.process_id = process_id; + packet.timeout = timeout; + mav_array_memcpy(packet.name, name, sizeof(char)*100); + mav_array_memcpy(packet.arguments, arguments, sizeof(char)*147); + memcpy(_MAV_PAYLOAD(msg), &packet, 255); +#endif + + msg->msgid = MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO; + return mavlink_finalize_message(msg, system_id, component_id, 255); +} + +/** + * @brief Pack a watchdog_process_info 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 watchdog_id Watchdog ID + * @param process_id Process ID + * @param name Process name + * @param arguments Process arguments + * @param timeout Timeout (seconds) + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_watchdog_process_info_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint16_t watchdog_id,uint16_t process_id,const char *name,const char *arguments,int32_t timeout) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[255]; + _mav_put_uint16_t(buf, 0, watchdog_id); + _mav_put_uint16_t(buf, 2, process_id); + _mav_put_int32_t(buf, 251, timeout); + _mav_put_char_array(buf, 4, name, 100); + _mav_put_char_array(buf, 104, arguments, 147); + memcpy(_MAV_PAYLOAD(msg), buf, 255); +#else + mavlink_watchdog_process_info_t packet; + packet.watchdog_id = watchdog_id; + packet.process_id = process_id; + packet.timeout = timeout; + mav_array_memcpy(packet.name, name, sizeof(char)*100); + mav_array_memcpy(packet.arguments, arguments, sizeof(char)*147); + memcpy(_MAV_PAYLOAD(msg), &packet, 255); +#endif + + msg->msgid = MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 255); +} + +/** + * @brief Encode a watchdog_process_info 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 watchdog_process_info C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_watchdog_process_info_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_watchdog_process_info_t* watchdog_process_info) +{ + return mavlink_msg_watchdog_process_info_pack(system_id, component_id, msg, watchdog_process_info->watchdog_id, watchdog_process_info->process_id, watchdog_process_info->name, watchdog_process_info->arguments, watchdog_process_info->timeout); +} + +/** + * @brief Send a watchdog_process_info message + * @param chan MAVLink channel to send the message + * + * @param watchdog_id Watchdog ID + * @param process_id Process ID + * @param name Process name + * @param arguments Process arguments + * @param timeout Timeout (seconds) + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_watchdog_process_info_send(mavlink_channel_t chan, uint16_t watchdog_id, uint16_t process_id, const char *name, const char *arguments, int32_t timeout) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[255]; + _mav_put_uint16_t(buf, 0, watchdog_id); + _mav_put_uint16_t(buf, 2, process_id); + _mav_put_int32_t(buf, 251, timeout); + _mav_put_char_array(buf, 4, name, 100); + _mav_put_char_array(buf, 104, arguments, 147); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO, buf, 255); +#else + mavlink_watchdog_process_info_t packet; + packet.watchdog_id = watchdog_id; + packet.process_id = process_id; + packet.timeout = timeout; + mav_array_memcpy(packet.name, name, sizeof(char)*100); + mav_array_memcpy(packet.arguments, arguments, sizeof(char)*147); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO, (const char *)&packet, 255); +#endif +} + +#endif + +// MESSAGE WATCHDOG_PROCESS_INFO UNPACKING + + +/** + * @brief Get field watchdog_id from watchdog_process_info message + * + * @return Watchdog ID + */ +static inline uint16_t mavlink_msg_watchdog_process_info_get_watchdog_id(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 0); +} + +/** + * @brief Get field process_id from watchdog_process_info message + * + * @return Process ID + */ +static inline uint16_t mavlink_msg_watchdog_process_info_get_process_id(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 2); +} + +/** + * @brief Get field name from watchdog_process_info message + * + * @return Process name + */ +static inline uint16_t mavlink_msg_watchdog_process_info_get_name(const mavlink_message_t* msg, char *name) +{ + return _MAV_RETURN_char_array(msg, name, 100, 4); +} + +/** + * @brief Get field arguments from watchdog_process_info message + * + * @return Process arguments + */ +static inline uint16_t mavlink_msg_watchdog_process_info_get_arguments(const mavlink_message_t* msg, char *arguments) +{ + return _MAV_RETURN_char_array(msg, arguments, 147, 104); +} + +/** + * @brief Get field timeout from watchdog_process_info message + * + * @return Timeout (seconds) + */ +static inline int32_t mavlink_msg_watchdog_process_info_get_timeout(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int32_t(msg, 251); +} + +/** + * @brief Decode a watchdog_process_info message into a struct + * + * @param msg The message to decode + * @param watchdog_process_info C-struct to decode the message contents into + */ +static inline void mavlink_msg_watchdog_process_info_decode(const mavlink_message_t* msg, mavlink_watchdog_process_info_t* watchdog_process_info) +{ +#if MAVLINK_NEED_BYTE_SWAP + watchdog_process_info->watchdog_id = mavlink_msg_watchdog_process_info_get_watchdog_id(msg); + watchdog_process_info->process_id = mavlink_msg_watchdog_process_info_get_process_id(msg); + mavlink_msg_watchdog_process_info_get_name(msg, watchdog_process_info->name); + mavlink_msg_watchdog_process_info_get_arguments(msg, watchdog_process_info->arguments); + watchdog_process_info->timeout = mavlink_msg_watchdog_process_info_get_timeout(msg); +#else + memcpy(watchdog_process_info, _MAV_PAYLOAD(msg), 255); +#endif +} diff --git a/thirdParty/mavlink/v0.9/pixhawk/mavlink_msg_watchdog_process_status.h b/thirdParty/mavlink/v0.9/pixhawk/mavlink_msg_watchdog_process_status.h new file mode 100644 index 0000000000000000000000000000000000000000..0796f0bfead5d7fc0d8fbc3e1858e3baf5f5160c --- /dev/null +++ b/thirdParty/mavlink/v0.9/pixhawk/mavlink_msg_watchdog_process_status.h @@ -0,0 +1,254 @@ +// MESSAGE WATCHDOG_PROCESS_STATUS PACKING + +#define MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS 182 + +typedef struct __mavlink_watchdog_process_status_t +{ + uint16_t watchdog_id; ///< Watchdog ID + uint16_t process_id; ///< Process ID + uint8_t state; ///< Is running / finished / suspended / crashed + uint8_t muted; ///< Is muted + int32_t pid; ///< PID + uint16_t crashes; ///< Number of crashes +} mavlink_watchdog_process_status_t; + +#define MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS_LEN 12 +#define MAVLINK_MSG_ID_182_LEN 12 + + + +#define MAVLINK_MESSAGE_INFO_WATCHDOG_PROCESS_STATUS { \ + "WATCHDOG_PROCESS_STATUS", \ + 6, \ + { { "watchdog_id", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_watchdog_process_status_t, watchdog_id) }, \ + { "process_id", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_watchdog_process_status_t, process_id) }, \ + { "state", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_watchdog_process_status_t, state) }, \ + { "muted", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_watchdog_process_status_t, muted) }, \ + { "pid", NULL, MAVLINK_TYPE_INT32_T, 0, 6, offsetof(mavlink_watchdog_process_status_t, pid) }, \ + { "crashes", NULL, MAVLINK_TYPE_UINT16_T, 0, 10, offsetof(mavlink_watchdog_process_status_t, crashes) }, \ + } \ +} + + +/** + * @brief Pack a watchdog_process_status message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * + * @param watchdog_id Watchdog ID + * @param process_id Process ID + * @param state Is running / finished / suspended / crashed + * @param muted Is muted + * @param pid PID + * @param crashes Number of crashes + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_watchdog_process_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint16_t watchdog_id, uint16_t process_id, uint8_t state, uint8_t muted, int32_t pid, uint16_t crashes) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[12]; + _mav_put_uint16_t(buf, 0, watchdog_id); + _mav_put_uint16_t(buf, 2, process_id); + _mav_put_uint8_t(buf, 4, state); + _mav_put_uint8_t(buf, 5, muted); + _mav_put_int32_t(buf, 6, pid); + _mav_put_uint16_t(buf, 10, crashes); + + memcpy(_MAV_PAYLOAD(msg), buf, 12); +#else + mavlink_watchdog_process_status_t packet; + packet.watchdog_id = watchdog_id; + packet.process_id = process_id; + packet.state = state; + packet.muted = muted; + packet.pid = pid; + packet.crashes = crashes; + + memcpy(_MAV_PAYLOAD(msg), &packet, 12); +#endif + + msg->msgid = MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS; + return mavlink_finalize_message(msg, system_id, component_id, 12); +} + +/** + * @brief Pack a watchdog_process_status message on a channel + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message was sent over + * @param msg The MAVLink message to compress the data into + * @param watchdog_id Watchdog ID + * @param process_id Process ID + * @param state Is running / finished / suspended / crashed + * @param muted Is muted + * @param pid PID + * @param crashes Number of crashes + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_watchdog_process_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint16_t watchdog_id,uint16_t process_id,uint8_t state,uint8_t muted,int32_t pid,uint16_t crashes) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[12]; + _mav_put_uint16_t(buf, 0, watchdog_id); + _mav_put_uint16_t(buf, 2, process_id); + _mav_put_uint8_t(buf, 4, state); + _mav_put_uint8_t(buf, 5, muted); + _mav_put_int32_t(buf, 6, pid); + _mav_put_uint16_t(buf, 10, crashes); + + memcpy(_MAV_PAYLOAD(msg), buf, 12); +#else + mavlink_watchdog_process_status_t packet; + packet.watchdog_id = watchdog_id; + packet.process_id = process_id; + packet.state = state; + packet.muted = muted; + packet.pid = pid; + packet.crashes = crashes; + + memcpy(_MAV_PAYLOAD(msg), &packet, 12); +#endif + + msg->msgid = MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 12); +} + +/** + * @brief Encode a watchdog_process_status struct into a message + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * @param watchdog_process_status C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_watchdog_process_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_watchdog_process_status_t* watchdog_process_status) +{ + return mavlink_msg_watchdog_process_status_pack(system_id, component_id, msg, watchdog_process_status->watchdog_id, watchdog_process_status->process_id, watchdog_process_status->state, watchdog_process_status->muted, watchdog_process_status->pid, watchdog_process_status->crashes); +} + +/** + * @brief Send a watchdog_process_status message + * @param chan MAVLink channel to send the message + * + * @param watchdog_id Watchdog ID + * @param process_id Process ID + * @param state Is running / finished / suspended / crashed + * @param muted Is muted + * @param pid PID + * @param crashes Number of crashes + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_watchdog_process_status_send(mavlink_channel_t chan, uint16_t watchdog_id, uint16_t process_id, uint8_t state, uint8_t muted, int32_t pid, uint16_t crashes) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[12]; + _mav_put_uint16_t(buf, 0, watchdog_id); + _mav_put_uint16_t(buf, 2, process_id); + _mav_put_uint8_t(buf, 4, state); + _mav_put_uint8_t(buf, 5, muted); + _mav_put_int32_t(buf, 6, pid); + _mav_put_uint16_t(buf, 10, crashes); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS, buf, 12); +#else + mavlink_watchdog_process_status_t packet; + packet.watchdog_id = watchdog_id; + packet.process_id = process_id; + packet.state = state; + packet.muted = muted; + packet.pid = pid; + packet.crashes = crashes; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS, (const char *)&packet, 12); +#endif +} + +#endif + +// MESSAGE WATCHDOG_PROCESS_STATUS UNPACKING + + +/** + * @brief Get field watchdog_id from watchdog_process_status message + * + * @return Watchdog ID + */ +static inline uint16_t mavlink_msg_watchdog_process_status_get_watchdog_id(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 0); +} + +/** + * @brief Get field process_id from watchdog_process_status message + * + * @return Process ID + */ +static inline uint16_t mavlink_msg_watchdog_process_status_get_process_id(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 2); +} + +/** + * @brief Get field state from watchdog_process_status message + * + * @return Is running / finished / suspended / crashed + */ +static inline uint8_t mavlink_msg_watchdog_process_status_get_state(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 4); +} + +/** + * @brief Get field muted from watchdog_process_status message + * + * @return Is muted + */ +static inline uint8_t mavlink_msg_watchdog_process_status_get_muted(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 5); +} + +/** + * @brief Get field pid from watchdog_process_status message + * + * @return PID + */ +static inline int32_t mavlink_msg_watchdog_process_status_get_pid(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int32_t(msg, 6); +} + +/** + * @brief Get field crashes from watchdog_process_status message + * + * @return Number of crashes + */ +static inline uint16_t mavlink_msg_watchdog_process_status_get_crashes(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 10); +} + +/** + * @brief Decode a watchdog_process_status message into a struct + * + * @param msg The message to decode + * @param watchdog_process_status C-struct to decode the message contents into + */ +static inline void mavlink_msg_watchdog_process_status_decode(const mavlink_message_t* msg, mavlink_watchdog_process_status_t* watchdog_process_status) +{ +#if MAVLINK_NEED_BYTE_SWAP + watchdog_process_status->watchdog_id = mavlink_msg_watchdog_process_status_get_watchdog_id(msg); + watchdog_process_status->process_id = mavlink_msg_watchdog_process_status_get_process_id(msg); + watchdog_process_status->state = mavlink_msg_watchdog_process_status_get_state(msg); + watchdog_process_status->muted = mavlink_msg_watchdog_process_status_get_muted(msg); + watchdog_process_status->pid = mavlink_msg_watchdog_process_status_get_pid(msg); + watchdog_process_status->crashes = mavlink_msg_watchdog_process_status_get_crashes(msg); +#else + memcpy(watchdog_process_status, _MAV_PAYLOAD(msg), 12); +#endif +} diff --git a/thirdParty/mavlink/v0.9/pixhawk/pixhawk.h b/thirdParty/mavlink/v0.9/pixhawk/pixhawk.h new file mode 100644 index 0000000000000000000000000000000000000000..0500695e17572cd75b1b847320510e456d200f44 --- /dev/null +++ b/thirdParty/mavlink/v0.9/pixhawk/pixhawk.h @@ -0,0 +1,86 @@ +/** @file + * @brief MAVLink comm protocol generated from pixhawk.xml + * @see http://qgroundcontrol.org/mavlink/ + */ +#ifndef PIXHAWK_H +#define PIXHAWK_H + +#ifdef __cplusplus +extern "C" { +#endif + +// MESSAGE LENGTHS AND CRCS + +#ifndef MAVLINK_MESSAGE_LENGTHS +#define MAVLINK_MESSAGE_LENGTHS {3, 4, 8, 14, 8, 28, 3, 32, 0, 2, 3, 2, 2, 0, 0, 0, 0, 0, 0, 0, 19, 2, 23, 21, 0, 37, 26, 101, 26, 16, 32, 32, 37, 32, 11, 17, 17, 16, 18, 36, 4, 4, 2, 2, 4, 2, 2, 3, 14, 12, 18, 16, 8, 27, 25, 18, 18, 24, 24, 0, 0, 0, 26, 16, 36, 5, 6, 56, 26, 21, 18, 0, 0, 18, 20, 20, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 18, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 11, 52, 1, 92, 0, 32, 32, 20, 20, 18, 0, 0, 0, 0, 0, 0, 0, 0, 0, 18, 26, 16, 0, 0, 0, 0, 0, 0, 0, 4, 255, 12, 6, 0, 0, 0, 0, 0, 0, 106, 43, 55, 8, 255, 53, 0, 0, 0, 0, 21, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 30, 14, 14, 51, 5} +#endif + +#ifndef MAVLINK_MESSAGE_CRCS +#define MAVLINK_MESSAGE_CRCS {72, 39, 190, 92, 191, 217, 104, 119, 0, 219, 60, 186, 10, 0, 0, 0, 0, 0, 0, 0, 89, 159, 162, 121, 0, 149, 222, 110, 179, 136, 66, 126, 185, 147, 112, 252, 162, 215, 229, 128, 9, 106, 101, 213, 4, 229, 21, 214, 215, 14, 206, 50, 157, 126, 108, 213, 95, 5, 127, 0, 0, 0, 57, 126, 130, 119, 193, 191, 236, 158, 143, 0, 0, 104, 123, 131, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 174, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 155, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 86, 95, 49, 0, 158, 56, 208, 218, 115, 0, 0, 0, 0, 0, 0, 0, 0, 0, 220, 136, 140, 0, 0, 0, 0, 0, 0, 0, 153, 110, 92, 188, 0, 0, 0, 0, 0, 0, 106, 154, 83, 98, 223, 254, 0, 0, 0, 0, 84, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 178, 224, 60, 106, 7} +#endif + +#ifndef MAVLINK_MESSAGE_INFO +#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_BOOT, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_SYSTEM_TIME_UTC, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {NULL}, MAVLINK_MESSAGE_INFO_ACTION_ACK, MAVLINK_MESSAGE_INFO_ACTION, MAVLINK_MESSAGE_INFO_SET_MODE, MAVLINK_MESSAGE_INFO_SET_NAV_MODE, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, {NULL}, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_LOCAL_POSITION, MAVLINK_MESSAGE_INFO_GPS_RAW, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_WAYPOINT, MAVLINK_MESSAGE_INFO_WAYPOINT_REQUEST, MAVLINK_MESSAGE_INFO_WAYPOINT_SET_CURRENT, MAVLINK_MESSAGE_INFO_WAYPOINT_CURRENT, MAVLINK_MESSAGE_INFO_WAYPOINT_REQUEST_LIST, MAVLINK_MESSAGE_INFO_WAYPOINT_COUNT, MAVLINK_MESSAGE_INFO_WAYPOINT_CLEAR_ALL, MAVLINK_MESSAGE_INFO_WAYPOINT_REACHED, MAVLINK_MESSAGE_INFO_WAYPOINT_ACK, MAVLINK_MESSAGE_INFO_GPS_SET_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_LOCAL_ORIGIN_SET, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT_SET, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_CONTROL_STATUS, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, MAVLINK_MESSAGE_INFO_POSITION_TARGET, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, MAVLINK_MESSAGE_INFO_SET_ALTITUDE, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_VFR_HUD, MAVLINK_MESSAGE_INFO_COMMAND, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_OBJECT_DETECTION_EVENT, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_SET_CAM_SHUTTER, MAVLINK_MESSAGE_INFO_IMAGE_TRIGGERED, MAVLINK_MESSAGE_INFO_IMAGE_TRIGGER_CONTROL, MAVLINK_MESSAGE_INFO_IMAGE_AVAILABLE, {NULL}, MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE, MAVLINK_MESSAGE_INFO_POSITION_CONTROL_SETPOINT_SET, MAVLINK_MESSAGE_INFO_POSITION_CONTROL_OFFSET_SET, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_POSITION_CONTROL_SETPOINT, MAVLINK_MESSAGE_INFO_MARKER, MAVLINK_MESSAGE_INFO_RAW_AUX, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_WATCHDOG_HEARTBEAT, MAVLINK_MESSAGE_INFO_WATCHDOG_PROCESS_INFO, MAVLINK_MESSAGE_INFO_WATCHDOG_PROCESS_STATUS, MAVLINK_MESSAGE_INFO_WATCHDOG_COMMAND, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_PATTERN_DETECTED, MAVLINK_MESSAGE_INFO_POINT_OF_INTEREST, MAVLINK_MESSAGE_INFO_POINT_OF_INTEREST_CONNECTION, MAVLINK_MESSAGE_INFO_DATA_TRANSMISSION_HANDSHAKE, MAVLINK_MESSAGE_INFO_ENCAPSULATED_DATA, MAVLINK_MESSAGE_INFO_BRIEF_FEATURE, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_ATTITUDE_CONTROL, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG} +#endif + +#include "../protocol.h" + +#define MAVLINK_ENABLED_PIXHAWK + +#include "../common/common.h" + +// MAVLINK VERSION + +#ifndef MAVLINK_VERSION +#define MAVLINK_VERSION 2 +#endif + +#if (MAVLINK_VERSION == 0) +#undef MAVLINK_VERSION +#define MAVLINK_VERSION 2 +#endif + +// ENUM DEFINITIONS + + +/** @brief Content Types for data transmission handshake */ +#ifndef HAVE_ENUM_DATA_TYPES +#define HAVE_ENUM_DATA_TYPES +enum DATA_TYPES +{ + DATA_TYPE_JPEG_IMAGE=1, /* | */ + DATA_TYPE_RAW_IMAGE=2, /* | */ + DATA_TYPE_KINECT=3, /* | */ + DATA_TYPES_ENUM_END=4, /* | */ +}; +#endif + +// MESSAGE DEFINITIONS +#include "./mavlink_msg_set_cam_shutter.h" +#include "./mavlink_msg_image_triggered.h" +#include "./mavlink_msg_image_trigger_control.h" +#include "./mavlink_msg_image_available.h" +#include "./mavlink_msg_vision_position_estimate.h" +#include "./mavlink_msg_vicon_position_estimate.h" +#include "./mavlink_msg_vision_speed_estimate.h" +#include "./mavlink_msg_position_control_setpoint_set.h" +#include "./mavlink_msg_position_control_offset_set.h" +#include "./mavlink_msg_position_control_setpoint.h" +#include "./mavlink_msg_marker.h" +#include "./mavlink_msg_raw_aux.h" +#include "./mavlink_msg_watchdog_heartbeat.h" +#include "./mavlink_msg_watchdog_process_info.h" +#include "./mavlink_msg_watchdog_process_status.h" +#include "./mavlink_msg_watchdog_command.h" +#include "./mavlink_msg_pattern_detected.h" +#include "./mavlink_msg_point_of_interest.h" +#include "./mavlink_msg_point_of_interest_connection.h" +#include "./mavlink_msg_data_transmission_handshake.h" +#include "./mavlink_msg_encapsulated_data.h" +#include "./mavlink_msg_brief_feature.h" +#include "./mavlink_msg_attitude_control.h" + +#ifdef __cplusplus +} +#endif // __cplusplus +#endif // PIXHAWK_H diff --git a/thirdParty/mavlink/v0.9/pixhawk/testsuite.h b/thirdParty/mavlink/v0.9/pixhawk/testsuite.h new file mode 100644 index 0000000000000000000000000000000000000000..3e18abc82780d9efb6e420972c380cbb453926ad --- /dev/null +++ b/thirdParty/mavlink/v0.9/pixhawk/testsuite.h @@ -0,0 +1,1312 @@ +/** @file + * @brief MAVLink comm protocol testsuite generated from pixhawk.xml + * @see http://qgroundcontrol.org/mavlink/ + */ +#ifndef PIXHAWK_TESTSUITE_H +#define PIXHAWK_TESTSUITE_H + +#ifdef __cplusplus +extern "C" { +#endif + +#ifndef MAVLINK_TEST_ALL +#define MAVLINK_TEST_ALL +static void mavlink_test_common(uint8_t, uint8_t, mavlink_message_t *last_msg); +static void mavlink_test_pixhawk(uint8_t, uint8_t, mavlink_message_t *last_msg); + +static void mavlink_test_all(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) +{ + mavlink_test_common(system_id, component_id, last_msg); + mavlink_test_pixhawk(system_id, component_id, last_msg); +} +#endif + +#include "../common/testsuite.h" + + +static void mavlink_test_set_cam_shutter(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_set_cam_shutter_t packet_in = { + 5, + 72, + 139, + 17391, + 17495, + 66.0, + }; + mavlink_set_cam_shutter_t packet1, packet2; + memset(&packet1, 0, sizeof(packet1)); + packet1.cam_no = packet_in.cam_no; + packet1.cam_mode = packet_in.cam_mode; + packet1.trigger_pin = packet_in.trigger_pin; + packet1.interval = packet_in.interval; + packet1.exposure = packet_in.exposure; + packet1.gain = packet_in.gain; + + + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_set_cam_shutter_encode(system_id, component_id, &msg, &packet1); + mavlink_msg_set_cam_shutter_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_set_cam_shutter_pack(system_id, component_id, &msg , packet1.cam_no , packet1.cam_mode , packet1.trigger_pin , packet1.interval , packet1.exposure , packet1.gain ); + mavlink_msg_set_cam_shutter_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_set_cam_shutter_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.cam_no , packet1.cam_mode , packet1.trigger_pin , packet1.interval , packet1.exposure , packet1.gain ); + mavlink_msg_set_cam_shutter_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; imsgid = MAVLINK_MSG_ID_AIR_DATA; + return mavlink_finalize_message(msg, system_id, component_id, 10); +} + +/** + * @brief Pack a air_data 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 dynamicPressure Dynamic pressure (Pa) + * @param staticPressure Static pressure (Pa) + * @param temperature Board temperature + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_air_data_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + float dynamicPressure,float staticPressure,uint16_t temperature) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[10]; + _mav_put_float(buf, 0, dynamicPressure); + _mav_put_float(buf, 4, staticPressure); + _mav_put_uint16_t(buf, 8, temperature); + + memcpy(_MAV_PAYLOAD(msg), buf, 10); +#else + mavlink_air_data_t packet; + packet.dynamicPressure = dynamicPressure; + packet.staticPressure = staticPressure; + packet.temperature = temperature; + + memcpy(_MAV_PAYLOAD(msg), &packet, 10); +#endif + + msg->msgid = MAVLINK_MSG_ID_AIR_DATA; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 10); +} + +/** + * @brief Encode a air_data 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 air_data C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_air_data_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_air_data_t* air_data) +{ + return mavlink_msg_air_data_pack(system_id, component_id, msg, air_data->dynamicPressure, air_data->staticPressure, air_data->temperature); +} + +/** + * @brief Send a air_data message + * @param chan MAVLink channel to send the message + * + * @param dynamicPressure Dynamic pressure (Pa) + * @param staticPressure Static pressure (Pa) + * @param temperature Board temperature + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_air_data_send(mavlink_channel_t chan, float dynamicPressure, float staticPressure, uint16_t temperature) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[10]; + _mav_put_float(buf, 0, dynamicPressure); + _mav_put_float(buf, 4, staticPressure); + _mav_put_uint16_t(buf, 8, temperature); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AIR_DATA, buf, 10); +#else + mavlink_air_data_t packet; + packet.dynamicPressure = dynamicPressure; + packet.staticPressure = staticPressure; + packet.temperature = temperature; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AIR_DATA, (const char *)&packet, 10); +#endif +} + +#endif + +// MESSAGE AIR_DATA UNPACKING + + +/** + * @brief Get field dynamicPressure from air_data message + * + * @return Dynamic pressure (Pa) + */ +static inline float mavlink_msg_air_data_get_dynamicPressure(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 0); +} + +/** + * @brief Get field staticPressure from air_data message + * + * @return Static pressure (Pa) + */ +static inline float mavlink_msg_air_data_get_staticPressure(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 4); +} + +/** + * @brief Get field temperature from air_data message + * + * @return Board temperature + */ +static inline uint16_t mavlink_msg_air_data_get_temperature(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 8); +} + +/** + * @brief Decode a air_data message into a struct + * + * @param msg The message to decode + * @param air_data C-struct to decode the message contents into + */ +static inline void mavlink_msg_air_data_decode(const mavlink_message_t* msg, mavlink_air_data_t* air_data) +{ +#if MAVLINK_NEED_BYTE_SWAP + air_data->dynamicPressure = mavlink_msg_air_data_get_dynamicPressure(msg); + air_data->staticPressure = mavlink_msg_air_data_get_staticPressure(msg); + air_data->temperature = mavlink_msg_air_data_get_temperature(msg); +#else + memcpy(air_data, _MAV_PAYLOAD(msg), 10); +#endif +} diff --git a/thirdParty/mavlink/v0.9/slugs/mavlink_msg_cpu_load.h b/thirdParty/mavlink/v0.9/slugs/mavlink_msg_cpu_load.h new file mode 100644 index 0000000000000000000000000000000000000000..04e44d19b6b54b41f983216f5659ee51d9b6dd0e --- /dev/null +++ b/thirdParty/mavlink/v0.9/slugs/mavlink_msg_cpu_load.h @@ -0,0 +1,188 @@ +// MESSAGE CPU_LOAD PACKING + +#define MAVLINK_MSG_ID_CPU_LOAD 170 + +typedef struct __mavlink_cpu_load_t +{ + uint8_t sensLoad; ///< Sensor DSC Load + uint8_t ctrlLoad; ///< Control DSC Load + uint16_t batVolt; ///< Battery Voltage in millivolts +} mavlink_cpu_load_t; + +#define MAVLINK_MSG_ID_CPU_LOAD_LEN 4 +#define MAVLINK_MSG_ID_170_LEN 4 + + + +#define MAVLINK_MESSAGE_INFO_CPU_LOAD { \ + "CPU_LOAD", \ + 3, \ + { { "sensLoad", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_cpu_load_t, sensLoad) }, \ + { "ctrlLoad", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_cpu_load_t, ctrlLoad) }, \ + { "batVolt", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_cpu_load_t, batVolt) }, \ + } \ +} + + +/** + * @brief Pack a cpu_load 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 sensLoad Sensor DSC Load + * @param ctrlLoad Control DSC Load + * @param batVolt Battery Voltage in millivolts + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_cpu_load_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t sensLoad, uint8_t ctrlLoad, uint16_t batVolt) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[4]; + _mav_put_uint8_t(buf, 0, sensLoad); + _mav_put_uint8_t(buf, 1, ctrlLoad); + _mav_put_uint16_t(buf, 2, batVolt); + + memcpy(_MAV_PAYLOAD(msg), buf, 4); +#else + mavlink_cpu_load_t packet; + packet.sensLoad = sensLoad; + packet.ctrlLoad = ctrlLoad; + packet.batVolt = batVolt; + + memcpy(_MAV_PAYLOAD(msg), &packet, 4); +#endif + + msg->msgid = MAVLINK_MSG_ID_CPU_LOAD; + return mavlink_finalize_message(msg, system_id, component_id, 4); +} + +/** + * @brief Pack a cpu_load 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 sensLoad Sensor DSC Load + * @param ctrlLoad Control DSC Load + * @param batVolt Battery Voltage in millivolts + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_cpu_load_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t sensLoad,uint8_t ctrlLoad,uint16_t batVolt) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[4]; + _mav_put_uint8_t(buf, 0, sensLoad); + _mav_put_uint8_t(buf, 1, ctrlLoad); + _mav_put_uint16_t(buf, 2, batVolt); + + memcpy(_MAV_PAYLOAD(msg), buf, 4); +#else + mavlink_cpu_load_t packet; + packet.sensLoad = sensLoad; + packet.ctrlLoad = ctrlLoad; + packet.batVolt = batVolt; + + memcpy(_MAV_PAYLOAD(msg), &packet, 4); +#endif + + msg->msgid = MAVLINK_MSG_ID_CPU_LOAD; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 4); +} + +/** + * @brief Encode a cpu_load 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 cpu_load C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_cpu_load_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_cpu_load_t* cpu_load) +{ + return mavlink_msg_cpu_load_pack(system_id, component_id, msg, cpu_load->sensLoad, cpu_load->ctrlLoad, cpu_load->batVolt); +} + +/** + * @brief Send a cpu_load message + * @param chan MAVLink channel to send the message + * + * @param sensLoad Sensor DSC Load + * @param ctrlLoad Control DSC Load + * @param batVolt Battery Voltage in millivolts + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_cpu_load_send(mavlink_channel_t chan, uint8_t sensLoad, uint8_t ctrlLoad, uint16_t batVolt) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[4]; + _mav_put_uint8_t(buf, 0, sensLoad); + _mav_put_uint8_t(buf, 1, ctrlLoad); + _mav_put_uint16_t(buf, 2, batVolt); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CPU_LOAD, buf, 4); +#else + mavlink_cpu_load_t packet; + packet.sensLoad = sensLoad; + packet.ctrlLoad = ctrlLoad; + packet.batVolt = batVolt; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CPU_LOAD, (const char *)&packet, 4); +#endif +} + +#endif + +// MESSAGE CPU_LOAD UNPACKING + + +/** + * @brief Get field sensLoad from cpu_load message + * + * @return Sensor DSC Load + */ +static inline uint8_t mavlink_msg_cpu_load_get_sensLoad(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field ctrlLoad from cpu_load message + * + * @return Control DSC Load + */ +static inline uint8_t mavlink_msg_cpu_load_get_ctrlLoad(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 1); +} + +/** + * @brief Get field batVolt from cpu_load message + * + * @return Battery Voltage in millivolts + */ +static inline uint16_t mavlink_msg_cpu_load_get_batVolt(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 2); +} + +/** + * @brief Decode a cpu_load message into a struct + * + * @param msg The message to decode + * @param cpu_load C-struct to decode the message contents into + */ +static inline void mavlink_msg_cpu_load_decode(const mavlink_message_t* msg, mavlink_cpu_load_t* cpu_load) +{ +#if MAVLINK_NEED_BYTE_SWAP + cpu_load->sensLoad = mavlink_msg_cpu_load_get_sensLoad(msg); + cpu_load->ctrlLoad = mavlink_msg_cpu_load_get_ctrlLoad(msg); + cpu_load->batVolt = mavlink_msg_cpu_load_get_batVolt(msg); +#else + memcpy(cpu_load, _MAV_PAYLOAD(msg), 4); +#endif +} diff --git a/thirdParty/mavlink/v0.9/slugs/mavlink_msg_ctrl_srfc_pt.h b/thirdParty/mavlink/v0.9/slugs/mavlink_msg_ctrl_srfc_pt.h new file mode 100644 index 0000000000000000000000000000000000000000..c991aea386f54efb8fb5e12c7007cb5f54ea9feb --- /dev/null +++ b/thirdParty/mavlink/v0.9/slugs/mavlink_msg_ctrl_srfc_pt.h @@ -0,0 +1,166 @@ +// MESSAGE CTRL_SRFC_PT PACKING + +#define MAVLINK_MSG_ID_CTRL_SRFC_PT 181 + +typedef struct __mavlink_ctrl_srfc_pt_t +{ + uint8_t target; ///< The system setting the commands + uint16_t bitfieldPt; ///< Bitfield containing the PT configuration +} mavlink_ctrl_srfc_pt_t; + +#define MAVLINK_MSG_ID_CTRL_SRFC_PT_LEN 3 +#define MAVLINK_MSG_ID_181_LEN 3 + + + +#define MAVLINK_MESSAGE_INFO_CTRL_SRFC_PT { \ + "CTRL_SRFC_PT", \ + 2, \ + { { "target", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_ctrl_srfc_pt_t, target) }, \ + { "bitfieldPt", NULL, MAVLINK_TYPE_UINT16_T, 0, 1, offsetof(mavlink_ctrl_srfc_pt_t, bitfieldPt) }, \ + } \ +} + + +/** + * @brief Pack a ctrl_srfc_pt 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 The system setting the commands + * @param bitfieldPt Bitfield containing the PT configuration + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_ctrl_srfc_pt_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target, uint16_t bitfieldPt) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[3]; + _mav_put_uint8_t(buf, 0, target); + _mav_put_uint16_t(buf, 1, bitfieldPt); + + memcpy(_MAV_PAYLOAD(msg), buf, 3); +#else + mavlink_ctrl_srfc_pt_t packet; + packet.target = target; + packet.bitfieldPt = bitfieldPt; + + memcpy(_MAV_PAYLOAD(msg), &packet, 3); +#endif + + msg->msgid = MAVLINK_MSG_ID_CTRL_SRFC_PT; + return mavlink_finalize_message(msg, system_id, component_id, 3); +} + +/** + * @brief Pack a ctrl_srfc_pt 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 The system setting the commands + * @param bitfieldPt Bitfield containing the PT configuration + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_ctrl_srfc_pt_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t target,uint16_t bitfieldPt) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[3]; + _mav_put_uint8_t(buf, 0, target); + _mav_put_uint16_t(buf, 1, bitfieldPt); + + memcpy(_MAV_PAYLOAD(msg), buf, 3); +#else + mavlink_ctrl_srfc_pt_t packet; + packet.target = target; + packet.bitfieldPt = bitfieldPt; + + memcpy(_MAV_PAYLOAD(msg), &packet, 3); +#endif + + msg->msgid = MAVLINK_MSG_ID_CTRL_SRFC_PT; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 3); +} + +/** + * @brief Encode a ctrl_srfc_pt 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 ctrl_srfc_pt C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_ctrl_srfc_pt_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_ctrl_srfc_pt_t* ctrl_srfc_pt) +{ + return mavlink_msg_ctrl_srfc_pt_pack(system_id, component_id, msg, ctrl_srfc_pt->target, ctrl_srfc_pt->bitfieldPt); +} + +/** + * @brief Send a ctrl_srfc_pt message + * @param chan MAVLink channel to send the message + * + * @param target The system setting the commands + * @param bitfieldPt Bitfield containing the PT configuration + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_ctrl_srfc_pt_send(mavlink_channel_t chan, uint8_t target, uint16_t bitfieldPt) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[3]; + _mav_put_uint8_t(buf, 0, target); + _mav_put_uint16_t(buf, 1, bitfieldPt); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CTRL_SRFC_PT, buf, 3); +#else + mavlink_ctrl_srfc_pt_t packet; + packet.target = target; + packet.bitfieldPt = bitfieldPt; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CTRL_SRFC_PT, (const char *)&packet, 3); +#endif +} + +#endif + +// MESSAGE CTRL_SRFC_PT UNPACKING + + +/** + * @brief Get field target from ctrl_srfc_pt message + * + * @return The system setting the commands + */ +static inline uint8_t mavlink_msg_ctrl_srfc_pt_get_target(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field bitfieldPt from ctrl_srfc_pt message + * + * @return Bitfield containing the PT configuration + */ +static inline uint16_t mavlink_msg_ctrl_srfc_pt_get_bitfieldPt(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 1); +} + +/** + * @brief Decode a ctrl_srfc_pt message into a struct + * + * @param msg The message to decode + * @param ctrl_srfc_pt C-struct to decode the message contents into + */ +static inline void mavlink_msg_ctrl_srfc_pt_decode(const mavlink_message_t* msg, mavlink_ctrl_srfc_pt_t* ctrl_srfc_pt) +{ +#if MAVLINK_NEED_BYTE_SWAP + ctrl_srfc_pt->target = mavlink_msg_ctrl_srfc_pt_get_target(msg); + ctrl_srfc_pt->bitfieldPt = mavlink_msg_ctrl_srfc_pt_get_bitfieldPt(msg); +#else + memcpy(ctrl_srfc_pt, _MAV_PAYLOAD(msg), 3); +#endif +} diff --git a/thirdParty/mavlink/v0.9/slugs/mavlink_msg_data_log.h b/thirdParty/mavlink/v0.9/slugs/mavlink_msg_data_log.h new file mode 100644 index 0000000000000000000000000000000000000000..a375796b7a956acc5b93794273af409534f7f783 --- /dev/null +++ b/thirdParty/mavlink/v0.9/slugs/mavlink_msg_data_log.h @@ -0,0 +1,254 @@ +// MESSAGE DATA_LOG PACKING + +#define MAVLINK_MSG_ID_DATA_LOG 177 + +typedef struct __mavlink_data_log_t +{ + float fl_1; ///< Log value 1 + float fl_2; ///< Log value 2 + float fl_3; ///< Log value 3 + float fl_4; ///< Log value 4 + float fl_5; ///< Log value 5 + float fl_6; ///< Log value 6 +} mavlink_data_log_t; + +#define MAVLINK_MSG_ID_DATA_LOG_LEN 24 +#define MAVLINK_MSG_ID_177_LEN 24 + + + +#define MAVLINK_MESSAGE_INFO_DATA_LOG { \ + "DATA_LOG", \ + 6, \ + { { "fl_1", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_data_log_t, fl_1) }, \ + { "fl_2", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_data_log_t, fl_2) }, \ + { "fl_3", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_data_log_t, fl_3) }, \ + { "fl_4", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_data_log_t, fl_4) }, \ + { "fl_5", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_data_log_t, fl_5) }, \ + { "fl_6", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_data_log_t, fl_6) }, \ + } \ +} + + +/** + * @brief Pack a data_log 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 fl_1 Log value 1 + * @param fl_2 Log value 2 + * @param fl_3 Log value 3 + * @param fl_4 Log value 4 + * @param fl_5 Log value 5 + * @param fl_6 Log value 6 + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_data_log_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + float fl_1, float fl_2, float fl_3, float fl_4, float fl_5, float fl_6) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[24]; + _mav_put_float(buf, 0, fl_1); + _mav_put_float(buf, 4, fl_2); + _mav_put_float(buf, 8, fl_3); + _mav_put_float(buf, 12, fl_4); + _mav_put_float(buf, 16, fl_5); + _mav_put_float(buf, 20, fl_6); + + memcpy(_MAV_PAYLOAD(msg), buf, 24); +#else + mavlink_data_log_t packet; + packet.fl_1 = fl_1; + packet.fl_2 = fl_2; + packet.fl_3 = fl_3; + packet.fl_4 = fl_4; + packet.fl_5 = fl_5; + packet.fl_6 = fl_6; + + memcpy(_MAV_PAYLOAD(msg), &packet, 24); +#endif + + msg->msgid = MAVLINK_MSG_ID_DATA_LOG; + return mavlink_finalize_message(msg, system_id, component_id, 24); +} + +/** + * @brief Pack a data_log 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 fl_1 Log value 1 + * @param fl_2 Log value 2 + * @param fl_3 Log value 3 + * @param fl_4 Log value 4 + * @param fl_5 Log value 5 + * @param fl_6 Log value 6 + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_data_log_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + float fl_1,float fl_2,float fl_3,float fl_4,float fl_5,float fl_6) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[24]; + _mav_put_float(buf, 0, fl_1); + _mav_put_float(buf, 4, fl_2); + _mav_put_float(buf, 8, fl_3); + _mav_put_float(buf, 12, fl_4); + _mav_put_float(buf, 16, fl_5); + _mav_put_float(buf, 20, fl_6); + + memcpy(_MAV_PAYLOAD(msg), buf, 24); +#else + mavlink_data_log_t packet; + packet.fl_1 = fl_1; + packet.fl_2 = fl_2; + packet.fl_3 = fl_3; + packet.fl_4 = fl_4; + packet.fl_5 = fl_5; + packet.fl_6 = fl_6; + + memcpy(_MAV_PAYLOAD(msg), &packet, 24); +#endif + + msg->msgid = MAVLINK_MSG_ID_DATA_LOG; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 24); +} + +/** + * @brief Encode a data_log 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 data_log C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_data_log_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_data_log_t* data_log) +{ + return mavlink_msg_data_log_pack(system_id, component_id, msg, data_log->fl_1, data_log->fl_2, data_log->fl_3, data_log->fl_4, data_log->fl_5, data_log->fl_6); +} + +/** + * @brief Send a data_log message + * @param chan MAVLink channel to send the message + * + * @param fl_1 Log value 1 + * @param fl_2 Log value 2 + * @param fl_3 Log value 3 + * @param fl_4 Log value 4 + * @param fl_5 Log value 5 + * @param fl_6 Log value 6 + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_data_log_send(mavlink_channel_t chan, float fl_1, float fl_2, float fl_3, float fl_4, float fl_5, float fl_6) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[24]; + _mav_put_float(buf, 0, fl_1); + _mav_put_float(buf, 4, fl_2); + _mav_put_float(buf, 8, fl_3); + _mav_put_float(buf, 12, fl_4); + _mav_put_float(buf, 16, fl_5); + _mav_put_float(buf, 20, fl_6); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_LOG, buf, 24); +#else + mavlink_data_log_t packet; + packet.fl_1 = fl_1; + packet.fl_2 = fl_2; + packet.fl_3 = fl_3; + packet.fl_4 = fl_4; + packet.fl_5 = fl_5; + packet.fl_6 = fl_6; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_LOG, (const char *)&packet, 24); +#endif +} + +#endif + +// MESSAGE DATA_LOG UNPACKING + + +/** + * @brief Get field fl_1 from data_log message + * + * @return Log value 1 + */ +static inline float mavlink_msg_data_log_get_fl_1(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 0); +} + +/** + * @brief Get field fl_2 from data_log message + * + * @return Log value 2 + */ +static inline float mavlink_msg_data_log_get_fl_2(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 4); +} + +/** + * @brief Get field fl_3 from data_log message + * + * @return Log value 3 + */ +static inline float mavlink_msg_data_log_get_fl_3(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 8); +} + +/** + * @brief Get field fl_4 from data_log message + * + * @return Log value 4 + */ +static inline float mavlink_msg_data_log_get_fl_4(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 12); +} + +/** + * @brief Get field fl_5 from data_log message + * + * @return Log value 5 + */ +static inline float mavlink_msg_data_log_get_fl_5(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 16); +} + +/** + * @brief Get field fl_6 from data_log message + * + * @return Log value 6 + */ +static inline float mavlink_msg_data_log_get_fl_6(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 20); +} + +/** + * @brief Decode a data_log message into a struct + * + * @param msg The message to decode + * @param data_log C-struct to decode the message contents into + */ +static inline void mavlink_msg_data_log_decode(const mavlink_message_t* msg, mavlink_data_log_t* data_log) +{ +#if MAVLINK_NEED_BYTE_SWAP + data_log->fl_1 = mavlink_msg_data_log_get_fl_1(msg); + data_log->fl_2 = mavlink_msg_data_log_get_fl_2(msg); + data_log->fl_3 = mavlink_msg_data_log_get_fl_3(msg); + data_log->fl_4 = mavlink_msg_data_log_get_fl_4(msg); + data_log->fl_5 = mavlink_msg_data_log_get_fl_5(msg); + data_log->fl_6 = mavlink_msg_data_log_get_fl_6(msg); +#else + memcpy(data_log, _MAV_PAYLOAD(msg), 24); +#endif +} diff --git a/thirdParty/mavlink/v0.9/slugs/mavlink_msg_diagnostic.h b/thirdParty/mavlink/v0.9/slugs/mavlink_msg_diagnostic.h new file mode 100644 index 0000000000000000000000000000000000000000..4545c72fb9e9ee291f170abdeafef3c12c48c6e0 --- /dev/null +++ b/thirdParty/mavlink/v0.9/slugs/mavlink_msg_diagnostic.h @@ -0,0 +1,254 @@ +// MESSAGE DIAGNOSTIC PACKING + +#define MAVLINK_MSG_ID_DIAGNOSTIC 173 + +typedef struct __mavlink_diagnostic_t +{ + float diagFl1; ///< Diagnostic float 1 + float diagFl2; ///< Diagnostic float 2 + float diagFl3; ///< Diagnostic float 3 + int16_t diagSh1; ///< Diagnostic short 1 + int16_t diagSh2; ///< Diagnostic short 2 + int16_t diagSh3; ///< Diagnostic short 3 +} mavlink_diagnostic_t; + +#define MAVLINK_MSG_ID_DIAGNOSTIC_LEN 18 +#define MAVLINK_MSG_ID_173_LEN 18 + + + +#define MAVLINK_MESSAGE_INFO_DIAGNOSTIC { \ + "DIAGNOSTIC", \ + 6, \ + { { "diagFl1", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_diagnostic_t, diagFl1) }, \ + { "diagFl2", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_diagnostic_t, diagFl2) }, \ + { "diagFl3", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_diagnostic_t, diagFl3) }, \ + { "diagSh1", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_diagnostic_t, diagSh1) }, \ + { "diagSh2", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_diagnostic_t, diagSh2) }, \ + { "diagSh3", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_diagnostic_t, diagSh3) }, \ + } \ +} + + +/** + * @brief Pack a diagnostic 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 diagFl1 Diagnostic float 1 + * @param diagFl2 Diagnostic float 2 + * @param diagFl3 Diagnostic float 3 + * @param diagSh1 Diagnostic short 1 + * @param diagSh2 Diagnostic short 2 + * @param diagSh3 Diagnostic short 3 + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_diagnostic_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + float diagFl1, float diagFl2, float diagFl3, int16_t diagSh1, int16_t diagSh2, int16_t diagSh3) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[18]; + _mav_put_float(buf, 0, diagFl1); + _mav_put_float(buf, 4, diagFl2); + _mav_put_float(buf, 8, diagFl3); + _mav_put_int16_t(buf, 12, diagSh1); + _mav_put_int16_t(buf, 14, diagSh2); + _mav_put_int16_t(buf, 16, diagSh3); + + memcpy(_MAV_PAYLOAD(msg), buf, 18); +#else + mavlink_diagnostic_t packet; + packet.diagFl1 = diagFl1; + packet.diagFl2 = diagFl2; + packet.diagFl3 = diagFl3; + packet.diagSh1 = diagSh1; + packet.diagSh2 = diagSh2; + packet.diagSh3 = diagSh3; + + memcpy(_MAV_PAYLOAD(msg), &packet, 18); +#endif + + msg->msgid = MAVLINK_MSG_ID_DIAGNOSTIC; + return mavlink_finalize_message(msg, system_id, component_id, 18); +} + +/** + * @brief Pack a diagnostic 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 diagFl1 Diagnostic float 1 + * @param diagFl2 Diagnostic float 2 + * @param diagFl3 Diagnostic float 3 + * @param diagSh1 Diagnostic short 1 + * @param diagSh2 Diagnostic short 2 + * @param diagSh3 Diagnostic short 3 + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_diagnostic_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + float diagFl1,float diagFl2,float diagFl3,int16_t diagSh1,int16_t diagSh2,int16_t diagSh3) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[18]; + _mav_put_float(buf, 0, diagFl1); + _mav_put_float(buf, 4, diagFl2); + _mav_put_float(buf, 8, diagFl3); + _mav_put_int16_t(buf, 12, diagSh1); + _mav_put_int16_t(buf, 14, diagSh2); + _mav_put_int16_t(buf, 16, diagSh3); + + memcpy(_MAV_PAYLOAD(msg), buf, 18); +#else + mavlink_diagnostic_t packet; + packet.diagFl1 = diagFl1; + packet.diagFl2 = diagFl2; + packet.diagFl3 = diagFl3; + packet.diagSh1 = diagSh1; + packet.diagSh2 = diagSh2; + packet.diagSh3 = diagSh3; + + memcpy(_MAV_PAYLOAD(msg), &packet, 18); +#endif + + msg->msgid = MAVLINK_MSG_ID_DIAGNOSTIC; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 18); +} + +/** + * @brief Encode a diagnostic 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 diagnostic C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_diagnostic_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_diagnostic_t* diagnostic) +{ + return mavlink_msg_diagnostic_pack(system_id, component_id, msg, diagnostic->diagFl1, diagnostic->diagFl2, diagnostic->diagFl3, diagnostic->diagSh1, diagnostic->diagSh2, diagnostic->diagSh3); +} + +/** + * @brief Send a diagnostic message + * @param chan MAVLink channel to send the message + * + * @param diagFl1 Diagnostic float 1 + * @param diagFl2 Diagnostic float 2 + * @param diagFl3 Diagnostic float 3 + * @param diagSh1 Diagnostic short 1 + * @param diagSh2 Diagnostic short 2 + * @param diagSh3 Diagnostic short 3 + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_diagnostic_send(mavlink_channel_t chan, float diagFl1, float diagFl2, float diagFl3, int16_t diagSh1, int16_t diagSh2, int16_t diagSh3) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[18]; + _mav_put_float(buf, 0, diagFl1); + _mav_put_float(buf, 4, diagFl2); + _mav_put_float(buf, 8, diagFl3); + _mav_put_int16_t(buf, 12, diagSh1); + _mav_put_int16_t(buf, 14, diagSh2); + _mav_put_int16_t(buf, 16, diagSh3); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DIAGNOSTIC, buf, 18); +#else + mavlink_diagnostic_t packet; + packet.diagFl1 = diagFl1; + packet.diagFl2 = diagFl2; + packet.diagFl3 = diagFl3; + packet.diagSh1 = diagSh1; + packet.diagSh2 = diagSh2; + packet.diagSh3 = diagSh3; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DIAGNOSTIC, (const char *)&packet, 18); +#endif +} + +#endif + +// MESSAGE DIAGNOSTIC UNPACKING + + +/** + * @brief Get field diagFl1 from diagnostic message + * + * @return Diagnostic float 1 + */ +static inline float mavlink_msg_diagnostic_get_diagFl1(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 0); +} + +/** + * @brief Get field diagFl2 from diagnostic message + * + * @return Diagnostic float 2 + */ +static inline float mavlink_msg_diagnostic_get_diagFl2(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 4); +} + +/** + * @brief Get field diagFl3 from diagnostic message + * + * @return Diagnostic float 3 + */ +static inline float mavlink_msg_diagnostic_get_diagFl3(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 8); +} + +/** + * @brief Get field diagSh1 from diagnostic message + * + * @return Diagnostic short 1 + */ +static inline int16_t mavlink_msg_diagnostic_get_diagSh1(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 12); +} + +/** + * @brief Get field diagSh2 from diagnostic message + * + * @return Diagnostic short 2 + */ +static inline int16_t mavlink_msg_diagnostic_get_diagSh2(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 14); +} + +/** + * @brief Get field diagSh3 from diagnostic message + * + * @return Diagnostic short 3 + */ +static inline int16_t mavlink_msg_diagnostic_get_diagSh3(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 16); +} + +/** + * @brief Decode a diagnostic message into a struct + * + * @param msg The message to decode + * @param diagnostic C-struct to decode the message contents into + */ +static inline void mavlink_msg_diagnostic_decode(const mavlink_message_t* msg, mavlink_diagnostic_t* diagnostic) +{ +#if MAVLINK_NEED_BYTE_SWAP + diagnostic->diagFl1 = mavlink_msg_diagnostic_get_diagFl1(msg); + diagnostic->diagFl2 = mavlink_msg_diagnostic_get_diagFl2(msg); + diagnostic->diagFl3 = mavlink_msg_diagnostic_get_diagFl3(msg); + diagnostic->diagSh1 = mavlink_msg_diagnostic_get_diagSh1(msg); + diagnostic->diagSh2 = mavlink_msg_diagnostic_get_diagSh2(msg); + diagnostic->diagSh3 = mavlink_msg_diagnostic_get_diagSh3(msg); +#else + memcpy(diagnostic, _MAV_PAYLOAD(msg), 18); +#endif +} diff --git a/thirdParty/mavlink/v0.9/slugs/mavlink_msg_gps_date_time.h b/thirdParty/mavlink/v0.9/slugs/mavlink_msg_gps_date_time.h new file mode 100644 index 0000000000000000000000000000000000000000..81d3595ceba3c043dc4b98c3b55e1255b8c7017c --- /dev/null +++ b/thirdParty/mavlink/v0.9/slugs/mavlink_msg_gps_date_time.h @@ -0,0 +1,276 @@ +// MESSAGE GPS_DATE_TIME PACKING + +#define MAVLINK_MSG_ID_GPS_DATE_TIME 179 + +typedef struct __mavlink_gps_date_time_t +{ + uint8_t year; ///< Year reported by Gps + uint8_t month; ///< Month reported by Gps + uint8_t day; ///< Day reported by Gps + uint8_t hour; ///< Hour reported by Gps + uint8_t min; ///< Min reported by Gps + uint8_t sec; ///< Sec reported by Gps + uint8_t visSat; ///< Visible sattelites reported by Gps +} mavlink_gps_date_time_t; + +#define MAVLINK_MSG_ID_GPS_DATE_TIME_LEN 7 +#define MAVLINK_MSG_ID_179_LEN 7 + + + +#define MAVLINK_MESSAGE_INFO_GPS_DATE_TIME { \ + "GPS_DATE_TIME", \ + 7, \ + { { "year", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_gps_date_time_t, year) }, \ + { "month", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_gps_date_time_t, month) }, \ + { "day", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_gps_date_time_t, day) }, \ + { "hour", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_gps_date_time_t, hour) }, \ + { "min", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_gps_date_time_t, min) }, \ + { "sec", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_gps_date_time_t, sec) }, \ + { "visSat", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_gps_date_time_t, visSat) }, \ + } \ +} + + +/** + * @brief Pack a gps_date_time 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 year Year reported by Gps + * @param month Month reported by Gps + * @param day Day reported by Gps + * @param hour Hour reported by Gps + * @param min Min reported by Gps + * @param sec Sec reported by Gps + * @param visSat Visible sattelites reported by Gps + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_gps_date_time_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t year, uint8_t month, uint8_t day, uint8_t hour, uint8_t min, uint8_t sec, uint8_t visSat) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[7]; + _mav_put_uint8_t(buf, 0, year); + _mav_put_uint8_t(buf, 1, month); + _mav_put_uint8_t(buf, 2, day); + _mav_put_uint8_t(buf, 3, hour); + _mav_put_uint8_t(buf, 4, min); + _mav_put_uint8_t(buf, 5, sec); + _mav_put_uint8_t(buf, 6, visSat); + + memcpy(_MAV_PAYLOAD(msg), buf, 7); +#else + mavlink_gps_date_time_t packet; + packet.year = year; + packet.month = month; + packet.day = day; + packet.hour = hour; + packet.min = min; + packet.sec = sec; + packet.visSat = visSat; + + memcpy(_MAV_PAYLOAD(msg), &packet, 7); +#endif + + msg->msgid = MAVLINK_MSG_ID_GPS_DATE_TIME; + return mavlink_finalize_message(msg, system_id, component_id, 7); +} + +/** + * @brief Pack a gps_date_time 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 year Year reported by Gps + * @param month Month reported by Gps + * @param day Day reported by Gps + * @param hour Hour reported by Gps + * @param min Min reported by Gps + * @param sec Sec reported by Gps + * @param visSat Visible sattelites reported by Gps + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_gps_date_time_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t year,uint8_t month,uint8_t day,uint8_t hour,uint8_t min,uint8_t sec,uint8_t visSat) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[7]; + _mav_put_uint8_t(buf, 0, year); + _mav_put_uint8_t(buf, 1, month); + _mav_put_uint8_t(buf, 2, day); + _mav_put_uint8_t(buf, 3, hour); + _mav_put_uint8_t(buf, 4, min); + _mav_put_uint8_t(buf, 5, sec); + _mav_put_uint8_t(buf, 6, visSat); + + memcpy(_MAV_PAYLOAD(msg), buf, 7); +#else + mavlink_gps_date_time_t packet; + packet.year = year; + packet.month = month; + packet.day = day; + packet.hour = hour; + packet.min = min; + packet.sec = sec; + packet.visSat = visSat; + + memcpy(_MAV_PAYLOAD(msg), &packet, 7); +#endif + + msg->msgid = MAVLINK_MSG_ID_GPS_DATE_TIME; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 7); +} + +/** + * @brief Encode a gps_date_time 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 gps_date_time C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_gps_date_time_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps_date_time_t* gps_date_time) +{ + return mavlink_msg_gps_date_time_pack(system_id, component_id, msg, gps_date_time->year, gps_date_time->month, gps_date_time->day, gps_date_time->hour, gps_date_time->min, gps_date_time->sec, gps_date_time->visSat); +} + +/** + * @brief Send a gps_date_time message + * @param chan MAVLink channel to send the message + * + * @param year Year reported by Gps + * @param month Month reported by Gps + * @param day Day reported by Gps + * @param hour Hour reported by Gps + * @param min Min reported by Gps + * @param sec Sec reported by Gps + * @param visSat Visible sattelites reported by Gps + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_gps_date_time_send(mavlink_channel_t chan, uint8_t year, uint8_t month, uint8_t day, uint8_t hour, uint8_t min, uint8_t sec, uint8_t visSat) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[7]; + _mav_put_uint8_t(buf, 0, year); + _mav_put_uint8_t(buf, 1, month); + _mav_put_uint8_t(buf, 2, day); + _mav_put_uint8_t(buf, 3, hour); + _mav_put_uint8_t(buf, 4, min); + _mav_put_uint8_t(buf, 5, sec); + _mav_put_uint8_t(buf, 6, visSat); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_DATE_TIME, buf, 7); +#else + mavlink_gps_date_time_t packet; + packet.year = year; + packet.month = month; + packet.day = day; + packet.hour = hour; + packet.min = min; + packet.sec = sec; + packet.visSat = visSat; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_DATE_TIME, (const char *)&packet, 7); +#endif +} + +#endif + +// MESSAGE GPS_DATE_TIME UNPACKING + + +/** + * @brief Get field year from gps_date_time message + * + * @return Year reported by Gps + */ +static inline uint8_t mavlink_msg_gps_date_time_get_year(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field month from gps_date_time message + * + * @return Month reported by Gps + */ +static inline uint8_t mavlink_msg_gps_date_time_get_month(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 1); +} + +/** + * @brief Get field day from gps_date_time message + * + * @return Day reported by Gps + */ +static inline uint8_t mavlink_msg_gps_date_time_get_day(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 2); +} + +/** + * @brief Get field hour from gps_date_time message + * + * @return Hour reported by Gps + */ +static inline uint8_t mavlink_msg_gps_date_time_get_hour(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 3); +} + +/** + * @brief Get field min from gps_date_time message + * + * @return Min reported by Gps + */ +static inline uint8_t mavlink_msg_gps_date_time_get_min(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 4); +} + +/** + * @brief Get field sec from gps_date_time message + * + * @return Sec reported by Gps + */ +static inline uint8_t mavlink_msg_gps_date_time_get_sec(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 5); +} + +/** + * @brief Get field visSat from gps_date_time message + * + * @return Visible sattelites reported by Gps + */ +static inline uint8_t mavlink_msg_gps_date_time_get_visSat(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 6); +} + +/** + * @brief Decode a gps_date_time message into a struct + * + * @param msg The message to decode + * @param gps_date_time C-struct to decode the message contents into + */ +static inline void mavlink_msg_gps_date_time_decode(const mavlink_message_t* msg, mavlink_gps_date_time_t* gps_date_time) +{ +#if MAVLINK_NEED_BYTE_SWAP + gps_date_time->year = mavlink_msg_gps_date_time_get_year(msg); + gps_date_time->month = mavlink_msg_gps_date_time_get_month(msg); + gps_date_time->day = mavlink_msg_gps_date_time_get_day(msg); + gps_date_time->hour = mavlink_msg_gps_date_time_get_hour(msg); + gps_date_time->min = mavlink_msg_gps_date_time_get_min(msg); + gps_date_time->sec = mavlink_msg_gps_date_time_get_sec(msg); + gps_date_time->visSat = mavlink_msg_gps_date_time_get_visSat(msg); +#else + memcpy(gps_date_time, _MAV_PAYLOAD(msg), 7); +#endif +} diff --git a/thirdParty/mavlink/v0.9/slugs/mavlink_msg_mid_lvl_cmds.h b/thirdParty/mavlink/v0.9/slugs/mavlink_msg_mid_lvl_cmds.h new file mode 100644 index 0000000000000000000000000000000000000000..abb49ab88f79f5efee4bdd21dc953049c697eacc --- /dev/null +++ b/thirdParty/mavlink/v0.9/slugs/mavlink_msg_mid_lvl_cmds.h @@ -0,0 +1,210 @@ +// MESSAGE MID_LVL_CMDS PACKING + +#define MAVLINK_MSG_ID_MID_LVL_CMDS 180 + +typedef struct __mavlink_mid_lvl_cmds_t +{ + uint8_t target; ///< The system setting the commands + float hCommand; ///< Commanded Airspeed + float uCommand; ///< Log value 2 + float rCommand; ///< Log value 3 +} mavlink_mid_lvl_cmds_t; + +#define MAVLINK_MSG_ID_MID_LVL_CMDS_LEN 13 +#define MAVLINK_MSG_ID_180_LEN 13 + + + +#define MAVLINK_MESSAGE_INFO_MID_LVL_CMDS { \ + "MID_LVL_CMDS", \ + 4, \ + { { "target", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_mid_lvl_cmds_t, target) }, \ + { "hCommand", NULL, MAVLINK_TYPE_FLOAT, 0, 1, offsetof(mavlink_mid_lvl_cmds_t, hCommand) }, \ + { "uCommand", NULL, MAVLINK_TYPE_FLOAT, 0, 5, offsetof(mavlink_mid_lvl_cmds_t, uCommand) }, \ + { "rCommand", NULL, MAVLINK_TYPE_FLOAT, 0, 9, offsetof(mavlink_mid_lvl_cmds_t, rCommand) }, \ + } \ +} + + +/** + * @brief Pack a mid_lvl_cmds 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 The system setting the commands + * @param hCommand Commanded Airspeed + * @param uCommand Log value 2 + * @param rCommand Log value 3 + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_mid_lvl_cmds_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target, float hCommand, float uCommand, float rCommand) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[13]; + _mav_put_uint8_t(buf, 0, target); + _mav_put_float(buf, 1, hCommand); + _mav_put_float(buf, 5, uCommand); + _mav_put_float(buf, 9, rCommand); + + memcpy(_MAV_PAYLOAD(msg), buf, 13); +#else + mavlink_mid_lvl_cmds_t packet; + packet.target = target; + packet.hCommand = hCommand; + packet.uCommand = uCommand; + packet.rCommand = rCommand; + + memcpy(_MAV_PAYLOAD(msg), &packet, 13); +#endif + + msg->msgid = MAVLINK_MSG_ID_MID_LVL_CMDS; + return mavlink_finalize_message(msg, system_id, component_id, 13); +} + +/** + * @brief Pack a mid_lvl_cmds 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 The system setting the commands + * @param hCommand Commanded Airspeed + * @param uCommand Log value 2 + * @param rCommand Log value 3 + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_mid_lvl_cmds_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t target,float hCommand,float uCommand,float rCommand) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[13]; + _mav_put_uint8_t(buf, 0, target); + _mav_put_float(buf, 1, hCommand); + _mav_put_float(buf, 5, uCommand); + _mav_put_float(buf, 9, rCommand); + + memcpy(_MAV_PAYLOAD(msg), buf, 13); +#else + mavlink_mid_lvl_cmds_t packet; + packet.target = target; + packet.hCommand = hCommand; + packet.uCommand = uCommand; + packet.rCommand = rCommand; + + memcpy(_MAV_PAYLOAD(msg), &packet, 13); +#endif + + msg->msgid = MAVLINK_MSG_ID_MID_LVL_CMDS; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 13); +} + +/** + * @brief Encode a mid_lvl_cmds 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 mid_lvl_cmds C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_mid_lvl_cmds_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_mid_lvl_cmds_t* mid_lvl_cmds) +{ + return mavlink_msg_mid_lvl_cmds_pack(system_id, component_id, msg, mid_lvl_cmds->target, mid_lvl_cmds->hCommand, mid_lvl_cmds->uCommand, mid_lvl_cmds->rCommand); +} + +/** + * @brief Send a mid_lvl_cmds message + * @param chan MAVLink channel to send the message + * + * @param target The system setting the commands + * @param hCommand Commanded Airspeed + * @param uCommand Log value 2 + * @param rCommand Log value 3 + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_mid_lvl_cmds_send(mavlink_channel_t chan, uint8_t target, float hCommand, float uCommand, float rCommand) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[13]; + _mav_put_uint8_t(buf, 0, target); + _mav_put_float(buf, 1, hCommand); + _mav_put_float(buf, 5, uCommand); + _mav_put_float(buf, 9, rCommand); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MID_LVL_CMDS, buf, 13); +#else + mavlink_mid_lvl_cmds_t packet; + packet.target = target; + packet.hCommand = hCommand; + packet.uCommand = uCommand; + packet.rCommand = rCommand; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MID_LVL_CMDS, (const char *)&packet, 13); +#endif +} + +#endif + +// MESSAGE MID_LVL_CMDS UNPACKING + + +/** + * @brief Get field target from mid_lvl_cmds message + * + * @return The system setting the commands + */ +static inline uint8_t mavlink_msg_mid_lvl_cmds_get_target(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field hCommand from mid_lvl_cmds message + * + * @return Commanded Airspeed + */ +static inline float mavlink_msg_mid_lvl_cmds_get_hCommand(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 1); +} + +/** + * @brief Get field uCommand from mid_lvl_cmds message + * + * @return Log value 2 + */ +static inline float mavlink_msg_mid_lvl_cmds_get_uCommand(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 5); +} + +/** + * @brief Get field rCommand from mid_lvl_cmds message + * + * @return Log value 3 + */ +static inline float mavlink_msg_mid_lvl_cmds_get_rCommand(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 9); +} + +/** + * @brief Decode a mid_lvl_cmds message into a struct + * + * @param msg The message to decode + * @param mid_lvl_cmds C-struct to decode the message contents into + */ +static inline void mavlink_msg_mid_lvl_cmds_decode(const mavlink_message_t* msg, mavlink_mid_lvl_cmds_t* mid_lvl_cmds) +{ +#if MAVLINK_NEED_BYTE_SWAP + mid_lvl_cmds->target = mavlink_msg_mid_lvl_cmds_get_target(msg); + mid_lvl_cmds->hCommand = mavlink_msg_mid_lvl_cmds_get_hCommand(msg); + mid_lvl_cmds->uCommand = mavlink_msg_mid_lvl_cmds_get_uCommand(msg); + mid_lvl_cmds->rCommand = mavlink_msg_mid_lvl_cmds_get_rCommand(msg); +#else + memcpy(mid_lvl_cmds, _MAV_PAYLOAD(msg), 13); +#endif +} diff --git a/thirdParty/mavlink/v0.9/slugs/mavlink_msg_sensor_bias.h b/thirdParty/mavlink/v0.9/slugs/mavlink_msg_sensor_bias.h new file mode 100644 index 0000000000000000000000000000000000000000..3f10d85a4a53fadb265a371369abda0008b5ce76 --- /dev/null +++ b/thirdParty/mavlink/v0.9/slugs/mavlink_msg_sensor_bias.h @@ -0,0 +1,254 @@ +// MESSAGE SENSOR_BIAS PACKING + +#define MAVLINK_MSG_ID_SENSOR_BIAS 172 + +typedef struct __mavlink_sensor_bias_t +{ + float axBias; ///< Accelerometer X bias (m/s) + float ayBias; ///< Accelerometer Y bias (m/s) + float azBias; ///< Accelerometer Z bias (m/s) + float gxBias; ///< Gyro X bias (rad/s) + float gyBias; ///< Gyro Y bias (rad/s) + float gzBias; ///< Gyro Z bias (rad/s) +} mavlink_sensor_bias_t; + +#define MAVLINK_MSG_ID_SENSOR_BIAS_LEN 24 +#define MAVLINK_MSG_ID_172_LEN 24 + + + +#define MAVLINK_MESSAGE_INFO_SENSOR_BIAS { \ + "SENSOR_BIAS", \ + 6, \ + { { "axBias", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_sensor_bias_t, axBias) }, \ + { "ayBias", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_sensor_bias_t, ayBias) }, \ + { "azBias", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_sensor_bias_t, azBias) }, \ + { "gxBias", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_sensor_bias_t, gxBias) }, \ + { "gyBias", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_sensor_bias_t, gyBias) }, \ + { "gzBias", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_sensor_bias_t, gzBias) }, \ + } \ +} + + +/** + * @brief Pack a sensor_bias 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 axBias Accelerometer X bias (m/s) + * @param ayBias Accelerometer Y bias (m/s) + * @param azBias Accelerometer Z bias (m/s) + * @param gxBias Gyro X bias (rad/s) + * @param gyBias Gyro Y bias (rad/s) + * @param gzBias Gyro Z bias (rad/s) + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_sensor_bias_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + float axBias, float ayBias, float azBias, float gxBias, float gyBias, float gzBias) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[24]; + _mav_put_float(buf, 0, axBias); + _mav_put_float(buf, 4, ayBias); + _mav_put_float(buf, 8, azBias); + _mav_put_float(buf, 12, gxBias); + _mav_put_float(buf, 16, gyBias); + _mav_put_float(buf, 20, gzBias); + + memcpy(_MAV_PAYLOAD(msg), buf, 24); +#else + mavlink_sensor_bias_t packet; + packet.axBias = axBias; + packet.ayBias = ayBias; + packet.azBias = azBias; + packet.gxBias = gxBias; + packet.gyBias = gyBias; + packet.gzBias = gzBias; + + memcpy(_MAV_PAYLOAD(msg), &packet, 24); +#endif + + msg->msgid = MAVLINK_MSG_ID_SENSOR_BIAS; + return mavlink_finalize_message(msg, system_id, component_id, 24); +} + +/** + * @brief Pack a sensor_bias 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 axBias Accelerometer X bias (m/s) + * @param ayBias Accelerometer Y bias (m/s) + * @param azBias Accelerometer Z bias (m/s) + * @param gxBias Gyro X bias (rad/s) + * @param gyBias Gyro Y bias (rad/s) + * @param gzBias Gyro Z bias (rad/s) + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_sensor_bias_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + float axBias,float ayBias,float azBias,float gxBias,float gyBias,float gzBias) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[24]; + _mav_put_float(buf, 0, axBias); + _mav_put_float(buf, 4, ayBias); + _mav_put_float(buf, 8, azBias); + _mav_put_float(buf, 12, gxBias); + _mav_put_float(buf, 16, gyBias); + _mav_put_float(buf, 20, gzBias); + + memcpy(_MAV_PAYLOAD(msg), buf, 24); +#else + mavlink_sensor_bias_t packet; + packet.axBias = axBias; + packet.ayBias = ayBias; + packet.azBias = azBias; + packet.gxBias = gxBias; + packet.gyBias = gyBias; + packet.gzBias = gzBias; + + memcpy(_MAV_PAYLOAD(msg), &packet, 24); +#endif + + msg->msgid = MAVLINK_MSG_ID_SENSOR_BIAS; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 24); +} + +/** + * @brief Encode a sensor_bias 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 sensor_bias C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_sensor_bias_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_sensor_bias_t* sensor_bias) +{ + return mavlink_msg_sensor_bias_pack(system_id, component_id, msg, sensor_bias->axBias, sensor_bias->ayBias, sensor_bias->azBias, sensor_bias->gxBias, sensor_bias->gyBias, sensor_bias->gzBias); +} + +/** + * @brief Send a sensor_bias message + * @param chan MAVLink channel to send the message + * + * @param axBias Accelerometer X bias (m/s) + * @param ayBias Accelerometer Y bias (m/s) + * @param azBias Accelerometer Z bias (m/s) + * @param gxBias Gyro X bias (rad/s) + * @param gyBias Gyro Y bias (rad/s) + * @param gzBias Gyro Z bias (rad/s) + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_sensor_bias_send(mavlink_channel_t chan, float axBias, float ayBias, float azBias, float gxBias, float gyBias, float gzBias) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[24]; + _mav_put_float(buf, 0, axBias); + _mav_put_float(buf, 4, ayBias); + _mav_put_float(buf, 8, azBias); + _mav_put_float(buf, 12, gxBias); + _mav_put_float(buf, 16, gyBias); + _mav_put_float(buf, 20, gzBias); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SENSOR_BIAS, buf, 24); +#else + mavlink_sensor_bias_t packet; + packet.axBias = axBias; + packet.ayBias = ayBias; + packet.azBias = azBias; + packet.gxBias = gxBias; + packet.gyBias = gyBias; + packet.gzBias = gzBias; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SENSOR_BIAS, (const char *)&packet, 24); +#endif +} + +#endif + +// MESSAGE SENSOR_BIAS UNPACKING + + +/** + * @brief Get field axBias from sensor_bias message + * + * @return Accelerometer X bias (m/s) + */ +static inline float mavlink_msg_sensor_bias_get_axBias(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 0); +} + +/** + * @brief Get field ayBias from sensor_bias message + * + * @return Accelerometer Y bias (m/s) + */ +static inline float mavlink_msg_sensor_bias_get_ayBias(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 4); +} + +/** + * @brief Get field azBias from sensor_bias message + * + * @return Accelerometer Z bias (m/s) + */ +static inline float mavlink_msg_sensor_bias_get_azBias(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 8); +} + +/** + * @brief Get field gxBias from sensor_bias message + * + * @return Gyro X bias (rad/s) + */ +static inline float mavlink_msg_sensor_bias_get_gxBias(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 12); +} + +/** + * @brief Get field gyBias from sensor_bias message + * + * @return Gyro Y bias (rad/s) + */ +static inline float mavlink_msg_sensor_bias_get_gyBias(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 16); +} + +/** + * @brief Get field gzBias from sensor_bias message + * + * @return Gyro Z bias (rad/s) + */ +static inline float mavlink_msg_sensor_bias_get_gzBias(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 20); +} + +/** + * @brief Decode a sensor_bias message into a struct + * + * @param msg The message to decode + * @param sensor_bias C-struct to decode the message contents into + */ +static inline void mavlink_msg_sensor_bias_decode(const mavlink_message_t* msg, mavlink_sensor_bias_t* sensor_bias) +{ +#if MAVLINK_NEED_BYTE_SWAP + sensor_bias->axBias = mavlink_msg_sensor_bias_get_axBias(msg); + sensor_bias->ayBias = mavlink_msg_sensor_bias_get_ayBias(msg); + sensor_bias->azBias = mavlink_msg_sensor_bias_get_azBias(msg); + sensor_bias->gxBias = mavlink_msg_sensor_bias_get_gxBias(msg); + sensor_bias->gyBias = mavlink_msg_sensor_bias_get_gyBias(msg); + sensor_bias->gzBias = mavlink_msg_sensor_bias_get_gzBias(msg); +#else + memcpy(sensor_bias, _MAV_PAYLOAD(msg), 24); +#endif +} diff --git a/thirdParty/mavlink/v0.9/slugs/mavlink_msg_slugs_action.h b/thirdParty/mavlink/v0.9/slugs/mavlink_msg_slugs_action.h new file mode 100644 index 0000000000000000000000000000000000000000..a7f825f33866fb280e7af9c6479cf0a9d39cd461 --- /dev/null +++ b/thirdParty/mavlink/v0.9/slugs/mavlink_msg_slugs_action.h @@ -0,0 +1,188 @@ +// MESSAGE SLUGS_ACTION PACKING + +#define MAVLINK_MSG_ID_SLUGS_ACTION 183 + +typedef struct __mavlink_slugs_action_t +{ + uint8_t target; ///< The system reporting the action + uint8_t actionId; ///< Action ID. See apDefinitions.h in the SLUGS /clib directory for the ID names + uint16_t actionVal; ///< Value associated with the action +} mavlink_slugs_action_t; + +#define MAVLINK_MSG_ID_SLUGS_ACTION_LEN 4 +#define MAVLINK_MSG_ID_183_LEN 4 + + + +#define MAVLINK_MESSAGE_INFO_SLUGS_ACTION { \ + "SLUGS_ACTION", \ + 3, \ + { { "target", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_slugs_action_t, target) }, \ + { "actionId", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_slugs_action_t, actionId) }, \ + { "actionVal", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_slugs_action_t, actionVal) }, \ + } \ +} + + +/** + * @brief Pack a slugs_action 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 The system reporting the action + * @param actionId Action ID. See apDefinitions.h in the SLUGS /clib directory for the ID names + * @param actionVal Value associated with the action + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_slugs_action_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target, uint8_t actionId, uint16_t actionVal) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[4]; + _mav_put_uint8_t(buf, 0, target); + _mav_put_uint8_t(buf, 1, actionId); + _mav_put_uint16_t(buf, 2, actionVal); + + memcpy(_MAV_PAYLOAD(msg), buf, 4); +#else + mavlink_slugs_action_t packet; + packet.target = target; + packet.actionId = actionId; + packet.actionVal = actionVal; + + memcpy(_MAV_PAYLOAD(msg), &packet, 4); +#endif + + msg->msgid = MAVLINK_MSG_ID_SLUGS_ACTION; + return mavlink_finalize_message(msg, system_id, component_id, 4); +} + +/** + * @brief Pack a slugs_action 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 The system reporting the action + * @param actionId Action ID. See apDefinitions.h in the SLUGS /clib directory for the ID names + * @param actionVal Value associated with the action + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_slugs_action_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t target,uint8_t actionId,uint16_t actionVal) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[4]; + _mav_put_uint8_t(buf, 0, target); + _mav_put_uint8_t(buf, 1, actionId); + _mav_put_uint16_t(buf, 2, actionVal); + + memcpy(_MAV_PAYLOAD(msg), buf, 4); +#else + mavlink_slugs_action_t packet; + packet.target = target; + packet.actionId = actionId; + packet.actionVal = actionVal; + + memcpy(_MAV_PAYLOAD(msg), &packet, 4); +#endif + + msg->msgid = MAVLINK_MSG_ID_SLUGS_ACTION; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 4); +} + +/** + * @brief Encode a slugs_action 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 slugs_action C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_slugs_action_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_slugs_action_t* slugs_action) +{ + return mavlink_msg_slugs_action_pack(system_id, component_id, msg, slugs_action->target, slugs_action->actionId, slugs_action->actionVal); +} + +/** + * @brief Send a slugs_action message + * @param chan MAVLink channel to send the message + * + * @param target The system reporting the action + * @param actionId Action ID. See apDefinitions.h in the SLUGS /clib directory for the ID names + * @param actionVal Value associated with the action + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_slugs_action_send(mavlink_channel_t chan, uint8_t target, uint8_t actionId, uint16_t actionVal) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[4]; + _mav_put_uint8_t(buf, 0, target); + _mav_put_uint8_t(buf, 1, actionId); + _mav_put_uint16_t(buf, 2, actionVal); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SLUGS_ACTION, buf, 4); +#else + mavlink_slugs_action_t packet; + packet.target = target; + packet.actionId = actionId; + packet.actionVal = actionVal; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SLUGS_ACTION, (const char *)&packet, 4); +#endif +} + +#endif + +// MESSAGE SLUGS_ACTION UNPACKING + + +/** + * @brief Get field target from slugs_action message + * + * @return The system reporting the action + */ +static inline uint8_t mavlink_msg_slugs_action_get_target(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field actionId from slugs_action message + * + * @return Action ID. See apDefinitions.h in the SLUGS /clib directory for the ID names + */ +static inline uint8_t mavlink_msg_slugs_action_get_actionId(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 1); +} + +/** + * @brief Get field actionVal from slugs_action message + * + * @return Value associated with the action + */ +static inline uint16_t mavlink_msg_slugs_action_get_actionVal(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 2); +} + +/** + * @brief Decode a slugs_action message into a struct + * + * @param msg The message to decode + * @param slugs_action C-struct to decode the message contents into + */ +static inline void mavlink_msg_slugs_action_decode(const mavlink_message_t* msg, mavlink_slugs_action_t* slugs_action) +{ +#if MAVLINK_NEED_BYTE_SWAP + slugs_action->target = mavlink_msg_slugs_action_get_target(msg); + slugs_action->actionId = mavlink_msg_slugs_action_get_actionId(msg); + slugs_action->actionVal = mavlink_msg_slugs_action_get_actionVal(msg); +#else + memcpy(slugs_action, _MAV_PAYLOAD(msg), 4); +#endif +} diff --git a/thirdParty/mavlink/v0.9/slugs/mavlink_msg_slugs_navigation.h b/thirdParty/mavlink/v0.9/slugs/mavlink_msg_slugs_navigation.h new file mode 100644 index 0000000000000000000000000000000000000000..a5804bccf60cc128d78a9b3612f147ad4349d91d --- /dev/null +++ b/thirdParty/mavlink/v0.9/slugs/mavlink_msg_slugs_navigation.h @@ -0,0 +1,320 @@ +// MESSAGE SLUGS_NAVIGATION PACKING + +#define MAVLINK_MSG_ID_SLUGS_NAVIGATION 176 + +typedef struct __mavlink_slugs_navigation_t +{ + float u_m; ///< Measured Airspeed prior to the Nav Filter + float phi_c; ///< Commanded Roll + float theta_c; ///< Commanded Pitch + float psiDot_c; ///< Commanded Turn rate + float ay_body; ///< Y component of the body acceleration + float totalDist; ///< Total Distance to Run on this leg of Navigation + float dist2Go; ///< Remaining distance to Run on this leg of Navigation + uint8_t fromWP; ///< Origin WP + uint8_t toWP; ///< Destination WP +} mavlink_slugs_navigation_t; + +#define MAVLINK_MSG_ID_SLUGS_NAVIGATION_LEN 30 +#define MAVLINK_MSG_ID_176_LEN 30 + + + +#define MAVLINK_MESSAGE_INFO_SLUGS_NAVIGATION { \ + "SLUGS_NAVIGATION", \ + 9, \ + { { "u_m", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_slugs_navigation_t, u_m) }, \ + { "phi_c", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_slugs_navigation_t, phi_c) }, \ + { "theta_c", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_slugs_navigation_t, theta_c) }, \ + { "psiDot_c", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_slugs_navigation_t, psiDot_c) }, \ + { "ay_body", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_slugs_navigation_t, ay_body) }, \ + { "totalDist", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_slugs_navigation_t, totalDist) }, \ + { "dist2Go", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_slugs_navigation_t, dist2Go) }, \ + { "fromWP", NULL, MAVLINK_TYPE_UINT8_T, 0, 28, offsetof(mavlink_slugs_navigation_t, fromWP) }, \ + { "toWP", NULL, MAVLINK_TYPE_UINT8_T, 0, 29, offsetof(mavlink_slugs_navigation_t, toWP) }, \ + } \ +} + + +/** + * @brief Pack a slugs_navigation 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 u_m Measured Airspeed prior to the Nav Filter + * @param phi_c Commanded Roll + * @param theta_c Commanded Pitch + * @param psiDot_c Commanded Turn rate + * @param ay_body Y component of the body acceleration + * @param totalDist Total Distance to Run on this leg of Navigation + * @param dist2Go Remaining distance to Run on this leg of Navigation + * @param fromWP Origin WP + * @param toWP Destination WP + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_slugs_navigation_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + float u_m, float phi_c, float theta_c, float psiDot_c, float ay_body, float totalDist, float dist2Go, uint8_t fromWP, uint8_t toWP) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[30]; + _mav_put_float(buf, 0, u_m); + _mav_put_float(buf, 4, phi_c); + _mav_put_float(buf, 8, theta_c); + _mav_put_float(buf, 12, psiDot_c); + _mav_put_float(buf, 16, ay_body); + _mav_put_float(buf, 20, totalDist); + _mav_put_float(buf, 24, dist2Go); + _mav_put_uint8_t(buf, 28, fromWP); + _mav_put_uint8_t(buf, 29, toWP); + + memcpy(_MAV_PAYLOAD(msg), buf, 30); +#else + mavlink_slugs_navigation_t packet; + packet.u_m = u_m; + packet.phi_c = phi_c; + packet.theta_c = theta_c; + packet.psiDot_c = psiDot_c; + packet.ay_body = ay_body; + packet.totalDist = totalDist; + packet.dist2Go = dist2Go; + packet.fromWP = fromWP; + packet.toWP = toWP; + + memcpy(_MAV_PAYLOAD(msg), &packet, 30); +#endif + + msg->msgid = MAVLINK_MSG_ID_SLUGS_NAVIGATION; + return mavlink_finalize_message(msg, system_id, component_id, 30); +} + +/** + * @brief Pack a slugs_navigation 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 u_m Measured Airspeed prior to the Nav Filter + * @param phi_c Commanded Roll + * @param theta_c Commanded Pitch + * @param psiDot_c Commanded Turn rate + * @param ay_body Y component of the body acceleration + * @param totalDist Total Distance to Run on this leg of Navigation + * @param dist2Go Remaining distance to Run on this leg of Navigation + * @param fromWP Origin WP + * @param toWP Destination WP + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_slugs_navigation_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + float u_m,float phi_c,float theta_c,float psiDot_c,float ay_body,float totalDist,float dist2Go,uint8_t fromWP,uint8_t toWP) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[30]; + _mav_put_float(buf, 0, u_m); + _mav_put_float(buf, 4, phi_c); + _mav_put_float(buf, 8, theta_c); + _mav_put_float(buf, 12, psiDot_c); + _mav_put_float(buf, 16, ay_body); + _mav_put_float(buf, 20, totalDist); + _mav_put_float(buf, 24, dist2Go); + _mav_put_uint8_t(buf, 28, fromWP); + _mav_put_uint8_t(buf, 29, toWP); + + memcpy(_MAV_PAYLOAD(msg), buf, 30); +#else + mavlink_slugs_navigation_t packet; + packet.u_m = u_m; + packet.phi_c = phi_c; + packet.theta_c = theta_c; + packet.psiDot_c = psiDot_c; + packet.ay_body = ay_body; + packet.totalDist = totalDist; + packet.dist2Go = dist2Go; + packet.fromWP = fromWP; + packet.toWP = toWP; + + memcpy(_MAV_PAYLOAD(msg), &packet, 30); +#endif + + msg->msgid = MAVLINK_MSG_ID_SLUGS_NAVIGATION; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 30); +} + +/** + * @brief Encode a slugs_navigation 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 slugs_navigation C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_slugs_navigation_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_slugs_navigation_t* slugs_navigation) +{ + return mavlink_msg_slugs_navigation_pack(system_id, component_id, msg, slugs_navigation->u_m, slugs_navigation->phi_c, slugs_navigation->theta_c, slugs_navigation->psiDot_c, slugs_navigation->ay_body, slugs_navigation->totalDist, slugs_navigation->dist2Go, slugs_navigation->fromWP, slugs_navigation->toWP); +} + +/** + * @brief Send a slugs_navigation message + * @param chan MAVLink channel to send the message + * + * @param u_m Measured Airspeed prior to the Nav Filter + * @param phi_c Commanded Roll + * @param theta_c Commanded Pitch + * @param psiDot_c Commanded Turn rate + * @param ay_body Y component of the body acceleration + * @param totalDist Total Distance to Run on this leg of Navigation + * @param dist2Go Remaining distance to Run on this leg of Navigation + * @param fromWP Origin WP + * @param toWP Destination WP + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_slugs_navigation_send(mavlink_channel_t chan, float u_m, float phi_c, float theta_c, float psiDot_c, float ay_body, float totalDist, float dist2Go, uint8_t fromWP, uint8_t toWP) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[30]; + _mav_put_float(buf, 0, u_m); + _mav_put_float(buf, 4, phi_c); + _mav_put_float(buf, 8, theta_c); + _mav_put_float(buf, 12, psiDot_c); + _mav_put_float(buf, 16, ay_body); + _mav_put_float(buf, 20, totalDist); + _mav_put_float(buf, 24, dist2Go); + _mav_put_uint8_t(buf, 28, fromWP); + _mav_put_uint8_t(buf, 29, toWP); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SLUGS_NAVIGATION, buf, 30); +#else + mavlink_slugs_navigation_t packet; + packet.u_m = u_m; + packet.phi_c = phi_c; + packet.theta_c = theta_c; + packet.psiDot_c = psiDot_c; + packet.ay_body = ay_body; + packet.totalDist = totalDist; + packet.dist2Go = dist2Go; + packet.fromWP = fromWP; + packet.toWP = toWP; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SLUGS_NAVIGATION, (const char *)&packet, 30); +#endif +} + +#endif + +// MESSAGE SLUGS_NAVIGATION UNPACKING + + +/** + * @brief Get field u_m from slugs_navigation message + * + * @return Measured Airspeed prior to the Nav Filter + */ +static inline float mavlink_msg_slugs_navigation_get_u_m(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 0); +} + +/** + * @brief Get field phi_c from slugs_navigation message + * + * @return Commanded Roll + */ +static inline float mavlink_msg_slugs_navigation_get_phi_c(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 4); +} + +/** + * @brief Get field theta_c from slugs_navigation message + * + * @return Commanded Pitch + */ +static inline float mavlink_msg_slugs_navigation_get_theta_c(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 8); +} + +/** + * @brief Get field psiDot_c from slugs_navigation message + * + * @return Commanded Turn rate + */ +static inline float mavlink_msg_slugs_navigation_get_psiDot_c(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 12); +} + +/** + * @brief Get field ay_body from slugs_navigation message + * + * @return Y component of the body acceleration + */ +static inline float mavlink_msg_slugs_navigation_get_ay_body(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 16); +} + +/** + * @brief Get field totalDist from slugs_navigation message + * + * @return Total Distance to Run on this leg of Navigation + */ +static inline float mavlink_msg_slugs_navigation_get_totalDist(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 20); +} + +/** + * @brief Get field dist2Go from slugs_navigation message + * + * @return Remaining distance to Run on this leg of Navigation + */ +static inline float mavlink_msg_slugs_navigation_get_dist2Go(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 24); +} + +/** + * @brief Get field fromWP from slugs_navigation message + * + * @return Origin WP + */ +static inline uint8_t mavlink_msg_slugs_navigation_get_fromWP(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 28); +} + +/** + * @brief Get field toWP from slugs_navigation message + * + * @return Destination WP + */ +static inline uint8_t mavlink_msg_slugs_navigation_get_toWP(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 29); +} + +/** + * @brief Decode a slugs_navigation message into a struct + * + * @param msg The message to decode + * @param slugs_navigation C-struct to decode the message contents into + */ +static inline void mavlink_msg_slugs_navigation_decode(const mavlink_message_t* msg, mavlink_slugs_navigation_t* slugs_navigation) +{ +#if MAVLINK_NEED_BYTE_SWAP + slugs_navigation->u_m = mavlink_msg_slugs_navigation_get_u_m(msg); + slugs_navigation->phi_c = mavlink_msg_slugs_navigation_get_phi_c(msg); + slugs_navigation->theta_c = mavlink_msg_slugs_navigation_get_theta_c(msg); + slugs_navigation->psiDot_c = mavlink_msg_slugs_navigation_get_psiDot_c(msg); + slugs_navigation->ay_body = mavlink_msg_slugs_navigation_get_ay_body(msg); + slugs_navigation->totalDist = mavlink_msg_slugs_navigation_get_totalDist(msg); + slugs_navigation->dist2Go = mavlink_msg_slugs_navigation_get_dist2Go(msg); + slugs_navigation->fromWP = mavlink_msg_slugs_navigation_get_fromWP(msg); + slugs_navigation->toWP = mavlink_msg_slugs_navigation_get_toWP(msg); +#else + memcpy(slugs_navigation, _MAV_PAYLOAD(msg), 30); +#endif +} diff --git a/thirdParty/mavlink/v0.9/slugs/slugs.h b/thirdParty/mavlink/v0.9/slugs/slugs.h new file mode 100644 index 0000000000000000000000000000000000000000..e803a60f76ae34a1639e4de95c72c366e4708b62 --- /dev/null +++ b/thirdParty/mavlink/v0.9/slugs/slugs.h @@ -0,0 +1,62 @@ +/** @file + * @brief MAVLink comm protocol generated from slugs.xml + * @see http://qgroundcontrol.org/mavlink/ + */ +#ifndef SLUGS_H +#define SLUGS_H + +#ifdef __cplusplus +extern "C" { +#endif + +// MESSAGE LENGTHS AND CRCS + +#ifndef MAVLINK_MESSAGE_LENGTHS +#define MAVLINK_MESSAGE_LENGTHS {3, 4, 8, 14, 8, 28, 3, 32, 0, 2, 3, 2, 2, 0, 0, 0, 0, 0, 0, 0, 19, 2, 23, 21, 0, 37, 26, 101, 26, 16, 32, 32, 37, 32, 11, 17, 17, 16, 18, 36, 4, 4, 2, 2, 4, 2, 2, 3, 14, 12, 18, 16, 8, 27, 25, 18, 18, 24, 24, 0, 0, 0, 26, 16, 36, 5, 6, 56, 26, 21, 18, 0, 0, 18, 20, 20, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 18, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 4, 10, 24, 18, 0, 0, 30, 24, 0, 7, 13, 3, 0, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 30, 14, 14, 51, 5} +#endif + +#ifndef MAVLINK_MESSAGE_CRCS +#define MAVLINK_MESSAGE_CRCS {72, 39, 190, 92, 191, 217, 104, 119, 0, 219, 60, 186, 10, 0, 0, 0, 0, 0, 0, 0, 89, 159, 162, 121, 0, 149, 222, 110, 179, 136, 66, 126, 185, 147, 112, 252, 162, 215, 229, 128, 9, 106, 101, 213, 4, 229, 21, 214, 215, 14, 206, 50, 157, 126, 108, 213, 95, 5, 127, 0, 0, 0, 57, 126, 130, 119, 193, 191, 236, 158, 143, 0, 0, 104, 123, 131, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 174, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 155, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 150, 232, 168, 2, 0, 0, 120, 167, 0, 16, 2, 52, 0, 202, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 178, 224, 60, 106, 7} +#endif + +#ifndef MAVLINK_MESSAGE_INFO +#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_BOOT, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_SYSTEM_TIME_UTC, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {NULL}, MAVLINK_MESSAGE_INFO_ACTION_ACK, MAVLINK_MESSAGE_INFO_ACTION, MAVLINK_MESSAGE_INFO_SET_MODE, MAVLINK_MESSAGE_INFO_SET_NAV_MODE, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, {NULL}, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_LOCAL_POSITION, MAVLINK_MESSAGE_INFO_GPS_RAW, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_WAYPOINT, MAVLINK_MESSAGE_INFO_WAYPOINT_REQUEST, MAVLINK_MESSAGE_INFO_WAYPOINT_SET_CURRENT, MAVLINK_MESSAGE_INFO_WAYPOINT_CURRENT, MAVLINK_MESSAGE_INFO_WAYPOINT_REQUEST_LIST, MAVLINK_MESSAGE_INFO_WAYPOINT_COUNT, MAVLINK_MESSAGE_INFO_WAYPOINT_CLEAR_ALL, MAVLINK_MESSAGE_INFO_WAYPOINT_REACHED, MAVLINK_MESSAGE_INFO_WAYPOINT_ACK, MAVLINK_MESSAGE_INFO_GPS_SET_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_LOCAL_ORIGIN_SET, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT_SET, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_CONTROL_STATUS, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, MAVLINK_MESSAGE_INFO_POSITION_TARGET, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, MAVLINK_MESSAGE_INFO_SET_ALTITUDE, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_VFR_HUD, MAVLINK_MESSAGE_INFO_COMMAND, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_OBJECT_DETECTION_EVENT, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_CPU_LOAD, MAVLINK_MESSAGE_INFO_AIR_DATA, MAVLINK_MESSAGE_INFO_SENSOR_BIAS, MAVLINK_MESSAGE_INFO_DIAGNOSTIC, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_SLUGS_NAVIGATION, MAVLINK_MESSAGE_INFO_DATA_LOG, {NULL}, MAVLINK_MESSAGE_INFO_GPS_DATE_TIME, MAVLINK_MESSAGE_INFO_MID_LVL_CMDS, MAVLINK_MESSAGE_INFO_CTRL_SRFC_PT, {NULL}, MAVLINK_MESSAGE_INFO_SLUGS_ACTION, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG} +#endif + +#include "../protocol.h" + +#define MAVLINK_ENABLED_SLUGS + +#include "../common/common.h" + +// MAVLINK VERSION + +#ifndef MAVLINK_VERSION +#define MAVLINK_VERSION 2 +#endif + +#if (MAVLINK_VERSION == 0) +#undef MAVLINK_VERSION +#define MAVLINK_VERSION 2 +#endif + +// ENUM DEFINITIONS + + + +// MESSAGE DEFINITIONS +#include "./mavlink_msg_cpu_load.h" +#include "./mavlink_msg_air_data.h" +#include "./mavlink_msg_sensor_bias.h" +#include "./mavlink_msg_diagnostic.h" +#include "./mavlink_msg_slugs_navigation.h" +#include "./mavlink_msg_data_log.h" +#include "./mavlink_msg_gps_date_time.h" +#include "./mavlink_msg_mid_lvl_cmds.h" +#include "./mavlink_msg_ctrl_srfc_pt.h" +#include "./mavlink_msg_slugs_action.h" + +#ifdef __cplusplus +} +#endif // __cplusplus +#endif // SLUGS_H diff --git a/thirdParty/mavlink/v0.9/slugs/testsuite.h b/thirdParty/mavlink/v0.9/slugs/testsuite.h new file mode 100644 index 0000000000000000000000000000000000000000..d1596a816490ef3d593800c9a57ee99f5abc2b05 --- /dev/null +++ b/thirdParty/mavlink/v0.9/slugs/testsuite.h @@ -0,0 +1,552 @@ +/** @file + * @brief MAVLink comm protocol testsuite generated from slugs.xml + * @see http://qgroundcontrol.org/mavlink/ + */ +#ifndef SLUGS_TESTSUITE_H +#define SLUGS_TESTSUITE_H + +#ifdef __cplusplus +extern "C" { +#endif + +#ifndef MAVLINK_TEST_ALL +#define MAVLINK_TEST_ALL +static void mavlink_test_common(uint8_t, uint8_t, mavlink_message_t *last_msg); +static void mavlink_test_slugs(uint8_t, uint8_t, mavlink_message_t *last_msg); + +static void mavlink_test_all(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) +{ + mavlink_test_common(system_id, component_id, last_msg); + mavlink_test_slugs(system_id, component_id, last_msg); +} +#endif + +#include "../common/testsuite.h" + + +static void mavlink_test_cpu_load(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_cpu_load_t packet_in = { + 5, + 72, + 17339, + }; + mavlink_cpu_load_t packet1, packet2; + memset(&packet1, 0, sizeof(packet1)); + packet1.sensLoad = packet_in.sensLoad; + packet1.ctrlLoad = packet_in.ctrlLoad; + packet1.batVolt = packet_in.batVolt; + + + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_cpu_load_encode(system_id, component_id, &msg, &packet1); + mavlink_msg_cpu_load_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_cpu_load_pack(system_id, component_id, &msg , packet1.sensLoad , packet1.ctrlLoad , packet1.batVolt ); + mavlink_msg_cpu_load_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_cpu_load_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.sensLoad , packet1.ctrlLoad , packet1.batVolt ); + mavlink_msg_cpu_load_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; imsgid = MAVLINK_MSG_ID_TEST_TYPES; + return mavlink_finalize_message(msg, system_id, component_id, 179); +} + +/** + * @brief Pack a test_types 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 c char + * @param s string + * @param u8 uint8_t + * @param u16 uint16_t + * @param u32 uint32_t + * @param u64 uint64_t + * @param s8 int8_t + * @param s16 int16_t + * @param s32 int32_t + * @param s64 int64_t + * @param f float + * @param d double + * @param u8_array uint8_t_array + * @param u16_array uint16_t_array + * @param u32_array uint32_t_array + * @param u64_array uint64_t_array + * @param s8_array int8_t_array + * @param s16_array int16_t_array + * @param s32_array int32_t_array + * @param s64_array int64_t_array + * @param f_array float_array + * @param d_array double_array + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_test_types_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + char c,const char *s,uint8_t u8,uint16_t u16,uint32_t u32,uint64_t u64,int8_t s8,int16_t s16,int32_t s32,int64_t s64,float f,double d,const uint8_t *u8_array,const uint16_t *u16_array,const uint32_t *u32_array,const uint64_t *u64_array,const int8_t *s8_array,const int16_t *s16_array,const int32_t *s32_array,const int64_t *s64_array,const float *f_array,const double *d_array) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[179]; + _mav_put_char(buf, 0, c); + _mav_put_uint8_t(buf, 11, u8); + _mav_put_uint16_t(buf, 12, u16); + _mav_put_uint32_t(buf, 14, u32); + _mav_put_uint64_t(buf, 18, u64); + _mav_put_int8_t(buf, 26, s8); + _mav_put_int16_t(buf, 27, s16); + _mav_put_int32_t(buf, 29, s32); + _mav_put_int64_t(buf, 33, s64); + _mav_put_float(buf, 41, f); + _mav_put_double(buf, 45, d); + _mav_put_char_array(buf, 1, s, 10); + _mav_put_uint8_t_array(buf, 53, u8_array, 3); + _mav_put_uint16_t_array(buf, 56, u16_array, 3); + _mav_put_uint32_t_array(buf, 62, u32_array, 3); + _mav_put_uint64_t_array(buf, 74, u64_array, 3); + _mav_put_int8_t_array(buf, 98, s8_array, 3); + _mav_put_int16_t_array(buf, 101, s16_array, 3); + _mav_put_int32_t_array(buf, 107, s32_array, 3); + _mav_put_int64_t_array(buf, 119, s64_array, 3); + _mav_put_float_array(buf, 143, f_array, 3); + _mav_put_double_array(buf, 155, d_array, 3); + memcpy(_MAV_PAYLOAD(msg), buf, 179); +#else + mavlink_test_types_t packet; + packet.c = c; + packet.u8 = u8; + packet.u16 = u16; + packet.u32 = u32; + packet.u64 = u64; + packet.s8 = s8; + packet.s16 = s16; + packet.s32 = s32; + packet.s64 = s64; + packet.f = f; + packet.d = d; + mav_array_memcpy(packet.s, s, sizeof(char)*10); + mav_array_memcpy(packet.u8_array, u8_array, sizeof(uint8_t)*3); + mav_array_memcpy(packet.u16_array, u16_array, sizeof(uint16_t)*3); + mav_array_memcpy(packet.u32_array, u32_array, sizeof(uint32_t)*3); + mav_array_memcpy(packet.u64_array, u64_array, sizeof(uint64_t)*3); + mav_array_memcpy(packet.s8_array, s8_array, sizeof(int8_t)*3); + mav_array_memcpy(packet.s16_array, s16_array, sizeof(int16_t)*3); + mav_array_memcpy(packet.s32_array, s32_array, sizeof(int32_t)*3); + mav_array_memcpy(packet.s64_array, s64_array, sizeof(int64_t)*3); + mav_array_memcpy(packet.f_array, f_array, sizeof(float)*3); + mav_array_memcpy(packet.d_array, d_array, sizeof(double)*3); + memcpy(_MAV_PAYLOAD(msg), &packet, 179); +#endif + + msg->msgid = MAVLINK_MSG_ID_TEST_TYPES; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 179); +} + +/** + * @brief Encode a test_types 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 test_types C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_test_types_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_test_types_t* test_types) +{ + return mavlink_msg_test_types_pack(system_id, component_id, msg, test_types->c, test_types->s, test_types->u8, test_types->u16, test_types->u32, test_types->u64, test_types->s8, test_types->s16, test_types->s32, test_types->s64, test_types->f, test_types->d, test_types->u8_array, test_types->u16_array, test_types->u32_array, test_types->u64_array, test_types->s8_array, test_types->s16_array, test_types->s32_array, test_types->s64_array, test_types->f_array, test_types->d_array); +} + +/** + * @brief Send a test_types message + * @param chan MAVLink channel to send the message + * + * @param c char + * @param s string + * @param u8 uint8_t + * @param u16 uint16_t + * @param u32 uint32_t + * @param u64 uint64_t + * @param s8 int8_t + * @param s16 int16_t + * @param s32 int32_t + * @param s64 int64_t + * @param f float + * @param d double + * @param u8_array uint8_t_array + * @param u16_array uint16_t_array + * @param u32_array uint32_t_array + * @param u64_array uint64_t_array + * @param s8_array int8_t_array + * @param s16_array int16_t_array + * @param s32_array int32_t_array + * @param s64_array int64_t_array + * @param f_array float_array + * @param d_array double_array + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_test_types_send(mavlink_channel_t chan, char c, const char *s, uint8_t u8, uint16_t u16, uint32_t u32, uint64_t u64, int8_t s8, int16_t s16, int32_t s32, int64_t s64, float f, double d, const uint8_t *u8_array, const uint16_t *u16_array, const uint32_t *u32_array, const uint64_t *u64_array, const int8_t *s8_array, const int16_t *s16_array, const int32_t *s32_array, const int64_t *s64_array, const float *f_array, const double *d_array) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[179]; + _mav_put_char(buf, 0, c); + _mav_put_uint8_t(buf, 11, u8); + _mav_put_uint16_t(buf, 12, u16); + _mav_put_uint32_t(buf, 14, u32); + _mav_put_uint64_t(buf, 18, u64); + _mav_put_int8_t(buf, 26, s8); + _mav_put_int16_t(buf, 27, s16); + _mav_put_int32_t(buf, 29, s32); + _mav_put_int64_t(buf, 33, s64); + _mav_put_float(buf, 41, f); + _mav_put_double(buf, 45, d); + _mav_put_char_array(buf, 1, s, 10); + _mav_put_uint8_t_array(buf, 53, u8_array, 3); + _mav_put_uint16_t_array(buf, 56, u16_array, 3); + _mav_put_uint32_t_array(buf, 62, u32_array, 3); + _mav_put_uint64_t_array(buf, 74, u64_array, 3); + _mav_put_int8_t_array(buf, 98, s8_array, 3); + _mav_put_int16_t_array(buf, 101, s16_array, 3); + _mav_put_int32_t_array(buf, 107, s32_array, 3); + _mav_put_int64_t_array(buf, 119, s64_array, 3); + _mav_put_float_array(buf, 143, f_array, 3); + _mav_put_double_array(buf, 155, d_array, 3); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TEST_TYPES, buf, 179); +#else + mavlink_test_types_t packet; + packet.c = c; + packet.u8 = u8; + packet.u16 = u16; + packet.u32 = u32; + packet.u64 = u64; + packet.s8 = s8; + packet.s16 = s16; + packet.s32 = s32; + packet.s64 = s64; + packet.f = f; + packet.d = d; + mav_array_memcpy(packet.s, s, sizeof(char)*10); + mav_array_memcpy(packet.u8_array, u8_array, sizeof(uint8_t)*3); + mav_array_memcpy(packet.u16_array, u16_array, sizeof(uint16_t)*3); + mav_array_memcpy(packet.u32_array, u32_array, sizeof(uint32_t)*3); + mav_array_memcpy(packet.u64_array, u64_array, sizeof(uint64_t)*3); + mav_array_memcpy(packet.s8_array, s8_array, sizeof(int8_t)*3); + mav_array_memcpy(packet.s16_array, s16_array, sizeof(int16_t)*3); + mav_array_memcpy(packet.s32_array, s32_array, sizeof(int32_t)*3); + mav_array_memcpy(packet.s64_array, s64_array, sizeof(int64_t)*3); + mav_array_memcpy(packet.f_array, f_array, sizeof(float)*3); + mav_array_memcpy(packet.d_array, d_array, sizeof(double)*3); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TEST_TYPES, (const char *)&packet, 179); +#endif +} + +#endif + +// MESSAGE TEST_TYPES UNPACKING + + +/** + * @brief Get field c from test_types message + * + * @return char + */ +static inline char mavlink_msg_test_types_get_c(const mavlink_message_t* msg) +{ + return _MAV_RETURN_char(msg, 0); +} + +/** + * @brief Get field s from test_types message + * + * @return string + */ +static inline uint16_t mavlink_msg_test_types_get_s(const mavlink_message_t* msg, char *s) +{ + return _MAV_RETURN_char_array(msg, s, 10, 1); +} + +/** + * @brief Get field u8 from test_types message + * + * @return uint8_t + */ +static inline uint8_t mavlink_msg_test_types_get_u8(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 11); +} + +/** + * @brief Get field u16 from test_types message + * + * @return uint16_t + */ +static inline uint16_t mavlink_msg_test_types_get_u16(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 12); +} + +/** + * @brief Get field u32 from test_types message + * + * @return uint32_t + */ +static inline uint32_t mavlink_msg_test_types_get_u32(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint32_t(msg, 14); +} + +/** + * @brief Get field u64 from test_types message + * + * @return uint64_t + */ +static inline uint64_t mavlink_msg_test_types_get_u64(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint64_t(msg, 18); +} + +/** + * @brief Get field s8 from test_types message + * + * @return int8_t + */ +static inline int8_t mavlink_msg_test_types_get_s8(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int8_t(msg, 26); +} + +/** + * @brief Get field s16 from test_types message + * + * @return int16_t + */ +static inline int16_t mavlink_msg_test_types_get_s16(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 27); +} + +/** + * @brief Get field s32 from test_types message + * + * @return int32_t + */ +static inline int32_t mavlink_msg_test_types_get_s32(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int32_t(msg, 29); +} + +/** + * @brief Get field s64 from test_types message + * + * @return int64_t + */ +static inline int64_t mavlink_msg_test_types_get_s64(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int64_t(msg, 33); +} + +/** + * @brief Get field f from test_types message + * + * @return float + */ +static inline float mavlink_msg_test_types_get_f(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 41); +} + +/** + * @brief Get field d from test_types message + * + * @return double + */ +static inline double mavlink_msg_test_types_get_d(const mavlink_message_t* msg) +{ + return _MAV_RETURN_double(msg, 45); +} + +/** + * @brief Get field u8_array from test_types message + * + * @return uint8_t_array + */ +static inline uint16_t mavlink_msg_test_types_get_u8_array(const mavlink_message_t* msg, uint8_t *u8_array) +{ + return _MAV_RETURN_uint8_t_array(msg, u8_array, 3, 53); +} + +/** + * @brief Get field u16_array from test_types message + * + * @return uint16_t_array + */ +static inline uint16_t mavlink_msg_test_types_get_u16_array(const mavlink_message_t* msg, uint16_t *u16_array) +{ + return _MAV_RETURN_uint16_t_array(msg, u16_array, 3, 56); +} + +/** + * @brief Get field u32_array from test_types message + * + * @return uint32_t_array + */ +static inline uint16_t mavlink_msg_test_types_get_u32_array(const mavlink_message_t* msg, uint32_t *u32_array) +{ + return _MAV_RETURN_uint32_t_array(msg, u32_array, 3, 62); +} + +/** + * @brief Get field u64_array from test_types message + * + * @return uint64_t_array + */ +static inline uint16_t mavlink_msg_test_types_get_u64_array(const mavlink_message_t* msg, uint64_t *u64_array) +{ + return _MAV_RETURN_uint64_t_array(msg, u64_array, 3, 74); +} + +/** + * @brief Get field s8_array from test_types message + * + * @return int8_t_array + */ +static inline uint16_t mavlink_msg_test_types_get_s8_array(const mavlink_message_t* msg, int8_t *s8_array) +{ + return _MAV_RETURN_int8_t_array(msg, s8_array, 3, 98); +} + +/** + * @brief Get field s16_array from test_types message + * + * @return int16_t_array + */ +static inline uint16_t mavlink_msg_test_types_get_s16_array(const mavlink_message_t* msg, int16_t *s16_array) +{ + return _MAV_RETURN_int16_t_array(msg, s16_array, 3, 101); +} + +/** + * @brief Get field s32_array from test_types message + * + * @return int32_t_array + */ +static inline uint16_t mavlink_msg_test_types_get_s32_array(const mavlink_message_t* msg, int32_t *s32_array) +{ + return _MAV_RETURN_int32_t_array(msg, s32_array, 3, 107); +} + +/** + * @brief Get field s64_array from test_types message + * + * @return int64_t_array + */ +static inline uint16_t mavlink_msg_test_types_get_s64_array(const mavlink_message_t* msg, int64_t *s64_array) +{ + return _MAV_RETURN_int64_t_array(msg, s64_array, 3, 119); +} + +/** + * @brief Get field f_array from test_types message + * + * @return float_array + */ +static inline uint16_t mavlink_msg_test_types_get_f_array(const mavlink_message_t* msg, float *f_array) +{ + return _MAV_RETURN_float_array(msg, f_array, 3, 143); +} + +/** + * @brief Get field d_array from test_types message + * + * @return double_array + */ +static inline uint16_t mavlink_msg_test_types_get_d_array(const mavlink_message_t* msg, double *d_array) +{ + return _MAV_RETURN_double_array(msg, d_array, 3, 155); +} + +/** + * @brief Decode a test_types message into a struct + * + * @param msg The message to decode + * @param test_types C-struct to decode the message contents into + */ +static inline void mavlink_msg_test_types_decode(const mavlink_message_t* msg, mavlink_test_types_t* test_types) +{ +#if MAVLINK_NEED_BYTE_SWAP + test_types->c = mavlink_msg_test_types_get_c(msg); + mavlink_msg_test_types_get_s(msg, test_types->s); + test_types->u8 = mavlink_msg_test_types_get_u8(msg); + test_types->u16 = mavlink_msg_test_types_get_u16(msg); + test_types->u32 = mavlink_msg_test_types_get_u32(msg); + test_types->u64 = mavlink_msg_test_types_get_u64(msg); + test_types->s8 = mavlink_msg_test_types_get_s8(msg); + test_types->s16 = mavlink_msg_test_types_get_s16(msg); + test_types->s32 = mavlink_msg_test_types_get_s32(msg); + test_types->s64 = mavlink_msg_test_types_get_s64(msg); + test_types->f = mavlink_msg_test_types_get_f(msg); + test_types->d = mavlink_msg_test_types_get_d(msg); + mavlink_msg_test_types_get_u8_array(msg, test_types->u8_array); + mavlink_msg_test_types_get_u16_array(msg, test_types->u16_array); + mavlink_msg_test_types_get_u32_array(msg, test_types->u32_array); + mavlink_msg_test_types_get_u64_array(msg, test_types->u64_array); + mavlink_msg_test_types_get_s8_array(msg, test_types->s8_array); + mavlink_msg_test_types_get_s16_array(msg, test_types->s16_array); + mavlink_msg_test_types_get_s32_array(msg, test_types->s32_array); + mavlink_msg_test_types_get_s64_array(msg, test_types->s64_array); + mavlink_msg_test_types_get_f_array(msg, test_types->f_array); + mavlink_msg_test_types_get_d_array(msg, test_types->d_array); +#else + memcpy(test_types, _MAV_PAYLOAD(msg), 179); +#endif +} diff --git a/thirdParty/mavlink/v0.9/test/test.h b/thirdParty/mavlink/v0.9/test/test.h new file mode 100644 index 0000000000000000000000000000000000000000..23ee65986da7daec0966aff63f5c0979011d4f26 --- /dev/null +++ b/thirdParty/mavlink/v0.9/test/test.h @@ -0,0 +1,53 @@ +/** @file + * @brief MAVLink comm protocol generated from test.xml + * @see http://qgroundcontrol.org/mavlink/ + */ +#ifndef TEST_H +#define TEST_H + +#ifdef __cplusplus +extern "C" { +#endif + +// MESSAGE LENGTHS AND CRCS + +#ifndef MAVLINK_MESSAGE_LENGTHS +#define MAVLINK_MESSAGE_LENGTHS {179, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0} +#endif + +#ifndef MAVLINK_MESSAGE_CRCS +#define MAVLINK_MESSAGE_CRCS {91, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0} +#endif + +#ifndef MAVLINK_MESSAGE_INFO +#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_TEST_TYPES, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}} +#endif + +#include "../protocol.h" + +#define MAVLINK_ENABLED_TEST + + + +// MAVLINK VERSION + +#ifndef MAVLINK_VERSION +#define MAVLINK_VERSION 3 +#endif + +#if (MAVLINK_VERSION == 0) +#undef MAVLINK_VERSION +#define MAVLINK_VERSION 3 +#endif + +// ENUM DEFINITIONS + + + +// MESSAGE DEFINITIONS +#include "./mavlink_msg_test_types.h" + +#ifdef __cplusplus +} +#endif // __cplusplus +#endif // TEST_H diff --git a/thirdParty/mavlink/v0.9/test/testsuite.h b/thirdParty/mavlink/v0.9/test/testsuite.h new file mode 100644 index 0000000000000000000000000000000000000000..9b0fc041b5894282569366511ad950445874bbde --- /dev/null +++ b/thirdParty/mavlink/v0.9/test/testsuite.h @@ -0,0 +1,120 @@ +/** @file + * @brief MAVLink comm protocol testsuite generated from test.xml + * @see http://qgroundcontrol.org/mavlink/ + */ +#ifndef TEST_TESTSUITE_H +#define TEST_TESTSUITE_H + +#ifdef __cplusplus +extern "C" { +#endif + +#ifndef MAVLINK_TEST_ALL +#define MAVLINK_TEST_ALL + +static void mavlink_test_test(uint8_t, uint8_t, mavlink_message_t *last_msg); + +static void mavlink_test_all(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) +{ + + mavlink_test_test(system_id, component_id, last_msg); +} +#endif + + + + +static void mavlink_test_test_types(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_test_types_t packet_in = { + 'A', + "BCDEFGHIJ", + 230, + 17859, + 963498192, + 93372036854776941ULL, + 211, + 18639, + 963498972, + 93372036854777886LL, + 304.0, + 438.0, + { 228, 229, 230 }, + { 20147, 20148, 20149 }, + { 963500688, 963500689, 963500690 }, + { 93372036854780469, 93372036854780470, 93372036854780471 }, + { 171, 172, 173 }, + { 22487, 22488, 22489 }, + { 963503028, 963503029, 963503030 }, + { 93372036854783304, 93372036854783305, 93372036854783306 }, + { 1018.0, 1019.0, 1020.0 }, + { 1208.0, 1209.0, 1210.0 }, + }; + mavlink_test_types_t packet1, packet2; + memset(&packet1, 0, sizeof(packet1)); + packet1.c = packet_in.c; + packet1.u8 = packet_in.u8; + packet1.u16 = packet_in.u16; + packet1.u32 = packet_in.u32; + packet1.u64 = packet_in.u64; + packet1.s8 = packet_in.s8; + packet1.s16 = packet_in.s16; + packet1.s32 = packet_in.s32; + packet1.s64 = packet_in.s64; + packet1.f = packet_in.f; + packet1.d = packet_in.d; + + mav_array_memcpy(packet1.s, packet_in.s, sizeof(char)*10); + mav_array_memcpy(packet1.u8_array, packet_in.u8_array, sizeof(uint8_t)*3); + mav_array_memcpy(packet1.u16_array, packet_in.u16_array, sizeof(uint16_t)*3); + mav_array_memcpy(packet1.u32_array, packet_in.u32_array, sizeof(uint32_t)*3); + mav_array_memcpy(packet1.u64_array, packet_in.u64_array, sizeof(uint64_t)*3); + mav_array_memcpy(packet1.s8_array, packet_in.s8_array, sizeof(int8_t)*3); + mav_array_memcpy(packet1.s16_array, packet_in.s16_array, sizeof(int16_t)*3); + mav_array_memcpy(packet1.s32_array, packet_in.s32_array, sizeof(int32_t)*3); + mav_array_memcpy(packet1.s64_array, packet_in.s64_array, sizeof(int64_t)*3); + mav_array_memcpy(packet1.f_array, packet_in.f_array, sizeof(float)*3); + mav_array_memcpy(packet1.d_array, packet_in.d_array, sizeof(double)*3); + + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_test_types_encode(system_id, component_id, &msg, &packet1); + mavlink_msg_test_types_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_test_types_pack(system_id, component_id, &msg , packet1.c , packet1.s , packet1.u8 , packet1.u16 , packet1.u32 , packet1.u64 , packet1.s8 , packet1.s16 , packet1.s32 , packet1.s64 , packet1.f , packet1.d , packet1.u8_array , packet1.u16_array , packet1.u32_array , packet1.u64_array , packet1.s8_array , packet1.s16_array , packet1.s32_array , packet1.s64_array , packet1.f_array , packet1.d_array ); + mavlink_msg_test_types_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_test_types_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.c , packet1.s , packet1.u8 , packet1.u16 , packet1.u32 , packet1.u64 , packet1.s8 , packet1.s16 , packet1.s32 , packet1.s64 , packet1.f , packet1.d , packet1.u8_array , packet1.u16_array , packet1.u32_array , packet1.u64_array , packet1.s8_array , packet1.s16_array , packet1.s32_array , packet1.s64_array , packet1.f_array , packet1.d_array ); + mavlink_msg_test_types_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; imsgid = MAVLINK_MSG_ID_NAV_FILTER_BIAS; + return mavlink_finalize_message(msg, system_id, component_id, 32); +} + +/** + * @brief Pack a nav_filter_bias 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 usec Timestamp (microseconds) + * @param accel_0 b_f[0] + * @param accel_1 b_f[1] + * @param accel_2 b_f[2] + * @param gyro_0 b_f[0] + * @param gyro_1 b_f[1] + * @param gyro_2 b_f[2] + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_nav_filter_bias_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint64_t usec,float accel_0,float accel_1,float accel_2,float gyro_0,float gyro_1,float gyro_2) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[32]; + _mav_put_uint64_t(buf, 0, usec); + _mav_put_float(buf, 8, accel_0); + _mav_put_float(buf, 12, accel_1); + _mav_put_float(buf, 16, accel_2); + _mav_put_float(buf, 20, gyro_0); + _mav_put_float(buf, 24, gyro_1); + _mav_put_float(buf, 28, gyro_2); + + memcpy(_MAV_PAYLOAD(msg), buf, 32); +#else + mavlink_nav_filter_bias_t packet; + packet.usec = usec; + packet.accel_0 = accel_0; + packet.accel_1 = accel_1; + packet.accel_2 = accel_2; + packet.gyro_0 = gyro_0; + packet.gyro_1 = gyro_1; + packet.gyro_2 = gyro_2; + + memcpy(_MAV_PAYLOAD(msg), &packet, 32); +#endif + + msg->msgid = MAVLINK_MSG_ID_NAV_FILTER_BIAS; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 32); +} + +/** + * @brief Encode a nav_filter_bias 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 nav_filter_bias C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_nav_filter_bias_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_nav_filter_bias_t* nav_filter_bias) +{ + return mavlink_msg_nav_filter_bias_pack(system_id, component_id, msg, nav_filter_bias->usec, nav_filter_bias->accel_0, nav_filter_bias->accel_1, nav_filter_bias->accel_2, nav_filter_bias->gyro_0, nav_filter_bias->gyro_1, nav_filter_bias->gyro_2); +} + +/** + * @brief Send a nav_filter_bias message + * @param chan MAVLink channel to send the message + * + * @param usec Timestamp (microseconds) + * @param accel_0 b_f[0] + * @param accel_1 b_f[1] + * @param accel_2 b_f[2] + * @param gyro_0 b_f[0] + * @param gyro_1 b_f[1] + * @param gyro_2 b_f[2] + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_nav_filter_bias_send(mavlink_channel_t chan, uint64_t usec, float accel_0, float accel_1, float accel_2, float gyro_0, float gyro_1, float gyro_2) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[32]; + _mav_put_uint64_t(buf, 0, usec); + _mav_put_float(buf, 8, accel_0); + _mav_put_float(buf, 12, accel_1); + _mav_put_float(buf, 16, accel_2); + _mav_put_float(buf, 20, gyro_0); + _mav_put_float(buf, 24, gyro_1); + _mav_put_float(buf, 28, gyro_2); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAV_FILTER_BIAS, buf, 32); +#else + mavlink_nav_filter_bias_t packet; + packet.usec = usec; + packet.accel_0 = accel_0; + packet.accel_1 = accel_1; + packet.accel_2 = accel_2; + packet.gyro_0 = gyro_0; + packet.gyro_1 = gyro_1; + packet.gyro_2 = gyro_2; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAV_FILTER_BIAS, (const char *)&packet, 32); +#endif +} + +#endif + +// MESSAGE NAV_FILTER_BIAS UNPACKING + + +/** + * @brief Get field usec from nav_filter_bias message + * + * @return Timestamp (microseconds) + */ +static inline uint64_t mavlink_msg_nav_filter_bias_get_usec(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint64_t(msg, 0); +} + +/** + * @brief Get field accel_0 from nav_filter_bias message + * + * @return b_f[0] + */ +static inline float mavlink_msg_nav_filter_bias_get_accel_0(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 8); +} + +/** + * @brief Get field accel_1 from nav_filter_bias message + * + * @return b_f[1] + */ +static inline float mavlink_msg_nav_filter_bias_get_accel_1(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 12); +} + +/** + * @brief Get field accel_2 from nav_filter_bias message + * + * @return b_f[2] + */ +static inline float mavlink_msg_nav_filter_bias_get_accel_2(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 16); +} + +/** + * @brief Get field gyro_0 from nav_filter_bias message + * + * @return b_f[0] + */ +static inline float mavlink_msg_nav_filter_bias_get_gyro_0(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 20); +} + +/** + * @brief Get field gyro_1 from nav_filter_bias message + * + * @return b_f[1] + */ +static inline float mavlink_msg_nav_filter_bias_get_gyro_1(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 24); +} + +/** + * @brief Get field gyro_2 from nav_filter_bias message + * + * @return b_f[2] + */ +static inline float mavlink_msg_nav_filter_bias_get_gyro_2(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 28); +} + +/** + * @brief Decode a nav_filter_bias message into a struct + * + * @param msg The message to decode + * @param nav_filter_bias C-struct to decode the message contents into + */ +static inline void mavlink_msg_nav_filter_bias_decode(const mavlink_message_t* msg, mavlink_nav_filter_bias_t* nav_filter_bias) +{ +#if MAVLINK_NEED_BYTE_SWAP + nav_filter_bias->usec = mavlink_msg_nav_filter_bias_get_usec(msg); + nav_filter_bias->accel_0 = mavlink_msg_nav_filter_bias_get_accel_0(msg); + nav_filter_bias->accel_1 = mavlink_msg_nav_filter_bias_get_accel_1(msg); + nav_filter_bias->accel_2 = mavlink_msg_nav_filter_bias_get_accel_2(msg); + nav_filter_bias->gyro_0 = mavlink_msg_nav_filter_bias_get_gyro_0(msg); + nav_filter_bias->gyro_1 = mavlink_msg_nav_filter_bias_get_gyro_1(msg); + nav_filter_bias->gyro_2 = mavlink_msg_nav_filter_bias_get_gyro_2(msg); +#else + memcpy(nav_filter_bias, _MAV_PAYLOAD(msg), 32); +#endif +} diff --git a/thirdParty/mavlink/v0.9/ualberta/mavlink_msg_radio_calibration.h b/thirdParty/mavlink/v0.9/ualberta/mavlink_msg_radio_calibration.h new file mode 100644 index 0000000000000000000000000000000000000000..42b36e749855eb7ccb5b848f119bfb68f30bd491 --- /dev/null +++ b/thirdParty/mavlink/v0.9/ualberta/mavlink_msg_radio_calibration.h @@ -0,0 +1,259 @@ +// MESSAGE RADIO_CALIBRATION PACKING + +#define MAVLINK_MSG_ID_RADIO_CALIBRATION 221 + +typedef struct __mavlink_radio_calibration_t +{ + uint16_t aileron[3]; ///< Aileron setpoints: left, center, right + uint16_t elevator[3]; ///< Elevator setpoints: nose down, center, nose up + uint16_t rudder[3]; ///< Rudder setpoints: nose left, center, nose right + uint16_t gyro[2]; ///< Tail gyro mode/gain setpoints: heading hold, rate mode + uint16_t pitch[5]; ///< Pitch curve setpoints (every 25%) + uint16_t throttle[5]; ///< Throttle curve setpoints (every 25%) +} mavlink_radio_calibration_t; + +#define MAVLINK_MSG_ID_RADIO_CALIBRATION_LEN 42 +#define MAVLINK_MSG_ID_221_LEN 42 + +#define MAVLINK_MSG_RADIO_CALIBRATION_FIELD_AILERON_LEN 3 +#define MAVLINK_MSG_RADIO_CALIBRATION_FIELD_ELEVATOR_LEN 3 +#define MAVLINK_MSG_RADIO_CALIBRATION_FIELD_RUDDER_LEN 3 +#define MAVLINK_MSG_RADIO_CALIBRATION_FIELD_GYRO_LEN 2 +#define MAVLINK_MSG_RADIO_CALIBRATION_FIELD_PITCH_LEN 5 +#define MAVLINK_MSG_RADIO_CALIBRATION_FIELD_THROTTLE_LEN 5 + +#define MAVLINK_MESSAGE_INFO_RADIO_CALIBRATION { \ + "RADIO_CALIBRATION", \ + 6, \ + { { "aileron", NULL, MAVLINK_TYPE_UINT16_T, 3, 0, offsetof(mavlink_radio_calibration_t, aileron) }, \ + { "elevator", NULL, MAVLINK_TYPE_UINT16_T, 3, 6, offsetof(mavlink_radio_calibration_t, elevator) }, \ + { "rudder", NULL, MAVLINK_TYPE_UINT16_T, 3, 12, offsetof(mavlink_radio_calibration_t, rudder) }, \ + { "gyro", NULL, MAVLINK_TYPE_UINT16_T, 2, 18, offsetof(mavlink_radio_calibration_t, gyro) }, \ + { "pitch", NULL, MAVLINK_TYPE_UINT16_T, 5, 22, offsetof(mavlink_radio_calibration_t, pitch) }, \ + { "throttle", NULL, MAVLINK_TYPE_UINT16_T, 5, 32, offsetof(mavlink_radio_calibration_t, throttle) }, \ + } \ +} + + +/** + * @brief Pack a radio_calibration 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 aileron Aileron setpoints: left, center, right + * @param elevator Elevator setpoints: nose down, center, nose up + * @param rudder Rudder setpoints: nose left, center, nose right + * @param gyro Tail gyro mode/gain setpoints: heading hold, rate mode + * @param pitch Pitch curve setpoints (every 25%) + * @param throttle Throttle curve setpoints (every 25%) + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_radio_calibration_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + const uint16_t *aileron, const uint16_t *elevator, const uint16_t *rudder, const uint16_t *gyro, const uint16_t *pitch, const uint16_t *throttle) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[42]; + + _mav_put_uint16_t_array(buf, 0, aileron, 3); + _mav_put_uint16_t_array(buf, 6, elevator, 3); + _mav_put_uint16_t_array(buf, 12, rudder, 3); + _mav_put_uint16_t_array(buf, 18, gyro, 2); + _mav_put_uint16_t_array(buf, 22, pitch, 5); + _mav_put_uint16_t_array(buf, 32, throttle, 5); + memcpy(_MAV_PAYLOAD(msg), buf, 42); +#else + mavlink_radio_calibration_t packet; + + mav_array_memcpy(packet.aileron, aileron, sizeof(uint16_t)*3); + mav_array_memcpy(packet.elevator, elevator, sizeof(uint16_t)*3); + mav_array_memcpy(packet.rudder, rudder, sizeof(uint16_t)*3); + mav_array_memcpy(packet.gyro, gyro, sizeof(uint16_t)*2); + mav_array_memcpy(packet.pitch, pitch, sizeof(uint16_t)*5); + mav_array_memcpy(packet.throttle, throttle, sizeof(uint16_t)*5); + memcpy(_MAV_PAYLOAD(msg), &packet, 42); +#endif + + msg->msgid = MAVLINK_MSG_ID_RADIO_CALIBRATION; + return mavlink_finalize_message(msg, system_id, component_id, 42); +} + +/** + * @brief Pack a radio_calibration 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 aileron Aileron setpoints: left, center, right + * @param elevator Elevator setpoints: nose down, center, nose up + * @param rudder Rudder setpoints: nose left, center, nose right + * @param gyro Tail gyro mode/gain setpoints: heading hold, rate mode + * @param pitch Pitch curve setpoints (every 25%) + * @param throttle Throttle curve setpoints (every 25%) + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_radio_calibration_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + const uint16_t *aileron,const uint16_t *elevator,const uint16_t *rudder,const uint16_t *gyro,const uint16_t *pitch,const uint16_t *throttle) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[42]; + + _mav_put_uint16_t_array(buf, 0, aileron, 3); + _mav_put_uint16_t_array(buf, 6, elevator, 3); + _mav_put_uint16_t_array(buf, 12, rudder, 3); + _mav_put_uint16_t_array(buf, 18, gyro, 2); + _mav_put_uint16_t_array(buf, 22, pitch, 5); + _mav_put_uint16_t_array(buf, 32, throttle, 5); + memcpy(_MAV_PAYLOAD(msg), buf, 42); +#else + mavlink_radio_calibration_t packet; + + mav_array_memcpy(packet.aileron, aileron, sizeof(uint16_t)*3); + mav_array_memcpy(packet.elevator, elevator, sizeof(uint16_t)*3); + mav_array_memcpy(packet.rudder, rudder, sizeof(uint16_t)*3); + mav_array_memcpy(packet.gyro, gyro, sizeof(uint16_t)*2); + mav_array_memcpy(packet.pitch, pitch, sizeof(uint16_t)*5); + mav_array_memcpy(packet.throttle, throttle, sizeof(uint16_t)*5); + memcpy(_MAV_PAYLOAD(msg), &packet, 42); +#endif + + msg->msgid = MAVLINK_MSG_ID_RADIO_CALIBRATION; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 42); +} + +/** + * @brief Encode a radio_calibration 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 radio_calibration C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_radio_calibration_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_radio_calibration_t* radio_calibration) +{ + return mavlink_msg_radio_calibration_pack(system_id, component_id, msg, radio_calibration->aileron, radio_calibration->elevator, radio_calibration->rudder, radio_calibration->gyro, radio_calibration->pitch, radio_calibration->throttle); +} + +/** + * @brief Send a radio_calibration message + * @param chan MAVLink channel to send the message + * + * @param aileron Aileron setpoints: left, center, right + * @param elevator Elevator setpoints: nose down, center, nose up + * @param rudder Rudder setpoints: nose left, center, nose right + * @param gyro Tail gyro mode/gain setpoints: heading hold, rate mode + * @param pitch Pitch curve setpoints (every 25%) + * @param throttle Throttle curve setpoints (every 25%) + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_radio_calibration_send(mavlink_channel_t chan, const uint16_t *aileron, const uint16_t *elevator, const uint16_t *rudder, const uint16_t *gyro, const uint16_t *pitch, const uint16_t *throttle) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[42]; + + _mav_put_uint16_t_array(buf, 0, aileron, 3); + _mav_put_uint16_t_array(buf, 6, elevator, 3); + _mav_put_uint16_t_array(buf, 12, rudder, 3); + _mav_put_uint16_t_array(buf, 18, gyro, 2); + _mav_put_uint16_t_array(buf, 22, pitch, 5); + _mav_put_uint16_t_array(buf, 32, throttle, 5); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RADIO_CALIBRATION, buf, 42); +#else + mavlink_radio_calibration_t packet; + + mav_array_memcpy(packet.aileron, aileron, sizeof(uint16_t)*3); + mav_array_memcpy(packet.elevator, elevator, sizeof(uint16_t)*3); + mav_array_memcpy(packet.rudder, rudder, sizeof(uint16_t)*3); + mav_array_memcpy(packet.gyro, gyro, sizeof(uint16_t)*2); + mav_array_memcpy(packet.pitch, pitch, sizeof(uint16_t)*5); + mav_array_memcpy(packet.throttle, throttle, sizeof(uint16_t)*5); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RADIO_CALIBRATION, (const char *)&packet, 42); +#endif +} + +#endif + +// MESSAGE RADIO_CALIBRATION UNPACKING + + +/** + * @brief Get field aileron from radio_calibration message + * + * @return Aileron setpoints: left, center, right + */ +static inline uint16_t mavlink_msg_radio_calibration_get_aileron(const mavlink_message_t* msg, uint16_t *aileron) +{ + return _MAV_RETURN_uint16_t_array(msg, aileron, 3, 0); +} + +/** + * @brief Get field elevator from radio_calibration message + * + * @return Elevator setpoints: nose down, center, nose up + */ +static inline uint16_t mavlink_msg_radio_calibration_get_elevator(const mavlink_message_t* msg, uint16_t *elevator) +{ + return _MAV_RETURN_uint16_t_array(msg, elevator, 3, 6); +} + +/** + * @brief Get field rudder from radio_calibration message + * + * @return Rudder setpoints: nose left, center, nose right + */ +static inline uint16_t mavlink_msg_radio_calibration_get_rudder(const mavlink_message_t* msg, uint16_t *rudder) +{ + return _MAV_RETURN_uint16_t_array(msg, rudder, 3, 12); +} + +/** + * @brief Get field gyro from radio_calibration message + * + * @return Tail gyro mode/gain setpoints: heading hold, rate mode + */ +static inline uint16_t mavlink_msg_radio_calibration_get_gyro(const mavlink_message_t* msg, uint16_t *gyro) +{ + return _MAV_RETURN_uint16_t_array(msg, gyro, 2, 18); +} + +/** + * @brief Get field pitch from radio_calibration message + * + * @return Pitch curve setpoints (every 25%) + */ +static inline uint16_t mavlink_msg_radio_calibration_get_pitch(const mavlink_message_t* msg, uint16_t *pitch) +{ + return _MAV_RETURN_uint16_t_array(msg, pitch, 5, 22); +} + +/** + * @brief Get field throttle from radio_calibration message + * + * @return Throttle curve setpoints (every 25%) + */ +static inline uint16_t mavlink_msg_radio_calibration_get_throttle(const mavlink_message_t* msg, uint16_t *throttle) +{ + return _MAV_RETURN_uint16_t_array(msg, throttle, 5, 32); +} + +/** + * @brief Decode a radio_calibration message into a struct + * + * @param msg The message to decode + * @param radio_calibration C-struct to decode the message contents into + */ +static inline void mavlink_msg_radio_calibration_decode(const mavlink_message_t* msg, mavlink_radio_calibration_t* radio_calibration) +{ +#if MAVLINK_NEED_BYTE_SWAP + mavlink_msg_radio_calibration_get_aileron(msg, radio_calibration->aileron); + mavlink_msg_radio_calibration_get_elevator(msg, radio_calibration->elevator); + mavlink_msg_radio_calibration_get_rudder(msg, radio_calibration->rudder); + mavlink_msg_radio_calibration_get_gyro(msg, radio_calibration->gyro); + mavlink_msg_radio_calibration_get_pitch(msg, radio_calibration->pitch); + mavlink_msg_radio_calibration_get_throttle(msg, radio_calibration->throttle); +#else + memcpy(radio_calibration, _MAV_PAYLOAD(msg), 42); +#endif +} diff --git a/thirdParty/mavlink/v0.9/ualberta/mavlink_msg_ualberta_sys_status.h b/thirdParty/mavlink/v0.9/ualberta/mavlink_msg_ualberta_sys_status.h new file mode 100644 index 0000000000000000000000000000000000000000..fb0a106600850ade52bb9b65f5fbc0469387f171 --- /dev/null +++ b/thirdParty/mavlink/v0.9/ualberta/mavlink_msg_ualberta_sys_status.h @@ -0,0 +1,188 @@ +// MESSAGE UALBERTA_SYS_STATUS PACKING + +#define MAVLINK_MSG_ID_UALBERTA_SYS_STATUS 222 + +typedef struct __mavlink_ualberta_sys_status_t +{ + uint8_t mode; ///< System mode, see UALBERTA_AUTOPILOT_MODE ENUM + uint8_t nav_mode; ///< Navigation mode, see UALBERTA_NAV_MODE ENUM + uint8_t pilot; ///< Pilot mode, see UALBERTA_PILOT_MODE +} mavlink_ualberta_sys_status_t; + +#define MAVLINK_MSG_ID_UALBERTA_SYS_STATUS_LEN 3 +#define MAVLINK_MSG_ID_222_LEN 3 + + + +#define MAVLINK_MESSAGE_INFO_UALBERTA_SYS_STATUS { \ + "UALBERTA_SYS_STATUS", \ + 3, \ + { { "mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_ualberta_sys_status_t, mode) }, \ + { "nav_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_ualberta_sys_status_t, nav_mode) }, \ + { "pilot", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_ualberta_sys_status_t, pilot) }, \ + } \ +} + + +/** + * @brief Pack a ualberta_sys_status message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * + * @param mode System mode, see UALBERTA_AUTOPILOT_MODE ENUM + * @param nav_mode Navigation mode, see UALBERTA_NAV_MODE ENUM + * @param pilot Pilot mode, see UALBERTA_PILOT_MODE + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_ualberta_sys_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t mode, uint8_t nav_mode, uint8_t pilot) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[3]; + _mav_put_uint8_t(buf, 0, mode); + _mav_put_uint8_t(buf, 1, nav_mode); + _mav_put_uint8_t(buf, 2, pilot); + + memcpy(_MAV_PAYLOAD(msg), buf, 3); +#else + mavlink_ualberta_sys_status_t packet; + packet.mode = mode; + packet.nav_mode = nav_mode; + packet.pilot = pilot; + + memcpy(_MAV_PAYLOAD(msg), &packet, 3); +#endif + + msg->msgid = MAVLINK_MSG_ID_UALBERTA_SYS_STATUS; + return mavlink_finalize_message(msg, system_id, component_id, 3); +} + +/** + * @brief Pack a ualberta_sys_status message on a channel + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message was sent over + * @param msg The MAVLink message to compress the data into + * @param mode System mode, see UALBERTA_AUTOPILOT_MODE ENUM + * @param nav_mode Navigation mode, see UALBERTA_NAV_MODE ENUM + * @param pilot Pilot mode, see UALBERTA_PILOT_MODE + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_ualberta_sys_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t mode,uint8_t nav_mode,uint8_t pilot) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[3]; + _mav_put_uint8_t(buf, 0, mode); + _mav_put_uint8_t(buf, 1, nav_mode); + _mav_put_uint8_t(buf, 2, pilot); + + memcpy(_MAV_PAYLOAD(msg), buf, 3); +#else + mavlink_ualberta_sys_status_t packet; + packet.mode = mode; + packet.nav_mode = nav_mode; + packet.pilot = pilot; + + memcpy(_MAV_PAYLOAD(msg), &packet, 3); +#endif + + msg->msgid = MAVLINK_MSG_ID_UALBERTA_SYS_STATUS; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 3); +} + +/** + * @brief Encode a ualberta_sys_status struct into a message + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * @param ualberta_sys_status C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_ualberta_sys_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_ualberta_sys_status_t* ualberta_sys_status) +{ + return mavlink_msg_ualberta_sys_status_pack(system_id, component_id, msg, ualberta_sys_status->mode, ualberta_sys_status->nav_mode, ualberta_sys_status->pilot); +} + +/** + * @brief Send a ualberta_sys_status message + * @param chan MAVLink channel to send the message + * + * @param mode System mode, see UALBERTA_AUTOPILOT_MODE ENUM + * @param nav_mode Navigation mode, see UALBERTA_NAV_MODE ENUM + * @param pilot Pilot mode, see UALBERTA_PILOT_MODE + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_ualberta_sys_status_send(mavlink_channel_t chan, uint8_t mode, uint8_t nav_mode, uint8_t pilot) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[3]; + _mav_put_uint8_t(buf, 0, mode); + _mav_put_uint8_t(buf, 1, nav_mode); + _mav_put_uint8_t(buf, 2, pilot); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_UALBERTA_SYS_STATUS, buf, 3); +#else + mavlink_ualberta_sys_status_t packet; + packet.mode = mode; + packet.nav_mode = nav_mode; + packet.pilot = pilot; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_UALBERTA_SYS_STATUS, (const char *)&packet, 3); +#endif +} + +#endif + +// MESSAGE UALBERTA_SYS_STATUS UNPACKING + + +/** + * @brief Get field mode from ualberta_sys_status message + * + * @return System mode, see UALBERTA_AUTOPILOT_MODE ENUM + */ +static inline uint8_t mavlink_msg_ualberta_sys_status_get_mode(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field nav_mode from ualberta_sys_status message + * + * @return Navigation mode, see UALBERTA_NAV_MODE ENUM + */ +static inline uint8_t mavlink_msg_ualberta_sys_status_get_nav_mode(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 1); +} + +/** + * @brief Get field pilot from ualberta_sys_status message + * + * @return Pilot mode, see UALBERTA_PILOT_MODE + */ +static inline uint8_t mavlink_msg_ualberta_sys_status_get_pilot(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 2); +} + +/** + * @brief Decode a ualberta_sys_status message into a struct + * + * @param msg The message to decode + * @param ualberta_sys_status C-struct to decode the message contents into + */ +static inline void mavlink_msg_ualberta_sys_status_decode(const mavlink_message_t* msg, mavlink_ualberta_sys_status_t* ualberta_sys_status) +{ +#if MAVLINK_NEED_BYTE_SWAP + ualberta_sys_status->mode = mavlink_msg_ualberta_sys_status_get_mode(msg); + ualberta_sys_status->nav_mode = mavlink_msg_ualberta_sys_status_get_nav_mode(msg); + ualberta_sys_status->pilot = mavlink_msg_ualberta_sys_status_get_pilot(msg); +#else + memcpy(ualberta_sys_status, _MAV_PAYLOAD(msg), 3); +#endif +} diff --git a/thirdParty/mavlink/include/ualberta/testsuite.h b/thirdParty/mavlink/v0.9/ualberta/testsuite.h similarity index 100% rename from thirdParty/mavlink/include/ualberta/testsuite.h rename to thirdParty/mavlink/v0.9/ualberta/testsuite.h diff --git a/thirdParty/mavlink/v0.9/ualberta/ualberta.h b/thirdParty/mavlink/v0.9/ualberta/ualberta.h new file mode 100644 index 0000000000000000000000000000000000000000..0c5320bf2543618b54b1ef4cfedf053faf4e16a9 --- /dev/null +++ b/thirdParty/mavlink/v0.9/ualberta/ualberta.h @@ -0,0 +1,93 @@ +/** @file + * @brief MAVLink comm protocol generated from ualberta.xml + * @see http://qgroundcontrol.org/mavlink/ + */ +#ifndef UALBERTA_H +#define UALBERTA_H + +#ifdef __cplusplus +extern "C" { +#endif + +// MESSAGE LENGTHS AND CRCS + +#ifndef MAVLINK_MESSAGE_LENGTHS +#define MAVLINK_MESSAGE_LENGTHS {3, 4, 8, 14, 8, 28, 3, 32, 0, 2, 3, 2, 2, 0, 0, 0, 0, 0, 0, 0, 19, 2, 23, 21, 0, 37, 26, 101, 26, 16, 32, 32, 37, 32, 11, 17, 17, 16, 18, 36, 4, 4, 2, 2, 4, 2, 2, 3, 14, 12, 18, 16, 8, 27, 25, 18, 18, 24, 24, 0, 0, 0, 26, 16, 36, 5, 6, 56, 26, 21, 18, 0, 0, 18, 20, 20, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 18, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 32, 42, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 30, 14, 14, 51, 5} +#endif + +#ifndef MAVLINK_MESSAGE_CRCS +#define MAVLINK_MESSAGE_CRCS {72, 39, 190, 92, 191, 217, 104, 119, 0, 219, 60, 186, 10, 0, 0, 0, 0, 0, 0, 0, 89, 159, 162, 121, 0, 149, 222, 110, 179, 136, 66, 126, 185, 147, 112, 252, 162, 215, 229, 128, 9, 106, 101, 213, 4, 229, 21, 214, 215, 14, 206, 50, 157, 126, 108, 213, 95, 5, 127, 0, 0, 0, 57, 126, 130, 119, 193, 191, 236, 158, 143, 0, 0, 104, 123, 131, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 174, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 155, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 34, 71, 15, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 178, 224, 60, 106, 7} +#endif + +#ifndef MAVLINK_MESSAGE_INFO +#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_BOOT, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_SYSTEM_TIME_UTC, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {NULL}, MAVLINK_MESSAGE_INFO_ACTION_ACK, MAVLINK_MESSAGE_INFO_ACTION, MAVLINK_MESSAGE_INFO_SET_MODE, MAVLINK_MESSAGE_INFO_SET_NAV_MODE, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, {NULL}, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_LOCAL_POSITION, MAVLINK_MESSAGE_INFO_GPS_RAW, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_WAYPOINT, MAVLINK_MESSAGE_INFO_WAYPOINT_REQUEST, MAVLINK_MESSAGE_INFO_WAYPOINT_SET_CURRENT, MAVLINK_MESSAGE_INFO_WAYPOINT_CURRENT, MAVLINK_MESSAGE_INFO_WAYPOINT_REQUEST_LIST, MAVLINK_MESSAGE_INFO_WAYPOINT_COUNT, MAVLINK_MESSAGE_INFO_WAYPOINT_CLEAR_ALL, MAVLINK_MESSAGE_INFO_WAYPOINT_REACHED, MAVLINK_MESSAGE_INFO_WAYPOINT_ACK, MAVLINK_MESSAGE_INFO_GPS_SET_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_LOCAL_ORIGIN_SET, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT_SET, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_CONTROL_STATUS, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, MAVLINK_MESSAGE_INFO_POSITION_TARGET, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, MAVLINK_MESSAGE_INFO_SET_ALTITUDE, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_VFR_HUD, MAVLINK_MESSAGE_INFO_COMMAND, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_OBJECT_DETECTION_EVENT, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_NAV_FILTER_BIAS, MAVLINK_MESSAGE_INFO_RADIO_CALIBRATION, MAVLINK_MESSAGE_INFO_UALBERTA_SYS_STATUS, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG} +#endif + +#include "../protocol.h" + +#define MAVLINK_ENABLED_UALBERTA + +#include "../common/common.h" + +// MAVLINK VERSION + +#ifndef MAVLINK_VERSION +#define MAVLINK_VERSION 2 +#endif + +#if (MAVLINK_VERSION == 0) +#undef MAVLINK_VERSION +#define MAVLINK_VERSION 2 +#endif + +// ENUM DEFINITIONS + + +/** @brief Available autopilot modes for ualberta uav */ +#ifndef HAVE_ENUM_UALBERTA_AUTOPILOT_MODE +#define HAVE_ENUM_UALBERTA_AUTOPILOT_MODE +enum UALBERTA_AUTOPILOT_MODE +{ + MODE_MANUAL_DIRECT=1, /* | */ + MODE_MANUAL_SCALED=2, /* | */ + MODE_AUTO_PID_ATT=3, /* | */ + MODE_AUTO_PID_VEL=4, /* | */ + MODE_AUTO_PID_POS=5, /* | */ + UALBERTA_AUTOPILOT_MODE_ENUM_END=6, /* | */ +}; +#endif + +/** @brief Navigation filter mode */ +#ifndef HAVE_ENUM_UALBERTA_NAV_MODE +#define HAVE_ENUM_UALBERTA_NAV_MODE +enum UALBERTA_NAV_MODE +{ + NAV_AHRS_INIT=1, /* | */ + NAV_AHRS=2, /* | */ + NAV_INS_GPS_INIT=3, /* | */ + NAV_INS_GPS=4, /* | */ + UALBERTA_NAV_MODE_ENUM_END=5, /* | */ +}; +#endif + +/** @brief Mode currently commanded by pilot */ +#ifndef HAVE_ENUM_UALBERTA_PILOT_MODE +#define HAVE_ENUM_UALBERTA_PILOT_MODE +enum UALBERTA_PILOT_MODE +{ + PILOT_MANUAL=1, /* | */ + PILOT_AUTO=2, /* | */ + PILOT_ROTO=3, /* | */ + UALBERTA_PILOT_MODE_ENUM_END=4, /* | */ +}; +#endif + +// MESSAGE DEFINITIONS +#include "./mavlink_msg_nav_filter_bias.h" +#include "./mavlink_msg_radio_calibration.h" +#include "./mavlink_msg_ualberta_sys_status.h" + +#ifdef __cplusplus +} +#endif // __cplusplus +#endif // UALBERTA_H diff --git a/thirdParty/mavlink/v0.9/ualberta/version.h b/thirdParty/mavlink/v0.9/ualberta/version.h new file mode 100644 index 0000000000000000000000000000000000000000..d3a26f79f60b0a8eb4b92a1c2a8da3ebf2d2fc13 --- /dev/null +++ b/thirdParty/mavlink/v0.9/ualberta/version.h @@ -0,0 +1,12 @@ +/** @file + * @brief MAVLink comm protocol built from ualberta.xml + * @see http://pixhawk.ethz.ch/software/mavlink + */ +#ifndef MAVLINK_VERSION_H +#define MAVLINK_VERSION_H + +#define MAVLINK_BUILD_DATE "Mon Feb 20 20:01:37 2012" +#define MAVLINK_WIRE_PROTOCOL_VERSION "0.9" +#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101 + +#endif // MAVLINK_VERSION_H diff --git a/thirdParty/mavlink/include/ardupilotmega/ardupilotmega.h b/thirdParty/mavlink/v1.0/ardupilotmega/ardupilotmega.h similarity index 52% rename from thirdParty/mavlink/include/ardupilotmega/ardupilotmega.h rename to thirdParty/mavlink/v1.0/ardupilotmega/ardupilotmega.h index 2dd2f2d19417e5082c7f4010e1d5dcfef94fb311..4b68f0862775abde2fe62d9a4a13e1da48aed265 100644 --- a/thirdParty/mavlink/include/ardupilotmega/ardupilotmega.h +++ b/thirdParty/mavlink/v1.0/ardupilotmega/ardupilotmega.h @@ -12,15 +12,15 @@ extern "C" { // MESSAGE LENGTHS AND CRCS #ifndef MAVLINK_MESSAGE_LENGTHS -#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 54, 26, 0, 36, 0, 6, 4, 0, 21, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 18, 32, 32, 20, 32, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 42, 8, 4, 12, 15, 13, 6, 15, 14, 0, 12, 3, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 0} +#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 0, 0, 26, 0, 36, 0, 6, 4, 0, 21, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 18, 32, 32, 20, 32, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 42, 8, 4, 12, 15, 13, 6, 15, 14, 0, 12, 3, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 3} #endif #ifndef MAVLINK_MESSAGE_CRCS -#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 200, 183, 0, 130, 0, 148, 21, 0, 52, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 19, 102, 158, 208, 56, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 134, 219, 208, 188, 84, 22, 19, 21, 134, 0, 78, 68, 189, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0} +#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 0, 0, 183, 0, 130, 0, 148, 21, 0, 52, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 19, 102, 158, 208, 56, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 134, 219, 208, 188, 84, 22, 19, 21, 134, 0, 78, 68, 189, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 247} #endif #ifndef MAVLINK_MESSAGE_INFO -#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_MODE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_WRITE_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_ITEM, MAVLINK_MESSAGE_INFO_MISSION_REQUEST, MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST, MAVLINK_MESSAGE_INFO_MISSION_COUNT, MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL, MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED, MAVLINK_MESSAGE_INFO_MISSION_ACK, MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_MOTORS_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_DATA_STREAM, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_VFR_HUD, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_COMMAND_LONG, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_HIL_RC_INPUTS_RAW, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE, MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SENSOR_OFFSETS, MAVLINK_MESSAGE_INFO_SET_MAG_OFFSETS, MAVLINK_MESSAGE_INFO_MEMINFO, MAVLINK_MESSAGE_INFO_AP_ADC, MAVLINK_MESSAGE_INFO_DIGICAM_CONFIGURE, MAVLINK_MESSAGE_INFO_DIGICAM_CONTROL, MAVLINK_MESSAGE_INFO_MOUNT_CONFIGURE, MAVLINK_MESSAGE_INFO_MOUNT_CONTROL, MAVLINK_MESSAGE_INFO_MOUNT_STATUS, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_FENCE_POINT, MAVLINK_MESSAGE_INFO_FENCE_FETCH_POINT, MAVLINK_MESSAGE_INFO_FENCE_STATUS, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MEMORY_VECT, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}} +#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, {NULL}, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_SET_MODE, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_WRITE_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_ITEM, MAVLINK_MESSAGE_INFO_MISSION_REQUEST, MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST, MAVLINK_MESSAGE_INFO_MISSION_COUNT, MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL, MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED, MAVLINK_MESSAGE_INFO_MISSION_ACK, MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, {NULL}, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, {NULL}, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_DATA_STREAM, {NULL}, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_VFR_HUD, {NULL}, MAVLINK_MESSAGE_INFO_COMMAND_LONG, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_HIL_RC_INPUTS_RAW, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE, MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_SENSOR_OFFSETS, MAVLINK_MESSAGE_INFO_SET_MAG_OFFSETS, MAVLINK_MESSAGE_INFO_MEMINFO, MAVLINK_MESSAGE_INFO_AP_ADC, MAVLINK_MESSAGE_INFO_DIGICAM_CONFIGURE, MAVLINK_MESSAGE_INFO_DIGICAM_CONTROL, MAVLINK_MESSAGE_INFO_MOUNT_CONFIGURE, MAVLINK_MESSAGE_INFO_MOUNT_CONTROL, MAVLINK_MESSAGE_INFO_MOUNT_STATUS, {NULL}, MAVLINK_MESSAGE_INFO_FENCE_POINT, MAVLINK_MESSAGE_INFO_FENCE_FETCH_POINT, MAVLINK_MESSAGE_INFO_FENCE_STATUS, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_MEMORY_VECT, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG, MAVLINK_MESSAGE_INFO_EXTENDED_MESSAGE} #endif #include "../protocol.h" diff --git a/thirdParty/mavlink/include/ardupilotmega/mavlink.h b/thirdParty/mavlink/v1.0/ardupilotmega/mavlink.h similarity index 100% rename from thirdParty/mavlink/include/ardupilotmega/mavlink.h rename to thirdParty/mavlink/v1.0/ardupilotmega/mavlink.h diff --git a/thirdParty/mavlink/include/ardupilotmega/mavlink_msg_ap_adc.h b/thirdParty/mavlink/v1.0/ardupilotmega/mavlink_msg_ap_adc.h similarity index 96% rename from thirdParty/mavlink/include/ardupilotmega/mavlink_msg_ap_adc.h rename to thirdParty/mavlink/v1.0/ardupilotmega/mavlink_msg_ap_adc.h index ea640c4fb0b33ed817578a0c0fa05b612c546c04..dbe7f19370c84b1b80c1e0a91acafee0224d9eda 100644 --- a/thirdParty/mavlink/include/ardupilotmega/mavlink_msg_ap_adc.h +++ b/thirdParty/mavlink/v1.0/ardupilotmega/mavlink_msg_ap_adc.h @@ -56,7 +56,7 @@ static inline uint16_t mavlink_msg_ap_adc_pack(uint8_t system_id, uint8_t compon _mav_put_uint16_t(buf, 8, adc5); _mav_put_uint16_t(buf, 10, adc6); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12); + memcpy(_MAV_PAYLOAD(msg), buf, 12); #else mavlink_ap_adc_t packet; packet.adc1 = adc1; @@ -66,7 +66,7 @@ static inline uint16_t mavlink_msg_ap_adc_pack(uint8_t system_id, uint8_t compon packet.adc5 = adc5; packet.adc6 = adc6; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12); + memcpy(_MAV_PAYLOAD(msg), &packet, 12); #endif msg->msgid = MAVLINK_MSG_ID_AP_ADC; @@ -100,7 +100,7 @@ static inline uint16_t mavlink_msg_ap_adc_pack_chan(uint8_t system_id, uint8_t c _mav_put_uint16_t(buf, 8, adc5); _mav_put_uint16_t(buf, 10, adc6); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12); + memcpy(_MAV_PAYLOAD(msg), buf, 12); #else mavlink_ap_adc_t packet; packet.adc1 = adc1; @@ -110,7 +110,7 @@ static inline uint16_t mavlink_msg_ap_adc_pack_chan(uint8_t system_id, uint8_t c packet.adc5 = adc5; packet.adc6 = adc6; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12); + memcpy(_MAV_PAYLOAD(msg), &packet, 12); #endif msg->msgid = MAVLINK_MSG_ID_AP_ADC; diff --git a/thirdParty/mavlink/include/ardupilotmega/mavlink_msg_digicam_configure.h b/thirdParty/mavlink/v1.0/ardupilotmega/mavlink_msg_digicam_configure.h similarity index 98% rename from thirdParty/mavlink/include/ardupilotmega/mavlink_msg_digicam_configure.h rename to thirdParty/mavlink/v1.0/ardupilotmega/mavlink_msg_digicam_configure.h index cc49c50255e67d10698335fc3bb14a2d7104e5b9..89df0d9a4e8e154fee3b8292e64a99b0448904ae 100644 --- a/thirdParty/mavlink/include/ardupilotmega/mavlink_msg_digicam_configure.h +++ b/thirdParty/mavlink/v1.0/ardupilotmega/mavlink_msg_digicam_configure.h @@ -76,7 +76,7 @@ static inline uint16_t mavlink_msg_digicam_configure_pack(uint8_t system_id, uin _mav_put_uint8_t(buf, 13, engine_cut_off); _mav_put_uint8_t(buf, 14, extra_param); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 15); + memcpy(_MAV_PAYLOAD(msg), buf, 15); #else mavlink_digicam_configure_t packet; packet.extra_value = extra_value; @@ -91,7 +91,7 @@ static inline uint16_t mavlink_msg_digicam_configure_pack(uint8_t system_id, uin packet.engine_cut_off = engine_cut_off; packet.extra_param = extra_param; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 15); + memcpy(_MAV_PAYLOAD(msg), &packet, 15); #endif msg->msgid = MAVLINK_MSG_ID_DIGICAM_CONFIGURE; @@ -135,7 +135,7 @@ static inline uint16_t mavlink_msg_digicam_configure_pack_chan(uint8_t system_id _mav_put_uint8_t(buf, 13, engine_cut_off); _mav_put_uint8_t(buf, 14, extra_param); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 15); + memcpy(_MAV_PAYLOAD(msg), buf, 15); #else mavlink_digicam_configure_t packet; packet.extra_value = extra_value; @@ -150,7 +150,7 @@ static inline uint16_t mavlink_msg_digicam_configure_pack_chan(uint8_t system_id packet.engine_cut_off = engine_cut_off; packet.extra_param = extra_param; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 15); + memcpy(_MAV_PAYLOAD(msg), &packet, 15); #endif msg->msgid = MAVLINK_MSG_ID_DIGICAM_CONFIGURE; diff --git a/thirdParty/mavlink/include/ardupilotmega/mavlink_msg_digicam_control.h b/thirdParty/mavlink/v1.0/ardupilotmega/mavlink_msg_digicam_control.h similarity index 98% rename from thirdParty/mavlink/include/ardupilotmega/mavlink_msg_digicam_control.h rename to thirdParty/mavlink/v1.0/ardupilotmega/mavlink_msg_digicam_control.h index a3b4878c434c3bee55a59ccc964b36f8d59f99ca..baf63d6c7d71afcafb2f7cf82ef62d32c6039e4c 100644 --- a/thirdParty/mavlink/include/ardupilotmega/mavlink_msg_digicam_control.h +++ b/thirdParty/mavlink/v1.0/ardupilotmega/mavlink_msg_digicam_control.h @@ -72,7 +72,7 @@ static inline uint16_t mavlink_msg_digicam_control_pack(uint8_t system_id, uint8 _mav_put_uint8_t(buf, 11, command_id); _mav_put_uint8_t(buf, 12, extra_param); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 13); + memcpy(_MAV_PAYLOAD(msg), buf, 13); #else mavlink_digicam_control_t packet; packet.extra_value = extra_value; @@ -86,7 +86,7 @@ static inline uint16_t mavlink_msg_digicam_control_pack(uint8_t system_id, uint8 packet.command_id = command_id; packet.extra_param = extra_param; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 13); + memcpy(_MAV_PAYLOAD(msg), &packet, 13); #endif msg->msgid = MAVLINK_MSG_ID_DIGICAM_CONTROL; @@ -128,7 +128,7 @@ static inline uint16_t mavlink_msg_digicam_control_pack_chan(uint8_t system_id, _mav_put_uint8_t(buf, 11, command_id); _mav_put_uint8_t(buf, 12, extra_param); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 13); + memcpy(_MAV_PAYLOAD(msg), buf, 13); #else mavlink_digicam_control_t packet; packet.extra_value = extra_value; @@ -142,7 +142,7 @@ static inline uint16_t mavlink_msg_digicam_control_pack_chan(uint8_t system_id, packet.command_id = command_id; packet.extra_param = extra_param; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 13); + memcpy(_MAV_PAYLOAD(msg), &packet, 13); #endif msg->msgid = MAVLINK_MSG_ID_DIGICAM_CONTROL; diff --git a/thirdParty/mavlink/include/ardupilotmega/mavlink_msg_fence_fetch_point.h b/thirdParty/mavlink/v1.0/ardupilotmega/mavlink_msg_fence_fetch_point.h similarity index 96% rename from thirdParty/mavlink/include/ardupilotmega/mavlink_msg_fence_fetch_point.h rename to thirdParty/mavlink/v1.0/ardupilotmega/mavlink_msg_fence_fetch_point.h index c1e405b0a5a986bf54635eb15e21204880458f77..e79ebeca39b6ca686c30e8d1125547f2ef7a0915 100644 --- a/thirdParty/mavlink/include/ardupilotmega/mavlink_msg_fence_fetch_point.h +++ b/thirdParty/mavlink/v1.0/ardupilotmega/mavlink_msg_fence_fetch_point.h @@ -44,14 +44,14 @@ static inline uint16_t mavlink_msg_fence_fetch_point_pack(uint8_t system_id, uin _mav_put_uint8_t(buf, 1, target_component); _mav_put_uint8_t(buf, 2, idx); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 3); + memcpy(_MAV_PAYLOAD(msg), buf, 3); #else mavlink_fence_fetch_point_t packet; packet.target_system = target_system; packet.target_component = target_component; packet.idx = idx; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 3); + memcpy(_MAV_PAYLOAD(msg), &packet, 3); #endif msg->msgid = MAVLINK_MSG_ID_FENCE_FETCH_POINT; @@ -79,14 +79,14 @@ static inline uint16_t mavlink_msg_fence_fetch_point_pack_chan(uint8_t system_id _mav_put_uint8_t(buf, 1, target_component); _mav_put_uint8_t(buf, 2, idx); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 3); + memcpy(_MAV_PAYLOAD(msg), buf, 3); #else mavlink_fence_fetch_point_t packet; packet.target_system = target_system; packet.target_component = target_component; packet.idx = idx; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 3); + memcpy(_MAV_PAYLOAD(msg), &packet, 3); #endif msg->msgid = MAVLINK_MSG_ID_FENCE_FETCH_POINT; diff --git a/thirdParty/mavlink/include/ardupilotmega/mavlink_msg_fence_point.h b/thirdParty/mavlink/v1.0/ardupilotmega/mavlink_msg_fence_point.h similarity index 97% rename from thirdParty/mavlink/include/ardupilotmega/mavlink_msg_fence_point.h rename to thirdParty/mavlink/v1.0/ardupilotmega/mavlink_msg_fence_point.h index b31319c74909effcc71e3f2217ef8f04f5593bd6..8890a1e0b245fc307f72786014c40fd3bf55b04e 100644 --- a/thirdParty/mavlink/include/ardupilotmega/mavlink_msg_fence_point.h +++ b/thirdParty/mavlink/v1.0/ardupilotmega/mavlink_msg_fence_point.h @@ -56,7 +56,7 @@ static inline uint16_t mavlink_msg_fence_point_pack(uint8_t system_id, uint8_t c _mav_put_uint8_t(buf, 10, idx); _mav_put_uint8_t(buf, 11, count); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12); + memcpy(_MAV_PAYLOAD(msg), buf, 12); #else mavlink_fence_point_t packet; packet.lat = lat; @@ -66,7 +66,7 @@ static inline uint16_t mavlink_msg_fence_point_pack(uint8_t system_id, uint8_t c packet.idx = idx; packet.count = count; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12); + memcpy(_MAV_PAYLOAD(msg), &packet, 12); #endif msg->msgid = MAVLINK_MSG_ID_FENCE_POINT; @@ -100,7 +100,7 @@ static inline uint16_t mavlink_msg_fence_point_pack_chan(uint8_t system_id, uint _mav_put_uint8_t(buf, 10, idx); _mav_put_uint8_t(buf, 11, count); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12); + memcpy(_MAV_PAYLOAD(msg), buf, 12); #else mavlink_fence_point_t packet; packet.lat = lat; @@ -110,7 +110,7 @@ static inline uint16_t mavlink_msg_fence_point_pack_chan(uint8_t system_id, uint packet.idx = idx; packet.count = count; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12); + memcpy(_MAV_PAYLOAD(msg), &packet, 12); #endif msg->msgid = MAVLINK_MSG_ID_FENCE_POINT; diff --git a/thirdParty/mavlink/include/ardupilotmega/mavlink_msg_fence_status.h b/thirdParty/mavlink/v1.0/ardupilotmega/mavlink_msg_fence_status.h similarity index 97% rename from thirdParty/mavlink/include/ardupilotmega/mavlink_msg_fence_status.h rename to thirdParty/mavlink/v1.0/ardupilotmega/mavlink_msg_fence_status.h index ce3e7ee67bb51e7884d30631eb1506328a0040df..56a6cf6c02c2c2f07627871b72f12bd4429bec84 100644 --- a/thirdParty/mavlink/include/ardupilotmega/mavlink_msg_fence_status.h +++ b/thirdParty/mavlink/v1.0/ardupilotmega/mavlink_msg_fence_status.h @@ -48,7 +48,7 @@ static inline uint16_t mavlink_msg_fence_status_pack(uint8_t system_id, uint8_t _mav_put_uint8_t(buf, 6, breach_status); _mav_put_uint8_t(buf, 7, breach_type); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 8); + memcpy(_MAV_PAYLOAD(msg), buf, 8); #else mavlink_fence_status_t packet; packet.breach_time = breach_time; @@ -56,7 +56,7 @@ static inline uint16_t mavlink_msg_fence_status_pack(uint8_t system_id, uint8_t packet.breach_status = breach_status; packet.breach_type = breach_type; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 8); + memcpy(_MAV_PAYLOAD(msg), &packet, 8); #endif msg->msgid = MAVLINK_MSG_ID_FENCE_STATUS; @@ -86,7 +86,7 @@ static inline uint16_t mavlink_msg_fence_status_pack_chan(uint8_t system_id, uin _mav_put_uint8_t(buf, 6, breach_status); _mav_put_uint8_t(buf, 7, breach_type); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 8); + memcpy(_MAV_PAYLOAD(msg), buf, 8); #else mavlink_fence_status_t packet; packet.breach_time = breach_time; @@ -94,7 +94,7 @@ static inline uint16_t mavlink_msg_fence_status_pack_chan(uint8_t system_id, uin packet.breach_status = breach_status; packet.breach_type = breach_type; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 8); + memcpy(_MAV_PAYLOAD(msg), &packet, 8); #endif msg->msgid = MAVLINK_MSG_ID_FENCE_STATUS; diff --git a/thirdParty/mavlink/include/ardupilotmega/mavlink_msg_meminfo.h b/thirdParty/mavlink/v1.0/ardupilotmega/mavlink_msg_meminfo.h similarity index 95% rename from thirdParty/mavlink/include/ardupilotmega/mavlink_msg_meminfo.h rename to thirdParty/mavlink/v1.0/ardupilotmega/mavlink_msg_meminfo.h index a095a804f3cb5a6a59569f934b0a6d0a4c30f81a..85b7d96fc8f69f0adb9b1b2e2b9169236bbd6738 100644 --- a/thirdParty/mavlink/include/ardupilotmega/mavlink_msg_meminfo.h +++ b/thirdParty/mavlink/v1.0/ardupilotmega/mavlink_msg_meminfo.h @@ -40,13 +40,13 @@ static inline uint16_t mavlink_msg_meminfo_pack(uint8_t system_id, uint8_t compo _mav_put_uint16_t(buf, 0, brkval); _mav_put_uint16_t(buf, 2, freemem); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 4); + memcpy(_MAV_PAYLOAD(msg), buf, 4); #else mavlink_meminfo_t packet; packet.brkval = brkval; packet.freemem = freemem; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 4); + memcpy(_MAV_PAYLOAD(msg), &packet, 4); #endif msg->msgid = MAVLINK_MSG_ID_MEMINFO; @@ -72,13 +72,13 @@ static inline uint16_t mavlink_msg_meminfo_pack_chan(uint8_t system_id, uint8_t _mav_put_uint16_t(buf, 0, brkval); _mav_put_uint16_t(buf, 2, freemem); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 4); + memcpy(_MAV_PAYLOAD(msg), buf, 4); #else mavlink_meminfo_t packet; packet.brkval = brkval; packet.freemem = freemem; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 4); + memcpy(_MAV_PAYLOAD(msg), &packet, 4); #endif msg->msgid = MAVLINK_MSG_ID_MEMINFO; diff --git a/thirdParty/mavlink/include/ardupilotmega/mavlink_msg_mount_configure.h b/thirdParty/mavlink/v1.0/ardupilotmega/mavlink_msg_mount_configure.h similarity index 97% rename from thirdParty/mavlink/include/ardupilotmega/mavlink_msg_mount_configure.h rename to thirdParty/mavlink/v1.0/ardupilotmega/mavlink_msg_mount_configure.h index 051a7183794528cedbc1c29984c3d47dd15b4b8e..84979b3e4d84992d2fa4884e704bd0aac7b7f0a2 100644 --- a/thirdParty/mavlink/include/ardupilotmega/mavlink_msg_mount_configure.h +++ b/thirdParty/mavlink/v1.0/ardupilotmega/mavlink_msg_mount_configure.h @@ -56,7 +56,7 @@ static inline uint16_t mavlink_msg_mount_configure_pack(uint8_t system_id, uint8 _mav_put_uint8_t(buf, 4, stab_pitch); _mav_put_uint8_t(buf, 5, stab_yaw); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 6); + memcpy(_MAV_PAYLOAD(msg), buf, 6); #else mavlink_mount_configure_t packet; packet.target_system = target_system; @@ -66,7 +66,7 @@ static inline uint16_t mavlink_msg_mount_configure_pack(uint8_t system_id, uint8 packet.stab_pitch = stab_pitch; packet.stab_yaw = stab_yaw; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 6); + memcpy(_MAV_PAYLOAD(msg), &packet, 6); #endif msg->msgid = MAVLINK_MSG_ID_MOUNT_CONFIGURE; @@ -100,7 +100,7 @@ static inline uint16_t mavlink_msg_mount_configure_pack_chan(uint8_t system_id, _mav_put_uint8_t(buf, 4, stab_pitch); _mav_put_uint8_t(buf, 5, stab_yaw); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 6); + memcpy(_MAV_PAYLOAD(msg), buf, 6); #else mavlink_mount_configure_t packet; packet.target_system = target_system; @@ -110,7 +110,7 @@ static inline uint16_t mavlink_msg_mount_configure_pack_chan(uint8_t system_id, packet.stab_pitch = stab_pitch; packet.stab_yaw = stab_yaw; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 6); + memcpy(_MAV_PAYLOAD(msg), &packet, 6); #endif msg->msgid = MAVLINK_MSG_ID_MOUNT_CONFIGURE; diff --git a/thirdParty/mavlink/include/ardupilotmega/mavlink_msg_mount_control.h b/thirdParty/mavlink/v1.0/ardupilotmega/mavlink_msg_mount_control.h similarity index 97% rename from thirdParty/mavlink/include/ardupilotmega/mavlink_msg_mount_control.h rename to thirdParty/mavlink/v1.0/ardupilotmega/mavlink_msg_mount_control.h index a519922997ce10af1eff72308e9423b85749cb51..37f87fd7ac292e63a2aa0d2f5b91fba0583f366a 100644 --- a/thirdParty/mavlink/include/ardupilotmega/mavlink_msg_mount_control.h +++ b/thirdParty/mavlink/v1.0/ardupilotmega/mavlink_msg_mount_control.h @@ -56,7 +56,7 @@ static inline uint16_t mavlink_msg_mount_control_pack(uint8_t system_id, uint8_t _mav_put_uint8_t(buf, 13, target_component); _mav_put_uint8_t(buf, 14, save_position); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 15); + memcpy(_MAV_PAYLOAD(msg), buf, 15); #else mavlink_mount_control_t packet; packet.input_a = input_a; @@ -66,7 +66,7 @@ static inline uint16_t mavlink_msg_mount_control_pack(uint8_t system_id, uint8_t packet.target_component = target_component; packet.save_position = save_position; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 15); + memcpy(_MAV_PAYLOAD(msg), &packet, 15); #endif msg->msgid = MAVLINK_MSG_ID_MOUNT_CONTROL; @@ -100,7 +100,7 @@ static inline uint16_t mavlink_msg_mount_control_pack_chan(uint8_t system_id, ui _mav_put_uint8_t(buf, 13, target_component); _mav_put_uint8_t(buf, 14, save_position); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 15); + memcpy(_MAV_PAYLOAD(msg), buf, 15); #else mavlink_mount_control_t packet; packet.input_a = input_a; @@ -110,7 +110,7 @@ static inline uint16_t mavlink_msg_mount_control_pack_chan(uint8_t system_id, ui packet.target_component = target_component; packet.save_position = save_position; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 15); + memcpy(_MAV_PAYLOAD(msg), &packet, 15); #endif msg->msgid = MAVLINK_MSG_ID_MOUNT_CONTROL; diff --git a/thirdParty/mavlink/include/ardupilotmega/mavlink_msg_mount_status.h b/thirdParty/mavlink/v1.0/ardupilotmega/mavlink_msg_mount_status.h similarity index 97% rename from thirdParty/mavlink/include/ardupilotmega/mavlink_msg_mount_status.h rename to thirdParty/mavlink/v1.0/ardupilotmega/mavlink_msg_mount_status.h index edc188ebd49b7c2f90dfade166c557b1d091cd28..f43709ba784f40b9c3ec722dd581ad84735a5f9c 100644 --- a/thirdParty/mavlink/include/ardupilotmega/mavlink_msg_mount_status.h +++ b/thirdParty/mavlink/v1.0/ardupilotmega/mavlink_msg_mount_status.h @@ -52,7 +52,7 @@ static inline uint16_t mavlink_msg_mount_status_pack(uint8_t system_id, uint8_t _mav_put_uint8_t(buf, 12, target_system); _mav_put_uint8_t(buf, 13, target_component); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 14); + memcpy(_MAV_PAYLOAD(msg), buf, 14); #else mavlink_mount_status_t packet; packet.pointing_a = pointing_a; @@ -61,7 +61,7 @@ static inline uint16_t mavlink_msg_mount_status_pack(uint8_t system_id, uint8_t packet.target_system = target_system; packet.target_component = target_component; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 14); + memcpy(_MAV_PAYLOAD(msg), &packet, 14); #endif msg->msgid = MAVLINK_MSG_ID_MOUNT_STATUS; @@ -93,7 +93,7 @@ static inline uint16_t mavlink_msg_mount_status_pack_chan(uint8_t system_id, uin _mav_put_uint8_t(buf, 12, target_system); _mav_put_uint8_t(buf, 13, target_component); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 14); + memcpy(_MAV_PAYLOAD(msg), buf, 14); #else mavlink_mount_status_t packet; packet.pointing_a = pointing_a; @@ -102,7 +102,7 @@ static inline uint16_t mavlink_msg_mount_status_pack_chan(uint8_t system_id, uin packet.target_system = target_system; packet.target_component = target_component; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 14); + memcpy(_MAV_PAYLOAD(msg), &packet, 14); #endif msg->msgid = MAVLINK_MSG_ID_MOUNT_STATUS; diff --git a/thirdParty/mavlink/include/ardupilotmega/mavlink_msg_sensor_offsets.h b/thirdParty/mavlink/v1.0/ardupilotmega/mavlink_msg_sensor_offsets.h similarity index 98% rename from thirdParty/mavlink/include/ardupilotmega/mavlink_msg_sensor_offsets.h rename to thirdParty/mavlink/v1.0/ardupilotmega/mavlink_msg_sensor_offsets.h index 56fb52d96d2720be8a54932427a559287873edec..b3b38e6df2fdea9a40c6240560d3754057f26238 100644 --- a/thirdParty/mavlink/include/ardupilotmega/mavlink_msg_sensor_offsets.h +++ b/thirdParty/mavlink/v1.0/ardupilotmega/mavlink_msg_sensor_offsets.h @@ -80,7 +80,7 @@ static inline uint16_t mavlink_msg_sensor_offsets_pack(uint8_t system_id, uint8_ _mav_put_int16_t(buf, 38, mag_ofs_y); _mav_put_int16_t(buf, 40, mag_ofs_z); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 42); + memcpy(_MAV_PAYLOAD(msg), buf, 42); #else mavlink_sensor_offsets_t packet; packet.mag_declination = mag_declination; @@ -96,7 +96,7 @@ static inline uint16_t mavlink_msg_sensor_offsets_pack(uint8_t system_id, uint8_ packet.mag_ofs_y = mag_ofs_y; packet.mag_ofs_z = mag_ofs_z; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 42); + memcpy(_MAV_PAYLOAD(msg), &packet, 42); #endif msg->msgid = MAVLINK_MSG_ID_SENSOR_OFFSETS; @@ -142,7 +142,7 @@ static inline uint16_t mavlink_msg_sensor_offsets_pack_chan(uint8_t system_id, u _mav_put_int16_t(buf, 38, mag_ofs_y); _mav_put_int16_t(buf, 40, mag_ofs_z); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 42); + memcpy(_MAV_PAYLOAD(msg), buf, 42); #else mavlink_sensor_offsets_t packet; packet.mag_declination = mag_declination; @@ -158,7 +158,7 @@ static inline uint16_t mavlink_msg_sensor_offsets_pack_chan(uint8_t system_id, u packet.mag_ofs_y = mag_ofs_y; packet.mag_ofs_z = mag_ofs_z; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 42); + memcpy(_MAV_PAYLOAD(msg), &packet, 42); #endif msg->msgid = MAVLINK_MSG_ID_SENSOR_OFFSETS; diff --git a/thirdParty/mavlink/include/ardupilotmega/mavlink_msg_set_mag_offsets.h b/thirdParty/mavlink/v1.0/ardupilotmega/mavlink_msg_set_mag_offsets.h similarity index 97% rename from thirdParty/mavlink/include/ardupilotmega/mavlink_msg_set_mag_offsets.h rename to thirdParty/mavlink/v1.0/ardupilotmega/mavlink_msg_set_mag_offsets.h index 4c13fd1863d3db61a9e625bd7a70cc53867ef4d6..01511619018f799921e5ec44a3ea11c3e4ec949e 100644 --- a/thirdParty/mavlink/include/ardupilotmega/mavlink_msg_set_mag_offsets.h +++ b/thirdParty/mavlink/v1.0/ardupilotmega/mavlink_msg_set_mag_offsets.h @@ -52,7 +52,7 @@ static inline uint16_t mavlink_msg_set_mag_offsets_pack(uint8_t system_id, uint8 _mav_put_uint8_t(buf, 6, target_system); _mav_put_uint8_t(buf, 7, target_component); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 8); + memcpy(_MAV_PAYLOAD(msg), buf, 8); #else mavlink_set_mag_offsets_t packet; packet.mag_ofs_x = mag_ofs_x; @@ -61,7 +61,7 @@ static inline uint16_t mavlink_msg_set_mag_offsets_pack(uint8_t system_id, uint8 packet.target_system = target_system; packet.target_component = target_component; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 8); + memcpy(_MAV_PAYLOAD(msg), &packet, 8); #endif msg->msgid = MAVLINK_MSG_ID_SET_MAG_OFFSETS; @@ -93,7 +93,7 @@ static inline uint16_t mavlink_msg_set_mag_offsets_pack_chan(uint8_t system_id, _mav_put_uint8_t(buf, 6, target_system); _mav_put_uint8_t(buf, 7, target_component); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 8); + memcpy(_MAV_PAYLOAD(msg), buf, 8); #else mavlink_set_mag_offsets_t packet; packet.mag_ofs_x = mag_ofs_x; @@ -102,7 +102,7 @@ static inline uint16_t mavlink_msg_set_mag_offsets_pack_chan(uint8_t system_id, packet.target_system = target_system; packet.target_component = target_component; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 8); + memcpy(_MAV_PAYLOAD(msg), &packet, 8); #endif msg->msgid = MAVLINK_MSG_ID_SET_MAG_OFFSETS; diff --git a/thirdParty/mavlink/include/ardupilotmega/testsuite.h b/thirdParty/mavlink/v1.0/ardupilotmega/testsuite.h similarity index 100% rename from thirdParty/mavlink/include/ardupilotmega/testsuite.h rename to thirdParty/mavlink/v1.0/ardupilotmega/testsuite.h diff --git a/thirdParty/mavlink/include/ardupilotmega/version.h b/thirdParty/mavlink/v1.0/ardupilotmega/version.h similarity index 84% rename from thirdParty/mavlink/include/ardupilotmega/version.h rename to thirdParty/mavlink/v1.0/ardupilotmega/version.h index a9d2465fa742533b5ab12c5a53fb070dc2730bba..083bd983c86095e10a07593baa4229b71ff53e2d 100644 --- a/thirdParty/mavlink/include/ardupilotmega/version.h +++ b/thirdParty/mavlink/v1.0/ardupilotmega/version.h @@ -5,7 +5,7 @@ #ifndef MAVLINK_VERSION_H #define MAVLINK_VERSION_H -#define MAVLINK_BUILD_DATE "Thu Feb 9 16:35:34 2012" +#define MAVLINK_BUILD_DATE "Mon Feb 20 20:01:31 2012" #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0" #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101 diff --git a/thirdParty/mavlink/v1.0/checksum.h b/thirdParty/mavlink/v1.0/checksum.h new file mode 100644 index 0000000000000000000000000000000000000000..b70991f5ab7c46163f7d13c6e11f70e5102b2457 --- /dev/null +++ b/thirdParty/mavlink/v1.0/checksum.h @@ -0,0 +1,89 @@ +#ifdef __cplusplus +extern "C" { +#endif + +#ifndef _CHECKSUM_H_ +#define _CHECKSUM_H_ + + +/** + * + * CALCULATE THE CHECKSUM + * + */ + +#define X25_INIT_CRC 0xffff +#define X25_VALIDATE_CRC 0xf0b8 + +/** + * @brief Accumulate the X.25 CRC by adding one char at a time. + * + * The checksum function adds the hash of one char at a time to the + * 16 bit checksum (uint16_t). + * + * @param data new char to hash + * @param crcAccum the already accumulated checksum + **/ +static inline void crc_accumulate(uint8_t data, uint16_t *crcAccum) +{ + /*Accumulate one byte of data into the CRC*/ + uint8_t tmp; + + tmp = data ^ (uint8_t)(*crcAccum &0xff); + tmp ^= (tmp<<4); + *crcAccum = (*crcAccum>>8) ^ (tmp<<8) ^ (tmp <<3) ^ (tmp>>4); +} + +/** + * @brief Initiliaze the buffer for the X.25 CRC + * + * @param crcAccum the 16 bit X.25 CRC + */ +static inline void crc_init(uint16_t* crcAccum) +{ + *crcAccum = X25_INIT_CRC; +} + + +/** + * @brief Calculates the X.25 checksum on a byte buffer + * + * @param pBuffer buffer containing the byte array to hash + * @param length length of the byte array + * @return the checksum over the buffer bytes + **/ +static inline uint16_t crc_calculate(uint8_t* pBuffer, uint16_t length) +{ + uint16_t crcTmp; + crc_init(&crcTmp); + while (length--) { + crc_accumulate(*pBuffer++, &crcTmp); + } + return crcTmp; +} + +/** + * @brief Accumulate the X.25 CRC by adding an array of bytes + * + * The checksum function adds the hash of one char at a time to the + * 16 bit checksum (uint16_t). + * + * @param data new bytes to hash + * @param crcAccum the already accumulated checksum + **/ +static inline void crc_accumulate_buffer(uint16_t *crcAccum, const char *pBuffer, uint8_t length) +{ + const uint8_t *p = (const uint8_t *)pBuffer; + while (length--) { + crc_accumulate(*p++, crcAccum); + } +} + + + + +#endif /* _CHECKSUM_H_ */ + +#ifdef __cplusplus +} +#endif diff --git a/thirdParty/mavlink/include/common/common.h b/thirdParty/mavlink/v1.0/common/common.h similarity index 70% rename from thirdParty/mavlink/include/common/common.h rename to thirdParty/mavlink/v1.0/common/common.h index 80df29b8e623cf5354f066e5ec1f8e42676c45d3..f74e4ae889cad9f0c58d57958e40430459782885 100644 --- a/thirdParty/mavlink/include/common/common.h +++ b/thirdParty/mavlink/v1.0/common/common.h @@ -12,15 +12,15 @@ extern "C" { // MESSAGE LENGTHS AND CRCS #ifndef MAVLINK_MESSAGE_LENGTHS -#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 54, 26, 0, 36, 0, 6, 4, 0, 21, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 18, 32, 32, 20, 32, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 0} +#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 0, 0, 26, 0, 36, 0, 6, 4, 0, 21, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 18, 32, 32, 20, 32, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 3} #endif #ifndef MAVLINK_MESSAGE_CRCS -#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 200, 183, 0, 130, 0, 148, 21, 0, 52, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 19, 102, 158, 208, 56, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0} +#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 0, 0, 183, 0, 130, 0, 148, 21, 0, 52, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 19, 102, 158, 208, 56, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 247} #endif #ifndef MAVLINK_MESSAGE_INFO -#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_MODE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_WRITE_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_ITEM, MAVLINK_MESSAGE_INFO_MISSION_REQUEST, MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST, MAVLINK_MESSAGE_INFO_MISSION_COUNT, MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL, MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED, MAVLINK_MESSAGE_INFO_MISSION_ACK, MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_MOTORS_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_DATA_STREAM, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_VFR_HUD, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_COMMAND_LONG, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_HIL_RC_INPUTS_RAW, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE, MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MEMORY_VECT, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}} +#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, {NULL}, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_SET_MODE, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_WRITE_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_ITEM, MAVLINK_MESSAGE_INFO_MISSION_REQUEST, MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST, MAVLINK_MESSAGE_INFO_MISSION_COUNT, MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL, MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED, MAVLINK_MESSAGE_INFO_MISSION_ACK, MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, {NULL}, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, {NULL}, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_DATA_STREAM, {NULL}, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_VFR_HUD, {NULL}, MAVLINK_MESSAGE_INFO_COMMAND_LONG, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_HIL_RC_INPUTS_RAW, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE, MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_MEMORY_VECT, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG, MAVLINK_MESSAGE_INFO_EXTENDED_MESSAGE} #endif #include "../protocol.h" @@ -446,8 +446,6 @@ enum MAV_MISSION_RESULT #include "./mavlink_msg_set_roll_pitch_yaw_speed_thrust.h" #include "./mavlink_msg_roll_pitch_yaw_thrust_setpoint.h" #include "./mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint.h" -#include "./mavlink_msg_set_quad_motors_setpoint.h" -#include "./mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust.h" #include "./mavlink_msg_nav_controller_output.h" #include "./mavlink_msg_state_correction.h" #include "./mavlink_msg_request_data_stream.h" @@ -471,6 +469,7 @@ enum MAV_MISSION_RESULT #include "./mavlink_msg_named_value_int.h" #include "./mavlink_msg_statustext.h" #include "./mavlink_msg_debug.h" +#include "./mavlink_msg_extended_message.h" #ifdef __cplusplus } diff --git a/thirdParty/mavlink/include/common/mavlink.h b/thirdParty/mavlink/v1.0/common/mavlink.h similarity index 100% rename from thirdParty/mavlink/include/common/mavlink.h rename to thirdParty/mavlink/v1.0/common/mavlink.h diff --git a/thirdParty/mavlink/include/common/mavlink_msg_attitude.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_attitude.h similarity index 97% rename from thirdParty/mavlink/include/common/mavlink_msg_attitude.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_attitude.h index 9074a1d80fec2502ea7155e082c8adf3091bb102..16045b9747698c4d3d391a2084554fbddbe9c964 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_attitude.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_attitude.h @@ -60,7 +60,7 @@ static inline uint16_t mavlink_msg_attitude_pack(uint8_t system_id, uint8_t comp _mav_put_float(buf, 20, pitchspeed); _mav_put_float(buf, 24, yawspeed); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 28); + memcpy(_MAV_PAYLOAD(msg), buf, 28); #else mavlink_attitude_t packet; packet.time_boot_ms = time_boot_ms; @@ -71,7 +71,7 @@ static inline uint16_t mavlink_msg_attitude_pack(uint8_t system_id, uint8_t comp packet.pitchspeed = pitchspeed; packet.yawspeed = yawspeed; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 28); + memcpy(_MAV_PAYLOAD(msg), &packet, 28); #endif msg->msgid = MAVLINK_MSG_ID_ATTITUDE; @@ -107,7 +107,7 @@ static inline uint16_t mavlink_msg_attitude_pack_chan(uint8_t system_id, uint8_t _mav_put_float(buf, 20, pitchspeed); _mav_put_float(buf, 24, yawspeed); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 28); + memcpy(_MAV_PAYLOAD(msg), buf, 28); #else mavlink_attitude_t packet; packet.time_boot_ms = time_boot_ms; @@ -118,7 +118,7 @@ static inline uint16_t mavlink_msg_attitude_pack_chan(uint8_t system_id, uint8_t packet.pitchspeed = pitchspeed; packet.yawspeed = yawspeed; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 28); + memcpy(_MAV_PAYLOAD(msg), &packet, 28); #endif msg->msgid = MAVLINK_MSG_ID_ATTITUDE; diff --git a/thirdParty/mavlink/include/common/mavlink_msg_attitude_quaternion.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_attitude_quaternion.h similarity index 97% rename from thirdParty/mavlink/include/common/mavlink_msg_attitude_quaternion.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_attitude_quaternion.h index 556048865510de531bcac997826e7a033d5f77f2..215aff6d036d8c2a46ee3b4e99725e614c542940 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_attitude_quaternion.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_attitude_quaternion.h @@ -64,7 +64,7 @@ static inline uint16_t mavlink_msg_attitude_quaternion_pack(uint8_t system_id, u _mav_put_float(buf, 24, pitchspeed); _mav_put_float(buf, 28, yawspeed); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 32); + memcpy(_MAV_PAYLOAD(msg), buf, 32); #else mavlink_attitude_quaternion_t packet; packet.time_boot_ms = time_boot_ms; @@ -76,7 +76,7 @@ static inline uint16_t mavlink_msg_attitude_quaternion_pack(uint8_t system_id, u packet.pitchspeed = pitchspeed; packet.yawspeed = yawspeed; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 32); + memcpy(_MAV_PAYLOAD(msg), &packet, 32); #endif msg->msgid = MAVLINK_MSG_ID_ATTITUDE_QUATERNION; @@ -114,7 +114,7 @@ static inline uint16_t mavlink_msg_attitude_quaternion_pack_chan(uint8_t system_ _mav_put_float(buf, 24, pitchspeed); _mav_put_float(buf, 28, yawspeed); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 32); + memcpy(_MAV_PAYLOAD(msg), buf, 32); #else mavlink_attitude_quaternion_t packet; packet.time_boot_ms = time_boot_ms; @@ -126,7 +126,7 @@ static inline uint16_t mavlink_msg_attitude_quaternion_pack_chan(uint8_t system_ packet.pitchspeed = pitchspeed; packet.yawspeed = yawspeed; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 32); + memcpy(_MAV_PAYLOAD(msg), &packet, 32); #endif msg->msgid = MAVLINK_MSG_ID_ATTITUDE_QUATERNION; diff --git a/thirdParty/mavlink/include/common/mavlink_msg_auth_key.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_auth_key.h similarity index 94% rename from thirdParty/mavlink/include/common/mavlink_msg_auth_key.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_auth_key.h index baa119fde1a17f020e2955eebf65dfcc5ab97ba9..cc77e4e54920653feb854e1c52c81c7511c6ef72 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_auth_key.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_auth_key.h @@ -36,12 +36,12 @@ static inline uint16_t mavlink_msg_auth_key_pack(uint8_t system_id, uint8_t comp char buf[32]; _mav_put_char_array(buf, 0, key, 32); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 32); + memcpy(_MAV_PAYLOAD(msg), buf, 32); #else mavlink_auth_key_t packet; mav_array_memcpy(packet.key, key, sizeof(char)*32); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 32); + memcpy(_MAV_PAYLOAD(msg), &packet, 32); #endif msg->msgid = MAVLINK_MSG_ID_AUTH_KEY; @@ -65,12 +65,12 @@ static inline uint16_t mavlink_msg_auth_key_pack_chan(uint8_t system_id, uint8_t char buf[32]; _mav_put_char_array(buf, 0, key, 32); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 32); + memcpy(_MAV_PAYLOAD(msg), buf, 32); #else mavlink_auth_key_t packet; mav_array_memcpy(packet.key, key, sizeof(char)*32); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 32); + memcpy(_MAV_PAYLOAD(msg), &packet, 32); #endif msg->msgid = MAVLINK_MSG_ID_AUTH_KEY; diff --git a/thirdParty/mavlink/include/common/mavlink_msg_change_operator_control.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_change_operator_control.h similarity index 97% rename from thirdParty/mavlink/include/common/mavlink_msg_change_operator_control.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_change_operator_control.h index a558510084590c26fd6bbd3848686aff36fa44c2..d18194e2dad1fb8051220b39c5701a41525c7008 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_change_operator_control.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_change_operator_control.h @@ -47,14 +47,14 @@ static inline uint16_t mavlink_msg_change_operator_control_pack(uint8_t system_i _mav_put_uint8_t(buf, 1, control_request); _mav_put_uint8_t(buf, 2, version); _mav_put_char_array(buf, 3, passkey, 25); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 28); + memcpy(_MAV_PAYLOAD(msg), buf, 28); #else mavlink_change_operator_control_t packet; packet.target_system = target_system; packet.control_request = control_request; packet.version = version; mav_array_memcpy(packet.passkey, passkey, sizeof(char)*25); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 28); + memcpy(_MAV_PAYLOAD(msg), &packet, 28); #endif msg->msgid = MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL; @@ -83,14 +83,14 @@ static inline uint16_t mavlink_msg_change_operator_control_pack_chan(uint8_t sys _mav_put_uint8_t(buf, 1, control_request); _mav_put_uint8_t(buf, 2, version); _mav_put_char_array(buf, 3, passkey, 25); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 28); + memcpy(_MAV_PAYLOAD(msg), buf, 28); #else mavlink_change_operator_control_t packet; packet.target_system = target_system; packet.control_request = control_request; packet.version = version; mav_array_memcpy(packet.passkey, passkey, sizeof(char)*25); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 28); + memcpy(_MAV_PAYLOAD(msg), &packet, 28); #endif msg->msgid = MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL; diff --git a/thirdParty/mavlink/include/common/mavlink_msg_change_operator_control_ack.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_change_operator_control_ack.h similarity index 97% rename from thirdParty/mavlink/include/common/mavlink_msg_change_operator_control_ack.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_change_operator_control_ack.h index 1d89a0f787536d049c6fc19e827a34928965878b..25e6a6d831ad900a217f0afd09febec67daf85f7 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_change_operator_control_ack.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_change_operator_control_ack.h @@ -44,14 +44,14 @@ static inline uint16_t mavlink_msg_change_operator_control_ack_pack(uint8_t syst _mav_put_uint8_t(buf, 1, control_request); _mav_put_uint8_t(buf, 2, ack); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 3); + memcpy(_MAV_PAYLOAD(msg), buf, 3); #else mavlink_change_operator_control_ack_t packet; packet.gcs_system_id = gcs_system_id; packet.control_request = control_request; packet.ack = ack; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 3); + memcpy(_MAV_PAYLOAD(msg), &packet, 3); #endif msg->msgid = MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK; @@ -79,14 +79,14 @@ static inline uint16_t mavlink_msg_change_operator_control_ack_pack_chan(uint8_t _mav_put_uint8_t(buf, 1, control_request); _mav_put_uint8_t(buf, 2, ack); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 3); + memcpy(_MAV_PAYLOAD(msg), buf, 3); #else mavlink_change_operator_control_ack_t packet; packet.gcs_system_id = gcs_system_id; packet.control_request = control_request; packet.ack = ack; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 3); + memcpy(_MAV_PAYLOAD(msg), &packet, 3); #endif msg->msgid = MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK; diff --git a/thirdParty/mavlink/include/common/mavlink_msg_command_ack.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_command_ack.h similarity index 95% rename from thirdParty/mavlink/include/common/mavlink_msg_command_ack.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_command_ack.h index df6e9b9e3b7ec998a2b2dbc37c7de695648eab01..2109e32072098fad9532d60ac220ccae49262fbe 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_command_ack.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_command_ack.h @@ -40,13 +40,13 @@ static inline uint16_t mavlink_msg_command_ack_pack(uint8_t system_id, uint8_t c _mav_put_uint16_t(buf, 0, command); _mav_put_uint8_t(buf, 2, result); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 3); + memcpy(_MAV_PAYLOAD(msg), buf, 3); #else mavlink_command_ack_t packet; packet.command = command; packet.result = result; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 3); + memcpy(_MAV_PAYLOAD(msg), &packet, 3); #endif msg->msgid = MAVLINK_MSG_ID_COMMAND_ACK; @@ -72,13 +72,13 @@ static inline uint16_t mavlink_msg_command_ack_pack_chan(uint8_t system_id, uint _mav_put_uint16_t(buf, 0, command); _mav_put_uint8_t(buf, 2, result); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 3); + memcpy(_MAV_PAYLOAD(msg), buf, 3); #else mavlink_command_ack_t packet; packet.command = command; packet.result = result; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 3); + memcpy(_MAV_PAYLOAD(msg), &packet, 3); #endif msg->msgid = MAVLINK_MSG_ID_COMMAND_ACK; diff --git a/thirdParty/mavlink/include/common/mavlink_msg_command_long.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_command_long.h similarity index 98% rename from thirdParty/mavlink/include/common/mavlink_msg_command_long.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_command_long.h index 54ca77eaa2e5585d2f43d455a908ef15d56b370b..7a8bac533f6b1db3e4953c4f3b6c2a54e8531133 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_command_long.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_command_long.h @@ -76,7 +76,7 @@ static inline uint16_t mavlink_msg_command_long_pack(uint8_t system_id, uint8_t _mav_put_uint8_t(buf, 31, target_component); _mav_put_uint8_t(buf, 32, confirmation); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 33); + memcpy(_MAV_PAYLOAD(msg), buf, 33); #else mavlink_command_long_t packet; packet.param1 = param1; @@ -91,7 +91,7 @@ static inline uint16_t mavlink_msg_command_long_pack(uint8_t system_id, uint8_t packet.target_component = target_component; packet.confirmation = confirmation; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 33); + memcpy(_MAV_PAYLOAD(msg), &packet, 33); #endif msg->msgid = MAVLINK_MSG_ID_COMMAND_LONG; @@ -135,7 +135,7 @@ static inline uint16_t mavlink_msg_command_long_pack_chan(uint8_t system_id, uin _mav_put_uint8_t(buf, 31, target_component); _mav_put_uint8_t(buf, 32, confirmation); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 33); + memcpy(_MAV_PAYLOAD(msg), buf, 33); #else mavlink_command_long_t packet; packet.param1 = param1; @@ -150,7 +150,7 @@ static inline uint16_t mavlink_msg_command_long_pack_chan(uint8_t system_id, uin packet.target_component = target_component; packet.confirmation = confirmation; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 33); + memcpy(_MAV_PAYLOAD(msg), &packet, 33); #endif msg->msgid = MAVLINK_MSG_ID_COMMAND_LONG; diff --git a/thirdParty/mavlink/include/common/mavlink_msg_data_stream.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_data_stream.h similarity index 96% rename from thirdParty/mavlink/include/common/mavlink_msg_data_stream.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_data_stream.h index e5ec290452f45c009051d9f098400787abfa645a..1c8df4b41353567431ddc3a6da68cce43191c37a 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_data_stream.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_data_stream.h @@ -44,14 +44,14 @@ static inline uint16_t mavlink_msg_data_stream_pack(uint8_t system_id, uint8_t c _mav_put_uint8_t(buf, 2, stream_id); _mav_put_uint8_t(buf, 3, on_off); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 4); + memcpy(_MAV_PAYLOAD(msg), buf, 4); #else mavlink_data_stream_t packet; packet.message_rate = message_rate; packet.stream_id = stream_id; packet.on_off = on_off; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 4); + memcpy(_MAV_PAYLOAD(msg), &packet, 4); #endif msg->msgid = MAVLINK_MSG_ID_DATA_STREAM; @@ -79,14 +79,14 @@ static inline uint16_t mavlink_msg_data_stream_pack_chan(uint8_t system_id, uint _mav_put_uint8_t(buf, 2, stream_id); _mav_put_uint8_t(buf, 3, on_off); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 4); + memcpy(_MAV_PAYLOAD(msg), buf, 4); #else mavlink_data_stream_t packet; packet.message_rate = message_rate; packet.stream_id = stream_id; packet.on_off = on_off; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 4); + memcpy(_MAV_PAYLOAD(msg), &packet, 4); #endif msg->msgid = MAVLINK_MSG_ID_DATA_STREAM; diff --git a/thirdParty/mavlink/include/common/mavlink_msg_debug.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_debug.h similarity index 96% rename from thirdParty/mavlink/include/common/mavlink_msg_debug.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_debug.h index 5ff88e6a8a2cd9a71fe99bf9eb5296e591b9e456..1687a16cd26a19c0a35a3cb70ff1c2f1130318c9 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_debug.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_debug.h @@ -44,14 +44,14 @@ static inline uint16_t mavlink_msg_debug_pack(uint8_t system_id, uint8_t compone _mav_put_float(buf, 4, value); _mav_put_uint8_t(buf, 8, ind); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 9); + memcpy(_MAV_PAYLOAD(msg), buf, 9); #else mavlink_debug_t packet; packet.time_boot_ms = time_boot_ms; packet.value = value; packet.ind = ind; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 9); + memcpy(_MAV_PAYLOAD(msg), &packet, 9); #endif msg->msgid = MAVLINK_MSG_ID_DEBUG; @@ -79,14 +79,14 @@ static inline uint16_t mavlink_msg_debug_pack_chan(uint8_t system_id, uint8_t co _mav_put_float(buf, 4, value); _mav_put_uint8_t(buf, 8, ind); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 9); + memcpy(_MAV_PAYLOAD(msg), buf, 9); #else mavlink_debug_t packet; packet.time_boot_ms = time_boot_ms; packet.value = value; packet.ind = ind; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 9); + memcpy(_MAV_PAYLOAD(msg), &packet, 9); #endif msg->msgid = MAVLINK_MSG_ID_DEBUG; diff --git a/thirdParty/mavlink/include/common/mavlink_msg_debug_vect.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_debug_vect.h similarity index 96% rename from thirdParty/mavlink/include/common/mavlink_msg_debug_vect.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_debug_vect.h index 0b443a061138eab5f5ffc8ed6caf5eafcd3d7f54..8f3b9097282d1804b81387f977f7c97664574df1 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_debug_vect.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_debug_vect.h @@ -51,7 +51,7 @@ static inline uint16_t mavlink_msg_debug_vect_pack(uint8_t system_id, uint8_t co _mav_put_float(buf, 12, y); _mav_put_float(buf, 16, z); _mav_put_char_array(buf, 20, name, 10); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 30); + memcpy(_MAV_PAYLOAD(msg), buf, 30); #else mavlink_debug_vect_t packet; packet.time_usec = time_usec; @@ -59,7 +59,7 @@ static inline uint16_t mavlink_msg_debug_vect_pack(uint8_t system_id, uint8_t co packet.y = y; packet.z = z; mav_array_memcpy(packet.name, name, sizeof(char)*10); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 30); + memcpy(_MAV_PAYLOAD(msg), &packet, 30); #endif msg->msgid = MAVLINK_MSG_ID_DEBUG_VECT; @@ -90,7 +90,7 @@ static inline uint16_t mavlink_msg_debug_vect_pack_chan(uint8_t system_id, uint8 _mav_put_float(buf, 12, y); _mav_put_float(buf, 16, z); _mav_put_char_array(buf, 20, name, 10); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 30); + memcpy(_MAV_PAYLOAD(msg), buf, 30); #else mavlink_debug_vect_t packet; packet.time_usec = time_usec; @@ -98,7 +98,7 @@ static inline uint16_t mavlink_msg_debug_vect_pack_chan(uint8_t system_id, uint8 packet.y = y; packet.z = z; mav_array_memcpy(packet.name, name, sizeof(char)*10); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 30); + memcpy(_MAV_PAYLOAD(msg), &packet, 30); #endif msg->msgid = MAVLINK_MSG_ID_DEBUG_VECT; diff --git a/thirdParty/mavlink/v1.0/common/mavlink_msg_extended_message.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_extended_message.h new file mode 100644 index 0000000000000000000000000000000000000000..2c42739be79f94053f5232e54e64ce2954698409 --- /dev/null +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_extended_message.h @@ -0,0 +1,188 @@ +// MESSAGE EXTENDED_MESSAGE PACKING + +#define MAVLINK_MSG_ID_EXTENDED_MESSAGE 255 + +typedef struct __mavlink_extended_message_t +{ + uint8_t target_system; ///< System which should execute the command + uint8_t target_component; ///< Component which should execute the command, 0 for all components + uint8_t protocol_flags; ///< Retransmission / ACK flags +} mavlink_extended_message_t; + +#define MAVLINK_MSG_ID_EXTENDED_MESSAGE_LEN 3 +#define MAVLINK_MSG_ID_255_LEN 3 + + + +#define MAVLINK_MESSAGE_INFO_EXTENDED_MESSAGE { \ + "EXTENDED_MESSAGE", \ + 3, \ + { { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_extended_message_t, target_system) }, \ + { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_extended_message_t, target_component) }, \ + { "protocol_flags", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_extended_message_t, protocol_flags) }, \ + } \ +} + + +/** + * @brief Pack a extended_message 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 which should execute the command + * @param target_component Component which should execute the command, 0 for all components + * @param protocol_flags Retransmission / ACK flags + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_extended_message_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target_system, uint8_t target_component, uint8_t protocol_flags) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[3]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_uint8_t(buf, 2, protocol_flags); + + memcpy(_MAV_PAYLOAD(msg), buf, 3); +#else + mavlink_extended_message_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.protocol_flags = protocol_flags; + + memcpy(_MAV_PAYLOAD(msg), &packet, 3); +#endif + + msg->msgid = MAVLINK_MSG_ID_EXTENDED_MESSAGE; + return mavlink_finalize_message(msg, system_id, component_id, 3, 247); +} + +/** + * @brief Pack a extended_message 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 which should execute the command + * @param target_component Component which should execute the command, 0 for all components + * @param protocol_flags Retransmission / ACK flags + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_extended_message_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t target_system,uint8_t target_component,uint8_t protocol_flags) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[3]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_uint8_t(buf, 2, protocol_flags); + + memcpy(_MAV_PAYLOAD(msg), buf, 3); +#else + mavlink_extended_message_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.protocol_flags = protocol_flags; + + memcpy(_MAV_PAYLOAD(msg), &packet, 3); +#endif + + msg->msgid = MAVLINK_MSG_ID_EXTENDED_MESSAGE; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 3, 247); +} + +/** + * @brief Encode a extended_message 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 extended_message C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_extended_message_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_extended_message_t* extended_message) +{ + return mavlink_msg_extended_message_pack(system_id, component_id, msg, extended_message->target_system, extended_message->target_component, extended_message->protocol_flags); +} + +/** + * @brief Send a extended_message message + * @param chan MAVLink channel to send the message + * + * @param target_system System which should execute the command + * @param target_component Component which should execute the command, 0 for all components + * @param protocol_flags Retransmission / ACK flags + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_extended_message_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t protocol_flags) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[3]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_uint8_t(buf, 2, protocol_flags); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_EXTENDED_MESSAGE, buf, 3, 247); +#else + mavlink_extended_message_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.protocol_flags = protocol_flags; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_EXTENDED_MESSAGE, (const char *)&packet, 3, 247); +#endif +} + +#endif + +// MESSAGE EXTENDED_MESSAGE UNPACKING + + +/** + * @brief Get field target_system from extended_message message + * + * @return System which should execute the command + */ +static inline uint8_t mavlink_msg_extended_message_get_target_system(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field target_component from extended_message message + * + * @return Component which should execute the command, 0 for all components + */ +static inline uint8_t mavlink_msg_extended_message_get_target_component(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 1); +} + +/** + * @brief Get field protocol_flags from extended_message message + * + * @return Retransmission / ACK flags + */ +static inline uint8_t mavlink_msg_extended_message_get_protocol_flags(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 2); +} + +/** + * @brief Decode a extended_message message into a struct + * + * @param msg The message to decode + * @param extended_message C-struct to decode the message contents into + */ +static inline void mavlink_msg_extended_message_decode(const mavlink_message_t* msg, mavlink_extended_message_t* extended_message) +{ +#if MAVLINK_NEED_BYTE_SWAP + extended_message->target_system = mavlink_msg_extended_message_get_target_system(msg); + extended_message->target_component = mavlink_msg_extended_message_get_target_component(msg); + extended_message->protocol_flags = mavlink_msg_extended_message_get_protocol_flags(msg); +#else + memcpy(extended_message, _MAV_PAYLOAD(msg), 3); +#endif +} diff --git a/thirdParty/mavlink/include/common/mavlink_msg_global_position_int.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_global_position_int.h similarity index 98% rename from thirdParty/mavlink/include/common/mavlink_msg_global_position_int.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_global_position_int.h index 780f562c5b690b605553aac4d958602e1944af75..c5be7fec6207570027b049b92d30b26a4cbf24b1 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_global_position_int.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_global_position_int.h @@ -68,7 +68,7 @@ static inline uint16_t mavlink_msg_global_position_int_pack(uint8_t system_id, u _mav_put_int16_t(buf, 24, vz); _mav_put_uint16_t(buf, 26, hdg); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 28); + memcpy(_MAV_PAYLOAD(msg), buf, 28); #else mavlink_global_position_int_t packet; packet.time_boot_ms = time_boot_ms; @@ -81,7 +81,7 @@ static inline uint16_t mavlink_msg_global_position_int_pack(uint8_t system_id, u packet.vz = vz; packet.hdg = hdg; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 28); + memcpy(_MAV_PAYLOAD(msg), &packet, 28); #endif msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT; @@ -121,7 +121,7 @@ static inline uint16_t mavlink_msg_global_position_int_pack_chan(uint8_t system_ _mav_put_int16_t(buf, 24, vz); _mav_put_uint16_t(buf, 26, hdg); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 28); + memcpy(_MAV_PAYLOAD(msg), buf, 28); #else mavlink_global_position_int_t packet; packet.time_boot_ms = time_boot_ms; @@ -134,7 +134,7 @@ static inline uint16_t mavlink_msg_global_position_int_pack_chan(uint8_t system_ packet.vz = vz; packet.hdg = hdg; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 28); + memcpy(_MAV_PAYLOAD(msg), &packet, 28); #endif msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT; diff --git a/thirdParty/mavlink/include/common/mavlink_msg_global_position_setpoint_int.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_global_position_setpoint_int.h similarity index 97% rename from thirdParty/mavlink/include/common/mavlink_msg_global_position_setpoint_int.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_global_position_setpoint_int.h index 853b85daeb3f5b602dbd56b1a12674567b0aeead..e38df91dcf9479d277a742e1740e441dccb3596b 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_global_position_setpoint_int.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_global_position_setpoint_int.h @@ -52,7 +52,7 @@ static inline uint16_t mavlink_msg_global_position_setpoint_int_pack(uint8_t sys _mav_put_int16_t(buf, 12, yaw); _mav_put_uint8_t(buf, 14, coordinate_frame); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 15); + memcpy(_MAV_PAYLOAD(msg), buf, 15); #else mavlink_global_position_setpoint_int_t packet; packet.latitude = latitude; @@ -61,7 +61,7 @@ static inline uint16_t mavlink_msg_global_position_setpoint_int_pack(uint8_t sys packet.yaw = yaw; packet.coordinate_frame = coordinate_frame; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 15); + memcpy(_MAV_PAYLOAD(msg), &packet, 15); #endif msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT; @@ -93,7 +93,7 @@ static inline uint16_t mavlink_msg_global_position_setpoint_int_pack_chan(uint8_ _mav_put_int16_t(buf, 12, yaw); _mav_put_uint8_t(buf, 14, coordinate_frame); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 15); + memcpy(_MAV_PAYLOAD(msg), buf, 15); #else mavlink_global_position_setpoint_int_t packet; packet.latitude = latitude; @@ -102,7 +102,7 @@ static inline uint16_t mavlink_msg_global_position_setpoint_int_pack_chan(uint8_ packet.yaw = yaw; packet.coordinate_frame = coordinate_frame; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 15); + memcpy(_MAV_PAYLOAD(msg), &packet, 15); #endif msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT; diff --git a/thirdParty/mavlink/include/common/mavlink_msg_global_vision_position_estimate.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_global_vision_position_estimate.h similarity index 97% rename from thirdParty/mavlink/include/common/mavlink_msg_global_vision_position_estimate.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_global_vision_position_estimate.h index e4617702bd4dee220fca267be5a23d040dd8818d..06c6357b1ffb90984d5c79b7262ad90b90e02eae 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_global_vision_position_estimate.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_global_vision_position_estimate.h @@ -60,7 +60,7 @@ static inline uint16_t mavlink_msg_global_vision_position_estimate_pack(uint8_t _mav_put_float(buf, 24, pitch); _mav_put_float(buf, 28, yaw); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 32); + memcpy(_MAV_PAYLOAD(msg), buf, 32); #else mavlink_global_vision_position_estimate_t packet; packet.usec = usec; @@ -71,7 +71,7 @@ static inline uint16_t mavlink_msg_global_vision_position_estimate_pack(uint8_t packet.pitch = pitch; packet.yaw = yaw; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 32); + memcpy(_MAV_PAYLOAD(msg), &packet, 32); #endif msg->msgid = MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE; @@ -107,7 +107,7 @@ static inline uint16_t mavlink_msg_global_vision_position_estimate_pack_chan(uin _mav_put_float(buf, 24, pitch); _mav_put_float(buf, 28, yaw); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 32); + memcpy(_MAV_PAYLOAD(msg), buf, 32); #else mavlink_global_vision_position_estimate_t packet; packet.usec = usec; @@ -118,7 +118,7 @@ static inline uint16_t mavlink_msg_global_vision_position_estimate_pack_chan(uin packet.pitch = pitch; packet.yaw = yaw; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 32); + memcpy(_MAV_PAYLOAD(msg), &packet, 32); #endif msg->msgid = MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE; diff --git a/thirdParty/mavlink/include/common/mavlink_msg_gps_global_origin.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_gps_global_origin.h similarity index 96% rename from thirdParty/mavlink/include/common/mavlink_msg_gps_global_origin.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_gps_global_origin.h index 2084718b5d26b99fd773235585fd62b0262ddcc0..3df5a58f95af74876017148bd3c521ee70ac2db3 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_gps_global_origin.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_gps_global_origin.h @@ -44,14 +44,14 @@ static inline uint16_t mavlink_msg_gps_global_origin_pack(uint8_t system_id, uin _mav_put_int32_t(buf, 4, longitude); _mav_put_int32_t(buf, 8, altitude); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12); + memcpy(_MAV_PAYLOAD(msg), buf, 12); #else mavlink_gps_global_origin_t packet; packet.latitude = latitude; packet.longitude = longitude; packet.altitude = altitude; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12); + memcpy(_MAV_PAYLOAD(msg), &packet, 12); #endif msg->msgid = MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN; @@ -79,14 +79,14 @@ static inline uint16_t mavlink_msg_gps_global_origin_pack_chan(uint8_t system_id _mav_put_int32_t(buf, 4, longitude); _mav_put_int32_t(buf, 8, altitude); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12); + memcpy(_MAV_PAYLOAD(msg), buf, 12); #else mavlink_gps_global_origin_t packet; packet.latitude = latitude; packet.longitude = longitude; packet.altitude = altitude; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12); + memcpy(_MAV_PAYLOAD(msg), &packet, 12); #endif msg->msgid = MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN; diff --git a/thirdParty/mavlink/include/common/mavlink_msg_gps_raw_int.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_gps_raw_int.h similarity index 98% rename from thirdParty/mavlink/include/common/mavlink_msg_gps_raw_int.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_gps_raw_int.h index 57ec97376327f784a3816d57c251e478820b8c23..866ada26e4e050b02293b64a0389ff1b2504e760 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_gps_raw_int.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_gps_raw_int.h @@ -72,7 +72,7 @@ static inline uint16_t mavlink_msg_gps_raw_int_pack(uint8_t system_id, uint8_t c _mav_put_uint8_t(buf, 28, fix_type); _mav_put_uint8_t(buf, 29, satellites_visible); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 30); + memcpy(_MAV_PAYLOAD(msg), buf, 30); #else mavlink_gps_raw_int_t packet; packet.time_usec = time_usec; @@ -86,7 +86,7 @@ static inline uint16_t mavlink_msg_gps_raw_int_pack(uint8_t system_id, uint8_t c packet.fix_type = fix_type; packet.satellites_visible = satellites_visible; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 30); + memcpy(_MAV_PAYLOAD(msg), &packet, 30); #endif msg->msgid = MAVLINK_MSG_ID_GPS_RAW_INT; @@ -128,7 +128,7 @@ static inline uint16_t mavlink_msg_gps_raw_int_pack_chan(uint8_t system_id, uint _mav_put_uint8_t(buf, 28, fix_type); _mav_put_uint8_t(buf, 29, satellites_visible); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 30); + memcpy(_MAV_PAYLOAD(msg), buf, 30); #else mavlink_gps_raw_int_t packet; packet.time_usec = time_usec; @@ -142,7 +142,7 @@ static inline uint16_t mavlink_msg_gps_raw_int_pack_chan(uint8_t system_id, uint packet.fix_type = fix_type; packet.satellites_visible = satellites_visible; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 30); + memcpy(_MAV_PAYLOAD(msg), &packet, 30); #endif msg->msgid = MAVLINK_MSG_ID_GPS_RAW_INT; diff --git a/thirdParty/mavlink/include/common/mavlink_msg_gps_status.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_gps_status.h similarity index 98% rename from thirdParty/mavlink/include/common/mavlink_msg_gps_status.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_gps_status.h index bd3257f889b58c7bc7928a18e9d26ca583cbcba1..5ae1f3ab1c942519a09ad9582fc5a74871671bac 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_gps_status.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_gps_status.h @@ -59,7 +59,7 @@ static inline uint16_t mavlink_msg_gps_status_pack(uint8_t system_id, uint8_t co _mav_put_uint8_t_array(buf, 41, satellite_elevation, 20); _mav_put_uint8_t_array(buf, 61, satellite_azimuth, 20); _mav_put_uint8_t_array(buf, 81, satellite_snr, 20); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 101); + memcpy(_MAV_PAYLOAD(msg), buf, 101); #else mavlink_gps_status_t packet; packet.satellites_visible = satellites_visible; @@ -68,7 +68,7 @@ static inline uint16_t mavlink_msg_gps_status_pack(uint8_t system_id, uint8_t co mav_array_memcpy(packet.satellite_elevation, satellite_elevation, sizeof(uint8_t)*20); mav_array_memcpy(packet.satellite_azimuth, satellite_azimuth, sizeof(uint8_t)*20); mav_array_memcpy(packet.satellite_snr, satellite_snr, sizeof(uint8_t)*20); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 101); + memcpy(_MAV_PAYLOAD(msg), &packet, 101); #endif msg->msgid = MAVLINK_MSG_ID_GPS_STATUS; @@ -101,7 +101,7 @@ static inline uint16_t mavlink_msg_gps_status_pack_chan(uint8_t system_id, uint8 _mav_put_uint8_t_array(buf, 41, satellite_elevation, 20); _mav_put_uint8_t_array(buf, 61, satellite_azimuth, 20); _mav_put_uint8_t_array(buf, 81, satellite_snr, 20); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 101); + memcpy(_MAV_PAYLOAD(msg), buf, 101); #else mavlink_gps_status_t packet; packet.satellites_visible = satellites_visible; @@ -110,7 +110,7 @@ static inline uint16_t mavlink_msg_gps_status_pack_chan(uint8_t system_id, uint8 mav_array_memcpy(packet.satellite_elevation, satellite_elevation, sizeof(uint8_t)*20); mav_array_memcpy(packet.satellite_azimuth, satellite_azimuth, sizeof(uint8_t)*20); mav_array_memcpy(packet.satellite_snr, satellite_snr, sizeof(uint8_t)*20); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 101); + memcpy(_MAV_PAYLOAD(msg), &packet, 101); #endif msg->msgid = MAVLINK_MSG_ID_GPS_STATUS; diff --git a/thirdParty/mavlink/include/common/mavlink_msg_heartbeat.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_heartbeat.h similarity index 97% rename from thirdParty/mavlink/include/common/mavlink_msg_heartbeat.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_heartbeat.h index 4ad62b0a7cb3a682392f1846a0ba4c678f2712a9..d194f2127717befb539a4049ce5471bfb1667fbc 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_heartbeat.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_heartbeat.h @@ -55,7 +55,7 @@ static inline uint16_t mavlink_msg_heartbeat_pack(uint8_t system_id, uint8_t com _mav_put_uint8_t(buf, 7, system_status); _mav_put_uint8_t(buf, 8, 3); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 9); + memcpy(_MAV_PAYLOAD(msg), buf, 9); #else mavlink_heartbeat_t packet; packet.custom_mode = custom_mode; @@ -65,7 +65,7 @@ static inline uint16_t mavlink_msg_heartbeat_pack(uint8_t system_id, uint8_t com packet.system_status = system_status; packet.mavlink_version = 3; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 9); + memcpy(_MAV_PAYLOAD(msg), &packet, 9); #endif msg->msgid = MAVLINK_MSG_ID_HEARTBEAT; @@ -98,7 +98,7 @@ static inline uint16_t mavlink_msg_heartbeat_pack_chan(uint8_t system_id, uint8_ _mav_put_uint8_t(buf, 7, system_status); _mav_put_uint8_t(buf, 8, 3); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 9); + memcpy(_MAV_PAYLOAD(msg), buf, 9); #else mavlink_heartbeat_t packet; packet.custom_mode = custom_mode; @@ -108,7 +108,7 @@ static inline uint16_t mavlink_msg_heartbeat_pack_chan(uint8_t system_id, uint8_ packet.system_status = system_status; packet.mavlink_version = 3; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 9); + memcpy(_MAV_PAYLOAD(msg), &packet, 9); #endif msg->msgid = MAVLINK_MSG_ID_HEARTBEAT; diff --git a/thirdParty/mavlink/include/common/mavlink_msg_hil_controls.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_hil_controls.h similarity index 98% rename from thirdParty/mavlink/include/common/mavlink_msg_hil_controls.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_hil_controls.h index 41a9bc9498b63aa0134310d8e1db72df517df75d..23c84bc562e1cd696e8cc7ffd7c6b3a5584cee1b 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_hil_controls.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_hil_controls.h @@ -76,7 +76,7 @@ static inline uint16_t mavlink_msg_hil_controls_pack(uint8_t system_id, uint8_t _mav_put_uint8_t(buf, 40, mode); _mav_put_uint8_t(buf, 41, nav_mode); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 42); + memcpy(_MAV_PAYLOAD(msg), buf, 42); #else mavlink_hil_controls_t packet; packet.time_usec = time_usec; @@ -91,7 +91,7 @@ static inline uint16_t mavlink_msg_hil_controls_pack(uint8_t system_id, uint8_t packet.mode = mode; packet.nav_mode = nav_mode; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 42); + memcpy(_MAV_PAYLOAD(msg), &packet, 42); #endif msg->msgid = MAVLINK_MSG_ID_HIL_CONTROLS; @@ -135,7 +135,7 @@ static inline uint16_t mavlink_msg_hil_controls_pack_chan(uint8_t system_id, uin _mav_put_uint8_t(buf, 40, mode); _mav_put_uint8_t(buf, 41, nav_mode); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 42); + memcpy(_MAV_PAYLOAD(msg), buf, 42); #else mavlink_hil_controls_t packet; packet.time_usec = time_usec; @@ -150,7 +150,7 @@ static inline uint16_t mavlink_msg_hil_controls_pack_chan(uint8_t system_id, uin packet.mode = mode; packet.nav_mode = nav_mode; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 42); + memcpy(_MAV_PAYLOAD(msg), &packet, 42); #endif msg->msgid = MAVLINK_MSG_ID_HIL_CONTROLS; diff --git a/thirdParty/mavlink/include/common/mavlink_msg_hil_rc_inputs_raw.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_hil_rc_inputs_raw.h similarity index 98% rename from thirdParty/mavlink/include/common/mavlink_msg_hil_rc_inputs_raw.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_hil_rc_inputs_raw.h index 7ac0853d31871b173e092784a1063672bbc750bd..d02c415397739be0b72a3738e8e74b682e0a702a 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_hil_rc_inputs_raw.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_hil_rc_inputs_raw.h @@ -88,7 +88,7 @@ static inline uint16_t mavlink_msg_hil_rc_inputs_raw_pack(uint8_t system_id, uin _mav_put_uint16_t(buf, 30, chan12_raw); _mav_put_uint8_t(buf, 32, rssi); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 33); + memcpy(_MAV_PAYLOAD(msg), buf, 33); #else mavlink_hil_rc_inputs_raw_t packet; packet.time_usec = time_usec; @@ -106,7 +106,7 @@ static inline uint16_t mavlink_msg_hil_rc_inputs_raw_pack(uint8_t system_id, uin packet.chan12_raw = chan12_raw; packet.rssi = rssi; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 33); + memcpy(_MAV_PAYLOAD(msg), &packet, 33); #endif msg->msgid = MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW; @@ -156,7 +156,7 @@ static inline uint16_t mavlink_msg_hil_rc_inputs_raw_pack_chan(uint8_t system_id _mav_put_uint16_t(buf, 30, chan12_raw); _mav_put_uint8_t(buf, 32, rssi); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 33); + memcpy(_MAV_PAYLOAD(msg), buf, 33); #else mavlink_hil_rc_inputs_raw_t packet; packet.time_usec = time_usec; @@ -174,7 +174,7 @@ static inline uint16_t mavlink_msg_hil_rc_inputs_raw_pack_chan(uint8_t system_id packet.chan12_raw = chan12_raw; packet.rssi = rssi; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 33); + memcpy(_MAV_PAYLOAD(msg), &packet, 33); #endif msg->msgid = MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW; diff --git a/thirdParty/mavlink/include/common/mavlink_msg_hil_state.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_hil_state.h similarity index 98% rename from thirdParty/mavlink/include/common/mavlink_msg_hil_state.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_hil_state.h index 1447812956a12f273199a5289d85977bb138fcd4..f61c5170fd5de543051b5d79323eddb39fc7d419 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_hil_state.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_hil_state.h @@ -96,7 +96,7 @@ static inline uint16_t mavlink_msg_hil_state_pack(uint8_t system_id, uint8_t com _mav_put_int16_t(buf, 52, yacc); _mav_put_int16_t(buf, 54, zacc); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 56); + memcpy(_MAV_PAYLOAD(msg), buf, 56); #else mavlink_hil_state_t packet; packet.time_usec = time_usec; @@ -116,7 +116,7 @@ static inline uint16_t mavlink_msg_hil_state_pack(uint8_t system_id, uint8_t com packet.yacc = yacc; packet.zacc = zacc; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 56); + memcpy(_MAV_PAYLOAD(msg), &packet, 56); #endif msg->msgid = MAVLINK_MSG_ID_HIL_STATE; @@ -170,7 +170,7 @@ static inline uint16_t mavlink_msg_hil_state_pack_chan(uint8_t system_id, uint8_ _mav_put_int16_t(buf, 52, yacc); _mav_put_int16_t(buf, 54, zacc); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 56); + memcpy(_MAV_PAYLOAD(msg), buf, 56); #else mavlink_hil_state_t packet; packet.time_usec = time_usec; @@ -190,7 +190,7 @@ static inline uint16_t mavlink_msg_hil_state_pack_chan(uint8_t system_id, uint8_ packet.yacc = yacc; packet.zacc = zacc; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 56); + memcpy(_MAV_PAYLOAD(msg), &packet, 56); #endif msg->msgid = MAVLINK_MSG_ID_HIL_STATE; diff --git a/thirdParty/mavlink/include/common/mavlink_msg_local_position_ned.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_local_position_ned.h similarity index 97% rename from thirdParty/mavlink/include/common/mavlink_msg_local_position_ned.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_local_position_ned.h index fe0a791fc5c0449268d7b3fd81f59c07f8936e1d..d59ae0b1a870f021944a1b0da592443d01b004f5 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_local_position_ned.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_local_position_ned.h @@ -60,7 +60,7 @@ static inline uint16_t mavlink_msg_local_position_ned_pack(uint8_t system_id, ui _mav_put_float(buf, 20, vy); _mav_put_float(buf, 24, vz); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 28); + memcpy(_MAV_PAYLOAD(msg), buf, 28); #else mavlink_local_position_ned_t packet; packet.time_boot_ms = time_boot_ms; @@ -71,7 +71,7 @@ static inline uint16_t mavlink_msg_local_position_ned_pack(uint8_t system_id, ui packet.vy = vy; packet.vz = vz; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 28); + memcpy(_MAV_PAYLOAD(msg), &packet, 28); #endif msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_NED; @@ -107,7 +107,7 @@ static inline uint16_t mavlink_msg_local_position_ned_pack_chan(uint8_t system_i _mav_put_float(buf, 20, vy); _mav_put_float(buf, 24, vz); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 28); + memcpy(_MAV_PAYLOAD(msg), buf, 28); #else mavlink_local_position_ned_t packet; packet.time_boot_ms = time_boot_ms; @@ -118,7 +118,7 @@ static inline uint16_t mavlink_msg_local_position_ned_pack_chan(uint8_t system_i packet.vy = vy; packet.vz = vz; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 28); + memcpy(_MAV_PAYLOAD(msg), &packet, 28); #endif msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_NED; diff --git a/thirdParty/mavlink/include/common/mavlink_msg_local_position_setpoint.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_local_position_setpoint.h similarity index 97% rename from thirdParty/mavlink/include/common/mavlink_msg_local_position_setpoint.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_local_position_setpoint.h index 9ab87d0dafc2b7f16e826fb7f9fc04ed0d52a626..7a83b16c6f378ba88c3cc900fbcea116c6d2ab43 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_local_position_setpoint.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_local_position_setpoint.h @@ -52,7 +52,7 @@ static inline uint16_t mavlink_msg_local_position_setpoint_pack(uint8_t system_i _mav_put_float(buf, 12, yaw); _mav_put_uint8_t(buf, 16, coordinate_frame); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 17); + memcpy(_MAV_PAYLOAD(msg), buf, 17); #else mavlink_local_position_setpoint_t packet; packet.x = x; @@ -61,7 +61,7 @@ static inline uint16_t mavlink_msg_local_position_setpoint_pack(uint8_t system_i packet.yaw = yaw; packet.coordinate_frame = coordinate_frame; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 17); + memcpy(_MAV_PAYLOAD(msg), &packet, 17); #endif msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT; @@ -93,7 +93,7 @@ static inline uint16_t mavlink_msg_local_position_setpoint_pack_chan(uint8_t sys _mav_put_float(buf, 12, yaw); _mav_put_uint8_t(buf, 16, coordinate_frame); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 17); + memcpy(_MAV_PAYLOAD(msg), buf, 17); #else mavlink_local_position_setpoint_t packet; packet.x = x; @@ -102,7 +102,7 @@ static inline uint16_t mavlink_msg_local_position_setpoint_pack_chan(uint8_t sys packet.yaw = yaw; packet.coordinate_frame = coordinate_frame; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 17); + memcpy(_MAV_PAYLOAD(msg), &packet, 17); #endif msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT; diff --git a/thirdParty/mavlink/include/common/mavlink_msg_manual_control.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_manual_control.h similarity index 97% rename from thirdParty/mavlink/include/common/mavlink_msg_manual_control.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_manual_control.h index 93adce265b546a09cd9e9a3400e9abaecc7f3b8e..febb4535e23475c8c5a93e188a9a5ae4d0079935 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_manual_control.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_manual_control.h @@ -68,7 +68,7 @@ static inline uint16_t mavlink_msg_manual_control_pack(uint8_t system_id, uint8_ _mav_put_uint8_t(buf, 19, yaw_manual); _mav_put_uint8_t(buf, 20, thrust_manual); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 21); + memcpy(_MAV_PAYLOAD(msg), buf, 21); #else mavlink_manual_control_t packet; packet.roll = roll; @@ -81,7 +81,7 @@ static inline uint16_t mavlink_msg_manual_control_pack(uint8_t system_id, uint8_ packet.yaw_manual = yaw_manual; packet.thrust_manual = thrust_manual; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 21); + memcpy(_MAV_PAYLOAD(msg), &packet, 21); #endif msg->msgid = MAVLINK_MSG_ID_MANUAL_CONTROL; @@ -121,7 +121,7 @@ static inline uint16_t mavlink_msg_manual_control_pack_chan(uint8_t system_id, u _mav_put_uint8_t(buf, 19, yaw_manual); _mav_put_uint8_t(buf, 20, thrust_manual); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 21); + memcpy(_MAV_PAYLOAD(msg), buf, 21); #else mavlink_manual_control_t packet; packet.roll = roll; @@ -134,7 +134,7 @@ static inline uint16_t mavlink_msg_manual_control_pack_chan(uint8_t system_id, u packet.yaw_manual = yaw_manual; packet.thrust_manual = thrust_manual; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 21); + memcpy(_MAV_PAYLOAD(msg), &packet, 21); #endif msg->msgid = MAVLINK_MSG_ID_MANUAL_CONTROL; diff --git a/thirdParty/mavlink/include/common/mavlink_msg_memory_vect.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_memory_vect.h similarity index 97% rename from thirdParty/mavlink/include/common/mavlink_msg_memory_vect.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_memory_vect.h index a61c13019be3146d5b4a87e03dadefa19f35b5c7..e59db361a7ca9e65929b0e6df53dc307bb99a2ac 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_memory_vect.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_memory_vect.h @@ -47,14 +47,14 @@ static inline uint16_t mavlink_msg_memory_vect_pack(uint8_t system_id, uint8_t c _mav_put_uint8_t(buf, 2, ver); _mav_put_uint8_t(buf, 3, type); _mav_put_int8_t_array(buf, 4, value, 32); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 36); + memcpy(_MAV_PAYLOAD(msg), buf, 36); #else mavlink_memory_vect_t packet; packet.address = address; packet.ver = ver; packet.type = type; mav_array_memcpy(packet.value, value, sizeof(int8_t)*32); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 36); + memcpy(_MAV_PAYLOAD(msg), &packet, 36); #endif msg->msgid = MAVLINK_MSG_ID_MEMORY_VECT; @@ -83,14 +83,14 @@ static inline uint16_t mavlink_msg_memory_vect_pack_chan(uint8_t system_id, uint _mav_put_uint8_t(buf, 2, ver); _mav_put_uint8_t(buf, 3, type); _mav_put_int8_t_array(buf, 4, value, 32); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 36); + memcpy(_MAV_PAYLOAD(msg), buf, 36); #else mavlink_memory_vect_t packet; packet.address = address; packet.ver = ver; packet.type = type; mav_array_memcpy(packet.value, value, sizeof(int8_t)*32); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 36); + memcpy(_MAV_PAYLOAD(msg), &packet, 36); #endif msg->msgid = MAVLINK_MSG_ID_MEMORY_VECT; diff --git a/thirdParty/mavlink/include/common/mavlink_msg_mission_ack.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_mission_ack.h similarity index 96% rename from thirdParty/mavlink/include/common/mavlink_msg_mission_ack.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_mission_ack.h index 92eca79d1cb3947e3b743ca7d585d611c118a896..1696e765868ce6b83450b8f23de55880382c3bfc 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_mission_ack.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_mission_ack.h @@ -44,14 +44,14 @@ static inline uint16_t mavlink_msg_mission_ack_pack(uint8_t system_id, uint8_t c _mav_put_uint8_t(buf, 1, target_component); _mav_put_uint8_t(buf, 2, type); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 3); + memcpy(_MAV_PAYLOAD(msg), buf, 3); #else mavlink_mission_ack_t packet; packet.target_system = target_system; packet.target_component = target_component; packet.type = type; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 3); + memcpy(_MAV_PAYLOAD(msg), &packet, 3); #endif msg->msgid = MAVLINK_MSG_ID_MISSION_ACK; @@ -79,14 +79,14 @@ static inline uint16_t mavlink_msg_mission_ack_pack_chan(uint8_t system_id, uint _mav_put_uint8_t(buf, 1, target_component); _mav_put_uint8_t(buf, 2, type); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 3); + memcpy(_MAV_PAYLOAD(msg), buf, 3); #else mavlink_mission_ack_t packet; packet.target_system = target_system; packet.target_component = target_component; packet.type = type; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 3); + memcpy(_MAV_PAYLOAD(msg), &packet, 3); #endif msg->msgid = MAVLINK_MSG_ID_MISSION_ACK; diff --git a/thirdParty/mavlink/include/common/mavlink_msg_mission_clear_all.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_mission_clear_all.h similarity index 96% rename from thirdParty/mavlink/include/common/mavlink_msg_mission_clear_all.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_mission_clear_all.h index 602852f7e32946b6ae24718745befaeaf6886aca..c421f57893800c45871d7e626d63a0597706c7fe 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_mission_clear_all.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_mission_clear_all.h @@ -40,13 +40,13 @@ static inline uint16_t mavlink_msg_mission_clear_all_pack(uint8_t system_id, uin _mav_put_uint8_t(buf, 0, target_system); _mav_put_uint8_t(buf, 1, target_component); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 2); + memcpy(_MAV_PAYLOAD(msg), buf, 2); #else mavlink_mission_clear_all_t packet; packet.target_system = target_system; packet.target_component = target_component; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 2); + memcpy(_MAV_PAYLOAD(msg), &packet, 2); #endif msg->msgid = MAVLINK_MSG_ID_MISSION_CLEAR_ALL; @@ -72,13 +72,13 @@ static inline uint16_t mavlink_msg_mission_clear_all_pack_chan(uint8_t system_id _mav_put_uint8_t(buf, 0, target_system); _mav_put_uint8_t(buf, 1, target_component); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 2); + memcpy(_MAV_PAYLOAD(msg), buf, 2); #else mavlink_mission_clear_all_t packet; packet.target_system = target_system; packet.target_component = target_component; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 2); + memcpy(_MAV_PAYLOAD(msg), &packet, 2); #endif msg->msgid = MAVLINK_MSG_ID_MISSION_CLEAR_ALL; diff --git a/thirdParty/mavlink/include/common/mavlink_msg_mission_count.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_mission_count.h similarity index 96% rename from thirdParty/mavlink/include/common/mavlink_msg_mission_count.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_mission_count.h index 61d8b221c31e17a15f06ae95f2c01f026cb08812..967071d8c8541a13540ddab9479e503779ea9796 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_mission_count.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_mission_count.h @@ -44,14 +44,14 @@ static inline uint16_t mavlink_msg_mission_count_pack(uint8_t system_id, uint8_t _mav_put_uint8_t(buf, 2, target_system); _mav_put_uint8_t(buf, 3, target_component); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 4); + memcpy(_MAV_PAYLOAD(msg), buf, 4); #else mavlink_mission_count_t packet; packet.count = count; packet.target_system = target_system; packet.target_component = target_component; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 4); + memcpy(_MAV_PAYLOAD(msg), &packet, 4); #endif msg->msgid = MAVLINK_MSG_ID_MISSION_COUNT; @@ -79,14 +79,14 @@ static inline uint16_t mavlink_msg_mission_count_pack_chan(uint8_t system_id, ui _mav_put_uint8_t(buf, 2, target_system); _mav_put_uint8_t(buf, 3, target_component); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 4); + memcpy(_MAV_PAYLOAD(msg), buf, 4); #else mavlink_mission_count_t packet; packet.count = count; packet.target_system = target_system; packet.target_component = target_component; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 4); + memcpy(_MAV_PAYLOAD(msg), &packet, 4); #endif msg->msgid = MAVLINK_MSG_ID_MISSION_COUNT; diff --git a/thirdParty/mavlink/include/common/mavlink_msg_mission_current.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_mission_current.h similarity index 94% rename from thirdParty/mavlink/include/common/mavlink_msg_mission_current.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_mission_current.h index 99370f83532bec328537f62bf72c327af6478d23..2ad9fbc601c3338a8d317194e9edae62176b8f45 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_mission_current.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_mission_current.h @@ -36,12 +36,12 @@ static inline uint16_t mavlink_msg_mission_current_pack(uint8_t system_id, uint8 char buf[2]; _mav_put_uint16_t(buf, 0, seq); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 2); + memcpy(_MAV_PAYLOAD(msg), buf, 2); #else mavlink_mission_current_t packet; packet.seq = seq; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 2); + memcpy(_MAV_PAYLOAD(msg), &packet, 2); #endif msg->msgid = MAVLINK_MSG_ID_MISSION_CURRENT; @@ -65,12 +65,12 @@ static inline uint16_t mavlink_msg_mission_current_pack_chan(uint8_t system_id, char buf[2]; _mav_put_uint16_t(buf, 0, seq); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 2); + memcpy(_MAV_PAYLOAD(msg), buf, 2); #else mavlink_mission_current_t packet; packet.seq = seq; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 2); + memcpy(_MAV_PAYLOAD(msg), &packet, 2); #endif msg->msgid = MAVLINK_MSG_ID_MISSION_CURRENT; diff --git a/thirdParty/mavlink/include/common/mavlink_msg_mission_item.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_mission_item.h similarity index 98% rename from thirdParty/mavlink/include/common/mavlink_msg_mission_item.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_mission_item.h index d2c66d4daa293777c7732be1476014457ec7421d..e2d894aeea95d8d282b745c095c9e81be712c29e 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_mission_item.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_mission_item.h @@ -88,7 +88,7 @@ static inline uint16_t mavlink_msg_mission_item_pack(uint8_t system_id, uint8_t _mav_put_uint8_t(buf, 35, current); _mav_put_uint8_t(buf, 36, autocontinue); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 37); + memcpy(_MAV_PAYLOAD(msg), buf, 37); #else mavlink_mission_item_t packet; packet.param1 = param1; @@ -106,7 +106,7 @@ static inline uint16_t mavlink_msg_mission_item_pack(uint8_t system_id, uint8_t packet.current = current; packet.autocontinue = autocontinue; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 37); + memcpy(_MAV_PAYLOAD(msg), &packet, 37); #endif msg->msgid = MAVLINK_MSG_ID_MISSION_ITEM; @@ -156,7 +156,7 @@ static inline uint16_t mavlink_msg_mission_item_pack_chan(uint8_t system_id, uin _mav_put_uint8_t(buf, 35, current); _mav_put_uint8_t(buf, 36, autocontinue); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 37); + memcpy(_MAV_PAYLOAD(msg), buf, 37); #else mavlink_mission_item_t packet; packet.param1 = param1; @@ -174,7 +174,7 @@ static inline uint16_t mavlink_msg_mission_item_pack_chan(uint8_t system_id, uin packet.current = current; packet.autocontinue = autocontinue; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 37); + memcpy(_MAV_PAYLOAD(msg), &packet, 37); #endif msg->msgid = MAVLINK_MSG_ID_MISSION_ITEM; diff --git a/thirdParty/mavlink/include/common/mavlink_msg_mission_item_reached.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_mission_item_reached.h similarity index 95% rename from thirdParty/mavlink/include/common/mavlink_msg_mission_item_reached.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_mission_item_reached.h index 171f9857e8257c9b3b4ffec67e9a52aa0b006d38..7d935cade272a8d35b21f2c18b0546b2b187c8f3 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_mission_item_reached.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_mission_item_reached.h @@ -36,12 +36,12 @@ static inline uint16_t mavlink_msg_mission_item_reached_pack(uint8_t system_id, char buf[2]; _mav_put_uint16_t(buf, 0, seq); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 2); + memcpy(_MAV_PAYLOAD(msg), buf, 2); #else mavlink_mission_item_reached_t packet; packet.seq = seq; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 2); + memcpy(_MAV_PAYLOAD(msg), &packet, 2); #endif msg->msgid = MAVLINK_MSG_ID_MISSION_ITEM_REACHED; @@ -65,12 +65,12 @@ static inline uint16_t mavlink_msg_mission_item_reached_pack_chan(uint8_t system char buf[2]; _mav_put_uint16_t(buf, 0, seq); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 2); + memcpy(_MAV_PAYLOAD(msg), buf, 2); #else mavlink_mission_item_reached_t packet; packet.seq = seq; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 2); + memcpy(_MAV_PAYLOAD(msg), &packet, 2); #endif msg->msgid = MAVLINK_MSG_ID_MISSION_ITEM_REACHED; diff --git a/thirdParty/mavlink/include/common/mavlink_msg_mission_request.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_mission_request.h similarity index 96% rename from thirdParty/mavlink/include/common/mavlink_msg_mission_request.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_mission_request.h index cde0a0cfb9b6b6d2967c8b5b200ec914106323e1..5fb55ddb67e8931cae87282ee181f22ce5939808 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_mission_request.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_mission_request.h @@ -44,14 +44,14 @@ static inline uint16_t mavlink_msg_mission_request_pack(uint8_t system_id, uint8 _mav_put_uint8_t(buf, 2, target_system); _mav_put_uint8_t(buf, 3, target_component); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 4); + memcpy(_MAV_PAYLOAD(msg), buf, 4); #else mavlink_mission_request_t packet; packet.seq = seq; packet.target_system = target_system; packet.target_component = target_component; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 4); + memcpy(_MAV_PAYLOAD(msg), &packet, 4); #endif msg->msgid = MAVLINK_MSG_ID_MISSION_REQUEST; @@ -79,14 +79,14 @@ static inline uint16_t mavlink_msg_mission_request_pack_chan(uint8_t system_id, _mav_put_uint8_t(buf, 2, target_system); _mav_put_uint8_t(buf, 3, target_component); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 4); + memcpy(_MAV_PAYLOAD(msg), buf, 4); #else mavlink_mission_request_t packet; packet.seq = seq; packet.target_system = target_system; packet.target_component = target_component; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 4); + memcpy(_MAV_PAYLOAD(msg), &packet, 4); #endif msg->msgid = MAVLINK_MSG_ID_MISSION_REQUEST; diff --git a/thirdParty/mavlink/include/common/mavlink_msg_mission_request_list.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_mission_request_list.h similarity index 96% rename from thirdParty/mavlink/include/common/mavlink_msg_mission_request_list.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_mission_request_list.h index 1ada635b557cac3520c0d2447d638a9e9c88eb3b..c41d0fa0b0973ab15a103c098ececc49cf85d89c 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_mission_request_list.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_mission_request_list.h @@ -40,13 +40,13 @@ static inline uint16_t mavlink_msg_mission_request_list_pack(uint8_t system_id, _mav_put_uint8_t(buf, 0, target_system); _mav_put_uint8_t(buf, 1, target_component); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 2); + memcpy(_MAV_PAYLOAD(msg), buf, 2); #else mavlink_mission_request_list_t packet; packet.target_system = target_system; packet.target_component = target_component; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 2); + memcpy(_MAV_PAYLOAD(msg), &packet, 2); #endif msg->msgid = MAVLINK_MSG_ID_MISSION_REQUEST_LIST; @@ -72,13 +72,13 @@ static inline uint16_t mavlink_msg_mission_request_list_pack_chan(uint8_t system _mav_put_uint8_t(buf, 0, target_system); _mav_put_uint8_t(buf, 1, target_component); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 2); + memcpy(_MAV_PAYLOAD(msg), buf, 2); #else mavlink_mission_request_list_t packet; packet.target_system = target_system; packet.target_component = target_component; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 2); + memcpy(_MAV_PAYLOAD(msg), &packet, 2); #endif msg->msgid = MAVLINK_MSG_ID_MISSION_REQUEST_LIST; diff --git a/thirdParty/mavlink/include/common/mavlink_msg_mission_request_partial_list.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_mission_request_partial_list.h similarity index 97% rename from thirdParty/mavlink/include/common/mavlink_msg_mission_request_partial_list.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_mission_request_partial_list.h index 76fd43befad147174cece9d8968ce33d0d29c0b5..92e0ea745c7c87eebc2b13132ba690d1aa77bac9 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_mission_request_partial_list.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_mission_request_partial_list.h @@ -48,7 +48,7 @@ static inline uint16_t mavlink_msg_mission_request_partial_list_pack(uint8_t sys _mav_put_uint8_t(buf, 4, target_system); _mav_put_uint8_t(buf, 5, target_component); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 6); + memcpy(_MAV_PAYLOAD(msg), buf, 6); #else mavlink_mission_request_partial_list_t packet; packet.start_index = start_index; @@ -56,7 +56,7 @@ static inline uint16_t mavlink_msg_mission_request_partial_list_pack(uint8_t sys packet.target_system = target_system; packet.target_component = target_component; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 6); + memcpy(_MAV_PAYLOAD(msg), &packet, 6); #endif msg->msgid = MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST; @@ -86,7 +86,7 @@ static inline uint16_t mavlink_msg_mission_request_partial_list_pack_chan(uint8_ _mav_put_uint8_t(buf, 4, target_system); _mav_put_uint8_t(buf, 5, target_component); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 6); + memcpy(_MAV_PAYLOAD(msg), buf, 6); #else mavlink_mission_request_partial_list_t packet; packet.start_index = start_index; @@ -94,7 +94,7 @@ static inline uint16_t mavlink_msg_mission_request_partial_list_pack_chan(uint8_ packet.target_system = target_system; packet.target_component = target_component; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 6); + memcpy(_MAV_PAYLOAD(msg), &packet, 6); #endif msg->msgid = MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST; diff --git a/thirdParty/mavlink/include/common/mavlink_msg_mission_set_current.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_mission_set_current.h similarity index 96% rename from thirdParty/mavlink/include/common/mavlink_msg_mission_set_current.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_mission_set_current.h index de0dbcd75df3b3dd029eab93d34eae24be90b882..6fb6fd1cce8cb17e13aa3f9da9c22a4d1b41361f 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_mission_set_current.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_mission_set_current.h @@ -44,14 +44,14 @@ static inline uint16_t mavlink_msg_mission_set_current_pack(uint8_t system_id, u _mav_put_uint8_t(buf, 2, target_system); _mav_put_uint8_t(buf, 3, target_component); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 4); + memcpy(_MAV_PAYLOAD(msg), buf, 4); #else mavlink_mission_set_current_t packet; packet.seq = seq; packet.target_system = target_system; packet.target_component = target_component; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 4); + memcpy(_MAV_PAYLOAD(msg), &packet, 4); #endif msg->msgid = MAVLINK_MSG_ID_MISSION_SET_CURRENT; @@ -79,14 +79,14 @@ static inline uint16_t mavlink_msg_mission_set_current_pack_chan(uint8_t system_ _mav_put_uint8_t(buf, 2, target_system); _mav_put_uint8_t(buf, 3, target_component); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 4); + memcpy(_MAV_PAYLOAD(msg), buf, 4); #else mavlink_mission_set_current_t packet; packet.seq = seq; packet.target_system = target_system; packet.target_component = target_component; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 4); + memcpy(_MAV_PAYLOAD(msg), &packet, 4); #endif msg->msgid = MAVLINK_MSG_ID_MISSION_SET_CURRENT; diff --git a/thirdParty/mavlink/include/common/mavlink_msg_mission_write_partial_list.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_mission_write_partial_list.h similarity index 97% rename from thirdParty/mavlink/include/common/mavlink_msg_mission_write_partial_list.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_mission_write_partial_list.h index 0e77569cfc3aecc3b0de720459d8ba94359386ac..59f438de23b758a36678abad14b3b4eeeaca5cbc 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_mission_write_partial_list.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_mission_write_partial_list.h @@ -48,7 +48,7 @@ static inline uint16_t mavlink_msg_mission_write_partial_list_pack(uint8_t syste _mav_put_uint8_t(buf, 4, target_system); _mav_put_uint8_t(buf, 5, target_component); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 6); + memcpy(_MAV_PAYLOAD(msg), buf, 6); #else mavlink_mission_write_partial_list_t packet; packet.start_index = start_index; @@ -56,7 +56,7 @@ static inline uint16_t mavlink_msg_mission_write_partial_list_pack(uint8_t syste packet.target_system = target_system; packet.target_component = target_component; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 6); + memcpy(_MAV_PAYLOAD(msg), &packet, 6); #endif msg->msgid = MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST; @@ -86,7 +86,7 @@ static inline uint16_t mavlink_msg_mission_write_partial_list_pack_chan(uint8_t _mav_put_uint8_t(buf, 4, target_system); _mav_put_uint8_t(buf, 5, target_component); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 6); + memcpy(_MAV_PAYLOAD(msg), buf, 6); #else mavlink_mission_write_partial_list_t packet; packet.start_index = start_index; @@ -94,7 +94,7 @@ static inline uint16_t mavlink_msg_mission_write_partial_list_pack_chan(uint8_t packet.target_system = target_system; packet.target_component = target_component; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 6); + memcpy(_MAV_PAYLOAD(msg), &packet, 6); #endif msg->msgid = MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST; diff --git a/thirdParty/mavlink/include/common/mavlink_msg_named_value_float.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_named_value_float.h similarity index 96% rename from thirdParty/mavlink/include/common/mavlink_msg_named_value_float.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_named_value_float.h index 23a819e2c9b708ba1c4d004d8902edc1d155b121..feabb8f31e6d51481d2ddaa898aafc9278a8a904 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_named_value_float.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_named_value_float.h @@ -43,13 +43,13 @@ static inline uint16_t mavlink_msg_named_value_float_pack(uint8_t system_id, uin _mav_put_uint32_t(buf, 0, time_boot_ms); _mav_put_float(buf, 4, value); _mav_put_char_array(buf, 8, name, 10); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 18); + memcpy(_MAV_PAYLOAD(msg), buf, 18); #else mavlink_named_value_float_t packet; packet.time_boot_ms = time_boot_ms; packet.value = value; mav_array_memcpy(packet.name, name, sizeof(char)*10); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 18); + memcpy(_MAV_PAYLOAD(msg), &packet, 18); #endif msg->msgid = MAVLINK_MSG_ID_NAMED_VALUE_FLOAT; @@ -76,13 +76,13 @@ static inline uint16_t mavlink_msg_named_value_float_pack_chan(uint8_t system_id _mav_put_uint32_t(buf, 0, time_boot_ms); _mav_put_float(buf, 4, value); _mav_put_char_array(buf, 8, name, 10); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 18); + memcpy(_MAV_PAYLOAD(msg), buf, 18); #else mavlink_named_value_float_t packet; packet.time_boot_ms = time_boot_ms; packet.value = value; mav_array_memcpy(packet.name, name, sizeof(char)*10); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 18); + memcpy(_MAV_PAYLOAD(msg), &packet, 18); #endif msg->msgid = MAVLINK_MSG_ID_NAMED_VALUE_FLOAT; diff --git a/thirdParty/mavlink/include/common/mavlink_msg_named_value_int.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_named_value_int.h similarity index 96% rename from thirdParty/mavlink/include/common/mavlink_msg_named_value_int.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_named_value_int.h index 3c67dff03fcbab7f855653fc23327d273dbca91f..463b44d67eb68a267d079011b6f78d0dffbb6433 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_named_value_int.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_named_value_int.h @@ -43,13 +43,13 @@ static inline uint16_t mavlink_msg_named_value_int_pack(uint8_t system_id, uint8 _mav_put_uint32_t(buf, 0, time_boot_ms); _mav_put_int32_t(buf, 4, value); _mav_put_char_array(buf, 8, name, 10); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 18); + memcpy(_MAV_PAYLOAD(msg), buf, 18); #else mavlink_named_value_int_t packet; packet.time_boot_ms = time_boot_ms; packet.value = value; mav_array_memcpy(packet.name, name, sizeof(char)*10); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 18); + memcpy(_MAV_PAYLOAD(msg), &packet, 18); #endif msg->msgid = MAVLINK_MSG_ID_NAMED_VALUE_INT; @@ -76,13 +76,13 @@ static inline uint16_t mavlink_msg_named_value_int_pack_chan(uint8_t system_id, _mav_put_uint32_t(buf, 0, time_boot_ms); _mav_put_int32_t(buf, 4, value); _mav_put_char_array(buf, 8, name, 10); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 18); + memcpy(_MAV_PAYLOAD(msg), buf, 18); #else mavlink_named_value_int_t packet; packet.time_boot_ms = time_boot_ms; packet.value = value; mav_array_memcpy(packet.name, name, sizeof(char)*10); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 18); + memcpy(_MAV_PAYLOAD(msg), &packet, 18); #endif msg->msgid = MAVLINK_MSG_ID_NAMED_VALUE_INT; diff --git a/thirdParty/mavlink/include/common/mavlink_msg_nav_controller_output.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_nav_controller_output.h similarity index 98% rename from thirdParty/mavlink/include/common/mavlink_msg_nav_controller_output.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_nav_controller_output.h index 028afdabc62203d7d0e7427ef6e093c1b7088741..a8310c142bef331bfbd7181ea3c3d883bca4aabf 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_nav_controller_output.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_nav_controller_output.h @@ -64,7 +64,7 @@ static inline uint16_t mavlink_msg_nav_controller_output_pack(uint8_t system_id, _mav_put_int16_t(buf, 22, target_bearing); _mav_put_uint16_t(buf, 24, wp_dist); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 26); + memcpy(_MAV_PAYLOAD(msg), buf, 26); #else mavlink_nav_controller_output_t packet; packet.nav_roll = nav_roll; @@ -76,7 +76,7 @@ static inline uint16_t mavlink_msg_nav_controller_output_pack(uint8_t system_id, packet.target_bearing = target_bearing; packet.wp_dist = wp_dist; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 26); + memcpy(_MAV_PAYLOAD(msg), &packet, 26); #endif msg->msgid = MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT; @@ -114,7 +114,7 @@ static inline uint16_t mavlink_msg_nav_controller_output_pack_chan(uint8_t syste _mav_put_int16_t(buf, 22, target_bearing); _mav_put_uint16_t(buf, 24, wp_dist); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 26); + memcpy(_MAV_PAYLOAD(msg), buf, 26); #else mavlink_nav_controller_output_t packet; packet.nav_roll = nav_roll; @@ -126,7 +126,7 @@ static inline uint16_t mavlink_msg_nav_controller_output_pack_chan(uint8_t syste packet.target_bearing = target_bearing; packet.wp_dist = wp_dist; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 26); + memcpy(_MAV_PAYLOAD(msg), &packet, 26); #endif msg->msgid = MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT; diff --git a/thirdParty/mavlink/include/common/mavlink_msg_optical_flow.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_optical_flow.h similarity index 64% rename from thirdParty/mavlink/include/common/mavlink_msg_optical_flow.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_optical_flow.h index c93f07451d15b17b1d958074f29a4d09888aa1b2..cebc1d9023d1b967c247387e0322431a1d526e48 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_optical_flow.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_optical_flow.h @@ -5,15 +5,15 @@ typedef struct __mavlink_optical_flow_t { uint64_t time_usec; ///< Timestamp (UNIX) - float flow_x; ///< Flow in x-sensor direction - float flow_y; ///< Flow in y-sensor direction - float ground_distance; ///< Ground distance in meters (-1 for unknown, flow is then in pixel / arbitrary scale) + float ground_distance; ///< Ground distance in meters + int16_t flow_x; ///< Flow in pixels in x-sensor direction + int16_t flow_y; ///< Flow in pixels in y-sensor direction uint8_t sensor_id; ///< Sensor ID uint8_t quality; ///< Optical flow quality / confidence. 0: bad, 255: maximum quality } mavlink_optical_flow_t; -#define MAVLINK_MSG_ID_OPTICAL_FLOW_LEN 22 -#define MAVLINK_MSG_ID_100_LEN 22 +#define MAVLINK_MSG_ID_OPTICAL_FLOW_LEN 18 +#define MAVLINK_MSG_ID_100_LEN 18 @@ -21,11 +21,11 @@ typedef struct __mavlink_optical_flow_t "OPTICAL_FLOW", \ 6, \ { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_optical_flow_t, time_usec) }, \ - { "flow_x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_optical_flow_t, flow_x) }, \ - { "flow_y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_optical_flow_t, flow_y) }, \ - { "ground_distance", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_optical_flow_t, ground_distance) }, \ - { "sensor_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 20, offsetof(mavlink_optical_flow_t, sensor_id) }, \ - { "quality", NULL, MAVLINK_TYPE_UINT8_T, 0, 21, offsetof(mavlink_optical_flow_t, quality) }, \ + { "ground_distance", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_optical_flow_t, ground_distance) }, \ + { "flow_x", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_optical_flow_t, flow_x) }, \ + { "flow_y", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_optical_flow_t, flow_y) }, \ + { "sensor_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 16, offsetof(mavlink_optical_flow_t, sensor_id) }, \ + { "quality", NULL, MAVLINK_TYPE_UINT8_T, 0, 17, offsetof(mavlink_optical_flow_t, quality) }, \ } \ } @@ -38,39 +38,39 @@ typedef struct __mavlink_optical_flow_t * * @param time_usec Timestamp (UNIX) * @param sensor_id Sensor ID - * @param flow_x Flow in x-sensor direction - * @param flow_y Flow in y-sensor direction + * @param flow_x Flow in pixels in x-sensor direction + * @param flow_y Flow in pixels in y-sensor direction * @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality - * @param ground_distance Ground distance in meters (-1 for unknown, flow is then in pixel / arbitrary scale) + * @param ground_distance Ground distance in meters * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_optical_flow_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, - uint64_t time_usec, uint8_t sensor_id, float flow_x, float flow_y, uint8_t quality, float ground_distance) + uint64_t time_usec, uint8_t sensor_id, int16_t flow_x, int16_t flow_y, uint8_t quality, float ground_distance) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[22]; + char buf[18]; _mav_put_uint64_t(buf, 0, time_usec); - _mav_put_float(buf, 8, flow_x); - _mav_put_float(buf, 12, flow_y); - _mav_put_float(buf, 16, ground_distance); - _mav_put_uint8_t(buf, 20, sensor_id); - _mav_put_uint8_t(buf, 21, quality); + _mav_put_float(buf, 8, ground_distance); + _mav_put_int16_t(buf, 12, flow_x); + _mav_put_int16_t(buf, 14, flow_y); + _mav_put_uint8_t(buf, 16, sensor_id); + _mav_put_uint8_t(buf, 17, quality); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 22); + memcpy(_MAV_PAYLOAD(msg), buf, 18); #else mavlink_optical_flow_t packet; packet.time_usec = time_usec; + packet.ground_distance = ground_distance; packet.flow_x = flow_x; packet.flow_y = flow_y; - packet.ground_distance = ground_distance; packet.sensor_id = sensor_id; packet.quality = quality; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 22); + memcpy(_MAV_PAYLOAD(msg), &packet, 18); #endif msg->msgid = MAVLINK_MSG_ID_OPTICAL_FLOW; - return mavlink_finalize_message(msg, system_id, component_id, 22, 31); + return mavlink_finalize_message(msg, system_id, component_id, 18, 19); } /** @@ -81,40 +81,40 @@ static inline uint16_t mavlink_msg_optical_flow_pack(uint8_t system_id, uint8_t * @param msg The MAVLink message to compress the data into * @param time_usec Timestamp (UNIX) * @param sensor_id Sensor ID - * @param flow_x Flow in x-sensor direction - * @param flow_y Flow in y-sensor direction + * @param flow_x Flow in pixels in x-sensor direction + * @param flow_y Flow in pixels in y-sensor direction * @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality - * @param ground_distance Ground distance in meters (-1 for unknown, flow is then in pixel / arbitrary scale) + * @param ground_distance Ground distance in meters * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_optical_flow_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, - uint64_t time_usec,uint8_t sensor_id,float flow_x,float flow_y,uint8_t quality,float ground_distance) + uint64_t time_usec,uint8_t sensor_id,int16_t flow_x,int16_t flow_y,uint8_t quality,float ground_distance) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[22]; + char buf[18]; _mav_put_uint64_t(buf, 0, time_usec); - _mav_put_float(buf, 8, flow_x); - _mav_put_float(buf, 12, flow_y); - _mav_put_float(buf, 16, ground_distance); - _mav_put_uint8_t(buf, 20, sensor_id); - _mav_put_uint8_t(buf, 21, quality); + _mav_put_float(buf, 8, ground_distance); + _mav_put_int16_t(buf, 12, flow_x); + _mav_put_int16_t(buf, 14, flow_y); + _mav_put_uint8_t(buf, 16, sensor_id); + _mav_put_uint8_t(buf, 17, quality); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 22); + memcpy(_MAV_PAYLOAD(msg), buf, 18); #else mavlink_optical_flow_t packet; packet.time_usec = time_usec; + packet.ground_distance = ground_distance; packet.flow_x = flow_x; packet.flow_y = flow_y; - packet.ground_distance = ground_distance; packet.sensor_id = sensor_id; packet.quality = quality; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 22); + memcpy(_MAV_PAYLOAD(msg), &packet, 18); #endif msg->msgid = MAVLINK_MSG_ID_OPTICAL_FLOW; - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 22, 31); + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 18, 19); } /** @@ -136,35 +136,35 @@ static inline uint16_t mavlink_msg_optical_flow_encode(uint8_t system_id, uint8_ * * @param time_usec Timestamp (UNIX) * @param sensor_id Sensor ID - * @param flow_x Flow in x-sensor direction - * @param flow_y Flow in y-sensor direction + * @param flow_x Flow in pixels in x-sensor direction + * @param flow_y Flow in pixels in y-sensor direction * @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality - * @param ground_distance Ground distance in meters (-1 for unknown, flow is then in pixel / arbitrary scale) + * @param ground_distance Ground distance in meters */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS -static inline void mavlink_msg_optical_flow_send(mavlink_channel_t chan, uint64_t time_usec, uint8_t sensor_id, float flow_x, float flow_y, uint8_t quality, float ground_distance) +static inline void mavlink_msg_optical_flow_send(mavlink_channel_t chan, uint64_t time_usec, uint8_t sensor_id, int16_t flow_x, int16_t flow_y, uint8_t quality, float ground_distance) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[22]; + char buf[18]; _mav_put_uint64_t(buf, 0, time_usec); - _mav_put_float(buf, 8, flow_x); - _mav_put_float(buf, 12, flow_y); - _mav_put_float(buf, 16, ground_distance); - _mav_put_uint8_t(buf, 20, sensor_id); - _mav_put_uint8_t(buf, 21, quality); + _mav_put_float(buf, 8, ground_distance); + _mav_put_int16_t(buf, 12, flow_x); + _mav_put_int16_t(buf, 14, flow_y); + _mav_put_uint8_t(buf, 16, sensor_id); + _mav_put_uint8_t(buf, 17, quality); - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, buf, 22, 31); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, buf, 18, 19); #else mavlink_optical_flow_t packet; packet.time_usec = time_usec; + packet.ground_distance = ground_distance; packet.flow_x = flow_x; packet.flow_y = flow_y; - packet.ground_distance = ground_distance; packet.sensor_id = sensor_id; packet.quality = quality; - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, (const char *)&packet, 22, 31); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, (const char *)&packet, 18, 19); #endif } @@ -190,27 +190,27 @@ static inline uint64_t mavlink_msg_optical_flow_get_time_usec(const mavlink_mess */ static inline uint8_t mavlink_msg_optical_flow_get_sensor_id(const mavlink_message_t* msg) { - return _MAV_RETURN_uint8_t(msg, 20); + return _MAV_RETURN_uint8_t(msg, 16); } /** * @brief Get field flow_x from optical_flow message * - * @return Flow in x-sensor direction + * @return Flow in pixels in x-sensor direction */ -static inline float mavlink_msg_optical_flow_get_flow_x(const mavlink_message_t* msg) +static inline int16_t mavlink_msg_optical_flow_get_flow_x(const mavlink_message_t* msg) { - return _MAV_RETURN_float(msg, 8); + return _MAV_RETURN_int16_t(msg, 12); } /** * @brief Get field flow_y from optical_flow message * - * @return Flow in y-sensor direction + * @return Flow in pixels in y-sensor direction */ -static inline float mavlink_msg_optical_flow_get_flow_y(const mavlink_message_t* msg) +static inline int16_t mavlink_msg_optical_flow_get_flow_y(const mavlink_message_t* msg) { - return _MAV_RETURN_float(msg, 12); + return _MAV_RETURN_int16_t(msg, 14); } /** @@ -220,17 +220,17 @@ static inline float mavlink_msg_optical_flow_get_flow_y(const mavlink_message_t* */ static inline uint8_t mavlink_msg_optical_flow_get_quality(const mavlink_message_t* msg) { - return _MAV_RETURN_uint8_t(msg, 21); + return _MAV_RETURN_uint8_t(msg, 17); } /** * @brief Get field ground_distance from optical_flow message * - * @return Ground distance in meters (-1 for unknown, flow is then in pixel / arbitrary scale) + * @return Ground distance in meters */ static inline float mavlink_msg_optical_flow_get_ground_distance(const mavlink_message_t* msg) { - return _MAV_RETURN_float(msg, 16); + return _MAV_RETURN_float(msg, 8); } /** @@ -243,12 +243,12 @@ static inline void mavlink_msg_optical_flow_decode(const mavlink_message_t* msg, { #if MAVLINK_NEED_BYTE_SWAP optical_flow->time_usec = mavlink_msg_optical_flow_get_time_usec(msg); + optical_flow->ground_distance = mavlink_msg_optical_flow_get_ground_distance(msg); optical_flow->flow_x = mavlink_msg_optical_flow_get_flow_x(msg); optical_flow->flow_y = mavlink_msg_optical_flow_get_flow_y(msg); - optical_flow->ground_distance = mavlink_msg_optical_flow_get_ground_distance(msg); optical_flow->sensor_id = mavlink_msg_optical_flow_get_sensor_id(msg); optical_flow->quality = mavlink_msg_optical_flow_get_quality(msg); #else - memcpy(optical_flow, _MAV_PAYLOAD(msg), 22); + memcpy(optical_flow, _MAV_PAYLOAD(msg), 18); #endif } diff --git a/thirdParty/mavlink/include/common/mavlink_msg_param_request_list.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_param_request_list.h similarity index 96% rename from thirdParty/mavlink/include/common/mavlink_msg_param_request_list.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_param_request_list.h index 125df80c85d7711c749e8f35ee7ea0366c9129e6..7ebd92284f79964ffb8686eafef9f626b12a6bd2 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_param_request_list.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_param_request_list.h @@ -40,13 +40,13 @@ static inline uint16_t mavlink_msg_param_request_list_pack(uint8_t system_id, ui _mav_put_uint8_t(buf, 0, target_system); _mav_put_uint8_t(buf, 1, target_component); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 2); + memcpy(_MAV_PAYLOAD(msg), buf, 2); #else mavlink_param_request_list_t packet; packet.target_system = target_system; packet.target_component = target_component; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 2); + memcpy(_MAV_PAYLOAD(msg), &packet, 2); #endif msg->msgid = MAVLINK_MSG_ID_PARAM_REQUEST_LIST; @@ -72,13 +72,13 @@ static inline uint16_t mavlink_msg_param_request_list_pack_chan(uint8_t system_i _mav_put_uint8_t(buf, 0, target_system); _mav_put_uint8_t(buf, 1, target_component); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 2); + memcpy(_MAV_PAYLOAD(msg), buf, 2); #else mavlink_param_request_list_t packet; packet.target_system = target_system; packet.target_component = target_component; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 2); + memcpy(_MAV_PAYLOAD(msg), &packet, 2); #endif msg->msgid = MAVLINK_MSG_ID_PARAM_REQUEST_LIST; diff --git a/thirdParty/mavlink/include/common/mavlink_msg_param_request_read.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_param_request_read.h similarity index 97% rename from thirdParty/mavlink/include/common/mavlink_msg_param_request_read.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_param_request_read.h index 61d00f62d1bfd79ece9a9bfca9c2ed8ac759040c..92fac8037cebb97704e2c5d17dd3e94f61448c12 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_param_request_read.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_param_request_read.h @@ -47,14 +47,14 @@ static inline uint16_t mavlink_msg_param_request_read_pack(uint8_t system_id, ui _mav_put_uint8_t(buf, 2, target_system); _mav_put_uint8_t(buf, 3, target_component); _mav_put_char_array(buf, 4, param_id, 16); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 20); + memcpy(_MAV_PAYLOAD(msg), buf, 20); #else mavlink_param_request_read_t packet; packet.param_index = param_index; packet.target_system = target_system; packet.target_component = target_component; mav_array_memcpy(packet.param_id, param_id, sizeof(char)*16); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 20); + memcpy(_MAV_PAYLOAD(msg), &packet, 20); #endif msg->msgid = MAVLINK_MSG_ID_PARAM_REQUEST_READ; @@ -83,14 +83,14 @@ static inline uint16_t mavlink_msg_param_request_read_pack_chan(uint8_t system_i _mav_put_uint8_t(buf, 2, target_system); _mav_put_uint8_t(buf, 3, target_component); _mav_put_char_array(buf, 4, param_id, 16); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 20); + memcpy(_MAV_PAYLOAD(msg), buf, 20); #else mavlink_param_request_read_t packet; packet.param_index = param_index; packet.target_system = target_system; packet.target_component = target_component; mav_array_memcpy(packet.param_id, param_id, sizeof(char)*16); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 20); + memcpy(_MAV_PAYLOAD(msg), &packet, 20); #endif msg->msgid = MAVLINK_MSG_ID_PARAM_REQUEST_READ; diff --git a/thirdParty/mavlink/include/common/mavlink_msg_param_set.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_param_set.h similarity index 97% rename from thirdParty/mavlink/include/common/mavlink_msg_param_set.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_param_set.h index a7e895f18d3fc9ee2104eac1029c1abf81f384a6..d65412d176efa4e5e3c7aa9014dfe6e0828684d6 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_param_set.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_param_set.h @@ -51,7 +51,7 @@ static inline uint16_t mavlink_msg_param_set_pack(uint8_t system_id, uint8_t com _mav_put_uint8_t(buf, 5, target_component); _mav_put_uint8_t(buf, 22, param_type); _mav_put_char_array(buf, 6, param_id, 16); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 23); + memcpy(_MAV_PAYLOAD(msg), buf, 23); #else mavlink_param_set_t packet; packet.param_value = param_value; @@ -59,7 +59,7 @@ static inline uint16_t mavlink_msg_param_set_pack(uint8_t system_id, uint8_t com packet.target_component = target_component; packet.param_type = param_type; mav_array_memcpy(packet.param_id, param_id, sizeof(char)*16); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 23); + memcpy(_MAV_PAYLOAD(msg), &packet, 23); #endif msg->msgid = MAVLINK_MSG_ID_PARAM_SET; @@ -90,7 +90,7 @@ static inline uint16_t mavlink_msg_param_set_pack_chan(uint8_t system_id, uint8_ _mav_put_uint8_t(buf, 5, target_component); _mav_put_uint8_t(buf, 22, param_type); _mav_put_char_array(buf, 6, param_id, 16); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 23); + memcpy(_MAV_PAYLOAD(msg), buf, 23); #else mavlink_param_set_t packet; packet.param_value = param_value; @@ -98,7 +98,7 @@ static inline uint16_t mavlink_msg_param_set_pack_chan(uint8_t system_id, uint8_ packet.target_component = target_component; packet.param_type = param_type; mav_array_memcpy(packet.param_id, param_id, sizeof(char)*16); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 23); + memcpy(_MAV_PAYLOAD(msg), &packet, 23); #endif msg->msgid = MAVLINK_MSG_ID_PARAM_SET; diff --git a/thirdParty/mavlink/include/common/mavlink_msg_param_value.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_param_value.h similarity index 97% rename from thirdParty/mavlink/include/common/mavlink_msg_param_value.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_param_value.h index 4e16a563186aa3151e53a1db690c08671578bf46..c972ebaa385979f549493ae56b8265e655246b35 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_param_value.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_param_value.h @@ -51,7 +51,7 @@ static inline uint16_t mavlink_msg_param_value_pack(uint8_t system_id, uint8_t c _mav_put_uint16_t(buf, 6, param_index); _mav_put_uint8_t(buf, 24, param_type); _mav_put_char_array(buf, 8, param_id, 16); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 25); + memcpy(_MAV_PAYLOAD(msg), buf, 25); #else mavlink_param_value_t packet; packet.param_value = param_value; @@ -59,7 +59,7 @@ static inline uint16_t mavlink_msg_param_value_pack(uint8_t system_id, uint8_t c packet.param_index = param_index; packet.param_type = param_type; mav_array_memcpy(packet.param_id, param_id, sizeof(char)*16); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 25); + memcpy(_MAV_PAYLOAD(msg), &packet, 25); #endif msg->msgid = MAVLINK_MSG_ID_PARAM_VALUE; @@ -90,7 +90,7 @@ static inline uint16_t mavlink_msg_param_value_pack_chan(uint8_t system_id, uint _mav_put_uint16_t(buf, 6, param_index); _mav_put_uint8_t(buf, 24, param_type); _mav_put_char_array(buf, 8, param_id, 16); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 25); + memcpy(_MAV_PAYLOAD(msg), buf, 25); #else mavlink_param_value_t packet; packet.param_value = param_value; @@ -98,7 +98,7 @@ static inline uint16_t mavlink_msg_param_value_pack_chan(uint8_t system_id, uint packet.param_index = param_index; packet.param_type = param_type; mav_array_memcpy(packet.param_id, param_id, sizeof(char)*16); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 25); + memcpy(_MAV_PAYLOAD(msg), &packet, 25); #endif msg->msgid = MAVLINK_MSG_ID_PARAM_VALUE; diff --git a/thirdParty/mavlink/include/common/mavlink_msg_ping.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_ping.h similarity index 97% rename from thirdParty/mavlink/include/common/mavlink_msg_ping.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_ping.h index 3ed1b9d7c46d07c46d1fb60d62a8feefed4c5b87..8c4bf0cc8c945ded42efeddff43f345eb2f26f69 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_ping.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_ping.h @@ -48,7 +48,7 @@ static inline uint16_t mavlink_msg_ping_pack(uint8_t system_id, uint8_t componen _mav_put_uint8_t(buf, 12, target_system); _mav_put_uint8_t(buf, 13, target_component); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 14); + memcpy(_MAV_PAYLOAD(msg), buf, 14); #else mavlink_ping_t packet; packet.time_usec = time_usec; @@ -56,7 +56,7 @@ static inline uint16_t mavlink_msg_ping_pack(uint8_t system_id, uint8_t componen packet.target_system = target_system; packet.target_component = target_component; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 14); + memcpy(_MAV_PAYLOAD(msg), &packet, 14); #endif msg->msgid = MAVLINK_MSG_ID_PING; @@ -86,7 +86,7 @@ static inline uint16_t mavlink_msg_ping_pack_chan(uint8_t system_id, uint8_t com _mav_put_uint8_t(buf, 12, target_system); _mav_put_uint8_t(buf, 13, target_component); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 14); + memcpy(_MAV_PAYLOAD(msg), buf, 14); #else mavlink_ping_t packet; packet.time_usec = time_usec; @@ -94,7 +94,7 @@ static inline uint16_t mavlink_msg_ping_pack_chan(uint8_t system_id, uint8_t com packet.target_system = target_system; packet.target_component = target_component; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 14); + memcpy(_MAV_PAYLOAD(msg), &packet, 14); #endif msg->msgid = MAVLINK_MSG_ID_PING; diff --git a/thirdParty/mavlink/include/common/mavlink_msg_raw_imu.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_raw_imu.h similarity index 98% rename from thirdParty/mavlink/include/common/mavlink_msg_raw_imu.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_raw_imu.h index 1c1d4838867498580bad0031f86f7dfe21ece77c..a8c3988893d3d36b20655082f0ab2688f78c7663 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_raw_imu.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_raw_imu.h @@ -72,7 +72,7 @@ static inline uint16_t mavlink_msg_raw_imu_pack(uint8_t system_id, uint8_t compo _mav_put_int16_t(buf, 22, ymag); _mav_put_int16_t(buf, 24, zmag); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 26); + memcpy(_MAV_PAYLOAD(msg), buf, 26); #else mavlink_raw_imu_t packet; packet.time_usec = time_usec; @@ -86,7 +86,7 @@ static inline uint16_t mavlink_msg_raw_imu_pack(uint8_t system_id, uint8_t compo packet.ymag = ymag; packet.zmag = zmag; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 26); + memcpy(_MAV_PAYLOAD(msg), &packet, 26); #endif msg->msgid = MAVLINK_MSG_ID_RAW_IMU; @@ -128,7 +128,7 @@ static inline uint16_t mavlink_msg_raw_imu_pack_chan(uint8_t system_id, uint8_t _mav_put_int16_t(buf, 22, ymag); _mav_put_int16_t(buf, 24, zmag); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 26); + memcpy(_MAV_PAYLOAD(msg), buf, 26); #else mavlink_raw_imu_t packet; packet.time_usec = time_usec; @@ -142,7 +142,7 @@ static inline uint16_t mavlink_msg_raw_imu_pack_chan(uint8_t system_id, uint8_t packet.ymag = ymag; packet.zmag = zmag; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 26); + memcpy(_MAV_PAYLOAD(msg), &packet, 26); #endif msg->msgid = MAVLINK_MSG_ID_RAW_IMU; diff --git a/thirdParty/mavlink/include/common/mavlink_msg_raw_pressure.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_raw_pressure.h similarity index 97% rename from thirdParty/mavlink/include/common/mavlink_msg_raw_pressure.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_raw_pressure.h index f3e4e8404660a8215439d1fc345c58838117b029..29e631f39cf46e06d1f2b408cc28355495e7bdc0 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_raw_pressure.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_raw_pressure.h @@ -52,7 +52,7 @@ static inline uint16_t mavlink_msg_raw_pressure_pack(uint8_t system_id, uint8_t _mav_put_int16_t(buf, 12, press_diff2); _mav_put_int16_t(buf, 14, temperature); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 16); + memcpy(_MAV_PAYLOAD(msg), buf, 16); #else mavlink_raw_pressure_t packet; packet.time_usec = time_usec; @@ -61,7 +61,7 @@ static inline uint16_t mavlink_msg_raw_pressure_pack(uint8_t system_id, uint8_t packet.press_diff2 = press_diff2; packet.temperature = temperature; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 16); + memcpy(_MAV_PAYLOAD(msg), &packet, 16); #endif msg->msgid = MAVLINK_MSG_ID_RAW_PRESSURE; @@ -93,7 +93,7 @@ static inline uint16_t mavlink_msg_raw_pressure_pack_chan(uint8_t system_id, uin _mav_put_int16_t(buf, 12, press_diff2); _mav_put_int16_t(buf, 14, temperature); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 16); + memcpy(_MAV_PAYLOAD(msg), buf, 16); #else mavlink_raw_pressure_t packet; packet.time_usec = time_usec; @@ -102,7 +102,7 @@ static inline uint16_t mavlink_msg_raw_pressure_pack_chan(uint8_t system_id, uin packet.press_diff2 = press_diff2; packet.temperature = temperature; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 16); + memcpy(_MAV_PAYLOAD(msg), &packet, 16); #endif msg->msgid = MAVLINK_MSG_ID_RAW_PRESSURE; diff --git a/thirdParty/mavlink/include/common/mavlink_msg_rc_channels_override.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_rc_channels_override.h similarity index 98% rename from thirdParty/mavlink/include/common/mavlink_msg_rc_channels_override.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_rc_channels_override.h index d719c7fca2c357a74684382e9be28186513490d3..6eccf7ae8d1737e91ee5317adb5d4face8160c17 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_rc_channels_override.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_rc_channels_override.h @@ -72,7 +72,7 @@ static inline uint16_t mavlink_msg_rc_channels_override_pack(uint8_t system_id, _mav_put_uint8_t(buf, 16, target_system); _mav_put_uint8_t(buf, 17, target_component); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 18); + memcpy(_MAV_PAYLOAD(msg), buf, 18); #else mavlink_rc_channels_override_t packet; packet.chan1_raw = chan1_raw; @@ -86,7 +86,7 @@ static inline uint16_t mavlink_msg_rc_channels_override_pack(uint8_t system_id, packet.target_system = target_system; packet.target_component = target_component; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 18); + memcpy(_MAV_PAYLOAD(msg), &packet, 18); #endif msg->msgid = MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE; @@ -128,7 +128,7 @@ static inline uint16_t mavlink_msg_rc_channels_override_pack_chan(uint8_t system _mav_put_uint8_t(buf, 16, target_system); _mav_put_uint8_t(buf, 17, target_component); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 18); + memcpy(_MAV_PAYLOAD(msg), buf, 18); #else mavlink_rc_channels_override_t packet; packet.chan1_raw = chan1_raw; @@ -142,7 +142,7 @@ static inline uint16_t mavlink_msg_rc_channels_override_pack_chan(uint8_t system packet.target_system = target_system; packet.target_component = target_component; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 18); + memcpy(_MAV_PAYLOAD(msg), &packet, 18); #endif msg->msgid = MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE; diff --git a/thirdParty/mavlink/include/common/mavlink_msg_rc_channels_raw.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_rc_channels_raw.h similarity index 98% rename from thirdParty/mavlink/include/common/mavlink_msg_rc_channels_raw.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_rc_channels_raw.h index a5b28021d5a5c8050b3a7e5d186b337b23746040..1c25d1a3b38d1c136ec2a41da102ec72bbbf3c18 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_rc_channels_raw.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_rc_channels_raw.h @@ -76,7 +76,7 @@ static inline uint16_t mavlink_msg_rc_channels_raw_pack(uint8_t system_id, uint8 _mav_put_uint8_t(buf, 20, port); _mav_put_uint8_t(buf, 21, rssi); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 22); + memcpy(_MAV_PAYLOAD(msg), buf, 22); #else mavlink_rc_channels_raw_t packet; packet.time_boot_ms = time_boot_ms; @@ -91,7 +91,7 @@ static inline uint16_t mavlink_msg_rc_channels_raw_pack(uint8_t system_id, uint8 packet.port = port; packet.rssi = rssi; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 22); + memcpy(_MAV_PAYLOAD(msg), &packet, 22); #endif msg->msgid = MAVLINK_MSG_ID_RC_CHANNELS_RAW; @@ -135,7 +135,7 @@ static inline uint16_t mavlink_msg_rc_channels_raw_pack_chan(uint8_t system_id, _mav_put_uint8_t(buf, 20, port); _mav_put_uint8_t(buf, 21, rssi); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 22); + memcpy(_MAV_PAYLOAD(msg), buf, 22); #else mavlink_rc_channels_raw_t packet; packet.time_boot_ms = time_boot_ms; @@ -150,7 +150,7 @@ static inline uint16_t mavlink_msg_rc_channels_raw_pack_chan(uint8_t system_id, packet.port = port; packet.rssi = rssi; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 22); + memcpy(_MAV_PAYLOAD(msg), &packet, 22); #endif msg->msgid = MAVLINK_MSG_ID_RC_CHANNELS_RAW; diff --git a/thirdParty/mavlink/include/common/mavlink_msg_rc_channels_scaled.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_rc_channels_scaled.h similarity index 98% rename from thirdParty/mavlink/include/common/mavlink_msg_rc_channels_scaled.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_rc_channels_scaled.h index 23c14c03d7a3b5c55a181c31f713e21a1f756b51..a7a4e5b97fb3382cc123a7a2bc073d4553f498ba 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_rc_channels_scaled.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_rc_channels_scaled.h @@ -76,7 +76,7 @@ static inline uint16_t mavlink_msg_rc_channels_scaled_pack(uint8_t system_id, ui _mav_put_uint8_t(buf, 20, port); _mav_put_uint8_t(buf, 21, rssi); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 22); + memcpy(_MAV_PAYLOAD(msg), buf, 22); #else mavlink_rc_channels_scaled_t packet; packet.time_boot_ms = time_boot_ms; @@ -91,7 +91,7 @@ static inline uint16_t mavlink_msg_rc_channels_scaled_pack(uint8_t system_id, ui packet.port = port; packet.rssi = rssi; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 22); + memcpy(_MAV_PAYLOAD(msg), &packet, 22); #endif msg->msgid = MAVLINK_MSG_ID_RC_CHANNELS_SCALED; @@ -135,7 +135,7 @@ static inline uint16_t mavlink_msg_rc_channels_scaled_pack_chan(uint8_t system_i _mav_put_uint8_t(buf, 20, port); _mav_put_uint8_t(buf, 21, rssi); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 22); + memcpy(_MAV_PAYLOAD(msg), buf, 22); #else mavlink_rc_channels_scaled_t packet; packet.time_boot_ms = time_boot_ms; @@ -150,7 +150,7 @@ static inline uint16_t mavlink_msg_rc_channels_scaled_pack_chan(uint8_t system_i packet.port = port; packet.rssi = rssi; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 22); + memcpy(_MAV_PAYLOAD(msg), &packet, 22); #endif msg->msgid = MAVLINK_MSG_ID_RC_CHANNELS_SCALED; diff --git a/thirdParty/mavlink/include/common/mavlink_msg_request_data_stream.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_request_data_stream.h similarity index 97% rename from thirdParty/mavlink/include/common/mavlink_msg_request_data_stream.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_request_data_stream.h index d8653ad1095f292b744d72ea070d351bffa59bf9..9889bfc08512a1ddd3d9a6714d83164b6fcdf58a 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_request_data_stream.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_request_data_stream.h @@ -52,7 +52,7 @@ static inline uint16_t mavlink_msg_request_data_stream_pack(uint8_t system_id, u _mav_put_uint8_t(buf, 4, req_stream_id); _mav_put_uint8_t(buf, 5, start_stop); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 6); + memcpy(_MAV_PAYLOAD(msg), buf, 6); #else mavlink_request_data_stream_t packet; packet.req_message_rate = req_message_rate; @@ -61,7 +61,7 @@ static inline uint16_t mavlink_msg_request_data_stream_pack(uint8_t system_id, u packet.req_stream_id = req_stream_id; packet.start_stop = start_stop; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 6); + memcpy(_MAV_PAYLOAD(msg), &packet, 6); #endif msg->msgid = MAVLINK_MSG_ID_REQUEST_DATA_STREAM; @@ -93,7 +93,7 @@ static inline uint16_t mavlink_msg_request_data_stream_pack_chan(uint8_t system_ _mav_put_uint8_t(buf, 4, req_stream_id); _mav_put_uint8_t(buf, 5, start_stop); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 6); + memcpy(_MAV_PAYLOAD(msg), buf, 6); #else mavlink_request_data_stream_t packet; packet.req_message_rate = req_message_rate; @@ -102,7 +102,7 @@ static inline uint16_t mavlink_msg_request_data_stream_pack_chan(uint8_t system_ packet.req_stream_id = req_stream_id; packet.start_stop = start_stop; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 6); + memcpy(_MAV_PAYLOAD(msg), &packet, 6); #endif msg->msgid = MAVLINK_MSG_ID_REQUEST_DATA_STREAM; diff --git a/thirdParty/mavlink/include/common/mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint.h similarity index 97% rename from thirdParty/mavlink/include/common/mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint.h index 5751badc3e2bde36cddcbb4de14a33f2a6335ba3..80a88cca2f66ce48cca012b34110551cb308613e 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint.h @@ -52,7 +52,7 @@ static inline uint16_t mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_pack(uin _mav_put_float(buf, 12, yaw_speed); _mav_put_float(buf, 16, thrust); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 20); + memcpy(_MAV_PAYLOAD(msg), buf, 20); #else mavlink_roll_pitch_yaw_speed_thrust_setpoint_t packet; packet.time_boot_ms = time_boot_ms; @@ -61,7 +61,7 @@ static inline uint16_t mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_pack(uin packet.yaw_speed = yaw_speed; packet.thrust = thrust; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 20); + memcpy(_MAV_PAYLOAD(msg), &packet, 20); #endif msg->msgid = MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT; @@ -93,7 +93,7 @@ static inline uint16_t mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_pack_cha _mav_put_float(buf, 12, yaw_speed); _mav_put_float(buf, 16, thrust); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 20); + memcpy(_MAV_PAYLOAD(msg), buf, 20); #else mavlink_roll_pitch_yaw_speed_thrust_setpoint_t packet; packet.time_boot_ms = time_boot_ms; @@ -102,7 +102,7 @@ static inline uint16_t mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_pack_cha packet.yaw_speed = yaw_speed; packet.thrust = thrust; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 20); + memcpy(_MAV_PAYLOAD(msg), &packet, 20); #endif msg->msgid = MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT; diff --git a/thirdParty/mavlink/include/common/mavlink_msg_roll_pitch_yaw_thrust_setpoint.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_roll_pitch_yaw_thrust_setpoint.h similarity index 97% rename from thirdParty/mavlink/include/common/mavlink_msg_roll_pitch_yaw_thrust_setpoint.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_roll_pitch_yaw_thrust_setpoint.h index a9f6ad0caa61a1fcfc9d951a0b52b7a5112ee826..b8b87028d58905c6ffa8a859f8601b03ee220370 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_roll_pitch_yaw_thrust_setpoint.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_roll_pitch_yaw_thrust_setpoint.h @@ -52,7 +52,7 @@ static inline uint16_t mavlink_msg_roll_pitch_yaw_thrust_setpoint_pack(uint8_t s _mav_put_float(buf, 12, yaw); _mav_put_float(buf, 16, thrust); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 20); + memcpy(_MAV_PAYLOAD(msg), buf, 20); #else mavlink_roll_pitch_yaw_thrust_setpoint_t packet; packet.time_boot_ms = time_boot_ms; @@ -61,7 +61,7 @@ static inline uint16_t mavlink_msg_roll_pitch_yaw_thrust_setpoint_pack(uint8_t s packet.yaw = yaw; packet.thrust = thrust; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 20); + memcpy(_MAV_PAYLOAD(msg), &packet, 20); #endif msg->msgid = MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT; @@ -93,7 +93,7 @@ static inline uint16_t mavlink_msg_roll_pitch_yaw_thrust_setpoint_pack_chan(uint _mav_put_float(buf, 12, yaw); _mav_put_float(buf, 16, thrust); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 20); + memcpy(_MAV_PAYLOAD(msg), buf, 20); #else mavlink_roll_pitch_yaw_thrust_setpoint_t packet; packet.time_boot_ms = time_boot_ms; @@ -102,7 +102,7 @@ static inline uint16_t mavlink_msg_roll_pitch_yaw_thrust_setpoint_pack_chan(uint packet.yaw = yaw; packet.thrust = thrust; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 20); + memcpy(_MAV_PAYLOAD(msg), &packet, 20); #endif msg->msgid = MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT; diff --git a/thirdParty/mavlink/include/common/mavlink_msg_safety_allowed_area.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_safety_allowed_area.h similarity index 97% rename from thirdParty/mavlink/include/common/mavlink_msg_safety_allowed_area.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_safety_allowed_area.h index aae6fd206ae9910aad8dd98ac000e67af3035b12..fee7734d0175e4971e53feaf246596d7cc999baa 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_safety_allowed_area.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_safety_allowed_area.h @@ -60,7 +60,7 @@ static inline uint16_t mavlink_msg_safety_allowed_area_pack(uint8_t system_id, u _mav_put_float(buf, 20, p2z); _mav_put_uint8_t(buf, 24, frame); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 25); + memcpy(_MAV_PAYLOAD(msg), buf, 25); #else mavlink_safety_allowed_area_t packet; packet.p1x = p1x; @@ -71,7 +71,7 @@ static inline uint16_t mavlink_msg_safety_allowed_area_pack(uint8_t system_id, u packet.p2z = p2z; packet.frame = frame; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 25); + memcpy(_MAV_PAYLOAD(msg), &packet, 25); #endif msg->msgid = MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA; @@ -107,7 +107,7 @@ static inline uint16_t mavlink_msg_safety_allowed_area_pack_chan(uint8_t system_ _mav_put_float(buf, 20, p2z); _mav_put_uint8_t(buf, 24, frame); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 25); + memcpy(_MAV_PAYLOAD(msg), buf, 25); #else mavlink_safety_allowed_area_t packet; packet.p1x = p1x; @@ -118,7 +118,7 @@ static inline uint16_t mavlink_msg_safety_allowed_area_pack_chan(uint8_t system_ packet.p2z = p2z; packet.frame = frame; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 25); + memcpy(_MAV_PAYLOAD(msg), &packet, 25); #endif msg->msgid = MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA; diff --git a/thirdParty/mavlink/include/common/mavlink_msg_safety_set_allowed_area.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_safety_set_allowed_area.h similarity index 98% rename from thirdParty/mavlink/include/common/mavlink_msg_safety_set_allowed_area.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_safety_set_allowed_area.h index 8fb410c2d63969636d2d2cf4f1c4c84b33988d6b..35d9b3b25425ca660a839264327e5d0dbe9bef17 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_safety_set_allowed_area.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_safety_set_allowed_area.h @@ -68,7 +68,7 @@ static inline uint16_t mavlink_msg_safety_set_allowed_area_pack(uint8_t system_i _mav_put_uint8_t(buf, 25, target_component); _mav_put_uint8_t(buf, 26, frame); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 27); + memcpy(_MAV_PAYLOAD(msg), buf, 27); #else mavlink_safety_set_allowed_area_t packet; packet.p1x = p1x; @@ -81,7 +81,7 @@ static inline uint16_t mavlink_msg_safety_set_allowed_area_pack(uint8_t system_i packet.target_component = target_component; packet.frame = frame; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 27); + memcpy(_MAV_PAYLOAD(msg), &packet, 27); #endif msg->msgid = MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA; @@ -121,7 +121,7 @@ static inline uint16_t mavlink_msg_safety_set_allowed_area_pack_chan(uint8_t sys _mav_put_uint8_t(buf, 25, target_component); _mav_put_uint8_t(buf, 26, frame); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 27); + memcpy(_MAV_PAYLOAD(msg), buf, 27); #else mavlink_safety_set_allowed_area_t packet; packet.p1x = p1x; @@ -134,7 +134,7 @@ static inline uint16_t mavlink_msg_safety_set_allowed_area_pack_chan(uint8_t sys packet.target_component = target_component; packet.frame = frame; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 27); + memcpy(_MAV_PAYLOAD(msg), &packet, 27); #endif msg->msgid = MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA; diff --git a/thirdParty/mavlink/include/common/mavlink_msg_scaled_imu.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_scaled_imu.h similarity index 98% rename from thirdParty/mavlink/include/common/mavlink_msg_scaled_imu.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_scaled_imu.h index 8ff098f39f6714c1b60e5c21ca67f547b586b0f2..145d959ade88ea1a8d5aba16195d51a31d8a9946 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_scaled_imu.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_scaled_imu.h @@ -72,7 +72,7 @@ static inline uint16_t mavlink_msg_scaled_imu_pack(uint8_t system_id, uint8_t co _mav_put_int16_t(buf, 18, ymag); _mav_put_int16_t(buf, 20, zmag); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 22); + memcpy(_MAV_PAYLOAD(msg), buf, 22); #else mavlink_scaled_imu_t packet; packet.time_boot_ms = time_boot_ms; @@ -86,7 +86,7 @@ static inline uint16_t mavlink_msg_scaled_imu_pack(uint8_t system_id, uint8_t co packet.ymag = ymag; packet.zmag = zmag; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 22); + memcpy(_MAV_PAYLOAD(msg), &packet, 22); #endif msg->msgid = MAVLINK_MSG_ID_SCALED_IMU; @@ -128,7 +128,7 @@ static inline uint16_t mavlink_msg_scaled_imu_pack_chan(uint8_t system_id, uint8 _mav_put_int16_t(buf, 18, ymag); _mav_put_int16_t(buf, 20, zmag); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 22); + memcpy(_MAV_PAYLOAD(msg), buf, 22); #else mavlink_scaled_imu_t packet; packet.time_boot_ms = time_boot_ms; @@ -142,7 +142,7 @@ static inline uint16_t mavlink_msg_scaled_imu_pack_chan(uint8_t system_id, uint8 packet.ymag = ymag; packet.zmag = zmag; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 22); + memcpy(_MAV_PAYLOAD(msg), &packet, 22); #endif msg->msgid = MAVLINK_MSG_ID_SCALED_IMU; diff --git a/thirdParty/mavlink/include/common/mavlink_msg_scaled_pressure.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_scaled_pressure.h similarity index 97% rename from thirdParty/mavlink/include/common/mavlink_msg_scaled_pressure.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_scaled_pressure.h index dac1e0b9a6569e8a1af06a2f63ecfe430ce3de7e..428a7af22373237205a021ced7d58c616e313179 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_scaled_pressure.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_scaled_pressure.h @@ -48,7 +48,7 @@ static inline uint16_t mavlink_msg_scaled_pressure_pack(uint8_t system_id, uint8 _mav_put_float(buf, 8, press_diff); _mav_put_int16_t(buf, 12, temperature); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 14); + memcpy(_MAV_PAYLOAD(msg), buf, 14); #else mavlink_scaled_pressure_t packet; packet.time_boot_ms = time_boot_ms; @@ -56,7 +56,7 @@ static inline uint16_t mavlink_msg_scaled_pressure_pack(uint8_t system_id, uint8 packet.press_diff = press_diff; packet.temperature = temperature; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 14); + memcpy(_MAV_PAYLOAD(msg), &packet, 14); #endif msg->msgid = MAVLINK_MSG_ID_SCALED_PRESSURE; @@ -86,7 +86,7 @@ static inline uint16_t mavlink_msg_scaled_pressure_pack_chan(uint8_t system_id, _mav_put_float(buf, 8, press_diff); _mav_put_int16_t(buf, 12, temperature); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 14); + memcpy(_MAV_PAYLOAD(msg), buf, 14); #else mavlink_scaled_pressure_t packet; packet.time_boot_ms = time_boot_ms; @@ -94,7 +94,7 @@ static inline uint16_t mavlink_msg_scaled_pressure_pack_chan(uint8_t system_id, packet.press_diff = press_diff; packet.temperature = temperature; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 14); + memcpy(_MAV_PAYLOAD(msg), &packet, 14); #endif msg->msgid = MAVLINK_MSG_ID_SCALED_PRESSURE; diff --git a/thirdParty/mavlink/include/common/mavlink_msg_servo_output_raw.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_servo_output_raw.h similarity index 98% rename from thirdParty/mavlink/include/common/mavlink_msg_servo_output_raw.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_servo_output_raw.h index 34a58cd76342cf46a7dc21df1ce1226af95ff914..dce71fd6e8d05d75aab113db92cd26dee161edaa 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_servo_output_raw.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_servo_output_raw.h @@ -72,7 +72,7 @@ static inline uint16_t mavlink_msg_servo_output_raw_pack(uint8_t system_id, uint _mav_put_uint16_t(buf, 18, servo8_raw); _mav_put_uint8_t(buf, 20, port); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 21); + memcpy(_MAV_PAYLOAD(msg), buf, 21); #else mavlink_servo_output_raw_t packet; packet.time_usec = time_usec; @@ -86,7 +86,7 @@ static inline uint16_t mavlink_msg_servo_output_raw_pack(uint8_t system_id, uint packet.servo8_raw = servo8_raw; packet.port = port; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 21); + memcpy(_MAV_PAYLOAD(msg), &packet, 21); #endif msg->msgid = MAVLINK_MSG_ID_SERVO_OUTPUT_RAW; @@ -128,7 +128,7 @@ static inline uint16_t mavlink_msg_servo_output_raw_pack_chan(uint8_t system_id, _mav_put_uint16_t(buf, 18, servo8_raw); _mav_put_uint8_t(buf, 20, port); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 21); + memcpy(_MAV_PAYLOAD(msg), buf, 21); #else mavlink_servo_output_raw_t packet; packet.time_usec = time_usec; @@ -142,7 +142,7 @@ static inline uint16_t mavlink_msg_servo_output_raw_pack_chan(uint8_t system_id, packet.servo8_raw = servo8_raw; packet.port = port; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 21); + memcpy(_MAV_PAYLOAD(msg), &packet, 21); #endif msg->msgid = MAVLINK_MSG_ID_SERVO_OUTPUT_RAW; diff --git a/thirdParty/mavlink/include/common/mavlink_msg_set_global_position_setpoint_int.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_set_global_position_setpoint_int.h similarity index 97% rename from thirdParty/mavlink/include/common/mavlink_msg_set_global_position_setpoint_int.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_set_global_position_setpoint_int.h index 5b706fb506747617c639ef2a8bef12eeb6bde629..ea34731c9eeafc0126b2caeb7ef0d77bb9992b34 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_set_global_position_setpoint_int.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_set_global_position_setpoint_int.h @@ -52,7 +52,7 @@ static inline uint16_t mavlink_msg_set_global_position_setpoint_int_pack(uint8_t _mav_put_int16_t(buf, 12, yaw); _mav_put_uint8_t(buf, 14, coordinate_frame); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 15); + memcpy(_MAV_PAYLOAD(msg), buf, 15); #else mavlink_set_global_position_setpoint_int_t packet; packet.latitude = latitude; @@ -61,7 +61,7 @@ static inline uint16_t mavlink_msg_set_global_position_setpoint_int_pack(uint8_t packet.yaw = yaw; packet.coordinate_frame = coordinate_frame; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 15); + memcpy(_MAV_PAYLOAD(msg), &packet, 15); #endif msg->msgid = MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT; @@ -93,7 +93,7 @@ static inline uint16_t mavlink_msg_set_global_position_setpoint_int_pack_chan(ui _mav_put_int16_t(buf, 12, yaw); _mav_put_uint8_t(buf, 14, coordinate_frame); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 15); + memcpy(_MAV_PAYLOAD(msg), buf, 15); #else mavlink_set_global_position_setpoint_int_t packet; packet.latitude = latitude; @@ -102,7 +102,7 @@ static inline uint16_t mavlink_msg_set_global_position_setpoint_int_pack_chan(ui packet.yaw = yaw; packet.coordinate_frame = coordinate_frame; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 15); + memcpy(_MAV_PAYLOAD(msg), &packet, 15); #endif msg->msgid = MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT; diff --git a/thirdParty/mavlink/include/common/mavlink_msg_set_gps_global_origin.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_set_gps_global_origin.h similarity index 96% rename from thirdParty/mavlink/include/common/mavlink_msg_set_gps_global_origin.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_set_gps_global_origin.h index af404b1108e720c47f6f7ee85c96fd477f5c6751..ee6f18af567849d9b89e8597c1ae286e2a88dda9 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_set_gps_global_origin.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_set_gps_global_origin.h @@ -48,7 +48,7 @@ static inline uint16_t mavlink_msg_set_gps_global_origin_pack(uint8_t system_id, _mav_put_int32_t(buf, 8, altitude); _mav_put_uint8_t(buf, 12, target_system); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 13); + memcpy(_MAV_PAYLOAD(msg), buf, 13); #else mavlink_set_gps_global_origin_t packet; packet.latitude = latitude; @@ -56,7 +56,7 @@ static inline uint16_t mavlink_msg_set_gps_global_origin_pack(uint8_t system_id, packet.altitude = altitude; packet.target_system = target_system; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 13); + memcpy(_MAV_PAYLOAD(msg), &packet, 13); #endif msg->msgid = MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN; @@ -86,7 +86,7 @@ static inline uint16_t mavlink_msg_set_gps_global_origin_pack_chan(uint8_t syste _mav_put_int32_t(buf, 8, altitude); _mav_put_uint8_t(buf, 12, target_system); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 13); + memcpy(_MAV_PAYLOAD(msg), buf, 13); #else mavlink_set_gps_global_origin_t packet; packet.latitude = latitude; @@ -94,7 +94,7 @@ static inline uint16_t mavlink_msg_set_gps_global_origin_pack_chan(uint8_t syste packet.altitude = altitude; packet.target_system = target_system; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 13); + memcpy(_MAV_PAYLOAD(msg), &packet, 13); #endif msg->msgid = MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN; diff --git a/thirdParty/mavlink/include/common/mavlink_msg_set_local_position_setpoint.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_set_local_position_setpoint.h similarity index 97% rename from thirdParty/mavlink/include/common/mavlink_msg_set_local_position_setpoint.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_set_local_position_setpoint.h index 233e07d65cc9aa8c79f90830e81c4377c69934c0..4024c9ef13c909f40c97c9ecfebe0aedabab16b1 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_set_local_position_setpoint.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_set_local_position_setpoint.h @@ -60,7 +60,7 @@ static inline uint16_t mavlink_msg_set_local_position_setpoint_pack(uint8_t syst _mav_put_uint8_t(buf, 17, target_component); _mav_put_uint8_t(buf, 18, coordinate_frame); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 19); + memcpy(_MAV_PAYLOAD(msg), buf, 19); #else mavlink_set_local_position_setpoint_t packet; packet.x = x; @@ -71,7 +71,7 @@ static inline uint16_t mavlink_msg_set_local_position_setpoint_pack(uint8_t syst packet.target_component = target_component; packet.coordinate_frame = coordinate_frame; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 19); + memcpy(_MAV_PAYLOAD(msg), &packet, 19); #endif msg->msgid = MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT; @@ -107,7 +107,7 @@ static inline uint16_t mavlink_msg_set_local_position_setpoint_pack_chan(uint8_t _mav_put_uint8_t(buf, 17, target_component); _mav_put_uint8_t(buf, 18, coordinate_frame); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 19); + memcpy(_MAV_PAYLOAD(msg), buf, 19); #else mavlink_set_local_position_setpoint_t packet; packet.x = x; @@ -118,7 +118,7 @@ static inline uint16_t mavlink_msg_set_local_position_setpoint_pack_chan(uint8_t packet.target_component = target_component; packet.coordinate_frame = coordinate_frame; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 19); + memcpy(_MAV_PAYLOAD(msg), &packet, 19); #endif msg->msgid = MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT; diff --git a/thirdParty/mavlink/include/common/mavlink_msg_set_mode.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_set_mode.h similarity index 96% rename from thirdParty/mavlink/include/common/mavlink_msg_set_mode.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_set_mode.h index fec21ab13791a0a20706423fb387bf1469b772fb..b622de0ea9092b5ede29d9f61484e64c52c727eb 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_set_mode.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_set_mode.h @@ -44,14 +44,14 @@ static inline uint16_t mavlink_msg_set_mode_pack(uint8_t system_id, uint8_t comp _mav_put_uint8_t(buf, 4, target_system); _mav_put_uint8_t(buf, 5, base_mode); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 6); + memcpy(_MAV_PAYLOAD(msg), buf, 6); #else mavlink_set_mode_t packet; packet.custom_mode = custom_mode; packet.target_system = target_system; packet.base_mode = base_mode; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 6); + memcpy(_MAV_PAYLOAD(msg), &packet, 6); #endif msg->msgid = MAVLINK_MSG_ID_SET_MODE; @@ -79,14 +79,14 @@ static inline uint16_t mavlink_msg_set_mode_pack_chan(uint8_t system_id, uint8_t _mav_put_uint8_t(buf, 4, target_system); _mav_put_uint8_t(buf, 5, base_mode); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 6); + memcpy(_MAV_PAYLOAD(msg), buf, 6); #else mavlink_set_mode_t packet; packet.custom_mode = custom_mode; packet.target_system = target_system; packet.base_mode = base_mode; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 6); + memcpy(_MAV_PAYLOAD(msg), &packet, 6); #endif msg->msgid = MAVLINK_MSG_ID_SET_MODE; diff --git a/thirdParty/mavlink/include/common/mavlink_msg_set_roll_pitch_yaw_speed_thrust.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_set_roll_pitch_yaw_speed_thrust.h similarity index 97% rename from thirdParty/mavlink/include/common/mavlink_msg_set_roll_pitch_yaw_speed_thrust.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_set_roll_pitch_yaw_speed_thrust.h index b79a7e9f2fd3bb519d36acf0d70b65e74e9604b7..0141f77520e5188d38340849de2ee212cecd4682 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_set_roll_pitch_yaw_speed_thrust.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_set_roll_pitch_yaw_speed_thrust.h @@ -56,7 +56,7 @@ static inline uint16_t mavlink_msg_set_roll_pitch_yaw_speed_thrust_pack(uint8_t _mav_put_uint8_t(buf, 16, target_system); _mav_put_uint8_t(buf, 17, target_component); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 18); + memcpy(_MAV_PAYLOAD(msg), buf, 18); #else mavlink_set_roll_pitch_yaw_speed_thrust_t packet; packet.roll_speed = roll_speed; @@ -66,7 +66,7 @@ static inline uint16_t mavlink_msg_set_roll_pitch_yaw_speed_thrust_pack(uint8_t packet.target_system = target_system; packet.target_component = target_component; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 18); + memcpy(_MAV_PAYLOAD(msg), &packet, 18); #endif msg->msgid = MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST; @@ -100,7 +100,7 @@ static inline uint16_t mavlink_msg_set_roll_pitch_yaw_speed_thrust_pack_chan(uin _mav_put_uint8_t(buf, 16, target_system); _mav_put_uint8_t(buf, 17, target_component); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 18); + memcpy(_MAV_PAYLOAD(msg), buf, 18); #else mavlink_set_roll_pitch_yaw_speed_thrust_t packet; packet.roll_speed = roll_speed; @@ -110,7 +110,7 @@ static inline uint16_t mavlink_msg_set_roll_pitch_yaw_speed_thrust_pack_chan(uin packet.target_system = target_system; packet.target_component = target_component; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 18); + memcpy(_MAV_PAYLOAD(msg), &packet, 18); #endif msg->msgid = MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST; diff --git a/thirdParty/mavlink/include/common/mavlink_msg_set_roll_pitch_yaw_thrust.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_set_roll_pitch_yaw_thrust.h similarity index 97% rename from thirdParty/mavlink/include/common/mavlink_msg_set_roll_pitch_yaw_thrust.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_set_roll_pitch_yaw_thrust.h index 8cd573a26c561e658bcdb255873dbac00a3983ab..453cf7b9c8b9f8c88143c55b2e25b646627603d6 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_set_roll_pitch_yaw_thrust.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_set_roll_pitch_yaw_thrust.h @@ -56,7 +56,7 @@ static inline uint16_t mavlink_msg_set_roll_pitch_yaw_thrust_pack(uint8_t system _mav_put_uint8_t(buf, 16, target_system); _mav_put_uint8_t(buf, 17, target_component); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 18); + memcpy(_MAV_PAYLOAD(msg), buf, 18); #else mavlink_set_roll_pitch_yaw_thrust_t packet; packet.roll = roll; @@ -66,7 +66,7 @@ static inline uint16_t mavlink_msg_set_roll_pitch_yaw_thrust_pack(uint8_t system packet.target_system = target_system; packet.target_component = target_component; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 18); + memcpy(_MAV_PAYLOAD(msg), &packet, 18); #endif msg->msgid = MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST; @@ -100,7 +100,7 @@ static inline uint16_t mavlink_msg_set_roll_pitch_yaw_thrust_pack_chan(uint8_t s _mav_put_uint8_t(buf, 16, target_system); _mav_put_uint8_t(buf, 17, target_component); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 18); + memcpy(_MAV_PAYLOAD(msg), buf, 18); #else mavlink_set_roll_pitch_yaw_thrust_t packet; packet.roll = roll; @@ -110,7 +110,7 @@ static inline uint16_t mavlink_msg_set_roll_pitch_yaw_thrust_pack_chan(uint8_t s packet.target_system = target_system; packet.target_component = target_component; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 18); + memcpy(_MAV_PAYLOAD(msg), &packet, 18); #endif msg->msgid = MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST; diff --git a/thirdParty/mavlink/include/common/mavlink_msg_state_correction.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_state_correction.h similarity index 97% rename from thirdParty/mavlink/include/common/mavlink_msg_state_correction.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_state_correction.h index 0f4f1f5e22bff94c46af0c96dd5210ceaf67b2ec..7dea690d292725dce5b28b8335ce0891410d2e46 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_state_correction.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_state_correction.h @@ -68,7 +68,7 @@ static inline uint16_t mavlink_msg_state_correction_pack(uint8_t system_id, uint _mav_put_float(buf, 28, vyErr); _mav_put_float(buf, 32, vzErr); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 36); + memcpy(_MAV_PAYLOAD(msg), buf, 36); #else mavlink_state_correction_t packet; packet.xErr = xErr; @@ -81,7 +81,7 @@ static inline uint16_t mavlink_msg_state_correction_pack(uint8_t system_id, uint packet.vyErr = vyErr; packet.vzErr = vzErr; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 36); + memcpy(_MAV_PAYLOAD(msg), &packet, 36); #endif msg->msgid = MAVLINK_MSG_ID_STATE_CORRECTION; @@ -121,7 +121,7 @@ static inline uint16_t mavlink_msg_state_correction_pack_chan(uint8_t system_id, _mav_put_float(buf, 28, vyErr); _mav_put_float(buf, 32, vzErr); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 36); + memcpy(_MAV_PAYLOAD(msg), buf, 36); #else mavlink_state_correction_t packet; packet.xErr = xErr; @@ -134,7 +134,7 @@ static inline uint16_t mavlink_msg_state_correction_pack_chan(uint8_t system_id, packet.vyErr = vyErr; packet.vzErr = vzErr; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 36); + memcpy(_MAV_PAYLOAD(msg), &packet, 36); #endif msg->msgid = MAVLINK_MSG_ID_STATE_CORRECTION; diff --git a/thirdParty/mavlink/include/common/mavlink_msg_statustext.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_statustext.h similarity index 95% rename from thirdParty/mavlink/include/common/mavlink_msg_statustext.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_statustext.h index e6dac6374ac5ba830f6c11546a5a8f0b7624bdf8..1e1d38d2c738178761ac9c04a86a665abd314734 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_statustext.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_statustext.h @@ -39,12 +39,12 @@ static inline uint16_t mavlink_msg_statustext_pack(uint8_t system_id, uint8_t co char buf[51]; _mav_put_uint8_t(buf, 0, severity); _mav_put_char_array(buf, 1, text, 50); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 51); + memcpy(_MAV_PAYLOAD(msg), buf, 51); #else mavlink_statustext_t packet; packet.severity = severity; mav_array_memcpy(packet.text, text, sizeof(char)*50); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 51); + memcpy(_MAV_PAYLOAD(msg), &packet, 51); #endif msg->msgid = MAVLINK_MSG_ID_STATUSTEXT; @@ -69,12 +69,12 @@ static inline uint16_t mavlink_msg_statustext_pack_chan(uint8_t system_id, uint8 char buf[51]; _mav_put_uint8_t(buf, 0, severity); _mav_put_char_array(buf, 1, text, 50); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 51); + memcpy(_MAV_PAYLOAD(msg), buf, 51); #else mavlink_statustext_t packet; packet.severity = severity; mav_array_memcpy(packet.text, text, sizeof(char)*50); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 51); + memcpy(_MAV_PAYLOAD(msg), &packet, 51); #endif msg->msgid = MAVLINK_MSG_ID_STATUSTEXT; diff --git a/thirdParty/mavlink/include/common/mavlink_msg_sys_status.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_sys_status.h similarity index 99% rename from thirdParty/mavlink/include/common/mavlink_msg_sys_status.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_sys_status.h index ef09a652f8bce55bf3866775a6d0d9483a9036da..adada471d1d8a3b11b1516f72f143832209f2fe3 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_sys_status.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_sys_status.h @@ -84,7 +84,7 @@ static inline uint16_t mavlink_msg_sys_status_pack(uint8_t system_id, uint8_t co _mav_put_uint16_t(buf, 28, errors_count4); _mav_put_int8_t(buf, 30, battery_remaining); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 31); + memcpy(_MAV_PAYLOAD(msg), buf, 31); #else mavlink_sys_status_t packet; packet.onboard_control_sensors_present = onboard_control_sensors_present; @@ -101,7 +101,7 @@ static inline uint16_t mavlink_msg_sys_status_pack(uint8_t system_id, uint8_t co packet.errors_count4 = errors_count4; packet.battery_remaining = battery_remaining; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 31); + memcpy(_MAV_PAYLOAD(msg), &packet, 31); #endif msg->msgid = MAVLINK_MSG_ID_SYS_STATUS; @@ -149,7 +149,7 @@ static inline uint16_t mavlink_msg_sys_status_pack_chan(uint8_t system_id, uint8 _mav_put_uint16_t(buf, 28, errors_count4); _mav_put_int8_t(buf, 30, battery_remaining); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 31); + memcpy(_MAV_PAYLOAD(msg), buf, 31); #else mavlink_sys_status_t packet; packet.onboard_control_sensors_present = onboard_control_sensors_present; @@ -166,7 +166,7 @@ static inline uint16_t mavlink_msg_sys_status_pack_chan(uint8_t system_id, uint8 packet.errors_count4 = errors_count4; packet.battery_remaining = battery_remaining; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 31); + memcpy(_MAV_PAYLOAD(msg), &packet, 31); #endif msg->msgid = MAVLINK_MSG_ID_SYS_STATUS; diff --git a/thirdParty/mavlink/include/common/mavlink_msg_system_time.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_system_time.h similarity index 96% rename from thirdParty/mavlink/include/common/mavlink_msg_system_time.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_system_time.h index c24808d1a2c180e1eb12190e959bfbc344d187b9..a46db49c31a6bf0b1733993ce6b24b2dfbb7fe38 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_system_time.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_system_time.h @@ -40,13 +40,13 @@ static inline uint16_t mavlink_msg_system_time_pack(uint8_t system_id, uint8_t c _mav_put_uint64_t(buf, 0, time_unix_usec); _mav_put_uint32_t(buf, 8, time_boot_ms); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12); + memcpy(_MAV_PAYLOAD(msg), buf, 12); #else mavlink_system_time_t packet; packet.time_unix_usec = time_unix_usec; packet.time_boot_ms = time_boot_ms; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12); + memcpy(_MAV_PAYLOAD(msg), &packet, 12); #endif msg->msgid = MAVLINK_MSG_ID_SYSTEM_TIME; @@ -72,13 +72,13 @@ static inline uint16_t mavlink_msg_system_time_pack_chan(uint8_t system_id, uint _mav_put_uint64_t(buf, 0, time_unix_usec); _mav_put_uint32_t(buf, 8, time_boot_ms); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12); + memcpy(_MAV_PAYLOAD(msg), buf, 12); #else mavlink_system_time_t packet; packet.time_unix_usec = time_unix_usec; packet.time_boot_ms = time_boot_ms; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12); + memcpy(_MAV_PAYLOAD(msg), &packet, 12); #endif msg->msgid = MAVLINK_MSG_ID_SYSTEM_TIME; diff --git a/thirdParty/mavlink/include/common/mavlink_msg_vfr_hud.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_vfr_hud.h similarity index 97% rename from thirdParty/mavlink/include/common/mavlink_msg_vfr_hud.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_vfr_hud.h index d7c1afe410727f890e7d392c565084013a9d536c..3e4c09acdc0dc44eacca0eab0cd1fc07c23a9c13 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_vfr_hud.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_vfr_hud.h @@ -56,7 +56,7 @@ static inline uint16_t mavlink_msg_vfr_hud_pack(uint8_t system_id, uint8_t compo _mav_put_int16_t(buf, 16, heading); _mav_put_uint16_t(buf, 18, throttle); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 20); + memcpy(_MAV_PAYLOAD(msg), buf, 20); #else mavlink_vfr_hud_t packet; packet.airspeed = airspeed; @@ -66,7 +66,7 @@ static inline uint16_t mavlink_msg_vfr_hud_pack(uint8_t system_id, uint8_t compo packet.heading = heading; packet.throttle = throttle; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 20); + memcpy(_MAV_PAYLOAD(msg), &packet, 20); #endif msg->msgid = MAVLINK_MSG_ID_VFR_HUD; @@ -100,7 +100,7 @@ static inline uint16_t mavlink_msg_vfr_hud_pack_chan(uint8_t system_id, uint8_t _mav_put_int16_t(buf, 16, heading); _mav_put_uint16_t(buf, 18, throttle); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 20); + memcpy(_MAV_PAYLOAD(msg), buf, 20); #else mavlink_vfr_hud_t packet; packet.airspeed = airspeed; @@ -110,7 +110,7 @@ static inline uint16_t mavlink_msg_vfr_hud_pack_chan(uint8_t system_id, uint8_t packet.heading = heading; packet.throttle = throttle; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 20); + memcpy(_MAV_PAYLOAD(msg), &packet, 20); #endif msg->msgid = MAVLINK_MSG_ID_VFR_HUD; diff --git a/thirdParty/mavlink/include/common/mavlink_msg_vicon_position_estimate.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_vicon_position_estimate.h similarity index 97% rename from thirdParty/mavlink/include/common/mavlink_msg_vicon_position_estimate.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_vicon_position_estimate.h index ecb565684d6f8adce15a92cdc4969d2892b37dbc..93db6edef98dcd022c47c9213c94b2f78b69397a 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_vicon_position_estimate.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_vicon_position_estimate.h @@ -60,7 +60,7 @@ static inline uint16_t mavlink_msg_vicon_position_estimate_pack(uint8_t system_i _mav_put_float(buf, 24, pitch); _mav_put_float(buf, 28, yaw); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 32); + memcpy(_MAV_PAYLOAD(msg), buf, 32); #else mavlink_vicon_position_estimate_t packet; packet.usec = usec; @@ -71,7 +71,7 @@ static inline uint16_t mavlink_msg_vicon_position_estimate_pack(uint8_t system_i packet.pitch = pitch; packet.yaw = yaw; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 32); + memcpy(_MAV_PAYLOAD(msg), &packet, 32); #endif msg->msgid = MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE; @@ -107,7 +107,7 @@ static inline uint16_t mavlink_msg_vicon_position_estimate_pack_chan(uint8_t sys _mav_put_float(buf, 24, pitch); _mav_put_float(buf, 28, yaw); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 32); + memcpy(_MAV_PAYLOAD(msg), buf, 32); #else mavlink_vicon_position_estimate_t packet; packet.usec = usec; @@ -118,7 +118,7 @@ static inline uint16_t mavlink_msg_vicon_position_estimate_pack_chan(uint8_t sys packet.pitch = pitch; packet.yaw = yaw; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 32); + memcpy(_MAV_PAYLOAD(msg), &packet, 32); #endif msg->msgid = MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE; diff --git a/thirdParty/mavlink/include/common/mavlink_msg_vision_position_estimate.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_vision_position_estimate.h similarity index 97% rename from thirdParty/mavlink/include/common/mavlink_msg_vision_position_estimate.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_vision_position_estimate.h index 041caf7a073cbe71cf888ee89ce02da51c3dd6c1..c99fc99ab10090d5d753de3ad43cb7b7c9c01ee6 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_vision_position_estimate.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_vision_position_estimate.h @@ -60,7 +60,7 @@ static inline uint16_t mavlink_msg_vision_position_estimate_pack(uint8_t system_ _mav_put_float(buf, 24, pitch); _mav_put_float(buf, 28, yaw); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 32); + memcpy(_MAV_PAYLOAD(msg), buf, 32); #else mavlink_vision_position_estimate_t packet; packet.usec = usec; @@ -71,7 +71,7 @@ static inline uint16_t mavlink_msg_vision_position_estimate_pack(uint8_t system_ packet.pitch = pitch; packet.yaw = yaw; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 32); + memcpy(_MAV_PAYLOAD(msg), &packet, 32); #endif msg->msgid = MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE; @@ -107,7 +107,7 @@ static inline uint16_t mavlink_msg_vision_position_estimate_pack_chan(uint8_t sy _mav_put_float(buf, 24, pitch); _mav_put_float(buf, 28, yaw); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 32); + memcpy(_MAV_PAYLOAD(msg), buf, 32); #else mavlink_vision_position_estimate_t packet; packet.usec = usec; @@ -118,7 +118,7 @@ static inline uint16_t mavlink_msg_vision_position_estimate_pack_chan(uint8_t sy packet.pitch = pitch; packet.yaw = yaw; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 32); + memcpy(_MAV_PAYLOAD(msg), &packet, 32); #endif msg->msgid = MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE; diff --git a/thirdParty/mavlink/include/common/mavlink_msg_vision_speed_estimate.h b/thirdParty/mavlink/v1.0/common/mavlink_msg_vision_speed_estimate.h similarity index 96% rename from thirdParty/mavlink/include/common/mavlink_msg_vision_speed_estimate.h rename to thirdParty/mavlink/v1.0/common/mavlink_msg_vision_speed_estimate.h index 3e30b9247ac9479e19b10b047b40e0c92883efe4..71d250c38957a68acf4d6f34929c06b0b855147b 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_vision_speed_estimate.h +++ b/thirdParty/mavlink/v1.0/common/mavlink_msg_vision_speed_estimate.h @@ -48,7 +48,7 @@ static inline uint16_t mavlink_msg_vision_speed_estimate_pack(uint8_t system_id, _mav_put_float(buf, 12, y); _mav_put_float(buf, 16, z); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 20); + memcpy(_MAV_PAYLOAD(msg), buf, 20); #else mavlink_vision_speed_estimate_t packet; packet.usec = usec; @@ -56,7 +56,7 @@ static inline uint16_t mavlink_msg_vision_speed_estimate_pack(uint8_t system_id, packet.y = y; packet.z = z; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 20); + memcpy(_MAV_PAYLOAD(msg), &packet, 20); #endif msg->msgid = MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE; @@ -86,7 +86,7 @@ static inline uint16_t mavlink_msg_vision_speed_estimate_pack_chan(uint8_t syste _mav_put_float(buf, 12, y); _mav_put_float(buf, 16, z); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 20); + memcpy(_MAV_PAYLOAD(msg), buf, 20); #else mavlink_vision_speed_estimate_t packet; packet.usec = usec; @@ -94,7 +94,7 @@ static inline uint16_t mavlink_msg_vision_speed_estimate_pack_chan(uint8_t syste packet.y = y; packet.z = z; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 20); + memcpy(_MAV_PAYLOAD(msg), &packet, 20); #endif msg->msgid = MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE; diff --git a/thirdParty/mavlink/include/common/testsuite.h b/thirdParty/mavlink/v1.0/common/testsuite.h similarity index 97% rename from thirdParty/mavlink/include/common/testsuite.h rename to thirdParty/mavlink/v1.0/common/testsuite.h index 17dbc9a696baf4ae7fe01bdd42955e2a63ba3bd6..a5089f599777d85bd57e21e46d34aaffa8ff3ede 100644 --- a/thirdParty/mavlink/include/common/testsuite.h +++ b/thirdParty/mavlink/v1.0/common/testsuite.h @@ -2526,108 +2526,6 @@ static void mavlink_test_roll_pitch_yaw_speed_thrust_setpoint(uint8_t system_id, MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); } -static void mavlink_test_set_quad_motors_setpoint(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) -{ - mavlink_message_t msg; - uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; - uint16_t i; - mavlink_set_quad_motors_setpoint_t packet_in = { - 17235, - 17339, - 17443, - 17547, - 29, - }; - mavlink_set_quad_motors_setpoint_t packet1, packet2; - memset(&packet1, 0, sizeof(packet1)); - packet1.motor_front_nw = packet_in.motor_front_nw; - packet1.motor_right_ne = packet_in.motor_right_ne; - packet1.motor_back_se = packet_in.motor_back_se; - packet1.motor_left_sw = packet_in.motor_left_sw; - packet1.target_system = packet_in.target_system; - - - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_set_quad_motors_setpoint_encode(system_id, component_id, &msg, &packet1); - mavlink_msg_set_quad_motors_setpoint_decode(&msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_set_quad_motors_setpoint_pack(system_id, component_id, &msg , packet1.target_system , packet1.motor_front_nw , packet1.motor_right_ne , packet1.motor_back_se , packet1.motor_left_sw ); - mavlink_msg_set_quad_motors_setpoint_decode(&msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_set_quad_motors_setpoint_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.motor_front_nw , packet1.motor_right_ne , packet1.motor_back_se , packet1.motor_left_sw ); - mavlink_msg_set_quad_motors_setpoint_decode(&msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_to_send_buffer(buffer, &msg); - for (i=0; imagic, MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)msg->len); + memcpy(buffer, (uint8_t *)&msg->magic, MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)msg->len); return MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)msg->len; } @@ -200,6 +182,8 @@ MAVLINK_HELPER void mavlink_update_checksum(mavlink_message_t* msg, uint8_t c) */ MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status) { + static mavlink_message_t m_mavlink_message[MAVLINK_COMM_NUM_BUFFERS]; + /* default message crc function. You can override this per-system to put this data in a different memory segment @@ -211,7 +195,7 @@ MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_messa #endif #endif - mavlink_message_t* rxmsg = mavlink_get_channel_buffer(chan); ///< The currently decoded message + mavlink_message_t* rxmsg = &m_mavlink_message[chan]; ///< The currently decoded message mavlink_status_t* status = mavlink_get_channel_status(chan); ///< The current decode status int bufferIndex = 0; @@ -225,7 +209,6 @@ MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_messa { status->parse_state = MAVLINK_PARSE_STATE_GOT_STX; rxmsg->len = 0; - rxmsg->magic = c; mavlink_start_checksum(rxmsg); } break; @@ -286,7 +269,7 @@ MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_messa break; case MAVLINK_PARSE_STATE_GOT_MSGID: - _MAV_PAYLOAD_NON_CONST(rxmsg)[status->packet_idx++] = (char)c; + _MAV_PAYLOAD(rxmsg)[status->packet_idx++] = (char)c; mavlink_update_checksum(rxmsg, c); if (status->packet_idx == rxmsg->len) { @@ -313,7 +296,6 @@ MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_messa else { status->parse_state = MAVLINK_PARSE_STATE_GOT_CRC1; - _MAV_PAYLOAD_NON_CONST(rxmsg)[status->packet_idx] = (char)c; } break; @@ -335,7 +317,6 @@ MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_messa // Successfully got message status->msg_received = 1; status->parse_state = MAVLINK_PARSE_STATE_IDLE; - _MAV_PAYLOAD_NON_CONST(rxmsg)[status->packet_idx+1] = (char)c; memcpy(r_message, rxmsg, sizeof(mavlink_message_t)); } break; diff --git a/thirdParty/mavlink/include/mavlink_types.h b/thirdParty/mavlink/v1.0/mavlink_types.h similarity index 69% rename from thirdParty/mavlink/include/mavlink_types.h rename to thirdParty/mavlink/v1.0/mavlink_types.h index cb82024543bb8f4e71ba54fbaf476b38089af7a6..03faf594fe4ae7dbc3a86e24e6bb1540d7ab54ff 100644 --- a/thirdParty/mavlink/include/mavlink_types.h +++ b/thirdParty/mavlink/v1.0/mavlink_types.h @@ -3,6 +3,54 @@ #include +enum MAV_ACTION +{ + MAV_ACTION_HOLD = 0, + MAV_ACTION_MOTORS_START = 1, + MAV_ACTION_LAUNCH = 2, + MAV_ACTION_RETURN = 3, + MAV_ACTION_EMCY_LAND = 4, + MAV_ACTION_EMCY_KILL = 5, + MAV_ACTION_CONFIRM_KILL = 6, + MAV_ACTION_CONTINUE = 7, + MAV_ACTION_MOTORS_STOP = 8, + MAV_ACTION_HALT = 9, + MAV_ACTION_SHUTDOWN = 10, + MAV_ACTION_REBOOT = 11, + MAV_ACTION_SET_MANUAL = 12, + MAV_ACTION_SET_AUTO = 13, + MAV_ACTION_STORAGE_READ = 14, + MAV_ACTION_STORAGE_WRITE = 15, + MAV_ACTION_CALIBRATE_RC = 16, + MAV_ACTION_CALIBRATE_GYRO = 17, + MAV_ACTION_CALIBRATE_MAG = 18, + MAV_ACTION_CALIBRATE_ACC = 19, + MAV_ACTION_CALIBRATE_PRESSURE = 20, + MAV_ACTION_REC_START = 21, + MAV_ACTION_REC_PAUSE = 22, + MAV_ACTION_REC_STOP = 23, + MAV_ACTION_TAKEOFF = 24, + MAV_ACTION_NAVIGATE = 25, + MAV_ACTION_LAND = 26, + MAV_ACTION_LOITER = 27, + MAV_ACTION_SET_ORIGIN = 28, + MAV_ACTION_RELAY_ON = 29, + MAV_ACTION_RELAY_OFF = 30, + MAV_ACTION_GET_IMAGE = 31, + MAV_ACTION_VIDEO_START = 32, + MAV_ACTION_VIDEO_STOP = 33, + MAV_ACTION_RESET_MAP = 34, + MAV_ACTION_RESET_PLAN = 35, + MAV_ACTION_DELAY_BEFORE_COMMAND = 36, + MAV_ACTION_ASCEND_AT_RATE = 37, + MAV_ACTION_CHANGE_MODE = 38, + MAV_ACTION_LOITER_MAX_TURNS = 39, + MAV_ACTION_LOITER_MAX_TIME = 40, + MAV_ACTION_START_HILSIM = 41, + MAV_ACTION_STOP_HILSIM = 42, + MAV_ACTION_NB ///< Number of MAV actions +}; + #ifndef MAVLINK_MAX_PAYLOAD_LEN // it is possible to override this, but be careful! #define MAVLINK_MAX_PAYLOAD_LEN 255 ///< Maximum payload length @@ -15,29 +63,11 @@ #define MAVLINK_MAX_PACKET_LEN (MAVLINK_MAX_PAYLOAD_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) ///< Maximum packet length - -#if (defined __GNUC__) || (defined _MSC_VER) || (defined __MINGW32__) || (defined __WATCOMC__) || (defined __CMB__) || (defined __BORLANDC__) || (defined __clang__) -#define MAVLINK_EXTENDED_MESSAGES_ENABLED -#endif - -// EXTENDED message definition - the extended message set is compatible to standard MAVLink message passing -// but does NOT have to be supported by the platform. The extended message set will NOT consume -// any memory if the messages are not explicitely used - -#ifdef MAVLINK_EXTENDED_MESSAGES_ENABLED -#define MAVLINK_MSG_ID_EXTENDED_MESSAGE 255 -#define MAVLINK_EXTENDED_HEADER_LEN 14 -#define MAVLINK_MAX_EXTENDED_PACKET_LEN 65507 -#define MAVLINK_MAX_EXTENDED_PAYLOAD_LEN (MAVLINK_MAX_EXTENDED_PACKET_LEN - MAVLINK_EXTENDED_HEADER_LEN - MAVLINK_NUM_NON_PAYLOAD_BYTES) -#endif - typedef struct param_union { union { float param_float; int32_t param_int32; uint32_t param_uint32; - uint8_t param_uint8; - uint8_t bytes[4]; }; uint8_t type; } mavlink_param_union_t; @@ -62,15 +92,6 @@ typedef struct __mavlink_message { uint64_t payload64[(MAVLINK_MAX_PAYLOAD_LEN+MAVLINK_NUM_CHECKSUM_BYTES+7)/8]; } mavlink_message_t; -#ifdef MAVLINK_EXTENDED_MESSAGES_ENABLED -typedef struct __mavlink_extended_message { - mavlink_message_t base_msg; - int32_t extended_payload_len; ///< Length of extended payload if any - uint8_t extended_payload[MAVLINK_MAX_EXTENDED_PAYLOAD_LEN]; -} mavlink_extended_message_t; -#endif - - typedef enum { MAVLINK_TYPE_CHAR = 0, MAVLINK_TYPE_UINT8_T = 1, @@ -88,12 +109,12 @@ typedef enum { #define MAVLINK_MAX_FIELDS 64 typedef struct __mavlink_field_info { - const char *name; // name of this field - const char *print_format; // printing format hint, or NULL - mavlink_message_type_t type; // type of this field - unsigned int array_length; // if non-zero, field is an array - unsigned int wire_offset; // offset of each field in the payload - unsigned int structure_offset; // offset in a C structure + const char *name; // name of this field + const char *print_format; // printing format hint, or NULL + mavlink_message_type_t type; // type of this field + unsigned array_length; // if non-zero, field is an array + unsigned wire_offset; // offset of each field in the payload + unsigned structure_offset; // offset in a C structure } mavlink_field_info_t; // note that in this structure the order of fields is the order @@ -104,12 +125,11 @@ typedef struct __mavlink_message_info { mavlink_field_info_t fields[MAVLINK_MAX_FIELDS]; // field information } mavlink_message_info_t; -#define _MAV_PAYLOAD(msg) ((const char *)(&((msg)->payload64[0]))) -#define _MAV_PAYLOAD_NON_CONST(msg) ((char *)(&((msg)->payload64[0]))) +#define _MAV_PAYLOAD(msg) ((char *)(&(msg)->payload64[0])) // checksum is immediately after the payload bytes -#define mavlink_ck_a(msg) *((msg)->len + (uint8_t *)_MAV_PAYLOAD_NON_CONST(msg)) -#define mavlink_ck_b(msg) *(((msg)->len+(uint16_t)1) + (uint8_t *)_MAV_PAYLOAD_NON_CONST(msg)) +#define mavlink_ck_a(msg) *(msg->len + (uint8_t *)_MAV_PAYLOAD(msg)) +#define mavlink_ck_b(msg) *((msg->len+(uint16_t)1) + (uint8_t *)_MAV_PAYLOAD(msg)) typedef enum { MAVLINK_COMM_0, diff --git a/thirdParty/mavlink/include/minimal/mavlink.h b/thirdParty/mavlink/v1.0/minimal/mavlink.h similarity index 100% rename from thirdParty/mavlink/include/minimal/mavlink.h rename to thirdParty/mavlink/v1.0/minimal/mavlink.h diff --git a/thirdParty/mavlink/include/minimal/mavlink_msg_heartbeat.h b/thirdParty/mavlink/v1.0/minimal/mavlink_msg_heartbeat.h similarity index 97% rename from thirdParty/mavlink/include/minimal/mavlink_msg_heartbeat.h rename to thirdParty/mavlink/v1.0/minimal/mavlink_msg_heartbeat.h index 39668d82311a4fcf8075868fabe79cba40baa0cc..103b08be8afc93eab8a41b9b9e5632a2640b49f0 100644 --- a/thirdParty/mavlink/include/minimal/mavlink_msg_heartbeat.h +++ b/thirdParty/mavlink/v1.0/minimal/mavlink_msg_heartbeat.h @@ -55,7 +55,7 @@ static inline uint16_t mavlink_msg_heartbeat_pack(uint8_t system_id, uint8_t com _mav_put_uint8_t(buf, 7, system_status); _mav_put_uint8_t(buf, 8, 2); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 9); + memcpy(_MAV_PAYLOAD(msg), buf, 9); #else mavlink_heartbeat_t packet; packet.custom_mode = custom_mode; @@ -65,7 +65,7 @@ static inline uint16_t mavlink_msg_heartbeat_pack(uint8_t system_id, uint8_t com packet.system_status = system_status; packet.mavlink_version = 2; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 9); + memcpy(_MAV_PAYLOAD(msg), &packet, 9); #endif msg->msgid = MAVLINK_MSG_ID_HEARTBEAT; @@ -98,7 +98,7 @@ static inline uint16_t mavlink_msg_heartbeat_pack_chan(uint8_t system_id, uint8_ _mav_put_uint8_t(buf, 7, system_status); _mav_put_uint8_t(buf, 8, 2); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 9); + memcpy(_MAV_PAYLOAD(msg), buf, 9); #else mavlink_heartbeat_t packet; packet.custom_mode = custom_mode; @@ -108,7 +108,7 @@ static inline uint16_t mavlink_msg_heartbeat_pack_chan(uint8_t system_id, uint8_ packet.system_status = system_status; packet.mavlink_version = 2; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 9); + memcpy(_MAV_PAYLOAD(msg), &packet, 9); #endif msg->msgid = MAVLINK_MSG_ID_HEARTBEAT; diff --git a/thirdParty/mavlink/v1.0/minimal/minimal.h b/thirdParty/mavlink/v1.0/minimal/minimal.h new file mode 100644 index 0000000000000000000000000000000000000000..895c79d0a424f785ffec4e1c4626c03147cdb734 --- /dev/null +++ b/thirdParty/mavlink/v1.0/minimal/minimal.h @@ -0,0 +1,53 @@ +/** @file + * @brief MAVLink comm protocol generated from minimal.xml + * @see http://qgroundcontrol.org/mavlink/ + */ +#ifndef MINIMAL_H +#define MINIMAL_H + +#ifdef __cplusplus +extern "C" { +#endif + +// MESSAGE LENGTHS AND CRCS + +#ifndef MAVLINK_MESSAGE_LENGTHS +#define MAVLINK_MESSAGE_LENGTHS {9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0} +#endif + +#ifndef MAVLINK_MESSAGE_CRCS +#define MAVLINK_MESSAGE_CRCS {50, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0} +#endif + +#ifndef MAVLINK_MESSAGE_INFO +#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}} +#endif + +#include "../protocol.h" + +#define MAVLINK_ENABLED_MINIMAL + + + +// MAVLINK VERSION + +#ifndef MAVLINK_VERSION +#define MAVLINK_VERSION 2 +#endif + +#if (MAVLINK_VERSION == 0) +#undef MAVLINK_VERSION +#define MAVLINK_VERSION 2 +#endif + +// ENUM DEFINITIONS + + + +// MESSAGE DEFINITIONS +#include "./mavlink_msg_heartbeat.h" + +#ifdef __cplusplus +} +#endif // __cplusplus +#endif // MINIMAL_H diff --git a/thirdParty/mavlink/include/minimal/testsuite.h b/thirdParty/mavlink/v1.0/minimal/testsuite.h similarity index 100% rename from thirdParty/mavlink/include/minimal/testsuite.h rename to thirdParty/mavlink/v1.0/minimal/testsuite.h diff --git a/thirdParty/mavlink/include/minimal/version.h b/thirdParty/mavlink/v1.0/minimal/version.h similarity index 84% rename from thirdParty/mavlink/include/minimal/version.h rename to thirdParty/mavlink/v1.0/minimal/version.h index 366fcc1eb69b90138e6d74246b8a7012f18b5711..ee7b5cb8aa1a1428cf0b2a4b2a6623645c7cb414 100644 --- a/thirdParty/mavlink/include/minimal/version.h +++ b/thirdParty/mavlink/v1.0/minimal/version.h @@ -5,7 +5,7 @@ #ifndef MAVLINK_VERSION_H #define MAVLINK_VERSION_H -#define MAVLINK_BUILD_DATE "Thu Feb 9 16:35:36 2012" +#define MAVLINK_BUILD_DATE "Mon Feb 20 20:01:33 2012" #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0" #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 9 diff --git a/thirdParty/mavlink/include/pixhawk/mavlink.h b/thirdParty/mavlink/v1.0/pixhawk/mavlink.h similarity index 100% rename from thirdParty/mavlink/include/pixhawk/mavlink.h rename to thirdParty/mavlink/v1.0/pixhawk/mavlink.h diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_attitude_control.h b/thirdParty/mavlink/v1.0/pixhawk/mavlink_msg_attitude_control.h similarity index 97% rename from thirdParty/mavlink/include/pixhawk/mavlink_msg_attitude_control.h rename to thirdParty/mavlink/v1.0/pixhawk/mavlink_msg_attitude_control.h index 819c45bf27307d395e8e0f9d074e7d13e7495135..d3937d1015a9fda435bd972738d8ae0664cc2ee7 100644 --- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_attitude_control.h +++ b/thirdParty/mavlink/v1.0/pixhawk/mavlink_msg_attitude_control.h @@ -68,7 +68,7 @@ static inline uint16_t mavlink_msg_attitude_control_pack(uint8_t system_id, uint _mav_put_uint8_t(buf, 19, yaw_manual); _mav_put_uint8_t(buf, 20, thrust_manual); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 21); + memcpy(_MAV_PAYLOAD(msg), buf, 21); #else mavlink_attitude_control_t packet; packet.roll = roll; @@ -81,7 +81,7 @@ static inline uint16_t mavlink_msg_attitude_control_pack(uint8_t system_id, uint packet.yaw_manual = yaw_manual; packet.thrust_manual = thrust_manual; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 21); + memcpy(_MAV_PAYLOAD(msg), &packet, 21); #endif msg->msgid = MAVLINK_MSG_ID_ATTITUDE_CONTROL; @@ -121,7 +121,7 @@ static inline uint16_t mavlink_msg_attitude_control_pack_chan(uint8_t system_id, _mav_put_uint8_t(buf, 19, yaw_manual); _mav_put_uint8_t(buf, 20, thrust_manual); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 21); + memcpy(_MAV_PAYLOAD(msg), buf, 21); #else mavlink_attitude_control_t packet; packet.roll = roll; @@ -134,7 +134,7 @@ static inline uint16_t mavlink_msg_attitude_control_pack_chan(uint8_t system_id, packet.yaw_manual = yaw_manual; packet.thrust_manual = thrust_manual; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 21); + memcpy(_MAV_PAYLOAD(msg), &packet, 21); #endif msg->msgid = MAVLINK_MSG_ID_ATTITUDE_CONTROL; diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_brief_feature.h b/thirdParty/mavlink/v1.0/pixhawk/mavlink_msg_brief_feature.h similarity index 97% rename from thirdParty/mavlink/include/pixhawk/mavlink_msg_brief_feature.h rename to thirdParty/mavlink/v1.0/pixhawk/mavlink_msg_brief_feature.h index cde782b484963c2d72cc59ca49e5d45d3778a24f..ded88ced74e6bfc4d2b4c9e17ad8e47777f7cb8d 100644 --- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_brief_feature.h +++ b/thirdParty/mavlink/v1.0/pixhawk/mavlink_msg_brief_feature.h @@ -63,7 +63,7 @@ static inline uint16_t mavlink_msg_brief_feature_pack(uint8_t system_id, uint8_t _mav_put_uint16_t(buf, 18, orientation); _mav_put_uint8_t(buf, 20, orientation_assignment); _mav_put_uint8_t_array(buf, 21, descriptor, 32); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 53); + memcpy(_MAV_PAYLOAD(msg), buf, 53); #else mavlink_brief_feature_t packet; packet.x = x; @@ -74,7 +74,7 @@ static inline uint16_t mavlink_msg_brief_feature_pack(uint8_t system_id, uint8_t packet.orientation = orientation; packet.orientation_assignment = orientation_assignment; mav_array_memcpy(packet.descriptor, descriptor, sizeof(uint8_t)*32); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 53); + memcpy(_MAV_PAYLOAD(msg), &packet, 53); #endif msg->msgid = MAVLINK_MSG_ID_BRIEF_FEATURE; @@ -111,7 +111,7 @@ static inline uint16_t mavlink_msg_brief_feature_pack_chan(uint8_t system_id, ui _mav_put_uint16_t(buf, 18, orientation); _mav_put_uint8_t(buf, 20, orientation_assignment); _mav_put_uint8_t_array(buf, 21, descriptor, 32); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 53); + memcpy(_MAV_PAYLOAD(msg), buf, 53); #else mavlink_brief_feature_t packet; packet.x = x; @@ -122,7 +122,7 @@ static inline uint16_t mavlink_msg_brief_feature_pack_chan(uint8_t system_id, ui packet.orientation = orientation; packet.orientation_assignment = orientation_assignment; mav_array_memcpy(packet.descriptor, descriptor, sizeof(uint8_t)*32); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 53); + memcpy(_MAV_PAYLOAD(msg), &packet, 53); #endif msg->msgid = MAVLINK_MSG_ID_BRIEF_FEATURE; diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_data_transmission_handshake.h b/thirdParty/mavlink/v1.0/pixhawk/mavlink_msg_data_transmission_handshake.h similarity index 66% rename from thirdParty/mavlink/include/pixhawk/mavlink_msg_data_transmission_handshake.h rename to thirdParty/mavlink/v1.0/pixhawk/mavlink_msg_data_transmission_handshake.h index d3ca73f12d59afeb97f3e9371d58931eaf213ab4..dccaace75b67ce0045e609f8a9b42606f9e815f5 100644 --- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_data_transmission_handshake.h +++ b/thirdParty/mavlink/v1.0/pixhawk/mavlink_msg_data_transmission_handshake.h @@ -5,29 +5,25 @@ typedef struct __mavlink_data_transmission_handshake_t { uint32_t size; ///< total data size in bytes (set on ACK only) - uint16_t width; ///< Width of a matrix or image - uint16_t height; ///< Height of a matrix or image uint8_t type; ///< type of requested/acknowledged data (as defined in ENUM DATA_TYPES in mavlink/include/mavlink_types.h) uint8_t packets; ///< number of packets beeing sent (set on ACK only) uint8_t payload; ///< payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only) uint8_t jpg_quality; ///< JPEG quality out of [1,100] } mavlink_data_transmission_handshake_t; -#define MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_LEN 12 -#define MAVLINK_MSG_ID_193_LEN 12 +#define MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_LEN 8 +#define MAVLINK_MSG_ID_193_LEN 8 #define MAVLINK_MESSAGE_INFO_DATA_TRANSMISSION_HANDSHAKE { \ "DATA_TRANSMISSION_HANDSHAKE", \ - 7, \ + 5, \ { { "size", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_data_transmission_handshake_t, size) }, \ - { "width", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_data_transmission_handshake_t, width) }, \ - { "height", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_data_transmission_handshake_t, height) }, \ - { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_data_transmission_handshake_t, type) }, \ - { "packets", NULL, MAVLINK_TYPE_UINT8_T, 0, 9, offsetof(mavlink_data_transmission_handshake_t, packets) }, \ - { "payload", NULL, MAVLINK_TYPE_UINT8_T, 0, 10, offsetof(mavlink_data_transmission_handshake_t, payload) }, \ - { "jpg_quality", NULL, MAVLINK_TYPE_UINT8_T, 0, 11, offsetof(mavlink_data_transmission_handshake_t, jpg_quality) }, \ + { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_data_transmission_handshake_t, type) }, \ + { "packets", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_data_transmission_handshake_t, packets) }, \ + { "payload", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_data_transmission_handshake_t, payload) }, \ + { "jpg_quality", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_data_transmission_handshake_t, jpg_quality) }, \ } \ } @@ -40,42 +36,36 @@ typedef struct __mavlink_data_transmission_handshake_t * * @param type type of requested/acknowledged data (as defined in ENUM DATA_TYPES in mavlink/include/mavlink_types.h) * @param size total data size in bytes (set on ACK only) - * @param width Width of a matrix or image - * @param height Height of a matrix or image * @param packets number of packets beeing sent (set on ACK only) * @param payload payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only) * @param jpg_quality JPEG quality out of [1,100] * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_data_transmission_handshake_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, - uint8_t type, uint32_t size, uint16_t width, uint16_t height, uint8_t packets, uint8_t payload, uint8_t jpg_quality) + uint8_t type, uint32_t size, uint8_t packets, uint8_t payload, uint8_t jpg_quality) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[12]; + char buf[8]; _mav_put_uint32_t(buf, 0, size); - _mav_put_uint16_t(buf, 4, width); - _mav_put_uint16_t(buf, 6, height); - _mav_put_uint8_t(buf, 8, type); - _mav_put_uint8_t(buf, 9, packets); - _mav_put_uint8_t(buf, 10, payload); - _mav_put_uint8_t(buf, 11, jpg_quality); + _mav_put_uint8_t(buf, 4, type); + _mav_put_uint8_t(buf, 5, packets); + _mav_put_uint8_t(buf, 6, payload); + _mav_put_uint8_t(buf, 7, jpg_quality); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12); + memcpy(_MAV_PAYLOAD(msg), buf, 8); #else mavlink_data_transmission_handshake_t packet; packet.size = size; - packet.width = width; - packet.height = height; packet.type = type; packet.packets = packets; packet.payload = payload; packet.jpg_quality = jpg_quality; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12); + memcpy(_MAV_PAYLOAD(msg), &packet, 8); #endif msg->msgid = MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE; - return mavlink_finalize_message(msg, system_id, component_id, 12, 23); + return mavlink_finalize_message(msg, system_id, component_id, 8, 148); } /** @@ -86,8 +76,6 @@ static inline uint16_t mavlink_msg_data_transmission_handshake_pack(uint8_t syst * @param msg The MAVLink message to compress the data into * @param type type of requested/acknowledged data (as defined in ENUM DATA_TYPES in mavlink/include/mavlink_types.h) * @param size total data size in bytes (set on ACK only) - * @param width Width of a matrix or image - * @param height Height of a matrix or image * @param packets number of packets beeing sent (set on ACK only) * @param payload payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only) * @param jpg_quality JPEG quality out of [1,100] @@ -95,34 +83,30 @@ static inline uint16_t mavlink_msg_data_transmission_handshake_pack(uint8_t syst */ static inline uint16_t mavlink_msg_data_transmission_handshake_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, - uint8_t type,uint32_t size,uint16_t width,uint16_t height,uint8_t packets,uint8_t payload,uint8_t jpg_quality) + uint8_t type,uint32_t size,uint8_t packets,uint8_t payload,uint8_t jpg_quality) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[12]; + char buf[8]; _mav_put_uint32_t(buf, 0, size); - _mav_put_uint16_t(buf, 4, width); - _mav_put_uint16_t(buf, 6, height); - _mav_put_uint8_t(buf, 8, type); - _mav_put_uint8_t(buf, 9, packets); - _mav_put_uint8_t(buf, 10, payload); - _mav_put_uint8_t(buf, 11, jpg_quality); + _mav_put_uint8_t(buf, 4, type); + _mav_put_uint8_t(buf, 5, packets); + _mav_put_uint8_t(buf, 6, payload); + _mav_put_uint8_t(buf, 7, jpg_quality); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12); + memcpy(_MAV_PAYLOAD(msg), buf, 8); #else mavlink_data_transmission_handshake_t packet; packet.size = size; - packet.width = width; - packet.height = height; packet.type = type; packet.packets = packets; packet.payload = payload; packet.jpg_quality = jpg_quality; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12); + memcpy(_MAV_PAYLOAD(msg), &packet, 8); #endif msg->msgid = MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE; - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 12, 23); + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 8, 148); } /** @@ -135,7 +119,7 @@ static inline uint16_t mavlink_msg_data_transmission_handshake_pack_chan(uint8_t */ static inline uint16_t mavlink_msg_data_transmission_handshake_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_data_transmission_handshake_t* data_transmission_handshake) { - return mavlink_msg_data_transmission_handshake_pack(system_id, component_id, msg, data_transmission_handshake->type, data_transmission_handshake->size, data_transmission_handshake->width, data_transmission_handshake->height, data_transmission_handshake->packets, data_transmission_handshake->payload, data_transmission_handshake->jpg_quality); + return mavlink_msg_data_transmission_handshake_pack(system_id, component_id, msg, data_transmission_handshake->type, data_transmission_handshake->size, data_transmission_handshake->packets, data_transmission_handshake->payload, data_transmission_handshake->jpg_quality); } /** @@ -144,38 +128,32 @@ static inline uint16_t mavlink_msg_data_transmission_handshake_encode(uint8_t sy * * @param type type of requested/acknowledged data (as defined in ENUM DATA_TYPES in mavlink/include/mavlink_types.h) * @param size total data size in bytes (set on ACK only) - * @param width Width of a matrix or image - * @param height Height of a matrix or image * @param packets number of packets beeing sent (set on ACK only) * @param payload payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only) * @param jpg_quality JPEG quality out of [1,100] */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS -static inline void mavlink_msg_data_transmission_handshake_send(mavlink_channel_t chan, uint8_t type, uint32_t size, uint16_t width, uint16_t height, uint8_t packets, uint8_t payload, uint8_t jpg_quality) +static inline void mavlink_msg_data_transmission_handshake_send(mavlink_channel_t chan, uint8_t type, uint32_t size, uint8_t packets, uint8_t payload, uint8_t jpg_quality) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[12]; + char buf[8]; _mav_put_uint32_t(buf, 0, size); - _mav_put_uint16_t(buf, 4, width); - _mav_put_uint16_t(buf, 6, height); - _mav_put_uint8_t(buf, 8, type); - _mav_put_uint8_t(buf, 9, packets); - _mav_put_uint8_t(buf, 10, payload); - _mav_put_uint8_t(buf, 11, jpg_quality); + _mav_put_uint8_t(buf, 4, type); + _mav_put_uint8_t(buf, 5, packets); + _mav_put_uint8_t(buf, 6, payload); + _mav_put_uint8_t(buf, 7, jpg_quality); - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE, buf, 12, 23); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE, buf, 8, 148); #else mavlink_data_transmission_handshake_t packet; packet.size = size; - packet.width = width; - packet.height = height; packet.type = type; packet.packets = packets; packet.payload = payload; packet.jpg_quality = jpg_quality; - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE, (const char *)&packet, 12, 23); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE, (const char *)&packet, 8, 148); #endif } @@ -191,7 +169,7 @@ static inline void mavlink_msg_data_transmission_handshake_send(mavlink_channel_ */ static inline uint8_t mavlink_msg_data_transmission_handshake_get_type(const mavlink_message_t* msg) { - return _MAV_RETURN_uint8_t(msg, 8); + return _MAV_RETURN_uint8_t(msg, 4); } /** @@ -204,26 +182,6 @@ static inline uint32_t mavlink_msg_data_transmission_handshake_get_size(const ma return _MAV_RETURN_uint32_t(msg, 0); } -/** - * @brief Get field width from data_transmission_handshake message - * - * @return Width of a matrix or image - */ -static inline uint16_t mavlink_msg_data_transmission_handshake_get_width(const mavlink_message_t* msg) -{ - return _MAV_RETURN_uint16_t(msg, 4); -} - -/** - * @brief Get field height from data_transmission_handshake message - * - * @return Height of a matrix or image - */ -static inline uint16_t mavlink_msg_data_transmission_handshake_get_height(const mavlink_message_t* msg) -{ - return _MAV_RETURN_uint16_t(msg, 6); -} - /** * @brief Get field packets from data_transmission_handshake message * @@ -231,7 +189,7 @@ static inline uint16_t mavlink_msg_data_transmission_handshake_get_height(const */ static inline uint8_t mavlink_msg_data_transmission_handshake_get_packets(const mavlink_message_t* msg) { - return _MAV_RETURN_uint8_t(msg, 9); + return _MAV_RETURN_uint8_t(msg, 5); } /** @@ -241,7 +199,7 @@ static inline uint8_t mavlink_msg_data_transmission_handshake_get_packets(const */ static inline uint8_t mavlink_msg_data_transmission_handshake_get_payload(const mavlink_message_t* msg) { - return _MAV_RETURN_uint8_t(msg, 10); + return _MAV_RETURN_uint8_t(msg, 6); } /** @@ -251,7 +209,7 @@ static inline uint8_t mavlink_msg_data_transmission_handshake_get_payload(const */ static inline uint8_t mavlink_msg_data_transmission_handshake_get_jpg_quality(const mavlink_message_t* msg) { - return _MAV_RETURN_uint8_t(msg, 11); + return _MAV_RETURN_uint8_t(msg, 7); } /** @@ -264,13 +222,11 @@ static inline void mavlink_msg_data_transmission_handshake_decode(const mavlink_ { #if MAVLINK_NEED_BYTE_SWAP data_transmission_handshake->size = mavlink_msg_data_transmission_handshake_get_size(msg); - data_transmission_handshake->width = mavlink_msg_data_transmission_handshake_get_width(msg); - data_transmission_handshake->height = mavlink_msg_data_transmission_handshake_get_height(msg); data_transmission_handshake->type = mavlink_msg_data_transmission_handshake_get_type(msg); data_transmission_handshake->packets = mavlink_msg_data_transmission_handshake_get_packets(msg); data_transmission_handshake->payload = mavlink_msg_data_transmission_handshake_get_payload(msg); data_transmission_handshake->jpg_quality = mavlink_msg_data_transmission_handshake_get_jpg_quality(msg); #else - memcpy(data_transmission_handshake, _MAV_PAYLOAD(msg), 12); + memcpy(data_transmission_handshake, _MAV_PAYLOAD(msg), 8); #endif } diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_encapsulated_data.h b/thirdParty/mavlink/v1.0/pixhawk/mavlink_msg_encapsulated_data.h similarity index 95% rename from thirdParty/mavlink/include/pixhawk/mavlink_msg_encapsulated_data.h rename to thirdParty/mavlink/v1.0/pixhawk/mavlink_msg_encapsulated_data.h index e07be29528e02260d2a212b6c7f193fe5f337d2c..080359589a29140e5fb8a3b1d0a8b5bd6baafb8d 100644 --- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_encapsulated_data.h +++ b/thirdParty/mavlink/v1.0/pixhawk/mavlink_msg_encapsulated_data.h @@ -39,12 +39,12 @@ static inline uint16_t mavlink_msg_encapsulated_data_pack(uint8_t system_id, uin char buf[255]; _mav_put_uint16_t(buf, 0, seqnr); _mav_put_uint8_t_array(buf, 2, data, 253); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 255); + memcpy(_MAV_PAYLOAD(msg), buf, 255); #else mavlink_encapsulated_data_t packet; packet.seqnr = seqnr; mav_array_memcpy(packet.data, data, sizeof(uint8_t)*253); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 255); + memcpy(_MAV_PAYLOAD(msg), &packet, 255); #endif msg->msgid = MAVLINK_MSG_ID_ENCAPSULATED_DATA; @@ -69,12 +69,12 @@ static inline uint16_t mavlink_msg_encapsulated_data_pack_chan(uint8_t system_id char buf[255]; _mav_put_uint16_t(buf, 0, seqnr); _mav_put_uint8_t_array(buf, 2, data, 253); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 255); + memcpy(_MAV_PAYLOAD(msg), buf, 255); #else mavlink_encapsulated_data_t packet; packet.seqnr = seqnr; mav_array_memcpy(packet.data, data, sizeof(uint8_t)*253); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 255); + memcpy(_MAV_PAYLOAD(msg), &packet, 255); #endif msg->msgid = MAVLINK_MSG_ID_ENCAPSULATED_DATA; diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_image_available.h b/thirdParty/mavlink/v1.0/pixhawk/mavlink_msg_image_available.h similarity index 99% rename from thirdParty/mavlink/include/pixhawk/mavlink_msg_image_available.h rename to thirdParty/mavlink/v1.0/pixhawk/mavlink_msg_image_available.h index 913fcd94c15636c5d0a2c3b436fb2fd51350875a..cdbdf466fd3ea01fff290086ee79e8e08554b319 100644 --- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_image_available.h +++ b/thirdParty/mavlink/v1.0/pixhawk/mavlink_msg_image_available.h @@ -124,7 +124,7 @@ static inline uint16_t mavlink_msg_image_available_pack(uint8_t system_id, uint8 _mav_put_uint8_t(buf, 90, cam_no); _mav_put_uint8_t(buf, 91, channels); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 92); + memcpy(_MAV_PAYLOAD(msg), buf, 92); #else mavlink_image_available_t packet; packet.cam_id = cam_id; @@ -151,7 +151,7 @@ static inline uint16_t mavlink_msg_image_available_pack(uint8_t system_id, uint8 packet.cam_no = cam_no; packet.channels = channels; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 92); + memcpy(_MAV_PAYLOAD(msg), &packet, 92); #endif msg->msgid = MAVLINK_MSG_ID_IMAGE_AVAILABLE; @@ -219,7 +219,7 @@ static inline uint16_t mavlink_msg_image_available_pack_chan(uint8_t system_id, _mav_put_uint8_t(buf, 90, cam_no); _mav_put_uint8_t(buf, 91, channels); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 92); + memcpy(_MAV_PAYLOAD(msg), buf, 92); #else mavlink_image_available_t packet; packet.cam_id = cam_id; @@ -246,7 +246,7 @@ static inline uint16_t mavlink_msg_image_available_pack_chan(uint8_t system_id, packet.cam_no = cam_no; packet.channels = channels; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 92); + memcpy(_MAV_PAYLOAD(msg), &packet, 92); #endif msg->msgid = MAVLINK_MSG_ID_IMAGE_AVAILABLE; diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_image_trigger_control.h b/thirdParty/mavlink/v1.0/pixhawk/mavlink_msg_image_trigger_control.h similarity index 95% rename from thirdParty/mavlink/include/pixhawk/mavlink_msg_image_trigger_control.h rename to thirdParty/mavlink/v1.0/pixhawk/mavlink_msg_image_trigger_control.h index deb05769a1e36ece25625a7a7b6876a8c332a865..08f4d7944d65794b8d5a2cb96df804565e8ff527 100644 --- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_image_trigger_control.h +++ b/thirdParty/mavlink/v1.0/pixhawk/mavlink_msg_image_trigger_control.h @@ -36,12 +36,12 @@ static inline uint16_t mavlink_msg_image_trigger_control_pack(uint8_t system_id, char buf[1]; _mav_put_uint8_t(buf, 0, enable); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 1); + memcpy(_MAV_PAYLOAD(msg), buf, 1); #else mavlink_image_trigger_control_t packet; packet.enable = enable; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 1); + memcpy(_MAV_PAYLOAD(msg), &packet, 1); #endif msg->msgid = MAVLINK_MSG_ID_IMAGE_TRIGGER_CONTROL; @@ -65,12 +65,12 @@ static inline uint16_t mavlink_msg_image_trigger_control_pack_chan(uint8_t syste char buf[1]; _mav_put_uint8_t(buf, 0, enable); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 1); + memcpy(_MAV_PAYLOAD(msg), buf, 1); #else mavlink_image_trigger_control_t packet; packet.enable = enable; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 1); + memcpy(_MAV_PAYLOAD(msg), &packet, 1); #endif msg->msgid = MAVLINK_MSG_ID_IMAGE_TRIGGER_CONTROL; diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_image_triggered.h b/thirdParty/mavlink/v1.0/pixhawk/mavlink_msg_image_triggered.h similarity index 98% rename from thirdParty/mavlink/include/pixhawk/mavlink_msg_image_triggered.h rename to thirdParty/mavlink/v1.0/pixhawk/mavlink_msg_image_triggered.h index 557d748e125500bde810e82dfa7f5dbfbb9e5b20..d82abcf8ee9712944a71d2f66333026585b70cfa 100644 --- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_image_triggered.h +++ b/thirdParty/mavlink/v1.0/pixhawk/mavlink_msg_image_triggered.h @@ -80,7 +80,7 @@ static inline uint16_t mavlink_msg_image_triggered_pack(uint8_t system_id, uint8 _mav_put_float(buf, 44, ground_y); _mav_put_float(buf, 48, ground_z); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 52); + memcpy(_MAV_PAYLOAD(msg), buf, 52); #else mavlink_image_triggered_t packet; packet.timestamp = timestamp; @@ -96,7 +96,7 @@ static inline uint16_t mavlink_msg_image_triggered_pack(uint8_t system_id, uint8 packet.ground_y = ground_y; packet.ground_z = ground_z; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 52); + memcpy(_MAV_PAYLOAD(msg), &packet, 52); #endif msg->msgid = MAVLINK_MSG_ID_IMAGE_TRIGGERED; @@ -142,7 +142,7 @@ static inline uint16_t mavlink_msg_image_triggered_pack_chan(uint8_t system_id, _mav_put_float(buf, 44, ground_y); _mav_put_float(buf, 48, ground_z); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 52); + memcpy(_MAV_PAYLOAD(msg), buf, 52); #else mavlink_image_triggered_t packet; packet.timestamp = timestamp; @@ -158,7 +158,7 @@ static inline uint16_t mavlink_msg_image_triggered_pack_chan(uint8_t system_id, packet.ground_y = ground_y; packet.ground_z = ground_z; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 52); + memcpy(_MAV_PAYLOAD(msg), &packet, 52); #endif msg->msgid = MAVLINK_MSG_ID_IMAGE_TRIGGERED; diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_marker.h b/thirdParty/mavlink/v1.0/pixhawk/mavlink_msg_marker.h similarity index 97% rename from thirdParty/mavlink/include/pixhawk/mavlink_msg_marker.h rename to thirdParty/mavlink/v1.0/pixhawk/mavlink_msg_marker.h index 0c8cc6f18991c0c39cb3268a69642ca388b5d68a..f127d5673075b0f609ced294a90e62ad33e3f618 100644 --- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_marker.h +++ b/thirdParty/mavlink/v1.0/pixhawk/mavlink_msg_marker.h @@ -60,7 +60,7 @@ static inline uint16_t mavlink_msg_marker_pack(uint8_t system_id, uint8_t compon _mav_put_float(buf, 20, yaw); _mav_put_uint16_t(buf, 24, id); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 26); + memcpy(_MAV_PAYLOAD(msg), buf, 26); #else mavlink_marker_t packet; packet.x = x; @@ -71,7 +71,7 @@ static inline uint16_t mavlink_msg_marker_pack(uint8_t system_id, uint8_t compon packet.yaw = yaw; packet.id = id; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 26); + memcpy(_MAV_PAYLOAD(msg), &packet, 26); #endif msg->msgid = MAVLINK_MSG_ID_MARKER; @@ -107,7 +107,7 @@ static inline uint16_t mavlink_msg_marker_pack_chan(uint8_t system_id, uint8_t c _mav_put_float(buf, 20, yaw); _mav_put_uint16_t(buf, 24, id); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 26); + memcpy(_MAV_PAYLOAD(msg), buf, 26); #else mavlink_marker_t packet; packet.x = x; @@ -118,7 +118,7 @@ static inline uint16_t mavlink_msg_marker_pack_chan(uint8_t system_id, uint8_t c packet.yaw = yaw; packet.id = id; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 26); + memcpy(_MAV_PAYLOAD(msg), &packet, 26); #endif msg->msgid = MAVLINK_MSG_ID_MARKER; diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_pattern_detected.h b/thirdParty/mavlink/v1.0/pixhawk/mavlink_msg_pattern_detected.h similarity index 96% rename from thirdParty/mavlink/include/pixhawk/mavlink_msg_pattern_detected.h rename to thirdParty/mavlink/v1.0/pixhawk/mavlink_msg_pattern_detected.h index 907246b207478ed5a8843aebb0b4de904b8152f9..ceafe3e5fa4c2137a05dc351dec5d02a76c1b9a6 100644 --- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_pattern_detected.h +++ b/thirdParty/mavlink/v1.0/pixhawk/mavlink_msg_pattern_detected.h @@ -47,14 +47,14 @@ static inline uint16_t mavlink_msg_pattern_detected_pack(uint8_t system_id, uint _mav_put_uint8_t(buf, 4, type); _mav_put_uint8_t(buf, 105, detected); _mav_put_char_array(buf, 5, file, 100); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 106); + memcpy(_MAV_PAYLOAD(msg), buf, 106); #else mavlink_pattern_detected_t packet; packet.confidence = confidence; packet.type = type; packet.detected = detected; mav_array_memcpy(packet.file, file, sizeof(char)*100); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 106); + memcpy(_MAV_PAYLOAD(msg), &packet, 106); #endif msg->msgid = MAVLINK_MSG_ID_PATTERN_DETECTED; @@ -83,14 +83,14 @@ static inline uint16_t mavlink_msg_pattern_detected_pack_chan(uint8_t system_id, _mav_put_uint8_t(buf, 4, type); _mav_put_uint8_t(buf, 105, detected); _mav_put_char_array(buf, 5, file, 100); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 106); + memcpy(_MAV_PAYLOAD(msg), buf, 106); #else mavlink_pattern_detected_t packet; packet.confidence = confidence; packet.type = type; packet.detected = detected; mav_array_memcpy(packet.file, file, sizeof(char)*100); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 106); + memcpy(_MAV_PAYLOAD(msg), &packet, 106); #endif msg->msgid = MAVLINK_MSG_ID_PATTERN_DETECTED; diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_point_of_interest.h b/thirdParty/mavlink/v1.0/pixhawk/mavlink_msg_point_of_interest.h similarity index 97% rename from thirdParty/mavlink/include/pixhawk/mavlink_msg_point_of_interest.h rename to thirdParty/mavlink/v1.0/pixhawk/mavlink_msg_point_of_interest.h index eec8d40691ca9d90915a6e3e972dd0ccf5ac429d..8a5ea4509f037b2e50d2ea17def08f8e026868a2 100644 --- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_point_of_interest.h +++ b/thirdParty/mavlink/v1.0/pixhawk/mavlink_msg_point_of_interest.h @@ -63,7 +63,7 @@ static inline uint16_t mavlink_msg_point_of_interest_pack(uint8_t system_id, uin _mav_put_uint8_t(buf, 15, color); _mav_put_uint8_t(buf, 16, coordinate_system); _mav_put_char_array(buf, 17, name, 26); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 43); + memcpy(_MAV_PAYLOAD(msg), buf, 43); #else mavlink_point_of_interest_t packet; packet.x = x; @@ -74,7 +74,7 @@ static inline uint16_t mavlink_msg_point_of_interest_pack(uint8_t system_id, uin packet.color = color; packet.coordinate_system = coordinate_system; mav_array_memcpy(packet.name, name, sizeof(char)*26); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 43); + memcpy(_MAV_PAYLOAD(msg), &packet, 43); #endif msg->msgid = MAVLINK_MSG_ID_POINT_OF_INTEREST; @@ -111,7 +111,7 @@ static inline uint16_t mavlink_msg_point_of_interest_pack_chan(uint8_t system_id _mav_put_uint8_t(buf, 15, color); _mav_put_uint8_t(buf, 16, coordinate_system); _mav_put_char_array(buf, 17, name, 26); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 43); + memcpy(_MAV_PAYLOAD(msg), buf, 43); #else mavlink_point_of_interest_t packet; packet.x = x; @@ -122,7 +122,7 @@ static inline uint16_t mavlink_msg_point_of_interest_pack_chan(uint8_t system_id packet.color = color; packet.coordinate_system = coordinate_system; mav_array_memcpy(packet.name, name, sizeof(char)*26); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 43); + memcpy(_MAV_PAYLOAD(msg), &packet, 43); #endif msg->msgid = MAVLINK_MSG_ID_POINT_OF_INTEREST; diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_point_of_interest_connection.h b/thirdParty/mavlink/v1.0/pixhawk/mavlink_msg_point_of_interest_connection.h similarity index 98% rename from thirdParty/mavlink/include/pixhawk/mavlink_msg_point_of_interest_connection.h rename to thirdParty/mavlink/v1.0/pixhawk/mavlink_msg_point_of_interest_connection.h index f83630093ea1f6616addc000235c30146d738df7..bf5c158413db30871af4972eca2753bf23e5c1d2 100644 --- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_point_of_interest_connection.h +++ b/thirdParty/mavlink/v1.0/pixhawk/mavlink_msg_point_of_interest_connection.h @@ -75,7 +75,7 @@ static inline uint16_t mavlink_msg_point_of_interest_connection_pack(uint8_t sys _mav_put_uint8_t(buf, 27, color); _mav_put_uint8_t(buf, 28, coordinate_system); _mav_put_char_array(buf, 29, name, 26); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 55); + memcpy(_MAV_PAYLOAD(msg), buf, 55); #else mavlink_point_of_interest_connection_t packet; packet.xp1 = xp1; @@ -89,7 +89,7 @@ static inline uint16_t mavlink_msg_point_of_interest_connection_pack(uint8_t sys packet.color = color; packet.coordinate_system = coordinate_system; mav_array_memcpy(packet.name, name, sizeof(char)*26); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 55); + memcpy(_MAV_PAYLOAD(msg), &packet, 55); #endif msg->msgid = MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION; @@ -132,7 +132,7 @@ static inline uint16_t mavlink_msg_point_of_interest_connection_pack_chan(uint8_ _mav_put_uint8_t(buf, 27, color); _mav_put_uint8_t(buf, 28, coordinate_system); _mav_put_char_array(buf, 29, name, 26); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 55); + memcpy(_MAV_PAYLOAD(msg), buf, 55); #else mavlink_point_of_interest_connection_t packet; packet.xp1 = xp1; @@ -146,7 +146,7 @@ static inline uint16_t mavlink_msg_point_of_interest_connection_pack_chan(uint8_ packet.color = color; packet.coordinate_system = coordinate_system; mav_array_memcpy(packet.name, name, sizeof(char)*26); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 55); + memcpy(_MAV_PAYLOAD(msg), &packet, 55); #endif msg->msgid = MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION; diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_position_control_setpoint.h b/thirdParty/mavlink/v1.0/pixhawk/mavlink_msg_position_control_setpoint.h similarity index 97% rename from thirdParty/mavlink/include/pixhawk/mavlink_msg_position_control_setpoint.h rename to thirdParty/mavlink/v1.0/pixhawk/mavlink_msg_position_control_setpoint.h index 495fb884cf1346995e17455155d6b5e13961f768..c170fb2265dd0172e16702ce84c5004a99f04b8f 100644 --- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_position_control_setpoint.h +++ b/thirdParty/mavlink/v1.0/pixhawk/mavlink_msg_position_control_setpoint.h @@ -52,7 +52,7 @@ static inline uint16_t mavlink_msg_position_control_setpoint_pack(uint8_t system _mav_put_float(buf, 12, yaw); _mav_put_uint16_t(buf, 16, id); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 18); + memcpy(_MAV_PAYLOAD(msg), buf, 18); #else mavlink_position_control_setpoint_t packet; packet.x = x; @@ -61,7 +61,7 @@ static inline uint16_t mavlink_msg_position_control_setpoint_pack(uint8_t system packet.yaw = yaw; packet.id = id; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 18); + memcpy(_MAV_PAYLOAD(msg), &packet, 18); #endif msg->msgid = MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT; @@ -93,7 +93,7 @@ static inline uint16_t mavlink_msg_position_control_setpoint_pack_chan(uint8_t s _mav_put_float(buf, 12, yaw); _mav_put_uint16_t(buf, 16, id); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 18); + memcpy(_MAV_PAYLOAD(msg), buf, 18); #else mavlink_position_control_setpoint_t packet; packet.x = x; @@ -102,7 +102,7 @@ static inline uint16_t mavlink_msg_position_control_setpoint_pack_chan(uint8_t s packet.yaw = yaw; packet.id = id; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 18); + memcpy(_MAV_PAYLOAD(msg), &packet, 18); #endif msg->msgid = MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT; diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_raw_aux.h b/thirdParty/mavlink/v1.0/pixhawk/mavlink_msg_raw_aux.h similarity index 97% rename from thirdParty/mavlink/include/pixhawk/mavlink_msg_raw_aux.h rename to thirdParty/mavlink/v1.0/pixhawk/mavlink_msg_raw_aux.h index 507e0f2f9bb49659758be951f8ba066b4c9c6826..0bbf4d6220b30bbd29a663499b6992c3c53a4693 100644 --- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_raw_aux.h +++ b/thirdParty/mavlink/v1.0/pixhawk/mavlink_msg_raw_aux.h @@ -60,7 +60,7 @@ static inline uint16_t mavlink_msg_raw_aux_pack(uint8_t system_id, uint8_t compo _mav_put_uint16_t(buf, 12, vbat); _mav_put_int16_t(buf, 14, temp); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 16); + memcpy(_MAV_PAYLOAD(msg), buf, 16); #else mavlink_raw_aux_t packet; packet.baro = baro; @@ -71,7 +71,7 @@ static inline uint16_t mavlink_msg_raw_aux_pack(uint8_t system_id, uint8_t compo packet.vbat = vbat; packet.temp = temp; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 16); + memcpy(_MAV_PAYLOAD(msg), &packet, 16); #endif msg->msgid = MAVLINK_MSG_ID_RAW_AUX; @@ -107,7 +107,7 @@ static inline uint16_t mavlink_msg_raw_aux_pack_chan(uint8_t system_id, uint8_t _mav_put_uint16_t(buf, 12, vbat); _mav_put_int16_t(buf, 14, temp); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 16); + memcpy(_MAV_PAYLOAD(msg), buf, 16); #else mavlink_raw_aux_t packet; packet.baro = baro; @@ -118,7 +118,7 @@ static inline uint16_t mavlink_msg_raw_aux_pack_chan(uint8_t system_id, uint8_t packet.vbat = vbat; packet.temp = temp; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 16); + memcpy(_MAV_PAYLOAD(msg), &packet, 16); #endif msg->msgid = MAVLINK_MSG_ID_RAW_AUX; diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_set_cam_shutter.h b/thirdParty/mavlink/v1.0/pixhawk/mavlink_msg_set_cam_shutter.h similarity index 97% rename from thirdParty/mavlink/include/pixhawk/mavlink_msg_set_cam_shutter.h rename to thirdParty/mavlink/v1.0/pixhawk/mavlink_msg_set_cam_shutter.h index 698625b7e1f0fd5cda21ec7c40112143ae5da27e..d72dc569753a3caffc7d4ad3a09c3e3302c2926e 100644 --- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_set_cam_shutter.h +++ b/thirdParty/mavlink/v1.0/pixhawk/mavlink_msg_set_cam_shutter.h @@ -56,7 +56,7 @@ static inline uint16_t mavlink_msg_set_cam_shutter_pack(uint8_t system_id, uint8 _mav_put_uint8_t(buf, 9, cam_mode); _mav_put_uint8_t(buf, 10, trigger_pin); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 11); + memcpy(_MAV_PAYLOAD(msg), buf, 11); #else mavlink_set_cam_shutter_t packet; packet.gain = gain; @@ -66,7 +66,7 @@ static inline uint16_t mavlink_msg_set_cam_shutter_pack(uint8_t system_id, uint8 packet.cam_mode = cam_mode; packet.trigger_pin = trigger_pin; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 11); + memcpy(_MAV_PAYLOAD(msg), &packet, 11); #endif msg->msgid = MAVLINK_MSG_ID_SET_CAM_SHUTTER; @@ -100,7 +100,7 @@ static inline uint16_t mavlink_msg_set_cam_shutter_pack_chan(uint8_t system_id, _mav_put_uint8_t(buf, 9, cam_mode); _mav_put_uint8_t(buf, 10, trigger_pin); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 11); + memcpy(_MAV_PAYLOAD(msg), buf, 11); #else mavlink_set_cam_shutter_t packet; packet.gain = gain; @@ -110,7 +110,7 @@ static inline uint16_t mavlink_msg_set_cam_shutter_pack_chan(uint8_t system_id, packet.cam_mode = cam_mode; packet.trigger_pin = trigger_pin; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 11); + memcpy(_MAV_PAYLOAD(msg), &packet, 11); #endif msg->msgid = MAVLINK_MSG_ID_SET_CAM_SHUTTER; diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_set_position_control_offset.h b/thirdParty/mavlink/v1.0/pixhawk/mavlink_msg_set_position_control_offset.h similarity index 97% rename from thirdParty/mavlink/include/pixhawk/mavlink_msg_set_position_control_offset.h rename to thirdParty/mavlink/v1.0/pixhawk/mavlink_msg_set_position_control_offset.h index 27c08b7c9ce289430bcef88367a8ddbcf47d55b4..963d00713ef87d40b3c2fefc4a987fc0a13f1ca1 100644 --- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_set_position_control_offset.h +++ b/thirdParty/mavlink/v1.0/pixhawk/mavlink_msg_set_position_control_offset.h @@ -56,7 +56,7 @@ static inline uint16_t mavlink_msg_set_position_control_offset_pack(uint8_t syst _mav_put_uint8_t(buf, 16, target_system); _mav_put_uint8_t(buf, 17, target_component); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 18); + memcpy(_MAV_PAYLOAD(msg), buf, 18); #else mavlink_set_position_control_offset_t packet; packet.x = x; @@ -66,7 +66,7 @@ static inline uint16_t mavlink_msg_set_position_control_offset_pack(uint8_t syst packet.target_system = target_system; packet.target_component = target_component; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 18); + memcpy(_MAV_PAYLOAD(msg), &packet, 18); #endif msg->msgid = MAVLINK_MSG_ID_SET_POSITION_CONTROL_OFFSET; @@ -100,7 +100,7 @@ static inline uint16_t mavlink_msg_set_position_control_offset_pack_chan(uint8_t _mav_put_uint8_t(buf, 16, target_system); _mav_put_uint8_t(buf, 17, target_component); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 18); + memcpy(_MAV_PAYLOAD(msg), buf, 18); #else mavlink_set_position_control_offset_t packet; packet.x = x; @@ -110,7 +110,7 @@ static inline uint16_t mavlink_msg_set_position_control_offset_pack_chan(uint8_t packet.target_system = target_system; packet.target_component = target_component; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 18); + memcpy(_MAV_PAYLOAD(msg), &packet, 18); #endif msg->msgid = MAVLINK_MSG_ID_SET_POSITION_CONTROL_OFFSET; diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_watchdog_command.h b/thirdParty/mavlink/v1.0/pixhawk/mavlink_msg_watchdog_command.h similarity index 96% rename from thirdParty/mavlink/include/pixhawk/mavlink_msg_watchdog_command.h rename to thirdParty/mavlink/v1.0/pixhawk/mavlink_msg_watchdog_command.h index 240f69e727680904c9d78035d7e43b8a460e016f..1936f005150e9503db8745fb968fa914e6c19113 100644 --- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_watchdog_command.h +++ b/thirdParty/mavlink/v1.0/pixhawk/mavlink_msg_watchdog_command.h @@ -48,7 +48,7 @@ static inline uint16_t mavlink_msg_watchdog_command_pack(uint8_t system_id, uint _mav_put_uint8_t(buf, 4, target_system_id); _mav_put_uint8_t(buf, 5, command_id); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 6); + memcpy(_MAV_PAYLOAD(msg), buf, 6); #else mavlink_watchdog_command_t packet; packet.watchdog_id = watchdog_id; @@ -56,7 +56,7 @@ static inline uint16_t mavlink_msg_watchdog_command_pack(uint8_t system_id, uint packet.target_system_id = target_system_id; packet.command_id = command_id; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 6); + memcpy(_MAV_PAYLOAD(msg), &packet, 6); #endif msg->msgid = MAVLINK_MSG_ID_WATCHDOG_COMMAND; @@ -86,7 +86,7 @@ static inline uint16_t mavlink_msg_watchdog_command_pack_chan(uint8_t system_id, _mav_put_uint8_t(buf, 4, target_system_id); _mav_put_uint8_t(buf, 5, command_id); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 6); + memcpy(_MAV_PAYLOAD(msg), buf, 6); #else mavlink_watchdog_command_t packet; packet.watchdog_id = watchdog_id; @@ -94,7 +94,7 @@ static inline uint16_t mavlink_msg_watchdog_command_pack_chan(uint8_t system_id, packet.target_system_id = target_system_id; packet.command_id = command_id; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 6); + memcpy(_MAV_PAYLOAD(msg), &packet, 6); #endif msg->msgid = MAVLINK_MSG_ID_WATCHDOG_COMMAND; diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_watchdog_heartbeat.h b/thirdParty/mavlink/v1.0/pixhawk/mavlink_msg_watchdog_heartbeat.h similarity index 96% rename from thirdParty/mavlink/include/pixhawk/mavlink_msg_watchdog_heartbeat.h rename to thirdParty/mavlink/v1.0/pixhawk/mavlink_msg_watchdog_heartbeat.h index f1fe5eb86a0649fdd7a6635ca7b86be64b551d32..6c3dc333d263ce2452557393aa212af6e1aae85a 100644 --- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_watchdog_heartbeat.h +++ b/thirdParty/mavlink/v1.0/pixhawk/mavlink_msg_watchdog_heartbeat.h @@ -40,13 +40,13 @@ static inline uint16_t mavlink_msg_watchdog_heartbeat_pack(uint8_t system_id, ui _mav_put_uint16_t(buf, 0, watchdog_id); _mav_put_uint16_t(buf, 2, process_count); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 4); + memcpy(_MAV_PAYLOAD(msg), buf, 4); #else mavlink_watchdog_heartbeat_t packet; packet.watchdog_id = watchdog_id; packet.process_count = process_count; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 4); + memcpy(_MAV_PAYLOAD(msg), &packet, 4); #endif msg->msgid = MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT; @@ -72,13 +72,13 @@ static inline uint16_t mavlink_msg_watchdog_heartbeat_pack_chan(uint8_t system_i _mav_put_uint16_t(buf, 0, watchdog_id); _mav_put_uint16_t(buf, 2, process_count); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 4); + memcpy(_MAV_PAYLOAD(msg), buf, 4); #else mavlink_watchdog_heartbeat_t packet; packet.watchdog_id = watchdog_id; packet.process_count = process_count; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 4); + memcpy(_MAV_PAYLOAD(msg), &packet, 4); #endif msg->msgid = MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT; diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_watchdog_process_info.h b/thirdParty/mavlink/v1.0/pixhawk/mavlink_msg_watchdog_process_info.h similarity index 97% rename from thirdParty/mavlink/include/pixhawk/mavlink_msg_watchdog_process_info.h rename to thirdParty/mavlink/v1.0/pixhawk/mavlink_msg_watchdog_process_info.h index 7ba3ddf0378a4fa907f7affe28f3b9796f012cfa..920c5131d6718530d59d40e937af06122092a509 100644 --- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_watchdog_process_info.h +++ b/thirdParty/mavlink/v1.0/pixhawk/mavlink_msg_watchdog_process_info.h @@ -52,7 +52,7 @@ static inline uint16_t mavlink_msg_watchdog_process_info_pack(uint8_t system_id, _mav_put_uint16_t(buf, 6, process_id); _mav_put_char_array(buf, 8, name, 100); _mav_put_char_array(buf, 108, arguments, 147); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 255); + memcpy(_MAV_PAYLOAD(msg), buf, 255); #else mavlink_watchdog_process_info_t packet; packet.timeout = timeout; @@ -60,7 +60,7 @@ static inline uint16_t mavlink_msg_watchdog_process_info_pack(uint8_t system_id, packet.process_id = process_id; mav_array_memcpy(packet.name, name, sizeof(char)*100); mav_array_memcpy(packet.arguments, arguments, sizeof(char)*147); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 255); + memcpy(_MAV_PAYLOAD(msg), &packet, 255); #endif msg->msgid = MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO; @@ -91,7 +91,7 @@ static inline uint16_t mavlink_msg_watchdog_process_info_pack_chan(uint8_t syste _mav_put_uint16_t(buf, 6, process_id); _mav_put_char_array(buf, 8, name, 100); _mav_put_char_array(buf, 108, arguments, 147); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 255); + memcpy(_MAV_PAYLOAD(msg), buf, 255); #else mavlink_watchdog_process_info_t packet; packet.timeout = timeout; @@ -99,7 +99,7 @@ static inline uint16_t mavlink_msg_watchdog_process_info_pack_chan(uint8_t syste packet.process_id = process_id; mav_array_memcpy(packet.name, name, sizeof(char)*100); mav_array_memcpy(packet.arguments, arguments, sizeof(char)*147); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 255); + memcpy(_MAV_PAYLOAD(msg), &packet, 255); #endif msg->msgid = MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO; diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_watchdog_process_status.h b/thirdParty/mavlink/v1.0/pixhawk/mavlink_msg_watchdog_process_status.h similarity index 97% rename from thirdParty/mavlink/include/pixhawk/mavlink_msg_watchdog_process_status.h rename to thirdParty/mavlink/v1.0/pixhawk/mavlink_msg_watchdog_process_status.h index 5795c63283e94129b9d85ce983b89eb6d801b88e..6fb26e573528a85284bcbefcdf24e6c1984b0595 100644 --- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_watchdog_process_status.h +++ b/thirdParty/mavlink/v1.0/pixhawk/mavlink_msg_watchdog_process_status.h @@ -56,7 +56,7 @@ static inline uint16_t mavlink_msg_watchdog_process_status_pack(uint8_t system_i _mav_put_uint8_t(buf, 10, state); _mav_put_uint8_t(buf, 11, muted); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12); + memcpy(_MAV_PAYLOAD(msg), buf, 12); #else mavlink_watchdog_process_status_t packet; packet.pid = pid; @@ -66,7 +66,7 @@ static inline uint16_t mavlink_msg_watchdog_process_status_pack(uint8_t system_i packet.state = state; packet.muted = muted; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12); + memcpy(_MAV_PAYLOAD(msg), &packet, 12); #endif msg->msgid = MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS; @@ -100,7 +100,7 @@ static inline uint16_t mavlink_msg_watchdog_process_status_pack_chan(uint8_t sys _mav_put_uint8_t(buf, 10, state); _mav_put_uint8_t(buf, 11, muted); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12); + memcpy(_MAV_PAYLOAD(msg), buf, 12); #else mavlink_watchdog_process_status_t packet; packet.pid = pid; @@ -110,7 +110,7 @@ static inline uint16_t mavlink_msg_watchdog_process_status_pack_chan(uint8_t sys packet.state = state; packet.muted = muted; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12); + memcpy(_MAV_PAYLOAD(msg), &packet, 12); #endif msg->msgid = MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS; diff --git a/thirdParty/mavlink/v1.0/pixhawk/pixhawk.h b/thirdParty/mavlink/v1.0/pixhawk/pixhawk.h new file mode 100644 index 0000000000000000000000000000000000000000..694a4dc1e96885df4e2a166faec0f9466eaf21e0 --- /dev/null +++ b/thirdParty/mavlink/v1.0/pixhawk/pixhawk.h @@ -0,0 +1,82 @@ +/** @file + * @brief MAVLink comm protocol generated from pixhawk.xml + * @see http://qgroundcontrol.org/mavlink/ + */ +#ifndef PIXHAWK_H +#define PIXHAWK_H + +#ifdef __cplusplus +extern "C" { +#endif + +// MESSAGE LENGTHS AND CRCS + +#ifndef MAVLINK_MESSAGE_LENGTHS +#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 0, 0, 26, 0, 36, 0, 6, 4, 0, 21, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 18, 32, 32, 20, 32, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 11, 52, 1, 92, 0, 0, 0, 0, 0, 18, 0, 0, 0, 0, 0, 0, 0, 0, 0, 18, 26, 16, 0, 0, 0, 0, 0, 0, 0, 4, 255, 12, 6, 0, 0, 0, 0, 0, 0, 106, 43, 55, 8, 255, 53, 0, 0, 0, 0, 21, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 3} +#endif + +#ifndef MAVLINK_MESSAGE_CRCS +#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 0, 0, 183, 0, 130, 0, 148, 21, 0, 52, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 19, 102, 158, 208, 56, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 108, 86, 95, 224, 0, 0, 0, 0, 0, 22, 0, 0, 0, 0, 0, 0, 0, 0, 0, 28, 249, 182, 0, 0, 0, 0, 0, 0, 0, 153, 16, 29, 162, 0, 0, 0, 0, 0, 0, 90, 95, 36, 148, 223, 88, 0, 0, 0, 0, 254, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 247} +#endif + +#ifndef MAVLINK_MESSAGE_INFO +#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, {NULL}, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_SET_MODE, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_WRITE_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_ITEM, MAVLINK_MESSAGE_INFO_MISSION_REQUEST, MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST, MAVLINK_MESSAGE_INFO_MISSION_COUNT, MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL, MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED, MAVLINK_MESSAGE_INFO_MISSION_ACK, MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, {NULL}, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, {NULL}, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_DATA_STREAM, {NULL}, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_VFR_HUD, {NULL}, MAVLINK_MESSAGE_INFO_COMMAND_LONG, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_HIL_RC_INPUTS_RAW, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE, MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_SET_CAM_SHUTTER, MAVLINK_MESSAGE_INFO_IMAGE_TRIGGERED, MAVLINK_MESSAGE_INFO_IMAGE_TRIGGER_CONTROL, MAVLINK_MESSAGE_INFO_IMAGE_AVAILABLE, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_SET_POSITION_CONTROL_OFFSET, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_POSITION_CONTROL_SETPOINT, MAVLINK_MESSAGE_INFO_MARKER, MAVLINK_MESSAGE_INFO_RAW_AUX, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_WATCHDOG_HEARTBEAT, MAVLINK_MESSAGE_INFO_WATCHDOG_PROCESS_INFO, MAVLINK_MESSAGE_INFO_WATCHDOG_PROCESS_STATUS, MAVLINK_MESSAGE_INFO_WATCHDOG_COMMAND, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_PATTERN_DETECTED, MAVLINK_MESSAGE_INFO_POINT_OF_INTEREST, MAVLINK_MESSAGE_INFO_POINT_OF_INTEREST_CONNECTION, MAVLINK_MESSAGE_INFO_DATA_TRANSMISSION_HANDSHAKE, MAVLINK_MESSAGE_INFO_ENCAPSULATED_DATA, MAVLINK_MESSAGE_INFO_BRIEF_FEATURE, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_ATTITUDE_CONTROL, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_MEMORY_VECT, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG, MAVLINK_MESSAGE_INFO_EXTENDED_MESSAGE} +#endif + +#include "../protocol.h" + +#define MAVLINK_ENABLED_PIXHAWK + +#include "../common/common.h" + +// MAVLINK VERSION + +#ifndef MAVLINK_VERSION +#define MAVLINK_VERSION 2 +#endif + +#if (MAVLINK_VERSION == 0) +#undef MAVLINK_VERSION +#define MAVLINK_VERSION 2 +#endif + +// ENUM DEFINITIONS + + +/** @brief Content Types for data transmission handshake */ +#ifndef HAVE_ENUM_DATA_TYPES +#define HAVE_ENUM_DATA_TYPES +enum DATA_TYPES +{ + DATA_TYPE_JPEG_IMAGE=1, /* | */ + DATA_TYPE_RAW_IMAGE=2, /* | */ + DATA_TYPE_KINECT=3, /* | */ + DATA_TYPES_ENUM_END=4, /* | */ +}; +#endif + +// MESSAGE DEFINITIONS +#include "./mavlink_msg_set_cam_shutter.h" +#include "./mavlink_msg_image_triggered.h" +#include "./mavlink_msg_image_trigger_control.h" +#include "./mavlink_msg_image_available.h" +#include "./mavlink_msg_set_position_control_offset.h" +#include "./mavlink_msg_position_control_setpoint.h" +#include "./mavlink_msg_marker.h" +#include "./mavlink_msg_raw_aux.h" +#include "./mavlink_msg_watchdog_heartbeat.h" +#include "./mavlink_msg_watchdog_process_info.h" +#include "./mavlink_msg_watchdog_process_status.h" +#include "./mavlink_msg_watchdog_command.h" +#include "./mavlink_msg_pattern_detected.h" +#include "./mavlink_msg_point_of_interest.h" +#include "./mavlink_msg_point_of_interest_connection.h" +#include "./mavlink_msg_data_transmission_handshake.h" +#include "./mavlink_msg_encapsulated_data.h" +#include "./mavlink_msg_brief_feature.h" +#include "./mavlink_msg_attitude_control.h" + +#ifdef __cplusplus +} +#endif // __cplusplus +#endif // PIXHAWK_H diff --git a/thirdParty/mavlink/include/pixhawk/testsuite.h b/thirdParty/mavlink/v1.0/pixhawk/testsuite.h similarity index 99% rename from thirdParty/mavlink/include/pixhawk/testsuite.h rename to thirdParty/mavlink/v1.0/pixhawk/testsuite.h index 54a7ae5ba6e028a18982b3c5ee149e661fe9745b..91b5dbe32f18328ba604cc4413d07a7634ea4b58 100644 --- a/thirdParty/mavlink/include/pixhawk/testsuite.h +++ b/thirdParty/mavlink/v1.0/pixhawk/testsuite.h @@ -860,18 +860,14 @@ static void mavlink_test_data_transmission_handshake(uint8_t system_id, uint8_t uint16_t i; mavlink_data_transmission_handshake_t packet_in = { 963497464, - 17443, - 17547, - 29, - 96, - 163, - 230, + 17, + 84, + 151, + 218, }; mavlink_data_transmission_handshake_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); packet1.size = packet_in.size; - packet1.width = packet_in.width; - packet1.height = packet_in.height; packet1.type = packet_in.type; packet1.packets = packet_in.packets; packet1.payload = packet_in.payload; @@ -885,12 +881,12 @@ static void mavlink_test_data_transmission_handshake(uint8_t system_id, uint8_t MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_data_transmission_handshake_pack(system_id, component_id, &msg , packet1.type , packet1.size , packet1.width , packet1.height , packet1.packets , packet1.payload , packet1.jpg_quality ); + mavlink_msg_data_transmission_handshake_pack(system_id, component_id, &msg , packet1.type , packet1.size , packet1.packets , packet1.payload , packet1.jpg_quality ); mavlink_msg_data_transmission_handshake_decode(&msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_data_transmission_handshake_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.type , packet1.size , packet1.width , packet1.height , packet1.packets , packet1.payload , packet1.jpg_quality ); + mavlink_msg_data_transmission_handshake_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.type , packet1.size , packet1.packets , packet1.payload , packet1.jpg_quality ); mavlink_msg_data_transmission_handshake_decode(&msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); @@ -903,7 +899,7 @@ static void mavlink_test_data_transmission_handshake(uint8_t system_id, uint8_t MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_data_transmission_handshake_send(MAVLINK_COMM_1 , packet1.type , packet1.size , packet1.width , packet1.height , packet1.packets , packet1.payload , packet1.jpg_quality ); + mavlink_msg_data_transmission_handshake_send(MAVLINK_COMM_1 , packet1.type , packet1.size , packet1.packets , packet1.payload , packet1.jpg_quality ); mavlink_msg_data_transmission_handshake_decode(last_msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); } diff --git a/thirdParty/mavlink/include/pixhawk/version.h b/thirdParty/mavlink/v1.0/pixhawk/version.h similarity index 84% rename from thirdParty/mavlink/include/pixhawk/version.h rename to thirdParty/mavlink/v1.0/pixhawk/version.h index cb28e96c47767b8ef4fb56daccccfdfb5f837989..7c67fae0870a439f59149d1a70f3056d6937146b 100644 --- a/thirdParty/mavlink/include/pixhawk/version.h +++ b/thirdParty/mavlink/v1.0/pixhawk/version.h @@ -5,7 +5,7 @@ #ifndef MAVLINK_VERSION_H #define MAVLINK_VERSION_H -#define MAVLINK_BUILD_DATE "Thu Feb 9 16:35:38 2012" +#define MAVLINK_BUILD_DATE "Mon Feb 20 20:01:34 2012" #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0" #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255 diff --git a/thirdParty/mavlink/v1.0/protocol.h b/thirdParty/mavlink/v1.0/protocol.h new file mode 100644 index 0000000000000000000000000000000000000000..05195c36919d04a5bf50c9799ee724af011a20f0 --- /dev/null +++ b/thirdParty/mavlink/v1.0/protocol.h @@ -0,0 +1,319 @@ +#ifndef _MAVLINK_PROTOCOL_H_ +#define _MAVLINK_PROTOCOL_H_ + +#include "string.h" +#include "mavlink_types.h" + +/* + If you want MAVLink on a system that is native big-endian, + you need to define NATIVE_BIG_ENDIAN +*/ +#ifdef NATIVE_BIG_ENDIAN +# define MAVLINK_NEED_BYTE_SWAP (MAVLINK_ENDIAN == MAVLINK_LITTLE_ENDIAN) +#else +# define MAVLINK_NEED_BYTE_SWAP (MAVLINK_ENDIAN != MAVLINK_LITTLE_ENDIAN) +#endif + +#ifndef MAVLINK_STACK_BUFFER +#define MAVLINK_STACK_BUFFER 0 +#endif + +#ifndef MAVLINK_AVOID_GCC_STACK_BUG +# define MAVLINK_AVOID_GCC_STACK_BUG defined(__GNUC__) +#endif + +#ifndef MAVLINK_ASSERT +#define MAVLINK_ASSERT(x) +#endif + +#ifndef MAVLINK_START_UART_SEND +#define MAVLINK_START_UART_SEND(chan, length) +#endif + +#ifndef MAVLINK_END_UART_SEND +#define MAVLINK_END_UART_SEND(chan, length) +#endif + +#ifdef MAVLINK_SEPARATE_HELPERS +#define MAVLINK_HELPER +#else +#define MAVLINK_HELPER static inline +#include "mavlink_helpers.h" +#endif // MAVLINK_SEPARATE_HELPERS + +/* always include the prototypes to ensure we don't get out of sync */ +MAVLINK_HELPER mavlink_status_t* mavlink_get_channel_status(uint8_t chan); +#if MAVLINK_CRC_EXTRA +MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, + uint8_t chan, uint8_t length, uint8_t crc_extra); +MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, + uint8_t length, uint8_t crc_extra); +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS +MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet, + uint8_t length, uint8_t crc_extra); +#endif +#else +MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, + uint8_t chan, uint8_t length); +MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, + uint8_t length); +MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet, uint8_t length); +#endif // MAVLINK_CRC_EXTRA +MAVLINK_HELPER uint16_t mavlink_msg_to_send_buffer(uint8_t *buffer, const mavlink_message_t *msg); +MAVLINK_HELPER void mavlink_start_checksum(mavlink_message_t* msg); +MAVLINK_HELPER void mavlink_update_checksum(mavlink_message_t* msg, uint8_t c); +MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status); +MAVLINK_HELPER uint8_t put_bitfield_n_by_index(int32_t b, uint8_t bits, uint8_t packet_index, uint8_t bit_index, + uint8_t* r_bit_index, uint8_t* buffer); +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS +MAVLINK_HELPER void _mavlink_send_uart(mavlink_channel_t chan, const char *buf, uint16_t len); +#endif + +/** + * @brief Get the required buffer size for this message + */ +static inline uint16_t mavlink_msg_get_send_buffer_length(const mavlink_message_t* msg) +{ + return msg->len + MAVLINK_NUM_NON_PAYLOAD_BYTES; +} + +#if MAVLINK_NEED_BYTE_SWAP +static inline void byte_swap_2(char *dst, const char *src) +{ + dst[0] = src[1]; + dst[1] = src[0]; +} +static inline void byte_swap_4(char *dst, const char *src) +{ + dst[0] = src[3]; + dst[1] = src[2]; + dst[2] = src[1]; + dst[3] = src[0]; +} +static inline void byte_swap_8(char *dst, const char *src) +{ + dst[0] = src[7]; + dst[1] = src[6]; + dst[2] = src[5]; + dst[3] = src[4]; + dst[4] = src[3]; + dst[5] = src[2]; + dst[6] = src[1]; + dst[7] = src[0]; +} +#elif !MAVLINK_ALIGNED_FIELDS +static inline void byte_copy_2(char *dst, const char *src) +{ + dst[0] = src[0]; + dst[1] = src[1]; +} +static inline void byte_copy_4(char *dst, const char *src) +{ + dst[0] = src[0]; + dst[1] = src[1]; + dst[2] = src[2]; + dst[3] = src[3]; +} +static inline void byte_copy_8(char *dst, const char *src) +{ + memcpy(dst, src, 8); +} +#endif + +#define _mav_put_uint8_t(buf, wire_offset, b) buf[wire_offset] = (uint8_t)b +#define _mav_put_int8_t(buf, wire_offset, b) buf[wire_offset] = (int8_t)b +#define _mav_put_char(buf, wire_offset, b) buf[wire_offset] = b + +#if MAVLINK_NEED_BYTE_SWAP +#define _mav_put_uint16_t(buf, wire_offset, b) byte_swap_2(&buf[wire_offset], (const char *)&b) +#define _mav_put_int16_t(buf, wire_offset, b) byte_swap_2(&buf[wire_offset], (const char *)&b) +#define _mav_put_uint32_t(buf, wire_offset, b) byte_swap_4(&buf[wire_offset], (const char *)&b) +#define _mav_put_int32_t(buf, wire_offset, b) byte_swap_4(&buf[wire_offset], (const char *)&b) +#define _mav_put_uint64_t(buf, wire_offset, b) byte_swap_8(&buf[wire_offset], (const char *)&b) +#define _mav_put_int64_t(buf, wire_offset, b) byte_swap_8(&buf[wire_offset], (const char *)&b) +#define _mav_put_float(buf, wire_offset, b) byte_swap_4(&buf[wire_offset], (const char *)&b) +#define _mav_put_double(buf, wire_offset, b) byte_swap_8(&buf[wire_offset], (const char *)&b) +#elif !MAVLINK_ALIGNED_FIELDS +#define _mav_put_uint16_t(buf, wire_offset, b) byte_copy_2(&buf[wire_offset], (const char *)&b) +#define _mav_put_int16_t(buf, wire_offset, b) byte_copy_2(&buf[wire_offset], (const char *)&b) +#define _mav_put_uint32_t(buf, wire_offset, b) byte_copy_4(&buf[wire_offset], (const char *)&b) +#define _mav_put_int32_t(buf, wire_offset, b) byte_copy_4(&buf[wire_offset], (const char *)&b) +#define _mav_put_uint64_t(buf, wire_offset, b) byte_copy_8(&buf[wire_offset], (const char *)&b) +#define _mav_put_int64_t(buf, wire_offset, b) byte_copy_8(&buf[wire_offset], (const char *)&b) +#define _mav_put_float(buf, wire_offset, b) byte_copy_4(&buf[wire_offset], (const char *)&b) +#define _mav_put_double(buf, wire_offset, b) byte_copy_8(&buf[wire_offset], (const char *)&b) +#else +#define _mav_put_uint16_t(buf, wire_offset, b) *(uint16_t *)&buf[wire_offset] = b +#define _mav_put_int16_t(buf, wire_offset, b) *(int16_t *)&buf[wire_offset] = b +#define _mav_put_uint32_t(buf, wire_offset, b) *(uint32_t *)&buf[wire_offset] = b +#define _mav_put_int32_t(buf, wire_offset, b) *(int32_t *)&buf[wire_offset] = b +#define _mav_put_uint64_t(buf, wire_offset, b) *(uint64_t *)&buf[wire_offset] = b +#define _mav_put_int64_t(buf, wire_offset, b) *(int64_t *)&buf[wire_offset] = b +#define _mav_put_float(buf, wire_offset, b) *(float *)&buf[wire_offset] = b +#define _mav_put_double(buf, wire_offset, b) *(double *)&buf[wire_offset] = b +#endif + +/* + like memcpy(), but if src is NULL, do a memset to zero + */ +static void mav_array_memcpy(void *dest, const void *src, size_t n) +{ + if (src == NULL) { + memset(dest, 0, n); + } else { + memcpy(dest, src, n); + } +} + +/* + * Place a char array into a buffer + */ +static inline void _mav_put_char_array(char *buf, uint8_t wire_offset, const char *b, uint8_t array_length) +{ + mav_array_memcpy(&buf[wire_offset], b, array_length); +} + +/* + * Place a uint8_t array into a buffer + */ +static inline void _mav_put_uint8_t_array(char *buf, uint8_t wire_offset, const uint8_t *b, uint8_t array_length) +{ + mav_array_memcpy(&buf[wire_offset], b, array_length); +} + +/* + * Place a int8_t array into a buffer + */ +static inline void _mav_put_int8_t_array(char *buf, uint8_t wire_offset, const int8_t *b, uint8_t array_length) +{ + mav_array_memcpy(&buf[wire_offset], b, array_length); +} + +#if MAVLINK_NEED_BYTE_SWAP +#define _MAV_PUT_ARRAY(TYPE, V) \ +static inline void _mav_put_ ## TYPE ##_array(char *buf, uint8_t wire_offset, const TYPE *b, uint8_t array_length) \ +{ \ + if (b == NULL) { \ + memset(&buf[wire_offset], 0, array_length*sizeof(TYPE)); \ + } else { \ + uint16_t i; \ + for (i=0; imsgid = MAVLINK_MSG_ID_AIR_DATA; @@ -79,14 +79,14 @@ static inline uint16_t mavlink_msg_air_data_pack_chan(uint8_t system_id, uint8_t _mav_put_float(buf, 4, staticPressure); _mav_put_uint16_t(buf, 8, temperature); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 10); + memcpy(_MAV_PAYLOAD(msg), buf, 10); #else mavlink_air_data_t packet; packet.dynamicPressure = dynamicPressure; packet.staticPressure = staticPressure; packet.temperature = temperature; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 10); + memcpy(_MAV_PAYLOAD(msg), &packet, 10); #endif msg->msgid = MAVLINK_MSG_ID_AIR_DATA; diff --git a/thirdParty/mavlink/include/slugs/mavlink_msg_cpu_load.h b/thirdParty/mavlink/v1.0/slugs/mavlink_msg_cpu_load.h similarity index 96% rename from thirdParty/mavlink/include/slugs/mavlink_msg_cpu_load.h rename to thirdParty/mavlink/v1.0/slugs/mavlink_msg_cpu_load.h index 5f86c7091e6cdbfded2c64a85f2db2a64d3503c8..af9e03d37b2e6a7d126e5f74142ab0e76a8c5476 100644 --- a/thirdParty/mavlink/include/slugs/mavlink_msg_cpu_load.h +++ b/thirdParty/mavlink/v1.0/slugs/mavlink_msg_cpu_load.h @@ -44,14 +44,14 @@ static inline uint16_t mavlink_msg_cpu_load_pack(uint8_t system_id, uint8_t comp _mav_put_uint8_t(buf, 2, sensLoad); _mav_put_uint8_t(buf, 3, ctrlLoad); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 4); + memcpy(_MAV_PAYLOAD(msg), buf, 4); #else mavlink_cpu_load_t packet; packet.batVolt = batVolt; packet.sensLoad = sensLoad; packet.ctrlLoad = ctrlLoad; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 4); + memcpy(_MAV_PAYLOAD(msg), &packet, 4); #endif msg->msgid = MAVLINK_MSG_ID_CPU_LOAD; @@ -79,14 +79,14 @@ static inline uint16_t mavlink_msg_cpu_load_pack_chan(uint8_t system_id, uint8_t _mav_put_uint8_t(buf, 2, sensLoad); _mav_put_uint8_t(buf, 3, ctrlLoad); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 4); + memcpy(_MAV_PAYLOAD(msg), buf, 4); #else mavlink_cpu_load_t packet; packet.batVolt = batVolt; packet.sensLoad = sensLoad; packet.ctrlLoad = ctrlLoad; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 4); + memcpy(_MAV_PAYLOAD(msg), &packet, 4); #endif msg->msgid = MAVLINK_MSG_ID_CPU_LOAD; diff --git a/thirdParty/mavlink/include/slugs/mavlink_msg_ctrl_srfc_pt.h b/thirdParty/mavlink/v1.0/slugs/mavlink_msg_ctrl_srfc_pt.h similarity index 95% rename from thirdParty/mavlink/include/slugs/mavlink_msg_ctrl_srfc_pt.h rename to thirdParty/mavlink/v1.0/slugs/mavlink_msg_ctrl_srfc_pt.h index e506ed18fd3f069ffbc6376df79dacd24a8a7008..dc445e1989298e4dbf5038ba8ed9ba09ddf477d6 100644 --- a/thirdParty/mavlink/include/slugs/mavlink_msg_ctrl_srfc_pt.h +++ b/thirdParty/mavlink/v1.0/slugs/mavlink_msg_ctrl_srfc_pt.h @@ -40,13 +40,13 @@ static inline uint16_t mavlink_msg_ctrl_srfc_pt_pack(uint8_t system_id, uint8_t _mav_put_uint16_t(buf, 0, bitfieldPt); _mav_put_uint8_t(buf, 2, target); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 3); + memcpy(_MAV_PAYLOAD(msg), buf, 3); #else mavlink_ctrl_srfc_pt_t packet; packet.bitfieldPt = bitfieldPt; packet.target = target; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 3); + memcpy(_MAV_PAYLOAD(msg), &packet, 3); #endif msg->msgid = MAVLINK_MSG_ID_CTRL_SRFC_PT; @@ -72,13 +72,13 @@ static inline uint16_t mavlink_msg_ctrl_srfc_pt_pack_chan(uint8_t system_id, uin _mav_put_uint16_t(buf, 0, bitfieldPt); _mav_put_uint8_t(buf, 2, target); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 3); + memcpy(_MAV_PAYLOAD(msg), buf, 3); #else mavlink_ctrl_srfc_pt_t packet; packet.bitfieldPt = bitfieldPt; packet.target = target; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 3); + memcpy(_MAV_PAYLOAD(msg), &packet, 3); #endif msg->msgid = MAVLINK_MSG_ID_CTRL_SRFC_PT; diff --git a/thirdParty/mavlink/include/slugs/mavlink_msg_data_log.h b/thirdParty/mavlink/v1.0/slugs/mavlink_msg_data_log.h similarity index 96% rename from thirdParty/mavlink/include/slugs/mavlink_msg_data_log.h rename to thirdParty/mavlink/v1.0/slugs/mavlink_msg_data_log.h index 49e340704d35b9766b2241e924130f6807fcb9df..e852684e181fae39e7c8100540e2186a24a131fc 100644 --- a/thirdParty/mavlink/include/slugs/mavlink_msg_data_log.h +++ b/thirdParty/mavlink/v1.0/slugs/mavlink_msg_data_log.h @@ -56,7 +56,7 @@ static inline uint16_t mavlink_msg_data_log_pack(uint8_t system_id, uint8_t comp _mav_put_float(buf, 16, fl_5); _mav_put_float(buf, 20, fl_6); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 24); + memcpy(_MAV_PAYLOAD(msg), buf, 24); #else mavlink_data_log_t packet; packet.fl_1 = fl_1; @@ -66,7 +66,7 @@ static inline uint16_t mavlink_msg_data_log_pack(uint8_t system_id, uint8_t comp packet.fl_5 = fl_5; packet.fl_6 = fl_6; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 24); + memcpy(_MAV_PAYLOAD(msg), &packet, 24); #endif msg->msgid = MAVLINK_MSG_ID_DATA_LOG; @@ -100,7 +100,7 @@ static inline uint16_t mavlink_msg_data_log_pack_chan(uint8_t system_id, uint8_t _mav_put_float(buf, 16, fl_5); _mav_put_float(buf, 20, fl_6); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 24); + memcpy(_MAV_PAYLOAD(msg), buf, 24); #else mavlink_data_log_t packet; packet.fl_1 = fl_1; @@ -110,7 +110,7 @@ static inline uint16_t mavlink_msg_data_log_pack_chan(uint8_t system_id, uint8_t packet.fl_5 = fl_5; packet.fl_6 = fl_6; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 24); + memcpy(_MAV_PAYLOAD(msg), &packet, 24); #endif msg->msgid = MAVLINK_MSG_ID_DATA_LOG; diff --git a/thirdParty/mavlink/include/slugs/mavlink_msg_diagnostic.h b/thirdParty/mavlink/v1.0/slugs/mavlink_msg_diagnostic.h similarity index 97% rename from thirdParty/mavlink/include/slugs/mavlink_msg_diagnostic.h rename to thirdParty/mavlink/v1.0/slugs/mavlink_msg_diagnostic.h index ef77e5f085b9a9bd8330b80f2ebb9a08f0cff1c9..90f64dedd0c8ee65ab4b4aa50178daff647bb781 100644 --- a/thirdParty/mavlink/include/slugs/mavlink_msg_diagnostic.h +++ b/thirdParty/mavlink/v1.0/slugs/mavlink_msg_diagnostic.h @@ -56,7 +56,7 @@ static inline uint16_t mavlink_msg_diagnostic_pack(uint8_t system_id, uint8_t co _mav_put_int16_t(buf, 14, diagSh2); _mav_put_int16_t(buf, 16, diagSh3); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 18); + memcpy(_MAV_PAYLOAD(msg), buf, 18); #else mavlink_diagnostic_t packet; packet.diagFl1 = diagFl1; @@ -66,7 +66,7 @@ static inline uint16_t mavlink_msg_diagnostic_pack(uint8_t system_id, uint8_t co packet.diagSh2 = diagSh2; packet.diagSh3 = diagSh3; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 18); + memcpy(_MAV_PAYLOAD(msg), &packet, 18); #endif msg->msgid = MAVLINK_MSG_ID_DIAGNOSTIC; @@ -100,7 +100,7 @@ static inline uint16_t mavlink_msg_diagnostic_pack_chan(uint8_t system_id, uint8 _mav_put_int16_t(buf, 14, diagSh2); _mav_put_int16_t(buf, 16, diagSh3); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 18); + memcpy(_MAV_PAYLOAD(msg), buf, 18); #else mavlink_diagnostic_t packet; packet.diagFl1 = diagFl1; @@ -110,7 +110,7 @@ static inline uint16_t mavlink_msg_diagnostic_pack_chan(uint8_t system_id, uint8 packet.diagSh2 = diagSh2; packet.diagSh3 = diagSh3; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 18); + memcpy(_MAV_PAYLOAD(msg), &packet, 18); #endif msg->msgid = MAVLINK_MSG_ID_DIAGNOSTIC; diff --git a/thirdParty/mavlink/include/slugs/mavlink_msg_gps_date_time.h b/thirdParty/mavlink/v1.0/slugs/mavlink_msg_gps_date_time.h similarity index 97% rename from thirdParty/mavlink/include/slugs/mavlink_msg_gps_date_time.h rename to thirdParty/mavlink/v1.0/slugs/mavlink_msg_gps_date_time.h index 62b33d475af524bf5aef9bb6d2ab3890a073c3cd..d4fb12bf87e15046e28ccd7cdf55cf76ffaaabd3 100644 --- a/thirdParty/mavlink/include/slugs/mavlink_msg_gps_date_time.h +++ b/thirdParty/mavlink/v1.0/slugs/mavlink_msg_gps_date_time.h @@ -60,7 +60,7 @@ static inline uint16_t mavlink_msg_gps_date_time_pack(uint8_t system_id, uint8_t _mav_put_uint8_t(buf, 5, sec); _mav_put_uint8_t(buf, 6, visSat); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 7); + memcpy(_MAV_PAYLOAD(msg), buf, 7); #else mavlink_gps_date_time_t packet; packet.year = year; @@ -71,7 +71,7 @@ static inline uint16_t mavlink_msg_gps_date_time_pack(uint8_t system_id, uint8_t packet.sec = sec; packet.visSat = visSat; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 7); + memcpy(_MAV_PAYLOAD(msg), &packet, 7); #endif msg->msgid = MAVLINK_MSG_ID_GPS_DATE_TIME; @@ -107,7 +107,7 @@ static inline uint16_t mavlink_msg_gps_date_time_pack_chan(uint8_t system_id, ui _mav_put_uint8_t(buf, 5, sec); _mav_put_uint8_t(buf, 6, visSat); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 7); + memcpy(_MAV_PAYLOAD(msg), buf, 7); #else mavlink_gps_date_time_t packet; packet.year = year; @@ -118,7 +118,7 @@ static inline uint16_t mavlink_msg_gps_date_time_pack_chan(uint8_t system_id, ui packet.sec = sec; packet.visSat = visSat; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 7); + memcpy(_MAV_PAYLOAD(msg), &packet, 7); #endif msg->msgid = MAVLINK_MSG_ID_GPS_DATE_TIME; diff --git a/thirdParty/mavlink/include/slugs/mavlink_msg_mid_lvl_cmds.h b/thirdParty/mavlink/v1.0/slugs/mavlink_msg_mid_lvl_cmds.h similarity index 96% rename from thirdParty/mavlink/include/slugs/mavlink_msg_mid_lvl_cmds.h rename to thirdParty/mavlink/v1.0/slugs/mavlink_msg_mid_lvl_cmds.h index 6542ab1decb12810a3a5043594df8c7c41f558cf..59e4012b120b8e83b6becce5cddec4e81b12dab0 100644 --- a/thirdParty/mavlink/include/slugs/mavlink_msg_mid_lvl_cmds.h +++ b/thirdParty/mavlink/v1.0/slugs/mavlink_msg_mid_lvl_cmds.h @@ -48,7 +48,7 @@ static inline uint16_t mavlink_msg_mid_lvl_cmds_pack(uint8_t system_id, uint8_t _mav_put_float(buf, 8, rCommand); _mav_put_uint8_t(buf, 12, target); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 13); + memcpy(_MAV_PAYLOAD(msg), buf, 13); #else mavlink_mid_lvl_cmds_t packet; packet.hCommand = hCommand; @@ -56,7 +56,7 @@ static inline uint16_t mavlink_msg_mid_lvl_cmds_pack(uint8_t system_id, uint8_t packet.rCommand = rCommand; packet.target = target; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 13); + memcpy(_MAV_PAYLOAD(msg), &packet, 13); #endif msg->msgid = MAVLINK_MSG_ID_MID_LVL_CMDS; @@ -86,7 +86,7 @@ static inline uint16_t mavlink_msg_mid_lvl_cmds_pack_chan(uint8_t system_id, uin _mav_put_float(buf, 8, rCommand); _mav_put_uint8_t(buf, 12, target); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 13); + memcpy(_MAV_PAYLOAD(msg), buf, 13); #else mavlink_mid_lvl_cmds_t packet; packet.hCommand = hCommand; @@ -94,7 +94,7 @@ static inline uint16_t mavlink_msg_mid_lvl_cmds_pack_chan(uint8_t system_id, uin packet.rCommand = rCommand; packet.target = target; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 13); + memcpy(_MAV_PAYLOAD(msg), &packet, 13); #endif msg->msgid = MAVLINK_MSG_ID_MID_LVL_CMDS; diff --git a/thirdParty/mavlink/include/slugs/mavlink_msg_sensor_bias.h b/thirdParty/mavlink/v1.0/slugs/mavlink_msg_sensor_bias.h similarity index 97% rename from thirdParty/mavlink/include/slugs/mavlink_msg_sensor_bias.h rename to thirdParty/mavlink/v1.0/slugs/mavlink_msg_sensor_bias.h index 7dec47ed3afc9fee37623d066d8edd0647ddb559..3bf6803a605756cc21638ec3785f0ef40665d504 100644 --- a/thirdParty/mavlink/include/slugs/mavlink_msg_sensor_bias.h +++ b/thirdParty/mavlink/v1.0/slugs/mavlink_msg_sensor_bias.h @@ -56,7 +56,7 @@ static inline uint16_t mavlink_msg_sensor_bias_pack(uint8_t system_id, uint8_t c _mav_put_float(buf, 16, gyBias); _mav_put_float(buf, 20, gzBias); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 24); + memcpy(_MAV_PAYLOAD(msg), buf, 24); #else mavlink_sensor_bias_t packet; packet.axBias = axBias; @@ -66,7 +66,7 @@ static inline uint16_t mavlink_msg_sensor_bias_pack(uint8_t system_id, uint8_t c packet.gyBias = gyBias; packet.gzBias = gzBias; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 24); + memcpy(_MAV_PAYLOAD(msg), &packet, 24); #endif msg->msgid = MAVLINK_MSG_ID_SENSOR_BIAS; @@ -100,7 +100,7 @@ static inline uint16_t mavlink_msg_sensor_bias_pack_chan(uint8_t system_id, uint _mav_put_float(buf, 16, gyBias); _mav_put_float(buf, 20, gzBias); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 24); + memcpy(_MAV_PAYLOAD(msg), buf, 24); #else mavlink_sensor_bias_t packet; packet.axBias = axBias; @@ -110,7 +110,7 @@ static inline uint16_t mavlink_msg_sensor_bias_pack_chan(uint8_t system_id, uint packet.gyBias = gyBias; packet.gzBias = gzBias; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 24); + memcpy(_MAV_PAYLOAD(msg), &packet, 24); #endif msg->msgid = MAVLINK_MSG_ID_SENSOR_BIAS; diff --git a/thirdParty/mavlink/include/slugs/mavlink_msg_slugs_action.h b/thirdParty/mavlink/v1.0/slugs/mavlink_msg_slugs_action.h similarity index 96% rename from thirdParty/mavlink/include/slugs/mavlink_msg_slugs_action.h rename to thirdParty/mavlink/v1.0/slugs/mavlink_msg_slugs_action.h index 84b87a308eaf705c376c8deb04a13d23ecda5056..2382a17c47fd4497b6ebe01b3dca15a88466db33 100644 --- a/thirdParty/mavlink/include/slugs/mavlink_msg_slugs_action.h +++ b/thirdParty/mavlink/v1.0/slugs/mavlink_msg_slugs_action.h @@ -44,14 +44,14 @@ static inline uint16_t mavlink_msg_slugs_action_pack(uint8_t system_id, uint8_t _mav_put_uint8_t(buf, 2, target); _mav_put_uint8_t(buf, 3, actionId); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 4); + memcpy(_MAV_PAYLOAD(msg), buf, 4); #else mavlink_slugs_action_t packet; packet.actionVal = actionVal; packet.target = target; packet.actionId = actionId; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 4); + memcpy(_MAV_PAYLOAD(msg), &packet, 4); #endif msg->msgid = MAVLINK_MSG_ID_SLUGS_ACTION; @@ -79,14 +79,14 @@ static inline uint16_t mavlink_msg_slugs_action_pack_chan(uint8_t system_id, uin _mav_put_uint8_t(buf, 2, target); _mav_put_uint8_t(buf, 3, actionId); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 4); + memcpy(_MAV_PAYLOAD(msg), buf, 4); #else mavlink_slugs_action_t packet; packet.actionVal = actionVal; packet.target = target; packet.actionId = actionId; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 4); + memcpy(_MAV_PAYLOAD(msg), &packet, 4); #endif msg->msgid = MAVLINK_MSG_ID_SLUGS_ACTION; diff --git a/thirdParty/mavlink/include/slugs/mavlink_msg_slugs_navigation.h b/thirdParty/mavlink/v1.0/slugs/mavlink_msg_slugs_navigation.h similarity index 98% rename from thirdParty/mavlink/include/slugs/mavlink_msg_slugs_navigation.h rename to thirdParty/mavlink/v1.0/slugs/mavlink_msg_slugs_navigation.h index b29a889975363be6ce8a593b51287b31e2057c9b..a0253a84839f6f693227b7fb23cf22d098f10ee3 100644 --- a/thirdParty/mavlink/include/slugs/mavlink_msg_slugs_navigation.h +++ b/thirdParty/mavlink/v1.0/slugs/mavlink_msg_slugs_navigation.h @@ -68,7 +68,7 @@ static inline uint16_t mavlink_msg_slugs_navigation_pack(uint8_t system_id, uint _mav_put_uint8_t(buf, 28, fromWP); _mav_put_uint8_t(buf, 29, toWP); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 30); + memcpy(_MAV_PAYLOAD(msg), buf, 30); #else mavlink_slugs_navigation_t packet; packet.u_m = u_m; @@ -81,7 +81,7 @@ static inline uint16_t mavlink_msg_slugs_navigation_pack(uint8_t system_id, uint packet.fromWP = fromWP; packet.toWP = toWP; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 30); + memcpy(_MAV_PAYLOAD(msg), &packet, 30); #endif msg->msgid = MAVLINK_MSG_ID_SLUGS_NAVIGATION; @@ -121,7 +121,7 @@ static inline uint16_t mavlink_msg_slugs_navigation_pack_chan(uint8_t system_id, _mav_put_uint8_t(buf, 28, fromWP); _mav_put_uint8_t(buf, 29, toWP); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 30); + memcpy(_MAV_PAYLOAD(msg), buf, 30); #else mavlink_slugs_navigation_t packet; packet.u_m = u_m; @@ -134,7 +134,7 @@ static inline uint16_t mavlink_msg_slugs_navigation_pack_chan(uint8_t system_id, packet.fromWP = fromWP; packet.toWP = toWP; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 30); + memcpy(_MAV_PAYLOAD(msg), &packet, 30); #endif msg->msgid = MAVLINK_MSG_ID_SLUGS_NAVIGATION; diff --git a/thirdParty/mavlink/v1.0/slugs/slugs.h b/thirdParty/mavlink/v1.0/slugs/slugs.h new file mode 100644 index 0000000000000000000000000000000000000000..416f83e8272a844948bf0441b55b02a8c51f5920 --- /dev/null +++ b/thirdParty/mavlink/v1.0/slugs/slugs.h @@ -0,0 +1,62 @@ +/** @file + * @brief MAVLink comm protocol generated from slugs.xml + * @see http://qgroundcontrol.org/mavlink/ + */ +#ifndef SLUGS_H +#define SLUGS_H + +#ifdef __cplusplus +extern "C" { +#endif + +// MESSAGE LENGTHS AND CRCS + +#ifndef MAVLINK_MESSAGE_LENGTHS +#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 0, 0, 26, 0, 36, 0, 6, 4, 0, 21, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 18, 32, 32, 20, 32, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 4, 10, 24, 18, 0, 0, 30, 24, 0, 7, 13, 3, 0, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 3} +#endif + +#ifndef MAVLINK_MESSAGE_CRCS +#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 0, 0, 183, 0, 130, 0, 148, 21, 0, 52, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 19, 102, 158, 208, 56, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 75, 232, 168, 2, 0, 0, 120, 167, 0, 16, 146, 104, 0, 65, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 247} +#endif + +#ifndef MAVLINK_MESSAGE_INFO +#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, {NULL}, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_SET_MODE, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_WRITE_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_ITEM, MAVLINK_MESSAGE_INFO_MISSION_REQUEST, MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST, MAVLINK_MESSAGE_INFO_MISSION_COUNT, MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL, MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED, MAVLINK_MESSAGE_INFO_MISSION_ACK, MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, {NULL}, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, {NULL}, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_DATA_STREAM, {NULL}, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_VFR_HUD, {NULL}, MAVLINK_MESSAGE_INFO_COMMAND_LONG, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_HIL_RC_INPUTS_RAW, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE, MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_CPU_LOAD, MAVLINK_MESSAGE_INFO_AIR_DATA, MAVLINK_MESSAGE_INFO_SENSOR_BIAS, MAVLINK_MESSAGE_INFO_DIAGNOSTIC, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_SLUGS_NAVIGATION, MAVLINK_MESSAGE_INFO_DATA_LOG, {NULL}, MAVLINK_MESSAGE_INFO_GPS_DATE_TIME, MAVLINK_MESSAGE_INFO_MID_LVL_CMDS, MAVLINK_MESSAGE_INFO_CTRL_SRFC_PT, {NULL}, MAVLINK_MESSAGE_INFO_SLUGS_ACTION, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_MEMORY_VECT, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG, MAVLINK_MESSAGE_INFO_EXTENDED_MESSAGE} +#endif + +#include "../protocol.h" + +#define MAVLINK_ENABLED_SLUGS + +#include "../common/common.h" + +// MAVLINK VERSION + +#ifndef MAVLINK_VERSION +#define MAVLINK_VERSION 2 +#endif + +#if (MAVLINK_VERSION == 0) +#undef MAVLINK_VERSION +#define MAVLINK_VERSION 2 +#endif + +// ENUM DEFINITIONS + + + +// MESSAGE DEFINITIONS +#include "./mavlink_msg_cpu_load.h" +#include "./mavlink_msg_air_data.h" +#include "./mavlink_msg_sensor_bias.h" +#include "./mavlink_msg_diagnostic.h" +#include "./mavlink_msg_slugs_navigation.h" +#include "./mavlink_msg_data_log.h" +#include "./mavlink_msg_gps_date_time.h" +#include "./mavlink_msg_mid_lvl_cmds.h" +#include "./mavlink_msg_ctrl_srfc_pt.h" +#include "./mavlink_msg_slugs_action.h" + +#ifdef __cplusplus +} +#endif // __cplusplus +#endif // SLUGS_H diff --git a/thirdParty/mavlink/include/slugs/testsuite.h b/thirdParty/mavlink/v1.0/slugs/testsuite.h similarity index 100% rename from thirdParty/mavlink/include/slugs/testsuite.h rename to thirdParty/mavlink/v1.0/slugs/testsuite.h diff --git a/thirdParty/mavlink/include/slugs/version.h b/thirdParty/mavlink/v1.0/slugs/version.h similarity index 84% rename from thirdParty/mavlink/include/slugs/version.h rename to thirdParty/mavlink/v1.0/slugs/version.h index 81427e789c6b6203e9ed1206b0cfb0d521788d76..70e15488c08e282260247f64b3ee7a8ea8583a02 100644 --- a/thirdParty/mavlink/include/slugs/version.h +++ b/thirdParty/mavlink/v1.0/slugs/version.h @@ -5,7 +5,7 @@ #ifndef MAVLINK_VERSION_H #define MAVLINK_VERSION_H -#define MAVLINK_BUILD_DATE "Thu Feb 9 16:35:35 2012" +#define MAVLINK_BUILD_DATE "Mon Feb 20 20:01:36 2012" #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0" #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101 diff --git a/thirdParty/mavlink/include/test/mavlink.h b/thirdParty/mavlink/v1.0/test/mavlink.h similarity index 100% rename from thirdParty/mavlink/include/test/mavlink.h rename to thirdParty/mavlink/v1.0/test/mavlink.h diff --git a/thirdParty/mavlink/include/test/mavlink_msg_test_types.h b/thirdParty/mavlink/v1.0/test/mavlink_msg_test_types.h similarity index 98% rename from thirdParty/mavlink/include/test/mavlink_msg_test_types.h rename to thirdParty/mavlink/v1.0/test/mavlink_msg_test_types.h index 9300998f81e5b3c31ffee8d8da0cfbbc2e30313d..2a3a89ff905812784a232e690d797b7a4e27f61b 100644 --- a/thirdParty/mavlink/include/test/mavlink_msg_test_types.h +++ b/thirdParty/mavlink/v1.0/test/mavlink_msg_test_types.h @@ -129,7 +129,7 @@ static inline uint16_t mavlink_msg_test_types_pack(uint8_t system_id, uint8_t co _mav_put_char_array(buf, 161, s, 10); _mav_put_uint8_t_array(buf, 173, u8_array, 3); _mav_put_int8_t_array(buf, 176, s8_array, 3); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 179); + memcpy(_MAV_PAYLOAD(msg), buf, 179); #else mavlink_test_types_t packet; packet.u64 = u64; @@ -154,7 +154,7 @@ static inline uint16_t mavlink_msg_test_types_pack(uint8_t system_id, uint8_t co mav_array_memcpy(packet.s, s, sizeof(char)*10); mav_array_memcpy(packet.u8_array, u8_array, sizeof(uint8_t)*3); mav_array_memcpy(packet.s8_array, s8_array, sizeof(int8_t)*3); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 179); + memcpy(_MAV_PAYLOAD(msg), &packet, 179); #endif msg->msgid = MAVLINK_MSG_ID_TEST_TYPES; @@ -219,7 +219,7 @@ static inline uint16_t mavlink_msg_test_types_pack_chan(uint8_t system_id, uint8 _mav_put_char_array(buf, 161, s, 10); _mav_put_uint8_t_array(buf, 173, u8_array, 3); _mav_put_int8_t_array(buf, 176, s8_array, 3); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 179); + memcpy(_MAV_PAYLOAD(msg), buf, 179); #else mavlink_test_types_t packet; packet.u64 = u64; @@ -244,7 +244,7 @@ static inline uint16_t mavlink_msg_test_types_pack_chan(uint8_t system_id, uint8 mav_array_memcpy(packet.s, s, sizeof(char)*10); mav_array_memcpy(packet.u8_array, u8_array, sizeof(uint8_t)*3); mav_array_memcpy(packet.s8_array, s8_array, sizeof(int8_t)*3); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 179); + memcpy(_MAV_PAYLOAD(msg), &packet, 179); #endif msg->msgid = MAVLINK_MSG_ID_TEST_TYPES; diff --git a/thirdParty/mavlink/v1.0/test/test.h b/thirdParty/mavlink/v1.0/test/test.h new file mode 100644 index 0000000000000000000000000000000000000000..4dc04f889f5809f780b4eb3f55834ed832ed504c --- /dev/null +++ b/thirdParty/mavlink/v1.0/test/test.h @@ -0,0 +1,53 @@ +/** @file + * @brief MAVLink comm protocol generated from test.xml + * @see http://qgroundcontrol.org/mavlink/ + */ +#ifndef TEST_H +#define TEST_H + +#ifdef __cplusplus +extern "C" { +#endif + +// MESSAGE LENGTHS AND CRCS + +#ifndef MAVLINK_MESSAGE_LENGTHS +#define MAVLINK_MESSAGE_LENGTHS {179, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0} +#endif + +#ifndef MAVLINK_MESSAGE_CRCS +#define MAVLINK_MESSAGE_CRCS {103, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0} +#endif + +#ifndef MAVLINK_MESSAGE_INFO +#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_TEST_TYPES, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}} +#endif + +#include "../protocol.h" + +#define MAVLINK_ENABLED_TEST + + + +// MAVLINK VERSION + +#ifndef MAVLINK_VERSION +#define MAVLINK_VERSION 3 +#endif + +#if (MAVLINK_VERSION == 0) +#undef MAVLINK_VERSION +#define MAVLINK_VERSION 3 +#endif + +// ENUM DEFINITIONS + + + +// MESSAGE DEFINITIONS +#include "./mavlink_msg_test_types.h" + +#ifdef __cplusplus +} +#endif // __cplusplus +#endif // TEST_H diff --git a/thirdParty/mavlink/include/test/testsuite.h b/thirdParty/mavlink/v1.0/test/testsuite.h similarity index 100% rename from thirdParty/mavlink/include/test/testsuite.h rename to thirdParty/mavlink/v1.0/test/testsuite.h diff --git a/thirdParty/mavlink/include/test/version.h b/thirdParty/mavlink/v1.0/test/version.h similarity index 84% rename from thirdParty/mavlink/include/test/version.h rename to thirdParty/mavlink/v1.0/test/version.h index 605c945cd87c55c1fd93d5705704f58c47b28902..3ba52edf1c10ef4ac5e29d29ad34b711fa225843 100644 --- a/thirdParty/mavlink/include/test/version.h +++ b/thirdParty/mavlink/v1.0/test/version.h @@ -5,7 +5,7 @@ #ifndef MAVLINK_VERSION_H #define MAVLINK_VERSION_H -#define MAVLINK_BUILD_DATE "Thu Feb 9 16:35:37 2012" +#define MAVLINK_BUILD_DATE "Mon Feb 20 20:01:37 2012" #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0" #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 179 diff --git a/thirdParty/mavlink/include/ualberta/mavlink.h b/thirdParty/mavlink/v1.0/ualberta/mavlink.h similarity index 100% rename from thirdParty/mavlink/include/ualberta/mavlink.h rename to thirdParty/mavlink/v1.0/ualberta/mavlink.h diff --git a/thirdParty/mavlink/include/ualberta/mavlink_msg_nav_filter_bias.h b/thirdParty/mavlink/v1.0/ualberta/mavlink_msg_nav_filter_bias.h similarity index 97% rename from thirdParty/mavlink/include/ualberta/mavlink_msg_nav_filter_bias.h rename to thirdParty/mavlink/v1.0/ualberta/mavlink_msg_nav_filter_bias.h index e9f49e4edd6b8b65ac63757427e665e52550265e..d08a1b13e4d2d8712fa68eb4226f70d5cd381444 100644 --- a/thirdParty/mavlink/include/ualberta/mavlink_msg_nav_filter_bias.h +++ b/thirdParty/mavlink/v1.0/ualberta/mavlink_msg_nav_filter_bias.h @@ -60,7 +60,7 @@ static inline uint16_t mavlink_msg_nav_filter_bias_pack(uint8_t system_id, uint8 _mav_put_float(buf, 24, gyro_1); _mav_put_float(buf, 28, gyro_2); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 32); + memcpy(_MAV_PAYLOAD(msg), buf, 32); #else mavlink_nav_filter_bias_t packet; packet.usec = usec; @@ -71,7 +71,7 @@ static inline uint16_t mavlink_msg_nav_filter_bias_pack(uint8_t system_id, uint8 packet.gyro_1 = gyro_1; packet.gyro_2 = gyro_2; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 32); + memcpy(_MAV_PAYLOAD(msg), &packet, 32); #endif msg->msgid = MAVLINK_MSG_ID_NAV_FILTER_BIAS; @@ -107,7 +107,7 @@ static inline uint16_t mavlink_msg_nav_filter_bias_pack_chan(uint8_t system_id, _mav_put_float(buf, 24, gyro_1); _mav_put_float(buf, 28, gyro_2); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 32); + memcpy(_MAV_PAYLOAD(msg), buf, 32); #else mavlink_nav_filter_bias_t packet; packet.usec = usec; @@ -118,7 +118,7 @@ static inline uint16_t mavlink_msg_nav_filter_bias_pack_chan(uint8_t system_id, packet.gyro_1 = gyro_1; packet.gyro_2 = gyro_2; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 32); + memcpy(_MAV_PAYLOAD(msg), &packet, 32); #endif msg->msgid = MAVLINK_MSG_ID_NAV_FILTER_BIAS; diff --git a/thirdParty/mavlink/include/ualberta/mavlink_msg_radio_calibration.h b/thirdParty/mavlink/v1.0/ualberta/mavlink_msg_radio_calibration.h similarity index 97% rename from thirdParty/mavlink/include/ualberta/mavlink_msg_radio_calibration.h rename to thirdParty/mavlink/v1.0/ualberta/mavlink_msg_radio_calibration.h index 7227036788968ceabff4df3c1c8ecffcf13f9f45..768876ec708d494fa312ef9a2fac35091d6449b2 100644 --- a/thirdParty/mavlink/include/ualberta/mavlink_msg_radio_calibration.h +++ b/thirdParty/mavlink/v1.0/ualberta/mavlink_msg_radio_calibration.h @@ -61,7 +61,7 @@ static inline uint16_t mavlink_msg_radio_calibration_pack(uint8_t system_id, uin _mav_put_uint16_t_array(buf, 18, gyro, 2); _mav_put_uint16_t_array(buf, 22, pitch, 5); _mav_put_uint16_t_array(buf, 32, throttle, 5); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 42); + memcpy(_MAV_PAYLOAD(msg), buf, 42); #else mavlink_radio_calibration_t packet; @@ -71,7 +71,7 @@ static inline uint16_t mavlink_msg_radio_calibration_pack(uint8_t system_id, uin mav_array_memcpy(packet.gyro, gyro, sizeof(uint16_t)*2); mav_array_memcpy(packet.pitch, pitch, sizeof(uint16_t)*5); mav_array_memcpy(packet.throttle, throttle, sizeof(uint16_t)*5); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 42); + memcpy(_MAV_PAYLOAD(msg), &packet, 42); #endif msg->msgid = MAVLINK_MSG_ID_RADIO_CALIBRATION; @@ -105,7 +105,7 @@ static inline uint16_t mavlink_msg_radio_calibration_pack_chan(uint8_t system_id _mav_put_uint16_t_array(buf, 18, gyro, 2); _mav_put_uint16_t_array(buf, 22, pitch, 5); _mav_put_uint16_t_array(buf, 32, throttle, 5); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 42); + memcpy(_MAV_PAYLOAD(msg), buf, 42); #else mavlink_radio_calibration_t packet; @@ -115,7 +115,7 @@ static inline uint16_t mavlink_msg_radio_calibration_pack_chan(uint8_t system_id mav_array_memcpy(packet.gyro, gyro, sizeof(uint16_t)*2); mav_array_memcpy(packet.pitch, pitch, sizeof(uint16_t)*5); mav_array_memcpy(packet.throttle, throttle, sizeof(uint16_t)*5); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 42); + memcpy(_MAV_PAYLOAD(msg), &packet, 42); #endif msg->msgid = MAVLINK_MSG_ID_RADIO_CALIBRATION; diff --git a/thirdParty/mavlink/include/ualberta/mavlink_msg_ualberta_sys_status.h b/thirdParty/mavlink/v1.0/ualberta/mavlink_msg_ualberta_sys_status.h similarity index 96% rename from thirdParty/mavlink/include/ualberta/mavlink_msg_ualberta_sys_status.h rename to thirdParty/mavlink/v1.0/ualberta/mavlink_msg_ualberta_sys_status.h index 176469d25ac45729c1d6fc7d336857e917532466..69c4599e1368e7738ccdfa3cf2ac133468496afc 100644 --- a/thirdParty/mavlink/include/ualberta/mavlink_msg_ualberta_sys_status.h +++ b/thirdParty/mavlink/v1.0/ualberta/mavlink_msg_ualberta_sys_status.h @@ -44,14 +44,14 @@ static inline uint16_t mavlink_msg_ualberta_sys_status_pack(uint8_t system_id, u _mav_put_uint8_t(buf, 1, nav_mode); _mav_put_uint8_t(buf, 2, pilot); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 3); + memcpy(_MAV_PAYLOAD(msg), buf, 3); #else mavlink_ualberta_sys_status_t packet; packet.mode = mode; packet.nav_mode = nav_mode; packet.pilot = pilot; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 3); + memcpy(_MAV_PAYLOAD(msg), &packet, 3); #endif msg->msgid = MAVLINK_MSG_ID_UALBERTA_SYS_STATUS; @@ -79,14 +79,14 @@ static inline uint16_t mavlink_msg_ualberta_sys_status_pack_chan(uint8_t system_ _mav_put_uint8_t(buf, 1, nav_mode); _mav_put_uint8_t(buf, 2, pilot); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 3); + memcpy(_MAV_PAYLOAD(msg), buf, 3); #else mavlink_ualberta_sys_status_t packet; packet.mode = mode; packet.nav_mode = nav_mode; packet.pilot = pilot; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 3); + memcpy(_MAV_PAYLOAD(msg), &packet, 3); #endif msg->msgid = MAVLINK_MSG_ID_UALBERTA_SYS_STATUS; diff --git a/thirdParty/mavlink/v1.0/ualberta/testsuite.h b/thirdParty/mavlink/v1.0/ualberta/testsuite.h new file mode 100644 index 0000000000000000000000000000000000000000..79a6a004a4044a16dee0ae5cb024c3e44e684ec5 --- /dev/null +++ b/thirdParty/mavlink/v1.0/ualberta/testsuite.h @@ -0,0 +1,192 @@ +/** @file + * @brief MAVLink comm protocol testsuite generated from ualberta.xml + * @see http://qgroundcontrol.org/mavlink/ + */ +#ifndef UALBERTA_TESTSUITE_H +#define UALBERTA_TESTSUITE_H + +#ifdef __cplusplus +extern "C" { +#endif + +#ifndef MAVLINK_TEST_ALL +#define MAVLINK_TEST_ALL +static void mavlink_test_common(uint8_t, uint8_t, mavlink_message_t *last_msg); +static void mavlink_test_ualberta(uint8_t, uint8_t, mavlink_message_t *last_msg); + +static void mavlink_test_all(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) +{ + mavlink_test_common(system_id, component_id, last_msg); + mavlink_test_ualberta(system_id, component_id, last_msg); +} +#endif + +#include "../common/testsuite.h" + + +static void mavlink_test_nav_filter_bias(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_nav_filter_bias_t packet_in = { + 93372036854775807ULL, + 73.0, + 101.0, + 129.0, + 157.0, + 185.0, + 213.0, + }; + mavlink_nav_filter_bias_t packet1, packet2; + memset(&packet1, 0, sizeof(packet1)); + packet1.usec = packet_in.usec; + packet1.accel_0 = packet_in.accel_0; + packet1.accel_1 = packet_in.accel_1; + packet1.accel_2 = packet_in.accel_2; + packet1.gyro_0 = packet_in.gyro_0; + packet1.gyro_1 = packet_in.gyro_1; + packet1.gyro_2 = packet_in.gyro_2; + + + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_nav_filter_bias_encode(system_id, component_id, &msg, &packet1); + mavlink_msg_nav_filter_bias_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_nav_filter_bias_pack(system_id, component_id, &msg , packet1.usec , packet1.accel_0 , packet1.accel_1 , packet1.accel_2 , packet1.gyro_0 , packet1.gyro_1 , packet1.gyro_2 ); + mavlink_msg_nav_filter_bias_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_nav_filter_bias_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.usec , packet1.accel_0 , packet1.accel_1 , packet1.accel_2 , packet1.gyro_0 , packet1.gyro_1 , packet1.gyro_2 ); + mavlink_msg_nav_filter_bias_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