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Commit 1f491fff authored by hengli's avatar hengli
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Updated MAVLINK source code.

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thirdParty/mavlink/README
View file @ 1f491fff
......@@ -25,5 +25,4 @@ For more information, please visit:
http://qgroundcontrol.org/mavlink/
(c) 2009-2011 Lorenz Meier <mail@qgroundcontrol.org>
(c) 2009-2012 Lorenz Meier <mail@qgroundcontrol.org>
\ No newline at end of file
thirdParty/mavlink/generate.sh 0 → 100755
View file @ 1f491fff
#!/bin/bash
# this script generates all the include files with pymavlink
# settings
wireProtocol=1.0
pymavlinkTag=51f3d6713e9a5b94c232ab9bf9d08095a0c97866
# download pymavlink
topDir=$PWD
rm -rf include
rm -rf pymavlink
git clone https://github.com/mavlink/pymavlink.git -b master pymavlink
cd pymavlink && git checkout $pymavlinkTag && rm -rf .git
# generate includes using message definitions
cd $topDir
for file in $(find message_definitions -name "*.xml")
do
echo generating mavlink includes for definition: $file
./pymavlink/generator/mavgen.py --lang=C --wire-protocol=$wireProtocol --output=include $file
done
# cleanup
rm -rf pymavlink
thirdParty/mavlink/include/ardupilotmega/version.h
View file @ 1f491fff
......@@ -5,7 +5,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Tue Jan 10 11:49:24 2012"
#define MAVLINK_BUILD_DATE "Thu Feb 9 16:35:34 2012"
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101
......
thirdParty/mavlink/include/common/version.h
View file @ 1f491fff
......@@ -5,8 +5,8 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Wed Jan 11 14:50:35 2012"
#define MAVLINK_BUILD_DATE "Thu Feb 9 16:35:38 2012"
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
#endif // MAVLINK_VERSION_H
thirdParty/mavlink/include/minimal/version.h
View file @ 1f491fff
......@@ -5,7 +5,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Tue Jan 10 11:49:37 2012"
#define MAVLINK_BUILD_DATE "Thu Feb 9 16:35:36 2012"
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 9
......
thirdParty/mavlink/include/pixhawk/version.h
View file @ 1f491fff
......@@ -5,7 +5,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Tue Jan 10 12:52:11 2012"
#define MAVLINK_BUILD_DATE "Thu Feb 9 16:35:38 2012"
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
......
thirdParty/mavlink/include/sensesoar/mavlink.h 0 → 100644
View file @ 1f491fff
/** @file
* @brief MAVLink comm protocol built from sensesoar.xml
* @see http://pixhawk.ethz.ch/software/mavlink
*/
#ifndef MAVLINK_H
#define MAVLINK_H
#ifndef MAVLINK_STX
#define MAVLINK_STX 254
#endif
#ifndef MAVLINK_ENDIAN
#define MAVLINK_ENDIAN MAVLINK_LITTLE_ENDIAN
#endif
#ifndef MAVLINK_ALIGNED_FIELDS
#define MAVLINK_ALIGNED_FIELDS 1
#endif
#ifndef MAVLINK_CRC_EXTRA
#define MAVLINK_CRC_EXTRA 1
#endif
#include "version.h"
#include "sensesoar.h"
#endif // MAVLINK_H
thirdParty/mavlink/include/sensesoar/mavlink_msg_cmd_airspeed_ack.h 0 → 100644
View file @ 1f491fff
// MESSAGE CMD_AIRSPEED_ACK PACKING
#define MAVLINK_MSG_ID_CMD_AIRSPEED_ACK 194
typedef struct __mavlink_cmd_airspeed_ack_t
{
float spCmd; ///< commanded airspeed
uint8_t ack; ///< 0:ack, 1:nack
} mavlink_cmd_airspeed_ack_t;
#define MAVLINK_MSG_ID_CMD_AIRSPEED_ACK_LEN 5
#define MAVLINK_MSG_ID_194_LEN 5
#define MAVLINK_MESSAGE_INFO_CMD_AIRSPEED_ACK { \
"CMD_AIRSPEED_ACK", \
2, \
{ { "spCmd", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_cmd_airspeed_ack_t, spCmd) }, \
{ "ack", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_cmd_airspeed_ack_t, ack) }, \
} \
}
/**
* @brief Pack a cmd_airspeed_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 spCmd commanded airspeed
* @param ack 0:ack, 1:nack
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_cmd_airspeed_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
float spCmd, uint8_t ack)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[5];
_mav_put_float(buf, 0, spCmd);
_mav_put_uint8_t(buf, 4, ack);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 5);
#else
mavlink_cmd_airspeed_ack_t packet;
packet.spCmd = spCmd;
packet.ack = ack;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 5);
#endif
msg->msgid = MAVLINK_MSG_ID_CMD_AIRSPEED_ACK;
return mavlink_finalize_message(msg, system_id, component_id, 5, 243);
}
/**
* @brief Pack a cmd_airspeed_ack 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 spCmd commanded airspeed
* @param ack 0:ack, 1:nack
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_cmd_airspeed_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
float spCmd,uint8_t ack)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[5];
_mav_put_float(buf, 0, spCmd);
_mav_put_uint8_t(buf, 4, ack);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 5);
#else
mavlink_cmd_airspeed_ack_t packet;
packet.spCmd = spCmd;
packet.ack = ack;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 5);
#endif
msg->msgid = MAVLINK_MSG_ID_CMD_AIRSPEED_ACK;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 5, 243);
}
/**
* @brief Encode a cmd_airspeed_ack 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 cmd_airspeed_ack C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_cmd_airspeed_ack_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_cmd_airspeed_ack_t* cmd_airspeed_ack)
{
return mavlink_msg_cmd_airspeed_ack_pack(system_id, component_id, msg, cmd_airspeed_ack->spCmd, cmd_airspeed_ack->ack);
}
/**
* @brief Send a cmd_airspeed_ack message
* @param chan MAVLink channel to send the message
*
* @param spCmd commanded airspeed
* @param ack 0:ack, 1:nack
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_cmd_airspeed_ack_send(mavlink_channel_t chan, float spCmd, uint8_t ack)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[5];
_mav_put_float(buf, 0, spCmd);
_mav_put_uint8_t(buf, 4, ack);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CMD_AIRSPEED_ACK, buf, 5, 243);
#else
mavlink_cmd_airspeed_ack_t packet;
packet.spCmd = spCmd;
packet.ack = ack;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CMD_AIRSPEED_ACK, (const char *)&packet, 5, 243);
#endif
}
#endif
// MESSAGE CMD_AIRSPEED_ACK UNPACKING
/**
* @brief Get field spCmd from cmd_airspeed_ack message
*
* @return commanded airspeed
*/
static inline float mavlink_msg_cmd_airspeed_ack_get_spCmd(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 0);
}
/**
* @brief Get field ack from cmd_airspeed_ack message
*
* @return 0:ack, 1:nack
*/
static inline uint8_t mavlink_msg_cmd_airspeed_ack_get_ack(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 4);
}
/**
* @brief Decode a cmd_airspeed_ack message into a struct
*
* @param msg The message to decode
* @param cmd_airspeed_ack C-struct to decode the message contents into
*/
static inline void mavlink_msg_cmd_airspeed_ack_decode(const mavlink_message_t* msg, mavlink_cmd_airspeed_ack_t* cmd_airspeed_ack)
{
#if MAVLINK_NEED_BYTE_SWAP
cmd_airspeed_ack->spCmd = mavlink_msg_cmd_airspeed_ack_get_spCmd(msg);
cmd_airspeed_ack->ack = mavlink_msg_cmd_airspeed_ack_get_ack(msg);
#else
memcpy(cmd_airspeed_ack, _MAV_PAYLOAD(msg), 5);
#endif
}
thirdParty/mavlink/include/sensesoar/mavlink_msg_cmd_airspeed_chng.h 0 → 100644
View file @ 1f491fff
// MESSAGE CMD_AIRSPEED_CHNG PACKING
#define MAVLINK_MSG_ID_CMD_AIRSPEED_CHNG 192
typedef struct __mavlink_cmd_airspeed_chng_t
{
float spCmd; ///< commanded airspeed
uint8_t target; ///< Target ID
} mavlink_cmd_airspeed_chng_t;
#define MAVLINK_MSG_ID_CMD_AIRSPEED_CHNG_LEN 5
#define MAVLINK_MSG_ID_192_LEN 5
#define MAVLINK_MESSAGE_INFO_CMD_AIRSPEED_CHNG { \
"CMD_AIRSPEED_CHNG", \
2, \
{ { "spCmd", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_cmd_airspeed_chng_t, spCmd) }, \
{ "target", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_cmd_airspeed_chng_t, target) }, \
} \
}
/**
* @brief Pack a cmd_airspeed_chng 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 Target ID
* @param spCmd commanded airspeed
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_cmd_airspeed_chng_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t target, float spCmd)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[5];
_mav_put_float(buf, 0, spCmd);
_mav_put_uint8_t(buf, 4, target);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 5);
#else
mavlink_cmd_airspeed_chng_t packet;
packet.spCmd = spCmd;
packet.target = target;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 5);
#endif
msg->msgid = MAVLINK_MSG_ID_CMD_AIRSPEED_CHNG;
return mavlink_finalize_message(msg, system_id, component_id, 5, 209);
}
/**
* @brief Pack a cmd_airspeed_chng 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 Target ID
* @param spCmd commanded airspeed
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_cmd_airspeed_chng_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint8_t target,float spCmd)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[5];
_mav_put_float(buf, 0, spCmd);
_mav_put_uint8_t(buf, 4, target);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 5);
#else
mavlink_cmd_airspeed_chng_t packet;
packet.spCmd = spCmd;
packet.target = target;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 5);
#endif
msg->msgid = MAVLINK_MSG_ID_CMD_AIRSPEED_CHNG;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 5, 209);
}
/**
* @brief Encode a cmd_airspeed_chng 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 cmd_airspeed_chng C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_cmd_airspeed_chng_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_cmd_airspeed_chng_t* cmd_airspeed_chng)
{
return mavlink_msg_cmd_airspeed_chng_pack(system_id, component_id, msg, cmd_airspeed_chng->target, cmd_airspeed_chng->spCmd);
}
/**
* @brief Send a cmd_airspeed_chng message
* @param chan MAVLink channel to send the message
*
* @param target Target ID
* @param spCmd commanded airspeed
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_cmd_airspeed_chng_send(mavlink_channel_t chan, uint8_t target, float spCmd)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[5];
_mav_put_float(buf, 0, spCmd);
_mav_put_uint8_t(buf, 4, target);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CMD_AIRSPEED_CHNG, buf, 5, 209);
#else
mavlink_cmd_airspeed_chng_t packet;
packet.spCmd = spCmd;
packet.target = target;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CMD_AIRSPEED_CHNG, (const char *)&packet, 5, 209);
#endif
}
#endif
// MESSAGE CMD_AIRSPEED_CHNG UNPACKING
/**
* @brief Get field target from cmd_airspeed_chng message
*
* @return Target ID
*/
static inline uint8_t mavlink_msg_cmd_airspeed_chng_get_target(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 4);
}
/**
* @brief Get field spCmd from cmd_airspeed_chng message
*
* @return commanded airspeed
*/
static inline float mavlink_msg_cmd_airspeed_chng_get_spCmd(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 0);
}
/**
* @brief Decode a cmd_airspeed_chng message into a struct
*
* @param msg The message to decode
* @param cmd_airspeed_chng C-struct to decode the message contents into
*/
static inline void mavlink_msg_cmd_airspeed_chng_decode(const mavlink_message_t* msg, mavlink_cmd_airspeed_chng_t* cmd_airspeed_chng)
{
#if MAVLINK_NEED_BYTE_SWAP
cmd_airspeed_chng->spCmd = mavlink_msg_cmd_airspeed_chng_get_spCmd(msg);
cmd_airspeed_chng->target = mavlink_msg_cmd_airspeed_chng_get_target(msg);
#else
memcpy(cmd_airspeed_chng, _MAV_PAYLOAD(msg), 5);
#endif
}
thirdParty/mavlink/include/sensesoar/mavlink_msg_filt_rot_vel.h 0 → 100644
View file @ 1f491fff
// MESSAGE FILT_ROT_VEL PACKING
#define MAVLINK_MSG_ID_FILT_ROT_VEL 184
typedef struct __mavlink_filt_rot_vel_t
{
float rotVel[3]; ///< rotational velocity
} mavlink_filt_rot_vel_t;
#define MAVLINK_MSG_ID_FILT_ROT_VEL_LEN 12
#define MAVLINK_MSG_ID_184_LEN 12
#define MAVLINK_MSG_FILT_ROT_VEL_FIELD_ROTVEL_LEN 3
#define MAVLINK_MESSAGE_INFO_FILT_ROT_VEL { \
"FILT_ROT_VEL", \
1, \
{ { "rotVel", NULL, MAVLINK_TYPE_FLOAT, 3, 0, offsetof(mavlink_filt_rot_vel_t, rotVel) }, \
} \
}
/**
* @brief Pack a filt_rot_vel 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 rotVel rotational velocity
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_filt_rot_vel_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
const float *rotVel)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[12];
_mav_put_float_array(buf, 0, rotVel, 3);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12);
#else
mavlink_filt_rot_vel_t packet;
mav_array_memcpy(packet.rotVel, rotVel, sizeof(float)*3);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12);
#endif
msg->msgid = MAVLINK_MSG_ID_FILT_ROT_VEL;
return mavlink_finalize_message(msg, system_id, component_id, 12, 79);
}
/**
* @brief Pack a filt_rot_vel 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 rotVel rotational velocity
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_filt_rot_vel_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
const float *rotVel)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[12];
_mav_put_float_array(buf, 0, rotVel, 3);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12);
#else
mavlink_filt_rot_vel_t packet;
mav_array_memcpy(packet.rotVel, rotVel, sizeof(float)*3);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12);
#endif
msg->msgid = MAVLINK_MSG_ID_FILT_ROT_VEL;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 12, 79);
}
/**
* @brief Encode a filt_rot_vel 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 filt_rot_vel C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_filt_rot_vel_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_filt_rot_vel_t* filt_rot_vel)
{
return mavlink_msg_filt_rot_vel_pack(system_id, component_id, msg, filt_rot_vel->rotVel);
}
/**
* @brief Send a filt_rot_vel message
* @param chan MAVLink channel to send the message
*
* @param rotVel rotational velocity
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_filt_rot_vel_send(mavlink_channel_t chan, const float *rotVel)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[12];
_mav_put_float_array(buf, 0, rotVel, 3);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILT_ROT_VEL, buf, 12, 79);
#else
mavlink_filt_rot_vel_t packet;
mav_array_memcpy(packet.rotVel, rotVel, sizeof(float)*3);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILT_ROT_VEL, (const char *)&packet, 12, 79);
#endif
}
#endif
// MESSAGE FILT_ROT_VEL UNPACKING
/**
* @brief Get field rotVel from filt_rot_vel message
*
* @return rotational velocity
*/
static inline uint16_t mavlink_msg_filt_rot_vel_get_rotVel(const mavlink_message_t* msg, float *rotVel)
{
return _MAV_RETURN_float_array(msg, rotVel, 3, 0);
}
/**
* @brief Decode a filt_rot_vel message into a struct
*
* @param msg The message to decode
* @param filt_rot_vel C-struct to decode the message contents into
*/
static inline void mavlink_msg_filt_rot_vel_decode(const mavlink_message_t* msg, mavlink_filt_rot_vel_t* filt_rot_vel)
{
#if MAVLINK_NEED_BYTE_SWAP
mavlink_msg_filt_rot_vel_get_rotVel(msg, filt_rot_vel->rotVel);
#else
memcpy(filt_rot_vel, _MAV_PAYLOAD(msg), 12);
#endif
}
thirdParty/mavlink/include/sensesoar/mavlink_msg_llc_out.h 0 → 100644
View file @ 1f491fff
// MESSAGE LLC_OUT PACKING
#define MAVLINK_MSG_ID_LLC_OUT 186
typedef struct __mavlink_llc_out_t
{
int16_t servoOut[4]; ///< Servo signal
int16_t MotorOut[2]; ///< motor signal
} mavlink_llc_out_t;
#define MAVLINK_MSG_ID_LLC_OUT_LEN 12
#define MAVLINK_MSG_ID_186_LEN 12
#define MAVLINK_MSG_LLC_OUT_FIELD_SERVOOUT_LEN 4
#define MAVLINK_MSG_LLC_OUT_FIELD_MOTOROUT_LEN 2
#define MAVLINK_MESSAGE_INFO_LLC_OUT { \
"LLC_OUT", \
2, \
{ { "servoOut", NULL, MAVLINK_TYPE_INT16_T, 4, 0, offsetof(mavlink_llc_out_t, servoOut) }, \
{ "MotorOut", NULL, MAVLINK_TYPE_INT16_T, 2, 8, offsetof(mavlink_llc_out_t, MotorOut) }, \
} \
}
/**
* @brief Pack a llc_out 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 servoOut Servo signal
* @param MotorOut motor signal
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_llc_out_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
const int16_t *servoOut, const int16_t *MotorOut)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[12];
_mav_put_int16_t_array(buf, 0, servoOut, 4);
_mav_put_int16_t_array(buf, 8, MotorOut, 2);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12);
#else
mavlink_llc_out_t packet;
mav_array_memcpy(packet.servoOut, servoOut, sizeof(int16_t)*4);
mav_array_memcpy(packet.MotorOut, MotorOut, sizeof(int16_t)*2);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12);
#endif
msg->msgid = MAVLINK_MSG_ID_LLC_OUT;
return mavlink_finalize_message(msg, system_id, component_id, 12, 5);
}
/**
* @brief Pack a llc_out 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 servoOut Servo signal
* @param MotorOut motor signal
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_llc_out_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
const int16_t *servoOut,const int16_t *MotorOut)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[12];
_mav_put_int16_t_array(buf, 0, servoOut, 4);
_mav_put_int16_t_array(buf, 8, MotorOut, 2);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12);
#else
mavlink_llc_out_t packet;
mav_array_memcpy(packet.servoOut, servoOut, sizeof(int16_t)*4);
mav_array_memcpy(packet.MotorOut, MotorOut, sizeof(int16_t)*2);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12);
#endif
msg->msgid = MAVLINK_MSG_ID_LLC_OUT;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 12, 5);
}
/**
* @brief Encode a llc_out 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 llc_out C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_llc_out_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_llc_out_t* llc_out)
{
return mavlink_msg_llc_out_pack(system_id, component_id, msg, llc_out->servoOut, llc_out->MotorOut);
}
/**
* @brief Send a llc_out message
* @param chan MAVLink channel to send the message
*
* @param servoOut Servo signal
* @param MotorOut motor signal
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_llc_out_send(mavlink_channel_t chan, const int16_t *servoOut, const int16_t *MotorOut)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[12];
_mav_put_int16_t_array(buf, 0, servoOut, 4);
_mav_put_int16_t_array(buf, 8, MotorOut, 2);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LLC_OUT, buf, 12, 5);
#else
mavlink_llc_out_t packet;
mav_array_memcpy(packet.servoOut, servoOut, sizeof(int16_t)*4);
mav_array_memcpy(packet.MotorOut, MotorOut, sizeof(int16_t)*2);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LLC_OUT, (const char *)&packet, 12, 5);
#endif
}
#endif
// MESSAGE LLC_OUT UNPACKING
/**
* @brief Get field servoOut from llc_out message
*
* @return Servo signal
*/
static inline uint16_t mavlink_msg_llc_out_get_servoOut(const mavlink_message_t* msg, int16_t *servoOut)
{
return _MAV_RETURN_int16_t_array(msg, servoOut, 4, 0);
}
/**
* @brief Get field MotorOut from llc_out message
*
* @return motor signal
*/
static inline uint16_t mavlink_msg_llc_out_get_MotorOut(const mavlink_message_t* msg, int16_t *MotorOut)
{
return _MAV_RETURN_int16_t_array(msg, MotorOut, 2, 8);
}
/**
* @brief Decode a llc_out message into a struct
*
* @param msg The message to decode
* @param llc_out C-struct to decode the message contents into
*/
static inline void mavlink_msg_llc_out_decode(const mavlink_message_t* msg, mavlink_llc_out_t* llc_out)
{
#if MAVLINK_NEED_BYTE_SWAP
mavlink_msg_llc_out_get_servoOut(msg, llc_out->servoOut);
mavlink_msg_llc_out_get_MotorOut(msg, llc_out->MotorOut);
#else
memcpy(llc_out, _MAV_PAYLOAD(msg), 12);
#endif
}
thirdParty/mavlink/include/sensesoar/mavlink_msg_obs_air_temp.h 0 → 100644
View file @ 1f491fff
// MESSAGE OBS_AIR_TEMP PACKING
#define MAVLINK_MSG_ID_OBS_AIR_TEMP 183
typedef struct __mavlink_obs_air_temp_t
{
float airT; ///< Air Temperatur
} mavlink_obs_air_temp_t;
#define MAVLINK_MSG_ID_OBS_AIR_TEMP_LEN 4
#define MAVLINK_MSG_ID_183_LEN 4
#define MAVLINK_MESSAGE_INFO_OBS_AIR_TEMP { \
"OBS_AIR_TEMP", \
1, \
{ { "airT", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_obs_air_temp_t, airT) }, \
} \
}
/**
* @brief Pack a obs_air_temp 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 airT Air Temperatur
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_obs_air_temp_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
float airT)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[4];
_mav_put_float(buf, 0, airT);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 4);
#else
mavlink_obs_air_temp_t packet;
packet.airT = airT;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 4);
#endif
msg->msgid = MAVLINK_MSG_ID_OBS_AIR_TEMP;
return mavlink_finalize_message(msg, system_id, component_id, 4, 248);
}
/**
* @brief Pack a obs_air_temp 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 airT Air Temperatur
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_obs_air_temp_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
float airT)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[4];
_mav_put_float(buf, 0, airT);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 4);
#else
mavlink_obs_air_temp_t packet;
packet.airT = airT;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 4);
#endif
msg->msgid = MAVLINK_MSG_ID_OBS_AIR_TEMP;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 4, 248);
}
/**
* @brief Encode a obs_air_temp 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 obs_air_temp C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_obs_air_temp_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_obs_air_temp_t* obs_air_temp)
{
return mavlink_msg_obs_air_temp_pack(system_id, component_id, msg, obs_air_temp->airT);
}
/**
* @brief Send a obs_air_temp message
* @param chan MAVLink channel to send the message
*
* @param airT Air Temperatur
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_obs_air_temp_send(mavlink_channel_t chan, float airT)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[4];
_mav_put_float(buf, 0, airT);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_AIR_TEMP, buf, 4, 248);
#else
mavlink_obs_air_temp_t packet;
packet.airT = airT;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_AIR_TEMP, (const char *)&packet, 4, 248);
#endif
}
#endif
// MESSAGE OBS_AIR_TEMP UNPACKING
/**
* @brief Get field airT from obs_air_temp message
*
* @return Air Temperatur
*/
static inline float mavlink_msg_obs_air_temp_get_airT(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 0);
}
/**
* @brief Decode a obs_air_temp message into a struct
*
* @param msg The message to decode
* @param obs_air_temp C-struct to decode the message contents into
*/
static inline void mavlink_msg_obs_air_temp_decode(const mavlink_message_t* msg, mavlink_obs_air_temp_t* obs_air_temp)
{
#if MAVLINK_NEED_BYTE_SWAP
obs_air_temp->airT = mavlink_msg_obs_air_temp_get_airT(msg);
#else
memcpy(obs_air_temp, _MAV_PAYLOAD(msg), 4);
#endif
}
thirdParty/mavlink/include/sensesoar/mavlink_msg_obs_air_velocity.h 0 → 100644
View file @ 1f491fff
// MESSAGE OBS_AIR_VELOCITY PACKING
#define MAVLINK_MSG_ID_OBS_AIR_VELOCITY 178
typedef struct __mavlink_obs_air_velocity_t
{
float magnitude; ///< Air speed
float aoa; ///< angle of attack
float slip; ///< slip angle
} mavlink_obs_air_velocity_t;
#define MAVLINK_MSG_ID_OBS_AIR_VELOCITY_LEN 12
#define MAVLINK_MSG_ID_178_LEN 12
#define MAVLINK_MESSAGE_INFO_OBS_AIR_VELOCITY { \
"OBS_AIR_VELOCITY", \
3, \
{ { "magnitude", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_obs_air_velocity_t, magnitude) }, \
{ "aoa", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_obs_air_velocity_t, aoa) }, \
{ "slip", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_obs_air_velocity_t, slip) }, \
} \
}
/**
* @brief Pack a obs_air_velocity 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 magnitude Air speed
* @param aoa angle of attack
* @param slip slip angle
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_obs_air_velocity_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
float magnitude, float aoa, float slip)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[12];
_mav_put_float(buf, 0, magnitude);
_mav_put_float(buf, 4, aoa);
_mav_put_float(buf, 8, slip);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12);
#else
mavlink_obs_air_velocity_t packet;
packet.magnitude = magnitude;
packet.aoa = aoa;
packet.slip = slip;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12);
#endif
msg->msgid = MAVLINK_MSG_ID_OBS_AIR_VELOCITY;
return mavlink_finalize_message(msg, system_id, component_id, 12, 32);
}
/**
* @brief Pack a obs_air_velocity 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 magnitude Air speed
* @param aoa angle of attack
* @param slip slip angle
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_obs_air_velocity_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
float magnitude,float aoa,float slip)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[12];
_mav_put_float(buf, 0, magnitude);
_mav_put_float(buf, 4, aoa);
_mav_put_float(buf, 8, slip);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12);
#else
mavlink_obs_air_velocity_t packet;
packet.magnitude = magnitude;
packet.aoa = aoa;
packet.slip = slip;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12);
#endif
msg->msgid = MAVLINK_MSG_ID_OBS_AIR_VELOCITY;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 12, 32);
}
/**
* @brief Encode a obs_air_velocity 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 obs_air_velocity C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_obs_air_velocity_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_obs_air_velocity_t* obs_air_velocity)
{
return mavlink_msg_obs_air_velocity_pack(system_id, component_id, msg, obs_air_velocity->magnitude, obs_air_velocity->aoa, obs_air_velocity->slip);
}
/**
* @brief Send a obs_air_velocity message
* @param chan MAVLink channel to send the message
*
* @param magnitude Air speed
* @param aoa angle of attack
* @param slip slip angle
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_obs_air_velocity_send(mavlink_channel_t chan, float magnitude, float aoa, float slip)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[12];
_mav_put_float(buf, 0, magnitude);
_mav_put_float(buf, 4, aoa);
_mav_put_float(buf, 8, slip);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_AIR_VELOCITY, buf, 12, 32);
#else
mavlink_obs_air_velocity_t packet;
packet.magnitude = magnitude;
packet.aoa = aoa;
packet.slip = slip;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_AIR_VELOCITY, (const char *)&packet, 12, 32);
#endif
}
#endif
// MESSAGE OBS_AIR_VELOCITY UNPACKING
/**
* @brief Get field magnitude from obs_air_velocity message
*
* @return Air speed
*/
static inline float mavlink_msg_obs_air_velocity_get_magnitude(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 0);
}
/**
* @brief Get field aoa from obs_air_velocity message
*
* @return angle of attack
*/
static inline float mavlink_msg_obs_air_velocity_get_aoa(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 4);
}
/**
* @brief Get field slip from obs_air_velocity message
*
* @return slip angle
*/
static inline float mavlink_msg_obs_air_velocity_get_slip(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 8);
}
/**
* @brief Decode a obs_air_velocity message into a struct
*
* @param msg The message to decode
* @param obs_air_velocity C-struct to decode the message contents into
*/
static inline void mavlink_msg_obs_air_velocity_decode(const mavlink_message_t* msg, mavlink_obs_air_velocity_t* obs_air_velocity)
{
#if MAVLINK_NEED_BYTE_SWAP
obs_air_velocity->magnitude = mavlink_msg_obs_air_velocity_get_magnitude(msg);
obs_air_velocity->aoa = mavlink_msg_obs_air_velocity_get_aoa(msg);
obs_air_velocity->slip = mavlink_msg_obs_air_velocity_get_slip(msg);
#else
memcpy(obs_air_velocity, _MAV_PAYLOAD(msg), 12);
#endif
}
thirdParty/mavlink/include/sensesoar/mavlink_msg_obs_attitude.h 0 → 100644
View file @ 1f491fff
// MESSAGE OBS_ATTITUDE PACKING
#define MAVLINK_MSG_ID_OBS_ATTITUDE 174
typedef struct __mavlink_obs_attitude_t
{
double quat[4]; ///< Quaternion re;im
} mavlink_obs_attitude_t;
#define MAVLINK_MSG_ID_OBS_ATTITUDE_LEN 32
#define MAVLINK_MSG_ID_174_LEN 32
#define MAVLINK_MSG_OBS_ATTITUDE_FIELD_QUAT_LEN 4
#define MAVLINK_MESSAGE_INFO_OBS_ATTITUDE { \
"OBS_ATTITUDE", \
1, \
{ { "quat", NULL, MAVLINK_TYPE_DOUBLE, 4, 0, offsetof(mavlink_obs_attitude_t, quat) }, \
} \
}
/**
* @brief Pack a obs_attitude 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 quat Quaternion re;im
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_obs_attitude_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
const double *quat)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[32];
_mav_put_double_array(buf, 0, quat, 4);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 32);
#else
mavlink_obs_attitude_t packet;
mav_array_memcpy(packet.quat, quat, sizeof(double)*4);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 32);
#endif
msg->msgid = MAVLINK_MSG_ID_OBS_ATTITUDE;
return mavlink_finalize_message(msg, system_id, component_id, 32, 146);
}
/**
* @brief Pack a obs_attitude 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 quat Quaternion re;im
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_obs_attitude_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
const double *quat)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[32];
_mav_put_double_array(buf, 0, quat, 4);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 32);
#else
mavlink_obs_attitude_t packet;
mav_array_memcpy(packet.quat, quat, sizeof(double)*4);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 32);
#endif
msg->msgid = MAVLINK_MSG_ID_OBS_ATTITUDE;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 32, 146);
}
/**
* @brief Encode a obs_attitude 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 obs_attitude C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_obs_attitude_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_obs_attitude_t* obs_attitude)
{
return mavlink_msg_obs_attitude_pack(system_id, component_id, msg, obs_attitude->quat);
}
/**
* @brief Send a obs_attitude message
* @param chan MAVLink channel to send the message
*
* @param quat Quaternion re;im
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_obs_attitude_send(mavlink_channel_t chan, const double *quat)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[32];
_mav_put_double_array(buf, 0, quat, 4);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_ATTITUDE, buf, 32, 146);
#else
mavlink_obs_attitude_t packet;
mav_array_memcpy(packet.quat, quat, sizeof(double)*4);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_ATTITUDE, (const char *)&packet, 32, 146);
#endif
}
#endif
// MESSAGE OBS_ATTITUDE UNPACKING
/**
* @brief Get field quat from obs_attitude message
*
* @return Quaternion re;im
*/
static inline uint16_t mavlink_msg_obs_attitude_get_quat(const mavlink_message_t* msg, double *quat)
{
return _MAV_RETURN_double_array(msg, quat, 4, 0);
}
/**
* @brief Decode a obs_attitude message into a struct
*
* @param msg The message to decode
* @param obs_attitude C-struct to decode the message contents into
*/
static inline void mavlink_msg_obs_attitude_decode(const mavlink_message_t* msg, mavlink_obs_attitude_t* obs_attitude)
{
#if MAVLINK_NEED_BYTE_SWAP
mavlink_msg_obs_attitude_get_quat(msg, obs_attitude->quat);
#else
memcpy(obs_attitude, _MAV_PAYLOAD(msg), 32);
#endif
}
thirdParty/mavlink/include/sensesoar/mavlink_msg_obs_bias.h 0 → 100644
View file @ 1f491fff
// MESSAGE OBS_BIAS PACKING
#define MAVLINK_MSG_ID_OBS_BIAS 180
typedef struct __mavlink_obs_bias_t
{
float accBias[3]; ///< accelerometer bias
float gyroBias[3]; ///< gyroscope bias
} mavlink_obs_bias_t;
#define MAVLINK_MSG_ID_OBS_BIAS_LEN 24
#define MAVLINK_MSG_ID_180_LEN 24
#define MAVLINK_MSG_OBS_BIAS_FIELD_ACCBIAS_LEN 3
#define MAVLINK_MSG_OBS_BIAS_FIELD_GYROBIAS_LEN 3
#define MAVLINK_MESSAGE_INFO_OBS_BIAS { \
"OBS_BIAS", \
2, \
{ { "accBias", NULL, MAVLINK_TYPE_FLOAT, 3, 0, offsetof(mavlink_obs_bias_t, accBias) }, \
{ "gyroBias", NULL, MAVLINK_TYPE_FLOAT, 3, 12, offsetof(mavlink_obs_bias_t, gyroBias) }, \
} \
}
/**
* @brief Pack a obs_bias 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 accBias accelerometer bias
* @param gyroBias gyroscope bias
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_obs_bias_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
const float *accBias, const float *gyroBias)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[24];
_mav_put_float_array(buf, 0, accBias, 3);
_mav_put_float_array(buf, 12, gyroBias, 3);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 24);
#else
mavlink_obs_bias_t packet;
mav_array_memcpy(packet.accBias, accBias, sizeof(float)*3);
mav_array_memcpy(packet.gyroBias, gyroBias, sizeof(float)*3);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 24);
#endif
msg->msgid = MAVLINK_MSG_ID_OBS_BIAS;
return mavlink_finalize_message(msg, system_id, component_id, 24, 159);
}
/**
* @brief Pack a obs_bias 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 accBias accelerometer bias
* @param gyroBias gyroscope bias
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_obs_bias_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
const float *accBias,const float *gyroBias)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[24];
_mav_put_float_array(buf, 0, accBias, 3);
_mav_put_float_array(buf, 12, gyroBias, 3);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 24);
#else
mavlink_obs_bias_t packet;
mav_array_memcpy(packet.accBias, accBias, sizeof(float)*3);
mav_array_memcpy(packet.gyroBias, gyroBias, sizeof(float)*3);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 24);
#endif
msg->msgid = MAVLINK_MSG_ID_OBS_BIAS;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 24, 159);
}
/**
* @brief Encode a obs_bias 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 obs_bias C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_obs_bias_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_obs_bias_t* obs_bias)
{
return mavlink_msg_obs_bias_pack(system_id, component_id, msg, obs_bias->accBias, obs_bias->gyroBias);
}
/**
* @brief Send a obs_bias message
* @param chan MAVLink channel to send the message
*
* @param accBias accelerometer bias
* @param gyroBias gyroscope bias
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_obs_bias_send(mavlink_channel_t chan, const float *accBias, const float *gyroBias)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[24];
_mav_put_float_array(buf, 0, accBias, 3);
_mav_put_float_array(buf, 12, gyroBias, 3);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_BIAS, buf, 24, 159);
#else
mavlink_obs_bias_t packet;
mav_array_memcpy(packet.accBias, accBias, sizeof(float)*3);
mav_array_memcpy(packet.gyroBias, gyroBias, sizeof(float)*3);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_BIAS, (const char *)&packet, 24, 159);
#endif
}
#endif
// MESSAGE OBS_BIAS UNPACKING
/**
* @brief Get field accBias from obs_bias message
*
* @return accelerometer bias
*/
static inline uint16_t mavlink_msg_obs_bias_get_accBias(const mavlink_message_t* msg, float *accBias)
{
return _MAV_RETURN_float_array(msg, accBias, 3, 0);
}
/**
* @brief Get field gyroBias from obs_bias message
*
* @return gyroscope bias
*/
static inline uint16_t mavlink_msg_obs_bias_get_gyroBias(const mavlink_message_t* msg, float *gyroBias)
{
return _MAV_RETURN_float_array(msg, gyroBias, 3, 12);
}
/**
* @brief Decode a obs_bias message into a struct
*
* @param msg The message to decode
* @param obs_bias C-struct to decode the message contents into
*/
static inline void mavlink_msg_obs_bias_decode(const mavlink_message_t* msg, mavlink_obs_bias_t* obs_bias)
{
#if MAVLINK_NEED_BYTE_SWAP
mavlink_msg_obs_bias_get_accBias(msg, obs_bias->accBias);
mavlink_msg_obs_bias_get_gyroBias(msg, obs_bias->gyroBias);
#else
memcpy(obs_bias, _MAV_PAYLOAD(msg), 24);
#endif
}
thirdParty/mavlink/include/sensesoar/mavlink_msg_obs_position.h 0 → 100644
View file @ 1f491fff
// MESSAGE OBS_POSITION PACKING
#define MAVLINK_MSG_ID_OBS_POSITION 170
typedef struct __mavlink_obs_position_t
{
int32_t lon; ///< Longitude expressed in 1E7
int32_t lat; ///< Latitude expressed in 1E7
int32_t alt; ///< Altitude expressed in milimeters
} mavlink_obs_position_t;
#define MAVLINK_MSG_ID_OBS_POSITION_LEN 12
#define MAVLINK_MSG_ID_170_LEN 12
#define MAVLINK_MESSAGE_INFO_OBS_POSITION { \
"OBS_POSITION", \
3, \
{ { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_obs_position_t, lon) }, \
{ "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_obs_position_t, lat) }, \
{ "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_obs_position_t, alt) }, \
} \
}
/**
* @brief Pack a obs_position 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 lon Longitude expressed in 1E7
* @param lat Latitude expressed in 1E7
* @param alt Altitude expressed in milimeters
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_obs_position_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
int32_t lon, int32_t lat, int32_t alt)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[12];
_mav_put_int32_t(buf, 0, lon);
_mav_put_int32_t(buf, 4, lat);
_mav_put_int32_t(buf, 8, alt);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12);
#else
mavlink_obs_position_t packet;
packet.lon = lon;
packet.lat = lat;
packet.alt = alt;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12);
#endif
msg->msgid = MAVLINK_MSG_ID_OBS_POSITION;
return mavlink_finalize_message(msg, system_id, component_id, 12, 15);
}
/**
* @brief Pack a obs_position 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 lon Longitude expressed in 1E7
* @param lat Latitude expressed in 1E7
* @param alt Altitude expressed in milimeters
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_obs_position_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
int32_t lon,int32_t lat,int32_t alt)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[12];
_mav_put_int32_t(buf, 0, lon);
_mav_put_int32_t(buf, 4, lat);
_mav_put_int32_t(buf, 8, alt);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12);
#else
mavlink_obs_position_t packet;
packet.lon = lon;
packet.lat = lat;
packet.alt = alt;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12);
#endif
msg->msgid = MAVLINK_MSG_ID_OBS_POSITION;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 12, 15);
}
/**
* @brief Encode a obs_position 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 obs_position C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_obs_position_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_obs_position_t* obs_position)
{
return mavlink_msg_obs_position_pack(system_id, component_id, msg, obs_position->lon, obs_position->lat, obs_position->alt);
}
/**
* @brief Send a obs_position message
* @param chan MAVLink channel to send the message
*
* @param lon Longitude expressed in 1E7
* @param lat Latitude expressed in 1E7
* @param alt Altitude expressed in milimeters
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_obs_position_send(mavlink_channel_t chan, int32_t lon, int32_t lat, int32_t alt)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[12];
_mav_put_int32_t(buf, 0, lon);
_mav_put_int32_t(buf, 4, lat);
_mav_put_int32_t(buf, 8, alt);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_POSITION, buf, 12, 15);
#else
mavlink_obs_position_t packet;
packet.lon = lon;
packet.lat = lat;
packet.alt = alt;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_POSITION, (const char *)&packet, 12, 15);
#endif
}
#endif
// MESSAGE OBS_POSITION UNPACKING
/**
* @brief Get field lon from obs_position message
*
* @return Longitude expressed in 1E7
*/
static inline int32_t mavlink_msg_obs_position_get_lon(const mavlink_message_t* msg)
{
return _MAV_RETURN_int32_t(msg, 0);
}
/**
* @brief Get field lat from obs_position message
*
* @return Latitude expressed in 1E7
*/
static inline int32_t mavlink_msg_obs_position_get_lat(const mavlink_message_t* msg)
{
return _MAV_RETURN_int32_t(msg, 4);
}
/**
* @brief Get field alt from obs_position message
*
* @return Altitude expressed in milimeters
*/
static inline int32_t mavlink_msg_obs_position_get_alt(const mavlink_message_t* msg)
{
return _MAV_RETURN_int32_t(msg, 8);
}
/**
* @brief Decode a obs_position message into a struct
*
* @param msg The message to decode
* @param obs_position C-struct to decode the message contents into
*/
static inline void mavlink_msg_obs_position_decode(const mavlink_message_t* msg, mavlink_obs_position_t* obs_position)
{
#if MAVLINK_NEED_BYTE_SWAP
obs_position->lon = mavlink_msg_obs_position_get_lon(msg);
obs_position->lat = mavlink_msg_obs_position_get_lat(msg);
obs_position->alt = mavlink_msg_obs_position_get_alt(msg);
#else
memcpy(obs_position, _MAV_PAYLOAD(msg), 12);
#endif
}
thirdParty/mavlink/include/sensesoar/mavlink_msg_obs_qff.h 0 → 100644
View file @ 1f491fff
// MESSAGE OBS_QFF PACKING
#define MAVLINK_MSG_ID_OBS_QFF 182
typedef struct __mavlink_obs_qff_t
{
float qff; ///< Wind
} mavlink_obs_qff_t;
#define MAVLINK_MSG_ID_OBS_QFF_LEN 4
#define MAVLINK_MSG_ID_182_LEN 4
#define MAVLINK_MESSAGE_INFO_OBS_QFF { \
"OBS_QFF", \
1, \
{ { "qff", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_obs_qff_t, qff) }, \
} \
}
/**
* @brief Pack a obs_qff 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 qff Wind
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_obs_qff_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
float qff)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[4];
_mav_put_float(buf, 0, qff);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 4);
#else
mavlink_obs_qff_t packet;
packet.qff = qff;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 4);
#endif
msg->msgid = MAVLINK_MSG_ID_OBS_QFF;
return mavlink_finalize_message(msg, system_id, component_id, 4, 24);
}
/**
* @brief Pack a obs_qff 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 qff Wind
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_obs_qff_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
float qff)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[4];
_mav_put_float(buf, 0, qff);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 4);
#else
mavlink_obs_qff_t packet;
packet.qff = qff;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 4);
#endif
msg->msgid = MAVLINK_MSG_ID_OBS_QFF;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 4, 24);
}
/**
* @brief Encode a obs_qff 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 obs_qff C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_obs_qff_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_obs_qff_t* obs_qff)
{
return mavlink_msg_obs_qff_pack(system_id, component_id, msg, obs_qff->qff);
}
/**
* @brief Send a obs_qff message
* @param chan MAVLink channel to send the message
*
* @param qff Wind
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_obs_qff_send(mavlink_channel_t chan, float qff)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[4];
_mav_put_float(buf, 0, qff);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_QFF, buf, 4, 24);
#else
mavlink_obs_qff_t packet;
packet.qff = qff;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_QFF, (const char *)&packet, 4, 24);
#endif
}
#endif
// MESSAGE OBS_QFF UNPACKING
/**
* @brief Get field qff from obs_qff message
*
* @return Wind
*/
static inline float mavlink_msg_obs_qff_get_qff(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 0);
}
/**
* @brief Decode a obs_qff message into a struct
*
* @param msg The message to decode
* @param obs_qff C-struct to decode the message contents into
*/
static inline void mavlink_msg_obs_qff_decode(const mavlink_message_t* msg, mavlink_obs_qff_t* obs_qff)
{
#if MAVLINK_NEED_BYTE_SWAP
obs_qff->qff = mavlink_msg_obs_qff_get_qff(msg);
#else
memcpy(obs_qff, _MAV_PAYLOAD(msg), 4);
#endif
}
thirdParty/mavlink/include/sensesoar/mavlink_msg_obs_velocity.h 0 → 100644
View file @ 1f491fff
// MESSAGE OBS_VELOCITY PACKING
#define MAVLINK_MSG_ID_OBS_VELOCITY 172
typedef struct __mavlink_obs_velocity_t
{
float vel[3]; ///< Velocity
} mavlink_obs_velocity_t;
#define MAVLINK_MSG_ID_OBS_VELOCITY_LEN 12
#define MAVLINK_MSG_ID_172_LEN 12
#define MAVLINK_MSG_OBS_VELOCITY_FIELD_VEL_LEN 3
#define MAVLINK_MESSAGE_INFO_OBS_VELOCITY { \
"OBS_VELOCITY", \
1, \
{ { "vel", NULL, MAVLINK_TYPE_FLOAT, 3, 0, offsetof(mavlink_obs_velocity_t, vel) }, \
} \
}
/**
* @brief Pack a obs_velocity 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 vel Velocity
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_obs_velocity_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
const float *vel)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[12];
_mav_put_float_array(buf, 0, vel, 3);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12);
#else
mavlink_obs_velocity_t packet;
mav_array_memcpy(packet.vel, vel, sizeof(float)*3);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12);
#endif
msg->msgid = MAVLINK_MSG_ID_OBS_VELOCITY;
return mavlink_finalize_message(msg, system_id, component_id, 12, 108);
}
/**
* @brief Pack a obs_velocity 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 vel Velocity
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_obs_velocity_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
const float *vel)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[12];
_mav_put_float_array(buf, 0, vel, 3);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12);
#else
mavlink_obs_velocity_t packet;
mav_array_memcpy(packet.vel, vel, sizeof(float)*3);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12);
#endif
msg->msgid = MAVLINK_MSG_ID_OBS_VELOCITY;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 12, 108);
}
/**
* @brief Encode a obs_velocity 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 obs_velocity C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_obs_velocity_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_obs_velocity_t* obs_velocity)
{
return mavlink_msg_obs_velocity_pack(system_id, component_id, msg, obs_velocity->vel);
}
/**
* @brief Send a obs_velocity message
* @param chan MAVLink channel to send the message
*
* @param vel Velocity
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_obs_velocity_send(mavlink_channel_t chan, const float *vel)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[12];
_mav_put_float_array(buf, 0, vel, 3);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_VELOCITY, buf, 12, 108);
#else
mavlink_obs_velocity_t packet;
mav_array_memcpy(packet.vel, vel, sizeof(float)*3);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_VELOCITY, (const char *)&packet, 12, 108);
#endif
}
#endif
// MESSAGE OBS_VELOCITY UNPACKING
/**
* @brief Get field vel from obs_velocity message
*
* @return Velocity
*/
static inline uint16_t mavlink_msg_obs_velocity_get_vel(const mavlink_message_t* msg, float *vel)
{
return _MAV_RETURN_float_array(msg, vel, 3, 0);
}
/**
* @brief Decode a obs_velocity message into a struct
*
* @param msg The message to decode
* @param obs_velocity C-struct to decode the message contents into
*/
static inline void mavlink_msg_obs_velocity_decode(const mavlink_message_t* msg, mavlink_obs_velocity_t* obs_velocity)
{
#if MAVLINK_NEED_BYTE_SWAP
mavlink_msg_obs_velocity_get_vel(msg, obs_velocity->vel);
#else
memcpy(obs_velocity, _MAV_PAYLOAD(msg), 12);
#endif
}
thirdParty/mavlink/include/sensesoar/mavlink_msg_obs_wind.h 0 → 100644
View file @ 1f491fff
// MESSAGE OBS_WIND PACKING
#define MAVLINK_MSG_ID_OBS_WIND 176
typedef struct __mavlink_obs_wind_t
{
float wind[3]; ///< Wind
} mavlink_obs_wind_t;
#define MAVLINK_MSG_ID_OBS_WIND_LEN 12
#define MAVLINK_MSG_ID_176_LEN 12
#define MAVLINK_MSG_OBS_WIND_FIELD_WIND_LEN 3
#define MAVLINK_MESSAGE_INFO_OBS_WIND { \
"OBS_WIND", \
1, \
{ { "wind", NULL, MAVLINK_TYPE_FLOAT, 3, 0, offsetof(mavlink_obs_wind_t, wind) }, \
} \
}
/**
* @brief Pack a obs_wind 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 wind Wind
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_obs_wind_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
const float *wind)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[12];
_mav_put_float_array(buf, 0, wind, 3);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12);
#else
mavlink_obs_wind_t packet;
mav_array_memcpy(packet.wind, wind, sizeof(float)*3);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12);
#endif
msg->msgid = MAVLINK_MSG_ID_OBS_WIND;
return mavlink_finalize_message(msg, system_id, component_id, 12, 16);
}
/**
* @brief Pack a obs_wind 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 wind Wind
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_obs_wind_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
const float *wind)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[12];
_mav_put_float_array(buf, 0, wind, 3);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12);
#else
mavlink_obs_wind_t packet;
mav_array_memcpy(packet.wind, wind, sizeof(float)*3);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12);
#endif
msg->msgid = MAVLINK_MSG_ID_OBS_WIND;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 12, 16);
}
/**
* @brief Encode a obs_wind 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 obs_wind C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_obs_wind_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_obs_wind_t* obs_wind)
{
return mavlink_msg_obs_wind_pack(system_id, component_id, msg, obs_wind->wind);
}
/**
* @brief Send a obs_wind message
* @param chan MAVLink channel to send the message
*
* @param wind Wind
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_obs_wind_send(mavlink_channel_t chan, const float *wind)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[12];
_mav_put_float_array(buf, 0, wind, 3);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_WIND, buf, 12, 16);
#else
mavlink_obs_wind_t packet;
mav_array_memcpy(packet.wind, wind, sizeof(float)*3);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_WIND, (const char *)&packet, 12, 16);
#endif
}
#endif
// MESSAGE OBS_WIND UNPACKING
/**
* @brief Get field wind from obs_wind message
*
* @return Wind
*/
static inline uint16_t mavlink_msg_obs_wind_get_wind(const mavlink_message_t* msg, float *wind)
{
return _MAV_RETURN_float_array(msg, wind, 3, 0);
}
/**
* @brief Decode a obs_wind message into a struct
*
* @param msg The message to decode
* @param obs_wind C-struct to decode the message contents into
*/
static inline void mavlink_msg_obs_wind_decode(const mavlink_message_t* msg, mavlink_obs_wind_t* obs_wind)
{
#if MAVLINK_NEED_BYTE_SWAP
mavlink_msg_obs_wind_get_wind(msg, obs_wind->wind);
#else
memcpy(obs_wind, _MAV_PAYLOAD(msg), 12);
#endif
}
thirdParty/mavlink/include/sensesoar/mavlink_msg_pm_elec.h 0 → 100644
View file @ 1f491fff
// MESSAGE PM_ELEC PACKING
#define MAVLINK_MSG_ID_PM_ELEC 188
typedef struct __mavlink_pm_elec_t
{
float PwCons; ///< current power consumption
float BatStat; ///< battery status
float PwGen[3]; ///< Power generation from each module
} mavlink_pm_elec_t;
#define MAVLINK_MSG_ID_PM_ELEC_LEN 20
#define MAVLINK_MSG_ID_188_LEN 20
#define MAVLINK_MSG_PM_ELEC_FIELD_PWGEN_LEN 3
#define MAVLINK_MESSAGE_INFO_PM_ELEC { \
"PM_ELEC", \
3, \
{ { "PwCons", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_pm_elec_t, PwCons) }, \
{ "BatStat", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_pm_elec_t, BatStat) }, \
{ "PwGen", NULL, MAVLINK_TYPE_FLOAT, 3, 8, offsetof(mavlink_pm_elec_t, PwGen) }, \
} \
}
/**
* @brief Pack a pm_elec 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 PwCons current power consumption
* @param BatStat battery status
* @param PwGen Power generation from each module
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_pm_elec_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
float PwCons, float BatStat, const float *PwGen)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[20];
_mav_put_float(buf, 0, PwCons);
_mav_put_float(buf, 4, BatStat);
_mav_put_float_array(buf, 8, PwGen, 3);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 20);
#else
mavlink_pm_elec_t packet;
packet.PwCons = PwCons;
packet.BatStat = BatStat;
mav_array_memcpy(packet.PwGen, PwGen, sizeof(float)*3);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 20);
#endif
msg->msgid = MAVLINK_MSG_ID_PM_ELEC;
return mavlink_finalize_message(msg, system_id, component_id, 20, 170);
}
/**
* @brief Pack a pm_elec 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 PwCons current power consumption
* @param BatStat battery status
* @param PwGen Power generation from each module
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_pm_elec_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
float PwCons,float BatStat,const float *PwGen)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[20];
_mav_put_float(buf, 0, PwCons);
_mav_put_float(buf, 4, BatStat);
_mav_put_float_array(buf, 8, PwGen, 3);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 20);
#else
mavlink_pm_elec_t packet;
packet.PwCons = PwCons;
packet.BatStat = BatStat;
mav_array_memcpy(packet.PwGen, PwGen, sizeof(float)*3);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 20);
#endif
msg->msgid = MAVLINK_MSG_ID_PM_ELEC;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 20, 170);
}
/**
* @brief Encode a pm_elec 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 pm_elec C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_pm_elec_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_pm_elec_t* pm_elec)
{
return mavlink_msg_pm_elec_pack(system_id, component_id, msg, pm_elec->PwCons, pm_elec->BatStat, pm_elec->PwGen);
}
/**
* @brief Send a pm_elec message
* @param chan MAVLink channel to send the message
*
* @param PwCons current power consumption
* @param BatStat battery status
* @param PwGen Power generation from each module
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_pm_elec_send(mavlink_channel_t chan, float PwCons, float BatStat, const float *PwGen)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[20];
_mav_put_float(buf, 0, PwCons);
_mav_put_float(buf, 4, BatStat);
_mav_put_float_array(buf, 8, PwGen, 3);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PM_ELEC, buf, 20, 170);
#else
mavlink_pm_elec_t packet;
packet.PwCons = PwCons;
packet.BatStat = BatStat;
mav_array_memcpy(packet.PwGen, PwGen, sizeof(float)*3);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PM_ELEC, (const char *)&packet, 20, 170);
#endif
}
#endif
// MESSAGE PM_ELEC UNPACKING
/**
* @brief Get field PwCons from pm_elec message
*
* @return current power consumption
*/
static inline float mavlink_msg_pm_elec_get_PwCons(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 0);
}
/**
* @brief Get field BatStat from pm_elec message
*
* @return battery status
*/
static inline float mavlink_msg_pm_elec_get_BatStat(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 4);
}
/**
* @brief Get field PwGen from pm_elec message
*
* @return Power generation from each module
*/
static inline uint16_t mavlink_msg_pm_elec_get_PwGen(const mavlink_message_t* msg, float *PwGen)
{
return _MAV_RETURN_float_array(msg, PwGen, 3, 8);
}
/**
* @brief Decode a pm_elec message into a struct
*
* @param msg The message to decode
* @param pm_elec C-struct to decode the message contents into
*/
static inline void mavlink_msg_pm_elec_decode(const mavlink_message_t* msg, mavlink_pm_elec_t* pm_elec)
{
#if MAVLINK_NEED_BYTE_SWAP
pm_elec->PwCons = mavlink_msg_pm_elec_get_PwCons(msg);
pm_elec->BatStat = mavlink_msg_pm_elec_get_BatStat(msg);
mavlink_msg_pm_elec_get_PwGen(msg, pm_elec->PwGen);
#else
memcpy(pm_elec, _MAV_PAYLOAD(msg), 20);
#endif
}
thirdParty/mavlink/include/sensesoar/mavlink_msg_sys_stat.h 0 → 100644
View file @ 1f491fff
// MESSAGE SYS_Stat PACKING
#define MAVLINK_MSG_ID_SYS_Stat 190
typedef struct __mavlink_sys_stat_t
{
uint8_t gps; ///< gps status
uint8_t act; ///< actuator status
uint8_t mod; ///< module status
uint8_t commRssi; ///< module status
} mavlink_sys_stat_t;
#define MAVLINK_MSG_ID_SYS_Stat_LEN 4
#define MAVLINK_MSG_ID_190_LEN 4
#define MAVLINK_MESSAGE_INFO_SYS_Stat { \
"SYS_Stat", \
4, \
{ { "gps", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_sys_stat_t, gps) }, \
{ "act", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_sys_stat_t, act) }, \
{ "mod", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_sys_stat_t, mod) }, \
{ "commRssi", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_sys_stat_t, commRssi) }, \
} \
}
/**
* @brief Pack a sys_stat 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 gps gps status
* @param act actuator status
* @param mod module status
* @param commRssi module status
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_sys_stat_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t gps, uint8_t act, uint8_t mod, uint8_t commRssi)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[4];
_mav_put_uint8_t(buf, 0, gps);
_mav_put_uint8_t(buf, 1, act);
_mav_put_uint8_t(buf, 2, mod);
_mav_put_uint8_t(buf, 3, commRssi);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 4);
#else
mavlink_sys_stat_t packet;
packet.gps = gps;
packet.act = act;
packet.mod = mod;
packet.commRssi = commRssi;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 4);
#endif
msg->msgid = MAVLINK_MSG_ID_SYS_Stat;
return mavlink_finalize_message(msg, system_id, component_id, 4, 157);
}
/**
* @brief Pack a sys_stat 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 gps gps status
* @param act actuator status
* @param mod module status
* @param commRssi module status
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_sys_stat_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint8_t gps,uint8_t act,uint8_t mod,uint8_t commRssi)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[4];
_mav_put_uint8_t(buf, 0, gps);
_mav_put_uint8_t(buf, 1, act);
_mav_put_uint8_t(buf, 2, mod);
_mav_put_uint8_t(buf, 3, commRssi);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 4);
#else
mavlink_sys_stat_t packet;
packet.gps = gps;
packet.act = act;
packet.mod = mod;
packet.commRssi = commRssi;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 4);
#endif
msg->msgid = MAVLINK_MSG_ID_SYS_Stat;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 4, 157);
}
/**
* @brief Encode a sys_stat 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 sys_stat C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_sys_stat_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_sys_stat_t* sys_stat)
{
return mavlink_msg_sys_stat_pack(system_id, component_id, msg, sys_stat->gps, sys_stat->act, sys_stat->mod, sys_stat->commRssi);
}
/**
* @brief Send a sys_stat message
* @param chan MAVLink channel to send the message
*
* @param gps gps status
* @param act actuator status
* @param mod module status
* @param commRssi module status
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_sys_stat_send(mavlink_channel_t chan, uint8_t gps, uint8_t act, uint8_t mod, uint8_t commRssi)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[4];
_mav_put_uint8_t(buf, 0, gps);
_mav_put_uint8_t(buf, 1, act);
_mav_put_uint8_t(buf, 2, mod);
_mav_put_uint8_t(buf, 3, commRssi);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYS_Stat, buf, 4, 157);
#else
mavlink_sys_stat_t packet;
packet.gps = gps;
packet.act = act;
packet.mod = mod;
packet.commRssi = commRssi;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYS_Stat, (const char *)&packet, 4, 157);
#endif
}
#endif
// MESSAGE SYS_Stat UNPACKING
/**
* @brief Get field gps from sys_stat message
*
* @return gps status
*/
static inline uint8_t mavlink_msg_sys_stat_get_gps(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 0);
}
/**
* @brief Get field act from sys_stat message
*
* @return actuator status
*/
static inline uint8_t mavlink_msg_sys_stat_get_act(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 1);
}
/**
* @brief Get field mod from sys_stat message
*
* @return module status
*/
static inline uint8_t mavlink_msg_sys_stat_get_mod(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 2);
}
/**
* @brief Get field commRssi from sys_stat message
*
* @return module status
*/
static inline uint8_t mavlink_msg_sys_stat_get_commRssi(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 3);
}
/**
* @brief Decode a sys_stat message into a struct
*
* @param msg The message to decode
* @param sys_stat C-struct to decode the message contents into
*/
static inline void mavlink_msg_sys_stat_decode(const mavlink_message_t* msg, mavlink_sys_stat_t* sys_stat)
{
#if MAVLINK_NEED_BYTE_SWAP
sys_stat->gps = mavlink_msg_sys_stat_get_gps(msg);
sys_stat->act = mavlink_msg_sys_stat_get_act(msg);
sys_stat->mod = mavlink_msg_sys_stat_get_mod(msg);
sys_stat->commRssi = mavlink_msg_sys_stat_get_commRssi(msg);
#else
memcpy(sys_stat, _MAV_PAYLOAD(msg), 4);
#endif
}
thirdParty/mavlink/include/sensesoar/sensesoar.h 0 → 100644
View file @ 1f491fff
This diff is collapsed.
thirdParty/mavlink/include/sensesoar/version.h
View file @ 1f491fff
......@@ -5,7 +5,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Wed Jan 11 14:50:35 2012"
#define MAVLINK_BUILD_DATE "Thu Feb 9 16:35:36 2012"
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101
......
thirdParty/mavlink/include/slugs/slugs.h
View file @ 1f491fff
This diff is collapsed.
thirdParty/mavlink/include/slugs/version.h
View file @ 1f491fff
......@@ -5,7 +5,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Sun Nov 6 11:54:29 2011"
#define MAVLINK_BUILD_DATE "Thu Feb 9 16:35:35 2012"
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101
......
thirdParty/mavlink/include/test/version.h
View file @ 1f491fff
......@@ -5,7 +5,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Tue Jan 10 11:49:45 2012"
#define MAVLINK_BUILD_DATE "Thu Feb 9 16:35:37 2012"
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 179
......
thirdParty/mavlink/include/ualberta/version.h
View file @ 1f491fff
......@@ -5,7 +5,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Sun Nov 6 11:54:54 2011"
#define MAVLINK_BUILD_DATE "Thu Feb 9 16:35:36 2012"
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101
......
thirdParty/mavlink/message_definitions/pixhawk.proto
View file @ 1f491fff
package px;
message HeaderInfo {
required int32 source_sysid = 1;
required int32 source_compid = 2;
required double timestamp = 3; // in seconds
}
message PointCloudXYZI {
message PointXYZI {
required float x = 1;
......@@ -8,7 +14,8 @@ message PointCloudXYZI {
required float intensity = 4;
}
repeated PointXYZI points = 1;
required HeaderInfo header = 1;
repeated PointXYZI points = 2;
}
message PointCloudXYZRGB {
......@@ -19,22 +26,24 @@ message PointCloudXYZRGB {
required float rgb = 4;
}
repeated PointXYZRGB points = 1;
required HeaderInfo header = 1;
repeated PointXYZRGB points = 2;
}
message RGBDImage
{
required uint32 cols = 1; ///< Number of columns in image(s)
required uint32 rows = 2; ///< Number of rows in image(s)
required uint32 step1 = 3; ///< Step (stride) of image 1
required uint32 type1 = 4; ///< Type of image 1
required bytes imageData1 = 5;
required uint32 step2 = 6; ///< Step (stride) of image 2
required uint32 type2 = 7; ///< Type of image 2
required bytes imageData2 = 8;
optional uint32 camera_config = 9; ///< PxSHM::Camera enumeration
optional uint32 camera_type = 10; ///< PxSHM::CameraType enumeration
optional uint64 timestamp = 11;
required HeaderInfo header = 1;
required uint32 cols = 2; ///< Number of columns in image(s)
required uint32 rows = 3; ///< Number of rows in image(s)
required uint32 step1 = 4; ///< Step (stride) of image 1
required uint32 type1 = 5; ///< Type of image 1
required bytes imageData1 = 6;
required uint32 step2 = 7; ///< Step (stride) of image 2
required uint32 type2 = 8; ///< Type of image 2
required bytes imageData2 = 9;
optional uint32 camera_config = 10; ///< PxSHM::Camera enumeration
optional uint32 camera_type = 11; ///< PxSHM::CameraType enumeration
optional float roll = 12;
optional float pitch = 13;
optional float yaw = 14;
......@@ -47,3 +56,53 @@ message RGBDImage
repeated float camera_matrix = 21;
}
message Obstacle
{
optional float x = 1;
optional float y = 2;
optional float z = 3;
optional float length = 4;
optional float width = 5;
optional float height = 6;
}
message ObstacleList
{
required HeaderInfo header = 1;
repeated Obstacle obstacles = 2;
}
message ObstacleMap
{
required HeaderInfo header = 1;
required int32 type = 2;
optional float resolution = 3;
optional int32 rows = 4;
optional int32 cols = 5;
optional int32 mapR0 = 6;
optional int32 mapC0 = 7;
optional int32 arrayR0 = 8;
optional int32 arrayC0 = 9;
optional bytes data = 10;
}
message Waypoint
{
required double x = 1;
required double y = 2;
optional double z = 3;
optional double roll = 4;
optional double pitch = 5;
optional double yaw = 6;
}
message Path
{
required HeaderInfo header = 1;
repeated Waypoint waypoints = 2;
}
thirdParty/mavlink/message_definitions/sensesoar.xml 0 → 100644
View file @ 1f491fff
<?xml version='1.0'?>
<mavlink>
<include>common.xml</include>
<enums>
<enum name="SENSESOAR_MODE">
<description> Different flight modes </description>
<entry name="SENSESOAR_MODE_GLIDING"> Gliding mode with motors off</entry>
<entry name="SENSESOAR_MODE_AUTONOMOUS"> Autonomous flight</entry>
<entry name="SENSESOAR_MODE_MANUAL"> RC controlled</entry>
</enum>
</enums>
<messages>
<message id="170" name="OBS_POSITION">
Position estimate of the observer in global frame
<field type="int32_t" name="lon">Longitude expressed in 1E7</field>
<field type="int32_t" name="lat">Latitude expressed in 1E7</field>
<field type="int32_t" name="alt">Altitude expressed in milimeters</field>
</message>
<message id="172" name="OBS_VELOCITY">
velocity estimate of the observer in NED inertial frame
<field type="float[3]" name="vel">Velocity</field>
</message>
<message id="174" name="OBS_ATTITUDE">
attitude estimate of the observer
<field type="double[4]" name="quat">Quaternion re;im</field>
</message>
<message id="176" name="OBS_WIND">
Wind estimate in NED inertial frame
<field type="float[3]" name="wind">Wind</field>
</message>
<message id="178" name="OBS_AIR_VELOCITY">
Estimate of the air velocity
<field type="float" name="magnitude">Air speed</field>
<field type="float" name="aoa">angle of attack</field>
<field type="float" name="slip">slip angle</field>
</message>
<message id="180" name="OBS_BIAS">
IMU biases
<field type="float[3]" name="accBias">accelerometer bias</field>
<field type="float[3]" name="gyroBias">gyroscope bias</field>
</message>
<message id="182" name="OBS_QFF">
estimate of the pressure at sea level
<field type="float" name="qff">Wind</field>
</message>
<message id="183" name="OBS_AIR_TEMP">
ambient air temperature
<field type="float" name="airT">Air Temperatur</field>
</message>
<message id="184" name="FILT_ROT_VEL">
filtered rotational velocity
<field type="float[3]" name="rotVel">rotational velocity</field>
</message>
<message id="186" name="LLC_OUT">
low level control output
<field type="int16_t[4]" name="servoOut">Servo signal</field>
<field type="int16_t[2]" name="MotorOut">motor signal</field>
</message>
<message id="188" name="PM_ELEC">
Power managment
<field type="float" name="PwCons">current power consumption</field>
<field type="float" name="BatStat">battery status</field>
<field type="float[3]" name="PwGen">Power generation from each module</field>
</message>
<message id="190" name="SYS_Stat">
system status
<field type="uint8_t" name="gps">gps status</field>
<field type="uint8_t" name="act">actuator status</field>
<field type="uint8_t" name="mod">module status</field>
<field type="uint8_t" name="commRssi">module status</field>
</message>
<message id="192" name="CMD_AIRSPEED_CHNG">
change commanded air speed
<field type="uint8_t" name="target">Target ID</field>
<field type="float" name="spCmd">commanded airspeed</field>
</message>
<message id="194" name="CMD_AIRSPEED_ACK">
accept change of airspeed
<field type="float" name="spCmd">commanded airspeed</field>
<field type="uint8_t" name="ack">0:ack, 1:nack</field>
</message>
</messages>
</mavlink>
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