Merge branch 'master' of github.com:mavlink/qgroundcontrol

.gitignore

@@ -3,7 +3,7 @@
 CMakeFiles
 *Makefile*
 tags
-build
+build*/
 Info.plist
 obj
 .DS_Store

qgroundcontrol.pri

@@ -198,32 +198,25 @@ macx|macx-g++42|macx-g++: {
 }
 
 # GNU/Linux
-linux-g++ {
+linux-g++|linux-g++-64{
 
     CONFIG -= console
 
     debug {
-        #DESTDIR = $$TARGETDIR/debug
         #CONFIG += debug console
     }
 
     release {
-        #DESTDIR = $$TARGETDIR/release
         DEFINES += QT_NO_DEBUG
         #CONFIG -= console
     }
 
     #QMAKE_POST_LINK += cp -rf $$BASEDIR/audio $$DESTDIR/.
 
-message("Compiling for linux 32")
-
     INCLUDEPATH += /usr/include \
                    /usr/local/include \
                    /usr/include/qt4/phonon
 
-
-    message(Building for GNU/Linux 32bit/i386)
-
     LIBS += \
         -L/usr/lib \
         -L/usr/local/lib64 \
@@ -244,10 +237,16 @@ message("Compiling for linux 32")
             -losgGA \
             -losgDB \
             -losgText \
-            -losgQt \
             -lOpenThreads
 
     DEFINES += QGC_OSG_ENABLED
+    }
+
+    exists(/usr/include/osg/osgQt) | exists(/usr/include/osgQt) |
+    exists(/usr/local/include/osg/osgQt) | exists(/usr/local/include/osgQt) {
+    message("Building support for OpenSceneGraph Qt")
+    # Include OpenSceneGraph Qt libraries
+    LIBS += -losgQt
     DEFINES += QGC_OSG_QT_ENABLED
     }
 
@@ -272,8 +271,11 @@ message("Compiling for linux 32")
     }
 
     # Validated copy commands
+    !exists($$TARGETDIR){
+         QMAKE_POST_LINK += && mkdir -p $$TARGETDIR
+    }
+    DESTDIR = $$TARGETDIR
     QMAKE_POST_LINK += && cp -rf $$BASEDIR/files $$TARGETDIR
-
     QMAKE_POST_LINK += && cp -rf $$BASEDIR/data $$TARGETDIR
     QMAKE_POST_LINK += && mkdir -p $$TARGETDIR/images
     QMAKE_POST_LINK += && cp -rf $$BASEDIR/images/Vera.ttf $$TARGETDIR/images/Vera.ttf
@@ -283,106 +285,14 @@ message("Compiling for linux 32")
     QMAKE_CXXFLAGS += -Wl,-E
 }
 
+linux-g++ {
+    message("Building for GNU/Linux 32bit/i386")
+}
 linux-g++-64 {
-
-    CONFIG -= console
-
-    debug {
-        #DESTDIR = $$TARGETDIR/debug
-        #CONFIG += debug console
-    }
-
-    release {
-        #DESTDIR = $$TARGETDIR/release
-        DEFINES += QT_NO_DEBUG
-        #CONFIG -= console
-    }
-
-    #QMAKE_POST_LINK += cp -rf $$BASEDIR/audio $$DESTDIR/.
-
-    INCLUDEPATH += /usr/include \
-                   /usr/include/qt4/phonon
-
-
-    # 64-bit Linux
-    message(Building for GNU/Linux 64bit/x64 (g++-64))
-
-    LIBS += \
-        -L/usr/lib \
-        -L/usr/local/lib64 \
-        -lm \
-        -lflite_cmu_us_kal \
-        -lflite_usenglish \
-        -lflite_cmulex \
-        -lflite \
-        -lSDL \
-        -lSDLmain
-
-    exists(/usr/include/osg) | exists(/usr/local/include/osg) {
-    message("Building support for OpenSceneGraph")
-    DEPENDENCIES_PRESENT += osg
-    # Include OpenSceneGraph libraries
-    LIBS += -losg \
-            -losgViewer \
-            -losgGA \
-            -losgDB \
-            -losgText \
-            -losgQt \
-            -lOpenThreads
-
+    message("Building for GNU/Linux 64bit/x64 (g++-64)")
     exists(/usr/local/lib64) {
-    LIBS += -L/usr/local/lib64
-    }
-
-    DEFINES += QGC_OSG_ENABLED
-    DEFINES += QGC_OSG_QT_ENABLED
-    }
-
-    exists(/usr/local/include/google/protobuf) {
-    message("Building support for Protocol Buffers")
-    DEPENDENCIES_PRESENT += protobuf
-    # Include Protocol Buffers libraries
-    LIBS += -lprotobuf \
-            -lprotobuf-lite \
-            -lprotoc
-
-    DEFINES += QGC_PROTOBUF_ENABLED
-    }
-
-    exists(/usr/local/include/libfreenect) {
-    message("Building support for libfreenect")
-    DEPENDENCIES_PRESENT += libfreenect
-    INCLUDEPATH += /usr/include/libusb-1.0
-    # Include libfreenect libraries
-    LIBS += -lfreenect
-    DEFINES += QGC_LIBFREENECT_ENABLED
+        LIBS += -L/usr/local/lib64
     }
-
-    # Validated copy commands
-    debug {
-        !exists($$TARGETDIR/debug){
-             QMAKE_POST_LINK += && mkdir -p $$TARGETDIR/debug
-        }
-        DESTDIR = $$TARGETDIR/debug
-        QMAKE_POST_LINK += && cp -rf $$BASEDIR/files $$TARGETDIR/debug
-        QMAKE_POST_LINK += && cp -rf $$BASEDIR/data $$TARGETDIR/debug
-        QMAKE_POST_LINK += && mkdir -p $$TARGETDIR/debug/images
-        QMAKE_POST_LINK += && cp -rf $$BASEDIR/images/Vera.ttf $$TARGETDIR/debug/images/Vera.ttf
-    }
-    release {
-        !exists($$TARGETDIR/release){
-             QMAKE_POST_LINK += && mkdir -p $$TARGETDIR/release
-        }
-        DESTDIR = $$TARGETDIR/release
-        QMAKE_POST_LINK += && cp -rf $$BASEDIR/files $$TARGETDIR/release
-        QMAKE_POST_LINK += && cp -rf $$BASEDIR/data $$TARGETDIR/release
-        QMAKE_POST_LINK += && mkdir -p $$TARGETDIR/release/images
-        QMAKE_POST_LINK += && cp -rf $$BASEDIR/images/Vera.ttf $$TARGETDIR/release/images/Vera.ttf
-    }
-
-    # osg/osgEarth dynamic casts might fail without this compiler option.
-    # see http://osgearth.org/wiki/FAQ for details.
-    QMAKE_CXXFLAGS += -Wl,-E
 }
 
 # Windows (32bit)

qgroundcontrol.pro

@@ -32,14 +32,21 @@ QT += network \
 TEMPLATE = app
 TARGET = qgroundcontrol
 BASEDIR = $${IN_PWD}
-TARGETDIR = $${OUT_PWD}
-BUILDDIR = $${TARGETDIR}/build
+debug {
+    TARGETDIR = $${OUT_PWD}/debug
+    BUILDDIR = $${OUT_PWD}/build-debug
+}
+release {
+    TARGETDIR = $${OUT_PWD}/release
+    BUILDDIR = $${OUT_PWD}/build-release
+}
 LANGUAGE = C++
 OBJECTS_DIR = $${BUILDDIR}/obj
 MOC_DIR = $${BUILDDIR}/moc
 UI_DIR = $${BUILDDIR}/ui
 RCC_DIR = $${BUILDDIR}/rcc
 MAVLINK_CONF = ""
+MAVLINKPATH = $$BASEDIR/thirdParty/mavlink/include
 DEFINES += MAVLINK_NO_DATA
 
 win32 {
@@ -87,58 +94,47 @@ exists(user_config.pri) {
     message("Adding support for additional MAVLink messages for: " $$MAVLINK_CONF)
     message("------------------------------------------------------------------------")
 }
-INCLUDEPATH += $$BASEDIR/../mavlink/include/common
-INCLUDEPATH += $$BASEDIR/../mavlink/include
-INCLUDEPATH += $$BASEDIR/thirdParty/mavlink/include/common
-INCLUDEPATH += $$BASEDIR/thirdParty/mavlink/include
+INCLUDEPATH += $$MAVLINKPATH/common
+INCLUDEPATH += $$MAVLINKPATH
 contains(MAVLINK_CONF, pixhawk) { 
     # Remove the default set - it is included anyway
-    INCLUDEPATH -= $$BASEDIR/../mavlink/include/common
-    INCLUDEPATH -= $$BASEDIR/thirdParty/mavlink/include/common
+    INCLUDEPATH -= $$MAVLINKPATH/common
 
     # PIXHAWK SPECIAL MESSAGES
-    INCLUDEPATH += $$BASEDIR/../mavlink/include/pixhawk
-    INCLUDEPATH += $$BASEDIR/thirdParty/mavlink/include/pixhawk
+    INCLUDEPATH += $$MAVLINKPATH/pixhawk
     DEFINES += QGC_USE_PIXHAWK_MESSAGES
 }
 contains(MAVLINK_CONF, slugs) { 
     # Remove the default set - it is included anyway
-    INCLUDEPATH -= $$BASEDIR/../mavlink/include/common
-    INCLUDEPATH -= $$BASEDIR/thirdParty/mavlink/include/common
+    INCLUDEPATH -= $$MAVLINKPATH/common
     
     # SLUGS SPECIAL MESSAGES
-    INCLUDEPATH += $$BASEDIR/../mavlink/include/slugs
-    INCLUDEPATH += $$BASEDIR/thirdParty/mavlink/include/slugs
+    INCLUDEPATH += $$MAVLINKPATH/slugs
     DEFINES += QGC_USE_SLUGS_MESSAGES
 }
 contains(MAVLINK_CONF, ualberta) { 
     # Remove the default set - it is included anyway
-    INCLUDEPATH -= $$BASEDIR/../mavlink/include/common
-    INCLUDEPATH -= $$BASEDIR/thirdParty/mavlink/include/common
+    INCLUDEPATH -= $$MAVLINKPATH/common
     
     # UALBERTA SPECIAL MESSAGES
-    INCLUDEPATH += $$BASEDIR/../mavlink/include/ualberta
-    INCLUDEPATH += $$BASEDIR/thirdParty/mavlink/include/ualberta
+    INCLUDEPATH += $$MAVLINKPATH/ualberta
     DEFINES += QGC_USE_UALBERTA_MESSAGES
 }
 contains(MAVLINK_CONF, ardupilotmega) { 
     # Remove the default set - it is included anyway
-    INCLUDEPATH -= $$BASEDIR/../mavlink/include/common
+    INCLUDEPATH -= $$MAVLINKPATH/common
     INCLUDEPATH -= $$BASEDIR/thirdParty/mavlink/include/common
     
     # UALBERTA SPECIAL MESSAGES
-    INCLUDEPATH += $$BASEDIR/../mavlink/include/ardupilotmega
-    INCLUDEPATH += $$BASEDIR/thirdParty/mavlink/include/ardupilotmega
+    INCLUDEPATH += $$MAVLINKPATH/ardupilotmega
     DEFINES += QGC_USE_ARDUPILOTMEGA_MESSAGES
 }
 contains(MAVLINK_CONF, senseSoar) { 
     # Remove the default set - it is included anyway
-    INCLUDEPATH -= $$BASEDIR/../mavlink/include/common
-    INCLUDEPATH -= $$BASEDIR/thirdParty/mavlink/include/common
+    INCLUDEPATH -= $$MAVLINKPATH/common
     
     # SENSESOAR SPECIAL MESSAGES
-    INCLUDEPATH += $$BASEDIR/../mavlink/include/SenseSoar
-    INCLUDEPATH += $$BASEDIR/thirdParty/mavlink/include/SenseSoar
+    INCLUDEPATH += $$MAVLINKPATH/SenseSoar
     DEFINES += QGC_USE_SENSESOAR_MESSAGES
 }
 
@@ -149,6 +145,7 @@ contains(MAVLINK_CONF, senseSoar) {
 include(qgroundcontrol.pri)
 
 # Include MAVLink generator
+# has been deprecated
 DEPENDPATH += \
     src/apps/mavlinkgen
 
@@ -177,7 +174,7 @@ INCLUDEPATH += . \
     src/libs/qextserialport
 
 # Include serial port library (QSerial)
-include(thirdParty/qserialport/qgroundcontrol-qserialport.pri)
+include(qserialport.pri)
 
 # Serial port detection (ripped-off from qextserialport library)
 macx|macx-g++|macx-g++42::SOURCES += src/libs/qextserialport/qextserialenumerator_osx.cpp

qserialport.pri

+######################################################################
+# Automatically generated by qmake (2.01a) Sa. Apr 2 10:42:30 2011
+######################################################################
+
+QSERIALPORT_ROOT=thirdParty/qserialport 
+
+DEFINES += QSERIALPORT_STATIC
+
+DEPENDPATH += . \
+              $$QSERIALPORT_ROOT/include/QtSerialPort \
+              $$QSERIALPORT_ROOT/src/common \
+              $$QSERIALPORT_ROOT/src/posix \
+              $$QSERIALPORT_ROOT/src/win32
+INCLUDEPATH += $$QSERIALPORT_ROOT/include \
+               $$QSERIALPORT_ROOT/include/QtSerialPort \
+               $$QSERIALPORT_ROOT/src/posix \
+               $$QSERIALPORT_ROOT/src/win32
+
+# Input
+HEADERS += $$QSERIALPORT_ROOT/include/QtSerialPort/qportsettings.h \
+           $$QSERIALPORT_ROOT/include/QtSerialPort/qserialport.h \
+           $$QSERIALPORT_ROOT/include/QtSerialPort/qserialport_export.h \
+           $$QSERIALPORT_ROOT/include/QtSerialPort/qserialportnative.h
+
+macx|linux-g++|linux-g++-64 {
+HEADERS += $$QSERIALPORT_ROOT/src/posix/termioshelper.h
+}
+
+win32-msvc2008|win32-msvc2010|win32-g++ {
+HEADERS += $$QSERIALPORT_ROOT/src/win32/commdcbhelper.h \
+           $$QSERIALPORT_ROOT/src/win32/qwincommevtnotifier.h \
+           $$QSERIALPORT_ROOT/src/win32/wincommevtbreaker.h \
+           $$QSERIALPORT_ROOT/src/win32/commdcbhelper.h \
+           $$QSERIALPORT_ROOT/src/win32/qwincommevtnotifier.h \
+           $$QSERIALPORT_ROOT/src/win32/wincommevtbreaker.h
+}
+
+SOURCES += $$QSERIALPORT_ROOT/src/common/qportsettings.cpp \
+           $$QSERIALPORT_ROOT/src/common/qserialport.cpp
+
+macx|linux-g++|linux-g++-64 {
+SOURCES += $$QSERIALPORT_ROOT/src/posix/qserialportnative_posix.cpp \
+           $$QSERIALPORT_ROOT/src/posix/termioshelper.cpp
+}
+
+win32-msvc2008|win32-msvc2010|win32-g++ {
+SOURCES += $$QSERIALPORT_ROOT/src/win32/commdcbhelper.cpp \
+           $$QSERIALPORT_ROOT/src/win32/qserialportnative_win32.cpp \
+           $$QSERIALPORT_ROOT/src/win32/qwincommevtnotifier.cpp \
+           $$QSERIALPORT_ROOT/src/win32/wincommevtbreaker.cpp
+}

src/uas/UAS.cc

@@ -2329,7 +2329,9 @@ void UAS::shutdown()
 void UAS::setTargetPosition(float x, float y, float z, float yaw)
 {
     mavlink_message_t msg;
-    mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_ALL, MAV_CMD_NAV_PATHPLANNING, 1, 2, 3, 0, yaw, x, y, z);
+    mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_ALL, MAV_CMD_NAV_PATHPLANNING, 1, 1, 0, 0, yaw, x, y, z);
+    sendMessage(msg);
+    mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_ALL, MAV_CMD_NAV_PATHPLANNING, 1, 0, 1, 0, yaw, x, y, z);
     sendMessage(msg);
 }
 

src/ui/designer/QGCCommandButton.cc

@@ -35,8 +35,6 @@ QGCCommandButton::QGCCommandButton(QWidget *parent) :
     ui->editLine2->setStyleSheet("QWidget { border: 1px solid #66666B; border-radius: 3px; padding: 10px 0px 0px 0px; background: #111122; }");
 
     // Add commands to combo box
-    ui->editCommandComboBox->addItem("DO: Control Video", MAV_CMD_DO_CONTROL_VIDEO);
-    ui->editCommandComboBox->addItem("PREFLIGHT: Calibration", MAV_CMD_PREFLIGHT_CALIBRATION);
     ui->editCommandComboBox->addItem("CUSTOM 0", 0);
     ui->editCommandComboBox->addItem("CUSTOM 1", 1);
     ui->editCommandComboBox->addItem("CUSTOM 2", 2);
@@ -53,21 +51,35 @@ QGCCommandButton::QGCCommandButton(QWidget *parent) :
     ui->editCommandComboBox->addItem("CUSTOM 13", 13);
     ui->editCommandComboBox->addItem("CUSTOM 14", 14);
     ui->editCommandComboBox->addItem("CUSTOM 15", 15);
-    ui->editCommandComboBox->addItem("NAV_WAYPOINT", 16);
-    ui->editCommandComboBox->addItem("MAV_CMD_NAV_LOITER_UNLIM", 17);
-    ui->editCommandComboBox->addItem("MAV_CMD_NAV_LOITER_TURNS", 18);
-    ui->editCommandComboBox->addItem("MAV_CMD_NAV_LOITER_TIME", 19);
-    ui->editCommandComboBox->addItem("MAV_CMD_NAV_RETURN_TO_LAUNCH", 20);
-    ui->editCommandComboBox->addItem("MAV_CMD_NAV_LAND", 21);
-    ui->editCommandComboBox->addItem("MAV_CMD_NAV_TAKEOFF", 22);
-    ui->editCommandComboBox->addItem("MAV_CMD_NAV_ROI", 80);
-    ui->editCommandComboBox->addItem("MAV_CMD_NAV_PATHPLANNING", 81);
-    ui->editCommandComboBox->addItem("MAV_CMD_DO_SET_MODE", 176);
-    ui->editCommandComboBox->addItem("MAV_CMD_DO_CHANGE_SPEED", 178);
-    ui->editCommandComboBox->addItem("MAV_CMD_DO_SET_HOME", 179);
-    ui->editCommandComboBox->addItem("MAV_CMD_DO_SET_RELAY", 181);
-    ui->editCommandComboBox->addItem("MAV_CMD_DO_REPEAT_RELAY", 182);
-    ui->editCommandComboBox->addItem("MAV_CMD_DO_SET_SERVO", 183);
+    ui->editCommandComboBox->addItem("NAV_WAYPOINT", MAV_CMD_NAV_WAYPOINT);
+    ui->editCommandComboBox->addItem("MAV_CMD_NAV_LOITER_UNLIM", MAV_CMD_NAV_LOITER_UNLIM);
+    ui->editCommandComboBox->addItem("MAV_CMD_NAV_LOITER_TURNS", MAV_CMD_NAV_LOITER_TURNS);
+    ui->editCommandComboBox->addItem("MAV_CMD_NAV_LOITER_TIME", MAV_CMD_NAV_LOITER_TIME);
+    ui->editCommandComboBox->addItem("MAV_CMD_NAV_RETURN_TO_LAUNCH", MAV_CMD_NAV_RETURN_TO_LAUNCH);
+    ui->editCommandComboBox->addItem("MAV_CMD_NAV_LAND", MAV_CMD_NAV_LAND);
+    ui->editCommandComboBox->addItem("MAV_CMD_NAV_TAKEOFF", MAV_CMD_NAV_TAKEOFF);
+    ui->editCommandComboBox->addItem("MAV_CMD_NAV_ROI", MAV_CMD_NAV_ROI);
+    ui->editCommandComboBox->addItem("MAV_CMD_NAV_PATHPLANNING", MAV_CMD_NAV_PATHPLANNING);
+    ui->editCommandComboBox->addItem("MAV_CMD_CONDITION_CHANGE_ALT", MAV_CMD_CONDITION_CHANGE_ALT);
+    ui->editCommandComboBox->addItem("MAV_CMD_CONDITION_DISTANCE", MAV_CMD_CONDITION_DISTANCE);
+    ui->editCommandComboBox->addItem("MAV_CMD_CONDITION_YAW", MAV_CMD_CONDITION_YAW);
+    ui->editCommandComboBox->addItem("MAV_CMD_CONDITION_LAST", MAV_CMD_CONDITION_LAST);
+    ui->editCommandComboBox->addItem("MAV_CMD_DO_SET_MODE", MAV_CMD_DO_SET_MODE);
+    ui->editCommandComboBox->addItem("MAV_CMD_DO_JUMP", MAV_CMD_DO_JUMP);
+    ui->editCommandComboBox->addItem("MAV_CMD_DO_CHANGE_SPEED", MAV_CMD_DO_CHANGE_SPEED);
+    ui->editCommandComboBox->addItem("MAV_CMD_DO_SET_HOME", MAV_CMD_DO_SET_HOME);
+    ui->editCommandComboBox->addItem("MAV_CMD_DO_SET_PARAMETER", MAV_CMD_DO_SET_PARAMETER);
+    ui->editCommandComboBox->addItem("MAV_CMD_DO_SET_RELAY", MAV_CMD_DO_SET_RELAY);
+    ui->editCommandComboBox->addItem("MAV_CMD_DO_REPEAT_RELAY", MAV_CMD_DO_REPEAT_RELAY);
+    ui->editCommandComboBox->addItem("MAV_CMD_DO_SET_SERVO", MAV_CMD_DO_SET_SERVO);
+    ui->editCommandComboBox->addItem("MAV_CMD_DO_REPEAT_SERVO", MAV_CMD_DO_REPEAT_SERVO);
+    ui->editCommandComboBox->addItem("MAV_CMD_DO_CONTROL_VIDEO", MAV_CMD_DO_CONTROL_VIDEO);
+    ui->editCommandComboBox->addItem("MAV_CMD_PREFLIGHT_CALIBRATION", MAV_CMD_PREFLIGHT_CALIBRATION);
+    ui->editCommandComboBox->addItem("MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS", MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS);
+    ui->editCommandComboBox->addItem("MAV_CMD_PREFLIGHT_STORAGE", MAV_CMD_PREFLIGHT_STORAGE);
+    ui->editCommandComboBox->addItem("MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN", MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN);
+    ui->editCommandComboBox->addItem("MAV_CMD_OVERRIDE_GOTO", MAV_CMD_OVERRIDE_GOTO);
+    ui->editCommandComboBox->addItem("MAV_CMD_MISSION_START", MAV_CMD_MISSION_START);
     ui->editCommandComboBox->setEditable(true);
 }
 
@@ -78,22 +90,37 @@ QGCCommandButton::~QGCCommandButton()
 
 void QGCCommandButton::sendCommand()
 {
-    if (QGCToolWidgetItem::uas) {
-        int index = ui->editCommandComboBox->itemData(ui->editCommandComboBox->currentIndex()).toInt();
-        MAV_CMD command = static_cast<MAV_CMD>(index);
-        int confirm = (ui->editConfirmationCheckBox->isChecked()) ? 1 : 0;
-        float param1 = ui->editParam1SpinBox->value();
-        float param2 = ui->editParam2SpinBox->value();
-        float param3 = ui->editParam3SpinBox->value();
-        float param4 = ui->editParam4SpinBox->value();
-        float param5 = ui->editParam5SpinBox->value();
-        float param6 = ui->editParam6SpinBox->value();
-        float param7 = ui->editParam7SpinBox->value();
-        int component = ui->editComponentSpinBox->value();
-
-        QGCToolWidgetItem::uas->executeCommand(command, confirm, param1, param2, param3, param4, param5, param6, param7, component);
-        qDebug() << __FILE__ << __LINE__ << "SENDING COMMAND" << index;
-    } else {
+    if (QGCToolWidgetItem::uas)
+    {
+        // Check if command text is a number
+        bool ok;
+        int index = 0;
+        index = ui->editCommandComboBox->currentText().toInt(&ok);
+        if (!ok)
+        {
+            // Command was not a number, assume it was one of the text items
+            index = ui->editCommandComboBox->itemData(ui->editCommandComboBox->currentIndex()).toInt(&ok);
+            if (ok)
+            {
+                // Text item found, proceed
+                MAV_CMD command = static_cast<MAV_CMD>(index);
+                int confirm = (ui->editConfirmationCheckBox->isChecked()) ? 1 : 0;
+                float param1 = ui->editParam1SpinBox->value();
+                float param2 = ui->editParam2SpinBox->value();
+                float param3 = ui->editParam3SpinBox->value();
+                float param4 = ui->editParam4SpinBox->value();
+                float param5 = ui->editParam5SpinBox->value();
+                float param6 = ui->editParam6SpinBox->value();
+                float param7 = ui->editParam7SpinBox->value();
+                int component = ui->editComponentSpinBox->value();
+
+                QGCToolWidgetItem::uas->executeCommand(command, confirm, param1, param2, param3, param4, param5, param6, param7, component);
+                qDebug() << __FILE__ << __LINE__ << "SENDING COMMAND" << index;
+            }
+        }
+    }
+    else
+    {
         qDebug() << __FILE__ << __LINE__ << "NO UAS SET, DOING NOTHING";
     }
 }

src/ui/designer/QGCCommandButton.ui

@@ -6,7 +6,7 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>882</width>
+    <width>1183</width>
     <height>430</height>
    </rect>
   </property>
@@ -27,7 +27,11 @@
     <number>3</number>
    </property>
    <item row="7" column="0" colspan="3">
-    <widget class="QComboBox" name="editCommandComboBox"/>
+    <widget class="QComboBox" name="editCommandComboBox">
+     <property name="editable">
+      <bool>true</bool>
+     </property>
+    </widget>
    </item>
    <item row="7" column="3">
     <widget class="QPushButton" name="editFinishButton">

src/ui/map3D/GlobalViewParams.cc

@@ -3,7 +3,8 @@
 #include <QStringList>
 
 GlobalViewParams::GlobalViewParams()
- : mDisplayWorldGrid(true)
+ : mDisplayTerrain(true)
+ , mDisplayWorldGrid(true)
  , mImageryType(Imagery::BLANK_MAP)
  , mFollowCameraId(-1)
  , mFrame(MAV_FRAME_LOCAL_NED)
@@ -11,6 +12,18 @@ GlobalViewParams::GlobalViewParams()
 
 }
 
+bool&
+GlobalViewParams::displayTerrain(void)
+{
+    return mDisplayTerrain;
+}
+
+bool
+GlobalViewParams::displayTerrain(void) const
+{
+    return mDisplayTerrain;
+}
+
 bool&
 GlobalViewParams::displayWorldGrid(void)
 {
@@ -113,3 +126,16 @@ GlobalViewParams::toggleWorldGrid(int state)
         mDisplayWorldGrid = false;
     }
 }
+
+void
+GlobalViewParams::toggleTerrain(int state)
+{
+    if (state == Qt::Checked)
+    {
+        mDisplayTerrain = true;
+    }
+    else
+    {
+        mDisplayTerrain = false;
+    }
+}

src/ui/map3D/GlobalViewParams.h

@@ -15,6 +15,9 @@ class GlobalViewParams : public QObject
 public:
     GlobalViewParams();
 
+    bool& displayTerrain(void);
+    bool displayTerrain(void) const;
+
     bool& displayWorldGrid(void);
     bool displayWorldGrid(void) const;
 
@@ -31,12 +34,14 @@ public slots:
     void followCameraChanged(const QString& text);
     void frameChanged(const QString &text);
     void imageryTypeChanged(int index);
+    void toggleTerrain(int state);
     void toggleWorldGrid(int state);
 
 signals:
     void followCameraChanged(int systemId);
 
 private:
+    bool mDisplayTerrain;
     bool mDisplayWorldGrid;
     Imagery::Type mImageryType;
     int mFollowCameraId;

src/ui/map3D/Pixhawk3DWidget.cc

@@ -163,10 +163,21 @@ Pixhawk3DWidget::localPositionChanged(UASInterface* uas, int component,
         systemData.trailIndexMap().insert(component,
                                           systemData.trailMap().size() - 1);
 
-        osg::Vec4 color((float)qrand() / RAND_MAX,
-                        (float)qrand() / RAND_MAX,
-                        (float)qrand() / RAND_MAX,
-                        0.5);
+        // generate nice bright random color
+        float golden_ratio_conjugate = 0.618033988749895f;
+
+        float h = (float)qrand() / RAND_MAX + golden_ratio_conjugate;
+        if (h > 1.0f)
+        {
+            h -= 1.0f;
+        }
+
+        QColor colorHSV;
+        colorHSV.setHsvF(h, 0.99, 0.99, 0.5);
+
+        QColor colorRGB = colorHSV.toRgb();
+
+        osg::Vec4f color(colorRGB.redF(), colorRGB.greenF(), colorRGB.blueF(), colorRGB.alphaF());
 
         systemData.trailNode()->addDrawable(createTrail(color));
         systemData.trailNode()->addDrawable(createLink(uas->getColor()));
@@ -374,6 +385,24 @@ Pixhawk3DWidget::setpointChanged(int uasId, float x, float y, float z,
     }
 }
 
+void
+Pixhawk3DWidget::clearData(void)
+{
+    QMutableMapIterator<int, SystemContainer> it(mSystemContainerMap);
+    while (it.hasNext())
+    {
+        it.next();
+
+        SystemContainer& systemData = it.value();
+
+        // clear setpoint data
+        systemData.setpointGroupNode()->removeChildren(0, systemData.setpointGroupNode()->getNumChildren());
+
+        // clear trail data
+        systemData.trailMap().clear();
+    }
+}
+
 void
 Pixhawk3DWidget::showViewParamWindow(void)
 {
@@ -459,6 +488,39 @@ Pixhawk3DWidget::setBirdEyeView(void)
     m3DWidget->setCameraDistance(100.0);
 }
 
+void
+Pixhawk3DWidget::loadTerrainModel(void)
+{
+    QString filename = QFileDialog::getOpenFileName(this, "Load Terrain Model",
+                                                    QDesktopServices::storageLocation(QDesktopServices::DesktopLocation),
+                                                    tr("Collada (*.dae)"));
+
+    if (filename.isNull())
+    {
+        return;
+    }
+
+    osg::ref_ptr<osg::Node> node =
+        osgDB::readNodeFile(filename.toStdString().c_str());
+
+    if (node)
+    {
+        if (mTerrainNode.get())
+        {
+            m3DWidget->worldMap()->removeChild(mTerrainNode);
+        }
+        mTerrainNode = node;
+        m3DWidget->worldMap()->addChild(mTerrainNode);
+    }
+    else
+    {
+        QMessageBox msgBox(QMessageBox::Warning,
+                           "Error loading model",
+                           QString("Error: Unable to load terrain model (%1).").arg(filename));
+        msgBox.exec();
+    }
+}
+
 void
 Pixhawk3DWidget::selectTargetHeading(void)
 {
@@ -773,6 +835,8 @@ Pixhawk3DWidget::update(void)
     MAV_FRAME frame = mGlobalViewParams->frame();
 
     // set node visibility
+    m3DWidget->worldMap()->setChildValue(mTerrainNode,
+                                         mGlobalViewParams->displayTerrain());
     m3DWidget->worldMap()->setChildValue(mWorldGridNode,
                                          mGlobalViewParams->displayWorldGrid());
     if (mGlobalViewParams->imageryType() == Imagery::BLANK_MAP)
@@ -991,12 +1055,16 @@ Pixhawk3DWidget::addModels(QVector< osg::ref_ptr<osg::Node> >& models,
 void
 Pixhawk3DWidget::buildLayout(void)
 {
+    QPushButton* clearDataButton = new QPushButton(this);
+    clearDataButton->setText("Clear Data");
+
     QPushButton* viewParamWindowButton = new QPushButton(this);
     viewParamWindowButton->setCheckable(true);
     viewParamWindowButton->setText("View Parameters");
 
     QHBoxLayout* layoutTop = new QHBoxLayout;
     layoutTop->addItem(new QSpacerItem(10, 0, QSizePolicy::Expanding, QSizePolicy::Expanding));
+    layoutTop->addWidget(clearDataButton);
     layoutTop->addWidget(viewParamWindowButton);
 
     QPushButton* recenterButton = new QPushButton(this);
@@ -1005,10 +1073,14 @@ Pixhawk3DWidget::buildLayout(void)
     QPushButton* birdEyeViewButton = new QPushButton(this);
     birdEyeViewButton->setText("Bird's Eye View");
 
+    QPushButton* loadTerrainModelButton = new QPushButton(this);
+    loadTerrainModelButton->setText("Load Terrain Model");
+
     QHBoxLayout* layoutBottom = new QHBoxLayout;
     layoutBottom->addWidget(recenterButton);
     layoutBottom->addWidget(birdEyeViewButton);
     layoutBottom->addItem(new QSpacerItem(10, 0, QSizePolicy::Expanding, QSizePolicy::Expanding));
+    layoutBottom->addWidget(loadTerrainModelButton);
 
     QGridLayout* layout = new QGridLayout(this);
     layout->setMargin(0);
@@ -1020,12 +1092,16 @@ Pixhawk3DWidget::buildLayout(void)
     layout->setRowStretch(1, 100);
     layout->setRowStretch(2, 1);
 
+    connect(clearDataButton, SIGNAL(clicked()),
+            this, SLOT(clearData()));
     connect(viewParamWindowButton, SIGNAL(clicked()),
             this, SLOT(showViewParamWindow()));
     connect(recenterButton, SIGNAL(clicked()),
             this, SLOT(recenterActiveCamera()));
     connect(birdEyeViewButton, SIGNAL(clicked()),
             this, SLOT(setBirdEyeView()));
+    connect(loadTerrainModelButton, SIGNAL(clicked()),
+            this, SLOT(loadTerrainModel()));
 }
 
 void

src/ui/map3D/Pixhawk3DWidget.h

@@ -66,11 +66,13 @@ signals:
     void systemCreatedSignal(UASInterface* uas);
 
 private slots:
+    void clearData(void);
     void showViewParamWindow(void);
     void followCameraChanged(int systemId);
     void recenterActiveCamera(void);
     void modelChanged(int systemId, int index);
     void setBirdEyeView(void);
+    void loadTerrainModel(void);
 
     void selectTargetHeading(void);
     void selectTarget(void);
@@ -195,6 +197,7 @@ private:
     osg::ref_ptr<Imagery> mImageryNode;
     osg::ref_ptr<HUDScaleGeode> mScaleGeode;
     osg::ref_ptr<osgText::Text> mStatusText;
+    osg::ref_ptr<osg::Node> mTerrainNode;
     osg::ref_ptr<osg::Geode> mWorldGridNode;
 
     QPoint mCachedMousePos;

src/ui/map3D/ViewParamWidget.cc

@@ -84,6 +84,9 @@ ViewParamWidget::buildLayout(QVBoxLayout* layout)
     imageryComboBox->addItem("Map (Google)");
     imageryComboBox->addItem("Satellite (Google)");
 
+    QCheckBox* terrainModelCheckBox = new QCheckBox(this);
+    terrainModelCheckBox->setChecked(mGlobalViewParams->displayTerrain());
+
     QCheckBox* worldGridCheckBox = new QCheckBox(this);
     worldGridCheckBox->setChecked(mGlobalViewParams->displayWorldGrid());
 
@@ -101,6 +104,7 @@ ViewParamWidget::buildLayout(QVBoxLayout* layout)
     formLayout->addRow(tr("Follow Camera"), mFollowCameraComboBox);
     formLayout->addRow(tr("Frame"), frameComboBox);
     formLayout->addRow(tr("Imagery"), imageryComboBox);
+    formLayout->addRow(tr("Terrain"), terrainModelCheckBox);
     formLayout->addRow(tr("World Grid"), worldGridCheckBox);
 
     layout->addLayout(formLayout);
@@ -113,6 +117,8 @@ ViewParamWidget::buildLayout(QVBoxLayout* layout)
             mGlobalViewParams.data(), SLOT(frameChanged(const QString&)));
     connect(imageryComboBox, SIGNAL(currentIndexChanged(int)),
             mGlobalViewParams.data(), SLOT(imageryTypeChanged(int)));
+    connect(terrainModelCheckBox, SIGNAL(stateChanged(int)),
+            mGlobalViewParams.data(), SLOT(toggleTerrain(int)));
     connect(worldGridCheckBox, SIGNAL(stateChanged(int)),
             mGlobalViewParams.data(), SLOT(toggleWorldGrid(int)));
 }

thirdParty/fetchUpstream.sh

 #!/bin/bash
+QSERIAL_TAG=004e3de552fe25fee593dfcb03e2ffa82cb0b152
+MAVLINK_VERSION=1.0.0
 
-PS3='Please enter your choice: '
-LIST="all mavlink qserialport end"
-echo 
-echo this script grabs upstream releases
-echo
+libList="mavlink qserialport"
+
+topDir=$PWD
 
-function fetch_qserialport
-{
-	echo
-	rm -rf qserialport
-	git clone git://gitorious.org/inbiza-labs/qserialport.git
-	rm -rf qserialport/.git
-}
 
-function fetch_mavlink
+function fetch_git
 {
-	echo
-	rm -rf mavlink
-	git clone git@github.com:openmav/mavlink.git
-	rm -rf mavlink/.git
+    name=$1
+    url=$2
+    tag=$4
+
+    echo
+    echo updating: $name @ $url to tag $tag
+    cd $topDir
+	rm -rf $name
+	git clone $url
+    cd $name && git checkout $tag && rm -rf .git
+    cd $topDir
 }
 
-echo
-select OPT in $LIST
-do
-	case $OPT in
+function processLib
+{
+    lib=$1
+    case $lib in
 		"qserialport")
-			fetch_qserialport
-			exit 0
+            fetch_git qserialport git://gitorious.org/inbiza-labs/qserialport.git master $QSERIAL_TAG
 			;;
 		"mavlink") 
-			fetch_mavlink
-			exit 0
+            rm -rf mavlink
+            mavlinkName=mavlink-$MAVLINK_VERSION-Linux
+            wget https://github.com/downloads/mavlink/mavlink/$mavlinkName.tar.gz
+            tar -xzvf $mavlinkName.tar.gz
+            mv  $mavlinkName/usr/local/include/mavlink mavlink
+            rm -rf $mavlinkName
+            rm -rf $mavlinkName.tar.gz
 			;;
 		"all")
-			fetch_mavlink
-			fetch_qserialport
+            for lib in $libList
+            do
+                $0 $lib
+            done
 			exit 0
 			;;
 		"exit")
 			exit 0
 			;;
 		*)
-			echo unknown option
+			echo unknown lib, possiblities are: $libList
 			exit 1
 	esac
-done
+}
+
 
+if [ $# == 0 ]
+then
 
+    #menu 
+    echo This script grabs upstream releases.
+    PS3='Please enter your choice: '
+    select OPT in $libList all exit
+    do
+        processLib $OPT
+    done
+    
+elif [ $# == 1 ]
+then
+    lib=$1
+    processLib $lib
+else
+    echo usage: $0 lib
+fi

thirdParty/mavlink/.gitignore

-*~
-doc/html
-doc/*.log
-missionlib/testing/*.xcodeproj/*

thirdParty/mavlink/doc/README

-MAVLink Micro Air Vehicle Message Marshalling Library
-
-The mavlink_to_html_table.xsl file is used to transform the MAVLink XML into a human-readable HTML table for online documentation.
-
-For more information, please visit:
-
-http://pixhawk.ethz.ch/software/mavlink
-
-(c) 2009-2010 Lorenz Meier / PIXHAWK Team

thirdParty/mavlink/doc/mavlink.css

-table.sortable {
-    spacing: 5px;
-    border: 1px solid #656575;
-    width: 100%;
-}
-
-table.sortable th {
-    margin: 5px;
-}
-
-tr:nth-child(odd)   { background-color:#eee; }
-tr:nth-child(even)  { background-color:#fff; }
-
-table.sortable thead {
-    background-color:#eee;
-    color:#666666;
-    font-weight: bold;
-    cursor: default;
-}
-
-table.sortable td {
-    margin: 5px 5px 20px 5px;
-    vertical-align: top;
-}
-
-table.sortable td.mavlink_name {
-    color:#226633;
-    font-weight: bold;
-    width: 25%;
-    vertical-align: top;
-}
-
-table.sortable td.mavlink_mission_param {
-    color:#334455;
-    font-weight: bold;
-    width: 25%;
-}
-
-table.sortable td.mavlink_type {
-    color:#323232;
-    font-weight: normal;
-    width: 12%;
-}
-
-table.sortable td.mavlink_comment {
-    color:#555555;
-    font-weight: normal;
-    width: 60%;
-}
-
-p.description {
-    color:#808080;
-    font-weight: normal;
-}
\ No newline at end of file

thirdParty/mavlink/doc/mavlink.php

-<?php>
-
-// Requires the installation of php5-xsl
-// e.g. on Debian/Ubuntu: sudo apt-get install php5-xsl
-
-// Load the file from the repository / server.
-// Update this URL if the file location changes
-
-$xml_file_name = "http://github.com/pixhawk/mavlink/raw/master/mavlink_standard_message.xml";
-
-// Load the XSL transformation file from the repository / server.
-// This file can be updated by any client to adjust the table
-
-$xsl_file_name= "http://github.com/pixhawk/mavlink/raw/master/doc/mavlink_to_html_table.xsl";
-
-
-
-// Load data XML file
-$xml = file_get_contents($xml_file_name);
-$xml_doc = new DomDocument;
-$xml_doc->loadXML($xml);
-
-// Load stylesheet XSL file
-$xsl = file_get_contents($xsl_file_name);
-$xsl_doc = new DomDocument;
-$xsl_doc->loadXML($xsl);
-
-$xsltproc = new XsltProcessor();
-$xsltproc->importStylesheet($xsl_doc);
-
-// process the files and write the output to $out_file
-if ($html = $xsltproc->transformToXML($xml_doc))
-{
-  echo $html;
-}
-else
-{
-  trigger_error('XSL transformation failed.',E_USER_ERROR);
-}
-
-</php>
-
-
-<h2> Messages XML Definition </h2>
-
-Messages are defined by the <a href="http://github.com/pixhawk/mavlink/blob/master/mavlink_standard_message.xml">mavlink_standard_message.xml</a> file. The C packing/unpacking code is generated from this specification, as well as the HTML documentaiton in the section above.<br />
-<br />
-<i>The XML displayed here is updated on every commit and therefore up-to-date.</i>
-
-<?php>
-//require_once("inc/geshi.php");
-//$xml_file_name = "http://github.com/pixhawk/mavlink/raw/master/mavlink_standard_message.xml";
-//
-//// Load data XML file
-//$xml = file_get_contents($xml_file_name);
-//
-//// Show the current code
-//$geshi_xml = new GeSHi($xml, 'xml');
-//$display_xml = $geshi_xml->parse_code();
-//
-//echo $display_xml;
-
-</php>
\ No newline at end of file

thirdParty/mavlink/doc/mavlink_to_html_table.xsl

-<?xml version="1.0"?>
-
-<xsl:stylesheet version="1.0" xmlns:xsl="http://www.w3.org/1999/XSL/Transform">
-
-<xsl:template match="//include">
-   <h1>MAVLink Include Files</h1>
-   <p><strong><em>Including files: </em><xsl:value-of select="." /></strong></p>
-</xsl:template>
-
-<xsl:template match="//enums">
-   <h1>MAVLink Type Enumerations</h1>
-   <xsl:apply-templates />
-</xsl:template>
-
-<xsl:template match="//messages">
-   <h1>MAVLink Messages</h1>
-   <xsl:apply-templates />
-</xsl:template>
-
-<xsl:template match="//message">
-   <h3 class="mavlink_message_name"><xsl:value-of select="@name" /> (#<xsl:value-of select="@id" />)</h3>
-   <p class="description"><xsl:value-of select="description" /></p>
-
-   <table class="sortable">
-   <thead>
-   <tr>
-     <th class="mavlink_field_header">Field Name</th>
-     <th class="mavlink_field_header">Type</th>
-     <th class="mavlink_field_header">Description</th>
-   </tr>
-   </thead>
-   <tbody>
-   <xsl:apply-templates select="field" />
-  </tbody>
-  </table>
-</xsl:template>
-
-<xsl:template match="//field">
-   <tr class="mavlink_field">
-   <td class="mavlink_name" valign="top"><xsl:value-of select="@name" /></td>
-   <td class="mavlink_type" valign="top"><xsl:value-of select="@type" /></td>
-   <td class="mavlink_comment"><xsl:value-of select="." /></td>
-   </tr>
-</xsl:template>
-
-<xsl:template match="//version">
-   <h1>MAVLink Protocol Version</h1>
-   <p>This file has protocol version: <xsl:value-of select="." />. The version numbers range from 1-255.</p>
-</xsl:template>
-
-<xsl:template match="//enum">
-   <h3 class="mavlink_message_name"><xsl:value-of select="@name" /></h3>
-   <p class="description"><xsl:value-of select="description" /></p>
-
-   <table class="sortable">
-   <thead>
-   <tr>
-     <th class="mavlink_field_header">CMD ID</th>
-     <th class="mavlink_field_header">Field Name</th>
-     <th class="mavlink_field_header">Description</th>
-   </tr>
-   </thead>
-   <tbody>
-   <xsl:apply-templates select="entry" />
-  </tbody>
-  </table>
-</xsl:template>
-
-<xsl:template match="//entry">
-   <tr class="mavlink_field">
-   <td class="mavlink_type" valign="top"><xsl:value-of select="@value" /></td>
-   <td class="mavlink_name" valign="top"><xsl:value-of select="@name" /></td>
-   <td class="mavlink_comment"><xsl:value-of select="description" /></td>
-   </tr>
-   <tr>
-     <td></td>
-   	 <xsl:apply-templates select="param" />
-   </tr>
-   <tr>
-    <td colspan="3"><br /></td>
-   </tr>
-</xsl:template>
-
-<xsl:template match="//param">
-   <tr>
-   <td></td>
-   <td class="mavlink_mission_param" valign="top">Mission Param #<xsl:value-of select="@index" /></td>
-   <td class="mavlink_comment"><xsl:value-of select="." /></td>
-   </tr>
-</xsl:template>
-
-
-</xsl:stylesheet>

thirdParty/mavlink/examples/linux/.gitignore

-mavlink_udp

thirdParty/mavlink/examples/linux/README

-A more detailed version of this quickstart is available at:
-
-http://qgroundcontrol.org/dev/mavlink_linux_integration_tutorial
-
-MAVLINK UDP QUICKSTART INSTRUCTIONS
-===================================
-
-MAVLink UDP Example for *nix system (Linux, MacOS, BSD, etc.)
-
-To compile with GCC, just enter:
-
-gcc -I ../../include/common -o mavlink_udp mavlink_udp.c
-
-To run, type:
-
-./mavlink_udp
-
-
-If you run QGroundControl on the same machine, a MAV should pop up.

thirdParty/mavlink/examples/linux/mavlink_udp.c

-/*******************************************************************************
- Copyright (C) 2010  Bryan Godbolt godbolt ( a t ) ualberta.ca
- 
- This program is free software: you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation, either version 3 of the License, or
- (at your option) any later version.
- 
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- GNU General Public License for more details.
- 
- You should have received a copy of the GNU General Public License
- along with this program.  If not, see <http://www.gnu.org/licenses/>.
- 
- ****************************************************************************/
-/*
- This program sends some data to qgroundcontrol using the mavlink protocol.  The sent packets
- cause qgroundcontrol to respond with heartbeats.  Any settings or custom commands sent from
- qgroundcontrol are printed by this program along with the heartbeats.
- 
- 
- I compiled this program sucessfully on Ubuntu 10.04 with the following command
- 
- gcc -I ../../pixhawk/mavlink/include -o udp-server udp-server-test.c
- 
- the rt library is needed for the clock_gettime on linux
- */
-/* These headers are for QNX, but should all be standard on unix/linux */
-#include <stdio.h>
-#include <errno.h>
-#include <string.h>
-#include <sys/socket.h>
-#include <sys/types.h>
-#include <netinet/in.h>
-#include <unistd.h>
-#include <stdlib.h>
-#include <fcntl.h>
-#include <time.h>
-#if (defined __QNX__) | (defined __QNXNTO__)
-/* QNX specific headers */
-#include <unix.h>
-#else
-/* Linux / MacOS POSIX timer headers */
-#include <sys/time.h>
-#include <time.h>
-#include <arpa/inet.h>
-#endif
-
-/* This assumes you have the mavlink headers on your include path
- or in the same folder as this source file */
-#include <mavlink.h>
-
-
-#define BUFFER_LENGTH 2041 // minimum buffer size that can be used with qnx (I don't know why)
-
-uint64_t microsSinceEpoch();
-
-int main(int argc, char* argv[])
-{
-	
-	char help[] = "--help";
-	
-	
-	char target_ip[100];
-	
-	float position[6] = {};
-	int sock = socket(PF_INET, SOCK_DGRAM, IPPROTO_UDP);
-	struct sockaddr_in gcAddr; 
-	struct sockaddr_in locAddr;
-	//struct sockaddr_in fromAddr;
-	uint8_t buf[BUFFER_LENGTH];
-	ssize_t recsize;
-	socklen_t fromlen;
-	int bytes_sent;
-	mavlink_message_t msg;
-	uint16_t len;
-	int i = 0;
-	//int success = 0;
-	unsigned int temp = 0;
-	
-	// Check if --help flag was used
-	if ((argc == 2) && (strcmp(argv[1], help) == 0))
-    {
-		printf("\n");
-		printf("\tUsage:\n\n");
-		printf("\t");
-		printf("%s", argv[0]);
-		printf(" <ip address of QGroundControl>\n");
-		printf("\tDefault for localhost: udp-server 127.0.0.1\n\n");
-		exit(EXIT_FAILURE);
-    }
-	
-	
-	// Change the target ip if parameter was given
-	strcpy(target_ip, "127.0.0.1");
-	if (argc == 2)
-    {
-		strcpy(target_ip, argv[1]);
-    }
-	
-	
-	memset(&locAddr, 0, sizeof(locAddr));
-	locAddr.sin_family = AF_INET;
-	locAddr.sin_addr.s_addr = INADDR_ANY;
-	locAddr.sin_port = htons(14551);
-	
-	/* Bind the socket to port 14551 - necessary to receive packets from qgroundcontrol */ 
-	if (-1 == bind(sock,(struct sockaddr *)&locAddr, sizeof(struct sockaddr)))
-    {
-		perror("error bind failed");
-		close(sock);
-		exit(EXIT_FAILURE);
-    } 
-	
-	/* Attempt to make it non blocking */
-	if (fcntl(sock, F_SETFL, O_NONBLOCK | FASYNC) < 0)
-    {
-		fprintf(stderr, "error setting nonblocking: %s\n", strerror(errno));
-		close(sock);
-		exit(EXIT_FAILURE);
-    }
-	
-	
-	memset(&gcAddr, 0, sizeof(gcAddr));
-	gcAddr.sin_family = AF_INET;
-	gcAddr.sin_addr.s_addr = inet_addr(target_ip);
-	gcAddr.sin_port = htons(14550);
-	
-	
-	
-	for (;;) 
-    {
-		
-		/*Send Heartbeat */
-		mavlink_msg_heartbeat_pack(1, 200, &msg, MAV_TYPE_HELICOPTER, MAV_AUTOPILOT_GENERIC, MAV_MODE_GUIDED_ARMED, 0, MAV_STATE_ACTIVE);
-		len = mavlink_msg_to_send_buffer(buf, &msg);
-		bytes_sent = sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in));
-		
-		/* Send Status */
-		mavlink_msg_sys_status_pack(1, 200, &msg, 0, 0, 0, 500, 11000, -1, -1, 0, 0, 0, 0, 0, 0);
-		len = mavlink_msg_to_send_buffer(buf, &msg);
-		bytes_sent = sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof (struct sockaddr_in));
-		
-		/* Send Local Position */
-		mavlink_msg_local_position_ned_pack(1, 200, &msg, microsSinceEpoch(), 
-										position[0], position[1], position[2],
-										position[3], position[4], position[5]);
-		len = mavlink_msg_to_send_buffer(buf, &msg);
-		bytes_sent = sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in));
-		
-		/* Send attitude */
-		mavlink_msg_attitude_pack(1, 200, &msg, microsSinceEpoch(), 1.2, 1.7, 3.14, 0.01, 0.02, 0.03);
-		len = mavlink_msg_to_send_buffer(buf, &msg);
-		bytes_sent = sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in));
-		
-		
-		memset(buf, 0, BUFFER_LENGTH);
-		recsize = recvfrom(sock, (void *)buf, BUFFER_LENGTH, 0, (struct sockaddr *)&gcAddr, &fromlen);
-		if (recsize > 0)
-      	{
-			// Something received - print out all bytes and parse packet
-			mavlink_message_t msg;
-			mavlink_status_t status;
-			
-			printf("Bytes Received: %d\nDatagram: ", (int)recsize);
-			for (i = 0; i < recsize; ++i)
-			{
-				temp = buf[i];
-				printf("%02x ", (unsigned char)temp);
-				if (mavlink_parse_char(MAVLINK_COMM_0, buf[i], &msg, &status))
-				{
-					// Packet received
-					printf("\nReceived packet: SYS: %d, COMP: %d, LEN: %d, MSG ID: %d\n", msg.sysid, msg.compid, msg.len, msg.msgid);
-				}
-			}
-			printf("\n");
-		}
-		memset(buf, 0, BUFFER_LENGTH);
-		sleep(1); // Sleep one second
-    }
-}
-
-
-/* QNX timer version */
-#if (defined __QNX__) | (defined __QNXNTO__)
-uint64_t microsSinceEpoch()
-{
-	
-	struct timespec time;
-	
-	uint64_t micros = 0;
-	
-	clock_gettime(CLOCK_REALTIME, &time);  
-	micros = (uint64_t)time.tv_sec * 100000 + time.tv_nsec/1000;
-	
-	return micros;
-}
-#else
-uint64_t microsSinceEpoch()
-{
-	
-	struct timeval tv;
-	
-	uint64_t micros = 0;
-	
-	gettimeofday(&tv, NULL);  
-	micros =  ((uint64_t)tv.tv_sec) * 1000000 + tv.tv_usec;
-	
-	return micros;
-}
-#endif

thirdParty/mavlink/generate.sh

-#!/bin/bash
-# this script generates all the include files with pymavlink
-
-# settings
-wireProtocol=1.0
-pymavlinkTag=51f3d6713e9a5b94c232ab9bf9d08095a0c97866
-
-# download pymavlink
-topDir=$PWD
-rm -rf include
-rm -rf pymavlink
-git clone https://github.com/mavlink/pymavlink.git -b master  pymavlink
-cd pymavlink && git checkout $pymavlinkTag && rm -rf .git
-
-# generate includes using message definitions
-cd $topDir
-for file in $(find message_definitions -name "*.xml")
-do
-    echo generating mavlink includes for definition: $file
-    ./pymavlink/generator/mavgen.py --lang=C --wire-protocol=$wireProtocol --output=include $file
-done
-
-# cleanup
-rm -rf pymavlink

thirdParty/mavlink/include/SenseSoar/mavlink.h

-/** @file
- *	@brief MAVLink comm protocol built from sensesoar.xml
- *	@see http://pixhawk.ethz.ch/software/mavlink
- */
-#ifndef MAVLINK_H
-#define MAVLINK_H
-
-#ifndef MAVLINK_STX
-#define MAVLINK_STX 254
-#endif
-
-#ifndef MAVLINK_ENDIAN
-#define MAVLINK_ENDIAN MAVLINK_LITTLE_ENDIAN
-#endif
-
-#ifndef MAVLINK_ALIGNED_FIELDS
-#define MAVLINK_ALIGNED_FIELDS 1
-#endif
-
-#ifndef MAVLINK_CRC_EXTRA
-#define MAVLINK_CRC_EXTRA 1
-#endif
-
-#include "version.h"
-#include "sensesoar.h"
-
-#endif // MAVLINK_H

thirdParty/mavlink/include/SenseSoar/mavlink_msg_cmd_airspeed_ack.h

-// MESSAGE CMD_AIRSPEED_ACK PACKING
-
-#define MAVLINK_MSG_ID_CMD_AIRSPEED_ACK 194
-
-typedef struct __mavlink_cmd_airspeed_ack_t
-{
- float spCmd; ///< commanded airspeed
- uint8_t ack; ///< 0:ack, 1:nack
-} mavlink_cmd_airspeed_ack_t;
-
-#define MAVLINK_MSG_ID_CMD_AIRSPEED_ACK_LEN 5
-#define MAVLINK_MSG_ID_194_LEN 5
-
-
-
-#define MAVLINK_MESSAGE_INFO_CMD_AIRSPEED_ACK { \
-	"CMD_AIRSPEED_ACK", \
-	2, \
-	{  { "spCmd", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_cmd_airspeed_ack_t, spCmd) }, \
-         { "ack", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_cmd_airspeed_ack_t, ack) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a cmd_airspeed_ack message
- * @param system_id ID of this system
- * @param component_id ID of this component (e.g. 200 for IMU)
- * @param msg The MAVLink message to compress the data into
- *
- * @param spCmd commanded airspeed
- * @param ack 0:ack, 1:nack
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_cmd_airspeed_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       float spCmd, uint8_t ack)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[5];
-	_mav_put_float(buf, 0, spCmd);
-	_mav_put_uint8_t(buf, 4, ack);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 5);
-#else
-	mavlink_cmd_airspeed_ack_t packet;
-	packet.spCmd = spCmd;
-	packet.ack = ack;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 5);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_CMD_AIRSPEED_ACK;
-	return mavlink_finalize_message(msg, system_id, component_id, 5, 243);
-}
-
-/**
- * @brief Pack a cmd_airspeed_ack message on a channel
- * @param system_id ID of this system
- * @param component_id ID of this component (e.g. 200 for IMU)
- * @param chan The MAVLink channel this message was sent over
- * @param msg The MAVLink message to compress the data into
- * @param spCmd commanded airspeed
- * @param ack 0:ack, 1:nack
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_cmd_airspeed_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           float spCmd,uint8_t ack)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[5];
-	_mav_put_float(buf, 0, spCmd);
-	_mav_put_uint8_t(buf, 4, ack);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 5);
-#else
-	mavlink_cmd_airspeed_ack_t packet;
-	packet.spCmd = spCmd;
-	packet.ack = ack;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 5);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_CMD_AIRSPEED_ACK;
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 5, 243);
-}
-
-/**
- * @brief Encode a cmd_airspeed_ack struct into a message
- *
- * @param system_id ID of this system
- * @param component_id ID of this component (e.g. 200 for IMU)
- * @param msg The MAVLink message to compress the data into
- * @param cmd_airspeed_ack C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_cmd_airspeed_ack_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_cmd_airspeed_ack_t* cmd_airspeed_ack)
-{
-	return mavlink_msg_cmd_airspeed_ack_pack(system_id, component_id, msg, cmd_airspeed_ack->spCmd, cmd_airspeed_ack->ack);
-}
-
-/**
- * @brief Send a cmd_airspeed_ack message
- * @param chan MAVLink channel to send the message
- *
- * @param spCmd commanded airspeed
- * @param ack 0:ack, 1:nack
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_cmd_airspeed_ack_send(mavlink_channel_t chan, float spCmd, uint8_t ack)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[5];
-	_mav_put_float(buf, 0, spCmd);
-	_mav_put_uint8_t(buf, 4, ack);
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CMD_AIRSPEED_ACK, buf, 5, 243);
-#else
-	mavlink_cmd_airspeed_ack_t packet;
-	packet.spCmd = spCmd;
-	packet.ack = ack;
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CMD_AIRSPEED_ACK, (const char *)&packet, 5, 243);
-#endif
-}
-
-#endif
-
-// MESSAGE CMD_AIRSPEED_ACK UNPACKING
-
-
-/**
- * @brief Get field spCmd from cmd_airspeed_ack message
- *
- * @return commanded airspeed
- */
-static inline float mavlink_msg_cmd_airspeed_ack_get_spCmd(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  0);
-}
-
-/**
- * @brief Get field ack from cmd_airspeed_ack message
- *
- * @return 0:ack, 1:nack
- */
-static inline uint8_t mavlink_msg_cmd_airspeed_ack_get_ack(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  4);
-}
-
-/**
- * @brief Decode a cmd_airspeed_ack message into a struct
- *
- * @param msg The message to decode
- * @param cmd_airspeed_ack C-struct to decode the message contents into
- */
-static inline void mavlink_msg_cmd_airspeed_ack_decode(const mavlink_message_t* msg, mavlink_cmd_airspeed_ack_t* cmd_airspeed_ack)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	cmd_airspeed_ack->spCmd = mavlink_msg_cmd_airspeed_ack_get_spCmd(msg);
-	cmd_airspeed_ack->ack = mavlink_msg_cmd_airspeed_ack_get_ack(msg);
-#else
-	memcpy(cmd_airspeed_ack, _MAV_PAYLOAD(msg), 5);
-#endif
-}

thirdParty/mavlink/include/SenseSoar/mavlink_msg_cmd_airspeed_chng.h

-// MESSAGE CMD_AIRSPEED_CHNG PACKING
-
-#define MAVLINK_MSG_ID_CMD_AIRSPEED_CHNG 192
-
-typedef struct __mavlink_cmd_airspeed_chng_t
-{
- float spCmd; ///< commanded airspeed
- uint8_t target; ///< Target ID
-} mavlink_cmd_airspeed_chng_t;
-
-#define MAVLINK_MSG_ID_CMD_AIRSPEED_CHNG_LEN 5
-#define MAVLINK_MSG_ID_192_LEN 5
-
-
-
-#define MAVLINK_MESSAGE_INFO_CMD_AIRSPEED_CHNG { \
-	"CMD_AIRSPEED_CHNG", \
-	2, \
-	{  { "spCmd", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_cmd_airspeed_chng_t, spCmd) }, \
-         { "target", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_cmd_airspeed_chng_t, target) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a cmd_airspeed_chng message
- * @param system_id ID of this system
- * @param component_id ID of this component (e.g. 200 for IMU)
- * @param msg The MAVLink message to compress the data into
- *
- * @param target Target ID
- * @param spCmd commanded airspeed
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_cmd_airspeed_chng_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t target, float spCmd)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[5];
-	_mav_put_float(buf, 0, spCmd);
-	_mav_put_uint8_t(buf, 4, target);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 5);
-#else
-	mavlink_cmd_airspeed_chng_t packet;
-	packet.spCmd = spCmd;
-	packet.target = target;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 5);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_CMD_AIRSPEED_CHNG;
-	return mavlink_finalize_message(msg, system_id, component_id, 5, 209);
-}
-
-/**
- * @brief Pack a cmd_airspeed_chng message on a channel
- * @param system_id ID of this system
- * @param component_id ID of this component (e.g. 200 for IMU)
- * @param chan The MAVLink channel this message was sent over
- * @param msg The MAVLink message to compress the data into
- * @param target Target ID
- * @param spCmd commanded airspeed
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_cmd_airspeed_chng_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t target,float spCmd)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[5];
-	_mav_put_float(buf, 0, spCmd);
-	_mav_put_uint8_t(buf, 4, target);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 5);
-#else
-	mavlink_cmd_airspeed_chng_t packet;
-	packet.spCmd = spCmd;
-	packet.target = target;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 5);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_CMD_AIRSPEED_CHNG;
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 5, 209);
-}
-
-/**
- * @brief Encode a cmd_airspeed_chng struct into a message
- *
- * @param system_id ID of this system
- * @param component_id ID of this component (e.g. 200 for IMU)
- * @param msg The MAVLink message to compress the data into
- * @param cmd_airspeed_chng C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_cmd_airspeed_chng_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_cmd_airspeed_chng_t* cmd_airspeed_chng)
-{
-	return mavlink_msg_cmd_airspeed_chng_pack(system_id, component_id, msg, cmd_airspeed_chng->target, cmd_airspeed_chng->spCmd);
-}
-
-/**
- * @brief Send a cmd_airspeed_chng message
- * @param chan MAVLink channel to send the message
- *
- * @param target Target ID
- * @param spCmd commanded airspeed
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_cmd_airspeed_chng_send(mavlink_channel_t chan, uint8_t target, float spCmd)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[5];
-	_mav_put_float(buf, 0, spCmd);
-	_mav_put_uint8_t(buf, 4, target);
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CMD_AIRSPEED_CHNG, buf, 5, 209);
-#else
-	mavlink_cmd_airspeed_chng_t packet;
-	packet.spCmd = spCmd;
-	packet.target = target;
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CMD_AIRSPEED_CHNG, (const char *)&packet, 5, 209);
-#endif
-}
-
-#endif
-
-// MESSAGE CMD_AIRSPEED_CHNG UNPACKING
-
-
-/**
- * @brief Get field target from cmd_airspeed_chng message
- *
- * @return Target ID
- */
-static inline uint8_t mavlink_msg_cmd_airspeed_chng_get_target(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  4);
-}
-
-/**
- * @brief Get field spCmd from cmd_airspeed_chng message
- *
- * @return commanded airspeed
- */
-static inline float mavlink_msg_cmd_airspeed_chng_get_spCmd(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  0);
-}
-
-/**
- * @brief Decode a cmd_airspeed_chng message into a struct
- *
- * @param msg The message to decode
- * @param cmd_airspeed_chng C-struct to decode the message contents into
- */
-static inline void mavlink_msg_cmd_airspeed_chng_decode(const mavlink_message_t* msg, mavlink_cmd_airspeed_chng_t* cmd_airspeed_chng)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	cmd_airspeed_chng->spCmd = mavlink_msg_cmd_airspeed_chng_get_spCmd(msg);
-	cmd_airspeed_chng->target = mavlink_msg_cmd_airspeed_chng_get_target(msg);
-#else
-	memcpy(cmd_airspeed_chng, _MAV_PAYLOAD(msg), 5);
-#endif
-}

thirdParty/mavlink/include/SenseSoar/mavlink_msg_filt_rot_vel.h

-// MESSAGE FILT_ROT_VEL PACKING
-
-#define MAVLINK_MSG_ID_FILT_ROT_VEL 184
-
-typedef struct __mavlink_filt_rot_vel_t
-{
- float rotVel[3]; ///< rotational velocity
-} mavlink_filt_rot_vel_t;
-
-#define MAVLINK_MSG_ID_FILT_ROT_VEL_LEN 12
-#define MAVLINK_MSG_ID_184_LEN 12
-
-#define MAVLINK_MSG_FILT_ROT_VEL_FIELD_ROTVEL_LEN 3
-
-#define MAVLINK_MESSAGE_INFO_FILT_ROT_VEL { \
-	"FILT_ROT_VEL", \
-	1, \
-	{  { "rotVel", NULL, MAVLINK_TYPE_FLOAT, 3, 0, offsetof(mavlink_filt_rot_vel_t, rotVel) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a filt_rot_vel message
- * @param system_id ID of this system
- * @param component_id ID of this component (e.g. 200 for IMU)
- * @param msg The MAVLink message to compress the data into
- *
- * @param rotVel rotational velocity
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_filt_rot_vel_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       const float *rotVel)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[12];
-
-	_mav_put_float_array(buf, 0, rotVel, 3);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12);
-#else
-	mavlink_filt_rot_vel_t packet;
-
-	mav_array_memcpy(packet.rotVel, rotVel, sizeof(float)*3);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_FILT_ROT_VEL;
-	return mavlink_finalize_message(msg, system_id, component_id, 12, 79);
-}
-
-/**
- * @brief Pack a filt_rot_vel message on a channel
- * @param system_id ID of this system
- * @param component_id ID of this component (e.g. 200 for IMU)
- * @param chan The MAVLink channel this message was sent over
- * @param msg The MAVLink message to compress the data into
- * @param rotVel rotational velocity
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_filt_rot_vel_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           const float *rotVel)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[12];
-
-	_mav_put_float_array(buf, 0, rotVel, 3);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12);
-#else
-	mavlink_filt_rot_vel_t packet;
-
-	mav_array_memcpy(packet.rotVel, rotVel, sizeof(float)*3);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_FILT_ROT_VEL;
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 12, 79);
-}
-
-/**
- * @brief Encode a filt_rot_vel struct into a message
- *
- * @param system_id ID of this system
- * @param component_id ID of this component (e.g. 200 for IMU)
- * @param msg The MAVLink message to compress the data into
- * @param filt_rot_vel C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_filt_rot_vel_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_filt_rot_vel_t* filt_rot_vel)
-{
-	return mavlink_msg_filt_rot_vel_pack(system_id, component_id, msg, filt_rot_vel->rotVel);
-}
-
-/**
- * @brief Send a filt_rot_vel message
- * @param chan MAVLink channel to send the message
- *
- * @param rotVel rotational velocity
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_filt_rot_vel_send(mavlink_channel_t chan, const float *rotVel)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[12];
-
-	_mav_put_float_array(buf, 0, rotVel, 3);
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILT_ROT_VEL, buf, 12, 79);
-#else
-	mavlink_filt_rot_vel_t packet;
-
-	mav_array_memcpy(packet.rotVel, rotVel, sizeof(float)*3);
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILT_ROT_VEL, (const char *)&packet, 12, 79);
-#endif
-}
-
-#endif
-
-// MESSAGE FILT_ROT_VEL UNPACKING
-
-
-/**
- * @brief Get field rotVel from filt_rot_vel message
- *
- * @return rotational velocity
- */
-static inline uint16_t mavlink_msg_filt_rot_vel_get_rotVel(const mavlink_message_t* msg, float *rotVel)
-{
-	return _MAV_RETURN_float_array(msg, rotVel, 3,  0);
-}
-
-/**
- * @brief Decode a filt_rot_vel message into a struct
- *
- * @param msg The message to decode
- * @param filt_rot_vel C-struct to decode the message contents into
- */
-static inline void mavlink_msg_filt_rot_vel_decode(const mavlink_message_t* msg, mavlink_filt_rot_vel_t* filt_rot_vel)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	mavlink_msg_filt_rot_vel_get_rotVel(msg, filt_rot_vel->rotVel);
-#else
-	memcpy(filt_rot_vel, _MAV_PAYLOAD(msg), 12);
-#endif
-}

thirdParty/mavlink/include/SenseSoar/mavlink_msg_llc_out.h

-// MESSAGE LLC_OUT PACKING
-
-#define MAVLINK_MSG_ID_LLC_OUT 186
-
-typedef struct __mavlink_llc_out_t
-{
- int16_t servoOut[4]; ///< Servo signal
- int16_t MotorOut[2]; ///< motor signal
-} mavlink_llc_out_t;
-
-#define MAVLINK_MSG_ID_LLC_OUT_LEN 12
-#define MAVLINK_MSG_ID_186_LEN 12
-
-#define MAVLINK_MSG_LLC_OUT_FIELD_SERVOOUT_LEN 4
-#define MAVLINK_MSG_LLC_OUT_FIELD_MOTOROUT_LEN 2
-
-#define MAVLINK_MESSAGE_INFO_LLC_OUT { \
-	"LLC_OUT", \
-	2, \
-	{  { "servoOut", NULL, MAVLINK_TYPE_INT16_T, 4, 0, offsetof(mavlink_llc_out_t, servoOut) }, \
-         { "MotorOut", NULL, MAVLINK_TYPE_INT16_T, 2, 8, offsetof(mavlink_llc_out_t, MotorOut) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a llc_out message
- * @param system_id ID of this system
- * @param component_id ID of this component (e.g. 200 for IMU)
- * @param msg The MAVLink message to compress the data into
- *
- * @param servoOut Servo signal
- * @param MotorOut motor signal
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_llc_out_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       const int16_t *servoOut, const int16_t *MotorOut)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[12];
-
-	_mav_put_int16_t_array(buf, 0, servoOut, 4);
-	_mav_put_int16_t_array(buf, 8, MotorOut, 2);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12);
-#else
-	mavlink_llc_out_t packet;
-
-	mav_array_memcpy(packet.servoOut, servoOut, sizeof(int16_t)*4);
-	mav_array_memcpy(packet.MotorOut, MotorOut, sizeof(int16_t)*2);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_LLC_OUT;
-	return mavlink_finalize_message(msg, system_id, component_id, 12, 5);
-}
-
-/**
- * @brief Pack a llc_out message on a channel
- * @param system_id ID of this system
- * @param component_id ID of this component (e.g. 200 for IMU)
- * @param chan The MAVLink channel this message was sent over
- * @param msg The MAVLink message to compress the data into
- * @param servoOut Servo signal
- * @param MotorOut motor signal
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_llc_out_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           const int16_t *servoOut,const int16_t *MotorOut)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[12];
-
-	_mav_put_int16_t_array(buf, 0, servoOut, 4);
-	_mav_put_int16_t_array(buf, 8, MotorOut, 2);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12);
-#else
-	mavlink_llc_out_t packet;
-
-	mav_array_memcpy(packet.servoOut, servoOut, sizeof(int16_t)*4);
-	mav_array_memcpy(packet.MotorOut, MotorOut, sizeof(int16_t)*2);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_LLC_OUT;
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 12, 5);
-}
-
-/**
- * @brief Encode a llc_out struct into a message
- *
- * @param system_id ID of this system
- * @param component_id ID of this component (e.g. 200 for IMU)
- * @param msg The MAVLink message to compress the data into
- * @param llc_out C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_llc_out_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_llc_out_t* llc_out)
-{
-	return mavlink_msg_llc_out_pack(system_id, component_id, msg, llc_out->servoOut, llc_out->MotorOut);
-}
-
-/**
- * @brief Send a llc_out message
- * @param chan MAVLink channel to send the message
- *
- * @param servoOut Servo signal
- * @param MotorOut motor signal
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_llc_out_send(mavlink_channel_t chan, const int16_t *servoOut, const int16_t *MotorOut)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[12];
-
-	_mav_put_int16_t_array(buf, 0, servoOut, 4);
-	_mav_put_int16_t_array(buf, 8, MotorOut, 2);
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LLC_OUT, buf, 12, 5);
-#else
-	mavlink_llc_out_t packet;
-
-	mav_array_memcpy(packet.servoOut, servoOut, sizeof(int16_t)*4);
-	mav_array_memcpy(packet.MotorOut, MotorOut, sizeof(int16_t)*2);
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LLC_OUT, (const char *)&packet, 12, 5);
-#endif
-}
-
-#endif
-
-// MESSAGE LLC_OUT UNPACKING
-
-
-/**
- * @brief Get field servoOut from llc_out message
- *
- * @return Servo signal
- */
-static inline uint16_t mavlink_msg_llc_out_get_servoOut(const mavlink_message_t* msg, int16_t *servoOut)
-{
-	return _MAV_RETURN_int16_t_array(msg, servoOut, 4,  0);
-}
-
-/**
- * @brief Get field MotorOut from llc_out message
- *
- * @return motor signal
- */
-static inline uint16_t mavlink_msg_llc_out_get_MotorOut(const mavlink_message_t* msg, int16_t *MotorOut)
-{
-	return _MAV_RETURN_int16_t_array(msg, MotorOut, 2,  8);
-}
-
-/**
- * @brief Decode a llc_out message into a struct
- *
- * @param msg The message to decode
- * @param llc_out C-struct to decode the message contents into
- */
-static inline void mavlink_msg_llc_out_decode(const mavlink_message_t* msg, mavlink_llc_out_t* llc_out)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	mavlink_msg_llc_out_get_servoOut(msg, llc_out->servoOut);
-	mavlink_msg_llc_out_get_MotorOut(msg, llc_out->MotorOut);
-#else
-	memcpy(llc_out, _MAV_PAYLOAD(msg), 12);
-#endif
-}

thirdParty/mavlink/include/SenseSoar/mavlink_msg_obs_air_temp.h

-// MESSAGE OBS_AIR_TEMP PACKING
-
-#define MAVLINK_MSG_ID_OBS_AIR_TEMP 183
-
-typedef struct __mavlink_obs_air_temp_t
-{
- float airT; ///< Air Temperatur
-} mavlink_obs_air_temp_t;
-
-#define MAVLINK_MSG_ID_OBS_AIR_TEMP_LEN 4
-#define MAVLINK_MSG_ID_183_LEN 4
-
-
-
-#define MAVLINK_MESSAGE_INFO_OBS_AIR_TEMP { \
-	"OBS_AIR_TEMP", \
-	1, \
-	{  { "airT", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_obs_air_temp_t, airT) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a obs_air_temp message
- * @param system_id ID of this system
- * @param component_id ID of this component (e.g. 200 for IMU)
- * @param msg The MAVLink message to compress the data into
- *
- * @param airT Air Temperatur
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_obs_air_temp_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       float airT)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[4];
-	_mav_put_float(buf, 0, airT);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 4);
-#else
-	mavlink_obs_air_temp_t packet;
-	packet.airT = airT;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 4);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_OBS_AIR_TEMP;
-	return mavlink_finalize_message(msg, system_id, component_id, 4, 248);
-}
-
-/**
- * @brief Pack a obs_air_temp message on a channel
- * @param system_id ID of this system
- * @param component_id ID of this component (e.g. 200 for IMU)
- * @param chan The MAVLink channel this message was sent over
- * @param msg The MAVLink message to compress the data into
- * @param airT Air Temperatur
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_obs_air_temp_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           float airT)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[4];
-	_mav_put_float(buf, 0, airT);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 4);
-#else
-	mavlink_obs_air_temp_t packet;
-	packet.airT = airT;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 4);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_OBS_AIR_TEMP;
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 4, 248);
-}
-
-/**
- * @brief Encode a obs_air_temp struct into a message
- *
- * @param system_id ID of this system
- * @param component_id ID of this component (e.g. 200 for IMU)
- * @param msg The MAVLink message to compress the data into
- * @param obs_air_temp C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_obs_air_temp_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_obs_air_temp_t* obs_air_temp)
-{
-	return mavlink_msg_obs_air_temp_pack(system_id, component_id, msg, obs_air_temp->airT);
-}
-
-/**
- * @brief Send a obs_air_temp message
- * @param chan MAVLink channel to send the message
- *
- * @param airT Air Temperatur
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_obs_air_temp_send(mavlink_channel_t chan, float airT)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[4];
-	_mav_put_float(buf, 0, airT);
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_AIR_TEMP, buf, 4, 248);
-#else
-	mavlink_obs_air_temp_t packet;
-	packet.airT = airT;
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_AIR_TEMP, (const char *)&packet, 4, 248);
-#endif
-}
-
-#endif
-
-// MESSAGE OBS_AIR_TEMP UNPACKING
-
-
-/**
- * @brief Get field airT from obs_air_temp message
- *
- * @return Air Temperatur
- */
-static inline float mavlink_msg_obs_air_temp_get_airT(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  0);
-}
-
-/**
- * @brief Decode a obs_air_temp message into a struct
- *
- * @param msg The message to decode
- * @param obs_air_temp C-struct to decode the message contents into
- */
-static inline void mavlink_msg_obs_air_temp_decode(const mavlink_message_t* msg, mavlink_obs_air_temp_t* obs_air_temp)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	obs_air_temp->airT = mavlink_msg_obs_air_temp_get_airT(msg);
-#else
-	memcpy(obs_air_temp, _MAV_PAYLOAD(msg), 4);
-#endif
-}

thirdParty/mavlink/include/SenseSoar/mavlink_msg_obs_air_velocity.h

-// MESSAGE OBS_AIR_VELOCITY PACKING
-
-#define MAVLINK_MSG_ID_OBS_AIR_VELOCITY 178
-
-typedef struct __mavlink_obs_air_velocity_t
-{
- float magnitude; ///< Air speed
- float aoa; ///< angle of attack
- float slip; ///< slip angle
-} mavlink_obs_air_velocity_t;
-
-#define MAVLINK_MSG_ID_OBS_AIR_VELOCITY_LEN 12
-#define MAVLINK_MSG_ID_178_LEN 12
-
-
-
-#define MAVLINK_MESSAGE_INFO_OBS_AIR_VELOCITY { \
-	"OBS_AIR_VELOCITY", \
-	3, \
-	{  { "magnitude", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_obs_air_velocity_t, magnitude) }, \
-         { "aoa", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_obs_air_velocity_t, aoa) }, \
-         { "slip", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_obs_air_velocity_t, slip) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a obs_air_velocity message
- * @param system_id ID of this system
- * @param component_id ID of this component (e.g. 200 for IMU)
- * @param msg The MAVLink message to compress the data into
- *
- * @param magnitude Air speed
- * @param aoa angle of attack
- * @param slip slip angle
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_obs_air_velocity_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       float magnitude, float aoa, float slip)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[12];
-	_mav_put_float(buf, 0, magnitude);
-	_mav_put_float(buf, 4, aoa);
-	_mav_put_float(buf, 8, slip);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12);
-#else
-	mavlink_obs_air_velocity_t packet;
-	packet.magnitude = magnitude;
-	packet.aoa = aoa;
-	packet.slip = slip;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_OBS_AIR_VELOCITY;
-	return mavlink_finalize_message(msg, system_id, component_id, 12, 32);
-}
-
-/**
- * @brief Pack a obs_air_velocity message on a channel
- * @param system_id ID of this system
- * @param component_id ID of this component (e.g. 200 for IMU)
- * @param chan The MAVLink channel this message was sent over
- * @param msg The MAVLink message to compress the data into
- * @param magnitude Air speed
- * @param aoa angle of attack
- * @param slip slip angle
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_obs_air_velocity_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           float magnitude,float aoa,float slip)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[12];
-	_mav_put_float(buf, 0, magnitude);
-	_mav_put_float(buf, 4, aoa);
-	_mav_put_float(buf, 8, slip);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12);
-#else
-	mavlink_obs_air_velocity_t packet;
-	packet.magnitude = magnitude;
-	packet.aoa = aoa;
-	packet.slip = slip;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_OBS_AIR_VELOCITY;
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 12, 32);
-}
-
-/**
- * @brief Encode a obs_air_velocity struct into a message
- *
- * @param system_id ID of this system
- * @param component_id ID of this component (e.g. 200 for IMU)
- * @param msg The MAVLink message to compress the data into
- * @param obs_air_velocity C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_obs_air_velocity_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_obs_air_velocity_t* obs_air_velocity)
-{
-	return mavlink_msg_obs_air_velocity_pack(system_id, component_id, msg, obs_air_velocity->magnitude, obs_air_velocity->aoa, obs_air_velocity->slip);
-}
-
-/**
- * @brief Send a obs_air_velocity message
- * @param chan MAVLink channel to send the message
- *
- * @param magnitude Air speed
- * @param aoa angle of attack
- * @param slip slip angle
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_obs_air_velocity_send(mavlink_channel_t chan, float magnitude, float aoa, float slip)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[12];
-	_mav_put_float(buf, 0, magnitude);
-	_mav_put_float(buf, 4, aoa);
-	_mav_put_float(buf, 8, slip);
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_AIR_VELOCITY, buf, 12, 32);
-#else
-	mavlink_obs_air_velocity_t packet;
-	packet.magnitude = magnitude;
-	packet.aoa = aoa;
-	packet.slip = slip;
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_AIR_VELOCITY, (const char *)&packet, 12, 32);
-#endif
-}
-
-#endif
-
-// MESSAGE OBS_AIR_VELOCITY UNPACKING
-
-
-/**
- * @brief Get field magnitude from obs_air_velocity message
- *
- * @return Air speed
- */
-static inline float mavlink_msg_obs_air_velocity_get_magnitude(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  0);
-}
-
-/**
- * @brief Get field aoa from obs_air_velocity message
- *
- * @return angle of attack
- */
-static inline float mavlink_msg_obs_air_velocity_get_aoa(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  4);
-}
-
-/**
- * @brief Get field slip from obs_air_velocity message
- *
- * @return slip angle
- */
-static inline float mavlink_msg_obs_air_velocity_get_slip(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  8);
-}
-
-/**
- * @brief Decode a obs_air_velocity message into a struct
- *
- * @param msg The message to decode
- * @param obs_air_velocity C-struct to decode the message contents into
- */
-static inline void mavlink_msg_obs_air_velocity_decode(const mavlink_message_t* msg, mavlink_obs_air_velocity_t* obs_air_velocity)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	obs_air_velocity->magnitude = mavlink_msg_obs_air_velocity_get_magnitude(msg);
-	obs_air_velocity->aoa = mavlink_msg_obs_air_velocity_get_aoa(msg);
-	obs_air_velocity->slip = mavlink_msg_obs_air_velocity_get_slip(msg);
-#else
-	memcpy(obs_air_velocity, _MAV_PAYLOAD(msg), 12);
-#endif
-}

thirdParty/mavlink/include/SenseSoar/mavlink_msg_obs_attitude.h

-// MESSAGE OBS_ATTITUDE PACKING
-
-#define MAVLINK_MSG_ID_OBS_ATTITUDE 174
-
-typedef struct __mavlink_obs_attitude_t
-{
- double quat[4]; ///< Quaternion re;im
-} mavlink_obs_attitude_t;
-
-#define MAVLINK_MSG_ID_OBS_ATTITUDE_LEN 32
-#define MAVLINK_MSG_ID_174_LEN 32
-
-#define MAVLINK_MSG_OBS_ATTITUDE_FIELD_QUAT_LEN 4
-
-#define MAVLINK_MESSAGE_INFO_OBS_ATTITUDE { \
-	"OBS_ATTITUDE", \
-	1, \
-	{  { "quat", NULL, MAVLINK_TYPE_DOUBLE, 4, 0, offsetof(mavlink_obs_attitude_t, quat) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a obs_attitude message
- * @param system_id ID of this system
- * @param component_id ID of this component (e.g. 200 for IMU)
- * @param msg The MAVLink message to compress the data into
- *
- * @param quat Quaternion re;im
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_obs_attitude_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       const double *quat)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[32];
-
-	_mav_put_double_array(buf, 0, quat, 4);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 32);
-#else
-	mavlink_obs_attitude_t packet;
-
-	mav_array_memcpy(packet.quat, quat, sizeof(double)*4);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 32);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_OBS_ATTITUDE;
-	return mavlink_finalize_message(msg, system_id, component_id, 32, 146);
-}
-
-/**
- * @brief Pack a obs_attitude message on a channel
- * @param system_id ID of this system
- * @param component_id ID of this component (e.g. 200 for IMU)
- * @param chan The MAVLink channel this message was sent over
- * @param msg The MAVLink message to compress the data into
- * @param quat Quaternion re;im
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_obs_attitude_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           const double *quat)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[32];
-
-	_mav_put_double_array(buf, 0, quat, 4);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 32);
-#else
-	mavlink_obs_attitude_t packet;
-
-	mav_array_memcpy(packet.quat, quat, sizeof(double)*4);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 32);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_OBS_ATTITUDE;
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 32, 146);
-}
-
-/**
- * @brief Encode a obs_attitude struct into a message
- *
- * @param system_id ID of this system
- * @param component_id ID of this component (e.g. 200 for IMU)
- * @param msg The MAVLink message to compress the data into
- * @param obs_attitude C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_obs_attitude_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_obs_attitude_t* obs_attitude)
-{
-	return mavlink_msg_obs_attitude_pack(system_id, component_id, msg, obs_attitude->quat);
-}
-
-/**
- * @brief Send a obs_attitude message
- * @param chan MAVLink channel to send the message
- *
- * @param quat Quaternion re;im
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_obs_attitude_send(mavlink_channel_t chan, const double *quat)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[32];
-
-	_mav_put_double_array(buf, 0, quat, 4);
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_ATTITUDE, buf, 32, 146);
-#else
-	mavlink_obs_attitude_t packet;
-
-	mav_array_memcpy(packet.quat, quat, sizeof(double)*4);
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_ATTITUDE, (const char *)&packet, 32, 146);
-#endif
-}
-
-#endif
-
-// MESSAGE OBS_ATTITUDE UNPACKING
-
-
-/**
- * @brief Get field quat from obs_attitude message
- *
- * @return Quaternion re;im
- */
-static inline uint16_t mavlink_msg_obs_attitude_get_quat(const mavlink_message_t* msg, double *quat)
-{
-	return _MAV_RETURN_double_array(msg, quat, 4,  0);
-}
-
-/**
- * @brief Decode a obs_attitude message into a struct
- *
- * @param msg The message to decode
- * @param obs_attitude C-struct to decode the message contents into
- */
-static inline void mavlink_msg_obs_attitude_decode(const mavlink_message_t* msg, mavlink_obs_attitude_t* obs_attitude)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	mavlink_msg_obs_attitude_get_quat(msg, obs_attitude->quat);
-#else
-	memcpy(obs_attitude, _MAV_PAYLOAD(msg), 32);
-#endif
-}

thirdParty/mavlink/include/SenseSoar/mavlink_msg_obs_bias.h

-// MESSAGE OBS_BIAS PACKING
-
-#define MAVLINK_MSG_ID_OBS_BIAS 180
-
-typedef struct __mavlink_obs_bias_t
-{
- float accBias[3]; ///< accelerometer bias
- float gyroBias[3]; ///< gyroscope bias
-} mavlink_obs_bias_t;
-
-#define MAVLINK_MSG_ID_OBS_BIAS_LEN 24
-#define MAVLINK_MSG_ID_180_LEN 24
-
-#define MAVLINK_MSG_OBS_BIAS_FIELD_ACCBIAS_LEN 3
-#define MAVLINK_MSG_OBS_BIAS_FIELD_GYROBIAS_LEN 3
-
-#define MAVLINK_MESSAGE_INFO_OBS_BIAS { \
-	"OBS_BIAS", \
-	2, \
-	{  { "accBias", NULL, MAVLINK_TYPE_FLOAT, 3, 0, offsetof(mavlink_obs_bias_t, accBias) }, \
-         { "gyroBias", NULL, MAVLINK_TYPE_FLOAT, 3, 12, offsetof(mavlink_obs_bias_t, gyroBias) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a obs_bias message
- * @param system_id ID of this system
- * @param component_id ID of this component (e.g. 200 for IMU)
- * @param msg The MAVLink message to compress the data into
- *
- * @param accBias accelerometer bias
- * @param gyroBias gyroscope bias
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_obs_bias_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       const float *accBias, const float *gyroBias)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[24];
-
-	_mav_put_float_array(buf, 0, accBias, 3);
-	_mav_put_float_array(buf, 12, gyroBias, 3);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 24);
-#else
-	mavlink_obs_bias_t packet;
-
-	mav_array_memcpy(packet.accBias, accBias, sizeof(float)*3);
-	mav_array_memcpy(packet.gyroBias, gyroBias, sizeof(float)*3);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 24);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_OBS_BIAS;
-	return mavlink_finalize_message(msg, system_id, component_id, 24, 159);
-}
-
-/**
- * @brief Pack a obs_bias message on a channel
- * @param system_id ID of this system
- * @param component_id ID of this component (e.g. 200 for IMU)
- * @param chan The MAVLink channel this message was sent over
- * @param msg The MAVLink message to compress the data into
- * @param accBias accelerometer bias
- * @param gyroBias gyroscope bias
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_obs_bias_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           const float *accBias,const float *gyroBias)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[24];
-
-	_mav_put_float_array(buf, 0, accBias, 3);
-	_mav_put_float_array(buf, 12, gyroBias, 3);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 24);
-#else
-	mavlink_obs_bias_t packet;
-
-	mav_array_memcpy(packet.accBias, accBias, sizeof(float)*3);
-	mav_array_memcpy(packet.gyroBias, gyroBias, sizeof(float)*3);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 24);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_OBS_BIAS;
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 24, 159);
-}
-
-/**
- * @brief Encode a obs_bias struct into a message
- *
- * @param system_id ID of this system
- * @param component_id ID of this component (e.g. 200 for IMU)
- * @param msg The MAVLink message to compress the data into
- * @param obs_bias C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_obs_bias_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_obs_bias_t* obs_bias)
-{
-	return mavlink_msg_obs_bias_pack(system_id, component_id, msg, obs_bias->accBias, obs_bias->gyroBias);
-}
-
-/**
- * @brief Send a obs_bias message
- * @param chan MAVLink channel to send the message
- *
- * @param accBias accelerometer bias
- * @param gyroBias gyroscope bias
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_obs_bias_send(mavlink_channel_t chan, const float *accBias, const float *gyroBias)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[24];
-
-	_mav_put_float_array(buf, 0, accBias, 3);
-	_mav_put_float_array(buf, 12, gyroBias, 3);
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_BIAS, buf, 24, 159);
-#else
-	mavlink_obs_bias_t packet;
-
-	mav_array_memcpy(packet.accBias, accBias, sizeof(float)*3);
-	mav_array_memcpy(packet.gyroBias, gyroBias, sizeof(float)*3);
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_BIAS, (const char *)&packet, 24, 159);
-#endif
-}
-
-#endif
-
-// MESSAGE OBS_BIAS UNPACKING
-
-
-/**
- * @brief Get field accBias from obs_bias message
- *
- * @return accelerometer bias
- */
-static inline uint16_t mavlink_msg_obs_bias_get_accBias(const mavlink_message_t* msg, float *accBias)
-{
-	return _MAV_RETURN_float_array(msg, accBias, 3,  0);
-}
-
-/**
- * @brief Get field gyroBias from obs_bias message
- *
- * @return gyroscope bias
- */
-static inline uint16_t mavlink_msg_obs_bias_get_gyroBias(const mavlink_message_t* msg, float *gyroBias)
-{
-	return _MAV_RETURN_float_array(msg, gyroBias, 3,  12);
-}
-
-/**
- * @brief Decode a obs_bias message into a struct
- *
- * @param msg The message to decode
- * @param obs_bias C-struct to decode the message contents into
- */
-static inline void mavlink_msg_obs_bias_decode(const mavlink_message_t* msg, mavlink_obs_bias_t* obs_bias)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	mavlink_msg_obs_bias_get_accBias(msg, obs_bias->accBias);
-	mavlink_msg_obs_bias_get_gyroBias(msg, obs_bias->gyroBias);
-#else
-	memcpy(obs_bias, _MAV_PAYLOAD(msg), 24);
-#endif
-}

thirdParty/mavlink/include/SenseSoar/mavlink_msg_obs_position.h

-// MESSAGE OBS_POSITION PACKING
-
-#define MAVLINK_MSG_ID_OBS_POSITION 170
-
-typedef struct __mavlink_obs_position_t
-{
- int32_t lon; ///< Longitude expressed in 1E7
- int32_t lat; ///< Latitude expressed in 1E7
- int32_t alt; ///< Altitude expressed in milimeters
-} mavlink_obs_position_t;
-
-#define MAVLINK_MSG_ID_OBS_POSITION_LEN 12
-#define MAVLINK_MSG_ID_170_LEN 12
-
-
-
-#define MAVLINK_MESSAGE_INFO_OBS_POSITION { \
-	"OBS_POSITION", \
-	3, \
-	{  { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_obs_position_t, lon) }, \
-         { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_obs_position_t, lat) }, \
-         { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_obs_position_t, alt) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a obs_position message
- * @param system_id ID of this system
- * @param component_id ID of this component (e.g. 200 for IMU)
- * @param msg The MAVLink message to compress the data into
- *
- * @param lon Longitude expressed in 1E7
- * @param lat Latitude expressed in 1E7
- * @param alt Altitude expressed in milimeters
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_obs_position_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       int32_t lon, int32_t lat, int32_t alt)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[12];
-	_mav_put_int32_t(buf, 0, lon);
-	_mav_put_int32_t(buf, 4, lat);
-	_mav_put_int32_t(buf, 8, alt);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12);
-#else
-	mavlink_obs_position_t packet;
-	packet.lon = lon;
-	packet.lat = lat;
-	packet.alt = alt;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_OBS_POSITION;
-	return mavlink_finalize_message(msg, system_id, component_id, 12, 15);
-}
-
-/**
- * @brief Pack a obs_position message on a channel
- * @param system_id ID of this system
- * @param component_id ID of this component (e.g. 200 for IMU)
- * @param chan The MAVLink channel this message was sent over
- * @param msg The MAVLink message to compress the data into
- * @param lon Longitude expressed in 1E7
- * @param lat Latitude expressed in 1E7
- * @param alt Altitude expressed in milimeters
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_obs_position_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           int32_t lon,int32_t lat,int32_t alt)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[12];
-	_mav_put_int32_t(buf, 0, lon);
-	_mav_put_int32_t(buf, 4, lat);
-	_mav_put_int32_t(buf, 8, alt);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12);
-#else
-	mavlink_obs_position_t packet;
-	packet.lon = lon;
-	packet.lat = lat;
-	packet.alt = alt;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_OBS_POSITION;
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 12, 15);
-}
-
-/**
- * @brief Encode a obs_position struct into a message
- *
- * @param system_id ID of this system
- * @param component_id ID of this component (e.g. 200 for IMU)
- * @param msg The MAVLink message to compress the data into
- * @param obs_position C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_obs_position_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_obs_position_t* obs_position)
-{
-	return mavlink_msg_obs_position_pack(system_id, component_id, msg, obs_position->lon, obs_position->lat, obs_position->alt);
-}
-
-/**
- * @brief Send a obs_position message
- * @param chan MAVLink channel to send the message
- *
- * @param lon Longitude expressed in 1E7
- * @param lat Latitude expressed in 1E7
- * @param alt Altitude expressed in milimeters
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_obs_position_send(mavlink_channel_t chan, int32_t lon, int32_t lat, int32_t alt)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[12];
-	_mav_put_int32_t(buf, 0, lon);
-	_mav_put_int32_t(buf, 4, lat);
-	_mav_put_int32_t(buf, 8, alt);
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_POSITION, buf, 12, 15);
-#else
-	mavlink_obs_position_t packet;
-	packet.lon = lon;
-	packet.lat = lat;
-	packet.alt = alt;
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_POSITION, (const char *)&packet, 12, 15);
-#endif
-}
-
-#endif
-
-// MESSAGE OBS_POSITION UNPACKING
-
-
-/**
- * @brief Get field lon from obs_position message
- *
- * @return Longitude expressed in 1E7
- */
-static inline int32_t mavlink_msg_obs_position_get_lon(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  0);
-}
-
-/**
- * @brief Get field lat from obs_position message
- *
- * @return Latitude expressed in 1E7
- */
-static inline int32_t mavlink_msg_obs_position_get_lat(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  4);
-}
-
-/**
- * @brief Get field alt from obs_position message
- *
- * @return Altitude expressed in milimeters
- */
-static inline int32_t mavlink_msg_obs_position_get_alt(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  8);
-}
-
-/**
- * @brief Decode a obs_position message into a struct
- *
- * @param msg The message to decode
- * @param obs_position C-struct to decode the message contents into
- */
-static inline void mavlink_msg_obs_position_decode(const mavlink_message_t* msg, mavlink_obs_position_t* obs_position)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	obs_position->lon = mavlink_msg_obs_position_get_lon(msg);
-	obs_position->lat = mavlink_msg_obs_position_get_lat(msg);
-	obs_position->alt = mavlink_msg_obs_position_get_alt(msg);
-#else
-	memcpy(obs_position, _MAV_PAYLOAD(msg), 12);
-#endif
-}

thirdParty/mavlink/include/SenseSoar/mavlink_msg_obs_qff.h

-// MESSAGE OBS_QFF PACKING
-
-#define MAVLINK_MSG_ID_OBS_QFF 182
-
-typedef struct __mavlink_obs_qff_t
-{
- float qff; ///< Wind
-} mavlink_obs_qff_t;
-
-#define MAVLINK_MSG_ID_OBS_QFF_LEN 4
-#define MAVLINK_MSG_ID_182_LEN 4
-
-
-
-#define MAVLINK_MESSAGE_INFO_OBS_QFF { \
-	"OBS_QFF", \
-	1, \
-	{  { "qff", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_obs_qff_t, qff) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a obs_qff message
- * @param system_id ID of this system
- * @param component_id ID of this component (e.g. 200 for IMU)
- * @param msg The MAVLink message to compress the data into
- *
- * @param qff Wind
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_obs_qff_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       float qff)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[4];
-	_mav_put_float(buf, 0, qff);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 4);
-#else
-	mavlink_obs_qff_t packet;
-	packet.qff = qff;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 4);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_OBS_QFF;
-	return mavlink_finalize_message(msg, system_id, component_id, 4, 24);
-}
-
-/**
- * @brief Pack a obs_qff message on a channel
- * @param system_id ID of this system
- * @param component_id ID of this component (e.g. 200 for IMU)
- * @param chan The MAVLink channel this message was sent over
- * @param msg The MAVLink message to compress the data into
- * @param qff Wind
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_obs_qff_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           float qff)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[4];
-	_mav_put_float(buf, 0, qff);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 4);
-#else
-	mavlink_obs_qff_t packet;
-	packet.qff = qff;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 4);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_OBS_QFF;
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 4, 24);
-}
-
-/**
- * @brief Encode a obs_qff struct into a message
- *
- * @param system_id ID of this system
- * @param component_id ID of this component (e.g. 200 for IMU)
- * @param msg The MAVLink message to compress the data into
- * @param obs_qff C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_obs_qff_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_obs_qff_t* obs_qff)
-{
-	return mavlink_msg_obs_qff_pack(system_id, component_id, msg, obs_qff->qff);
-}
-
-/**
- * @brief Send a obs_qff message
- * @param chan MAVLink channel to send the message
- *
- * @param qff Wind
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_obs_qff_send(mavlink_channel_t chan, float qff)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[4];
-	_mav_put_float(buf, 0, qff);
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_QFF, buf, 4, 24);
-#else
-	mavlink_obs_qff_t packet;
-	packet.qff = qff;
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_QFF, (const char *)&packet, 4, 24);
-#endif
-}
-
-#endif
-
-// MESSAGE OBS_QFF UNPACKING
-
-
-/**
- * @brief Get field qff from obs_qff message
- *
- * @return Wind
- */
-static inline float mavlink_msg_obs_qff_get_qff(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  0);
-}
-
-/**
- * @brief Decode a obs_qff message into a struct
- *
- * @param msg The message to decode
- * @param obs_qff C-struct to decode the message contents into
- */
-static inline void mavlink_msg_obs_qff_decode(const mavlink_message_t* msg, mavlink_obs_qff_t* obs_qff)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	obs_qff->qff = mavlink_msg_obs_qff_get_qff(msg);
-#else
-	memcpy(obs_qff, _MAV_PAYLOAD(msg), 4);
-#endif
-}

thirdParty/mavlink/include/SenseSoar/mavlink_msg_obs_velocity.h

-// MESSAGE OBS_VELOCITY PACKING
-
-#define MAVLINK_MSG_ID_OBS_VELOCITY 172
-
-typedef struct __mavlink_obs_velocity_t
-{
- float vel[3]; ///< Velocity
-} mavlink_obs_velocity_t;
-
-#define MAVLINK_MSG_ID_OBS_VELOCITY_LEN 12
-#define MAVLINK_MSG_ID_172_LEN 12
-
-#define MAVLINK_MSG_OBS_VELOCITY_FIELD_VEL_LEN 3
-
-#define MAVLINK_MESSAGE_INFO_OBS_VELOCITY { \
-	"OBS_VELOCITY", \
-	1, \
-	{  { "vel", NULL, MAVLINK_TYPE_FLOAT, 3, 0, offsetof(mavlink_obs_velocity_t, vel) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a obs_velocity message
- * @param system_id ID of this system
- * @param component_id ID of this component (e.g. 200 for IMU)
- * @param msg The MAVLink message to compress the data into
- *
- * @param vel Velocity
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_obs_velocity_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       const float *vel)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[12];
-
-	_mav_put_float_array(buf, 0, vel, 3);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12);
-#else
-	mavlink_obs_velocity_t packet;
-
-	mav_array_memcpy(packet.vel, vel, sizeof(float)*3);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_OBS_VELOCITY;
-	return mavlink_finalize_message(msg, system_id, component_id, 12, 108);
-}
-
-/**
- * @brief Pack a obs_velocity message on a channel
- * @param system_id ID of this system
- * @param component_id ID of this component (e.g. 200 for IMU)
- * @param chan The MAVLink channel this message was sent over
- * @param msg The MAVLink message to compress the data into
- * @param vel Velocity
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_obs_velocity_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           const float *vel)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[12];
-
-	_mav_put_float_array(buf, 0, vel, 3);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12);
-#else
-	mavlink_obs_velocity_t packet;
-
-	mav_array_memcpy(packet.vel, vel, sizeof(float)*3);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_OBS_VELOCITY;
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 12, 108);
-}
-
-/**
- * @brief Encode a obs_velocity struct into a message
- *
- * @param system_id ID of this system
- * @param component_id ID of this component (e.g. 200 for IMU)
- * @param msg The MAVLink message to compress the data into
- * @param obs_velocity C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_obs_velocity_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_obs_velocity_t* obs_velocity)
-{
-	return mavlink_msg_obs_velocity_pack(system_id, component_id, msg, obs_velocity->vel);
-}
-
-/**
- * @brief Send a obs_velocity message
- * @param chan MAVLink channel to send the message
- *
- * @param vel Velocity
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_obs_velocity_send(mavlink_channel_t chan, const float *vel)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[12];
-
-	_mav_put_float_array(buf, 0, vel, 3);
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_VELOCITY, buf, 12, 108);
-#else
-	mavlink_obs_velocity_t packet;
-
-	mav_array_memcpy(packet.vel, vel, sizeof(float)*3);
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_VELOCITY, (const char *)&packet, 12, 108);
-#endif
-}
-
-#endif
-
-// MESSAGE OBS_VELOCITY UNPACKING
-
-
-/**
- * @brief Get field vel from obs_velocity message
- *
- * @return Velocity
- */
-static inline uint16_t mavlink_msg_obs_velocity_get_vel(const mavlink_message_t* msg, float *vel)
-{
-	return _MAV_RETURN_float_array(msg, vel, 3,  0);
-}
-
-/**
- * @brief Decode a obs_velocity message into a struct
- *
- * @param msg The message to decode
- * @param obs_velocity C-struct to decode the message contents into
- */
-static inline void mavlink_msg_obs_velocity_decode(const mavlink_message_t* msg, mavlink_obs_velocity_t* obs_velocity)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	mavlink_msg_obs_velocity_get_vel(msg, obs_velocity->vel);
-#else
-	memcpy(obs_velocity, _MAV_PAYLOAD(msg), 12);
-#endif
-}

thirdParty/mavlink/include/SenseSoar/mavlink_msg_obs_wind.h

-// MESSAGE OBS_WIND PACKING
-
-#define MAVLINK_MSG_ID_OBS_WIND 176
-
-typedef struct __mavlink_obs_wind_t
-{
- float wind[3]; ///< Wind
-} mavlink_obs_wind_t;
-
-#define MAVLINK_MSG_ID_OBS_WIND_LEN 12
-#define MAVLINK_MSG_ID_176_LEN 12
-
-#define MAVLINK_MSG_OBS_WIND_FIELD_WIND_LEN 3
-
-#define MAVLINK_MESSAGE_INFO_OBS_WIND { \
-	"OBS_WIND", \
-	1, \
-	{  { "wind", NULL, MAVLINK_TYPE_FLOAT, 3, 0, offsetof(mavlink_obs_wind_t, wind) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a obs_wind message
- * @param system_id ID of this system
- * @param component_id ID of this component (e.g. 200 for IMU)
- * @param msg The MAVLink message to compress the data into
- *
- * @param wind Wind
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_obs_wind_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       const float *wind)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[12];
-
-	_mav_put_float_array(buf, 0, wind, 3);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12);
-#else
-	mavlink_obs_wind_t packet;
-
-	mav_array_memcpy(packet.wind, wind, sizeof(float)*3);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_OBS_WIND;
-	return mavlink_finalize_message(msg, system_id, component_id, 12, 16);
-}
-
-/**
- * @brief Pack a obs_wind message on a channel
- * @param system_id ID of this system
- * @param component_id ID of this component (e.g. 200 for IMU)
- * @param chan The MAVLink channel this message was sent over
- * @param msg The MAVLink message to compress the data into
- * @param wind Wind
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_obs_wind_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           const float *wind)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[12];
-
-	_mav_put_float_array(buf, 0, wind, 3);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12);
-#else
-	mavlink_obs_wind_t packet;
-
-	mav_array_memcpy(packet.wind, wind, sizeof(float)*3);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_OBS_WIND;
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 12, 16);
-}
-
-/**
- * @brief Encode a obs_wind struct into a message
- *
- * @param system_id ID of this system
- * @param component_id ID of this component (e.g. 200 for IMU)
- * @param msg The MAVLink message to compress the data into
- * @param obs_wind C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_obs_wind_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_obs_wind_t* obs_wind)
-{
-	return mavlink_msg_obs_wind_pack(system_id, component_id, msg, obs_wind->wind);
-}
-
-/**
- * @brief Send a obs_wind message
- * @param chan MAVLink channel to send the message
- *
- * @param wind Wind
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_obs_wind_send(mavlink_channel_t chan, const float *wind)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[12];
-
-	_mav_put_float_array(buf, 0, wind, 3);
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_WIND, buf, 12, 16);
-#else
-	mavlink_obs_wind_t packet;
-
-	mav_array_memcpy(packet.wind, wind, sizeof(float)*3);
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_WIND, (const char *)&packet, 12, 16);
-#endif
-}
-
-#endif
-
-// MESSAGE OBS_WIND UNPACKING
-
-
-/**
- * @brief Get field wind from obs_wind message
- *
- * @return Wind
- */
-static inline uint16_t mavlink_msg_obs_wind_get_wind(const mavlink_message_t* msg, float *wind)
-{
-	return _MAV_RETURN_float_array(msg, wind, 3,  0);
-}
-
-/**
- * @brief Decode a obs_wind message into a struct
- *
- * @param msg The message to decode
- * @param obs_wind C-struct to decode the message contents into
- */
-static inline void mavlink_msg_obs_wind_decode(const mavlink_message_t* msg, mavlink_obs_wind_t* obs_wind)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	mavlink_msg_obs_wind_get_wind(msg, obs_wind->wind);
-#else
-	memcpy(obs_wind, _MAV_PAYLOAD(msg), 12);
-#endif
-}

thirdParty/mavlink/include/ardupilotmega/ardupilotmega_testsuite.h

-/** @file
- *	@brief MAVLink comm protocol testsuite generated from ardupilotmega.xml
- *	@see http://qgroundcontrol.org/mavlink/
- *	Generated on Wed Aug 24 17:14:16 2011
- */
-#ifndef ARDUPILOTMEGA_TESTSUITE_H
-#define ARDUPILOTMEGA_TESTSUITE_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-static void mavtest_generate_outputs(mavlink_channel_t chan)
-{
-	mavlink_msg_sensor_offsets_send(chan , 19107 , 19211 , 19315 , 17.0 , 963497672 , 963497880 , 101.0 , 129.0 , 157.0 , 185.0 , 213.0 , 241.0 );
-	mavlink_msg_set_mag_offsets_send(chan , 151 , 218 , 17235 , 17339 , 17443 );
-}
-
-#ifdef __cplusplus
-}
-#endif // __cplusplus
-#endif // ARDUPILOTMEGA_TESTSUITE_H

thirdParty/mavlink/include/mavlink_protobuf_manager.hpp

@@ -54,6 +54,12 @@ public:
 			registerType(msg);
 		}
 
+		// register Path
+		{
+			std::tr1::shared_ptr<px::Path> msg(new px::Path);
+                        registerType(msg);
+		}
+
 		srand(time(NULL));
 		mStreamID = rand() + 1;
 	}
@@ -156,7 +162,7 @@ public:
 		if (typecode >= mTypeMap.size())
 		{
 			std::cout << "# WARNING: Protobuf message with type code "
-					  << typecode << " is not registered." << std::endl;
+					  << static_cast<int>(typecode) << " is not registered." << std::endl;
 			return false;
 		}
 

thirdParty/mavlink/message_definitions/SenseSoar.xml

-<?xml version='1.0'?>
-<mavlink>
-     <include>common.xml</include>
-     <enums>
-          <enum name="SENSESOAR_MODE">
-               <description> Different flight modes </description>
-               <entry name="SENSESOAR_MODE_GLIDING">  Gliding mode with motors off</entry>
-               <entry name="SENSESOAR_MODE_AUTONOMOUS"> Autonomous flight</entry>
-               <entry name="SENSESOAR_MODE_MANUAL"> RC controlled</entry>
-          </enum>
-     </enums>
-     <messages>
-          <message id="170" name="OBS_POSITION">
-     Position estimate of the observer in global frame
-     <field type="int32_t" name="lon">Longitude expressed in 1E7</field>
-               <field type="int32_t" name="lat">Latitude expressed in 1E7</field>
-               <field type="int32_t" name="alt">Altitude expressed in milimeters</field>
-          </message>
-          <message id="172" name="OBS_VELOCITY">
-     velocity estimate of the observer in NED inertial frame
-     <field type="float[3]" name="vel">Velocity</field>
-          </message>
-          <message id="174" name="OBS_ATTITUDE">
-     attitude estimate of the observer
-     <field type="double[4]" name="quat">Quaternion re;im</field>
-          </message>
-          <message id="176" name="OBS_WIND">
-     Wind estimate in NED inertial frame
-     <field type="float[3]" name="wind">Wind</field>
-          </message>
-          <message id="178" name="OBS_AIR_VELOCITY">
-     Estimate of the air velocity
-     <field type="float" name="magnitude">Air speed</field>
-               <field type="float" name="aoa">angle of attack</field>
-               <field type="float" name="slip">slip angle</field>
-          </message>
-          <message id="180" name="OBS_BIAS">
-     IMU biases
-     <field type="float[3]" name="accBias">accelerometer bias</field>
-               <field type="float[3]" name="gyroBias">gyroscope bias</field>
-          </message>
-          <message id="182" name="OBS_QFF">
-     estimate of the pressure at sea level
-     <field type="float" name="qff">Wind</field>
-          </message>
-          <message id="183" name="OBS_AIR_TEMP">
-     ambient air temperature
-     <field type="float" name="airT">Air Temperatur</field>
-          </message>
-          <message id="184" name="FILT_ROT_VEL">
-     filtered rotational velocity
-     <field type="float[3]" name="rotVel">rotational velocity</field>
-          </message>
-          <message id="186" name="LLC_OUT">
-     low level control output
-     <field type="int16_t[4]" name="servoOut">Servo signal</field>
-               <field type="int16_t[2]" name="MotorOut">motor signal</field>
-          </message>
-          <message id="188" name="PM_ELEC">
-     Power managment
-     <field type="float" name="PwCons">current power consumption</field>
-               <field type="float" name="BatStat">battery status</field>
-               <field type="float[3]" name="PwGen">Power generation from each module</field>
-          </message>
-          <message id="190" name="SYS_Stat">
-     system status
-     <field type="uint8_t" name="gps">gps status</field>
-               <field type="uint8_t" name="act">actuator status</field>
-               <field type="uint8_t" name="mod">module status</field>
-               <field type="uint8_t" name="commRssi">module status</field>
-          </message>
-          <message id="192" name="CMD_AIRSPEED_CHNG">
-     change commanded air speed
-     <field type="uint8_t" name="target">Target ID</field>
-               <field type="float" name="spCmd">commanded airspeed</field>
-          </message>
-          <message id="194" name="CMD_AIRSPEED_ACK">
-     accept change of airspeed
-     <field type="float" name="spCmd">commanded airspeed</field>
-               <field type="uint8_t" name="ack">0:ack, 1:nack</field>
-          </message>
-     </messages>
-</mavlink>

thirdParty/mavlink/message_definitions/common.xml

@@ -1459,10 +1459,10 @@
                <description>Optical flow from a flow sensor (e.g. optical mouse sensor)</description>
                <field type="uint64_t" name="time_usec">Timestamp (UNIX)</field>
                <field type="uint8_t" name="sensor_id">Sensor ID</field>
-               <field type="int16_t" name="flow_x">Flow in pixels in x-sensor direction</field>
-               <field type="int16_t" name="flow_y">Flow in pixels in y-sensor direction</field>
+               <field type="float" name="flow_x">Flow in x-sensor direction</field>
+               <field type="float" name="flow_y">Flow in y-sensor direction</field>
                <field type="uint8_t" name="quality">Optical flow quality / confidence. 0: bad, 255: maximum quality</field>
-               <field type="float" name="ground_distance">Ground distance in meters</field>
+               <field type="float" name="ground_distance">Ground distance in meters (-1 for unknown, flow is then in pixel / arbitrary scale)</field>
           </message>
           <message id="101" name="GLOBAL_VISION_POSITION_ESTIMATE">
                <field type="uint64_t" name="usec">Timestamp (milliseconds)</field>