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Commit 18161739 authored by LM's avatar LM
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Removed 0.9 protocol specs, updated remaining protocol to most recent reference implementation

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mavlink/include/v0.9/ardupilotmega/ardupilotmega.h deleted 100644 → 0
View file @ 9f94fef5
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mavlink/include/v0.9/ardupilotmega/mavlink.h deleted 100644 → 0
View file @ 9f94fef5
/** @file
* @brief MAVLink comm protocol built from ardupilotmega.xml
* @see http://pixhawk.ethz.ch/software/mavlink
*/
#ifndef MAVLINK_H
#define MAVLINK_H
#ifndef MAVLINK_STX
#define MAVLINK_STX 85
#endif
#ifndef MAVLINK_ENDIAN
#define MAVLINK_ENDIAN MAVLINK_BIG_ENDIAN
#endif
#ifndef MAVLINK_ALIGNED_FIELDS
#define MAVLINK_ALIGNED_FIELDS 0
#endif
#ifndef MAVLINK_CRC_EXTRA
#define MAVLINK_CRC_EXTRA 0
#endif
#include "version.h"
#include "ardupilotmega.h"
#endif // MAVLINK_H
mavlink/include/v0.9/ardupilotmega/mavlink_msg_ap_adc.h deleted 100644 → 0
View file @ 9f94fef5
// MESSAGE AP_ADC PACKING
#define MAVLINK_MSG_ID_AP_ADC 153
typedef struct __mavlink_ap_adc_t
{
uint16_t adc1; ///< ADC output 1
uint16_t adc2; ///< ADC output 2
uint16_t adc3; ///< ADC output 3
uint16_t adc4; ///< ADC output 4
uint16_t adc5; ///< ADC output 5
uint16_t adc6; ///< ADC output 6
} mavlink_ap_adc_t;
#define MAVLINK_MSG_ID_AP_ADC_LEN 12
#define MAVLINK_MSG_ID_153_LEN 12
#define MAVLINK_MESSAGE_INFO_AP_ADC { \
"AP_ADC", \
6, \
{ { "adc1", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_ap_adc_t, adc1) }, \
{ "adc2", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_ap_adc_t, adc2) }, \
{ "adc3", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_ap_adc_t, adc3) }, \
{ "adc4", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_ap_adc_t, adc4) }, \
{ "adc5", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_ap_adc_t, adc5) }, \
{ "adc6", NULL, MAVLINK_TYPE_UINT16_T, 0, 10, offsetof(mavlink_ap_adc_t, adc6) }, \
} \
}
/**
* @brief Pack a ap_adc 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 adc1 ADC output 1
* @param adc2 ADC output 2
* @param adc3 ADC output 3
* @param adc4 ADC output 4
* @param adc5 ADC output 5
* @param adc6 ADC output 6
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_ap_adc_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint16_t adc1, uint16_t adc2, uint16_t adc3, uint16_t adc4, uint16_t adc5, uint16_t adc6)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[12];
_mav_put_uint16_t(buf, 0, adc1);
_mav_put_uint16_t(buf, 2, adc2);
_mav_put_uint16_t(buf, 4, adc3);
_mav_put_uint16_t(buf, 6, adc4);
_mav_put_uint16_t(buf, 8, adc5);
_mav_put_uint16_t(buf, 10, adc6);
memcpy(_MAV_PAYLOAD(msg), buf, 12);
#else
mavlink_ap_adc_t packet;
packet.adc1 = adc1;
packet.adc2 = adc2;
packet.adc3 = adc3;
packet.adc4 = adc4;
packet.adc5 = adc5;
packet.adc6 = adc6;
memcpy(_MAV_PAYLOAD(msg), &packet, 12);
#endif
msg->msgid = MAVLINK_MSG_ID_AP_ADC;
return mavlink_finalize_message(msg, system_id, component_id, 12);
}
/**
* @brief Pack a ap_adc 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 adc1 ADC output 1
* @param adc2 ADC output 2
* @param adc3 ADC output 3
* @param adc4 ADC output 4
* @param adc5 ADC output 5
* @param adc6 ADC output 6
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_ap_adc_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint16_t adc1,uint16_t adc2,uint16_t adc3,uint16_t adc4,uint16_t adc5,uint16_t adc6)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[12];
_mav_put_uint16_t(buf, 0, adc1);
_mav_put_uint16_t(buf, 2, adc2);
_mav_put_uint16_t(buf, 4, adc3);
_mav_put_uint16_t(buf, 6, adc4);
_mav_put_uint16_t(buf, 8, adc5);
_mav_put_uint16_t(buf, 10, adc6);
memcpy(_MAV_PAYLOAD(msg), buf, 12);
#else
mavlink_ap_adc_t packet;
packet.adc1 = adc1;
packet.adc2 = adc2;
packet.adc3 = adc3;
packet.adc4 = adc4;
packet.adc5 = adc5;
packet.adc6 = adc6;
memcpy(_MAV_PAYLOAD(msg), &packet, 12);
#endif
msg->msgid = MAVLINK_MSG_ID_AP_ADC;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 12);
}
/**
* @brief Encode a ap_adc 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 ap_adc C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_ap_adc_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_ap_adc_t* ap_adc)
{
return mavlink_msg_ap_adc_pack(system_id, component_id, msg, ap_adc->adc1, ap_adc->adc2, ap_adc->adc3, ap_adc->adc4, ap_adc->adc5, ap_adc->adc6);
}
/**
* @brief Send a ap_adc message
* @param chan MAVLink channel to send the message
*
* @param adc1 ADC output 1
* @param adc2 ADC output 2
* @param adc3 ADC output 3
* @param adc4 ADC output 4
* @param adc5 ADC output 5
* @param adc6 ADC output 6
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_ap_adc_send(mavlink_channel_t chan, uint16_t adc1, uint16_t adc2, uint16_t adc3, uint16_t adc4, uint16_t adc5, uint16_t adc6)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[12];
_mav_put_uint16_t(buf, 0, adc1);
_mav_put_uint16_t(buf, 2, adc2);
_mav_put_uint16_t(buf, 4, adc3);
_mav_put_uint16_t(buf, 6, adc4);
_mav_put_uint16_t(buf, 8, adc5);
_mav_put_uint16_t(buf, 10, adc6);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AP_ADC, buf, 12);
#else
mavlink_ap_adc_t packet;
packet.adc1 = adc1;
packet.adc2 = adc2;
packet.adc3 = adc3;
packet.adc4 = adc4;
packet.adc5 = adc5;
packet.adc6 = adc6;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AP_ADC, (const char *)&packet, 12);
#endif
}
#endif
// MESSAGE AP_ADC UNPACKING
/**
* @brief Get field adc1 from ap_adc message
*
* @return ADC output 1
*/
static inline uint16_t mavlink_msg_ap_adc_get_adc1(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 0);
}
/**
* @brief Get field adc2 from ap_adc message
*
* @return ADC output 2
*/
static inline uint16_t mavlink_msg_ap_adc_get_adc2(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 2);
}
/**
* @brief Get field adc3 from ap_adc message
*
* @return ADC output 3
*/
static inline uint16_t mavlink_msg_ap_adc_get_adc3(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 4);
}
/**
* @brief Get field adc4 from ap_adc message
*
* @return ADC output 4
*/
static inline uint16_t mavlink_msg_ap_adc_get_adc4(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 6);
}
/**
* @brief Get field adc5 from ap_adc message
*
* @return ADC output 5
*/
static inline uint16_t mavlink_msg_ap_adc_get_adc5(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 8);
}
/**
* @brief Get field adc6 from ap_adc message
*
* @return ADC output 6
*/
static inline uint16_t mavlink_msg_ap_adc_get_adc6(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 10);
}
/**
* @brief Decode a ap_adc message into a struct
*
* @param msg The message to decode
* @param ap_adc C-struct to decode the message contents into
*/
static inline void mavlink_msg_ap_adc_decode(const mavlink_message_t* msg, mavlink_ap_adc_t* ap_adc)
{
#if MAVLINK_NEED_BYTE_SWAP
ap_adc->adc1 = mavlink_msg_ap_adc_get_adc1(msg);
ap_adc->adc2 = mavlink_msg_ap_adc_get_adc2(msg);
ap_adc->adc3 = mavlink_msg_ap_adc_get_adc3(msg);
ap_adc->adc4 = mavlink_msg_ap_adc_get_adc4(msg);
ap_adc->adc5 = mavlink_msg_ap_adc_get_adc5(msg);
ap_adc->adc6 = mavlink_msg_ap_adc_get_adc6(msg);
#else
memcpy(ap_adc, _MAV_PAYLOAD(msg), 12);
#endif
}
mavlink/include/v0.9/ardupilotmega/mavlink_msg_fence_fetch_point.h deleted 100644 → 0
View file @ 9f94fef5
// MESSAGE FENCE_FETCH_POINT PACKING
#define MAVLINK_MSG_ID_FENCE_FETCH_POINT 161
typedef struct __mavlink_fence_fetch_point_t
{
uint8_t target_system; ///< System ID
uint8_t target_component; ///< Component ID
uint8_t idx; ///< point index (first point is 1, 0 is for return point)
} mavlink_fence_fetch_point_t;
#define MAVLINK_MSG_ID_FENCE_FETCH_POINT_LEN 3
#define MAVLINK_MSG_ID_161_LEN 3
#define MAVLINK_MESSAGE_INFO_FENCE_FETCH_POINT { \
"FENCE_FETCH_POINT", \
3, \
{ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_fence_fetch_point_t, target_system) }, \
{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_fence_fetch_point_t, target_component) }, \
{ "idx", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_fence_fetch_point_t, idx) }, \
} \
}
/**
* @brief Pack a fence_fetch_point message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param target_system System ID
* @param target_component Component ID
* @param idx point index (first point is 1, 0 is for return point)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_fence_fetch_point_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t target_system, uint8_t target_component, uint8_t idx)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[3];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_uint8_t(buf, 2, idx);
memcpy(_MAV_PAYLOAD(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);
#endif
msg->msgid = MAVLINK_MSG_ID_FENCE_FETCH_POINT;
return mavlink_finalize_message(msg, system_id, component_id, 3);
}
/**
* @brief Pack a fence_fetch_point message on a channel
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param target_system System ID
* @param target_component Component ID
* @param idx point index (first point is 1, 0 is for return point)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_fence_fetch_point_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint8_t target_system,uint8_t target_component,uint8_t idx)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[3];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_uint8_t(buf, 2, idx);
memcpy(_MAV_PAYLOAD(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);
#endif
msg->msgid = MAVLINK_MSG_ID_FENCE_FETCH_POINT;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 3);
}
/**
* @brief Encode a fence_fetch_point 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 fence_fetch_point C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_fence_fetch_point_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_fence_fetch_point_t* fence_fetch_point)
{
return mavlink_msg_fence_fetch_point_pack(system_id, component_id, msg, fence_fetch_point->target_system, fence_fetch_point->target_component, fence_fetch_point->idx);
}
/**
* @brief Send a fence_fetch_point message
* @param chan MAVLink channel to send the message
*
* @param target_system System ID
* @param target_component Component ID
* @param idx point index (first point is 1, 0 is for return point)
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_fence_fetch_point_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t idx)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[3];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_uint8_t(buf, 2, idx);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_FETCH_POINT, buf, 3);
#else
mavlink_fence_fetch_point_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
packet.idx = idx;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_FETCH_POINT, (const char *)&packet, 3);
#endif
}
#endif
// MESSAGE FENCE_FETCH_POINT UNPACKING
/**
* @brief Get field target_system from fence_fetch_point message
*
* @return System ID
*/
static inline uint8_t mavlink_msg_fence_fetch_point_get_target_system(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 0);
}
/**
* @brief Get field target_component from fence_fetch_point message
*
* @return Component ID
*/
static inline uint8_t mavlink_msg_fence_fetch_point_get_target_component(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 1);
}
/**
* @brief Get field idx from fence_fetch_point message
*
* @return point index (first point is 1, 0 is for return point)
*/
static inline uint8_t mavlink_msg_fence_fetch_point_get_idx(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 2);
}
/**
* @brief Decode a fence_fetch_point message into a struct
*
* @param msg The message to decode
* @param fence_fetch_point C-struct to decode the message contents into
*/
static inline void mavlink_msg_fence_fetch_point_decode(const mavlink_message_t* msg, mavlink_fence_fetch_point_t* fence_fetch_point)
{
#if MAVLINK_NEED_BYTE_SWAP
fence_fetch_point->target_system = mavlink_msg_fence_fetch_point_get_target_system(msg);
fence_fetch_point->target_component = mavlink_msg_fence_fetch_point_get_target_component(msg);
fence_fetch_point->idx = mavlink_msg_fence_fetch_point_get_idx(msg);
#else
memcpy(fence_fetch_point, _MAV_PAYLOAD(msg), 3);
#endif
}
mavlink/include/v0.9/ardupilotmega/mavlink_msg_fence_point.h deleted 100644 → 0
View file @ 9f94fef5
// MESSAGE FENCE_POINT PACKING
#define MAVLINK_MSG_ID_FENCE_POINT 160
typedef struct __mavlink_fence_point_t
{
uint8_t target_system; ///< System ID
uint8_t target_component; ///< Component ID
uint8_t idx; ///< point index (first point is 1, 0 is for return point)
uint8_t count; ///< total number of points (for sanity checking)
float lat; ///< Latitude of point
float lng; ///< Longitude of point
} mavlink_fence_point_t;
#define MAVLINK_MSG_ID_FENCE_POINT_LEN 12
#define MAVLINK_MSG_ID_160_LEN 12
#define MAVLINK_MESSAGE_INFO_FENCE_POINT { \
"FENCE_POINT", \
6, \
{ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_fence_point_t, target_system) }, \
{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_fence_point_t, target_component) }, \
{ "idx", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_fence_point_t, idx) }, \
{ "count", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_fence_point_t, count) }, \
{ "lat", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_fence_point_t, lat) }, \
{ "lng", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_fence_point_t, lng) }, \
} \
}
/**
* @brief Pack a fence_point message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param target_system System ID
* @param target_component Component ID
* @param idx point index (first point is 1, 0 is for return point)
* @param count total number of points (for sanity checking)
* @param lat Latitude of point
* @param lng Longitude of point
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_fence_point_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t target_system, uint8_t target_component, uint8_t idx, uint8_t count, float lat, float lng)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[12];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_uint8_t(buf, 2, idx);
_mav_put_uint8_t(buf, 3, count);
_mav_put_float(buf, 4, lat);
_mav_put_float(buf, 8, lng);
memcpy(_MAV_PAYLOAD(msg), buf, 12);
#else
mavlink_fence_point_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
packet.idx = idx;
packet.count = count;
packet.lat = lat;
packet.lng = lng;
memcpy(_MAV_PAYLOAD(msg), &packet, 12);
#endif
msg->msgid = MAVLINK_MSG_ID_FENCE_POINT;
return mavlink_finalize_message(msg, system_id, component_id, 12);
}
/**
* @brief Pack a fence_point message on a channel
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param target_system System ID
* @param target_component Component ID
* @param idx point index (first point is 1, 0 is for return point)
* @param count total number of points (for sanity checking)
* @param lat Latitude of point
* @param lng Longitude of point
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_fence_point_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint8_t target_system,uint8_t target_component,uint8_t idx,uint8_t count,float lat,float lng)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[12];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_uint8_t(buf, 2, idx);
_mav_put_uint8_t(buf, 3, count);
_mav_put_float(buf, 4, lat);
_mav_put_float(buf, 8, lng);
memcpy(_MAV_PAYLOAD(msg), buf, 12);
#else
mavlink_fence_point_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
packet.idx = idx;
packet.count = count;
packet.lat = lat;
packet.lng = lng;
memcpy(_MAV_PAYLOAD(msg), &packet, 12);
#endif
msg->msgid = MAVLINK_MSG_ID_FENCE_POINT;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 12);
}
/**
* @brief Encode a fence_point 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 fence_point C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_fence_point_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_fence_point_t* fence_point)
{
return mavlink_msg_fence_point_pack(system_id, component_id, msg, fence_point->target_system, fence_point->target_component, fence_point->idx, fence_point->count, fence_point->lat, fence_point->lng);
}
/**
* @brief Send a fence_point message
* @param chan MAVLink channel to send the message
*
* @param target_system System ID
* @param target_component Component ID
* @param idx point index (first point is 1, 0 is for return point)
* @param count total number of points (for sanity checking)
* @param lat Latitude of point
* @param lng Longitude of point
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS