diff --git a/src/ui/QGCParamWidget.cc b/src/ui/QGCParamWidget.cc index af87c7ed15da2fb4245906579d6a82777b85d69a..c5883b0a998e438e0ceed2d6b2f811346d9ef203 100644 --- a/src/ui/QGCParamWidget.cc +++ b/src/ui/QGCParamWidget.cc @@ -676,7 +676,7 @@ void QGCParamWidget::retransmissionGuardTick() */ void QGCParamWidget::requestParameterUpdate(int component, const QString& parameter) { - + // FIXME - IMPLEMENT THIS! } diff --git a/src/ui/map/Waypoint2DIcon.cc b/src/ui/map/Waypoint2DIcon.cc index 482d5725ee79cb5bb8deb03df540add754b1a1c1..3bf54232f556aceb02a2a136146338969d01df4a 100644 --- a/src/ui/map/Waypoint2DIcon.cc +++ b/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); diff --git a/thirdParty/mavlink/include/ardupilotmega/ardupilotmega.h b/thirdParty/mavlink/include/ardupilotmega/ardupilotmega.h index 98139a642702d55b6d8fc1756806e32dd967d9ab..4d13e0b543c9a021cd9811f4378bb84dfdc47d49 100644 --- a/thirdParty/mavlink/include/ardupilotmega/ardupilotmega.h +++ b/thirdParty/mavlink/include/ardupilotmega/ardupilotmega.h @@ -1,7 +1,7 @@ /** @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 diff --git a/thirdParty/mavlink/include/ardupilotmega/mavlink.h b/thirdParty/mavlink/include/ardupilotmega/mavlink.h index 1e2a10442fe3e384b3a8cc53fe26356055709e92..8ee2430d74ef6945bd88749e49e4bc4105c40747 100644 --- a/thirdParty/mavlink/include/ardupilotmega/mavlink.h +++ b/thirdParty/mavlink/include/ardupilotmega/mavlink.h @@ -1,7 +1,7 @@ /** @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 diff --git a/thirdParty/mavlink/include/common/common.h b/thirdParty/mavlink/include/common/common.h index df1f685d91d1c2d92c4c671f9b5b8232bec4240f..bf99ef000314ed026055dca19e22cc106f0e59fe 100644 --- a/thirdParty/mavlink/include/common/common.h +++ b/thirdParty/mavlink/include/common/common.h @@ -1,7 +1,7 @@ /** @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 COMMON_H #define COMMON_H @@ -28,55 +28,65 @@ extern "C" { // ENUM DEFINITIONS -/** @brief Commands to be executed by the MAV. They can be executed on user request, or as part of a mission script. If the action is used in a mission, the parameter mapping to the waypoint/mission message is as follows: Param 1, Param 2, Param 3, Param 4, X: Param 5, Y:Param 6, Z:Param 7. This command list is similar what ARINC 424 is for commercial aircraft: A data format how to interpret waypoint/mission data. */ +/** @brief Commands to be executed by the MAV. They can be executed on user request, or as part of a mission script. If the action is used in a mission, the parameter mapping to the waypoint/mission message is as follows: Param 1, Param 2, Param 3, Param 4, X: Param 5, Y:Param 6, Z:Param 7. This command list is similar what ARINC 424 is for commercial aircraft: A data format how to interpret waypoint/mission data. */ enum MAV_CMD { - MAV_CMD_NAV_WAYPOINT=16, /* Navigate to waypoint.Hold time in decimal seconds. (ignored by fixed wing, time to stay at waypoint for rotary wing)Acceptance radius in meters (if the sphere with this radius is hit, the waypoint counts as reached)0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.Desired yaw angle at waypoint (rotary wing)LatitudeLongitudeAltitude*/ - MAV_CMD_NAV_LOITER_UNLIM=17, /* Loiter around this waypoint an unlimited amount of timeEmptyEmptyRadius around waypoint, in meters. If positive loiter clockwise, else counter-clockwiseDesired yaw angle.LatitudeLongitudeAltitude*/ - MAV_CMD_NAV_LOITER_TURNS=18, /* Loiter around this waypoint for X turnsTurnsEmptyRadius around waypoint, in meters. If positive loiter clockwise, else counter-clockwiseDesired yaw angle.LatitudeLongitudeAltitude*/ - MAV_CMD_NAV_LOITER_TIME=19, /* Loiter around this waypoint for X secondsSeconds (decimal)EmptyRadius around waypoint, in meters. If positive loiter clockwise, else counter-clockwiseDesired yaw angle.LatitudeLongitudeAltitude*/ - MAV_CMD_NAV_RETURN_TO_LAUNCH=20, /* Return to launch locationEmptyEmptyEmptyEmptyEmptyEmptyEmpty*/ - MAV_CMD_NAV_LAND=21, /* Land at locationEmptyEmptyEmptyDesired yaw angle.LatitudeLongitudeAltitude*/ - MAV_CMD_NAV_TAKEOFF=22, /* Takeoff from ground / handMinimum pitch (if airspeed sensor present), desired pitch without sensorEmptyEmptyYaw angle (if magnetometer present), ignored without magnetometerLatitudeLongitudeAltitude*/ - MAV_CMD_NAV_ORIENTATION_TARGET=80, /* Set the location the system should be heading towards (camera heads or rotary wing aircraft).EmptyEmptyEmptyEmptyLatitudeLongitudeAltitude*/ - MAV_CMD_NAV_PATHPLANNING=81, /* Control autonomous path planning on the MAV.0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy gridEmptyYaw angle at goal, in compass degrees, [0..360]Latitude/X of goalLongitude/Y of goalAltitude/Z of goal*/ - MAV_CMD_NAV_LAST=95, /* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumerationEmptyEmptyEmptyEmptyEmptyEmptyEmpty*/ - MAV_CMD_CONDITION_DELAY=112, /* Delay mission state machine.Delay in seconds (decimal)EmptyEmptyEmptyEmptyEmptyEmpty*/ - MAV_CMD_CONDITION_CHANGE_ALT=113, /* Ascend/descend at rate. Delay mission state machine until desired altitude reached.Descent / Ascend rate (m/s)EmptyEmptyEmptyEmptyEmptyFinish Altitude*/ - MAV_CMD_CONDITION_DISTANCE=114, /* Delay mission state machine until within desired distance of next NAV point.Distance (meters)EmptyEmptyEmptyEmptyEmptyEmpty*/ - MAV_CMD_CONDITION_YAW=115, /* Reach a certain target angle.target angle: [0-360], 0 is northspeed during yaw change:[deg per second]direction: negative: counter clockwise, positive: clockwise [-1,1]relative offset or absolute angle: [ 1,0]EmptyEmptyEmpty*/ - MAV_CMD_CONDITION_LAST=159, /* NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumerationEmptyEmptyEmptyEmptyEmptyEmptyEmpty*/ - MAV_CMD_DO_SET_MODE=176, /* Set system mode.Mode, as defined by ENUM MAV_MODEEmptyEmptyEmptyEmptyEmptyEmpty*/ - MAV_CMD_DO_JUMP=177, /* Jump to the desired command in the mission list. Repeat this action only the specified number of timesSequence numberRepeat countEmptyEmptyEmptyEmptyEmpty*/ - MAV_CMD_DO_CHANGE_SPEED=178, /* Change speed and/or throttle set points.Speed type (0=Airspeed, 1=Ground Speed)Speed (m/s, -1 indicates no change)Throttle ( Percent, -1 indicates no change)EmptyEmptyEmptyEmpty*/ - MAV_CMD_DO_SET_HOME=179, /* Changes the home location either to the current location or a specified location.Use current (1=use current location, 0=use specified location)EmptyEmptyEmptyLatitudeLongitudeAltitude*/ - MAV_CMD_DO_SET_PARAMETER=180, /* Set a system parameter. Caution! Use of this command requires knowledge of the numeric enumeration value of the parameter.Parameter numberParameter valueEmptyEmptyEmptyEmptyEmpty*/ - MAV_CMD_DO_SET_RELAY=181, /* Set a relay to a condition.Relay numberSetting (1=on, 0=off, others possible depending on system hardware)EmptyEmptyEmptyEmptyEmpty*/ - MAV_CMD_DO_REPEAT_RELAY=182, /* Cycle a relay on and off for a desired number of cyles with a desired period.Relay numberCycle countCycle time (seconds, decimal)EmptyEmptyEmptyEmpty*/ - MAV_CMD_DO_SET_SERVO=183, /* Set a servo to a desired PWM value.Servo numberPWM (microseconds, 1000 to 2000 typical)EmptyEmptyEmptyEmptyEmpty*/ - MAV_CMD_DO_REPEAT_SERVO=184, /* Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period.Servo numberPWM (microseconds, 1000 to 2000 typical)Cycle countCycle time (seconds)EmptyEmptyEmpty*/ - MAV_CMD_DO_CONTROL_VIDEO=200, /* Control onboard camera system.Camera ID (-1 for all)Transmission: 0: disabled, 1: enabled compressed, 2: enabled rawTransmission mode: 0: video stream, >0: single images every n seconds (decimal)Recording: 0: disabled, 1: enabled compressed, 2: enabled rawEmptyEmptyEmpty*/ - MAV_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumerationEmptyEmptyEmptyEmptyEmptyEmptyEmpty*/ - MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode.Gyro calibration: 0: no, 1: yesMagnetometer calibration: 0: no, 1: yesGround pressure: 0: no, 1: yesRadio calibration: 0: no, 1: yesEmptyEmptyEmpty*/ - MAV_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode.Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROMMission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROMReservedReservedEmptyEmptyEmpty*/ + MAV_CMD_NAV_WAYPOINT=16, /* Navigate to waypoint. | Hold time in decimal seconds. (ignored by fixed wing, time to stay at waypoint for rotary wing) | Acceptance radius in meters (if the sphere with this radius is hit, the waypoint counts as reached) | 0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control. | Desired yaw angle at waypoint (rotary wing) | Latitude | Longitude | Altitude | */ + MAV_CMD_NAV_LOITER_UNLIM=17, /* Loiter around this waypoint an unlimited amount of time | Empty | Empty | Radius around waypoint, in meters. If positive loiter clockwise, else counter-clockwise | Desired yaw angle. | Latitude | Longitude | Altitude | */ + MAV_CMD_NAV_LOITER_TURNS=18, /* Loiter around this waypoint for X turns | Turns | Empty | Radius around waypoint, in meters. If positive loiter clockwise, else counter-clockwise | Desired yaw angle. | Latitude | Longitude | Altitude | */ + MAV_CMD_NAV_LOITER_TIME=19, /* Loiter around this waypoint for X seconds | Seconds (decimal) | Empty | Radius around waypoint, in meters. If positive loiter clockwise, else counter-clockwise | Desired yaw angle. | Latitude | Longitude | Altitude | */ + MAV_CMD_NAV_RETURN_TO_LAUNCH=20, /* Return to launch location | Empty | Empty | Empty | Empty | Empty | Empty | Empty | */ + MAV_CMD_NAV_LAND=21, /* Land at location | Empty | Empty | Empty | Desired yaw angle. | Latitude | Longitude | Altitude | */ + MAV_CMD_NAV_TAKEOFF=22, /* Takeoff from ground / hand | Minimum pitch (if airspeed sensor present), desired pitch without sensor | Empty | Empty | Yaw angle (if magnetometer present), ignored without magnetometer | Latitude | Longitude | Altitude | */ + MAV_CMD_NAV_ROI=80, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. | Region of intereset mode. (see MAV_ROI enum) | Waypoint index/ target ID. (see MAV_ROI enum) | ROI index (allows a vehicle to manage multiple ROI's) | Empty | x the location of the fixed ROI (see MAV_FRAME) | y | z | */ + MAV_CMD_NAV_PATHPLANNING=81, /* Control autonomous path planning on the MAV. | 0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning | 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid | Empty | Yaw angle at goal, in compass degrees, [0..360] | Latitude/X of goal | Longitude/Y of goal | Altitude/Z of goal | */ + MAV_CMD_NAV_LAST=95, /* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration | Empty | Empty | Empty | Empty | Empty | Empty | Empty | */ + MAV_CMD_CONDITION_DELAY=112, /* Delay mission state machine. | Delay in seconds (decimal) | Empty | Empty | Empty | Empty | Empty | Empty | */ + MAV_CMD_CONDITION_CHANGE_ALT=113, /* Ascend/descend at rate. Delay mission state machine until desired altitude reached. | Descent / Ascend rate (m/s) | Empty | Empty | Empty | Empty | Empty | Finish Altitude | */ + MAV_CMD_CONDITION_DISTANCE=114, /* Delay mission state machine until within desired distance of next NAV point. | Distance (meters) | Empty | Empty | Empty | Empty | Empty | Empty | */ + MAV_CMD_CONDITION_YAW=115, /* Reach a certain target angle. | target angle: [0-360], 0 is north | speed during yaw change:[deg per second] | direction: negative: counter clockwise, positive: clockwise [-1,1] | relative offset or absolute angle: [ 1,0] | Empty | Empty | Empty | */ + MAV_CMD_CONDITION_LAST=159, /* NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration | Empty | Empty | Empty | Empty | Empty | Empty | Empty | */ + MAV_CMD_DO_SET_MODE=176, /* Set system mode. | Mode, as defined by ENUM MAV_MODE | Empty | Empty | Empty | Empty | Empty | Empty | */ + MAV_CMD_DO_JUMP=177, /* Jump to the desired command in the mission list. Repeat this action only the specified number of times | Sequence number | Repeat count | Empty | Empty | Empty | Empty | Empty | */ + MAV_CMD_DO_CHANGE_SPEED=178, /* Change speed and/or throttle set points. | Speed type (0=Airspeed, 1=Ground Speed) | Speed (m/s, -1 indicates no change) | Throttle ( Percent, -1 indicates no change) | Empty | Empty | Empty | Empty | */ + MAV_CMD_DO_SET_HOME=179, /* Changes the home location either to the current location or a specified location. | Use current (1=use current location, 0=use specified location) | Empty | Empty | Empty | Latitude | Longitude | Altitude | */ + MAV_CMD_DO_SET_PARAMETER=180, /* Set a system parameter. Caution! Use of this command requires knowledge of the numeric enumeration value of the parameter. | Parameter number | Parameter value | Empty | Empty | Empty | Empty | Empty | */ + MAV_CMD_DO_SET_RELAY=181, /* Set a relay to a condition. | Relay number | Setting (1=on, 0=off, others possible depending on system hardware) | Empty | Empty | Empty | Empty | Empty | */ + MAV_CMD_DO_REPEAT_RELAY=182, /* Cycle a relay on and off for a desired number of cyles with a desired period. | Relay number | Cycle count | Cycle time (seconds, decimal) | Empty | Empty | Empty | Empty | */ + MAV_CMD_DO_SET_SERVO=183, /* Set a servo to a desired PWM value. | Servo number | PWM (microseconds, 1000 to 2000 typical) | Empty | Empty | Empty | Empty | Empty | */ + MAV_CMD_DO_REPEAT_SERVO=184, /* Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. | Servo number | PWM (microseconds, 1000 to 2000 typical) | Cycle count | Cycle time (seconds) | Empty | Empty | Empty | */ + MAV_CMD_DO_CONTROL_VIDEO=200, /* Control onboard camera system. | Camera ID (-1 for all) | Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw | Transmission mode: 0: video stream, >0: single images every n seconds (decimal) | Recording: 0: disabled, 1: enabled compressed, 2: enabled raw | Empty | Empty | Empty | */ + MAV_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration | Empty | Empty | Empty | Empty | Empty | Empty | Empty | */ + MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. | Gyro calibration: 0: no, 1: yes | Magnetometer calibration: 0: no, 1: yes | Ground pressure: 0: no, 1: yes | Radio calibration: 0: no, 1: yes | Empty | Empty | Empty | */ + MAV_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. | Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM | Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM | Reserved | Reserved | Empty | Empty | Empty | */ MAV_CMD_ENUM_END }; -/** @brief Data stream IDs. A data stream is not a fixed set of messages, but rather a recommendation to the autopilot software. Individual autopilots may or may not obey the recommended messages. */ +/** @brief Data stream IDs. A data stream is not a fixed set of messages, but rather a recommendation to the autopilot software. Individual autopilots may or may not obey the recommended messages. */ enum MAV_DATA_STREAM { - MAV_DATA_STREAM_ALL=0, /* Enable all data streams*/ - MAV_DATA_STREAM_RAW_SENSORS=1, /* Enable IMU_RAW, GPS_RAW, GPS_STATUS packets.*/ - MAV_DATA_STREAM_EXTENDED_STATUS=2, /* Enable GPS_STATUS, CONTROL_STATUS, AUX_STATUS*/ - MAV_DATA_STREAM_RC_CHANNELS=3, /* Enable RC_CHANNELS_SCALED, RC_CHANNELS_RAW, SERVO_OUTPUT_RAW*/ - MAV_DATA_STREAM_RAW_CONTROLLER=4, /* Enable ATTITUDE_CONTROLLER_OUTPUT, POSITION_CONTROLLER_OUTPUT, NAV_CONTROLLER_OUTPUT.*/ - MAV_DATA_STREAM_POSITION=6, /* Enable LOCAL_POSITION, GLOBAL_POSITION/GLOBAL_POSITION_INT messages.*/ - MAV_DATA_STREAM_EXTRA1=10, /* Dependent on the autopilot*/ - MAV_DATA_STREAM_EXTRA2=11, /* Dependent on the autopilot*/ - MAV_DATA_STREAM_EXTRA3=12, /* Dependent on the autopilot*/ + MAV_DATA_STREAM_ALL=0, /* Enable all data streams | */ + MAV_DATA_STREAM_RAW_SENSORS=1, /* Enable IMU_RAW, GPS_RAW, GPS_STATUS packets. | */ + MAV_DATA_STREAM_EXTENDED_STATUS=2, /* Enable GPS_STATUS, CONTROL_STATUS, AUX_STATUS | */ + MAV_DATA_STREAM_RC_CHANNELS=3, /* Enable RC_CHANNELS_SCALED, RC_CHANNELS_RAW, SERVO_OUTPUT_RAW | */ + MAV_DATA_STREAM_RAW_CONTROLLER=4, /* Enable ATTITUDE_CONTROLLER_OUTPUT, POSITION_CONTROLLER_OUTPUT, NAV_CONTROLLER_OUTPUT. | */ + MAV_DATA_STREAM_POSITION=6, /* Enable LOCAL_POSITION, GLOBAL_POSITION/GLOBAL_POSITION_INT messages. | */ + MAV_DATA_STREAM_EXTRA1=10, /* Dependent on the autopilot | */ + MAV_DATA_STREAM_EXTRA2=11, /* Dependent on the autopilot | */ + MAV_DATA_STREAM_EXTRA3=12, /* Dependent on the autopilot | */ MAV_DATA_STREAM_ENUM_END }; +/** @brief The ROI (region of interest) for the vehicle. This can be be used by the vehicle for camera/vehicle attitude alignment (see MAV_CMD_NAV_ROI). */ +enum MAV_ROI +{ + MAV_ROI_WPNEXT=0, /* Point toward next waypoint. | */ + MAV_ROI_WPINDEX=1, /* Point toward given waypoint. | */ + MAV_ROI_LOCATION=2, /* Point toward fixed location. | */ + MAV_ROI_TARGET=3, /* Point toward of given id. | */ + MAV_ROI_ENUM_END +}; + // MESSAGE DEFINITIONS @@ -143,6 +153,13 @@ enum MAV_DATA_STREAM #include "./mavlink_msg_named_value_int.h" #include "./mavlink_msg_statustext.h" #include "./mavlink_msg_debug.h" + + +// 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 diff --git a/thirdParty/mavlink/include/common/mavlink.h b/thirdParty/mavlink/include/common/mavlink.h index fc3473e9f6d6bbde6271f602540651905a6fc23a..404b970bffead60f0b273e47333bd8f438f488db 100644 --- a/thirdParty/mavlink/include/common/mavlink.h +++ b/thirdParty/mavlink/include/common/mavlink.h @@ -1,7 +1,7 @@ /** @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 diff --git a/thirdParty/mavlink/include/mavlink_types.h b/thirdParty/mavlink/include/mavlink_types.h index 2eff48ef8fec9e045131281184b5c6c6c5c8344f..e7b27bae21be60f40df0b3a5520ba83057a60a5c 100644 --- a/thirdParty/mavlink/include/mavlink_types.h +++ b/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 { diff --git a/thirdParty/mavlink/include/minimal/mavlink.h b/thirdParty/mavlink/include/minimal/mavlink.h new file mode 100644 index 0000000000000000000000000000000000000000..45a5e9566a8f66618fc3b88cc4469b032ebabc7b --- /dev/null +++ b/thirdParty/mavlink/include/minimal/mavlink.h @@ -0,0 +1,11 @@ +/** @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 diff --git a/thirdParty/mavlink/include/minimal/mavlink_msg_heartbeat.h b/thirdParty/mavlink/include/minimal/mavlink_msg_heartbeat.h new file mode 100644 index 0000000000000000000000000000000000000000..0e5c4db5ca00fb627f2c5072cd8b2d1d7cbd02ad --- /dev/null +++ b/thirdParty/mavlink/include/minimal/mavlink_msg_heartbeat.h @@ -0,0 +1,132 @@ +// 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); +} diff --git a/thirdParty/mavlink/include/minimal/minimal.h b/thirdParty/mavlink/include/minimal/minimal.h new file mode 100644 index 0000000000000000000000000000000000000000..61cd3fe22be39ed8f8bdaaf855398f3d7cce25d2 --- /dev/null +++ b/thirdParty/mavlink/include/minimal/minimal.h @@ -0,0 +1,45 @@ +/** @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 diff --git a/thirdParty/mavlink/include/pixhawk/mavlink.h b/thirdParty/mavlink/include/pixhawk/mavlink.h index 91159fccdd8c7e1034b50eb017a9c006a0a1cf41..16a37599e1fa218650bf065dbd66ec620892162c 100644 --- a/thirdParty/mavlink/include/pixhawk/mavlink.h +++ b/thirdParty/mavlink/include/pixhawk/mavlink.h @@ -1,7 +1,7 @@ /** @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 diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_image_available.h b/thirdParty/mavlink/include/pixhawk/mavlink_msg_image_available.h index 472449988b475b37aa28f60dc83bb0363d9c584b..b40e23df7b554477b32ea6803b25e051d3552b06 100644 --- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_image_available.h +++ b/thirdParty/mavlink/include/pixhawk/mavlink_msg_image_available.h @@ -24,6 +24,9 @@ typedef struct __mavlink_image_available_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_available_t; @@ -55,9 +58,12 @@ typedef struct __mavlink_image_available_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_available_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t cam_id, uint8_t cam_no, uint64_t timestamp, uint64_t valid_until, uint32_t img_seq, uint32_t img_buf_index, uint16_t width, uint16_t height, uint16_t depth, uint8_t channels, uint32_t key, uint32_t exposure, float gain, float roll, float pitch, float yaw, float local_z, float lat, float lon, float alt) +static inline uint16_t mavlink_msg_image_available_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t cam_id, uint8_t cam_no, uint64_t timestamp, uint64_t valid_until, uint32_t img_seq, uint32_t img_buf_index, uint16_t width, uint16_t height, uint16_t depth, uint8_t channels, uint32_t key, uint32_t exposure, float gain, 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_AVAILABLE; @@ -82,6 +88,9 @@ static inline uint16_t mavlink_msg_image_available_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); } @@ -112,9 +121,12 @@ static inline uint16_t mavlink_msg_image_available_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_available_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t cam_id, uint8_t cam_no, uint64_t timestamp, uint64_t valid_until, uint32_t img_seq, uint32_t img_buf_index, uint16_t width, uint16_t height, uint16_t depth, uint8_t channels, uint32_t key, uint32_t exposure, float gain, float roll, float pitch, float yaw, float local_z, float lat, float lon, float alt) +static inline uint16_t mavlink_msg_image_available_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t cam_id, uint8_t cam_no, uint64_t timestamp, uint64_t valid_until, uint32_t img_seq, uint32_t img_buf_index, uint16_t width, uint16_t height, uint16_t depth, uint8_t channels, uint32_t key, uint32_t exposure, float gain, 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_AVAILABLE; @@ -139,6 +151,9 @@ static inline uint16_t mavlink_msg_image_available_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); } @@ -153,7 +168,7 @@ static inline uint16_t mavlink_msg_image_available_pack_chan(uint8_t system_id, */ static inline uint16_t mavlink_msg_image_available_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_image_available_t* image_available) { - return mavlink_msg_image_available_pack(system_id, component_id, msg, image_available->cam_id, image_available->cam_no, image_available->timestamp, image_available->valid_until, image_available->img_seq, image_available->img_buf_index, image_available->width, image_available->height, image_available->depth, image_available->channels, image_available->key, image_available->exposure, image_available->gain, image_available->roll, image_available->pitch, image_available->yaw, image_available->local_z, image_available->lat, image_available->lon, image_available->alt); + return mavlink_msg_image_available_pack(system_id, component_id, msg, image_available->cam_id, image_available->cam_no, image_available->timestamp, image_available->valid_until, image_available->img_seq, image_available->img_buf_index, image_available->width, image_available->height, image_available->depth, image_available->channels, image_available->key, image_available->exposure, image_available->gain, image_available->roll, image_available->pitch, image_available->yaw, image_available->local_z, image_available->lat, image_available->lon, image_available->alt, image_available->ground_x, image_available->ground_y, image_available->ground_z); } /** @@ -180,13 +195,16 @@ static inline uint16_t mavlink_msg_image_available_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_available_send(mavlink_channel_t chan, uint64_t cam_id, uint8_t cam_no, uint64_t timestamp, uint64_t valid_until, uint32_t img_seq, uint32_t img_buf_index, uint16_t width, uint16_t height, uint16_t depth, uint8_t channels, uint32_t key, uint32_t exposure, float gain, float roll, float pitch, float yaw, float local_z, float lat, float lon, float alt) +static inline void mavlink_msg_image_available_send(mavlink_channel_t chan, uint64_t cam_id, uint8_t cam_no, uint64_t timestamp, uint64_t valid_until, uint32_t img_seq, uint32_t img_buf_index, uint16_t width, uint16_t height, uint16_t depth, uint8_t channels, uint32_t key, uint32_t exposure, float gain, 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_available_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, cam_id, cam_no, timestamp, valid_until, img_seq, img_buf_index, width, height, depth, channels, key, exposure, gain, roll, pitch, yaw, local_z, lat, lon, alt); + mavlink_msg_image_available_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, cam_id, cam_no, timestamp, valid_until, img_seq, img_buf_index, width, height, depth, channels, key, exposure, gain, roll, pitch, yaw, local_z, lat, lon, alt, ground_x, ground_y, ground_z); mavlink_send_uart(chan, &msg); } @@ -489,6 +507,51 @@ static inline float mavlink_msg_image_available_get_alt(const mavlink_message_t* return (float)r.f; } +/** + * @brief Get field ground_x from image_available message + * + * @return Ground truth X + */ +static inline float mavlink_msg_image_available_get_ground_x(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_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(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_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(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_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(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_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_y from image_available message + * + * @return Ground truth Y + */ +static inline float mavlink_msg_image_available_get_ground_y(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_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(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_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(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_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(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_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 Get field ground_z from image_available message + * + * @return Ground truth Z + */ +static inline float mavlink_msg_image_available_get_ground_z(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+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(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+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(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+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(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+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_available message into a struct * @@ -517,4 +580,7 @@ static inline void mavlink_msg_image_available_decode(const mavlink_message_t* m image_available->lat = mavlink_msg_image_available_get_lat(msg); image_available->lon = mavlink_msg_image_available_get_lon(msg); image_available->alt = mavlink_msg_image_available_get_alt(msg); + image_available->ground_x = mavlink_msg_image_available_get_ground_x(msg); + image_available->ground_y = mavlink_msg_image_available_get_ground_y(msg); + image_available->ground_z = mavlink_msg_image_available_get_ground_z(msg); } diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_image_triggered.h b/thirdParty/mavlink/include/pixhawk/mavlink_msg_image_triggered.h index 01f8a9203e2e7290bff9bfb034c4c10fcdb954cd..000003f3d73ba3239590a8701acc935877ea0dc2 100644 --- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_image_triggered.h +++ b/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); } diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_vision_speed_estimate.h b/thirdParty/mavlink/include/pixhawk/mavlink_msg_vision_speed_estimate.h new file mode 100644 index 0000000000000000000000000000000000000000..66224c28e9e4487e3f8eb245985aefd824a3f914 --- /dev/null +++ b/thirdParty/mavlink/include/pixhawk/mavlink_msg_vision_speed_estimate.h @@ -0,0 +1,176 @@ +// 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); +} diff --git a/thirdParty/mavlink/include/pixhawk/pixhawk.h b/thirdParty/mavlink/include/pixhawk/pixhawk.h index 92a89bee1b94caf1eb6a691904b5605e04feb0cd..30474d09cb8c1268d12d14fe373d79f0f06551a4 100644 --- a/thirdParty/mavlink/include/pixhawk/pixhawk.h +++ b/thirdParty/mavlink/include/pixhawk/pixhawk.h @@ -1,7 +1,7 @@ /** @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, - PID_PITCH=3, /* With comment: PID Pitch parameter*/ - PID_ALT_HOLD=50, - SLUGS_PID_INDX_IDS_ENUM_END -}; - -/** @brief Content Types for data transmission handshake */ +/** @brief Content Types for data transmission handshake */ enum DATA_TYPES { DATA_TYPE_JPEG_IMAGE=1, @@ -58,6 +49,7 @@ enum DATA_TYPES #include "./mavlink_msg_image_available.h" #include "./mavlink_msg_vision_position_estimate.h" #include "./mavlink_msg_vicon_position_estimate.h" +#include "./mavlink_msg_vision_speed_estimate.h" #include "./mavlink_msg_position_control_setpoint_set.h" #include "./mavlink_msg_position_control_offset_set.h" #include "./mavlink_msg_position_control_setpoint.h" @@ -74,6 +66,13 @@ enum DATA_TYPES #include "./mavlink_msg_data_transmission_handshake.h" #include "./mavlink_msg_encapsulated_data.h" #include "./mavlink_msg_brief_feature.h" + + +// 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, 21, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 11, 52, 1, 92, 0, 0, 0, 0, 0, 0, 0, 32, 32, 20, 0, 0, 0, 0, 0, 0, 20, 18, 0, 0, 0, 0, 0, 0, 0, 0, 26, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 16, 12, 0, 0, 0, 0, 0, 0, 0, 4, 255, 12, 6, 18, 0, 0, 0, 0, 0, 106, 42, 54, 0, 0, 0, 0, 0, 0, 0, 8, 255, 53, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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 diff --git a/thirdParty/mavlink/include/slugs/mavlink.h b/thirdParty/mavlink/include/slugs/mavlink.h index 2a1fb06684bbc14eb75745ec146085305dda21ac..bf0e146b4c4ac71ac936d8deb85044d42555ee1c 100644 --- a/thirdParty/mavlink/include/slugs/mavlink.h +++ b/thirdParty/mavlink/include/slugs/mavlink.h @@ -1,7 +1,7 @@ /** @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 diff --git a/thirdParty/mavlink/include/slugs/slugs.h b/thirdParty/mavlink/include/slugs/slugs.h index fe792c6800ebb1824a504fa0b516f423e3c27112..b8a6ff330ac6767501f59b0c042cd7b9966b3ab3 100644 --- a/thirdParty/mavlink/include/slugs/slugs.h +++ b/thirdParty/mavlink/include/slugs/slugs.h @@ -1,7 +1,7 @@ /** @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 SLUGS_H #define SLUGS_H @@ -43,6 +43,13 @@ extern "C" { #include "./mavlink_msg_mid_lvl_cmds.h" #include "./mavlink_msg_ctrl_srfc_pt.h" #include "./mavlink_msg_slugs_action.h" + + +// 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, 4, 10, 24, 18, 0, 0, 30, 24, 0, 7, 13, 3, 0, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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 diff --git a/thirdParty/mavlink/include/ualberta/mavlink.h b/thirdParty/mavlink/include/ualberta/mavlink.h index 8d850dff6eb9cf029cb3bafbd2014f5ee82b1df4..30b060f630050f4b68a710e97ca0c3eed2ca0e9b 100644 --- a/thirdParty/mavlink/include/ualberta/mavlink.h +++ b/thirdParty/mavlink/include/ualberta/mavlink.h @@ -1,7 +1,7 @@ /** @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 diff --git a/thirdParty/mavlink/include/ualberta/mavlink_msg_radio_calibration.h b/thirdParty/mavlink/include/ualberta/mavlink_msg_radio_calibration.h index 7a599ac714bdedbf6f7846aac42663724bfa756e..5907aba95bce713210549cfd6e452da1346c20fc 100644 --- a/thirdParty/mavlink/include/ualberta/mavlink_msg_radio_calibration.h +++ b/thirdParty/mavlink/include/ualberta/mavlink_msg_radio_calibration.h @@ -1,15 +1,15 @@ // MESSAGE RADIO_CALIBRATION PACKING -#define MAVLINK_MSG_ID_RADIO_CALIBRATION 222 +#define MAVLINK_MSG_ID_RADIO_CALIBRATION 221 typedef struct __mavlink_radio_calibration_t { - float aileron[3]; ///< Aileron setpoints: high, center, low - float elevator[3]; ///< Elevator setpoints: high, center, low - float rudder[3]; ///< Rudder setpoints: high, center, low - float gyro[2]; ///< Tail gyro mode/gain setpoints: heading hold, rate mode - float pitch[5]; ///< Pitch curve setpoints (every 25%) - float throttle[5]; ///< Throttle curve setpoints (every 25%) + uint16_t aileron[3]; ///< Aileron setpoints: left, center, right + uint16_t elevator[3]; ///< Elevator setpoints: nose down, center, nose up + uint16_t rudder[3]; ///< Rudder setpoints: nose left, center, nose right + uint16_t gyro[2]; ///< Tail gyro mode/gain setpoints: heading hold, rate mode + uint16_t pitch[5]; ///< Pitch curve setpoints (every 25%) + uint16_t throttle[5]; ///< Throttle curve setpoints (every 25%) } mavlink_radio_calibration_t; @@ -27,25 +27,25 @@ typedef struct __mavlink_radio_calibration_t * @param component_id ID of this component (e.g. 200 for IMU) * @param msg The MAVLink message to compress the data into * - * @param aileron Aileron setpoints: high, center, low - * @param elevator Elevator setpoints: high, center, low - * @param rudder Rudder setpoints: high, center, low + * @param aileron Aileron setpoints: left, center, right + * @param elevator Elevator setpoints: nose down, center, nose up + * @param rudder Rudder setpoints: nose left, center, nose right * @param gyro Tail gyro mode/gain setpoints: heading hold, rate mode * @param pitch Pitch curve setpoints (every 25%) * @param throttle Throttle curve setpoints (every 25%) * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_radio_calibration_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const float* aileron, const float* elevator, const float* rudder, const float* gyro, const float* pitch, const float* throttle) +static inline uint16_t mavlink_msg_radio_calibration_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const uint16_t* aileron, const uint16_t* elevator, const uint16_t* rudder, const uint16_t* gyro, const uint16_t* pitch, const uint16_t* throttle) { uint16_t i = 0; msg->msgid = MAVLINK_MSG_ID_RADIO_CALIBRATION; - i += put_array_by_index((const int8_t*)aileron, sizeof(float)*3, i, msg->payload); // Aileron setpoints: high, center, low - i += put_array_by_index((const int8_t*)elevator, sizeof(float)*3, i, msg->payload); // Elevator setpoints: high, center, low - i += put_array_by_index((const int8_t*)rudder, sizeof(float)*3, i, msg->payload); // Rudder setpoints: high, center, low - i += put_array_by_index((const int8_t*)gyro, sizeof(float)*2, i, msg->payload); // Tail gyro mode/gain setpoints: heading hold, rate mode - i += put_array_by_index((const int8_t*)pitch, sizeof(float)*5, i, msg->payload); // Pitch curve setpoints (every 25%) - i += put_array_by_index((const int8_t*)throttle, sizeof(float)*5, i, msg->payload); // Throttle curve setpoints (every 25%) + i += put_array_by_index((const int8_t*)aileron, sizeof(uint16_t)*3, i, msg->payload); // Aileron setpoints: left, center, right + i += put_array_by_index((const int8_t*)elevator, sizeof(uint16_t)*3, i, msg->payload); // Elevator setpoints: nose down, center, nose up + i += put_array_by_index((const int8_t*)rudder, sizeof(uint16_t)*3, i, msg->payload); // Rudder setpoints: nose left, center, nose right + i += put_array_by_index((const int8_t*)gyro, sizeof(uint16_t)*2, i, msg->payload); // Tail gyro mode/gain setpoints: heading hold, rate mode + i += put_array_by_index((const int8_t*)pitch, sizeof(uint16_t)*5, i, msg->payload); // Pitch curve setpoints (every 25%) + i += put_array_by_index((const int8_t*)throttle, sizeof(uint16_t)*5, i, msg->payload); // Throttle curve setpoints (every 25%) return mavlink_finalize_message(msg, system_id, component_id, i); } @@ -56,25 +56,25 @@ static inline uint16_t mavlink_msg_radio_calibration_pack(uint8_t system_id, uin * @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 aileron Aileron setpoints: high, center, low - * @param elevator Elevator setpoints: high, center, low - * @param rudder Rudder setpoints: high, center, low + * @param aileron Aileron setpoints: left, center, right + * @param elevator Elevator setpoints: nose down, center, nose up + * @param rudder Rudder setpoints: nose left, center, nose right * @param gyro Tail gyro mode/gain setpoints: heading hold, rate mode * @param pitch Pitch curve setpoints (every 25%) * @param throttle Throttle curve setpoints (every 25%) * @return length of the message in bytes (excluding serial stream start sign) */ -static inline uint16_t mavlink_msg_radio_calibration_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const float* aileron, const float* elevator, const float* rudder, const float* gyro, const float* pitch, const float* throttle) +static inline uint16_t mavlink_msg_radio_calibration_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const uint16_t* aileron, const uint16_t* elevator, const uint16_t* rudder, const uint16_t* gyro, const uint16_t* pitch, const uint16_t* throttle) { uint16_t i = 0; msg->msgid = MAVLINK_MSG_ID_RADIO_CALIBRATION; - i += put_array_by_index((const int8_t*)aileron, sizeof(float)*3, i, msg->payload); // Aileron setpoints: high, center, low - i += put_array_by_index((const int8_t*)elevator, sizeof(float)*3, i, msg->payload); // Elevator setpoints: high, center, low - i += put_array_by_index((const int8_t*)rudder, sizeof(float)*3, i, msg->payload); // Rudder setpoints: high, center, low - i += put_array_by_index((const int8_t*)gyro, sizeof(float)*2, i, msg->payload); // Tail gyro mode/gain setpoints: heading hold, rate mode - i += put_array_by_index((const int8_t*)pitch, sizeof(float)*5, i, msg->payload); // Pitch curve setpoints (every 25%) - i += put_array_by_index((const int8_t*)throttle, sizeof(float)*5, i, msg->payload); // Throttle curve setpoints (every 25%) + i += put_array_by_index((const int8_t*)aileron, sizeof(uint16_t)*3, i, msg->payload); // Aileron setpoints: left, center, right + i += put_array_by_index((const int8_t*)elevator, sizeof(uint16_t)*3, i, msg->payload); // Elevator setpoints: nose down, center, nose up + i += put_array_by_index((const int8_t*)rudder, sizeof(uint16_t)*3, i, msg->payload); // Rudder setpoints: nose left, center, nose right + i += put_array_by_index((const int8_t*)gyro, sizeof(uint16_t)*2, i, msg->payload); // Tail gyro mode/gain setpoints: heading hold, rate mode + i += put_array_by_index((const int8_t*)pitch, sizeof(uint16_t)*5, i, msg->payload); // Pitch curve setpoints (every 25%) + i += put_array_by_index((const int8_t*)throttle, sizeof(uint16_t)*5, i, msg->payload); // Throttle curve setpoints (every 25%) return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); } @@ -96,16 +96,16 @@ static inline uint16_t mavlink_msg_radio_calibration_encode(uint8_t system_id, u * @brief Send a radio_calibration message * @param chan MAVLink channel to send the message * - * @param aileron Aileron setpoints: high, center, low - * @param elevator Elevator setpoints: high, center, low - * @param rudder Rudder setpoints: high, center, low + * @param aileron Aileron setpoints: left, center, right + * @param elevator Elevator setpoints: nose down, center, nose up + * @param rudder Rudder setpoints: nose left, center, nose right * @param gyro Tail gyro mode/gain setpoints: heading hold, rate mode * @param pitch Pitch curve setpoints (every 25%) * @param throttle Throttle curve setpoints (every 25%) */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS -static inline void mavlink_msg_radio_calibration_send(mavlink_channel_t chan, const float* aileron, const float* elevator, const float* rudder, const float* gyro, const float* pitch, const float* throttle) +static inline void mavlink_msg_radio_calibration_send(mavlink_channel_t chan, const uint16_t* aileron, const uint16_t* elevator, const uint16_t* rudder, const uint16_t* gyro, const uint16_t* pitch, const uint16_t* throttle) { mavlink_message_t msg; mavlink_msg_radio_calibration_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, aileron, elevator, rudder, gyro, pitch, throttle); @@ -118,37 +118,37 @@ static inline void mavlink_msg_radio_calibration_send(mavlink_channel_t chan, co /** * @brief Get field aileron from radio_calibration message * - * @return Aileron setpoints: high, center, low + * @return Aileron setpoints: left, center, right */ -static inline uint16_t mavlink_msg_radio_calibration_get_aileron(const mavlink_message_t* msg, float* r_data) +static inline uint16_t mavlink_msg_radio_calibration_get_aileron(const mavlink_message_t* msg, uint16_t* r_data) { - memcpy(r_data, msg->payload, sizeof(float)*3); - return sizeof(float)*3; + memcpy(r_data, msg->payload, sizeof(uint16_t)*3); + return sizeof(uint16_t)*3; } /** * @brief Get field elevator from radio_calibration message * - * @return Elevator setpoints: high, center, low + * @return Elevator setpoints: nose down, center, nose up */ -static inline uint16_t mavlink_msg_radio_calibration_get_elevator(const mavlink_message_t* msg, float* r_data) +static inline uint16_t mavlink_msg_radio_calibration_get_elevator(const mavlink_message_t* msg, uint16_t* r_data) { - memcpy(r_data, msg->payload+sizeof(float)*3, sizeof(float)*3); - return sizeof(float)*3; + memcpy(r_data, msg->payload+sizeof(uint16_t)*3, sizeof(uint16_t)*3); + return sizeof(uint16_t)*3; } /** * @brief Get field rudder from radio_calibration message * - * @return Rudder setpoints: high, center, low + * @return Rudder setpoints: nose left, center, nose right */ -static inline uint16_t mavlink_msg_radio_calibration_get_rudder(const mavlink_message_t* msg, float* r_data) +static inline uint16_t mavlink_msg_radio_calibration_get_rudder(const mavlink_message_t* msg, uint16_t* r_data) { - memcpy(r_data, msg->payload+sizeof(float)*3+sizeof(float)*3, sizeof(float)*3); - return sizeof(float)*3; + memcpy(r_data, msg->payload+sizeof(uint16_t)*3+sizeof(uint16_t)*3, sizeof(uint16_t)*3); + return sizeof(uint16_t)*3; } /** @@ -156,11 +156,11 @@ static inline uint16_t mavlink_msg_radio_calibration_get_rudder(const mavlink_me * * @return Tail gyro mode/gain setpoints: heading hold, rate mode */ -static inline uint16_t mavlink_msg_radio_calibration_get_gyro(const mavlink_message_t* msg, float* r_data) +static inline uint16_t mavlink_msg_radio_calibration_get_gyro(const mavlink_message_t* msg, uint16_t* r_data) { - memcpy(r_data, msg->payload+sizeof(float)*3+sizeof(float)*3+sizeof(float)*3, sizeof(float)*2); - return sizeof(float)*2; + memcpy(r_data, msg->payload+sizeof(uint16_t)*3+sizeof(uint16_t)*3+sizeof(uint16_t)*3, sizeof(uint16_t)*2); + return sizeof(uint16_t)*2; } /** @@ -168,11 +168,11 @@ static inline uint16_t mavlink_msg_radio_calibration_get_gyro(const mavlink_mess * * @return Pitch curve setpoints (every 25%) */ -static inline uint16_t mavlink_msg_radio_calibration_get_pitch(const mavlink_message_t* msg, float* r_data) +static inline uint16_t mavlink_msg_radio_calibration_get_pitch(const mavlink_message_t* msg, uint16_t* r_data) { - memcpy(r_data, msg->payload+sizeof(float)*3+sizeof(float)*3+sizeof(float)*3+sizeof(float)*2, sizeof(float)*5); - return sizeof(float)*5; + memcpy(r_data, msg->payload+sizeof(uint16_t)*3+sizeof(uint16_t)*3+sizeof(uint16_t)*3+sizeof(uint16_t)*2, sizeof(uint16_t)*5); + return sizeof(uint16_t)*5; } /** @@ -180,11 +180,11 @@ static inline uint16_t mavlink_msg_radio_calibration_get_pitch(const mavlink_mes * * @return Throttle curve setpoints (every 25%) */ -static inline uint16_t mavlink_msg_radio_calibration_get_throttle(const mavlink_message_t* msg, float* r_data) +static inline uint16_t mavlink_msg_radio_calibration_get_throttle(const mavlink_message_t* msg, uint16_t* r_data) { - memcpy(r_data, msg->payload+sizeof(float)*3+sizeof(float)*3+sizeof(float)*3+sizeof(float)*2+sizeof(float)*5, sizeof(float)*5); - return sizeof(float)*5; + memcpy(r_data, msg->payload+sizeof(uint16_t)*3+sizeof(uint16_t)*3+sizeof(uint16_t)*3+sizeof(uint16_t)*2+sizeof(uint16_t)*5, sizeof(uint16_t)*5); + return sizeof(uint16_t)*5; } /** diff --git a/thirdParty/mavlink/include/ualberta/mavlink_msg_ualberta_sys_status.h b/thirdParty/mavlink/include/ualberta/mavlink_msg_ualberta_sys_status.h new file mode 100644 index 0000000000000000000000000000000000000000..50e8f7d02ca58dccec28614af2fed7d4fe0c1466 --- /dev/null +++ b/thirdParty/mavlink/include/ualberta/mavlink_msg_ualberta_sys_status.h @@ -0,0 +1,135 @@ +// MESSAGE UALBERTA_SYS_STATUS PACKING + +#define MAVLINK_MSG_ID_UALBERTA_SYS_STATUS 222 + +typedef struct __mavlink_ualberta_sys_status_t +{ + uint8_t mode; ///< System mode, see UALBERTA_AUTOPILOT_MODE ENUM + uint8_t nav_mode; ///< Navigation mode, see UALBERTA_NAV_MODE ENUM + uint8_t pilot; ///< Pilot mode, see UALBERTA_PILOT_MODE + +} mavlink_ualberta_sys_status_t; + + + +/** + * @brief Pack a ualberta_sys_status 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 mode System mode, see UALBERTA_AUTOPILOT_MODE ENUM + * @param nav_mode Navigation mode, see UALBERTA_NAV_MODE ENUM + * @param pilot Pilot mode, see UALBERTA_PILOT_MODE + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_ualberta_sys_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t mode, uint8_t nav_mode, uint8_t pilot) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_UALBERTA_SYS_STATUS; + + i += put_uint8_t_by_index(mode, i, msg->payload); // System mode, see UALBERTA_AUTOPILOT_MODE ENUM + i += put_uint8_t_by_index(nav_mode, i, msg->payload); // Navigation mode, see UALBERTA_NAV_MODE ENUM + i += put_uint8_t_by_index(pilot, i, msg->payload); // Pilot mode, see UALBERTA_PILOT_MODE + + return mavlink_finalize_message(msg, system_id, component_id, i); +} + +/** + * @brief Pack a ualberta_sys_status 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 mode System mode, see UALBERTA_AUTOPILOT_MODE ENUM + * @param nav_mode Navigation mode, see UALBERTA_NAV_MODE ENUM + * @param pilot Pilot mode, see UALBERTA_PILOT_MODE + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_ualberta_sys_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t mode, uint8_t nav_mode, uint8_t pilot) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_UALBERTA_SYS_STATUS; + + i += put_uint8_t_by_index(mode, i, msg->payload); // System mode, see UALBERTA_AUTOPILOT_MODE ENUM + i += put_uint8_t_by_index(nav_mode, i, msg->payload); // Navigation mode, see UALBERTA_NAV_MODE ENUM + i += put_uint8_t_by_index(pilot, i, msg->payload); // Pilot mode, see UALBERTA_PILOT_MODE + + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); +} + +/** + * @brief Encode a ualberta_sys_status 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 ualberta_sys_status C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_ualberta_sys_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_ualberta_sys_status_t* ualberta_sys_status) +{ + return mavlink_msg_ualberta_sys_status_pack(system_id, component_id, msg, ualberta_sys_status->mode, ualberta_sys_status->nav_mode, ualberta_sys_status->pilot); +} + +/** + * @brief Send a ualberta_sys_status message + * @param chan MAVLink channel to send the message + * + * @param mode System mode, see UALBERTA_AUTOPILOT_MODE ENUM + * @param nav_mode Navigation mode, see UALBERTA_NAV_MODE ENUM + * @param pilot Pilot mode, see UALBERTA_PILOT_MODE + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_ualberta_sys_status_send(mavlink_channel_t chan, uint8_t mode, uint8_t nav_mode, uint8_t pilot) +{ + mavlink_message_t msg; + mavlink_msg_ualberta_sys_status_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, mode, nav_mode, pilot); + mavlink_send_uart(chan, &msg); +} + +#endif +// MESSAGE UALBERTA_SYS_STATUS UNPACKING + +/** + * @brief Get field mode from ualberta_sys_status message + * + * @return System mode, see UALBERTA_AUTOPILOT_MODE ENUM + */ +static inline uint8_t mavlink_msg_ualberta_sys_status_get_mode(const mavlink_message_t* msg) +{ + return (uint8_t)(msg->payload)[0]; +} + +/** + * @brief Get field nav_mode from ualberta_sys_status message + * + * @return Navigation mode, see UALBERTA_NAV_MODE ENUM + */ +static inline uint8_t mavlink_msg_ualberta_sys_status_get_nav_mode(const mavlink_message_t* msg) +{ + return (uint8_t)(msg->payload+sizeof(uint8_t))[0]; +} + +/** + * @brief Get field pilot from ualberta_sys_status message + * + * @return Pilot mode, see UALBERTA_PILOT_MODE + */ +static inline uint8_t mavlink_msg_ualberta_sys_status_get_pilot(const mavlink_message_t* msg) +{ + return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0]; +} + +/** + * @brief Decode a ualberta_sys_status message into a struct + * + * @param msg The message to decode + * @param ualberta_sys_status C-struct to decode the message contents into + */ +static inline void mavlink_msg_ualberta_sys_status_decode(const mavlink_message_t* msg, mavlink_ualberta_sys_status_t* ualberta_sys_status) +{ + ualberta_sys_status->mode = mavlink_msg_ualberta_sys_status_get_mode(msg); + ualberta_sys_status->nav_mode = mavlink_msg_ualberta_sys_status_get_nav_mode(msg); + ualberta_sys_status->pilot = mavlink_msg_ualberta_sys_status_get_pilot(msg); +} diff --git a/thirdParty/mavlink/include/ualberta/ualberta.h b/thirdParty/mavlink/include/ualberta/ualberta.h index e9f238b802f0d3dd10f91c65d0e28b17f34e4013..b492ff62d65eead6b12bd73363dcbb4b22791ae2 100644 --- a/thirdParty/mavlink/include/ualberta/ualberta.h +++ b/thirdParty/mavlink/include/ualberta/ualberta.h @@ -1,7 +1,7 @@ /** @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 UALBERTA_H #define UALBERTA_H @@ -30,12 +30,49 @@ extern "C" { // ENUM DEFINITIONS +/** @brief Available autopilot modes for ualberta uav */ +enum UALBERTA_AUTOPILOT_MODE +{ + MODE_MANUAL_DIRECT=0, /* */ + MODE_MANUAL_SCALED=1, /* */ + MODE_AUTO_PID_ATT=2, /* */ + MODE_AUTO_PID_VEL=3, /* */ + MODE_AUTO_PID_POS=4, /* */ + UALBERTA_AUTOPILOT_MODE_ENUM_END +}; + +/** @brief Navigation filter mode */ +enum UALBERTA_NAV_MODE +{ + NAV_AHRS_INIT=0, + NAV_AHRS=1, /* */ + NAV_INS_GPS_INIT=2, /* */ + NAV_INS_GPS=3, /* */ + UALBERTA_NAV_MODE_ENUM_END +}; + +/** @brief Mode currently commanded by pilot */ +enum UALBERTA_PILOT_MODE +{ + PILOT_MANUAL=0, /* */ + PILOT_AUTO=1, /* */ + PILOT_ROTO=2, /* */ + UALBERTA_PILOT_MODE_ENUM_END +}; + // MESSAGE DEFINITIONS #include "./mavlink_msg_nav_filter_bias.h" -#include "./mavlink_msg_request_rc_channels.h" #include "./mavlink_msg_radio_calibration.h" +#include "./mavlink_msg_ualberta_sys_status.h" + + +// 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, 32, 42, 3, 0, 0, 0, 0, 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 diff --git a/thirdParty/mavlink/message_definitions/common.xml b/thirdParty/mavlink/message_definitions/common.xml index 85e0df66e340bd8447dd4432c0d8edd47d715262..5df9ba827ee9112b0755dd4ece6918f48a71bbb7 100644 --- a/thirdParty/mavlink/message_definitions/common.xml +++ b/thirdParty/mavlink/message_definitions/common.xml @@ -79,17 +79,21 @@ Longitude Altitude - - Set the location the system should be heading towards (camera heads or - rotary wing aircraft). - Empty - Empty - Empty + + + Sets the region of interest (ROI) for a sensor set or the + vehicle itself. This can then be used by the vehicles control + system to control the vehicle attitude and the attitude of various + sensors such as cameras. + Region of intereset mode. (see MAV_ROI enum) + Waypoint index/ target ID. (see MAV_ROI enum) + ROI index (allows a vehicle to manage multiple ROI's) Empty - Latitude - Longitude - Altitude + x the location of the fixed ROI (see MAV_FRAME) + y + z + Control autonomous path planning on the MAV. 0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning @@ -306,6 +310,18 @@ Dependent on the autopilot Dependent on the autopilot + + + The ROI (region of interest) for the vehicle. This can be + be used by the vehicle for camera/vehicle attitude alignment (see + MAV_CMD_NAV_ROI). + + Point toward next waypoint. + Point toward given waypoint. + Point toward fixed location. + Point toward of given id. + + diff --git a/thirdParty/mavlink/message_definitions/minimal.xml b/thirdParty/mavlink/message_definitions/minimal.xml new file mode 100644 index 0000000000000000000000000000000000000000..16d26831e165d7c8ff3410cbab22accfd34311ca --- /dev/null +++ b/thirdParty/mavlink/message_definitions/minimal.xml @@ -0,0 +1,13 @@ + + + 2 + + + + The heartbeat message shows that a system is present and responding. The type of the MAV and Autopilot hardware allow the receiving system to treat further messages from this system appropriate (e.g. by laying out the user interface based on the autopilot). + Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) + Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM + MAVLink version + + + diff --git a/thirdParty/mavlink/message_definitions/pixhawk.xml b/thirdParty/mavlink/message_definitions/pixhawk.xml index 55e53205aa084fa8c7d1dd7292e5360b4687db48..e2a99a738b666758d65670e47de52f181422b5ac 100644 --- a/thirdParty/mavlink/message_definitions/pixhawk.xml +++ b/thirdParty/mavlink/message_definitions/pixhawk.xml @@ -3,18 +3,14 @@ common.xml - - Slugs parameter interface subsets - - With comment: PID Pitch parameter - - - Content Types for data transmission handshake - - - + + + + + + @@ -50,6 +46,9 @@ GPS X coordinate GPS Y coordinate Global frame altitude + Ground truth X + Ground truth Y + Ground truth Z @@ -77,6 +76,9 @@ GPS X coordinate GPS Y coordinate Global frame altitude + Ground truth X + Ground truth Y + Ground truth Z @@ -99,6 +101,13 @@ Yaw angle in rad + + Timestamp (milliseconds) + Global X speed + Global Y speed + Global Z speed + + Message sent to the MAV to set a new position as reference for the controller System ID diff --git a/thirdParty/mavlink/message_definitions/ualberta.xml b/thirdParty/mavlink/message_definitions/ualberta.xml index ef28d6e9149516ce156916f0559db5c8ed0c464e..eaa9d99844835df716665ef893d0bbcac5d47445 100644 --- a/thirdParty/mavlink/message_definitions/ualberta.xml +++ b/thirdParty/mavlink/message_definitions/ualberta.xml @@ -1,29 +1,54 @@ - + - common.xml - - - Accelerometer and Gyro biases from the navigation filter - Timestamp (microseconds) - b_f[0] - b_f[1] - b_f[2] - b_f[0] - b_f[1] - b_f[2] - - - Request raw and normalized rc data from the UAV - True: start sending data; False: stop sending data - - - Complete set of calibration parameters for the radio - Aileron setpoints: high, center, low - Elevator setpoints: high, center, low - Rudder setpoints: high, center, low - Tail gyro mode/gain setpoints: heading hold, rate mode - Pitch curve setpoints (every 25%) - Throttle curve setpoints (every 25%) - - + common.xml + + + Available autopilot modes for ualberta uav + Raw input pulse widts sent to output + Inputs are normalized using calibration, the converted back to raw pulse widths for output + dfsdfs + dfsfds + dfsdfsdfs + + + Navigation filter mode + + AHRS mode + INS/GPS initialization mode + INS/GPS mode + + + Mode currently commanded by pilot + sdf + dfs + Rotomotion mode + + + + + Accelerometer and Gyro biases from the navigation filter + Timestamp (microseconds) + b_f[0] + b_f[1] + b_f[2] + b_f[0] + b_f[1] + b_f[2] + + + Complete set of calibration parameters for the radio + Aileron setpoints: left, center, right + Elevator setpoints: nose down, center, nose up + Rudder setpoints: nose left, center, nose right + Tail gyro mode/gain setpoints: heading hold, rate mode + Pitch curve setpoints (every 25%) + Throttle curve setpoints (every 25%) + + + System status specific to ualberta uav + System mode, see UALBERTA_AUTOPILOT_MODE ENUM + Navigation mode, see UALBERTA_NAV_MODE ENUM + Pilot mode, see UALBERTA_PILOT_MODE + +