Added local mavlink.

mavlink @ d2803c5e

-Subproject commit d2803c5eddbb30a14731c403a96f7a200318e50f

thirdParty/mavlink/.gitignore

+*~
+doc/html
+doc/*.log

thirdParty/mavlink/README

+MAVLink Micro Air Vehicle Message Marshalling Library
+
+This is a library for lightweight communication between
+Micro Air Vehicles (swarm) and/or ground control stations.
+It serializes C-structs for serial channels and can be used with
+any type of radio modem.
+
+For help, please visit the mailing list: http://groups.google.com/group/mavlink
+
+MAVLink is licensed under the terms of the Lesser General Public License of the Free Software Foundation (LGPL).
+As MAVLink is a header-only library, compiling an application with it is considered "using the libary", not a derived work. MAVLink can therefore be used without limits in any closed-source application without publishing the source code of the closed-source application.
+
+To generate/update packets, select mavlink_standard_message.xml
+in the QGroundControl station settings view, select mavlink/include as
+the output directory and click on "Save and Generate".
+You will find the newly generated/updated message_xx.h files in
+the mavlink/include/generated folder.
+
+To use MAVLink, #include the <mavlink.h> file, not the individual
+message files. In some cases you will have to add the main folder to the include search path as well. To be safe, we recommend these flags:
+
+gcc -I mavlink/include -I mavlink/include/<your message set, e.g. common>
+
+For more information, please visit:
+
+http://qgroundcontrol.org/mavlink/
+
+(c) 2009-2011 Lorenz Meier <mail@qgroundcontrol.org>
+

thirdParty/mavlink/doc/README

+MAVLink Micro Air Vehicle Message Marshalling Library
+
+The mavlink_to_html_table.xsl file is used to transform the MAVLink XML into a human-readable HTML table for online documentation.
+
+For more information, please visit:
+
+http://pixhawk.ethz.ch/software/mavlink
+
+(c) 2009-2010 Lorenz Meier / PIXHAWK Team

thirdParty/mavlink/doc/mavlink.css

+table.sortable {
+    spacing: 5px;
+    border: 1px solid #656575;
+    width: 100%;
+}
+
+table.sortable th {
+    margin: 5px;
+}
+
+tr:nth-child(odd)   { background-color:#eee; }
+tr:nth-child(even)  { background-color:#fff; }
+
+table.sortable thead {
+    background-color:#eee;
+    color:#666666;
+    font-weight: bold;
+    cursor: default;
+}
+
+table.sortable td {
+    margin: 5px 5px 20px 5px;
+    vertical-align: top;
+}
+
+table.sortable td.mavlink_name {
+    color:#226633;
+    font-weight: bold;
+    width: 25%;
+    vertical-align: top;
+}
+
+table.sortable td.mavlink_mission_param {
+    color:#334455;
+    font-weight: bold;
+    width: 25%;
+}
+
+table.sortable td.mavlink_type {
+    color:#323232;
+    font-weight: normal;
+    width: 12%;
+}
+
+table.sortable td.mavlink_comment {
+    color:#555555;
+    font-weight: normal;
+    width: 60%;
+}
+
+p.description {
+    color:#808080;
+    font-weight: normal;
+}
\ No newline at end of file

thirdParty/mavlink/doc/mavlink.php

+<?php>
+
+// Requires the installation of php5-xsl
+// e.g. on Debian/Ubuntu: sudo apt-get install php5-xsl
+
+// Load the file from the repository / server.
+// Update this URL if the file location changes
+
+$xml_file_name = "http://github.com/pixhawk/mavlink/raw/master/mavlink_standard_message.xml";
+
+// Load the XSL transformation file from the repository / server.
+// This file can be updated by any client to adjust the table
+
+$xsl_file_name= "http://github.com/pixhawk/mavlink/raw/master/doc/mavlink_to_html_table.xsl";
+
+
+
+// Load data XML file
+$xml = file_get_contents($xml_file_name);
+$xml_doc = new DomDocument;
+$xml_doc->loadXML($xml);
+
+// Load stylesheet XSL file
+$xsl = file_get_contents($xsl_file_name);
+$xsl_doc = new DomDocument;
+$xsl_doc->loadXML($xsl);
+
+$xsltproc = new XsltProcessor();
+$xsltproc->importStylesheet($xsl_doc);
+
+// process the files and write the output to $out_file
+if ($html = $xsltproc->transformToXML($xml_doc))
+{
+  echo $html;
+}
+else
+{
+  trigger_error('XSL transformation failed.',E_USER_ERROR);
+}
+
+</php>
+
+
+<h2> Messages XML Definition </h2>
+
+Messages are defined by the <a href="http://github.com/pixhawk/mavlink/blob/master/mavlink_standard_message.xml">mavlink_standard_message.xml</a> file. The C packing/unpacking code is generated from this specification, as well as the HTML documentaiton in the section above.<br />
+<br />
+<i>The XML displayed here is updated on every commit and therefore up-to-date.</i>
+
+<?php>
+//require_once("inc/geshi.php");
+//$xml_file_name = "http://github.com/pixhawk/mavlink/raw/master/mavlink_standard_message.xml";
+//
+//// Load data XML file
+//$xml = file_get_contents($xml_file_name);
+//
+//// Show the current code
+//$geshi_xml = new GeSHi($xml, 'xml');
+//$display_xml = $geshi_xml->parse_code();
+//
+//echo $display_xml;
+
+</php>
\ No newline at end of file

thirdParty/mavlink/doc/mavlink_to_html_table.xsl

+<?xml version="1.0"?>
+
+<xsl:stylesheet version="1.0" xmlns:xsl="http://www.w3.org/1999/XSL/Transform">
+
+<xsl:template match="//include">
+   <h1>MAVLink Include Files</h1>
+   <p><strong><em>Including files: </em><xsl:value-of select="." /></strong></p>
+</xsl:template>
+
+<xsl:template match="//enums">
+   <h1>MAVLink Type Enumerations</h1>
+   <xsl:apply-templates />
+</xsl:template>
+
+<xsl:template match="//messages">
+   <h1>MAVLink Messages</h1>
+   <xsl:apply-templates />
+</xsl:template>
+
+<xsl:template match="//message">
+   <h3 class="mavlink_message_name"><xsl:value-of select="@name" /> (#<xsl:value-of select="@id" />)</h3>
+   <p class="description"><xsl:value-of select="description" /></p>
+
+   <table class="sortable">
+   <thead>
+   <tr>
+     <th class="mavlink_field_header">Field Name</th>
+     <th class="mavlink_field_header">Type</th>
+     <th class="mavlink_field_header">Description</th>
+   </tr>
+   </thead>
+   <tbody>
+   <xsl:apply-templates select="field" />
+  </tbody>
+  </table>
+</xsl:template>
+
+<xsl:template match="//field">
+   <tr class="mavlink_field">
+   <td class="mavlink_name" valign="top"><xsl:value-of select="@name" /></td>
+   <td class="mavlink_type" valign="top"><xsl:value-of select="@type" /></td>
+   <td class="mavlink_comment"><xsl:value-of select="." /></td>
+   </tr>
+</xsl:template>
+
+<xsl:template match="//version">
+   <h1>MAVLink Protocol Version</h1>
+   <p>This file has protocol version: <xsl:value-of select="." />. The version numbers range from 1-255.</p>
+</xsl:template>
+
+<xsl:template match="//enum">
+   <h3 class="mavlink_message_name"><xsl:value-of select="@name" /></h3>
+   <p class="description"><xsl:value-of select="description" /></p>
+
+   <table class="sortable">
+   <thead>
+   <tr>
+     <th class="mavlink_field_header">CMD ID</th>
+     <th class="mavlink_field_header">Field Name</th>
+     <th class="mavlink_field_header">Description</th>
+   </tr>
+   </thead>
+   <tbody>
+   <xsl:apply-templates select="entry" />
+  </tbody>
+  </table>
+</xsl:template>
+
+<xsl:template match="//entry">
+   <tr class="mavlink_field">
+   <td class="mavlink_type" valign="top"><xsl:value-of select="@value" /></td>
+   <td class="mavlink_name" valign="top"><xsl:value-of select="@name" /></td>
+   <td class="mavlink_comment"><xsl:value-of select="description" /></td>
+   </tr>
+   <tr>
+     <td></td>
+   	 <xsl:apply-templates select="param" />
+   </tr>
+   <tr>
+    <td colspan="3"><br /></td>
+   </tr>
+</xsl:template>
+
+<xsl:template match="//param">
+   <tr>
+   <td></td>
+   <td class="mavlink_mission_param" valign="top">Mission Param #<xsl:value-of select="@index" /></td>
+   <td class="mavlink_comment"><xsl:value-of select="." /></td>
+   </tr>
+</xsl:template>
+
+
+</xsl:stylesheet>

thirdParty/mavlink/include/ardupilotmega/ardupilotmega.h

+/** @file
+ *	@brief MAVLink comm protocol.
+ *	@see http://pixhawk.ethz.ch/software/mavlink
+ *	 Generated on Tuesday, February 15 2011, 15:57 UTC
+ */
+#ifndef ARDUPILOTMEGA_H
+#define ARDUPILOTMEGA_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+#include "../protocol.h"
+
+#define MAVLINK_ENABLED_ARDUPILOTMEGA
+
+
+#include "../common/common.h"
+// MAVLINK VERSION
+
+#ifndef MAVLINK_VERSION
+#define MAVLINK_VERSION 0
+#endif
+
+#if (MAVLINK_VERSION == 0)
+#undef MAVLINK_VERSION
+#define MAVLINK_VERSION 0
+#endif
+
+// ENUM DEFINITIONS
+
+
+// MESSAGE DEFINITIONS
+
+#ifdef __cplusplus
+}
+#endif
+#endif

thirdParty/mavlink/include/ardupilotmega/mavlink.h

+/** @file
+ *	@brief MAVLink comm protocol.
+ *	@see http://pixhawk.ethz.ch/software/mavlink
+ *	 Generated on Tuesday, February 15 2011, 15:57 UTC
+ */
+#ifndef MAVLINK_H
+#define MAVLINK_H
+
+#include "ardupilotmega.h"
+
+#endif

thirdParty/mavlink/include/bittest.c

+#include <mavlink.h>
+#include <stdio.h>
+
+int main(int argc, char* argv[])
+{
+
+	uint8_t bitfield = 254; // 11111110
+
+	uint8_t mask = 128; // 10000000
+
+	uint8_t result = (bitfield & mask);
+
+	printf("0x%02x\n", bitfield);
+
+	// Transform into network order
+
+	generic_32bit bin;
+	bin.i = 1;
+	printf("First byte in (little endian) 0x%02x\n", bin.b[0]);
+	generic_32bit bout;
+	bout.b[0] = bin.b[3];
+	bout.b[1] = bin.b[2];
+	bout.b[2] = bin.b[1];
+	bout.b[3] = bin.b[0];
+	printf("Last byte out (big endian) 0x%02x\n", bout.b[3]);
+
+	uint8_t n = 5;
+	printf("Mask is 0x%02x\n", ((uint32_t)(1 << n)) - 1); // = 2^n - 1
+	
+	int32_t encoded = 2;
+	uint8_t bits = 2;
+	
+	uint8_t packet[MAVLINK_MAX_PACKET_LEN];
+	uint8_t packet_index = 0;
+	uint8_t bit_index = 0;
+	
+	put_bitfield_n_by_index(encoded, bits, packet_index, bit_index, &bit_index, packet);
+	
+}

thirdParty/mavlink/include/checksum.h

+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifndef _CHECKSUM_H_
+#define _CHECKSUM_H_
+
+#include "inttypes.h"
+
+
+/**
+ *
+ *  CALCULATE THE CHECKSUM
+ *
+ */
+
+#define X25_INIT_CRC 0xffff
+#define X25_VALIDATE_CRC 0xf0b8
+
+/**
+ * @brief Accumulate the X.25 CRC by adding one char at a time.
+ *
+ * The checksum function adds the hash of one char at a time to the
+ * 16 bit checksum (uint16_t).
+ *
+ * @param data new char to hash
+ * @param crcAccum the already accumulated checksum
+ **/
+static inline void crc_accumulate(uint8_t data, uint16_t *crcAccum)
+{
+        /*Accumulate one byte of data into the CRC*/
+        uint8_t tmp;
+
+        tmp=data ^ (uint8_t)(*crcAccum &0xff);
+        tmp^= (tmp<<4);
+        *crcAccum = (*crcAccum>>8) ^ (tmp<<8) ^ (tmp <<3) ^ (tmp>>4);
+}
+
+/**
+ * @brief Initiliaze the buffer for the X.25 CRC
+ *
+ * @param crcAccum the 16 bit X.25 CRC
+ */
+static inline void crc_init(uint16_t* crcAccum)
+{
+        *crcAccum = X25_INIT_CRC;
+}
+
+
+/**
+ * @brief Calculates the X.25 checksum on a byte buffer
+ *
+ * @param  pBuffer buffer containing the byte array to hash
+ * @param  length  length of the byte array
+ * @return the checksum over the buffer bytes
+ **/
+static inline uint16_t crc_calculate(uint8_t* pBuffer, int length)
+{
+
+        // For a "message" of length bytes contained in the unsigned char array
+        // pointed to by pBuffer, calculate the CRC
+        // crcCalculate(unsigned char* pBuffer, int length, unsigned short* checkConst) < not needed
+
+        uint16_t crcTmp;
+        //uint16_t tmp;
+        uint8_t* pTmp;
+		int i;
+
+        pTmp=pBuffer;
+        
+
+        /* init crcTmp */
+        crc_init(&crcTmp);
+
+        for (i = 0; i < length; i++){
+                crc_accumulate(*pTmp++, &crcTmp);
+        }
+
+        /* This is currently not needed, as only the checksum over payload should be computed
+        tmp = crcTmp;
+        crcAccumulate((unsigned char)(~crcTmp & 0xff),&tmp);
+        crcAccumulate((unsigned char)((~crcTmp>>8)&0xff),&tmp);
+        *checkConst = tmp;
+        */
+        return(crcTmp);
+}
+
+
+
+
+#endif /* _CHECKSUM_H_ */
+
+#ifdef __cplusplus
+}
+#endif

thirdParty/mavlink/include/common/mavlink.h

+/** @file
+ *	@brief MAVLink comm protocol.
+ *	@see http://pixhawk.ethz.ch/software/mavlink
+ *	 Generated on Wednesday, March 2 2011, 13:12 UTC
+ */
+#ifndef MAVLINK_H
+#define MAVLINK_H
+
+#include "common.h"
+
+#endif

thirdParty/mavlink/include/common/mavlink_msg_action.h

+// MESSAGE ACTION PACKING
+
+#define MAVLINK_MSG_ID_ACTION 10
+
+typedef struct __mavlink_action_t 
+{
+	uint8_t target; ///< The system executing the action
+	uint8_t target_component; ///< The component executing the action
+	uint8_t action; ///< The action id
+
+} mavlink_action_t;
+
+
+
+/**
+ * @brief Pack a action message
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ *
+ * @param target The system executing the action
+ * @param target_component The component executing the action
+ * @param action The action id
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_action_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target, uint8_t target_component, uint8_t action)
+{
+	uint16_t i = 0;
+	msg->msgid = MAVLINK_MSG_ID_ACTION;
+
+	i += put_uint8_t_by_index(target, i, msg->payload); // The system executing the action
+	i += put_uint8_t_by_index(target_component, i, msg->payload); // The component executing the action
+	i += put_uint8_t_by_index(action, i, msg->payload); // The action id
+
+	return mavlink_finalize_message(msg, system_id, component_id, i);
+}
+
+/**
+ * @brief Pack a action message
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param target The system executing the action
+ * @param target_component The component executing the action
+ * @param action The action id
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_action_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target, uint8_t target_component, uint8_t action)
+{
+	uint16_t i = 0;
+	msg->msgid = MAVLINK_MSG_ID_ACTION;
+
+	i += put_uint8_t_by_index(target, i, msg->payload); // The system executing the action
+	i += put_uint8_t_by_index(target_component, i, msg->payload); // The component executing the action
+	i += put_uint8_t_by_index(action, i, msg->payload); // The action id
+
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
+}
+
+/**
+ * @brief Encode a action struct into a message
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ * @param action C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_action_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_action_t* action)
+{
+	return mavlink_msg_action_pack(system_id, component_id, msg, action->target, action->target_component, action->action);
+}
+
+/**
+ * @brief Send a action message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param target The system executing the action
+ * @param target_component The component executing the action
+ * @param action The action id
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_action_send(mavlink_channel_t chan, uint8_t target, uint8_t target_component, uint8_t action)
+{
+	mavlink_message_t msg;
+	mavlink_msg_action_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target, target_component, action);
+	mavlink_send_uart(chan, &msg);
+}
+
+#endif
+// MESSAGE ACTION UNPACKING
+
+/**
+ * @brief Get field target from action message
+ *
+ * @return The system executing the action
+ */
+static inline uint8_t mavlink_msg_action_get_target(const mavlink_message_t* msg)
+{
+	return (uint8_t)(msg->payload)[0];
+}
+
+/**
+ * @brief Get field target_component from action message
+ *
+ * @return The component executing the action
+ */
+static inline uint8_t mavlink_msg_action_get_target_component(const mavlink_message_t* msg)
+{
+	return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
+}
+
+/**
+ * @brief Get field action from action message
+ *
+ * @return The action id
+ */
+static inline uint8_t mavlink_msg_action_get_action(const mavlink_message_t* msg)
+{
+	return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0];
+}
+
+/**
+ * @brief Decode a action message into a struct
+ *
+ * @param msg The message to decode
+ * @param action C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_action_decode(const mavlink_message_t* msg, mavlink_action_t* action)
+{
+	action->target = mavlink_msg_action_get_target(msg);
+	action->target_component = mavlink_msg_action_get_target_component(msg);
+	action->action = mavlink_msg_action_get_action(msg);
+}

thirdParty/mavlink/include/common/mavlink_msg_action_ack.h

+// MESSAGE ACTION_ACK PACKING
+
+#define MAVLINK_MSG_ID_ACTION_ACK 9
+
+typedef struct __mavlink_action_ack_t 
+{
+	uint8_t action; ///< The action id
+	uint8_t result; ///< 0: Action DENIED, 1: Action executed
+
+} mavlink_action_ack_t;
+
+
+
+/**
+ * @brief Pack a action_ack message
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ *
+ * @param action The action id
+ * @param result 0: Action DENIED, 1: Action executed
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_action_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t action, uint8_t result)
+{
+	uint16_t i = 0;
+	msg->msgid = MAVLINK_MSG_ID_ACTION_ACK;
+
+	i += put_uint8_t_by_index(action, i, msg->payload); // The action id
+	i += put_uint8_t_by_index(result, i, msg->payload); // 0: Action DENIED, 1: Action executed
+
+	return mavlink_finalize_message(msg, system_id, component_id, i);
+}
+
+/**
+ * @brief Pack a action_ack message
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param action The action id
+ * @param result 0: Action DENIED, 1: Action executed
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_action_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t action, uint8_t result)
+{
+	uint16_t i = 0;
+	msg->msgid = MAVLINK_MSG_ID_ACTION_ACK;
+
+	i += put_uint8_t_by_index(action, i, msg->payload); // The action id
+	i += put_uint8_t_by_index(result, i, msg->payload); // 0: Action DENIED, 1: Action executed
+
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
+}
+
+/**
+ * @brief Encode a action_ack struct into a message