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Commit 154f730a authored by lm's avatar lm
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Updated MAVlink

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thirdParty/mavlink/include/ardupilotmega/ardupilotmega.h
View file @ 154f730a
/** @file
* @brief MAVLink comm protocol.
* @see http://qgroundcontrol.org/mavlink/
* Generated on Tuesday, August 9 2011, 16:16 UTC
* Generated on Saturday, August 13 2011, 07:20 UTC
*/
#ifndef ARDUPILOTMEGA_H
#define ARDUPILOTMEGA_H
......@@ -11,7 +11,7 @@ extern "C" {
#endif
#include "../protocol.h"
#include "../mavlink_protocol.h"
#define MAVLINK_ENABLED_ARDUPILOTMEGA
......@@ -38,7 +38,12 @@ extern "C" {
// MESSAGE CRC KEYS
#undef MAVLINK_MESSAGE_KEYS
#define MAVLINK_MESSAGE_KEYS { 71, 249, 232, 226, 76, 126, 117, 186, 0, 165, 44, 249, 133, 0, 0, 0, 0, 0, 0, 0, 112, 34, 81, 152, 0, 223, 28, 99, 28, 21, 243, 240, 204, 21, 111, 43, 192, 234, 22, 197, 192, 192, 166, 34, 233, 34, 166, 158, 142, 60, 10, 75, 249, 247, 234, 157, 125, 0, 0, 0, 85, 211, 62, 75, 185, 18, 42, 38, 0, 127, 200, 0, 0, 53, 251, 20, 22, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 43, 141, 211, 166 }
#define MAVLINK_MESSAGE_KEYS { 71, 249, 232, 226, 76, 126, 117, 186, 0, 144, 0, 249, 133, 0, 0, 0, 0, 0, 0, 0, 33, 34, 163, 45, 0, 166, 28, 99, 28, 21, 243, 240, 91, 21, 111, 43, 192, 234, 22, 197, 192, 192, 166, 34, 233, 34, 166, 158, 142, 60, 10, 75, 249, 247, 234, 161, 116, 56, 245, 0, 0, 0, 62, 75, 185, 18, 42, 38, 0, 127, 200, 0, 0, 212, 251, 20, 22, 0, 0, 0, 0, 0, 0, 0, 0, 127, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 8, 238, 165, 0, 0, 0, 0, 0, 0, 0, 218, 218, 235, 0, 0, 0, 0, 0, 0, 225, 114, 0, 0, 0, 0, 0, 0, 0, 0, 221, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 171, 122, 0, 0, 0, 0, 0, 0, 0, 92, 99, 4, 169, 10, 0, 0, 0, 0, 0, 52, 163, 16, 0, 0, 0, 0, 0, 0, 0, 200, 135, 217, 254, 0, 0, 255, 185, 0, 14, 136, 53, 0, 212, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 255, 73, 239, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 138, 43, 141, 211, 144 }
// MESSAGE LENGTHS
#undef MAVLINK_MESSAGE_LENGTHS
#define MAVLINK_MESSAGE_LENGTHS { 3, 4, 8, 14, 8, 28, 3, 32, 0, 2, 0, 2, 2, 0, 0, 0, 0, 0, 0, 0, 20, 2, 24, 22, 0, 30, 26, 101, 26, 16, 32, 32, 38, 32, 11, 17, 17, 16, 18, 36, 4, 4, 2, 2, 4, 2, 2, 3, 14, 12, 18, 16, 8, 27, 25, 18, 18, 20, 20, 0, 0, 0, 26, 16, 36, 5, 6, 56, 0, 21, 18, 0, 0, 20, 20, 20, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 14, 14, 51 }
#ifdef __cplusplus
}
......
thirdParty/mavlink/include/ardupilotmega/mavlink.h
View file @ 154f730a
/** @file
* @brief MAVLink comm protocol.
* @see http://pixhawk.ethz.ch/software/mavlink
* Generated on Tuesday, August 9 2011, 16:16 UTC
* Generated on Saturday, August 13 2011, 07:20 UTC
*/
#ifndef MAVLINK_H
#define MAVLINK_H
......
thirdParty/mavlink/include/common/common.h
View file @ 154f730a
/** @file
* @brief MAVLink comm protocol.
* @see http://qgroundcontrol.org/mavlink/
* Generated on Friday, August 12 2011, 20:25 UTC
* Generated on Saturday, August 13 2011, 07:20 UTC
*/
#ifndef COMMON_H
#define COMMON_H
......@@ -300,7 +300,7 @@ enum MAV_CMD
// MESSAGE CRC KEYS
#undef MAVLINK_MESSAGE_KEYS
#define MAVLINK_MESSAGE_KEYS { 71, 249, 232, 226, 76, 126, 117, 186, 0, 144, 0, 249, 133, 0, 0, 0, 0, 0, 0, 0, 33, 34, 163, 45, 0, 166, 28, 99, 28, 21, 243, 240, 91, 21, 111, 43, 192, 234, 22, 197, 192, 192, 166, 34, 233, 34, 166, 158, 142, 60, 10, 75, 249, 247, 234, 161, 116, 56, 245, 0, 0, 0, 62, 75, 185, 18, 42, 38, 0, 127, 200, 0, 0, 212, 251, 20, 22, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 138, 43, 141, 211, 144 }
#define MAVLINK_MESSAGE_KEYS { 71, 249, 232, 226, 76, 126, 117, 186, 0, 144, 0, 249, 133, 0, 0, 0, 0, 0, 0, 0, 33, 34, 163, 45, 0, 166, 28, 99, 28, 21, 243, 240, 91, 21, 111, 43, 192, 234, 22, 197, 192, 192, 166, 34, 233, 34, 166, 158, 142, 60, 10, 75, 249, 247, 234, 161, 116, 56, 245, 0, 0, 0, 62, 75, 185, 18, 42, 38, 0, 127, 200, 0, 0, 212, 251, 20, 22, 0, 0, 0, 0, 0, 0, 0, 0, 127, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 8, 238, 165, 0, 0, 0, 0, 0, 0, 0, 218, 218, 235, 0, 0, 0, 0, 0, 0, 225, 114, 0, 0, 0, 0, 0, 0, 0, 0, 221, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 171, 122, 0, 0, 0, 0, 0, 0, 0, 92, 99, 4, 169, 10, 0, 0, 0, 0, 0, 52, 163, 16, 0, 0, 0, 0, 0, 0, 0, 200, 135, 217, 254, 0, 0, 255, 185, 0, 14, 136, 53, 0, 212, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 255, 73, 239, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 138, 43, 141, 211, 144 }
// MESSAGE LENGTHS
......
thirdParty/mavlink/include/common/mavlink.h
View file @ 154f730a
/** @file
* @brief MAVLink comm protocol.
* @see http://pixhawk.ethz.ch/software/mavlink
* Generated on Friday, August 12 2011, 20:25 UTC
* Generated on Saturday, August 13 2011, 07:20 UTC
*/
#ifndef MAVLINK_H
#define MAVLINK_H
......
thirdParty/mavlink/include/minimal/mavlink.h
View file @ 154f730a
/** @file
* @brief MAVLink comm protocol.
* @see http://pixhawk.ethz.ch/software/mavlink
* Generated on Tuesday, August 9 2011, 16:16 UTC
* Generated on Saturday, August 13 2011, 07:20 UTC
*/
#ifndef MAVLINK_H
#define MAVLINK_H
......
thirdParty/mavlink/include/minimal/mavlink_msg_heartbeat.h
View file @ 154f730a
......@@ -3,12 +3,14 @@
#define MAVLINK_MSG_ID_HEARTBEAT 0
#define MAVLINK_MSG_ID_HEARTBEAT_LEN 3
#define MAVLINK_MSG_0_LEN 3
#define MAVLINK_MSG_ID_HEARTBEAT_KEY 0x47
#define MAVLINK_MSG_0_KEY 0x47
typedef struct __mavlink_heartbeat_t
{
uint8_t type; ///< Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
uint8_t autopilot; ///< Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
uint8_t mavlink_version; ///< MAVLink version
uint8_t type; ///< Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
uint8_t autopilot; ///< Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
uint8_t mavlink_version; ///< MAVLink version
} mavlink_heartbeat_t;
......@@ -27,10 +29,10 @@ static inline uint16_t mavlink_msg_heartbeat_pack(uint8_t system_id, uint8_t com
mavlink_heartbeat_t *p = (mavlink_heartbeat_t *)&msg->payload[0];
msg->msgid = MAVLINK_MSG_ID_HEARTBEAT;
p->type = type; // uint8_t:Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
p->autopilot = autopilot; // uint8_t:Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
p->type = type; // uint8_t:Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
p->autopilot = autopilot; // uint8_t:Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
p->mavlink_version = MAVLINK_VERSION; // uint8_t_mavlink_version:MAVLink version
p->mavlink_version = MAVLINK_VERSION; // uint8_t_mavlink_version:MAVLink version
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HEARTBEAT_LEN);
}
......@@ -49,10 +51,10 @@ static inline uint16_t mavlink_msg_heartbeat_pack_chan(uint8_t system_id, uint8_
mavlink_heartbeat_t *p = (mavlink_heartbeat_t *)&msg->payload[0];
msg->msgid = MAVLINK_MSG_ID_HEARTBEAT;
p->type = type; // uint8_t:Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
p->autopilot = autopilot; // uint8_t:Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
p->type = type; // uint8_t:Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
p->autopilot = autopilot; // uint8_t:Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
p->mavlink_version = MAVLINK_VERSION; // uint8_t_mavlink_version:MAVLink version
p->mavlink_version = MAVLINK_VERSION; // uint8_t_mavlink_version:MAVLink version
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HEARTBEAT_LEN);
}
......@@ -69,6 +71,8 @@ static inline uint16_t mavlink_msg_heartbeat_encode(uint8_t system_id, uint8_t c
return mavlink_msg_heartbeat_pack(system_id, component_id, msg, heartbeat->type, heartbeat->autopilot);
}
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
/**
* @brief Send a heartbeat message
* @param chan MAVLink channel to send the message
......@@ -76,20 +80,16 @@ static inline uint16_t mavlink_msg_heartbeat_encode(uint8_t system_id, uint8_t c
* @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
* @param autopilot Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_heartbeat_send(mavlink_channel_t chan, uint8_t type, uint8_t autopilot)
{
mavlink_header_t hdr;
mavlink_heartbeat_t payload;
uint16_t checksum;
mavlink_heartbeat_t *p = &payload;
p->type = type; // uint8_t:Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
p->autopilot = autopilot; // uint8_t:Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
MAVLINK_BUFFER_CHECK_START( chan, MAVLINK_MSG_ID_HEARTBEAT_LEN )
payload.type = type; // uint8_t:Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
payload.autopilot = autopilot; // uint8_t:Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
p->mavlink_version = MAVLINK_VERSION; // uint8_t_mavlink_version:MAVLink version
payload.mavlink_version = MAVLINK_VERSION; // uint8_t_mavlink_version:MAVLink version
hdr.STX = MAVLINK_STX;
hdr.len = MAVLINK_MSG_ID_HEARTBEAT_LEN;
hdr.msgid = MAVLINK_MSG_ID_HEARTBEAT;
......@@ -99,14 +99,12 @@ static inline void mavlink_msg_heartbeat_send(mavlink_channel_t chan, uint8_t ty
mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1;
mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES );
crc_init(&checksum);
checksum = crc_calculate_mem((uint8_t *)&hdr.len, &checksum, MAVLINK_CORE_HEADER_LEN);
checksum = crc_calculate_mem((uint8_t *)&payload, &checksum, hdr.len );
hdr.ck_a = (uint8_t)(checksum & 0xFF); ///< Low byte
hdr.ck_b = (uint8_t)(checksum >> 8); ///< High byte
mavlink_send_mem(chan, (uint8_t *)&payload, hdr.len);
mavlink_send_mem(chan, (uint8_t *)&hdr.ck_a, MAVLINK_NUM_CHECKSUM_BYTES);
crc_init(&hdr.ck);
crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN);
crc_calculate_mem((uint8_t *)&payload, &hdr.ck, hdr.len );
crc_accumulate( 0x47, &hdr.ck); /// include key in X25 checksum
mavlink_send_mem(chan, (uint8_t *)&hdr.ck, MAVLINK_NUM_CHECKSUM_BYTES);
MAVLINK_BUFFER_CHECK_END
}
#endif
......
thirdParty/mavlink/include/minimal/minimal.h
View file @ 154f730a
/** @file
* @brief MAVLink comm protocol.
* @see http://qgroundcontrol.org/mavlink/
* Generated on Tuesday, August 9 2011, 16:16 UTC
* Generated on Saturday, August 13 2011, 07:20 UTC
*/
#ifndef MINIMAL_H
#define MINIMAL_H
......@@ -11,7 +11,7 @@ extern "C" {
#endif
#include "../protocol.h"
#include "../mavlink_protocol.h"
#define MAVLINK_ENABLED_MINIMAL
......@@ -39,6 +39,11 @@ extern "C" {
#undef MAVLINK_MESSAGE_KEYS
#define MAVLINK_MESSAGE_KEYS { }
// MESSAGE LENGTHS
#undef MAVLINK_MESSAGE_LENGTHS
#define MAVLINK_MESSAGE_LENGTHS { }
#ifdef __cplusplus
}
#endif
......
thirdParty/mavlink/include/pixhawk/mavlink.h
View file @ 154f730a
/** @file
* @brief MAVLink comm protocol.
* @see http://pixhawk.ethz.ch/software/mavlink
* Generated on Tuesday, August 9 2011, 16:49 UTC
* Generated on Saturday, August 13 2011, 07:19 UTC
*/
#ifndef MAVLINK_H
#define MAVLINK_H
......
thirdParty/mavlink/include/pixhawk/mavlink_msg_attitude_control.h
View file @ 154f730a
......@@ -3,18 +3,20 @@
#define MAVLINK_MSG_ID_ATTITUDE_CONTROL 85
#define MAVLINK_MSG_ID_ATTITUDE_CONTROL_LEN 21
#define MAVLINK_MSG_85_LEN 21
#define MAVLINK_MSG_ID_ATTITUDE_CONTROL_KEY 0x7F
#define MAVLINK_MSG_85_KEY 0x7F
typedef struct __mavlink_attitude_control_t
{
float roll; ///< roll
float pitch; ///< pitch
float yaw; ///< yaw
float thrust; ///< thrust
uint8_t target; ///< The system to be controlled
uint8_t roll_manual; ///< roll control enabled auto:0, manual:1
uint8_t pitch_manual; ///< pitch auto:0, manual:1
uint8_t yaw_manual; ///< yaw auto:0, manual:1
uint8_t thrust_manual; ///< thrust auto:0, manual:1
float roll; ///< roll
float pitch; ///< pitch
float yaw; ///< yaw
float thrust; ///< thrust
uint8_t target; ///< The system to be controlled
uint8_t roll_manual; ///< roll control enabled auto:0, manual:1
uint8_t pitch_manual; ///< pitch auto:0, manual:1
uint8_t yaw_manual; ///< yaw auto:0, manual:1
uint8_t thrust_manual; ///< thrust auto:0, manual:1
} mavlink_attitude_control_t;
......@@ -40,15 +42,15 @@ static inline uint16_t mavlink_msg_attitude_control_pack(uint8_t system_id, uint
mavlink_attitude_control_t *p = (mavlink_attitude_control_t *)&msg->payload[0];
msg->msgid = MAVLINK_MSG_ID_ATTITUDE_CONTROL;
p->target = target; // uint8_t:The system to be controlled
p->roll = roll; // float:roll
p->pitch = pitch; // float:pitch
p->yaw = yaw; // float:yaw
p->thrust = thrust; // float:thrust
p->roll_manual = roll_manual; // uint8_t:roll control enabled auto:0, manual:1
p->pitch_manual = pitch_manual; // uint8_t:pitch auto:0, manual:1
p->yaw_manual = yaw_manual; // uint8_t:yaw auto:0, manual:1
p->thrust_manual = thrust_manual; // uint8_t:thrust auto:0, manual:1
p->target = target; // uint8_t:The system to be controlled
p->roll = roll; // float:roll
p->pitch = pitch; // float:pitch
p->yaw = yaw; // float:yaw
p->thrust = thrust; // float:thrust
p->roll_manual = roll_manual; // uint8_t:roll control enabled auto:0, manual:1
p->pitch_manual = pitch_manual; // uint8_t:pitch auto:0, manual:1
p->yaw_manual = yaw_manual; // uint8_t:yaw auto:0, manual:1
p->thrust_manual = thrust_manual; // uint8_t:thrust auto:0, manual:1
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ATTITUDE_CONTROL_LEN);
}
......@@ -75,15 +77,15 @@ static inline uint16_t mavlink_msg_attitude_control_pack_chan(uint8_t system_id,
mavlink_attitude_control_t *p = (mavlink_attitude_control_t *)&msg->payload[0];
msg->msgid = MAVLINK_MSG_ID_ATTITUDE_CONTROL;
p->target = target; // uint8_t:The system to be controlled
p->roll = roll; // float:roll
p->pitch = pitch; // float:pitch
p->yaw = yaw; // float:yaw
p->thrust = thrust; // float:thrust
p->roll_manual = roll_manual; // uint8_t:roll control enabled auto:0, manual:1
p->pitch_manual = pitch_manual; // uint8_t:pitch auto:0, manual:1
p->yaw_manual = yaw_manual; // uint8_t:yaw auto:0, manual:1
p->thrust_manual = thrust_manual; // uint8_t:thrust auto:0, manual:1
p->target = target; // uint8_t:The system to be controlled
p->roll = roll; // float:roll
p->pitch = pitch; // float:pitch
p->yaw = yaw; // float:yaw
p->thrust = thrust; // float:thrust
p->roll_manual = roll_manual; // uint8_t:roll control enabled auto:0, manual:1
p->pitch_manual = pitch_manual; // uint8_t:pitch auto:0, manual:1
p->yaw_manual = yaw_manual; // uint8_t:yaw auto:0, manual:1
p->thrust_manual = thrust_manual; // uint8_t:thrust auto:0, manual:1
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ATTITUDE_CONTROL_LEN);
}
......@@ -101,6 +103,8 @@ static inline uint16_t mavlink_msg_attitude_control_encode(uint8_t system_id, ui
return mavlink_msg_attitude_control_pack(system_id, component_id, msg, attitude_control->target, attitude_control->roll, attitude_control->pitch, attitude_control->yaw, attitude_control->thrust, attitude_control->roll_manual, attitude_control->pitch_manual, attitude_control->yaw_manual, attitude_control->thrust_manual);
}
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
/**
* @brief Send a attitude_control message
* @param chan MAVLink channel to send the message
......@@ -115,25 +119,21 @@ static inline uint16_t mavlink_msg_attitude_control_encode(uint8_t system_id, ui
* @param yaw_manual yaw auto:0, manual:1
* @param thrust_manual thrust auto:0, manual:1
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_attitude_control_send(mavlink_channel_t chan, uint8_t target, float roll, float pitch, float yaw, float thrust, uint8_t roll_manual, uint8_t pitch_manual, uint8_t yaw_manual, uint8_t thrust_manual)
{
mavlink_header_t hdr;
mavlink_attitude_control_t payload;
uint16_t checksum;
mavlink_attitude_control_t *p = &payload;
p->target = target; // uint8_t:The system to be controlled
p->roll = roll; // float:roll
p->pitch = pitch; // float:pitch
p->yaw = yaw; // float:yaw
p->thrust = thrust; // float:thrust
p->roll_manual = roll_manual; // uint8_t:roll control enabled auto:0, manual:1
p->pitch_manual = pitch_manual; // uint8_t:pitch auto:0, manual:1
p->yaw_manual = yaw_manual; // uint8_t:yaw auto:0, manual:1
p->thrust_manual = thrust_manual; // uint8_t:thrust auto:0, manual:1
MAVLINK_BUFFER_CHECK_START( chan, MAVLINK_MSG_ID_ATTITUDE_CONTROL_LEN )
payload.target = target; // uint8_t:The system to be controlled
payload.roll = roll; // float:roll
payload.pitch = pitch; // float:pitch
payload.yaw = yaw; // float:yaw
payload.thrust = thrust; // float:thrust
payload.roll_manual = roll_manual; // uint8_t:roll control enabled auto:0, manual:1
payload.pitch_manual = pitch_manual; // uint8_t:pitch auto:0, manual:1
payload.yaw_manual = yaw_manual; // uint8_t:yaw auto:0, manual:1
payload.thrust_manual = thrust_manual; // uint8_t:thrust auto:0, manual:1
hdr.STX = MAVLINK_STX;
hdr.len = MAVLINK_MSG_ID_ATTITUDE_CONTROL_LEN;
......@@ -144,14 +144,12 @@ static inline void mavlink_msg_attitude_control_send(mavlink_channel_t chan, uin
mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1;
mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES );
crc_init(&checksum);
checksum = crc_calculate_mem((uint8_t *)&hdr.len, &checksum, MAVLINK_CORE_HEADER_LEN);
checksum = crc_calculate_mem((uint8_t *)&payload, &checksum, hdr.len );
hdr.ck_a = (uint8_t)(checksum & 0xFF); ///< Low byte
hdr.ck_b = (uint8_t)(checksum >> 8); ///< High byte
mavlink_send_mem(chan, (uint8_t *)&payload, hdr.len);
mavlink_send_mem(chan, (uint8_t *)&hdr.ck_a, MAVLINK_NUM_CHECKSUM_BYTES);
crc_init(&hdr.ck);
crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN);
crc_calculate_mem((uint8_t *)&payload, &hdr.ck, hdr.len );
crc_accumulate( 0x7F, &hdr.ck); /// include key in X25 checksum
mavlink_send_mem(chan, (uint8_t *)&hdr.ck, MAVLINK_NUM_CHECKSUM_BYTES);
MAVLINK_BUFFER_CHECK_END
}
#endif
......
thirdParty/mavlink/include/pixhawk/mavlink_msg_aux_status.h
View file @ 154f730a
......@@ -3,15 +3,17 @@
#define MAVLINK_MSG_ID_AUX_STATUS 142
#define MAVLINK_MSG_ID_AUX_STATUS_LEN 12
#define MAVLINK_MSG_142_LEN 12
#define MAVLINK_MSG_ID_AUX_STATUS_KEY 0x7A
#define MAVLINK_MSG_142_KEY 0x7A
typedef struct __mavlink_aux_status_t
{
uint16_t load; ///< Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
uint16_t i2c0_err_count; ///< Number of I2C errors since startup
uint16_t i2c1_err_count; ///< Number of I2C errors since startup
uint16_t spi0_err_count; ///< Number of I2C errors since startup
uint16_t spi1_err_count; ///< Number of I2C errors since startup
uint16_t uart_total_err_count; ///< Number of I2C errors since startup
uint16_t load; ///< Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
uint16_t i2c0_err_count; ///< Number of I2C errors since startup
uint16_t i2c1_err_count; ///< Number of I2C errors since startup
uint16_t spi0_err_count; ///< Number of I2C errors since startup
uint16_t spi1_err_count; ///< Number of I2C errors since startup
uint16_t uart_total_err_count; ///< Number of I2C errors since startup
} mavlink_aux_status_t;
......@@ -34,12 +36,12 @@ static inline uint16_t mavlink_msg_aux_status_pack(uint8_t system_id, uint8_t co
mavlink_aux_status_t *p = (mavlink_aux_status_t *)&msg->payload[0];
msg->msgid = MAVLINK_MSG_ID_AUX_STATUS;
p->load = load; // uint16_t:Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
p->i2c0_err_count = i2c0_err_count; // uint16_t:Number of I2C errors since startup
p->i2c1_err_count = i2c1_err_count; // uint16_t:Number of I2C errors since startup
p->spi0_err_count = spi0_err_count; // uint16_t:Number of I2C errors since startup
p->spi1_err_count = spi1_err_count; // uint16_t:Number of I2C errors since startup
p->uart_total_err_count = uart_total_err_count; // uint16_t:Number of I2C errors since startup
p->load = load; // uint16_t:Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
p->i2c0_err_count = i2c0_err_count; // uint16_t:Number of I2C errors since startup
p->i2c1_err_count = i2c1_err_count; // uint16_t:Number of I2C errors since startup
p->spi0_err_count = spi0_err_count; // uint16_t:Number of I2C errors since startup
p->spi1_err_count = spi1_err_count; // uint16_t:Number of I2C errors since startup
p->uart_total_err_count = uart_total_err_count; // uint16_t:Number of I2C errors since startup
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_AUX_STATUS_LEN);
}
......@@ -63,12 +65,12 @@ static inline uint16_t mavlink_msg_aux_status_pack_chan(uint8_t system_id, uint8
mavlink_aux_status_t *p = (mavlink_aux_status_t *)&msg->payload[0];
msg->msgid = MAVLINK_MSG_ID_AUX_STATUS;
p->load = load; // uint16_t:Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
p->i2c0_err_count = i2c0_err_count; // uint16_t:Number of I2C errors since startup
p->i2c1_err_count = i2c1_err_count; // uint16_t:Number of I2C errors since startup
p->spi0_err_count = spi0_err_count; // uint16_t:Number of I2C errors since startup
p->spi1_err_count = spi1_err_count; // uint16_t:Number of I2C errors since startup
p->uart_total_err_count = uart_total_err_count; // uint16_t:Number of I2C errors since startup
p->load = load; // uint16_t:Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
p->i2c0_err_count = i2c0_err_count; // uint16_t:Number of I2C errors since startup
p->i2c1_err_count = i2c1_err_count; // uint16_t:Number of I2C errors since startup
p->spi0_err_count = spi0_err_count; // uint16_t:Number of I2C errors since startup
p->spi1_err_count = spi1_err_count; // uint16_t:Number of I2C errors since startup
p->uart_total_err_count = uart_total_err_count; // uint16_t:Number of I2C errors since startup
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_AUX_STATUS_LEN);
}
......@@ -86,6 +88,8 @@ static inline uint16_t mavlink_msg_aux_status_encode(uint8_t system_id, uint8_t
return mavlink_msg_aux_status_pack(system_id, component_id, msg, aux_status->load, aux_status->i2c0_err_count, aux_status->i2c1_err_count, aux_status->spi0_err_count, aux_status->spi1_err_count, aux_status->uart_total_err_count);
}
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
/**
* @brief Send a aux_status message
* @param chan MAVLink channel to send the message
......@@ -97,22 +101,18 @@ static inline uint16_t mavlink_msg_aux_status_encode(uint8_t system_id, uint8_t
* @param spi1_err_count Number of I2C errors since startup
* @param uart_total_err_count Number of I2C errors since startup
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_aux_status_send(mavlink_channel_t chan, uint16_t load, uint16_t i2c0_err_count, uint16_t i2c1_err_count, uint16_t spi0_err_count, uint16_t spi1_err_count, uint16_t uart_total_err_count)
{
mavlink_header_t hdr;
mavlink_aux_status_t payload;
uint16_t checksum;
mavlink_aux_status_t *p = &payload;
p->load = load; // uint16_t:Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
p->i2c0_err_count = i2c0_err_count; // uint16_t:Number of I2C errors since startup
p->i2c1_err_count = i2c1_err_count; // uint16_t:Number of I2C errors since startup
p->spi0_err_count = spi0_err_count; // uint16_t:Number of I2C errors since startup
p->spi1_err_count = spi1_err_count; // uint16_t:Number of I2C errors since startup
p->uart_total_err_count = uart_total_err_count; // uint16_t:Number of I2C errors since startup
MAVLINK_BUFFER_CHECK_START( chan, MAVLINK_MSG_ID_AUX_STATUS_LEN )
payload.load = load; // uint16_t:Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
payload.i2c0_err_count = i2c0_err_count; // uint16_t:Number of I2C errors since startup
payload.i2c1_err_count = i2c1_err_count; // uint16_t:Number of I2C errors since startup
payload.spi0_err_count = spi0_err_count; // uint16_t:Number of I2C errors since startup
payload.spi1_err_count = spi1_err_count; // uint16_t:Number of I2C errors since startup
payload.uart_total_err_count = uart_total_err_count; // uint16_t:Number of I2C errors since startup
hdr.STX = MAVLINK_STX;
hdr.len = MAVLINK_MSG_ID_AUX_STATUS_LEN;
......@@ -123,14 +123,12 @@ static inline void mavlink_msg_aux_status_send(mavlink_channel_t chan, uint16_t
mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1;
mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES );
crc_init(&checksum);
checksum = crc_calculate_mem((uint8_t *)&hdr.len, &checksum, MAVLINK_CORE_HEADER_LEN);
checksum = crc_calculate_mem((uint8_t *)&payload, &checksum, hdr.len );
hdr.ck_a = (uint8_t)(checksum & 0xFF); ///< Low byte
hdr.ck_b = (uint8_t)(checksum >> 8); ///< High byte
mavlink_send_mem(chan, (uint8_t *)&payload, hdr.len);
mavlink_send_mem(chan, (uint8_t *)&hdr.ck_a, MAVLINK_NUM_CHECKSUM_BYTES);
crc_init(&hdr.ck);
crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN);
crc_calculate_mem((uint8_t *)&payload, &hdr.ck, hdr.len );
crc_accumulate( 0x7A, &hdr.ck); /// include key in X25 checksum
mavlink_send_mem(chan, (uint8_t *)&hdr.ck, MAVLINK_NUM_CHECKSUM_BYTES);
MAVLINK_BUFFER_CHECK_END
}
#endif
......
thirdParty/mavlink/include/pixhawk/mavlink_msg_brief_feature.h
View file @ 154f730a
......@@ -3,17 +3,19 @@
#define MAVLINK_MSG_ID_BRIEF_FEATURE 172
#define MAVLINK_MSG_ID_BRIEF_FEATURE_LEN 53
#define MAVLINK_MSG_172_LEN 53
#define MAVLINK_MSG_ID_BRIEF_FEATURE_KEY 0xD9
#define MAVLINK_MSG_172_KEY 0xD9
typedef struct __mavlink_brief_feature_t
{
float x; ///< x position in m
float y; ///< y position in m
float z; ///< z position in m
float response; ///< Harris operator response at this location
uint16_t size; ///< Size in pixels
uint16_t orientation; ///< Orientation
uint8_t orientation_assignment; ///< Orientation assignment 0: false, 1:true
uint8_t descriptor[32]; ///< Descriptor
float x; ///< x position in m
float y; ///< y position in m
float z; ///< z position in m
float response; ///< Harris operator response at this location
uint16_t size; ///< Size in pixels
uint16_t orientation; ///< Orientation
uint8_t orientation_assignment; ///< Orientation assignment 0: false, 1:true
uint8_t descriptor[32]; ///< Descriptor
} mavlink_brief_feature_t;
#define MAVLINK_MSG_BRIEF_FEATURE_FIELD_DESCRIPTOR_LEN 32
......@@ -39,14 +41,14 @@ static inline uint16_t mavlink_msg_brief_feature_pack(uint8_t system_id, uint8_t
mavlink_brief_feature_t *p = (mavlink_brief_feature_t *)&msg->payload[0];
msg->msgid = MAVLINK_MSG_ID_BRIEF_FEATURE;
p->x = x; // float:x position in m
p->y = y; // float:y position in m
p->z = z; // float:z position in m
p->orientation_assignment = orientation_assignment; // uint8_t:Orientation assignment 0: false, 1:true
p->size = size; // uint16_t:Size in pixels
p->orientation = orientation; // uint16_t:Orientation
memcpy(p->descriptor, descriptor, sizeof(p->descriptor)); // uint8_t[32]:Descriptor
p->response = response; // float:Harris operator response at this location
p->x = x; // float:x position in m
p->y = y; // float:y position in m
p->z = z; // float:z position in m
p->orientation_assignment = orientation_assignment; // uint8_t:Orientation assignment 0: false, 1:true
p->size = size; // uint16_t:Size in pixels
p->orientation = orientation; // uint16_t:Orientation
memcpy(p->descriptor, descriptor, sizeof(p->descriptor)); // uint8_t[32]:Descriptor
p->response = response; // float:Harris operator response at this location
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_BRIEF_FEATURE_LEN);
}
......@@ -72,14 +74,14 @@ static inline uint16_t mavlink_msg_brief_feature_pack_chan(uint8_t system_id, ui
mavlink_brief_feature_t *p = (mavlink_brief_feature_t *)&msg->payload[0];
msg->msgid = MAVLINK_MSG_ID_BRIEF_FEATURE;
p->x = x; // float:x position in m
p->y = y; // float:y position in m
p->z = z; // float:z position in m
p->orientation_assignment = orientation_assignment; // uint8_t:Orientation assignment 0: false, 1:true
p->size = size; // uint16_t:Size in pixels
p->orientation = orientation; // uint16_t:Orientation
memcpy(p->descriptor, descriptor, sizeof(p->descriptor)); // uint8_t[32]:Descriptor
p->response = response; // float:Harris operator response at this location
p->x = x; // float:x position in m
p->y = y; // float:y position in m
p->z = z; // float:z position in m
p->orientation_assignment = orientation_assignment; // uint8_t:Orientation assignment 0: false, 1:true
p->size = size; // uint16_t:Size in pixels
p->orientation = orientation; // uint16_t:Orientation
memcpy(p->descriptor, descriptor, sizeof(p->descriptor)); // uint8_t[32]:Descriptor
p->response = response; // float:Harris operator response at this location
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_BRIEF_FEATURE_LEN);
}
......@@ -97,6 +99,8 @@ static inline uint16_t mavlink_msg_brief_feature_encode(uint8_t system_id, uint8
return mavlink_msg_brief_feature_pack(system_id, component_id, msg, brief_feature->x, brief_feature->y, brief_feature->z, brief_feature->orientation_assignment, brief_feature->size, brief_feature->orientation, brief_feature->descriptor, brief_feature->response);
}
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
/**
* @brief Send a brief_feature message
* @param chan MAVLink channel to send the message
......@@ -110,24 +114,20 @@ static inline uint16_t mavlink_msg_brief_feature_encode(uint8_t system_id, uint8
* @param descriptor Descriptor
* @param response Harris operator response at this location
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_brief_feature_send(mavlink_channel_t chan, float x, float y, float z, uint8_t orientation_assignment, uint16_t size, uint16_t orientation, const uint8_t* descriptor, float response)
{
mavlink_header_t hdr;
mavlink_brief_feature_t payload;
uint16_t checksum;
mavlink_brief_feature_t *p = &payload;
p->x = x; // float:x position in m
p->y = y; // float:y position in m
p->z = z; // float:z position in m
p->orientation_assignment = orientation_assignment; // uint8_t:Orientation assignment 0: false, 1:true
p->size = size; // uint16_t:Size in pixels
p->orientation = orientation; // uint16_t:Orientation
memcpy(p->descriptor, descriptor, sizeof(p->descriptor)); // uint8_t[32]:Descriptor
p->response = response; // float:Harris operator response at this location
MAVLINK_BUFFER_CHECK_START( chan, MAVLINK_MSG_ID_BRIEF_FEATURE_LEN )
payload.x = x; // float:x position in m
payload.y = y; // float:y position in m
payload.z = z; // float:z position in m
payload.orientation_assignment = orientation_assignment; // uint8_t:Orientation assignment 0: false, 1:true
payload.size = size; // uint16_t:Size in pixels
payload.orientation = orientation; // uint16_t:Orientation
memcpy(payload.descriptor, descriptor, sizeof(payload.descriptor)); // uint8_t[32]:Descriptor
payload.response = response; // float:Harris operator response at this location
hdr.STX = MAVLINK_STX;
hdr.len = MAVLINK_MSG_ID_BRIEF_FEATURE_LEN;
......@@ -138,14 +138,12 @@ static inline void mavlink_msg_brief_feature_send(mavlink_channel_t chan, float
mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1;
mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES );
crc_init(&checksum);
checksum = crc_calculate_mem((uint8_t *)&hdr.len, &checksum, MAVLINK_CORE_HEADER_LEN);
checksum = crc_calculate_mem((uint8_t *)&payload, &checksum, hdr.len );
hdr.ck_a = (uint8_t)(checksum & 0xFF); ///< Low byte
hdr.ck_b = (uint8_t)(checksum >> 8); ///< High byte
mavlink_send_mem(chan, (uint8_t *)&payload, hdr.len);
mavlink_send_mem(chan, (uint8_t *)&hdr.ck_a, MAVLINK_NUM_CHECKSUM_BYTES);
crc_init(&hdr.ck);
crc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN);
crc_calculate_mem((uint8_t *)&payload, &hdr.ck, hdr.len );
crc_accumulate( 0xD9, &hdr.ck); /// include key in X25 checksum
mavlink_send_mem(chan, (uint8_t *)&hdr.ck, MAVLINK_NUM_CHECKSUM_BYTES);
MAVLINK_BUFFER_CHECK_END
}
#endif
......
thirdParty/mavlink/include/pixhawk/mavlink_msg_data_transmission_handshake.h
View file @ 154f730a
......@@ -3,14 +3,16 @@
#define MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE 170
#define MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_LEN 8
#define MAVLINK_MSG_170_LEN 8
#define MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_KEY 0xC8
#define MAVLINK_MSG_170_KEY 0xC8
typedef struct __mavlink_data_transmission_handshake_t
{
uint32_t size; ///< total data size in bytes (set on ACK only)
uint8_t type; ///< type of requested/acknowledged data (as defined in ENUM DATA_TYPES in mavlink/include/mavlink_types.h)
uint8_t packets; ///< number of packets beeing sent (set on ACK only)
uint8_t payload; ///< payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only)
uint8_t jpg_quality; ///< JPEG quality out of [1,100]
uint32_t size; ///< total data size in bytes (set on ACK only)
uint8_t type; ///< type of requested/acknowledged data (as defined in ENUM DATA_TYPES in mavlink/include/mavlink_types.h)
uint8_t packets; ///< number of packets beeing sent (set on ACK only)
uint8_t payload; ///< payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only)
uint8_t jpg_quality; ///< JPEG quality out of [1,100]
} mavlink_data_transmission_handshake_t;
......@@ -32,11 +34,11 @@ static inline uint16_t mavlink_msg_data_transmission_handshake_pack(uint8_t syst
mavlink_data_transmission_handshake_t *p = (mavlink_data_transmission_handshake_t *)&msg->payload[0];
msg->msgid = MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE;
p->type = type; // uint8_t:type of requested/acknowledged data (as defined in ENUM DATA_TYPES in mavlink/include/mavlink_types.h)
p->size = size; // uint32_t:total data size in bytes (set on ACK only)
p->packets = packets; // uint8_t:number of packets beeing sent (set on ACK only)
p->payload = payload; // uint8_t:payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only)
p->jpg_quality = jpg_quality; // uint8_t:JPEG quality out of [1,100]
p->type = type; // uint8_t:type of requested/acknowledged data (as defined in ENUM DATA_TYPES in mavlink/include/mavlink_types.h)
p->size = size; // uint32_t:total data size in bytes (set on ACK only)
p->packets = packets; // uint8_t:number of packets beeing sent (set on ACK only)
p->payload = payload; // uint8_t:payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only)
p->jpg_quality = jpg_quality; // uint8_t:JPEG quality out of [1,100]
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_LEN);
}
......@@ -59,11 +61,11 @@ static inline uint16_t mavlink_msg_data_transmission_handshake_pack_chan(uint8_t
mavlink_data_transmission_handshake_t *p = (mavlink_data_transmission_handshake_t *)&msg->payload[0];
msg->msgid = MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE;