Added most recent MAVLink

src/ui/QGCParamWidget.cc

@@ -676,7 +676,7 @@ void QGCParamWidget::retransmissionGuardTick()
  */
 void QGCParamWidget::requestParameterUpdate(int component, const QString& parameter)
 {
-
+    // FIXME - IMPLEMENT THIS!
 }
 
 

src/ui/map/Waypoint2DIcon.cc

@@ -12,6 +12,8 @@ Waypoint2DIcon::Waypoint2DIcon(mapcontrol::MapGraphicItem* map, mapcontrol::OPMa
     showOrbit(false),
     color(Qt::red)
 {
+    Q_UNUSED(name);
+
     SetHeading(0);
     SetNumber(listindex);
     this->setFlag(QGraphicsItem::ItemIgnoresTransformations,true);

thirdParty/mavlink/include/ardupilotmega/ardupilotmega.h

 /** @file
  *	@brief MAVLink comm protocol.
- *	@see http://pixhawk.ethz.ch/software/mavlink
- *	 Generated on Thursday, March 31 2011, 22:06 UTC
+ *	@see http://qgroundcontrol.org/mavlink/
+ *	 Generated on Wednesday, July 27 2011, 14:17 UTC
  */
 #ifndef ARDUPILOTMEGA_H
 #define ARDUPILOTMEGA_H
@@ -33,6 +33,13 @@ extern "C" {
 
 // MESSAGE DEFINITIONS
 
+
+
+// MESSAGE LENGTHS
+
+#undef MAVLINK_MESSAGE_LENGTHS
+#define MAVLINK_MESSAGE_LENGTHS { 3, 4, 8, 14, 8, 28, 3, 32, 0, 2, 3, 2, 2, 0, 0, 0, 0, 0, 0, 0, 19, 2, 23, 21, 0, 37, 26, 101, 26, 16, 32, 32, 37, 32, 11, 17, 17, 16, 18, 36, 4, 4, 2, 2, 4, 2, 2, 3, 14, 12, 18, 16, 8, 27, 25, 0, 0, 0, 0, 0, 5, 5, 26, 16, 36, 5, 6, 0, 0, 21, 0, 0, 0, 18, 20, 20, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 30, 14, 14, 51 }
+
 #ifdef __cplusplus
 }
 #endif

thirdParty/mavlink/include/ardupilotmega/mavlink.h

 /** @file
  *	@brief MAVLink comm protocol.
  *	@see http://pixhawk.ethz.ch/software/mavlink
- *	 Generated on Thursday, March 31 2011, 22:06 UTC
+ *	 Generated on Wednesday, July 27 2011, 14:17 UTC
  */
 #ifndef MAVLINK_H
 #define MAVLINK_H

thirdParty/mavlink/include/common/mavlink.h

 /** @file
  *	@brief MAVLink comm protocol.
  *	@see http://pixhawk.ethz.ch/software/mavlink
- *	 Generated on Thursday, March 31 2011, 22:06 UTC
+ *	 Generated on Wednesday, July 27 2011, 14:17 UTC
  */
 #ifndef MAVLINK_H
 #define MAVLINK_H

thirdParty/mavlink/include/mavlink_types.h

@@ -13,6 +13,7 @@ enum MAV_CLASS
 	MAV_CLASS_GENERIC_MISSION_WAYPOINTS_ONLY = 5,  ///< Generic autopilot only supporting simple waypoints
 	MAV_CLASS_GENERIC_MISSION_NAVIGATION_ONLY = 6, ///< Generic autopilot supporting waypoints and other simple navigation commands
 	MAV_CLASS_GENERIC_MISSION_FULL = 7,            ///< Generic autopilot supporting the full mission command set
+	MAV_CLASS_NONE = 8,           ///< No valid autopilot
 	MAV_CLASS_NB                  ///< Number of autopilot classes
 };
 
@@ -101,7 +102,8 @@ enum MAV_NAV
     MAV_NAV_RETURNING,
     MAV_NAV_LANDING,
     MAV_NAV_LOST,
-    MAV_NAV_LOITER
+    MAV_NAV_LOITER,
+	MAV_NAV_FREE_DRIFT
 };
 
 enum MAV_TYPE
@@ -112,7 +114,12 @@ enum MAV_TYPE
     MAV_COAXIAL = 3,
     MAV_HELICOPTER = 4,
     MAV_GROUND = 5,
-    OCU = 6
+    OCU = 6,
+	MAV_AIRSHIP = 7,
+	MAV_FREE_BALLOON = 8,
+	MAV_ROCKET = 9,
+	UGV_GROUND_ROVER = 10,
+	UGV_SURFACE_SHIP = 11
 };
 
 enum MAV_AUTOPILOT_TYPE
@@ -120,7 +127,8 @@ enum MAV_AUTOPILOT_TYPE
     MAV_AUTOPILOT_GENERIC = 0,
     MAV_AUTOPILOT_PIXHAWK = 1,
     MAV_AUTOPILOT_SLUGS = 2,
-    MAV_AUTOPILOT_ARDUPILOTMEGA = 3
+    MAV_AUTOPILOT_ARDUPILOTMEGA = 3,
+	MAV_AUTOPILOT_NONE = 4
 };
 
 enum MAV_COMPONENT
@@ -133,6 +141,8 @@ enum MAV_COMPONENT
     MAV_COMP_ID_MAPPER,
     MAV_COMP_ID_CAMERA,
     MAV_COMP_ID_IMU = 200,
+	MAV_COMP_ID_IMU_2 = 201,
+	MAV_COMP_ID_IMU_3 = 202,
     MAV_COMP_ID_UDP_BRIDGE = 240,
     MAV_COMP_ID_UART_BRIDGE = 241,
     MAV_COMP_ID_SYSTEM_CONTROL = 250
@@ -143,7 +153,19 @@ enum MAV_FRAME
     MAV_FRAME_GLOBAL = 0,
     MAV_FRAME_LOCAL = 1,
     MAV_FRAME_MISSION = 2,
-	MAV_FRAME_GLOBAL_RELATIVE_ALT = 3
+	MAV_FRAME_GLOBAL_RELATIVE_ALT = 3,
+	MAV_FRAME_LOCAL_Z_UP = 4
+};
+
+enum MAVLINK_DATA_STREAM_TYPE
+{
+    MAVLINK_DATA_STREAM_IMG_JPEG,
+	MAVLINK_DATA_STREAM_IMG_BMP,
+	MAVLINK_DATA_STREAM_IMG_RAW8U,
+	MAVLINK_DATA_STREAM_IMG_RAW32U,
+	MAVLINK_DATA_STREAM_IMG_PGM,
+	MAVLINK_DATA_STREAM_IMG_PNG
+	
 };
 
 #define MAVLINK_STX 0x55 ///< Packet start sign
@@ -165,6 +187,7 @@ typedef struct __mavlink_system {
     uint8_t type;    ///< Unused, can be used by user to store the system's type
     uint8_t state;   ///< Unused, can be used by user to store the system's state
     uint8_t mode;    ///< Unused, can be used by user to store the system's mode
+	uint8_t nav_mode;    ///< Unused, can be used by user to store the system's navigation mode
 } mavlink_system_t;
 
 typedef struct __mavlink_message {

thirdParty/mavlink/include/minimal/mavlink.h

+/** @file
+ *	@brief MAVLink comm protocol.
+ *	@see http://pixhawk.ethz.ch/software/mavlink
+ *	 Generated on Wednesday, July 27 2011, 14:17 UTC
+ */
+#ifndef MAVLINK_H
+#define MAVLINK_H
+
+#include "minimal.h"
+
+#endif

thirdParty/mavlink/include/minimal/mavlink_msg_heartbeat.h

+// MESSAGE HEARTBEAT PACKING
+
+#define MAVLINK_MSG_ID_HEARTBEAT 0
+
+typedef struct __mavlink_heartbeat_t 
+{
+	uint8_t type; ///< Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
+	uint8_t autopilot; ///< Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
+	uint8_t mavlink_version; ///< MAVLink version
+
+} mavlink_heartbeat_t;
+
+
+
+/**
+ * @brief Pack a heartbeat 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 type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
+ * @param autopilot Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_heartbeat_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t type, uint8_t autopilot)
+{
+	uint16_t i = 0;
+	msg->msgid = MAVLINK_MSG_ID_HEARTBEAT;
+
+	i += put_uint8_t_by_index(type, i, msg->payload); // Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
+	i += put_uint8_t_by_index(autopilot, i, msg->payload); // Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
+	i += put_uint8_t_by_index(2, i, msg->payload); // MAVLink version
+
+	return mavlink_finalize_message(msg, system_id, component_id, i);
+}
+
+/**
+ * @brief Pack a heartbeat message
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
+ * @param autopilot Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_heartbeat_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t type, uint8_t autopilot)
+{
+	uint16_t i = 0;
+	msg->msgid = MAVLINK_MSG_ID_HEARTBEAT;
+
+	i += put_uint8_t_by_index(type, i, msg->payload); // Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
+	i += put_uint8_t_by_index(autopilot, i, msg->payload); // Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
+	i += put_uint8_t_by_index(2, i, msg->payload); // MAVLink version
+
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
+}
+
+/**
+ * @brief Encode a heartbeat 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 heartbeat C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_heartbeat_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_heartbeat_t* heartbeat)
+{
+	return mavlink_msg_heartbeat_pack(system_id, component_id, msg, heartbeat->type, heartbeat->autopilot);
+}
+
+/**
+ * @brief Send a heartbeat message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
+ * @param autopilot Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_heartbeat_send(mavlink_channel_t chan, uint8_t type, uint8_t autopilot)
+{
+	mavlink_message_t msg;
+	mavlink_msg_heartbeat_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, type, autopilot);
+	mavlink_send_uart(chan, &msg);
+}
+
+#endif
+// MESSAGE HEARTBEAT UNPACKING
+
+/**
+ * @brief Get field type from heartbeat message
+ *
+ * @return Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
+ */
+static inline uint8_t mavlink_msg_heartbeat_get_type(const mavlink_message_t* msg)
+{
+	return (uint8_t)(msg->payload)[0];
+}
+
+/**
+ * @brief Get field autopilot from heartbeat message
+ *
+ * @return Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
+ */
+static inline uint8_t mavlink_msg_heartbeat_get_autopilot(const mavlink_message_t* msg)
+{
+	return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
+}
+
+/**
+ * @brief Get field mavlink_version from heartbeat message
+ *
+ * @return MAVLink version
+ */
+static inline uint8_t mavlink_msg_heartbeat_get_mavlink_version(const mavlink_message_t* msg)
+{
+	return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0];
+}
+
+/**
+ * @brief Decode a heartbeat message into a struct
+ *
+ * @param msg The message to decode
+ * @param heartbeat C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_heartbeat_decode(const mavlink_message_t* msg, mavlink_heartbeat_t* heartbeat)
+{
+	heartbeat->type = mavlink_msg_heartbeat_get_type(msg);
+	heartbeat->autopilot = mavlink_msg_heartbeat_get_autopilot(msg);
+	heartbeat->mavlink_version = mavlink_msg_heartbeat_get_mavlink_version(msg);
+}

thirdParty/mavlink/include/minimal/minimal.h

+/** @file
+ *	@brief MAVLink comm protocol.
+ *	@see http://qgroundcontrol.org/mavlink/
+ *	 Generated on Wednesday, July 27 2011, 14:17 UTC
+ */
+#ifndef MINIMAL_H
+#define MINIMAL_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+#include "../protocol.h"
+
+#define MAVLINK_ENABLED_MINIMAL
+
+// MAVLINK VERSION
+
+#ifndef MAVLINK_VERSION
+#define MAVLINK_VERSION 2
+#endif
+
+#if (MAVLINK_VERSION == 0)
+#undef MAVLINK_VERSION
+#define MAVLINK_VERSION 2
+#endif
+
+// ENUM DEFINITIONS
+
+
+// MESSAGE DEFINITIONS
+
+#include "./mavlink_msg_heartbeat.h"
+
+
+// MESSAGE LENGTHS
+
+#undef MAVLINK_MESSAGE_LENGTHS
+#define MAVLINK_MESSAGE_LENGTHS {  }
+
+#ifdef __cplusplus
+}
+#endif
+#endif

thirdParty/mavlink/include/pixhawk/mavlink.h

 /** @file
  *	@brief MAVLink comm protocol.
  *	@see http://pixhawk.ethz.ch/software/mavlink
- *	 Generated on Thursday, March 31 2011, 22:06 UTC
+ *	 Generated on Wednesday, July 27 2011, 14:17 UTC
  */
 #ifndef MAVLINK_H
 #define MAVLINK_H

thirdParty/mavlink/include/pixhawk/mavlink_msg_image_triggered.h

@@ -13,6 +13,9 @@ typedef struct __mavlink_image_triggered_t
 	float lat; ///< GPS X coordinate
 	float lon; ///< GPS Y coordinate
 	float alt; ///< Global frame altitude
+	float ground_x; ///< Ground truth X
+	float ground_y; ///< Ground truth Y
+	float ground_z; ///< Ground truth Z
 
 } mavlink_image_triggered_t;
 
@@ -33,9 +36,12 @@ typedef struct __mavlink_image_triggered_t
  * @param lat GPS X coordinate
  * @param lon GPS Y coordinate
  * @param alt Global frame altitude
+ * @param ground_x Ground truth X
+ * @param ground_y Ground truth Y
+ * @param ground_z Ground truth Z
  * @return length of the message in bytes (excluding serial stream start sign)
  */
-static inline uint16_t mavlink_msg_image_triggered_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t timestamp, uint32_t seq, float roll, float pitch, float yaw, float local_z, float lat, float lon, float alt)
+static inline uint16_t mavlink_msg_image_triggered_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t timestamp, uint32_t seq, float roll, float pitch, float yaw, float local_z, float lat, float lon, float alt, float ground_x, float ground_y, float ground_z)
 {
 	uint16_t i = 0;
 	msg->msgid = MAVLINK_MSG_ID_IMAGE_TRIGGERED;
@@ -49,6 +55,9 @@ static inline uint16_t mavlink_msg_image_triggered_pack(uint8_t system_id, uint8
 	i += put_float_by_index(lat, i, msg->payload); // GPS X coordinate
 	i += put_float_by_index(lon, i, msg->payload); // GPS Y coordinate
 	i += put_float_by_index(alt, i, msg->payload); // Global frame altitude
+	i += put_float_by_index(ground_x, i, msg->payload); // Ground truth X
+	i += put_float_by_index(ground_y, i, msg->payload); // Ground truth Y
+	i += put_float_by_index(ground_z, i, msg->payload); // Ground truth Z
 
 	return mavlink_finalize_message(msg, system_id, component_id, i);
 }
@@ -68,9 +77,12 @@ static inline uint16_t mavlink_msg_image_triggered_pack(uint8_t system_id, uint8
  * @param lat GPS X coordinate
  * @param lon GPS Y coordinate
  * @param alt Global frame altitude
+ * @param ground_x Ground truth X
+ * @param ground_y Ground truth Y
+ * @param ground_z Ground truth Z
  * @return length of the message in bytes (excluding serial stream start sign)
  */
-static inline uint16_t mavlink_msg_image_triggered_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t timestamp, uint32_t seq, float roll, float pitch, float yaw, float local_z, float lat, float lon, float alt)
+static inline uint16_t mavlink_msg_image_triggered_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t timestamp, uint32_t seq, float roll, float pitch, float yaw, float local_z, float lat, float lon, float alt, float ground_x, float ground_y, float ground_z)
 {
 	uint16_t i = 0;
 	msg->msgid = MAVLINK_MSG_ID_IMAGE_TRIGGERED;
@@ -84,6 +96,9 @@ static inline uint16_t mavlink_msg_image_triggered_pack_chan(uint8_t system_id,
 	i += put_float_by_index(lat, i, msg->payload); // GPS X coordinate
 	i += put_float_by_index(lon, i, msg->payload); // GPS Y coordinate
 	i += put_float_by_index(alt, i, msg->payload); // Global frame altitude
+	i += put_float_by_index(ground_x, i, msg->payload); // Ground truth X
+	i += put_float_by_index(ground_y, i, msg->payload); // Ground truth Y
+	i += put_float_by_index(ground_z, i, msg->payload); // Ground truth Z
 
 	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
 }
@@ -98,7 +113,7 @@ static inline uint16_t mavlink_msg_image_triggered_pack_chan(uint8_t system_id,
  */
 static inline uint16_t mavlink_msg_image_triggered_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_image_triggered_t* image_triggered)
 {
-	return mavlink_msg_image_triggered_pack(system_id, component_id, msg, image_triggered->timestamp, image_triggered->seq, image_triggered->roll, image_triggered->pitch, image_triggered->yaw, image_triggered->local_z, image_triggered->lat, image_triggered->lon, image_triggered->alt);
+	return mavlink_msg_image_triggered_pack(system_id, component_id, msg, image_triggered->timestamp, image_triggered->seq, image_triggered->roll, image_triggered->pitch, image_triggered->yaw, image_triggered->local_z, image_triggered->lat, image_triggered->lon, image_triggered->alt, image_triggered->ground_x, image_triggered->ground_y, image_triggered->ground_z);
 }
 
 /**
@@ -114,13 +129,16 @@ static inline uint16_t mavlink_msg_image_triggered_encode(uint8_t system_id, uin
  * @param lat GPS X coordinate
  * @param lon GPS Y coordinate
  * @param alt Global frame altitude
+ * @param ground_x Ground truth X
+ * @param ground_y Ground truth Y
+ * @param ground_z Ground truth Z
  */
 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 
-static inline void mavlink_msg_image_triggered_send(mavlink_channel_t chan, uint64_t timestamp, uint32_t seq, float roll, float pitch, float yaw, float local_z, float lat, float lon, float alt)
+static inline void mavlink_msg_image_triggered_send(mavlink_channel_t chan, uint64_t timestamp, uint32_t seq, float roll, float pitch, float yaw, float local_z, float lat, float lon, float alt, float ground_x, float ground_y, float ground_z)
 {
 	mavlink_message_t msg;
-	mavlink_msg_image_triggered_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, timestamp, seq, roll, pitch, yaw, local_z, lat, lon, alt);
+	mavlink_msg_image_triggered_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, timestamp, seq, roll, pitch, yaw, local_z, lat, lon, alt, ground_x, ground_y, ground_z);
 	mavlink_send_uart(chan, &msg);
 }
 
@@ -266,6 +284,51 @@ static inline float mavlink_msg_image_triggered_get_alt(const mavlink_message_t*
 	return (float)r.f;
 }
 
+/**
+ * @brief Get field ground_x from image_triggered message
+ *
+ * @return Ground truth X
+ */
+static inline float mavlink_msg_image_triggered_get_ground_x(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
+	r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
+	r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
+	r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
+	return (float)r.f;
+}
+
+/**
+ * @brief Get field ground_y from image_triggered message
+ *
+ * @return Ground truth Y
+ */
+static inline float mavlink_msg_image_triggered_get_ground_y(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
+	r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
+	r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
+	r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
+	return (float)r.f;
+}
+
+/**
+ * @brief Get field ground_z from image_triggered message
+ *
+ * @return Ground truth Z
+ */
+static inline float mavlink_msg_image_triggered_get_ground_z(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
+	r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
+	r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
+	r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
+	return (float)r.f;
+}
+
 /**
  * @brief Decode a image_triggered message into a struct
  *
@@ -283,4 +346,7 @@ static inline void mavlink_msg_image_triggered_decode(const mavlink_message_t* m
 	image_triggered->lat = mavlink_msg_image_triggered_get_lat(msg);
 	image_triggered->lon = mavlink_msg_image_triggered_get_lon(msg);
 	image_triggered->alt = mavlink_msg_image_triggered_get_alt(msg);
+	image_triggered->ground_x = mavlink_msg_image_triggered_get_ground_x(msg);
+	image_triggered->ground_y = mavlink_msg_image_triggered_get_ground_y(msg);
+	image_triggered->ground_z = mavlink_msg_image_triggered_get_ground_z(msg);
 }

thirdParty/mavlink/include/pixhawk/mavlink_msg_vision_speed_estimate.h

+// MESSAGE VISION_SPEED_ESTIMATE PACKING
+
+#define MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE 113
+
+typedef struct __mavlink_vision_speed_estimate_t 
+{
+	uint64_t usec; ///< Timestamp (milliseconds)
+	float x; ///< Global X speed
+	float y; ///< Global Y speed
+	float z; ///< Global Z speed
+
+} mavlink_vision_speed_estimate_t;
+
+
+
+/**
+ * @brief Pack a vision_speed_estimate 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 usec Timestamp (milliseconds)
+ * @param x Global X speed
+ * @param y Global Y speed
+ * @param z Global Z speed
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_vision_speed_estimate_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t usec, float x, float y, float z)
+{
+	uint16_t i = 0;
+	msg->msgid = MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE;
+
+	i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (milliseconds)
+	i += put_float_by_index(x, i, msg->payload); // Global X speed
+	i += put_float_by_index(y, i, msg->payload); // Global Y speed
+	i += put_float_by_index(z, i, msg->payload); // Global Z speed
+
+	return mavlink_finalize_message(msg, system_id, component_id, i);
+}
+
+/**
+ * @brief Pack a vision_speed_estimate message
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param usec Timestamp (milliseconds)
+ * @param x Global X speed
+ * @param y Global Y speed
+ * @param z Global Z speed
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_vision_speed_estimate_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t usec, float x, float y, float z)
+{
+	uint16_t i = 0;
+	msg->msgid = MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE;
+
+	i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (milliseconds)
+	i += put_float_by_index(x, i, msg->payload); // Global X speed
+	i += put_float_by_index(y, i, msg->payload); // Global Y speed
+	i += put_float_by_index(z, i, msg->payload); // Global Z speed
+
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
+}
+
+/**
+ * @brief Encode a vision_speed_estimate 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 vision_speed_estimate C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_vision_speed_estimate_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_vision_speed_estimate_t* vision_speed_estimate)
+{
+	return mavlink_msg_vision_speed_estimate_pack(system_id, component_id, msg, vision_speed_estimate->usec, vision_speed_estimate->x, vision_speed_estimate->y, vision_speed_estimate->z);
+}
+
+/**
+ * @brief Send a vision_speed_estimate message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param usec Timestamp (milliseconds)
+ * @param x Global X speed
+ * @param y Global Y speed
+ * @param z Global Z speed
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_vision_speed_estimate_send(mavlink_channel_t chan, uint64_t usec, float x, float y, float z)
+{
+	mavlink_message_t msg;
+	mavlink_msg_vision_speed_estimate_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, usec, x, y, z);
+	mavlink_send_uart(chan, &msg);
+}
+
+#endif
+// MESSAGE VISION_SPEED_ESTIMATE UNPACKING
+
+/**
+ * @brief Get field usec from vision_speed_estimate message
+ *
+ * @return Timestamp (milliseconds)
+ */
+static inline uint64_t mavlink_msg_vision_speed_estimate_get_usec(const mavlink_message_t* msg)
+{
+	generic_64bit r;
+	r.b[7] = (msg->payload)[0];
+	r.b[6] = (msg->payload)[1];
+	r.b[5] = (msg->payload)[2];
+	r.b[4] = (msg->payload)[3];
+	r.b[3] = (msg->payload)[4];
+	r.b[2] = (msg->payload)[5];
+	r.b[1] = (msg->payload)[6];
+	r.b[0] = (msg->payload)[7];
+	return (uint64_t)r.ll;
+}
+
+/**
+ * @brief Get field x from vision_speed_estimate message
+ *
+ * @return Global X speed
+ */
+static inline float mavlink_msg_vision_speed_estimate_get_x(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(uint64_t))[0];
+	r.b[2] = (msg->payload+sizeof(uint64_t))[1];
+	r.b[1] = (msg->payload+sizeof(uint64_t))[2];
+	r.b[0] = (msg->payload+sizeof(uint64_t))[3];
+	return (float)r.f;
+}
+
+/**
+ * @brief Get field y from vision_speed_estimate message
+ *
+ * @return Global Y speed
+ */
+static inline float mavlink_msg_vision_speed_estimate_get_y(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float))[0];
+	r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float))[1];
+	r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float))[2];
+	r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float))[3];
+	return (float)r.f;
+}
+
+/**
+ * @brief Get field z from vision_speed_estimate message
+ *
+ * @return Global Z speed
+ */
+static inline float mavlink_msg_vision_speed_estimate_get_z(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[0];
+	r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[1];
+	r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[2];
+	r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[3];
+	return (float)r.f;
+}
+
+/**
+ * @brief Decode a vision_speed_estimate message into a struct
+ *
+ * @param msg The message to decode
+ * @param vision_speed_estimate C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_vision_speed_estimate_decode(const mavlink_message_t* msg, mavlink_vision_speed_estimate_t* vision_speed_estimate)
+{
+	vision_speed_estimate->usec = mavlink_msg_vision_speed_estimate_get_usec(msg);
+	vision_speed_estimate->x = mavlink_msg_vision_speed_estimate_get_x(msg);
+	vision_speed_estimate->y = mavlink_msg_vision_speed_estimate_get_y(msg);
+	vision_speed_estimate->z = mavlink_msg_vision_speed_estimate_get_z(msg);
+}

thirdParty/mavlink/include/pixhawk/pixhawk.h

 /** @file
  *	@brief MAVLink comm protocol.
- *	@see http://pixhawk.ethz.ch/software/mavlink
- *	 Generated on Thursday, March 31 2011, 22:06 UTC
+ *	@see http://qgroundcontrol.org/mavlink/
+ *	 Generated on Wednesday, July 27 2011, 14:17 UTC
  */
 #ifndef PIXHAWK_H
 #define PIXHAWK_H
@@ -30,16 +30,7 @@ extern "C" {
 
 // ENUM DEFINITIONS
 
-/** @brief Slugs parameter interface subsets */
-enum SLUGS_PID_INDX_IDS
-{
-	PID_YAW_DAMPER=2,