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@@ +== MAVLink Parameters == +|| *EEPROM variable name* || *Min* || *Max* || *Default* || *Multiplier* || *Enabled (0 = no, 1 = yes)* || *Comment* || +||MAH|| || ||1|| || || || +||CURRENT_ENABLE|| || ||1|| || || || +||AOA|| || ||1|| || || || +||MAG_ENABLE|| || ||1|| || || || +||HDNG2RLL_P||0||5||0.7||1||1||NAV_ROLL_P - Navigation control gains. Tuning values for the navigation control PID loops. The P term is the primary tuning value. This determines how the control deflection varies in proportion to the required correction.|| +||HDNG2RLL_I||0||1||0.01||1||1||NAV_ROLL_I - Navigation control gains. Tuning values for the navigation control PID loops. The I term is used to control drift.|| +||HDNG2RLL_D||0||1||0.02||1||1||NAV_ROLL_D - Navigation control gains. Tuning values for the navigation control PID loops. The D term is used to control overshoot. Avoid adjusting this term if you are not familiar with tuning PID loops.|| +||HDNG2RLL_IMAX||0||3000||500||100||1||NAV_ROLL_INT_MAX_CENTIDEGREE - In Degrees - Maximum control offset due to the integral. This prevents the control output from being overdriven due to a persistent offset (e.g. native flight AoA). If you find this value is insufficient consider adjusting the AOA parameter.|| +||RLL2SRV_P||0||5||0.4||1||1||SERVO_ROLL_P - Attitude control gains - Tuning values for the attitude control PID loops. The P term is the primary tuning value. This determines how the control deflection varies in proportion to the required correction.|| +||RLL2SRV_I||0||1||0||1||1||SERVO_ROLL_I - Attitude control gains - Tuning values for the attitude control PID loops. The I term is used to help control surfaces settle. This value should normally be kept low.|| +||RLL2SRV_D||0||1||0||1||1||SERVO_ROLL_D - Attitude control gains - Tuning values for the attitude control PID loops. The D term is used to control overshoot. Avoid using or adjusting this term if you are not familiar with tuning PID loops. It should normally be zero for most aircraft.|| +||RLL2SRV_IMAX||0||3000||500||100||1||SERVO_ROLL_INT_MAX_CENTIDEGREE - In Degrees - Maximum control offset due to the integral. This prevents the control output from being overdriven due to a persistent offset (e.g. crosstracking). Default is 5 degrees.|| +||PTCH2SRV_P||0||5||0.6||1||1||SERVO_PITCH_P - Attitude control gains - Tuning values for the attitude control PID loops. The P term is the primary tuning value. This determines how the control deflection varies in proportion to the required correction.|| +||PTCH2SRV_I||0||1||0||1||1||SERVO_PITCH_I - Attitude control gains - Tuning values for the attitude control PID loops. The I term is used to help control surfaces settle. This value should normally be kept low.|| +||PTCH2SRV_D||0||1||0||1||1||SERVO_PITCH_D - Attitude control gains - Tuning values for the attitude control PID loops. The D term is used to control overshoot. Avoid using or adjusting this term if you are not familiar with tuning PID loops. It should normally be zero for most aircraft.|| +||PTCH2SRV_IMAX||0||3000||500||100||1||SERVO_PITCH_INT_MAX_CENTIDEGREE - In Degrees - Maximum control offset due to the integral. This prevents the control output from being overdriven due to a persistent offset (e.g. crosstracking). Default is 5 degrees.|| +||ARSPD2PTCH_P||0||5||0.65||1||1||NAV_PITCH_ASP_P - P. I and D terms for pitch adjustments made to maintain airspeed.|| +||ARSPD2PTCH_I||0||1||0||1||1||NAV_PITCH_ASP_I - P. I and D terms for pitch adjustments made to maintain airspeed.|| +||ARSPD2PTCH_D||0||1||0||1||1||NAV_PITCH_ASP_D - P. I and D terms for pitch adjustments made to maintain airspeed.|| +||ARSPD2PTCH_IMA||0||3000||500||100||1||NAV_PITCH_ASP_INT_MAX_CMSEC - In Degrees - Maximum pitch offset due to the integral. This limits the control output from being overdriven due to a persistent offset (eg. inability to maintain the programmed airspeed).|| +||YW2SRV_P||0||5||0||1||1||SERVO_YAW_P - P. I and D terms for the YAW control. Note units of this control loop are unusual. PID input is in m/s**2|| +||YW2SRV_I||0||1||0||1||1||SERVO_YAW_I - P. I and D terms for the YAW control. Note units of this control loop are unusual. PID input is in m/s**2|| +||YW2SRV_D||0||1||0||1||1||SERVO_YAW_D - P. I and D terms for the YAW control. Note units of this control loop are unusual. PID input is in m/s**2|| +||YW2SRV_IMAX||0||3000||0||100||1||SERVO_YAW_INT_MAX - Maximum control offset due to the integral. This prevents the control output from being overdriven due to a persistent offset (e.g. crosstracking).|| +||ENRGY2THR_P||0||5||0.5||1||1||THROTTLE_TE_P - P. I and D terms for throttle adjustments made to control altitude.|| +||ENRGY2THR_I||0||1||0||1||1||THROTTLE_TE_I - P. I and D terms for throttle adjustments made to control altitude.|| +||ENRGY2THR_D||0||1||0||1||1||THROTTLE_TE_D - P. I and D terms for throttle adjustments made to control altitude.|| +||ENRGY2THR_IMAX||0||100||20||1||1||THROTTLE_TE_INT_MAX - In Percent - Maximum throttle input due to the integral term. This limits the throttle from being overdriven due to a persistent offset (e.g. inability to maintain the programmed altitude).|| +||ALT2PTCH_P||0||5||0.65||1||1||NAV_PITCH_ALT_P - P. I and D terms for pitch adjustments made to maintain altitude.|| +||ALT2PTCH_I||0||1||0||1||1||NAV_PITCH_ALT_I - P. I and D terms for pitch adjustments made to maintain altitude.|| +||ALT2PTCH_D||0||1||0||1||1||NAV_PITCH_ALT_D - P. I and D terms for pitch adjustments made to maintain altitude.|| +||ALT2PTCH_IMAX||0||3000||500||100||1||NAV_PITCH_ALT_INT_MAX_CM - In Meters - Maximum pitch offset due to the integral. This limits the control output from being overdriven due to a persistent offset (eg. inability to maintain the programmed altitude).|| +||KFF_PTCHCOMP||-3||3||0.2||0.01||1||PITCH_COMP - In Percent - Adds pitch input to compensate for the loss of lift due to roll control.|| +||KFF_RDDRMIX||-3||3||0.5||0.01||1||RUDDER_MIX - Roll to yaw mixing. This allows for co-ordinated turns.|| +||KFF_PTCH2THR||-3||3||0||1||1||P_TO_T - Pitch to throttle feed-forward gain.|| +||KFF_THR2PTCH||-3||3||0||1||1||T_TO_P - Throttle to pitch feed-forward gain.|| +||XTRK_GAIN_SC||0||100||100||100||1||XTRACK_GAIN_SCALED - Default value is 1.0 degrees per metre. Values lower than 0.001 will disable crosstrack compensation.|| +||ALT_MIX||0||1||1||0.01||1||ALTITUDE_MIX - In Percent - Configures the blend between GPS and pressure altitude. 0 = GPS altitude, 1 = Press alt, 0.5 = half and half, etc.|| +||ARSPD_RATIO||0||5||1.9936||1||1||AIRSPEED_RATIO - Adjust AIRSPEED_RATIO in small increments to calibrate the airspeed sensor relative to your GPS. The calculation and default value are optimized for speeds around 12 m/s|| +||WP_RADIUS||0||200||30||1||1||WP_RADIUS_DEFAULT - When the user performs a factory reset on the APM, sets the waypoint radius (the radius from a target waypoint within which the APM will consider itself to have arrived at the waypoint) to this value in meters. This is mainly intended to allow users to start using the APM without programming a mission first.|| +||WP_LOITER_RAD||0||200||60||1||1||LOITER_RADIUS_DEFAULT - When the user performs a factory reset on the APM, sets the loiter radius (the distance the APM will attempt to maintain from a waypoint while loitering) to this value in meters. This is mainly intended to allow users to start using the APM without programming a mission first.|| +||ARSPD_FBW_MIN||5||50||6||1||1||AIRSPEED_FBW_MIN - In m/s - Airspeed corresponding to minimum and maximum throttle in Fly By Wire B mode.|| +||ARSPD_FBW_MAX||5||50||22||1||1||AIRSPEED_FBW_MAX - In m/s - Airspeed corresponding to minimum and maximum throttle in Fly By Wire B mode. AIRSPEED_FBW_MAX also sets the maximum airspeed that the cruise airspeed can be ""nudged"" to in AUTO mode when ENABLE_STICK_MIXING is set. In AUTO the cruise airspeed can be increased between AIRSPEED_CRUISE and AIRSPEED_FBW_MAX by positioning the throttle stick in the top 1/2 of its range. Throttle stick in the bottom 1/2 provide regular AUTO control.|| +||THR_MIN||0||100||0||1||1||THROTTLE_MIN - The minimum throttle setting to which the autopilot will reduce the throttle while descending. The default is zero, which is suitable for aircraft with a steady power-off glide. Increase this value if your aircraft needs throttle to maintain a stable descent in level flight.|| +||THR_MAX||0||100||75||1||1||THROTTLE_MAX - The maximum throttle setting the autopilot will apply. The default is 75%. Reduce this value if your aicraft is overpowered or has complex flight characteristics at high throttle settings.|| +||THR_FAILSAFE||0||0||1|| || ||THROTTLE_FAILSAFE - The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel (channel 3). This can be used to achieve a failsafe override on loss of radio control without having to sacrifice one of your FLIGHT_MODE settings as the throttle failsafe overrides the switch-selected mode. Throttle failsafe is enabled by setting THROTTLE_FAILSAFE to 1.|| +||THR_FS_ACTION||0||2||1||1|| ||THROTTLE_FAILSAFE_ACTION - The FAILSAFE_ACTION setting determines what APM will do when throttle failsafe mode is entered while flying in AUTO mode. This is important in order to avoid accidental failsafe behaviour when flying waypoints that take the aircraft temporarily out of radio range. If FAILSAFE_ACTION is 1 when failsafe is entered in AUTO or LOITER modes the aircraft will head for home in RTL mode. If the throttle channel moves back up it will return to AUTO or LOITER mode. The default behavior is to ignore throttle failsafe in AUTO and LOITER modes.|| +||TRIM_THROTTLE||0||90||45||1||1||THROTTLE_CRUISE - In Percent - The approximate throttle setting to achieve AIRSPEED_CRUISE in level flight. The default is 45% which is reasonable for a modestly powered aircraft.|| +||TRIM_AUTO||0||1||1||1||1||AUTO_TRIM - !ArduPilot Mega can update its trim settings by looking at the radio inputs when switching out of MANUAL mode. This allows you to manually trim your aircraft before switching to an assisted mode but it also means that you should avoid switching out of MANUAL while you have any control stick deflection.|| +||FLTMODE_CH||5||8||8||1||1||FLIGHT_MODE_CHANNEL - Flight modes assigned to the control channel, and the input channel that is read for the control mode. Use a servo tester or the !ArduPilotMega_demo test program to check your switch settings. ATTENTION: Some !ArduPilot Mega boards have radio channels marked 0-7 and others have them marked the standard 1-8. The FLIGHT_MODE_CHANNEL option uses channel numbers 1-8 (and defaults to 8). If you only have a three-position switch or just want three modes set your switch to produce 1165, 1425, and 1815 microseconds and configure FLIGHT_MODE 1 & 2, 3 & 4 and 5 & 6 to be the same. This is the default. If you have FLIGHT_MODE_CHANNEL set to 8 (the default) and your control channel connected to input channel 8, the hardware failsafe mode will activate for any control input over 1750ms.|| +||FLIGHT_MODE_1||0||14||11||1|| ||FLIGHT_MODE_1 - The following standard flight modes are available: MANUAL = Full manual control via the hardware multiplexer. STABILIZE = Tries to maintain level flight but can be overridden with radio control inputs. FLY_BY_WIRE_A = Autopilot style control via user input with manual throttle. FLY_BY_WIRE_B = Autopilot style control via user input, aispeed controlled with throttle. RTL = Returns to the Home location and then LOITERs at a safe altitude. AUTO = Autonomous flight based on programmed waypoints.|| +||FLIGHT_MODE_2||0||14||11||1|| ||FLIGHT_MODE_2|| +||FLIGHT_MODE_3||0||14||5||1|| ||FLIGHT_MODE_3|| +||FLIGHT_MODE_4||0||14||5||1|| ||FLIGHT_MODE_4|| +||FLIGHT_MODE_5||0||14||0||1|| ||FLIGHT_MODE_5|| +||FLIGHT_MODE_6||0||14||0||1|| ||FLIGHT_MODE_6|| +||RC1_MIN||900||2100||1500||1||1||PWM_RC1_MIN - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit|| +||RC1_MAX||900||2100||1500||1||1||PWM_RC1_MAX - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit|| +||RC1_TRIM||900||2100||1200||1||1||PWM_RC1_TRIM - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit|| +||RC2_MIN||900||2100||1500||1||1||PWM_RC2_MIN - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit|| +||RC2_MAX||900||2100||1500||1||1||PWM_RC2_MAX - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit|| +||RC2_TRIM||900||2100||1200||1||1||PWM_RC2_TRIM - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit|| +||RC3_MIN||900||2100||1500||1||1||PWM_RC3_MIN - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit|| +||RC3_MAX||900||2100||1500||1||1||PWM_RC3_MAX - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit || +||RC3_TRIM||900||2100||1500||1||1||PWM_RC3_TRIM - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit || +||RC4_MIN||900||2100||1500||1||1||PWM_RC4_MIN - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit || +||RC4_MAX||900||2100||1500||1||1||PWM_RC4_MAX - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit || +||RC4_TRIM||900||2100||1200||1||1||PWM_RC4_TRIM - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit || +||RC5_MIN||900||2100||1500||1||1||PWM_CH5_MIN - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit || +||RC5_MAX||900||2100||1500||1||1||PWM_CH5_MAX - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit || +||RC5_MAX||900||2100||1500||1||1||PWM_CH5_MAX - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit || +||RC5_TRIM||900||2100||1500||1||1||PWM_CH5_TRIM - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit || +||RC6_MIN||900||2100||1500||1||1||PWM_CH6_MIN - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit || +||RC6_MAX||900||2100||1500||1||1||PWM_CH6_MAX - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit || +||RC6_TRIM||900||2100||1500||1||1||PWM_CH6_TRIM - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit || +||RC7_MIN||900||2100||1500||1||1||PWM_CH7_MIN - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit || +||RC7_MAX||900||2100||1500||1||1||PWM_CH7_MAX - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit || +||RC7_TRIM||900||2100||1500||1||1||PWM_CH7_TRIM - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit || +||RC8_MIN||900||2100||1500||1||1||PWM_CH8_MIN - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit || +||RC8_MAX||900||2100||1500||1||1||PWM_CH8_MAX - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit || +||RC8_TRIM||900||2100||1500||1||1||PWM_CH8_TRIM - Radio Settings - all radio settings represent the period of the pulse width modulated signal. Typically 1000 ms is the lower limit, 1500 is neutral, and 2000 is the upper limit || +||IMU_OFFSET_0||0||0||0|| || ||IMU_OFFSET_0 - IMU Calibration|| +||IMU_OFFSET_1||0||0||0|| || ||IMU_OFFSET_1 - IMU Calibration|| +||IMU_OFFSET_2||0||0||0|| || ||IMU_OFFSET_2 - IMU Calibration|| +||IMU_OFFSET_3||0||0||0|| || ||IMU_OFFSET_3 - IMU Calibration|| +||IMU_OFFSET_4||0||0||0|| || ||IMU_OFFSET_4 - IMU Calibration|| +||IMU_OFFSET_5||0||0||0|| || ||IMU_OFFSET_5 - IMU Calibration|| +||YAW_MODE|| || ||0|| || ||YAW_MODE|| +||WP_MODE|| || ||0|| || ||WP_MODE|| +||WP_TOTAL||0||255|| ||0|| ||WP_TOTAL|| +||WP_INDEX||0||255|| ||0|| ||WP_INDEX|| +||CONFIG|| || ||1|| || ||CONFIG_OPTIONS|| +||SWITCH_ENABLE||0||1||1||1||1||REVERS_SWITCH_ENABLE - 0 = Off, 1 = On, Enables/Disables physical reverse switches on APM board|| +||FIRMWARE_VER|| || ||0|| || ||FIRMWARE_VER|| +||LOG_BITMASK||0||65535||334||1||1||LOG_BITMASK|| +||TRIM_ELEVON||900||2100||1500||1||1||TRIM_ELEVON|| +||THR_FS_VALUE||850||1000||950||1||1||THROTTLE_FS_VALUE - If the throttle failsafe is enabled, THROTTLE_FS_VALUE sets the channel value below which the failsafe engages. The default is 975ms, which is a very low throttle setting. Most transmitters will let you trim the manual throttle position up so that you cannot engage the failsafe with a regular stick movement. Configure your receiver's failsafe setting for the throttle channel to the absolute minimum, and use the !ArduPilotMega_demo program to check that you cannot reach that value with the throttle control. Leave a margin of at least 50 microseconds between the lowest throttle setting and THROTTLE_FS_VALUE.|| +||TRIM_ARSPD_CM||500||5000||1200||100||1||AIRSPEED_CRUISE_CM - The speed in metres per second to maintain during cruise. The default is 10m/s, which is a conservative value suitable for relatively small, light aircraft.|| +||GND_TEMP||-10||50||28||1||1||GND_TEMP - Ground Temperature|| +||AP_OFFSET|| || ||0|| || ||AP_OFFSET|| +||TRIM_PITCH_CD|| || ||0|| || ||TRIM_PITCH_CD|| +||ALT_HOLD_RTL||0||20000||10000||100||1||ALT_HOLD_HOME_CM - When the user performs a factory reset on the APM. Sets the flag for weather the current altitude or ALT_HOLD_HOME altitude should be used for Return To Launch. Also sets the value of USE_CURRENT_ALT in meters. This is mainly intended to allow users to start using the APM without programming a mission first.|| +||XTRK_ANGLE_CD||0||6000||3000||100||1||XTRACK_ENTRY_ANGLE_CENTIDEGREE - Maximum angle used to correct for track following.|| +||ROLL_SRV_MAX||0||100||4500||100||0||ROLL_SERVO_MAX_CENTIDEGREE|| +||PITCH_SRV_MAX||0||100||4500||100||0||PITCH_SERVO_MAX_CENTIDEGREE|| +||RUDER_SRV_MAX||0||100||4500||100||0||RUDDER_SERVO_MAX_CENTIDEGREE|| +||LIM_ROLL_CD||0||6000||4500||100||1||HEAD_MAX_CENTIDEGREE - The maximum commanded bank angle in either direction. The default is 45 degrees. Decrease this value if your aircraft is not stable or has difficulty maintaining altitude in a steep bank.|| +||LIM_PITCH_MAX||0||6000||1500||100||1||PITCH_MAX_CENTIDEGREE - The maximum commanded pitch up angle. The default is 15 degrees. Care should be taken not to set this value too large, as the aircraft may stall|| +||LIM_PITCH_MIN||-6000||0||-2500||100||1||PITCH_MIN_CENTIDEGREE - The maximum commanded pitch down angle. Note that this value must be negative. The default is -25 degrees. Care should be taken not to set this value too large as it may result in overspeeding the aircraft.|| +||GND_ALT_CM||0||500000||0||100||1||GND_ALT_CM|| +||GND_ABS_PRESS|| || ||0|| || ||GND_ABS_PRESS|| +||COMPASS_DEC||-1.57075||1.57075||0||1|| ||COMPASS_DEC - Compass Declination|| +||SR0_EXT_STAT||0||50||3||1||1||TELEMETRY_ENABLE Port 0 - Enable GPS_STATUS, CONTROL_STATUS, AUX_STATUS|| +||SR0_EXTRA1||0||50||10||1||1||TELEMETRY_ENABLE Port 0 - Enable MSG_ATTITUDE|| +||SR0_EXTRA2||0||50||3||1||1||TELEMETRY_ENABLE Port 0 - Enable MSG_VFR_HUD|| +||SR0_EXTRA3||0||50||3||1||1||TELEMETRY_ENABLE Port 0 - Not currently used|| +||SR0_POSITION||0||50||3||1||1||TELEMETRY_ENABLE Port 0 - Enable LOCAL_POSITION, GLOBAL_POSITION/GLOBAL_POSITION_INT messages|| +||SR0_RAW_CTRL||0||50||3||1||1||TELEMETRY_ENABLE Port 0 - Enable ATTITUDE_CONTROLLER_OUTPUT, POSITION_CONTROLLER_OUTPUT, NAV_CONTROLLER_OUTPUT|| +||SR0_RAW_SENS||0||50||3||1||1||TELEMETRY_ENABLE Port 0 - Enable IMU_RAW, GPS_RAW, GPS_STATUS packets|| +||SR0_RC_CHAN||0||50||3||1||1||TELEMETRY_ENABLE Port 0 - Enable RC_CHANNELS_SCALED, RC_CHANNELS_RAW, SERVO_OUTPUT_RAW|| +||SR3_EXT_STAT||0||50||0||1||1||TELEMETRY_ENABLE Port 3 - Enable GPS_STATUS, CONTROL_STATUS, AUX_STATUS|| +||SR3_EXTRA1||0||50||0||1||1||TELEMETRY_ENABLE Port 3 - Enable MSG_ATTITUDE|| +||SR3_EXTRA2||0||50||0||1||1||TELEMETRY_ENABLE Port 3 - Enable MSG_VFR_HUD|| +||SR3_EXTRA3||0||50||0||1||1||TELEMETRY_ENABLE Port 3 - Not currently used|| +||SR3_POSITION||0||50||0||1||1||TELEMETRY_ENABLE Port 3 - Enable LOCAL_POSITION, GLOBAL_POSITION/GLOBAL_POSITION_INT messages|| +||SR3_RAW_CTRL||0||50||0||1||1||TELEMETRY_ENABLE Port 3 - Enable ATTITUDE_CONTROLLER_OUTPUT, POSITION_CONTROLLER_OUTPUT, NAV_CONTROLLER_OUTPUT|| +||SR3_RAW_SENS||0||50||0||1||1||TELEMETRY_ENABLE Port 3 - Enable IMU_RAW, GPS_RAW, GPS_STATUS packets|| +||SR3_RC_CHAN||0||50||0||1||1||TELEMETRY_ENABLE Port 3 - Enable RC_CHANNELS_SCALED, RC_CHANNELS_RAW, SERVO_OUTPUT_RAW|| +||MAG_ENABLE||0||1||0||1||1||MAG_ENABLE - 0 = Off, 1 = On, Magnetometer Enable|| +||ARSPD_ENABLE||0||1||0||1||1||AIRSPEED_ENABLE - 0 = Off, 1 = On, Airspeed Sensor Enable|| +||BATT_CAPACITY||0||10000||1760||1||1||BATTERY_MAH - Battery capacity in mAh|| +||BATT_MONITOR||0||4||0||1||1||BATTERY_MONITOR - The value should be set to 0 to disable battery monitoring, 1 to measure cell voltages for a 3 cell lipo, 2 to measure cell voltages for a 4 cell lipo, 3 to measure the total battery voltage (only) on input 1, or 4 to measure total battery voltage on input 1 and current on input 2. || +||FS_GCS_ENABL||0||1||0||1||1||FS_GCS_ENABLE - 0 = Off, 1 = On, If the GCS heartbeat is lost for 20 seconds, the plane will Return to Launch|| +||FS_LONG_ACTN||0||1||0||1||1||FS_LONG_ACTION - 0 = Off, 1 = On, If heartbeat is lost for 20 srconds, the plane will Return to Launch|| +||FS_SHORT_ACTN||0||1||0||1||1||FS_SHORT_ACTION - 0 = Off, 1 = On, If heartbeat is lost for 1.5 seconds, the plane will circle until heartbeat is found again or 20 seconds has passed|| +||SYSID_MYGCS||0||255||255||1||1||SYSID_MYGCS - The system ID of the GCS|| +||SYSID_THISMAV||0||255||1||1||1||SYSID_THISMAV - The system ID of the MAVlink vehicle|| +||AOA|| || ||0|| || +||ACR_PIT_D|| || ||1|| || ||Description coming soon|| +||ACR_PIT_I|| || ||1|| || ||Description coming soon|| +||ACR_PIT_IMAX|| || ||1|| || ||Description coming soon|| +||ACR_PIT_P|| || ||1|| || ||Description coming soon|| +||ACR_RLL_D|| || ||1|| || ||Description coming soon|| +||ACR_RLL_I|| || ||1|| || ||Description coming soon|| +||ACR_RLL_IMAX|| || ||1|| || ||Description coming soon|| +||ACR_RLL_P|| || ||1|| || ||Description coming soon|| +||ACR_YAW_D|| || ||1|| || ||Description coming soon|| +||ACR_YAW_I|| || ||1|| || ||Description coming soon|| +||ACR_YAW_IMAX|| || ||1|| || ||Description coming soon|| +||ACR_YAW_P|| || ||1|| || ||Description coming soon|| +||ESC|| || ||1|| || ||ESC_CALIBRATE_MODE|| +||FRAME|| || ||1|| || ||FRAME_ORIENTATION || +||LOITER_RADIUS|| || ||1|| || ||Description coming soon|| +||NAV_LAT_D|| || ||1|| || ||Description coming soon|| +||NAV_LAT_I|| || ||1|| || ||Description coming soon|| +||NAV_LAT_IMAX|| || ||1|| || ||Description coming soon|| +||NAV_LAT_P|| || ||1|| || ||Description coming soon|| +||NAV_LON_D|| || ||1|| || ||Description coming soon|| +||NAV_LON_I|| || ||1|| || ||Description coming soon|| +||NAV_LON_IMAX|| || ||1|| || ||Description coming soon|| +||NAV_LON_P|| || ||1|| || ||Description coming soon|| +||NAV_WP_D|| || ||1|| || ||Description coming soon|| +||NAV_WP_I|| || ||1|| || ||Description coming soon|| +||NAV_WP_IMAX|| || ||1|| || ||Description coming soon|| +||NAV_WP_P|| || ||1|| || ||Description coming soon|| +||PITCH_MAX|| || ||1|| || ||Description coming soon|| +||SONAR_ENABLE||0||1||0||1||1||SONAR_ENABLE - 0 = Off, 1 = On, Sonar Enable|| +||STB_PIT_D|| || ||1|| || ||Description coming soon|| +||STB_PIT_I|| || ||1|| || ||Description coming soon|| +||STB_PIT_IMAX|| || ||1|| || ||Description coming soon|| +||STB_PIT_P|| || ||1|| || ||Description coming soon|| +||STB_RLL_D|| || ||1|| || ||Description coming soon|| +||STB_RLL_I|| || ||1|| || ||Description coming soon|| +||STB_RLL_IMAX|| || ||1|| || ||Description coming soon|| +||STB_RLL_P|| || ||1|| || ||Description coming soon|| +||STB_YAW_D|| || ||1|| || ||Description coming soon|| +||STB_YAW_I|| || ||1|| || ||Description coming soon|| +||STB_YAW_IMAX|| || ||1|| || ||Description coming soon|| +||STB_YAW_P|| || ||1|| || ||Description coming soon|| +||THR_BAR_D|| || ||1|| || ||Description coming soon|| +||THR_BAR_I|| || ||1|| || ||Description coming soon|| +||THR_BAR_IMAX|| || ||1|| || ||Description coming soon|| +||THR_BAR_P|| || ||1|| || ||Description coming soo|| +||THR_SON_D|| || ||1|| || ||Description coming soon|| +||THR_SON_I|| || ||1|| || ||Description coming soon|| +||THR_SON_IMAX|| || ||1|| || ||Description coming soon|| +||THR_SON_P|| || ||1|| || ||Description coming soon|| +||WP_MODE|| || ||1|| || ||Description coming soon|| +||WP_MUST_INDEX|| || ||1|| || ||Description coming soon|| +||XTRACK_ANGLE|| || ||1|| || ||Description coming soon|| +||XTRK_GAIN|| || ||1|| || ||Description coming soon|| +||ARSPD_OFFSET|| || ||0|| || ||Description coming soon|| +||ELEVON_CH1_REV||0||1||0||1||1||ELEVON_CHANNEL1_REVERSE - Channel Reversing (Future use on APM board 2.0) - Does not override dip switches|| +||ELEVON_CH2_REV||0||1||0||1||1||ELEVON_CHANNEL2_REVERSE - Channel Reversing (Future use on APM board 2.0) - Does not override dip switches|| +||ELEVON_MIXING||0||1||0||1||1||ELEVON_MIXING - 0 = Disabled, 1 = Enabled|| +||ELEVON_REVERSE||0||1||0||1||1||ELEVON_REVERSE - Channel Reversing (Future use on APM board 2.0) - Does not override dip switches|| +||INVERTEDFLT_CH||0||8||0||1||1||INVERTED_FLIGHT_CHANNEL - Channel to select inverted flight mode, 0 = Disabled|| +||RC1_REV||0||1||1||1||1||RC_CHANNEL1_REVERSE - Channel Reversing (Future use on APM board 2.0) - Does not override dip switches|| +||RC2_REV||0||1||1||1||1||RC_CHANNEL2_REVERSE - Channel Reversing (Future use on APM board 2.0) - Does not override dip switches|| +||RC3_REV||0||1||1||1||1||RC_CHANNEL3_REVERSE - Channel Reversing (Future use on APM board 2.0) - Does not override dip switches|| +||RC4_REV||0||1||1||1||1||RC_CHANNEL4_REVERSE - Channel Reversing (Future use on APM board 2.0) - Does not override dip switches|| +||RC5_REV||0||1||1||1||1||RC_CHANNEL5_REVERSE - Channel Reversing (Future use on APM board 2.0) - Does not override dip switches|| +||RC6_REV||0||1||1||1||1||RC_CHANNEL6_REVERSE - Channel Reversing (Future use on APM board 2.0) - Does not override dip switches|| +||RC7_REV||0||1||1||1||1||RC_CHANNEL7_REVERSE - Channel Reversing (Future use on APM board 2.0) - Does not override dip switches|| +||RC8_REV||0||1||1||1||1||RC_CHANNEL8_REVERSE - Channel Reversing (Future use on APM board 2.0) - Does not override dip switches|| +||SYSID_SW_MREV|| || ||0|| || ||Description coming soon|| +||SYSID_SW_TYPE|| || ||0|| || ||Description coming soon|| +||THR_SLEWRATE||0||100||0||1||1||THROTTLE_SLEW_RATE - 0 = Disabled, otherwise it limits throttle movement rate. Units are % per second. This is a test feature and may go away.|| +||FLTMODE1||0||20||1||1|| ||FLIGHT_MODE_1 - Mode switch setting 1 - APM: 0 = Manual, 2 = Stabilize, 5 - Fly-By-Wire-A, 6 = Fly-By-Wire-B, 7 = Fly-By-Wire-C, 10 = Auto - Mission, 11 = RTL, 12 = Loiter, 13 = Take-off, 14 = Land, 15= Guided; ACM2: 0 = Stabilize, 2 = Acro, 3 = Simple, 4 = Auto, 5 = Guided, 6 = Loiter, 7 = RTL|| +||FLTMODE2||0||20||1||1|| ||FLIGHT_MODE_2 - Mode switch setting 2 - APM: 0 = Manual, 2 = Stabilize, 5 - Fly-By-Wire-A, 6 = Fly-By-Wire-B, 7 = Fly-By-Wire-C, 10 = Auto - Mission, 11 = RTL, 12 = Loiter, 13 = Take-off, 14 = Land, 15= Guided; ACM2: 0 = Stabilize, 2 = Acro, 3 = Simple, 4 = Auto, 5 = Guided, 6 = Loiter, 7 = RTL|| +||FLTMODE3||0||20||1||1|| ||FLIGHT_MODE_3 - Mode switch setting 3 - APM: 0 = Manual, 2 = Stabilize, 5 - Fly-By-Wire-A, 6 = Fly-By-Wire-B, 7 = Fly-By-Wire-C, 10 = Auto - Mission, 11 = RTL, 12 = Loiter, 13 = Take-off, 14 = Land, 15= Guided; ACM2: 0 = Stabilize, 2 = Acro, 3 = Simple, 4 = Auto, 5 = Guided, 6 = Loiter, 7 = RTL|| +||FLTMODE4||0||20||1||1|| ||FLIGHT_MODE_4 - Mode switch setting 4 - APM: 0 = Manual, 2 = Stabilize, 5 - Fly-By-Wire-A, 6 = Fly-By-Wire-B, 7 = Fly-By-Wire-C, 10 = Auto - Mission, 11 = RTL, 12 = Loiter, 13 = Take-off, 14 = Land, 15= Guided; ACM2: 0 = Stabilize, 2 = Acro, 3 = Simple, 4 = Auto, 5 = Guided, 6 = Loiter, 7 = RTL|| +||FLTMODE5||0||20||1||1|| ||FLIGHT_MODE_5 - Mode switch setting 5 - APM: 0 = Manual, 2 = Stabilize, 5 - Fly-By-Wire-A, 6 = Fly-By-Wire-B, 7 = Fly-By-Wire-C, 10 = Auto - Mission, 11 = RTL, 12 = Loiter, 13 = Take-off, 14 = Land, 15= Guided; ACM2: 0 = Stabilize, 2 = Acro, 3 = Simple, 4 = Auto, 5 = Guided, 6 = Loiter, 7 = RTL|| +||FLTMODE6||0||20||1||1|| ||FLIGHT_MODE_6 - Mode switch setting 6 - APM: 0 = Manual, 2 = Stabilize, 5 - Fly-By-Wire-A, 6 = Fly-By-Wire-B, 7 = Fly-By-Wire-C, 10 = Auto - Mission, 11 = RTL, 12 = Loiter, 13 = Take-off, 14 = Land, 15= Guided; ACM2: 0 = Stabilize, 2 = Acro, 3 = Simple, 4 = Auto, 5 = Guided, 6 = Loiter, 7 = RTL|| \ No newline at end of file diff --git a/files/parameter_tooltips/MAV_AUTOPILOT_PIXHAWK-MAV_TYPE_FIXED_WING.txt b/files/parameter_tooltips/MAV_AUTOPILOT_PIXHAWK-MAV_TYPE_FIXED_WING.txt new file mode 100644 index 0000000000000000000000000000000000000000..610873647651e034a665f5d2d85dd53cf41a8a47 --- /dev/null +++ b/files/parameter_tooltips/MAV_AUTOPILOT_PIXHAWK-MAV_TYPE_FIXED_WING.txt @@ -0,0 +1,3 @@ +EEPROM,variable name,Min,Max,Default,Multiplier,Enabled (0 = no, 1 = yes),Comment +HDNG2RLL_P, 0, 5, 0.7, 1, 1, NAV_ROLL_P - Navigation control gains. Tuning values for the navigation control PID loops. The P term is the primary tuning value. This determines how the control deflection varies in proportion to the required correction. +SYS_TYPE, 0, 15, 1, 1, 1, System type (airframe) \ No newline at end of file diff --git a/files/parameter_tooltips/MAV_AUTOPILOT_PIXHAWK-MAV_TYPE_QUADROTOR.txt b/files/parameter_tooltips/MAV_AUTOPILOT_PIXHAWK-MAV_TYPE_QUADROTOR.txt new file mode 100644 index 0000000000000000000000000000000000000000..610873647651e034a665f5d2d85dd53cf41a8a47 --- /dev/null +++ b/files/parameter_tooltips/MAV_AUTOPILOT_PIXHAWK-MAV_TYPE_QUADROTOR.txt @@ -0,0 +1,3 @@ +EEPROM,variable name,Min,Max,Default,Multiplier,Enabled (0 = no, 1 = yes),Comment +HDNG2RLL_P, 0, 5, 0.7, 1, 1, NAV_ROLL_P - Navigation control gains. Tuning values for the navigation control PID loops. The P term is the primary tuning value. This determines how the control deflection varies in proportion to the required correction. +SYS_TYPE, 0, 15, 1, 1, 1, System type (airframe) \ No newline at end of file diff --git a/models/ascent-park-glider.skp b/files/vehicles/Ascent_Park_Glider/ascent-park-glider.skp similarity index 100% rename from models/ascent-park-glider.skp rename to files/vehicles/Ascent_Park_Glider/ascent-park-glider.skp diff --git a/models/multiplex-easyglider.skp b/files/vehicles/Multiplex_EasyGlider/multiplex-easyglider.skp similarity index 100% rename from models/multiplex-easyglider.skp rename to files/vehicles/Multiplex_EasyGlider/multiplex-easyglider.skp diff --git a/models/multiplex-twinstar.skp b/files/vehicles/Multiplex_TwinStar/multiplex-twinstar.skp similarity index 100% rename from models/multiplex-twinstar.skp rename to files/vehicles/Multiplex_TwinStar/multiplex-twinstar.skp diff --git a/models/walkera-4g6.skp b/files/vehicles/Walkera_4G6_Coaxial_Helicopter/walkera-4g6.skp similarity index 100% rename from models/walkera-4g6.skp rename to files/vehicles/Walkera_4G6_Coaxial_Helicopter/walkera-4g6.skp diff --git a/models/cessna.osg b/models/cessna.osg deleted file mode 100644 index 4cdb259ffe71ab045d6ed4becc95f15e4ee1d22c..0000000000000000000000000000000000000000 --- a/models/cessna.osg +++ /dev/null @@ -1,20534 +0,0 @@ -Group { - name "Cessna" - UniqueID Group_0 - DataVariance STATIC - cullingActive TRUE - num_children 1 - PositionAttitudeTransform { - UniqueID PositionAttitudeTransform_0 - nodeMask 0xffffffff - cullingActive TRUE - referenceFrame RELATIVE - position 0 0 1.5 - attitude 0 0 1 6.12303e-17 - scale 1 1 1 - pivotPoint 0 0 0 - num_children 1 - Geode { - DataVariance DYNAMIC - name "Cessna" - cullingActive TRUE - num_drawables 1 - Geometry { - DataVariance DYNAMIC - StateSet { - DataVariance STATIC - rendering_hint OPAQUE_BIN - renderBinMode INHERIT - GL_LIGHTING ON - Material { - DataVariance STATIC - ColorMode OFF - ambientColor 0.2 0.2 0.2 1 - diffuseColor 0.8 0.8 0.8 1 - specularColor 0 0 0 1 - emissionColor 0 0 0 1 - shininess 0 - } - ShadeModel { - DataVariance STATIC - mode SMOOTH - } - } - useDisplayList FALSE - Primitives 1117 - { - DrawArrays TRIANGLE_STRIP 0 3 - DrawArrays TRIANGLE_STRIP 3 3 - DrawArrays TRIANGLE_STRIP 6 3 - DrawArrays TRIANGLE_STRIP 9 3 - DrawArrays TRIANGLE_STRIP 12 3 - DrawArrays TRIANGLE_STRIP 15 3 - DrawArrays TRIANGLE_STRIP 18 3 - DrawArrays TRIANGLE_STRIP 21 3 - DrawArrays TRIANGLE_STRIP 24 3 - DrawArrays TRIANGLE_STRIP 27 3 - DrawArrays TRIANGLE_STRIP 30 3 - DrawArrays TRIANGLE_STRIP 33 3 - DrawArrays TRIANGLE_STRIP 36 3 - DrawArrays TRIANGLE_STRIP 39 3 - DrawArrays TRIANGLE_STRIP 42 3 - DrawArrays TRIANGLE_STRIP 45 3 - DrawArrays TRIANGLE_STRIP 48 3 - DrawArrays TRIANGLE_STRIP 51 3 - DrawArrays TRIANGLE_STRIP 54 3 - DrawArrays TRIANGLE_STRIP 57 3 - DrawArrays TRIANGLE_STRIP 60 3 - DrawArrays TRIANGLE_STRIP 63 3 - DrawArrays TRIANGLE_STRIP 66 3 - DrawArrays TRIANGLE_STRIP 69 3 - DrawArrays TRIANGLE_STRIP 72 3 - DrawArrays TRIANGLE_STRIP 75 3 - DrawArrays TRIANGLE_STRIP 78 3 - DrawArrays TRIANGLE_STRIP 81 3 - DrawArrays TRIANGLE_STRIP 84 3 - DrawArrays TRIANGLE_STRIP 87 3 - DrawArrays TRIANGLE_STRIP 90 3 - DrawArrays TRIANGLE_STRIP 93 3 - DrawArrays TRIANGLE_STRIP 96 3 - DrawArrays TRIANGLE_STRIP 99 3 - DrawArrays TRIANGLE_STRIP 102 3 - DrawArrays TRIANGLE_STRIP 105 3 - DrawArrays TRIANGLE_STRIP 108 3 - DrawArrays TRIANGLE_STRIP 111 3 - DrawArrays TRIANGLE_STRIP 114 3 - DrawArrays TRIANGLE_STRIP 117 3 - DrawArrays TRIANGLE_STRIP 120 3 - DrawArrays TRIANGLE_STRIP 123 3 - DrawArrays TRIANGLE_STRIP 126 3 - DrawArrays TRIANGLE_STRIP 129 3 - DrawArrays TRIANGLE_STRIP 132 3 - DrawArrays TRIANGLE_STRIP 135 3 - DrawArrays TRIANGLE_STRIP 138 3 - DrawArrays TRIANGLE_STRIP 141 3 - DrawArrays TRIANGLE_STRIP 144 3 - DrawArrays TRIANGLE_STRIP 147 3 - DrawArrays TRIANGLE_STRIP 150 3 - DrawArrays TRIANGLE_STRIP 153 3 - DrawArrays TRIANGLE_STRIP 156 3 - DrawArrays TRIANGLE_STRIP 159 3 - DrawArrays TRIANGLE_STRIP 162 3 - DrawArrays TRIANGLE_STRIP 165 3 - DrawArrays TRIANGLE_STRIP 168 3 - DrawArrays TRIANGLE_STRIP 171 3 - DrawArrays TRIANGLE_STRIP 174 3 - DrawArrays TRIANGLE_STRIP 177 3 - DrawArrays TRIANGLE_STRIP 180 3 - DrawArrays TRIANGLE_STRIP 183 3 - DrawArrays TRIANGLE_STRIP 186 3 - DrawArrays TRIANGLE_STRIP 189 3 - DrawArrays TRIANGLE_STRIP 192 3 - DrawArrays TRIANGLE_STRIP 195 3 - DrawArrays TRIANGLE_STRIP 198 3 - 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-0.137921 0.177436 -0.97442 - -0.0241546 0.252791 -0.967219 - -0.0378605 0.184231 -0.982154 - 0.051851 0.238548 -0.969745 - 0.0957422 0.18223 -0.978584 - 0.121589 0.271109 -0.954838 - 0.350701 0.185484 -0.917935 - 0.591703 0.630381 -0.502501 - 0.871856 0.192695 -0.450261 - 0.66915 0.704451 -0.236615 - 0.968558 0.159625 -0.190829 - } - } - } - } -} diff --git a/qgroundcontrol.pri b/qgroundcontrol.pri index c12b3245ae3f4c82e66c5e4c9f067d864b4b453b..f79a29984d71bff9160024eefd82a131f01f011d 100644 --- a/qgroundcontrol.pri +++ b/qgroundcontrol.pri @@ -89,6 +89,8 @@ macx { # Copy CSS stylesheets QMAKE_POST_LINK += && cp -f $$BASEDIR/images/style-mission.css $$TARGETDIR/qgroundcontrol.app/Contents/MacOS/style-indoor.css QMAKE_POST_LINK += && cp -f $$BASEDIR/images/style-outdoor.css $$TARGETDIR/qgroundcontrol.app/Contents/MacOS + # Copy parameter tooltip files + QMAKE_POST_LINK += && cp -rf $$BASEDIR/files $$TARGETDIR/qgroundcontrol.app/Contents/MacOS # Copy model files #QMAKE_POST_LINK += && cp -f $$BASEDIR/models/*.dae $$TARGETDIR/qgroundcontrol.app/Contents/MacOs diff --git a/src/comm/MAVLinkProtocol.cc b/src/comm/MAVLinkProtocol.cc index 5841408694a5af048cc7c292c6f993f4eff9017f..2da291678b1dc33cff6bd4f1fded2071881efd44 100644 --- a/src/comm/MAVLinkProtocol.cc +++ b/src/comm/MAVLinkProtocol.cc @@ -396,7 +396,7 @@ void MAVLinkProtocol::sendHeartbeat() { if (m_heartbeatsEnabled) { mavlink_message_t beat; - mavlink_msg_heartbeat_pack(getSystemId(), getComponentId(),&beat, MAV_TYPE_OCU, MAV_CLASS_INVALID); + mavlink_msg_heartbeat_pack(getSystemId(), getComponentId(),&beat, MAV_TYPE_GCS, MAV_AUTOPILOT_INVALID, MAV_MODE_MANUAL, MAV_FLIGHT_MODE_MANUAL, MAV_STATE_ACTIVE, MAV_SAFETY_ARMED, 0xFF); sendMessage(beat); } if (m_authEnabled) { diff --git a/src/comm/MAVLinkSimulationLink.cc b/src/comm/MAVLinkSimulationLink.cc index 235ea97956e9eab65b08b081ace7cb2f696958c1..d145288ec45a1dcc12e3adffa5287b0355a49877 100644 --- a/src/comm/MAVLinkSimulationLink.cc +++ b/src/comm/MAVLinkSimulationLink.cc @@ -66,10 +66,12 @@ MAVLinkSimulationLink::MAVLinkSimulationLink(QString readFile, QString writeFile onboardParams.insert("PID_ROLL_K_P", 0.5f); onboardParams.insert("PID_PITCH_K_P", 0.5f); onboardParams.insert("PID_YAW_K_P", 0.5f); - onboardParams.insert("PID_XY_K_P", 0.5f); + onboardParams.insert("PID_XY_K_P", 100.0f); onboardParams.insert("PID_ALT_K_P", 0.5f); onboardParams.insert("SYS_TYPE", 1); onboardParams.insert("SYS_ID", systemId); + onboardParams.insert("RC4_REV", 0); + onboardParams.insert("RC5_REV", 1); // Comments on the variables can be found in the header file @@ -107,12 +109,11 @@ MAVLinkSimulationLink::~MAVLinkSimulationLink() void MAVLinkSimulationLink::run() { - status.mode = MAV_MODE_UNINIT; - status.status = MAV_STATE_UNINIT; - status.vbat = 0; - status.packet_drop = 0; - + status.voltage_battery = 0; + status.errors_uart = 0; + system.system_mode = MAV_MODE_PREFLIGHT; + system.system_status = MAV_STATE_UNINIT; forever { @@ -208,14 +209,6 @@ void MAVLinkSimulationLink::mainloop() static int state = 0; if (state == 0) { - // BOOT - // Pack message and get size of encoded byte string - messageSize = mavlink_msg_boot_pack(systemId, componentId, &msg, version); - // Allocate buffer with packet data - bufferlength = mavlink_msg_to_send_buffer(buffer, &msg); - //add data into datastream - memcpy(stream+streampointer,buffer, bufferlength); - streampointer += bufferlength; state++; } @@ -463,7 +456,7 @@ void MAVLinkSimulationLink::mainloop() // STATE static int statusCounter = 0; if (statusCounter == 100) { - status.mode = (status.mode + 1) % MAV_MODE_TEST3; + system.system_mode = (system.system_mode + 1) % MAV_MODE_ENUM_END; statusCounter = 0; } statusCounter++; @@ -512,7 +505,7 @@ void MAVLinkSimulationLink::mainloop() } detectionCounter++; - status.vbat = voltage * 1000; // millivolts + status.voltage_battery = voltage * 1000; // millivolts status.load = 33 * detectionCounter % 1000; // Pack message and get size of encoded byte string @@ -545,15 +538,18 @@ void MAVLinkSimulationLink::mainloop() static int typeCounter = 0; uint8_t mavType; - if (typeCounter < 10) { + if (typeCounter < 10) + { mavType = MAV_TYPE_QUADROTOR; - } else { - mavType = typeCounter % (MAV_TYPE_OCU); + } + else + { + mavType = typeCounter % (MAV_TYPE_GCS); } typeCounter++; // Pack message and get size of encoded byte string - messageSize = mavlink_msg_heartbeat_pack(systemId, componentId, &msg, mavType, MAV_CLASS_PIXHAWK); + messageSize = mavlink_msg_heartbeat_pack(systemId, componentId, &msg, mavType, MAV_AUTOPILOT_PIXHAWK, system.system_mode, system.flight_mode, system.system_status, system.safety_status, system.link_status); // Allocate buffer with packet data bufferlength = mavlink_msg_to_send_buffer(buffer, &msg); //qDebug() << "CRC:" << msg.ck_a << msg.ck_b; @@ -606,10 +602,11 @@ void MAVLinkSimulationLink::mainloop() // STATUS VEHICLE 2 mavlink_sys_status_t status2; - status2.mode = MAV_MODE_LOCKED; - status2.vbat = voltage; + mavlink_heartbeat_t system2; + system2.system_mode = MAV_MODE_PREFLIGHT; + status2.voltage_battery = voltage; status2.load = 120; - status2.status = MAV_STATE_STANDBY; + system2.system_status = MAV_STATE_STANDBY; // Pack message and get size of encoded byte string messageSize = mavlink_msg_sys_status_encode(54, componentId, &msg, &status); @@ -696,7 +693,7 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size) mavlink_set_mode_t mode; mavlink_msg_set_mode_decode(&msg, &mode); // Set mode indepent of mode.target - status.mode = mode.mode; + system.system_mode = mode.mode; } break; case MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_SET: { @@ -717,9 +714,9 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size) } break; // EXECUTE OPERATOR ACTIONS - case MAVLINK_MSG_ID_COMMAND: { - mavlink_command_t action; - mavlink_msg_command_decode(&msg, &action); + case MAVLINK_MSG_ID_COMMAND_SHORT: { + mavlink_command_short_t action; + mavlink_msg_command_short_decode(&msg, &action); qDebug() << "SIM" << "received action" << action.command << "for system" << action.target_system; @@ -773,7 +770,7 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size) for (i = onboardParams.begin(); i != onboardParams.end(); ++i) { if (j != 5) { // Pack message and get size of encoded byte string - mavlink_msg_param_value_pack(read.target_system, componentId, &msg, i.key().toStdString().c_str(), i.value(), onboardParams.size(), j); + mavlink_msg_param_value_pack(read.target_system, componentId, &msg, i.key().toStdString().c_str(), i.value(), 0, onboardParams.size(), j); // Allocate buffer with packet data bufferlength = mavlink_msg_to_send_buffer(buffer, &msg); //add data into datastream @@ -801,7 +798,7 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size) onboardParams.insert(key, set.param_value); // Pack message and get size of encoded byte string - mavlink_msg_param_value_pack(set.target_system, componentId, &msg, key.toStdString().c_str(), set.param_value, onboardParams.size(), onboardParams.keys().indexOf(key)); + mavlink_msg_param_value_pack(set.target_system, componentId, &msg, key.toStdString().c_str(), set.param_value, 0, onboardParams.size(), onboardParams.keys().indexOf(key)); // Allocate buffer with packet data bufferlength = mavlink_msg_to_send_buffer(buffer, &msg); //add data into datastream @@ -822,7 +819,7 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size) float paramValue = onboardParams.value(key); // Pack message and get size of encoded byte string - mavlink_msg_param_value_pack(read.target_system, componentId, &msg, key.toStdString().c_str(), paramValue, onboardParams.size(), onboardParams.keys().indexOf(key)); + mavlink_msg_param_value_pack(read.target_system, componentId, &msg, key.toStdString().c_str(), paramValue, 0, onboardParams.size(), onboardParams.keys().indexOf(key)); // Allocate buffer with packet data bufferlength = mavlink_msg_to_send_buffer(buffer, &msg); //add data into datastream @@ -834,7 +831,7 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size) float paramValue = onboardParams.value(key); // Pack message and get size of encoded byte string - mavlink_msg_param_value_pack(read.target_system, componentId, &msg, key.toStdString().c_str(), paramValue, onboardParams.size(), onboardParams.keys().indexOf(key)); + mavlink_msg_param_value_pack(read.target_system, componentId, &msg, key.toStdString().c_str(), paramValue, 0, onboardParams.size(), onboardParams.keys().indexOf(key)); // Allocate buffer with packet data bufferlength = mavlink_msg_to_send_buffer(buffer, &msg); //add data into datastream @@ -860,7 +857,7 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size) readyBufferMutex.unlock(); // Update comm status - status.packet_drop = comm.packet_rx_drop_count; + status.errors_uart = comm.packet_rx_drop_count; } diff --git a/src/comm/MAVLinkSimulationLink.h b/src/comm/MAVLinkSimulationLink.h index e4c541e31102fc1525b3a6087038069a58241abf..5ac86fabb6e59d06157b366bbfe7a6b2dcd1f0a1 100644 --- a/src/comm/MAVLinkSimulationLink.h +++ b/src/comm/MAVLinkSimulationLink.h @@ -128,6 +128,7 @@ protected: QString name; qint64 timeOffset; mavlink_sys_status_t status; + mavlink_heartbeat_t system; QMap onboardParams; void enqueue(uint8_t* stream, uint8_t* index, mavlink_message_t* msg); diff --git a/src/comm/MAVLinkSimulationMAV.cc b/src/comm/MAVLinkSimulationMAV.cc index 51205297a57781b01da187d4b9e999d9a62237d5..cc2e9b0a5fbee7d3c7b940149d5cf38cb102b2d4 100644 --- a/src/comm/MAVLinkSimulationMAV.cc +++ b/src/comm/MAVLinkSimulationMAV.cc @@ -38,9 +38,9 @@ MAVLinkSimulationMAV::MAVLinkSimulationMAV(MAVLinkSimulationLink *parent, int sy nextSPY(122.282883), nextSPZ(550), nextSPYaw(0.0), - sys_mode(MAV_MODE_READY), + sys_mode(MAV_MODE_PREFLIGHT), sys_state(MAV_STATE_STANDBY), - nav_mode(MAV_NAV_GROUNDED), + nav_mode(MAV_FLIGHT_MODE_PREFLIGHT), flying(false), mavlink_version(version) { @@ -62,13 +62,13 @@ void MAVLinkSimulationMAV::mainloop() if (flying) { sys_state = MAV_STATE_ACTIVE; sys_mode = MAV_MODE_AUTO; - nav_mode = MAV_NAV_WAYPOINT; + nav_mode = MAV_FLIGHT_MODE_AUTO_MISSION; } // 1 Hz execution if (timer1Hz <= 0) { mavlink_message_t msg; - mavlink_msg_heartbeat_pack(systemid, MAV_COMP_ID_IMU, &msg, MAV_TYPE_FIXED_WING, MAV_CLASS_PIXHAWK); + mavlink_msg_heartbeat_pack(systemid, MAV_COMP_ID_IMU, &msg, MAV_TYPE_FIXED_WING, MAV_AUTOPILOT_ARDUPILOTMEGA, MAV_MODE_GUIDED, MAV_FLIGHT_MODE_AUTO_MISSION, MAV_STATE_ACTIVE, MAV_SAFETY_ARMED, 0xFF); link->sendMAVLinkMessage(&msg); planner.handleMessage(msg); @@ -156,12 +156,12 @@ void MAVLinkSimulationMAV::mainloop() // SYSTEM STATUS mavlink_sys_status_t status; status.load = 300; - status.mode = sys_mode; - status.nav_mode = nav_mode; - status.packet_drop = 0; - status.vbat = 10500; - status.status = sys_state; - status.battery_remaining = 912; +// status.mode = sys_mode; +// status.nav_mode = nav_mode; + status.errors_uart = 0; + status.voltage_battery = 10500; +// status.status = sys_state; + status.battery_percent = 230; mavlink_msg_sys_status_encode(systemid, MAV_COMP_ID_IMU, &msg, &status); link->sendMAVLinkMessage(&msg); timer10Hz = 5; @@ -336,7 +336,7 @@ void MAVLinkSimulationMAV::handleMessage(const mavlink_message_t& msg) mavlink_local_position_setpoint_set_t sp; mavlink_msg_local_position_setpoint_set_decode(&msg, &sp); if (sp.target_system == this->systemid) { - nav_mode = MAV_NAV_WAYPOINT; + nav_mode = MAV_FLIGHT_MODE_AUTO_MISSION; previousSPX = nextSPX; previousSPY = nextSPY; previousSPZ = nextSPZ; diff --git a/src/comm/MAVLinkSimulationWaypointPlanner.cc b/src/comm/MAVLinkSimulationWaypointPlanner.cc index 0f229d2f57f5034c692bed1b3965ea152c2c1301..ccebe8cd2300a7663c26df64281d6bbb4b6ec000 100644 --- a/src/comm/MAVLinkSimulationWaypointPlanner.cc +++ b/src/comm/MAVLinkSimulationWaypointPlanner.cc @@ -815,9 +815,10 @@ void MAVLinkSimulationWaypointPlanner::mavlink_handler (const mavlink_message_t* break; } - case MAVLINK_MSG_ID_COMMAND: { // special action from ground station - mavlink_command_t action; - mavlink_msg_command_decode(msg, &action); + case MAVLINK_MSG_ID_COMMAND_SHORT: + { // special action from ground station + mavlink_command_short_t action; + mavlink_msg_command_short_decode(msg, &action); if(action.target_system == systemid) { if (verbose) qDebug("Waypoint: received message with action %d\n", action.command); // switch (action.action) { diff --git a/src/comm/QGCFlightGearLink.cc b/src/comm/QGCFlightGearLink.cc index 1c015a7094d2ade2a294c89e45f60e191f9a6c47..a9f92d1ee0f7c073a80a5af760fe07ce1f991da4 100644 --- a/src/comm/QGCFlightGearLink.cc +++ b/src/comm/QGCFlightGearLink.cc @@ -82,16 +82,16 @@ void QGCFlightGearLink::processError(QProcess::ProcessError err) MainWindow::instance()->showCriticalMessage(tr("FlightGear Crashed"), tr("This is a FlightGear-related problem. Please upgrade FlightGear")); break; case QProcess::Timedout: - MainWindow::instance()->showCriticalMessage(tr("FlightGear Failed to Start"), tr("Please check if the path and command is correct")); + MainWindow::instance()->showCriticalMessage(tr("FlightGear Start Timed Out"), tr("Please check if the path and command is correct")); break; case QProcess::WriteError: - MainWindow::instance()->showCriticalMessage(tr("FlightGear Failed to Start"), tr("Please check if the path and command is correct")); + MainWindow::instance()->showCriticalMessage(tr("Could not Communicate with FlightGear"), tr("Please check if the path and command is correct")); break; case QProcess::ReadError: - MainWindow::instance()->showCriticalMessage(tr("FlightGear Failed to Start"), tr("Please check if the path and command is correct")); + MainWindow::instance()->showCriticalMessage(tr("Could not Communicate with FlightGear"), tr("Please check if the path and command is correct")); break; case QProcess::UnknownError: - MainWindow::instance()->showCriticalMessage(tr("FlightGear Failed to Start"), tr("Please check if the path and command is correct")); + MainWindow::instance()->showCriticalMessage(tr("FlightGear Error"), tr("Please check if the path and command is correct")); break; default: MainWindow::instance()->showCriticalMessage(tr("FlightGear Error"), tr("Please check if the path and command is correct.")); @@ -279,6 +279,7 @@ bool QGCFlightGearLink::disconnectSimulation() **/ bool QGCFlightGearLink::connectSimulation() { + if (!mav) return false; socket = new QUdpSocket(this); //Check if we are using a multicast-address @@ -358,7 +359,7 @@ processFgfs = "fgfs"; fgRoot = "--fg-root=/usr/share/flightgear/data"; #endif -processCall << fgRoot; +//processCall << fgRoot; //processCall << fgScenery; processCall << "--generic=socket,out,50,127.0.0.1,49005,udp,ardupilot"; processCall << "--generic=socket,in,50,127.0.0.1,49000,udp,ardupilot"; @@ -377,6 +378,16 @@ processCall << "--disable-random-objects"; processCall << "--disable-ai-models"; processCall << "--wind=0@0"; processCall << "--fdm=jsb"; +processCall << "--prop:/engines/engine[0]/running=true"; +if (mav->getSystemType() == MAV_TYPE_QUADROTOR) +{ + // Start the remaining three motors of the quad + processCall << "--prop:/engines/engine[1]/running=true"; + processCall << "--prop:/engines/engine[2]/running=true"; + processCall << "--prop:/engines/engine[3]/running=true"; +} +processCall << QString("--lat=%1").arg(mav->getLatitude()); +processCall << QString("--lon=%1").arg(mav->getLongitude()); // Add new argument with this: processCall << ""; processCall << QString("--aircraft=%2").arg(aircraft); diff --git a/src/uas/QGCMAVLinkUASFactory.cc b/src/uas/QGCMAVLinkUASFactory.cc index 7b9703d2ac4bf0615af81110cf8144af1b89875c..46a6bdb134f47cfedcc0deef65f9a64559bb194e 100644 --- a/src/uas/QGCMAVLinkUASFactory.cc +++ b/src/uas/QGCMAVLinkUASFactory.cc @@ -23,7 +23,7 @@ UASInterface* QGCMAVLinkUASFactory::createUAS(MAVLinkProtocol* mavlink, LinkInte switch (heartbeat->autopilot) { - case MAV_CLASS_GENERIC: + case MAV_AUTOPILOT_GENERIC: { UAS* mav = new UAS(mavlink, sysid); // Set the system type @@ -33,7 +33,7 @@ UASInterface* QGCMAVLinkUASFactory::createUAS(MAVLinkProtocol* mavlink, LinkInte uas = mav; } break; - case MAV_CLASS_PIXHAWK: + case MAV_AUTOPILOT_PIXHAWK: { PxQuadMAV* mav = new PxQuadMAV(mavlink, sysid); // Set the system type @@ -46,7 +46,7 @@ UASInterface* QGCMAVLinkUASFactory::createUAS(MAVLinkProtocol* mavlink, LinkInte uas = mav; } break; - case MAV_CLASS_SLUGS: + case MAV_AUTOPILOT_SLUGS: { SlugsMAV* mav = new SlugsMAV(mavlink, sysid); // Set the system type @@ -59,7 +59,7 @@ UASInterface* QGCMAVLinkUASFactory::createUAS(MAVLinkProtocol* mavlink, LinkInte uas = mav; } break; - case MAV_CLASS_ARDUPILOTMEGA: + case MAV_AUTOPILOT_ARDUPILOTMEGA: { ArduPilotMegaMAV* mav = new ArduPilotMegaMAV(mavlink, sysid); // Set the system type diff --git a/src/uas/QGCUASParamManager.h b/src/uas/QGCUASParamManager.h index 8fdbae2e1d9623e3b230d30aa62e12029fa3cf06..32515322cf5418fb8bcf35a39345c061e262bd38 100644 --- a/src/uas/QGCUASParamManager.h +++ b/src/uas/QGCUASParamManager.h @@ -4,6 +4,7 @@ #include #include #include +#include class UASInterface; @@ -16,10 +17,10 @@ public: QList getParameterNames(int component) const { return parameters.value(component)->keys(); } - QList getParameterValues(int component) const { + QList getParameterValues(int component) const { return parameters.value(component)->values(); } - float getParameterValue(int component, const QString& parameter) const { + QVariant getParameterValue(int component, const QString& parameter) const { return parameters.value(component)->value(parameter); } @@ -29,23 +30,23 @@ public: virtual void requestParameterUpdate(int component, const QString& parameter) = 0; signals: - void parameterChanged(int component, QString parameter, float value); - void parameterChanged(int component, int parameterIndex, float value); + void parameterChanged(int component, QString parameter, QVariant value); + void parameterChanged(int component, int parameterIndex, QVariant value); void parameterListUpToDate(int component); public slots: /** @brief Write one parameter to the MAV */ - virtual void setParameter(int component, QString parameterName, float value) = 0; + virtual void setParameter(int component, QString parameterName, QVariant value) = 0; /** @brief Request list of parameters from MAV */ virtual void requestParameterList() = 0; protected: UASInterface* mav; ///< The MAV this widget is controlling - QMap* > changedValues; ///< Changed values - QMap* > parameters; ///< All parameters + QMap* > changedValues; ///< Changed values + QMap* > parameters; ///< All parameters QVector received; ///< Successfully received parameters QMap* > transmissionMissingPackets; ///< Missing packets - QMap* > transmissionMissingWriteAckPackets; ///< Missing write ACK packets + QMap* > transmissionMissingWriteAckPackets; ///< Missing write ACK packets bool transmissionListMode; ///< Currently requesting list QMap transmissionListSizeKnown; ///< List size initialized? bool transmissionActive; ///< Missing packets, working on list? diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc index 196b5f7b31c0b6e4d1e2efe9e6039c6bc9bff89b..b430be86c78d773a8a2bcc6bc3dbc19aea14e5ff 100644 --- a/src/uas/UAS.cc +++ b/src/uas/UAS.cc @@ -128,17 +128,22 @@ void UAS::updateState() { // Check if heartbeat timed out quint64 heartbeatInterval = QGC::groundTimeUsecs() - lastHeartbeat; - if (heartbeatInterval > timeoutIntervalHeartbeat) { + if (heartbeatInterval > timeoutIntervalHeartbeat) + { emit heartbeatTimeout(heartbeatInterval); emit heartbeatTimeout(); } // Position lock is set by the MAVLink message handler // if no position lock is available, indicate an error - if (positionLock) { + if (positionLock) + { positionLock = false; - } else { - if (mode > (uint8_t)MAV_MODE_LOCKED && positionLock) { + } + else + { + if ((mode == (int)MAV_MODE_AUTO || mode == (int)MAV_MODE_GUIDED) && positionLock) + { GAudioOutput::instance()->notifyNegative(); } } @@ -201,12 +206,15 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message) switch (message.msgid) { case MAVLINK_MSG_ID_HEARTBEAT: + { lastHeartbeat = QGC::groundTimeUsecs(); emit heartbeat(this); + mavlink_heartbeat_t state; + mavlink_msg_heartbeat_decode(&message, &state); // Set new type if it has changed - if (this->type != mavlink_msg_heartbeat_get_type(&message)) + if (this->type != state.type) { - this->type = mavlink_msg_heartbeat_get_type(&message); + this->type = state.type; if (airframe == 0) { switch (type) @@ -222,135 +230,105 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message) break; } } - this->autopilot = mavlink_msg_heartbeat_get_autopilot(&message); + this->autopilot = state.autopilot; emit systemTypeSet(this, type); } - break; - case MAVLINK_MSG_ID_NAMED_VALUE_FLOAT: - case MAVLINK_MSG_ID_NAMED_VALUE_INT: - // Receive named value message - receiveMessageNamedValue(message); - break; - case MAVLINK_MSG_ID_BOOT: - getStatusForCode((int)MAV_STATE_BOOT, uasState, stateDescription); - emit statusChanged(this, uasState, stateDescription); - onboardTimeOffset = 0; // Reset offset measurement - break; - case MAVLINK_MSG_ID_SYS_STATUS: - { - mavlink_sys_status_t state; - mavlink_msg_sys_status_decode(&message, &state); - - // FIXME - //qDebug() << "1 SYSTEM STATUS:" << state.status; + QString audiostring = "System " + getUASName(); + QString stateAudio = ""; + QString modeAudio = ""; + QString navModeAudio = ""; + bool statechanged = false; + bool modechanged = false; - QString audiostring = "System " + getUASName(); - QString stateAudio = ""; - QString modeAudio = ""; - bool statechanged = false; - bool modechanged = false; - if (state.status != this->status) - { - statechanged = true; - this->status = state.status; - getStatusForCode((int)state.status, uasState, stateDescription); - emit statusChanged(this, uasState, stateDescription); - emit statusChanged(this->status); - - shortStateText = uasState; + if (state.system_status != this->status) + { + statechanged = true; + this->status = state.system_status; + getStatusForCode((int)state.system_status, uasState, stateDescription); + emit statusChanged(this, uasState, stateDescription); + emit statusChanged(this->status); - stateAudio = " changed status to " + uasState; - } + shortStateText = uasState; - if (navMode != state.nav_mode) - { - emit navModeChanged(uasId, state.nav_mode, getNavModeText(state.nav_mode)); - navMode = state.nav_mode; - } + stateAudio = tr(" changed status to ") + uasState; + } - emit loadChanged(this,state.load/10.0f); - emit valueChanged(uasId, "Load", "%", ((float)state.load)/10.0f, getUnixTime()); + if (this->mode != static_cast(state.system_mode)) + { + modechanged = true; + this->mode = static_cast(state.system_mode); - if (this->mode != static_cast(state.mode)) - { - modechanged = true; - this->mode = static_cast(state.mode); - QString mode; - switch (state.mode) { - case (uint8_t)MAV_MODE_LOCKED: - mode = "LOCKED MODE"; - break; - case (uint8_t)MAV_MODE_MANUAL: - mode = "MANUAL MODE"; - break; + shortModeText = getShortModeTextFor(this->mode); -#ifdef MAVLINK_ENABLED_SLUGS - case (uint8_t)MAV_MODE_AUTO: - mode = "WAYPOINT MODE"; - break; - case (uint8_t)MAV_MODE_GUIDED: - mode = "MID-L CMDS MODE"; - break; + emit modeChanged(this->getUASID(), shortModeText, ""); - case (uint8_t)MAV_MODE_TEST1: - mode = "PASST MODE"; - break; - case (uint8_t)MAV_MODE_TEST2: - mode = "SEL PT MODE"; - break; -#else - case (uint8_t)MAV_MODE_AUTO: - mode = "AUTO MODE"; - break; - case (uint8_t)MAV_MODE_GUIDED: - mode = "GUIDED MODE"; - break; + modeAudio = " is now in " + shortModeText; + } - case (uint8_t)MAV_MODE_TEST1: - mode = "TEST1 MODE"; - break; - case (uint8_t)MAV_MODE_TEST2: - mode = "TEST2 MODE"; - break; -#endif - case (uint8_t)MAV_MODE_READY: - mode = "READY MODE"; - break; + if (navMode != state.flight_mode) + { + emit navModeChanged(uasId, state.flight_mode, getNavModeText(state.flight_mode)); + navMode = state.flight_mode; + navModeAudio = tr(" changed nav mode to ") + tr("FIXME"); + } - case (uint8_t)MAV_MODE_TEST3: - mode = "TEST3 MODE"; - break; + // AUDIO + if (modechanged && statechanged) + { + // Output both messages + audiostring += modeAudio + " and " + stateAudio; + } + else if (modechanged || statechanged) + { + // Output the one message + audiostring += modeAudio + stateAudio + navModeAudio; + } - case (uint8_t)MAV_MODE_RC_TRAINING: - mode = "RC TRAINING MODE"; - break; - default: - mode = "UNINIT MODE"; - break; - } + if ((int)state.system_status == (int)MAV_STATE_CRITICAL || state.system_status == (int)MAV_STATE_EMERGENCY) + { + GAudioOutput::instance()->startEmergency(); + } + else if (modechanged || statechanged) + { + GAudioOutput::instance()->stopEmergency(); + GAudioOutput::instance()->say(audiostring); + } - shortModeText = mode; + if (state.system_status == MAV_STATE_POWEROFF) + { + emit systemRemoved(this); + emit systemRemoved(); + } +} - emit modeChanged(this->getUASID(), mode, ""); + break; + case MAVLINK_MSG_ID_NAMED_VALUE_FLOAT: + case MAVLINK_MSG_ID_NAMED_VALUE_INT: + // Receive named value message + receiveMessageNamedValue(message); + break; + case MAVLINK_MSG_ID_SYS_STATUS: + { + mavlink_sys_status_t state; + mavlink_msg_sys_status_decode(&message, &state); - //qDebug() << "2 SYSTEM MODE:" << mode; + emit loadChanged(this,state.load/10.0f); + emit valueChanged(uasId, "Load", "%", ((float)state.load)/10.0f, getUnixTime()); - modeAudio = " is now in " + mode; - } - currentVoltage = state.vbat/1000.0f; + currentVoltage = state.voltage_battery/1000.0f; lpVoltage = filterVoltage(currentVoltage); if (startVoltage == 0) startVoltage = currentVoltage; timeRemaining = calculateTimeRemaining(); if (!batteryRemainingEstimateEnabled) { - chargeLevel = state.battery_remaining/10.0f; + chargeLevel = state.battery_percent/2.55f; } //qDebug() << "Voltage: " << currentVoltage << " Chargelevel: " << getChargeLevel() << " Time remaining " << timeRemaining; emit batteryChanged(this, lpVoltage, getChargeLevel(), timeRemaining); - emit voltageChanged(message.sysid, state.vbat/1000.0f); + emit voltageChanged(message.sysid, state.battery_percent/2.55f); // LOW BATTERY ALARM if (lpVoltage < warnVoltage) @@ -363,45 +341,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message) } // COMMUNICATIONS DROP RATE - emit dropRateChanged(this->getUASID(), state.packet_drop/1000.0f); - - - //add for development - //emit remoteControlRSSIChanged(state.packet_drop/1000.0f); - - //float en = state.packet_drop/1000.0f; - //emit remoteControlChannelRawChanged(0, en);//MAVLINK_MSG_ID_RC_CHANNELS_RAW - //emit remoteControlChannelScaledChanged(0, en/100.0f);//MAVLINK_MSG_ID_RC_CHANNELS_SCALED - - - //qDebug() << __FILE__ << __LINE__ << "RCV LOSS: " << state.packet_drop; - - // AUDIO - if (modechanged && statechanged) - { - // Output both messages - audiostring += modeAudio + " and " + stateAudio; - } - else - { - // Output the one message - audiostring += modeAudio + stateAudio; - } - if ((int)state.status == (int)MAV_STATE_CRITICAL || state.status == (int)MAV_STATE_EMERGENCY) - { - GAudioOutput::instance()->startEmergency(); - } - else if (modechanged || statechanged) - { - GAudioOutput::instance()->stopEmergency(); - GAudioOutput::instance()->say(audiostring); - } - - if (state.status == MAV_STATE_POWEROFF) - { - emit systemRemoved(this); - emit systemRemoved(); - } + emit dropRateChanged(this->getUASID(), state.errors_uart/1000.0f); } break; @@ -805,33 +745,86 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message) QByteArray bytes((char*)value.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN); QString parameterName = QString(bytes); int component = message.compid; - float val = value.param_value; + mavlink_param_union_t val; + val.param_float = value.param_value; + + // Convert to machine order if necessary +//#if MAVLINK_NEED_BYTE_SWAP +// buffer[bindex] = (b>>24)&0xff; +// buffer[bindex+1] = (b>>16)&0xff; +// buffer[bindex+2] = (b>>8)&0xff; +// buffer[bindex+3] = (b & 0xff); +//#else // Insert component if necessary if (!parameters.contains(component)) { - parameters.insert(component, new QMap()); + parameters.insert(component, new QMap()); } // Insert parameter into registry if (parameters.value(component)->contains(parameterName)) parameters.value(component)->remove(parameterName); - parameters.value(component)->insert(parameterName, val); - // Emit change - emit parameterChanged(uasId, message.compid, parameterName, val); - emit parameterChanged(uasId, message.compid, value.param_count, value.param_index, parameterName, val); + // Insert with correct type + switch (value.param_type) + { + case MAV_DATA_TYPE_FLOAT: + parameters.value(component)->insert(parameterName, val.param_float); + // Emit change + emit parameterChanged(uasId, message.compid, parameterName, val.param_float); + emit parameterChanged(uasId, message.compid, value.param_count, value.param_index, parameterName, val.param_float); + break;/* + case MAV_DATA_TYPE_UINT8: + parameters.value(component)->insert(parameterName, val.param_uint8); + // Emit change + emit parameterChanged(uasId, message.compid, parameterName, val.param_uint8); + emit parameterChanged(uasId, message.compid, value.param_count, value.param_index, parameterName, val.param_uint8); + break; + case MAV_DATA_TYPE_INT8: + parameters.value(component)->insert(parameterName, val.param_int8); + // Emit change + emit parameterChanged(uasId, message.compid, parameterName, val.param_int8); + emit parameterChanged(uasId, message.compid, value.param_count, value.param_index, parameterName, val.param_int8); + break; + case MAV_DATA_TYPE_UINT16: + parameters.value(component)->insert(parameterName, val.param_uint16); + // Emit change + emit parameterChanged(uasId, message.compid, parameterName, val.param_uint16); + emit parameterChanged(uasId, message.compid, value.param_count, value.param_index, parameterName, val.param_uint16); + break; + case MAV_DATA_TYPE_INT16: + parameters.value(component)->insert(parameterName, val.param_int16); + // Emit change + emit parameterChanged(uasId, message.compid, parameterName, val.param_int16); + emit parameterChanged(uasId, message.compid, value.param_count, value.param_index, parameterName, val.param_int16); + break;*/ + case MAV_DATA_TYPE_UINT32: + parameters.value(component)->insert(parameterName, val.param_uint32); + // Emit change + emit parameterChanged(uasId, message.compid, parameterName, val.param_uint32); + emit parameterChanged(uasId, message.compid, value.param_count, value.param_index, parameterName, val.param_uint32); + break; + case MAV_DATA_TYPE_INT32: + parameters.value(component)->insert(parameterName, val.param_int32); + // Emit change + emit parameterChanged(uasId, message.compid, parameterName, val.param_int32); + emit parameterChanged(uasId, message.compid, value.param_count, value.param_index, parameterName, val.param_int32); + break; + default: + qCritical() << "INVALID DATA TYPE USED AS PARAMETER VALUE: " << value.param_type; + } } break; - case MAVLINK_MSG_ID_CMD_ACK: - mavlink_cmd_ack_t ack; - mavlink_msg_cmd_ack_decode(&message, &ack); + case MAVLINK_MSG_ID_COMMAND_ACK: + mavlink_command_ack_t ack; + mavlink_msg_command_ack_decode(&message, &ack); if (ack.result == 1) { - emit textMessageReceived(uasId, message.compid, 0, tr("SUCCESS: Executed CMD: %1").arg(ack.cmd)); + emit textMessageReceived(uasId, message.compid, 0, tr("SUCCESS: Executed CMD: %1").arg(ack.command)); } else { - emit textMessageReceived(uasId, message.compid, 0, tr("FAILURE: Rejected CMD: %1").arg(ack.cmd)); + emit textMessageReceived(uasId, message.compid, 0, tr("FAILURE: Rejected CMD: %1").arg(ack.command)); } break; case MAVLINK_MSG_ID_DEBUG: @@ -1229,21 +1222,21 @@ void UAS::startRadioControlCalibration() { mavlink_message_t msg; // Param 1: gyro cal, param 2: mag cal, param 3: pressure cal, Param 4: radio - mavlink_msg_command_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_IMU, MAV_CMD_PREFLIGHT_CALIBRATION, 1, 0, 0, 0, 1); + mavlink_msg_command_short_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_IMU, MAV_CMD_PREFLIGHT_CALIBRATION, 1, 0, 0, 0, 1); sendMessage(msg); } void UAS::startDataRecording() { mavlink_message_t msg; - mavlink_msg_command_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, 0, MAV_CMD_DO_CONTROL_VIDEO, 1, -1, -1, -1, 2); + mavlink_msg_command_short_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, 0, MAV_CMD_DO_CONTROL_VIDEO, 1, -1, -1, -1, 2); sendMessage(msg); } void UAS::stopDataRecording() { mavlink_message_t msg; - mavlink_msg_command_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, 0, MAV_CMD_DO_CONTROL_VIDEO, 1, -1, -1, -1, 0); + mavlink_msg_command_short_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, 0, MAV_CMD_DO_CONTROL_VIDEO, 1, -1, -1, -1, 0); sendMessage(msg); } @@ -1251,7 +1244,7 @@ void UAS::startMagnetometerCalibration() { mavlink_message_t msg; // Param 1: gyro cal, param 2: mag cal, param 3: pressure cal, Param 4: radio - mavlink_msg_command_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_IMU, MAV_CMD_PREFLIGHT_CALIBRATION, 1, 0, 1, 0, 0); + mavlink_msg_command_short_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_IMU, MAV_CMD_PREFLIGHT_CALIBRATION, 1, 0, 1, 0, 0); sendMessage(msg); } @@ -1259,7 +1252,7 @@ void UAS::startGyroscopeCalibration() { mavlink_message_t msg; // Param 1: gyro cal, param 2: mag cal, param 3: pressure cal, Param 4: radio - mavlink_msg_command_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_IMU, MAV_CMD_PREFLIGHT_CALIBRATION, 1, 1, 0, 0, 0); + mavlink_msg_command_short_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_IMU, MAV_CMD_PREFLIGHT_CALIBRATION, 1, 1, 0, 0, 0); sendMessage(msg); } @@ -1267,7 +1260,7 @@ void UAS::startPressureCalibration() { mavlink_message_t msg; // Param 1: gyro cal, param 2: mag cal, param 3: pressure cal, Param 4: radio - mavlink_msg_command_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_IMU, MAV_CMD_PREFLIGHT_CALIBRATION, 1, 0, 0, 1, 0); + mavlink_msg_command_short_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_IMU, MAV_CMD_PREFLIGHT_CALIBRATION, 1, 0, 0, 1, 0); sendMessage(msg); } @@ -1391,7 +1384,7 @@ QList UAS::getComponentIds() void UAS::setMode(int mode) { - if ((uint8_t)mode >= MAV_MODE_LOCKED && (uint8_t)mode <= MAV_MODE_RC_TRAINING) + if (mode >= (int)MAV_MODE_PREFLIGHT && mode < (int)MAV_MODE_ENUM_END) { //this->mode = mode; //no call assignament, update receive message from UAS mavlink_message_t msg; @@ -1475,32 +1468,50 @@ QString UAS::getNavModeText(int mode) { switch (mode) { - case MAV_NAV_GROUNDED: - return QString("GROUNDED"); + case MAV_FLIGHT_MODE_PREFLIGHT: + return QString("PREFLIGHT"); break; - case MAV_NAV_HOLD: - return QString("HOLD"); + case MAV_FLIGHT_MODE_MANUAL: + return QString("MANUAL"); break; - case MAV_NAV_LANDING: - return QString("LANDING"); + case MAV_FLIGHT_MODE_AUTO_TAKEOFF: + return QString("TAKEOFF"); break; - case MAV_NAV_LIFTOFF: - return QString("LIFTOFF"); + case MAV_FLIGHT_MODE_AUTO_HOLD: + return QString("HOLDING"); break; - case MAV_NAV_LOITER: - return QString("LOITER"); + case MAV_FLIGHT_MODE_AUTO_MISSION: + return QString("MISSION"); break; - case MAV_NAV_LOST: - return QString("LOST"); + case MAV_FLIGHT_MODE_AUTO_VECTOR: + return QString("VECTOR"); break; - case MAV_NAV_RETURNING: + case MAV_FLIGHT_MODE_AUTO_RETURNING: return QString("RETURNING"); break; - case MAV_NAV_VECTOR: - return QString("VECTOR"); + case MAV_FLIGHT_MODE_AUTO_LANDING: + return QString("LANDING"); + break; + case MAV_FLIGHT_MODE_AUTO_LOST: + return QString("LOST"); + break; + case MAV_FLIGHT_MODE_STABILIZE_RATES_ACRO: + return QString("S: RATE/ACRO"); + break; + case MAV_FLIGHT_MODE_STABILIZE_LEVELING: + return QString("S: LEVELING"); break; - case MAV_NAV_WAYPOINT: - return QString("WAYPOINT"); + case MAV_FLIGHT_MODE_STABILIZE_ROLL_PITCH_ABSOLUTE: + return QString("S: R/P ABS"); + break; + case MAV_FLIGHT_MODE_STABILIZE_ROLL_YAW_ALTITUDE: + return QString("S: R/Y ALT"); + break; + case MAV_FLIGHT_MODE_STABILIZE_ROLL_PITCH_YAW_ALTITUDE: + return QString("S: R/P/Y ALT"); + break; + case MAV_FLIGHT_MODE_STABILIZE_CURSOR_CONTROL: + return QString("S: CURSOR"); break; default: return QString("UNKNOWN"); @@ -1665,14 +1676,14 @@ void UAS::requestParameters() void UAS::writeParametersToStorage() { mavlink_message_t msg; - mavlink_msg_command_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, 0, MAV_CMD_PREFLIGHT_STORAGE, 1, 1, -1, -1, -1); + mavlink_msg_command_short_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, 0, MAV_CMD_PREFLIGHT_STORAGE, 1, 1, -1, -1, -1); sendMessage(msg); } void UAS::readParametersFromStorage() { mavlink_message_t msg; - mavlink_msg_command_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, 0, MAV_CMD_PREFLIGHT_STORAGE, 1, 0, -1, -1, -1); + mavlink_msg_command_short_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, 0, MAV_CMD_PREFLIGHT_STORAGE, 1, 0, -1, -1, -1); sendMessage(msg); } @@ -1912,13 +1923,35 @@ void UAS::enableExtra3Transmission(int rate) * @param id Name of the parameter * @param value Parameter value */ -void UAS::setParameter(const int component, const QString& id, const float value) +void UAS::setParameter(const int component, const QString& id, const QVariant& value) { if (!id.isNull()) { mavlink_message_t msg; mavlink_param_set_t p; - p.param_value = value; + mavlink_param_union_t union_value; + + // Assign correct value based on QVariant + switch (value.type()) + { + case QVariant::Int: + union_value.param_int32 = value.toInt(); + p.param_type = MAV_DATA_TYPE_INT32; + break; + case QVariant::UInt: + union_value.param_uint32 = value.toUInt(); + p.param_type = MAV_DATA_TYPE_UINT32; + break; + case QMetaType::Float: + union_value.param_float = value.toFloat(); + p.param_type = MAV_DATA_TYPE_FLOAT; + break; + default: + qCritical() << "ABORTED PARAM SEND, NO VALID QVARIANT TYPE"; + return; + } + + p.param_value = union_value.param_float; p.target_system = (uint8_t)uasId; p.target_component = (uint8_t)component; @@ -1988,7 +2021,7 @@ void UAS::setUASName(const QString& name) void UAS::executeCommand(MAV_CMD command) { mavlink_message_t msg; - mavlink_command_t cmd; + mavlink_command_short_t cmd; cmd.command = (uint8_t)command; cmd.confirmation = 0; cmd.param1 = 0.0f; @@ -1997,14 +2030,14 @@ void UAS::executeCommand(MAV_CMD command) cmd.param4 = 0.0f; cmd.target_system = uasId; cmd.target_component = 0; - mavlink_msg_command_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &cmd); + mavlink_msg_command_short_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &cmd); sendMessage(msg); } void UAS::executeCommand(MAV_CMD command, int confirmation, float param1, float param2, float param3, float param4, int component) { mavlink_message_t msg; - mavlink_command_t cmd; + mavlink_command_short_t cmd; cmd.command = (uint8_t)command; cmd.confirmation = confirmation; cmd.param1 = param1; @@ -2013,7 +2046,26 @@ void UAS::executeCommand(MAV_CMD command, int confirmation, float param1, float cmd.param4 = param4; cmd.target_system = uasId; cmd.target_component = component; - mavlink_msg_command_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &cmd); + mavlink_msg_command_short_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &cmd); + sendMessage(msg); +} + +void UAS::executeCommand(MAV_CMD command, int confirmation, float param1, float param2, float param3, float param4, float param5, float param6, float param7, int component) +{ + mavlink_message_t msg; + mavlink_command_long_t cmd; + cmd.command = (uint8_t)command; + cmd.confirmation = confirmation; + cmd.param1 = param1; + cmd.param2 = param2; + cmd.param3 = param3; + cmd.param4 = param4; + cmd.param5 = param5; + cmd.param6 = param6; + cmd.param7 = param7; + cmd.target_system = uasId; + cmd.target_component = component; + mavlink_msg_command_long_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &cmd); sendMessage(msg); } @@ -2036,28 +2088,22 @@ void UAS::launch() * Depending on the UAS, this might make the rotors of a helicopter spinning * **/ -void UAS::enable_motors() +void UAS::armSystem() { -// mavlink_message_t msg; -// // FIXME MAVLINKV10PORTINGNEEDED -// //mavlink_msg_action_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), MAV_COMP_ID_IMU, (uint8_t)MAV_ACTION_MOTORS_START); -// // Send message twice to increase chance of reception -// sendMessage(msg); -// sendMessage(msg); + mavlink_message_t msg; + mavlink_msg_set_safety_mode_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), MAV_SAFETY_ARMED); + sendMessage(msg); } /** * @warning Depending on the UAS, this might completely stop all motors. * **/ -void UAS::disable_motors() +void UAS::disarmSystem() { -// mavlink_message_t msg; -// // FIXME MAVLINKV10PORTINGNEEDED -// mavlink_msg_action_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), MAV_COMP_ID_IMU, (uint8_t)MAV_ACTION_MOTORS_STOP); -// // Send message twice to increase chance of reception -// sendMessage(msg); -// sendMessage(msg); + mavlink_message_t msg; + mavlink_msg_set_safety_mode_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), MAV_SAFETY_DISARMED); + sendMessage(msg); } void UAS::setManualControlCommands(double roll, double pitch, double yaw, double thrust) @@ -2111,65 +2157,6 @@ void UAS::receiveButton(int buttonIndex) } -/*void UAS::requestWaypoints() -{ -// mavlink_message_t msg; -// mavlink_msg_waypoint_request_list_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, 25); -// // Send message twice to increase chance of reception -// sendMessage(msg); - waypointManager.requestWaypoints(); - qDebug() << "UAS Request WPs"; -} - -void UAS::setWaypoint(Waypoint* wp) -{ -// mavlink_message_t msg; -// mavlink_waypoint_set_t set; -// set.id = wp->id; -// //QString name = wp->name; -// // FIXME Check if this works properly -// //name.truncate(MAVLINK_MSG_WAYPOINT_SET_FIELD_NAME_LEN); -// //strcpy((char*)set.name, name.toStdString().c_str()); -// set.autocontinue = wp->autocontinue; -// set.target_component = 25; // FIXME -// set.target_system = uasId; -// set.active = wp->current; -// set.x = wp->x; -// set.y = wp->y; -// set.z = wp->z; -// set.yaw = wp->yaw; -// mavlink_msg_waypoint_set_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &set); -// // Send message twice to increase chance of reception -// sendMessage(msg); -} - -void UAS::setWaypointActive(int id) -{ -// mavlink_message_t msg; -// mavlink_waypoint_set_active_t active; -// active.id = id; -// active.target_system = uasId; -// active.target_component = 25; // FIXME -// mavlink_msg_waypoint_set_active_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &active); -// // Send message twice to increase chance of reception -// sendMessage(msg); -// sendMessage(msg); -// // TODO This should be not directly emitted, but rather being fed back from the UAS -// emit waypointSelected(getUASID(), id); -} - -void UAS::clearWaypointList() -{ -// mavlink_message_t msg; -// // FIXME -// mavlink_waypoint_clear_list_t clist; -// clist.target_system = uasId; -// clist.target_component = 25; // FIXME -// mavlink_msg_waypoint_clear_list_encode(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, &clist); -// sendMessage(msg); -// qDebug() << "UAS clears Waypoints!"; -}*/ - void UAS::halt() { @@ -2261,11 +2248,11 @@ void UAS::enableHil(bool enable) // Connect Flight Gear Link if (enable) { - simulation->connectSimulation(); + startHil(); } else { - simulation->disconnectSimulation(); + stopHil(); } } @@ -2301,25 +2288,17 @@ void UAS::startHil() { // Connect Flight Gear Link simulation->connectSimulation(); - // FIXME MAVLINKV10PORTINGNEEDED -// mavlink_message_t msg; -// // TODO Replace MG System ID with static function call and allow to change ID in GUI -// mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU,(int)MAV_ACTION_START_HILSIM); -// // Send message twice to increase chance of reception -// sendMessage(msg); -// sendMessage(msg); + mavlink_message_t msg; + mavlink_msg_set_safety_mode_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), MAV_SAFETY_HIL); + sendMessage(msg); } void UAS::stopHil() { simulation->disconnectSimulation(); - // FIXME MAVLINKV10PORTINGNEEDED -// mavlink_message_t msg; -// // TODO Replace MG System ID with static function call and allow to change ID in GUI -// mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU,(int)MAV_ACTION_STOP_HILSIM); -// // Send message twice to increase chance of reception -// sendMessage(msg); -// sendMessage(msg); + mavlink_message_t msg; + mavlink_msg_set_safety_mode_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), MAV_SAFETY_DISARMED); + sendMessage(msg); } @@ -2385,6 +2364,37 @@ const QString& UAS::getShortState() const return shortStateText; } +QString UAS::getShortModeTextFor(int id) +{ + QString mode; + + switch (id) { + case (uint8_t)MAV_MODE_PREFLIGHT: + mode = "PREFLIGHT"; + break; + case (uint8_t)MAV_MODE_MANUAL: + mode = "MANUAL"; + break; + case (uint8_t)MAV_MODE_AUTO: + mode = "AUTO"; + break; + case (uint8_t)MAV_MODE_GUIDED: + mode = "GUIDED"; + break; + case (uint8_t)MAV_MODE_STABILIZE: + mode = "STABILIZED"; + break; + case (uint8_t)MAV_MODE_TEST: + mode = "TEST"; + break; + default: + mode = "UNKNOWN"; + break; + } + + return mode; +} + const QString& UAS::getShortMode() const { return shortModeText; @@ -2541,7 +2551,7 @@ void UAS::startLowBattAlarm() if (!lowBattAlarm) { GAudioOutput::instance()->alert(tr("SYSTEM %1 HAS LOW BATTERY").arg(getUASName())); - QTimer::singleShot(2000, GAudioOutput::instance(), SLOT(startEmergency())); + QTimer::singleShot(2500, GAudioOutput::instance(), SLOT(startEmergency())); lowBattAlarm = true; } } diff --git a/src/uas/UAS.h b/src/uas/UAS.h index 6d7d446ffe4a8eb5d5436e180aeaf72afa941641..dc7b3f6d479ed6885f3ccbb7c70bbf8f7ab3aed6 100644 --- a/src/uas/UAS.h +++ b/src/uas/UAS.h @@ -73,6 +73,8 @@ public: const QString& getShortState() const; /** @brief Get short mode */ const QString& getShortMode() const; + /** @brief Translate from mode id to text */ + static QString getShortModeTextFor(int id); /** @brief Get the unique system id */ int getUASID() const; /** @brief Get the airframe */ @@ -198,7 +200,7 @@ protected: //COMMENTS FOR TEST UNIT QImage image; ///< Image data of last completely transmitted image quint64 imageStart; - QMap* > parameters; ///< All parameters + QMap* > parameters; ///< All parameters bool paramsOnceRequested; ///< If the parameter list has been read at least once int airframe; ///< The airframe type bool attitudeKnown; ///< True if attitude was received, false else @@ -236,22 +238,130 @@ public: paramManager = manager; } int getSystemType(); + QString getSystemTypeName() + { + switch(type) + { + case MAV_TYPE_GENERIC: + return "GENERIC"; + break; + case MAV_TYPE_FIXED_WING: + return "FIXED_WING"; + break; + case MAV_TYPE_QUADROTOR: + return "QUADROTOR"; + break; + case MAV_TYPE_COAXIAL: + return "COAXIAL"; + break; + case MAV_TYPE_HELICOPTER: + return "HELICOPTER"; + break; + case MAV_TYPE_ANTENNA_TRACKER: + return "ANTENNA_TRACKER"; + break; + case MAV_TYPE_GCS: + return "GCS"; + break; + case MAV_TYPE_AIRSHIP: + return "AIRSHIP"; + break; + case MAV_TYPE_FREE_BALLOON: + return "FREE_BALLOON"; + break; + case MAV_TYPE_ROCKET: + return "ROCKET"; + break; + case MAV_TYPE_GROUND_ROVER: + return "GROUND_ROVER"; + break; + case MAV_TYPE_SURFACE_BOAT: + return "BOAT"; + break; + case MAV_TYPE_SUBMARINE: + return "SUBMARINE"; + break; + case MAV_TYPE_HEXAROTOR: + return "HEXAROTOR"; + break; + case MAV_TYPE_OCTOROTOR: + return "OCTOROTOR"; + break; + case MAV_TYPE_TRICOPTER: + return "TRICOPTER"; + break; + case MAV_TYPE_FLAPPING_WING: + return "FLAPPING_WING"; + break; + default: + return ""; + break; + } + } + QImage getImage(); void requestImage(); int getAutopilotType() { return autopilot; } + QString getAutopilotTypeName() + { + switch (autopilot) + { + case MAV_AUTOPILOT_GENERIC: + return "GENERIC"; + break; + case MAV_AUTOPILOT_PIXHAWK: + return "PIXHAWK"; + break; + case MAV_AUTOPILOT_SLUGS: + return "SLUGS"; + break; + case MAV_AUTOPILOT_ARDUPILOTMEGA: + return "ARDUPILOTMEGA"; + break; + case MAV_AUTOPILOT_OPENPILOT: + return "OPENPILOT"; + break; + case MAV_AUTOPILOT_GENERIC_MISSION_WAYPOINTS_ONLY: + return "GENERIC_MISSION_WAYPOINTS_ONLY"; + break; + case MAV_AUTOPILOT_GENERIC_MISSION_NAVIGATION_ONLY: + return "GENERIC_MISSION_NAVIGATION_ONLY"; + break; + case MAV_AUTOPILOT_GENERIC_MISSION_FULL: + return "GENERIC_MISSION_FULL"; + break; + case MAV_AUTOPILOT_INVALID: + return "NO AP"; + break; + case MAV_AUTOPILOT_PPZ: + return "PPZ"; + break; + case MAV_AUTOPILOT_UDB: + return "UDB"; + break; + case MAV_AUTOPILOT_FP: + return "FP"; + break; + default: + return ""; + break; + } + } public slots: /** @brief Set the autopilot type */ - void setAutopilotType(int apType) { + void setAutopilotType(int apType) + { autopilot = apType; emit systemSpecsChanged(uasId); } /** @brief Set the type of airframe */ void setSystemType(int systemType); /** @brief Set the specific airframe type */ - void setAirframe(int airframe) { + void setAirframe(int airframe) + { this->airframe = airframe; emit systemSpecsChanged(uasId); } @@ -261,6 +371,8 @@ public slots: void executeCommand(MAV_CMD command); /** @brief Executes a command **/ void executeCommand(MAV_CMD command, int confirmation, float param1, float param2, float param3, float param4, int component); + /** @brief Executes a command with 7 params */ + void executeCommand(MAV_CMD command, int confirmation, float param1, float param2, float param3, float param4, float param5, float param6, float param7, int component); /** @brief Set the current battery type and voltages */ void setBatterySpecs(const QString& specs); /** @brief Get the current battery type and specs */ @@ -308,13 +420,10 @@ public slots: void startLowBattAlarm(); void stopLowBattAlarm(); - //void requestWaypoints(); FIXME tbd - //void clearWaypointList(); FIXME tbd - - /** @brief Enable the motors */ - void enable_motors(); + /** @brief Arm system */ + void armSystem(); /** @brief Disable the motors */ - void disable_motors(); + void disarmSystem(); /** @brief Set the values for the manual control of the vehicle */ void setManualControlCommands(double roll, double pitch, double yaw, double thrust); @@ -350,7 +459,7 @@ public slots: void requestParameter(int component, int parameter); /** @brief Set a system parameter */ - void setParameter(const int component, const QString& id, const float value); + void setParameter(const int component, const QString& id, const QVariant& value); /** @brief Write parameters to permanent storage */ void writeParametersToStorage(); diff --git a/src/uas/UASInterface.h b/src/uas/UASInterface.h index 76707ceb73be6b110d252eb9fc540b87f9a70cd6..975c4be704633c5c340aab895dd6cbfb6b8d7ec0 100644 --- a/src/uas/UASInterface.h +++ b/src/uas/UASInterface.h @@ -64,6 +64,8 @@ public: virtual const QString& getShortState() const = 0; /** @brief Get short mode */ virtual const QString& getShortMode() const = 0; + /** @brief Translate mode id into text */ + static QString getShortModeTextFor(int id); //virtual QColor getColor() = 0; virtual int getUASID() const = 0; ///< Get the ID of the connected UAS /** @brief The time interval the robot is switched on **/ @@ -121,7 +123,9 @@ public: QGC_AIRFRAME_REAPER, QGC_AIRFRAME_PREDATOR, QGC_AIRFRAME_COAXIAL, - QGC_AIRFRAME_PTERYX + QGC_AIRFRAME_PTERYX, + QGC_AIRFRAME_TRICOPTER, + QGC_AIRFRAME_HEXCOPTER }; /** @@ -176,12 +180,14 @@ public: /** @brief Get the type of the system (airplane, quadrotor, helicopter,..)*/ virtual int getSystemType() = 0; + virtual QString getSystemTypeName() = 0; QColor getColor() { return color; } virtual int getAutopilotType() = 0; + virtual QString getAutopilotTypeName() = 0; virtual void setAutopilotType(int apType)= 0; public slots: @@ -249,7 +255,7 @@ public slots: * @warning The length of the ID string is limited by the MAVLink format! Take care to not exceed it * @param value Value of the parameter, IEEE 754 single precision floating point */ - virtual void setParameter(const int component, const QString& id, const float value) = 0; + virtual void setParameter(const int component, const QString& id, const QVariant& value) = 0; /** * @brief Add a link to the list of current links @@ -389,8 +395,8 @@ signals: void waypointSelected(int uasId, int id); void waypointReached(UASInterface* uas, int id); void autoModeChanged(bool autoMode); - void parameterChanged(int uas, int component, QString parameterName, float value); - void parameterChanged(int uas, int component, int parameterCount, int parameterId, QString parameterName, float value); + void parameterChanged(int uas, int component, QString parameterName, QVariant value); + void parameterChanged(int uas, int component, int parameterCount, int parameterId, QString parameterName, QVariant value); void patternDetected(int uasId, QString patternPath, float confidence, bool detected); void letterDetected(int uasId, QString letter, float confidence, bool detected); /** diff --git a/src/ui/MainWindow.cc b/src/ui/MainWindow.cc index b1aa2218bd7684f4723ef84b472d1c311a74a5ff..33de0dfc43bce207ec2c8f38a5d7de7478cdca6c 100644 --- a/src/ui/MainWindow.cc +++ b/src/ui/MainWindow.cc @@ -1628,15 +1628,18 @@ void MainWindow::UASCreated(UASInterface* uas) } // UAS List - if (listDockWidget) { + if (listDockWidget) + { UASListWidget *listWidget = dynamic_cast(listDockWidget->widget()); - if (listWidget) { + if (listWidget) + { listWidget->addUAS(uas); } } - switch (uas->getAutopilotType()) { - case (MAV_CLASS_SLUGS): { + switch (uas->getAutopilotType()) + { + case (MAV_AUTOPILOT_SLUGS): { // Build Slugs Widgets buildSlugsWidgets(); @@ -1674,9 +1677,9 @@ void MainWindow::UASCreated(UASInterface* uas) } break; default: - case (MAV_CLASS_GENERIC): - case (MAV_CLASS_ARDUPILOTMEGA): - case (MAV_CLASS_PIXHAWK): { + case (MAV_AUTOPILOT_GENERIC): + case (MAV_AUTOPILOT_ARDUPILOTMEGA): + case (MAV_AUTOPILOT_PIXHAWK): { // Build Pixhawk Widgets buildPxWidgets(); diff --git a/src/ui/QGCParamWidget.cc b/src/ui/QGCParamWidget.cc index c5883b0a998e438e0ceed2d6b2f811346d9ef203..486fcef255094bbdeeb17d4abc4a1293faaeec33 100644 --- a/src/ui/QGCParamWidget.cc +++ b/src/ui/QGCParamWidget.cc @@ -49,6 +49,9 @@ QGCParamWidget::QGCParamWidget(UASInterface* uas, QWidget *parent) : // Load settings loadSettings(); + // Load default values and tooltips + loadParameterInfoCSV(uas->getAutopilotTypeName(), uas->getSystemTypeName()); + // Create tree widget tree = new QTreeWidget(this); statusLabel = new QLabel(); @@ -120,11 +123,11 @@ QGCParamWidget::QGCParamWidget(UASInterface* uas, QWidget *parent) : tree->setExpandsOnDoubleClick(true); // Connect signals/slots - connect(this, SIGNAL(parameterChanged(int,QString,float)), mav, SLOT(setParameter(int,QString,float))); + connect(this, SIGNAL(parameterChanged(int,QString,QVariant)), mav, SLOT(setParameter(int,QString,QVariant))); connect(tree, SIGNAL(itemChanged(QTreeWidgetItem*,int)), this, SLOT(parameterItemChanged(QTreeWidgetItem*,int))); // New parameters from UAS - connect(uas, SIGNAL(parameterChanged(int,int,int,int,QString,float)), this, SLOT(addParameter(int,int,int,int,QString,float))); + connect(uas, SIGNAL(parameterChanged(int,int,int,int,QString,QVariant)), this, SLOT(addParameter(int,int,int,int,QString,QVariant))); // Connect retransmission guard connect(this, SIGNAL(requestParameter(int,int)), uas, SLOT(requestParameter(int,int))); @@ -143,6 +146,131 @@ void QGCParamWidget::loadSettings() settings.endGroup(); } +void QGCParamWidget::loadParameterInfoCSV(const QString& autopilot, const QString& airframe) +{ + QDir appDir = QDir::current(); + appDir.cd("files/parameter_tooltips"); + QString fileName = QString("MAV_AUTOPILOT_%1-MAV_TYPE_%2.txt").arg(autopilot).arg(airframe); + QString filePath = appDir.filePath(fileName); + QFile paramMetaFile(filePath); + + // Load CSV data + if (!paramMetaFile.open(QIODevice::ReadOnly | QIODevice::Text)) + { + qDebug() << "COULD NOT OPEN PARAM META INFO FILE:" << filePath; + return; + } + + // Extract header + + // Read in values + // Find all keys + QTextStream in(¶mMetaFile); + + // First line is header + // there might be more lines, but the first + // line is assumed to be at least header + QString header = in.readLine(); + + // Ignore top-level comment lines + while (header.startsWith('#') || header.startsWith('/') || header.startsWith('=')) + { + header = in.readLine(); + } + + bool charRead = false; + QString separator = ""; + QList sepCandidates; + sepCandidates << '\t'; + sepCandidates << ','; + sepCandidates << ';'; + //sepCandidates << ' '; + sepCandidates << '~'; + sepCandidates << '|'; + + // Iterate until separator is found + // or full header is parsed + for (int i = 0; i < header.length(); i++) + { + if (sepCandidates.contains(header.at(i))) + { + // Separator found + if (charRead) + { + separator += header[i]; + } + } + else + { + // Char found + charRead = true; + // If the separator is not empty, this char + // has been read after a separator, so detection + // is now complete + if (separator != "") break; + } + } + + bool stripFirstSeparator = false; + bool stripLastSeparator = false; + + // Figure out if the lines start with the separator (e.g. wiki syntax) + if (header.startsWith(separator)) stripFirstSeparator = true; + + // Figure out if the lines end with the separator (e.g. wiki syntax) + if (header.endsWith(separator)) stripLastSeparator = true; + + QString out = separator; + out.replace("\t", ""); + qDebug() << " Separator: \"" << out << "\""; + //qDebug() << "READING CSV:" << header; + + + // Read data + while (!in.atEnd()) + { + QString line = in.readLine(); + + //qDebug() << "LINE PRE-STRIP" << line; + + // Strip separtors if necessary + if (stripFirstSeparator) line.remove(0, separator.length()); + if (stripLastSeparator) line.remove(line.length()-separator.length(), line.length()-1); + + //qDebug() << "LINE POST-STRIP" << line; + + // Keep empty parts here - we still have to act on them + QStringList parts = line.split(separator, QString::KeepEmptyParts); + + // Each line is: + // variable name, Min, Max, Default, Multiplier, Enabled (0 = no, 1 = yes), Comment + + + // Fill in min, max and default values + if (parts.count() > 1) + { + // min + paramMin.insert(parts.at(0), parts.at(1).toDouble()); + } + if (parts.count() > 2) + { + // max + paramMax.insert(parts.at(0), parts.at(2).toDouble()); + } + if (parts.count() > 3) + { + // default + paramDefault.insert(parts.at(0), parts.at(3).toDouble()); + } + // IGNORING 4 and 5 for now + if (parts.count() > 6) + { + // tooltip + paramToolTips.insert(parts.at(0), parts.at(6).trimmed()); + } + } +} + /** * @return The MAV of this widget. Unless the MAV object has been destroyed, this * pointer is never zero. @@ -178,11 +306,11 @@ void QGCParamWidget::addComponent(int uas, int component, QString componentName) tree->update(); // Create map in parameters if (!parameters.contains(component)) { - parameters.insert(component, new QMap()); + parameters.insert(component, new QMap()); } // Create map in changed parameters if (!changedValues.contains(component)) { - changedValues.insert(component, new QMap()); + changedValues.insert(component, new QMap()); } } } @@ -192,7 +320,7 @@ void QGCParamWidget::addComponent(int uas, int component, QString componentName) * @param component id of the component * @param parameterName human friendly name of the parameter */ -void QGCParamWidget::addParameter(int uas, int component, int paramCount, int paramId, QString parameterName, float value) +void QGCParamWidget::addParameter(int uas, int component, int paramCount, int paramId, QString parameterName, QVariant value) { addParameter(uas, component, parameterName, value); @@ -205,13 +333,16 @@ void QGCParamWidget::addParameter(int uas, int component, int paramCount, int pa if (transmissionListMode) { // Only accept the list size once on the first packet from // each component - if (!transmissionListSizeKnown.contains(component)) { + if (!transmissionListSizeKnown.contains(component)) + { // Mark list size as known transmissionListSizeKnown.insert(component, true); // Mark all parameters as missing - for (int i = 0; i < paramCount; ++i) { - if (!transmissionMissingPackets.value(component)->contains(i)) { + for (int i = 0; i < paramCount; ++i) + { + if (!transmissionMissingPackets.value(component)->contains(i)) + { transmissionMissingPackets.value(component)->append(i); } } @@ -220,7 +351,8 @@ void QGCParamWidget::addParameter(int uas, int component, int paramCount, int pa // since components do not manage their transmission, // the longest timeout is safe for all components. quint64 thisTransmissionTimeout = QGC::groundTimeMilliseconds() + ((paramCount/retransmissionBurstRequestSize+5)*retransmissionTimeout); - if (thisTransmissionTimeout > transmissionTimeout) { + if (thisTransmissionTimeout > transmissionTimeout) + { transmissionTimeout = thisTransmissionTimeout; } } @@ -239,61 +371,75 @@ void QGCParamWidget::addParameter(int uas, int component, int paramCount, int pa bool writeMismatch = false; //bool lastWritten = false; // Mark this parameter as received in write ACK list - QMap* map = transmissionMissingWriteAckPackets.value(component); - if (map && map->contains(parameterName)) { + QMap* map = transmissionMissingWriteAckPackets.value(component); + if (map && map->contains(parameterName)) + { justWritten = true; - if (map->value(parameterName) != value) { + if (map->value(parameterName) != value) + { writeMismatch = true; } map->remove(parameterName); } int missCount = 0; - foreach (int key, transmissionMissingPackets.keys()) { + foreach (int key, transmissionMissingPackets.keys()) + { missCount += transmissionMissingPackets.value(key)->count(); } int missWriteCount = 0; - foreach (int key, transmissionMissingWriteAckPackets.keys()) { + foreach (int key, transmissionMissingWriteAckPackets.keys()) + { missWriteCount += transmissionMissingWriteAckPackets.value(key)->count(); } - if (justWritten && !writeMismatch && missWriteCount == 0) { + if (justWritten && !writeMismatch && missWriteCount == 0) + { // Just wrote one and count went to 0 - this was the last missing write parameter statusLabel->setText(tr("SUCCESS: WROTE ALL PARAMETERS")); QPalette pal = statusLabel->palette(); pal.setColor(backgroundRole(), QGC::colorGreen); statusLabel->setPalette(pal); - } else if (justWritten && !writeMismatch) { - statusLabel->setText(tr("SUCCESS: Wrote %2 (#%1/%4): %3").arg(paramId+1).arg(parameterName).arg(value).arg(paramCount)); + } else if (justWritten && !writeMismatch) + { + statusLabel->setText(tr("SUCCESS: Wrote %2 (#%1/%4): %3").arg(paramId+1).arg(parameterName).arg(value.toDouble()).arg(paramCount)); QPalette pal = statusLabel->palette(); pal.setColor(backgroundRole(), QGC::colorGreen); statusLabel->setPalette(pal); - } else if (justWritten && writeMismatch) { + } else if (justWritten && writeMismatch) + { // Mismatch, tell user QPalette pal = statusLabel->palette(); pal.setColor(backgroundRole(), QGC::colorRed); statusLabel->setPalette(pal); - statusLabel->setText(tr("FAILURE: Wrote %1: sent %2 != onboard %3").arg(parameterName).arg(map->value(parameterName)).arg(value)); - } else { - if (missCount > 0) { + statusLabel->setText(tr("FAILURE: Wrote %1: sent %2 != onboard %3").arg(parameterName).arg(map->value(parameterName).toDouble()).arg(value.toDouble())); + } + else + { + if (missCount > 0) + { QPalette pal = statusLabel->palette(); pal.setColor(backgroundRole(), QGC::colorOrange); statusLabel->setPalette(pal); - } else { + } + else + { QPalette pal = statusLabel->palette(); pal.setColor(backgroundRole(), QGC::colorGreen); statusLabel->setPalette(pal); } - statusLabel->setText(tr("Got %2 (#%1/%5): %3 (%4 missing)").arg(paramId+1).arg(parameterName).arg(value).arg(missCount).arg(paramCount)); + statusLabel->setText(tr("Got %2 (#%1/%5): %3 (%4 missing)").arg(paramId+1).arg(parameterName).arg(value.toDouble()).arg(missCount).arg(paramCount)); } // Check if last parameter was received - if (missCount == 0 && missWriteCount == 0) { + if (missCount == 0 && missWriteCount == 0) + { this->transmissionActive = false; this->transmissionListMode = false; transmissionListSizeKnown.clear(); - foreach (int key, transmissionMissingPackets.keys()) { + foreach (int key, transmissionMissingPackets.keys()) + { transmissionMissingPackets.value(key)->clear(); } } @@ -304,16 +450,18 @@ void QGCParamWidget::addParameter(int uas, int component, int paramCount, int pa * @param component id of the component * @param parameterName human friendly name of the parameter */ -void QGCParamWidget::addParameter(int uas, int component, QString parameterName, float value) +void QGCParamWidget::addParameter(int uas, int component, QString parameterName, QVariant value) { Q_UNUSED(uas); // Reference to item in tree QTreeWidgetItem* parameterItem = NULL; // Get component - if (!components->contains(component)) { + if (!components->contains(component)) + { QString componentName; - switch (component) { + switch (component) + { case MAV_COMP_ID_CAMERA: componentName = tr("Camera (#%1)").arg(component); break; @@ -337,10 +485,12 @@ void QGCParamWidget::addParameter(int uas, int component, QString parameterName, QString splitToken = "_"; // Check if auto-grouping can work - if (parameterName.contains(splitToken)) { + if (parameterName.contains(splitToken)) + { QString parent = parameterName.section(splitToken, 0, 0, QString::SectionSkipEmpty); QMap* compParamGroups = paramGroups.value(component); - if (!compParamGroups->contains(parent)) { + if (!compParamGroups->contains(parent)) + { // Insert group item QStringList glist; glist.append(parent); @@ -355,7 +505,8 @@ void QGCParamWidget::addParameter(int uas, int component, QString parameterName, for (int i = 0; i < parentItem->childCount(); i++) { QTreeWidgetItem* child = parentItem->child(i); QString key = child->data(0, Qt::DisplayRole).toString(); - if (key == parameterName) { + if (key == parameterName) + { //qDebug() << "UPDATED CHILD"; parameterItem = child; parameterItem->setData(1, Qt::DisplayRole, value); @@ -363,11 +514,12 @@ void QGCParamWidget::addParameter(int uas, int component, QString parameterName, } } - if (!found) { + if (!found) + { // Insert parameter into map QStringList plist; plist.append(parameterName); - plist.append(QString::number(value)); + plist.append(QString::number(value.toDouble())); // CREATE PARAMETER ITEM parameterItem = new QTreeWidgetItem(plist); // CONFIGURE PARAMETER ITEM @@ -375,13 +527,17 @@ void QGCParamWidget::addParameter(int uas, int component, QString parameterName, compParamGroups->value(parent)->addChild(parameterItem); parameterItem->setFlags(parameterItem->flags() | Qt::ItemIsEditable); } - } else { + } + else + { bool found = false; QTreeWidgetItem* parent = components->value(component); - for (int i = 0; i < parent->childCount(); i++) { + for (int i = 0; i < parent->childCount(); i++) + { QTreeWidgetItem* child = parent->child(i); QString key = child->data(0, Qt::DisplayRole).toString(); - if (key == parameterName) { + if (key == parameterName) + { //qDebug() << "UPDATED CHILD"; parameterItem = child; parameterItem->setData(1, Qt::DisplayRole, value); @@ -389,11 +545,12 @@ void QGCParamWidget::addParameter(int uas, int component, QString parameterName, } } - if (!found) { + if (!found) + { // Insert parameter into map QStringList plist; plist.append(parameterName); - plist.append(QString::number(value)); + plist.append(QString::number(value.toDouble())); // CREATE PARAMETER ITEM parameterItem = new QTreeWidgetItem(plist); // CONFIGURE PARAMETER ITEM @@ -406,6 +563,10 @@ void QGCParamWidget::addParameter(int uas, int component, QString parameterName, // Reset background color parameterItem->setBackground(0, QBrush(QColor(0, 0, 0))); parameterItem->setBackground(1, Qt::NoBrush); + // Add tooltip + parameterItem->setToolTip(0, paramToolTips.value(parameterName, "")); + parameterItem->setToolTip(1, paramToolTips.value(parameterName, "")); + //tree->update(); if (changedValues.contains(component)) changedValues.value(component)->remove(parameterName); } @@ -455,9 +616,9 @@ void QGCParamWidget::parameterItemChanged(QTreeWidgetItem* current, int column) // Parent is now top-level component int key = components->key(parent); if (!changedValues.contains(key)) { - changedValues.insert(key, new QMap()); + changedValues.insert(key, new QMap()); } - QMap* map = changedValues.value(key, NULL); + QMap* map = changedValues.value(key, NULL); if (map) { bool ok; QString str = current->data(0, Qt::DisplayRole).toString(); @@ -502,16 +663,17 @@ void QGCParamWidget::saveParameters() in << "# MAV ID COMPONENT ID PARAM NAME VALUE (FLOAT)\n"; // Iterate through all components, through all parameters and emit them - QMap*>::iterator i; + QMap*>::iterator i; for (i = parameters.begin(); i != parameters.end(); ++i) { // Iterate through the parameters of the component int compid = i.key(); - QMap* comp = i.value(); + QMap* comp = i.value(); { - QMap::iterator j; - for (j = comp->begin(); j != comp->end(); ++j) { + QMap::iterator j; + for (j = comp->begin(); j != comp->end(); ++j) + { QString paramValue("%1"); - paramValue = paramValue.arg(j.value(), 25, 'g', 12); + paramValue = paramValue.arg(j.value().toDouble(), 25, 'g', 12); in << mav->getUASID() << "\t" << compid << "\t" << j.key() << "\t" << paramValue << "\n"; in.flush(); } @@ -553,7 +715,7 @@ void QGCParamWidget::loadParameters() if (changed) { // Create changed values data structure if necessary if (!changedValues.contains(wpParams.at(1).toInt())) { - changedValues.insert(wpParams.at(1).toInt(), new QMap()); + changedValues.insert(wpParams.at(1).toInt(), new QMap()); } // Add to changed values @@ -625,7 +787,7 @@ void QGCParamWidget::retransmissionGuardTick() // Re-request at maximum retransmissionBurstRequestSize parameters at once // to prevent link flooding - QMap*>::iterator i; + QMap*>::iterator i; for (i = parameters.begin(); i != parameters.end(); ++i) { // Iterate through the parameters of the component int component = i.key(); @@ -652,12 +814,12 @@ void QGCParamWidget::retransmissionGuardTick() QList writeKeys = transmissionMissingWriteAckPackets.keys(); foreach (int component, writeKeys) { int count = 0; - QMap * missingParams = transmissionMissingWriteAckPackets.value(component); + QMap * missingParams = transmissionMissingWriteAckPackets.value(component); foreach (QString key, missingParams->keys()) { if (count < retransmissionBurstRequestSize) { // Re-request write operation emit parameterChanged(component, key, missingParams->value(key)); - statusLabel->setText(tr("Requested rewrite of: %1: %2").arg(key).arg(missingParams->value(key))); + statusLabel->setText(tr("Requested rewrite of: %1: %2").arg(key).arg(missingParams->value(key).toDouble())); count++; } else { break; @@ -685,13 +847,24 @@ void QGCParamWidget::requestParameterUpdate(int component, const QString& parame * @param parameterName name of the parameter, as delivered by the system * @param value value of the parameter */ -void QGCParamWidget::setParameter(int component, QString parameterName, float value) +void QGCParamWidget::setParameter(int component, QString parameterName, QVariant value) { + if (paramMin.contains(parameterName) && value.toDouble() < paramMin.value(parameterName)) + { + statusLabel->setText(tr("REJ. %1 < min").arg(value.toDouble())); + return; + } + if (paramMax.contains(parameterName) && value.toDouble() > paramMax.value(parameterName)) + { + statusLabel->setText(tr("REJ. %1 > max").arg(value.toDouble())); + return; + } emit parameterChanged(component, parameterName, value); // Wait for parameter to be written back // mark it therefore as missing - if (!transmissionMissingWriteAckPackets.contains(component)) { - transmissionMissingWriteAckPackets.insert(component, new QMap()); + if (!transmissionMissingWriteAckPackets.contains(component)) + { + transmissionMissingWriteAckPackets.insert(component, new QMap()); } // Insert it in missing write ACK list @@ -714,13 +887,13 @@ void QGCParamWidget::setParameters() { // Iterate through all components, through all parameters and emit them int parametersSent = 0; - QMap*>::iterator i; + QMap*>::iterator i; for (i = changedValues.begin(); i != changedValues.end(); ++i) { // Iterate through the parameters of the component int compid = i.key(); - QMap* comp = i.value(); + QMap* comp = i.value(); { - QMap::iterator j; + QMap::iterator j; for (j = comp->begin(); j != comp->end(); ++j) { setParameter(compid, j.key(), j.value()); parametersSent++; diff --git a/src/ui/QGCParamWidget.h b/src/ui/QGCParamWidget.h index 68bd77da35a146b130f882d4ec6ca9c2a666d462..3d9bcf6bcf935501eaa23174f5d831ae09baa35c 100644 --- a/src/ui/QGCParamWidget.h +++ b/src/ui/QGCParamWidget.h @@ -52,22 +52,22 @@ public: UASInterface* getUAS(); signals: /** @brief A parameter was changed in the widget, NOT onboard */ - void parameterChanged(int component, QString parametername, float value); + void parameterChanged(int component, QString parametername, QVariant value); /** @brief Request a single parameter */ void requestParameter(int component, int parameter); public slots: /** @brief Add a component to the list */ void addComponent(int uas, int component, QString componentName); /** @brief Add a parameter to the list with retransmission / safety checks */ - void addParameter(int uas, int component, int paramCount, int paramId, QString parameterName, float value); + void addParameter(int uas, int component, int paramCount, int paramId, QString parameterName, QVariant value); /** @brief Add a parameter to the list */ - void addParameter(int uas, int component, QString parameterName, float value); + void addParameter(int uas, int component, QString parameterName, QVariant value); /** @brief Request list of parameters from MAV */ void requestParameterList(); /** @brief Request one single parameter */ void requestParameterUpdate(int component, const QString& parameter); /** @brief Set one parameter, changes value in RAM of MAV */ - void setParameter(int component, QString parameterName, float value); + void setParameter(int component, QString parameterName, QVariant value); /** @brief Set all parameters, changes the value in RAM of MAV */ void setParameters(); /** @brief Write the current parameters to permanent storage (EEPROM/HDD) */ @@ -93,10 +93,19 @@ protected: QMap* components; ///< The list of components QMap* > paramGroups; ///< Parameter groups + // Tooltip data structures + QMap paramToolTips; ///< Tooltip values + // Min / Default / Max data structures + QMap paramMin; ///< Minimum param values + QMap paramDefault; ///< Default param values + QMap paramMax; ///< Minimum param values + /** @brief Activate / deactivate parameter retransmission */ void setRetransmissionGuardEnabled(bool enabled); /** @brief Load settings */ void loadSettings(); + /** @brief Load meta information from CSV */ + void loadParameterInfoCSV(const QString& autopilot, const QString& airframe); }; #endif // QGCPARAMWIDGET_H diff --git a/src/ui/uas/UASControlParameters.cpp b/src/ui/uas/UASControlParameters.cpp index 9e4248bc10577e61dba56847b23e3c56914543ab..86b7a7b34a1ea27fc897b6e3b053dbb2fd134757 100644 --- a/src/ui/uas/UASControlParameters.cpp +++ b/src/ui/uas/UASControlParameters.cpp @@ -52,7 +52,7 @@ void UASControlParameters::changedMode(int mode) QString modeTemp; switch (mode) { - case (uint8_t)MAV_MODE_LOCKED: + case (uint8_t)MAV_MODE_PREFLIGHT: modeTemp = "LOCKED MODE"; break; case (uint8_t)MAV_MODE_MANUAL: @@ -80,23 +80,10 @@ void UASControlParameters::changedMode(int mode) modeTemp = "GUIDED MODE"; break; - case (uint8_t)MAV_MODE_TEST1: + case (uint8_t)MAV_MODE_TEST: modeTemp = "TEST1 MODE"; break; - case (uint8_t)MAV_MODE_TEST2: - modeTemp = "TEST2 MODE"; - break; #endif - case (uint8_t)MAV_MODE_READY: - modeTemp = "READY MODE"; - break; - break; - case (uint8_t)MAV_MODE_TEST3: - modeTemp = "TEST3 MODE"; - break; - case (uint8_t)MAV_MODE_RC_TRAINING: - modeTemp = "RC TRAINING MODE"; - break; default: modeTemp = "UNINIT MODE"; break; diff --git a/src/ui/uas/UASControlWidget.cc b/src/ui/uas/UASControlWidget.cc index 32b8ae301977ed228ac99be436c89568b68ebee7..becce7de0206daf88a70a935e624446ad714b82f 100644 --- a/src/ui/uas/UASControlWidget.cc +++ b/src/ui/uas/UASControlWidget.cc @@ -37,41 +37,11 @@ This file is part of the PIXHAWK project #include #include -#include #include "UASControlWidget.h" #include #include #include "QGC.h" -#define CONTROL_MODE_LOCKED "MODE LOCKED" -#define CONTROL_MODE_MANUAL "MODE MANUAL" - -#ifdef MAVLINK_ENABLED_SLUGS -#define CONTROL_MODE_GUIDED "MODE MID-L CMDS" -#define CONTROL_MODE_AUTO "MODE WAYPOINT" -#define CONTROL_MODE_TEST1 "MODE PASST" -#define CONTROL_MODE_TEST2 "MODE SEL PT" -#else -#define CONTROL_MODE_GUIDED "MODE GUIDED" -#define CONTROL_MODE_AUTO "MODE AUTO" -#define CONTROL_MODE_TEST1 "MODE TEST1" -#define CONTROL_MODE_TEST2 "MODE TEST2" -#endif - -#define CONTROL_MODE_TEST3 "MODE TEST3" -#define CONTROL_MODE_READY "MODE READY" -#define CONTROL_MODE_RC_TRAINING "RC SIMULATION" - -#define CONTROL_MODE_LOCKED_INDEX 1 -#define CONTROL_MODE_MANUAL_INDEX 2 -#define CONTROL_MODE_GUIDED_INDEX 3 -#define CONTROL_MODE_AUTO_INDEX 4 -#define CONTROL_MODE_TEST1_INDEX 5 -#define CONTROL_MODE_TEST2_INDEX 6 -#define CONTROL_MODE_TEST3_INDEX 7 -#define CONTROL_MODE_READY_INDEX 8 -#define CONTROL_MODE_RC_TRAINING_INDEX 9 - UASControlWidget::UASControlWidget(QWidget *parent) : QWidget(parent), uas(0), engineOn(false) @@ -80,16 +50,12 @@ UASControlWidget::UASControlWidget(QWidget *parent) : QWidget(parent), connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setUAS(UASInterface*))); ui.modeComboBox->clear(); - ui.modeComboBox->insertItem(0, "Select.."); - ui.modeComboBox->insertItem(CONTROL_MODE_LOCKED_INDEX, CONTROL_MODE_LOCKED); - ui.modeComboBox->insertItem(CONTROL_MODE_MANUAL_INDEX, CONTROL_MODE_MANUAL); - ui.modeComboBox->insertItem(CONTROL_MODE_GUIDED_INDEX, CONTROL_MODE_GUIDED); - ui.modeComboBox->insertItem(CONTROL_MODE_AUTO_INDEX, CONTROL_MODE_AUTO); - ui.modeComboBox->insertItem(CONTROL_MODE_TEST1_INDEX, CONTROL_MODE_TEST1); - ui.modeComboBox->insertItem(CONTROL_MODE_TEST2_INDEX, CONTROL_MODE_TEST2); - ui.modeComboBox->insertItem(CONTROL_MODE_TEST3_INDEX, CONTROL_MODE_TEST3); - ui.modeComboBox->insertItem(CONTROL_MODE_READY_INDEX, CONTROL_MODE_READY); - ui.modeComboBox->insertItem(CONTROL_MODE_RC_TRAINING_INDEX, CONTROL_MODE_RC_TRAINING); + ui.modeComboBox->insertItem(MAV_MODE_PREFLIGHT, UAS::getShortModeTextFor(MAV_MODE_PREFLIGHT)); + ui.modeComboBox->insertItem(MAV_MODE_STABILIZE, UAS::getShortModeTextFor(MAV_MODE_STABILIZE)); + ui.modeComboBox->insertItem(MAV_MODE_MANUAL, UAS::getShortModeTextFor(MAV_MODE_MANUAL)); + ui.modeComboBox->insertItem(MAV_MODE_GUIDED, UAS::getShortModeTextFor(MAV_MODE_GUIDED)); + ui.modeComboBox->insertItem(MAV_MODE_AUTO, UAS::getShortModeTextFor(MAV_MODE_AUTO)); + ui.modeComboBox->insertItem(MAV_MODE_TEST, UAS::getShortModeTextFor(MAV_MODE_TEST)); connect(ui.modeComboBox, SIGNAL(activated(int)), this, SLOT(setMode(int))); connect(ui.setModeButton, SIGNAL(clicked()), this, SLOT(transmitMode())); @@ -103,7 +69,7 @@ void UASControlWidget::setUAS(UASInterface* uas) { if (this->uas != 0) { UASInterface* oldUAS = UASManager::instance()->getUASForId(this->uas); - disconnect(ui.controlButton, SIGNAL(clicked()), oldUAS, SLOT(enable_motors())); + disconnect(ui.controlButton, SIGNAL(clicked()), oldUAS, SLOT(armSystem())); disconnect(ui.liftoffButton, SIGNAL(clicked()), oldUAS, SLOT(launch())); disconnect(ui.landButton, SIGNAL(clicked()), oldUAS, SLOT(home())); disconnect(ui.shutdownButton, SIGNAL(clicked()), oldUAS, SLOT(shutdown())); @@ -123,24 +89,6 @@ void UASControlWidget::setUAS(UASInterface* uas) ui.controlStatusLabel->setText(tr("Connected to ") + uas->getUASName()); -// // Check if additional controls should be loaded -// UAS* mav = dynamic_cast(uas); -// if (mav) -// { -// QPushButton* startRecButton = new QPushButton(tr("Record")); -// connect(startRecButton, SIGNAL(clicked()), mav, SLOT(startDataRecording())); -// ui.gridLayout->addWidget(startRecButton, 7, 1); - -// QPushButton* pauseRecButton = new QPushButton(tr("Pause")); -// connect(pauseRecButton, SIGNAL(clicked()), mav, SLOT(pauseDataRecording())); -// ui.gridLayout->addWidget(pauseRecButton, 7, 3); - -// QPushButton* stopRecButton = new QPushButton(tr("Stop")); -// connect(stopRecButton, SIGNAL(clicked()), mav, SLOT(stopDataRecording())); -// ui.gridLayout->addWidget(stopRecButton, 7, 4); -// } - - this->uas = uas->getUASID(); setBackgroundColor(uas->getColor()); } @@ -154,9 +102,9 @@ void UASControlWidget::updateStatemachine() { if (engineOn) { - ui.controlButton->setText(tr("Stop Engine")); + ui.controlButton->setText(tr("DISARM SYSTEM")); } else { - ui.controlButton->setText(tr("Activate Engine")); + ui.controlButton->setText(tr("ARM SYSTEM")); } } @@ -194,74 +142,51 @@ void UASControlWidget::updateState(int state) switch (state) { case (int)MAV_STATE_ACTIVE: engineOn = true; - ui.controlButton->setText(tr("Stop Engine")); + ui.controlButton->setText(tr("DISARM SYSTEM")); break; case (int)MAV_STATE_STANDBY: engineOn = false; - ui.controlButton->setText(tr("Activate Engine")); + ui.controlButton->setText(tr("ARM SYSTEM")); break; } } +/** + * Called by the button + */ void UASControlWidget::setMode(int mode) { // Adapt context button mode - if (mode == CONTROL_MODE_LOCKED_INDEX) { - uasMode = (unsigned int)MAV_MODE_LOCKED; - ui.modeComboBox->setCurrentIndex(mode); - } else if (mode == CONTROL_MODE_MANUAL_INDEX) { - uasMode = (unsigned int)MAV_MODE_MANUAL; - ui.modeComboBox->setCurrentIndex(mode); - } else if (mode == CONTROL_MODE_GUIDED_INDEX) { - uasMode = (unsigned int)MAV_MODE_GUIDED; - ui.modeComboBox->setCurrentIndex(mode); - } else if (mode == CONTROL_MODE_AUTO_INDEX) { - uasMode = (unsigned int)MAV_MODE_AUTO; - ui.modeComboBox->setCurrentIndex(mode); - } else if (mode == CONTROL_MODE_TEST1_INDEX) { - uasMode = (unsigned int)MAV_MODE_TEST1; - ui.modeComboBox->setCurrentIndex(mode); - } else if (mode == CONTROL_MODE_TEST2_INDEX) { - uasMode = (unsigned int)MAV_MODE_TEST2; - ui.modeComboBox->setCurrentIndex(mode); - } else if (mode == CONTROL_MODE_TEST3_INDEX) { - uasMode = (unsigned int)MAV_MODE_TEST3; - ui.modeComboBox->setCurrentIndex(mode); - } else if (mode == CONTROL_MODE_RC_TRAINING_INDEX) { - uasMode = (unsigned int)MAV_MODE_RC_TRAINING; - ui.modeComboBox->setCurrentIndex(mode); - } else { - qDebug() << "ERROR! MODE NOT FOUND"; - uasMode = 0; - } - - - qDebug() << "SET MODE REQUESTED" << uasMode; + uasMode = mode; + ui.modeComboBox->blockSignals(true); + ui.modeComboBox->setCurrentIndex(mode); + ui.modeComboBox->blockSignals(false); emit changedMode(mode); } void UASControlWidget::transmitMode() { - if (uasMode != 0) { - UASInterface* mav = UASManager::instance()->getUASForId(this->uas); - if (mav) { - mav->setMode(uasMode); - ui.lastActionLabel->setText(QString("Set new mode for system %1").arg(mav->getUASName())); - } + UASInterface* mav = UASManager::instance()->getUASForId(this->uas); + if (mav) + { + mav->setMode(uasMode); + ui.lastActionLabel->setText(QString("Sent new mode cmd to %1").arg(mav->getUASName())); } } void UASControlWidget::cycleContextButton() { UAS* mav = dynamic_cast(UASManager::instance()->getUASForId(this->uas)); - if (mav) { + if (mav) + { - if (!engineOn) { - mav->enable_motors(); + if (!engineOn) + { + mav->armSystem(); ui.lastActionLabel->setText(QString("Enabled motors on %1").arg(mav->getUASName())); } else { - mav->disable_motors(); + mav->disarmSystem(); ui.lastActionLabel->setText(QString("Disabled motors on %1").arg(mav->getUASName())); } // Update state now and in several intervals when MAV might have changed state @@ -270,8 +195,6 @@ void UASControlWidget::cycleContextButton() QTimer::singleShot(50, this, SLOT(updateStatemachine())); QTimer::singleShot(200, this, SLOT(updateStatemachine())); - //ui.controlButton->setText(tr("Force Landing")); - //ui.controlButton->setText(tr("KILL VEHICLE")); } } diff --git a/src/ui/uas/UASListWidget.cc b/src/ui/uas/UASListWidget.cc index 271c1c49d69f4e080f95a2b6a2e5c302bcba9abd..db00c930c3f52428a6a0396935b84f9a2552e0e2 100644 --- a/src/ui/uas/UASListWidget.cc +++ b/src/ui/uas/UASListWidget.cc @@ -75,7 +75,8 @@ UASListWidget::~UASListWidget() void UASListWidget::changeEvent(QEvent *e) { QWidget::changeEvent(e); - switch (e->type()) { + switch (e->type()) + { case QEvent::LanguageChange: m_ui->retranslateUi(this); break; @@ -88,13 +89,15 @@ void UASListWidget::changeEvent(QEvent *e) void UASListWidget::addUAS(UASInterface* uas) { - if (uasViews.isEmpty()) { + if (uasViews.isEmpty()) + { listLayout->removeWidget(uWidget); delete uWidget; uWidget = NULL; } - if (!uasViews.contains(uas)) { + if (!uasViews.contains(uas)) + { uasViews.insert(uas, new UASView(uas, this)); listLayout->addWidget(uasViews.value(uas)); //connect(uas, SIGNAL(destroyed(QObject*)), this, SLOT(removeUAS(QObject*))); diff --git a/src/ui/uas/UASView.cc b/src/ui/uas/UASView.cc index 4bd077f400cfa76966da418240a080afffbffbfb..d9d15c5d4f078385e7adad25ab236eea50cb8484 100644 --- a/src/ui/uas/UASView.cc +++ b/src/ui/uas/UASView.cc @@ -324,7 +324,7 @@ void UASView::setSystemType(UASInterface* uas, unsigned int systemType) case 6: { // A groundstation is a special system type, update widget QString result; - m_ui->nameLabel->setText(tr("OCU ") + result.sprintf("%03d", uas->getUASID())); + m_ui->nameLabel->setText(tr("GCS ") + result.sprintf("%03d", uas->getUASID())); m_ui->waypointLabel->setText(""); m_ui->timeRemainingLabel->setText("Online:"); m_ui->batteryBar->hide(); diff --git a/thirdParty/mavlink/include/ardupilotmega/ardupilotmega.h b/thirdParty/mavlink/include/ardupilotmega/ardupilotmega.h index 2b2107389445c6c23df203086ebb3ae222525b6c..604ce74b5a0e42cf6bb9079c453df3cc8b5a0ae2 100644 --- a/thirdParty/mavlink/include/ardupilotmega/ardupilotmega.h +++ b/thirdParty/mavlink/include/ardupilotmega/ardupilotmega.h @@ -1,7 +1,7 @@ /** @file * @brief MAVLink comm protocol. * @see http://qgroundcontrol.org/mavlink/ - * Generated on Saturday, August 13 2011, 07:20 UTC + * Generated on Saturday, August 20 2011, 11:19 UTC */ #ifndef ARDUPILOTMEGA_H #define ARDUPILOTMEGA_H @@ -33,17 +33,19 @@ extern "C" { // MESSAGE DEFINITIONS +#include "./mavlink_msg_sensor_offsets.h" +#include "./mavlink_msg_set_mag_offsets.h" // MESSAGE CRC KEYS #undef MAVLINK_MESSAGE_KEYS -#define MAVLINK_MESSAGE_KEYS { 71, 249, 232, 226, 76, 126, 117, 186, 0, 144, 0, 249, 133, 0, 0, 0, 0, 0, 0, 0, 33, 34, 163, 45, 0, 166, 28, 99, 28, 21, 243, 240, 91, 21, 111, 43, 192, 234, 22, 197, 192, 192, 166, 34, 233, 34, 166, 158, 142, 60, 10, 75, 249, 247, 234, 161, 116, 56, 245, 0, 0, 0, 62, 75, 185, 18, 42, 38, 0, 127, 200, 0, 0, 212, 251, 20, 22, 0, 0, 0, 0, 0, 0, 0, 0, 127, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 8, 238, 165, 0, 0, 0, 0, 0, 0, 0, 218, 218, 235, 0, 0, 0, 0, 0, 0, 225, 114, 0, 0, 0, 0, 0, 0, 0, 0, 221, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 171, 122, 0, 0, 0, 0, 0, 0, 0, 92, 99, 4, 169, 10, 0, 0, 0, 0, 0, 52, 163, 16, 0, 0, 0, 0, 0, 0, 0, 200, 135, 217, 254, 0, 0, 255, 185, 0, 14, 136, 53, 0, 212, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 255, 73, 239, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 138, 43, 141, 211, 144 } +#define MAVLINK_MESSAGE_KEYS { 179, 218, 22, 76, 226, 126, 117, 186, 0, 144, 0, 249, 172, 16, 0, 0, 0, 0, 0, 0, 33, 34, 191, 55, 0, 166, 28, 99, 28, 21, 243, 240, 91, 21, 111, 43, 192, 234, 22, 197, 192, 192, 166, 34, 233, 34, 166, 158, 142, 60, 10, 75, 20, 247, 234, 161, 116, 56, 245, 0, 0, 0, 62, 75, 185, 18, 42, 80, 0, 127, 200, 0, 0, 212, 251, 20, 38, 22, 0, 0, 0, 0, 0, 0, 0, 127, 0, 0, 0, 0, 18, 103, 59, 0, 0, 0, 0, 0, 0, 0, 74, 8, 238, 165, 0, 0, 0, 0, 0, 0, 0, 218, 218, 235, 0, 0, 0, 0, 0, 0, 225, 114, 0, 0, 0, 0, 0, 0, 0, 0, 221, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 171, 122, 0, 0, 0, 0, 0, 0, 0, 226, 65, 4, 169, 10, 0, 0, 0, 0, 0, 52, 163, 16, 0, 0, 0, 0, 0, 0, 0, 200, 135, 217, 254, 0, 0, 255, 185, 0, 14, 136, 53, 0, 212, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 255, 73, 239, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 138, 43, 141, 211, 144 } // MESSAGE LENGTHS #undef MAVLINK_MESSAGE_LENGTHS -#define MAVLINK_MESSAGE_LENGTHS { 3, 4, 8, 14, 8, 28, 3, 32, 0, 2, 0, 2, 2, 0, 0, 0, 0, 0, 0, 0, 20, 2, 24, 22, 0, 30, 26, 101, 26, 16, 32, 32, 38, 32, 11, 17, 17, 16, 18, 36, 4, 4, 2, 2, 4, 2, 2, 3, 14, 12, 18, 16, 8, 27, 25, 18, 18, 20, 20, 0, 0, 0, 26, 16, 36, 5, 6, 56, 0, 21, 18, 0, 0, 20, 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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 14, 14, 51 } +#define MAVLINK_MESSAGE_LENGTHS { 8, 23, 12, 8, 14, 28, 3, 32, 0, 0, 0, 2, 2, 2, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 0, 30, 26, 101, 26, 16, 32, 32, 38, 32, 0, 17, 17, 16, 18, 36, 4, 4, 2, 2, 4, 2, 2, 3, 14, 12, 18, 16, 14, 27, 25, 18, 18, 20, 20, 0, 0, 0, 26, 16, 36, 0, 6, 4, 0, 21, 18, 0, 0, 20, 20, 20, 32, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 56, 42, 33, 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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 42, 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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 14, 14, 51 } #ifdef __cplusplus } diff --git a/thirdParty/mavlink/include/ardupilotmega/mavlink.h b/thirdParty/mavlink/include/ardupilotmega/mavlink.h index e0e17b063e809bfb0611f734703a8dd3477f5867..9ff0554ad7a3ea2a8ebb282d6f914faafe521e86 100644 --- a/thirdParty/mavlink/include/ardupilotmega/mavlink.h +++ b/thirdParty/mavlink/include/ardupilotmega/mavlink.h @@ -1,7 +1,7 @@ /** @file * @brief MAVLink comm protocol. * @see http://pixhawk.ethz.ch/software/mavlink - * Generated on Saturday, August 13 2011, 07:20 UTC + * Generated on Saturday, August 20 2011, 11:19 UTC */ #ifndef MAVLINK_H #define MAVLINK_H diff --git a/thirdParty/mavlink/include/ardupilotmega/mavlink_msg_sensor_offsets.h b/thirdParty/mavlink/include/ardupilotmega/mavlink_msg_sensor_offsets.h new file mode 100644 index 0000000000000000000000000000000000000000..ee8445d85493fb793d0c04d89f2ad42ad8d92c6d --- /dev/null +++ b/thirdParty/mavlink/include/ardupilotmega/mavlink_msg_sensor_offsets.h @@ -0,0 +1,321 @@ +// MESSAGE SENSOR_OFFSETS PACKING + +#define MAVLINK_MSG_ID_SENSOR_OFFSETS 150 +#define MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN 42 +#define MAVLINK_MSG_150_LEN 42 +#define MAVLINK_MSG_ID_SENSOR_OFFSETS_KEY 0xE2 +#define MAVLINK_MSG_150_KEY 0xE2 + +typedef struct __mavlink_sensor_offsets_t +{ + 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 + 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_sensor_offsets_t; + +/** + * @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) +{ + mavlink_sensor_offsets_t *p = (mavlink_sensor_offsets_t *)&msg->payload[0]; + msg->msgid = MAVLINK_MSG_ID_SENSOR_OFFSETS; + + p->mag_ofs_x = mag_ofs_x; // int16_t:magnetometer X offset + p->mag_ofs_y = mag_ofs_y; // int16_t:magnetometer Y offset + p->mag_ofs_z = mag_ofs_z; // int16_t:magnetometer Z offset + p->mag_declination = mag_declination; // float:magnetic declination (radians) + p->raw_press = raw_press; // int32_t:raw pressure from barometer + p->raw_temp = raw_temp; // int32_t:raw temperature from barometer + p->gyro_cal_x = gyro_cal_x; // float:gyro X calibration + p->gyro_cal_y = gyro_cal_y; // float:gyro Y calibration + p->gyro_cal_z = gyro_cal_z; // float:gyro Z calibration + p->accel_cal_x = accel_cal_x; // float:accel X calibration + p->accel_cal_y = accel_cal_y; // float:accel Y calibration + p->accel_cal_z = accel_cal_z; // float:accel Z calibration + + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN); +} + +/** + * @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 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) +{ + mavlink_sensor_offsets_t *p = (mavlink_sensor_offsets_t *)&msg->payload[0]; + msg->msgid = MAVLINK_MSG_ID_SENSOR_OFFSETS; + + p->mag_ofs_x = mag_ofs_x; // int16_t:magnetometer X offset + p->mag_ofs_y = mag_ofs_y; // int16_t:magnetometer Y offset + p->mag_ofs_z = mag_ofs_z; // int16_t:magnetometer Z offset + p->mag_declination = mag_declination; // float:magnetic declination (radians) + p->raw_press = raw_press; // int32_t:raw pressure from barometer + p->raw_temp = raw_temp; // int32_t:raw temperature from barometer + p->gyro_cal_x = gyro_cal_x; // float:gyro X calibration + p->gyro_cal_y = gyro_cal_y; // float:gyro Y calibration + p->gyro_cal_z = gyro_cal_z; // float:gyro Z calibration + p->accel_cal_x = accel_cal_x; // float:accel X calibration + p->accel_cal_y = accel_cal_y; // float:accel Y calibration + p->accel_cal_z = accel_cal_z; // float:accel Z calibration + + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN); +} + +/** + * @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); +} + + +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS +/** + * @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 + */ +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) +{ + mavlink_header_t hdr; + mavlink_sensor_offsets_t payload; + + MAVLINK_BUFFER_CHECK_START( chan, MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN ) + payload.mag_ofs_x = mag_ofs_x; // int16_t:magnetometer X offset + payload.mag_ofs_y = mag_ofs_y; // int16_t:magnetometer Y offset + payload.mag_ofs_z = mag_ofs_z; // int16_t:magnetometer Z offset + payload.mag_declination = mag_declination; // float:magnetic declination (radians) + payload.raw_press = raw_press; // int32_t:raw pressure from barometer + payload.raw_temp = raw_temp; // int32_t:raw temperature from barometer + payload.gyro_cal_x = gyro_cal_x; // float:gyro X calibration + payload.gyro_cal_y = gyro_cal_y; // float:gyro Y calibration + payload.gyro_cal_z = gyro_cal_z; // float:gyro Z calibration + payload.accel_cal_x = accel_cal_x; // float:accel X calibration + payload.accel_cal_y = accel_cal_y; // float:accel Y calibration + payload.accel_cal_z = accel_cal_z; // float:accel Z calibration + + hdr.STX = MAVLINK_STX; + hdr.len = MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN; + hdr.msgid = MAVLINK_MSG_ID_SENSOR_OFFSETS; + hdr.sysid = mavlink_system.sysid; + hdr.compid = mavlink_system.compid; + hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; + mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; + mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); + + crc_init(&hdr.ck); + crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); + crc_calculate_mem((uint8_t *)&payload, &hdr.ck, hdr.len ); + crc_accumulate( 0xE2, &hdr.ck); /// include key in X25 checksum + mavlink_send_mem(chan, (uint8_t *)&hdr.ck, MAVLINK_NUM_CHECKSUM_BYTES); + MAVLINK_BUFFER_CHECK_END +} + +#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) +{ + mavlink_sensor_offsets_t *p = (mavlink_sensor_offsets_t *)&msg->payload[0]; + return (int16_t)(p->mag_ofs_x); +} + +/** + * @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) +{ + mavlink_sensor_offsets_t *p = (mavlink_sensor_offsets_t *)&msg->payload[0]; + return (int16_t)(p->mag_ofs_y); +} + +/** + * @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) +{ + mavlink_sensor_offsets_t *p = (mavlink_sensor_offsets_t *)&msg->payload[0]; + return (int16_t)(p->mag_ofs_z); +} + +/** + * @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) +{ + mavlink_sensor_offsets_t *p = (mavlink_sensor_offsets_t *)&msg->payload[0]; + return (float)(p->mag_declination); +} + +/** + * @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) +{ + mavlink_sensor_offsets_t *p = (mavlink_sensor_offsets_t *)&msg->payload[0]; + return (int32_t)(p->raw_press); +} + +/** + * @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) +{ + mavlink_sensor_offsets_t *p = (mavlink_sensor_offsets_t *)&msg->payload[0]; + return (int32_t)(p->raw_temp); +} + +/** + * @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) +{ + mavlink_sensor_offsets_t *p = (mavlink_sensor_offsets_t *)&msg->payload[0]; + return (float)(p->gyro_cal_x); +} + +/** + * @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) +{ + mavlink_sensor_offsets_t *p = (mavlink_sensor_offsets_t *)&msg->payload[0]; + return (float)(p->gyro_cal_y); +} + +/** + * @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) +{ + mavlink_sensor_offsets_t *p = (mavlink_sensor_offsets_t *)&msg->payload[0]; + return (float)(p->gyro_cal_z); +} + +/** + * @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) +{ + mavlink_sensor_offsets_t *p = (mavlink_sensor_offsets_t *)&msg->payload[0]; + return (float)(p->accel_cal_x); +} + +/** + * @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) +{ + mavlink_sensor_offsets_t *p = (mavlink_sensor_offsets_t *)&msg->payload[0]; + return (float)(p->accel_cal_y); +} + +/** + * @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) +{ + mavlink_sensor_offsets_t *p = (mavlink_sensor_offsets_t *)&msg->payload[0]; + return (float)(p->accel_cal_z); +} + +/** + * @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) +{ + memcpy( sensor_offsets, msg->payload, sizeof(mavlink_sensor_offsets_t)); +} diff --git a/thirdParty/mavlink/include/ardupilotmega/mavlink_msg_set_mag_offsets.h b/thirdParty/mavlink/include/ardupilotmega/mavlink_msg_set_mag_offsets.h new file mode 100644 index 0000000000000000000000000000000000000000..d6ff50c0caf06e887e965247865cb93a8d0b7813 --- /dev/null +++ b/thirdParty/mavlink/include/ardupilotmega/mavlink_msg_set_mag_offsets.h @@ -0,0 +1,195 @@ +// MESSAGE SET_MAG_OFFSETS PACKING + +#define MAVLINK_MSG_ID_SET_MAG_OFFSETS 151 +#define MAVLINK_MSG_ID_SET_MAG_OFFSETS_LEN 8 +#define MAVLINK_MSG_151_LEN 8 +#define MAVLINK_MSG_ID_SET_MAG_OFFSETS_KEY 0x41 +#define MAVLINK_MSG_151_KEY 0x41 + +typedef struct __mavlink_set_mag_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 + uint8_t target_system; ///< System ID + uint8_t target_component; ///< Component ID + +} mavlink_set_mag_offsets_t; + +/** + * @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) +{ + mavlink_set_mag_offsets_t *p = (mavlink_set_mag_offsets_t *)&msg->payload[0]; + msg->msgid = MAVLINK_MSG_ID_SET_MAG_OFFSETS; + + p->target_system = target_system; // uint8_t:System ID + p->target_component = target_component; // uint8_t:Component ID + p->mag_ofs_x = mag_ofs_x; // int16_t:magnetometer X offset + p->mag_ofs_y = mag_ofs_y; // int16_t:magnetometer Y offset + p->mag_ofs_z = mag_ofs_z; // int16_t:magnetometer Z offset + + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SET_MAG_OFFSETS_LEN); +} + +/** + * @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 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) +{ + mavlink_set_mag_offsets_t *p = (mavlink_set_mag_offsets_t *)&msg->payload[0]; + msg->msgid = MAVLINK_MSG_ID_SET_MAG_OFFSETS; + + p->target_system = target_system; // uint8_t:System ID + p->target_component = target_component; // uint8_t:Component ID + p->mag_ofs_x = mag_ofs_x; // int16_t:magnetometer X offset + p->mag_ofs_y = mag_ofs_y; // int16_t:magnetometer Y offset + p->mag_ofs_z = mag_ofs_z; // int16_t:magnetometer Z offset + + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SET_MAG_OFFSETS_LEN); +} + +/** + * @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); +} + + +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS +/** + * @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 + */ +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) +{ + mavlink_header_t hdr; + mavlink_set_mag_offsets_t payload; + + MAVLINK_BUFFER_CHECK_START( chan, MAVLINK_MSG_ID_SET_MAG_OFFSETS_LEN ) + payload.target_system = target_system; // uint8_t:System ID + payload.target_component = target_component; // uint8_t:Component ID + payload.mag_ofs_x = mag_ofs_x; // int16_t:magnetometer X offset + payload.mag_ofs_y = mag_ofs_y; // int16_t:magnetometer Y offset + payload.mag_ofs_z = mag_ofs_z; // int16_t:magnetometer Z offset + + hdr.STX = MAVLINK_STX; + hdr.len = MAVLINK_MSG_ID_SET_MAG_OFFSETS_LEN; + hdr.msgid = MAVLINK_MSG_ID_SET_MAG_OFFSETS; + hdr.sysid = mavlink_system.sysid; + hdr.compid = mavlink_system.compid; + hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; + mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; + mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); + + crc_init(&hdr.ck); + crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); + crc_calculate_mem((uint8_t *)&payload, &hdr.ck, hdr.len ); + crc_accumulate( 0x41, &hdr.ck); /// include key in X25 checksum + mavlink_send_mem(chan, (uint8_t *)&hdr.ck, MAVLINK_NUM_CHECKSUM_BYTES); + MAVLINK_BUFFER_CHECK_END +} + +#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) +{ + mavlink_set_mag_offsets_t *p = (mavlink_set_mag_offsets_t *)&msg->payload[0]; + return (uint8_t)(p->target_system); +} + +/** + * @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) +{ + mavlink_set_mag_offsets_t *p = (mavlink_set_mag_offsets_t *)&msg->payload[0]; + return (uint8_t)(p->target_component); +} + +/** + * @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) +{ + mavlink_set_mag_offsets_t *p = (mavlink_set_mag_offsets_t *)&msg->payload[0]; + return (int16_t)(p->mag_ofs_x); +} + +/** + * @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) +{ + mavlink_set_mag_offsets_t *p = (mavlink_set_mag_offsets_t *)&msg->payload[0]; + return (int16_t)(p->mag_ofs_y); +} + +/** + * @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) +{ + mavlink_set_mag_offsets_t *p = (mavlink_set_mag_offsets_t *)&msg->payload[0]; + return (int16_t)(p->mag_ofs_z); +} + +/** + * @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) +{ + memcpy( set_mag_offsets, msg->payload, sizeof(mavlink_set_mag_offsets_t)); +} diff --git a/thirdParty/mavlink/include/common/common.h b/thirdParty/mavlink/include/common/common.h index b14f77c31a0210c4c46da483702060bd095697e7..365d5b617002b5a05da482c31a2cca805b0f417f 100644 --- a/thirdParty/mavlink/include/common/common.h +++ b/thirdParty/mavlink/include/common/common.h @@ -1,7 +1,7 @@ /** @file * @brief MAVLink comm protocol. * @see http://qgroundcontrol.org/mavlink/ - * Generated on Saturday, August 13 2011, 07:20 UTC + * Generated on Saturday, August 20 2011, 14:34 UTC */ #ifndef COMMON_H #define COMMON_H @@ -29,52 +29,66 @@ extern "C" { // ENUM DEFINITIONS /** @brief Micro air vehicle / autopilot classes. This identifies the individual model. */ -enum MAV_CLASS +enum MAV_AUTOPILOT { - 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_INVALID=8, /* No valid autopilot, e.g. a GCS or other MAVLink component */ - MAV_CLASS_PPZ=9, /* PPZ UAV - http://nongnu.org/paparazzi */ - MAV_CLASS_UDB=10, /* UAV Dev Board */ - MAV_CLASS_FP=11, /* FlexiPilot */ - MAV_CLASS_ENUM_END + MAV_AUTOPILOT_GENERIC=0, /* Generic autopilot, full support for everything */ + MAV_AUTOPILOT_PIXHAWK=1, /* PIXHAWK autopilot, http://pixhawk.ethz.ch */ + MAV_AUTOPILOT_SLUGS=2, /* SLUGS autopilot, http://slugsuav.soe.ucsc.edu */ + MAV_AUTOPILOT_ARDUPILOTMEGA=3, /* ArduPilotMega / ArduCopter, http://diydrones.com */ + MAV_AUTOPILOT_OPENPILOT=4, /* OpenPilot, http://openpilot.org */ + MAV_AUTOPILOT_GENERIC_MISSION_WAYPOINTS_ONLY=5, /* Generic autopilot only supporting simple waypoints */ + MAV_AUTOPILOT_GENERIC_MISSION_NAVIGATION_ONLY=6, /* Generic autopilot supporting waypoints and other simple navigation commands */ + MAV_AUTOPILOT_GENERIC_MISSION_FULL=7, /* Generic autopilot supporting the full mission command set */ + MAV_AUTOPILOT_INVALID=8, /* No valid autopilot, e.g. a GCS or other MAVLink component */ + MAV_AUTOPILOT_PPZ=9, /* PPZ UAV - http://nongnu.org/paparazzi */ + MAV_AUTOPILOT_UDB=10, /* UAV Dev Board */ + MAV_AUTOPILOT_FP=11, /* FlexiPilot */ + MAV_AUTOPILOT_ENUM_END +}; + +/** @brief MAV safety override. This is a top-level safety override. Independent of the general state machine this mode shall ensure the safe operation. the MAV_SAFETY state should ONLY be switchable in the MAV_STATE_STANDBY state and NOT in flight. */ +enum MAV_SAFETY +{ + MAV_SAFETY_HIL=0, /* MAV safety lock set to hardware in the loop simulation. All motors / actuators are blocked, but internal software is full operational. */ + MAV_SAFETY_DISARMED=1, /* MAV safety set to disarmed. Motors are BLOCKED. Independent of the system mode and navigation mode all actuators are blocked. */ + MAV_SAFETY_ARMED=2, /* MAV safety set to armed. Motors are ready / could be started. All actuators are active. */ + MAV_SAFETY_ENUM_END }; /** @brief */ 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_PREFLIGHT=0, /* System is not ready to fly, booting, calibrating, etc. */ + MAV_MODE_STABILIZE=1, /* System is allowed to be active, under assisted RC control. Level of stabilization depends on MAV_FLIGTH_MODE */ + MAV_MODE_MANUAL=2, /* System is allowed to be active, under manual (RC) control, no stabilization */ 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 */ + MAV_MODE_AUTO=4, /* System is allowed to be active, under autonomous control and navigation (the trajectory is decided onboard and not pre-programmed by waypoints) */ + MAV_MODE_TEST=5, /* UNDEFINED mode. This solely depends on the autopilot - use with caution, intended for developers only. */ MAV_MODE_ENUM_END }; /** @brief */ -enum MAV_NAV +enum MAV_FLIGHT_MODE { - MAV_NAV_GROUNDED=0, /* System is currently on ground. */ - MAV_NAV_LIFTOFF=1, /* System is during liftoff, not in normal navigation mode yet. */ - MAV_NAV_HOLD=2, /* System is holding its current position (rotorcraft or rover / boat). */ - MAV_NAV_WAYPOINT=3, /* System is navigating towards the next waypoint. */ - MAV_NAV_VECTOR=4, /* System is flying at a defined course and speed. */ - MAV_NAV_RETURNING=5, /* System is return straight to home position. */ - MAV_NAV_LANDING=6, /* System is landing. */ - MAV_NAV_LOST=7, /* System lost its position input and is in attitude / flight stabilization only. */ - MAV_NAV_LOITER=8, /* System is loitering in wait position. DO NOT USE THIS FOR WAYPOINT LOITER! */ - MAV_NAV_ENUM_END + MAV_FLIGHT_MODE_PREFLIGHT=0, /* System is currently on ground. */ + MAV_FLIGHT_MODE_MANUAL=1, /* No interaction of the autopilot with the actuator outputs, pure manual flight. */ + MAV_FLIGHT_MODE_AUTO_TAKEOFF=2, /* System is during takeoff, not in normal navigation mode yet. Once the plane is moving faster than a few m/s it will lock onto a heading and hold that heading until the desired altitude is reached. Throttle is limited by the RC throttle setting. */ + MAV_FLIGHT_MODE_AUTO_HOLD=3, /* System is holding its current position and disabled the mission management. Loitering in mission mode is NOT the hold type, but still mission mode. */ + MAV_FLIGHT_MODE_AUTO_MISSION=4, /* System is navigating towards the next waypoint and following a mission script. */ + MAV_FLIGHT_MODE_AUTO_VECTOR=5, /* System is flying at a defined course and speed. If the vector is not defined by an autonomous approach but constantly by a user, please use MAV_FLIGHT_MODE_FBW_CURSOR_CONTROL */ + MAV_FLIGHT_MODE_AUTO_RETURNING=6, /* System is returning straight to home position. Once it reaches there it will hover or loiter at the autopilot's default holding settings. */ + MAV_FLIGHT_MODE_AUTO_LANDING=7, /* System is landing. Throttle is controlled by the autopilot. After getting closer than 30 meters, the course will lock to the current heading. Flare, throttle, flaps, gear, and other events can be scripted based on distance to landing point. */ + MAV_FLIGHT_MODE_AUTO_LOST=8, /* System lost its position input and is in attitude / flight stabilization only. */ + MAV_FLIGHT_MODE_STABILIZE_RATES_ACRO=9, /* The stick inputs commands angular rates. Only recommended for experienced pilots / acrobatic flight. */ + MAV_FLIGHT_MODE_STABILIZE_LEVELING=10, /* RC control with stabilization; let go of the sticks and it will level. */ + MAV_FLIGHT_MODE_STABILIZE_ROLL_PITCH_ABSOLUTE=11, /* The autopilot will hold the roll and pitch specified by the control sticks. Throttle is manual. The plane / quadrotor will not roll past the limits set in the configuration of the autopilot. Great for new pilots learning to fly. */ + MAV_FLIGHT_MODE_STABILIZE_ROLL_YAW_ALTITUDE=12, /* Requires airspeed sensor. The autopilot will hold the roll specified by the control sticks. Pitch input from the radio is converted to altitude error, which the autopilot will try and adjust to. Throttle is controlled by autopilot. This is the perfect mode to test your autopilot as your radio inout is substituted for the navigation controls. */ + MAV_FLIGHT_MODE_STABILIZE_ROLL_PITCH_YAW_ALTITUDE=13, /* Fly by wire mode, stabilizing roll, pitch, yaw and altitude. Typical altitude hold for quadrotors where the X / Y position is commanded with the roll / pitch stick. */ + MAV_FLIGHT_MODE_STABILIZE_CURSOR_CONTROL=14, /* Fly by wire mode, user is only directing the movement, but all flight control is autonomous (similar to MAV_FLIGHT_MODE_AUTO_VECTOR with user input) */ + MAV_FLIGHT_MODE_TEST1=15, /* Custom test mode, depends on individual autopilot. */ + MAV_FLIGHT_MODE_TEST2=16, /* Custom test mode, depends on individual autopilot. */ + MAV_FLIGHT_MODE_TEST3=17, /* Custom test mode, depends on individual autopilot. */ + MAV_FLIGHT_MODE_ENUM_END }; /** @brief */ @@ -91,31 +105,6 @@ enum MAV_STATE MAV_STATE_ENUM_END }; -/** @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. */ -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 -}; - -/** @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). */ -enum MAV_ROI -{ - MAV_ROI_WPNEXT=0, /* Point toward next waypoint. */ - MAV_ROI_WPINDEX=1, /* Point toward given waypoint. */ - MAV_ROI_LOCATION=2, /* Point toward fixed location. */ - MAV_ROI_TARGET=3, /* Point toward of given id. */ - MAV_ROI_ENUM_END -}; - /** @brief */ enum MAV_TYPE { @@ -171,10 +160,10 @@ enum MAV_COMPONENT /** @brief */ enum MAV_FRAME { - MAV_FRAME_GLOBAL=0, /* Global coordinate frame, WGS84 coordinate system. */ + MAV_FRAME_GLOBAL=0, /* Global coordinate frame, WGS84 coordinate system. First value / x: latitude, second value / y: longitude, third value / z: positive altitude over mean sea level (MSL) */ MAV_FRAME_LOCAL_NED=1, /* Local coordinate frame, Z-up (x: north, y: east, z: down). */ MAV_FRAME_MISSION=2, /* NOT a coordinate frame, indicates a mission command. */ - MAV_FRAME_GLOBAL_RELATIVE_ALT=3, /* Global coordinate frame, WGS84 coordinate system, relative altitude over ground. */ + MAV_FRAME_GLOBAL_RELATIVE_ALT=3, /* 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. */ MAV_FRAME_LOCAL_ENU=4, /* Local coordinate frame, Z-down (x: east, y: north, z: up) */ MAV_FRAME_ENUM_END }; @@ -225,20 +214,46 @@ enum MAV_CMD MAV_CMD_ENUM_END }; +/** @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. */ +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 +}; + +/** @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). */ +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 +}; + // MESSAGE DEFINITIONS #include "./mavlink_msg_heartbeat.h" -#include "./mavlink_msg_boot.h" +#include "./mavlink_msg_sys_status.h" #include "./mavlink_msg_system_time.h" -#include "./mavlink_msg_ping.h" #include "./mavlink_msg_system_time_utc.h" +#include "./mavlink_msg_ping.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_cmd_ack.h" #include "./mavlink_msg_set_mode.h" -#include "./mavlink_msg_set_nav_mode.h" +#include "./mavlink_msg_set_flight_mode.h" +#include "./mavlink_msg_set_safety_mode.h" #include "./mavlink_msg_param_request_read.h" #include "./mavlink_msg_param_request_list.h" #include "./mavlink_msg_param_value.h" @@ -253,7 +268,6 @@ enum MAV_CMD #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" @@ -270,7 +284,7 @@ enum MAV_CMD #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_global_position_setpoint_int.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" @@ -280,15 +294,19 @@ enum MAV_CMD #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_full_state.h" +#include "./mavlink_msg_data_stream.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_short.h" +#include "./mavlink_msg_command_long.h" #include "./mavlink_msg_command_ack.h" +#include "./mavlink_msg_hil_state.h" +#include "./mavlink_msg_hil_controls.h" +#include "./mavlink_msg_hil_rc_inputs_raw.h" +#include "./mavlink_msg_optical_flow.h" #include "./mavlink_msg_memory_vect.h" #include "./mavlink_msg_debug_vect.h" #include "./mavlink_msg_named_value_float.h" @@ -300,12 +318,12 @@ enum MAV_CMD // MESSAGE CRC KEYS #undef MAVLINK_MESSAGE_KEYS -#define MAVLINK_MESSAGE_KEYS { 71, 249, 232, 226, 76, 126, 117, 186, 0, 144, 0, 249, 133, 0, 0, 0, 0, 0, 0, 0, 33, 34, 163, 45, 0, 166, 28, 99, 28, 21, 243, 240, 91, 21, 111, 43, 192, 234, 22, 197, 192, 192, 166, 34, 233, 34, 166, 158, 142, 60, 10, 75, 249, 247, 234, 161, 116, 56, 245, 0, 0, 0, 62, 75, 185, 18, 42, 38, 0, 127, 200, 0, 0, 212, 251, 20, 22, 0, 0, 0, 0, 0, 0, 0, 0, 127, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 8, 238, 165, 0, 0, 0, 0, 0, 0, 0, 218, 218, 235, 0, 0, 0, 0, 0, 0, 225, 114, 0, 0, 0, 0, 0, 0, 0, 0, 221, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 171, 122, 0, 0, 0, 0, 0, 0, 0, 92, 99, 4, 169, 10, 0, 0, 0, 0, 0, 52, 163, 16, 0, 0, 0, 0, 0, 0, 0, 200, 135, 217, 254, 0, 0, 255, 185, 0, 14, 136, 53, 0, 212, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 255, 73, 239, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 138, 43, 141, 211, 144 } +#define MAVLINK_MESSAGE_KEYS { 10, 218, 22, 76, 226, 126, 117, 186, 0, 0, 0, 249, 172, 16, 0, 0, 0, 0, 0, 0, 33, 34, 191, 55, 0, 166, 28, 99, 28, 21, 243, 240, 91, 21, 0, 43, 192, 234, 22, 197, 192, 192, 166, 34, 233, 34, 166, 158, 142, 60, 10, 75, 20, 247, 234, 161, 116, 56, 245, 0, 0, 0, 62, 75, 185, 0, 42, 80, 0, 127, 200, 0, 0, 212, 251, 20, 63, 22, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 18, 103, 59, 0, 0, 0, 0, 0, 0, 0, 74, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 138, 43, 141, 211, 144 } // MESSAGE LENGTHS #undef MAVLINK_MESSAGE_LENGTHS -#define MAVLINK_MESSAGE_LENGTHS { 3, 4, 8, 14, 8, 28, 3, 32, 0, 2, 0, 2, 2, 0, 0, 0, 0, 0, 0, 0, 20, 2, 24, 22, 0, 30, 26, 101, 26, 16, 32, 32, 38, 32, 11, 17, 17, 16, 18, 36, 4, 4, 2, 2, 4, 2, 2, 3, 14, 12, 18, 16, 8, 27, 25, 18, 18, 20, 20, 0, 0, 0, 26, 16, 36, 5, 6, 56, 0, 21, 18, 0, 0, 20, 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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 14, 14, 51 } +#define MAVLINK_MESSAGE_LENGTHS { 8, 23, 12, 8, 14, 28, 3, 32, 0, 0, 0, 2, 2, 2, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 0, 30, 26, 101, 26, 16, 32, 32, 38, 32, 0, 17, 17, 16, 18, 36, 4, 4, 2, 2, 4, 2, 2, 3, 14, 12, 18, 16, 14, 27, 25, 18, 18, 20, 20, 0, 0, 0, 26, 16, 36, 0, 6, 4, 0, 21, 18, 0, 0, 20, 20, 20, 32, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 56, 42, 33, 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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 14, 14, 51 } #ifdef __cplusplus } diff --git a/thirdParty/mavlink/include/common/mavlink.h b/thirdParty/mavlink/include/common/mavlink.h index b7cbe96da44dd442d81d3ee795164cac9a3a746c..90177c292442b9f4960b1953f9a8654a611141e8 100644 --- a/thirdParty/mavlink/include/common/mavlink.h +++ b/thirdParty/mavlink/include/common/mavlink.h @@ -1,7 +1,7 @@ /** @file * @brief MAVLink comm protocol. * @see http://pixhawk.ethz.ch/software/mavlink - * Generated on Saturday, August 13 2011, 07:20 UTC + * Generated on Saturday, August 20 2011, 14:34 UTC */ #ifndef MAVLINK_H #define MAVLINK_H diff --git a/thirdParty/mavlink/include/common/mavlink_msg_attitude.h b/thirdParty/mavlink/include/common/mavlink_msg_attitude.h index c0d0c7350e90104f8e4287cf8145d40c942e897f..e1ffc979c3d7710217505b2742b424b6ce0385b8 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_attitude.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_attitude.h @@ -129,6 +129,7 @@ static inline void mavlink_msg_attitude_send(mavlink_channel_t chan, uint64_t us hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/common/mavlink_msg_auth_key.h b/thirdParty/mavlink/include/common/mavlink_msg_auth_key.h index e75ffd1b7e9c90ea5aff6061c877ae33c2ded2b6..b98e0c969e0a29c08c29d9a5faa684f18f471b3c 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_auth_key.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_auth_key.h @@ -88,6 +88,7 @@ static inline void mavlink_msg_auth_key_send(mavlink_channel_t chan, const char* hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/common/mavlink_msg_boot.h b/thirdParty/mavlink/include/common/mavlink_msg_boot.h index 0c043e83ab07a456759a35c5b0e509995d8a6017..8b67edb82c788ee76ffa3d434e5ee04b6eb1e368 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_boot.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_boot.h @@ -87,6 +87,7 @@ static inline void mavlink_msg_boot_send(mavlink_channel_t chan, uint32_t versio hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/common/mavlink_msg_change_operator_control.h b/thirdParty/mavlink/include/common/mavlink_msg_change_operator_control.h index d78480cf57f3798c29dd91c30a3e2b6fff087c5e..029fb1817b10d7c3cb643846153527b443f47cf9 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_change_operator_control.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_change_operator_control.h @@ -109,6 +109,7 @@ static inline void mavlink_msg_change_operator_control_send(mavlink_channel_t ch hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/common/mavlink_msg_change_operator_control_ack.h b/thirdParty/mavlink/include/common/mavlink_msg_change_operator_control_ack.h index 2afdd8077aedff570c10b5cb1d18d810c2431063..4df70cc662665683d4f7771c8bc86517589013ff 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_change_operator_control_ack.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_change_operator_control_ack.h @@ -101,6 +101,7 @@ static inline void mavlink_msg_change_operator_control_ack_send(mavlink_channel_ hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/common/mavlink_msg_cmd_ack.h b/thirdParty/mavlink/include/common/mavlink_msg_cmd_ack.h index acfc5031246de804aa511126cdb468e0df27e298..481e71de2dfc5a48a44c3dcb6884fc2b9af3b50c 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_cmd_ack.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_cmd_ack.h @@ -94,6 +94,7 @@ static inline void mavlink_msg_cmd_ack_send(mavlink_channel_t chan, uint8_t cmd, hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/common/mavlink_msg_command_ack.h b/thirdParty/mavlink/include/common/mavlink_msg_command_ack.h index 899b12507d5868c11f4184c764171a7e1defb644..1fd103f947ef3c97725bd8a0a524d2305b7cc180 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_command_ack.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_command_ack.h @@ -1,10 +1,10 @@ // MESSAGE COMMAND_ACK PACKING -#define MAVLINK_MSG_ID_COMMAND_ACK 76 +#define MAVLINK_MSG_ID_COMMAND_ACK 77 #define MAVLINK_MSG_ID_COMMAND_ACK_LEN 8 -#define MAVLINK_MSG_76_LEN 8 +#define MAVLINK_MSG_77_LEN 8 #define MAVLINK_MSG_ID_COMMAND_ACK_KEY 0x16 -#define MAVLINK_MSG_76_KEY 0x16 +#define MAVLINK_MSG_77_KEY 0x16 typedef struct __mavlink_command_ack_t { @@ -94,6 +94,7 @@ static inline void mavlink_msg_command_ack_send(mavlink_channel_t chan, float co hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/common/mavlink_msg_command_long.h b/thirdParty/mavlink/include/common/mavlink_msg_command_long.h new file mode 100644 index 0000000000000000000000000000000000000000..535424bd4327ea6097c782425dee808d98fd7165 --- /dev/null +++ b/thirdParty/mavlink/include/common/mavlink_msg_command_long.h @@ -0,0 +1,303 @@ +// MESSAGE COMMAND_LONG PACKING + +#define MAVLINK_MSG_ID_COMMAND_LONG 76 +#define MAVLINK_MSG_ID_COMMAND_LONG_LEN 32 +#define MAVLINK_MSG_76_LEN 32 +#define MAVLINK_MSG_ID_COMMAND_LONG_KEY 0x3F +#define MAVLINK_MSG_76_KEY 0x3F + +typedef struct __mavlink_command_long_t +{ + 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. + float param5; ///< Parameter 5, as defined by MAV_CMD enum. + float param6; ///< Parameter 6, as defined by MAV_CMD enum. + float param7; ///< Parameter 7, as defined by MAV_CMD enum. + 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) + +} mavlink_command_long_t; + +/** + * @brief Pack a command_long message + * @param system_id ID of this 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. + * @param param5 Parameter 5, as defined by MAV_CMD enum. + * @param param6 Parameter 6, as defined by MAV_CMD enum. + * @param param7 Parameter 7, 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_long_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, float param5, float param6, float param7) +{ + mavlink_command_long_t *p = (mavlink_command_long_t *)&msg->payload[0]; + msg->msgid = MAVLINK_MSG_ID_COMMAND_LONG; + + p->target_system = target_system; // uint8_t:System which should execute the command + p->target_component = target_component; // uint8_t:Component which should execute the command, 0 for all components + p->command = command; // uint8_t:Command ID, as defined by MAV_CMD enum. + p->confirmation = confirmation; // uint8_t:0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) + p->param1 = param1; // float:Parameter 1, as defined by MAV_CMD enum. + p->param2 = param2; // float:Parameter 2, as defined by MAV_CMD enum. + p->param3 = param3; // float:Parameter 3, as defined by MAV_CMD enum. + p->param4 = param4; // float:Parameter 4, as defined by MAV_CMD enum. + p->param5 = param5; // float:Parameter 5, as defined by MAV_CMD enum. + p->param6 = param6; // float:Parameter 6, as defined by MAV_CMD enum. + p->param7 = param7; // float:Parameter 7, as defined by MAV_CMD enum. + + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_COMMAND_LONG_LEN); +} + +/** + * @brief Pack a command_long message + * @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. + * @param param5 Parameter 5, as defined by MAV_CMD enum. + * @param param6 Parameter 6, as defined by MAV_CMD enum. + * @param param7 Parameter 7, 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_long_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, float param5, float param6, float param7) +{ + mavlink_command_long_t *p = (mavlink_command_long_t *)&msg->payload[0]; + msg->msgid = MAVLINK_MSG_ID_COMMAND_LONG; + + p->target_system = target_system; // uint8_t:System which should execute the command + p->target_component = target_component; // uint8_t:Component which should execute the command, 0 for all components + p->command = command; // uint8_t:Command ID, as defined by MAV_CMD enum. + p->confirmation = confirmation; // uint8_t:0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) + p->param1 = param1; // float:Parameter 1, as defined by MAV_CMD enum. + p->param2 = param2; // float:Parameter 2, as defined by MAV_CMD enum. + p->param3 = param3; // float:Parameter 3, as defined by MAV_CMD enum. + p->param4 = param4; // float:Parameter 4, as defined by MAV_CMD enum. + p->param5 = param5; // float:Parameter 5, as defined by MAV_CMD enum. + p->param6 = param6; // float:Parameter 6, as defined by MAV_CMD enum. + p->param7 = param7; // float:Parameter 7, as defined by MAV_CMD enum. + + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_COMMAND_LONG_LEN); +} + +/** + * @brief Encode a command_long 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_long C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_command_long_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_command_long_t* command_long) +{ + return mavlink_msg_command_long_pack(system_id, component_id, msg, command_long->target_system, command_long->target_component, command_long->command, command_long->confirmation, command_long->param1, command_long->param2, command_long->param3, command_long->param4, command_long->param5, command_long->param6, command_long->param7); +} + + +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS +/** + * @brief Send a command_long 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. + * @param param5 Parameter 5, as defined by MAV_CMD enum. + * @param param6 Parameter 6, as defined by MAV_CMD enum. + * @param param7 Parameter 7, as defined by MAV_CMD enum. + */ +static inline void mavlink_msg_command_long_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, float param5, float param6, float param7) +{ + mavlink_header_t hdr; + mavlink_command_long_t payload; + + MAVLINK_BUFFER_CHECK_START( chan, MAVLINK_MSG_ID_COMMAND_LONG_LEN ) + payload.target_system = target_system; // uint8_t:System which should execute the command + payload.target_component = target_component; // uint8_t:Component which should execute the command, 0 for all components + payload.command = command; // uint8_t:Command ID, as defined by MAV_CMD enum. + payload.confirmation = confirmation; // uint8_t:0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) + payload.param1 = param1; // float:Parameter 1, as defined by MAV_CMD enum. + payload.param2 = param2; // float:Parameter 2, as defined by MAV_CMD enum. + payload.param3 = param3; // float:Parameter 3, as defined by MAV_CMD enum. + payload.param4 = param4; // float:Parameter 4, as defined by MAV_CMD enum. + payload.param5 = param5; // float:Parameter 5, as defined by MAV_CMD enum. + payload.param6 = param6; // float:Parameter 6, as defined by MAV_CMD enum. + payload.param7 = param7; // float:Parameter 7, as defined by MAV_CMD enum. + + hdr.STX = MAVLINK_STX; + hdr.len = MAVLINK_MSG_ID_COMMAND_LONG_LEN; + hdr.msgid = MAVLINK_MSG_ID_COMMAND_LONG; + hdr.sysid = mavlink_system.sysid; + hdr.compid = mavlink_system.compid; + hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; + mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; + mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); + + crc_init(&hdr.ck); + crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); + crc_calculate_mem((uint8_t *)&payload, &hdr.ck, hdr.len ); + crc_accumulate( 0x3F, &hdr.ck); /// include key in X25 checksum + mavlink_send_mem(chan, (uint8_t *)&hdr.ck, MAVLINK_NUM_CHECKSUM_BYTES); + MAVLINK_BUFFER_CHECK_END +} + +#endif +// MESSAGE COMMAND_LONG UNPACKING + +/** + * @brief Get field target_system from command_long message + * + * @return System which should execute the command + */ +static inline uint8_t mavlink_msg_command_long_get_target_system(const mavlink_message_t* msg) +{ + mavlink_command_long_t *p = (mavlink_command_long_t *)&msg->payload[0]; + return (uint8_t)(p->target_system); +} + +/** + * @brief Get field target_component from command_long message + * + * @return Component which should execute the command, 0 for all components + */ +static inline uint8_t mavlink_msg_command_long_get_target_component(const mavlink_message_t* msg) +{ + mavlink_command_long_t *p = (mavlink_command_long_t *)&msg->payload[0]; + return (uint8_t)(p->target_component); +} + +/** + * @brief Get field command from command_long message + * + * @return Command ID, as defined by MAV_CMD enum. + */ +static inline uint8_t mavlink_msg_command_long_get_command(const mavlink_message_t* msg) +{ + mavlink_command_long_t *p = (mavlink_command_long_t *)&msg->payload[0]; + return (uint8_t)(p->command); +} + +/** + * @brief Get field confirmation from command_long message + * + * @return 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) + */ +static inline uint8_t mavlink_msg_command_long_get_confirmation(const mavlink_message_t* msg) +{ + mavlink_command_long_t *p = (mavlink_command_long_t *)&msg->payload[0]; + return (uint8_t)(p->confirmation); +} + +/** + * @brief Get field param1 from command_long message + * + * @return Parameter 1, as defined by MAV_CMD enum. + */ +static inline float mavlink_msg_command_long_get_param1(const mavlink_message_t* msg) +{ + mavlink_command_long_t *p = (mavlink_command_long_t *)&msg->payload[0]; + return (float)(p->param1); +} + +/** + * @brief Get field param2 from command_long message + * + * @return Parameter 2, as defined by MAV_CMD enum. + */ +static inline float mavlink_msg_command_long_get_param2(const mavlink_message_t* msg) +{ + mavlink_command_long_t *p = (mavlink_command_long_t *)&msg->payload[0]; + return (float)(p->param2); +} + +/** + * @brief Get field param3 from command_long message + * + * @return Parameter 3, as defined by MAV_CMD enum. + */ +static inline float mavlink_msg_command_long_get_param3(const mavlink_message_t* msg) +{ + mavlink_command_long_t *p = (mavlink_command_long_t *)&msg->payload[0]; + return (float)(p->param3); +} + +/** + * @brief Get field param4 from command_long message + * + * @return Parameter 4, as defined by MAV_CMD enum. + */ +static inline float mavlink_msg_command_long_get_param4(const mavlink_message_t* msg) +{ + mavlink_command_long_t *p = (mavlink_command_long_t *)&msg->payload[0]; + return (float)(p->param4); +} + +/** + * @brief Get field param5 from command_long message + * + * @return Parameter 5, as defined by MAV_CMD enum. + */ +static inline float mavlink_msg_command_long_get_param5(const mavlink_message_t* msg) +{ + mavlink_command_long_t *p = (mavlink_command_long_t *)&msg->payload[0]; + return (float)(p->param5); +} + +/** + * @brief Get field param6 from command_long message + * + * @return Parameter 6, as defined by MAV_CMD enum. + */ +static inline float mavlink_msg_command_long_get_param6(const mavlink_message_t* msg) +{ + mavlink_command_long_t *p = (mavlink_command_long_t *)&msg->payload[0]; + return (float)(p->param6); +} + +/** + * @brief Get field param7 from command_long message + * + * @return Parameter 7, as defined by MAV_CMD enum. + */ +static inline float mavlink_msg_command_long_get_param7(const mavlink_message_t* msg) +{ + mavlink_command_long_t *p = (mavlink_command_long_t *)&msg->payload[0]; + return (float)(p->param7); +} + +/** + * @brief Decode a command_long message into a struct + * + * @param msg The message to decode + * @param command_long C-struct to decode the message contents into + */ +static inline void mavlink_msg_command_long_decode(const mavlink_message_t* msg, mavlink_command_long_t* command_long) +{ + memcpy( command_long, msg->payload, sizeof(mavlink_command_long_t)); +} diff --git a/thirdParty/mavlink/include/common/mavlink_msg_command.h b/thirdParty/mavlink/include/common/mavlink_msg_command_short.h similarity index 61% rename from thirdParty/mavlink/include/common/mavlink_msg_command.h rename to thirdParty/mavlink/include/common/mavlink_msg_command_short.h index 72cd1bebcc58d234b3cc339640aa3b4e50c690bb..c0538f38bd4dceb3ab5b00a852a1f45592616a58 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_command.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_command_short.h @@ -1,12 +1,12 @@ -// MESSAGE COMMAND PACKING +// MESSAGE COMMAND_SHORT PACKING -#define MAVLINK_MSG_ID_COMMAND 75 -#define MAVLINK_MSG_ID_COMMAND_LEN 20 +#define MAVLINK_MSG_ID_COMMAND_SHORT 75 +#define MAVLINK_MSG_ID_COMMAND_SHORT_LEN 20 #define MAVLINK_MSG_75_LEN 20 -#define MAVLINK_MSG_ID_COMMAND_KEY 0x14 +#define MAVLINK_MSG_ID_COMMAND_SHORT_KEY 0x14 #define MAVLINK_MSG_75_KEY 0x14 -typedef struct __mavlink_command_t +typedef struct __mavlink_command_short_t { float param1; ///< Parameter 1, as defined by MAV_CMD enum. float param2; ///< Parameter 2, as defined by MAV_CMD enum. @@ -17,10 +17,10 @@ typedef struct __mavlink_command_t 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) -} mavlink_command_t; +} mavlink_command_short_t; /** - * @brief Pack a command message + * @brief Pack a command_short message * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param msg The MAVLink message to compress the data into @@ -35,10 +35,10 @@ typedef struct __mavlink_command_t * @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) +static inline uint16_t mavlink_msg_command_short_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) { - mavlink_command_t *p = (mavlink_command_t *)&msg->payload[0]; - msg->msgid = MAVLINK_MSG_ID_COMMAND; + mavlink_command_short_t *p = (mavlink_command_short_t *)&msg->payload[0]; + msg->msgid = MAVLINK_MSG_ID_COMMAND_SHORT; p->target_system = target_system; // uint8_t:System which should execute the command p->target_component = target_component; // uint8_t:Component which should execute the command, 0 for all components @@ -49,11 +49,11 @@ static inline uint16_t mavlink_msg_command_pack(uint8_t system_id, uint8_t compo p->param3 = param3; // float:Parameter 3, as defined by MAV_CMD enum. p->param4 = param4; // float:Parameter 4, as defined by MAV_CMD enum. - return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_COMMAND_LEN); + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_COMMAND_SHORT_LEN); } /** - * @brief Pack a command message + * @brief Pack a command_short message * @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 @@ -68,10 +68,10 @@ static inline uint16_t mavlink_msg_command_pack(uint8_t system_id, uint8_t compo * @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) +static inline uint16_t mavlink_msg_command_short_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) { - mavlink_command_t *p = (mavlink_command_t *)&msg->payload[0]; - msg->msgid = MAVLINK_MSG_ID_COMMAND; + mavlink_command_short_t *p = (mavlink_command_short_t *)&msg->payload[0]; + msg->msgid = MAVLINK_MSG_ID_COMMAND_SHORT; p->target_system = target_system; // uint8_t:System which should execute the command p->target_component = target_component; // uint8_t:Component which should execute the command, 0 for all components @@ -82,26 +82,26 @@ static inline uint16_t mavlink_msg_command_pack_chan(uint8_t system_id, uint8_t p->param3 = param3; // float:Parameter 3, as defined by MAV_CMD enum. p->param4 = param4; // float:Parameter 4, as defined by MAV_CMD enum. - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_COMMAND_LEN); + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_COMMAND_SHORT_LEN); } /** - * @brief Encode a command struct into a message + * @brief Encode a command_short 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 + * @param command_short 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) +static inline uint16_t mavlink_msg_command_short_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_command_short_t* command_short) { - 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); + return mavlink_msg_command_short_pack(system_id, component_id, msg, command_short->target_system, command_short->target_component, command_short->command, command_short->confirmation, command_short->param1, command_short->param2, command_short->param3, command_short->param4); } #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS /** - * @brief Send a command message + * @brief Send a command_short message * @param chan MAVLink channel to send the message * * @param target_system System which should execute the command @@ -113,12 +113,12 @@ static inline uint16_t mavlink_msg_command_encode(uint8_t system_id, uint8_t com * @param param3 Parameter 3, as defined by MAV_CMD enum. * @param param4 Parameter 4, as defined by MAV_CMD enum. */ -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) +static inline void mavlink_msg_command_short_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) { mavlink_header_t hdr; - mavlink_command_t payload; + mavlink_command_short_t payload; - MAVLINK_BUFFER_CHECK_START( chan, MAVLINK_MSG_ID_COMMAND_LEN ) + MAVLINK_BUFFER_CHECK_START( chan, MAVLINK_MSG_ID_COMMAND_SHORT_LEN ) payload.target_system = target_system; // uint8_t:System which should execute the command payload.target_component = target_component; // uint8_t:Component which should execute the command, 0 for all components payload.command = command; // uint8_t:Command ID, as defined by MAV_CMD enum. @@ -129,13 +129,14 @@ static inline void mavlink_msg_command_send(mavlink_channel_t chan, uint8_t targ payload.param4 = param4; // float:Parameter 4, as defined by MAV_CMD enum. hdr.STX = MAVLINK_STX; - hdr.len = MAVLINK_MSG_ID_COMMAND_LEN; - hdr.msgid = MAVLINK_MSG_ID_COMMAND; + hdr.len = MAVLINK_MSG_ID_COMMAND_SHORT_LEN; + hdr.msgid = MAVLINK_MSG_ID_COMMAND_SHORT; hdr.sysid = mavlink_system.sysid; hdr.compid = mavlink_system.compid; hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); @@ -146,103 +147,103 @@ static inline void mavlink_msg_command_send(mavlink_channel_t chan, uint8_t targ } #endif -// MESSAGE COMMAND UNPACKING +// MESSAGE COMMAND_SHORT UNPACKING /** - * @brief Get field target_system from command message + * @brief Get field target_system from command_short message * * @return System which should execute the command */ -static inline uint8_t mavlink_msg_command_get_target_system(const mavlink_message_t* msg) +static inline uint8_t mavlink_msg_command_short_get_target_system(const mavlink_message_t* msg) { - mavlink_command_t *p = (mavlink_command_t *)&msg->payload[0]; + mavlink_command_short_t *p = (mavlink_command_short_t *)&msg->payload[0]; return (uint8_t)(p->target_system); } /** - * @brief Get field target_component from command message + * @brief Get field target_component from command_short 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) +static inline uint8_t mavlink_msg_command_short_get_target_component(const mavlink_message_t* msg) { - mavlink_command_t *p = (mavlink_command_t *)&msg->payload[0]; + mavlink_command_short_t *p = (mavlink_command_short_t *)&msg->payload[0]; return (uint8_t)(p->target_component); } /** - * @brief Get field command from command message + * @brief Get field command from command_short message * * @return Command ID, as defined by MAV_CMD enum. */ -static inline uint8_t mavlink_msg_command_get_command(const mavlink_message_t* msg) +static inline uint8_t mavlink_msg_command_short_get_command(const mavlink_message_t* msg) { - mavlink_command_t *p = (mavlink_command_t *)&msg->payload[0]; + mavlink_command_short_t *p = (mavlink_command_short_t *)&msg->payload[0]; return (uint8_t)(p->command); } /** - * @brief Get field confirmation from command message + * @brief Get field confirmation from command_short 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) +static inline uint8_t mavlink_msg_command_short_get_confirmation(const mavlink_message_t* msg) { - mavlink_command_t *p = (mavlink_command_t *)&msg->payload[0]; + mavlink_command_short_t *p = (mavlink_command_short_t *)&msg->payload[0]; return (uint8_t)(p->confirmation); } /** - * @brief Get field param1 from command message + * @brief Get field param1 from command_short message * * @return Parameter 1, as defined by MAV_CMD enum. */ -static inline float mavlink_msg_command_get_param1(const mavlink_message_t* msg) +static inline float mavlink_msg_command_short_get_param1(const mavlink_message_t* msg) { - mavlink_command_t *p = (mavlink_command_t *)&msg->payload[0]; + mavlink_command_short_t *p = (mavlink_command_short_t *)&msg->payload[0]; return (float)(p->param1); } /** - * @brief Get field param2 from command message + * @brief Get field param2 from command_short message * * @return Parameter 2, as defined by MAV_CMD enum. */ -static inline float mavlink_msg_command_get_param2(const mavlink_message_t* msg) +static inline float mavlink_msg_command_short_get_param2(const mavlink_message_t* msg) { - mavlink_command_t *p = (mavlink_command_t *)&msg->payload[0]; + mavlink_command_short_t *p = (mavlink_command_short_t *)&msg->payload[0]; return (float)(p->param2); } /** - * @brief Get field param3 from command message + * @brief Get field param3 from command_short message * * @return Parameter 3, as defined by MAV_CMD enum. */ -static inline float mavlink_msg_command_get_param3(const mavlink_message_t* msg) +static inline float mavlink_msg_command_short_get_param3(const mavlink_message_t* msg) { - mavlink_command_t *p = (mavlink_command_t *)&msg->payload[0]; + mavlink_command_short_t *p = (mavlink_command_short_t *)&msg->payload[0]; return (float)(p->param3); } /** - * @brief Get field param4 from command message + * @brief Get field param4 from command_short message * * @return Parameter 4, as defined by MAV_CMD enum. */ -static inline float mavlink_msg_command_get_param4(const mavlink_message_t* msg) +static inline float mavlink_msg_command_short_get_param4(const mavlink_message_t* msg) { - mavlink_command_t *p = (mavlink_command_t *)&msg->payload[0]; + mavlink_command_short_t *p = (mavlink_command_short_t *)&msg->payload[0]; return (float)(p->param4); } /** - * @brief Decode a command message into a struct + * @brief Decode a command_short message into a struct * * @param msg The message to decode - * @param command C-struct to decode the message contents into + * @param command_short C-struct to decode the message contents into */ -static inline void mavlink_msg_command_decode(const mavlink_message_t* msg, mavlink_command_t* command) +static inline void mavlink_msg_command_short_decode(const mavlink_message_t* msg, mavlink_command_short_t* command_short) { - memcpy( command, msg->payload, sizeof(mavlink_command_t)); + memcpy( command_short, msg->payload, sizeof(mavlink_command_short_t)); } diff --git a/thirdParty/mavlink/include/common/mavlink_msg_control_status.h b/thirdParty/mavlink/include/common/mavlink_msg_control_status.h index bc19b9c84298427f3d74d1f1197f9c4046899be4..681a572598f87500cb55d85b868f013c93900f28 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_control_status.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_control_status.h @@ -136,6 +136,7 @@ static inline void mavlink_msg_control_status_send(mavlink_channel_t chan, uint8 hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/common/mavlink_msg_data_stream.h b/thirdParty/mavlink/include/common/mavlink_msg_data_stream.h new file mode 100644 index 0000000000000000000000000000000000000000..bd1b7c02f026adf82546964ee1422569c6e32944 --- /dev/null +++ b/thirdParty/mavlink/include/common/mavlink_msg_data_stream.h @@ -0,0 +1,159 @@ +// MESSAGE DATA_STREAM PACKING + +#define MAVLINK_MSG_ID_DATA_STREAM 67 +#define MAVLINK_MSG_ID_DATA_STREAM_LEN 4 +#define MAVLINK_MSG_67_LEN 4 +#define MAVLINK_MSG_ID_DATA_STREAM_KEY 0x50 +#define MAVLINK_MSG_67_KEY 0x50 + +typedef struct __mavlink_data_stream_t +{ + uint16_t message_rate; ///< The requested interval between two messages of this type + uint8_t stream_id; ///< The ID of the requested data stream + uint8_t on_off; ///< 1 stream is enabled, 0 stream is stopped. + +} mavlink_data_stream_t; + +/** + * @brief Pack a 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 stream_id The ID of the requested data stream + * @param message_rate The requested interval between two messages of this type + * @param on_off 1 stream is enabled, 0 stream is stopped. + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_data_stream_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t stream_id, uint16_t message_rate, uint8_t on_off) +{ + mavlink_data_stream_t *p = (mavlink_data_stream_t *)&msg->payload[0]; + msg->msgid = MAVLINK_MSG_ID_DATA_STREAM; + + p->stream_id = stream_id; // uint8_t:The ID of the requested data stream + p->message_rate = message_rate; // uint16_t:The requested interval between two messages of this type + p->on_off = on_off; // uint8_t:1 stream is enabled, 0 stream is stopped. + + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DATA_STREAM_LEN); +} + +/** + * @brief Pack a data_stream message + * @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 stream_id The ID of the requested data stream + * @param message_rate The requested interval between two messages of this type + * @param on_off 1 stream is enabled, 0 stream is stopped. + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_data_stream_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t stream_id, uint16_t message_rate, uint8_t on_off) +{ + mavlink_data_stream_t *p = (mavlink_data_stream_t *)&msg->payload[0]; + msg->msgid = MAVLINK_MSG_ID_DATA_STREAM; + + p->stream_id = stream_id; // uint8_t:The ID of the requested data stream + p->message_rate = message_rate; // uint16_t:The requested interval between two messages of this type + p->on_off = on_off; // uint8_t:1 stream is enabled, 0 stream is stopped. + + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DATA_STREAM_LEN); +} + +/** + * @brief Encode a 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 data_stream C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_data_stream_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_data_stream_t* data_stream) +{ + return mavlink_msg_data_stream_pack(system_id, component_id, msg, data_stream->stream_id, data_stream->message_rate, data_stream->on_off); +} + + +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS +/** + * @brief Send a data_stream message + * @param chan MAVLink channel to send the message + * + * @param stream_id The ID of the requested data stream + * @param message_rate The requested interval between two messages of this type + * @param on_off 1 stream is enabled, 0 stream is stopped. + */ +static inline void mavlink_msg_data_stream_send(mavlink_channel_t chan, uint8_t stream_id, uint16_t message_rate, uint8_t on_off) +{ + mavlink_header_t hdr; + mavlink_data_stream_t payload; + + MAVLINK_BUFFER_CHECK_START( chan, MAVLINK_MSG_ID_DATA_STREAM_LEN ) + payload.stream_id = stream_id; // uint8_t:The ID of the requested data stream + payload.message_rate = message_rate; // uint16_t:The requested interval between two messages of this type + payload.on_off = on_off; // uint8_t:1 stream is enabled, 0 stream is stopped. + + hdr.STX = MAVLINK_STX; + hdr.len = MAVLINK_MSG_ID_DATA_STREAM_LEN; + hdr.msgid = MAVLINK_MSG_ID_DATA_STREAM; + hdr.sysid = mavlink_system.sysid; + hdr.compid = mavlink_system.compid; + hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; + mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; + mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); + + crc_init(&hdr.ck); + crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); + crc_calculate_mem((uint8_t *)&payload, &hdr.ck, hdr.len ); + crc_accumulate( 0x50, &hdr.ck); /// include key in X25 checksum + mavlink_send_mem(chan, (uint8_t *)&hdr.ck, MAVLINK_NUM_CHECKSUM_BYTES); + MAVLINK_BUFFER_CHECK_END +} + +#endif +// MESSAGE DATA_STREAM UNPACKING + +/** + * @brief Get field stream_id from data_stream message + * + * @return The ID of the requested data stream + */ +static inline uint8_t mavlink_msg_data_stream_get_stream_id(const mavlink_message_t* msg) +{ + mavlink_data_stream_t *p = (mavlink_data_stream_t *)&msg->payload[0]; + return (uint8_t)(p->stream_id); +} + +/** + * @brief Get field message_rate from data_stream message + * + * @return The requested interval between two messages of this type + */ +static inline uint16_t mavlink_msg_data_stream_get_message_rate(const mavlink_message_t* msg) +{ + mavlink_data_stream_t *p = (mavlink_data_stream_t *)&msg->payload[0]; + return (uint16_t)(p->message_rate); +} + +/** + * @brief Get field on_off from data_stream message + * + * @return 1 stream is enabled, 0 stream is stopped. + */ +static inline uint8_t mavlink_msg_data_stream_get_on_off(const mavlink_message_t* msg) +{ + mavlink_data_stream_t *p = (mavlink_data_stream_t *)&msg->payload[0]; + return (uint8_t)(p->on_off); +} + +/** + * @brief Decode a data_stream message into a struct + * + * @param msg The message to decode + * @param data_stream C-struct to decode the message contents into + */ +static inline void mavlink_msg_data_stream_decode(const mavlink_message_t* msg, mavlink_data_stream_t* data_stream) +{ + memcpy( data_stream, msg->payload, sizeof(mavlink_data_stream_t)); +} diff --git a/thirdParty/mavlink/include/common/mavlink_msg_debug.h b/thirdParty/mavlink/include/common/mavlink_msg_debug.h index 2de388fc5705279be9ecf9042d1f424da794ebe8..e125d8e9fb40ca8a016856528c820fdc119d2485 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_debug.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_debug.h @@ -94,6 +94,7 @@ static inline void mavlink_msg_debug_send(mavlink_channel_t chan, uint8_t ind, f hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/common/mavlink_msg_debug_vect.h b/thirdParty/mavlink/include/common/mavlink_msg_debug_vect.h index a0565e755a475f06c008cbc67d4b0212b4f5cf3e..75114ec8fb4e72cb110eb1ffda66b1df7eeb7966 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_debug_vect.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_debug_vect.h @@ -116,6 +116,7 @@ static inline void mavlink_msg_debug_vect_send(mavlink_channel_t chan, const cha hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/common/mavlink_msg_global_position.h b/thirdParty/mavlink/include/common/mavlink_msg_global_position.h index c3a1accfa829d70f9c37d0bac7b973964ffe96b7..d4d13dc202d35c671e3fb38ff051277c74a39b6d 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_global_position.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_global_position.h @@ -129,6 +129,7 @@ static inline void mavlink_msg_global_position_send(mavlink_channel_t chan, uint hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/common/mavlink_msg_global_position_int.h b/thirdParty/mavlink/include/common/mavlink_msg_global_position_int.h index 218a757c2796d5121049f5d8ab5621abf0061e20..4943298eec56ccfa643df15a4c7f07581fa66dbc 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_global_position_int.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_global_position_int.h @@ -129,6 +129,7 @@ static inline void mavlink_msg_global_position_int_send(mavlink_channel_t chan, hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/common/mavlink_msg_global_position_setpoint_int.h b/thirdParty/mavlink/include/common/mavlink_msg_global_position_setpoint_int.h new file mode 100644 index 0000000000000000000000000000000000000000..cfd814cd2aedf71e2699c5be51680d4d7e8e3a66 --- /dev/null +++ b/thirdParty/mavlink/include/common/mavlink_msg_global_position_setpoint_int.h @@ -0,0 +1,177 @@ +// MESSAGE GLOBAL_POSITION_SETPOINT_INT PACKING + +#define MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT 52 +#define MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT_LEN 14 +#define MAVLINK_MSG_52_LEN 14 +#define MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT_KEY 0x14 +#define MAVLINK_MSG_52_KEY 0x14 + +typedef struct __mavlink_global_position_setpoint_int_t +{ + int32_t latitude; ///< WGS84 Latitude position in degrees * 1E7 + int32_t longitude; ///< WGS84 Longitude position in degrees * 1E7 + int32_t altitude; ///< WGS84 Altitude in meters * 1000 (positive for up) + int16_t yaw; ///< Desired yaw angle in degrees * 100 + +} mavlink_global_position_setpoint_int_t; + +/** + * @brief Pack a global_position_setpoint_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 latitude WGS84 Latitude position in degrees * 1E7 + * @param longitude WGS84 Longitude position in degrees * 1E7 + * @param altitude WGS84 Altitude in meters * 1000 (positive for up) + * @param yaw Desired yaw angle in degrees * 100 + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_global_position_setpoint_int_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, int32_t latitude, int32_t longitude, int32_t altitude, int16_t yaw) +{ + mavlink_global_position_setpoint_int_t *p = (mavlink_global_position_setpoint_int_t *)&msg->payload[0]; + msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT; + + p->latitude = latitude; // int32_t:WGS84 Latitude position in degrees * 1E7 + p->longitude = longitude; // int32_t:WGS84 Longitude position in degrees * 1E7 + p->altitude = altitude; // int32_t:WGS84 Altitude in meters * 1000 (positive for up) + p->yaw = yaw; // int16_t:Desired yaw angle in degrees * 100 + + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT_LEN); +} + +/** + * @brief Pack a global_position_setpoint_int message + * @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 WGS84 Latitude position in degrees * 1E7 + * @param longitude WGS84 Longitude position in degrees * 1E7 + * @param altitude WGS84 Altitude in meters * 1000 (positive for up) + * @param yaw Desired yaw angle in degrees * 100 + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_global_position_setpoint_int_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, int16_t yaw) +{ + mavlink_global_position_setpoint_int_t *p = (mavlink_global_position_setpoint_int_t *)&msg->payload[0]; + msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT; + + p->latitude = latitude; // int32_t:WGS84 Latitude position in degrees * 1E7 + p->longitude = longitude; // int32_t:WGS84 Longitude position in degrees * 1E7 + p->altitude = altitude; // int32_t:WGS84 Altitude in meters * 1000 (positive for up) + p->yaw = yaw; // int16_t:Desired yaw angle in degrees * 100 + + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT_LEN); +} + +/** + * @brief Encode a global_position_setpoint_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_setpoint_int C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_global_position_setpoint_int_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_global_position_setpoint_int_t* global_position_setpoint_int) +{ + return mavlink_msg_global_position_setpoint_int_pack(system_id, component_id, msg, global_position_setpoint_int->latitude, global_position_setpoint_int->longitude, global_position_setpoint_int->altitude, global_position_setpoint_int->yaw); +} + + +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS +/** + * @brief Send a global_position_setpoint_int message + * @param chan MAVLink channel to send the message + * + * @param latitude WGS84 Latitude position in degrees * 1E7 + * @param longitude WGS84 Longitude position in degrees * 1E7 + * @param altitude WGS84 Altitude in meters * 1000 (positive for up) + * @param yaw Desired yaw angle in degrees * 100 + */ +static inline void mavlink_msg_global_position_setpoint_int_send(mavlink_channel_t chan, int32_t latitude, int32_t longitude, int32_t altitude, int16_t yaw) +{ + mavlink_header_t hdr; + mavlink_global_position_setpoint_int_t payload; + + MAVLINK_BUFFER_CHECK_START( chan, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT_LEN ) + payload.latitude = latitude; // int32_t:WGS84 Latitude position in degrees * 1E7 + payload.longitude = longitude; // int32_t:WGS84 Longitude position in degrees * 1E7 + payload.altitude = altitude; // int32_t:WGS84 Altitude in meters * 1000 (positive for up) + payload.yaw = yaw; // int16_t:Desired yaw angle in degrees * 100 + + hdr.STX = MAVLINK_STX; + hdr.len = MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT_LEN; + hdr.msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT; + hdr.sysid = mavlink_system.sysid; + hdr.compid = mavlink_system.compid; + hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; + mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; + mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); + + crc_init(&hdr.ck); + crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); + crc_calculate_mem((uint8_t *)&payload, &hdr.ck, hdr.len ); + crc_accumulate( 0x14, &hdr.ck); /// include key in X25 checksum + mavlink_send_mem(chan, (uint8_t *)&hdr.ck, MAVLINK_NUM_CHECKSUM_BYTES); + MAVLINK_BUFFER_CHECK_END +} + +#endif +// MESSAGE GLOBAL_POSITION_SETPOINT_INT UNPACKING + +/** + * @brief Get field latitude from global_position_setpoint_int message + * + * @return WGS84 Latitude position in degrees * 1E7 + */ +static inline int32_t mavlink_msg_global_position_setpoint_int_get_latitude(const mavlink_message_t* msg) +{ + mavlink_global_position_setpoint_int_t *p = (mavlink_global_position_setpoint_int_t *)&msg->payload[0]; + return (int32_t)(p->latitude); +} + +/** + * @brief Get field longitude from global_position_setpoint_int message + * + * @return WGS84 Longitude position in degrees * 1E7 + */ +static inline int32_t mavlink_msg_global_position_setpoint_int_get_longitude(const mavlink_message_t* msg) +{ + mavlink_global_position_setpoint_int_t *p = (mavlink_global_position_setpoint_int_t *)&msg->payload[0]; + return (int32_t)(p->longitude); +} + +/** + * @brief Get field altitude from global_position_setpoint_int message + * + * @return WGS84 Altitude in meters * 1000 (positive for up) + */ +static inline int32_t mavlink_msg_global_position_setpoint_int_get_altitude(const mavlink_message_t* msg) +{ + mavlink_global_position_setpoint_int_t *p = (mavlink_global_position_setpoint_int_t *)&msg->payload[0]; + return (int32_t)(p->altitude); +} + +/** + * @brief Get field yaw from global_position_setpoint_int message + * + * @return Desired yaw angle in degrees * 100 + */ +static inline int16_t mavlink_msg_global_position_setpoint_int_get_yaw(const mavlink_message_t* msg) +{ + mavlink_global_position_setpoint_int_t *p = (mavlink_global_position_setpoint_int_t *)&msg->payload[0]; + return (int16_t)(p->yaw); +} + +/** + * @brief Decode a global_position_setpoint_int message into a struct + * + * @param msg The message to decode + * @param global_position_setpoint_int C-struct to decode the message contents into + */ +static inline void mavlink_msg_global_position_setpoint_int_decode(const mavlink_message_t* msg, mavlink_global_position_setpoint_int_t* global_position_setpoint_int) +{ + memcpy( global_position_setpoint_int, msg->payload, sizeof(mavlink_global_position_setpoint_int_t)); +} diff --git a/thirdParty/mavlink/include/common/mavlink_msg_gps_local_origin_set.h b/thirdParty/mavlink/include/common/mavlink_msg_gps_local_origin_set.h index 8303f350f9f17865d9e36ec09a05a87bd16f088c..1daa52ea6d7998c24264b30b800e6872fac1c1be 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_gps_local_origin_set.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_gps_local_origin_set.h @@ -101,6 +101,7 @@ static inline void mavlink_msg_gps_local_origin_set_send(mavlink_channel_t chan, hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/common/mavlink_msg_gps_raw.h b/thirdParty/mavlink/include/common/mavlink_msg_gps_raw.h index ca4f86e37137c0c5fd9734db3d817322adfc94cd..3dabc300510821b7523c5952874a13cd550409b9 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_gps_raw.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_gps_raw.h @@ -150,6 +150,7 @@ static inline void mavlink_msg_gps_raw_send(mavlink_channel_t chan, uint64_t use hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/common/mavlink_msg_gps_raw_int.h b/thirdParty/mavlink/include/common/mavlink_msg_gps_raw_int.h index bc281fe0ea07c36a37e7d9dcf565e4d6614dd2eb..fcdd41ad1d10fb508a424e9aa8dedbb2d1b0f3fe 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_gps_raw_int.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_gps_raw_int.h @@ -150,6 +150,7 @@ static inline void mavlink_msg_gps_raw_int_send(mavlink_channel_t chan, uint64_t hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/common/mavlink_msg_gps_set_global_origin.h b/thirdParty/mavlink/include/common/mavlink_msg_gps_set_global_origin.h index edb2b8d543aa29450456813a032c7b5a3e0065cd..b4d471170a1319a42bd62ada4a632f41ba9a848a 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_gps_set_global_origin.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_gps_set_global_origin.h @@ -115,6 +115,7 @@ static inline void mavlink_msg_gps_set_global_origin_send(mavlink_channel_t chan hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/common/mavlink_msg_gps_status.h b/thirdParty/mavlink/include/common/mavlink_msg_gps_status.h index 450a98ccdb853f456161d33cb5cb733f96f2c72b..1c020abe29107d4fed64553adde7378abfc81491 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_gps_status.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_gps_status.h @@ -127,6 +127,7 @@ static inline void mavlink_msg_gps_status_send(mavlink_channel_t chan, uint8_t s hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/common/mavlink_msg_heartbeat.h b/thirdParty/mavlink/include/common/mavlink_msg_heartbeat.h index 466f8a783d30f6fa7dd7214dfbb0c2707b5d7edd..942f033cf74624b13909b1cde2d2200707cc1cc0 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_heartbeat.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_heartbeat.h @@ -1,15 +1,20 @@ // MESSAGE HEARTBEAT PACKING #define MAVLINK_MSG_ID_HEARTBEAT 0 -#define MAVLINK_MSG_ID_HEARTBEAT_LEN 3 -#define MAVLINK_MSG_0_LEN 3 -#define MAVLINK_MSG_ID_HEARTBEAT_KEY 0x47 -#define MAVLINK_MSG_0_KEY 0x47 +#define MAVLINK_MSG_ID_HEARTBEAT_LEN 8 +#define MAVLINK_MSG_0_LEN 8 +#define MAVLINK_MSG_ID_HEARTBEAT_KEY 0xA +#define MAVLINK_MSG_0_KEY 0xA 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 autopilot; ///< Autopilot type / class. defined in MAV_CLASS ENUM + uint8_t system_mode; ///< System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h + uint8_t flight_mode; ///< Navigation mode, see MAV_FLIGHT_MODE ENUM + uint8_t system_status; ///< System status flag, see MAV_STATUS ENUM + uint8_t safety_status; ///< System safety lock state, see MAV_SAFETY enum. Also indicates HIL operation + uint8_t link_status; ///< Bitmask showing which links are ok / enabled. 0 for disabled/non functional, 1: enabled Indices: 0: RC, 1: UART1, 2: UART2, 3: UART3, 4: UART4, 5: UART5, 6: I2C, 7: CAN uint8_t mavlink_version; ///< MAVLink version } mavlink_heartbeat_t; @@ -21,16 +26,26 @@ typedef struct __mavlink_heartbeat_t * @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 + * @param autopilot Autopilot type / class. defined in MAV_CLASS ENUM + * @param system_mode System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h + * @param flight_mode Navigation mode, see MAV_FLIGHT_MODE ENUM + * @param system_status System status flag, see MAV_STATUS ENUM + * @param safety_status System safety lock state, see MAV_SAFETY enum. Also indicates HIL operation + * @param link_status Bitmask showing which links are ok / enabled. 0 for disabled/non functional, 1: enabled Indices: 0: RC, 1: UART1, 2: UART2, 3: UART3, 4: UART4, 5: UART5, 6: I2C, 7: CAN * @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) +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, uint8_t system_mode, uint8_t flight_mode, uint8_t system_status, uint8_t safety_status, uint8_t link_status) { mavlink_heartbeat_t *p = (mavlink_heartbeat_t *)&msg->payload[0]; msg->msgid = MAVLINK_MSG_ID_HEARTBEAT; p->type = type; // uint8_t:Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) - p->autopilot = autopilot; // uint8_t:Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM + p->autopilot = autopilot; // uint8_t:Autopilot type / class. defined in MAV_CLASS ENUM + p->system_mode = system_mode; // uint8_t:System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h + p->flight_mode = flight_mode; // uint8_t:Navigation mode, see MAV_FLIGHT_MODE ENUM + p->system_status = system_status; // uint8_t:System status flag, see MAV_STATUS ENUM + p->safety_status = safety_status; // uint8_t:System safety lock state, see MAV_SAFETY enum. Also indicates HIL operation + p->link_status = link_status; // uint8_t:Bitmask showing which links are ok / enabled. 0 for disabled/non functional, 1: enabled Indices: 0: RC, 1: UART1, 2: UART2, 3: UART3, 4: UART4, 5: UART5, 6: I2C, 7: CAN p->mavlink_version = MAVLINK_VERSION; // uint8_t_mavlink_version:MAVLink version return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HEARTBEAT_LEN); @@ -43,16 +58,26 @@ static inline uint16_t mavlink_msg_heartbeat_pack(uint8_t system_id, uint8_t com * @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 + * @param autopilot Autopilot type / class. defined in MAV_CLASS ENUM + * @param system_mode System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h + * @param flight_mode Navigation mode, see MAV_FLIGHT_MODE ENUM + * @param system_status System status flag, see MAV_STATUS ENUM + * @param safety_status System safety lock state, see MAV_SAFETY enum. Also indicates HIL operation + * @param link_status Bitmask showing which links are ok / enabled. 0 for disabled/non functional, 1: enabled Indices: 0: RC, 1: UART1, 2: UART2, 3: UART3, 4: UART4, 5: UART5, 6: I2C, 7: CAN * @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) +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, uint8_t system_mode, uint8_t flight_mode, uint8_t system_status, uint8_t safety_status, uint8_t link_status) { mavlink_heartbeat_t *p = (mavlink_heartbeat_t *)&msg->payload[0]; msg->msgid = MAVLINK_MSG_ID_HEARTBEAT; p->type = type; // uint8_t:Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) - p->autopilot = autopilot; // uint8_t:Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM + p->autopilot = autopilot; // uint8_t:Autopilot type / class. defined in MAV_CLASS ENUM + p->system_mode = system_mode; // uint8_t:System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h + p->flight_mode = flight_mode; // uint8_t:Navigation mode, see MAV_FLIGHT_MODE ENUM + p->system_status = system_status; // uint8_t:System status flag, see MAV_STATUS ENUM + p->safety_status = safety_status; // uint8_t:System safety lock state, see MAV_SAFETY enum. Also indicates HIL operation + p->link_status = link_status; // uint8_t:Bitmask showing which links are ok / enabled. 0 for disabled/non functional, 1: enabled Indices: 0: RC, 1: UART1, 2: UART2, 3: UART3, 4: UART4, 5: UART5, 6: I2C, 7: CAN p->mavlink_version = MAVLINK_VERSION; // uint8_t_mavlink_version:MAVLink version return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HEARTBEAT_LEN); @@ -68,7 +93,7 @@ static inline uint16_t mavlink_msg_heartbeat_pack_chan(uint8_t system_id, uint8_ */ 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); + return mavlink_msg_heartbeat_pack(system_id, component_id, msg, heartbeat->type, heartbeat->autopilot, heartbeat->system_mode, heartbeat->flight_mode, heartbeat->system_status, heartbeat->safety_status, heartbeat->link_status); } @@ -78,16 +103,26 @@ static inline uint16_t mavlink_msg_heartbeat_encode(uint8_t system_id, uint8_t c * @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 + * @param autopilot Autopilot type / class. defined in MAV_CLASS ENUM + * @param system_mode System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h + * @param flight_mode Navigation mode, see MAV_FLIGHT_MODE ENUM + * @param system_status System status flag, see MAV_STATUS ENUM + * @param safety_status System safety lock state, see MAV_SAFETY enum. Also indicates HIL operation + * @param link_status Bitmask showing which links are ok / enabled. 0 for disabled/non functional, 1: enabled Indices: 0: RC, 1: UART1, 2: UART2, 3: UART3, 4: UART4, 5: UART5, 6: I2C, 7: CAN */ -static inline void mavlink_msg_heartbeat_send(mavlink_channel_t chan, uint8_t type, uint8_t autopilot) +static inline void mavlink_msg_heartbeat_send(mavlink_channel_t chan, uint8_t type, uint8_t autopilot, uint8_t system_mode, uint8_t flight_mode, uint8_t system_status, uint8_t safety_status, uint8_t link_status) { mavlink_header_t hdr; mavlink_heartbeat_t payload; MAVLINK_BUFFER_CHECK_START( chan, MAVLINK_MSG_ID_HEARTBEAT_LEN ) payload.type = type; // uint8_t:Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) - payload.autopilot = autopilot; // uint8_t:Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM + payload.autopilot = autopilot; // uint8_t:Autopilot type / class. defined in MAV_CLASS ENUM + payload.system_mode = system_mode; // uint8_t:System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h + payload.flight_mode = flight_mode; // uint8_t:Navigation mode, see MAV_FLIGHT_MODE ENUM + payload.system_status = system_status; // uint8_t:System status flag, see MAV_STATUS ENUM + payload.safety_status = safety_status; // uint8_t:System safety lock state, see MAV_SAFETY enum. Also indicates HIL operation + payload.link_status = link_status; // uint8_t:Bitmask showing which links are ok / enabled. 0 for disabled/non functional, 1: enabled Indices: 0: RC, 1: UART1, 2: UART2, 3: UART3, 4: UART4, 5: UART5, 6: I2C, 7: CAN payload.mavlink_version = MAVLINK_VERSION; // uint8_t_mavlink_version:MAVLink version hdr.STX = MAVLINK_STX; @@ -98,11 +133,12 @@ static inline void mavlink_msg_heartbeat_send(mavlink_channel_t chan, uint8_t ty hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); crc_calculate_mem((uint8_t *)&payload, &hdr.ck, hdr.len ); - crc_accumulate( 0x47, &hdr.ck); /// include key in X25 checksum + crc_accumulate( 0xA, &hdr.ck); /// include key in X25 checksum mavlink_send_mem(chan, (uint8_t *)&hdr.ck, MAVLINK_NUM_CHECKSUM_BYTES); MAVLINK_BUFFER_CHECK_END } @@ -124,7 +160,7 @@ static inline uint8_t mavlink_msg_heartbeat_get_type(const mavlink_message_t* ms /** * @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 + * @return Autopilot type / class. defined in MAV_CLASS ENUM */ static inline uint8_t mavlink_msg_heartbeat_get_autopilot(const mavlink_message_t* msg) { @@ -132,6 +168,61 @@ static inline uint8_t mavlink_msg_heartbeat_get_autopilot(const mavlink_message_ return (uint8_t)(p->autopilot); } +/** + * @brief Get field system_mode from heartbeat message + * + * @return System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h + */ +static inline uint8_t mavlink_msg_heartbeat_get_system_mode(const mavlink_message_t* msg) +{ + mavlink_heartbeat_t *p = (mavlink_heartbeat_t *)&msg->payload[0]; + return (uint8_t)(p->system_mode); +} + +/** + * @brief Get field flight_mode from heartbeat message + * + * @return Navigation mode, see MAV_FLIGHT_MODE ENUM + */ +static inline uint8_t mavlink_msg_heartbeat_get_flight_mode(const mavlink_message_t* msg) +{ + mavlink_heartbeat_t *p = (mavlink_heartbeat_t *)&msg->payload[0]; + return (uint8_t)(p->flight_mode); +} + +/** + * @brief Get field system_status from heartbeat message + * + * @return System status flag, see MAV_STATUS ENUM + */ +static inline uint8_t mavlink_msg_heartbeat_get_system_status(const mavlink_message_t* msg) +{ + mavlink_heartbeat_t *p = (mavlink_heartbeat_t *)&msg->payload[0]; + return (uint8_t)(p->system_status); +} + +/** + * @brief Get field safety_status from heartbeat message + * + * @return System safety lock state, see MAV_SAFETY enum. Also indicates HIL operation + */ +static inline uint8_t mavlink_msg_heartbeat_get_safety_status(const mavlink_message_t* msg) +{ + mavlink_heartbeat_t *p = (mavlink_heartbeat_t *)&msg->payload[0]; + return (uint8_t)(p->safety_status); +} + +/** + * @brief Get field link_status from heartbeat message + * + * @return Bitmask showing which links are ok / enabled. 0 for disabled/non functional, 1: enabled Indices: 0: RC, 1: UART1, 2: UART2, 3: UART3, 4: UART4, 5: UART5, 6: I2C, 7: CAN + */ +static inline uint8_t mavlink_msg_heartbeat_get_link_status(const mavlink_message_t* msg) +{ + mavlink_heartbeat_t *p = (mavlink_heartbeat_t *)&msg->payload[0]; + return (uint8_t)(p->link_status); +} + /** * @brief Get field mavlink_version from heartbeat message * diff --git a/thirdParty/mavlink/include/common/mavlink_msg_hil_controls.h b/thirdParty/mavlink/include/common/mavlink_msg_hil_controls.h new file mode 100644 index 0000000000000000000000000000000000000000..d06b40bfd6a21c77b53bc35bf69fa604ed89c80d --- /dev/null +++ b/thirdParty/mavlink/include/common/mavlink_msg_hil_controls.h @@ -0,0 +1,303 @@ +// MESSAGE HIL_CONTROLS PACKING + +#define MAVLINK_MSG_ID_HIL_CONTROLS 91 +#define MAVLINK_MSG_ID_HIL_CONTROLS_LEN 42 +#define MAVLINK_MSG_91_LEN 42 +#define MAVLINK_MSG_ID_HIL_CONTROLS_KEY 0x67 +#define MAVLINK_MSG_91_KEY 0x67 + +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 -1 .. 1 + float pitch_elevator; ///< Control output -1 .. 1 + float yaw_rudder; ///< Control output -1 .. 1 + float throttle; ///< Throttle 0 .. 1 + float aux1; ///< Aux 1, -1 .. 1 + float aux2; ///< Aux 2, -1 .. 1 + float aux3; ///< Aux 3, -1 .. 1 + float aux4; ///< Aux 4, -1 .. 1 + uint8_t mode; ///< System mode (MAV_MODE) + uint8_t nav_mode; ///< Navigation mode (MAV_NAV_MODE) + +} mavlink_hil_controls_t; + +/** + * @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 -1 .. 1 + * @param pitch_elevator Control output -1 .. 1 + * @param yaw_rudder Control output -1 .. 1 + * @param throttle Throttle 0 .. 1 + * @param aux1 Aux 1, -1 .. 1 + * @param aux2 Aux 2, -1 .. 1 + * @param aux3 Aux 3, -1 .. 1 + * @param aux4 Aux 4, -1 .. 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, float aux1, float aux2, float aux3, float aux4, uint8_t mode, uint8_t nav_mode) +{ + mavlink_hil_controls_t *p = (mavlink_hil_controls_t *)&msg->payload[0]; + msg->msgid = MAVLINK_MSG_ID_HIL_CONTROLS; + + p->time_us = time_us; // uint64_t:Timestamp (microseconds since UNIX epoch or microseconds since system boot) + p->roll_ailerons = roll_ailerons; // float:Control output -1 .. 1 + p->pitch_elevator = pitch_elevator; // float:Control output -1 .. 1 + p->yaw_rudder = yaw_rudder; // float:Control output -1 .. 1 + p->throttle = throttle; // float:Throttle 0 .. 1 + p->aux1 = aux1; // float:Aux 1, -1 .. 1 + p->aux2 = aux2; // float:Aux 2, -1 .. 1 + p->aux3 = aux3; // float:Aux 3, -1 .. 1 + p->aux4 = aux4; // float:Aux 4, -1 .. 1 + p->mode = mode; // uint8_t:System mode (MAV_MODE) + p->nav_mode = nav_mode; // uint8_t:Navigation mode (MAV_NAV_MODE) + + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_CONTROLS_LEN); +} + +/** + * @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 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 -1 .. 1 + * @param pitch_elevator Control output -1 .. 1 + * @param yaw_rudder Control output -1 .. 1 + * @param throttle Throttle 0 .. 1 + * @param aux1 Aux 1, -1 .. 1 + * @param aux2 Aux 2, -1 .. 1 + * @param aux3 Aux 3, -1 .. 1 + * @param aux4 Aux 4, -1 .. 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, float aux1, float aux2, float aux3, float aux4, uint8_t mode, uint8_t nav_mode) +{ + mavlink_hil_controls_t *p = (mavlink_hil_controls_t *)&msg->payload[0]; + msg->msgid = MAVLINK_MSG_ID_HIL_CONTROLS; + + p->time_us = time_us; // uint64_t:Timestamp (microseconds since UNIX epoch or microseconds since system boot) + p->roll_ailerons = roll_ailerons; // float:Control output -1 .. 1 + p->pitch_elevator = pitch_elevator; // float:Control output -1 .. 1 + p->yaw_rudder = yaw_rudder; // float:Control output -1 .. 1 + p->throttle = throttle; // float:Throttle 0 .. 1 + p->aux1 = aux1; // float:Aux 1, -1 .. 1 + p->aux2 = aux2; // float:Aux 2, -1 .. 1 + p->aux3 = aux3; // float:Aux 3, -1 .. 1 + p->aux4 = aux4; // float:Aux 4, -1 .. 1 + p->mode = mode; // uint8_t:System mode (MAV_MODE) + p->nav_mode = nav_mode; // uint8_t:Navigation mode (MAV_NAV_MODE) + + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_CONTROLS_LEN); +} + +/** + * @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->aux1, hil_controls->aux2, hil_controls->aux3, hil_controls->aux4, hil_controls->mode, hil_controls->nav_mode); +} + + +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS +/** + * @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 -1 .. 1 + * @param pitch_elevator Control output -1 .. 1 + * @param yaw_rudder Control output -1 .. 1 + * @param throttle Throttle 0 .. 1 + * @param aux1 Aux 1, -1 .. 1 + * @param aux2 Aux 2, -1 .. 1 + * @param aux3 Aux 3, -1 .. 1 + * @param aux4 Aux 4, -1 .. 1 + * @param mode System mode (MAV_MODE) + * @param nav_mode Navigation mode (MAV_NAV_MODE) + */ +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, float aux1, float aux2, float aux3, float aux4, uint8_t mode, uint8_t nav_mode) +{ + mavlink_header_t hdr; + mavlink_hil_controls_t payload; + + MAVLINK_BUFFER_CHECK_START( chan, MAVLINK_MSG_ID_HIL_CONTROLS_LEN ) + payload.time_us = time_us; // uint64_t:Timestamp (microseconds since UNIX epoch or microseconds since system boot) + payload.roll_ailerons = roll_ailerons; // float:Control output -1 .. 1 + payload.pitch_elevator = pitch_elevator; // float:Control output -1 .. 1 + payload.yaw_rudder = yaw_rudder; // float:Control output -1 .. 1 + payload.throttle = throttle; // float:Throttle 0 .. 1 + payload.aux1 = aux1; // float:Aux 1, -1 .. 1 + payload.aux2 = aux2; // float:Aux 2, -1 .. 1 + payload.aux3 = aux3; // float:Aux 3, -1 .. 1 + payload.aux4 = aux4; // float:Aux 4, -1 .. 1 + payload.mode = mode; // uint8_t:System mode (MAV_MODE) + payload.nav_mode = nav_mode; // uint8_t:Navigation mode (MAV_NAV_MODE) + + hdr.STX = MAVLINK_STX; + hdr.len = MAVLINK_MSG_ID_HIL_CONTROLS_LEN; + hdr.msgid = MAVLINK_MSG_ID_HIL_CONTROLS; + hdr.sysid = mavlink_system.sysid; + hdr.compid = mavlink_system.compid; + hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; + mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; + mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); + + crc_init(&hdr.ck); + crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); + crc_calculate_mem((uint8_t *)&payload, &hdr.ck, hdr.len ); + crc_accumulate( 0x67, &hdr.ck); /// include key in X25 checksum + mavlink_send_mem(chan, (uint8_t *)&hdr.ck, MAVLINK_NUM_CHECKSUM_BYTES); + MAVLINK_BUFFER_CHECK_END +} + +#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) +{ + mavlink_hil_controls_t *p = (mavlink_hil_controls_t *)&msg->payload[0]; + return (uint64_t)(p->time_us); +} + +/** + * @brief Get field roll_ailerons from hil_controls message + * + * @return Control output -1 .. 1 + */ +static inline float mavlink_msg_hil_controls_get_roll_ailerons(const mavlink_message_t* msg) +{ + mavlink_hil_controls_t *p = (mavlink_hil_controls_t *)&msg->payload[0]; + return (float)(p->roll_ailerons); +} + +/** + * @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) +{ + mavlink_hil_controls_t *p = (mavlink_hil_controls_t *)&msg->payload[0]; + return (float)(p->pitch_elevator); +} + +/** + * @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) +{ + mavlink_hil_controls_t *p = (mavlink_hil_controls_t *)&msg->payload[0]; + return (float)(p->yaw_rudder); +} + +/** + * @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) +{ + mavlink_hil_controls_t *p = (mavlink_hil_controls_t *)&msg->payload[0]; + return (float)(p->throttle); +} + +/** + * @brief Get field aux1 from hil_controls message + * + * @return Aux 1, -1 .. 1 + */ +static inline float mavlink_msg_hil_controls_get_aux1(const mavlink_message_t* msg) +{ + mavlink_hil_controls_t *p = (mavlink_hil_controls_t *)&msg->payload[0]; + return (float)(p->aux1); +} + +/** + * @brief Get field aux2 from hil_controls message + * + * @return Aux 2, -1 .. 1 + */ +static inline float mavlink_msg_hil_controls_get_aux2(const mavlink_message_t* msg) +{ + mavlink_hil_controls_t *p = (mavlink_hil_controls_t *)&msg->payload[0]; + return (float)(p->aux2); +} + +/** + * @brief Get field aux3 from hil_controls message + * + * @return Aux 3, -1 .. 1 + */ +static inline float mavlink_msg_hil_controls_get_aux3(const mavlink_message_t* msg) +{ + mavlink_hil_controls_t *p = (mavlink_hil_controls_t *)&msg->payload[0]; + return (float)(p->aux3); +} + +/** + * @brief Get field aux4 from hil_controls message + * + * @return Aux 4, -1 .. 1 + */ +static inline float mavlink_msg_hil_controls_get_aux4(const mavlink_message_t* msg) +{ + mavlink_hil_controls_t *p = (mavlink_hil_controls_t *)&msg->payload[0]; + return (float)(p->aux4); +} + +/** + * @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) +{ + mavlink_hil_controls_t *p = (mavlink_hil_controls_t *)&msg->payload[0]; + return (uint8_t)(p->mode); +} + +/** + * @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) +{ + mavlink_hil_controls_t *p = (mavlink_hil_controls_t *)&msg->payload[0]; + return (uint8_t)(p->nav_mode); +} + +/** + * @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) +{ + memcpy( hil_controls, msg->payload, sizeof(mavlink_hil_controls_t)); +} diff --git a/thirdParty/mavlink/include/common/mavlink_msg_hil_rc_inputs_raw.h b/thirdParty/mavlink/include/common/mavlink_msg_hil_rc_inputs_raw.h new file mode 100644 index 0000000000000000000000000000000000000000..1db288a77aa151a9d56f35da663a55b98b1c0903 --- /dev/null +++ b/thirdParty/mavlink/include/common/mavlink_msg_hil_rc_inputs_raw.h @@ -0,0 +1,357 @@ +// MESSAGE HIL_RC_INPUTS_RAW PACKING + +#define MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW 92 +#define MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW_LEN 33 +#define MAVLINK_MSG_92_LEN 33 +#define MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW_KEY 0x3B +#define MAVLINK_MSG_92_KEY 0x3B + +typedef struct __mavlink_hil_rc_inputs_raw_t +{ + uint64_t time_us; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot) + uint16_t chan1_raw; ///< RC channel 1 value, in microseconds + uint16_t chan2_raw; ///< RC channel 2 value, in microseconds + uint16_t chan3_raw; ///< RC channel 3 value, in microseconds + uint16_t chan4_raw; ///< RC channel 4 value, in microseconds + uint16_t chan5_raw; ///< RC channel 5 value, in microseconds + uint16_t chan6_raw; ///< RC channel 6 value, in microseconds + uint16_t chan7_raw; ///< RC channel 7 value, in microseconds + uint16_t chan8_raw; ///< RC channel 8 value, in microseconds + uint16_t chan9_raw; ///< RC channel 9 value, in microseconds + uint16_t chan10_raw; ///< RC channel 10 value, in microseconds + uint16_t chan11_raw; ///< RC channel 11 value, in microseconds + uint16_t chan12_raw; ///< RC channel 12 value, in microseconds + uint8_t rssi; ///< Receive signal strength indicator, 0: 0%, 255: 100% + +} mavlink_hil_rc_inputs_raw_t; + +/** + * @brief Pack a hil_rc_inputs_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 time_us Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @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 chan9_raw RC channel 9 value, in microseconds + * @param chan10_raw RC channel 10 value, in microseconds + * @param chan11_raw RC channel 11 value, in microseconds + * @param chan12_raw RC channel 12 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_hil_rc_inputs_raw_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t time_us, 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, uint16_t chan9_raw, uint16_t chan10_raw, uint16_t chan11_raw, uint16_t chan12_raw, uint8_t rssi) +{ + mavlink_hil_rc_inputs_raw_t *p = (mavlink_hil_rc_inputs_raw_t *)&msg->payload[0]; + msg->msgid = MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW; + + p->time_us = time_us; // uint64_t:Timestamp (microseconds since UNIX epoch or microseconds since system boot) + p->chan1_raw = chan1_raw; // uint16_t:RC channel 1 value, in microseconds + p->chan2_raw = chan2_raw; // uint16_t:RC channel 2 value, in microseconds + p->chan3_raw = chan3_raw; // uint16_t:RC channel 3 value, in microseconds + p->chan4_raw = chan4_raw; // uint16_t:RC channel 4 value, in microseconds + p->chan5_raw = chan5_raw; // uint16_t:RC channel 5 value, in microseconds + p->chan6_raw = chan6_raw; // uint16_t:RC channel 6 value, in microseconds + p->chan7_raw = chan7_raw; // uint16_t:RC channel 7 value, in microseconds + p->chan8_raw = chan8_raw; // uint16_t:RC channel 8 value, in microseconds + p->chan9_raw = chan9_raw; // uint16_t:RC channel 9 value, in microseconds + p->chan10_raw = chan10_raw; // uint16_t:RC channel 10 value, in microseconds + p->chan11_raw = chan11_raw; // uint16_t:RC channel 11 value, in microseconds + p->chan12_raw = chan12_raw; // uint16_t:RC channel 12 value, in microseconds + p->rssi = rssi; // uint8_t:Receive signal strength indicator, 0: 0%, 255: 100% + + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW_LEN); +} + +/** + * @brief Pack a hil_rc_inputs_raw message + * @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 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 chan9_raw RC channel 9 value, in microseconds + * @param chan10_raw RC channel 10 value, in microseconds + * @param chan11_raw RC channel 11 value, in microseconds + * @param chan12_raw RC channel 12 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_hil_rc_inputs_raw_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t time_us, 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, uint16_t chan9_raw, uint16_t chan10_raw, uint16_t chan11_raw, uint16_t chan12_raw, uint8_t rssi) +{ + mavlink_hil_rc_inputs_raw_t *p = (mavlink_hil_rc_inputs_raw_t *)&msg->payload[0]; + msg->msgid = MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW; + + p->time_us = time_us; // uint64_t:Timestamp (microseconds since UNIX epoch or microseconds since system boot) + p->chan1_raw = chan1_raw; // uint16_t:RC channel 1 value, in microseconds + p->chan2_raw = chan2_raw; // uint16_t:RC channel 2 value, in microseconds + p->chan3_raw = chan3_raw; // uint16_t:RC channel 3 value, in microseconds + p->chan4_raw = chan4_raw; // uint16_t:RC channel 4 value, in microseconds + p->chan5_raw = chan5_raw; // uint16_t:RC channel 5 value, in microseconds + p->chan6_raw = chan6_raw; // uint16_t:RC channel 6 value, in microseconds + p->chan7_raw = chan7_raw; // uint16_t:RC channel 7 value, in microseconds + p->chan8_raw = chan8_raw; // uint16_t:RC channel 8 value, in microseconds + p->chan9_raw = chan9_raw; // uint16_t:RC channel 9 value, in microseconds + p->chan10_raw = chan10_raw; // uint16_t:RC channel 10 value, in microseconds + p->chan11_raw = chan11_raw; // uint16_t:RC channel 11 value, in microseconds + p->chan12_raw = chan12_raw; // uint16_t:RC channel 12 value, in microseconds + p->rssi = rssi; // uint8_t:Receive signal strength indicator, 0: 0%, 255: 100% + + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW_LEN); +} + +/** + * @brief Encode a hil_rc_inputs_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 hil_rc_inputs_raw C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_hil_rc_inputs_raw_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_rc_inputs_raw_t* hil_rc_inputs_raw) +{ + return mavlink_msg_hil_rc_inputs_raw_pack(system_id, component_id, msg, hil_rc_inputs_raw->time_us, hil_rc_inputs_raw->chan1_raw, hil_rc_inputs_raw->chan2_raw, hil_rc_inputs_raw->chan3_raw, hil_rc_inputs_raw->chan4_raw, hil_rc_inputs_raw->chan5_raw, hil_rc_inputs_raw->chan6_raw, hil_rc_inputs_raw->chan7_raw, hil_rc_inputs_raw->chan8_raw, hil_rc_inputs_raw->chan9_raw, hil_rc_inputs_raw->chan10_raw, hil_rc_inputs_raw->chan11_raw, hil_rc_inputs_raw->chan12_raw, hil_rc_inputs_raw->rssi); +} + + +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS +/** + * @brief Send a hil_rc_inputs_raw message + * @param chan MAVLink channel to send the message + * + * @param time_us Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @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 chan9_raw RC channel 9 value, in microseconds + * @param chan10_raw RC channel 10 value, in microseconds + * @param chan11_raw RC channel 11 value, in microseconds + * @param chan12_raw RC channel 12 value, in microseconds + * @param rssi Receive signal strength indicator, 0: 0%, 255: 100% + */ +static inline void mavlink_msg_hil_rc_inputs_raw_send(mavlink_channel_t chan, uint64_t time_us, 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, uint16_t chan9_raw, uint16_t chan10_raw, uint16_t chan11_raw, uint16_t chan12_raw, uint8_t rssi) +{ + mavlink_header_t hdr; + mavlink_hil_rc_inputs_raw_t payload; + + MAVLINK_BUFFER_CHECK_START( chan, MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW_LEN ) + payload.time_us = time_us; // uint64_t:Timestamp (microseconds since UNIX epoch or microseconds since system boot) + payload.chan1_raw = chan1_raw; // uint16_t:RC channel 1 value, in microseconds + payload.chan2_raw = chan2_raw; // uint16_t:RC channel 2 value, in microseconds + payload.chan3_raw = chan3_raw; // uint16_t:RC channel 3 value, in microseconds + payload.chan4_raw = chan4_raw; // uint16_t:RC channel 4 value, in microseconds + payload.chan5_raw = chan5_raw; // uint16_t:RC channel 5 value, in microseconds + payload.chan6_raw = chan6_raw; // uint16_t:RC channel 6 value, in microseconds + payload.chan7_raw = chan7_raw; // uint16_t:RC channel 7 value, in microseconds + payload.chan8_raw = chan8_raw; // uint16_t:RC channel 8 value, in microseconds + payload.chan9_raw = chan9_raw; // uint16_t:RC channel 9 value, in microseconds + payload.chan10_raw = chan10_raw; // uint16_t:RC channel 10 value, in microseconds + payload.chan11_raw = chan11_raw; // uint16_t:RC channel 11 value, in microseconds + payload.chan12_raw = chan12_raw; // uint16_t:RC channel 12 value, in microseconds + payload.rssi = rssi; // uint8_t:Receive signal strength indicator, 0: 0%, 255: 100% + + hdr.STX = MAVLINK_STX; + hdr.len = MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW_LEN; + hdr.msgid = MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW; + hdr.sysid = mavlink_system.sysid; + hdr.compid = mavlink_system.compid; + hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; + mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; + mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); + + crc_init(&hdr.ck); + crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); + crc_calculate_mem((uint8_t *)&payload, &hdr.ck, hdr.len ); + crc_accumulate( 0x3B, &hdr.ck); /// include key in X25 checksum + mavlink_send_mem(chan, (uint8_t *)&hdr.ck, MAVLINK_NUM_CHECKSUM_BYTES); + MAVLINK_BUFFER_CHECK_END +} + +#endif +// MESSAGE HIL_RC_INPUTS_RAW UNPACKING + +/** + * @brief Get field time_us from hil_rc_inputs_raw message + * + * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot) + */ +static inline uint64_t mavlink_msg_hil_rc_inputs_raw_get_time_us(const mavlink_message_t* msg) +{ + mavlink_hil_rc_inputs_raw_t *p = (mavlink_hil_rc_inputs_raw_t *)&msg->payload[0]; + return (uint64_t)(p->time_us); +} + +/** + * @brief Get field chan1_raw from hil_rc_inputs_raw message + * + * @return RC channel 1 value, in microseconds + */ +static inline uint16_t mavlink_msg_hil_rc_inputs_raw_get_chan1_raw(const mavlink_message_t* msg) +{ + mavlink_hil_rc_inputs_raw_t *p = (mavlink_hil_rc_inputs_raw_t *)&msg->payload[0]; + return (uint16_t)(p->chan1_raw); +} + +/** + * @brief Get field chan2_raw from hil_rc_inputs_raw message + * + * @return RC channel 2 value, in microseconds + */ +static inline uint16_t mavlink_msg_hil_rc_inputs_raw_get_chan2_raw(const mavlink_message_t* msg) +{ + mavlink_hil_rc_inputs_raw_t *p = (mavlink_hil_rc_inputs_raw_t *)&msg->payload[0]; + return (uint16_t)(p->chan2_raw); +} + +/** + * @brief Get field chan3_raw from hil_rc_inputs_raw message + * + * @return RC channel 3 value, in microseconds + */ +static inline uint16_t mavlink_msg_hil_rc_inputs_raw_get_chan3_raw(const mavlink_message_t* msg) +{ + mavlink_hil_rc_inputs_raw_t *p = (mavlink_hil_rc_inputs_raw_t *)&msg->payload[0]; + return (uint16_t)(p->chan3_raw); +} + +/** + * @brief Get field chan4_raw from hil_rc_inputs_raw message + * + * @return RC channel 4 value, in microseconds + */ +static inline uint16_t mavlink_msg_hil_rc_inputs_raw_get_chan4_raw(const mavlink_message_t* msg) +{ + mavlink_hil_rc_inputs_raw_t *p = (mavlink_hil_rc_inputs_raw_t *)&msg->payload[0]; + return (uint16_t)(p->chan4_raw); +} + +/** + * @brief Get field chan5_raw from hil_rc_inputs_raw message + * + * @return RC channel 5 value, in microseconds + */ +static inline uint16_t mavlink_msg_hil_rc_inputs_raw_get_chan5_raw(const mavlink_message_t* msg) +{ + mavlink_hil_rc_inputs_raw_t *p = (mavlink_hil_rc_inputs_raw_t *)&msg->payload[0]; + return (uint16_t)(p->chan5_raw); +} + +/** + * @brief Get field chan6_raw from hil_rc_inputs_raw message + * + * @return RC channel 6 value, in microseconds + */ +static inline uint16_t mavlink_msg_hil_rc_inputs_raw_get_chan6_raw(const mavlink_message_t* msg) +{ + mavlink_hil_rc_inputs_raw_t *p = (mavlink_hil_rc_inputs_raw_t *)&msg->payload[0]; + return (uint16_t)(p->chan6_raw); +} + +/** + * @brief Get field chan7_raw from hil_rc_inputs_raw message + * + * @return RC channel 7 value, in microseconds + */ +static inline uint16_t mavlink_msg_hil_rc_inputs_raw_get_chan7_raw(const mavlink_message_t* msg) +{ + mavlink_hil_rc_inputs_raw_t *p = (mavlink_hil_rc_inputs_raw_t *)&msg->payload[0]; + return (uint16_t)(p->chan7_raw); +} + +/** + * @brief Get field chan8_raw from hil_rc_inputs_raw message + * + * @return RC channel 8 value, in microseconds + */ +static inline uint16_t mavlink_msg_hil_rc_inputs_raw_get_chan8_raw(const mavlink_message_t* msg) +{ + mavlink_hil_rc_inputs_raw_t *p = (mavlink_hil_rc_inputs_raw_t *)&msg->payload[0]; + return (uint16_t)(p->chan8_raw); +} + +/** + * @brief Get field chan9_raw from hil_rc_inputs_raw message + * + * @return RC channel 9 value, in microseconds + */ +static inline uint16_t mavlink_msg_hil_rc_inputs_raw_get_chan9_raw(const mavlink_message_t* msg) +{ + mavlink_hil_rc_inputs_raw_t *p = (mavlink_hil_rc_inputs_raw_t *)&msg->payload[0]; + return (uint16_t)(p->chan9_raw); +} + +/** + * @brief Get field chan10_raw from hil_rc_inputs_raw message + * + * @return RC channel 10 value, in microseconds + */ +static inline uint16_t mavlink_msg_hil_rc_inputs_raw_get_chan10_raw(const mavlink_message_t* msg) +{ + mavlink_hil_rc_inputs_raw_t *p = (mavlink_hil_rc_inputs_raw_t *)&msg->payload[0]; + return (uint16_t)(p->chan10_raw); +} + +/** + * @brief Get field chan11_raw from hil_rc_inputs_raw message + * + * @return RC channel 11 value, in microseconds + */ +static inline uint16_t mavlink_msg_hil_rc_inputs_raw_get_chan11_raw(const mavlink_message_t* msg) +{ + mavlink_hil_rc_inputs_raw_t *p = (mavlink_hil_rc_inputs_raw_t *)&msg->payload[0]; + return (uint16_t)(p->chan11_raw); +} + +/** + * @brief Get field chan12_raw from hil_rc_inputs_raw message + * + * @return RC channel 12 value, in microseconds + */ +static inline uint16_t mavlink_msg_hil_rc_inputs_raw_get_chan12_raw(const mavlink_message_t* msg) +{ + mavlink_hil_rc_inputs_raw_t *p = (mavlink_hil_rc_inputs_raw_t *)&msg->payload[0]; + return (uint16_t)(p->chan12_raw); +} + +/** + * @brief Get field rssi from hil_rc_inputs_raw message + * + * @return Receive signal strength indicator, 0: 0%, 255: 100% + */ +static inline uint8_t mavlink_msg_hil_rc_inputs_raw_get_rssi(const mavlink_message_t* msg) +{ + mavlink_hil_rc_inputs_raw_t *p = (mavlink_hil_rc_inputs_raw_t *)&msg->payload[0]; + return (uint8_t)(p->rssi); +} + +/** + * @brief Decode a hil_rc_inputs_raw message into a struct + * + * @param msg The message to decode + * @param hil_rc_inputs_raw C-struct to decode the message contents into + */ +static inline void mavlink_msg_hil_rc_inputs_raw_decode(const mavlink_message_t* msg, mavlink_hil_rc_inputs_raw_t* hil_rc_inputs_raw) +{ + memcpy( hil_rc_inputs_raw, msg->payload, sizeof(mavlink_hil_rc_inputs_raw_t)); +} diff --git a/thirdParty/mavlink/include/common/mavlink_msg_full_state.h b/thirdParty/mavlink/include/common/mavlink_msg_hil_state.h similarity index 56% rename from thirdParty/mavlink/include/common/mavlink_msg_full_state.h rename to thirdParty/mavlink/include/common/mavlink_msg_hil_state.h index 9cacfd9703f5880d6342465733ebac24ab030441..cc172725ef93e0f942833063c12d57e3f7f84298 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_full_state.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_hil_state.h @@ -1,14 +1,14 @@ -// MESSAGE FULL_STATE PACKING +// MESSAGE HIL_STATE PACKING -#define MAVLINK_MSG_ID_FULL_STATE 67 -#define MAVLINK_MSG_ID_FULL_STATE_LEN 56 -#define MAVLINK_MSG_67_LEN 56 -#define MAVLINK_MSG_ID_FULL_STATE_KEY 0x26 -#define MAVLINK_MSG_67_KEY 0x26 +#define MAVLINK_MSG_ID_HIL_STATE 90 +#define MAVLINK_MSG_ID_HIL_STATE_LEN 56 +#define MAVLINK_MSG_90_LEN 56 +#define MAVLINK_MSG_ID_HIL_STATE_KEY 0x12 +#define MAVLINK_MSG_90_KEY 0x12 -typedef struct __mavlink_full_state_t +typedef struct __mavlink_hil_state_t { - uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot) + uint64_t time_us; ///< 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) @@ -25,15 +25,15 @@ typedef struct __mavlink_full_state_t int16_t yacc; ///< Y acceleration (mg) int16_t zacc; ///< Z acceleration (mg) -} mavlink_full_state_t; +} mavlink_hil_state_t; /** - * @brief Pack a full_state message + * @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 time_us 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) @@ -51,12 +51,12 @@ typedef struct __mavlink_full_state_t * @param zacc Z acceleration (mg) * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_full_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) +static inline uint16_t mavlink_msg_hil_state_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t time_us, 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) { - mavlink_full_state_t *p = (mavlink_full_state_t *)&msg->payload[0]; - msg->msgid = MAVLINK_MSG_ID_FULL_STATE; + mavlink_hil_state_t *p = (mavlink_hil_state_t *)&msg->payload[0]; + msg->msgid = MAVLINK_MSG_ID_HIL_STATE; - p->usec = usec; // uint64_t:Timestamp (microseconds since UNIX epoch or microseconds since system boot) + p->time_us = time_us; // uint64_t:Timestamp (microseconds since UNIX epoch or microseconds since system boot) p->roll = roll; // float:Roll angle (rad) p->pitch = pitch; // float:Pitch angle (rad) p->yaw = yaw; // float:Yaw angle (rad) @@ -73,16 +73,16 @@ static inline uint16_t mavlink_msg_full_state_pack(uint8_t system_id, uint8_t co p->yacc = yacc; // int16_t:Y acceleration (mg) p->zacc = zacc; // int16_t:Z acceleration (mg) - return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_FULL_STATE_LEN); + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_STATE_LEN); } /** - * @brief Pack a full_state message + * @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 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 time_us 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) @@ -100,12 +100,12 @@ static inline uint16_t mavlink_msg_full_state_pack(uint8_t system_id, uint8_t co * @param zacc Z acceleration (mg) * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_full_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) +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 time_us, 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) { - mavlink_full_state_t *p = (mavlink_full_state_t *)&msg->payload[0]; - msg->msgid = MAVLINK_MSG_ID_FULL_STATE; + mavlink_hil_state_t *p = (mavlink_hil_state_t *)&msg->payload[0]; + msg->msgid = MAVLINK_MSG_ID_HIL_STATE; - p->usec = usec; // uint64_t:Timestamp (microseconds since UNIX epoch or microseconds since system boot) + p->time_us = time_us; // uint64_t:Timestamp (microseconds since UNIX epoch or microseconds since system boot) p->roll = roll; // float:Roll angle (rad) p->pitch = pitch; // float:Pitch angle (rad) p->yaw = yaw; // float:Yaw angle (rad) @@ -122,29 +122,29 @@ static inline uint16_t mavlink_msg_full_state_pack_chan(uint8_t system_id, uint8 p->yacc = yacc; // int16_t:Y acceleration (mg) p->zacc = zacc; // int16_t:Z acceleration (mg) - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_FULL_STATE_LEN); + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_STATE_LEN); } /** - * @brief Encode a full_state struct into a message + * @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 full_state C-struct to read the message contents from + * @param hil_state C-struct to read the message contents from */ -static inline uint16_t mavlink_msg_full_state_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_full_state_t* full_state) +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_full_state_pack(system_id, component_id, msg, full_state->usec, full_state->roll, full_state->pitch, full_state->yaw, full_state->rollspeed, full_state->pitchspeed, full_state->yawspeed, full_state->lat, full_state->lon, full_state->alt, full_state->vx, full_state->vy, full_state->vz, full_state->xacc, full_state->yacc, full_state->zacc); + return mavlink_msg_hil_state_pack(system_id, component_id, msg, hil_state->time_us, 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); } #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS /** - * @brief Send a full_state message + * @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 time_us 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) @@ -161,13 +161,13 @@ static inline uint16_t mavlink_msg_full_state_encode(uint8_t system_id, uint8_t * @param yacc Y acceleration (mg) * @param zacc Z acceleration (mg) */ -static inline void mavlink_msg_full_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) +static inline void mavlink_msg_hil_state_send(mavlink_channel_t chan, uint64_t time_us, 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) { mavlink_header_t hdr; - mavlink_full_state_t payload; + mavlink_hil_state_t payload; - MAVLINK_BUFFER_CHECK_START( chan, MAVLINK_MSG_ID_FULL_STATE_LEN ) - payload.usec = usec; // uint64_t:Timestamp (microseconds since UNIX epoch or microseconds since system boot) + MAVLINK_BUFFER_CHECK_START( chan, MAVLINK_MSG_ID_HIL_STATE_LEN ) + payload.time_us = time_us; // uint64_t:Timestamp (microseconds since UNIX epoch or microseconds since system boot) payload.roll = roll; // float:Roll angle (rad) payload.pitch = pitch; // float:Pitch angle (rad) payload.yaw = yaw; // float:Yaw angle (rad) @@ -185,208 +185,209 @@ static inline void mavlink_msg_full_state_send(mavlink_channel_t chan, uint64_t payload.zacc = zacc; // int16_t:Z acceleration (mg) hdr.STX = MAVLINK_STX; - hdr.len = MAVLINK_MSG_ID_FULL_STATE_LEN; - hdr.msgid = MAVLINK_MSG_ID_FULL_STATE; + hdr.len = MAVLINK_MSG_ID_HIL_STATE_LEN; + hdr.msgid = MAVLINK_MSG_ID_HIL_STATE; hdr.sysid = mavlink_system.sysid; hdr.compid = mavlink_system.compid; hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); crc_calculate_mem((uint8_t *)&payload, &hdr.ck, hdr.len ); - crc_accumulate( 0x26, &hdr.ck); /// include key in X25 checksum + crc_accumulate( 0x12, &hdr.ck); /// include key in X25 checksum mavlink_send_mem(chan, (uint8_t *)&hdr.ck, MAVLINK_NUM_CHECKSUM_BYTES); MAVLINK_BUFFER_CHECK_END } #endif -// MESSAGE FULL_STATE UNPACKING +// MESSAGE HIL_STATE UNPACKING /** - * @brief Get field usec from full_state message + * @brief Get field time_us from hil_state message * * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot) */ -static inline uint64_t mavlink_msg_full_state_get_usec(const mavlink_message_t* msg) +static inline uint64_t mavlink_msg_hil_state_get_time_us(const mavlink_message_t* msg) { - mavlink_full_state_t *p = (mavlink_full_state_t *)&msg->payload[0]; - return (uint64_t)(p->usec); + mavlink_hil_state_t *p = (mavlink_hil_state_t *)&msg->payload[0]; + return (uint64_t)(p->time_us); } /** - * @brief Get field roll from full_state message + * @brief Get field roll from hil_state message * * @return Roll angle (rad) */ -static inline float mavlink_msg_full_state_get_roll(const mavlink_message_t* msg) +static inline float mavlink_msg_hil_state_get_roll(const mavlink_message_t* msg) { - mavlink_full_state_t *p = (mavlink_full_state_t *)&msg->payload[0]; + mavlink_hil_state_t *p = (mavlink_hil_state_t *)&msg->payload[0]; return (float)(p->roll); } /** - * @brief Get field pitch from full_state message + * @brief Get field pitch from hil_state message * * @return Pitch angle (rad) */ -static inline float mavlink_msg_full_state_get_pitch(const mavlink_message_t* msg) +static inline float mavlink_msg_hil_state_get_pitch(const mavlink_message_t* msg) { - mavlink_full_state_t *p = (mavlink_full_state_t *)&msg->payload[0]; + mavlink_hil_state_t *p = (mavlink_hil_state_t *)&msg->payload[0]; return (float)(p->pitch); } /** - * @brief Get field yaw from full_state message + * @brief Get field yaw from hil_state message * * @return Yaw angle (rad) */ -static inline float mavlink_msg_full_state_get_yaw(const mavlink_message_t* msg) +static inline float mavlink_msg_hil_state_get_yaw(const mavlink_message_t* msg) { - mavlink_full_state_t *p = (mavlink_full_state_t *)&msg->payload[0]; + mavlink_hil_state_t *p = (mavlink_hil_state_t *)&msg->payload[0]; return (float)(p->yaw); } /** - * @brief Get field rollspeed from full_state message + * @brief Get field rollspeed from hil_state message * * @return Roll angular speed (rad/s) */ -static inline float mavlink_msg_full_state_get_rollspeed(const mavlink_message_t* msg) +static inline float mavlink_msg_hil_state_get_rollspeed(const mavlink_message_t* msg) { - mavlink_full_state_t *p = (mavlink_full_state_t *)&msg->payload[0]; + mavlink_hil_state_t *p = (mavlink_hil_state_t *)&msg->payload[0]; return (float)(p->rollspeed); } /** - * @brief Get field pitchspeed from full_state message + * @brief Get field pitchspeed from hil_state message * * @return Pitch angular speed (rad/s) */ -static inline float mavlink_msg_full_state_get_pitchspeed(const mavlink_message_t* msg) +static inline float mavlink_msg_hil_state_get_pitchspeed(const mavlink_message_t* msg) { - mavlink_full_state_t *p = (mavlink_full_state_t *)&msg->payload[0]; + mavlink_hil_state_t *p = (mavlink_hil_state_t *)&msg->payload[0]; return (float)(p->pitchspeed); } /** - * @brief Get field yawspeed from full_state message + * @brief Get field yawspeed from hil_state message * * @return Yaw angular speed (rad/s) */ -static inline float mavlink_msg_full_state_get_yawspeed(const mavlink_message_t* msg) +static inline float mavlink_msg_hil_state_get_yawspeed(const mavlink_message_t* msg) { - mavlink_full_state_t *p = (mavlink_full_state_t *)&msg->payload[0]; + mavlink_hil_state_t *p = (mavlink_hil_state_t *)&msg->payload[0]; return (float)(p->yawspeed); } /** - * @brief Get field lat from full_state message + * @brief Get field lat from hil_state message * * @return Latitude, expressed as * 1E7 */ -static inline int32_t mavlink_msg_full_state_get_lat(const mavlink_message_t* msg) +static inline int32_t mavlink_msg_hil_state_get_lat(const mavlink_message_t* msg) { - mavlink_full_state_t *p = (mavlink_full_state_t *)&msg->payload[0]; + mavlink_hil_state_t *p = (mavlink_hil_state_t *)&msg->payload[0]; return (int32_t)(p->lat); } /** - * @brief Get field lon from full_state message + * @brief Get field lon from hil_state message * * @return Longitude, expressed as * 1E7 */ -static inline int32_t mavlink_msg_full_state_get_lon(const mavlink_message_t* msg) +static inline int32_t mavlink_msg_hil_state_get_lon(const mavlink_message_t* msg) { - mavlink_full_state_t *p = (mavlink_full_state_t *)&msg->payload[0]; + mavlink_hil_state_t *p = (mavlink_hil_state_t *)&msg->payload[0]; return (int32_t)(p->lon); } /** - * @brief Get field alt from full_state message + * @brief Get field alt from hil_state message * * @return Altitude in meters, expressed as * 1000 (millimeters) */ -static inline int32_t mavlink_msg_full_state_get_alt(const mavlink_message_t* msg) +static inline int32_t mavlink_msg_hil_state_get_alt(const mavlink_message_t* msg) { - mavlink_full_state_t *p = (mavlink_full_state_t *)&msg->payload[0]; + mavlink_hil_state_t *p = (mavlink_hil_state_t *)&msg->payload[0]; return (int32_t)(p->alt); } /** - * @brief Get field vx from full_state message + * @brief Get field vx from hil_state message * * @return Ground X Speed (Latitude), expressed as m/s * 100 */ -static inline int16_t mavlink_msg_full_state_get_vx(const mavlink_message_t* msg) +static inline int16_t mavlink_msg_hil_state_get_vx(const mavlink_message_t* msg) { - mavlink_full_state_t *p = (mavlink_full_state_t *)&msg->payload[0]; + mavlink_hil_state_t *p = (mavlink_hil_state_t *)&msg->payload[0]; return (int16_t)(p->vx); } /** - * @brief Get field vy from full_state message + * @brief Get field vy from hil_state message * * @return Ground Y Speed (Longitude), expressed as m/s * 100 */ -static inline int16_t mavlink_msg_full_state_get_vy(const mavlink_message_t* msg) +static inline int16_t mavlink_msg_hil_state_get_vy(const mavlink_message_t* msg) { - mavlink_full_state_t *p = (mavlink_full_state_t *)&msg->payload[0]; + mavlink_hil_state_t *p = (mavlink_hil_state_t *)&msg->payload[0]; return (int16_t)(p->vy); } /** - * @brief Get field vz from full_state message + * @brief Get field vz from hil_state message * * @return Ground Z Speed (Altitude), expressed as m/s * 100 */ -static inline int16_t mavlink_msg_full_state_get_vz(const mavlink_message_t* msg) +static inline int16_t mavlink_msg_hil_state_get_vz(const mavlink_message_t* msg) { - mavlink_full_state_t *p = (mavlink_full_state_t *)&msg->payload[0]; + mavlink_hil_state_t *p = (mavlink_hil_state_t *)&msg->payload[0]; return (int16_t)(p->vz); } /** - * @brief Get field xacc from full_state message + * @brief Get field xacc from hil_state message * * @return X acceleration (mg) */ -static inline int16_t mavlink_msg_full_state_get_xacc(const mavlink_message_t* msg) +static inline int16_t mavlink_msg_hil_state_get_xacc(const mavlink_message_t* msg) { - mavlink_full_state_t *p = (mavlink_full_state_t *)&msg->payload[0]; + mavlink_hil_state_t *p = (mavlink_hil_state_t *)&msg->payload[0]; return (int16_t)(p->xacc); } /** - * @brief Get field yacc from full_state message + * @brief Get field yacc from hil_state message * * @return Y acceleration (mg) */ -static inline int16_t mavlink_msg_full_state_get_yacc(const mavlink_message_t* msg) +static inline int16_t mavlink_msg_hil_state_get_yacc(const mavlink_message_t* msg) { - mavlink_full_state_t *p = (mavlink_full_state_t *)&msg->payload[0]; + mavlink_hil_state_t *p = (mavlink_hil_state_t *)&msg->payload[0]; return (int16_t)(p->yacc); } /** - * @brief Get field zacc from full_state message + * @brief Get field zacc from hil_state message * * @return Z acceleration (mg) */ -static inline int16_t mavlink_msg_full_state_get_zacc(const mavlink_message_t* msg) +static inline int16_t mavlink_msg_hil_state_get_zacc(const mavlink_message_t* msg) { - mavlink_full_state_t *p = (mavlink_full_state_t *)&msg->payload[0]; + mavlink_hil_state_t *p = (mavlink_hil_state_t *)&msg->payload[0]; return (int16_t)(p->zacc); } /** - * @brief Decode a full_state message into a struct + * @brief Decode a hil_state message into a struct * * @param msg The message to decode - * @param full_state C-struct to decode the message contents into + * @param hil_state C-struct to decode the message contents into */ -static inline void mavlink_msg_full_state_decode(const mavlink_message_t* msg, mavlink_full_state_t* full_state) +static inline void mavlink_msg_hil_state_decode(const mavlink_message_t* msg, mavlink_hil_state_t* hil_state) { - memcpy( full_state, msg->payload, sizeof(mavlink_full_state_t)); + memcpy( hil_state, msg->payload, sizeof(mavlink_hil_state_t)); } diff --git a/thirdParty/mavlink/include/common/mavlink_msg_local_position.h b/thirdParty/mavlink/include/common/mavlink_msg_local_position.h index 280469009ff2c78f059ff0342e91563a766e39d0..23bef43c77c8bdd8788a62336e1ee4ce475349f4 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_local_position.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_local_position.h @@ -129,6 +129,7 @@ static inline void mavlink_msg_local_position_send(mavlink_channel_t chan, uint6 hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/common/mavlink_msg_local_position_setpoint.h b/thirdParty/mavlink/include/common/mavlink_msg_local_position_setpoint.h index 6fd3bb04352cdc9df191ec5568441c660c708466..8946df5040d8c5f5558cb177e5312cba4363dff5 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_local_position_setpoint.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_local_position_setpoint.h @@ -108,6 +108,7 @@ static inline void mavlink_msg_local_position_setpoint_send(mavlink_channel_t ch hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/common/mavlink_msg_local_position_setpoint_set.h b/thirdParty/mavlink/include/common/mavlink_msg_local_position_setpoint_set.h index c26258c5ba499abe938053ea8cd91177460cbad4..2cc141437272d824aaadb6352fd5aec2aaa760ce 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_local_position_setpoint_set.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_local_position_setpoint_set.h @@ -122,6 +122,7 @@ static inline void mavlink_msg_local_position_setpoint_set_send(mavlink_channel_ hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/common/mavlink_msg_manual_control.h b/thirdParty/mavlink/include/common/mavlink_msg_manual_control.h index a8cecbec5d1e91d98754c677a359aef64ee3ba1d..30fe96a873d5807becaa70115194badd70d71bac 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_manual_control.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_manual_control.h @@ -143,6 +143,7 @@ static inline void mavlink_msg_manual_control_send(mavlink_channel_t chan, uint8 hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/common/mavlink_msg_memory_vect.h b/thirdParty/mavlink/include/common/mavlink_msg_memory_vect.h index 22857f9fee5726713adce550aadeca91c203b020..13f7e61149fa372e27dcd1dec45998a626e61cfd 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_memory_vect.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_memory_vect.h @@ -109,6 +109,7 @@ static inline void mavlink_msg_memory_vect_send(mavlink_channel_t chan, uint16_t hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/common/mavlink_msg_named_value_float.h b/thirdParty/mavlink/include/common/mavlink_msg_named_value_float.h index 6775ea32d1285381e06ee8ecbeea4e647dd85756..2b5aa2a11b04bb94f819a7c83f4a0f624d839165 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_named_value_float.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_named_value_float.h @@ -95,6 +95,7 @@ static inline void mavlink_msg_named_value_float_send(mavlink_channel_t chan, co hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/common/mavlink_msg_named_value_int.h b/thirdParty/mavlink/include/common/mavlink_msg_named_value_int.h index 86789129e0c52fe34cbe612f2c9bdbd0f5f84d80..ec212acaa8b5b2c416db6beb40ef19e8aeadba74 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_named_value_int.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_named_value_int.h @@ -95,6 +95,7 @@ static inline void mavlink_msg_named_value_int_send(mavlink_channel_t chan, cons hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/common/mavlink_msg_nav_controller_output.h b/thirdParty/mavlink/include/common/mavlink_msg_nav_controller_output.h index 351fa5205f9a87d1b1e3b77f4675ed5c2dd94a7d..1bb5c22cf9fe3c8c8856b821fa2a0b800713fa8b 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_nav_controller_output.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_nav_controller_output.h @@ -136,6 +136,7 @@ static inline void mavlink_msg_nav_controller_output_send(mavlink_channel_t chan hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/common/mavlink_msg_optical_flow.h b/thirdParty/mavlink/include/common/mavlink_msg_optical_flow.h new file mode 100644 index 0000000000000000000000000000000000000000..3dc4893fc62ee423196ce2562704d1a92fdf9d9f --- /dev/null +++ b/thirdParty/mavlink/include/common/mavlink_msg_optical_flow.h @@ -0,0 +1,213 @@ +// MESSAGE OPTICAL_FLOW PACKING + +#define MAVLINK_MSG_ID_OPTICAL_FLOW 100 +#define MAVLINK_MSG_ID_OPTICAL_FLOW_LEN 18 +#define MAVLINK_MSG_100_LEN 18 +#define MAVLINK_MSG_ID_OPTICAL_FLOW_KEY 0x4A +#define MAVLINK_MSG_100_KEY 0x4A + +typedef struct __mavlink_optical_flow_t +{ + uint64_t time; ///< Timestamp (UNIX) + 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; + +/** + * @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) +{ + mavlink_optical_flow_t *p = (mavlink_optical_flow_t *)&msg->payload[0]; + msg->msgid = MAVLINK_MSG_ID_OPTICAL_FLOW; + + p->time = time; // uint64_t:Timestamp (UNIX) + p->sensor_id = sensor_id; // uint8_t:Sensor ID + p->flow_x = flow_x; // int16_t:Flow in pixels in x-sensor direction + p->flow_y = flow_y; // int16_t:Flow in pixels in y-sensor direction + p->quality = quality; // uint8_t:Optical flow quality / confidence. 0: bad, 255: maximum quality + p->ground_distance = ground_distance; // float:Ground distance in meters + + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN); +} + +/** + * @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 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) +{ + mavlink_optical_flow_t *p = (mavlink_optical_flow_t *)&msg->payload[0]; + msg->msgid = MAVLINK_MSG_ID_OPTICAL_FLOW; + + p->time = time; // uint64_t:Timestamp (UNIX) + p->sensor_id = sensor_id; // uint8_t:Sensor ID + p->flow_x = flow_x; // int16_t:Flow in pixels in x-sensor direction + p->flow_y = flow_y; // int16_t:Flow in pixels in y-sensor direction + p->quality = quality; // uint8_t:Optical flow quality / confidence. 0: bad, 255: maximum quality + p->ground_distance = ground_distance; // float:Ground distance in meters + + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN); +} + +/** + * @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); +} + + +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS +/** + * @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 + */ +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) +{ + mavlink_header_t hdr; + mavlink_optical_flow_t payload; + + MAVLINK_BUFFER_CHECK_START( chan, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN ) + payload.time = time; // uint64_t:Timestamp (UNIX) + payload.sensor_id = sensor_id; // uint8_t:Sensor ID + payload.flow_x = flow_x; // int16_t:Flow in pixels in x-sensor direction + payload.flow_y = flow_y; // int16_t:Flow in pixels in y-sensor direction + payload.quality = quality; // uint8_t:Optical flow quality / confidence. 0: bad, 255: maximum quality + payload.ground_distance = ground_distance; // float:Ground distance in meters + + hdr.STX = MAVLINK_STX; + hdr.len = MAVLINK_MSG_ID_OPTICAL_FLOW_LEN; + hdr.msgid = MAVLINK_MSG_ID_OPTICAL_FLOW; + hdr.sysid = mavlink_system.sysid; + hdr.compid = mavlink_system.compid; + hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; + mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; + mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); + + crc_init(&hdr.ck); + crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); + crc_calculate_mem((uint8_t *)&payload, &hdr.ck, hdr.len ); + crc_accumulate( 0x4A, &hdr.ck); /// include key in X25 checksum + mavlink_send_mem(chan, (uint8_t *)&hdr.ck, MAVLINK_NUM_CHECKSUM_BYTES); + MAVLINK_BUFFER_CHECK_END +} + +#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) +{ + mavlink_optical_flow_t *p = (mavlink_optical_flow_t *)&msg->payload[0]; + return (uint64_t)(p->time); +} + +/** + * @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) +{ + mavlink_optical_flow_t *p = (mavlink_optical_flow_t *)&msg->payload[0]; + return (uint8_t)(p->sensor_id); +} + +/** + * @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) +{ + mavlink_optical_flow_t *p = (mavlink_optical_flow_t *)&msg->payload[0]; + return (int16_t)(p->flow_x); +} + +/** + * @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) +{ + mavlink_optical_flow_t *p = (mavlink_optical_flow_t *)&msg->payload[0]; + return (int16_t)(p->flow_y); +} + +/** + * @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) +{ + mavlink_optical_flow_t *p = (mavlink_optical_flow_t *)&msg->payload[0]; + return (uint8_t)(p->quality); +} + +/** + * @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) +{ + mavlink_optical_flow_t *p = (mavlink_optical_flow_t *)&msg->payload[0]; + return (float)(p->ground_distance); +} + +/** + * @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) +{ + memcpy( optical_flow, msg->payload, sizeof(mavlink_optical_flow_t)); +} diff --git a/thirdParty/mavlink/include/common/mavlink_msg_param_request_list.h b/thirdParty/mavlink/include/common/mavlink_msg_param_request_list.h index 28fb9c4146b929a8dc540cab9bdda5d044e27fd3..fa67beea00a13e24f9e5fb6ffc9cfb2cd42e8787 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_param_request_list.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_param_request_list.h @@ -94,6 +94,7 @@ static inline void mavlink_msg_param_request_list_send(mavlink_channel_t chan, u hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/common/mavlink_msg_param_request_read.h b/thirdParty/mavlink/include/common/mavlink_msg_param_request_read.h index 614fc43282b6da026fd18598a8d6bfa353b5c731..6cadd266ea52086a3b0aecbb78daddb621605fe6 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_param_request_read.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_param_request_read.h @@ -109,6 +109,7 @@ static inline void mavlink_msg_param_request_read_send(mavlink_channel_t chan, u hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/common/mavlink_msg_param_set.h b/thirdParty/mavlink/include/common/mavlink_msg_param_set.h index 79e508be30eb7b187a6f0601d290a1e6fc4b7a28..c786469549eac412fa31031b1d039cb57b523a69 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_param_set.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_param_set.h @@ -1,10 +1,10 @@ // MESSAGE PARAM_SET PACKING #define MAVLINK_MSG_ID_PARAM_SET 23 -#define MAVLINK_MSG_ID_PARAM_SET_LEN 22 -#define MAVLINK_MSG_23_LEN 22 -#define MAVLINK_MSG_ID_PARAM_SET_KEY 0x2D -#define MAVLINK_MSG_23_KEY 0x2D +#define MAVLINK_MSG_ID_PARAM_SET_LEN 23 +#define MAVLINK_MSG_23_LEN 23 +#define MAVLINK_MSG_ID_PARAM_SET_KEY 0x37 +#define MAVLINK_MSG_23_KEY 0x37 typedef struct __mavlink_param_set_t { @@ -12,6 +12,7 @@ typedef struct __mavlink_param_set_t uint8_t target_system; ///< System ID uint8_t target_component; ///< Component ID char param_id[16]; ///< Onboard parameter id + uint8_t param_type; ///< Onboard parameter type: 0: float, 1: uint8_t, 2: int8_t, 3: uint16_t, 4: int16_t, 5: uint32_t, 6: int32_t } mavlink_param_set_t; #define MAVLINK_MSG_PARAM_SET_FIELD_PARAM_ID_LEN 16 @@ -26,9 +27,10 @@ typedef struct __mavlink_param_set_t * @param target_component Component ID * @param param_id Onboard parameter id * @param param_value Onboard parameter value + * @param param_type Onboard parameter type: 0: float, 1: uint8_t, 2: int8_t, 3: uint16_t, 4: int16_t, 5: uint32_t, 6: int32_t * @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 char* param_id, float param_value) +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 char* param_id, float param_value, uint8_t param_type) { mavlink_param_set_t *p = (mavlink_param_set_t *)&msg->payload[0]; msg->msgid = MAVLINK_MSG_ID_PARAM_SET; @@ -37,6 +39,7 @@ static inline uint16_t mavlink_msg_param_set_pack(uint8_t system_id, uint8_t com p->target_component = target_component; // uint8_t:Component ID memcpy(p->param_id, param_id, sizeof(p->param_id)); // char[16]:Onboard parameter id p->param_value = param_value; // float:Onboard parameter value + p->param_type = param_type; // uint8_t:Onboard parameter type: 0: float, 1: uint8_t, 2: int8_t, 3: uint16_t, 4: int16_t, 5: uint32_t, 6: int32_t return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_PARAM_SET_LEN); } @@ -51,9 +54,10 @@ static inline uint16_t mavlink_msg_param_set_pack(uint8_t system_id, uint8_t com * @param target_component Component ID * @param param_id Onboard parameter id * @param param_value Onboard parameter value + * @param param_type Onboard parameter type: 0: float, 1: uint8_t, 2: int8_t, 3: uint16_t, 4: int16_t, 5: uint32_t, 6: int32_t * @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 char* param_id, float param_value) +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 char* param_id, float param_value, uint8_t param_type) { mavlink_param_set_t *p = (mavlink_param_set_t *)&msg->payload[0]; msg->msgid = MAVLINK_MSG_ID_PARAM_SET; @@ -62,6 +66,7 @@ static inline uint16_t mavlink_msg_param_set_pack_chan(uint8_t system_id, uint8_ p->target_component = target_component; // uint8_t:Component ID memcpy(p->param_id, param_id, sizeof(p->param_id)); // char[16]:Onboard parameter id p->param_value = param_value; // float:Onboard parameter value + p->param_type = param_type; // uint8_t:Onboard parameter type: 0: float, 1: uint8_t, 2: int8_t, 3: uint16_t, 4: int16_t, 5: uint32_t, 6: int32_t return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_PARAM_SET_LEN); } @@ -76,7 +81,7 @@ static inline uint16_t mavlink_msg_param_set_pack_chan(uint8_t system_id, uint8_ */ 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); + 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, param_set->param_type); } @@ -89,8 +94,9 @@ static inline uint16_t mavlink_msg_param_set_encode(uint8_t system_id, uint8_t c * @param target_component Component ID * @param param_id Onboard parameter id * @param param_value Onboard parameter value + * @param param_type Onboard parameter type: 0: float, 1: uint8_t, 2: int8_t, 3: uint16_t, 4: int16_t, 5: uint32_t, 6: int32_t */ -static inline void mavlink_msg_param_set_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, const char* param_id, float param_value) +static inline void mavlink_msg_param_set_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, const char* param_id, float param_value, uint8_t param_type) { mavlink_header_t hdr; mavlink_param_set_t payload; @@ -100,6 +106,7 @@ static inline void mavlink_msg_param_set_send(mavlink_channel_t chan, uint8_t ta payload.target_component = target_component; // uint8_t:Component ID memcpy(payload.param_id, param_id, sizeof(payload.param_id)); // char[16]:Onboard parameter id payload.param_value = param_value; // float:Onboard parameter value + payload.param_type = param_type; // uint8_t:Onboard parameter type: 0: float, 1: uint8_t, 2: int8_t, 3: uint16_t, 4: int16_t, 5: uint32_t, 6: int32_t hdr.STX = MAVLINK_STX; hdr.len = MAVLINK_MSG_ID_PARAM_SET_LEN; @@ -109,11 +116,12 @@ static inline void mavlink_msg_param_set_send(mavlink_channel_t chan, uint8_t ta hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); crc_calculate_mem((uint8_t *)&payload, &hdr.ck, hdr.len ); - crc_accumulate( 0x2D, &hdr.ck); /// include key in X25 checksum + crc_accumulate( 0x37, &hdr.ck); /// include key in X25 checksum mavlink_send_mem(chan, (uint8_t *)&hdr.ck, MAVLINK_NUM_CHECKSUM_BYTES); MAVLINK_BUFFER_CHECK_END } @@ -167,6 +175,17 @@ static inline float mavlink_msg_param_set_get_param_value(const mavlink_message_ return (float)(p->param_value); } +/** + * @brief Get field param_type from param_set message + * + * @return Onboard parameter type: 0: float, 1: uint8_t, 2: int8_t, 3: uint16_t, 4: int16_t, 5: uint32_t, 6: int32_t + */ +static inline uint8_t mavlink_msg_param_set_get_param_type(const mavlink_message_t* msg) +{ + mavlink_param_set_t *p = (mavlink_param_set_t *)&msg->payload[0]; + return (uint8_t)(p->param_type); +} + /** * @brief Decode a param_set message into a struct * diff --git a/thirdParty/mavlink/include/common/mavlink_msg_param_value.h b/thirdParty/mavlink/include/common/mavlink_msg_param_value.h index 877a904846512d0596d0c11a5d602463b7ee20f6..70f3a20490023b297631097e0732d9657c0b5bea 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_param_value.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_param_value.h @@ -1,10 +1,10 @@ // MESSAGE PARAM_VALUE PACKING #define MAVLINK_MSG_ID_PARAM_VALUE 22 -#define MAVLINK_MSG_ID_PARAM_VALUE_LEN 24 -#define MAVLINK_MSG_22_LEN 24 -#define MAVLINK_MSG_ID_PARAM_VALUE_KEY 0xA3 -#define MAVLINK_MSG_22_KEY 0xA3 +#define MAVLINK_MSG_ID_PARAM_VALUE_LEN 25 +#define MAVLINK_MSG_22_LEN 25 +#define MAVLINK_MSG_ID_PARAM_VALUE_KEY 0xBF +#define MAVLINK_MSG_22_KEY 0xBF typedef struct __mavlink_param_value_t { @@ -12,6 +12,7 @@ typedef struct __mavlink_param_value_t uint16_t param_count; ///< Total number of onboard parameters uint16_t param_index; ///< Index of this onboard parameter char param_id[16]; ///< Onboard parameter id + uint8_t param_type; ///< Onboard parameter type: 0: float, 1: uint8_t, 2: int8_t, 3: uint16_t, 4: int16_t, 5: uint32_t, 6: int32_t } mavlink_param_value_t; #define MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN 16 @@ -24,17 +25,19 @@ typedef struct __mavlink_param_value_t * * @param param_id Onboard parameter id * @param param_value Onboard parameter value + * @param param_type Onboard parameter type: 0: float, 1: uint8_t, 2: int8_t, 3: uint16_t, 4: int16_t, 5: uint32_t, 6: int32_t * @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 char* param_id, float param_value, uint16_t param_count, uint16_t param_index) +static inline uint16_t mavlink_msg_param_value_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const char* param_id, float param_value, uint8_t param_type, uint16_t param_count, uint16_t param_index) { mavlink_param_value_t *p = (mavlink_param_value_t *)&msg->payload[0]; msg->msgid = MAVLINK_MSG_ID_PARAM_VALUE; memcpy(p->param_id, param_id, sizeof(p->param_id)); // char[16]:Onboard parameter id p->param_value = param_value; // float:Onboard parameter value + p->param_type = param_type; // uint8_t:Onboard parameter type: 0: float, 1: uint8_t, 2: int8_t, 3: uint16_t, 4: int16_t, 5: uint32_t, 6: int32_t p->param_count = param_count; // uint16_t:Total number of onboard parameters p->param_index = param_index; // uint16_t:Index of this onboard parameter @@ -49,17 +52,19 @@ static inline uint16_t mavlink_msg_param_value_pack(uint8_t system_id, uint8_t c * @param msg The MAVLink message to compress the data into * @param param_id Onboard parameter id * @param param_value Onboard parameter value + * @param param_type Onboard parameter type: 0: float, 1: uint8_t, 2: int8_t, 3: uint16_t, 4: int16_t, 5: uint32_t, 6: int32_t * @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 char* param_id, float param_value, uint16_t param_count, uint16_t param_index) +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 char* param_id, float param_value, uint8_t param_type, uint16_t param_count, uint16_t param_index) { mavlink_param_value_t *p = (mavlink_param_value_t *)&msg->payload[0]; msg->msgid = MAVLINK_MSG_ID_PARAM_VALUE; memcpy(p->param_id, param_id, sizeof(p->param_id)); // char[16]:Onboard parameter id p->param_value = param_value; // float:Onboard parameter value + p->param_type = param_type; // uint8_t:Onboard parameter type: 0: float, 1: uint8_t, 2: int8_t, 3: uint16_t, 4: int16_t, 5: uint32_t, 6: int32_t p->param_count = param_count; // uint16_t:Total number of onboard parameters p->param_index = param_index; // uint16_t:Index of this onboard parameter @@ -76,7 +81,7 @@ static inline uint16_t mavlink_msg_param_value_pack_chan(uint8_t system_id, uint */ 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); + return mavlink_msg_param_value_pack(system_id, component_id, msg, param_value->param_id, param_value->param_value, param_value->param_type, param_value->param_count, param_value->param_index); } @@ -87,10 +92,11 @@ static inline uint16_t mavlink_msg_param_value_encode(uint8_t system_id, uint8_t * * @param param_id Onboard parameter id * @param param_value Onboard parameter value + * @param param_type Onboard parameter type: 0: float, 1: uint8_t, 2: int8_t, 3: uint16_t, 4: int16_t, 5: uint32_t, 6: int32_t * @param param_count Total number of onboard parameters * @param param_index Index of this onboard parameter */ -static inline void mavlink_msg_param_value_send(mavlink_channel_t chan, const char* param_id, float param_value, uint16_t param_count, uint16_t param_index) +static inline void mavlink_msg_param_value_send(mavlink_channel_t chan, const char* param_id, float param_value, uint8_t param_type, uint16_t param_count, uint16_t param_index) { mavlink_header_t hdr; mavlink_param_value_t payload; @@ -98,6 +104,7 @@ static inline void mavlink_msg_param_value_send(mavlink_channel_t chan, const ch MAVLINK_BUFFER_CHECK_START( chan, MAVLINK_MSG_ID_PARAM_VALUE_LEN ) memcpy(payload.param_id, param_id, sizeof(payload.param_id)); // char[16]:Onboard parameter id payload.param_value = param_value; // float:Onboard parameter value + payload.param_type = param_type; // uint8_t:Onboard parameter type: 0: float, 1: uint8_t, 2: int8_t, 3: uint16_t, 4: int16_t, 5: uint32_t, 6: int32_t payload.param_count = param_count; // uint16_t:Total number of onboard parameters payload.param_index = param_index; // uint16_t:Index of this onboard parameter @@ -109,11 +116,12 @@ static inline void mavlink_msg_param_value_send(mavlink_channel_t chan, const ch hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); crc_calculate_mem((uint8_t *)&payload, &hdr.ck, hdr.len ); - crc_accumulate( 0xA3, &hdr.ck); /// include key in X25 checksum + crc_accumulate( 0xBF, &hdr.ck); /// include key in X25 checksum mavlink_send_mem(chan, (uint8_t *)&hdr.ck, MAVLINK_NUM_CHECKSUM_BYTES); MAVLINK_BUFFER_CHECK_END } @@ -145,6 +153,17 @@ static inline float mavlink_msg_param_value_get_param_value(const mavlink_messag return (float)(p->param_value); } +/** + * @brief Get field param_type from param_value message + * + * @return Onboard parameter type: 0: float, 1: uint8_t, 2: int8_t, 3: uint16_t, 4: int16_t, 5: uint32_t, 6: int32_t + */ +static inline uint8_t mavlink_msg_param_value_get_param_type(const mavlink_message_t* msg) +{ + mavlink_param_value_t *p = (mavlink_param_value_t *)&msg->payload[0]; + return (uint8_t)(p->param_type); +} + /** * @brief Get field param_count from param_value message * diff --git a/thirdParty/mavlink/include/common/mavlink_msg_ping.h b/thirdParty/mavlink/include/common/mavlink_msg_ping.h index 7cf69d57cc5a87ed5715d838b8db854fa250a233..faee1273211f1100dc4dbe22cc89ae3d6bb4dc6d 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_ping.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_ping.h @@ -1,10 +1,10 @@ // MESSAGE PING PACKING -#define MAVLINK_MSG_ID_PING 3 +#define MAVLINK_MSG_ID_PING 4 #define MAVLINK_MSG_ID_PING_LEN 14 -#define MAVLINK_MSG_3_LEN 14 +#define MAVLINK_MSG_4_LEN 14 #define MAVLINK_MSG_ID_PING_KEY 0xE2 -#define MAVLINK_MSG_3_KEY 0xE2 +#define MAVLINK_MSG_4_KEY 0xE2 typedef struct __mavlink_ping_t { @@ -108,6 +108,7 @@ static inline void mavlink_msg_ping_send(mavlink_channel_t chan, uint32_t seq, u hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/common/mavlink_msg_position_target.h b/thirdParty/mavlink/include/common/mavlink_msg_position_target.h index 113055c3d2108fb6ce90c581258324f53e663bfb..f1f8def94b8b3e1e854529aaa4fefaf6c31d5fce 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_position_target.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_position_target.h @@ -108,6 +108,7 @@ static inline void mavlink_msg_position_target_send(mavlink_channel_t chan, floa hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/common/mavlink_msg_raw_imu.h b/thirdParty/mavlink/include/common/mavlink_msg_raw_imu.h index ad3acf0584b4ca3efda6ccf425a0baa743793f1f..b7b72c92fb608ed9e8bc117a851798fb4ee302b3 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_raw_imu.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_raw_imu.h @@ -150,6 +150,7 @@ static inline void mavlink_msg_raw_imu_send(mavlink_channel_t chan, uint64_t use hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/common/mavlink_msg_raw_pressure.h b/thirdParty/mavlink/include/common/mavlink_msg_raw_pressure.h index 3ae58d82cf9ab25183eb8c1b661f36f4e3d8fa6b..20df43a187922d1dd6e809fe4272a46fbb5b2b1d 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_raw_pressure.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_raw_pressure.h @@ -115,6 +115,7 @@ static inline void mavlink_msg_raw_pressure_send(mavlink_channel_t chan, uint64_ hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/common/mavlink_msg_rc_channels_override.h b/thirdParty/mavlink/include/common/mavlink_msg_rc_channels_override.h index 1ec726f9dff65b289ddc2cc3ba7e0c7f6665e258..15a3b138b8e660c37f4dc54de4b4dcae1a9fc6c6 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_rc_channels_override.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_rc_channels_override.h @@ -150,6 +150,7 @@ static inline void mavlink_msg_rc_channels_override_send(mavlink_channel_t chan, hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/common/mavlink_msg_rc_channels_raw.h b/thirdParty/mavlink/include/common/mavlink_msg_rc_channels_raw.h index 840cfbf2cbe435c7007d58af1e40861fd635be8b..f1fcb6cf4667e68a0174aa169af57f26bd9512f1 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_rc_channels_raw.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_rc_channels_raw.h @@ -143,6 +143,7 @@ static inline void mavlink_msg_rc_channels_raw_send(mavlink_channel_t chan, uint hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/common/mavlink_msg_rc_channels_scaled.h b/thirdParty/mavlink/include/common/mavlink_msg_rc_channels_scaled.h index 95ba39510e3ad9b69d0d8edf1399d30822065945..266f9bfe84cce87067870d871b21f336a9ddccfe 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_rc_channels_scaled.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_rc_channels_scaled.h @@ -143,6 +143,7 @@ static inline void mavlink_msg_rc_channels_scaled_send(mavlink_channel_t chan, i hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/common/mavlink_msg_request_data_stream.h b/thirdParty/mavlink/include/common/mavlink_msg_request_data_stream.h index 0c6dd6562ec4b303216ee07a5c374be0b2750231..4b1986738bffd2f6885bc95ab1b1c13685dd48fc 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_request_data_stream.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_request_data_stream.h @@ -11,7 +11,7 @@ typedef struct __mavlink_request_data_stream_t uint16_t req_message_rate; ///< The requested interval between two messages of this type 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 + uint8_t req_stream_id; ///< The ID of the requested data stream uint8_t start_stop; ///< 1 to start sending, 0 to stop sending. } mavlink_request_data_stream_t; @@ -24,7 +24,7 @@ typedef struct __mavlink_request_data_stream_t * * @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_stream_id The ID of the requested data stream * @param req_message_rate The requested interval between two messages of this type * @param start_stop 1 to start sending, 0 to stop sending. * @return length of the message in bytes (excluding serial stream start sign) @@ -36,7 +36,7 @@ static inline uint16_t mavlink_msg_request_data_stream_pack(uint8_t system_id, u p->target_system = target_system; // uint8_t:The target requested to send the message stream. p->target_component = target_component; // uint8_t:The target requested to send the message stream. - p->req_stream_id = req_stream_id; // uint8_t:The ID of the requested message type + p->req_stream_id = req_stream_id; // uint8_t:The ID of the requested data stream p->req_message_rate = req_message_rate; // uint16_t:The requested interval between two messages of this type p->start_stop = start_stop; // uint8_t:1 to start sending, 0 to stop sending. @@ -51,7 +51,7 @@ static inline uint16_t mavlink_msg_request_data_stream_pack(uint8_t system_id, u * @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_stream_id The ID of the requested data stream * @param req_message_rate The requested interval between two messages of this type * @param start_stop 1 to start sending, 0 to stop sending. * @return length of the message in bytes (excluding serial stream start sign) @@ -63,7 +63,7 @@ static inline uint16_t mavlink_msg_request_data_stream_pack_chan(uint8_t system_ p->target_system = target_system; // uint8_t:The target requested to send the message stream. p->target_component = target_component; // uint8_t:The target requested to send the message stream. - p->req_stream_id = req_stream_id; // uint8_t:The ID of the requested message type + p->req_stream_id = req_stream_id; // uint8_t:The ID of the requested data stream p->req_message_rate = req_message_rate; // uint16_t:The requested interval between two messages of this type p->start_stop = start_stop; // uint8_t:1 to start sending, 0 to stop sending. @@ -91,7 +91,7 @@ static inline uint16_t mavlink_msg_request_data_stream_encode(uint8_t system_id, * * @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_stream_id The ID of the requested data stream * @param req_message_rate The requested interval between two messages of this type * @param start_stop 1 to start sending, 0 to stop sending. */ @@ -103,7 +103,7 @@ static inline void mavlink_msg_request_data_stream_send(mavlink_channel_t chan, MAVLINK_BUFFER_CHECK_START( chan, MAVLINK_MSG_ID_REQUEST_DATA_STREAM_LEN ) payload.target_system = target_system; // uint8_t:The target requested to send the message stream. payload.target_component = target_component; // uint8_t:The target requested to send the message stream. - payload.req_stream_id = req_stream_id; // uint8_t:The ID of the requested message type + payload.req_stream_id = req_stream_id; // uint8_t:The ID of the requested data stream payload.req_message_rate = req_message_rate; // uint16_t:The requested interval between two messages of this type payload.start_stop = start_stop; // uint8_t:1 to start sending, 0 to stop sending. @@ -115,6 +115,7 @@ static inline void mavlink_msg_request_data_stream_send(mavlink_channel_t chan, hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); @@ -152,7 +153,7 @@ static inline uint8_t mavlink_msg_request_data_stream_get_target_component(const /** * @brief Get field req_stream_id from request_data_stream message * - * @return The ID of the requested message type + * @return The ID of the requested data stream */ static inline uint8_t mavlink_msg_request_data_stream_get_req_stream_id(const mavlink_message_t* msg) { diff --git a/thirdParty/mavlink/include/common/mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint.h b/thirdParty/mavlink/include/common/mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint.h index a9f7231f4cd3dbf506533c9209b017089516c2ab..16fa0d0183f979eb15aeeb2cec74174c5b188006 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint.h @@ -115,6 +115,7 @@ static inline void mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_send(mavlink hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/common/mavlink_msg_roll_pitch_yaw_thrust_setpoint.h b/thirdParty/mavlink/include/common/mavlink_msg_roll_pitch_yaw_thrust_setpoint.h index fb00bec6103ea3b4dac8265f9a8afc59d6342311..71aba59306626cb6de7191c1bc21b3c2781c8b06 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_roll_pitch_yaw_thrust_setpoint.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_roll_pitch_yaw_thrust_setpoint.h @@ -115,6 +115,7 @@ static inline void mavlink_msg_roll_pitch_yaw_thrust_setpoint_send(mavlink_chann hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/common/mavlink_msg_safety_allowed_area.h b/thirdParty/mavlink/include/common/mavlink_msg_safety_allowed_area.h index 899d12bcb7e90a0bf6497f5b45492a38f7369f8d..0850832420b4312a6c380dc1bd9caf807294c4fd 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_safety_allowed_area.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_safety_allowed_area.h @@ -129,6 +129,7 @@ static inline void mavlink_msg_safety_allowed_area_send(mavlink_channel_t chan, hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/common/mavlink_msg_safety_set_allowed_area.h b/thirdParty/mavlink/include/common/mavlink_msg_safety_set_allowed_area.h index b7afcfd28f56361040d4b39481d87abb8703cd53..2348f95917bb0f301d6b6cec0aeccce3a2610c88 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_safety_set_allowed_area.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_safety_set_allowed_area.h @@ -143,6 +143,7 @@ static inline void mavlink_msg_safety_set_allowed_area_send(mavlink_channel_t ch hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/common/mavlink_msg_scaled_imu.h b/thirdParty/mavlink/include/common/mavlink_msg_scaled_imu.h index e6450010b7619d7bdc28e40d9f877dddf4031908..cfa8737d0400e08798686188476fa4641c392756 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_scaled_imu.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_scaled_imu.h @@ -150,6 +150,7 @@ static inline void mavlink_msg_scaled_imu_send(mavlink_channel_t chan, uint64_t hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/common/mavlink_msg_scaled_pressure.h b/thirdParty/mavlink/include/common/mavlink_msg_scaled_pressure.h index 59b1dcc62c4c06e05033b70955520be058999555..10e411dc5e391e2a439368b1dd95355c085e7988 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_scaled_pressure.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_scaled_pressure.h @@ -108,6 +108,7 @@ static inline void mavlink_msg_scaled_pressure_send(mavlink_channel_t chan, uint hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/common/mavlink_msg_servo_output_raw.h b/thirdParty/mavlink/include/common/mavlink_msg_servo_output_raw.h index 976506d561287cddc8e1892d93981ce9d8cf9e09..2897698c384920730db678c0a384a0cae4ed9e1b 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_servo_output_raw.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_servo_output_raw.h @@ -136,6 +136,7 @@ static inline void mavlink_msg_servo_output_raw_send(mavlink_channel_t chan, uin hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/common/mavlink_msg_set_altitude.h b/thirdParty/mavlink/include/common/mavlink_msg_set_altitude.h index a4fea868c096d9390ba3833429bf3db8738588ca..d24cfb5ca0481bfea11ce10f8992cd4408b23992 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_set_altitude.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_set_altitude.h @@ -94,6 +94,7 @@ static inline void mavlink_msg_set_altitude_send(mavlink_channel_t chan, uint8_t hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/common/mavlink_msg_set_flight_mode.h b/thirdParty/mavlink/include/common/mavlink_msg_set_flight_mode.h new file mode 100644 index 0000000000000000000000000000000000000000..c8e4bd26f4d35157efdfa367b9b73f1df820ad9d --- /dev/null +++ b/thirdParty/mavlink/include/common/mavlink_msg_set_flight_mode.h @@ -0,0 +1,141 @@ +// MESSAGE SET_FLIGHT_MODE PACKING + +#define MAVLINK_MSG_ID_SET_FLIGHT_MODE 12 +#define MAVLINK_MSG_ID_SET_FLIGHT_MODE_LEN 2 +#define MAVLINK_MSG_12_LEN 2 +#define MAVLINK_MSG_ID_SET_FLIGHT_MODE_KEY 0xAC +#define MAVLINK_MSG_12_KEY 0xAC + +typedef struct __mavlink_set_flight_mode_t +{ + uint8_t target; ///< The system setting the mode + uint8_t flight_mode; ///< The new navigation mode + +} mavlink_set_flight_mode_t; + +/** + * @brief Pack a set_flight_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 flight_mode The new navigation mode + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_set_flight_mode_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target, uint8_t flight_mode) +{ + mavlink_set_flight_mode_t *p = (mavlink_set_flight_mode_t *)&msg->payload[0]; + msg->msgid = MAVLINK_MSG_ID_SET_FLIGHT_MODE; + + p->target = target; // uint8_t:The system setting the mode + p->flight_mode = flight_mode; // uint8_t:The new navigation mode + + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SET_FLIGHT_MODE_LEN); +} + +/** + * @brief Pack a set_flight_mode message + * @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 flight_mode The new navigation mode + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_set_flight_mode_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target, uint8_t flight_mode) +{ + mavlink_set_flight_mode_t *p = (mavlink_set_flight_mode_t *)&msg->payload[0]; + msg->msgid = MAVLINK_MSG_ID_SET_FLIGHT_MODE; + + p->target = target; // uint8_t:The system setting the mode + p->flight_mode = flight_mode; // uint8_t:The new navigation mode + + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SET_FLIGHT_MODE_LEN); +} + +/** + * @brief Encode a set_flight_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_flight_mode C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_set_flight_mode_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_flight_mode_t* set_flight_mode) +{ + return mavlink_msg_set_flight_mode_pack(system_id, component_id, msg, set_flight_mode->target, set_flight_mode->flight_mode); +} + + +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS +/** + * @brief Send a set_flight_mode message + * @param chan MAVLink channel to send the message + * + * @param target The system setting the mode + * @param flight_mode The new navigation mode + */ +static inline void mavlink_msg_set_flight_mode_send(mavlink_channel_t chan, uint8_t target, uint8_t flight_mode) +{ + mavlink_header_t hdr; + mavlink_set_flight_mode_t payload; + + MAVLINK_BUFFER_CHECK_START( chan, MAVLINK_MSG_ID_SET_FLIGHT_MODE_LEN ) + payload.target = target; // uint8_t:The system setting the mode + payload.flight_mode = flight_mode; // uint8_t:The new navigation mode + + hdr.STX = MAVLINK_STX; + hdr.len = MAVLINK_MSG_ID_SET_FLIGHT_MODE_LEN; + hdr.msgid = MAVLINK_MSG_ID_SET_FLIGHT_MODE; + hdr.sysid = mavlink_system.sysid; + hdr.compid = mavlink_system.compid; + hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; + mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; + mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); + + crc_init(&hdr.ck); + crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); + crc_calculate_mem((uint8_t *)&payload, &hdr.ck, hdr.len ); + crc_accumulate( 0xAC, &hdr.ck); /// include key in X25 checksum + mavlink_send_mem(chan, (uint8_t *)&hdr.ck, MAVLINK_NUM_CHECKSUM_BYTES); + MAVLINK_BUFFER_CHECK_END +} + +#endif +// MESSAGE SET_FLIGHT_MODE UNPACKING + +/** + * @brief Get field target from set_flight_mode message + * + * @return The system setting the mode + */ +static inline uint8_t mavlink_msg_set_flight_mode_get_target(const mavlink_message_t* msg) +{ + mavlink_set_flight_mode_t *p = (mavlink_set_flight_mode_t *)&msg->payload[0]; + return (uint8_t)(p->target); +} + +/** + * @brief Get field flight_mode from set_flight_mode message + * + * @return The new navigation mode + */ +static inline uint8_t mavlink_msg_set_flight_mode_get_flight_mode(const mavlink_message_t* msg) +{ + mavlink_set_flight_mode_t *p = (mavlink_set_flight_mode_t *)&msg->payload[0]; + return (uint8_t)(p->flight_mode); +} + +/** + * @brief Decode a set_flight_mode message into a struct + * + * @param msg The message to decode + * @param set_flight_mode C-struct to decode the message contents into + */ +static inline void mavlink_msg_set_flight_mode_decode(const mavlink_message_t* msg, mavlink_set_flight_mode_t* set_flight_mode) +{ + memcpy( set_flight_mode, msg->payload, sizeof(mavlink_set_flight_mode_t)); +} diff --git a/thirdParty/mavlink/include/common/mavlink_msg_set_mode.h b/thirdParty/mavlink/include/common/mavlink_msg_set_mode.h index 85e2d4b9f72045000455f504835dfb0124e71301..065710677b57846792c754cde0495792cbc25e3a 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_set_mode.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_set_mode.h @@ -94,6 +94,7 @@ static inline void mavlink_msg_set_mode_send(mavlink_channel_t chan, uint8_t tar hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/common/mavlink_msg_set_nav_mode.h b/thirdParty/mavlink/include/common/mavlink_msg_set_nav_mode.h index f42432e3a80643ec389184c1c5f38e50031f2290..a029ec26de0f90197a644e0fe84f5f4dbdd4c2c7 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_set_nav_mode.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_set_nav_mode.h @@ -94,6 +94,7 @@ static inline void mavlink_msg_set_nav_mode_send(mavlink_channel_t chan, uint8_t hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/common/mavlink_msg_set_roll_pitch_yaw_speed_thrust.h b/thirdParty/mavlink/include/common/mavlink_msg_set_roll_pitch_yaw_speed_thrust.h index e2d6e9afc0342e2e7bd2a2c39874afe3a77e0489..fab1fbd45057f7912db53fc5db0927f4765a1258 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_set_roll_pitch_yaw_speed_thrust.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_set_roll_pitch_yaw_speed_thrust.h @@ -122,6 +122,7 @@ static inline void mavlink_msg_set_roll_pitch_yaw_speed_thrust_send(mavlink_chan hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/common/mavlink_msg_set_roll_pitch_yaw_thrust.h b/thirdParty/mavlink/include/common/mavlink_msg_set_roll_pitch_yaw_thrust.h index 5d8e5f8eae851f16ff8d0c86b357ed7608b12aac..f2a7ca6cac03087b7e1d374b8fa7e5d529944622 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_set_roll_pitch_yaw_thrust.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_set_roll_pitch_yaw_thrust.h @@ -122,6 +122,7 @@ static inline void mavlink_msg_set_roll_pitch_yaw_thrust_send(mavlink_channel_t hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/common/mavlink_msg_set_safety_mode.h b/thirdParty/mavlink/include/common/mavlink_msg_set_safety_mode.h new file mode 100644 index 0000000000000000000000000000000000000000..17b5ecccc7e46323181a0b237e9fe34236d23bab --- /dev/null +++ b/thirdParty/mavlink/include/common/mavlink_msg_set_safety_mode.h @@ -0,0 +1,141 @@ +// MESSAGE SET_SAFETY_MODE PACKING + +#define MAVLINK_MSG_ID_SET_SAFETY_MODE 13 +#define MAVLINK_MSG_ID_SET_SAFETY_MODE_LEN 2 +#define MAVLINK_MSG_13_LEN 2 +#define MAVLINK_MSG_ID_SET_SAFETY_MODE_KEY 0x10 +#define MAVLINK_MSG_13_KEY 0x10 + +typedef struct __mavlink_set_safety_mode_t +{ + uint8_t target; ///< The system setting the mode + uint8_t safety_mode; ///< The new safety mode. The MAV will reject some mode changes during flight. + +} mavlink_set_safety_mode_t; + +/** + * @brief Pack a set_safety_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 safety_mode The new safety mode. The MAV will reject some mode changes during flight. + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_set_safety_mode_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target, uint8_t safety_mode) +{ + mavlink_set_safety_mode_t *p = (mavlink_set_safety_mode_t *)&msg->payload[0]; + msg->msgid = MAVLINK_MSG_ID_SET_SAFETY_MODE; + + p->target = target; // uint8_t:The system setting the mode + p->safety_mode = safety_mode; // uint8_t:The new safety mode. The MAV will reject some mode changes during flight. + + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SET_SAFETY_MODE_LEN); +} + +/** + * @brief Pack a set_safety_mode message + * @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 safety_mode The new safety mode. The MAV will reject some mode changes during flight. + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_set_safety_mode_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target, uint8_t safety_mode) +{ + mavlink_set_safety_mode_t *p = (mavlink_set_safety_mode_t *)&msg->payload[0]; + msg->msgid = MAVLINK_MSG_ID_SET_SAFETY_MODE; + + p->target = target; // uint8_t:The system setting the mode + p->safety_mode = safety_mode; // uint8_t:The new safety mode. The MAV will reject some mode changes during flight. + + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SET_SAFETY_MODE_LEN); +} + +/** + * @brief Encode a set_safety_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_safety_mode C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_set_safety_mode_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_safety_mode_t* set_safety_mode) +{ + return mavlink_msg_set_safety_mode_pack(system_id, component_id, msg, set_safety_mode->target, set_safety_mode->safety_mode); +} + + +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS +/** + * @brief Send a set_safety_mode message + * @param chan MAVLink channel to send the message + * + * @param target The system setting the mode + * @param safety_mode The new safety mode. The MAV will reject some mode changes during flight. + */ +static inline void mavlink_msg_set_safety_mode_send(mavlink_channel_t chan, uint8_t target, uint8_t safety_mode) +{ + mavlink_header_t hdr; + mavlink_set_safety_mode_t payload; + + MAVLINK_BUFFER_CHECK_START( chan, MAVLINK_MSG_ID_SET_SAFETY_MODE_LEN ) + payload.target = target; // uint8_t:The system setting the mode + payload.safety_mode = safety_mode; // uint8_t:The new safety mode. The MAV will reject some mode changes during flight. + + hdr.STX = MAVLINK_STX; + hdr.len = MAVLINK_MSG_ID_SET_SAFETY_MODE_LEN; + hdr.msgid = MAVLINK_MSG_ID_SET_SAFETY_MODE; + hdr.sysid = mavlink_system.sysid; + hdr.compid = mavlink_system.compid; + hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; + mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; + mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); + + crc_init(&hdr.ck); + crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); + crc_calculate_mem((uint8_t *)&payload, &hdr.ck, hdr.len ); + crc_accumulate( 0x10, &hdr.ck); /// include key in X25 checksum + mavlink_send_mem(chan, (uint8_t *)&hdr.ck, MAVLINK_NUM_CHECKSUM_BYTES); + MAVLINK_BUFFER_CHECK_END +} + +#endif +// MESSAGE SET_SAFETY_MODE UNPACKING + +/** + * @brief Get field target from set_safety_mode message + * + * @return The system setting the mode + */ +static inline uint8_t mavlink_msg_set_safety_mode_get_target(const mavlink_message_t* msg) +{ + mavlink_set_safety_mode_t *p = (mavlink_set_safety_mode_t *)&msg->payload[0]; + return (uint8_t)(p->target); +} + +/** + * @brief Get field safety_mode from set_safety_mode message + * + * @return The new safety mode. The MAV will reject some mode changes during flight. + */ +static inline uint8_t mavlink_msg_set_safety_mode_get_safety_mode(const mavlink_message_t* msg) +{ + mavlink_set_safety_mode_t *p = (mavlink_set_safety_mode_t *)&msg->payload[0]; + return (uint8_t)(p->safety_mode); +} + +/** + * @brief Decode a set_safety_mode message into a struct + * + * @param msg The message to decode + * @param set_safety_mode C-struct to decode the message contents into + */ +static inline void mavlink_msg_set_safety_mode_decode(const mavlink_message_t* msg, mavlink_set_safety_mode_t* set_safety_mode) +{ + memcpy( set_safety_mode, msg->payload, sizeof(mavlink_set_safety_mode_t)); +} diff --git a/thirdParty/mavlink/include/common/mavlink_msg_state_correction.h b/thirdParty/mavlink/include/common/mavlink_msg_state_correction.h index f92a132653a97886b22f631092f9b474ca8d1b26..ab48856674e0c077ee7744812ec9cf9e16570d17 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_state_correction.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_state_correction.h @@ -143,6 +143,7 @@ static inline void mavlink_msg_state_correction_send(mavlink_channel_t chan, flo hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/common/mavlink_msg_statustext.h b/thirdParty/mavlink/include/common/mavlink_msg_statustext.h index beb411483fbe4eee793493b8bb3313a03fa3ec28..f05df5b0234776be1ce5ba0d161209995607d72c 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_statustext.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_statustext.h @@ -95,6 +95,7 @@ static inline void mavlink_msg_statustext_send(mavlink_channel_t chan, uint8_t s hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/common/mavlink_msg_sys_status.h b/thirdParty/mavlink/include/common/mavlink_msg_sys_status.h index 503cf19a04387c002bd68e76797ed3c748c53b5c..708eac76b498944aa079e0fe796bb614f23de0e5 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_sys_status.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_sys_status.h @@ -1,20 +1,25 @@ // MESSAGE SYS_STATUS PACKING -#define MAVLINK_MSG_ID_SYS_STATUS 34 -#define MAVLINK_MSG_ID_SYS_STATUS_LEN 11 -#define MAVLINK_MSG_34_LEN 11 -#define MAVLINK_MSG_ID_SYS_STATUS_KEY 0x6F -#define MAVLINK_MSG_34_KEY 0x6F +#define MAVLINK_MSG_ID_SYS_STATUS 1 +#define MAVLINK_MSG_ID_SYS_STATUS_LEN 23 +#define MAVLINK_MSG_1_LEN 23 +#define MAVLINK_MSG_ID_SYS_STATUS_KEY 0xDA +#define MAVLINK_MSG_1_KEY 0xDA typedef struct __mavlink_sys_status_t { + uint16_t onboard_control_sensors_present; ///< 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 + uint16_t onboard_control_sensors_enabled; ///< 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 + uint16_t onboard_control_sensors_health; ///< 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 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) - 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 voltage_battery; ///< Battery voltage, in millivolts (1 = 1 millivolt) + uint16_t current_battery; ///< Battery current, in milliamperes (1 = 1 milliampere) + uint16_t watt; ///< Watts consumed from this battery since startup + uint16_t errors_uart; ///< Dropped packets on all links (packets that were corrupted on reception on the MAV) + uint16_t errors_i2c; ///< Dropped packets on all links (packets that were corrupted on reception) + uint16_t errors_spi; ///< Dropped packets on all links (packets that were corrupted on reception) + uint16_t errors_can; ///< Dropped packets on all links (packets that were corrupted on reception) + uint8_t battery_percent; ///< Remaining battery energy: (0%: 0, 100%: 255) } mavlink_sys_status_t; @@ -24,27 +29,37 @@ typedef struct __mavlink_sys_status_t * @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 onboard_control_sensors_present 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 + * @param onboard_control_sensors_enabled 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 + * @param onboard_control_sensors_health 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 * @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) + * @param voltage_battery Battery voltage, in millivolts (1 = 1 millivolt) + * @param current_battery Battery current, in milliamperes (1 = 1 milliampere) + * @param watt Watts consumed from this battery since startup + * @param battery_percent Remaining battery energy: (0%: 0, 100%: 255) + * @param errors_uart Dropped packets on all links (packets that were corrupted on reception on the MAV) + * @param errors_i2c Dropped packets on all links (packets that were corrupted on reception) + * @param errors_spi Dropped packets on all links (packets that were corrupted on reception) + * @param errors_can Dropped packets on all links (packets that were corrupted on reception) * @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) +static inline uint16_t mavlink_msg_sys_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint16_t onboard_control_sensors_present, uint16_t onboard_control_sensors_enabled, uint16_t onboard_control_sensors_health, uint16_t load, uint16_t voltage_battery, uint16_t current_battery, uint16_t watt, uint8_t battery_percent, uint16_t errors_uart, uint16_t errors_i2c, uint16_t errors_spi, uint16_t errors_can) { mavlink_sys_status_t *p = (mavlink_sys_status_t *)&msg->payload[0]; msg->msgid = MAVLINK_MSG_ID_SYS_STATUS; - p->mode = mode; // uint8_t:System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h - p->nav_mode = nav_mode; // uint8_t:Navigation mode, see MAV_NAV_MODE ENUM - p->status = status; // uint8_t:System status flag, see MAV_STATUS ENUM + p->onboard_control_sensors_present = onboard_control_sensors_present; // uint16_t: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 + p->onboard_control_sensors_enabled = onboard_control_sensors_enabled; // uint16_t: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 + p->onboard_control_sensors_health = onboard_control_sensors_health; // uint16_t: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 p->load = load; // uint16_t:Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 - p->vbat = vbat; // uint16_t:Battery voltage, in millivolts (1 = 1 millivolt) - p->battery_remaining = battery_remaining; // uint16_t:Remaining battery energy: (0%: 0, 100%: 1000) - p->packet_drop = packet_drop; // uint16_t:Dropped packets (packets that were corrupted on reception on the MAV) + p->voltage_battery = voltage_battery; // uint16_t:Battery voltage, in millivolts (1 = 1 millivolt) + p->current_battery = current_battery; // uint16_t:Battery current, in milliamperes (1 = 1 milliampere) + p->watt = watt; // uint16_t:Watts consumed from this battery since startup + p->battery_percent = battery_percent; // uint8_t:Remaining battery energy: (0%: 0, 100%: 255) + p->errors_uart = errors_uart; // uint16_t:Dropped packets on all links (packets that were corrupted on reception on the MAV) + p->errors_i2c = errors_i2c; // uint16_t:Dropped packets on all links (packets that were corrupted on reception) + p->errors_spi = errors_spi; // uint16_t:Dropped packets on all links (packets that were corrupted on reception) + p->errors_can = errors_can; // uint16_t:Dropped packets on all links (packets that were corrupted on reception) return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SYS_STATUS_LEN); } @@ -55,27 +70,37 @@ static inline uint16_t mavlink_msg_sys_status_pack(uint8_t system_id, uint8_t co * @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 onboard_control_sensors_present 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 + * @param onboard_control_sensors_enabled 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 + * @param onboard_control_sensors_health 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 * @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) + * @param voltage_battery Battery voltage, in millivolts (1 = 1 millivolt) + * @param current_battery Battery current, in milliamperes (1 = 1 milliampere) + * @param watt Watts consumed from this battery since startup + * @param battery_percent Remaining battery energy: (0%: 0, 100%: 255) + * @param errors_uart Dropped packets on all links (packets that were corrupted on reception on the MAV) + * @param errors_i2c Dropped packets on all links (packets that were corrupted on reception) + * @param errors_spi Dropped packets on all links (packets that were corrupted on reception) + * @param errors_can Dropped packets on all links (packets that were corrupted on reception) * @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) +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, uint16_t onboard_control_sensors_present, uint16_t onboard_control_sensors_enabled, uint16_t onboard_control_sensors_health, uint16_t load, uint16_t voltage_battery, uint16_t current_battery, uint16_t watt, uint8_t battery_percent, uint16_t errors_uart, uint16_t errors_i2c, uint16_t errors_spi, uint16_t errors_can) { mavlink_sys_status_t *p = (mavlink_sys_status_t *)&msg->payload[0]; msg->msgid = MAVLINK_MSG_ID_SYS_STATUS; - p->mode = mode; // uint8_t:System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h - p->nav_mode = nav_mode; // uint8_t:Navigation mode, see MAV_NAV_MODE ENUM - p->status = status; // uint8_t:System status flag, see MAV_STATUS ENUM + p->onboard_control_sensors_present = onboard_control_sensors_present; // uint16_t: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 + p->onboard_control_sensors_enabled = onboard_control_sensors_enabled; // uint16_t: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 + p->onboard_control_sensors_health = onboard_control_sensors_health; // uint16_t: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 p->load = load; // uint16_t:Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 - p->vbat = vbat; // uint16_t:Battery voltage, in millivolts (1 = 1 millivolt) - p->battery_remaining = battery_remaining; // uint16_t:Remaining battery energy: (0%: 0, 100%: 1000) - p->packet_drop = packet_drop; // uint16_t:Dropped packets (packets that were corrupted on reception on the MAV) + p->voltage_battery = voltage_battery; // uint16_t:Battery voltage, in millivolts (1 = 1 millivolt) + p->current_battery = current_battery; // uint16_t:Battery current, in milliamperes (1 = 1 milliampere) + p->watt = watt; // uint16_t:Watts consumed from this battery since startup + p->battery_percent = battery_percent; // uint8_t:Remaining battery energy: (0%: 0, 100%: 255) + p->errors_uart = errors_uart; // uint16_t:Dropped packets on all links (packets that were corrupted on reception on the MAV) + p->errors_i2c = errors_i2c; // uint16_t:Dropped packets on all links (packets that were corrupted on reception) + p->errors_spi = errors_spi; // uint16_t:Dropped packets on all links (packets that were corrupted on reception) + p->errors_can = errors_can; // uint16_t:Dropped packets on all links (packets that were corrupted on reception) return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SYS_STATUS_LEN); } @@ -90,7 +115,7 @@ static inline uint16_t mavlink_msg_sys_status_pack_chan(uint8_t system_id, uint8 */ 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); + return mavlink_msg_sys_status_pack(system_id, component_id, msg, sys_status->onboard_control_sensors_present, sys_status->onboard_control_sensors_enabled, sys_status->onboard_control_sensors_health, sys_status->load, sys_status->voltage_battery, sys_status->current_battery, sys_status->watt, sys_status->battery_percent, sys_status->errors_uart, sys_status->errors_i2c, sys_status->errors_spi, sys_status->errors_can); } @@ -99,27 +124,37 @@ static inline uint16_t mavlink_msg_sys_status_encode(uint8_t system_id, uint8_t * @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 onboard_control_sensors_present 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 + * @param onboard_control_sensors_enabled 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 + * @param onboard_control_sensors_health 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 * @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) + * @param voltage_battery Battery voltage, in millivolts (1 = 1 millivolt) + * @param current_battery Battery current, in milliamperes (1 = 1 milliampere) + * @param watt Watts consumed from this battery since startup + * @param battery_percent Remaining battery energy: (0%: 0, 100%: 255) + * @param errors_uart Dropped packets on all links (packets that were corrupted on reception on the MAV) + * @param errors_i2c Dropped packets on all links (packets that were corrupted on reception) + * @param errors_spi Dropped packets on all links (packets that were corrupted on reception) + * @param errors_can Dropped packets on all links (packets that were corrupted on reception) */ -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) +static inline void mavlink_msg_sys_status_send(mavlink_channel_t chan, uint16_t onboard_control_sensors_present, uint16_t onboard_control_sensors_enabled, uint16_t onboard_control_sensors_health, uint16_t load, uint16_t voltage_battery, uint16_t current_battery, uint16_t watt, uint8_t battery_percent, uint16_t errors_uart, uint16_t errors_i2c, uint16_t errors_spi, uint16_t errors_can) { mavlink_header_t hdr; mavlink_sys_status_t payload; MAVLINK_BUFFER_CHECK_START( chan, MAVLINK_MSG_ID_SYS_STATUS_LEN ) - payload.mode = mode; // uint8_t:System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h - payload.nav_mode = nav_mode; // uint8_t:Navigation mode, see MAV_NAV_MODE ENUM - payload.status = status; // uint8_t:System status flag, see MAV_STATUS ENUM + payload.onboard_control_sensors_present = onboard_control_sensors_present; // uint16_t: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 + payload.onboard_control_sensors_enabled = onboard_control_sensors_enabled; // uint16_t: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 + payload.onboard_control_sensors_health = onboard_control_sensors_health; // uint16_t: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 payload.load = load; // uint16_t:Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 - payload.vbat = vbat; // uint16_t:Battery voltage, in millivolts (1 = 1 millivolt) - payload.battery_remaining = battery_remaining; // uint16_t:Remaining battery energy: (0%: 0, 100%: 1000) - payload.packet_drop = packet_drop; // uint16_t:Dropped packets (packets that were corrupted on reception on the MAV) + payload.voltage_battery = voltage_battery; // uint16_t:Battery voltage, in millivolts (1 = 1 millivolt) + payload.current_battery = current_battery; // uint16_t:Battery current, in milliamperes (1 = 1 milliampere) + payload.watt = watt; // uint16_t:Watts consumed from this battery since startup + payload.battery_percent = battery_percent; // uint8_t:Remaining battery energy: (0%: 0, 100%: 255) + payload.errors_uart = errors_uart; // uint16_t:Dropped packets on all links (packets that were corrupted on reception on the MAV) + payload.errors_i2c = errors_i2c; // uint16_t:Dropped packets on all links (packets that were corrupted on reception) + payload.errors_spi = errors_spi; // uint16_t:Dropped packets on all links (packets that were corrupted on reception) + payload.errors_can = errors_can; // uint16_t:Dropped packets on all links (packets that were corrupted on reception) hdr.STX = MAVLINK_STX; hdr.len = MAVLINK_MSG_ID_SYS_STATUS_LEN; @@ -129,11 +164,12 @@ static inline void mavlink_msg_sys_status_send(mavlink_channel_t chan, uint8_t m hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); crc_calculate_mem((uint8_t *)&payload, &hdr.ck, hdr.len ); - crc_accumulate( 0x6F, &hdr.ck); /// include key in X25 checksum + crc_accumulate( 0xDA, &hdr.ck); /// include key in X25 checksum mavlink_send_mem(chan, (uint8_t *)&hdr.ck, MAVLINK_NUM_CHECKSUM_BYTES); MAVLINK_BUFFER_CHECK_END } @@ -142,36 +178,36 @@ static inline void mavlink_msg_sys_status_send(mavlink_channel_t chan, uint8_t m // MESSAGE SYS_STATUS UNPACKING /** - * @brief Get field mode from sys_status message + * @brief Get field onboard_control_sensors_present from sys_status message * - * @return System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h + * @return 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 */ -static inline uint8_t mavlink_msg_sys_status_get_mode(const mavlink_message_t* msg) +static inline uint16_t mavlink_msg_sys_status_get_onboard_control_sensors_present(const mavlink_message_t* msg) { mavlink_sys_status_t *p = (mavlink_sys_status_t *)&msg->payload[0]; - return (uint8_t)(p->mode); + return (uint16_t)(p->onboard_control_sensors_present); } /** - * @brief Get field nav_mode from sys_status message + * @brief Get field onboard_control_sensors_enabled from sys_status message * - * @return Navigation mode, see MAV_NAV_MODE ENUM + * @return 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 */ -static inline uint8_t mavlink_msg_sys_status_get_nav_mode(const mavlink_message_t* msg) +static inline uint16_t mavlink_msg_sys_status_get_onboard_control_sensors_enabled(const mavlink_message_t* msg) { mavlink_sys_status_t *p = (mavlink_sys_status_t *)&msg->payload[0]; - return (uint8_t)(p->nav_mode); + return (uint16_t)(p->onboard_control_sensors_enabled); } /** - * @brief Get field status from sys_status message + * @brief Get field onboard_control_sensors_health from sys_status message * - * @return System status flag, see MAV_STATUS ENUM + * @return 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 */ -static inline uint8_t mavlink_msg_sys_status_get_status(const mavlink_message_t* msg) +static inline uint16_t mavlink_msg_sys_status_get_onboard_control_sensors_health(const mavlink_message_t* msg) { mavlink_sys_status_t *p = (mavlink_sys_status_t *)&msg->payload[0]; - return (uint8_t)(p->status); + return (uint16_t)(p->onboard_control_sensors_health); } /** @@ -186,36 +222,91 @@ static inline uint16_t mavlink_msg_sys_status_get_load(const mavlink_message_t* } /** - * @brief Get field vbat from sys_status message + * @brief Get field voltage_battery 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) +static inline uint16_t mavlink_msg_sys_status_get_voltage_battery(const mavlink_message_t* msg) { mavlink_sys_status_t *p = (mavlink_sys_status_t *)&msg->payload[0]; - return (uint16_t)(p->vbat); + return (uint16_t)(p->voltage_battery); } /** - * @brief Get field battery_remaining from sys_status message + * @brief Get field current_battery from sys_status message * - * @return Remaining battery energy: (0%: 0, 100%: 1000) + * @return Battery current, in milliamperes (1 = 1 milliampere) */ -static inline uint16_t mavlink_msg_sys_status_get_battery_remaining(const mavlink_message_t* msg) +static inline uint16_t mavlink_msg_sys_status_get_current_battery(const mavlink_message_t* msg) { mavlink_sys_status_t *p = (mavlink_sys_status_t *)&msg->payload[0]; - return (uint16_t)(p->battery_remaining); + return (uint16_t)(p->current_battery); } /** - * @brief Get field packet_drop from sys_status message + * @brief Get field watt from sys_status message * - * @return Dropped packets (packets that were corrupted on reception on the MAV) + * @return Watts consumed from this battery since startup */ -static inline uint16_t mavlink_msg_sys_status_get_packet_drop(const mavlink_message_t* msg) +static inline uint16_t mavlink_msg_sys_status_get_watt(const mavlink_message_t* msg) { mavlink_sys_status_t *p = (mavlink_sys_status_t *)&msg->payload[0]; - return (uint16_t)(p->packet_drop); + return (uint16_t)(p->watt); +} + +/** + * @brief Get field battery_percent from sys_status message + * + * @return Remaining battery energy: (0%: 0, 100%: 255) + */ +static inline uint8_t mavlink_msg_sys_status_get_battery_percent(const mavlink_message_t* msg) +{ + mavlink_sys_status_t *p = (mavlink_sys_status_t *)&msg->payload[0]; + return (uint8_t)(p->battery_percent); +} + +/** + * @brief Get field errors_uart from sys_status message + * + * @return Dropped packets on all links (packets that were corrupted on reception on the MAV) + */ +static inline uint16_t mavlink_msg_sys_status_get_errors_uart(const mavlink_message_t* msg) +{ + mavlink_sys_status_t *p = (mavlink_sys_status_t *)&msg->payload[0]; + return (uint16_t)(p->errors_uart); +} + +/** + * @brief Get field errors_i2c from sys_status message + * + * @return Dropped packets on all links (packets that were corrupted on reception) + */ +static inline uint16_t mavlink_msg_sys_status_get_errors_i2c(const mavlink_message_t* msg) +{ + mavlink_sys_status_t *p = (mavlink_sys_status_t *)&msg->payload[0]; + return (uint16_t)(p->errors_i2c); +} + +/** + * @brief Get field errors_spi from sys_status message + * + * @return Dropped packets on all links (packets that were corrupted on reception) + */ +static inline uint16_t mavlink_msg_sys_status_get_errors_spi(const mavlink_message_t* msg) +{ + mavlink_sys_status_t *p = (mavlink_sys_status_t *)&msg->payload[0]; + return (uint16_t)(p->errors_spi); +} + +/** + * @brief Get field errors_can from sys_status message + * + * @return Dropped packets on all links (packets that were corrupted on reception) + */ +static inline uint16_t mavlink_msg_sys_status_get_errors_can(const mavlink_message_t* msg) +{ + mavlink_sys_status_t *p = (mavlink_sys_status_t *)&msg->payload[0]; + return (uint16_t)(p->errors_can); } /** diff --git a/thirdParty/mavlink/include/common/mavlink_msg_system_time.h b/thirdParty/mavlink/include/common/mavlink_msg_system_time.h index 790be507abd8dd331ad33b122d2ea76b17c26097..c976e38c235623ef06aa03d9938bacd299a17d37 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_system_time.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_system_time.h @@ -1,14 +1,15 @@ // MESSAGE SYSTEM_TIME PACKING #define MAVLINK_MSG_ID_SYSTEM_TIME 2 -#define MAVLINK_MSG_ID_SYSTEM_TIME_LEN 8 -#define MAVLINK_MSG_2_LEN 8 -#define MAVLINK_MSG_ID_SYSTEM_TIME_KEY 0xE8 -#define MAVLINK_MSG_2_KEY 0xE8 +#define MAVLINK_MSG_ID_SYSTEM_TIME_LEN 12 +#define MAVLINK_MSG_2_LEN 12 +#define MAVLINK_MSG_ID_SYSTEM_TIME_KEY 0x16 +#define MAVLINK_MSG_2_KEY 0x16 typedef struct __mavlink_system_time_t { uint64_t time_usec; ///< Timestamp of the master clock in microseconds since UNIX epoch. + uint32_t time_boot_ms; ///< Timestamp of the component clock since boot time in milliseconds. } mavlink_system_time_t; @@ -19,14 +20,16 @@ typedef struct __mavlink_system_time_t * @param msg The MAVLink message to compress the data into * * @param time_usec Timestamp of the master clock in microseconds since UNIX epoch. + * @param time_boot_ms Timestamp of the component clock since boot time in milliseconds. * @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) +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, uint32_t time_boot_ms) { mavlink_system_time_t *p = (mavlink_system_time_t *)&msg->payload[0]; msg->msgid = MAVLINK_MSG_ID_SYSTEM_TIME; p->time_usec = time_usec; // uint64_t:Timestamp of the master clock in microseconds since UNIX epoch. + p->time_boot_ms = time_boot_ms; // uint32_t:Timestamp of the component clock since boot time in milliseconds. return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SYSTEM_TIME_LEN); } @@ -38,14 +41,16 @@ static inline uint16_t mavlink_msg_system_time_pack(uint8_t system_id, uint8_t c * @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. + * @param time_boot_ms Timestamp of the component clock since boot time in milliseconds. * @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) +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, uint32_t time_boot_ms) { mavlink_system_time_t *p = (mavlink_system_time_t *)&msg->payload[0]; msg->msgid = MAVLINK_MSG_ID_SYSTEM_TIME; p->time_usec = time_usec; // uint64_t:Timestamp of the master clock in microseconds since UNIX epoch. + p->time_boot_ms = time_boot_ms; // uint32_t:Timestamp of the component clock since boot time in milliseconds. return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SYSTEM_TIME_LEN); } @@ -60,7 +65,7 @@ static inline uint16_t mavlink_msg_system_time_pack_chan(uint8_t system_id, uint */ 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); + return mavlink_msg_system_time_pack(system_id, component_id, msg, system_time->time_usec, system_time->time_boot_ms); } @@ -70,14 +75,16 @@ static inline uint16_t mavlink_msg_system_time_encode(uint8_t system_id, uint8_t * @param chan MAVLink channel to send the message * * @param time_usec Timestamp of the master clock in microseconds since UNIX epoch. + * @param time_boot_ms Timestamp of the component clock since boot time in milliseconds. */ -static inline void mavlink_msg_system_time_send(mavlink_channel_t chan, uint64_t time_usec) +static inline void mavlink_msg_system_time_send(mavlink_channel_t chan, uint64_t time_usec, uint32_t time_boot_ms) { mavlink_header_t hdr; mavlink_system_time_t payload; MAVLINK_BUFFER_CHECK_START( chan, MAVLINK_MSG_ID_SYSTEM_TIME_LEN ) payload.time_usec = time_usec; // uint64_t:Timestamp of the master clock in microseconds since UNIX epoch. + payload.time_boot_ms = time_boot_ms; // uint32_t:Timestamp of the component clock since boot time in milliseconds. hdr.STX = MAVLINK_STX; hdr.len = MAVLINK_MSG_ID_SYSTEM_TIME_LEN; @@ -87,11 +94,12 @@ static inline void mavlink_msg_system_time_send(mavlink_channel_t chan, uint64_t hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); crc_calculate_mem((uint8_t *)&payload, &hdr.ck, hdr.len ); - crc_accumulate( 0xE8, &hdr.ck); /// include key in X25 checksum + crc_accumulate( 0x16, &hdr.ck); /// include key in X25 checksum mavlink_send_mem(chan, (uint8_t *)&hdr.ck, MAVLINK_NUM_CHECKSUM_BYTES); MAVLINK_BUFFER_CHECK_END } @@ -110,6 +118,17 @@ static inline uint64_t mavlink_msg_system_time_get_time_usec(const mavlink_messa return (uint64_t)(p->time_usec); } +/** + * @brief Get field time_boot_ms from system_time message + * + * @return Timestamp of the component clock since boot time in milliseconds. + */ +static inline uint32_t mavlink_msg_system_time_get_time_boot_ms(const mavlink_message_t* msg) +{ + mavlink_system_time_t *p = (mavlink_system_time_t *)&msg->payload[0]; + return (uint32_t)(p->time_boot_ms); +} + /** * @brief Decode a system_time message into a struct * diff --git a/thirdParty/mavlink/include/common/mavlink_msg_system_time_utc.h b/thirdParty/mavlink/include/common/mavlink_msg_system_time_utc.h index 5ee9fcb9d474e836182ea7b346675a446ee247b1..ff299a39aa752f9e5c3397091544d9b223096391 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_system_time_utc.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_system_time_utc.h @@ -1,10 +1,10 @@ // MESSAGE SYSTEM_TIME_UTC PACKING -#define MAVLINK_MSG_ID_SYSTEM_TIME_UTC 4 +#define MAVLINK_MSG_ID_SYSTEM_TIME_UTC 3 #define MAVLINK_MSG_ID_SYSTEM_TIME_UTC_LEN 8 -#define MAVLINK_MSG_4_LEN 8 +#define MAVLINK_MSG_3_LEN 8 #define MAVLINK_MSG_ID_SYSTEM_TIME_UTC_KEY 0x4C -#define MAVLINK_MSG_4_KEY 0x4C +#define MAVLINK_MSG_3_KEY 0x4C typedef struct __mavlink_system_time_utc_t { @@ -94,6 +94,7 @@ static inline void mavlink_msg_system_time_utc_send(mavlink_channel_t chan, uint hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/common/mavlink_msg_vfr_hud.h b/thirdParty/mavlink/include/common/mavlink_msg_vfr_hud.h index abb6fdcf17e5eb5030c5226282c7308625309f5c..cfb6bc0783f992d98db5b9040ba5b0f5ee750dbc 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_vfr_hud.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_vfr_hud.h @@ -122,6 +122,7 @@ static inline void mavlink_msg_vfr_hud_send(mavlink_channel_t chan, float airspe hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/common/mavlink_msg_waypoint.h b/thirdParty/mavlink/include/common/mavlink_msg_waypoint.h index 71ac9f7f3b5de35cde89ea86dab7d50af648c9e3..900f257e737d3b10bd0abade9867af50b6ec2793 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_waypoint.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_waypoint.h @@ -178,6 +178,7 @@ static inline void mavlink_msg_waypoint_send(mavlink_channel_t chan, uint8_t tar hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/common/mavlink_msg_waypoint_ack.h b/thirdParty/mavlink/include/common/mavlink_msg_waypoint_ack.h index 2ea2aae6945710c580651f65020256b7e61b8042..49e514987d76df7f35c76d4587a9ea5c6ad2b4fa 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_waypoint_ack.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_waypoint_ack.h @@ -101,6 +101,7 @@ static inline void mavlink_msg_waypoint_ack_send(mavlink_channel_t chan, uint8_t hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/common/mavlink_msg_waypoint_clear_all.h b/thirdParty/mavlink/include/common/mavlink_msg_waypoint_clear_all.h index 8e7a1a9c21c62815b72ee50cfc601cd6de01a340..8a3c2b133fbd1213d80757d446002b58cb94a300 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_waypoint_clear_all.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_waypoint_clear_all.h @@ -94,6 +94,7 @@ static inline void mavlink_msg_waypoint_clear_all_send(mavlink_channel_t chan, u hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/common/mavlink_msg_waypoint_count.h b/thirdParty/mavlink/include/common/mavlink_msg_waypoint_count.h index 19cea8169853c50e04468e8345c38f939eb81630..5330bd2ae55244c23acc4b1f30d92c976b2557a9 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_waypoint_count.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_waypoint_count.h @@ -101,6 +101,7 @@ static inline void mavlink_msg_waypoint_count_send(mavlink_channel_t chan, uint8 hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/common/mavlink_msg_waypoint_current.h b/thirdParty/mavlink/include/common/mavlink_msg_waypoint_current.h index b3ed6ce316371fb5912a0955061d485cd3af6f03..b2f41ecd2ffa217d25cb65d7cb134fec008af055 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_waypoint_current.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_waypoint_current.h @@ -87,6 +87,7 @@ static inline void mavlink_msg_waypoint_current_send(mavlink_channel_t chan, uin hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/common/mavlink_msg_waypoint_reached.h b/thirdParty/mavlink/include/common/mavlink_msg_waypoint_reached.h index 80141619141137992424d45322918fc4dc7167a8..91d68ac6b3654e8d3bfdecf64f318e1842a6da03 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_waypoint_reached.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_waypoint_reached.h @@ -87,6 +87,7 @@ static inline void mavlink_msg_waypoint_reached_send(mavlink_channel_t chan, uin hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/common/mavlink_msg_waypoint_request.h b/thirdParty/mavlink/include/common/mavlink_msg_waypoint_request.h index da321fc17a3d40c8240ddb1b41785b7d7da848d6..e32bf99e7fb3ea5bb8c5ee474243444523c9d76d 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_waypoint_request.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_waypoint_request.h @@ -101,6 +101,7 @@ static inline void mavlink_msg_waypoint_request_send(mavlink_channel_t chan, uin hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/common/mavlink_msg_waypoint_request_list.h b/thirdParty/mavlink/include/common/mavlink_msg_waypoint_request_list.h index 44efd58f42fb33dee8478052c4b60a67ea4063c6..8927107cc158bb7ab30424a9d042dc415c366d63 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_waypoint_request_list.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_waypoint_request_list.h @@ -94,6 +94,7 @@ static inline void mavlink_msg_waypoint_request_list_send(mavlink_channel_t chan hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/common/mavlink_msg_waypoint_set_current.h b/thirdParty/mavlink/include/common/mavlink_msg_waypoint_set_current.h index 994a0dc6d37482af9e992f0658373340200839cc..4b92c42319c659c60da7c2fe2b807e421d8d9f85 100644 --- a/thirdParty/mavlink/include/common/mavlink_msg_waypoint_set_current.h +++ b/thirdParty/mavlink/include/common/mavlink_msg_waypoint_set_current.h @@ -101,6 +101,7 @@ static inline void mavlink_msg_waypoint_set_current_send(mavlink_channel_t chan, hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/mavlink_data.h b/thirdParty/mavlink/include/mavlink_data.h index 17c88cc2a99441e7e849bedc9107a81b42044584..be24dfc9283974835e1536c0b698738de8183a90 100644 --- a/thirdParty/mavlink/include/mavlink_data.h +++ b/thirdParty/mavlink/include/mavlink_data.h @@ -15,7 +15,7 @@ const uint8_t MAVLINK_CONST mavlink_msg_lengths[256] = MAVLINK_MESSAGE_LENGTHS; const uint8_t MAVLINK_CONST mavlink_msg_keys[256] = MAVLINK_MESSAGE_KEYS; -mavlink_status_t m_mavlink_status[MAVLINK_COMM_NB]; -mavlink_message_t m_mavlink_message[MAVLINK_COMM_NB]; +mavlink_status_t m_mavlink_status[MAVLINK_COMM_NUM_BUFFERS]; +mavlink_message_t m_mavlink_message[MAVLINK_COMM_NUM_BUFFERS]; mavlink_system_t mavlink_system; -#endif \ No newline at end of file +#endif diff --git a/thirdParty/mavlink/include/mavlink_options.h b/thirdParty/mavlink/include/mavlink_options.h index 550a85ae55bbec41e716e32bc70b9f6d1dee0d64..a15ab0aaa00996f1abcb235e45aa7b8021934a8c 100644 --- a/thirdParty/mavlink/include/mavlink_options.h +++ b/thirdParty/mavlink/include/mavlink_options.h @@ -41,12 +41,12 @@ extern "C" { * otherwise. * */ -#if !((defined MAVLINK_COMM_NB) | (MAVLINK_COMM_NB < 1)) -#undef MAVLINK_COMM_NB - #if (defined linux) | (defined __linux) | (defined __MACH__) | (defined _WIN32) | (defined __APPLE__) - #define MAVLINK_COMM_NB 16 +#if !(defined MAVLINK_COMM_NUM_BUFFERS) || (MAVLINK_COMM_NUM_BUFFERS < 1) +#undef MAVLINK_COMM_NUM_BUFFERS + #if (defined linux) || (defined __linux) || (defined __MACH__) || (defined _WIN32) || (defined __APPLE__) + #define MAVLINK_COMM_NUM_BUFFERS 16 #else - #define MAVLINK_COMM_NB 1 + #define MAVLINK_COMM_NUM_BUFFERS 1 #endif #endif diff --git a/thirdParty/mavlink/include/mavlink_protocol.h b/thirdParty/mavlink/include/mavlink_protocol.h index 8cf62f115d81ae5ba93b14ad863d43839d4361f3..967bdf062ab3a097e9105f1028c77f3e5c45051c 100644 --- a/thirdParty/mavlink/include/mavlink_protocol.h +++ b/thirdParty/mavlink/include/mavlink_protocol.h @@ -7,6 +7,7 @@ #ifndef _MAVLINK_PROTOCOL_H_ #define _MAVLINK_PROTOCOL_H_ +#include "string.h" /* memcpy */ #include "mavlink_types.h" #include "mavlink_checksum.h" @@ -17,8 +18,8 @@ extern const uint8_t MAVLINK_CONST mavlink_msg_lengths[256]; extern const uint8_t MAVLINK_CONST mavlink_msg_keys[256]; -extern mavlink_status_t m_mavlink_status[MAVLINK_COMM_NB]; -extern mavlink_message_t m_mavlink_message[MAVLINK_COMM_NB]; +extern mavlink_status_t m_mavlink_status[MAVLINK_COMM_NUM_BUFFERS]; +extern mavlink_message_t m_mavlink_message[MAVLINK_COMM_NUM_BUFFERS]; extern mavlink_system_t mavlink_system; @@ -323,9 +324,10 @@ static inline int16_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_messag // Successfully got message status->msg_received = 1; status->parse_state = MAVLINK_PARSE_STATE_IDLE; - if ( r_message != NULL ) + if ( r_message != 0 ) + { memcpy(r_message, rxmsg, sizeof(mavlink_message_t)); - else ; + } } break; } diff --git a/thirdParty/mavlink/include/mavlink_types.h b/thirdParty/mavlink/include/mavlink_types.h index 77b2e24096da17fd97462bb04fb03464696d20ac..e6526816a0196c837fb4d6be267217156163f8d8 100644 --- a/thirdParty/mavlink/include/mavlink_types.h +++ b/thirdParty/mavlink/include/mavlink_types.h @@ -9,6 +9,56 @@ #include "inttypes.h" +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 +}; + + + #define MAVLINK_STX 0xD5 ///< Packet start sign #define MAVLINK_STX_LEN 1 ///< Length of start sign #define MAVLINK_MAX_PAYLOAD_LEN 255 ///< Maximum payload length @@ -77,7 +127,18 @@ typedef enum MAVLINK_COMM_1, MAVLINK_COMM_2, MAVLINK_COMM_3, - MAVLINK_COMM_NB, + MAVLINK_COMM_4, + MAVLINK_COMM_5, + MAVLINK_COMM_6, + MAVLINK_COMM_7, + MAVLINK_COMM_8, + MAVLINK_COMM_9, + MAVLINK_COMM_10, + MAVLINK_COMM_11, + MAVLINK_COMM_12, + MAVLINK_COMM_13, + MAVLINK_COMM_14, + MAVLINK_COMM_15, MAVLINK_COMM_NB_HIGH = 16 } mavlink_channel_t; diff --git a/thirdParty/mavlink/include/minimal/mavlink.h b/thirdParty/mavlink/include/minimal/mavlink.h index 3727dd55d3f1f475110830b06f6ebe4ea341f7e9..7b1170e908ff5b994ec23fd22adcd56db84a8870 100644 --- a/thirdParty/mavlink/include/minimal/mavlink.h +++ b/thirdParty/mavlink/include/minimal/mavlink.h @@ -1,7 +1,7 @@ /** @file * @brief MAVLink comm protocol. * @see http://pixhawk.ethz.ch/software/mavlink - * Generated on Saturday, August 13 2011, 07:20 UTC + * Generated on Saturday, August 20 2011, 11:07 UTC */ #ifndef MAVLINK_H #define MAVLINK_H diff --git a/thirdParty/mavlink/include/minimal/mavlink_msg_heartbeat.h b/thirdParty/mavlink/include/minimal/mavlink_msg_heartbeat.h index 466f8a783d30f6fa7dd7214dfbb0c2707b5d7edd..5d1ca23a0c31e29e1a55f3dbbdfa0e28f2be293d 100644 --- a/thirdParty/mavlink/include/minimal/mavlink_msg_heartbeat.h +++ b/thirdParty/mavlink/include/minimal/mavlink_msg_heartbeat.h @@ -1,15 +1,20 @@ // MESSAGE HEARTBEAT PACKING #define MAVLINK_MSG_ID_HEARTBEAT 0 -#define MAVLINK_MSG_ID_HEARTBEAT_LEN 3 -#define MAVLINK_MSG_0_LEN 3 -#define MAVLINK_MSG_ID_HEARTBEAT_KEY 0x47 -#define MAVLINK_MSG_0_KEY 0x47 +#define MAVLINK_MSG_ID_HEARTBEAT_LEN 8 +#define MAVLINK_MSG_0_LEN 8 +#define MAVLINK_MSG_ID_HEARTBEAT_KEY 0xB3 +#define MAVLINK_MSG_0_KEY 0xB3 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 autopilot; ///< Autopilot type / class. defined in MAV_CLASS ENUM + 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 + uint8_t safety_status; ///< System safety lock state, see MAV_SAFETY enum. Also indicates HIL operation + uint8_t link_status; ///< Bitmask showing which links are ok / enabled. 0 for disabled/non functional, 1: enabled Indices: 0: RC, 1: UART1, 2: UART2, 3: UART3, 4: UART4, 5: UART5, 6: I2C, 7: CAN uint8_t mavlink_version; ///< MAVLink version } mavlink_heartbeat_t; @@ -21,16 +26,26 @@ typedef struct __mavlink_heartbeat_t * @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 + * @param autopilot Autopilot type / class. defined in MAV_CLASS ENUM + * @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 safety_status System safety lock state, see MAV_SAFETY enum. Also indicates HIL operation + * @param link_status Bitmask showing which links are ok / enabled. 0 for disabled/non functional, 1: enabled Indices: 0: RC, 1: UART1, 2: UART2, 3: UART3, 4: UART4, 5: UART5, 6: I2C, 7: CAN * @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) +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, uint8_t mode, uint8_t nav_mode, uint8_t status, uint8_t safety_status, uint8_t link_status) { mavlink_heartbeat_t *p = (mavlink_heartbeat_t *)&msg->payload[0]; msg->msgid = MAVLINK_MSG_ID_HEARTBEAT; p->type = type; // uint8_t:Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) - p->autopilot = autopilot; // uint8_t:Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM + p->autopilot = autopilot; // uint8_t:Autopilot type / class. defined in MAV_CLASS ENUM + p->mode = mode; // uint8_t:System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h + p->nav_mode = nav_mode; // uint8_t:Navigation mode, see MAV_NAV_MODE ENUM + p->status = status; // uint8_t:System status flag, see MAV_STATUS ENUM + p->safety_status = safety_status; // uint8_t:System safety lock state, see MAV_SAFETY enum. Also indicates HIL operation + p->link_status = link_status; // uint8_t:Bitmask showing which links are ok / enabled. 0 for disabled/non functional, 1: enabled Indices: 0: RC, 1: UART1, 2: UART2, 3: UART3, 4: UART4, 5: UART5, 6: I2C, 7: CAN p->mavlink_version = MAVLINK_VERSION; // uint8_t_mavlink_version:MAVLink version return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HEARTBEAT_LEN); @@ -43,16 +58,26 @@ static inline uint16_t mavlink_msg_heartbeat_pack(uint8_t system_id, uint8_t com * @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 + * @param autopilot Autopilot type / class. defined in MAV_CLASS ENUM + * @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 safety_status System safety lock state, see MAV_SAFETY enum. Also indicates HIL operation + * @param link_status Bitmask showing which links are ok / enabled. 0 for disabled/non functional, 1: enabled Indices: 0: RC, 1: UART1, 2: UART2, 3: UART3, 4: UART4, 5: UART5, 6: I2C, 7: CAN * @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) +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, uint8_t mode, uint8_t nav_mode, uint8_t status, uint8_t safety_status, uint8_t link_status) { mavlink_heartbeat_t *p = (mavlink_heartbeat_t *)&msg->payload[0]; msg->msgid = MAVLINK_MSG_ID_HEARTBEAT; p->type = type; // uint8_t:Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) - p->autopilot = autopilot; // uint8_t:Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM + p->autopilot = autopilot; // uint8_t:Autopilot type / class. defined in MAV_CLASS ENUM + p->mode = mode; // uint8_t:System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h + p->nav_mode = nav_mode; // uint8_t:Navigation mode, see MAV_NAV_MODE ENUM + p->status = status; // uint8_t:System status flag, see MAV_STATUS ENUM + p->safety_status = safety_status; // uint8_t:System safety lock state, see MAV_SAFETY enum. Also indicates HIL operation + p->link_status = link_status; // uint8_t:Bitmask showing which links are ok / enabled. 0 for disabled/non functional, 1: enabled Indices: 0: RC, 1: UART1, 2: UART2, 3: UART3, 4: UART4, 5: UART5, 6: I2C, 7: CAN p->mavlink_version = MAVLINK_VERSION; // uint8_t_mavlink_version:MAVLink version return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HEARTBEAT_LEN); @@ -68,7 +93,7 @@ static inline uint16_t mavlink_msg_heartbeat_pack_chan(uint8_t system_id, uint8_ */ 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); + return mavlink_msg_heartbeat_pack(system_id, component_id, msg, heartbeat->type, heartbeat->autopilot, heartbeat->mode, heartbeat->nav_mode, heartbeat->status, heartbeat->safety_status, heartbeat->link_status); } @@ -78,16 +103,26 @@ static inline uint16_t mavlink_msg_heartbeat_encode(uint8_t system_id, uint8_t c * @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 + * @param autopilot Autopilot type / class. defined in MAV_CLASS ENUM + * @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 safety_status System safety lock state, see MAV_SAFETY enum. Also indicates HIL operation + * @param link_status Bitmask showing which links are ok / enabled. 0 for disabled/non functional, 1: enabled Indices: 0: RC, 1: UART1, 2: UART2, 3: UART3, 4: UART4, 5: UART5, 6: I2C, 7: CAN */ -static inline void mavlink_msg_heartbeat_send(mavlink_channel_t chan, uint8_t type, uint8_t autopilot) +static inline void mavlink_msg_heartbeat_send(mavlink_channel_t chan, uint8_t type, uint8_t autopilot, uint8_t mode, uint8_t nav_mode, uint8_t status, uint8_t safety_status, uint8_t link_status) { mavlink_header_t hdr; mavlink_heartbeat_t payload; MAVLINK_BUFFER_CHECK_START( chan, MAVLINK_MSG_ID_HEARTBEAT_LEN ) payload.type = type; // uint8_t:Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) - payload.autopilot = autopilot; // uint8_t:Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM + payload.autopilot = autopilot; // uint8_t:Autopilot type / class. defined in MAV_CLASS ENUM + payload.mode = mode; // uint8_t:System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h + payload.nav_mode = nav_mode; // uint8_t:Navigation mode, see MAV_NAV_MODE ENUM + payload.status = status; // uint8_t:System status flag, see MAV_STATUS ENUM + payload.safety_status = safety_status; // uint8_t:System safety lock state, see MAV_SAFETY enum. Also indicates HIL operation + payload.link_status = link_status; // uint8_t:Bitmask showing which links are ok / enabled. 0 for disabled/non functional, 1: enabled Indices: 0: RC, 1: UART1, 2: UART2, 3: UART3, 4: UART4, 5: UART5, 6: I2C, 7: CAN payload.mavlink_version = MAVLINK_VERSION; // uint8_t_mavlink_version:MAVLink version hdr.STX = MAVLINK_STX; @@ -98,11 +133,12 @@ static inline void mavlink_msg_heartbeat_send(mavlink_channel_t chan, uint8_t ty hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); crc_calculate_mem((uint8_t *)&payload, &hdr.ck, hdr.len ); - crc_accumulate( 0x47, &hdr.ck); /// include key in X25 checksum + crc_accumulate( 0xB3, &hdr.ck); /// include key in X25 checksum mavlink_send_mem(chan, (uint8_t *)&hdr.ck, MAVLINK_NUM_CHECKSUM_BYTES); MAVLINK_BUFFER_CHECK_END } @@ -124,7 +160,7 @@ static inline uint8_t mavlink_msg_heartbeat_get_type(const mavlink_message_t* ms /** * @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 + * @return Autopilot type / class. defined in MAV_CLASS ENUM */ static inline uint8_t mavlink_msg_heartbeat_get_autopilot(const mavlink_message_t* msg) { @@ -132,6 +168,61 @@ static inline uint8_t mavlink_msg_heartbeat_get_autopilot(const mavlink_message_ return (uint8_t)(p->autopilot); } +/** + * @brief Get field mode from heartbeat message + * + * @return System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h + */ +static inline uint8_t mavlink_msg_heartbeat_get_mode(const mavlink_message_t* msg) +{ + mavlink_heartbeat_t *p = (mavlink_heartbeat_t *)&msg->payload[0]; + return (uint8_t)(p->mode); +} + +/** + * @brief Get field nav_mode from heartbeat message + * + * @return Navigation mode, see MAV_NAV_MODE ENUM + */ +static inline uint8_t mavlink_msg_heartbeat_get_nav_mode(const mavlink_message_t* msg) +{ + mavlink_heartbeat_t *p = (mavlink_heartbeat_t *)&msg->payload[0]; + return (uint8_t)(p->nav_mode); +} + +/** + * @brief Get field status from heartbeat message + * + * @return System status flag, see MAV_STATUS ENUM + */ +static inline uint8_t mavlink_msg_heartbeat_get_status(const mavlink_message_t* msg) +{ + mavlink_heartbeat_t *p = (mavlink_heartbeat_t *)&msg->payload[0]; + return (uint8_t)(p->status); +} + +/** + * @brief Get field safety_status from heartbeat message + * + * @return System safety lock state, see MAV_SAFETY enum. Also indicates HIL operation + */ +static inline uint8_t mavlink_msg_heartbeat_get_safety_status(const mavlink_message_t* msg) +{ + mavlink_heartbeat_t *p = (mavlink_heartbeat_t *)&msg->payload[0]; + return (uint8_t)(p->safety_status); +} + +/** + * @brief Get field link_status from heartbeat message + * + * @return Bitmask showing which links are ok / enabled. 0 for disabled/non functional, 1: enabled Indices: 0: RC, 1: UART1, 2: UART2, 3: UART3, 4: UART4, 5: UART5, 6: I2C, 7: CAN + */ +static inline uint8_t mavlink_msg_heartbeat_get_link_status(const mavlink_message_t* msg) +{ + mavlink_heartbeat_t *p = (mavlink_heartbeat_t *)&msg->payload[0]; + return (uint8_t)(p->link_status); +} + /** * @brief Get field mavlink_version from heartbeat message * diff --git a/thirdParty/mavlink/include/minimal/minimal.h b/thirdParty/mavlink/include/minimal/minimal.h index 455b0735a813ebbd609ca2743921810da62a3042..f4a8c6774dad0f0b497a5fbf60cf1d058613629b 100644 --- a/thirdParty/mavlink/include/minimal/minimal.h +++ b/thirdParty/mavlink/include/minimal/minimal.h @@ -1,7 +1,7 @@ /** @file * @brief MAVLink comm protocol. * @see http://qgroundcontrol.org/mavlink/ - * Generated on Saturday, August 13 2011, 07:20 UTC + * Generated on Saturday, August 20 2011, 11:07 UTC */ #ifndef MINIMAL_H #define MINIMAL_H diff --git a/thirdParty/mavlink/include/pixhawk/mavlink.h b/thirdParty/mavlink/include/pixhawk/mavlink.h index c6ab3b1c07e6f7a9cb16d11db14fdd57ea344cc1..86173328992a8eeb7cc47cc988473090c5dabe4f 100644 --- a/thirdParty/mavlink/include/pixhawk/mavlink.h +++ b/thirdParty/mavlink/include/pixhawk/mavlink.h @@ -1,7 +1,7 @@ /** @file * @brief MAVLink comm protocol. * @see http://pixhawk.ethz.ch/software/mavlink - * Generated on Saturday, August 13 2011, 07:19 UTC + * Generated on Saturday, August 20 2011, 11:19 UTC */ #ifndef MAVLINK_H #define MAVLINK_H diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_attitude_control.h b/thirdParty/mavlink/include/pixhawk/mavlink_msg_attitude_control.h index 3da14afabfaa615f350e63dc46bcefdf1164362a..a11c18462943b01812f4ed4b984a08c1c4e0a523 100644 --- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_attitude_control.h +++ b/thirdParty/mavlink/include/pixhawk/mavlink_msg_attitude_control.h @@ -143,6 +143,7 @@ static inline void mavlink_msg_attitude_control_send(mavlink_channel_t chan, uin hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_aux_status.h b/thirdParty/mavlink/include/pixhawk/mavlink_msg_aux_status.h index 4f470bd84a724cba02dc3d86dc6d9e7569a01c72..43cea3ffa515def543daf555a2b7cd2ecee282d7 100644 --- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_aux_status.h +++ b/thirdParty/mavlink/include/pixhawk/mavlink_msg_aux_status.h @@ -122,6 +122,7 @@ static inline void mavlink_msg_aux_status_send(mavlink_channel_t chan, uint16_t hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_brief_feature.h b/thirdParty/mavlink/include/pixhawk/mavlink_msg_brief_feature.h index cc0e71398b8545d62c94111b5064836fe1d26445..a82b77d5323c3459d3bc8d07f04eec1a5121b01e 100644 --- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_brief_feature.h +++ b/thirdParty/mavlink/include/pixhawk/mavlink_msg_brief_feature.h @@ -137,6 +137,7 @@ static inline void mavlink_msg_brief_feature_send(mavlink_channel_t chan, float hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_data_transmission_handshake.h b/thirdParty/mavlink/include/pixhawk/mavlink_msg_data_transmission_handshake.h index e329ac10252b57e6a817c2a79a78f60f52f243be..1d471de9e552b08e0216ab73b131e7659c6fd3e9 100644 --- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_data_transmission_handshake.h +++ b/thirdParty/mavlink/include/pixhawk/mavlink_msg_data_transmission_handshake.h @@ -115,6 +115,7 @@ static inline void mavlink_msg_data_transmission_handshake_send(mavlink_channel_ hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_encapsulated_data.h b/thirdParty/mavlink/include/pixhawk/mavlink_msg_encapsulated_data.h index 4fc69dfb9813a95c09e3fbb91c3e901ccb28ad8c..942a55d1e114a1e0428bd6da17decbb197e4723e 100644 --- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_encapsulated_data.h +++ b/thirdParty/mavlink/include/pixhawk/mavlink_msg_encapsulated_data.h @@ -95,6 +95,7 @@ static inline void mavlink_msg_encapsulated_data_send(mavlink_channel_t chan, ui hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_image_available.h b/thirdParty/mavlink/include/pixhawk/mavlink_msg_image_available.h index 2bb279c2185d23127ec7c14d6f57576c6937be57..30004ff4325ce8a142f0e2246e8e3593614ee278 100644 --- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_image_available.h +++ b/thirdParty/mavlink/include/pixhawk/mavlink_msg_image_available.h @@ -241,6 +241,7 @@ static inline void mavlink_msg_image_available_send(mavlink_channel_t chan, uint hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_image_trigger_control.h b/thirdParty/mavlink/include/pixhawk/mavlink_msg_image_trigger_control.h index 4ab1dad96f2e3f1c532ccc96b7e05a64289f0fa6..4396378ef38ac07c1febe37afef93b2ceeaebb99 100644 --- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_image_trigger_control.h +++ b/thirdParty/mavlink/include/pixhawk/mavlink_msg_image_trigger_control.h @@ -87,6 +87,7 @@ static inline void mavlink_msg_image_trigger_control_send(mavlink_channel_t chan hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_image_triggered.h b/thirdParty/mavlink/include/pixhawk/mavlink_msg_image_triggered.h index 6fca6a1cf781032e6192a318241eb2413fc088ca..5375ae3257e6c0ccdd7b96029359ab1c08d19ca3 100644 --- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_image_triggered.h +++ b/thirdParty/mavlink/include/pixhawk/mavlink_msg_image_triggered.h @@ -164,6 +164,7 @@ static inline void mavlink_msg_image_triggered_send(mavlink_channel_t chan, uint hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_marker.h b/thirdParty/mavlink/include/pixhawk/mavlink_msg_marker.h index a5074c706d3f663062eee5e8a52c6b272842f38e..eac24cd065b2adbf4a46c28e5718162d6ff70297 100644 --- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_marker.h +++ b/thirdParty/mavlink/include/pixhawk/mavlink_msg_marker.h @@ -129,6 +129,7 @@ static inline void mavlink_msg_marker_send(mavlink_channel_t chan, uint16_t id, hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_pattern_detected.h b/thirdParty/mavlink/include/pixhawk/mavlink_msg_pattern_detected.h index 2ea0fc79c014556f68ea9bf48d9b0ec552cca7c3..f880295ccbda6ca0c92792c56afbde119a2ebb37 100644 --- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_pattern_detected.h +++ b/thirdParty/mavlink/include/pixhawk/mavlink_msg_pattern_detected.h @@ -109,6 +109,7 @@ static inline void mavlink_msg_pattern_detected_send(mavlink_channel_t chan, uin hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_point_of_interest.h b/thirdParty/mavlink/include/pixhawk/mavlink_msg_point_of_interest.h index f3ae2efca458426a5778a544abd23cbcb6e8126f..2f35b963680be4953439cec937c50805171df85c 100644 --- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_point_of_interest.h +++ b/thirdParty/mavlink/include/pixhawk/mavlink_msg_point_of_interest.h @@ -137,6 +137,7 @@ static inline void mavlink_msg_point_of_interest_send(mavlink_channel_t chan, ui hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_point_of_interest_connection.h b/thirdParty/mavlink/include/pixhawk/mavlink_msg_point_of_interest_connection.h index 75f26249f8212782755c8bd6768d5a12c2213f5e..f5a470d6363fbb01bd0290752e89b580e1259545 100644 --- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_point_of_interest_connection.h +++ b/thirdParty/mavlink/include/pixhawk/mavlink_msg_point_of_interest_connection.h @@ -158,6 +158,7 @@ static inline void mavlink_msg_point_of_interest_connection_send(mavlink_channel hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_position_control_offset_set.h b/thirdParty/mavlink/include/pixhawk/mavlink_msg_position_control_offset_set.h index 3ae1a4107da01c29ec05adf169afcaa52f705e83..4c273a20c6065f568ecf053ba0c8d7771d9d0ab3 100644 --- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_position_control_offset_set.h +++ b/thirdParty/mavlink/include/pixhawk/mavlink_msg_position_control_offset_set.h @@ -122,6 +122,7 @@ static inline void mavlink_msg_position_control_offset_set_send(mavlink_channel_ hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_position_control_setpoint.h b/thirdParty/mavlink/include/pixhawk/mavlink_msg_position_control_setpoint.h index a40eea0c9f5afc7a1a3e3f797927702045d880a9..1b9a8c922fa33c88011f1a374a7024f0cb259c77 100644 --- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_position_control_setpoint.h +++ b/thirdParty/mavlink/include/pixhawk/mavlink_msg_position_control_setpoint.h @@ -115,6 +115,7 @@ static inline void mavlink_msg_position_control_setpoint_send(mavlink_channel_t hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_position_control_setpoint_set.h b/thirdParty/mavlink/include/pixhawk/mavlink_msg_position_control_setpoint_set.h index e22c10bf6d5d71f8c85b75fbc89b374ac9a9ec1b..625ca74e17f43ec590cbaa0b234a55136e748905 100644 --- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_position_control_setpoint_set.h +++ b/thirdParty/mavlink/include/pixhawk/mavlink_msg_position_control_setpoint_set.h @@ -129,6 +129,7 @@ static inline void mavlink_msg_position_control_setpoint_set_send(mavlink_channe hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_raw_aux.h b/thirdParty/mavlink/include/pixhawk/mavlink_msg_raw_aux.h index 917935346bfd23db67992a5c57ac6453ecc0d513..2341cb3437bd35af7dda15704ead1360b47b6bfa 100644 --- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_raw_aux.h +++ b/thirdParty/mavlink/include/pixhawk/mavlink_msg_raw_aux.h @@ -129,6 +129,7 @@ static inline void mavlink_msg_raw_aux_send(mavlink_channel_t chan, uint16_t adc hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_set_cam_shutter.h b/thirdParty/mavlink/include/pixhawk/mavlink_msg_set_cam_shutter.h index 0cc93ff58c1f3b07dd8d84b617ee35e542d51305..47e8cdd306bdb3a0d2a39f3ab51c7abf96cc3af1 100644 --- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_set_cam_shutter.h +++ b/thirdParty/mavlink/include/pixhawk/mavlink_msg_set_cam_shutter.h @@ -122,6 +122,7 @@ static inline void mavlink_msg_set_cam_shutter_send(mavlink_channel_t chan, uint hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_vicon_position_estimate.h b/thirdParty/mavlink/include/pixhawk/mavlink_msg_vicon_position_estimate.h index 462e3801fb1d1fa6a552e5ec66963aa1aac274bc..ec76297c9ef501138998547d8c9fbe83d4c8ca6a 100644 --- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_vicon_position_estimate.h +++ b/thirdParty/mavlink/include/pixhawk/mavlink_msg_vicon_position_estimate.h @@ -129,6 +129,7 @@ static inline void mavlink_msg_vicon_position_estimate_send(mavlink_channel_t ch hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_vision_position_estimate.h b/thirdParty/mavlink/include/pixhawk/mavlink_msg_vision_position_estimate.h index 1bd2ca2506d1f70390957413332d4cafbff0fb0e..9ba6a9bd09bf67f6e1dec9d31f215163248e70cb 100644 --- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_vision_position_estimate.h +++ b/thirdParty/mavlink/include/pixhawk/mavlink_msg_vision_position_estimate.h @@ -129,6 +129,7 @@ static inline void mavlink_msg_vision_position_estimate_send(mavlink_channel_t c hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_vision_speed_estimate.h b/thirdParty/mavlink/include/pixhawk/mavlink_msg_vision_speed_estimate.h index d9bfe7b6349b710e4e8c472ae535d536f6a836d5..181367cbe90f93ee84c0ae36e097c30aac923a77 100644 --- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_vision_speed_estimate.h +++ b/thirdParty/mavlink/include/pixhawk/mavlink_msg_vision_speed_estimate.h @@ -108,6 +108,7 @@ static inline void mavlink_msg_vision_speed_estimate_send(mavlink_channel_t chan hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_watchdog_command.h b/thirdParty/mavlink/include/pixhawk/mavlink_msg_watchdog_command.h index 8acb62e2da071b3ac19c38d4a17182bb46d362c7..a7eca8c8dd15fc7c7e332e7f5b15f061d417719a 100644 --- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_watchdog_command.h +++ b/thirdParty/mavlink/include/pixhawk/mavlink_msg_watchdog_command.h @@ -108,6 +108,7 @@ static inline void mavlink_msg_watchdog_command_send(mavlink_channel_t chan, uin hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_watchdog_heartbeat.h b/thirdParty/mavlink/include/pixhawk/mavlink_msg_watchdog_heartbeat.h index 5e4ac05f53980700b05f83b1d9fd013c5b5e2e42..1f3f84633a0e070aa1cb6dc778b728e8a99eb8a5 100644 --- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_watchdog_heartbeat.h +++ b/thirdParty/mavlink/include/pixhawk/mavlink_msg_watchdog_heartbeat.h @@ -94,6 +94,7 @@ static inline void mavlink_msg_watchdog_heartbeat_send(mavlink_channel_t chan, u hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_watchdog_process_info.h b/thirdParty/mavlink/include/pixhawk/mavlink_msg_watchdog_process_info.h index 36b2480080f3298110f56f8b8dad1babc76257a6..9c10c937cdfb57ed403f4e90122b1d2f6fdbf865 100644 --- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_watchdog_process_info.h +++ b/thirdParty/mavlink/include/pixhawk/mavlink_msg_watchdog_process_info.h @@ -117,6 +117,7 @@ static inline void mavlink_msg_watchdog_process_info_send(mavlink_channel_t chan hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_watchdog_process_status.h b/thirdParty/mavlink/include/pixhawk/mavlink_msg_watchdog_process_status.h index 7765a92406810d84d05c18cc70cbed71ea3dced3..8faab57fdc459e721de8ed206fd1005bcfeed56e 100644 --- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_watchdog_process_status.h +++ b/thirdParty/mavlink/include/pixhawk/mavlink_msg_watchdog_process_status.h @@ -122,6 +122,7 @@ static inline void mavlink_msg_watchdog_process_status_send(mavlink_channel_t ch hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/pixhawk/pixhawk.h b/thirdParty/mavlink/include/pixhawk/pixhawk.h index a94bde4f2834cd3653882b0812266e663d083c17..69a3ef52ec79649620ac23ad440cabcaf516dc22 100644 --- a/thirdParty/mavlink/include/pixhawk/pixhawk.h +++ b/thirdParty/mavlink/include/pixhawk/pixhawk.h @@ -1,7 +1,7 @@ /** @file * @brief MAVLink comm protocol. * @see http://qgroundcontrol.org/mavlink/ - * Generated on Saturday, August 13 2011, 07:19 UTC + * Generated on Saturday, August 20 2011, 11:19 UTC */ #ifndef PIXHAWK_H #define PIXHAWK_H @@ -71,12 +71,12 @@ enum DATA_TYPES // MESSAGE CRC KEYS #undef MAVLINK_MESSAGE_KEYS -#define MAVLINK_MESSAGE_KEYS { 71, 249, 232, 226, 76, 126, 117, 186, 0, 144, 0, 249, 133, 0, 0, 0, 0, 0, 0, 0, 33, 34, 163, 45, 0, 166, 28, 99, 28, 21, 243, 240, 91, 21, 111, 43, 192, 234, 22, 197, 192, 192, 166, 34, 233, 34, 166, 158, 142, 60, 10, 75, 249, 247, 234, 161, 116, 56, 245, 0, 0, 0, 62, 75, 185, 18, 42, 38, 0, 127, 200, 0, 0, 212, 251, 20, 22, 0, 0, 0, 0, 0, 0, 0, 0, 127, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 8, 238, 165, 0, 0, 0, 0, 0, 0, 0, 218, 218, 235, 0, 0, 0, 0, 0, 0, 225, 114, 0, 0, 0, 0, 0, 0, 0, 0, 221, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 171, 122, 0, 0, 0, 0, 0, 0, 0, 92, 99, 4, 169, 10, 0, 0, 0, 0, 0, 52, 163, 16, 0, 0, 0, 0, 0, 0, 0, 200, 135, 217, 254, 0, 0, 255, 185, 0, 14, 136, 53, 0, 212, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 255, 73, 239, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 138, 43, 141, 211, 144 } +#define MAVLINK_MESSAGE_KEYS { 179, 218, 22, 76, 226, 126, 117, 186, 0, 144, 0, 249, 172, 16, 0, 0, 0, 0, 0, 0, 33, 34, 191, 55, 0, 166, 28, 99, 28, 21, 243, 240, 91, 21, 111, 43, 192, 234, 22, 197, 192, 192, 166, 34, 233, 34, 166, 158, 142, 60, 10, 75, 20, 247, 234, 161, 116, 56, 245, 0, 0, 0, 62, 75, 185, 18, 42, 80, 0, 127, 200, 0, 0, 212, 251, 20, 38, 22, 0, 0, 0, 0, 0, 0, 0, 127, 0, 0, 0, 0, 18, 103, 59, 0, 0, 0, 0, 0, 0, 0, 36, 8, 238, 165, 0, 0, 0, 0, 0, 0, 0, 218, 218, 235, 0, 0, 0, 0, 0, 0, 225, 114, 0, 0, 0, 0, 0, 0, 0, 0, 221, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 171, 122, 0, 0, 0, 0, 0, 0, 0, 92, 99, 4, 169, 10, 0, 0, 0, 0, 0, 52, 163, 16, 0, 0, 0, 0, 0, 0, 0, 200, 135, 217, 254, 0, 0, 255, 185, 0, 14, 136, 53, 0, 212, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 255, 73, 239, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 138, 43, 141, 211, 144 } // MESSAGE LENGTHS #undef MAVLINK_MESSAGE_LENGTHS -#define MAVLINK_MESSAGE_LENGTHS { 3, 4, 8, 14, 8, 28, 3, 32, 0, 2, 0, 2, 2, 0, 0, 0, 0, 0, 0, 0, 20, 2, 24, 22, 0, 30, 26, 101, 26, 16, 32, 32, 38, 32, 11, 17, 17, 16, 18, 36, 4, 4, 2, 2, 4, 2, 2, 3, 14, 12, 18, 16, 8, 27, 25, 18, 18, 20, 20, 0, 0, 0, 26, 16, 36, 5, 6, 56, 0, 21, 18, 0, 0, 20, 20, 20, 8, 0, 0, 0, 0, 0, 0, 0, 0, 21, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 11, 52, 1, 92, 0, 0, 0, 0, 0, 0, 0, 32, 32, 20, 0, 0, 0, 0, 0, 0, 20, 18, 0, 0, 0, 0, 0, 0, 0, 0, 26, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 16, 12, 0, 0, 0, 0, 0, 0, 0, 4, 255, 12, 6, 18, 0, 0, 0, 0, 0, 106, 43, 55, 0, 0, 0, 0, 0, 0, 0, 8, 255, 53, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 14, 14, 51 } +#define MAVLINK_MESSAGE_LENGTHS { 8, 23, 12, 8, 14, 28, 3, 32, 0, 0, 0, 2, 2, 2, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 0, 30, 26, 101, 26, 16, 32, 32, 38, 32, 0, 17, 17, 16, 18, 36, 4, 4, 2, 2, 4, 2, 2, 3, 14, 12, 18, 16, 14, 27, 25, 18, 18, 20, 20, 0, 0, 0, 26, 16, 36, 0, 6, 4, 0, 21, 18, 0, 0, 20, 20, 20, 32, 8, 0, 0, 0, 0, 0, 0, 0, 21, 0, 0, 0, 0, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 11, 52, 1, 92, 0, 0, 0, 0, 0, 0, 0, 32, 32, 20, 0, 0, 0, 0, 0, 0, 20, 18, 0, 0, 0, 0, 0, 0, 0, 0, 26, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 16, 12, 0, 0, 0, 0, 0, 0, 0, 4, 255, 12, 6, 18, 0, 0, 0, 0, 0, 106, 43, 55, 0, 0, 0, 0, 0, 0, 0, 8, 255, 53, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 14, 14, 51 } #ifdef __cplusplus } diff --git a/thirdParty/mavlink/include/slugs/mavlink.h b/thirdParty/mavlink/include/slugs/mavlink.h index cbf9b6ae3b3734af4aa17937b564da63f3064092..60f530b26274be971ab6a5de0427a2373e3228dd 100644 --- a/thirdParty/mavlink/include/slugs/mavlink.h +++ b/thirdParty/mavlink/include/slugs/mavlink.h @@ -1,7 +1,7 @@ /** @file * @brief MAVLink comm protocol. * @see http://pixhawk.ethz.ch/software/mavlink - * Generated on Saturday, August 13 2011, 07:19 UTC + * Generated on Saturday, August 20 2011, 11:06 UTC */ #ifndef MAVLINK_H #define MAVLINK_H diff --git a/thirdParty/mavlink/include/slugs/mavlink_msg_air_data.h b/thirdParty/mavlink/include/slugs/mavlink_msg_air_data.h index b1858d990a62147b7d4d50ede52c4f95c4dc34b7..51a3595c87c46bdf6f62126773303d9d8b5c98cf 100644 --- a/thirdParty/mavlink/include/slugs/mavlink_msg_air_data.h +++ b/thirdParty/mavlink/include/slugs/mavlink_msg_air_data.h @@ -101,6 +101,7 @@ static inline void mavlink_msg_air_data_send(mavlink_channel_t chan, float dynam hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/slugs/mavlink_msg_cpu_load.h b/thirdParty/mavlink/include/slugs/mavlink_msg_cpu_load.h index 42efc6407ba307191181a876daf2401eb99afd3e..f1915b2548de101fc9fb51def8d10418d03ae791 100644 --- a/thirdParty/mavlink/include/slugs/mavlink_msg_cpu_load.h +++ b/thirdParty/mavlink/include/slugs/mavlink_msg_cpu_load.h @@ -101,6 +101,7 @@ static inline void mavlink_msg_cpu_load_send(mavlink_channel_t chan, uint8_t sen hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/slugs/mavlink_msg_ctrl_srfc_pt.h b/thirdParty/mavlink/include/slugs/mavlink_msg_ctrl_srfc_pt.h index 604412c4c8c5b0045f9a4c6d895677fa527a39fd..442dae4da639598aaa8d07f883b430b94a54d058 100644 --- a/thirdParty/mavlink/include/slugs/mavlink_msg_ctrl_srfc_pt.h +++ b/thirdParty/mavlink/include/slugs/mavlink_msg_ctrl_srfc_pt.h @@ -94,6 +94,7 @@ static inline void mavlink_msg_ctrl_srfc_pt_send(mavlink_channel_t chan, uint8_t hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/slugs/mavlink_msg_data_log.h b/thirdParty/mavlink/include/slugs/mavlink_msg_data_log.h index 2f3a881c49523a4d2d860fd7782644f972530e9b..a77fa54f32e459d50891b4e1183681bf3dd14bc8 100644 --- a/thirdParty/mavlink/include/slugs/mavlink_msg_data_log.h +++ b/thirdParty/mavlink/include/slugs/mavlink_msg_data_log.h @@ -122,6 +122,7 @@ static inline void mavlink_msg_data_log_send(mavlink_channel_t chan, float fl_1, hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/slugs/mavlink_msg_diagnostic.h b/thirdParty/mavlink/include/slugs/mavlink_msg_diagnostic.h index 40a1ef617efe402c18a39a901017e15a75f55a2b..378edd1b4dda54107e1271e11661de59ac9db457 100644 --- a/thirdParty/mavlink/include/slugs/mavlink_msg_diagnostic.h +++ b/thirdParty/mavlink/include/slugs/mavlink_msg_diagnostic.h @@ -122,6 +122,7 @@ static inline void mavlink_msg_diagnostic_send(mavlink_channel_t chan, float dia hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/slugs/mavlink_msg_gps_date_time.h b/thirdParty/mavlink/include/slugs/mavlink_msg_gps_date_time.h index ba616ad3c69705773fc7760a7cdbd7f4fc5641ea..2a0b8c5b6d440ceef8bdfc2491a620ccad6b1ba3 100644 --- a/thirdParty/mavlink/include/slugs/mavlink_msg_gps_date_time.h +++ b/thirdParty/mavlink/include/slugs/mavlink_msg_gps_date_time.h @@ -129,6 +129,7 @@ static inline void mavlink_msg_gps_date_time_send(mavlink_channel_t chan, uint8_ hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/slugs/mavlink_msg_mid_lvl_cmds.h b/thirdParty/mavlink/include/slugs/mavlink_msg_mid_lvl_cmds.h index 15c1474428fd298e6158537ffe3471f9dc67bd2c..931a7e6c89a78da3d1b19646cb852f8c7c846ca5 100644 --- a/thirdParty/mavlink/include/slugs/mavlink_msg_mid_lvl_cmds.h +++ b/thirdParty/mavlink/include/slugs/mavlink_msg_mid_lvl_cmds.h @@ -108,6 +108,7 @@ static inline void mavlink_msg_mid_lvl_cmds_send(mavlink_channel_t chan, uint8_t hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/slugs/mavlink_msg_sensor_bias.h b/thirdParty/mavlink/include/slugs/mavlink_msg_sensor_bias.h index 25d9fb339fce8d43c5f39648cb838abdd2c8742c..a3aeaa27c46300ef930d3c4a001d60740a505f57 100644 --- a/thirdParty/mavlink/include/slugs/mavlink_msg_sensor_bias.h +++ b/thirdParty/mavlink/include/slugs/mavlink_msg_sensor_bias.h @@ -122,6 +122,7 @@ static inline void mavlink_msg_sensor_bias_send(mavlink_channel_t chan, float ax hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/slugs/mavlink_msg_slugs_action.h b/thirdParty/mavlink/include/slugs/mavlink_msg_slugs_action.h index d073928c2a7c948d70ab3cc2d7e4533389e080c6..456d760e1ccc9a1731e8fcfe6ab490ddc419922c 100644 --- a/thirdParty/mavlink/include/slugs/mavlink_msg_slugs_action.h +++ b/thirdParty/mavlink/include/slugs/mavlink_msg_slugs_action.h @@ -101,6 +101,7 @@ static inline void mavlink_msg_slugs_action_send(mavlink_channel_t chan, uint8_t hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/slugs/mavlink_msg_slugs_navigation.h b/thirdParty/mavlink/include/slugs/mavlink_msg_slugs_navigation.h index f3e337cf17ff860485ac91b1304e01a0e84db83e..f2b98db80b4ee90ae44b5aef7bf856d914f419f3 100644 --- a/thirdParty/mavlink/include/slugs/mavlink_msg_slugs_navigation.h +++ b/thirdParty/mavlink/include/slugs/mavlink_msg_slugs_navigation.h @@ -143,6 +143,7 @@ static inline void mavlink_msg_slugs_navigation_send(mavlink_channel_t chan, flo hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/slugs/slugs.h b/thirdParty/mavlink/include/slugs/slugs.h index eae6c7e30280d11f0d4517967dcb537a410a295a..eccf9d5e0dbd216238ef5c2ec26083fe896378c2 100644 --- a/thirdParty/mavlink/include/slugs/slugs.h +++ b/thirdParty/mavlink/include/slugs/slugs.h @@ -1,7 +1,7 @@ /** @file * @brief MAVLink comm protocol. * @see http://qgroundcontrol.org/mavlink/ - * Generated on Saturday, August 13 2011, 07:19 UTC + * Generated on Saturday, August 20 2011, 11:06 UTC */ #ifndef SLUGS_H #define SLUGS_H @@ -48,12 +48,12 @@ extern "C" { // MESSAGE CRC KEYS #undef MAVLINK_MESSAGE_KEYS -#define MAVLINK_MESSAGE_KEYS { 71, 249, 232, 226, 76, 126, 117, 186, 0, 144, 0, 249, 133, 0, 0, 0, 0, 0, 0, 0, 33, 34, 163, 45, 0, 166, 28, 99, 28, 21, 243, 240, 91, 21, 111, 43, 192, 234, 22, 197, 192, 192, 166, 34, 233, 34, 166, 158, 142, 60, 10, 75, 249, 247, 234, 161, 116, 56, 245, 0, 0, 0, 62, 75, 185, 18, 42, 38, 0, 127, 200, 0, 0, 212, 251, 20, 22, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 202, 144, 106, 254, 0, 0, 255, 185, 0, 14, 136, 53, 0, 212, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 255, 73, 239, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 138, 43, 141, 211, 144 } +#define MAVLINK_MESSAGE_KEYS { 179, 218, 22, 76, 226, 126, 117, 186, 0, 144, 0, 249, 172, 16, 0, 0, 0, 0, 0, 0, 33, 34, 191, 55, 0, 166, 28, 99, 28, 21, 243, 240, 91, 21, 111, 43, 192, 234, 22, 197, 192, 192, 166, 34, 233, 34, 166, 158, 142, 60, 10, 75, 249, 247, 234, 161, 116, 56, 245, 0, 0, 0, 62, 75, 185, 18, 42, 80, 0, 127, 200, 0, 0, 212, 251, 20, 38, 22, 0, 0, 0, 0, 0, 0, 0, 127, 0, 0, 0, 0, 18, 103, 59, 0, 0, 0, 0, 0, 0, 0, 74, 8, 238, 165, 0, 0, 0, 0, 0, 0, 0, 218, 218, 235, 0, 0, 0, 0, 0, 0, 225, 114, 0, 0, 0, 0, 0, 0, 0, 0, 221, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 171, 122, 0, 0, 0, 0, 0, 0, 0, 92, 99, 4, 169, 10, 0, 0, 0, 0, 0, 52, 163, 16, 0, 0, 0, 0, 0, 0, 0, 202, 144, 106, 254, 0, 0, 255, 185, 0, 14, 136, 53, 0, 212, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 255, 73, 239, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 138, 43, 141, 211, 144 } // MESSAGE LENGTHS #undef MAVLINK_MESSAGE_LENGTHS -#define MAVLINK_MESSAGE_LENGTHS { 3, 4, 8, 14, 8, 28, 3, 32, 0, 2, 0, 2, 2, 0, 0, 0, 0, 0, 0, 0, 20, 2, 24, 22, 0, 30, 26, 101, 26, 16, 32, 32, 38, 32, 11, 17, 17, 16, 18, 36, 4, 4, 2, 2, 4, 2, 2, 3, 14, 12, 18, 16, 8, 27, 25, 18, 18, 20, 20, 0, 0, 0, 26, 16, 36, 5, 6, 56, 0, 21, 18, 0, 0, 20, 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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 36, 30, 14, 14, 51 } +#define MAVLINK_MESSAGE_LENGTHS { 8, 23, 12, 8, 14, 28, 3, 32, 0, 0, 0, 2, 2, 2, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 0, 30, 26, 101, 26, 16, 32, 32, 38, 32, 0, 17, 17, 16, 18, 36, 4, 4, 2, 2, 4, 2, 2, 3, 14, 12, 18, 16, 8, 27, 25, 18, 18, 20, 20, 0, 0, 0, 26, 16, 36, 0, 6, 4, 0, 21, 18, 0, 0, 20, 20, 20, 32, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 56, 42, 33, 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, 0, 0, 0, 0, 0, 0, 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, 36, 30, 14, 14, 51 } #ifdef __cplusplus } diff --git a/thirdParty/mavlink/include/ualberta/mavlink.h b/thirdParty/mavlink/include/ualberta/mavlink.h index 591a13326144856021817060bf6954e5c6a5cf89..a8fd3b2c8b651d7db14c66ad6e8840647c617da3 100644 --- a/thirdParty/mavlink/include/ualberta/mavlink.h +++ b/thirdParty/mavlink/include/ualberta/mavlink.h @@ -1,7 +1,7 @@ /** @file * @brief MAVLink comm protocol. * @see http://pixhawk.ethz.ch/software/mavlink - * Generated on Saturday, August 13 2011, 07:19 UTC + * Generated on Saturday, August 20 2011, 11:06 UTC */ #ifndef MAVLINK_H #define MAVLINK_H diff --git a/thirdParty/mavlink/include/ualberta/mavlink_msg_nav_filter_bias.h b/thirdParty/mavlink/include/ualberta/mavlink_msg_nav_filter_bias.h index 6971ea408342d6d1905c2e8dd7fc03e9edba3fb8..e63b7ecb69334cbaca1602bc6f5d1ad5e93b569b 100644 --- a/thirdParty/mavlink/include/ualberta/mavlink_msg_nav_filter_bias.h +++ b/thirdParty/mavlink/include/ualberta/mavlink_msg_nav_filter_bias.h @@ -129,6 +129,7 @@ static inline void mavlink_msg_nav_filter_bias_send(mavlink_channel_t chan, uint hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/ualberta/mavlink_msg_radio_calibration.h b/thirdParty/mavlink/include/ualberta/mavlink_msg_radio_calibration.h index 107c5f8609d9ea57cfc2cc1e4ac426d40703663a..10fe466da71cab186c6f10276f7115928d2d10bd 100644 --- a/thirdParty/mavlink/include/ualberta/mavlink_msg_radio_calibration.h +++ b/thirdParty/mavlink/include/ualberta/mavlink_msg_radio_calibration.h @@ -128,6 +128,7 @@ static inline void mavlink_msg_radio_calibration_send(mavlink_channel_t chan, co hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/ualberta/mavlink_msg_ualberta_sys_status.h b/thirdParty/mavlink/include/ualberta/mavlink_msg_ualberta_sys_status.h index a42653e9821d6d14287fe48b23d43523961967e3..e346fdf1a8d70c54ab01d624a856c5b4026a11ea 100644 --- a/thirdParty/mavlink/include/ualberta/mavlink_msg_ualberta_sys_status.h +++ b/thirdParty/mavlink/include/ualberta/mavlink_msg_ualberta_sys_status.h @@ -101,6 +101,7 @@ static inline void mavlink_msg_ualberta_sys_status_send(mavlink_channel_t chan, hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); + mavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) ); crc_init(&hdr.ck); crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN); diff --git a/thirdParty/mavlink/include/ualberta/ualberta.h b/thirdParty/mavlink/include/ualberta/ualberta.h index 90cf2cd08fb429203ec2832969fd1ebfe8fd68bc..fe0531472547af84e1a242ee99fcedfc3fbf1e96 100644 --- a/thirdParty/mavlink/include/ualberta/ualberta.h +++ b/thirdParty/mavlink/include/ualberta/ualberta.h @@ -1,7 +1,7 @@ /** @file * @brief MAVLink comm protocol. * @see http://qgroundcontrol.org/mavlink/ - * Generated on Saturday, August 13 2011, 07:19 UTC + * Generated on Saturday, August 20 2011, 11:06 UTC */ #ifndef UALBERTA_H #define UALBERTA_H @@ -71,12 +71,12 @@ enum UALBERTA_PILOT_MODE // MESSAGE CRC KEYS #undef MAVLINK_MESSAGE_KEYS -#define MAVLINK_MESSAGE_KEYS { 71, 249, 232, 226, 76, 126, 117, 186, 0, 144, 0, 249, 133, 0, 0, 0, 0, 0, 0, 0, 33, 34, 163, 45, 0, 166, 28, 99, 28, 21, 243, 240, 91, 21, 111, 43, 192, 234, 22, 197, 192, 192, 166, 34, 233, 34, 166, 158, 142, 60, 10, 75, 249, 247, 234, 161, 116, 56, 245, 0, 0, 0, 62, 75, 185, 18, 42, 38, 0, 127, 200, 0, 0, 212, 251, 20, 22, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 255, 73, 239, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 138, 43, 141, 211, 144 } +#define MAVLINK_MESSAGE_KEYS { 179, 218, 22, 76, 226, 126, 117, 186, 0, 144, 0, 249, 172, 16, 0, 0, 0, 0, 0, 0, 33, 34, 191, 55, 0, 166, 28, 99, 28, 21, 243, 240, 91, 21, 111, 43, 192, 234, 22, 197, 192, 192, 166, 34, 233, 34, 166, 158, 142, 60, 10, 75, 249, 247, 234, 161, 116, 56, 245, 0, 0, 0, 62, 75, 185, 18, 42, 80, 0, 127, 200, 0, 0, 212, 251, 20, 38, 22, 0, 0, 0, 0, 0, 0, 0, 127, 0, 0, 0, 0, 18, 103, 59, 0, 0, 0, 0, 0, 0, 0, 74, 8, 238, 165, 0, 0, 0, 0, 0, 0, 0, 218, 218, 235, 0, 0, 0, 0, 0, 0, 225, 114, 0, 0, 0, 0, 0, 0, 0, 0, 221, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 171, 122, 0, 0, 0, 0, 0, 0, 0, 92, 99, 4, 169, 10, 0, 0, 0, 0, 0, 52, 163, 16, 0, 0, 0, 0, 0, 0, 0, 200, 135, 217, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 255, 73, 239, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 138, 43, 141, 211, 144 } // MESSAGE LENGTHS #undef MAVLINK_MESSAGE_LENGTHS -#define MAVLINK_MESSAGE_LENGTHS { 3, 4, 8, 14, 8, 28, 3, 32, 0, 2, 0, 2, 2, 0, 0, 0, 0, 0, 0, 0, 20, 2, 24, 22, 0, 30, 26, 101, 26, 16, 32, 32, 38, 32, 11, 17, 17, 16, 18, 36, 4, 4, 2, 2, 4, 2, 2, 3, 14, 12, 18, 16, 8, 27, 25, 18, 18, 20, 20, 0, 0, 0, 26, 16, 36, 5, 6, 56, 0, 21, 18, 0, 0, 20, 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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 36, 30, 14, 14, 51 } +#define MAVLINK_MESSAGE_LENGTHS { 8, 23, 12, 8, 14, 28, 3, 32, 0, 0, 0, 2, 2, 2, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 0, 30, 26, 101, 26, 16, 32, 32, 38, 32, 0, 17, 17, 16, 18, 36, 4, 4, 2, 2, 4, 2, 2, 3, 14, 12, 18, 16, 8, 27, 25, 18, 18, 20, 20, 0, 0, 0, 26, 16, 36, 0, 6, 4, 0, 21, 18, 0, 0, 20, 20, 20, 32, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 56, 42, 33, 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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 36, 30, 14, 14, 51 } #ifdef __cplusplus } diff --git a/thirdParty/mavlink/message_definitions/ardupilotmega.xml b/thirdParty/mavlink/message_definitions/ardupilotmega.xml index 72bf88a7cf8ade6a6ee2cc3e7ac63795021053a5..47e63019e81a1972336668c3113e6322b5775ff5 100644 --- a/thirdParty/mavlink/message_definitions/ardupilotmega.xml +++ b/thirdParty/mavlink/message_definitions/ardupilotmega.xml @@ -1,6 +1,37 @@ - + - common.xml - - + common.xml + + + + 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 + + diff --git a/thirdParty/mavlink/message_definitions/common.xml b/thirdParty/mavlink/message_definitions/common.xml index eceea294f9b194b5b9bee0994a3e7b5fad26195f..e2c132a7eb8ecf2b15e6b8427e39211f29dd8554 100644 --- a/thirdParty/mavlink/message_definitions/common.xml +++ b/thirdParty/mavlink/message_definitions/common.xml @@ -2,105 +2,133 @@ 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 + + MAV safety override. This is a top-level safety override. Independent of the general state machine this mode shall ensure the safe operation. the MAV_SAFETY state should ONLY be switchable in the MAV_STATE_STANDBY state and NOT in flight. + + MAV safety lock set to hardware in the loop simulation. All motors / actuators are blocked, but internal software is full operational. + + + MAV safety set to disarmed. Motors are BLOCKED. Independent of the system mode and navigation mode all actuators are blocked. + + + MAV safety set to armed. Motors are ready / could be started. All actuators are active. + + + - - System is in undefined state + + System is not ready to fly, booting, calibrating, etc. - - Motors are blocked, system is safe + + System is allowed to be active, under assisted RC control. Level of stabilization depends on MAV_FLIGTH_MODE - System is allowed to be active, under manual (RC) control + 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 and navigation + System is allowed to be active, under autonomous control and navigation (the trajectory is decided onboard and not pre-programmed by waypoints) - - Generic test mode, for custom use + + UNDEFINED mode. This solely depends on the autopilot - use with caution, intended for developers only. - - Generic test mode, for custom use + + + + System is currently on ground. - - Generic test mode, for custom use + + No interaction of the autopilot with the actuator outputs, pure manual flight. - - System is ready, motors are unblocked, but controllers are inactive + + System is during takeoff, not in normal navigation mode yet. Once the plane is moving faster than a few m/s it will lock onto a heading and hold that heading until the desired altitude is reached. Throttle is limited by the RC throttle setting. - - System is blocked, only RC valued are read and reported back + + System is holding its current position and disabled the mission management. Loitering in mission mode is NOT the hold type, but still mission mode. - - - - System is currently on ground. + + System is navigating towards the next waypoint and following a mission script. - - System is during liftoff, not in normal navigation mode yet. + + System is flying at a defined course and speed. If the vector is not defined by an autonomous approach but constantly by a user, please use MAV_FLIGHT_MODE_FBW_CURSOR_CONTROL - - System is holding its current position (rotorcraft or rover / boat). + + System is returning straight to home position. Once it reaches there it will hover or loiter at the autopilot's default holding settings. - - System is navigating towards the next waypoint. + + System is landing. Throttle is controlled by the autopilot. After getting closer than 30 meters, the course will lock to the current heading. Flare, throttle, flaps, gear, and other events can be scripted based on distance to landing point. - - System is flying at a defined course and speed. + + System lost its position input and is in attitude / flight stabilization only. - - System is return straight to home position. + + The stick inputs commands angular rates. Only recommended for experienced pilots / acrobatic flight. - - System is landing. + + RC control with stabilization; let go of the sticks and it will level. - - System lost its position input and is in attitude / flight stabilization only. + + The autopilot will hold the roll and pitch specified by the control sticks. Throttle is manual. The plane / quadrotor will not roll past the limits set in the configuration of the autopilot. Great for new pilots learning to fly. + + + Requires airspeed sensor. The autopilot will hold the roll specified by the control sticks. Pitch input from the radio is converted to altitude error, which the autopilot will try and adjust to. Throttle is controlled by autopilot. This is the perfect mode to test your autopilot as your radio inout is substituted for the navigation controls. + + + Fly by wire mode, stabilizing roll, pitch, yaw and altitude. Typical altitude hold for quadrotors where the X / Y position is commanded with the roll / pitch stick. + + + Fly by wire mode, user is only directing the movement, but all flight control is autonomous (similar to MAV_FLIGHT_MODE_AUTO_VECTOR with user input) + + + Custom test mode, depends on individual autopilot. - - System is loitering in wait position. DO NOT USE THIS FOR WAYPOINT LOITER! + + Custom test mode, depends on individual autopilot. + + + Custom test mode, depends on individual autopilot. @@ -129,57 +157,6 @@ System just initialized its power-down sequence, will shut down now. - - 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). - - - Point toward next waypoint. - - - Point toward given waypoint. - - - Point toward fixed location. - - - Point toward of given id. - - Generic micro air vehicle. @@ -306,7 +283,7 @@ - Global coordinate frame, WGS84 coordinate system. + 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). @@ -315,7 +292,7 @@ NOT a coordinate frame, indicates a mission command. - Global coordinate frame, WGS84 coordinate system, relative altitude over ground. + 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) @@ -631,34 +608,108 @@ Empty + + 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 waypoint. + + + Point toward given waypoint. + + + Point toward fixed location. + + + Point toward of given id. + + 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) - Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM + Autopilot type / class. defined in MAV_CLASS ENUM + System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h + Navigation mode, see MAV_FLIGHT_MODE ENUM + System status flag, see MAV_STATUS ENUM + System safety lock state, see MAV_SAFETY enum. Also indicates HIL operation + Bitmask showing which links are ok / enabled. 0 for disabled/non functional, 1: enabled Indices: 0: RC, 1: UART1, 2: UART2, 3: UART3, 4: UART4, 5: UART5, 6: I2C, 7: CAN MAVLink version - - The boot message indicates that a system is starting. The onboard software version allows to keep track of onboard soft/firmware revisions. - The onboard software 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 milliamperes (1 = 1 milliampere) + Watts consumed from this battery since startup + Remaining battery energy: (0%: 0, 100%: 255) + Dropped packets on all links (packets that were corrupted on reception on the MAV) + Dropped packets on all links (packets that were corrupted on reception) + Dropped packets on all links (packets that were corrupted on reception) + Dropped packets on all links (packets that were corrupted on reception) + + 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. + + + + UTC date and time from GPS module + GPS UTC date ddmmyy + GPS UTC time hhmmss - + 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. 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 Unix timestamp in microseconds - - UTC date and time from GPS module - GPS UTC date ddmmyy - GPS UTC time hhmmss - Request to control this MAV System the GCS requests control for @@ -676,20 +727,20 @@ 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 - - This message acknowledges an action. IMPORTANT: The acknowledgement can be also negative, e.g. the MAV rejects a reset message because it is in-flight. The action ids are defined in ENUM MAV_ACTION in mavlink/include/mavlink_types.h - The MAV_CMD ID - 0: Action DENIED, 1: Action executed - - Set the system mode, as defined by enum MAV_MODE in mavlink/include/mavlink_types.h. There is no target component id as the mode is by definition for the overall aircraft, not only for one component. + 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 mode - - Set the system navigation mode, as defined by enum MAV_NAV_MODE in mavlink/include/mavlink_types.h. The navigation mode applies to the whole aircraft and thus all components. + + Set the system navigation mode, as defined by enum MAV_FLIGHT_MODE. The navigation mode applies to the whole aircraft and thus all components. The system setting the mode - The new navigation mode + The new navigation mode + + + Set the system safety mode, as defined by enum MAV_SAFETY. The navigation mode applies to the whole aircraft and thus all components. + The system setting the mode + The new safety mode. The MAV will reject some mode changes during flight. 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. @@ -707,6 +758,7 @@ 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: 0: float, 1: uint8_t, 2: int8_t, 3: uint16_t, 4: int16_t, 5: uint32_t, 6: int32_t Total number of onboard parameters Index of this onboard parameter @@ -716,6 +768,7 @@ Component ID Onboard parameter id Onboard parameter value + Onboard parameter type: 0: float, 1: uint8_t, 2: int8_t, 3: uint16_t, 4: int16_t, 5: uint32_t, 6: int32_t The global position, as returned by the Global Positioning System (GPS). This is @@ -827,16 +880,6 @@ Compass heading in degrees, 0..360 degrees Number of satellites visible - - 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. - System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h - Navigation mode, see MAV_NAV_MODE ENUM - System status flag, see MAV_STATUS ENUM - Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 - Battery voltage, in millivolts (1 = 1 millivolt) - Remaining battery energy: (0%: 0, 100%: 1000) - Dropped packets (packets that were corrupted on reception on the MAV) - 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. RC channel 1 value, in microseconds @@ -963,15 +1006,12 @@ z position Desired yaw angle - - Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix - Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix - GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix - Attitude estimation health: 0: poor, 255: excellent - 0: Attitude control disabled, 1: enabled - 0: X, Y position control disabled, 1: enabled - 0: Z position control disabled, 1: enabled - 0: Yaw angle control disabled, 1: enabled + + Transmit the current local setpoint of the controller to other MAVs (collision avoidance) and to the GCS. + 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/waypoints to accept and which to reject. Safety areas are often enforced by national or competition regulations. @@ -1061,37 +1101,17 @@ y velocity z velocity - - The system setting the altitude - The new altitude in meters - The target requested to send the message stream. The target requested to send the message stream. - The ID of the requested message type + The ID of the requested data stream The requested interval between two messages of this type 1 to start sending, 0 to stop sending. - - This packet is useful for high throughput - applications such as hardware in the loop. - - 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) + + 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 @@ -1136,7 +1156,18 @@ 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. + + 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 @@ -1146,13 +1177,114 @@ 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 Current airspeed in m/s 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION - + + + + 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 pixels in x-sensor direction + Flow in pixels in y-sensor direction + Optical flow quality / confidence. 0: bad, 255: maximum quality + Ground distance in meters + + 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 @@ -1188,5 +1320,4 @@ DEBUG value ->>>>>>> 26a845613229fbb0cb8bee589c12f477fd30a42f diff --git a/thirdParty/mavlink/message_definitions/minimal.xml b/thirdParty/mavlink/message_definitions/minimal.xml index 5b41a4909090112233c5b91d1fa3067d7ffbdcbf..9b47343a74bbe567772273511511edba48d191df 100644 --- a/thirdParty/mavlink/message_definitions/minimal.xml +++ b/thirdParty/mavlink/message_definitions/minimal.xml @@ -3,11 +3,16 @@ 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) - Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM - MAVLink version - + + 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, see MAV_MODE ENUM in mavlink/include/mavlink_types.h + Navigation mode, see MAV_NAV_MODE ENUM + System status flag, see MAV_STATUS ENUM + System safety lock state, see MAV_SAFETY enum. Also indicates HIL operation + Bitmask showing which links are ok / enabled. 0 for disabled/non functional, 1: enabled Indices: 0: RC, 1: UART1, 2: UART2, 3: UART3, 4: UART4, 5: UART5, 6: I2C, 7: CAN + MAVLink version + diff --git a/thirdParty/mavlink/missionlib/mavlink_parameters.h b/thirdParty/mavlink/missionlib/mavlink_parameters.h index 82e7032772a55657686e655ab10c3e5c5bb29d77..0d7841fcdd85807988aa05dbc5f13c00426f1712 100644 --- a/thirdParty/mavlink/missionlib/mavlink_parameters.h +++ b/thirdParty/mavlink/missionlib/mavlink_parameters.h @@ -30,10 +30,6 @@ /* PARAMETER MANAGER - MISSION LIB */ -//#ifndef MAVLINK_PM_MAX_PARAM_COUNT -//#error You have not defined the ENUM with your parameters with MAVLINK_PM_MAX_PARAM_COUNT at the end. -//#endif - #ifndef MAVLINK_PM_TEXT_FEEDBACK #define MAVLINK_PM_TEXT_FEEDBACK 1 ///< Report back status information as text #endif diff --git a/thirdParty/mavlink/missionlib/testing/main.c b/thirdParty/mavlink/missionlib/testing/main.c index f90000b1ba5234175327069a442e65f09cfe8b7b..96e575173db9238a8be142ae8f3c4b0e7274928f 100644 --- a/thirdParty/mavlink/missionlib/testing/main.c +++ b/thirdParty/mavlink/missionlib/testing/main.c @@ -55,7 +55,7 @@ /* FIRST: MAVLink setup */ //#define MAVLINK_CONFIGURED //#define MAVLINK_NO_DATA -#define MAVLINK_WPM_VERBOSE +//#define MAVLINK_WPM_VERBOSE /* 0: Include MAVLink types */ #include "mavlink_types.h" @@ -145,7 +145,21 @@ void mavlink_missionlib_send_message(mavlink_message_t* msg) void mavlink_missionlib_send_gcs_string(const char* string) { - printf("%s\n",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() @@ -155,29 +169,11 @@ uint64_t mavlink_missionlib_get_system_timestamp() return ((uint64_t)tv.tv_sec) * 1000000 + tv.tv_usec; } - -void mavlink_wpm_send_message(mavlink_message_t* msg) -{ - mavlink_missionlib_send_message(msg); -} - -void mavlink_wpm_send_gcs_string(const char* string) -{ - mavlink_missionlib_send_gcs_string(string); -} - -uint64_t mavlink_wpm_get_system_timestamp() -{ - return mavlink_missionlib_get_system_timestamp(); -} - - - int main(int argc, char* argv[]) { // Initialize MAVLink mavlink_wpm_init(&wpm); - mavlink_system.sysid = 1; + mavlink_system.sysid = 5; mavlink_system.compid = 20; mavlink_pm_reset_params(&pm); @@ -240,29 +236,38 @@ int main(int argc, char* argv[]) for (;;) { + bytes_sent = 0; /*Send Heartbeat */ mavlink_msg_heartbeat_pack(mavlink_system.sysid, 200, &msg, MAV_TYPE_HELICOPTER, MAV_CLASS_GENERIC); len = mavlink_msg_to_send_buffer(buf, &msg); - bytes_sent = sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in)); + 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, MAV_NAV_HOLD, MAV_STATE_ACTIVE, 500, 7500, 0, 0); len = mavlink_msg_to_send_buffer(buf, &msg); - bytes_sent = sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof (struct sockaddr_in)); + bytes_sent += sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof (struct sockaddr_in)); /* Send Local Position */ mavlink_msg_local_position_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)); + 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(), 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)); + 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); + 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); @@ -287,12 +292,21 @@ int main(int argc, char* argv[]) // 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); + } } } printf("\n"); } memset(buf, 0, BUFFER_LENGTH); - usleep(50000); // Sleep one second + usleep(10000); // Sleep 10 ms // Send one parameter diff --git a/thirdParty/mavlink/missionlib/waypoints.c b/thirdParty/mavlink/missionlib/waypoints.c index 552fb12f51a83dcca83662aec9ee15af304fc4b2..286aae2de9fa2ce68909713935a5a8dc050fc06f 100644 --- a/thirdParty/mavlink/missionlib/waypoints.c +++ b/thirdParty/mavlink/missionlib/waypoints.c @@ -26,9 +26,9 @@ bool verbose = true; extern mavlink_system_t mavlink_system; extern mavlink_wpm_storage wpm; -extern void mavlink_wpm_send_message(mavlink_message_t* msg); -extern void mavlink_wpm_send_gcs_string(const char* string); -extern uint64_t mavlink_wpm_get_system_timestamp(); +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(); #define MAVLINK_WPM_NO_PRINTF @@ -71,18 +71,18 @@ void mavlink_wpm_send_waypoint_ack(uint8_t sysid, uint8_t compid, uint8_t type) wpa.type = type; mavlink_msg_waypoint_ack_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpa); - mavlink_wpm_send_message(&msg); + mavlink_missionlib_send_message(&msg); // FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY")); if (MAVLINK_WPM_TEXT_FEEDBACK) { #ifdef MAVLINK_WPM_NO_PRINTF - mavlink_wpm_send_gcs_string("Sent waypoint ACK"); + 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_wpm_send_gcs_string("Sent waypoint ACK"); + mavlink_missionlib_send_gcs_string("Sent waypoint ACK"); } } @@ -107,15 +107,15 @@ void mavlink_wpm_send_waypoint_current(uint16_t seq) wpc.seq = cur->seq; mavlink_msg_waypoint_current_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpc); - mavlink_wpm_send_message(&msg); + mavlink_missionlib_send_message(&msg); // FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY")); - if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_wpm_send_gcs_string("Broadcasted new current waypoint\n"); //// printf("Broadcasted new current waypoint %u\n", wpc.seq); + if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("Broadcasted new current waypoint\n"); //// printf("Broadcasted new current waypoint %u\n", wpc.seq); } else { - if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_wpm_send_gcs_string("ERROR: index out of bounds\n"); + if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("ERROR: index out of bounds\n"); } } @@ -147,20 +147,20 @@ void mavlink_wpm_send_setpoint(uint16_t seq) position_control_set_point.yaw = cur->param4; mavlink_msg_local_position_setpoint_set_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &position_control_set_point); - mavlink_wpm_send_message(&msg); + mavlink_missionlib_send_message(&msg); // FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY")); } else { - if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_wpm_send_gcs_string("No new setpoint set because of invalid coordinate frame of waypoint");//// if (verbose) // printf("No new set point sent to IMU because the new waypoint %u had no local coordinates\n", cur->seq); + if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("No new setpoint set because of invalid coordinate frame of waypoint");//// if (verbose) // printf("No new set point sent to IMU because the new waypoint %u had no local coordinates\n", cur->seq); } - wpm.timestamp_last_send_setpoint = mavlink_wpm_get_system_timestamp(); + wpm.timestamp_last_send_setpoint = mavlink_missionlib_get_system_timestamp(); } else { - if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_wpm_send_gcs_string("ERROR: Waypoint index out of bounds\n"); //// if (verbose) // printf("ERROR: index out of bounds\n"); + 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"); } } @@ -174,9 +174,9 @@ void mavlink_wpm_send_waypoint_count(uint8_t sysid, uint8_t compid, uint16_t cou wpc.count = count; mavlink_msg_waypoint_count_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpc); - mavlink_wpm_send_message(&msg); + mavlink_missionlib_send_message(&msg); - if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_wpm_send_gcs_string("Sent waypoint count"); //// if (verbose) // printf("Sent waypoint count (%u) to ID %u\n", wpc.count, wpc.target_system); + 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")); } @@ -190,14 +190,14 @@ void mavlink_wpm_send_waypoint(uint8_t sysid, uint8_t compid, uint16_t seq) wp->target_system = wpm.current_partner_sysid; wp->target_component = wpm.current_partner_compid; mavlink_msg_waypoint_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, wp); - mavlink_wpm_send_message(&msg); - if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_wpm_send_gcs_string("Sent waypoint"); //// if (verbose) // printf("Sent waypoint %u to ID %u\n", wp->seq, wp->target_system); + 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_wpm_send_gcs_string("ERROR: Waypoint index out of bounds\n"); + if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("ERROR: Waypoint index out of bounds\n"); } } @@ -211,14 +211,14 @@ void mavlink_wpm_send_waypoint_request(uint8_t sysid, uint8_t compid, uint16_t s wpr.target_component = wpm.current_partner_compid; wpr.seq = seq; mavlink_msg_waypoint_request_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpr); - mavlink_wpm_send_message(&msg); - if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_wpm_send_gcs_string("Sent waypoint request"); //// if (verbose) // printf("Sent waypoint request %u to ID %u\n", wpr.seq, wpr.target_system); + 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_wpm_send_gcs_string("ERROR: Waypoint index exceeds list capacity\n"); + if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("ERROR: Waypoint index exceeds list capacity\n"); } } @@ -237,9 +237,9 @@ void mavlink_wpm_send_waypoint_reached(uint16_t seq) wp_reached.seq = seq; mavlink_msg_waypoint_reached_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wp_reached); - mavlink_wpm_send_message(&msg); + mavlink_missionlib_send_message(&msg); - if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_wpm_send_gcs_string("Sent waypoint reached message"); //// if (verbose) // printf("Sent waypoint %u reached message\n", wp_reached.seq); + 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")); } @@ -310,11 +310,11 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg) //paramClient->handleMAVLinkPacket(msg); //check for timed-out operations - uint64_t now = mavlink_wpm_get_system_timestamp(); + 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_wpm_send_gcs_string("Operation timeout switching -> IDLE"); + 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 @@ -461,7 +461,7 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg) if (wpm.current_wp_id == wpm.size-1) { #ifdef MAVLINK_WPM_NO_PRINTF - mavlink_wpm_send_gcs_string("Got last WP ACK state -> IDLE"); + 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 @@ -473,7 +473,7 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg) else { #ifdef MAVLINK_WPM_NO_PRINTF - mavlink_wpm_send_gcs_string("REJ. WP CMD: curr partner id mismatch"); + 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 @@ -509,7 +509,7 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg) } } #ifdef MAVLINK_WPM_NO_PRINTF - mavlink_wpm_send_gcs_string("NEW WP SET"); + 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 @@ -522,7 +522,7 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg) else { #ifdef MAVLINK_WPM_NO_PRINTF - mavlink_wpm_send_gcs_string("IGN WP CURR CMD: Not in list"); + mavlink_missionlib_send_gcs_string("IGN WP CURR CMD: Not in list"); #else if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT: Index out of bounds\n"); #endif @@ -531,7 +531,7 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg) else { #ifdef MAVLINK_WPM_NO_PRINTF - mavlink_wpm_send_gcs_string("IGN WP CURR CMD: Busy"); + 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 @@ -540,7 +540,7 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg) else { #ifdef MAVLINK_WPM_NO_PRINTF - mavlink_wpm_send_gcs_string("REJ. WP CMD: target id mismatch"); + 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 @@ -601,7 +601,7 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg) if (wpm.current_state == MAVLINK_WPM_STATE_SENDLIST) { #ifdef MAVLINK_WPM_NO_PRINTF - mavlink_wpm_send_gcs_string("GOT WP REQ, state -> SEND"); + mavlink_missionlib_send_gcs_string("GOT WP REQ, state -> SEND"); #else if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_WAYPOINT_REQUEST of waypoint %u from %u changing state to MAVLINK_WPM_STATE_SENDLIST_SENDWPS\n", wpr.seq, msg->sysid); #endif @@ -609,7 +609,7 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg) if (wpm.current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS && wpr.seq == wpm.current_wp_id + 1) { #ifdef MAVLINK_WPM_NO_PRINTF - mavlink_wpm_send_gcs_string("GOT 2nd WP REQ"); + mavlink_missionlib_send_gcs_string("GOT 2nd WP REQ"); #else if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_WAYPOINT_REQUEST of waypoint %u from %u staying in state MAVLINK_WPM_STATE_SENDLIST_SENDWPS\n", wpr.seq, msg->sysid); #endif @@ -617,7 +617,7 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg) if (wpm.current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS && wpr.seq == wpm.current_wp_id) { #ifdef MAVLINK_WPM_NO_PRINTF - mavlink_wpm_send_gcs_string("GOT 2nd WP REQ"); + mavlink_missionlib_send_gcs_string("GOT 2nd WP REQ"); #else if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_WAYPOINT_REQUEST of waypoint %u (again) from %u staying in state MAVLINK_WPM_STATE_SENDLIST_SENDWPS\n", wpr.seq, msg->sysid); #endif @@ -634,7 +634,7 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg) if (!(wpm.current_state == MAVLINK_WPM_STATE_SENDLIST || wpm.current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS)) { #ifdef MAVLINK_WPM_NO_PRINTF - mavlink_wpm_send_gcs_string("REJ. WP CMD: Busy"); + mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy"); #else if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_WAYPOINT_REQUEST because i'm doing something else already (state=%i).\n", wpm.current_state); #endif @@ -645,7 +645,7 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg) if (wpr.seq != 0) { #ifdef MAVLINK_WPM_NO_PRINTF - mavlink_wpm_send_gcs_string("REJ. WP CMD: First id != 0"); + mavlink_missionlib_send_gcs_string("REJ. WP CMD: First id != 0"); #else if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_WAYPOINT_REQUEST because the first requested waypoint ID (%u) was not 0.\n", wpr.seq); #endif @@ -656,7 +656,7 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg) if (wpr.seq != wpm.current_wp_id && wpr.seq != wpm.current_wp_id + 1) { #ifdef MAVLINK_WPM_NO_PRINTF - mavlink_wpm_send_gcs_string("REJ. WP CMD: Req. WP was unexpected"); + mavlink_missionlib_send_gcs_string("REJ. WP CMD: Req. WP was unexpected"); #else if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_WAYPOINT_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 @@ -664,7 +664,7 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg) else if (wpr.seq >= wpm.size) { #ifdef MAVLINK_WPM_NO_PRINTF - mavlink_wpm_send_gcs_string("REJ. WP CMD: Req. WP not in list"); + mavlink_missionlib_send_gcs_string("REJ. WP CMD: Req. WP not in list"); #else if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_WAYPOINT_REQUEST because the requested waypoint ID (%u) was out of bounds.\n", wpr.seq); #endif @@ -673,7 +673,7 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg) else { #ifdef MAVLINK_WPM_NO_PRINTF - mavlink_wpm_send_gcs_string("REJ. WP CMD: ?"); + mavlink_missionlib_send_gcs_string("REJ. WP CMD: ?"); #else if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_WAYPOINT_REQUEST - FIXME: missed error description\n"); #endif @@ -687,7 +687,7 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg) 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_wpm_send_gcs_string("REJ. WP CMD: Busy"); + mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy"); #else if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_WAYPOINT_REQUEST from ID %u because i'm already talking to ID %u.\n", msg->sysid, wpm.current_partner_sysid); #endif @@ -695,7 +695,7 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg) else { #ifdef MAVLINK_WPM_NO_PRINTF - mavlink_wpm_send_gcs_string("REJ. WP CMD: target id mismatch"); + 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 @@ -720,7 +720,7 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg) if (wpm.current_state == MAVLINK_WPM_STATE_IDLE) { #ifdef MAVLINK_WPM_NO_PRINTF - mavlink_wpm_send_gcs_string("WP CMD OK: state -> GETLIST"); + mavlink_missionlib_send_gcs_string("WP CMD OK: state -> GETLIST"); #else if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_WAYPOINT_COUNT (%u) from %u changing state to MAVLINK_WPM_STATE_GETLIST\n", wpc.count, msg->sysid); #endif @@ -728,7 +728,7 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg) if (wpm.current_state == MAVLINK_WPM_STATE_GETLIST) { #ifdef MAVLINK_WPM_NO_PRINTF - mavlink_wpm_send_gcs_string("WP CMD OK AGAIN"); + mavlink_missionlib_send_gcs_string("WP CMD OK AGAIN"); #else if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_WAYPOINT_COUNT (%u) again from %u\n", wpc.count, msg->sysid); #endif @@ -741,7 +741,7 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg) wpm.current_count = wpc.count; #ifdef MAVLINK_WPM_NO_PRINTF - mavlink_wpm_send_gcs_string("CLR RCV BUF: READY"); + 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 @@ -757,7 +757,7 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg) else if (wpc.count == 0) { #ifdef MAVLINK_WPM_NO_PRINTF - mavlink_wpm_send_gcs_string("COUNT 0"); + 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 @@ -776,7 +776,7 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg) else { #ifdef MAVLINK_WPM_NO_PRINTF - mavlink_wpm_send_gcs_string("IGN WP CMD"); + mavlink_missionlib_send_gcs_string("IGN WP CMD"); #else if (MAVLINK_WPM_VERBOSE) printf("Ignoring MAVLINK_MSG_ID_WAYPOINT_COUNT from %u with count of %u\n", msg->sysid, wpc.count); #endif @@ -787,7 +787,7 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg) if (!(wpm.current_state == MAVLINK_WPM_STATE_IDLE || wpm.current_state == MAVLINK_WPM_STATE_GETLIST)) { #ifdef MAVLINK_WPM_NO_PRINTF - mavlink_wpm_send_gcs_string("REJ. WP CMD: Busy"); + mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy"); #else if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_WAYPOINT_COUNT because i'm doing something else already (state=%i).\n", wpm.current_state); #endif @@ -795,7 +795,7 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg) else if (wpm.current_state == MAVLINK_WPM_STATE_GETLIST && wpm.current_wp_id != 0) { #ifdef MAVLINK_WPM_NO_PRINTF - mavlink_wpm_send_gcs_string("REJ. WP CMD: Busy"); + mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy"); #else if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_WAYPOINT_COUNT because i'm already receiving waypoint %u.\n", wpm.current_wp_id); #endif @@ -803,7 +803,7 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg) else { #ifdef MAVLINK_WPM_NO_PRINTF - mavlink_wpm_send_gcs_string("REJ. WP CMD: ?"); + mavlink_missionlib_send_gcs_string("REJ. WP CMD: ?"); #else if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_WAYPOINT_COUNT - FIXME: missed error description\n"); #endif @@ -813,7 +813,7 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg) else { #ifdef MAVLINK_WPM_NO_PRINTF - mavlink_wpm_send_gcs_string("REJ. WP CMD: target id mismatch"); + 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 @@ -827,7 +827,7 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg) mavlink_waypoint_t wp; mavlink_msg_waypoint_decode(msg, &wp); - mavlink_wpm_send_gcs_string("GOT 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*/)) { @@ -849,7 +849,7 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg) if(wpm.current_wp_id == wpm.current_count && wpm.current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS) { - mavlink_wpm_send_gcs_string("GOT ALL WPS"); + 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);