Merged in large flight display UI redesign

README

+maah
 QGroundControl Open Source Micro Air Vehicle Ground Control Station
 
 Project:
@@ -36,7 +37,7 @@ Build QGroundControl
 --------------------
 1) From the terminal go to the `groundcontrol` directory
 
-2) Run `qmake`
+2) Run `qmake -spec macx-g++`
 
 3) Run `make -j8`
 

dongfang_qgroundcontrol_notes.txt

+From where is the 3D mouse used?
+
+
+Comm folder:
+============
+
+LinkInterface is a QThread. Appears to describe an interface on the host system (TCP port, serial port, ....).
+  Does it suppport multiple connections?
+SerialLinkInterface: Extension of above
+SerialLink: Implementation
+
+XBeeLinkInterface: Extension of LinkInterface (but without other serial stuff than baudrate, is the rest assumed?)
+XBeeLink: Implementation (with address resetting probably it's Series 1)
+
+UDPLink: UDP implementation. Port is defaulted.
+
+MAVLinkSimulationLink: Simulation/dummy implementation of LinkInterface. Does some file IO.
+MAVLinkSimulationUAV:  Simulation/dummy basic (remote) UAV state (minus mission state) for MAVLinkSimulationLink.
+MAVLinkSimulationWaypointPlanner: imulation/dummy basic (remote) UAV mission state for MAVLinkSimulationLink.
+
+
+ProtocolInterface describes a protocol. Major method:
+    virtual void receiveBytes(LinkInterface *link, QByteArray b) = 0;
+
+MavlinkProtocol: MAVLink implementation of ProtocolInterface
+
+
+Parameter: Identity of a parameter (the value types are not handled here. Oddly there is no type metainfo either)
+ParameterList: Is pretty much what the name impiles.
+QGCParamID: Wrapper if parameter text IDs, conversion to byte* and back
+
+QGCHilLink: Link to a HIL external system
+    QCGFlightGearLink, QGCJSBSimLink, QGCXPlaneLink : Implementations of QGCHilLink
+
+
+QGCMAVLink: Nothing more than in include to raw mavlink.h
+
+
+input folder:
+=============
+Some exotic input devices
+
+
+
+uas folder:
+===========
+UAS.h: Local UAV model. Claims to support some sort of RPC. Uses some properties with notifications. Assumes MAVLink.
+Some methods:
+    int getUASID() const; // the systemId
+    QList<LinkInterface*>* getLinks(); // it knows its links
+
+    virtual void receiveMessage(LinkInterface* link, mavlink_message_t message);
+
+    float receiveDropRate;      ///< Percentage of packets that were dropped on the MAV's receiving link (from GCS and other MAVs)
+    float sendDropRate;         ///< Percentage of packets that were not received from the MAV by the GCS
+
+Some fields:
+    bool positionLock;          ///< Status if position information is available or not
+    double localX;  // (what is this?)
+    double localY;
+    double localZ;
+    double latitude;            ///< Global latitude as estimated by position estimator
+    double longitude;           ///< Global longitude as estimated by position estimator
+    double altitude;            ///< Global altitude as estimated by position estimator
+    double satelliteCount;      ///< Number of satellites visible to raw GPS
+    bool globalEstimatorActive; ///< Global position estimator present, do not fall back to GPS raw for position
+    double latitude_gps;        ///< Global latitude as estimated by raw GPS
+    double longitude_gps;       ///< Global longitude as estimated by raw GPS
+    double altitude_gps;        ///< Global altitude as estimated by raw GPS
+
+    and lots ans lots more...
+
+
+*MAV.h: Implementations of UAS
+
+
+QGCUASParamManager.h: A mixture of a widget and a parameter up/download state machine. Has a reference to its associated UAV.
+
+UASWaypointManager: API to waypoint / mission control. Not a widget. Has a reference to its associated UAV.
+
+UASManager.h: Singleton interface to all UASs on all interfaces. Maintains a single selected/active UAS.
+
+Ideas to do
+TCPLink
+XBee Series2 implementation
+Less stress on uplink
+Get rid of hardcoded SystemId of 255
+Quick View should print all altitudes (GPS, mix, ground and/or home), letting user see errors.
+Console debugging is hopefully removed?
+

dongfang_qgroundcontrol_wishlist.txt

+Major
+1) Absolute altitude should absolutely work. Also in face of bad GPS init.
+   How does the mission planning part work with that, how is alt. stored in waypoints?
+   When is home altitude stored in the UAV?
+
+2) Some people have worse datalinks than average - eg. slow or noisy telemetry. GPRS data also easily gets
+   flooded. All data rates should be configurable and uplinks eased off a little.
+
+3) Some streams should be sent always even if not in use. For example using RC override and then stopping
+   using it: If the UAV does not received the final RC override message with zero values for all channels,
+   it will not get out of RC override. A solution is to make the message non final, repeating it every
+   now and then.
+
+Minor
+1) I would like to see initial dummy values for eg. battery voltage go away and be replaced by "unknown".
+   Dummy values confuse, you won't know if your sensors and link are working or not.
+
+2) Suggestion if the DO_JUMP behavior of APM today (where DO_JUMP requires a waypoint command after it):
+   Modify APM code so DO_JUMP is regarded a navigation command. Make non navigation commands appear in
+   planning as sub commands of navigation commands (indent them). Easier to understand.
+
+3) Old style audio with signals/bells/beeps / Morse may be prefered by some. Maybe add slots'n'signals for
+   all audio and different implementation types (speech, beep, ...). Or a generic operator messaging thing.

libs/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_ahrs.h

@@ -16,6 +16,9 @@ typedef struct __mavlink_ahrs_t
 #define MAVLINK_MSG_ID_AHRS_LEN 28
 #define MAVLINK_MSG_ID_163_LEN 28
 
+#define MAVLINK_MSG_ID_AHRS_CRC 127
+#define MAVLINK_MSG_ID_163_CRC 127
+
 
 
 #define MAVLINK_MESSAGE_INFO_AHRS { \
@@ -51,7 +54,7 @@ static inline uint16_t mavlink_msg_ahrs_pack(uint8_t system_id, uint8_t componen
 						       float omegaIx, float omegaIy, float omegaIz, float accel_weight, float renorm_val, float error_rp, float error_yaw)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[28];
+	char buf[MAVLINK_MSG_ID_AHRS_LEN];
 	_mav_put_float(buf, 0, omegaIx);
 	_mav_put_float(buf, 4, omegaIy);
 	_mav_put_float(buf, 8, omegaIz);
@@ -60,7 +63,7 @@ static inline uint16_t mavlink_msg_ahrs_pack(uint8_t system_id, uint8_t componen
 	_mav_put_float(buf, 20, error_rp);
 	_mav_put_float(buf, 24, error_yaw);
 
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 28);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_AHRS_LEN);
 #else
 	mavlink_ahrs_t packet;
 	packet.omegaIx = omegaIx;
@@ -71,11 +74,15 @@ static inline uint16_t mavlink_msg_ahrs_pack(uint8_t system_id, uint8_t componen
 	packet.error_rp = error_rp;
 	packet.error_yaw = error_yaw;
 
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 28);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_AHRS_LEN);
 #endif
 
 	msg->msgid = MAVLINK_MSG_ID_AHRS;
-	return mavlink_finalize_message(msg, system_id, component_id, 28, 127);
+#if MAVLINK_CRC_EXTRA
+    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_AHRS_LEN, MAVLINK_MSG_ID_AHRS_CRC);
+#else
+    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_AHRS_LEN);
+#endif
 }
 
 /**
@@ -98,7 +105,7 @@ static inline uint16_t mavlink_msg_ahrs_pack_chan(uint8_t system_id, uint8_t com
 						           float omegaIx,float omegaIy,float omegaIz,float accel_weight,float renorm_val,float error_rp,float error_yaw)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[28];
+	char buf[MAVLINK_MSG_ID_AHRS_LEN];
 	_mav_put_float(buf, 0, omegaIx);
 	_mav_put_float(buf, 4, omegaIy);
 	_mav_put_float(buf, 8, omegaIz);
@@ -107,7 +114,7 @@ static inline uint16_t mavlink_msg_ahrs_pack_chan(uint8_t system_id, uint8_t com
 	_mav_put_float(buf, 20, error_rp);
 	_mav_put_float(buf, 24, error_yaw);
 
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 28);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_AHRS_LEN);
 #else
 	mavlink_ahrs_t packet;
 	packet.omegaIx = omegaIx;
@@ -118,11 +125,15 @@ static inline uint16_t mavlink_msg_ahrs_pack_chan(uint8_t system_id, uint8_t com
 	packet.error_rp = error_rp;
 	packet.error_yaw = error_yaw;
 
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 28);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_AHRS_LEN);
 #endif
 
 	msg->msgid = MAVLINK_MSG_ID_AHRS;
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 28, 127);
+#if MAVLINK_CRC_EXTRA
+    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_AHRS_LEN, MAVLINK_MSG_ID_AHRS_CRC);
+#else
+    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_AHRS_LEN);
+#endif
 }
 
 /**
@@ -155,7 +166,7 @@ static inline uint16_t mavlink_msg_ahrs_encode(uint8_t system_id, uint8_t compon
 static inline void mavlink_msg_ahrs_send(mavlink_channel_t chan, float omegaIx, float omegaIy, float omegaIz, float accel_weight, float renorm_val, float error_rp, float error_yaw)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[28];
+	char buf[MAVLINK_MSG_ID_AHRS_LEN];
 	_mav_put_float(buf, 0, omegaIx);
 	_mav_put_float(buf, 4, omegaIy);
 	_mav_put_float(buf, 8, omegaIz);
@@ -164,7 +175,11 @@ static inline void mavlink_msg_ahrs_send(mavlink_channel_t chan, float omegaIx,
 	_mav_put_float(buf, 20, error_rp);
 	_mav_put_float(buf, 24, error_yaw);
 
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS, buf, 28, 127);
+#if MAVLINK_CRC_EXTRA
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS, buf, MAVLINK_MSG_ID_AHRS_LEN, MAVLINK_MSG_ID_AHRS_CRC);
+#else
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS, buf, MAVLINK_MSG_ID_AHRS_LEN);
+#endif
 #else
 	mavlink_ahrs_t packet;
 	packet.omegaIx = omegaIx;
@@ -175,7 +190,11 @@ static inline void mavlink_msg_ahrs_send(mavlink_channel_t chan, float omegaIx,
 	packet.error_rp = error_rp;
 	packet.error_yaw = error_yaw;
 
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS, (const char *)&packet, 28, 127);
+#if MAVLINK_CRC_EXTRA
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS, (const char *)&packet, MAVLINK_MSG_ID_AHRS_LEN, MAVLINK_MSG_ID_AHRS_CRC);
+#else
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS, (const char *)&packet, MAVLINK_MSG_ID_AHRS_LEN);
+#endif
 #endif
 }
 
@@ -271,6 +290,6 @@ static inline void mavlink_msg_ahrs_decode(const mavlink_message_t* msg, mavlink
 	ahrs->error_rp = mavlink_msg_ahrs_get_error_rp(msg);
 	ahrs->error_yaw = mavlink_msg_ahrs_get_error_yaw(msg);
 #else
-	memcpy(ahrs, _MAV_PAYLOAD(msg), 28);
+	memcpy(ahrs, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_AHRS_LEN);
 #endif
 }

libs/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_ap_adc.h

@@ -15,6 +15,9 @@ typedef struct __mavlink_ap_adc_t
 #define MAVLINK_MSG_ID_AP_ADC_LEN 12
 #define MAVLINK_MSG_ID_153_LEN 12
 
+#define MAVLINK_MSG_ID_AP_ADC_CRC 188
+#define MAVLINK_MSG_ID_153_CRC 188
+
 
 
 #define MAVLINK_MESSAGE_INFO_AP_ADC { \
@@ -48,7 +51,7 @@ static inline uint16_t mavlink_msg_ap_adc_pack(uint8_t system_id, uint8_t compon
 						       uint16_t adc1, uint16_t adc2, uint16_t adc3, uint16_t adc4, uint16_t adc5, uint16_t adc6)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[12];
+	char buf[MAVLINK_MSG_ID_AP_ADC_LEN];
 	_mav_put_uint16_t(buf, 0, adc1);
 	_mav_put_uint16_t(buf, 2, adc2);
 	_mav_put_uint16_t(buf, 4, adc3);
@@ -56,7 +59,7 @@ static inline uint16_t mavlink_msg_ap_adc_pack(uint8_t system_id, uint8_t compon
 	_mav_put_uint16_t(buf, 8, adc5);
 	_mav_put_uint16_t(buf, 10, adc6);
 
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_AP_ADC_LEN);
 #else
 	mavlink_ap_adc_t packet;
 	packet.adc1 = adc1;
@@ -66,11 +69,15 @@ static inline uint16_t mavlink_msg_ap_adc_pack(uint8_t system_id, uint8_t compon
 	packet.adc5 = adc5;
 	packet.adc6 = adc6;
 
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_AP_ADC_LEN);
 #endif
 
 	msg->msgid = MAVLINK_MSG_ID_AP_ADC;
-	return mavlink_finalize_message(msg, system_id, component_id, 12, 188);
+#if MAVLINK_CRC_EXTRA
+    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_AP_ADC_LEN, MAVLINK_MSG_ID_AP_ADC_CRC);
+#else
+    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_AP_ADC_LEN);
+#endif
 }
 
 /**
@@ -92,7 +99,7 @@ static inline uint16_t mavlink_msg_ap_adc_pack_chan(uint8_t system_id, uint8_t c
 						           uint16_t adc1,uint16_t adc2,uint16_t adc3,uint16_t adc4,uint16_t adc5,uint16_t adc6)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[12];
+	char buf[MAVLINK_MSG_ID_AP_ADC_LEN];
 	_mav_put_uint16_t(buf, 0, adc1);
 	_mav_put_uint16_t(buf, 2, adc2);
 	_mav_put_uint16_t(buf, 4, adc3);
@@ -100,7 +107,7 @@ static inline uint16_t mavlink_msg_ap_adc_pack_chan(uint8_t system_id, uint8_t c
 	_mav_put_uint16_t(buf, 8, adc5);
 	_mav_put_uint16_t(buf, 10, adc6);
 
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_AP_ADC_LEN);
 #else
 	mavlink_ap_adc_t packet;
 	packet.adc1 = adc1;
@@ -110,11 +117,15 @@ static inline uint16_t mavlink_msg_ap_adc_pack_chan(uint8_t system_id, uint8_t c
 	packet.adc5 = adc5;
 	packet.adc6 = adc6;
 
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_AP_ADC_LEN);
 #endif
 
 	msg->msgid = MAVLINK_MSG_ID_AP_ADC;
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 12, 188);
+#if MAVLINK_CRC_EXTRA
+    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_AP_ADC_LEN, MAVLINK_MSG_ID_AP_ADC_CRC);
+#else
+    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_AP_ADC_LEN);
+#endif
 }
 
 /**
@@ -146,7 +157,7 @@ static inline uint16_t mavlink_msg_ap_adc_encode(uint8_t system_id, uint8_t comp
 static inline void mavlink_msg_ap_adc_send(mavlink_channel_t chan, uint16_t adc1, uint16_t adc2, uint16_t adc3, uint16_t adc4, uint16_t adc5, uint16_t adc6)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[12];
+	char buf[MAVLINK_MSG_ID_AP_ADC_LEN];
 	_mav_put_uint16_t(buf, 0, adc1);
 	_mav_put_uint16_t(buf, 2, adc2);
 	_mav_put_uint16_t(buf, 4, adc3);
@@ -154,7 +165,11 @@ static inline void mavlink_msg_ap_adc_send(mavlink_channel_t chan, uint16_t adc1
 	_mav_put_uint16_t(buf, 8, adc5);
 	_mav_put_uint16_t(buf, 10, adc6);
 
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AP_ADC, buf, 12, 188);
+#if MAVLINK_CRC_EXTRA
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AP_ADC, buf, MAVLINK_MSG_ID_AP_ADC_LEN, MAVLINK_MSG_ID_AP_ADC_CRC);
+#else
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AP_ADC, buf, MAVLINK_MSG_ID_AP_ADC_LEN);
+#endif
 #else
 	mavlink_ap_adc_t packet;
 	packet.adc1 = adc1;
@@ -164,7 +179,11 @@ static inline void mavlink_msg_ap_adc_send(mavlink_channel_t chan, uint16_t adc1
 	packet.adc5 = adc5;
 	packet.adc6 = adc6;
 
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AP_ADC, (const char *)&packet, 12, 188);
+#if MAVLINK_CRC_EXTRA
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AP_ADC, (const char *)&packet, MAVLINK_MSG_ID_AP_ADC_LEN, MAVLINK_MSG_ID_AP_ADC_CRC);
+#else
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AP_ADC, (const char *)&packet, MAVLINK_MSG_ID_AP_ADC_LEN);
+#endif
 #endif
 }
 
@@ -249,6 +268,6 @@ static inline void mavlink_msg_ap_adc_decode(const mavlink_message_t* msg, mavli
 	ap_adc->adc5 = mavlink_msg_ap_adc_get_adc5(msg);
 	ap_adc->adc6 = mavlink_msg_ap_adc_get_adc6(msg);
 #else
-	memcpy(ap_adc, _MAV_PAYLOAD(msg), 12);
+	memcpy(ap_adc, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_AP_ADC_LEN);
 #endif
 }

libs/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data16.h

@@ -12,6 +12,9 @@ typedef struct __mavlink_data16_t
 #define MAVLINK_MSG_ID_DATA16_LEN 18
 #define MAVLINK_MSG_ID_169_LEN 18
 
+#define MAVLINK_MSG_ID_DATA16_CRC 234
+#define MAVLINK_MSG_ID_169_CRC 234
+
 #define MAVLINK_MSG_DATA16_FIELD_DATA_LEN 16
 
 #define MAVLINK_MESSAGE_INFO_DATA16 { \
@@ -39,21 +42,25 @@ static inline uint16_t mavlink_msg_data16_pack(uint8_t system_id, uint8_t compon
 						       uint8_t type, uint8_t len, const uint8_t *data)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[18];
+	char buf[MAVLINK_MSG_ID_DATA16_LEN];
 	_mav_put_uint8_t(buf, 0, type);
 	_mav_put_uint8_t(buf, 1, len);
 	_mav_put_uint8_t_array(buf, 2, data, 16);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 18);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DATA16_LEN);
 #else
 	mavlink_data16_t packet;
 	packet.type = type;
 	packet.len = len;
 	mav_array_memcpy(packet.data, data, sizeof(uint8_t)*16);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 18);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DATA16_LEN);
 #endif
 
 	msg->msgid = MAVLINK_MSG_ID_DATA16;
-	return mavlink_finalize_message(msg, system_id, component_id, 18, 234);
+#if MAVLINK_CRC_EXTRA
+    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DATA16_LEN, MAVLINK_MSG_ID_DATA16_CRC);
+#else
+    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DATA16_LEN);
+#endif
 }
 
 /**
@@ -72,21 +79,25 @@ static inline uint16_t mavlink_msg_data16_pack_chan(uint8_t system_id, uint8_t c
 						           uint8_t type,uint8_t len,const uint8_t *data)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[18];
+	char buf[MAVLINK_MSG_ID_DATA16_LEN];
 	_mav_put_uint8_t(buf, 0, type);
 	_mav_put_uint8_t(buf, 1, len);
 	_mav_put_uint8_t_array(buf, 2, data, 16);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 18);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DATA16_LEN);
 #else
 	mavlink_data16_t packet;
 	packet.type = type;
 	packet.len = len;
 	mav_array_memcpy(packet.data, data, sizeof(uint8_t)*16);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 18);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DATA16_LEN);
 #endif
 
 	msg->msgid = MAVLINK_MSG_ID_DATA16;
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 18, 234);
+#if MAVLINK_CRC_EXTRA
+    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DATA16_LEN, MAVLINK_MSG_ID_DATA16_CRC);
+#else
+    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DATA16_LEN);
+#endif
 }
 
 /**
@@ -115,17 +126,25 @@ static inline uint16_t mavlink_msg_data16_encode(uint8_t system_id, uint8_t comp
 static inline void mavlink_msg_data16_send(mavlink_channel_t chan, uint8_t type, uint8_t len, const uint8_t *data)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[18];
+	char buf[MAVLINK_MSG_ID_DATA16_LEN];
 	_mav_put_uint8_t(buf, 0, type);
 	_mav_put_uint8_t(buf, 1, len);
 	_mav_put_uint8_t_array(buf, 2, data, 16);
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA16, buf, 18, 234);
+#if MAVLINK_CRC_EXTRA
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA16, buf, MAVLINK_MSG_ID_DATA16_LEN, MAVLINK_MSG_ID_DATA16_CRC);
+#else
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA16, buf, MAVLINK_MSG_ID_DATA16_LEN);
+#endif
 #else
 	mavlink_data16_t packet;
 	packet.type = type;
 	packet.len = len;
 	mav_array_memcpy(packet.data, data, sizeof(uint8_t)*16);
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA16, (const char *)&packet, 18, 234);
+#if MAVLINK_CRC_EXTRA
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA16, (const char *)&packet, MAVLINK_MSG_ID_DATA16_LEN, MAVLINK_MSG_ID_DATA16_CRC);
+#else
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA16, (const char *)&packet, MAVLINK_MSG_ID_DATA16_LEN);
+#endif
 #endif
 }
 
@@ -177,6 +196,6 @@ static inline void mavlink_msg_data16_decode(const mavlink_message_t* msg, mavli
 	data16->len = mavlink_msg_data16_get_len(msg);
 	mavlink_msg_data16_get_data(msg, data16->data);
 #else
-	memcpy(data16, _MAV_PAYLOAD(msg), 18);
+	memcpy(data16, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_DATA16_LEN);
 #endif
 }

libs/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data32.h

@@ -12,6 +12,9 @@ typedef struct __mavlink_data32_t
 #define MAVLINK_MSG_ID_DATA32_LEN 34
 #define MAVLINK_MSG_ID_170_LEN 34
 
+#define MAVLINK_MSG_ID_DATA32_CRC 73
+#define MAVLINK_MSG_ID_170_CRC 73
+
 #define MAVLINK_MSG_DATA32_FIELD_DATA_LEN 32
 
 #define MAVLINK_MESSAGE_INFO_DATA32 { \
@@ -39,21 +42,25 @@ static inline uint16_t mavlink_msg_data32_pack(uint8_t system_id, uint8_t compon
 						       uint8_t type, uint8_t len, const uint8_t *data)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[34];
+	char buf[MAVLINK_MSG_ID_DATA32_LEN];
 	_mav_put_uint8_t(buf, 0, type);
 	_mav_put_uint8_t(buf, 1, len);
 	_mav_put_uint8_t_array(buf, 2, data, 32);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 34);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DATA32_LEN);
 #else
 	mavlink_data32_t packet;
 	packet.type = type;
 	packet.len = len;
 	mav_array_memcpy(packet.data, data, sizeof(uint8_t)*32);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 34);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DATA32_LEN);
 #endif
 
 	msg->msgid = MAVLINK_MSG_ID_DATA32;
-	return mavlink_finalize_message(msg, system_id, component_id, 34, 73);
+#if MAVLINK_CRC_EXTRA
+    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DATA32_LEN, MAVLINK_MSG_ID_DATA32_CRC);
+#else
+    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DATA32_LEN);
+#endif
 }
 
 /**
@@ -72,21 +79,25 @@ static inline uint16_t mavlink_msg_data32_pack_chan(uint8_t system_id, uint8_t c
 						           uint8_t type,uint8_t len,const uint8_t *data)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[34];
+	char buf[MAVLINK_MSG_ID_DATA32_LEN];
 	_mav_put_uint8_t(buf, 0, type);
 	_mav_put_uint8_t(buf, 1, len);
 	_mav_put_uint8_t_array(buf, 2, data, 32);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 34);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DATA32_LEN);
 #else
 	mavlink_data32_t packet;
 	packet.type = type;
 	packet.len = len;
 	mav_array_memcpy(packet.data, data, sizeof(uint8_t)*32);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 34);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DATA32_LEN);
 #endif
 
 	msg->msgid = MAVLINK_MSG_ID_DATA32;
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 34, 73);
+#if MAVLINK_CRC_EXTRA
+    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DATA32_LEN, MAVLINK_MSG_ID_DATA32_CRC);
+#else
+    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DATA32_LEN);
+#endif
 }
 
 /**
@@ -115,17 +126,25 @@ static inline uint16_t mavlink_msg_data32_encode(uint8_t system_id, uint8_t comp
 static inline void mavlink_msg_data32_send(mavlink_channel_t chan, uint8_t type, uint8_t len, const uint8_t *data)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[34];
+	char buf[MAVLINK_MSG_ID_DATA32_LEN];
 	_mav_put_uint8_t(buf, 0, type);
 	_mav_put_uint8_t(buf, 1, len);
 	_mav_put_uint8_t_array(buf, 2, data, 32);
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA32, buf, 34, 73);
+#if MAVLINK_CRC_EXTRA
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA32, buf, MAVLINK_MSG_ID_DATA32_LEN, MAVLINK_MSG_ID_DATA32_CRC);
+#else
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA32, buf, MAVLINK_MSG_ID_DATA32_LEN);
+#endif
 #else
 	mavlink_data32_t packet;
 	packet.type = type;
 	packet.len = len;
 	mav_array_memcpy(packet.data, data, sizeof(uint8_t)*32);
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA32, (const char *)&packet, 34, 73);
+#if MAVLINK_CRC_EXTRA
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA32, (const char *)&packet, MAVLINK_MSG_ID_DATA32_LEN, MAVLINK_MSG_ID_DATA32_CRC);
+#else
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA32, (const char *)&packet, MAVLINK_MSG_ID_DATA32_LEN);
+#endif
 #endif
 }
 
@@ -177,6 +196,6 @@ static inline void mavlink_msg_data32_decode(const mavlink_message_t* msg, mavli
 	data32->len = mavlink_msg_data32_get_len(msg);
 	mavlink_msg_data32_get_data(msg, data32->data);
 #else
-	memcpy(data32, _MAV_PAYLOAD(msg), 34);
+	memcpy(data32, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_DATA32_LEN);
 #endif
 }

libs/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data64.h

@@ -12,6 +12,9 @@ typedef struct __mavlink_data64_t
 #define MAVLINK_MSG_ID_DATA64_LEN 66
 #define MAVLINK_MSG_ID_171_LEN 66
 
+#define MAVLINK_MSG_ID_DATA64_CRC 181