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b/files/flightgear/Aircraft/Rascal/Models/Rascal110.xml @@ -0,0 +1,87 @@ + + + + + Rascal110-000-013.ac + + + Aircraft/Rascal/Models/smokeW.xml + + 2.0 + 0.0 + 0.0 + 0 + 0 + 0 + + + + + rotate + L_Aileron + /surface-positions/left-aileron-pos-norm + 20.0 +
+ 0.735 + -0.450 + 0.139 +
+ + 0.037 + 1.0 + -0.029 + + + + + rotate + R_Aileron + /surface-positions/right-aileron-pos-norm + 20.0 +
+ 0.735 + 0.450 + 0.139 +
+ + -0.037 + 1.0 + 0.029 + + + + + rotate + Elevator + /surface-positions/elevator-pos-norm + 35.0 +
+ 1.752 + 0.0 + 0.051 +
+ + 0.0 + 1.0 + 0.0 + + + + + rotate + Rudder + /surface-positions/rudder-pos-norm + 35.0 +
+ 1.752 + 0.0 + 0.0 +
+ + 0.0 + 0.0 + 1.0 + + + + diff --git a/files/flightgear/Aircraft/Rascal/Models/Trajectory-Marker.ac b/files/flightgear/Aircraft/Rascal/Models/Trajectory-Marker.ac new file mode 100644 index 0000000000000000000000000000000000000000..4daabfce065f9b6f285485a28fd08776a6e09320 --- /dev/null +++ b/files/flightgear/Aircraft/Rascal/Models/Trajectory-Marker.ac @@ -0,0 +1,30 @@ +AC3Db +MATERIAL "ac3dmat9" rgb 0 0 1 amb 0 0 1 emis 0 0 1 spec 0 0 1 shi 0 trans 0 +MATERIAL "ac3dmat3" rgb 1 0 0 amb 1 0 0 emis 1 0 0 spec 1 0 0 shi 0 trans 0 +OBJECT world +kids 2 +OBJECT poly +name "line" +loc 0 0.5 0 +numvert 2 +0 0.5 0 +0 -0.5 0 +numsurf 1 +SURF 0x22 +mat 0 +refs 2 +0 0 1 +1 0 0 +kids 0 +OBJECT poly +name "line" +numvert 2 +0 0 -3 +0 0 3 +numsurf 1 +SURF 0x22 +mat 1 +refs 2 +0 0 1 +1 0 0 +kids 0 diff --git a/files/flightgear/Aircraft/Rascal/Models/Trajectory-Marker.xml b/files/flightgear/Aircraft/Rascal/Models/Trajectory-Marker.xml new file mode 100644 index 0000000000000000000000000000000000000000..f0897f2c6f274741524f56d946f3c14459dcd9f8 --- /dev/null +++ b/files/flightgear/Aircraft/Rascal/Models/Trajectory-Marker.xml @@ -0,0 +1,9 @@ + + + + + + + Trajectory-Marker.ac + + diff --git a/files/flightgear/Aircraft/Rascal/Models/fix.sh b/files/flightgear/Aircraft/Rascal/Models/fix.sh new file mode 100755 index 0000000000000000000000000000000000000000..eb14cb636ddff14eb6213dc57c4eaf88e455e739 --- /dev/null +++ b/files/flightgear/Aircraft/Rascal/Models/fix.sh @@ -0,0 +1,8 @@ +#! /bin/sh + +for f in "$@" ; do + sed -i.before-color-change 's,\(MATERIAL.*\)rgb\(.*\)amb\(.*\)emis\(.*\)spec\(.*\)shi\(.*\)trans\(.*\)$,\1rgb\2amb\2emis\4spec\5shi\6trans\7,1' "$f" + if ! cmp "${f}" "${f}.before-color-change" > /dev/null 2>&1 ; then + echo "$f has changed colors!" + fi +done diff --git a/files/flightgear/Aircraft/Rascal/Models/smoke.png b/files/flightgear/Aircraft/Rascal/Models/smoke.png new file mode 100644 index 0000000000000000000000000000000000000000..7bad8c685f636179ff1ce401869188bae2d2225a Binary files /dev/null and b/files/flightgear/Aircraft/Rascal/Models/smoke.png differ diff --git a/files/flightgear/Aircraft/Rascal/Models/smokeW.xml b/files/flightgear/Aircraft/Rascal/Models/smokeW.xml new file mode 100644 index 0000000000000000000000000000000000000000..6d7f06730e22e410a602869d069138a752c42fcf --- /dev/null +++ b/files/flightgear/Aircraft/Rascal/Models/smokeW.xml @@ -0,0 +1,102 @@ + + + + + + + + + smoke + + + 0.000 + 0.000 + -0.000 + 0.000 + 0.000 + 0.000 + + + smoke.png + + + sim/multiplay/generic/int[0] + + + false + false + billboard + world + + + point + + + + 10 + 86 + -1.5 + 8 + + 10 + 2.5 + + + 5 + 5 + 5 + 60 + 60 + 60 + + + + + + 100 + 1 + + + + + + + 0.9 + 0.9 + 0.9 + 0.3 + + + 0.3 + + + + + + 0.900 + 0.900 + 0.900 + 0.001 + + + 10.0 + + + + + 60 + + + 0.001 + 1.0 + + + + air + false + true + + + + + diff --git a/files/flightgear/Aircraft/Rascal/README.Rascal b/files/flightgear/Aircraft/Rascal/README.Rascal new file mode 100644 index 0000000000000000000000000000000000000000..53559bf73c3fabde9ebf0dd8079b8674bf9d37ac --- /dev/null +++ b/files/flightgear/Aircraft/Rascal/README.Rascal @@ -0,0 +1,236 @@ +This information has not been updated for the Rascal, please ignore, we +are still at pre-pre-pre-alpha with this model! + +PIPER J3 CUB PERFORMANCE DATA +============================= + +[This information is copied from the 1946 J3C-65 owner's handbook.] + + FLYING HINTS + +The Piper Cub Special represents more than 15 years of diligent +aircraft engineering and manufacturing experience. Its simplicity of +design and construction, its low operating and maintenance costs, its +inherent stability, ruggedness, and its outstanding safety and ease of +flying, have made it the most popular airplane in aviation history. +The Piper Cub Special is the time-tested product of millions of hours +of flying under all conceivable conditions both in the military and in +peace time. + +There are hints on starting, flying, stopping, and other related +topics that are important to the owner who wants to conserve his +airplane -- keep it in maximum airworthy condition -- and enjoy a full +measure of flying satisfaction. + + +First, each pilot should become familiar enough with his Piper Cub +Special that he can accomplish a satisfactory pre-flight inspection. +This check is simple and requires only a few minutes. See Section IX +for check list. Daily check of airplane prior to flight should be the +first in a number of safe flying habits the pilot should acquire. + + +A. BEFORE STARTING ENGINE + +(1) Make routine check of gasoline supply. Visible fuel gauge is +integral part of gas tank cap; it will not show number of gallons but +will show proportion of fuel in tank by length of rod which extends +upward from cap. A full tank of 12 U.S. gallons will be indicated by +11 inches of rod extending beyond cap. Keep gas gauge rod clean and +smooth with crocus cloth for accuracy and freedom of movement. + +(2) Check oil level in engine sump by removing oil cap and gauge. Oil +stick should indicate oil level up to index mark of 4 quarts. + +(3) Check freedom of movement of flight and engine controls. + + +B. STARTING ENGINE + +(1) Chock wheels, or have occupant who is familiar with controls set +brakes in cabin. + +(2) Ignition switch OFF. Verify. + +(3) Set throttle approximately 1/10 open. + +(4) Push fuel shut-off ON. + +(5) Turn propeller through several times. + +(6) Turn ignition switch ON. + +(7) Start engine by pulling propeller through with a snap. + +CAUTION -- Always handle propeller as if switch were "ON." Stand as +far in front of propeller as possible. Use both hands and grasp one +blad approximately midway from tip. Do not overgrasp blade. Do not +wear long, loose clothing. Make sure footing is sure to preclude +possibility of feet slipping. + +(8) If engine does not start, turn switch OFF. Turn primer knob to +unlock, pull out, pump three or four times, then reseat primer and +lock by turning in opposite direction. In extremely cold weather a +few strokes of the primer as the engine starts will enable it to keep +running. NOTE -- Avoid excessive priming as it causes raw gasoline to +wash lubricating oil from engine cylinder walls. Do not prime warm +engine. + +(9) Repeat starting procedures 6, 7. + +(10) If engine loads up and refuses to start, turn ignition switch +"OFF,", open throttle wide and turn propeller through backwards +several times to unload excessive gas mixture in cylinders. Then +close throttle and repeat starting procedure. + + +C. ENGINE WARM-UP + +(1) As soon as engine starts, advance throttle slightly to idle at 700 +R.P.M. Check engine instruments. If oil pressure gauge does not +indicate pressure within 30 seconds, stop engine immediately, check +and correct trouble before any further operation. Oil temperature +during operating should not rise above 200° F. and oil pressure should +not fall below 30 pounds. With engine warm, idling speed should be +550-600 R.P.M. + +(2) Rev engine up to 2100 R.P.M. on both magnetos. Switch to LEFT and +RIGHT magnetos. R.P.M. drop should not be over 75 R.P.M. CAUTION +--Do not operate engine on either single magneto for more than 30 +seconds at a time, as this tends to foul the non-operating spark plugs +in the ignition circuit of the magneto that is switched off. + + +D. STOPPING ENGINE + +(1) Never cut switch immediately after landing as this causes engine +to cool too rapidly. + +(2) Idle engine, especially in high temperature operating conditions, +for several minutes. It is advisable to switch to each magneto for 30 +second intervals to allow gradual cooling of engine. This helps to +prevent overheating of spark plug insulators and will lessen tendency +for "after-firing." + +(3) Check for carburetor heat OFF during idling. + + +E. TAXIING + +(1) Open throttle to start airplane in motion; then close throttle to +a setting sufficient to keep airplane rolling. Do not keep throttle +advanced so that it is necessary to control taxi speed of airplane +with brakes. This causes unnecessary wear and tear on brakes and +tires. + +(2) Taxi slowly (speed of a fast walk) controlling direction with +rudder which is connected to a steerable tail wheel. Use brakes only +for positive, precision ground control when necessary. + +(3) Taxi upwind with stick back; downwind with stick foreward. When +ground winds are in excess of 15 M.P.H., turn into wind using ailerons +in direction of turn; apply ailerons away from the turn when turning +downwind. This procedure helps to prevent the wind "picking up" a +wing during windy, gusty conditions. Always make ground turns slowly. + + +F. GENERAL FLYING + +(1) For takeoff use full throttle, heading into wind. Airplane loaded +will become airborne at approximately 39 M.P.H. Best climb speed is +an indicated 55 M.P.H. + +(2) Indicated R.P.M. for cruising speed of 73 M.P.H. is 2150. +Take-off R.P.M. is 2300. Do not fly at full throttle over 3 minutes. + +(3) Use CARBURETOR AIR HEAT when engine runs "rough" and tachometer +shows drop in R.P.M. which may be due to ice forming in carburetor. +Tachometer should recover to within 50 R.P.M. below normal when using +carburetor heat. Push heater to "OFF" position, and if icing +condition has been cleared, R.P.M. should return to normal. Continued +use of carburetor heat will only cause increased fuel consumption and +loss of power. + +(4) Maximum permissible diving speed is 122 M.P.H. + + +G. APPROACH AND LANDING + +(1) Push carburetor heat ON prior to throttling back for glide, or for +any other flight maneuver. + +(2) Glide between 50-60 M.P.H. depending upon loading of airplane and +gust conditions. + +NOTE -- "Clear" engine by opening throttle gently, every 200-250 feet +of descent during a long glide so that engine temperature will be +maintained. + +Throttle action on the part of the pilot should be smooth and gentle +at all times. + + +H. PARKING AND MOORING + +(1) After termination of flight, enter flying time in aircraft and +engine log books. + +(2) Turn ignition and fuel OFF. + +(3) Chcok the wheels of airplane. + +(4) If airplane is not to be flown for some time, it should be +hangared or tied down. Use good quality 1/2" - 5/8" diameter rope. +Secure to lift assist handle at aft end of fuselage; also at upper end +of both front wing lift struts where they attach to wing. Make sure +that rope passes between aileron cable and lift strut. Mooring ropes, +when airplane is tied down, should have no slack. + +(5) Lock aileron and elevator controls by wrapping front seat belt +completely around rear control stick, tighten and buckle. + +(6) Under excessively wind conditions, airplane should be tailed into +wind for mooring. + + + + +[Here is my older information.] + +These are the only numbers I could find. They are for a J3 Cub with +an 85HP engine rather than 65 hp, so some adjustments may be +necessary. The source is + + http://www.evergreenfs.com/planedata.htm + + +Speeds +------ + Best rate of climb (Vy): 65 mph (57 kt) + Best angle of climb (Vx): 55 mph (48 kt) + Cruise: 70 mph (61 kt) + Never-exceed (Vne): 122 mph (106 kt) + Best Glide (Vglide): 60 mph (52 kt) + Stall (Vs): 38 mph (33 kt) + Maneuvering (Va): 70 mph (61 kt) + Approach: 50-60 mph (44-52 kt) + +Power +----- + Take off: full + Climb: 50 rpm below full + Cruise: 2300 rpm + Approach: 1200 rpm + Practice stalls: 1200 rpm + +Distances +--------- + Take-off: 450-800 ft + Landing: 200-800 ft + +Fuel +---- + Total fuel: 12 gal US + Usable fuel: 12 gal US + Grade: 80/87 + GPH: 5 gal US/hr diff --git a/files/flightgear/Aircraft/Rascal/Rascal-keyboard.xml b/files/flightgear/Aircraft/Rascal/Rascal-keyboard.xml new file mode 100644 index 0000000000000000000000000000000000000000..504ecca2ce180a41060d2598a7ac0e3e7ed831c0 --- /dev/null +++ b/files/flightgear/Aircraft/Rascal/Rascal-keyboard.xml @@ -0,0 +1,24 @@ + + + + + + Ctrl-I + Show configuration dialog + + nasal + + + + + + S + Toggle smoke + + property-toggle + sim/multiplay/generic/int[0] + + + + + diff --git a/files/flightgear/Aircraft/Rascal/Rascal-submodels.xml b/files/flightgear/Aircraft/Rascal/Rascal-submodels.xml new file mode 100644 index 0000000000000000000000000000000000000000..2ebff47f5354afc2c55bdbe7252a2e9465831ccd --- /dev/null +++ b/files/flightgear/Aircraft/Rascal/Rascal-submodels.xml @@ -0,0 +1,25 @@ + + + + + + trajectory marker + Aircraft/Rascal/Models/Trajectory-Marker.xml + /sim/multiplay/generic/int[1] + 0 + true + 0.75 + -1 + -0.5 + 0.0 + -0.08 + 0.0 + 0.0 + 1000000000.00 + 600 + 32 + false + false + + + diff --git a/files/flightgear/Aircraft/Rascal/Rascal110-JSBSim-set.xml b/files/flightgear/Aircraft/Rascal/Rascal110-JSBSim-set.xml new file mode 100644 index 0000000000000000000000000000000000000000..e3ebc4c0ae49ea7b7cedb3717e60823979487480 --- /dev/null +++ b/files/flightgear/Aircraft/Rascal/Rascal110-JSBSim-set.xml @@ -0,0 +1,213 @@ + + + + + + + Rascal 110 (R/C) + Lee Elliot (3D) Dave Culp (JSBsim dynamics) and Curt Olson + 0.1 + + + Aircraft/Rascal/Rascal110-splash.rgb + + + jsb + Rascal110-JSBSim + 0.8 + + + + Aircraft/Rascal/Systems/110-autopilot.xml + + + Aircraft/Rascal/Systems/electrical.xml + + + + + Aircraft/Generic/generic-sound.xml + + + + false + + + + Aircraft/Rascal/Models/Rascal110.xml + + + + Huds/NTPS.xml + true + + true + true + 0.85 + 0.85 + + + + 0.38 + 1.0 + 0.22 + + + 1.0 + 0.0 + 0.0 + + + + + + true + + 0.0 + -0.15 + 0.9 + -8 + + + + + 1 + Aircraft/Rascal/Rascal-submodels.xml + + + + + 0.5 + + + + + + 0.5 + + + + + + 0.5 + + + + + + 0.5 + + + + + + 0.5 + + + + + + 0.5 + + + + + News Camera + lookat + true + + /position/latitude-deg + /position/longitude-deg + /position/altitude-ft + /orientation/heading-deg + /orientation/pitch-deg + /orientation/roll-deg + 0.0 + -0.35 + -0.4 + + /sim/input/click/latitude-deg + /sim/input/click/longitude-deg + /sim/input/click/elevation-ft + + + + + Camera View + true + lookfrom + false + + true + 0 + 0.5f + 55.0 + + + + + 1 + + 0 + 0 + + + + + Rascal 110 (Sig Mfg) + Cruise speed: 60 kts + Never-exceed (Vne): 85 kts + Best Glide (Vglide): 20 kts + Maneuvering (Va): 50 kts + Approach speed: 20-25 kts + Stall speed (Vs): 15 kts + + + + + + + Aircraft/Rascal/Systems/main.nas + Aircraft/Rascal/Systems/airdata.nas + Aircraft/Rascal/Systems/ugear.nas + + + + + + 2 + + + + + + + + + + -0.01 + 0.00 + 0.00 + + + + 3 + + + + + + + + + 700 + + + + diff --git a/files/flightgear/Aircraft/Rascal/Rascal110-JSBSim.xml b/files/flightgear/Aircraft/Rascal/Rascal110-JSBSim.xml new file mode 100644 index 0000000000000000000000000000000000000000..e09dd7b15b2105e6c0da1a349592f38a3abc7d2a --- /dev/null +++ b/files/flightgear/Aircraft/Rascal/Rascal110-JSBSim.xml @@ -0,0 +1,522 @@ + + + + + + Author Name + Creation Date + Version + Models a rascal + + + + 10.57 + 9.17 + 1.15 + 1.69 + 3.28 + 1.06 + 0 + + 37.4 + 0 + 0 + + + 20 + 0 + 5 + + + 0 + 0 + 0 + + + + + 1.95 + 1.55 + 1.91 + 0 + 0 + 0 + 13 + + 36.4 + 0 + 4 + + + + + + + 33.1 + -9.9 + -13.1 + + 0.8 + 0.5 + 0.02 + 120 + 20 + 0.0 + LEFT + 0 + + + + 33.1 + 9.9 + -13.1 + + 0.8 + 0.5 + 0.02 + 120 + 20 + 0.0 + RIGHT + 0 + + + + 68.9 + 0 + -6.6 + + 0.8 + 0.5 + 0.02 + 24 + 20 + 360.0 + NONE + 0 + + + + + + + 36 + 0 + 0 + + + 0.0 + 0 + 0 + + 0 + + + 1 + 0 + 0 + + + 0.0 + 0.0 + 0.0 + + 1.0 + + + + + 36.36 + 0 + -1.89375 + + 1.5 + 1.5 + + + + + + + + fcs/elevator-cmd-norm + fcs/pitch-trim-cmd-norm + + -1 + 1 + + + + + fcs/pitch-trim-sum + + -0.35 + 0.3 + + fcs/elevator-pos-rad + + + + fcs/elevator-pos-rad + + -0.3 + 0.3 + + + -1 + 1 + + fcs/elevator-pos-norm + + + + fcs/aileron-cmd-norm + fcs/roll-trim-cmd-norm + + -1 + 1 + + + + + fcs/roll-trim-sum + + -0.35 + 0.35 + + fcs/left-aileron-pos-rad + + + + -fcs/roll-trim-sum + + -0.35 + 0.35 + + fcs/right-aileron-pos-rad + + + + fcs/left-aileron-pos-rad + + -0.35 + 0.35 + + + -1 + 1 + + fcs/left-aileron-pos-norm + + + + fcs/right-aileron-pos-rad + + -0.35 + 0.35 + + + -1 + 1 + + fcs/right-aileron-pos-norm + + + + fcs/rudder-cmd-norm + fcs/yaw-trim-cmd-norm + + -1 + 1 + + + + + fcs/rudder-command-sum + + -0.35 + 0.35 + + fcs/rudder-pos-rad + + + + fcs/rudder-pos-rad + + -0.35 + 0.35 + + + -1 + 1 + + fcs/rudder-pos-norm + + + + + + + + Drag_at_zero_lift + + aero/qbar-psf + metrics/Sw-sqft + + aero/alpha-rad + + -1.5700 1.5000 + -0.2600 0.0560 + 0.0000 0.0280 + 0.2600 0.0560 + 1.5700 1.5000 + +
+ + + + Induced_drag + + aero/qbar-psf + metrics/Sw-sqft + aero/cl-squared + 0.0400 + + + + Drag_due_to_sideslip + + aero/qbar-psf + metrics/Sw-sqft + + aero/beta-rad + + -1.5700 1.2300 + -0.2600 0.0500 + 0.0000 0.0000 + 0.2600 0.0500 + 1.5700 1.2300 + +
+ + + + Drag_due_to_Elevator_Deflection + + aero/qbar-psf + metrics/Sw-sqft + fcs/elevator-pos-norm + 0.0300 + + + + + + + Side_force_due_to_beta + + aero/qbar-psf + metrics/Sw-sqft + aero/beta-rad + -1.0000 + + + + + + + Lift_due_to_alpha + + aero/qbar-psf + metrics/Sw-sqft + + aero/alpha-rad + + -0.2000 -0.7500 + 0.0000 0.2500 + 0.2300 1.4000 + 0.6000 0.7100 + +
+ + + + Lift_due_to_Elevator_Deflection + + aero/qbar-psf + metrics/Sw-sqft + fcs/elevator-pos-rad + 0.2000 + + + + + + + Roll_moment_due_to_beta + + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + aero/beta-rad + -0.1000 + + + + Roll_moment_due_to_roll_rate + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + aero/bi2vel + velocities/p-aero-rad_sec + -0.4000 + + + + Roll_moment_due_to_yaw_rate + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + aero/bi2vel + velocities/r-aero-rad_sec + 0.1500 + + + + Roll_moment_due_to_aileron + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + fcs/left-aileron-pos-rad + + velocities/mach + + 0.0000 0.1300 + 2.0000 0.0570 + +
+ + + + Roll_moment_due_to_rudder + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + fcs/rudder-pos-rad + 0.0100 + + + + + + + Pitch_moment_due_to_alpha + + aero/qbar-psf + metrics/Sw-sqft + metrics/cbarw-ft + aero/alpha-rad + -0.5000 + + + + Pitch_moment_due_to_elevator + + aero/qbar-psf + metrics/Sw-sqft + metrics/cbarw-ft + fcs/elevator-pos-rad + + velocities/mach + + 0.0000 -0.5000 + 2.0000 -0.2750 + +
+ + + + Pitch_moment_due_to_pitch_rate + + aero/qbar-psf + metrics/Sw-sqft + metrics/cbarw-ft + aero/ci2vel + velocities/q-aero-rad_sec + -12.0000 + + + + Pitch_moment_due_to_alpha_rate + + aero/qbar-psf + metrics/Sw-sqft + metrics/cbarw-ft + aero/ci2vel + aero/alphadot-rad_sec + -7.0000 + + + + + + + Yaw_moment_due_to_beta + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + aero/beta-rad + 0.1200 + + + + Yaw_moment_due_to_yaw_rate + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + aero/bi2vel + velocities/r-aero-rad_sec + -0.1500 + + + + Yaw_moment_due_to_rudder + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + fcs/rudder-pos-rad + -0.0500 + + + + Adverse_yaw + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + fcs/left-aileron-pos-rad + -0.0300 + + + + Yaw_moment_due_to_tail_incidence + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + 0.0007 + + + + + diff --git a/files/flightgear/Aircraft/Rascal/Rascal110-YASim-set.xml b/files/flightgear/Aircraft/Rascal/Rascal110-YASim-set.xml new file mode 100644 index 0000000000000000000000000000000000000000..3b92a5950a5682bce0a5cab7bd54976aa22323f1 --- /dev/null +++ b/files/flightgear/Aircraft/Rascal/Rascal110-YASim-set.xml @@ -0,0 +1,108 @@ + + + + + + + Rascal 110 (R/C) + Lee Elliot (3D) Dave Culp (JSBsim dynamics) and Curt Olson + 0.1 + + + Aircraft/Rascal/Rascal110-splash.rgb + + + yasim + Rascal110-YASim + 0.8 + + + + Aircraft/Rascal/Systems/110-autopilot.xml + + + Aircraft/Rascal/Systems/electrical.xml + + + + + Aircraft/Generic/generic-sound.xml + + + + false + + + + Aircraft/Rascal/Models/Rascal110.xml + + + + true + + 0.0 + -0.3 + 0.9 + -8 + + + + + Rascal 110 (Sig Mfg) + Cruise speed: 60 mph + Never-exceed (Vne): 85 mph + Best Glide (Vglide): 20 mph + Maneuvering (Va): 50 mph + Approach speed: 15-25 mph + Stall speed (Vs): 10 mph + + + + + + + 2 + + + + + + -0.01 + 0.00 + 0.00 + + + + 3 + + + 1.0 + + + + + 700 + + + + + + + 48.0 + 56.0 + 400.0 + 1000.0 + 6000.0 + 0.008 + 0.35 + 0.001 + + + + diff --git a/files/flightgear/Aircraft/Rascal/Rascal110-YASim.xml b/files/flightgear/Aircraft/Rascal/Rascal110-YASim.xml new file mode 100644 index 0000000000000000000000000000000000000000..50b36d8320c95520bd2e3bebfd8e3962ac34ebf9 --- /dev/null +++ b/files/flightgear/Aircraft/Rascal/Rascal110-YASim.xml @@ -0,0 +1,129 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/files/flightgear/Aircraft/Rascal/Rascal110-splash.rgb b/files/flightgear/Aircraft/Rascal/Rascal110-splash.rgb new file mode 100644 index 0000000000000000000000000000000000000000..0b0daff89d40685b7c99d7ceb32625a63e5d3de4 Binary files /dev/null and b/files/flightgear/Aircraft/Rascal/Rascal110-splash.rgb differ diff --git a/files/flightgear/Aircraft/Rascal/Systems/.#110-autopilot.xml.1.2 b/files/flightgear/Aircraft/Rascal/Systems/.#110-autopilot.xml.1.2 new file mode 100644 index 0000000000000000000000000000000000000000..6ffff8d76eb5e8c45cb8c1010f5b5a981c7df228 --- /dev/null +++ b/files/flightgear/Aircraft/Rascal/Systems/.#110-autopilot.xml.1.2 @@ -0,0 +1,711 @@ + + + + + + + + + + + + + + + + + + Wing Leveler (Turn Coordinator based) + false + + /autopilot/locks/heading + wing-leveler + + + /orientation/roll-deg + + + 0.0 + + + /controls/flight/aileron + + + 0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.01 + -1.0 + 1.0 + + + + + + Bank Hold + false + + /autopilot/locks/heading + bank-hold + + + /orientation/roll-deg + + + /autopilot/settings/target-bank-deg + + + /controls/flight/aileron + + + 0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.01 + -1.0 + 1.0 + + + + + + + + + Heading Bug Hold (DG based) Stage 1 + false + + /autopilot/locks/heading + dg-heading-hold + + + /autopilot/internal/fdm-heading-bug-error-deg + + + 0.0 + + + /autopilot/internal/target-roll-deg + + + -0.1 + 1.0 + 0.1 + 0.0 + + 10.0 + 0.00001 + -20.0 + 20.0 + + + + + + Heading Bug Hold (DG based) Stage 2 + false + + /autopilot/locks/heading + dg-heading-hold + + + /orientation/roll-deg + + + /autopilot/internal/target-roll-deg + + + /controls/flight/aileron + + + 0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.01 + -1.0 + 1.0 + + + + + + + + + True Heading Hold (DG based) Stage 1 + false + + /autopilot/locks/heading + true-heading-hold + + + /autopilot/internal/true-heading-error-deg + + + 0.0 + + + /autopilot/internal/target-roll-deg + + + -1.0 + 1.0 + 0.1 + 0.0 + + 10.0 + 0.00001 + -20.0 + 20.0 + + + + + + True Heading Hold (DG based) Stage 2 + false + + /autopilot/locks/heading + true-heading-hold + + + /orientation/roll-deg + + + /autopilot/internal/target-roll-deg + + + /controls/flight/aileron + + + 0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.01 + -1.0 + 1.0 + + + + + + + + + Nav1 Hold Stage 1 + false + + /autopilot/locks/heading + nav1-hold + + + /autopilot/internal/nav1-heading-error-deg + + + 0.0 + + + /autopilot/internal/target-roll-deg + + + -1.0 + 1.0 + 0.1 + 0.0 + + 10.0 + 0.00001 + -20.0 + 20.0 + + + + + + Nav1 Hold Stage 2 + false + + /autopilot/locks/heading + nav1-hold + + + /orientation/roll-deg + + + /autopilot/internal/target-roll-deg + + + /controls/flight/aileron + + + 0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.01 + -1.0 + 1.0 + + + + + + + + + + + Pitch hold + false + + /autopilot/locks/altitude + pitch-hold + + + /orientation/pitch-deg + + + /autopilot/settings/target-pitch-deg + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + Pitch hold w/ yoke + false + + /autopilot/locks/altitude + pitch-hold-yoke + + + /orientation/pitch-deg + + + /autopilot/settings/target-pitch-deg + + + /controls/flight/elevator + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + AOA hold + false + + /autopilot/locks/altitude + aoa-hold + + + /orientation/alpha-deg + + + /autopilot/settings/target-aoa-deg + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + + + + Altitude Hold (Altimeter based) Stage 1 + false + + /autopilot/locks/altitude + altitude-hold + + + /position/altitude-ft + + + /autopilot/settings/target-altitude-ft + + + /autopilot/internal/target-climb-rate-fps + + + 0.3 + + 0.0 + -8.33 + + 8.33 + + + + + + + + Altitude Hold (Altimeter based) Stage 2 + false + + /autopilot/locks/altitude + altitude-hold + + + /velocities/vertical-speed-fps + + + /autopilot/internal/target-climb-rate-fps + + + /autopilot/settings/target-pitch-deg + + + 0.5 + 1.0 + 0.1 + 0.0 + + 10.0 + 0.0001 + -5.0 + 5.0 + + + + + + + Pitch hold + false + + /autopilot/locks/altitude + altitude-hold + + + /orientation/pitch-deg + + + /autopilot/settings/target-pitch-deg + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + + + + AGL Hold (Altimeter based) Stage 1 + false + + /autopilot/locks/altitude + agl-hold + + + /position/altitude-agl-ft + + + /autopilot/settings/target-agl-ft + + + /autopilot/internal/target-climb-rate-fps + + + 1.0 + 1.0 + 0.1 + 0.0 + + 25.0 + 0.000000001 + -16.67 + 8.33 + + + + + + Altitude Hold (Altimeter based) Stage 2 + false + + /autopilot/locks/altitude + agl-hold + + + /velocities/vertical-speed-fps + + + /autopilot/internal/target-climb-rate-fps + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + + + Glideslop Hold + false + + /autopilot/locks/altitude + gs1-hold + + + /velocities/vertical-speed-fps + + + /instrumentation/nav[0]/gs-rate-of-climb + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + + + + + + Auto Throttle (5 sec lookahead) + false + + /autopilot/locks/speed + speed-with-throttle + + + + /velocities/airspeed-kt + + + /autopilot/settings/target-speed-kt + + + /controls/engines/engine[0]/throttle + /controls/engines/engine[1]/throttle + /controls/engines/engine[2]/throttle + /controls/engines/engine[3]/throttle + /controls/engines/engine[4]/throttle + /controls/engines/engine[5]/throttle + /controls/engines/engine[6]/throttle + /controls/engines/engine[7]/throttle + + + 0.1 + 1.0 + 0.1 + 0.0 + + 1.0 + 0.001 + 0.0 + 1.0 + + + + + + Speed hold (vary pitch trim) Stage #1 + false + + /autopilot/locks/speed + speed-with-pitch-trim + + + + /velocities/airspeed-kt + + + /autopilot/settings/target-speed-kt + + + /autopilot/settings/target-pitch-deg + + + -1.0 + 1.0 + 0.1 + 0.0 + + 2.0 + 0.00001 + -15.0 + 15.0 + + + + + Speed hold (vary pitch trim) Stage #2 + false + + /autopilot/locks/speed + speed-with-pitch-trim + + + /orientation/pitch-deg + + + /autopilot/settings/target-pitch-deg + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + Speed hold (vary pitch via yoke) Stage #1 + false + + /autopilot/locks/speed + speed-with-pitch-yoke + + + + /velocities/airspeed-kt + + + /autopilot/settings/target-speed-kt + + + /autopilot/settings/target-pitch-deg + + + -1.0 + 1.0 + 0.1 + 0.0 + + 2.0 + 0.00001 + -15.0 + 15.0 + + + + + Speed hold (vary pitch via yoke) Stage #2 + false + + /autopilot/locks/speed + speed-with-pitch-yoke + + + /orientation/pitch-deg + + + /autopilot/settings/target-pitch-deg + + + /controls/flight/elevator + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + diff --git a/files/flightgear/Aircraft/Rascal/Systems/110-autopilot.xml b/files/flightgear/Aircraft/Rascal/Systems/110-autopilot.xml new file mode 100644 index 0000000000000000000000000000000000000000..7ab47ed98f0845b6f37d088aeb24f63d15d3423e --- /dev/null +++ b/files/flightgear/Aircraft/Rascal/Systems/110-autopilot.xml @@ -0,0 +1,767 @@ + + + + + + + + + + + + + + + + + + Wing Leveler (Turn Coordinator based) + false + + /autopilot/locks/heading + wing-leveler + + + /orientation/roll-deg + + + 0.0 + + + /controls/flight/aileron + + + 0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.01 + -1.0 + 1.0 + + + + + + Bank Hold + false + + /autopilot/locks/heading + bank-hold + + + /orientation/roll-deg + + + /autopilot/settings/target-bank-deg + + + /controls/flight/aileron + + + 0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.01 + -1.0 + 1.0 + + + + + + + + + Heading Bug Hold (DG based) Stage 1 + false + + /autopilot/locks/heading + dg-heading-hold + + + /autopilot/internal/fdm-heading-bug-error-deg + + + 0.0 + + + /autopilot/internal/target-roll-deg + + + -0.1 + 1.0 + 0.1 + 0.0 + + 10.0 + 0.00001 + -20.0 + 20.0 + + + + + + Heading Bug Hold (DG based) Stage 2 + false + + /autopilot/locks/heading + dg-heading-hold + + + /orientation/roll-deg + + + /autopilot/internal/target-roll-deg + + + /controls/flight/aileron + + + 0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.01 + -1.0 + 1.0 + + + + + + + + + True Heading Hold (DG based) Stage 1 + false + + /autopilot/locks/heading + true-heading-hold + + + /autopilot/internal/true-heading-error-deg + + + 0.0 + + + /autopilot/internal/target-roll-deg + + + -1.0 + 1.0 + 0.1 + 0.0 + + 10.0 + 0.00001 + -20.0 + 20.0 + + + + + + True Heading Hold (DG based) Stage 2 + false + + /autopilot/locks/heading + true-heading-hold + + + /orientation/roll-deg + + + /autopilot/internal/target-roll-deg + + + /controls/flight/aileron + + + 0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.01 + -1.0 + 1.0 + + + + + + + + + Nav1 Hold Stage 1 + false + + /autopilot/locks/heading + nav1-hold + + + /autopilot/internal/nav1-heading-error-deg + + + 0.0 + + + /autopilot/internal/target-roll-deg + + + -1.0 + 1.0 + 0.1 + 0.0 + + 10.0 + 0.00001 + -20.0 + 20.0 + + + + + + Nav1 Hold Stage 2 + false + + /autopilot/locks/heading + nav1-hold + + + /orientation/roll-deg + + + /autopilot/internal/target-roll-deg + + + /controls/flight/aileron + + + 0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.01 + -1.0 + 1.0 + + + + + + + + + + + Pitch hold + false + + /autopilot/locks/altitude + pitch-hold + + + /orientation/pitch-deg + + + /autopilot/settings/target-pitch-deg + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + Pitch hold w/ yoke + false + + /autopilot/locks/altitude + pitch-hold-yoke + + + /orientation/pitch-deg + + + /autopilot/settings/target-pitch-deg + + + /controls/flight/elevator + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + AOA hold + false + + /autopilot/locks/altitude + aoa-hold + + + /orientation/alpha-deg + + + /autopilot/settings/target-aoa-deg + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + + + + Altitude Hold (Altimeter based) Stage 1 + false + + /autopilot/locks/altitude + altitude-hold + + + /position/altitude-ft + + + /autopilot/settings/target-altitude-ft + + + /autopilot/internal/target-climb-rate-fps + + + 0.3 + 0.0 + -8.33 + 8.33 + + + + + + + Altitude Hold (Altimeter based) Stage 2 + false + + /autopilot/locks/altitude + altitude-hold + + + /velocities/vertical-speed-fps + + + /autopilot/internal/target-climb-rate-fps + + + /autopilot/settings/target-pitch-deg + + + 0.5 + 1.0 + 0.1 + 0.0 + + 1.0 + 0.00001 + -5.0 + 5.0 + + + + + + + Pitch hold + false + + /autopilot/locks/altitude + altitude-hold + true + + + /orientation/pitch-deg + + + /autopilot/settings/target-pitch-deg + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + + + + + AGL Hold (Altimeter based) Stage 1 + false + + /autopilot/locks/altitude + agl-hold + + + /position/altitude-agl-ft + + + /autopilot/settings/target-agl-ft + + + /autopilot/internal/target-climb-rate-fps + + + 1.0 + 1.0 + 0.1 + 0.0 + + 25.0 + 0.000000001 + -16.67 + 8.33 + + + + + + Altitude Hold (Altimeter based) Stage 2 + false + + /autopilot/locks/altitude + agl-hold + + + /velocities/vertical-speed-fps + + + /autopilot/internal/target-climb-rate-fps + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + + + Glideslop Hold + false + + /autopilot/locks/altitude + gs1-hold + + + /velocities/vertical-speed-fps + + + /instrumentation/nav[0]/gs-rate-of-climb + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + + + + + + Auto Throttle (5 sec lookahead) + false + + /autopilot/locks/speed + speed-with-throttle + + + + /velocities/airspeed-kt + + + /autopilot/settings/target-speed-kt + + + /controls/engines/engine[0]/throttle + /controls/engines/engine[1]/throttle + /controls/engines/engine[2]/throttle + /controls/engines/engine[3]/throttle + /controls/engines/engine[4]/throttle + /controls/engines/engine[5]/throttle + /controls/engines/engine[6]/throttle + /controls/engines/engine[7]/throttle + + + 0.1 + 1.0 + 0.1 + 0.0 + + 1.0 + 0.001 + 0.0 + 1.0 + + + + + + Speed hold (vary pitch trim) Stage #1 + false + + /autopilot/locks/speed + speed-with-pitch-trim + + + + /velocities/airspeed-kt + + + /autopilot/settings/target-speed-kt + + + /autopilot/settings/target-pitch-deg + + + -1.0 + 1.0 + 0.1 + 0.0 + + 2.0 + 0.00001 + -15.0 + 15.0 + + + + + Speed hold (vary pitch trim) Stage #2 + false + + /autopilot/locks/speed + speed-with-pitch-trim + + + /orientation/pitch-deg + + + /autopilot/settings/target-pitch-deg + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + + + Speed hold (vary elevator) + false + + /autopilot/locks/speed + speed-with-pitch-yoke + + + /velocities/airspeed-kt + + + /autopilot/settings/target-speed-kt + + + /autopilot/settings/target-accel-ktps + + + 0.2 + 0.0 + -1.0 + 1.0 + + + + + + Speed hold (vary elevator) + false + + /autopilot/locks/speed + speed-with-pitch-yoke + + + /accelerations/airspeed-ktps + + + //autopilot/settings/target-accel-ktps + + + /controls/flight/elevator + + + 0.02 + 1.0 + 0.1 + 0.0 + + 8.0 + 0.001 + -0.25 + 0.25 + + + + + + Speed hold (vary pitch via yoke) Stage #1 + false + + /autopilot/locks/speed + speed-with-pitch-yoke-pitch + + + + /velocities/airspeed-kt + + + /autopilot/settings/target-speed-kt + + + /autopilot/settings/target-pitch-deg + + + -1.0 + 1.0 + 0.1 + 0.0 + + 2.0 + 0.00001 + -15.0 + 15.0 + + + + + Speed hold (vary pitch via yoke) Stage #2 + false + + /autopilot/locks/speed + speed-with-pitch-yoke-pitch + + + /orientation/pitch-deg + + + /autopilot/settings/target-pitch-deg + + + /controls/flight/elevator + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + diff --git a/files/flightgear/Aircraft/Rascal/Systems/110-autopilot.xml-a b/files/flightgear/Aircraft/Rascal/Systems/110-autopilot.xml-a new file mode 100644 index 0000000000000000000000000000000000000000..05f17e152937819d2212f3ff5240c7be1855ddbc --- /dev/null +++ b/files/flightgear/Aircraft/Rascal/Systems/110-autopilot.xml-a @@ -0,0 +1,707 @@ + + + + + + + + + + + + + + + + + + Wing Leveler (Turn Coordinator based) + false + + /autopilot/locks/heading + wing-leveler + + + /orientation/roll-deg + + + 0.0 + + + /controls/flight/aileron + + + 0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.01 + -1.0 + 1.0 + + + + + + Bank Hold + false + + /autopilot/locks/heading + bank-hold + + + /orientation/roll-deg + + + /autopilot/settings/target-bank-deg + + + /controls/flight/aileron + + + 0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.01 + -1.0 + 1.0 + + + + + + + + + Heading Bug Hold (DG based) Stage 1 + false + + /autopilot/locks/heading + dg-heading-hold + + + /autopilot/internal/fdm-heading-bug-error-deg + + + 0.0 + + + /autopilot/internal/target-roll-deg + + + -0.1 + 1.0 + 0.1 + 0.0 + + 10.0 + 0.00001 + -20.0 + 20.0 + + + + + + Heading Bug Hold (DG based) Stage 2 + false + + /autopilot/locks/heading + dg-heading-hold + + + /orientation/roll-deg + + + /autopilot/internal/target-roll-deg + + + /controls/flight/aileron + + + 0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.01 + -1.0 + 1.0 + + + + + + + + + True Heading Hold (DG based) Stage 1 + false + + /autopilot/locks/heading + true-heading-hold + + + /autopilot/internal/true-heading-error-deg + + + 0.0 + + + /autopilot/internal/target-roll-deg + + + -1.0 + 1.0 + 0.1 + 0.0 + + 10.0 + 0.00001 + -20.0 + 20.0 + + + + + + True Heading Hold (DG based) Stage 2 + false + + /autopilot/locks/heading + true-heading-hold + + + /orientation/roll-deg + + + /autopilot/internal/target-roll-deg + + + /controls/flight/aileron + + + 0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.01 + -1.0 + 1.0 + + + + + + + + + Nav1 Hold Stage 1 + false + + /autopilot/locks/heading + nav1-hold + + + /autopilot/internal/nav1-heading-error-deg + + + 0.0 + + + /autopilot/internal/target-roll-deg + + + -1.0 + 1.0 + 0.1 + 0.0 + + 10.0 + 0.00001 + -20.0 + 20.0 + + + + + + Nav1 Hold Stage 2 + false + + /autopilot/locks/heading + nav1-hold + + + /orientation/roll-deg + + + /autopilot/internal/target-roll-deg + + + /controls/flight/aileron + + + 0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.01 + -1.0 + 1.0 + + + + + + + + + + + Pitch hold + false + + /autopilot/locks/altitude + pitch-hold + + + /orientation/pitch-deg + + + /autopilot/settings/target-pitch-deg + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + Pitch hold w/ yoke + false + + /autopilot/locks/altitude + pitch-hold-yoke + + + /orientation/pitch-deg + + + /autopilot/settings/target-pitch-deg + + + /controls/flight/elevator + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + AOA hold + false + + /autopilot/locks/altitude + aoa-hold + + + /orientation/alpha-deg + + + /autopilot/settings/target-aoa-deg + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + + + + Altitude Hold (Altimeter based) Stage 1 + false + + /autopilot/locks/altitude + altitude-hold + + + /position/altitude-ft + + + /autopilot/settings/target-altitude-ft + + + /autopilot/internal/target-climb-rate-fps + + + 0.3 + 0.0 + -8.33 + 8.33 + + + + + + + Altitude Hold (Altimeter based) Stage 2 + false + + /autopilot/locks/altitude + altitude-hold + + + /velocities/vertical-speed-fps + + + /autopilot/internal/target-climb-rate-fps + + + /autopilot/settings/target-pitch-deg + + + 0.5 + 1.0 + 0.1 + 0.0 + + 1.0 + 0.00001 + -5.0 + 5.0 + + + + + + + Pitch hold + false + + /autopilot/locks/altitude + altitude-hold + true + + + /orientation/pitch-deg + + + /autopilot/settings/target-pitch-deg + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + + + + + AGL Hold (Altimeter based) Stage 1 + false + + /autopilot/locks/altitude + agl-hold + + + /position/altitude-agl-ft + + + /autopilot/settings/target-agl-ft + + + /autopilot/internal/target-climb-rate-fps + + + 1.0 + 1.0 + 0.1 + 0.0 + + 25.0 + 0.000000001 + -16.67 + 8.33 + + + + + + Altitude Hold (Altimeter based) Stage 2 + false + + /autopilot/locks/altitude + agl-hold + + + /velocities/vertical-speed-fps + + + /autopilot/internal/target-climb-rate-fps + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + + + Glideslop Hold + false + + /autopilot/locks/altitude + gs1-hold + + + /velocities/vertical-speed-fps + + + /instrumentation/nav[0]/gs-rate-of-climb + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + + + + + + Auto Throttle (5 sec lookahead) + false + + /autopilot/locks/speed + speed-with-throttle + + + + /velocities/airspeed-kt + + + /autopilot/settings/target-speed-kt + + + /controls/engines/engine[0]/throttle + /controls/engines/engine[1]/throttle + /controls/engines/engine[2]/throttle + /controls/engines/engine[3]/throttle + /controls/engines/engine[4]/throttle + /controls/engines/engine[5]/throttle + /controls/engines/engine[6]/throttle + /controls/engines/engine[7]/throttle + + + 0.1 + 1.0 + 0.1 + 0.0 + + 1.0 + 0.001 + 0.0 + 1.0 + + + + + + Speed hold (vary pitch trim) Stage #1 + false + + /autopilot/locks/speed + speed-with-pitch-trim + + + + /velocities/airspeed-kt + + + /autopilot/settings/target-speed-kt + + + /autopilot/settings/target-pitch-deg + + + -1.0 + 1.0 + 0.1 + 0.0 + + 2.0 + 0.00001 + -15.0 + 15.0 + + + + + Speed hold (vary pitch trim) Stage #2 + false + + /autopilot/locks/speed + speed-with-pitch-trim + + + /orientation/pitch-deg + + + /autopilot/settings/target-pitch-deg + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + + + Speed hold (vary elevator) + false + + /autopilot/locks/speed + speed-with-pitch-yoke + + + /velocities/airspeed-kt + + + /autopilot/settings/target-speed-kt + + + /autopilot/settings/target-accel-ktps + + + 0.2 + 0.0 + -1.0 + 1.0 + + + + + + Speed hold (vary elevator) + false + + /autopilot/locks/speed + speed-with-pitch-yoke + + + /accelerations/airspeed-ktps + + + //autopilot/settings/target-accel-ktps + + + /controls/flight/elevator + + + 0.02 + 1.0 + 0.1 + 0.0 + + 8.0 + 0.001 + -0.25 + 0.25 + + + + diff --git a/files/flightgear/Aircraft/Rascal/Systems/airdata.nas b/files/flightgear/Aircraft/Rascal/Systems/airdata.nas new file mode 100644 index 0000000000000000000000000000000000000000..8322cbb1699cc19f77458d80609519ac7932e3bf --- /dev/null +++ b/files/flightgear/Aircraft/Rascal/Systems/airdata.nas @@ -0,0 +1,40 @@ +var last_time = 0.0; +var last_speed = 0.0; +var speed_sensed = 0.0; +var sensor_step = 1.0; +var speed_filt = 0.0; +var accel_filt = 0.0; + +var compute_airspeed_accel = func( speed_filt, dt ) { + # print ( "computing forward acceleration ", dt ); + + var delta_speed = speed_filt - last_speed; + last_speed = speed_filt; + + var accel = delta_speed / dt; + + return accel; +} + + +var update_airdata = func( dt ) { + # crude model of a noisy electronic pitot tube + sensed_speed = getprop("/velocities/airspeed-kt"); + var r = rand(); + if ( r < 0.3333 ) { + sensed_speed = sensed_speed - sensor_step; + } elsif ( r > 0.6666 ) { + sensed_speed = sensed_speed + sensor_step; + } + + speed_filt = 0.97 * speed_filt + 0.03 * sensed_speed; + + var sensed_accel = 0.0; + if ( dt > 0 ) { + sensed_accel = compute_airspeed_accel( speed_filt, dt ); + } + + accel_filt = 0.97 * accel_filt + 0.03 * sensed_accel; + + setprop("/accelerations/airspeed-ktps", accel_filt); +} diff --git a/files/flightgear/Aircraft/Rascal/Systems/electrical.xml b/files/flightgear/Aircraft/Rascal/Systems/electrical.xml new file mode 100644 index 0000000000000000000000000000000000000000..88bd52e62cc92cd5f38104b7ba4aa7beed8bf424 --- /dev/null +++ b/files/flightgear/Aircraft/Rascal/Systems/electrical.xml @@ -0,0 +1,140 @@ + + + + + + + + + + + + Battery 1 + /systems/electrical/suppliers/battery[0] + battery + 28 + 60 + + + + Alternator 1 + /systems/electrical/suppliers/alternator[0] + alternator + /engines/engine[0]/rpm + 28 + 60 + + + + + + Master Bus + /systems/electrical/outputs/bus[0] + /systems/electrical/outputs/transponder + + + + + + Starter 1 Power + /systems/electrical/outputs/starter[0] + + + + Landing Light Power + /systems/electrical/outputs/landing-light + + + + Beacon Power + /systems/electrical/outputs/beacon + + + + Strobe Lights Power + /systems/electrical/outputs/strobe-lights + + + + Taxi Lights Power + /systems/electrical/outputs/taxi-lights + + + + Pitot Heat Power + /systems/electrical/outputs/pitot-heat + + + + + + + Alternator 1 + Master Bus + + /controls/engines/engine[0]/master-alt + + + + + Battery 1 + Master Bus + + /controls/engines/engine[0]/master-bat + + + + + + + Master Bus + Starter 1 Power + + /controls/engines/engine[0]/starter + off + + + + + + + Master Bus + Landing Light Power + + /controls/switches/landing-light + + + + + Master Bus + Beacon Power + + /controls/switches/flashing-beacon + + + + + Master Bus + Strobe Lights Power + + /controls/switches/strobe-lights + + + + + Master Bus + Taxi Lights Power + + /controls/switches/taxi-lights + + + + + Master Bus + Pitot Heat Power + + /controls/switches/pitot-heat + + + + diff --git a/files/flightgear/Aircraft/Rascal/Systems/main.nas b/files/flightgear/Aircraft/Rascal/Systems/main.nas new file mode 100644 index 0000000000000000000000000000000000000000..7aec75186ffeb8a0ff801a8513f74cc3738fef2e --- /dev/null +++ b/files/flightgear/Aircraft/Rascal/Systems/main.nas @@ -0,0 +1,22 @@ +var dialog = gui.Dialog.new("/sim/gui/dialogs/rascal/config/dialog", + "Aircraft/Rascal/Dialogs/config.xml"); + +var last_time = 0.0; + + +var main_loop = func { + var time = getprop("/sim/time/elapsed-sec"); + var dt = time - last_time; + last_time = time; + + update_airdata( dt ); + update_ugear( dt ); + + settimer(main_loop, 0); +} + + +setlistener("/sim/signals/fdm-initialized", + func { + main_loop(); + }); diff --git a/files/flightgear/Aircraft/Rascal/Systems/ugear.nas b/files/flightgear/Aircraft/Rascal/Systems/ugear.nas new file mode 100644 index 0000000000000000000000000000000000000000..3a33c6cb2258896b960dd856db46175e99aa5335 --- /dev/null +++ b/files/flightgear/Aircraft/Rascal/Systems/ugear.nas @@ -0,0 +1,54 @@ +var update_ugear = func( dt ) { + var max_zoom_rate = 10*dt; + var max_pan_rate = 30*dt; + var max_tilt_rate = 45*dt; + + var ap_enable = props.globals.getNode("/ugear/settings/ap-enable"); + if ( ap_enable == nil ) { + props.globals.initNode("/ugear/settings/ap-enable", 0, "BOOL", 1); + ap_enable = props.globals.getNode("/ugear/settings/ap-enable"); + } + if ( ap_enable.getBoolValue() ) { + setprop( "/controls/flight/aileron", getprop("/ugear/act/aileron") ); + setprop( "/controls/flight/elevator", getprop("/ugear/act/elevator") ); + } + + var turret_enable = props.globals.getNode("/ugear/settings/turret-enable"); + if ( turret_enable == nil ) { + props.globals.initNode("/ugear/settings/turret-enable", 0, "BOOL", 1); + turret_enable = props.globals.getNode("/ugear/settings/turret-enable"); + } + + if ( (getprop("/sim/current-view/name") == "Camera View") + and turret_enable.getBoolValue() ) + { + var target_zoom = getprop("/ugear/act/channel6"); + var target_pan = -getprop("/ugear/act/channel7"); + if ( target_pan < -180.0 ) { target_pan += 360.0; } + if ( target_pan > 180.0 ) { target_pan -= 360.0; } + var target_tilt = -getprop("/ugear/act/channel8"); + var cur_zoom = getprop("/sim/current-view/field-of-view"); + var cur_pan = getprop("/sim/current-view/heading-offset-deg"); + var cur_tilt = getprop("/sim/current-view/pitch-offset-deg"); + var diff = 0.0; + + diff = target_zoom - cur_zoom; + if ( diff > max_zoom_rate ) { diff = max_zoom_rate; } + if ( diff < -max_zoom_rate ) { diff = -max_zoom_rate; } + setprop("/sim/current-view/field-of-view", cur_zoom + diff); + + diff = target_pan - cur_pan; + if ( diff > 180 ) { diff -= 360; } + if ( diff < -180 ) { diff += 360; } + if ( diff > max_pan_rate ) { diff = max_pan_rate; } + if ( diff < -max_pan_rate ) { diff = -max_pan_rate; } + setprop("/sim/current-view/heading-offset-deg", cur_pan + diff); + + diff = target_tilt - cur_tilt; + if ( diff > 90 ) { diff = 90; } + if ( diff < -90 ) { diff = -90; } + if ( diff > max_tilt_rate ) { diff = max_tilt_rate; } + if ( diff < -max_tilt_rate ) { diff = -max_tilt_rate; } + setprop("/sim/current-view/pitch-offset-deg", cur_tilt + diff); + } +} diff --git a/files/flightgear/Aircraft/Rascal/initfile.xml b/files/flightgear/Aircraft/Rascal/initfile.xml new file mode 100644 index 0000000000000000000000000000000000000000..621b522cf1ad13a82178e710a5df2421f0afca18 --- /dev/null +++ b/files/flightgear/Aircraft/Rascal/initfile.xml @@ -0,0 +1,12 @@ + + + 110.783 + 5.03584 + -0.226825 + -2.16197 + -1.06069 + 2.95853 + 0 + 0 + -0.401227 + diff --git a/files/flightgear/Aircraft/Rascal/thumbnail.jpg b/files/flightgear/Aircraft/Rascal/thumbnail.jpg new file mode 100644 index 0000000000000000000000000000000000000000..cdc375c3e59e4b14dc25efd65e1b2922ca1f1d4d Binary files /dev/null and b/files/flightgear/Aircraft/Rascal/thumbnail.jpg differ diff --git a/files/px4/parameter_tooltips/tooltips.txt b/files/px4/parameter_tooltips/tooltips.txt new file mode 100644 index 0000000000000000000000000000000000000000..d72273ccdb6329716600419265b05528a2a36975 --- /dev/null +++ b/files/px4/parameter_tooltips/tooltips.txt @@ -0,0 +1,7 @@ +^ Name ^ Min ^ Max ^ Default ^ Multiplier ^ Enabled ^ Comment ^ +| BAT_V_EMPTY | 0.9 | 100.0 | 3.2 | 1 | 1 | Voltage of an empty battery cell | +| BAT_V_FULL | 1.0 | 200.0 | 4.05 | 1 | 1 | Voltage of a full battery cell | +| BAT_N_CELLS | 1 | 100 | 3 | 1 | 1 | Number of SERIAL battery cells. Typically this ranges from 2S to 6S in small-scale UAVs | +| BAT_V_SCALING | 0.001 | 1.0 | 0.00838 | 1 | 1 | Conversion from ADC ticks to battery voltage. Depends on the connected board, calibrate with a multimeter. | +| MC_ATTRATE_P | 0.0 | 20.0 | 0.20 | 1 | 1 | Multirotor attitude rate control P gain. This gain controls how much of the motor thrust should be used to control angular velocity. A larger number will increase the control response, but will make the system also more twitchy. | +| FW_ROLLRATE_P | 0.0 | 20.0 | 0.30 | 1 | 1 | Fixed wing roll rate control P gain. This gain controls how strong the ailerons or rudder should be actuated in order to achieve a certain roll rate. A larger number will increase the control response, but will make the system also more twitchy. | \ No newline at end of file diff --git a/files/px4/quadrotor/widgets/px4_calibration.qgw b/files/px4/quadrotor/widgets/px4_calibration.qgw deleted file mode 100644 index dd81822ad54f3f676211a6788bc0f6af441cfc39..0000000000000000000000000000000000000000 --- a/files/px4/quadrotor/widgets/px4_calibration.qgw +++ /dev/null @@ -1,50 +0,0 @@ -[PX4%20Calibration%20Tool] -QGC_TOOL_WIDGET_ITEMS\1\TYPE=COMMANDBUTTON -QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_DESCRIPTION=Reboot (only in standby) -QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_BUTTONTEXT=REBOOT -QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_COMMANDID=246 -QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAMS_VISIBLE=false -QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM1=1 -QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM2=0 -QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM3=0 -QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM4=0 -QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM5=0 -QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM6=0 -QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM7=0 -QGC_TOOL_WIDGET_ITEMS\2\TYPE=COMMANDBUTTON -QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_DESCRIPTION=Gyroscope calibration -QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_BUTTONTEXT=MAG -QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_COMMANDID=241 -QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAMS_VISIBLE=false -QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAM1=0 -QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAM2=1 -QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAM3=0 -QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAM4=0 -QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAM5=0 -QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAM6=0 -QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAM7=0 -QGC_TOOL_WIDGET_ITEMS\3\TYPE=COMMANDBUTTON -QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_DESCRIPTION=Accelerometer calibration -QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_BUTTONTEXT=ACCEL -QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_COMMANDID=241 -QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAMS_VISIBLE=false -QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM1=0 -QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM2=0 -QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM3=0 -QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM4=0 -QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM5=1 -QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM6=0 -QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM7=0 -QGC_TOOL_WIDGET_ITEMS\4\TYPE=COMMANDBUTTON -QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_DESCRIPTION=Gyroscope calibration -QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_BUTTONTEXT=GYRO -QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_COMMANDID=241 -QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_PARAMS_VISIBLE=false -QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_PARAM1=1 -QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_PARAM2=0 -QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_PARAM3=0 -QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_PARAM4=0 -QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_PARAM5=0 -QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_PARAM6=0 -QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_PARAM7=0 -QGC_TOOL_WIDGET_ITEMS\size=4 diff --git a/files/px4/hexarotor/widgets/px4_calibration.qgw b/files/px4/widgets/px4_calibration.qgw similarity index 95% rename from files/px4/hexarotor/widgets/px4_calibration.qgw rename to files/px4/widgets/px4_calibration.qgw index dd81822ad54f3f676211a6788bc0f6af441cfc39..cd751672c51bdedede873b0fee3f956f010d2eaa 100644 --- a/files/px4/hexarotor/widgets/px4_calibration.qgw +++ b/files/px4/widgets/px4_calibration.qgw @@ -12,7 +12,7 @@ QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM5=0 QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM6=0 QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM7=0 QGC_TOOL_WIDGET_ITEMS\2\TYPE=COMMANDBUTTON -QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_DESCRIPTION=Gyroscope calibration +QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_DESCRIPTION=Magnetometer calibration QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_BUTTONTEXT=MAG QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_COMMANDID=241 QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAMS_VISIBLE=false diff --git a/files/px4/widgets/px4_fw_attitude_pid_params.qgw b/files/px4/widgets/px4_fw_attitude_pid_params.qgw new file mode 100644 index 0000000000000000000000000000000000000000..6f3186e78f3544c718ee98a9d5f02d205f3fc85b --- /dev/null +++ b/files/px4/widgets/px4_fw_attitude_pid_params.qgw @@ -0,0 +1,8 @@ +[PX4%20Fixed%20Wing%20Attitude%20Control] +QGC_TOOL_WIDGET_ITEMS\1\TYPE=SLIDER +QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_DESCRIPTION=Roll Rate P Gain +QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_PARAMID=FW_ROLLRATE_P +QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_COMPONENTID=50 +QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_MIN=0 +QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_MAX=2 +QGC_TOOL_WIDGET_ITEMS\size=1 diff --git a/files/px4/widgets/px4_fw_position_pid_params.qgw b/files/px4/widgets/px4_fw_position_pid_params.qgw new file mode 100644 index 0000000000000000000000000000000000000000..e99f9890e9beb6984c4932c9a2be46cad04bb521 --- /dev/null +++ b/files/px4/widgets/px4_fw_position_pid_params.qgw @@ -0,0 +1,8 @@ +[PX4%20Fixed%20Wing%20Position%20Control] +QGC_TOOL_WIDGET_ITEMS\1\TYPE=SLIDER +QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_DESCRIPTION=Heading P Gain +QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_PARAMID=FW_HEADING_P +QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_COMPONENTID=50 +QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_MIN=0 +QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_MAX=2 +QGC_TOOL_WIDGET_ITEMS\size=1 diff --git a/files/px4/widgets/px4_mc_attitude_pid_params.qgw b/files/px4/widgets/px4_mc_attitude_pid_params.qgw new file mode 100644 index 0000000000000000000000000000000000000000..1931dfa3b912adac6f5185a7bfee217e3dee332a --- /dev/null +++ b/files/px4/widgets/px4_mc_attitude_pid_params.qgw @@ -0,0 +1,72 @@ +[PX4%20Multirotor%20Attitude%20Control] +QGC_TOOL_WIDGET_ITEMS\1\TYPE=SLIDER +QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_DESCRIPTION=Attitude P Gain +QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_PARAMID=MC_ATT_P +QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_COMPONENTID=50 +QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_MIN=0 +QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_MAX=1.5 +QGC_TOOL_WIDGET_ITEMS\2\TYPE=SLIDER +QGC_TOOL_WIDGET_ITEMS\2\QGC_PARAM_SLIDER_DESCRIPTION=Attitude I Gain +QGC_TOOL_WIDGET_ITEMS\2\QGC_PARAM_SLIDER_PARAMID=MC_ATT_I +QGC_TOOL_WIDGET_ITEMS\2\QGC_PARAM_SLIDER_COMPONENTID=50 +QGC_TOOL_WIDGET_ITEMS\2\QGC_PARAM_SLIDER_MIN=0 +QGC_TOOL_WIDGET_ITEMS\2\QGC_PARAM_SLIDER_MAX=1 +QGC_TOOL_WIDGET_ITEMS\3\TYPE=SLIDER +QGC_TOOL_WIDGET_ITEMS\3\QGC_PARAM_SLIDER_DESCRIPTION=Attitude D Gain +QGC_TOOL_WIDGET_ITEMS\3\QGC_PARAM_SLIDER_PARAMID=MC_ATT_D +QGC_TOOL_WIDGET_ITEMS\3\QGC_PARAM_SLIDER_COMPONENTID=50 +QGC_TOOL_WIDGET_ITEMS\3\QGC_PARAM_SLIDER_MIN=0 +QGC_TOOL_WIDGET_ITEMS\3\QGC_PARAM_SLIDER_MAX=1 +QGC_TOOL_WIDGET_ITEMS\4\TYPE=SLIDER +QGC_TOOL_WIDGET_ITEMS\4\QGC_PARAM_SLIDER_DESCRIPTION=Attitude Anti-Windup +QGC_TOOL_WIDGET_ITEMS\4\QGC_PARAM_SLIDER_PARAMID=MC_ATT_AWU +QGC_TOOL_WIDGET_ITEMS\4\QGC_PARAM_SLIDER_COMPONENTID=50 +QGC_TOOL_WIDGET_ITEMS\4\QGC_PARAM_SLIDER_MIN=0 +QGC_TOOL_WIDGET_ITEMS\4\QGC_PARAM_SLIDER_MAX=1 +QGC_TOOL_WIDGET_ITEMS\5\TYPE=SLIDER +QGC_TOOL_WIDGET_ITEMS\5\QGC_PARAM_SLIDER_DESCRIPTION=Attitude Output Limit +QGC_TOOL_WIDGET_ITEMS\5\QGC_PARAM_SLIDER_PARAMID=MC_ATT_LIM +QGC_TOOL_WIDGET_ITEMS\5\QGC_PARAM_SLIDER_COMPONENTID=50 +QGC_TOOL_WIDGET_ITEMS\5\QGC_PARAM_SLIDER_MIN=0 +QGC_TOOL_WIDGET_ITEMS\5\QGC_PARAM_SLIDER_MAX=3 +QGC_TOOL_WIDGET_ITEMS\6\TYPE=SLIDER +QGC_TOOL_WIDGET_ITEMS\6\QGC_PARAM_SLIDER_DESCRIPTION=Heading / Yaw P Gain +QGC_TOOL_WIDGET_ITEMS\6\QGC_PARAM_SLIDER_PARAMID=MC_YAWPOS_P +QGC_TOOL_WIDGET_ITEMS\6\QGC_PARAM_SLIDER_COMPONENTID=50 +QGC_TOOL_WIDGET_ITEMS\6\QGC_PARAM_SLIDER_MIN=0 +QGC_TOOL_WIDGET_ITEMS\6\QGC_PARAM_SLIDER_MAX=1.2 +QGC_TOOL_WIDGET_ITEMS\7\TYPE=SLIDER +QGC_TOOL_WIDGET_ITEMS\7\QGC_PARAM_SLIDER_DESCRIPTION=Heading / Yaw D Gain +QGC_TOOL_WIDGET_ITEMS\7\QGC_PARAM_SLIDER_PARAMID=MC_YAWPOS_D +QGC_TOOL_WIDGET_ITEMS\7\QGC_PARAM_SLIDER_COMPONENTID=50 +QGC_TOOL_WIDGET_ITEMS\7\QGC_PARAM_SLIDER_MIN=0 +QGC_TOOL_WIDGET_ITEMS\7\QGC_PARAM_SLIDER_MAX=1 +QGC_TOOL_WIDGET_ITEMS\8\TYPE=SLIDER +QGC_TOOL_WIDGET_ITEMS\8\QGC_PARAM_SLIDER_DESCRIPTION=Roll / Pitch Rate P Gain +QGC_TOOL_WIDGET_ITEMS\8\QGC_PARAM_SLIDER_PARAMID=MC_ATTRATE_P +QGC_TOOL_WIDGET_ITEMS\8\QGC_PARAM_SLIDER_COMPONENTID=50 +QGC_TOOL_WIDGET_ITEMS\8\QGC_PARAM_SLIDER_MIN=0 +QGC_TOOL_WIDGET_ITEMS\8\QGC_PARAM_SLIDER_MAX=1.5 +QGC_TOOL_WIDGET_ITEMS\9\TYPE=SLIDER +QGC_TOOL_WIDGET_ITEMS\9\QGC_PARAM_SLIDER_DESCRIPTION=Roll / Pitch Rate D Gain +QGC_TOOL_WIDGET_ITEMS\9\QGC_PARAM_SLIDER_PARAMID=MC_ATTRATE_D +QGC_TOOL_WIDGET_ITEMS\9\QGC_PARAM_SLIDER_COMPONENTID=50 +QGC_TOOL_WIDGET_ITEMS\9\QGC_PARAM_SLIDER_MIN=0 +QGC_TOOL_WIDGET_ITEMS\9\QGC_PARAM_SLIDER_MAX=0.3 +QGC_TOOL_WIDGET_ITEMS\10\TYPE=SLIDER +QGC_TOOL_WIDGET_ITEMS\10\QGC_PARAM_SLIDER_DESCRIPTION=Yaw Rate P Gain +QGC_TOOL_WIDGET_ITEMS\10\QGC_PARAM_SLIDER_PARAMID=MC_YAWRATE_P +QGC_TOOL_WIDGET_ITEMS\10\QGC_PARAM_SLIDER_COMPONENTID=50 +QGC_TOOL_WIDGET_ITEMS\10\QGC_PARAM_SLIDER_MIN=0 +QGC_TOOL_WIDGET_ITEMS\10\QGC_PARAM_SLIDER_MAX=1 +QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_DISPLAY_INFO=false +QGC_TOOL_WIDGET_ITEMS\2\QGC_PARAM_SLIDER_DISPLAY_INFO=true +QGC_TOOL_WIDGET_ITEMS\3\QGC_PARAM_SLIDER_DISPLAY_INFO=true +QGC_TOOL_WIDGET_ITEMS\4\QGC_PARAM_SLIDER_DISPLAY_INFO=true +QGC_TOOL_WIDGET_ITEMS\5\QGC_PARAM_SLIDER_DISPLAY_INFO=true +QGC_TOOL_WIDGET_ITEMS\6\QGC_PARAM_SLIDER_DISPLAY_INFO=true +QGC_TOOL_WIDGET_ITEMS\7\QGC_PARAM_SLIDER_DISPLAY_INFO=true +QGC_TOOL_WIDGET_ITEMS\8\QGC_PARAM_SLIDER_DISPLAY_INFO=true +QGC_TOOL_WIDGET_ITEMS\9\QGC_PARAM_SLIDER_DISPLAY_INFO=true +QGC_TOOL_WIDGET_ITEMS\10\QGC_PARAM_SLIDER_DISPLAY_INFO=true +QGC_TOOL_WIDGET_ITEMS\size=10 diff --git a/libs/mavlink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h b/libs/mavlink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h index 65868ef89a70637f540d1bd5a5e6a42420c969e9..0e27c32640e5b2ad4db61408c8ae416e09848db2 100644 --- a/libs/mavlink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h +++ b/libs/mavlink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h @@ -12,15 +12,15 @@ extern "C" { // MESSAGE LENGTHS AND CRCS #ifndef MAVLINK_MESSAGE_LENGTHS -#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 34, 26, 46, 36, 0, 6, 4, 0, 11, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 62, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 42, 8, 4, 12, 15, 13, 6, 15, 14, 0, 12, 3, 8, 28, 44, 3, 9, 22, 12, 18, 34, 66, 98, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 0} +#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 34, 26, 46, 36, 0, 6, 4, 0, 11, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 62, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 16, 33, 25, 42, 8, 4, 12, 15, 13, 6, 15, 14, 0, 12, 3, 8, 28, 44, 3, 9, 22, 12, 18, 34, 66, 98, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 0} #endif #ifndef MAVLINK_MESSAGE_CRCS -#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 242, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 0, 148, 21, 0, 243, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 93, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 134, 219, 208, 188, 84, 22, 19, 21, 134, 0, 78, 68, 189, 127, 111, 21, 21, 144, 1, 234, 73, 181, 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, 204, 49, 170, 44, 83, 46, 0} +#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 242, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 0, 148, 21, 0, 243, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 93, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 241, 15, 134, 219, 208, 188, 84, 22, 19, 21, 134, 0, 78, 68, 189, 127, 111, 21, 21, 144, 1, 234, 73, 181, 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, 204, 49, 170, 44, 83, 46, 0} #endif #ifndef MAVLINK_MESSAGE_INFO -#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_MODE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_WRITE_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_ITEM, MAVLINK_MESSAGE_INFO_MISSION_REQUEST, MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST, MAVLINK_MESSAGE_INFO_MISSION_COUNT, MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL, MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED, MAVLINK_MESSAGE_INFO_MISSION_ACK, MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_MOTORS_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_DATA_STREAM, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_VFR_HUD, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_COMMAND_LONG, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_HIL_RC_INPUTS_RAW, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE, MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_HIGHRES_IMU, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SENSOR_OFFSETS, MAVLINK_MESSAGE_INFO_SET_MAG_OFFSETS, MAVLINK_MESSAGE_INFO_MEMINFO, MAVLINK_MESSAGE_INFO_AP_ADC, MAVLINK_MESSAGE_INFO_DIGICAM_CONFIGURE, MAVLINK_MESSAGE_INFO_DIGICAM_CONTROL, MAVLINK_MESSAGE_INFO_MOUNT_CONFIGURE, MAVLINK_MESSAGE_INFO_MOUNT_CONTROL, MAVLINK_MESSAGE_INFO_MOUNT_STATUS, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_FENCE_POINT, MAVLINK_MESSAGE_INFO_FENCE_FETCH_POINT, MAVLINK_MESSAGE_INFO_FENCE_STATUS, MAVLINK_MESSAGE_INFO_AHRS, MAVLINK_MESSAGE_INFO_SIMSTATE, MAVLINK_MESSAGE_INFO_HWSTATUS, MAVLINK_MESSAGE_INFO_RADIO, MAVLINK_MESSAGE_INFO_LIMITS_STATUS, MAVLINK_MESSAGE_INFO_WIND, MAVLINK_MESSAGE_INFO_DATA16, MAVLINK_MESSAGE_INFO_DATA32, MAVLINK_MESSAGE_INFO_DATA64, MAVLINK_MESSAGE_INFO_DATA96, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MEMORY_VECT, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}} +#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_MODE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_WRITE_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_ITEM, MAVLINK_MESSAGE_INFO_MISSION_REQUEST, MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST, MAVLINK_MESSAGE_INFO_MISSION_COUNT, MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL, MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED, MAVLINK_MESSAGE_INFO_MISSION_ACK, MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_MOTORS_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_DATA_STREAM, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_VFR_HUD, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_COMMAND_LONG, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_HIL_RC_INPUTS_RAW, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE, MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_HIGHRES_IMU, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_BATTERY_STATUS, MAVLINK_MESSAGE_INFO_SETPOINT_8DOF, MAVLINK_MESSAGE_INFO_SETPOINT_6DOF, MAVLINK_MESSAGE_INFO_SENSOR_OFFSETS, MAVLINK_MESSAGE_INFO_SET_MAG_OFFSETS, MAVLINK_MESSAGE_INFO_MEMINFO, MAVLINK_MESSAGE_INFO_AP_ADC, MAVLINK_MESSAGE_INFO_DIGICAM_CONFIGURE, MAVLINK_MESSAGE_INFO_DIGICAM_CONTROL, MAVLINK_MESSAGE_INFO_MOUNT_CONFIGURE, MAVLINK_MESSAGE_INFO_MOUNT_CONTROL, MAVLINK_MESSAGE_INFO_MOUNT_STATUS, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_FENCE_POINT, MAVLINK_MESSAGE_INFO_FENCE_FETCH_POINT, MAVLINK_MESSAGE_INFO_FENCE_STATUS, MAVLINK_MESSAGE_INFO_AHRS, MAVLINK_MESSAGE_INFO_SIMSTATE, MAVLINK_MESSAGE_INFO_HWSTATUS, MAVLINK_MESSAGE_INFO_RADIO, MAVLINK_MESSAGE_INFO_LIMITS_STATUS, MAVLINK_MESSAGE_INFO_WIND, MAVLINK_MESSAGE_INFO_DATA16, MAVLINK_MESSAGE_INFO_DATA32, MAVLINK_MESSAGE_INFO_DATA64, MAVLINK_MESSAGE_INFO_DATA96, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MEMORY_VECT, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}} #endif #include "../protocol.h" diff --git a/libs/mavlink/include/mavlink/v1.0/ardupilotmega/version.h b/libs/mavlink/include/mavlink/v1.0/ardupilotmega/version.h index 52d12f3c0adc8d71a3c473995c6f379f08d82def..be1ca4c8311fee35b3d4a2a5747441605d023058 100644 --- a/libs/mavlink/include/mavlink/v1.0/ardupilotmega/version.h +++ b/libs/mavlink/include/mavlink/v1.0/ardupilotmega/version.h @@ -5,7 +5,7 @@ #ifndef MAVLINK_VERSION_H #define MAVLINK_VERSION_H -#define MAVLINK_BUILD_DATE "Fri Sep 14 11:04:09 2012" +#define MAVLINK_BUILD_DATE "Thu Oct 18 13:36:48 2012" #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0" #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101 diff --git a/libs/mavlink/include/mavlink/v1.0/common/common.h b/libs/mavlink/include/mavlink/v1.0/common/common.h index 4db1a898442ea1eb31b68f2051bc6a3863ce9b65..b7f57785b68ed16968e7e794d653750c78e2aec5 100644 --- a/libs/mavlink/include/mavlink/v1.0/common/common.h +++ b/libs/mavlink/include/mavlink/v1.0/common/common.h @@ -12,15 +12,15 @@ extern "C" { // MESSAGE LENGTHS AND CRCS #ifndef MAVLINK_MESSAGE_LENGTHS -#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 34, 26, 46, 36, 0, 6, 4, 0, 11, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 62, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 0} +#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 34, 26, 46, 36, 0, 6, 4, 0, 11, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 62, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 16, 33, 25, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 0} #endif #ifndef MAVLINK_MESSAGE_CRCS -#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 242, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 0, 148, 21, 0, 243, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 93, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0} +#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 242, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 0, 148, 21, 0, 243, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 93, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 241, 15, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0} #endif #ifndef MAVLINK_MESSAGE_INFO -#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_MODE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_WRITE_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_ITEM, MAVLINK_MESSAGE_INFO_MISSION_REQUEST, MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST, MAVLINK_MESSAGE_INFO_MISSION_COUNT, MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL, MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED, MAVLINK_MESSAGE_INFO_MISSION_ACK, MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_MOTORS_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_DATA_STREAM, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_VFR_HUD, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_COMMAND_LONG, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_HIL_RC_INPUTS_RAW, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE, MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_HIGHRES_IMU, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MEMORY_VECT, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}} +#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_MODE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_WRITE_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_ITEM, MAVLINK_MESSAGE_INFO_MISSION_REQUEST, MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST, MAVLINK_MESSAGE_INFO_MISSION_COUNT, MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL, MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED, MAVLINK_MESSAGE_INFO_MISSION_ACK, MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_MOTORS_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_DATA_STREAM, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, 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{"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MEMORY_VECT, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}} #endif #include "../protocol.h" @@ -482,6 +482,9 @@ enum MAV_SEVERITY #include "./mavlink_msg_vision_speed_estimate.h" #include "./mavlink_msg_vicon_position_estimate.h" #include "./mavlink_msg_highres_imu.h" +#include "./mavlink_msg_battery_status.h" +#include "./mavlink_msg_setpoint_8dof.h" +#include "./mavlink_msg_setpoint_6dof.h" #include "./mavlink_msg_memory_vect.h" #include "./mavlink_msg_debug_vect.h" #include "./mavlink_msg_named_value_float.h" diff --git a/libs/mavlink/include/mavlink/v1.0/common/mavlink_msg_battery_status.h b/libs/mavlink/include/mavlink/v1.0/common/mavlink_msg_battery_status.h new file mode 100644 index 0000000000000000000000000000000000000000..c78fb4f31fc8c26e1878150dbd67523e02859e4c --- /dev/null +++ b/libs/mavlink/include/mavlink/v1.0/common/mavlink_msg_battery_status.h @@ -0,0 +1,320 @@ +// MESSAGE BATTERY_STATUS PACKING + +#define MAVLINK_MSG_ID_BATTERY_STATUS 147 + +typedef struct __mavlink_battery_status_t +{ + uint16_t voltage_cell_1; ///< Battery voltage of cell 1, in millivolts (1 = 1 millivolt) + uint16_t voltage_cell_2; ///< Battery voltage of cell 2, in millivolts (1 = 1 millivolt), -1: no cell + uint16_t voltage_cell_3; ///< Battery voltage of cell 3, in millivolts (1 = 1 millivolt), -1: no cell + uint16_t voltage_cell_4; ///< Battery voltage of cell 4, in millivolts (1 = 1 millivolt), -1: no cell + uint16_t voltage_cell_5; ///< Battery voltage of cell 5, in millivolts (1 = 1 millivolt), -1: no cell + uint16_t voltage_cell_6; ///< Battery voltage of cell 6, in millivolts (1 = 1 millivolt), -1: no cell + int16_t current_battery; ///< Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current + uint8_t accu_id; ///< Accupack ID + int8_t battery_remaining; ///< Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot does not estimate the remaining battery +} mavlink_battery_status_t; + +#define MAVLINK_MSG_ID_BATTERY_STATUS_LEN 16 +#define MAVLINK_MSG_ID_147_LEN 16 + + + +#define MAVLINK_MESSAGE_INFO_BATTERY_STATUS { \ + "BATTERY_STATUS", \ + 9, \ + { { "voltage_cell_1", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_battery_status_t, voltage_cell_1) }, \ + { "voltage_cell_2", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_battery_status_t, voltage_cell_2) }, \ + { "voltage_cell_3", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_battery_status_t, voltage_cell_3) }, \ + { "voltage_cell_4", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_battery_status_t, voltage_cell_4) }, \ + { "voltage_cell_5", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_battery_status_t, voltage_cell_5) }, \ + { "voltage_cell_6", NULL, MAVLINK_TYPE_UINT16_T, 0, 10, offsetof(mavlink_battery_status_t, voltage_cell_6) }, \ + { "current_battery", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_battery_status_t, current_battery) }, \ + { "accu_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 14, offsetof(mavlink_battery_status_t, accu_id) }, \ + { "battery_remaining", NULL, MAVLINK_TYPE_INT8_T, 0, 15, offsetof(mavlink_battery_status_t, battery_remaining) }, \ + } \ +} + + +/** + * @brief Pack a battery_status message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * + * @param accu_id Accupack ID + * @param voltage_cell_1 Battery voltage of cell 1, in millivolts (1 = 1 millivolt) + * @param voltage_cell_2 Battery voltage of cell 2, in millivolts (1 = 1 millivolt), -1: no cell + * @param voltage_cell_3 Battery voltage of cell 3, in millivolts (1 = 1 millivolt), -1: no cell + * @param voltage_cell_4 Battery voltage of cell 4, in millivolts (1 = 1 millivolt), -1: no cell + * @param voltage_cell_5 Battery voltage of cell 5, in millivolts (1 = 1 millivolt), -1: no cell + * @param voltage_cell_6 Battery voltage of cell 6, in millivolts (1 = 1 millivolt), -1: no cell + * @param current_battery Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current + * @param battery_remaining Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot does not estimate the remaining battery + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_battery_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t accu_id, uint16_t voltage_cell_1, uint16_t voltage_cell_2, uint16_t voltage_cell_3, uint16_t voltage_cell_4, uint16_t voltage_cell_5, uint16_t voltage_cell_6, int16_t current_battery, int8_t battery_remaining) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[16]; + _mav_put_uint16_t(buf, 0, voltage_cell_1); + _mav_put_uint16_t(buf, 2, voltage_cell_2); + _mav_put_uint16_t(buf, 4, voltage_cell_3); + _mav_put_uint16_t(buf, 6, voltage_cell_4); + _mav_put_uint16_t(buf, 8, voltage_cell_5); + _mav_put_uint16_t(buf, 10, voltage_cell_6); + _mav_put_int16_t(buf, 12, current_battery); + _mav_put_uint8_t(buf, 14, accu_id); + _mav_put_int8_t(buf, 15, battery_remaining); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 16); +#else + mavlink_battery_status_t packet; + packet.voltage_cell_1 = voltage_cell_1; + packet.voltage_cell_2 = voltage_cell_2; + packet.voltage_cell_3 = voltage_cell_3; + packet.voltage_cell_4 = voltage_cell_4; + packet.voltage_cell_5 = voltage_cell_5; + packet.voltage_cell_6 = voltage_cell_6; + packet.current_battery = current_battery; + packet.accu_id = accu_id; + packet.battery_remaining = battery_remaining; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 16); +#endif + + msg->msgid = MAVLINK_MSG_ID_BATTERY_STATUS; + return mavlink_finalize_message(msg, system_id, component_id, 16, 42); +} + +/** + * @brief Pack a battery_status message on a channel + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message was sent over + * @param msg The MAVLink message to compress the data into + * @param accu_id Accupack ID + * @param voltage_cell_1 Battery voltage of cell 1, in millivolts (1 = 1 millivolt) + * @param voltage_cell_2 Battery voltage of cell 2, in millivolts (1 = 1 millivolt), -1: no cell + * @param voltage_cell_3 Battery voltage of cell 3, in millivolts (1 = 1 millivolt), -1: no cell + * @param voltage_cell_4 Battery voltage of cell 4, in millivolts (1 = 1 millivolt), -1: no cell + * @param voltage_cell_5 Battery voltage of cell 5, in millivolts (1 = 1 millivolt), -1: no cell + * @param voltage_cell_6 Battery voltage of cell 6, in millivolts (1 = 1 millivolt), -1: no cell + * @param current_battery Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current + * @param battery_remaining Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot does not estimate the remaining battery + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_battery_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t accu_id,uint16_t voltage_cell_1,uint16_t voltage_cell_2,uint16_t voltage_cell_3,uint16_t voltage_cell_4,uint16_t voltage_cell_5,uint16_t voltage_cell_6,int16_t current_battery,int8_t battery_remaining) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[16]; + _mav_put_uint16_t(buf, 0, voltage_cell_1); + _mav_put_uint16_t(buf, 2, voltage_cell_2); + _mav_put_uint16_t(buf, 4, voltage_cell_3); + _mav_put_uint16_t(buf, 6, voltage_cell_4); + _mav_put_uint16_t(buf, 8, voltage_cell_5); + _mav_put_uint16_t(buf, 10, voltage_cell_6); + _mav_put_int16_t(buf, 12, current_battery); + _mav_put_uint8_t(buf, 14, accu_id); + _mav_put_int8_t(buf, 15, battery_remaining); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 16); +#else + mavlink_battery_status_t packet; + packet.voltage_cell_1 = voltage_cell_1; + packet.voltage_cell_2 = voltage_cell_2; + packet.voltage_cell_3 = voltage_cell_3; + packet.voltage_cell_4 = voltage_cell_4; + packet.voltage_cell_5 = voltage_cell_5; + packet.voltage_cell_6 = voltage_cell_6; + packet.current_battery = current_battery; + packet.accu_id = accu_id; + packet.battery_remaining = battery_remaining; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 16); +#endif + + msg->msgid = MAVLINK_MSG_ID_BATTERY_STATUS; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 16, 42); +} + +/** + * @brief Encode a battery_status struct into a message + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * @param battery_status C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_battery_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_battery_status_t* battery_status) +{ + return mavlink_msg_battery_status_pack(system_id, component_id, msg, battery_status->accu_id, battery_status->voltage_cell_1, battery_status->voltage_cell_2, battery_status->voltage_cell_3, battery_status->voltage_cell_4, battery_status->voltage_cell_5, battery_status->voltage_cell_6, battery_status->current_battery, battery_status->battery_remaining); +} + +/** + * @brief Send a battery_status message + * @param chan MAVLink channel to send the message + * + * @param accu_id Accupack ID + * @param voltage_cell_1 Battery voltage of cell 1, in millivolts (1 = 1 millivolt) + * @param voltage_cell_2 Battery voltage of cell 2, in millivolts (1 = 1 millivolt), -1: no cell + * @param voltage_cell_3 Battery voltage of cell 3, in millivolts (1 = 1 millivolt), -1: no cell + * @param voltage_cell_4 Battery voltage of cell 4, in millivolts (1 = 1 millivolt), -1: no cell + * @param voltage_cell_5 Battery voltage of cell 5, in millivolts (1 = 1 millivolt), -1: no cell + * @param voltage_cell_6 Battery voltage of cell 6, in millivolts (1 = 1 millivolt), -1: no cell + * @param current_battery Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current + * @param battery_remaining Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot does not estimate the remaining battery + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_battery_status_send(mavlink_channel_t chan, uint8_t accu_id, uint16_t voltage_cell_1, uint16_t voltage_cell_2, uint16_t voltage_cell_3, uint16_t voltage_cell_4, uint16_t voltage_cell_5, uint16_t voltage_cell_6, int16_t current_battery, int8_t battery_remaining) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[16]; + _mav_put_uint16_t(buf, 0, voltage_cell_1); + _mav_put_uint16_t(buf, 2, voltage_cell_2); + _mav_put_uint16_t(buf, 4, voltage_cell_3); + _mav_put_uint16_t(buf, 6, voltage_cell_4); + _mav_put_uint16_t(buf, 8, voltage_cell_5); + _mav_put_uint16_t(buf, 10, voltage_cell_6); + _mav_put_int16_t(buf, 12, current_battery); + _mav_put_uint8_t(buf, 14, accu_id); + _mav_put_int8_t(buf, 15, battery_remaining); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BATTERY_STATUS, buf, 16, 42); +#else + mavlink_battery_status_t packet; + packet.voltage_cell_1 = voltage_cell_1; + packet.voltage_cell_2 = voltage_cell_2; + packet.voltage_cell_3 = voltage_cell_3; + packet.voltage_cell_4 = voltage_cell_4; + packet.voltage_cell_5 = voltage_cell_5; + packet.voltage_cell_6 = voltage_cell_6; + packet.current_battery = current_battery; + packet.accu_id = accu_id; + packet.battery_remaining = battery_remaining; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BATTERY_STATUS, (const char *)&packet, 16, 42); +#endif +} + +#endif + +// MESSAGE BATTERY_STATUS UNPACKING + + +/** + * @brief Get field accu_id from battery_status message + * + * @return Accupack ID + */ +static inline uint8_t mavlink_msg_battery_status_get_accu_id(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 14); +} + +/** + * @brief Get field voltage_cell_1 from battery_status message + * + * @return Battery voltage of cell 1, in millivolts (1 = 1 millivolt) + */ +static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_1(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 0); +} + +/** + * @brief Get field voltage_cell_2 from battery_status message + * + * @return Battery voltage of cell 2, in millivolts (1 = 1 millivolt), -1: no cell + */ +static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_2(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 2); +} + +/** + * @brief Get field voltage_cell_3 from battery_status message + * + * @return Battery voltage of cell 3, in millivolts (1 = 1 millivolt), -1: no cell + */ +static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_3(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 4); +} + +/** + * @brief Get field voltage_cell_4 from battery_status message + * + * @return Battery voltage of cell 4, in millivolts (1 = 1 millivolt), -1: no cell + */ +static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_4(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 6); +} + +/** + * @brief Get field voltage_cell_5 from battery_status message + * + * @return Battery voltage of cell 5, in millivolts (1 = 1 millivolt), -1: no cell + */ +static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_5(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 8); +} + +/** + * @brief Get field voltage_cell_6 from battery_status message + * + * @return Battery voltage of cell 6, in millivolts (1 = 1 millivolt), -1: no cell + */ +static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_6(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 10); +} + +/** + * @brief Get field current_battery from battery_status message + * + * @return Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current + */ +static inline int16_t mavlink_msg_battery_status_get_current_battery(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 12); +} + +/** + * @brief Get field battery_remaining from battery_status message + * + * @return Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot does not estimate the remaining battery + */ +static inline int8_t mavlink_msg_battery_status_get_battery_remaining(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int8_t(msg, 15); +} + +/** + * @brief Decode a battery_status message into a struct + * + * @param msg The message to decode + * @param battery_status C-struct to decode the message contents into + */ +static inline void mavlink_msg_battery_status_decode(const mavlink_message_t* msg, mavlink_battery_status_t* battery_status) +{ +#if MAVLINK_NEED_BYTE_SWAP + battery_status->voltage_cell_1 = mavlink_msg_battery_status_get_voltage_cell_1(msg); + battery_status->voltage_cell_2 = mavlink_msg_battery_status_get_voltage_cell_2(msg); + battery_status->voltage_cell_3 = mavlink_msg_battery_status_get_voltage_cell_3(msg); + battery_status->voltage_cell_4 = mavlink_msg_battery_status_get_voltage_cell_4(msg); + battery_status->voltage_cell_5 = mavlink_msg_battery_status_get_voltage_cell_5(msg); + battery_status->voltage_cell_6 = mavlink_msg_battery_status_get_voltage_cell_6(msg); + battery_status->current_battery = mavlink_msg_battery_status_get_current_battery(msg); + battery_status->accu_id = mavlink_msg_battery_status_get_accu_id(msg); + battery_status->battery_remaining = mavlink_msg_battery_status_get_battery_remaining(msg); +#else + memcpy(battery_status, _MAV_PAYLOAD(msg), 16); +#endif +} diff --git a/libs/mavlink/include/mavlink/v1.0/common/mavlink_msg_setpoint_6dof.h b/libs/mavlink/include/mavlink/v1.0/common/mavlink_msg_setpoint_6dof.h new file mode 100644 index 0000000000000000000000000000000000000000..fec38a6a481d88a895475d64357b1539cb840f31 --- /dev/null +++ b/libs/mavlink/include/mavlink/v1.0/common/mavlink_msg_setpoint_6dof.h @@ -0,0 +1,276 @@ +// MESSAGE SETPOINT_6DOF PACKING + +#define MAVLINK_MSG_ID_SETPOINT_6DOF 149 + +typedef struct __mavlink_setpoint_6dof_t +{ + float trans_x; ///< Translational Component in x + float trans_y; ///< Translational Component in y + float trans_z; ///< Translational Component in z + float rot_x; ///< Rotational Component in x + float rot_y; ///< Rotational Component in y + float rot_z; ///< Rotational Component in z + uint8_t target_system; ///< System ID +} mavlink_setpoint_6dof_t; + +#define MAVLINK_MSG_ID_SETPOINT_6DOF_LEN 25 +#define MAVLINK_MSG_ID_149_LEN 25 + + + +#define MAVLINK_MESSAGE_INFO_SETPOINT_6DOF { \ + "SETPOINT_6DOF", \ + 7, \ + { { "trans_x", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_setpoint_6dof_t, trans_x) }, \ + { "trans_y", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_setpoint_6dof_t, trans_y) }, \ + { "trans_z", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_setpoint_6dof_t, trans_z) }, \ + { "rot_x", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_setpoint_6dof_t, rot_x) }, \ + { "rot_y", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_setpoint_6dof_t, rot_y) }, \ + { "rot_z", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_setpoint_6dof_t, rot_z) }, \ + { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 24, offsetof(mavlink_setpoint_6dof_t, target_system) }, \ + } \ +} + + +/** + * @brief Pack a setpoint_6dof message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * + * @param target_system System ID + * @param trans_x Translational Component in x + * @param trans_y Translational Component in y + * @param trans_z Translational Component in z + * @param rot_x Rotational Component in x + * @param rot_y Rotational Component in y + * @param rot_z Rotational Component in z + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_setpoint_6dof_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target_system, float trans_x, float trans_y, float trans_z, float rot_x, float rot_y, float rot_z) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[25]; + _mav_put_float(buf, 0, trans_x); + _mav_put_float(buf, 4, trans_y); + _mav_put_float(buf, 8, trans_z); + _mav_put_float(buf, 12, rot_x); + _mav_put_float(buf, 16, rot_y); + _mav_put_float(buf, 20, rot_z); + _mav_put_uint8_t(buf, 24, target_system); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 25); +#else + mavlink_setpoint_6dof_t packet; + packet.trans_x = trans_x; + packet.trans_y = trans_y; + packet.trans_z = trans_z; + packet.rot_x = rot_x; + packet.rot_y = rot_y; + packet.rot_z = rot_z; + packet.target_system = target_system; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 25); +#endif + + msg->msgid = MAVLINK_MSG_ID_SETPOINT_6DOF; + return mavlink_finalize_message(msg, system_id, component_id, 25, 15); +} + +/** + * @brief Pack a setpoint_6dof message on a channel + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message was sent over + * @param msg The MAVLink message to compress the data into + * @param target_system System ID + * @param trans_x Translational Component in x + * @param trans_y Translational Component in y + * @param trans_z Translational Component in z + * @param rot_x Rotational Component in x + * @param rot_y Rotational Component in y + * @param rot_z Rotational Component in z + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_setpoint_6dof_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t target_system,float trans_x,float trans_y,float trans_z,float rot_x,float rot_y,float rot_z) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[25]; + _mav_put_float(buf, 0, trans_x); + _mav_put_float(buf, 4, trans_y); + _mav_put_float(buf, 8, trans_z); + _mav_put_float(buf, 12, rot_x); + _mav_put_float(buf, 16, rot_y); + _mav_put_float(buf, 20, rot_z); + _mav_put_uint8_t(buf, 24, target_system); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 25); +#else + mavlink_setpoint_6dof_t packet; + packet.trans_x = trans_x; + packet.trans_y = trans_y; + packet.trans_z = trans_z; + packet.rot_x = rot_x; + packet.rot_y = rot_y; + packet.rot_z = rot_z; + packet.target_system = target_system; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 25); +#endif + + msg->msgid = MAVLINK_MSG_ID_SETPOINT_6DOF; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 25, 15); +} + +/** + * @brief Encode a setpoint_6dof 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 setpoint_6dof C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_setpoint_6dof_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_setpoint_6dof_t* setpoint_6dof) +{ + return mavlink_msg_setpoint_6dof_pack(system_id, component_id, msg, setpoint_6dof->target_system, setpoint_6dof->trans_x, setpoint_6dof->trans_y, setpoint_6dof->trans_z, setpoint_6dof->rot_x, setpoint_6dof->rot_y, setpoint_6dof->rot_z); +} + +/** + * @brief Send a setpoint_6dof message + * @param chan MAVLink channel to send the message + * + * @param target_system System ID + * @param trans_x Translational Component in x + * @param trans_y Translational Component in y + * @param trans_z Translational Component in z + * @param rot_x Rotational Component in x + * @param rot_y Rotational Component in y + * @param rot_z Rotational Component in z + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_setpoint_6dof_send(mavlink_channel_t chan, uint8_t target_system, float trans_x, float trans_y, float trans_z, float rot_x, float rot_y, float rot_z) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[25]; + _mav_put_float(buf, 0, trans_x); + _mav_put_float(buf, 4, trans_y); + _mav_put_float(buf, 8, trans_z); + _mav_put_float(buf, 12, rot_x); + _mav_put_float(buf, 16, rot_y); + _mav_put_float(buf, 20, rot_z); + _mav_put_uint8_t(buf, 24, target_system); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SETPOINT_6DOF, buf, 25, 15); +#else + mavlink_setpoint_6dof_t packet; + packet.trans_x = trans_x; + packet.trans_y = trans_y; + packet.trans_z = trans_z; + packet.rot_x = rot_x; + packet.rot_y = rot_y; + packet.rot_z = rot_z; + packet.target_system = target_system; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SETPOINT_6DOF, (const char *)&packet, 25, 15); +#endif +} + +#endif + +// MESSAGE SETPOINT_6DOF UNPACKING + + +/** + * @brief Get field target_system from setpoint_6dof message + * + * @return System ID + */ +static inline uint8_t mavlink_msg_setpoint_6dof_get_target_system(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 24); +} + +/** + * @brief Get field trans_x from setpoint_6dof message + * + * @return Translational Component in x + */ +static inline float mavlink_msg_setpoint_6dof_get_trans_x(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 0); +} + +/** + * @brief Get field trans_y from setpoint_6dof message + * + * @return Translational Component in y + */ +static inline float mavlink_msg_setpoint_6dof_get_trans_y(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 4); +} + +/** + * @brief Get field trans_z from setpoint_6dof message + * + * @return Translational Component in z + */ +static inline float mavlink_msg_setpoint_6dof_get_trans_z(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 8); +} + +/** + * @brief Get field rot_x from setpoint_6dof message + * + * @return Rotational Component in x + */ +static inline float mavlink_msg_setpoint_6dof_get_rot_x(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 12); +} + +/** + * @brief Get field rot_y from setpoint_6dof message + * + * @return Rotational Component in y + */ +static inline float mavlink_msg_setpoint_6dof_get_rot_y(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 16); +} + +/** + * @brief Get field rot_z from setpoint_6dof message + * + * @return Rotational Component in z + */ +static inline float mavlink_msg_setpoint_6dof_get_rot_z(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 20); +} + +/** + * @brief Decode a setpoint_6dof message into a struct + * + * @param msg The message to decode + * @param setpoint_6dof C-struct to decode the message contents into + */ +static inline void mavlink_msg_setpoint_6dof_decode(const mavlink_message_t* msg, mavlink_setpoint_6dof_t* setpoint_6dof) +{ +#if MAVLINK_NEED_BYTE_SWAP + setpoint_6dof->trans_x = mavlink_msg_setpoint_6dof_get_trans_x(msg); + setpoint_6dof->trans_y = mavlink_msg_setpoint_6dof_get_trans_y(msg); + setpoint_6dof->trans_z = mavlink_msg_setpoint_6dof_get_trans_z(msg); + setpoint_6dof->rot_x = mavlink_msg_setpoint_6dof_get_rot_x(msg); + setpoint_6dof->rot_y = mavlink_msg_setpoint_6dof_get_rot_y(msg); + setpoint_6dof->rot_z = mavlink_msg_setpoint_6dof_get_rot_z(msg); + setpoint_6dof->target_system = mavlink_msg_setpoint_6dof_get_target_system(msg); +#else + memcpy(setpoint_6dof, _MAV_PAYLOAD(msg), 25); +#endif +} diff --git a/libs/mavlink/include/mavlink/v1.0/common/mavlink_msg_setpoint_8dof.h b/libs/mavlink/include/mavlink/v1.0/common/mavlink_msg_setpoint_8dof.h new file mode 100644 index 0000000000000000000000000000000000000000..bc761be08db37b42b523c4dd63b8e20ff25fc0e8 --- /dev/null +++ b/libs/mavlink/include/mavlink/v1.0/common/mavlink_msg_setpoint_8dof.h @@ -0,0 +1,320 @@ +// MESSAGE SETPOINT_8DOF PACKING + +#define MAVLINK_MSG_ID_SETPOINT_8DOF 148 + +typedef struct __mavlink_setpoint_8dof_t +{ + float val1; ///< Value 1 + float val2; ///< Value 2 + float val3; ///< Value 3 + float val4; ///< Value 4 + float val5; ///< Value 5 + float val6; ///< Value 6 + float val7; ///< Value 7 + float val8; ///< Value 8 + uint8_t target_system; ///< System ID +} mavlink_setpoint_8dof_t; + +#define MAVLINK_MSG_ID_SETPOINT_8DOF_LEN 33 +#define MAVLINK_MSG_ID_148_LEN 33 + + + +#define MAVLINK_MESSAGE_INFO_SETPOINT_8DOF { \ + "SETPOINT_8DOF", \ + 9, \ + { { "val1", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_setpoint_8dof_t, val1) }, \ + { "val2", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_setpoint_8dof_t, val2) }, \ + { "val3", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_setpoint_8dof_t, val3) }, \ + { "val4", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_setpoint_8dof_t, val4) }, \ + { "val5", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_setpoint_8dof_t, val5) }, \ + { "val6", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_setpoint_8dof_t, val6) }, \ + { "val7", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_setpoint_8dof_t, val7) }, \ + { "val8", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_setpoint_8dof_t, val8) }, \ + { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 32, offsetof(mavlink_setpoint_8dof_t, target_system) }, \ + } \ +} + + +/** + * @brief Pack a setpoint_8dof message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * + * @param target_system System ID + * @param val1 Value 1 + * @param val2 Value 2 + * @param val3 Value 3 + * @param val4 Value 4 + * @param val5 Value 5 + * @param val6 Value 6 + * @param val7 Value 7 + * @param val8 Value 8 + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_setpoint_8dof_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target_system, float val1, float val2, float val3, float val4, float val5, float val6, float val7, float val8) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[33]; + _mav_put_float(buf, 0, val1); + _mav_put_float(buf, 4, val2); + _mav_put_float(buf, 8, val3); + _mav_put_float(buf, 12, val4); + _mav_put_float(buf, 16, val5); + _mav_put_float(buf, 20, val6); + _mav_put_float(buf, 24, val7); + _mav_put_float(buf, 28, val8); + _mav_put_uint8_t(buf, 32, target_system); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 33); +#else + mavlink_setpoint_8dof_t packet; + packet.val1 = val1; + packet.val2 = val2; + packet.val3 = val3; + packet.val4 = val4; + packet.val5 = val5; + packet.val6 = val6; + packet.val7 = val7; + packet.val8 = val8; + packet.target_system = target_system; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 33); +#endif + + msg->msgid = MAVLINK_MSG_ID_SETPOINT_8DOF; + return mavlink_finalize_message(msg, system_id, component_id, 33, 241); +} + +/** + * @brief Pack a setpoint_8dof message on a channel + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message was sent over + * @param msg The MAVLink message to compress the data into + * @param target_system System ID + * @param val1 Value 1 + * @param val2 Value 2 + * @param val3 Value 3 + * @param val4 Value 4 + * @param val5 Value 5 + * @param val6 Value 6 + * @param val7 Value 7 + * @param val8 Value 8 + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_setpoint_8dof_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t target_system,float val1,float val2,float val3,float val4,float val5,float val6,float val7,float val8) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[33]; + _mav_put_float(buf, 0, val1); + _mav_put_float(buf, 4, val2); + _mav_put_float(buf, 8, val3); + _mav_put_float(buf, 12, val4); + _mav_put_float(buf, 16, val5); + _mav_put_float(buf, 20, val6); + _mav_put_float(buf, 24, val7); + _mav_put_float(buf, 28, val8); + _mav_put_uint8_t(buf, 32, target_system); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 33); +#else + mavlink_setpoint_8dof_t packet; + packet.val1 = val1; + packet.val2 = val2; + packet.val3 = val3; + packet.val4 = val4; + packet.val5 = val5; + packet.val6 = val6; + packet.val7 = val7; + packet.val8 = val8; + packet.target_system = target_system; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 33); +#endif + + msg->msgid = MAVLINK_MSG_ID_SETPOINT_8DOF; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 33, 241); +} + +/** + * @brief Encode a setpoint_8dof 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 setpoint_8dof C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_setpoint_8dof_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_setpoint_8dof_t* setpoint_8dof) +{ + return mavlink_msg_setpoint_8dof_pack(system_id, component_id, msg, setpoint_8dof->target_system, setpoint_8dof->val1, setpoint_8dof->val2, setpoint_8dof->val3, setpoint_8dof->val4, setpoint_8dof->val5, setpoint_8dof->val6, setpoint_8dof->val7, setpoint_8dof->val8); +} + +/** + * @brief Send a setpoint_8dof message + * @param chan MAVLink channel to send the message + * + * @param target_system System ID + * @param val1 Value 1 + * @param val2 Value 2 + * @param val3 Value 3 + * @param val4 Value 4 + * @param val5 Value 5 + * @param val6 Value 6 + * @param val7 Value 7 + * @param val8 Value 8 + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_setpoint_8dof_send(mavlink_channel_t chan, uint8_t target_system, float val1, float val2, float val3, float val4, float val5, float val6, float val7, float val8) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[33]; + _mav_put_float(buf, 0, val1); + _mav_put_float(buf, 4, val2); + _mav_put_float(buf, 8, val3); + _mav_put_float(buf, 12, val4); + _mav_put_float(buf, 16, val5); + _mav_put_float(buf, 20, val6); + _mav_put_float(buf, 24, val7); + _mav_put_float(buf, 28, val8); + _mav_put_uint8_t(buf, 32, target_system); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SETPOINT_8DOF, buf, 33, 241); +#else + mavlink_setpoint_8dof_t packet; + packet.val1 = val1; + packet.val2 = val2; + packet.val3 = val3; + packet.val4 = val4; + packet.val5 = val5; + packet.val6 = val6; + packet.val7 = val7; + packet.val8 = val8; + packet.target_system = target_system; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SETPOINT_8DOF, (const char *)&packet, 33, 241); +#endif +} + +#endif + +// MESSAGE SETPOINT_8DOF UNPACKING + + +/** + * @brief Get field target_system from setpoint_8dof message + * + * @return System ID + */ +static inline uint8_t mavlink_msg_setpoint_8dof_get_target_system(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 32); +} + +/** + * @brief Get field val1 from setpoint_8dof message + * + * @return Value 1 + */ +static inline float mavlink_msg_setpoint_8dof_get_val1(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 0); +} + +/** + * @brief Get field val2 from setpoint_8dof message + * + * @return Value 2 + */ +static inline float mavlink_msg_setpoint_8dof_get_val2(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 4); +} + +/** + * @brief Get field val3 from setpoint_8dof message + * + * @return Value 3 + */ +static inline float mavlink_msg_setpoint_8dof_get_val3(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 8); +} + +/** + * @brief Get field val4 from setpoint_8dof message + * + * @return Value 4 + */ +static inline float mavlink_msg_setpoint_8dof_get_val4(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 12); +} + +/** + * @brief Get field val5 from setpoint_8dof message + * + * @return Value 5 + */ +static inline float mavlink_msg_setpoint_8dof_get_val5(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 16); +} + +/** + * @brief Get field val6 from setpoint_8dof message + * + * @return Value 6 + */ +static inline float mavlink_msg_setpoint_8dof_get_val6(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 20); +} + +/** + * @brief Get field val7 from setpoint_8dof message + * + * @return Value 7 + */ +static inline float mavlink_msg_setpoint_8dof_get_val7(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 24); +} + +/** + * @brief Get field val8 from setpoint_8dof message + * + * @return Value 8 + */ +static inline float mavlink_msg_setpoint_8dof_get_val8(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 28); +} + +/** + * @brief Decode a setpoint_8dof message into a struct + * + * @param msg The message to decode + * @param setpoint_8dof C-struct to decode the message contents into + */ +static inline void mavlink_msg_setpoint_8dof_decode(const mavlink_message_t* msg, mavlink_setpoint_8dof_t* setpoint_8dof) +{ +#if MAVLINK_NEED_BYTE_SWAP + setpoint_8dof->val1 = mavlink_msg_setpoint_8dof_get_val1(msg); + setpoint_8dof->val2 = mavlink_msg_setpoint_8dof_get_val2(msg); + setpoint_8dof->val3 = mavlink_msg_setpoint_8dof_get_val3(msg); + setpoint_8dof->val4 = mavlink_msg_setpoint_8dof_get_val4(msg); + setpoint_8dof->val5 = mavlink_msg_setpoint_8dof_get_val5(msg); + setpoint_8dof->val6 = mavlink_msg_setpoint_8dof_get_val6(msg); + setpoint_8dof->val7 = mavlink_msg_setpoint_8dof_get_val7(msg); + setpoint_8dof->val8 = mavlink_msg_setpoint_8dof_get_val8(msg); + setpoint_8dof->target_system = mavlink_msg_setpoint_8dof_get_target_system(msg); +#else + memcpy(setpoint_8dof, _MAV_PAYLOAD(msg), 33); +#endif +} diff --git a/libs/mavlink/include/mavlink/v1.0/common/testsuite.h b/libs/mavlink/include/mavlink/v1.0/common/testsuite.h index 2bcaac77a018261a88bd38197df3200150315aa2..8b51c09590934bfda39e273ed2da7cbafd9d6d77 100644 --- a/libs/mavlink/include/mavlink/v1.0/common/testsuite.h +++ b/libs/mavlink/include/mavlink/v1.0/common/testsuite.h @@ -3780,6 +3780,179 @@ static void mavlink_test_highres_imu(uint8_t system_id, uint8_t component_id, ma MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); } +static void mavlink_test_battery_status(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) +{ + mavlink_message_t msg; + uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; + uint16_t i; + mavlink_battery_status_t packet_in = { + 17235, + 17339, + 17443, + 17547, + 17651, + 17755, + 17859, + 175, + 242, + }; + mavlink_battery_status_t packet1, packet2; + memset(&packet1, 0, sizeof(packet1)); + packet1.voltage_cell_1 = packet_in.voltage_cell_1; + packet1.voltage_cell_2 = packet_in.voltage_cell_2; + packet1.voltage_cell_3 = packet_in.voltage_cell_3; + packet1.voltage_cell_4 = packet_in.voltage_cell_4; + packet1.voltage_cell_5 = packet_in.voltage_cell_5; + packet1.voltage_cell_6 = packet_in.voltage_cell_6; + packet1.current_battery = packet_in.current_battery; + packet1.accu_id = packet_in.accu_id; + packet1.battery_remaining = packet_in.battery_remaining; + + + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_battery_status_encode(system_id, component_id, &msg, &packet1); + mavlink_msg_battery_status_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_battery_status_pack(system_id, component_id, &msg , packet1.accu_id , packet1.voltage_cell_1 , packet1.voltage_cell_2 , packet1.voltage_cell_3 , packet1.voltage_cell_4 , packet1.voltage_cell_5 , packet1.voltage_cell_6 , packet1.current_battery , packet1.battery_remaining ); + mavlink_msg_battery_status_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_battery_status_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.accu_id , packet1.voltage_cell_1 , packet1.voltage_cell_2 , packet1.voltage_cell_3 , packet1.voltage_cell_4 , packet1.voltage_cell_5 , packet1.voltage_cell_6 , packet1.current_battery , packet1.battery_remaining ); + mavlink_msg_battery_status_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_to_send_buffer(buffer, &msg); + for (i=0; ishowCriticalMessage(tr("FlightGear Failed to Start"), tr("Please check if the path and command is correct")); + MainWindow::instance()->showCriticalMessage(tr("FlightGear/TerraSync Failed to Start"), tr("Please check if the path and command is correct")); break; case QProcess::Crashed: - MainWindow::instance()->showCriticalMessage(tr("FlightGear Crashed"), tr("This is a FlightGear-related problem. Please upgrade FlightGear")); + MainWindow::instance()->showCriticalMessage(tr("FlightGear/TerraSync Crashed"), tr("This is a FlightGear-related problem. Please upgrade FlightGear")); break; case QProcess::Timedout: - MainWindow::instance()->showCriticalMessage(tr("FlightGear Start Timed Out"), tr("Please check if the path and command is correct")); + MainWindow::instance()->showCriticalMessage(tr("FlightGear/TerraSync Start Timed Out"), tr("Please check if the path and command is correct")); break; case QProcess::WriteError: - MainWindow::instance()->showCriticalMessage(tr("Could not Communicate with FlightGear"), tr("Please check if the path and command is correct")); + MainWindow::instance()->showCriticalMessage(tr("Could not Communicate with FlightGear/TerraSync"), tr("Please check if the path and command is correct")); break; case QProcess::ReadError: - MainWindow::instance()->showCriticalMessage(tr("Could not Communicate with FlightGear"), tr("Please check if the path and command is correct")); + MainWindow::instance()->showCriticalMessage(tr("Could not Communicate with FlightGear/TerraSync"), tr("Please check if the path and command is correct")); break; case QProcess::UnknownError: default: - MainWindow::instance()->showCriticalMessage(tr("FlightGear Error"), tr("Please check if the path and command is correct.")); + MainWindow::instance()->showCriticalMessage(tr("FlightGear/TerraSync Error"), tr("Please check if the path and command is correct.")); break; } } @@ -230,9 +230,9 @@ void QGCFlightGearLink::readBytes() double airspeed; time = values.at(0).toDouble(); - lat = values.at(1).toDouble(); - lon = values.at(2).toDouble(); - alt = values.at(3).toDouble(); + lat = values.at(1).toDouble() * 1e7; + lon = values.at(2).toDouble() * 1e7; + alt = values.at(3).toDouble() * 1e3; roll = values.at(4).toDouble(); pitch = values.at(5).toDouble(); yaw = values.at(6).toDouble(); @@ -244,9 +244,9 @@ void QGCFlightGearLink::readBytes() yacc = values.at(11).toDouble(); zacc = values.at(12).toDouble(); - vx = values.at(13).toDouble(); - vy = values.at(14).toDouble(); - vz = values.at(15).toDouble(); + vx = values.at(13).toDouble() * 1e2; + vy = values.at(14).toDouble() * 1e2; + vz = values.at(15).toDouble() * 1e2; airspeed = values.at(16).toDouble(); @@ -322,6 +322,8 @@ bool QGCFlightGearLink::disconnectSimulation() **/ bool QGCFlightGearLink::connectSimulation() { + qDebug() << "STARTING FLIGHTGEAR LINK"; + if (!mav) return false; socket = new QUdpSocket(this); connectState = socket->bind(host, port); @@ -341,11 +343,12 @@ bool QGCFlightGearLink::connectSimulation() QObject::connect( terraSync, SIGNAL(error(QProcess::ProcessError)), this, SLOT(processError(QProcess::ProcessError))); // Start Flightgear - QStringList processCall; + QStringList flightGearArguments; QString processFgfs; QString processTerraSync; QString fgRoot; QString fgScenery; + QString terraSyncScenery; QString aircraft; if (mav->getSystemType() == MAV_TYPE_FIXED_WING) @@ -377,9 +380,11 @@ bool QGCFlightGearLink::connectSimulation() #endif #ifdef Q_OS_LINUX - processFgfs = "fgfs"; - fgRoot = "/usr/share/flightgear/data"; - fgScenery = "/usr/share/flightgear/data/Scenery-Terrasync"; + processFgfs = "/usr/games/fgfs"; + fgRoot = "/usr/share/games/flightgear"; + fgScenery = "/usr/share/games/flightgear/Scenery/"; + processTerraSync = "/usr/bin/nice"; //according to http://wiki.flightgear.org/TerraSync, run with lower priority + terraSyncScenery = QDir::homePath() + "/.terrasync/Scenery"; //according to http://wiki.flightgear.org/TerraSync a separate directory is used #endif // Sanity checks @@ -405,79 +410,98 @@ bool QGCFlightGearLink::connectSimulation() sane = false; } + QFileInfo terraSyncExecutableInfo(processTerraSync); + if (!terraSyncExecutableInfo.isExecutable()) + { + MainWindow::instance()->showCriticalMessage(tr("FlightGear Failed to Start"), tr("TerraSync was not found at %1").arg(processTerraSync)); + sane = false; + } + + if (!sane) return false; // --atlas=socket,out,1,localhost,5505,udp // terrasync -p 5505 -S -d /usr/local/share/TerraSync - processCall << QString("--fg-root=%1").arg(fgRoot); - processCall << QString("--fg-scenery=%1").arg(fgScenery); + /*Prepare FlightGear Arguments */ + flightGearArguments << QString("--fg-root=%1").arg(fgRoot); + flightGearArguments << QString("--fg-scenery=%1:%2").arg(fgScenery).arg(terraSyncScenery); //according to http://wiki.flightgear.org/TerraSync a separate directory is used if (mav->getSystemType() == MAV_TYPE_QUADROTOR) { // FIXME ADD QUAD-Specific protocol here - processCall << QString("--generic=socket,out,50,127.0.0.1,%1,udp,qgroundcontrol").arg(port); - processCall << QString("--generic=socket,in,50,127.0.0.1,%1,udp,qgroundcontrol").arg(currentPort); + flightGearArguments << QString("--generic=socket,out,50,127.0.0.1,%1,udp,qgroundcontrol").arg(port); + flightGearArguments << QString("--generic=socket,in,50,127.0.0.1,%1,udp,qgroundcontrol").arg(currentPort); } else { - processCall << QString("--generic=socket,out,50,127.0.0.1,%1,udp,qgroundcontrol").arg(port); - processCall << QString("--generic=socket,in,50,127.0.0.1,%1,udp,qgroundcontrol").arg(currentPort); + flightGearArguments << QString("--generic=socket,out,50,127.0.0.1,%1,udp,qgroundcontrol").arg(port); + flightGearArguments << QString("--generic=socket,in,50,127.0.0.1,%1,udp,qgroundcontrol").arg(currentPort); } - processCall << "--atlas=socket,out,1,localhost,5505,udp"; - processCall << "--in-air"; - processCall << "--roll=0"; - processCall << "--pitch=0"; - processCall << "--vc=90"; - processCall << "--heading=300"; - processCall << "--timeofday=noon"; - processCall << "--disable-hud-3d"; - processCall << "--disable-fullscreen"; - processCall << "--geometry=400x300"; - processCall << "--disable-anti-alias-hud"; - processCall << "--wind=0@0"; - processCall << "--turbulence=0.0"; - processCall << "--prop:/sim/frame-rate-throttle-hz=30"; - processCall << "--control=mouse"; - processCall << "--disable-intro-music"; - processCall << "--disable-sound"; - processCall << "--disable-random-objects"; - processCall << "--disable-ai-models"; - processCall << "--shading-flat"; - processCall << "--fog-disable"; - processCall << "--disable-specular-highlight"; - //processCall << "--disable-skyblend"; - processCall << "--disable-random-objects"; - processCall << "--disable-panel"; - //processCall << "--disable-horizon-effect"; - processCall << "--disable-clouds"; - processCall << "--fdm=jsb"; - processCall << "--units-meters"; + flightGearArguments << "--atlas=socket,out,1,localhost,5505,udp"; + flightGearArguments << "--in-air"; + flightGearArguments << "--roll=0"; + flightGearArguments << "--pitch=0"; + flightGearArguments << "--vc=90"; + flightGearArguments << "--heading=300"; + flightGearArguments << "--timeofday=noon"; + flightGearArguments << "--disable-hud-3d"; + flightGearArguments << "--disable-fullscreen"; + flightGearArguments << "--geometry=400x300"; + flightGearArguments << "--disable-anti-alias-hud"; + flightGearArguments << "--wind=0@0"; + flightGearArguments << "--turbulence=0.0"; + flightGearArguments << "--prop:/sim/frame-rate-throttle-hz=30"; + flightGearArguments << "--control=mouse"; + flightGearArguments << "--disable-intro-music"; + flightGearArguments << "--disable-sound"; + flightGearArguments << "--disable-random-objects"; + flightGearArguments << "--disable-ai-models"; + flightGearArguments << "--shading-flat"; + flightGearArguments << "--fog-disable"; + flightGearArguments << "--disable-specular-highlight"; + //flightGearArguments << "--disable-skyblend"; + flightGearArguments << "--disable-random-objects"; + flightGearArguments << "--disable-panel"; + //flightGearArguments << "--disable-horizon-effect"; + flightGearArguments << "--disable-clouds"; + flightGearArguments << "--fdm=jsb"; + flightGearArguments << "--units-meters"; //XXX: check: the protocol xml has already a conversion from feet to m? + flightGearArguments << "--notrim"; if (mav->getSystemType() == MAV_TYPE_QUADROTOR) { // Start all engines of the quad - processCall << "--prop:/engines/engine[0]/running=true"; - processCall << "--prop:/engines/engine[1]/running=true"; - processCall << "--prop:/engines/engine[2]/running=true"; - processCall << "--prop:/engines/engine[3]/running=true"; + flightGearArguments << "--prop:/engines/engine[0]/running=true"; + flightGearArguments << "--prop:/engines/engine[1]/running=true"; + flightGearArguments << "--prop:/engines/engine[2]/running=true"; + flightGearArguments << "--prop:/engines/engine[3]/running=true"; } else { - processCall << "--prop:/engines/engine/running=true"; + flightGearArguments << "--prop:/engines/engine/running=true"; } - processCall << QString("--lat=%1").arg(UASManager::instance()->getHomeLatitude()); - processCall << QString("--lon=%1").arg(UASManager::instance()->getHomeLongitude()); - processCall << QString("--altitude=%1").arg(UASManager::instance()->getHomeAltitude()); - // Add new argument with this: processCall << ""; - processCall << QString("--aircraft=%2").arg(aircraft); - + flightGearArguments << QString("--lat=%1").arg(UASManager::instance()->getHomeLatitude()); + flightGearArguments << QString("--lon=%1").arg(UASManager::instance()->getHomeLongitude()); + flightGearArguments << QString("--altitude=%1").arg(UASManager::instance()->getHomeAltitude()); + // Add new argument with this: flightGearArguments << ""; + flightGearArguments << QString("--aircraft=%2").arg(aircraft); + /*Prepare TerraSync Arguments */ QStringList terraSyncArguments; - terraSyncArguments << "-p 5505"; +#ifdef Q_OS_LINUX + terraSyncArguments << "/usr/games/terrasync"; +#endif + terraSyncArguments << "-p"; + terraSyncArguments << "5505"; terraSyncArguments << "-S"; - terraSyncArguments << QString("-d=%1").arg(fgScenery); + terraSyncArguments << "-d"; + terraSyncArguments << terraSyncScenery; //according to http://wiki.flightgear.org/TerraSync a separate directory is used +// connect (terraSync, SIGNAL(readyReadStandardOutput()), this, SLOT(printTerraSyncOutput())); +// connect (terraSync, SIGNAL(readyReadStandardError()), this, SLOT(printTerraSyncError())); terraSync->start(processTerraSync, terraSyncArguments); - process->start(processFgfs, processCall); +// qDebug() << "STARTING: " << processTerraSync << terraSyncArguments; + + process->start(processFgfs, flightGearArguments); @@ -488,12 +512,36 @@ bool QGCFlightGearLink::connectSimulation() } qDebug() << "STARTING SIM"; - qDebug() << "STARTING: " << processFgfs << processCall; +// qDebug() << "STARTING: " << processFgfs << flightGearArguments; + start(LowPriority); return connectState; } +void QGCFlightGearLink::printTerraSyncOutput() +{ + qDebug() << "TerraSync stdout:"; + QByteArray byteArray = terraSync->readAllStandardOutput(); + QStringList strLines = QString(byteArray).split("\n"); + + foreach (QString line, strLines){ + qDebug() << line; + } +} + +void QGCFlightGearLink::printTerraSyncError() +{ + qDebug() << "TerraSync stderr:"; + + QByteArray byteArray = terraSync->readAllStandardError(); + QStringList strLines = QString(byteArray).split("\n"); + + foreach (QString line, strLines){ + qDebug() << line; + } +} + /** * @brief Check if connection is active. * diff --git a/src/comm/QGCFlightGearLink.h b/src/comm/QGCFlightGearLink.h index 05548d81114ee58a0a15d1a5616b930d5740d061..ca159bdf8106a60a663708473609c34aecec22dc 100644 --- a/src/comm/QGCFlightGearLink.h +++ b/src/comm/QGCFlightGearLink.h @@ -110,6 +110,9 @@ public slots: bool connectSimulation(); bool disconnectSimulation(); + void printTerraSyncOutput(); + void printTerraSyncError(); + protected: QString name; QHostAddress host; diff --git a/src/comm/QGCXPlaneLink.cc b/src/comm/QGCXPlaneLink.cc index 2dfc452225befe6fb590270098dc0ee627255d96..7a4019684070643c9992113599135fc3da1bfcfb 100644 --- a/src/comm/QGCXPlaneLink.cc +++ b/src/comm/QGCXPlaneLink.cc @@ -428,7 +428,7 @@ void QGCXPlaneLink::readBytes() // UAS* uas = dynamic_cast(mav); // if (uas) uas->setManualControlCommands(man_roll, man_pitch, man_yaw, 0.6); // } - else if (p.index == 16) + else if (xPlaneVersion == 10 && p.index == 16) { //qDebug() << "ANG VEL:" << p.f[0] << p.f[3] << p.f[7]; rollspeed = p.f[2]; @@ -443,6 +443,12 @@ void QGCXPlaneLink::readBytes() yaw = p.f[2] / 180.0f * M_PI; emitUpdate = true; } + else if ((xPlaneVersion == 9 && p.index == 17)) + { + rollspeed = p.f[2]; + pitchspeed = p.f[1]; + yawspeed = p.f[0]; + } // else if (p.index == 19) // { diff --git a/src/input/JoystickInput.cc b/src/input/JoystickInput.cc index c07134db78dc631fa8c97f317ddd69c2234bf9c4..fbfe0faa12fcfd9ee0ea4ddeb51cb040d11332fa 100644 --- a/src/input/JoystickInput.cc +++ b/src/input/JoystickInput.cc @@ -101,7 +101,7 @@ void JoystickInput::setActiveUAS(UASInterface* uas) tmp = dynamic_cast(this->uas); if(tmp) { - disconnect(this, SIGNAL(joystickChanged(double,double,double,double,int,int)), tmp, SLOT(setManualControlCommands(double,double,double,double))); + disconnect(this, SIGNAL(joystickChanged(double,double,double,double,int,int,int)), tmp, SLOT(setManualControlCommands(double,double,double,double,int,int,int))); disconnect(this, SIGNAL(buttonPressed(int)), tmp, SLOT(receiveButton(int))); } } @@ -110,7 +110,7 @@ void JoystickInput::setActiveUAS(UASInterface* uas) tmp = dynamic_cast(this->uas); if(tmp) { - connect(this, SIGNAL(joystickChanged(double,double,double,double,int,int)), tmp, SLOT(setManualControlCommands(double,double,double,double))); + connect(this, SIGNAL(joystickChanged(double,double,double,double,int,int,int)), tmp, SLOT(setManualControlCommands(double,double,double,double,int,int,int))); connect(this, SIGNAL(buttonPressed(int)), tmp, SLOT(receiveButton(int))); } if (!isRunning()) @@ -163,7 +163,6 @@ void JoystickInput::init() */ void JoystickInput::run() { - init(); forever @@ -284,16 +283,16 @@ void JoystickInput::run() // Send new values to rest of groundstation emit hatDirectionChanged(xHat, yHat); - emit joystickChanged(y, x, yaw, thrust, xHat, yHat); - // Display all buttons + int buttons = 0; for(int i = 0; i < SDL_JoystickNumButtons(joystick); i++) { //qDebug() << "BUTTON" << i << "is: " << SDL_JoystickGetAxis(joystick, i); if(SDL_JoystickGetButton(joystick, i)) { emit buttonPressed(i); + buttons |= 1 << i; // Check if button is a UAS select button if (uasButtonList.contains(i)) @@ -307,6 +306,7 @@ void JoystickInput::run() } } + emit joystickChanged(y, x, yaw, thrust, xHat, yHat, buttons); // Sleep, update rate of joystick is approx. 50 Hz (1000 ms / 50 = 20 ms) QGC::SLEEP::msleep(20); diff --git a/src/input/JoystickInput.h b/src/input/JoystickInput.h index fc1a096409312487932b7090dbfe35676499038e..2bcba7dfb42706bee5fefb03192c90b287af47d0 100644 --- a/src/input/JoystickInput.h +++ b/src/input/JoystickInput.h @@ -141,7 +141,7 @@ signals: * @param xHat hat vector in forward-backward direction, +1 forward, 0 center, -1 backward * @param yHat hat vector in left-right direction, -1 left, 0 center, +1 right */ - void joystickChanged(double roll, double pitch, double yaw, double thrust, int xHat, int yHat); + void joystickChanged(double roll, double pitch, double yaw, double thrust, int xHat, int yHat, int buttons); /** * @brief Thrust lever of the joystick has changed diff --git a/src/uas/QGCUASParamManager.h b/src/uas/QGCUASParamManager.h index d3fedc04f5c171a3b0caa7cd9a50c57d8d5c2ef3..5155db5287be7b6d7f5e1659d21ca98cb86fd558 100644 --- a/src/uas/QGCUASParamManager.h +++ b/src/uas/QGCUASParamManager.h @@ -42,6 +42,7 @@ public: virtual double getParamMin(const QString& param) = 0; virtual double getParamMax(const QString& param) = 0; virtual double getParamDefault(const QString& param) = 0; + virtual const QString& getParamInfo(const QString& param) = 0; /** @brief Request an update for the parameter list */ void requestParameterListUpdate(int component = 0); diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc index 3ba3174133b376466dd267e5a2a7072ab6204f77..afb846af6d948c2af586135a2808eea8b0d57947 100644 --- a/src/uas/UAS.cc +++ b/src/uas/UAS.cc @@ -2435,7 +2435,7 @@ void UAS::disarmSystem() * Set the manual control commands. * This can only be done if the system has manual inputs enabled and is armed. */ -void UAS::setManualControlCommands(double roll, double pitch, double yaw, double thrust) +void UAS::setManualControlCommands(double roll, double pitch, double yaw, double thrust, int xHat, int yHat, int buttons) { // Scale values double rollPitchScaling = 1.0f * 1000.0f; @@ -2450,8 +2450,6 @@ void UAS::setManualControlCommands(double roll, double pitch, double yaw, double // If system has manual inputs enabled and is armed if(((mode & MAV_MODE_FLAG_DECODE_POSITION_MANUAL) && (mode & MAV_MODE_FLAG_DECODE_POSITION_SAFETY)) || (mode & MAV_MODE_FLAG_HIL_ENABLED)) { - // XXX FIXME ADD BUTTON SUPPORT - quint16 buttons = 0; mavlink_message_t message; mavlink_msg_manual_control_pack(mavlink->getSystemId(), mavlink->getComponentId(), &message, this->uasId, (float)manualRollAngle, (float)manualPitchAngle, (float)manualThrust, (float)manualYawAngle, buttons); sendMessage(message); @@ -2592,7 +2590,24 @@ bool UAS::emergencyKILL() /** * If enabled, connect the fligth gear link. */ -void UAS::enableHil(bool enable) +void UAS::enableHilFlightGear(bool enable) +{ + // Connect Flight Gear Link + if (enable) + { + simulation = new QGCFlightGearLink(this); + startHil(); + } + else + { + stopHil(); + } +} + +/** +* If enabled, connect the fligth gear link. +*/ +void UAS::enableHilXPlane(bool enable) { // Connect Flight Gear Link if (enable) diff --git a/src/uas/UAS.h b/src/uas/UAS.h index fe37b2c7428442d6d6649b53e0d2d8836b40dde5..1030bd4b00cf928bbeb7ef835c824effdb937518 100644 --- a/src/uas/UAS.h +++ b/src/uas/UAS.h @@ -478,6 +478,9 @@ public: case MAV_AUTOPILOT_FP: return "FP"; break; + case MAV_AUTOPILOT_PX4: + return "PX4"; + break; default: return ""; break; @@ -528,7 +531,9 @@ public slots: void go(); /** @brief Enable / disable HIL */ - void enableHil(bool enable); + void enableHilFlightGear(bool enable); + void enableHilXPlane(bool enable); + /** @brief Send the full HIL state to the MAV */ @@ -564,7 +569,7 @@ public slots: void disarmSystem(); /** @brief Set the values for the manual control of the vehicle */ - void setManualControlCommands(double roll, double pitch, double yaw, double thrust); + void setManualControlCommands(double roll, double pitch, double yaw, double thrust, int xHat, int yHat, int buttons); /** @brief Receive a button pressed event from an input device, e.g. joystick */ void receiveButton(int buttonIndex); diff --git a/src/ui/MainWindow.cc b/src/ui/MainWindow.cc index 75e53ba41ca6a94e612249b26b2d9ae98c7261aa..573df8a5c6734ded914fefc2f2a6584427a23890 100644 --- a/src/ui/MainWindow.cc +++ b/src/ui/MainWindow.cc @@ -564,11 +564,11 @@ void MainWindow::buildCommonWidgets() addCentralWidget(hudWidget, tr("Head Up Display")); } -// if (!configWidget) -// { -// configWidget = new QGCVehicleConfig(this); -// addCentralWidget(configWidget, tr("Vehicle Configuration")); -// } + if (!configWidget) + { + configWidget = new QGCVehicleConfig(this); + addCentralWidget(configWidget, tr("Vehicle Configuration")); + } if (!dataplotWidget) { @@ -724,10 +724,14 @@ void MainWindow::loadCustomWidget(const QString& fileName, bool singleinstance) void MainWindow::loadCustomWidgetsFromDefaults(const QString& systemType, const QString& autopilotType) { - QString defaultsDir = qApp->applicationDirPath() + "/files/" + autopilotType.toLower() + "/" + systemType.toLower() + "/widgets/"; + QString defaultsDir = qApp->applicationDirPath() + "/files/" + autopilotType.toLower() + "/widgets/"; + QString platformDir = qApp->applicationDirPath() + "/files/" + autopilotType.toLower() + "/" + systemType.toLower() + "/widgets/"; QDir widgets(defaultsDir); QStringList files = widgets.entryList(); + QDir platformWidgets(platformDir); + files.append(platformWidgets.entryList()); + if (files.count() == 0) { qDebug() << "No default custom widgets for system " << systemType << "autopilot" << autopilotType << " found"; diff --git a/src/ui/QGCParamWidget.cc b/src/ui/QGCParamWidget.cc index 077425ef4e38e43dbcea63bff0d3b2c5639b0f56..d31793a7220b8f0e0e5a9caef17aa5236cb1aa6e 100644 --- a/src/ui/QGCParamWidget.cc +++ b/src/ui/QGCParamWidget.cc @@ -25,7 +25,8 @@ This file is part of the QGROUNDCONTROL project * @brief Implementation of class QGCParamWidget * @author Lorenz Meier */ - +#include +#include #include #include #include @@ -38,6 +39,7 @@ This file is part of the QGROUNDCONTROL project #include "QGCParamWidget.h" #include "UASInterface.h" +#include "MainWindow.h" #include #include "QGC.h" @@ -163,11 +165,29 @@ void QGCParamWidget::loadSettings() void QGCParamWidget::loadParameterInfoCSV(const QString& autopilot, const QString& airframe) { + Q_UNUSED(airframe); + + qDebug() << "ATTEMPTING TO LOAD CSV"; + qDebug() << "ATTEMPTING TO LOAD CSV"; + qDebug() << "ATTEMPTING TO LOAD CSV"; + qDebug() << "ATTEMPTING TO LOAD CSV"; + qDebug() << "ATTEMPTING TO LOAD CSV"; + qDebug() << "ATTEMPTING TO LOAD CSV"; + qDebug() << "ATTEMPTING TO LOAD CSV"; + qDebug() << "ATTEMPTING TO LOAD CSV"; + qDebug() << "ATTEMPTING TO LOAD CSV"; + qDebug() << "ATTEMPTING TO LOAD CSV"; + qDebug() << "ATTEMPTING TO LOAD CSV"; + qDebug() << "ATTEMPTING TO LOAD CSV"; + QDir appDir = QApplication::applicationDirPath(); appDir.cd("files"); - QString fileName = QString("%1/%2/%3/parameter_tooltips/tooltips.txt").arg(appDir.canonicalPath()).arg(autopilot.toLower()).arg(airframe.toLower()); + QString fileName = QString("%1/%2/parameter_tooltips/tooltips.txt").arg(appDir.canonicalPath()).arg(autopilot.toLower()); QFile paramMetaFile(fileName); + qDebug() << "AUTOPILOT:" << autopilot; + qDebug() << "FILENAME: " << fileName; + // Load CSV data if (!paramMetaFile.open(QIODevice::ReadOnly | QIODevice::Text)) { @@ -187,7 +207,8 @@ void QGCParamWidget::loadParameterInfoCSV(const QString& autopilot, const QStrin QString header = in.readLine(); // Ignore top-level comment lines - while (header.startsWith('#') || header.startsWith('/') || header.startsWith('=')) + while (header.startsWith('#') || header.startsWith('/') + || header.startsWith('=') || header.startsWith('^')) { header = in.readLine(); } @@ -264,23 +285,24 @@ void QGCParamWidget::loadParameterInfoCSV(const QString& autopilot, const QStrin if (parts.count() > 1) { // min - paramMin.insert(parts.at(0), parts.at(1).toDouble()); + paramMin.insert(parts.at(0).trimmed(), parts.at(1).toDouble()); } if (parts.count() > 2) { // max - paramMax.insert(parts.at(0), parts.at(2).toDouble()); + paramMax.insert(parts.at(0).trimmed(), parts.at(2).toDouble()); } if (parts.count() > 3) { // default - paramDefault.insert(parts.at(0), parts.at(3).toDouble()); + paramDefault.insert(parts.at(0).trimmed(), parts.at(3).toDouble()); } // IGNORING 4 and 5 for now if (parts.count() > 6) { // tooltip - paramToolTips.insert(parts.at(0), parts.at(6).trimmed()); + paramToolTips.insert(parts.at(0).trimmed(), parts.at(6).trimmed()); + qDebug() << "PARAM META:" << parts.at(0).trimmed(); } } } @@ -364,7 +386,7 @@ void QGCParamWidget::addParameter(int uas, int component, int paramCount, int pa // There is only one transmission timeout for all components // since components do not manage their transmission, // the longest timeout is safe for all components. - quint64 thisTransmissionTimeout = QGC::groundTimeMilliseconds() + ((paramCount/retransmissionBurstRequestSize+5)*retransmissionTimeout); + quint64 thisTransmissionTimeout = QGC::groundTimeMilliseconds() + ((paramCount)*retransmissionTimeout); if (thisTransmissionTimeout > transmissionTimeout) { transmissionTimeout = thisTransmissionTimeout; @@ -490,19 +512,19 @@ void QGCParamWidget::addParameter(int uas, int component, QString parameterName, // Get component if (!components->contains(component)) { -// QString componentName; -// switch (component) -// { -// case MAV_COMP_ID_CAMERA: -// componentName = tr("Camera (#%1)").arg(component); -// break; -// case MAV_COMP_ID_IMU: -// componentName = tr("IMU (#%1)").arg(component); -// break; -// default: -// componentName = tr("Component #").arg(component); -// break; -// } + // QString componentName; + // switch (component) + // { + // case MAV_COMP_ID_CAMERA: + // componentName = tr("Camera (#%1)").arg(component); + // break; + // case MAV_COMP_ID_IMU: + // componentName = tr("IMU (#%1)").arg(component); + // break; + // default: + // componentName = tr("Component #").arg(component); + // break; + // } QString componentName = tr("Component #%1").arg(component); addComponent(uas, component, componentName); } @@ -680,22 +702,22 @@ void QGCParamWidget::parameterItemChanged(QTreeWidgetItem* current, int column) switch (parameters.value(key)->value(str).type()) { case QVariant::Int: - { - QVariant fixedValue(value.toInt()); - parameters.value(key)->insert(str, fixedValue); - } + { + QVariant fixedValue(value.toInt()); + parameters.value(key)->insert(str, fixedValue); + } break; case QVariant::UInt: - { - QVariant fixedValue(value.toUInt()); - parameters.value(key)->insert(str, fixedValue); - } + { + QVariant fixedValue(value.toUInt()); + parameters.value(key)->insert(str, fixedValue); + } break; case QMetaType::Float: - { - QVariant fixedValue(value.toFloat()); - parameters.value(key)->insert(str, fixedValue); - } + { + QVariant fixedValue(value.toFloat()); + parameters.value(key)->insert(str, fixedValue); + } break; default: qCritical() << "ABORTED PARAM UPDATE, NO VALID QVARIANT TYPE"; @@ -766,8 +788,7 @@ void QGCParamWidget::loadParameters() if (!file.open(QIODevice::ReadOnly | QIODevice::Text)) return; - // Clear list - clear(); + bool userWarned = false; QTextStream in(&file); while (!in.atEnd()) { @@ -776,49 +797,65 @@ void QGCParamWidget::loadParameters() QStringList wpParams = line.split("\t"); if (wpParams.size() == 5) { // Only load parameters for right mav - if (mav->getUASID() == wpParams.at(0).toInt()) { + if (!userWarned && (mav->getUASID() != wpParams.at(0).toInt())) { + MainWindow::instance()->showCriticalMessage(tr("Parameter loading warning"), tr("The parameters from the file %1 have been saved from system %2, but the currently selected system has the ID %3. If this is unintentional, please click on to revert to the parameters that are currently onboard").arg(fileName).arg(wpParams.at(0).toInt()).arg(mav->getUASID())); + userWarned = true; + } - bool changed = false; - int component = wpParams.at(1).toInt(); - QString parameterName = wpParams.at(2); - if (!parameters.contains(component) || parameters.value(component)->value(parameterName, wpParams.at(3).toDouble()-3.0f) != (float)wpParams.at(3).toDouble()) { - changed = true; - } + bool changed = false; + int component = wpParams.at(1).toInt(); + QString parameterName = wpParams.at(2); + if (!parameters.contains(component) || + fabs((static_cast(parameters.value(component)->value(parameterName, wpParams.at(3).toDouble()).toDouble())) - (wpParams.at(3).toDouble())) > 2.0f * FLT_EPSILON) { + changed = true; + qDebug() << "Changed" << parameterName << "VAL" << wpParams.at(3).toDouble(); + } - // Set parameter value - addParameter(wpParams.at(0).toInt(), wpParams.at(1).toInt(), wpParams.at(2), wpParams.at(3).toDouble()); + // Set parameter value - if (changed) { - // Create changed values data structure if necessary - if (!changedValues.contains(wpParams.at(1).toInt())) { - changedValues.insert(wpParams.at(1).toInt(), new QMap()); - } - - // Add to changed values - if (changedValues.value(wpParams.at(1).toInt())->contains(wpParams.at(2))) { - changedValues.value(wpParams.at(1).toInt())->remove(wpParams.at(2)); - } - - switch (wpParams.at(3).toUInt()) - { - case MAV_PARAM_TYPE_REAL32: - changedValues.value(wpParams.at(1).toInt())->insert(wpParams.at(2), wpParams.at(3).toFloat()); - break; - case MAV_PARAM_TYPE_UINT32: - changedValues.value(wpParams.at(1).toInt())->insert(wpParams.at(2), wpParams.at(3).toUInt()); - break; - case MAV_PARAM_TYPE_INT32: - changedValues.value(wpParams.at(1).toInt())->insert(wpParams.at(2), wpParams.at(3).toInt()); - break; - } - - //qDebug() << "MARKING COMP" << wpParams.at(1).toInt() << "PARAM" << wpParams.at(2) << "VALUE" << (float)wpParams.at(3).toDouble() << "AS CHANGED"; - - // Mark in UI + // Create changed values data structure if necessary + if (changed && !changedValues.contains(wpParams.at(1).toInt())) { + changedValues.insert(wpParams.at(1).toInt(), new QMap()); + } + // Add to changed values + if (changed && changedValues.value(wpParams.at(1).toInt())->contains(wpParams.at(2))) { + changedValues.value(wpParams.at(1).toInt())->remove(wpParams.at(2)); + } + switch (wpParams.at(4).toUInt()) + { + case (int)MAV_PARAM_TYPE_REAL32: + addParameter(wpParams.at(0).toInt(), wpParams.at(1).toInt(), wpParams.at(2), wpParams.at(3).toFloat()); + if (changed) { + changedValues.value(wpParams.at(1).toInt())->insert(wpParams.at(2), wpParams.at(3).toFloat()); + setParameter(wpParams.at(1).toInt(), wpParams.at(2), wpParams.at(3).toFloat()); + qDebug() << "FLOAT PARAM CHANGED"; + } + break; + case (int)MAV_PARAM_TYPE_UINT32: + addParameter(wpParams.at(0).toInt(), wpParams.at(1).toInt(), wpParams.at(2), wpParams.at(3).toUInt()); + if (changed) { + changedValues.value(wpParams.at(1).toInt())->insert(wpParams.at(2), wpParams.at(3).toUInt()); + setParameter(wpParams.at(1).toInt(), wpParams.at(2), QVariant(wpParams.at(3).toUInt())); } + break; + case (int)MAV_PARAM_TYPE_INT32: + addParameter(wpParams.at(0).toInt(), wpParams.at(1).toInt(), wpParams.at(2), wpParams.at(3).toInt()); + if (changed) { + changedValues.value(wpParams.at(1).toInt())->insert(wpParams.at(2), wpParams.at(3).toInt()); + setParameter(wpParams.at(1).toInt(), wpParams.at(2), QVariant(wpParams.at(3).toInt())); + } + break; + default: + qDebug() << "FAILED LOADING PARAM" << wpParams.at(2) << "NO KNOWN DATA TYPE"; } + + //qDebug() << "MARKING COMP" << wpParams.at(1).toInt() << "PARAM" << wpParams.at(2) << "VALUE" << (float)wpParams.at(3).toDouble() << "AS CHANGED"; + + // Mark in UI + + } } } @@ -909,22 +946,22 @@ void QGCParamWidget::retransmissionGuardTick() switch (parameters.value(component)->value(key).type()) { case QVariant::Int: - { - QVariant fixedValue(value.toInt()); - emit parameterChanged(component, key, fixedValue); - } + { + QVariant fixedValue(value.toInt()); + emit parameterChanged(component, key, fixedValue); + } break; case QVariant::UInt: - { - QVariant fixedValue(value.toUInt()); - emit parameterChanged(component, key, fixedValue); - } + { + QVariant fixedValue(value.toUInt()); + emit parameterChanged(component, key, fixedValue); + } break; case QMetaType::Float: - { - QVariant fixedValue(value.toFloat()); - emit parameterChanged(component, key, fixedValue); - } + { + QVariant fixedValue(value.toFloat()); + emit parameterChanged(component, key, fixedValue); + } break; default: //qCritical() << "ABORTED PARAM RETRANSMISSION, NO VALID QVARIANT TYPE"; @@ -974,25 +1011,25 @@ void QGCParamWidget::setParameter(int component, QString parameterName, QVariant switch (parameters.value(component)->value(parameterName).type()) { case QVariant::Int: - { - QVariant fixedValue(value.toInt()); - emit parameterChanged(component, parameterName, fixedValue); - //qDebug() << "PARAM WIDGET SENT:" << fixedValue; - } + { + QVariant fixedValue(value.toInt()); + emit parameterChanged(component, parameterName, fixedValue); + //qDebug() << "PARAM WIDGET SENT:" << fixedValue; + } break; case QVariant::UInt: - { - QVariant fixedValue(value.toUInt()); - emit parameterChanged(component, parameterName, fixedValue); - //qDebug() << "PARAM WIDGET SENT:" << fixedValue; - } + { + QVariant fixedValue(value.toUInt()); + emit parameterChanged(component, parameterName, fixedValue); + //qDebug() << "PARAM WIDGET SENT:" << fixedValue; + } break; case QMetaType::Float: - { - QVariant fixedValue(value.toFloat()); - emit parameterChanged(component, parameterName, fixedValue); - //qDebug() << "PARAM WIDGET SENT:" << fixedValue; - } + { + QVariant fixedValue(value.toFloat()); + emit parameterChanged(component, parameterName, fixedValue); + //qDebug() << "PARAM WIDGET SENT:" << fixedValue; + } break; default: qCritical() << "ABORTED PARAM SEND, NO VALID QVARIANT TYPE"; @@ -1010,11 +1047,20 @@ void QGCParamWidget::setParameter(int component, QString parameterName, QVariant transmissionMissingWriteAckPackets.value(component)->insert(parameterName, value); // Set timeouts - transmissionActive = true; - quint64 newTransmissionTimeout = QGC::groundTimeMilliseconds() + 5*rewriteTimeout; - if (newTransmissionTimeout > transmissionTimeout) { - transmissionTimeout = newTransmissionTimeout; + if (transmissionActive) + { + transmissionTimeout += rewriteTimeout; + } + else + { + quint64 newTransmissionTimeout = QGC::groundTimeMilliseconds() + rewriteTimeout; + if (newTransmissionTimeout > transmissionTimeout) + { + transmissionTimeout = newTransmissionTimeout; + } + transmissionActive = true; } + // Enable guard / reset timeouts setRetransmissionGuardEnabled(true); } @@ -1046,10 +1092,17 @@ void QGCParamWidget::setParameters() } else { statusLabel->setText(tr("Transmitting %1 parameters.").arg(parametersSent)); // Set timeouts - transmissionActive = true; - quint64 newTransmissionTimeout = QGC::groundTimeMilliseconds() + (parametersSent/retransmissionBurstRequestSize+5)*rewriteTimeout; - if (newTransmissionTimeout > transmissionTimeout) { - transmissionTimeout = newTransmissionTimeout; + if (transmissionActive) + { + transmissionTimeout += parametersSent*rewriteTimeout; + } + else + { + transmissionActive = true; + quint64 newTransmissionTimeout = QGC::groundTimeMilliseconds() + parametersSent*rewriteTimeout; + if (newTransmissionTimeout > transmissionTimeout) { + transmissionTimeout = newTransmissionTimeout; + } } // Enable guard setRetransmissionGuardEnabled(true); diff --git a/src/ui/QGCParamWidget.h b/src/ui/QGCParamWidget.h index ad031a15461ef51280c7a4cc6e439618beb912ad..013c81335a40aeec27d9e9d3778ad21bfac2c5b9 100644 --- a/src/ui/QGCParamWidget.h +++ b/src/ui/QGCParamWidget.h @@ -57,6 +57,7 @@ public: double getParamMin(const QString& param) { return paramMin.value(param, 0.0f); } double getParamMax(const QString& param) { return paramMax.value(param, 0.0f); } double getParamDefault(const QString& param) { return paramDefault.value(param, 0.0f); } + const QString& getParamInfo(const QString& param) { return paramToolTips.value(param, ""); } signals: /** @brief A parameter was changed in the widget, NOT onboard */ diff --git a/src/ui/QGCRemoteControlView.cc b/src/ui/QGCRemoteControlView.cc index 7efc3150e7017a19d6affda4752a88fc0e37c2ed..bfef68ea263d9e2605cefcaa7e9f8399f61dec45 100644 --- a/src/ui/QGCRemoteControlView.cc +++ b/src/ui/QGCRemoteControlView.cc @@ -55,13 +55,13 @@ QGCRemoteControlView::QGCRemoteControlView(QWidget *parent) : this->setVisible(false); //setVisible(false); - calibrate = new QPushButton(tr("Calibrate"), this); - QHBoxLayout *calibrateButtonLayout = new QHBoxLayout(); - calibrateButtonLayout->addWidget(calibrate, 0, Qt::AlignHCenter); - layout->addItem(calibrateButtonLayout, 3, 0, 1, 2); +// calibrate = new QPushButton(tr("Calibrate"), this); +// QHBoxLayout *calibrateButtonLayout = new QHBoxLayout(); +// calibrateButtonLayout->addWidget(calibrate, 0, Qt::AlignHCenter); +// layout->addItem(calibrateButtonLayout, 3, 0, 1, 2); - calibrationWindow = new RadioCalibrationWindow(this); - connect(calibrate, SIGNAL(clicked()), calibrationWindow, SLOT(show())); +// calibrationWindow = new RadioCalibrationWindow(this); +// connect(calibrate, SIGNAL(clicked()), calibrationWindow, SLOT(show())); connect(UASManager::instance(), SIGNAL(activeUASSet(int)), this, SLOT(setUASId(int))); @@ -91,8 +91,8 @@ void QGCRemoteControlView::setUASId(int id) // The UAS exists, disconnect any existing connections disconnect(uas, SIGNAL(remoteControlChannelRawChanged(int,float,float)), this, SLOT(setChannel(int,float,float))); disconnect(uas, SIGNAL(remoteControlRSSIChanged(float)), this, SLOT(setRemoteRSSI(float))); - disconnect(uas, SIGNAL(radioCalibrationRawReceived(const QPointer&)), calibrationWindow, SLOT(receive(const QPointer&))); - disconnect(uas, SIGNAL(remoteControlChannelRawChanged(int,float)), calibrationWindow, SLOT(setChannel(int,float))); + //disconnect(uas, SIGNAL(radioCalibrationRawReceived(const QPointer&)), calibrationWindow, SLOT(receive(const QPointer&))); + //disconnect(uas, SIGNAL(remoteControlChannelRawChanged(int,float)), calibrationWindow, SLOT(setChannel(int,float))); disconnect(uas, SIGNAL(remoteControlChannelScaledChanged(int,float)), this, SLOT(setChannelScaled(int,float))); } } @@ -124,15 +124,15 @@ void QGCRemoteControlView::setUASId(int id) { // New UAS exists, connect nameLabel->setText(QString("RC Input of %1").arg(newUAS->getUASName())); - calibrationWindow->setUASId(id); - connect(newUAS, SIGNAL(radioCalibrationReceived(const QPointer&)), calibrationWindow, SLOT(receive(const QPointer&))); + //calibrationWindow->setUASId(id); + //connect(newUAS, SIGNAL(radioCalibrationReceived(const QPointer&)), calibrationWindow, SLOT(receive(const QPointer&))); connect(newUAS, SIGNAL(remoteControlRSSIChanged(float)), this, SLOT(setRemoteRSSI(float))); connect(newUAS, SIGNAL(remoteControlChannelRawChanged(int,float)), this, SLOT(setChannelRaw(int,float))); connect(newUAS, SIGNAL(remoteControlChannelScaledChanged(int,float)), this, SLOT(setChannelScaled(int,float))); // only connect raw channels to calibration window widget - connect(newUAS, SIGNAL(remoteControlChannelRawChanged(int,float)), calibrationWindow, SLOT(setChannel(int,float))); + //connect(newUAS, SIGNAL(remoteControlChannelRawChanged(int,float)), calibrationWindow, SLOT(setChannel(int,float))); } } @@ -178,7 +178,7 @@ void QGCRemoteControlView::setRemoteRSSI(float rssiNormalized) void QGCRemoteControlView::appendChannelWidget(int channelId) { // Create new layout - QHBoxLayout* layout = new QHBoxLayout(this); + QHBoxLayout* layout = new QHBoxLayout(); // Add content layout->addWidget(new QLabel(QString("Channel %1").arg(channelId + 1), this)); QLabel* raw = new QLabel(this); diff --git a/src/ui/QGCVehicleConfig.cc b/src/ui/QGCVehicleConfig.cc index 3f6565e618fe4caedd9c52e52979294e25ad9103..c0f08fa90bd68cb8800c7a794038d52813f62fd4 100644 --- a/src/ui/QGCVehicleConfig.cc +++ b/src/ui/QGCVehicleConfig.cc @@ -5,12 +5,22 @@ #include "QGCVehicleConfig.h" #include "UASManager.h" #include "QGC.h" +#include "QGCToolWidget.h" #include "ui_QGCVehicleConfig.h" QGCVehicleConfig::QGCVehicleConfig(QWidget *parent) : QWidget(parent), mav(NULL), changed(true), + rc_mode(RC_MODE_2), + rcRoll(0.0f), + rcPitch(0.0f), + rcYaw(0.0f), + rcThrottle(0.0f), + rcMode(0.0f), + rcAux1(0.0f), + rcAux2(0.0f), + rcAux3(0.0f), ui(new Ui::QGCVehicleConfig) { setObjectName("QGC_VEHICLECONFIG"); @@ -19,8 +29,11 @@ QGCVehicleConfig::QGCVehicleConfig(QWidget *parent) : requestCalibrationRC(); if (mav) mav->requestParameter(0, "RC_TYPE"); + ui->rcModeComboBox->setCurrentIndex((int)rc_mode - 1); + connect(ui->rcCalibrationButton, SIGNAL(clicked(bool)), this, SLOT(toggleCalibrationRC(bool))); connect(ui->storeButton, SIGNAL(clicked()), this, SLOT(writeParameters())); + connect(ui->rcModeComboBox, SIGNAL(currentIndexChanged(int)), this, SLOT(setRCModeIndex(int))); connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*))); @@ -41,6 +54,14 @@ QGCVehicleConfig::~QGCVehicleConfig() delete ui; } +void QGCVehicleConfig::setRCModeIndex(int newRcMode) +{ + if (newRcMode > 0 && newRcMode < 5) + { + rc_mode = (enum RC_MODE) (newRcMode+1); + changed = true; + } +} void QGCVehicleConfig::toggleCalibrationRC(bool enabled) { @@ -57,12 +78,14 @@ void QGCVehicleConfig::toggleCalibrationRC(bool enabled) void QGCVehicleConfig::startCalibrationRC() { ui->rcTypeComboBox->setEnabled(false); + ui->rcCalibrationButton->setText(tr("Stop RC Calibration")); resetCalibrationRC(); } void QGCVehicleConfig::stopCalibrationRC() { ui->rcTypeComboBox->setEnabled(true); + ui->rcCalibrationButton->setText(tr("Start RC Calibration")); } void QGCVehicleConfig::setActiveUAS(UASInterface* active) @@ -77,15 +100,69 @@ void QGCVehicleConfig::setActiveUAS(UASInterface* active) SLOT(remoteControlChannelRawChanged(int,float))); disconnect(mav, SIGNAL(parameterChanged(int,int,QString,QVariant)), this, SLOT(parameterChanged(int,int,QString,QVariant))); - resetCalibrationRC(); + + foreach (QGCToolWidget* tool, toolWidgets) + { + delete tool; + } } + // Reset current state + resetCalibrationRC(); + // Connect new system mav = active; connect(active, SIGNAL(remoteControlChannelRawChanged(int,float)), this, SLOT(remoteControlChannelRawChanged(int,float))); connect(active, SIGNAL(parameterChanged(int,int,QString,QVariant)), this, SLOT(parameterChanged(int,int,QString,QVariant))); + + mav->requestParameters(); + + QString defaultsDir = qApp->applicationDirPath() + "/files/" + mav->getAutopilotTypeName().toLower() + "/widgets/"; + + QGCToolWidget* tool; + + // Load calibration + tool = new QGCToolWidget("", this); + if (tool->loadSettings(defaultsDir + "px4_calibration.qgw", false)) + { + toolWidgets.append(tool); + ui->sensorLayout->addWidget(tool); + } + // Load multirotor attitude pid + tool = new QGCToolWidget("", this); + if (tool->loadSettings(defaultsDir + "px4_mc_attitude_pid_params.qgw", false)) + { + toolWidgets.append(tool); + ui->multiRotorAttitudeLayout->addWidget(tool); + } + + // Load multirotor position pid + tool = new QGCToolWidget("", this); + if (tool->loadSettings(defaultsDir + "px4_mc_position_pid_params.qgw", false)) + { + toolWidgets.append(tool); + ui->multiRotorPositionLayout->addWidget(tool); + } + + // Load fixed wing attitude pid + tool = new QGCToolWidget("", this); + if (tool->loadSettings(defaultsDir + "px4_fw_attitude_pid_params.qgw", false)) + { + toolWidgets.append(tool); + ui->fixedWingAttitudeLayout->addWidget(tool); + } + + // Load fixed wing position pid + tool = new QGCToolWidget("", this); + if (tool->loadSettings(defaultsDir + "px4_fw_position_pid_params.qgw", false)) + { + toolWidgets.append(tool); + ui->fixedWingPositionLayout->addWidget(tool); + } + + updateStatus(QString("Reading from system %1").arg(mav->getUASName())); } void QGCVehicleConfig::resetCalibrationRC() @@ -177,6 +254,16 @@ void QGCVehicleConfig::remoteControlChannelRawChanged(int chan, float val) if (chan < 0 || static_cast(chan) >= chanMax) return; + if (val < rcMin[chan]) + { + rcMin[chan] = val; + } + + if (val > rcMax[chan]) + { + rcMax[chan] = val; + } + if (chan == rcMapping[0]) { // ROLL @@ -252,16 +339,19 @@ void QGCVehicleConfig::remoteControlChannelRawChanged(int chan, float val) { // AUX1 rcAux1 = val; + rcValue[5] = val; } else if (chan == rcMapping[6]) { // AUX2 rcAux2 = val; + rcValue[6] = val; } else if (chan == rcMapping[7]) { // AUX3 rcAux3 = val; + rcValue[7] = val; } changed = true; @@ -273,6 +363,91 @@ void QGCVehicleConfig::parameterChanged(int uas, int component, QString paramete { Q_UNUSED(uas); Q_UNUSED(component); + + // Channel calibration values + QRegExp minTpl("RC?_MIN"); + minTpl.setPatternSyntax(QRegExp::Wildcard); + QRegExp maxTpl("RC?_MAX"); + maxTpl.setPatternSyntax(QRegExp::Wildcard); + QRegExp trimTpl("RC?_TRIM"); + trimTpl.setPatternSyntax(QRegExp::Wildcard); + QRegExp revTpl("RC?_REV"); + revTpl.setPatternSyntax(QRegExp::Wildcard); + + // Do not write the RC type, as these values depend on this + // active onboard parameter + + if (minTpl.exactMatch(parameterName)) { + bool ok; + unsigned int index = parameterName.mid(2, 1).toInt(&ok); + if (ok && (index > 0) && (index < chanMax)) + { + rcMin[index] = value.toInt(); + } + } + + if (maxTpl.exactMatch(parameterName)) { + bool ok; + unsigned int index = parameterName.mid(2, 1).toInt(&ok); + if (ok && (index > 0) && (index < chanMax)) + { + rcMax[index] = value.toInt(); + } + } + + if (trimTpl.exactMatch(parameterName)) { + bool ok; + unsigned int index = parameterName.mid(2, 1).toInt(&ok); + if (ok && (index > 0) && (index < chanMax)) + { + rcTrim[index] = value.toInt(); + } + } + + if (revTpl.exactMatch(parameterName)) { + bool ok; + unsigned int index = parameterName.mid(2, 1).toInt(&ok); + if (ok && (index > 0) && (index < chanMax)) + { + rcRev[index] = (value.toInt() == -1) ? true : false; + + unsigned int mapindex = rcMapping[index]; + + switch (mapindex) + { + case 0: + ui->invertCheckBox->setChecked(rcRev[index]); + break; + case 1: + ui->invertCheckBox_2->setChecked(rcRev[index]); + break; + case 2: + ui->invertCheckBox_3->setChecked(rcRev[index]); + break; + case 3: + ui->invertCheckBox_4->setChecked(rcRev[index]); + break; + case 4: + ui->invertCheckBox_5->setChecked(rcRev[index]); + break; + case 5: + ui->invertCheckBox_6->setChecked(rcRev[index]); + break; + case 6: + ui->invertCheckBox_7->setChecked(rcRev[index]); + break; + case 7: + ui->invertCheckBox_8->setChecked(rcRev[index]); + break; + } + } + } + +// mav->setParameter(0, trimTpl.arg(i), rcTrim[i]); +// mav->setParameter(0, maxTpl.arg(i), rcMax[i]); +// mav->setParameter(0, revTpl.arg(i), (rcRev[i]) ? -1 : 1); +// } + if (rcTypeUpdateRequested > 0 && parameterName == QString("RC_TYPE")) { rcTypeUpdateRequested = 0; @@ -281,6 +456,82 @@ void QGCVehicleConfig::parameterChanged(int uas, int component, QString paramete // Request all other parameters as well requestCalibrationRC(); } + + // Order is: roll, pitch, yaw, throttle, mode sw, aux 1-3 + + if (parameterName.contains("RC_MAP_ROLL")) { + rcMapping[0] = value.toInt(); + ui->rollSpinBox->setValue(rcMapping[0]); + } + + if (parameterName.contains("RC_MAP_PITCH")) { + rcMapping[1] = value.toInt(); + ui->pitchSpinBox->setValue(rcMapping[1]); + } + + if (parameterName.contains("RC_MAP_YAW")) { + rcMapping[2] = value.toInt(); + ui->yawSpinBox->setValue(rcMapping[2]); + } + + if (parameterName.contains("RC_MAP_THROTTLE")) { + rcMapping[3] = value.toInt(); + ui->throttleSpinBox->setValue(rcMapping[3]); + } + + if (parameterName.contains("RC_MAP_MODE_SW")) { + rcMapping[4] = value.toInt(); + ui->modeSpinBox->setValue(rcMapping[4]); + } + + if (parameterName.contains("RC_MAP_AUX1")) { + rcMapping[5] = value.toInt(); + ui->aux1SpinBox->setValue(rcMapping[5]); + } + + if (parameterName.contains("RC_MAP_AUX2")) { + rcMapping[6] = value.toInt(); + ui->aux1SpinBox->setValue(rcMapping[6]); + } + + if (parameterName.contains("RC_MAP_AUX3")) { + rcMapping[7] = value.toInt(); + ui->aux1SpinBox->setValue(rcMapping[7]); + } + + // Scaling + + if (parameterName.contains("RC_SCALE_ROLL")) { + rcScaling[0] = value.toInt(); + } + + if (parameterName.contains("RC_SCALE_PITCH")) { + rcScaling[1] = value.toInt(); + } + + if (parameterName.contains("RC_SCALE_YAW")) { + rcScaling[2] = value.toInt(); + } + + if (parameterName.contains("RC_SCALE_THROTTLE")) { + rcScaling[3] = value.toInt(); + } + + if (parameterName.contains("RC_SCALE_MODE_SW")) { + rcScaling[4] = value.toInt(); + } + + if (parameterName.contains("RC_SCALE_AUX1")) { + rcScaling[5] = value.toInt(); + } + + if (parameterName.contains("RC_SCALE_AUX2")) { + rcScaling[6] = value.toInt(); + } + + if (parameterName.contains("RC_SCALE_AUX3")) { + rcScaling[7] = value.toInt(); + } } void QGCVehicleConfig::updateStatus(const QString& str) @@ -321,10 +572,47 @@ void QGCVehicleConfig::updateView() { if (changed) { - ui->rollSlider->setValue(rcValue[0]); - ui->pitchSlider->setValue(rcValue[1]); - ui->yawSlider->setValue(rcValue[2]); - ui->throttleSlider->setValue(rcValue[3]); + if (rc_mode == RC_MODE_1) + { + ui->rollSlider->setValue(rcRoll); + ui->pitchSlider->setValue(rcThrottle); + ui->yawSlider->setValue(rcYaw); + ui->throttleSlider->setValue(rcPitch); + } + else if (rc_mode == RC_MODE_2) + { + ui->rollSlider->setValue(rcRoll); + ui->pitchSlider->setValue(rcPitch); + ui->yawSlider->setValue(rcYaw); + ui->throttleSlider->setValue(rcThrottle); + } + else if (rc_mode == RC_MODE_3) + { + ui->rollSlider->setValue(rcYaw); + ui->pitchSlider->setValue(rcThrottle); + ui->yawSlider->setValue(rcRoll); + ui->throttleSlider->setValue(rcPitch); + } + else if (rc_mode == RC_MODE_4) + { + ui->rollSlider->setValue(rcYaw); + ui->pitchSlider->setValue(rcPitch); + ui->yawSlider->setValue(rcRoll); + ui->throttleSlider->setValue(rcThrottle); + } + + ui->chanLabel->setText(QString("%1/%2").arg(rcValue[0]).arg(rcRoll)); + ui->chanLabel_2->setText(QString("%1/%2").arg(rcValue[1]).arg(rcPitch)); + ui->chanLabel_3->setText(QString("%1/%2").arg(rcValue[2]).arg(rcYaw)); + ui->chanLabel_4->setText(QString("%1/%2").arg(rcValue[3]).arg(rcThrottle)); + ui->modeSwitchSlider->setValue(rcMode); + ui->chanLabel_5->setText(QString("%1/%2").arg(rcValue[4]).arg(rcMode)); + ui->aux1Slider->setValue(rcAux1); + ui->chanLabel_6->setText(QString("%1/%2").arg(rcValue[5]).arg(rcAux1)); + ui->aux2Slider->setValue(rcAux2); + ui->chanLabel_7->setText(QString("%1/%2").arg(rcValue[6]).arg(rcAux2)); + ui->aux3Slider->setValue(rcAux3); + ui->chanLabel_8->setText(QString("%1/%2").arg(rcValue[7]).arg(rcAux3)); changed = false; } } diff --git a/src/ui/QGCVehicleConfig.h b/src/ui/QGCVehicleConfig.h index a9b09f869373d3a4f3a105991d29a55293a6573b..caec352a16d2c76524477ae37c839002c07730c4 100644 --- a/src/ui/QGCVehicleConfig.h +++ b/src/ui/QGCVehicleConfig.h @@ -3,7 +3,9 @@ #include #include +#include +#include "QGCToolWidget.h" #include "UASInterface.h" namespace Ui { @@ -18,6 +20,13 @@ public: explicit QGCVehicleConfig(QWidget *parent = 0); ~QGCVehicleConfig(); + enum RC_MODE { + RC_MODE_1 = 1, + RC_MODE_2 = 2, + RC_MODE_3 = 3, + RC_MODE_4 = 4 + }; + public slots: /** Set the MAV currently being calibrated */ void setActiveUAS(UASInterface* active); @@ -28,6 +37,8 @@ public slots: void stopCalibrationRC(); /** Start/stop the RC calibration routine */ void toggleCalibrationRC(bool enabled); + /** Change the mode setting of the control inputs */ + void setRCModeIndex(int newRcMode); /** Render the data updated */ void updateView(); @@ -60,6 +71,7 @@ protected: int rcMax[chanMax]; ///< Maximum values int rcTrim[chanMax]; ///< Zero-position (center for roll/pitch/yaw, 0 throttle for throttle) int rcMapping[chanMax]; ///< PWM to function mappings + float rcScaling[chanMax]; ///< Scaling of channel input to control commands bool rcRev[chanMax]; ///< Channel reverse int rcValue[chanMax]; ///< Last values float rcRoll; ///< PPM input channel used as roll control input @@ -73,6 +85,8 @@ protected: bool rcCalChanged; ///< Set if the calibration changes (and needs to be written) bool changed; ///< Set if any of the input data changed QTimer updateTimer; ///< Controls update intervals + enum RC_MODE rc_mode; ///< Mode of the remote control, according to usual convention + QList toolWidgets; ///< Configurable widgets private: Ui::QGCVehicleConfig *ui; diff --git a/src/ui/QGCVehicleConfig.ui b/src/ui/QGCVehicleConfig.ui index 85ac487c498719e876d377a9f4422d87d0ec624b..27f505cf2198b04ec18180f1c45b734200028fa6 100644 --- a/src/ui/QGCVehicleConfig.ui +++ b/src/ui/QGCVehicleConfig.ui @@ -6,7 +6,7 @@ 0 0 - 658 + 717 586 @@ -23,45 +23,137 @@ 6 + + + + Store to EEPROM + + + + + + + No pending changes + + + - 0 + 2 RC Calibration - - - + + + + + -1 + + + 1 + + + 0 + Qt::Vertical - - - - + + + + -1 - - :/files/images/rc_stick.svg + + 1 - - true + + 0 + + + Qt::Vertical - - + + + + + + false + + + false + + + + Select transmitter model + + + + + + + + true + + + + Mode 1 + + + + + Mode 2 + + + + + Mode 3 + + + + + Mode 4 + + + + + + + + Qt::Vertical + + + 598 + 5 + + + + + + + + + - - + + + + + + + + + Qt::Horizontal @@ -73,93 +165,409 @@ - - + + + + + + Aux 3 + + + + + + + 0000 + + + Qt::AlignCenter + + + + + + + 0000 + + + Qt::AlignCenter + + + + + + + Pitch / Elevator + + + + + + + 0000 + + + Qt::AlignCenter + + + + + + + Aux 2 + + + + + + + Qt::Horizontal + + + + 40 + 20 + + + + + + + + 0000 + + + Qt::AlignCenter + + + + + + + Invert + + + + + + + 1 + + + 8 + + + + + + + 1 + + + 8 + + + + + + + Qt::Horizontal + + + + 40 + 20 + + + + + + + + Throttle + + + + + + + Invert + + + + + + + 1 + + + 8 + + + + + + + 1 + + + 8 + + + + + + + Mode Switch + + + + + + + 0000 + + + Qt::AlignCenter + + + + + + + 1 + + + 8 + + + + + + + 1 + + + 8 + + + + + + + Aux 1 + + + + + + + 1 + + + 8 + + + + + + + 0000 + + + Qt::AlignCenter + + + + + + + 1 + + + 8 + + + + + + + Roll / Ailerons + + + + + + + Invert + + + + + + + Invert + + + + + + + Invert + + + + + + + 0000 + + + Qt::AlignCenter + + + + + + + Invert + + + + + + + Qt::Horizontal + + + + 40 + 20 + + + + + + + + Yaw / Rudder + + + + + + + 0000 + + + Qt::AlignCenter + + + + + + + Qt::Horizontal + + + + 40 + 20 + + + + + + + + Invert + + + + + + + Invert + + + + + + + + + Qt::Horizontal + + + + 22 + 122 + + + + + + Qt::Vertical - 5 - 5 + 598 + 17 - - + + - - - - - - 800 - - - 2200 - - - 1500 + + :/files/images/rc_stick.svg - - Qt::Horizontal + + true - - - - false + + + + Qt::Horizontal - - - Select control mode - - - - - - - - - Select transmitter model - - - - - - - + - 100 - 100 + 40 + 20 + + + + + + + 1 + 1 + + - 50 - 50 + 10 + 10 - 50 - 50 + 100 + 100 - - - - - - - :/files/images/rc_stick.svg @@ -168,87 +576,128 @@ - + + + + Qt::Horizontal + + + + 40 + 20 + + + + + + + + -1 + + + 1 + + + 0 + + + Qt::Horizontal + + + + - 800 + -1 - 2200 + 1 - 1500 + 0 Qt::Horizontal - - + + - + Start Calibration - - + + + + Qt::Vertical + + + QSizePolicy::MinimumExpanding + + + + 20 + 10 + + + + + + - 800 + -1 - 2200 - - - 1500 + 1 Qt::Vertical - - + + + + -1 + + + 1 + Qt::Vertical - - + + + + -1 + + + 1 + Qt::Vertical - - + + - 800 + -1 - 2200 + 1 Qt::Vertical - - - - Qt::Horizontal - - - - 40 - 20 - - - - - - + + Qt::Horizontal @@ -260,235 +709,158 @@ - - - - Start Calibration - - - Sensor Calibration - - - - 30 - 20 - 161 - 32 - - - - Gyro Calibration - - - - - - 30 - 80 - 161 - 32 - - - - Accel Calibration - - - - - - 30 - 140 - 161 - 32 - - - - Mag Calibration - - + + + + + + + + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Lucida Grande'; font-size:13pt; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:18pt;">Sensor Calibration</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:16pt;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt;">The PX4FMU sensors can be calibrated with the buttons on the right. Gyroscope (GYRO) and Accelerometer (ACCEL) calibrations have to be performed with a static, unmoved system. The magnetometer calibration needs to be performed while moving the device.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:12pt;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:16pt;">Magnetometer Calibration</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:16pt;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt;">Carefully follow the instructions. Click on MAG to start the calibration. Watch the communication console for further instructions (Available through Main Menu -&gt; Tool Widgets -&gt; Communication Console). Do not calibrate the vehicle in vincinity of metal, e.g. from a table or chair. Start the calibration, leave the system unmoved on the table. Wait for the double beep. Next move the system in a figure eight, roll and pitch it strongly and perform the figure eight also upside-down. The calibration is finished after the triple beep.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:12pt;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:16pt;">Accelerometer Calibration</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:16pt;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt;">Put the system on an absolutely level surface and press ACCEL, wait for the the triple beep. Do not move the system. If no flat surface is available, rather not calibrate the system.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:12pt;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:16pt;">Gyroscope Calibration</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:16pt;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt;">The orientation is not important for this calibration, but do not move the system until the triple beep or the matching text message in the console.</span></p></body></html> + + + + - Multirotor Attitude Control + Multirotor Control - - - - - - - Qt::Horizontal - - - - - - - - - - Qt::Horizontal - - - - - - - - - - Qt::Horizontal - - - - - - - - - - - - - Qt::Horizontal - - - - - - - - - - Qt::Horizontal - - - - - - - - - - Qt::Horizontal - - - - - - - Set Gains - - + + - - + + Load Platform Defaults - - - - - - - - - - Qt::Horizontal - - - - - - - - - - Qt::Horizontal - + + + + + + + Position + + + + + + + + + + + + Attitude + + + + 0 + + + + + true + + + + + 0 + 0 + 541 + 417 + + + + + 0 + + + + + + + + + + + + - - - - Qt::Horizontal - + + + + + Fixed Wing Control + + + + + + Attitude + + + + + + - - + + - - - - Qt::Horizontal + + + + Load Platform Defaults - - - - - - - Qt::Horizontal + + + + Position + + + + + - - - - Qt::Vertical - - - - 20 - 40 - - - - - - - - Qt::Vertical - - - - 20 - 40 - - - - - - - - No pending changes - - - - - - - Store to EEPROM - - - diff --git a/src/ui/UASInfo.ui b/src/ui/UASInfo.ui index ee130441b39b3e4cfff2a67fa489c28aa2d999e5..0912c7fa41bdda4f89eb55dd189777512cf01f2d 100644 --- a/src/ui/UASInfo.ui +++ b/src/ui/UASInfo.ui @@ -118,7 +118,7 @@ - Recv. Loss + MAV RX Loss @@ -204,7 +204,7 @@ - Send Loss + MAV TX Loss diff --git a/src/ui/designer/QGCParamSlider.cc b/src/ui/designer/QGCParamSlider.cc index c73f460bdf22024f589be90225b68a3b96c49e3c..93502e6da308860372ae9d078d4a4002008e6273 100644 --- a/src/ui/designer/QGCParamSlider.cc +++ b/src/ui/designer/QGCParamSlider.cc @@ -25,6 +25,7 @@ QGCParamSlider::QGCParamSlider(QWidget *parent) : scaledInt = ui->valueSlider->maximum() - ui->valueSlider->minimum(); + ui->editInfoCheckBox->hide(); ui->editDoneButton->hide(); ui->editNameLabel->hide(); ui->editRefreshParamsButton->hide(); @@ -51,13 +52,10 @@ QGCParamSlider::QGCParamSlider(QWidget *parent) : connect(ui->editNameLabel, SIGNAL(textChanged(QString)), ui->nameLabel, SLOT(setText(QString))); connect(ui->readButton, SIGNAL(clicked()), this, SLOT(requestParameter())); connect(ui->editRefreshParamsButton, SIGNAL(clicked()), this, SLOT(refreshParamList())); + connect(ui->editInfoCheckBox, SIGNAL(clicked(bool)), this, SLOT(showInfo(bool))); // Set the current UAS if present connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*))); - setActiveUAS(UASManager::instance()->getActiveUAS()); - - // Get param value after settings have been loaded - QTimer::singleShot(300, this, SLOT(requestParameter())); } QGCParamSlider::~QGCParamSlider() @@ -88,13 +86,14 @@ void QGCParamSlider::setActiveUAS(UASInterface* activeUas) connect(activeUas, SIGNAL(parameterChanged(int,int,int,int,QString,QVariant)), this, SLOT(setParameterValue(int,int,int,int,QString,QVariant)), Qt::UniqueConnection); uas = activeUas; // Update current param value - if (parameterName == "") + requestParameter(); + // Set param info + QString text = uas->getParamManager()->getParamInfo(parameterName); + ui->infoLabel->setText(text); + // Force-uncheck and hide label if no description is available + if (ui->editInfoCheckBox->isChecked()) { - refreshParamList(); - } - else - { - requestParameter(); + showInfo((text.length() > 0)); } } } @@ -107,6 +106,12 @@ void QGCParamSlider::requestParameter() } } +void QGCParamSlider::showInfo(bool enable) +{ + ui->editInfoCheckBox->setChecked(enable); + ui->infoLabel->setVisible(enable); +} + void QGCParamSlider::setParamValue(double value) { parameterValue = (float)value; @@ -150,6 +155,11 @@ void QGCParamSlider::selectParameter(int paramIndex) parameterMax = uas->getParamManager()->getParamMax(parameterName); ui->editMaxSpinBox->setValue(parameterMax); } + + // Description + QString text = uas->getParamManager()->getParamInfo(parameterName); + ui->infoLabel->setText(text); + showInfo(!(text.length() > 0)); } } } @@ -163,6 +173,7 @@ void QGCParamSlider::startEditMode() ui->writeButton->hide(); ui->readButton->hide(); + ui->editInfoCheckBox->show(); ui->editDoneButton->show(); ui->editNameLabel->show(); ui->editRefreshParamsButton->show(); @@ -190,6 +201,7 @@ void QGCParamSlider::endEditMode() parameterMin = ui->editMinSpinBox->value(); parameterMax = ui->editMaxSpinBox->value(); + ui->editInfoCheckBox->hide(); ui->editDoneButton->hide(); ui->editNameLabel->hide(); ui->editRefreshParamsButton->hide(); @@ -370,6 +382,7 @@ void QGCParamSlider::writeSettings(QSettings& settings) settings.setValue("QGC_PARAM_SLIDER_COMPONENTID", component); settings.setValue("QGC_PARAM_SLIDER_MIN", ui->editMinSpinBox->value()); settings.setValue("QGC_PARAM_SLIDER_MAX", ui->editMaxSpinBox->value()); + settings.setValue("QGC_PARAM_SLIDER_DISPLAY_INFO", ui->editInfoCheckBox->isChecked()); settings.sync(); } @@ -385,6 +398,12 @@ void QGCParamSlider::readSettings(const QSettings& settings) ui->editSelectComponentComboBox->addItem(tr("Component #%1").arg(settings.value("QGC_PARAM_SLIDER_COMPONENTID").toInt()), settings.value("QGC_PARAM_SLIDER_COMPONENTID").toInt()); ui->editMinSpinBox->setValue(settings.value("QGC_PARAM_SLIDER_MIN").toFloat()); ui->editMaxSpinBox->setValue(settings.value("QGC_PARAM_SLIDER_MAX").toFloat()); + showInfo(settings.value("QGC_PARAM_SLIDER_DISPLAY_INFO", true).toBool()); ui->editSelectParamComboBox->setEnabled(true); ui->editSelectComponentComboBox->setEnabled(true); + + setActiveUAS(UASManager::instance()->getActiveUAS()); + + // Get param value after settings have been loaded + requestParameter(); } diff --git a/src/ui/designer/QGCParamSlider.h b/src/ui/designer/QGCParamSlider.h index 6e9612d6842be4d4d59797b7c439329ec2b4c6d8..d12d9f4f0cbbf74cb1f4f311ad03854f4cb7715d 100644 --- a/src/ui/designer/QGCParamSlider.h +++ b/src/ui/designer/QGCParamSlider.h @@ -39,6 +39,8 @@ public slots: void setParamValue(double value); /** @brief Set an integer parameter value */ void setParamValue(int value); + /** @brief Show descriptive text next to slider */ + void showInfo(bool enable); protected slots: /** @brief Request the parameter of this widget from the MAV */ diff --git a/src/ui/designer/QGCParamSlider.ui b/src/ui/designer/QGCParamSlider.ui index 488be8f12d8db70894033a85228bb0cee159b260..ff26c4011a25896eb836fb3e2abe5681a7c445bf 100644 --- a/src/ui/designer/QGCParamSlider.ui +++ b/src/ui/designer/QGCParamSlider.ui @@ -7,13 +7,13 @@ 0 0 789 - 158 + 244 Form - + 6 @@ -32,72 +32,17 @@ 12 - - - - <Parameter Name / Label> - - - - - - - - 60 - 0 - - - - Name - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - - - - - 60 - 0 - - - - - 250 - 16777215 - + + + + -999999999 - 1000000 - - - Qt::Horizontal - - - - - - - Please click first on refresh to update selection menus.. - - - - - - - false - - - Select component - - - Select component + 999999999 - + false @@ -110,44 +55,27 @@ - - + + - 0 + 60 0 - - Read the current parameter value on the system - - - Read the current parameter value on the system - - R - - - - - - - true + Name - - Refresh + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - Done + + + + MIN: - - - - -999999999.000000000000000 @@ -156,6 +84,13 @@ + + + + <Parameter Name / Label> + + + @@ -169,7 +104,7 @@ - + @@ -194,8 +129,8 @@ - - + + 0 @@ -207,33 +142,78 @@ - - + + - 0 + 60 0 + + + 250 + 16777215 + + + + 1000000 + Qt::Horizontal - - - - MIN: + + + + Show Info - - -999999999.000000000000000 + + true - - 999999999.000000000000000 + + + + + + false + + + Select component + + + Select component - + + + + + 0 + 0 + + + + Read the current parameter value on the system + + + Read the current parameter value on the system + + + R + + + + + + + Please click first on refresh to update selection menus.. + + + + MAX: @@ -246,16 +226,62 @@ - - + + - -999999999 + -999999999.000000000000000 - 999999999 + 999999999.000000000000000 + + + + + + + + + + + 0 + 0 + + + + Qt::Horizontal + + + + true + + + Refresh + + + + + + + Done + + + + + + + Qt::Vertical + + + + 20 + 40 + + + + diff --git a/src/ui/uas/UASView.cc b/src/ui/uas/UASView.cc index 6954a34b7184fc523237a7fa3a27a4dcd0f36f44..f1429795cf3463773d002807299c051ed0cd5d70 100644 --- a/src/ui/uas/UASView.cc +++ b/src/ui/uas/UASView.cc @@ -82,7 +82,7 @@ UASView::UASView(UASInterface* uas, QWidget *parent) : hilAction->setCheckable(true); // Flightgear is not ready for prime time - hilAction->setEnabled(false); + //hilAction->setEnabled(false); hilXAction->setCheckable(true); m_ui->setupUi(this); @@ -122,8 +122,8 @@ UASView::UASView(UASInterface* uas, QWidget *parent) : connect(removeAction, SIGNAL(triggered()), this, SLOT(deleteLater())); connect(renameAction, SIGNAL(triggered()), this, SLOT(rename())); connect(selectAction, SIGNAL(triggered()), uas, SLOT(setSelected())); - connect(hilAction, SIGNAL(triggered(bool)), uas, SLOT(enableHil(bool))); - connect(hilXAction, SIGNAL(triggered(bool)), uas, SLOT(enableHil(bool))); + connect(hilAction, SIGNAL(triggered(bool)), uas, SLOT(enableHilFlightGear(bool))); + connect(hilXAction, SIGNAL(triggered(bool)), uas, SLOT(enableHilXPlane(bool))); connect(selectAirframeAction, SIGNAL(triggered()), this, SLOT(selectAirframe())); connect(setBatterySpecsAction, SIGNAL(triggered()), this, SLOT(setBatterySpecs())); connect(uas, SIGNAL(systemRemoved()), this, SLOT(deleteLater())); @@ -503,6 +503,7 @@ void UASView::contextMenuEvent (QContextMenuEvent* event) { menu.addAction(removeAction); } + menu.addAction(hilAction); menu.addAction(hilXAction); // XXX Re-enable later menu.addAction(hilXAction); menu.addAction(selectAirframeAction);