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qgroundcontrol
Commit 053eb5a8 authored by pixhawk's avatar pixhawk
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Merge branch 'master' of https://github.com/mavlink/qgroundcontrol

parents 0075f512 c4bc93c3
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Showing with 47321 additions and 15873 deletions
files/mavlink_generator/C/include_v0.9/checksum.h
View file @ 053eb5a8
......@@ -52,7 +52,7 @@ static inline void crc_init(uint16_t* crcAccum)
* @param length length of the byte array
* @return the checksum over the buffer bytes
**/
static inline uint16_t crc_calculate(uint8_t* pBuffer, uint16_t length)
static inline uint16_t crc_calculate(const uint8_t* pBuffer, uint16_t length)
{
uint16_t crcTmp;
crc_init(&crcTmp);
......
files/mavlink_generator/C/include_v0.9/mavlink_helpers.h
View file @ 053eb5a8
......@@ -18,6 +18,24 @@ MAVLINK_HELPER mavlink_status_t* mavlink_get_channel_status(uint8_t chan)
return &m_mavlink_status[chan];
}
/*
internal function to give access to the channel buffer for each channel
*/
MAVLINK_HELPER mavlink_message_t* mavlink_get_channel_buffer(uint8_t chan)
{
#if MAVLINK_EXTERNAL_RX_BUFFER
// No m_mavlink_message array defined in function,
// has to be defined externally
#ifndef m_mavlink_message
#error ERROR: IF #define MAVLINK_EXTERNAL_RX_BUFFER IS SET, THE BUFFER HAS TO BE ALLOCATED OUTSIDE OF THIS FUNCTION (mavlink_message_t m_mavlink_buffer[MAVLINK_COMM_NUM_BUFFERS];)
#endif
#else
static mavlink_message_t m_mavlink_buffer[MAVLINK_COMM_NUM_BUFFERS];
#endif
return &m_mavlink_buffer[chan];
}
/**
* @brief Finalize a MAVLink message with channel assignment
*
......@@ -120,7 +138,7 @@ MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint
*/
MAVLINK_HELPER uint16_t mavlink_msg_to_send_buffer(uint8_t *buffer, const mavlink_message_t *msg)
{
memcpy(buffer, (uint8_t *)&msg->magic, MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)msg->len);
memcpy(buffer, (const uint8_t *)&msg->magic, MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)msg->len);
return MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)msg->len;
}
......@@ -182,8 +200,6 @@ MAVLINK_HELPER void mavlink_update_checksum(mavlink_message_t* msg, uint8_t c)
*/
MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status)
{
static mavlink_message_t m_mavlink_message[MAVLINK_COMM_NUM_BUFFERS];
/*
default message crc function. You can override this per-system to
put this data in a different memory segment
......@@ -195,7 +211,7 @@ MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_messa
#endif
#endif
mavlink_message_t* rxmsg = &m_mavlink_message[chan]; ///< The currently decoded message
mavlink_message_t* rxmsg = mavlink_get_channel_buffer(chan); ///< The currently decoded message
mavlink_status_t* status = mavlink_get_channel_status(chan); ///< The current decode status
int bufferIndex = 0;
......@@ -209,14 +225,15 @@ MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_messa
{
status->parse_state = MAVLINK_PARSE_STATE_GOT_STX;
rxmsg->len = 0;
rxmsg->magic = c;
mavlink_start_checksum(rxmsg);
}
break;
case MAVLINK_PARSE_STATE_GOT_STX:
if (status->msg_received
/* Support shorter buffers than the
default maximum packet size */
/* Support shorter buffers than the
default maximum packet size */
#if (MAVLINK_MAX_PAYLOAD_LEN < 255)
|| c > MAVLINK_MAX_PAYLOAD_LEN
#endif
......@@ -269,7 +286,7 @@ MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_messa
break;
case MAVLINK_PARSE_STATE_GOT_MSGID:
_MAV_PAYLOAD(rxmsg)[status->packet_idx++] = (char)c;
_MAV_PAYLOAD_NON_CONST(rxmsg)[status->packet_idx++] = (char)c;
mavlink_update_checksum(rxmsg, c);
if (status->packet_idx == rxmsg->len)
{
......@@ -296,6 +313,7 @@ MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_messa
else
{
status->parse_state = MAVLINK_PARSE_STATE_GOT_CRC1;
_MAV_PAYLOAD_NON_CONST(rxmsg)[status->packet_idx] = (char)c;
}
break;
......@@ -317,6 +335,7 @@ MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_messa
// Successfully got message
status->msg_received = 1;
status->parse_state = MAVLINK_PARSE_STATE_IDLE;
_MAV_PAYLOAD_NON_CONST(rxmsg)[status->packet_idx+1] = (char)c;
memcpy(r_message, rxmsg, sizeof(mavlink_message_t));
}
break;
......
files/mavlink_generator/C/include_v0.9/mavlink_types.h
View file @ 053eb5a8
......@@ -140,6 +140,7 @@ enum MAV_COMPONENT
MAV_COMP_ID_AIRSLAM,
MAV_COMP_ID_MAPPER,
MAV_COMP_ID_CAMERA,
MAV_COMP_ID_RADIO = 68,
MAV_COMP_ID_IMU = 200,
MAV_COMP_ID_IMU_2 = 201,
MAV_COMP_ID_IMU_3 = 202,
......@@ -179,11 +180,26 @@ enum MAVLINK_DATA_STREAM_TYPE
#define MAVLINK_MAX_PACKET_LEN (MAVLINK_MAX_PAYLOAD_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) ///< Maximum packet length
#define MAVLINK_MSG_ID_EXTENDED_MESSAGE 255
#define MAVLINK_EXTENDED_HEADER_LEN 14
#if (defined _MSC_VER) | ((defined __APPLE__) & (defined __MACH__)) | (defined __linux__)
/* full fledged 32bit++ OS */
#define MAVLINK_MAX_EXTENDED_PACKET_LEN 65507
#else
/* small microcontrollers */
#define MAVLINK_MAX_EXTENDED_PACKET_LEN 2048
#endif
#define MAVLINK_MAX_EXTENDED_PAYLOAD_LEN (MAVLINK_MAX_EXTENDED_PACKET_LEN - MAVLINK_EXTENDED_HEADER_LEN - MAVLINK_NUM_NON_PAYLOAD_BYTES)
typedef struct param_union {
union {
float param_float;
int32_t param_int32;
uint32_t param_uint32;
uint8_t param_uint8;
uint8_t bytes[4];
};
uint8_t type;
} mavlink_param_union_t;
......@@ -208,6 +224,14 @@ typedef struct __mavlink_message {
uint64_t payload64[(MAVLINK_MAX_PAYLOAD_LEN+MAVLINK_NUM_CHECKSUM_BYTES+7)/8];
} mavlink_message_t;
typedef struct __mavlink_extended_message {
mavlink_message_t base_msg;
int32_t extended_payload_len; ///< Length of extended payload if any
uint8_t extended_payload[MAVLINK_MAX_EXTENDED_PAYLOAD_LEN];
} mavlink_extended_message_t;
typedef enum {
MAVLINK_TYPE_CHAR = 0,
MAVLINK_TYPE_UINT8_T = 1,
......@@ -228,9 +252,9 @@ typedef struct __mavlink_field_info {
const char *name; // name of this field
const char *print_format; // printing format hint, or NULL
mavlink_message_type_t type; // type of this field
unsigned array_length; // if non-zero, field is an array
unsigned wire_offset; // offset of each field in the payload
unsigned structure_offset; // offset in a C structure
unsigned int array_length; // if non-zero, field is an array
unsigned int wire_offset; // offset of each field in the payload
unsigned int structure_offset; // offset in a C structure
} mavlink_field_info_t;
// note that in this structure the order of fields is the order
......@@ -241,11 +265,12 @@ typedef struct __mavlink_message_info {
mavlink_field_info_t fields[MAVLINK_MAX_FIELDS]; // field information
} mavlink_message_info_t;
#define _MAV_PAYLOAD(msg) ((char *)(&(msg)->payload64[0]))
#define _MAV_PAYLOAD(msg) ((const char *)(&((msg)->payload64[0])))
#define _MAV_PAYLOAD_NON_CONST(msg) ((char *)(&((msg)->payload64[0])))
// checksum is immediately after the payload bytes
#define mavlink_ck_a(msg) *(msg->len + (uint8_t *)_MAV_PAYLOAD(msg))
#define mavlink_ck_b(msg) *((msg->len+(uint16_t)1) + (uint8_t *)_MAV_PAYLOAD(msg))
#define mavlink_ck_a(msg) *((msg)->len + (uint8_t *)_MAV_PAYLOAD_NON_CONST(msg))
#define mavlink_ck_b(msg) *(((msg)->len+(uint16_t)1) + (uint8_t *)_MAV_PAYLOAD_NON_CONST(msg))
typedef enum {
MAVLINK_COMM_0,
......
files/mavlink_generator/C/include_v0.9/protocol.h
View file @ 053eb5a8
......@@ -155,7 +155,7 @@ static inline void byte_copy_8(char *dst, const char *src)
/*
like memcpy(), but if src is NULL, do a memset to zero
*/
*/
static void mav_array_memcpy(void *dest, const void *src, size_t n)
{
if (src == NULL) {
......@@ -171,6 +171,7 @@ static void mav_array_memcpy(void *dest, const void *src, size_t n)
static inline void _mav_put_char_array(char *buf, uint8_t wire_offset, const char *b, uint8_t array_length)
{
mav_array_memcpy(&buf[wire_offset], b, array_length);
}
/*
......@@ -179,6 +180,7 @@ static inline void _mav_put_char_array(char *buf, uint8_t wire_offset, const cha
static inline void _mav_put_uint8_t_array(char *buf, uint8_t wire_offset, const uint8_t *b, uint8_t array_length)
{
mav_array_memcpy(&buf[wire_offset], b, array_length);
}
/*
......@@ -187,6 +189,7 @@ static inline void _mav_put_uint8_t_array(char *buf, uint8_t wire_offset, const
static inline void _mav_put_int8_t_array(char *buf, uint8_t wire_offset, const int8_t *b, uint8_t array_length)
{
mav_array_memcpy(&buf[wire_offset], b, array_length);
}
#if MAVLINK_NEED_BYTE_SWAP
......@@ -206,7 +209,7 @@ static inline void _mav_put_ ## TYPE ##_array(char *buf, uint8_t wire_offset, co
#define _MAV_PUT_ARRAY(TYPE, V) \
static inline void _mav_put_ ## TYPE ##_array(char *buf, uint8_t wire_offset, const TYPE *b, uint8_t array_length) \
{ \
mav_array_memcpy(&buf[wire_offset], b, array_length*sizeof(TYPE)); \
mav_array_memcpy(&buf[wire_offset], b, array_length*sizeof(TYPE)); \
}
#endif
......@@ -219,9 +222,9 @@ _MAV_PUT_ARRAY(int64_t, i64)
_MAV_PUT_ARRAY(float, f)
_MAV_PUT_ARRAY(double, d)
#define _MAV_RETURN_char(msg, wire_offset) _MAV_PAYLOAD(msg)[wire_offset]
#define _MAV_RETURN_int8_t(msg, wire_offset) (int8_t)_MAV_PAYLOAD(msg)[wire_offset]
#define _MAV_RETURN_uint8_t(msg, wire_offset) (uint8_t)_MAV_PAYLOAD(msg)[wire_offset]
#define _MAV_RETURN_char(msg, wire_offset) (const char)_MAV_PAYLOAD(msg)[wire_offset]
#define _MAV_RETURN_int8_t(msg, wire_offset) (const int8_t)_MAV_PAYLOAD(msg)[wire_offset]
#define _MAV_RETURN_uint8_t(msg, wire_offset) (const uint8_t)_MAV_PAYLOAD(msg)[wire_offset]
#if MAVLINK_NEED_BYTE_SWAP
#define _MAV_MSG_RETURN_TYPE(TYPE, SIZE) \
......
mavlink/include/v0.9/test/version.h → files/mavlink_generator/C/include_v0.9/test/version.h
View file @ 053eb5a8
......@@ -5,7 +5,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Thu Mar 1 01:19:41 2012"
#define MAVLINK_BUILD_DATE "Thu Mar 1 15:11:54 2012"
#define MAVLINK_WIRE_PROTOCOL_VERSION "0.9"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 179
......
files/mavlink_generator/C/include_v1.0/mavlink_protobuf_manager.hpp
View file @ 053eb5a8
......@@ -24,6 +24,30 @@ public:
, kExtendedHeaderSize(MAVLINK_EXTENDED_HEADER_LEN)
, kExtendedPayloadMaxSize(MAVLINK_MAX_EXTENDED_PAYLOAD_LEN)
{
// register GLOverlay
{
std::tr1::shared_ptr<px::GLOverlay> msg(new px::GLOverlay);
registerType(msg);
}
// register ObstacleList
{
std::tr1::shared_ptr<px::ObstacleList> msg(new px::ObstacleList);
registerType(msg);
}
// register ObstacleMap
{
std::tr1::shared_ptr<px::ObstacleMap> msg(new px::ObstacleMap);
registerType(msg);
}
// register Path
{
std::tr1::shared_ptr<px::Path> msg(new px::Path);
registerType(msg);
}
// register PointCloudXYZI
{
std::tr1::shared_ptr<px::PointCloudXYZI> msg(new px::PointCloudXYZI);
......@@ -144,7 +168,7 @@ public:
if (typecode >= mTypeMap.size())
{
std::cout << "# WARNING: Protobuf message with type code "
<< typecode << " is not registered." << std::endl;
<< static_cast<int>(typecode) << " is not registered." << std::endl;
return false;
}
......@@ -186,6 +210,11 @@ public:
if (offset == 0)
{
queue.push_back(msg);
if ((flags & 0x1) != 0x1)
{
reassemble = true;
}
}
else
{
......
files/mavlink_generator/C/include_v1.0/mavlink_types.h
View file @ 053eb5a8
......@@ -17,7 +17,15 @@
#define MAVLINK_MSG_ID_EXTENDED_MESSAGE 255
#define MAVLINK_EXTENDED_HEADER_LEN 14
#define MAVLINK_MAX_EXTENDED_PACKET_LEN 65507
#if (defined _MSC_VER) | ((defined __APPLE__) & (defined __MACH__)) | (defined __linux__)
/* full fledged 32bit++ OS */
#define MAVLINK_MAX_EXTENDED_PACKET_LEN 65507
#else
/* small microcontrollers */
#define MAVLINK_MAX_EXTENDED_PACKET_LEN 2048
#endif
#define MAVLINK_MAX_EXTENDED_PAYLOAD_LEN (MAVLINK_MAX_EXTENDED_PACKET_LEN - MAVLINK_EXTENDED_HEADER_LEN - MAVLINK_NUM_NON_PAYLOAD_BYTES)
typedef struct param_union {
......
files/mavlink_generator/C/include_v1.0/pixhawk/pixhawk.pb.h 0 → 100644
View file @ 053eb5a8
This source diff could not be displayed because it is too large. You can view the blob instead.
mavlink/include/v0.9/minimal/minimal.h → files/mavlink_generator/C/include_v1.0/test/test.h
View file @ 053eb5a8
/** @file
* @brief MAVLink comm protocol generated from minimal.xml
* @brief MAVLink comm protocol generated from test.xml
* @see http://qgroundcontrol.org/mavlink/
*/
#ifndef MINIMAL_H
#define MINIMAL_H
#ifndef TEST_H
#define TEST_H
#ifdef __cplusplus
extern "C" {
......@@ -12,32 +12,32 @@ extern "C" {
// MESSAGE LENGTHS AND CRCS
#ifndef MAVLINK_MESSAGE_LENGTHS
#define MAVLINK_MESSAGE_LENGTHS {3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
#define MAVLINK_MESSAGE_LENGTHS {179, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
#endif
#ifndef MAVLINK_MESSAGE_CRCS
#define MAVLINK_MESSAGE_CRCS {72, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
#define MAVLINK_MESSAGE_CRCS {103, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
#endif
#ifndef MAVLINK_MESSAGE_INFO
#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}}
#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_TEST_TYPES, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}}
#endif
#include "../protocol.h"
#define MAVLINK_ENABLED_MINIMAL
#define MAVLINK_ENABLED_TEST
// MAVLINK VERSION
#ifndef MAVLINK_VERSION
#define MAVLINK_VERSION 2
#define MAVLINK_VERSION 3
#endif
#if (MAVLINK_VERSION == 0)
#undef MAVLINK_VERSION
#define MAVLINK_VERSION 2
#define MAVLINK_VERSION 3
#endif
// ENUM DEFINITIONS
......@@ -45,9 +45,9 @@ extern "C" {
// MESSAGE DEFINITIONS
#include "./mavlink_msg_heartbeat.h"
#include "./mavlink_msg_test_types.h"
#ifdef __cplusplus
}
#endif // __cplusplus
#endif // MINIMAL_H
#endif // TEST_H
mavlink/include/v1.0/test/version.h → files/mavlink_generator/C/include_v1.0/test/version.h
View file @ 053eb5a8
......@@ -5,7 +5,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Thu Feb 9 16:35:37 2012"
#define MAVLINK_BUILD_DATE "Thu Mar 1 15:11:58 2012"
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 179
......
files/mavlink_generator/generator/C/test/posix/.gitignore deleted 100644 → 0
View file @ 0075f512
/testmav0.9
/testmav1.0
/testmav1.0_nonstrict
files/mavlink_generator/generator/C/test/posix/testmav.c deleted 100644 → 0
View file @ 0075f512
/*
simple MAVLink testsuite for C
*/
#include <stdio.h>
#include <stdlib.h>
#include <stdint.h>
#include <assert.h>
#include <stddef.h>
#define MAVLINK_USE_CONVENIENCE_FUNCTIONS
#define MAVLINK_COMM_NUM_BUFFERS 2
// this trick allows us to make mavlink_message_t as small as possible
// for this dialect, which saves some memory
#include <version.h>
#define MAVLINK_MAX_PAYLOAD_LEN MAVLINK_MAX_DIALECT_PAYLOAD_SIZE
#include <mavlink_types.h>
static mavlink_system_t mavlink_system = {42,11,};
#define MAVLINK_ASSERT(x) assert(x)
static void comm_send_ch(mavlink_channel_t chan, uint8_t c);
static mavlink_message_t last_msg;
#include <mavlink.h>
#include <testsuite.h>
static unsigned chan_counts[MAVLINK_COMM_NUM_BUFFERS];
static const unsigned message_lengths[] = MAVLINK_MESSAGE_LENGTHS;
static unsigned error_count;
static const mavlink_message_info_t message_info[256] = MAVLINK_MESSAGE_INFO;
static void print_one_field(mavlink_message_t *msg, const mavlink_field_info_t *f, int idx)
{
#define PRINT_FORMAT(f, def) (f->print_format?f->print_format:def)
switch (f->type) {
case MAVLINK_TYPE_CHAR:
printf(PRINT_FORMAT(f, "%c"), _MAV_RETURN_char(msg, f->wire_offset+idx*1));
break;
case MAVLINK_TYPE_UINT8_T:
printf(PRINT_FORMAT(f, "%u"), _MAV_RETURN_uint8_t(msg, f->wire_offset+idx*1));
break;
case MAVLINK_TYPE_INT8_T:
printf(PRINT_FORMAT(f, "%d"), _MAV_RETURN_int8_t(msg, f->wire_offset+idx*1));
break;
case MAVLINK_TYPE_UINT16_T:
printf(PRINT_FORMAT(f, "%u"), _MAV_RETURN_uint16_t(msg, f->wire_offset+idx*2));
break;
case MAVLINK_TYPE_INT16_T:
printf(PRINT_FORMAT(f, "%d"), _MAV_RETURN_int16_t(msg, f->wire_offset+idx*2));
break;
case MAVLINK_TYPE_UINT32_T:
printf(PRINT_FORMAT(f, "%lu"), (unsigned long)_MAV_RETURN_uint32_t(msg, f->wire_offset+idx*4));
break;
case MAVLINK_TYPE_INT32_T:
printf(PRINT_FORMAT(f, "%ld"), (long)_MAV_RETURN_int32_t(msg, f->wire_offset+idx*4));
break;
case MAVLINK_TYPE_UINT64_T:
printf(PRINT_FORMAT(f, "%llu"), (unsigned long long)_MAV_RETURN_uint64_t(msg, f->wire_offset+idx*8));
break;
case MAVLINK_TYPE_INT64_T:
printf(PRINT_FORMAT(f, "%lld"), (long long)_MAV_RETURN_int64_t(msg, f->wire_offset+idx*8));
break;
case MAVLINK_TYPE_FLOAT:
printf(PRINT_FORMAT(f, "%f"), (double)_MAV_RETURN_float(msg, f->wire_offset+idx*4));
break;
case MAVLINK_TYPE_DOUBLE:
printf(PRINT_FORMAT(f, "%f"), _MAV_RETURN_double(msg, f->wire_offset+idx*8));
break;
}
}
static void print_field(mavlink_message_t *msg, const mavlink_field_info_t *f)
{
printf("%s: ", f->name);
if (f->array_length == 0) {
print_one_field(msg, f, 0);
printf(" ");
} else {
unsigned i;
/* print an array */
if (f->type == MAVLINK_TYPE_CHAR) {
printf("'%.*s'", f->array_length,
f->wire_offset+(const char *)_MAV_PAYLOAD(msg));
} else {
printf("[ ");
for (i=0; i<f->array_length; i++) {
print_one_field(msg, f, i);
if (i < f->array_length) {
printf(", ");
}
}
printf("]");
}
}
printf(" ");
}
static void print_message(mavlink_message_t *msg)
{
const mavlink_message_info_t *m = &message_info[msg->msgid];
const mavlink_field_info_t *f = m->fields;
unsigned i;
printf("%s { ", m->name);
for (i=0; i<m->num_fields; i++) {
print_field(msg, &f[i]);
}
printf("}\n");
}
static void comm_send_ch(mavlink_channel_t chan, uint8_t c)
{
mavlink_status_t status;
if (mavlink_parse_char(chan, c, &last_msg, &status)) {
print_message(&last_msg);
chan_counts[chan]++;
/* channel 0 gets 3 messages per message, because of
the channel defaults for _pack() and _encode() */
if (chan == MAVLINK_COMM_0 && status.current_rx_seq != (uint8_t)(chan_counts[chan]*3)) {
printf("Channel 0 sequence mismatch error at packet %u (rx_seq=%u)\n",
chan_counts[chan], status.current_rx_seq);
error_count++;
} else if (chan > MAVLINK_COMM_0 && status.current_rx_seq != (uint8_t)chan_counts[chan]) {
printf("Channel %u sequence mismatch error at packet %u (rx_seq=%u)\n",
(unsigned)chan, chan_counts[chan], status.current_rx_seq);
error_count++;
}
if (message_lengths[last_msg.msgid] != last_msg.len) {
printf("Incorrect message length %u for message %u - expected %u\n",
(unsigned)last_msg.len, (unsigned)last_msg.msgid, message_lengths[last_msg.msgid]);
error_count++;
}
}
if (status.packet_rx_drop_count != 0) {
printf("Parse error at packet %u\n", chan_counts[chan]);
error_count++;
}
}
int main(void)
{
mavlink_channel_t chan;
mavlink_test_all(11, 10, &last_msg);
for (chan=MAVLINK_COMM_0; chan<=MAVLINK_COMM_1; chan++) {
printf("Received %u messages on channel %u OK\n",
chan_counts[chan], (unsigned)chan);
}
if (error_count != 0) {
printf("Error count %u\n", error_count);
exit(1);
}
printf("No errors detected\n");
return 0;
}
files/mavlink_generator/generator/C/test/windows/stdafx.cpp deleted 100644 → 0
View file @ 0075f512
// stdafx.cpp : source file that includes just the standard includes
// testmav.pch will be the pre-compiled header
// stdafx.obj will contain the pre-compiled type information
#include "stdafx.h"
// TODO: reference any additional headers you need in STDAFX.H
// and not in this file
files/mavlink_generator/generator/C/test/windows/stdafx.h deleted 100644 → 0
View file @ 0075f512
// stdafx.h : include file for standard system include files,
// or project specific include files that are used frequently, but
// are changed infrequently
//
#pragma once
#include "targetver.h"
#include <stdio.h>
#include <tchar.h>
// TODO: reference additional headers your program requires here
files/mavlink_generator/generator/C/test/windows/targetver.h deleted 100644 → 0
View file @ 0075f512
#pragma once
// Including SDKDDKVer.h defines the highest available Windows platform.
// If you wish to build your application for a previous Windows platform, include WinSDKVer.h and
// set the _WIN32_WINNT macro to the platform you wish to support before including SDKDDKVer.h.
#include <SDKDDKVer.h>
files/mavlink_generator/generator/C/test/windows/testmav.cpp deleted 100644 → 0
View file @ 0075f512
// testmav.cpp : Defines the entry point for the console application.
//
#include "stdafx.h"
#include "stdio.h"
#include "stdint.h"
#include "stddef.h"
#include "assert.h"
#define MAVLINK_USE_CONVENIENCE_FUNCTIONS
#define MAVLINK_COMM_NUM_BUFFERS 2
#include <mavlink_types.h>
static mavlink_system_t mavlink_system = {42,11,};
#define MAVLINK_ASSERT(x) assert(x)
static void comm_send_ch(mavlink_channel_t chan, uint8_t c);
static mavlink_message_t last_msg;
#include <common/mavlink.h>
#include <common/testsuite.h>
static unsigned chan_counts[MAVLINK_COMM_NUM_BUFFERS];
static const unsigned message_lengths[] = MAVLINK_MESSAGE_LENGTHS;
static unsigned error_count;
static const mavlink_message_info_t message_info[256] = MAVLINK_MESSAGE_INFO;
static void print_one_field(mavlink_message_t *msg, const mavlink_field_info_t *f, int idx)
{
#define PRINT_FORMAT(f, def) (f->print_format?f->print_format:def)
switch (f->type) {
case MAVLINK_TYPE_CHAR:
printf(PRINT_FORMAT(f, "%c"), _MAV_RETURN_char(msg, f->wire_offset+idx*1));
break;
case MAVLINK_TYPE_UINT8_T:
printf(PRINT_FORMAT(f, "%u"), _MAV_RETURN_uint8_t(msg, f->wire_offset+idx*1));
break;
case MAVLINK_TYPE_INT8_T:
printf(PRINT_FORMAT(f, "%d"), _MAV_RETURN_int8_t(msg, f->wire_offset+idx*1));
break;
case MAVLINK_TYPE_UINT16_T:
printf(PRINT_FORMAT(f, "%u"), _MAV_RETURN_uint16_t(msg, f->wire_offset+idx*2));
break;
case MAVLINK_TYPE_INT16_T:
printf(PRINT_FORMAT(f, "%d"), _MAV_RETURN_int16_t(msg, f->wire_offset+idx*2));
break;
case MAVLINK_TYPE_UINT32_T:
printf(PRINT_FORMAT(f, "%lu"), (unsigned long)_MAV_RETURN_uint32_t(msg, f->wire_offset+idx*4));
break;
case MAVLINK_TYPE_INT32_T:
printf(PRINT_FORMAT(f, "%ld"), (long)_MAV_RETURN_int32_t(msg, f->wire_offset+idx*4));
break;
case MAVLINK_TYPE_UINT64_T:
printf(PRINT_FORMAT(f, "%llu"), (unsigned long long)_MAV_RETURN_uint64_t(msg, f->wire_offset+idx*8));
break;
case MAVLINK_TYPE_INT64_T:
printf(PRINT_FORMAT(f, "%lld"), (long long)_MAV_RETURN_int64_t(msg, f->wire_offset+idx*8));
break;
case MAVLINK_TYPE_FLOAT:
printf(PRINT_FORMAT(f, "%f"), (double)_MAV_RETURN_float(msg, f->wire_offset+idx*4));
break;
case MAVLINK_TYPE_DOUBLE:
printf(PRINT_FORMAT(f, "%f"), _MAV_RETURN_double(msg, f->wire_offset+idx*8));
break;
}
}
static void print_field(mavlink_message_t *msg, const mavlink_field_info_t *f)
{
printf("%s: ", f->name);
if (f->array_length == 0) {
print_one_field(msg, f, 0);
printf(" ");
} else {
unsigned i;
/* print an array */
if (f->type == MAVLINK_TYPE_CHAR) {
printf("'%.*s'", f->array_length,
f->wire_offset+(const char *)_MAV_PAYLOAD(msg));
} else {
printf("[ ");
for (i=0; i<f->array_length; i++) {
print_one_field(msg, f, i);
if (i < f->array_length) {
printf(", ");
}
}
printf("]");
}
}
printf(" ");
}
static void print_message(mavlink_message_t *msg)
{
const mavlink_message_info_t *m = &message_info[msg->msgid];
const mavlink_field_info_t *f = m->fields;
unsigned i;
printf("%s { ", m->name);
for (i=0; i<m->num_fields; i++) {
print_field(msg, &f[i]);
}
printf("}\n");
}
static void comm_send_ch(mavlink_channel_t chan, uint8_t c)
{
mavlink_status_t status;
if (mavlink_parse_char(chan, c, &last_msg, &status)) {
print_message(&last_msg);
chan_counts[chan]++;
/* channel 0 gets 3 messages per message, because of
the channel defaults for _pack() and _encode() */
if (chan == MAVLINK_COMM_0 && status.current_rx_seq != (uint8_t)(chan_counts[chan]*3)) {
printf("Channel 0 sequence mismatch error at packet %u (rx_seq=%u)\n",
chan_counts[chan], status.current_rx_seq);
error_count++;
} else if (chan > MAVLINK_COMM_0 && status.current_rx_seq != (uint8_t)chan_counts[chan]) {
printf("Channel %u sequence mismatch error at packet %u (rx_seq=%u)\n",
(unsigned)chan, chan_counts[chan], status.current_rx_seq);
error_count++;
}
if (message_lengths[last_msg.msgid] != last_msg.len) {
printf("Incorrect message length %u for message %u - expected %u\n",
(unsigned)last_msg.len, (unsigned)last_msg.msgid, message_lengths[last_msg.msgid]);
error_count++;
}
}
if (status.packet_rx_drop_count != 0) {
printf("Parse error at packet %u\n", chan_counts[chan]);
error_count++;
}
}
int _tmain(int argc, _TCHAR* argv[])
{
int chan;
mavlink_test_all(11, 10, &last_msg);
for (chan=MAVLINK_COMM_0; chan<=MAVLINK_COMM_1; chan++) {
printf("Received %u messages on channel %u OK\n",
chan_counts[chan], (unsigned)chan);
}
if (error_count != 0) {
printf("Error count %u\n", error_count);
return(1);
}
printf("No errors detected\n");
return 0;
}
files/mavlink_generator/generator/mavextra.py deleted 100644 → 0
View file @ 0075f512
#!/usr/bin/env python
'''
useful extra functions for use by mavlink clients
Copyright Andrew Tridgell 2011
Released under GNU GPL version 3 or later
'''
from math import *
def norm_heading(RAW_IMU, ATTITUDE, declination):
'''calculate heading from RAW_IMU and ATTITUDE'''
xmag = RAW_IMU.xmag
ymag = RAW_IMU.ymag
zmag = RAW_IMU.zmag
pitch = ATTITUDE.pitch
roll = ATTITUDE.roll
headX = xmag*cos(pitch) + ymag*sin(roll)*sin(pitch) + zmag*cos(roll)*sin(pitch)
headY = ymag*cos(roll) - zmag*sin(roll)
heading = atan2(-headY, headX)
heading = fmod(degrees(heading) + declination + 360, 360)
return heading
def TrueHeading(SERVO_OUTPUT_RAW):
rc3_min = 1060
rc3_max = 1850
p = float(SERVO_OUTPUT_RAW.servo3_raw - rc3_min) / (rc3_max - rc3_min)
return 172 + (1.0-p)*(326 - 172)
def kmh(mps):
'''convert m/s to Km/h'''
return mps*3.6
def altitude(press_abs, ground_press=955.0, ground_temp=30):
'''calculate barometric altitude'''
return log(ground_press/press_abs)*(ground_temp+273.15)*29271.267*0.001
files/mavlink_generator/generator/mavgen.py
View file @ 053eb5a8
......@@ -71,10 +71,10 @@ if __name__=="__main__":
import mavgen_python
import mavgen_c
parser = OptionParser("mavgen.py [options] <XML files>")
parser.add_option("-o", "--output", dest="output", default="mavlink", help="output base name")
parser.add_option("--lang", dest="language", default="python", help="language to generate")
parser.add_option("--wire-protocol", dest="wire_protocol", default=mavparse.PROTOCOL_0_9, help="wire protocol version")
parser = OptionParser("%prog [options] <XML files>")
parser.add_option("-o", "--output", dest="output", default="mavlink", help="output directory.")
parser.add_option("--lang", dest="language", default="python", help="language of generated code: 'Python' or 'C' [default: %default]")
parser.add_option("--wire-protocol", dest="wire_protocol", default=mavparse.PROTOCOL_0_9, help="MAVLink protocol version: '0.9' or '1.0'. [default: %default]")
(opts, args) = parser.parse_args()
if len(args) < 1:
......
files/mavlink_generator/generator/mavgen_c.py
View file @ 053eb5a8
......@@ -404,16 +404,41 @@ ${{message: mavlink_test_${name_lower}(system_id, component_id, last_msg);
def copy_fixed_headers(directory, xml):
'''copy the fixed protocol headers to the target directory'''
import shutil
hlist = [ 'protocol.h', 'mavlink_helpers.h', 'mavlink_types.h', 'checksum.h' ]
hlist = [ 'protocol.h', 'mavlink_helpers.h', 'mavlink_types.h', 'checksum.h', 'mavlink_protobuf_manager.hpp' ]
basepath = os.path.dirname(os.path.realpath(__file__))
srcpath = os.path.join(basepath, 'C/include_v%s' % xml.wire_protocol_version)
print("Copying fixed headers")
for h in hlist:
if (not (h == 'mavlink_protobuf_manager.hpp' and xml.wire_protocol_version == '0.9')):
src = os.path.realpath(os.path.join(srcpath, h))
dest = os.path.realpath(os.path.join(directory, h))
if src == dest:
continue
shutil.copy(src, dest)
# XXX This is a hack - to be removed
if (xml.basename == 'pixhawk' and xml.wire_protocol_version == '1.0'):
h = 'pixhawk/pixhawk.pb.h'
src = os.path.realpath(os.path.join(srcpath, h))
dest = os.path.realpath(os.path.join(directory, h))
if src == dest:
continue
shutil.copy(src, dest)
def copy_fixed_sources(directory, xml):
# XXX This is a hack - to be removed
import shutil
basepath = os.path.dirname(os.path.realpath(__file__))
srcpath = os.path.join(basepath, 'C/src_v%s' % xml.wire_protocol_version)
if (xml.basename == 'pixhawk' and xml.wire_protocol_version == '1.0'):
print("Copying fixed sources")
src = os.path.realpath(os.path.join(srcpath, 'pixhawk/pixhawk.pb.cc'))
dest = os.path.realpath(os.path.join(directory, '../../../share/mavlink/src/v%s/pixhawk/pixhawk.pb.cc' % xml.wire_protocol_version))
destdir = os.path.realpath(os.path.join(directory, '../../../share/mavlink/src/v%s/pixhawk' % xml.wire_protocol_version))
try:
os.makedirs(destdir)
except:
print("Not re-creating directory")
shutil.copy(src, dest)
print("Copied to"),
print(dest)
class mav_include(object):
def __init__(self, base):
......@@ -553,3 +578,4 @@ def generate(basename, xml_list):
for xml in xml_list:
generate_one(basename, xml)
copy_fixed_headers(basename, xml_list[0])
copy_fixed_sources(basename, xml_list[0])
files/mavlink_generator/generator/mavlink.py deleted 100644 → 0
View file @ 0075f512
This diff is collapsed.
files/mavlink_generator/generator/mavlinkv10.py deleted 100644 → 0
View file @ 0075f512
This diff is collapsed.
files/mavlink_generator/generator/mavparse.py
View file @ 053eb5a8
......@@ -6,7 +6,7 @@ Copyright Andrew Tridgell 2011
Released under GNU GPL version 3 or later
'''
import xml.parsers.expat, os, time, sys, operator, mavutil
import xml.parsers.expat, os, errno, time, sys, operator, mavutil
PROTOCOL_0_9 = "0.9"
PROTOCOL_1_0 = "1.0"
......@@ -272,7 +272,7 @@ class MAVXML(object):
self.largest_payload = m.wire_length
if m.wire_length+8 > 64:
print("Warning: message %s is longer than 64 bytes long (%u bytes)" % (m.name, m.wire_length+8))
print("Note: message %s is longer than 64 bytes long (%u bytes), which can cause fragmentation since many radio modems use 64 bytes as maximum air transfer unit." % (m.name, m.wire_length+8))
def __str__(self):
return "MAVXML for %s from %s (%u message, %u enums)" % (
......@@ -359,16 +359,12 @@ def total_msgs(xml):
return count
def mkdir_p(dir):
'''like mkdir -p'''
if not dir:
return
if dir.endswith("/"):
mkdir_p(dir[:-1])
return
if os.path.isdir(dir):
return
mkdir_p(os.path.dirname(dir))
os.mkdir(dir)
try:
os.makedirs(dir)
except OSError as exc:
if exc.errno == errno.EEXIST:
pass
else: raise
# check version consistent
# add test.xml
......
files/mavlink_generator/generator/mavtestgen.py
View file @ 053eb5a8
......@@ -8,6 +8,9 @@ Released under GNU GPL version 3 or later
import sys, textwrap
from optparse import OptionParser
# mavparse is up a directory level
sys.path.append('..')
import mavparse
def gen_value(f, i, language):
......@@ -62,11 +65,11 @@ Note: this file has been auto-generated. DO NOT EDIT
import mavlink
def generate_outputs(mav):
'''generate all message types as outputs'''
'''generate all message types as outputs'''
""")
for m in msgs:
if m.name == "HEARTBEAT": continue
outf.write("\tmav.%s_send(" % m.name.lower())
outf.write("\tmav.%s_send(" % m.name.lower())
for i in range(0, len(m.fields)):
f = m.fields[i]
outf.write("%s=%s" % (f.name, gen_value(f, i, 'py')))
......@@ -90,7 +93,7 @@ static void mavtest_generate_outputs(mavlink_channel_t chan)
""")
for m in msgs:
if m.name == "HEARTBEAT": continue
outf.write("\tmavlink_msg_%s_send(chan," % m.name.lower())
outf.write("\tmavlink_msg_%s_send(chan," % m.name.lower())
for i in range(0, len(m.fields)):
f = m.fields[i]
outf.write("%s" % gen_value(f, i, 'C'))
......@@ -104,8 +107,8 @@ static void mavtest_generate_outputs(mavlink_channel_t chan)
######################################################################
'''main program'''
parser = OptionParser("mavtestgen.py [options] <XML files>")
parser.add_option("-o", "--output", dest="output", default="mavtest", help="output file base name")
parser = OptionParser("%prog [options] <XML files>")
parser.add_option("-o", "--output", dest="output", default="mavtest", help="output folder [default: %default]")
(opts, args) = parser.parse_args()
if len(args) < 1:
......@@ -116,9 +119,9 @@ msgs = []
enums = []
for fname in args:
(m, e) = mavparse.parse_mavlink_xml(fname)
msgs.extend(m)
enums.extend(e)
(m, e) = mavparse.parse_mavlink_xml(fname)
msgs.extend(m)
enums.extend(e)
if mavparse.check_duplicates(msgs):
......
files/mavlink_generator/generator/mavutil.py deleted 100644 → 0
View file @ 0075f512
This diff is collapsed.
files/mavlink_generator/generator/mavwp.py deleted 100644 → 0
View file @ 0075f512
'''
module for loading/saving waypoints
'''
import os
if os.getenv('MAVLINK10'):
import mavlinkv10 as mavlink
else:
import mavlink
class MAVWPError(Exception):
'''MAVLink WP error class'''
def __init__(self, msg):
Exception.__init__(self, msg)
self.message = msg
class MAVWPLoader(object):
'''MAVLink waypoint loader'''
def __init__(self, target_system=0, target_component=0):
self.wpoints = []
self.target_system = target_system
self.target_component = target_component
def count(self):
'''return number of waypoints'''
return len(self.wpoints)
def wp(self, i):
'''return a waypoint'''
return self.wpoints[i]
def add(self, w):
'''add a waypoint'''
w.seq = self.count()
self.wpoints.append(w)
def remove(self, w):
'''remove a waypoint'''
self.wpoints.remove(w)
def clear(self):
'''clear waypoint list'''
self.wpoints = []
def _read_waypoint_v100(self, line):
'''read a version 100 waypoint'''
cmdmap = {
2 : mavlink.MAV_CMD_NAV_TAKEOFF,
3 : mavlink.MAV_CMD_NAV_RETURN_TO_LAUNCH,
4 : mavlink.MAV_CMD_NAV_LAND,
24: mavlink.MAV_CMD_NAV_TAKEOFF,
26: mavlink.MAV_CMD_NAV_LAND,
25: mavlink.MAV_CMD_NAV_WAYPOINT ,
27: mavlink.MAV_CMD_NAV_LOITER_UNLIM
}
a = line.split()
if len(a) != 13:
raise MAVWPError("invalid waypoint line with %u values" % len(a))
w = mavlink.MAVLink_waypoint_message(self.target_system, self.target_component,
int(a[0]), # seq
int(a[1]), # frame
int(a[2]), # action
int(a[7]), # current
int(a[12]), # autocontinue
float(a[5]), # param1,
float(a[6]), # param2,
float(a[3]), # param3
float(a[4]), # param4
float(a[9]), # x, latitude
float(a[8]), # y, longitude
float(a[10]) # z
)
if not w.command in cmdmap:
raise MAVWPError("Unknown v100 waypoint action %u" % w.command)
w.command = cmdmap[w.command]
return w
def _read_waypoint_v110(self, line):
'''read a version 110 waypoint'''
a = line.split()
if len(a) != 12:
raise MAVWPError("invalid waypoint line with %u values" % len(a))
w = mavlink.MAVLink_waypoint_message(self.target_system, self.target_component,
int(a[0]), # seq
int(a[2]), # frame
int(a[3]), # command
int(a[1]), # current
int(a[11]), # autocontinue
float(a[4]), # param1,
float(a[5]), # param2,
float(a[6]), # param3
float(a[7]), # param4
float(a[8]), # x (latitude)
float(a[9]), # y (longitude)
float(a[10]) # z (altitude)
)
return w
def load(self, filename):
'''load waypoints from a file.
returns number of waypoints loaded'''
f = open(filename, mode='r')
version_line = f.readline().strip()
if version_line == "QGC WPL 100":
readfn = self._read_waypoint_v100
elif version_line == "QGC WPL 110":
readfn = self._read_waypoint_v110
else:
f.close()
raise MAVWPError("Unsupported waypoint format '%s'" % version_line)
self.clear()
for line in f:
if line.startswith('#'):
continue
line = line.strip()
if not line:
continue
w = readfn(line)
if w is not None:
self.add(w)
f.close()
return len(self.wpoints)
def save(self, filename):
'''save waypoints to a file'''
f = open(filename, mode='w')
f.write("QGC WPL 110\n")
for w in self.wpoints:
f.write("%u\t%u\t%u\t%u\t%f\t%f\t%f\t%f\t%f\t%f\t%f\t%u\n" % (
w.seq, w.current, w.frame, w.command,
w.param1, w.param2, w.param3, w.param4,
w.x, w.y, w.z, w.autocontinue))
f.close()
class MAVFenceError(Exception):
'''MAVLink fence error class'''
def __init__(self, msg):
Exception.__init__(self, msg)
self.message = msg
class MAVFenceLoader(object):
'''MAVLink geo-fence loader'''
def __init__(self, target_system=0, target_component=0):
self.points = []
self.target_system = target_system
self.target_component = target_component
def count(self):
'''return number of points'''
return len(self.points)
def point(self, i):
'''return a point'''
return self.points[i]
def add(self, p):
'''add a point'''
self.points.append(p)
def clear(self):
'''clear point list'''
self.points = []
def load(self, filename):
'''load points from a file.
returns number of points loaded'''
f = open(filename, mode='r')
self.clear()
for line in f:
if line.startswith('#'):
continue
line = line.strip()
if not line:
continue
a = line.split()
if len(a) != 2:
raise MAVFenceError("invalid fence point line: %s" % line)
p = mavlink.MAVLink_fence_point_message(self.target_system, self.target_component,
self.count(), 0, float(a[0]), float(a[1]))
self.add(p)
f.close()
for i in range(self.count()):
self.points[i].count = self.count()
return len(self.points)
def save(self, filename):
'''save fence points to a file'''
f = open(filename, mode='w')
for p in self.points:
f.write("%f\t%f\n" % (p.lat, p.lng))
f.close()
files/mavlink_generator/generator/scanwin32.py deleted 100644 → 0
View file @ 0075f512
#!/usr/bin/env python
# this is taken from the pySerial documentation at
# http://pyserial.sourceforge.net/examples.html
import ctypes
import re
def ValidHandle(value):
if value == 0:
raise ctypes.WinError()
return value
NULL = 0
HDEVINFO = ctypes.c_int
BOOL = ctypes.c_int
CHAR = ctypes.c_char
PCTSTR = ctypes.c_char_p
HWND = ctypes.c_uint
DWORD = ctypes.c_ulong
PDWORD = ctypes.POINTER(DWORD)
ULONG = ctypes.c_ulong
ULONG_PTR = ctypes.POINTER(ULONG)
#~ PBYTE = ctypes.c_char_p
PBYTE = ctypes.c_void_p
class GUID(ctypes.Structure):
_fields_ = [
('Data1', ctypes.c_ulong),
('Data2', ctypes.c_ushort),
('Data3', ctypes.c_ushort),
('Data4', ctypes.c_ubyte*8),
]
def __str__(self):
return "{%08x-%04x-%04x-%s-%s}" % (
self.Data1,
self.Data2,
self.Data3,
''.join(["%02x" % d for d in self.Data4[:2]]),
''.join(["%02x" % d for d in self.Data4[2:]]),
)
class SP_DEVINFO_DATA(ctypes.Structure):
_fields_ = [
('cbSize', DWORD),
('ClassGuid', GUID),
('DevInst', DWORD),
('Reserved', ULONG_PTR),
]
def __str__(self):
return "ClassGuid:%s DevInst:%s" % (self.ClassGuid, self.DevInst)
PSP_DEVINFO_DATA = ctypes.POINTER(SP_DEVINFO_DATA)
class SP_DEVICE_INTERFACE_DATA(ctypes.Structure):
_fields_ = [
('cbSize', DWORD),
('InterfaceClassGuid', GUID),
('Flags', DWORD),
('Reserved', ULONG_PTR),
]
def __str__(self):
return "InterfaceClassGuid:%s Flags:%s" % (self.InterfaceClassGuid, self.Flags)
PSP_DEVICE_INTERFACE_DATA = ctypes.POINTER(SP_DEVICE_INTERFACE_DATA)
PSP_DEVICE_INTERFACE_DETAIL_DATA = ctypes.c_void_p
class dummy(ctypes.Structure):
_fields_=[("d1", DWORD), ("d2", CHAR)]
_pack_ = 1
SIZEOF_SP_DEVICE_INTERFACE_DETAIL_DATA_A = ctypes.sizeof(dummy)
SetupDiDestroyDeviceInfoList = ctypes.windll.setupapi.SetupDiDestroyDeviceInfoList
SetupDiDestroyDeviceInfoList.argtypes = [HDEVINFO]
SetupDiDestroyDeviceInfoList.restype = BOOL
SetupDiGetClassDevs = ctypes.windll.setupapi.SetupDiGetClassDevsA
SetupDiGetClassDevs.argtypes = [ctypes.POINTER(GUID), PCTSTR, HWND, DWORD]
SetupDiGetClassDevs.restype = ValidHandle # HDEVINFO
SetupDiEnumDeviceInterfaces = ctypes.windll.setupapi.SetupDiEnumDeviceInterfaces
SetupDiEnumDeviceInterfaces.argtypes = [HDEVINFO, PSP_DEVINFO_DATA, ctypes.POINTER(GUID), DWORD, PSP_DEVICE_INTERFACE_DATA]
SetupDiEnumDeviceInterfaces.restype = BOOL
SetupDiGetDeviceInterfaceDetail = ctypes.windll.setupapi.SetupDiGetDeviceInterfaceDetailA
SetupDiGetDeviceInterfaceDetail.argtypes = [HDEVINFO, PSP_DEVICE_INTERFACE_DATA, PSP_DEVICE_INTERFACE_DETAIL_DATA, DWORD, PDWORD, PSP_DEVINFO_DATA]
SetupDiGetDeviceInterfaceDetail.restype = BOOL
SetupDiGetDeviceRegistryProperty = ctypes.windll.setupapi.SetupDiGetDeviceRegistryPropertyA
SetupDiGetDeviceRegistryProperty.argtypes = [HDEVINFO, PSP_DEVINFO_DATA, DWORD, PDWORD, PBYTE, DWORD, PDWORD]
SetupDiGetDeviceRegistryProperty.restype = BOOL
GUID_CLASS_COMPORT = GUID(0x86e0d1e0L, 0x8089, 0x11d0,
(ctypes.c_ubyte*8)(0x9c, 0xe4, 0x08, 0x00, 0x3e, 0x30, 0x1f, 0x73))
DIGCF_PRESENT = 2
DIGCF_DEVICEINTERFACE = 16
INVALID_HANDLE_VALUE = 0
ERROR_INSUFFICIENT_BUFFER = 122
SPDRP_HARDWAREID = 1
SPDRP_FRIENDLYNAME = 12
SPDRP_LOCATION_INFORMATION = 13
ERROR_NO_MORE_ITEMS = 259
def comports(available_only=True):
"""This generator scans the device registry for com ports and yields
(order, port, desc, hwid). If available_only is true only return currently
existing ports. Order is a helper to get sorted lists. it can be ignored
otherwise."""
flags = DIGCF_DEVICEINTERFACE
if available_only:
flags |= DIGCF_PRESENT
g_hdi = SetupDiGetClassDevs(ctypes.byref(GUID_CLASS_COMPORT), None, NULL, flags);
#~ for i in range(256):
for dwIndex in range(256):
did = SP_DEVICE_INTERFACE_DATA()
did.cbSize = ctypes.sizeof(did)
if not SetupDiEnumDeviceInterfaces(
g_hdi,
None,
ctypes.byref(GUID_CLASS_COMPORT),
dwIndex,
ctypes.byref(did)
):
if ctypes.GetLastError() != ERROR_NO_MORE_ITEMS:
raise ctypes.WinError()
break
dwNeeded = DWORD()
# get the size
if not SetupDiGetDeviceInterfaceDetail(
g_hdi,
ctypes.byref(did),
None, 0, ctypes.byref(dwNeeded),
None
):
# Ignore ERROR_INSUFFICIENT_BUFFER
if ctypes.GetLastError() != ERROR_INSUFFICIENT_BUFFER:
raise ctypes.WinError()
# allocate buffer
class SP_DEVICE_INTERFACE_DETAIL_DATA_A(ctypes.Structure):
_fields_ = [
('cbSize', DWORD),
('DevicePath', CHAR*(dwNeeded.value - ctypes.sizeof(DWORD))),
]
def __str__(self):
return "DevicePath:%s" % (self.DevicePath,)
idd = SP_DEVICE_INTERFACE_DETAIL_DATA_A()
idd.cbSize = SIZEOF_SP_DEVICE_INTERFACE_DETAIL_DATA_A
devinfo = SP_DEVINFO_DATA()
devinfo.cbSize = ctypes.sizeof(devinfo)
if not SetupDiGetDeviceInterfaceDetail(
g_hdi,
ctypes.byref(did),
ctypes.byref(idd), dwNeeded, None,
ctypes.byref(devinfo)
):
raise ctypes.WinError()
# hardware ID
szHardwareID = ctypes.create_string_buffer(250)
if not SetupDiGetDeviceRegistryProperty(
g_hdi,
ctypes.byref(devinfo),
SPDRP_HARDWAREID,
None,
ctypes.byref(szHardwareID), ctypes.sizeof(szHardwareID) - 1,
None
):
# Ignore ERROR_INSUFFICIENT_BUFFER
if ctypes.GetLastError() != ERROR_INSUFFICIENT_BUFFER:
raise ctypes.WinError()
# friendly name
szFriendlyName = ctypes.create_string_buffer(1024)
if not SetupDiGetDeviceRegistryProperty(
g_hdi,
ctypes.byref(devinfo),
SPDRP_FRIENDLYNAME,
None,
ctypes.byref(szFriendlyName), ctypes.sizeof(szFriendlyName) - 1,
None
):
# Ignore ERROR_INSUFFICIENT_BUFFER
if ctypes.GetLastError() != ERROR_INSUFFICIENT_BUFFER:
#~ raise ctypes.WinError()
# not getting friendly name for com0com devices, try something else
szFriendlyName = ctypes.create_string_buffer(1024)
if SetupDiGetDeviceRegistryProperty(
g_hdi,
ctypes.byref(devinfo),
SPDRP_LOCATION_INFORMATION,
None,
ctypes.byref(szFriendlyName), ctypes.sizeof(szFriendlyName) - 1,
None
):
port_name = "\\\\.\\" + szFriendlyName.value
order = None
else:
port_name = szFriendlyName.value
order = None
else:
try:
m = re.search(r"\((.*?(\d+))\)", szFriendlyName.value)
#~ print szFriendlyName.value, m.groups()
port_name = m.group(1)
order = int(m.group(2))
except AttributeError, msg:
port_name = szFriendlyName.value
order = None
yield order, port_name, szFriendlyName.value, szHardwareID.value
SetupDiDestroyDeviceInfoList(g_hdi)
if __name__ == '__main__':
import serial
print "-"*78
print "Serial ports"
print "-"*78
for order, port, desc, hwid in sorted(comports()):
print "%-10s: %s (%s) ->" % (port, desc, hwid),
try:
serial.Serial(port) # test open
except serial.serialutil.SerialException:
print "can't be openend"
else:
print "Ready"
print
# list of all ports the system knows
print "-"*78
print "All serial ports (registry)"
print "-"*78
for order, port, desc, hwid in sorted(comports(False)):
print "%-10s: %s (%s)" % (port, desc, hwid)
mavlink/include/mavlink/v0.9/ardupilotmega/mavlink_msg_ahrs.h 0 → 100644
View file @ 053eb5a8
// MESSAGE AHRS PACKING
#define MAVLINK_MSG_ID_AHRS 163
typedef struct __mavlink_ahrs_t
{
float omegaIx; ///< X gyro drift estimate rad/s
float omegaIy; ///< Y gyro drift estimate rad/s
float omegaIz; ///< Z gyro drift estimate rad/s
float accel_weight; ///< average accel_weight
float renorm_val; ///< average renormalisation value
float error_rp; ///< average error_roll_pitch value
float error_yaw; ///< average error_yaw value
} mavlink_ahrs_t;
#define MAVLINK_MSG_ID_AHRS_LEN 28
#define MAVLINK_MSG_ID_163_LEN 28
#define MAVLINK_MESSAGE_INFO_AHRS { \
"AHRS", \
7, \
{ { "omegaIx", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_ahrs_t, omegaIx) }, \
{ "omegaIy", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_ahrs_t, omegaIy) }, \
{ "omegaIz", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_ahrs_t, omegaIz) }, \
{ "accel_weight", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_ahrs_t, accel_weight) }, \
{ "renorm_val", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_ahrs_t, renorm_val) }, \
{ "error_rp", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_ahrs_t, error_rp) }, \
{ "error_yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_ahrs_t, error_yaw) }, \
} \
}
/**
* @brief Pack a ahrs message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param omegaIx X gyro drift estimate rad/s
* @param omegaIy Y gyro drift estimate rad/s
* @param omegaIz Z gyro drift estimate rad/s
* @param accel_weight average accel_weight
* @param renorm_val average renormalisation value
* @param error_rp average error_roll_pitch value
* @param error_yaw average error_yaw value
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_ahrs_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
float omegaIx, float omegaIy, float omegaIz, float accel_weight, float renorm_val, float error_rp, float error_yaw)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[28];
_mav_put_float(buf, 0, omegaIx);
_mav_put_float(buf, 4, omegaIy);
_mav_put_float(buf, 8, omegaIz);
_mav_put_float(buf, 12, accel_weight);
_mav_put_float(buf, 16, renorm_val);
_mav_put_float(buf, 20, error_rp);
_mav_put_float(buf, 24, error_yaw);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 28);
#else
mavlink_ahrs_t packet;
packet.omegaIx = omegaIx;
packet.omegaIy = omegaIy;
packet.omegaIz = omegaIz;
packet.accel_weight = accel_weight;
packet.renorm_val = renorm_val;
packet.error_rp = error_rp;
packet.error_yaw = error_yaw;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 28);
#endif
msg->msgid = MAVLINK_MSG_ID_AHRS;
return mavlink_finalize_message(msg, system_id, component_id, 28);
}
/**
* @brief Pack a ahrs message on a channel
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param omegaIx X gyro drift estimate rad/s
* @param omegaIy Y gyro drift estimate rad/s
* @param omegaIz Z gyro drift estimate rad/s
* @param accel_weight average accel_weight
* @param renorm_val average renormalisation value
* @param error_rp average error_roll_pitch value
* @param error_yaw average error_yaw value
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_ahrs_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
float omegaIx,float omegaIy,float omegaIz,float accel_weight,float renorm_val,float error_rp,float error_yaw)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[28];
_mav_put_float(buf, 0, omegaIx);
_mav_put_float(buf, 4, omegaIy);
_mav_put_float(buf, 8, omegaIz);
_mav_put_float(buf, 12, accel_weight);
_mav_put_float(buf, 16, renorm_val);
_mav_put_float(buf, 20, error_rp);
_mav_put_float(buf, 24, error_yaw);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 28);
#else
mavlink_ahrs_t packet;
packet.omegaIx = omegaIx;
packet.omegaIy = omegaIy;
packet.omegaIz = omegaIz;
packet.accel_weight = accel_weight;
packet.renorm_val = renorm_val;
packet.error_rp = error_rp;
packet.error_yaw = error_yaw;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 28);
#endif
msg->msgid = MAVLINK_MSG_ID_AHRS;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 28);
}
/**
* @brief Encode a ahrs 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 ahrs C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_ahrs_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_ahrs_t* ahrs)
{
return mavlink_msg_ahrs_pack(system_id, component_id, msg, ahrs->omegaIx, ahrs->omegaIy, ahrs->omegaIz, ahrs->accel_weight, ahrs->renorm_val, ahrs->error_rp, ahrs->error_yaw);
}
/**
* @brief Send a ahrs message
* @param chan MAVLink channel to send the message
*
* @param omegaIx X gyro drift estimate rad/s
* @param omegaIy Y gyro drift estimate rad/s
* @param omegaIz Z gyro drift estimate rad/s
* @param accel_weight average accel_weight
* @param renorm_val average renormalisation value
* @param error_rp average error_roll_pitch value
* @param error_yaw average error_yaw value
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_ahrs_send(mavlink_channel_t chan, float omegaIx, float omegaIy, float omegaIz, float accel_weight, float renorm_val, float error_rp, float error_yaw)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[28];
_mav_put_float(buf, 0, omegaIx);
_mav_put_float(buf, 4, omegaIy);
_mav_put_float(buf, 8, omegaIz);
_mav_put_float(buf, 12, accel_weight);
_mav_put_float(buf, 16, renorm_val);
_mav_put_float(buf, 20, error_rp);
_mav_put_float(buf, 24, error_yaw);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS, buf, 28);
#else
mavlink_ahrs_t packet;
packet.omegaIx = omegaIx;
packet.omegaIy = omegaIy;
packet.omegaIz = omegaIz;
packet.accel_weight = accel_weight;
packet.renorm_val = renorm_val;
packet.error_rp = error_rp;
packet.error_yaw = error_yaw;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS, (const char *)&packet, 28);
#endif
}
#endif
// MESSAGE AHRS UNPACKING
/**
* @brief Get field omegaIx from ahrs message
*
* @return X gyro drift estimate rad/s
*/
static inline float mavlink_msg_ahrs_get_omegaIx(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 0);
}
/**
* @brief Get field omegaIy from ahrs message
*
* @return Y gyro drift estimate rad/s
*/
static inline float mavlink_msg_ahrs_get_omegaIy(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 4);
}
/**
* @brief Get field omegaIz from ahrs message
*
* @return Z gyro drift estimate rad/s
*/
static inline float mavlink_msg_ahrs_get_omegaIz(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 8);
}
/**
* @brief Get field accel_weight from ahrs message
*
* @return average accel_weight
*/
static inline float mavlink_msg_ahrs_get_accel_weight(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 12);
}
/**
* @brief Get field renorm_val from ahrs message
*
* @return average renormalisation value
*/
static inline float mavlink_msg_ahrs_get_renorm_val(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 16);
}
/**
* @brief Get field error_rp from ahrs message
*
* @return average error_roll_pitch value
*/
static inline float mavlink_msg_ahrs_get_error_rp(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 20);
}
/**
* @brief Get field error_yaw from ahrs message
*
* @return average error_yaw value
*/
static inline float mavlink_msg_ahrs_get_error_yaw(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 24);
}
/**
* @brief Decode a ahrs message into a struct
*
* @param msg The message to decode
* @param ahrs C-struct to decode the message contents into
*/
static inline void mavlink_msg_ahrs_decode(const mavlink_message_t* msg, mavlink_ahrs_t* ahrs)
{
#if MAVLINK_NEED_BYTE_SWAP
ahrs->omegaIx = mavlink_msg_ahrs_get_omegaIx(msg);
ahrs->omegaIy = mavlink_msg_ahrs_get_omegaIy(msg);
ahrs->omegaIz = mavlink_msg_ahrs_get_omegaIz(msg);
ahrs->accel_weight = mavlink_msg_ahrs_get_accel_weight(msg);
ahrs->renorm_val = mavlink_msg_ahrs_get_renorm_val(msg);
ahrs->error_rp = mavlink_msg_ahrs_get_error_rp(msg);
ahrs->error_yaw = mavlink_msg_ahrs_get_error_yaw(msg);
#else
memcpy(ahrs, _MAV_PAYLOAD(msg), 28);
#endif
}
mavlink/include/v0.9/ardupilotmega/mavlink_msg_ap_adc.h → mavlink/include/mavlink/v0.9/ardupilotmega/mavlink_msg_ap_adc.h
View file @ 053eb5a8
......@@ -56,7 +56,7 @@ static inline uint16_t mavlink_msg_ap_adc_pack(uint8_t system_id, uint8_t compon
_mav_put_uint16_t(buf, 8, adc5);
_mav_put_uint16_t(buf, 10, adc6);
memcpy(_MAV_PAYLOAD(msg), buf, 12);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12);
#else
mavlink_ap_adc_t packet;
packet.adc1 = adc1;
......@@ -66,7 +66,7 @@ static inline uint16_t mavlink_msg_ap_adc_pack(uint8_t system_id, uint8_t compon
packet.adc5 = adc5;
packet.adc6 = adc6;
memcpy(_MAV_PAYLOAD(msg), &packet, 12);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12);
#endif
msg->msgid = MAVLINK_MSG_ID_AP_ADC;
......@@ -100,7 +100,7 @@ static inline uint16_t mavlink_msg_ap_adc_pack_chan(uint8_t system_id, uint8_t c
_mav_put_uint16_t(buf, 8, adc5);
_mav_put_uint16_t(buf, 10, adc6);
memcpy(_MAV_PAYLOAD(msg), buf, 12);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12);
#else
mavlink_ap_adc_t packet;
packet.adc1 = adc1;
......@@ -110,7 +110,7 @@ static inline uint16_t mavlink_msg_ap_adc_pack_chan(uint8_t system_id, uint8_t c
packet.adc5 = adc5;
packet.adc6 = adc6;
memcpy(_MAV_PAYLOAD(msg), &packet, 12);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12);
#endif
msg->msgid = MAVLINK_MSG_ID_AP_ADC;
......
mavlink/include/v0.9/ardupilotmega/mavlink_msg_dcm.h → mavlink/include/mavlink/v0.9/ardupilotmega/mavlink_msg_dcm.h
View file @ 053eb5a8
......@@ -60,7 +60,7 @@ static inline uint16_t mavlink_msg_dcm_pack(uint8_t system_id, uint8_t component
_mav_put_float(buf, 20, error_rp);
_mav_put_float(buf, 24, error_yaw);
memcpy(_MAV_PAYLOAD(msg), buf, 28);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 28);
#else
mavlink_dcm_t packet;
packet.omegaIx = omegaIx;
......@@ -71,7 +71,7 @@ static inline uint16_t mavlink_msg_dcm_pack(uint8_t system_id, uint8_t component
packet.error_rp = error_rp;
packet.error_yaw = error_yaw;
memcpy(_MAV_PAYLOAD(msg), &packet, 28);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 28);
#endif
msg->msgid = MAVLINK_MSG_ID_DCM;
......@@ -107,7 +107,7 @@ static inline uint16_t mavlink_msg_dcm_pack_chan(uint8_t system_id, uint8_t comp
_mav_put_float(buf, 20, error_rp);
_mav_put_float(buf, 24, error_yaw);
memcpy(_MAV_PAYLOAD(msg), buf, 28);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 28);
#else
mavlink_dcm_t packet;
packet.omegaIx = omegaIx;
......@@ -118,7 +118,7 @@ static inline uint16_t mavlink_msg_dcm_pack_chan(uint8_t system_id, uint8_t comp
packet.error_rp = error_rp;
packet.error_yaw = error_yaw;
memcpy(_MAV_PAYLOAD(msg), &packet, 28);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 28);
#endif
msg->msgid = MAVLINK_MSG_ID_DCM;
......
mavlink/include/v0.9/ardupilotmega/mavlink_msg_digicam_configure.h → mavlink/include/mavlink/v0.9/ardupilotmega/mavlink_msg_digicam_configure.h
View file @ 053eb5a8
......@@ -76,7 +76,7 @@ static inline uint16_t mavlink_msg_digicam_configure_pack(uint8_t system_id, uin
_mav_put_uint8_t(buf, 10, extra_param);
_mav_put_float(buf, 11, extra_value);
memcpy(_MAV_PAYLOAD(msg), buf, 15);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 15);
#else
mavlink_digicam_configure_t packet;
packet.target_system = target_system;
......@@ -91,7 +91,7 @@ static inline uint16_t mavlink_msg_digicam_configure_pack(uint8_t system_id, uin
packet.extra_param = extra_param;
packet.extra_value = extra_value;
memcpy(_MAV_PAYLOAD(msg), &packet, 15);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 15);
#endif
msg->msgid = MAVLINK_MSG_ID_DIGICAM_CONFIGURE;
......@@ -135,7 +135,7 @@ static inline uint16_t mavlink_msg_digicam_configure_pack_chan(uint8_t system_id
_mav_put_uint8_t(buf, 10, extra_param);
_mav_put_float(buf, 11, extra_value);
memcpy(_MAV_PAYLOAD(msg), buf, 15);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 15);
#else
mavlink_digicam_configure_t packet;
packet.target_system = target_system;
......@@ -150,7 +150,7 @@ static inline uint16_t mavlink_msg_digicam_configure_pack_chan(uint8_t system_id
packet.extra_param = extra_param;
packet.extra_value = extra_value;
memcpy(_MAV_PAYLOAD(msg), &packet, 15);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 15);
#endif
msg->msgid = MAVLINK_MSG_ID_DIGICAM_CONFIGURE;
......
mavlink/include/v0.9/ardupilotmega/mavlink_msg_digicam_control.h → mavlink/include/mavlink/v0.9/ardupilotmega/mavlink_msg_digicam_control.h
View file @ 053eb5a8
......@@ -72,7 +72,7 @@ static inline uint16_t mavlink_msg_digicam_control_pack(uint8_t system_id, uint8
_mav_put_uint8_t(buf, 8, extra_param);
_mav_put_float(buf, 9, extra_value);
memcpy(_MAV_PAYLOAD(msg), buf, 13);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 13);
#else
mavlink_digicam_control_t packet;
packet.target_system = target_system;
......@@ -86,7 +86,7 @@ static inline uint16_t mavlink_msg_digicam_control_pack(uint8_t system_id, uint8
packet.extra_param = extra_param;
packet.extra_value = extra_value;
memcpy(_MAV_PAYLOAD(msg), &packet, 13);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 13);
#endif
msg->msgid = MAVLINK_MSG_ID_DIGICAM_CONTROL;
......@@ -128,7 +128,7 @@ static inline uint16_t mavlink_msg_digicam_control_pack_chan(uint8_t system_id,
_mav_put_uint8_t(buf, 8, extra_param);
_mav_put_float(buf, 9, extra_value);
memcpy(_MAV_PAYLOAD(msg), buf, 13);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 13);
#else
mavlink_digicam_control_t packet;
packet.target_system = target_system;
......@@ -142,7 +142,7 @@ static inline uint16_t mavlink_msg_digicam_control_pack_chan(uint8_t system_id,
packet.extra_param = extra_param;
packet.extra_value = extra_value;
memcpy(_MAV_PAYLOAD(msg), &packet, 13);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 13);
#endif
msg->msgid = MAVLINK_MSG_ID_DIGICAM_CONTROL;
......
mavlink/include/v0.9/ardupilotmega/mavlink_msg_fence_fetch_point.h → mavlink/include/mavlink/v0.9/ardupilotmega/mavlink_msg_fence_fetch_point.h
View file @ 053eb5a8
......@@ -44,14 +44,14 @@ static inline uint16_t mavlink_msg_fence_fetch_point_pack(uint8_t system_id, uin
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_uint8_t(buf, 2, idx);
memcpy(_MAV_PAYLOAD(msg), buf, 3);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 3);
#else
mavlink_fence_fetch_point_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
packet.idx = idx;
memcpy(_MAV_PAYLOAD(msg), &packet, 3);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 3);
#endif
msg->msgid = MAVLINK_MSG_ID_FENCE_FETCH_POINT;
......@@ -79,14 +79,14 @@ static inline uint16_t mavlink_msg_fence_fetch_point_pack_chan(uint8_t system_id
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_uint8_t(buf, 2, idx);
memcpy(_MAV_PAYLOAD(msg), buf, 3);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 3);
#else
mavlink_fence_fetch_point_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
packet.idx = idx;
memcpy(_MAV_PAYLOAD(msg), &packet, 3);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 3);
#endif
msg->msgid = MAVLINK_MSG_ID_FENCE_FETCH_POINT;
......
mavlink/include/v0.9/ardupilotmega/mavlink_msg_fence_point.h → mavlink/include/mavlink/v0.9/ardupilotmega/mavlink_msg_fence_point.h
View file @ 053eb5a8
......@@ -56,7 +56,7 @@ static inline uint16_t mavlink_msg_fence_point_pack(uint8_t system_id, uint8_t c
_mav_put_float(buf, 4, lat);
_mav_put_float(buf, 8, lng);
memcpy(_MAV_PAYLOAD(msg), buf, 12);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12);
#else
mavlink_fence_point_t packet;
packet.target_system = target_system;
......@@ -66,7 +66,7 @@ static inline uint16_t mavlink_msg_fence_point_pack(uint8_t system_id, uint8_t c
packet.lat = lat;
packet.lng = lng;
memcpy(_MAV_PAYLOAD(msg), &packet, 12);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12);
#endif
msg->msgid = MAVLINK_MSG_ID_FENCE_POINT;
......@@ -100,7 +100,7 @@ static inline uint16_t mavlink_msg_fence_point_pack_chan(uint8_t system_id, uint
_mav_put_float(buf, 4, lat);
_mav_put_float(buf, 8, lng);
memcpy(_MAV_PAYLOAD(msg), buf, 12);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12);
#else
mavlink_fence_point_t packet;
packet.target_system = target_system;
......@@ -110,7 +110,7 @@ static inline uint16_t mavlink_msg_fence_point_pack_chan(uint8_t system_id, uint
packet.lat = lat;
packet.lng = lng;
memcpy(_MAV_PAYLOAD(msg), &packet, 12);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12);
#endif
msg->msgid = MAVLINK_MSG_ID_FENCE_POINT;
......
mavlink/include/v0.9/ardupilotmega/mavlink_msg_fence_status.h → mavlink/include/mavlink/v0.9/ardupilotmega/mavlink_msg_fence_status.h
View file @ 053eb5a8
......@@ -48,7 +48,7 @@ static inline uint16_t mavlink_msg_fence_status_pack(uint8_t system_id, uint8_t
_mav_put_uint8_t(buf, 3, breach_type);
_mav_put_uint32_t(buf, 4, breach_time);
memcpy(_MAV_PAYLOAD(msg), buf, 8);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 8);
#else
mavlink_fence_status_t packet;
packet.breach_status = breach_status;
......@@ -56,7 +56,7 @@ static inline uint16_t mavlink_msg_fence_status_pack(uint8_t system_id, uint8_t
packet.breach_type = breach_type;
packet.breach_time = breach_time;
memcpy(_MAV_PAYLOAD(msg), &packet, 8);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 8);
#endif
msg->msgid = MAVLINK_MSG_ID_FENCE_STATUS;
......@@ -86,7 +86,7 @@ static inline uint16_t mavlink_msg_fence_status_pack_chan(uint8_t system_id, uin
_mav_put_uint8_t(buf, 3, breach_type);
_mav_put_uint32_t(buf, 4, breach_time);
memcpy(_MAV_PAYLOAD(msg), buf, 8);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 8);
#else
mavlink_fence_status_t packet;
packet.breach_status = breach_status;
......@@ -94,7 +94,7 @@ static inline uint16_t mavlink_msg_fence_status_pack_chan(uint8_t system_id, uin
packet.breach_type = breach_type;
packet.breach_time = breach_time;
memcpy(_MAV_PAYLOAD(msg), &packet, 8);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 8);
#endif
msg->msgid = MAVLINK_MSG_ID_FENCE_STATUS;
......
mavlink/include/v0.9/ardupilotmega/mavlink_msg_hwstatus.h → mavlink/include/mavlink/v0.9/ardupilotmega/mavlink_msg_hwstatus.h
View file @ 053eb5a8
......@@ -40,13 +40,13 @@ static inline uint16_t mavlink_msg_hwstatus_pack(uint8_t system_id, uint8_t comp
_mav_put_uint16_t(buf, 0, Vcc);
_mav_put_uint8_t(buf, 2, I2Cerr);
memcpy(_MAV_PAYLOAD(msg), buf, 3);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 3);
#else
mavlink_hwstatus_t packet;
packet.Vcc = Vcc;
packet.I2Cerr = I2Cerr;
memcpy(_MAV_PAYLOAD(msg), &packet, 3);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 3);
#endif
msg->msgid = MAVLINK_MSG_ID_HWSTATUS;
......@@ -72,13 +72,13 @@ static inline uint16_t mavlink_msg_hwstatus_pack_chan(uint8_t system_id, uint8_t
_mav_put_uint16_t(buf, 0, Vcc);
_mav_put_uint8_t(buf, 2, I2Cerr);
memcpy(_MAV_PAYLOAD(msg), buf, 3);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 3);
#else
mavlink_hwstatus_t packet;
packet.Vcc = Vcc;
packet.I2Cerr = I2Cerr;
memcpy(_MAV_PAYLOAD(msg), &packet, 3);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 3);
#endif
msg->msgid = MAVLINK_MSG_ID_HWSTATUS;
......
mavlink/include/v0.9/ardupilotmega/mavlink_msg_meminfo.h → mavlink/include/mavlink/v0.9/ardupilotmega/mavlink_msg_meminfo.h
View file @ 053eb5a8
......@@ -40,13 +40,13 @@ static inline uint16_t mavlink_msg_meminfo_pack(uint8_t system_id, uint8_t compo
_mav_put_uint16_t(buf, 0, brkval);
_mav_put_uint16_t(buf, 2, freemem);
memcpy(_MAV_PAYLOAD(msg), buf, 4);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 4);
#else
mavlink_meminfo_t packet;
packet.brkval = brkval;
packet.freemem = freemem;
memcpy(_MAV_PAYLOAD(msg), &packet, 4);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 4);
#endif
msg->msgid = MAVLINK_MSG_ID_MEMINFO;
......@@ -72,13 +72,13 @@ static inline uint16_t mavlink_msg_meminfo_pack_chan(uint8_t system_id, uint8_t
_mav_put_uint16_t(buf, 0, brkval);
_mav_put_uint16_t(buf, 2, freemem);
memcpy(_MAV_PAYLOAD(msg), buf, 4);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 4);
#else
mavlink_meminfo_t packet;
packet.brkval = brkval;
packet.freemem = freemem;
memcpy(_MAV_PAYLOAD(msg), &packet, 4);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 4);
#endif
msg->msgid = MAVLINK_MSG_ID_MEMINFO;
......
mavlink/include/v0.9/ardupilotmega/mavlink_msg_mount_configure.h → mavlink/include/mavlink/v0.9/ardupilotmega/mavlink_msg_mount_configure.h
View file @ 053eb5a8
......@@ -56,7 +56,7 @@ static inline uint16_t mavlink_msg_mount_configure_pack(uint8_t system_id, uint8
_mav_put_uint8_t(buf, 4, stab_pitch);
_mav_put_uint8_t(buf, 5, stab_yaw);
memcpy(_MAV_PAYLOAD(msg), buf, 6);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 6);
#else
mavlink_mount_configure_t packet;
packet.target_system = target_system;
......@@ -66,7 +66,7 @@ static inline uint16_t mavlink_msg_mount_configure_pack(uint8_t system_id, uint8
packet.stab_pitch = stab_pitch;
packet.stab_yaw = stab_yaw;
memcpy(_MAV_PAYLOAD(msg), &packet, 6);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 6);
#endif
msg->msgid = MAVLINK_MSG_ID_MOUNT_CONFIGURE;
......@@ -100,7 +100,7 @@ static inline uint16_t mavlink_msg_mount_configure_pack_chan(uint8_t system_id,
_mav_put_uint8_t(buf, 4, stab_pitch);
_mav_put_uint8_t(buf, 5, stab_yaw);
memcpy(_MAV_PAYLOAD(msg), buf, 6);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 6);
#else
mavlink_mount_configure_t packet;
packet.target_system = target_system;
......@@ -110,7 +110,7 @@ static inline uint16_t mavlink_msg_mount_configure_pack_chan(uint8_t system_id,
packet.stab_pitch = stab_pitch;
packet.stab_yaw = stab_yaw;
memcpy(_MAV_PAYLOAD(msg), &packet, 6);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 6);
#endif
msg->msgid = MAVLINK_MSG_ID_MOUNT_CONFIGURE;
......
mavlink/include/v0.9/ardupilotmega/mavlink_msg_mount_control.h → mavlink/include/mavlink/v0.9/ardupilotmega/mavlink_msg_mount_control.h
View file @ 053eb5a8
......@@ -56,7 +56,7 @@ static inline uint16_t mavlink_msg_mount_control_pack(uint8_t system_id, uint8_t
_mav_put_int32_t(buf, 10, input_c);
_mav_put_uint8_t(buf, 14, save_position);
memcpy(_MAV_PAYLOAD(msg), buf, 15);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 15);
#else
mavlink_mount_control_t packet;
packet.target_system = target_system;
......@@ -66,7 +66,7 @@ static inline uint16_t mavlink_msg_mount_control_pack(uint8_t system_id, uint8_t
packet.input_c = input_c;
packet.save_position = save_position;
memcpy(_MAV_PAYLOAD(msg), &packet, 15);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 15);
#endif
msg->msgid = MAVLINK_MSG_ID_MOUNT_CONTROL;
......@@ -100,7 +100,7 @@ static inline uint16_t mavlink_msg_mount_control_pack_chan(uint8_t system_id, ui
_mav_put_int32_t(buf, 10, input_c);
_mav_put_uint8_t(buf, 14, save_position);
memcpy(_MAV_PAYLOAD(msg), buf, 15);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 15);
#else
mavlink_mount_control_t packet;
packet.target_system = target_system;
......@@ -110,7 +110,7 @@ static inline uint16_t mavlink_msg_mount_control_pack_chan(uint8_t system_id, ui
packet.input_c = input_c;
packet.save_position = save_position;
memcpy(_MAV_PAYLOAD(msg), &packet, 15);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 15);
#endif
msg->msgid = MAVLINK_MSG_ID_MOUNT_CONTROL;
......
mavlink/include/v0.9/ardupilotmega/mavlink_msg_mount_status.h → mavlink/include/mavlink/v0.9/ardupilotmega/mavlink_msg_mount_status.h
View file @ 053eb5a8
......@@ -52,7 +52,7 @@ static inline uint16_t mavlink_msg_mount_status_pack(uint8_t system_id, uint8_t
_mav_put_int32_t(buf, 6, pointing_b);
_mav_put_int32_t(buf, 10, pointing_c);
memcpy(_MAV_PAYLOAD(msg), buf, 14);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 14);
#else
mavlink_mount_status_t packet;
packet.target_system = target_system;
......@@ -61,7 +61,7 @@ static inline uint16_t mavlink_msg_mount_status_pack(uint8_t system_id, uint8_t
packet.pointing_b = pointing_b;
packet.pointing_c = pointing_c;
memcpy(_MAV_PAYLOAD(msg), &packet, 14);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 14);
#endif
msg->msgid = MAVLINK_MSG_ID_MOUNT_STATUS;
......@@ -93,7 +93,7 @@ static inline uint16_t mavlink_msg_mount_status_pack_chan(uint8_t system_id, uin
_mav_put_int32_t(buf, 6, pointing_b);
_mav_put_int32_t(buf, 10, pointing_c);
memcpy(_MAV_PAYLOAD(msg), buf, 14);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 14);
#else
mavlink_mount_status_t packet;
packet.target_system = target_system;
......@@ -102,7 +102,7 @@ static inline uint16_t mavlink_msg_mount_status_pack_chan(uint8_t system_id, uin
packet.pointing_b = pointing_b;
packet.pointing_c = pointing_c;
memcpy(_MAV_PAYLOAD(msg), &packet, 14);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 14);
#endif
msg->msgid = MAVLINK_MSG_ID_MOUNT_STATUS;
......
mavlink/include/mavlink/v0.9/ardupilotmega/mavlink_msg_radio.h 0 → 100644
View file @ 053eb5a8
// MESSAGE RADIO PACKING
#define MAVLINK_MSG_ID_RADIO 166
typedef struct __mavlink_radio_t
{
uint8_t rssi; ///< local signal strength
uint8_t remrssi; ///< remote signal strength
uint8_t txbuf; ///< how full the tx buffer is as a percentage
uint8_t noise; ///< background noise level
uint8_t remnoise; ///< remote background noise level
uint16_t rxerrors; ///< receive errors
uint16_t fixed; ///< count of error corrected packets
} mavlink_radio_t;
#define MAVLINK_MSG_ID_RADIO_LEN 9
#define MAVLINK_MSG_ID_166_LEN 9
#define MAVLINK_MESSAGE_INFO_RADIO { \
"RADIO", \
7, \
{ { "rssi", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_radio_t, rssi) }, \
{ "remrssi", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_radio_t, remrssi) }, \
{ "txbuf", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_radio_t, txbuf) }, \
{ "noise", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_radio_t, noise) }, \
{ "remnoise", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_radio_t, remnoise) }, \
{ "rxerrors", NULL, MAVLINK_TYPE_UINT16_T, 0, 5, offsetof(mavlink_radio_t, rxerrors) }, \
{ "fixed", NULL, MAVLINK_TYPE_UINT16_T, 0, 7, offsetof(mavlink_radio_t, fixed) }, \
} \
}
/**
* @brief Pack a radio message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param rssi local signal strength
* @param remrssi remote signal strength
* @param txbuf how full the tx buffer is as a percentage
* @param noise background noise level
* @param remnoise remote background noise level
* @param rxerrors receive errors
* @param fixed count of error corrected packets
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_radio_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t rssi, uint8_t remrssi, uint8_t txbuf, uint8_t noise, uint8_t remnoise, uint16_t rxerrors, uint16_t fixed)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[9];
_mav_put_uint8_t(buf, 0, rssi);
_mav_put_uint8_t(buf, 1, remrssi);
_mav_put_uint8_t(buf, 2, txbuf);
_mav_put_uint8_t(buf, 3, noise);
_mav_put_uint8_t(buf, 4, remnoise);
_mav_put_uint16_t(buf, 5, rxerrors);
_mav_put_uint16_t(buf, 7, fixed);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 9);
#else
mavlink_radio_t packet;
packet.rssi = rssi;
packet.remrssi = remrssi;
packet.txbuf = txbuf;
packet.noise = noise;
packet.remnoise = remnoise;
packet.rxerrors = rxerrors;
packet.fixed = fixed;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 9);
#endif
msg->msgid = MAVLINK_MSG_ID_RADIO;
return mavlink_finalize_message(msg, system_id, component_id, 9);
}
/**
* @brief Pack a radio message on a channel
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param rssi local signal strength
* @param remrssi remote signal strength
* @param txbuf how full the tx buffer is as a percentage
* @param noise background noise level
* @param remnoise remote background noise level
* @param rxerrors receive errors
* @param fixed count of error corrected packets
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_radio_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint8_t rssi,uint8_t remrssi,uint8_t txbuf,uint8_t noise,uint8_t remnoise,uint16_t rxerrors,uint16_t fixed)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[9];
_mav_put_uint8_t(buf, 0, rssi);
_mav_put_uint8_t(buf, 1, remrssi);
_mav_put_uint8_t(buf, 2, txbuf);
_mav_put_uint8_t(buf, 3, noise);
_mav_put_uint8_t(buf, 4, remnoise);
_mav_put_uint16_t(buf, 5, rxerrors);
_mav_put_uint16_t(buf, 7, fixed);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 9);
#else
mavlink_radio_t packet;
packet.rssi = rssi;
packet.remrssi = remrssi;
packet.txbuf = txbuf;
packet.noise = noise;
packet.remnoise = remnoise;
packet.rxerrors = rxerrors;
packet.fixed = fixed;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 9);
#endif
msg->msgid = MAVLINK_MSG_ID_RADIO;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 9);
}
/**
* @brief Encode a radio struct into a message
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
* @param radio C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_radio_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_radio_t* radio)
{
return mavlink_msg_radio_pack(system_id, component_id, msg, radio->rssi, radio->remrssi, radio->txbuf, radio->noise, radio->remnoise, radio->rxerrors, radio->fixed);
}
/**
* @brief Send a radio message
* @param chan MAVLink channel to send the message
*
* @param rssi local signal strength
* @param remrssi remote signal strength
* @param txbuf how full the tx buffer is as a percentage
* @param noise background noise level
* @param remnoise remote background noise level
* @param rxerrors receive errors
* @param fixed count of error corrected packets
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_radio_send(mavlink_channel_t chan, uint8_t rssi, uint8_t remrssi, uint8_t txbuf, uint8_t noise, uint8_t remnoise, uint16_t rxerrors, uint16_t fixed)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[9];
_mav_put_uint8_t(buf, 0, rssi);
_mav_put_uint8_t(buf, 1, remrssi);
_mav_put_uint8_t(buf, 2, txbuf);
_mav_put_uint8_t(buf, 3, noise);
_mav_put_uint8_t(buf, 4, remnoise);
_mav_put_uint16_t(buf, 5, rxerrors);
_mav_put_uint16_t(buf, 7, fixed);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RADIO, buf, 9);
#else
mavlink_radio_t packet;
packet.rssi = rssi;
packet.remrssi = remrssi;
packet.txbuf = txbuf;
packet.noise = noise;
packet.remnoise = remnoise;
packet.rxerrors = rxerrors;
packet.fixed = fixed;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RADIO, (const char *)&packet, 9);
#endif
}
#endif
// MESSAGE RADIO UNPACKING
/**
* @brief Get field rssi from radio message
*
* @return local signal strength
*/
static inline uint8_t mavlink_msg_radio_get_rssi(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 0);
}
/**
* @brief Get field remrssi from radio message
*
* @return remote signal strength
*/
static inline uint8_t mavlink_msg_radio_get_remrssi(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 1);
}
/**
* @brief Get field txbuf from radio message
*
* @return how full the tx buffer is as a percentage
*/
static inline uint8_t mavlink_msg_radio_get_txbuf(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 2);
}
/**
* @brief Get field noise from radio message
*
* @return background noise level
*/
static inline uint8_t mavlink_msg_radio_get_noise(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 3);
}
/**
* @brief Get field remnoise from radio message
*
* @return remote background noise level
*/
static inline uint8_t mavlink_msg_radio_get_remnoise(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 4);
}
/**
* @brief Get field rxerrors from radio message
*
* @return receive errors
*/
static inline uint16_t mavlink_msg_radio_get_rxerrors(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 5);
}
/**
* @brief Get field fixed from radio message
*
* @return count of error corrected packets
*/
static inline uint16_t mavlink_msg_radio_get_fixed(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 7);
}
/**
* @brief Decode a radio message into a struct
*
* @param msg The message to decode
* @param radio C-struct to decode the message contents into
*/
static inline void mavlink_msg_radio_decode(const mavlink_message_t* msg, mavlink_radio_t* radio)
{
#if MAVLINK_NEED_BYTE_SWAP
radio->rssi = mavlink_msg_radio_get_rssi(msg);
radio->remrssi = mavlink_msg_radio_get_remrssi(msg);
radio->txbuf = mavlink_msg_radio_get_txbuf(msg);
radio->noise = mavlink_msg_radio_get_noise(msg);
radio->remnoise = mavlink_msg_radio_get_remnoise(msg);
radio->rxerrors = mavlink_msg_radio_get_rxerrors(msg);
radio->fixed = mavlink_msg_radio_get_fixed(msg);
#else
memcpy(radio, _MAV_PAYLOAD(msg), 9);
#endif
}
mavlink/include/v0.9/ardupilotmega/mavlink_msg_sensor_offsets.h → mavlink/include/mavlink/v0.9/ardupilotmega/mavlink_msg_sensor_offsets.h
View file @ 053eb5a8
......@@ -80,7 +80,7 @@ static inline uint16_t mavlink_msg_sensor_offsets_pack(uint8_t system_id, uint8_
_mav_put_float(buf, 34, accel_cal_y);
_mav_put_float(buf, 38, accel_cal_z);
memcpy(_MAV_PAYLOAD(msg), buf, 42);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 42);
#else
mavlink_sensor_offsets_t packet;
packet.mag_ofs_x = mag_ofs_x;
......@@ -96,7 +96,7 @@ static inline uint16_t mavlink_msg_sensor_offsets_pack(uint8_t system_id, uint8_
packet.accel_cal_y = accel_cal_y;
packet.accel_cal_z = accel_cal_z;
memcpy(_MAV_PAYLOAD(msg), &packet, 42);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 42);
#endif
msg->msgid = MAVLINK_MSG_ID_SENSOR_OFFSETS;
......@@ -142,7 +142,7 @@ static inline uint16_t mavlink_msg_sensor_offsets_pack_chan(uint8_t system_id, u
_mav_put_float(buf, 34, accel_cal_y);
_mav_put_float(buf, 38, accel_cal_z);
memcpy(_MAV_PAYLOAD(msg), buf, 42);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 42);
#else
mavlink_sensor_offsets_t packet;
packet.mag_ofs_x = mag_ofs_x;
......@@ -158,7 +158,7 @@ static inline uint16_t mavlink_msg_sensor_offsets_pack_chan(uint8_t system_id, u
packet.accel_cal_y = accel_cal_y;
packet.accel_cal_z = accel_cal_z;
memcpy(_MAV_PAYLOAD(msg), &packet, 42);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 42);
#endif
msg->msgid = MAVLINK_MSG_ID_SENSOR_OFFSETS;
......
mavlink/include/v0.9/ardupilotmega/mavlink_msg_set_mag_offsets.h → mavlink/include/mavlink/v0.9/ardupilotmega/mavlink_msg_set_mag_offsets.h
View file @ 053eb5a8
......@@ -52,7 +52,7 @@ static inline uint16_t mavlink_msg_set_mag_offsets_pack(uint8_t system_id, uint8
_mav_put_int16_t(buf, 4, mag_ofs_y);
_mav_put_int16_t(buf, 6, mag_ofs_z);
memcpy(_MAV_PAYLOAD(msg), buf, 8);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 8);
#else
mavlink_set_mag_offsets_t packet;
packet.target_system = target_system;
......@@ -61,7 +61,7 @@ static inline uint16_t mavlink_msg_set_mag_offsets_pack(uint8_t system_id, uint8
packet.mag_ofs_y = mag_ofs_y;
packet.mag_ofs_z = mag_ofs_z;
memcpy(_MAV_PAYLOAD(msg), &packet, 8);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 8);
#endif
msg->msgid = MAVLINK_MSG_ID_SET_MAG_OFFSETS;
......@@ -93,7 +93,7 @@ static inline uint16_t mavlink_msg_set_mag_offsets_pack_chan(uint8_t system_id,
_mav_put_int16_t(buf, 4, mag_ofs_y);
_mav_put_int16_t(buf, 6, mag_ofs_z);
memcpy(_MAV_PAYLOAD(msg), buf, 8);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 8);
#else
mavlink_set_mag_offsets_t packet;
packet.target_system = target_system;
......@@ -102,7 +102,7 @@ static inline uint16_t mavlink_msg_set_mag_offsets_pack_chan(uint8_t system_id,
packet.mag_ofs_y = mag_ofs_y;
packet.mag_ofs_z = mag_ofs_z;
memcpy(_MAV_PAYLOAD(msg), &packet, 8);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 8);
#endif
msg->msgid = MAVLINK_MSG_ID_SET_MAG_OFFSETS;
......
mavlink/include/v0.9/ardupilotmega/mavlink_msg_simstate.h → mavlink/include/mavlink/v0.9/ardupilotmega/mavlink_msg_simstate.h
View file @ 053eb5a8
......@@ -68,7 +68,7 @@ static inline uint16_t mavlink_msg_simstate_pack(uint8_t system_id, uint8_t comp
_mav_put_float(buf, 28, ygyro);
_mav_put_float(buf, 32, zgyro);
memcpy(_MAV_PAYLOAD(msg), buf, 36);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 36);
#else
mavlink_simstate_t packet;
packet.roll = roll;
......@@ -81,7 +81,7 @@ static inline uint16_t mavlink_msg_simstate_pack(uint8_t system_id, uint8_t comp
packet.ygyro = ygyro;
packet.zgyro = zgyro;
memcpy(_MAV_PAYLOAD(msg), &packet, 36);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 36);
#endif
msg->msgid = MAVLINK_MSG_ID_SIMSTATE;
......@@ -121,7 +121,7 @@ static inline uint16_t mavlink_msg_simstate_pack_chan(uint8_t system_id, uint8_t
_mav_put_float(buf, 28, ygyro);
_mav_put_float(buf, 32, zgyro);
memcpy(_MAV_PAYLOAD(msg), buf, 36);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 36);
#else
mavlink_simstate_t packet;
packet.roll = roll;
......@@ -134,7 +134,7 @@ static inline uint16_t mavlink_msg_simstate_pack_chan(uint8_t system_id, uint8_t
packet.ygyro = ygyro;
packet.zgyro = zgyro;
memcpy(_MAV_PAYLOAD(msg), &packet, 36);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 36);
#endif
msg->msgid = MAVLINK_MSG_ID_SIMSTATE;
......
mavlink/include/mavlink/v0.9/ardupilotmega/testsuite.h 0 → 100644
View file @ 053eb5a8
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mavlink/include/v0.9/ardupilotmega/version.h → mavlink/include/mavlink/v0.9/ardupilotmega/version.h
View file @ 053eb5a8
......@@ -5,7 +5,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Thu Mar 1 01:19:37 2012"
#define MAVLINK_BUILD_DATE "Thu Apr 19 19:46:08 2012"
#define MAVLINK_WIRE_PROTOCOL_VERSION "0.9"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101
......
mavlink/include/v0.9/common/mavlink_msg_action.h → mavlink/include/mavlink/v0.9/common/mavlink_msg_action.h
View file @ 053eb5a8
......@@ -44,14 +44,14 @@ static inline uint16_t mavlink_msg_action_pack(uint8_t system_id, uint8_t compon
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_uint8_t(buf, 2, action);
memcpy(_MAV_PAYLOAD(msg), buf, 3);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 3);
#else
mavlink_action_t packet;
packet.target = target;
packet.target_component = target_component;
packet.action = action;
memcpy(_MAV_PAYLOAD(msg), &packet, 3);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 3);
#endif
msg->msgid = MAVLINK_MSG_ID_ACTION;
......@@ -79,14 +79,14 @@ static inline uint16_t mavlink_msg_action_pack_chan(uint8_t system_id, uint8_t c
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_uint8_t(buf, 2, action);
memcpy(_MAV_PAYLOAD(msg), buf, 3);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 3);
#else
mavlink_action_t packet;
packet.target = target;
packet.target_component = target_component;
packet.action = action;
memcpy(_MAV_PAYLOAD(msg), &packet, 3);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 3);
#endif
msg->msgid = MAVLINK_MSG_ID_ACTION;
......
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