Updated bundled MAVLink version to latest v10 draft

thirdParty/mavlink/include/common/mavlink_msg_command_ack.h

@@ -4,20 +4,20 @@
 
 typedef struct __mavlink_command_ack_t
 {
- float command; ///< Current airspeed in m/s
- float result; ///< 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
+ uint16_t command; ///< Command ID, as defined by MAV_CMD enum.
+ uint8_t result; ///< 1: Command ACCEPTED and EXECUTED, 1: Command TEMPORARY REJECTED/DENIED, 2: Command PERMANENTLY DENIED, 3: Command UNKNOWN/UNSUPPORTED, 4: Command executed, but failed
 } mavlink_command_ack_t;
 
-#define MAVLINK_MSG_ID_COMMAND_ACK_LEN 8
-#define MAVLINK_MSG_ID_77_LEN 8
+#define MAVLINK_MSG_ID_COMMAND_ACK_LEN 3
+#define MAVLINK_MSG_ID_77_LEN 3
 
 
 
 #define MAVLINK_MESSAGE_INFO_COMMAND_ACK { \
 	"COMMAND_ACK", \
 	2, \
-	{  { "command", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_command_ack_t, command) }, \
-         { "result", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_command_ack_t, result) }, \
+	{  { "command", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_command_ack_t, command) }, \
+         { "result", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_command_ack_t, result) }, \
          } \
 }
 
@@ -28,29 +28,29 @@ typedef struct __mavlink_command_ack_t
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param msg The MAVLink message to compress the data into
  *
- * @param command Current airspeed in m/s
- * @param result 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
+ * @param command Command ID, as defined by MAV_CMD enum.
+ * @param result 1: Command ACCEPTED and EXECUTED, 1: Command TEMPORARY REJECTED/DENIED, 2: Command PERMANENTLY DENIED, 3: Command UNKNOWN/UNSUPPORTED, 4: Command executed, but failed
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_command_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       float command, float result)
+						       uint16_t command, uint8_t result)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[8];
-	_mav_put_float(buf, 0, command);
-	_mav_put_float(buf, 4, result);
+	char buf[3];
+	_mav_put_uint16_t(buf, 0, command);
+	_mav_put_uint8_t(buf, 2, result);
 
-        memcpy(_MAV_PAYLOAD(msg), buf, 8);
+        memcpy(_MAV_PAYLOAD(msg), buf, 3);
 #else
 	mavlink_command_ack_t packet;
 	packet.command = command;
 	packet.result = result;
 
-        memcpy(_MAV_PAYLOAD(msg), &packet, 8);
+        memcpy(_MAV_PAYLOAD(msg), &packet, 3);
 #endif
 
 	msg->msgid = MAVLINK_MSG_ID_COMMAND_ACK;
-	return mavlink_finalize_message(msg, system_id, component_id, 8, 8);
+	return mavlink_finalize_message(msg, system_id, component_id, 3, 143);
 }
 
 /**
@@ -59,30 +59,30 @@ static inline uint16_t mavlink_msg_command_ack_pack(uint8_t system_id, uint8_t c
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param chan The MAVLink channel this message was sent over
  * @param msg The MAVLink message to compress the data into
- * @param command Current airspeed in m/s
- * @param result 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
+ * @param command Command ID, as defined by MAV_CMD enum.
+ * @param result 1: Command ACCEPTED and EXECUTED, 1: Command TEMPORARY REJECTED/DENIED, 2: Command PERMANENTLY DENIED, 3: Command UNKNOWN/UNSUPPORTED, 4: Command executed, but failed
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_command_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 							   mavlink_message_t* msg,
-						           float command,float result)
+						           uint16_t command,uint8_t result)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[8];
-	_mav_put_float(buf, 0, command);
-	_mav_put_float(buf, 4, result);
+	char buf[3];
+	_mav_put_uint16_t(buf, 0, command);
+	_mav_put_uint8_t(buf, 2, result);
 
-        memcpy(_MAV_PAYLOAD(msg), buf, 8);
+        memcpy(_MAV_PAYLOAD(msg), buf, 3);
 #else
 	mavlink_command_ack_t packet;
 	packet.command = command;
 	packet.result = result;
 
-        memcpy(_MAV_PAYLOAD(msg), &packet, 8);
+        memcpy(_MAV_PAYLOAD(msg), &packet, 3);
 #endif
 
 	msg->msgid = MAVLINK_MSG_ID_COMMAND_ACK;
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 8, 8);
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 3, 143);
 }
 
 /**
@@ -102,25 +102,25 @@ static inline uint16_t mavlink_msg_command_ack_encode(uint8_t system_id, uint8_t
  * @brief Send a command_ack message
  * @param chan MAVLink channel to send the message
  *
- * @param command Current airspeed in m/s
- * @param result 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
+ * @param command Command ID, as defined by MAV_CMD enum.
+ * @param result 1: Command ACCEPTED and EXECUTED, 1: Command TEMPORARY REJECTED/DENIED, 2: Command PERMANENTLY DENIED, 3: Command UNKNOWN/UNSUPPORTED, 4: Command executed, but failed
  */
 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 
-static inline void mavlink_msg_command_ack_send(mavlink_channel_t chan, float command, float result)
+static inline void mavlink_msg_command_ack_send(mavlink_channel_t chan, uint16_t command, uint8_t result)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[8];
-	_mav_put_float(buf, 0, command);
-	_mav_put_float(buf, 4, result);
+	char buf[3];
+	_mav_put_uint16_t(buf, 0, command);
+	_mav_put_uint8_t(buf, 2, result);
 
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, buf, 8, 8);
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, buf, 3, 143);
 #else
 	mavlink_command_ack_t packet;
 	packet.command = command;
 	packet.result = result;
 
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, (const char *)&packet, 8, 8);
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, (const char *)&packet, 3, 143);
 #endif
 }
 
@@ -132,21 +132,21 @@ static inline void mavlink_msg_command_ack_send(mavlink_channel_t chan, float co
 /**
  * @brief Get field command from command_ack message
  *
- * @return Current airspeed in m/s
+ * @return Command ID, as defined by MAV_CMD enum.
  */
-static inline float mavlink_msg_command_ack_get_command(const mavlink_message_t* msg)
+static inline uint16_t mavlink_msg_command_ack_get_command(const mavlink_message_t* msg)
 {
-	return _MAV_RETURN_float(msg,  0);
+	return _MAV_RETURN_uint16_t(msg,  0);
 }
 
 /**
  * @brief Get field result from command_ack message
  *
- * @return 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
+ * @return 1: Command ACCEPTED and EXECUTED, 1: Command TEMPORARY REJECTED/DENIED, 2: Command PERMANENTLY DENIED, 3: Command UNKNOWN/UNSUPPORTED, 4: Command executed, but failed
  */
-static inline float mavlink_msg_command_ack_get_result(const mavlink_message_t* msg)
+static inline uint8_t mavlink_msg_command_ack_get_result(const mavlink_message_t* msg)
 {
-	return _MAV_RETURN_float(msg,  4);
+	return _MAV_RETURN_uint8_t(msg,  2);
 }
 
 /**
@@ -161,6 +161,6 @@ static inline void mavlink_msg_command_ack_decode(const mavlink_message_t* msg,
 	command_ack->command = mavlink_msg_command_ack_get_command(msg);
 	command_ack->result = mavlink_msg_command_ack_get_result(msg);
 #else
-	memcpy(command_ack, _MAV_PAYLOAD(msg), 8);
+	memcpy(command_ack, _MAV_PAYLOAD(msg), 3);
 #endif
 }

thirdParty/mavlink/include/common/mavlink_msg_global_vision_position_estimate.h

+// MESSAGE GLOBAL_VISION_POSITION_ESTIMATE PACKING
+
+#define MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE 101
+
+typedef struct __mavlink_global_vision_position_estimate_t
+{
+ uint64_t usec; ///< Timestamp (milliseconds)
+ float x; ///< Global X position
+ float y; ///< Global Y position
+ float z; ///< Global Z position
+ float roll; ///< Roll angle in rad
+ float pitch; ///< Pitch angle in rad
+ float yaw; ///< Yaw angle in rad
+} mavlink_global_vision_position_estimate_t;
+
+#define MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN 32
+#define MAVLINK_MSG_ID_101_LEN 32
+
+
+
+#define MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE { \
+	"GLOBAL_VISION_POSITION_ESTIMATE", \
+	7, \
+	{  { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_global_vision_position_estimate_t, usec) }, \
+         { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_global_vision_position_estimate_t, x) }, \
+         { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_global_vision_position_estimate_t, y) }, \
+         { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_global_vision_position_estimate_t, z) }, \
+         { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_global_vision_position_estimate_t, roll) }, \
+         { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_global_vision_position_estimate_t, pitch) }, \
+         { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_global_vision_position_estimate_t, yaw) }, \
+         } \
+}
+
+
+/**
+ * @brief Pack a global_vision_position_estimate message
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ *
+ * @param usec Timestamp (milliseconds)
+ * @param x Global X position
+ * @param y Global Y position
+ * @param z Global Z position
+ * @param roll Roll angle in rad
+ * @param pitch Pitch angle in rad
+ * @param yaw Yaw angle in rad
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_global_vision_position_estimate_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+						       uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[32];
+	_mav_put_uint64_t(buf, 0, usec);
+	_mav_put_float(buf, 8, x);
+	_mav_put_float(buf, 12, y);
+	_mav_put_float(buf, 16, z);
+	_mav_put_float(buf, 20, roll);
+	_mav_put_float(buf, 24, pitch);
+	_mav_put_float(buf, 28, yaw);
+
+        memcpy(_MAV_PAYLOAD(msg), buf, 32);
+#else
+	mavlink_global_vision_position_estimate_t packet;
+	packet.usec = usec;
+	packet.x = x;
+	packet.y = y;
+	packet.z = z;
+	packet.roll = roll;
+	packet.pitch = pitch;
+	packet.yaw = yaw;
+
+        memcpy(_MAV_PAYLOAD(msg), &packet, 32);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE;
+	return mavlink_finalize_message(msg, system_id, component_id, 32, 102);
+}
+
+/**
+ * @brief Pack a global_vision_position_estimate message on a channel
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param usec Timestamp (milliseconds)
+ * @param x Global X position
+ * @param y Global Y position
+ * @param z Global Z position
+ * @param roll Roll angle in rad
+ * @param pitch Pitch angle in rad
+ * @param yaw Yaw angle in rad
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_global_vision_position_estimate_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+							   mavlink_message_t* msg,
+						           uint64_t usec,float x,float y,float z,float roll,float pitch,float yaw)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[32];
+	_mav_put_uint64_t(buf, 0, usec);
+	_mav_put_float(buf, 8, x);
+	_mav_put_float(buf, 12, y);
+	_mav_put_float(buf, 16, z);
+	_mav_put_float(buf, 20, roll);
+	_mav_put_float(buf, 24, pitch);
+	_mav_put_float(buf, 28, yaw);
+
+        memcpy(_MAV_PAYLOAD(msg), buf, 32);
+#else
+	mavlink_global_vision_position_estimate_t packet;
+	packet.usec = usec;
+	packet.x = x;
+	packet.y = y;
+	packet.z = z;
+	packet.roll = roll;
+	packet.pitch = pitch;
+	packet.yaw = yaw;
+
+        memcpy(_MAV_PAYLOAD(msg), &packet, 32);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE;
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 32, 102);
+}
+
+/**
+ * @brief Encode a global_vision_position_estimate struct into a message
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ * @param global_vision_position_estimate C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_global_vision_position_estimate_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_global_vision_position_estimate_t* global_vision_position_estimate)
+{
+	return mavlink_msg_global_vision_position_estimate_pack(system_id, component_id, msg, global_vision_position_estimate->usec, global_vision_position_estimate->x, global_vision_position_estimate->y, global_vision_position_estimate->z, global_vision_position_estimate->roll, global_vision_position_estimate->pitch, global_vision_position_estimate->yaw);
+}
+
+/**
+ * @brief Send a global_vision_position_estimate message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param usec Timestamp (milliseconds)
+ * @param x Global X position
+ * @param y Global Y position
+ * @param z Global Z position
+ * @param roll Roll angle in rad
+ * @param pitch Pitch angle in rad
+ * @param yaw Yaw angle in rad
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_global_vision_position_estimate_send(mavlink_channel_t chan, uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[32];
+	_mav_put_uint64_t(buf, 0, usec);
+	_mav_put_float(buf, 8, x);
+	_mav_put_float(buf, 12, y);
+	_mav_put_float(buf, 16, z);
+	_mav_put_float(buf, 20, roll);
+	_mav_put_float(buf, 24, pitch);
+	_mav_put_float(buf, 28, yaw);
+
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE, buf, 32, 102);
+#else
+	mavlink_global_vision_position_estimate_t packet;
+	packet.usec = usec;
+	packet.x = x;
+	packet.y = y;
+	packet.z = z;
+	packet.roll = roll;
+	packet.pitch = pitch;
+	packet.yaw = yaw;
+
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE, (const char *)&packet, 32, 102);
+#endif
+}
+
+#endif
+
+// MESSAGE GLOBAL_VISION_POSITION_ESTIMATE UNPACKING
+
+
+/**
+ * @brief Get field usec from global_vision_position_estimate message
+ *
+ * @return Timestamp (milliseconds)
+ */
+static inline uint64_t mavlink_msg_global_vision_position_estimate_get_usec(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint64_t(msg,  0);
+}
+
+/**
+ * @brief Get field x from global_vision_position_estimate message
+ *
+ * @return Global X position
+ */
+static inline float mavlink_msg_global_vision_position_estimate_get_x(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  8);
+}
+
+/**
+ * @brief Get field y from global_vision_position_estimate message
+ *
+ * @return Global Y position
+ */
+static inline float mavlink_msg_global_vision_position_estimate_get_y(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  12);
+}
+
+/**
+ * @brief Get field z from global_vision_position_estimate message
+ *
+ * @return Global Z position
+ */
+static inline float mavlink_msg_global_vision_position_estimate_get_z(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  16);
+}
+
+/**
+ * @brief Get field roll from global_vision_position_estimate message
+ *
+ * @return Roll angle in rad
+ */
+static inline float mavlink_msg_global_vision_position_estimate_get_roll(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  20);
+}
+
+/**
+ * @brief Get field pitch from global_vision_position_estimate message
+ *
+ * @return Pitch angle in rad
+ */
+static inline float mavlink_msg_global_vision_position_estimate_get_pitch(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  24);
+}
+
+/**
+ * @brief Get field yaw from global_vision_position_estimate message
+ *
+ * @return Yaw angle in rad
+ */
+static inline float mavlink_msg_global_vision_position_estimate_get_yaw(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  28);
+}
+
+/**
+ * @brief Decode a global_vision_position_estimate message into a struct
+ *
+ * @param msg The message to decode
+ * @param global_vision_position_estimate C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_global_vision_position_estimate_decode(const mavlink_message_t* msg, mavlink_global_vision_position_estimate_t* global_vision_position_estimate)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+	global_vision_position_estimate->usec = mavlink_msg_global_vision_position_estimate_get_usec(msg);
+	global_vision_position_estimate->x = mavlink_msg_global_vision_position_estimate_get_x(msg);
+	global_vision_position_estimate->y = mavlink_msg_global_vision_position_estimate_get_y(msg);
+	global_vision_position_estimate->z = mavlink_msg_global_vision_position_estimate_get_z(msg);
+	global_vision_position_estimate->roll = mavlink_msg_global_vision_position_estimate_get_roll(msg);
+	global_vision_position_estimate->pitch = mavlink_msg_global_vision_position_estimate_get_pitch(msg);
+	global_vision_position_estimate->yaw = mavlink_msg_global_vision_position_estimate_get_yaw(msg);
+#else
+	memcpy(global_vision_position_estimate, _MAV_PAYLOAD(msg), 32);
+#endif
+}

thirdParty/mavlink/include/pixhawk/mavlink_msg_vicon_position_estimate.h → thirdParty/mavlink/include/common/mavlink_msg_vicon_position_estimate.h

 // MESSAGE VICON_POSITION_ESTIMATE PACKING
 
-#define MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE 157
+#define MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE 104
 
 typedef struct __mavlink_vicon_position_estimate_t
 {
@@ -14,7 +14,7 @@ typedef struct __mavlink_vicon_position_estimate_t
 } mavlink_vicon_position_estimate_t;
 
 #define MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN 32
-#define MAVLINK_MSG_ID_157_LEN 32
+#define MAVLINK_MSG_ID_104_LEN 32
 
 
 

thirdParty/mavlink/include/pixhawk/mavlink_msg_vision_position_estimate.h → thirdParty/mavlink/include/common/mavlink_msg_vision_position_estimate.h

 // MESSAGE VISION_POSITION_ESTIMATE PACKING
 
-#define MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE 156
+#define MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE 102
 
 typedef struct __mavlink_vision_position_estimate_t
 {
@@ -14,7 +14,7 @@ typedef struct __mavlink_vision_position_estimate_t
 } mavlink_vision_position_estimate_t;
 
 #define MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN 32
-#define MAVLINK_MSG_ID_156_LEN 32
+#define MAVLINK_MSG_ID_102_LEN 32
 
 
 

thirdParty/mavlink/include/pixhawk/mavlink_msg_vision_speed_estimate.h → thirdParty/mavlink/include/common/mavlink_msg_vision_speed_estimate.h

 // MESSAGE VISION_SPEED_ESTIMATE PACKING
 
-#define MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE 158
+#define MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE 103
 
 typedef struct __mavlink_vision_speed_estimate_t
 {
@@ -11,7 +11,7 @@ typedef struct __mavlink_vision_speed_estimate_t
 } mavlink_vision_speed_estimate_t;
 
 #define MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN 20
-#define MAVLINK_MSG_ID_158_LEN 20
+#define MAVLINK_MSG_ID_103_LEN 20
 
 
 

thirdParty/mavlink/include/common/version.h

@@ -5,8 +5,8 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Sun Sep 18 11:48:20 2011"
+#define MAVLINK_BUILD_DATE "Mon Oct 10 15:56:56 2011"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
-#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101
+#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  
 #endif // MAVLINK_VERSION_H

thirdParty/mavlink/include/pixhawk/testsuite.h

@@ -272,165 +272,6 @@ static void mavlink_test_image_available(uint8_t system_id, uint8_t component_id
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 }
 
-static void mavlink_test_vision_position_estimate(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_vision_position_estimate_t packet_in = {
-		93372036854775807ULL,
-	73.0,
-	101.0,
-	129.0,
-	157.0,
-	185.0,
-	213.0,
-	};
-	mavlink_vision_position_estimate_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.usec = packet_in.usec;
-        	packet1.x = packet_in.x;
-        	packet1.y = packet_in.y;
-        	packet1.z = packet_in.z;
-        	packet1.roll = packet_in.roll;
-        	packet1.pitch = packet_in.pitch;
-        	packet1.yaw = packet_in.yaw;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_vision_position_estimate_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_vision_position_estimate_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_vision_position_estimate_pack(system_id, component_id, &msg , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
-	mavlink_msg_vision_position_estimate_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_vision_position_estimate_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
-	mavlink_msg_vision_position_estimate_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-        mavlink_msg_to_send_buffer(buffer, &msg);
-        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
-        	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
-        }
-	mavlink_msg_vision_position_estimate_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_vision_position_estimate_send(MAVLINK_COMM_1 , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
-	mavlink_msg_vision_position_estimate_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_vicon_position_estimate(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_vicon_position_estimate_t packet_in = {
-		93372036854775807ULL,
-	73.0,
-	101.0,
-	129.0,
-	157.0,
-	185.0,
-	213.0,
-	};
-	mavlink_vicon_position_estimate_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.usec = packet_in.usec;
-        	packet1.x = packet_in.x;
-        	packet1.y = packet_in.y;
-        	packet1.z = packet_in.z;
-        	packet1.roll = packet_in.roll;
-        	packet1.pitch = packet_in.pitch;
-        	packet1.yaw = packet_in.yaw;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_vicon_position_estimate_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_vicon_position_estimate_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_vicon_position_estimate_pack(system_id, component_id, &msg , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
-	mavlink_msg_vicon_position_estimate_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_vicon_position_estimate_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
-	mavlink_msg_vicon_position_estimate_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-        mavlink_msg_to_send_buffer(buffer, &msg);
-        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
-        	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
-        }
-	mavlink_msg_vicon_position_estimate_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_vicon_position_estimate_send(MAVLINK_COMM_1 , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
-	mavlink_msg_vicon_position_estimate_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_vision_speed_estimate(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_vision_speed_estimate_t packet_in = {
-		93372036854775807ULL,
-	73.0,
-	101.0,
-	129.0,
-	};
-	mavlink_vision_speed_estimate_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.usec = packet_in.usec;
-        	packet1.x = packet_in.x;
-        	packet1.y = packet_in.y;
-        	packet1.z = packet_in.z;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_vision_speed_estimate_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_vision_speed_estimate_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_vision_speed_estimate_pack(system_id, component_id, &msg , packet1.usec , packet1.x , packet1.y , packet1.z );
-	mavlink_msg_vision_speed_estimate_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_vision_speed_estimate_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.usec , packet1.x , packet1.y , packet1.z );
-	mavlink_msg_vision_speed_estimate_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-        mavlink_msg_to_send_buffer(buffer, &msg);
-        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
-        	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
-        }
-	mavlink_msg_vision_speed_estimate_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_vision_speed_estimate_send(MAVLINK_COMM_1 , packet1.usec , packet1.x , packet1.y , packet1.z );
-	mavlink_msg_vision_speed_estimate_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}