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qgroundcontrol
Commit 52b20293 authored by lm's avatar lm
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parents 809ac94f f0f05794
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.gitignore
View file @ 52b20293
......@@ -44,4 +44,7 @@ user_config.pri
*.cproject
*.sln
*.suo
*thirdParty*
thirdParty/qserialport-build-desktop/
thirdParty/qserialport/bin/
thirdParty/qserialport/lib/
.gitmodules deleted 100644 → 0
View file @ 809ac94f
[submodule "thirdParty/mavlink"]
path = thirdParty/mavlink
url = https://github.com/pixhawk/mavlink.git
[submodule "thirdParty/qserial"]
path = thirdParty/qserial
url = git://gitorious.org/inbiza-labs/qserialport.git
CMakeLists.txt
View file @ 52b20293
......@@ -3,7 +3,7 @@ cmake_minimum_required (VERSION 2.6)
project (qgroundcontrol)
# marcos
macro(find_or_build_from_source PACKAGE PACKAGE_PATH IS_GIT_SUBMODULE)
macro(find_or_build_from_source PACKAGE PACKAGE_PATH)
add_custom_target(${PACKAGE})
if (NOT ${PACKAGE}_BUILD_FROM_SOURCE)
find_package(${PACKAGE})
......@@ -14,11 +14,6 @@ macro(find_or_build_from_source PACKAGE PACKAGE_PATH IS_GIT_SUBMODULE)
add_custom_target(${PACKAGE}_BUILD DEPENDS ${PACKAGE}_BUILD.stamp)
add_dependencies(${PACKAGE} ${PACKAGE}_BUILD)
set(${PACKAGE}_FOUND TRUE)
if (${IS_GIT_SUBMODULE})
message(STATUS "${PACKAGE} detected as git submodule, will attempt to initialize it")
list(APPEND GIT_SUBMODULES ${PACKAGE_PATH})
add_dependencies(${PACKAGE}_BUILD GIT)
endif()
endif()
endmacro(find_or_build_from_source)
......@@ -103,18 +98,6 @@ include(CPack)
# add make dist target
add_custom_target(dist COMMAND ${CMAKE_MAKE_PROGRAM} package_source)
# git submodules
if(IS_DIRECTORY ${PROJECT_SOURCE_DIR}/.git)
message(STATUS "git repository detected, will attempt to load submodules")
set(FOUND_GIT_REPO TRUE)
add_custom_command(OUTPUT GIT.stamp
COMMAND cd ${PROJECT_SOURCE_DIR} && git submodule init ${GIT_SUBMODULES}
COMMAND cd ${PROJECT_SOURCE_DIR} && git submodule update ${GIT_SUBMODULES})
add_custom_target(GIT DEPENDS GIT.stamp)
else()
set(FOUND_GIT_REPO FALSE)
endif()
# find libraries with cmake modules
find_package(Qt4 COMPONENTS QtGui QtCore QtNetwork QtOpenGL QtSVG QtXML QtPhonon QtWebKit REQUIRED)
set(PHONON_FIND_QUIETLY FALSE)
......@@ -131,8 +114,8 @@ else()
set(OPENSCENEGRAPH_FOUND TRUE)
endif()
find_or_build_from_source(MAVLINK thirdParty/mavlink FOUND_GIT_REPO)
find_or_build_from_source(QSERIAL thirdParty/qserial FOUND_GIT_REPO)
find_or_build_from_source(MAVLINK thirdParty/mavlink)
find_or_build_from_source(QSERIALPORT thirdParty/qserialport)
# build libraries from source if not found on system
if(MAVLINK_BUILD_FROM_SOURCE)
......@@ -149,15 +132,67 @@ if(MAVLINK_BUILD_FROM_SOURCE)
COMMAND touch MAVLINK_BUILD.stamp)
endif()
if(QSERIAL_BUILD_FROM_SOURCE)
set(QSERIAL_INCLUDE_DIRS
${PROJECT_SOURCE_DIR}/thirdParty/qserial/include
${PROJECT_SOURCE_DIR}/thirdParty/qserial/include/QtSerialPort
${PROJECT_SOURCE_DIR}/thirdParty/qserial/src
if(QSERIALPORT_BUILD_FROM_SOURCE)
# qserialport headers without Q_OBJECT
# r !grep -RL Q_OBJECT thirdParty/qserialport/include
set (qserialportHdrs
thirdParty/qserialport/include/QtSerialPort/qserialport_export.h
thirdParty/qserialport/include/QtSerialPort/qserialport
thirdParty/qserialport/include/QtSerialPort/qportsettings.h
)
# qserialport headers with Q_OBJECT
# r !grep -Rl Q_OBJECT thirdParty/qserialport
set (qserialportMocSrc
thirdParty/qserialport/include/QtSerialPort/qserialport.h
thirdParty/qserialport/include/QtSerialPort/qserialportnative.h
)
# qserialport src
set (qserialportSrc
thirdParty/qserialport/src/common/qserialport.cpp
thirdParty/qserialport/src/common/qportsettings.cpp
)
# qserialport native code
if (WIN32)
list(APPEND qserialportHdrs
thirdParty/qserialport/src/win32/commdcbhelper.h
)
list(APPEND qserialportMocSrc
thirdParty/qserialport/src/win32/qwincommevtnotifier.h
thirdParty/qserialport/src/win32/wincommevtbreaker.h
)
set(QSERIAL_LIBRARIES qserial)
add_custom_command(OUTPUT QSERIAL_BUILD.stamp
COMMAND touch QSERIAL_BUILD.stamp)
list(APPEND qserialportSrc
thirdParty/qserialport/src/win32/qserialportnative_win32.cpp
thirdParty/qserialport/src/win32/commdcbhelper.cpp
thirdParty/qserialport/src/win32/qwincommevtnotifier.cpp
#thirdParty/qserialport/src/win32/qserialportnative_wince.cpp
#thirdParty/qserialport/src/win32/wincommevtbreaker.cpp
)
elseif(UNIX OR APPLE)
list(APPEND qserialportHdrs
thirdParty/qserialport/src/posix/termioshelper.h
)
list(APPEND qserialportSrc
thirdParty/qserialport/src/posix/termioshelper.cpp
thirdParty/qserialport/src/posix/qserialportnative_posix.cpp
)
else()
message(FATAL_ERROR "unknown OS")
endif()
# qserialport linking
qt4_wrap_cpp(qserialportMoc ${qserialportMocSrc})
add_library(qserialport ${qserialportMoc} ${qserialportSrc})
target_link_libraries(qserialport ${QT_LIBRARIES})
set(QSERIALPORT_INCLUDE_DIRS
${PROJECT_SOURCE_DIR}/thirdParty/qserialport/include
${PROJECT_SOURCE_DIR}/thirdParty/qserialport/include/QtSerialPort
${PROJECT_SOURCE_DIR}/thirdParty/qserialport/src
)
set(QSERIALPORT_LIBRARIES qserialport)
add_custom_command(OUTPUT qserialport_BUILD.stamp
COMMAND touch qserialport_BUILD.stamp)
endif()
# data directory
......@@ -214,10 +249,10 @@ if (MAVLINK_FOUND)
list(APPEND qgroundcontrolIncludes ${MAVLINK_INCLUDE_DIRS})
endif()
message(STATUS "\t\tQSERIAL\t\t${QSERIAL_FOUND}")
if (QSERIAL_FOUND)
list(APPEND qgroundcontrolIncludes ${QSERIAL_INCLUDE_DIRS})
list(APPEND qgroundcontrolLibs ${QSERIAL_LIBRARIES})
message(STATUS "\t\tqserialport\t${QSERIALPORT_FOUND}")
if (QSERIALPORT_FOUND)
list(APPEND qgroundcontrolIncludes ${QSERIALPORT_INCLUDE_DIRS})
list(APPEND qgroundcontrolLibs ${QSERIALPORT_LIBRARIES})
endif()
message(STATUS "\t\tOpenSceneGraph\t${OPENSCENEGRAPH_FOUND}")
......@@ -785,61 +820,6 @@ qt4_wrap_cpp(qextserialportMoc ${qextserialportMocSrc})
add_library(qextserialport ${qextserialportMoc} ${qextserialportSrc})
target_link_libraries(qextserialport ${QT_LIBRARIES})
# qserial library
#----------------------------------------------------------------------------
# qserial headers without Q_OBJECT
# r !grep -RL Q_OBJECT thirdParty/qserial/include
set (qserialHdrs
thirdParty/qserial/include/QtSerialPort/qserialport_export.h
thirdParty/qserial/include/QtSerialPort/QSerialPort
thirdParty/qserial/include/QtSerialPort/qportsettings.h
)
# qserial headers with Q_OBJECT
# r !grep -Rl Q_OBJECT thirdParty/qserial
set (qserialMocSrc
thirdParty/qserial/include/QtSerialPort/qserialport.h
thirdParty/qserial/include/QtSerialPort/qserialportnative.h
)
# qserial src
set (qserialSrc
thirdParty/qserial/src/common/qserialport.cpp
thirdParty/qserial/src/common/qportsettings.cpp
)
# qserial native code
if (WIN32)
list(APPEND qserialHdrs
thirdParty/qserial/src/win32/commdcbhelper.h
)
list(APPEND qserialMocSrc
thirdParty/qserial/src/win32/qwincommevtnotifier.h
thirdParty/qserial/src/win32/wincommevtbreaker.h
)
list(APPEND qserialSrc
thirdParty/qserial/src/win32/qserialportnative_win32.cpp
thirdParty/qserial/src/win32/commdcbhelper.cpp
thirdParty/qserial/src/win32/qwincommevtnotifier.cpp
#thirdParty/qserial/src/win32/qserialportnative_wince.cpp
#thirdParty/qserial/src/win32/wincommevtbreaker.cpp
)
elseif(UNIX OR APPLE)
list(APPEND qserialHdrs
thirdParty/qserial/src/posix/termioshelper.h
)
list(APPEND qserialSrc
thirdParty/qserial/src/posix/termioshelper.cpp
thirdParty/qserial/src/posix/qserialportnative_posix.cpp
)
else()
message(FATAL_ERROR "unknown OS")
endif()
# qserial linking
qt4_wrap_cpp(qserialMoc ${qserialMocSrc})
add_library(qserial ${qserialMoc} ${qserialSrc})
target_link_libraries(qserial ${QT_LIBRARIES})
# qmapcontrol library
#----------------------------------------------------------------------------
......
CMakeModules/FindQSERIAL.cmake → CMakeModules/FindQSERIALPORT.cmake
View file @ 52b20293
# - Try to find QSERIAL
# - Try to find QSERIALPORT
# Once done, this will define
#
# QSERIAL_FOUND - system has scicoslab
# QSERIAL_INCLUDE_DIRS - the scicoslab include directories
# QSERIAL_LIBRARIES - libraries to link to
# QSERIALPORT_FOUND - system has scicoslab
# QSERIALPORT_INCLUDE_DIRS - the scicoslab include directories
# QSERIALPORT_LIBRARIES - libraries to link to
include(LibFindMacros)
# Include dir
find_path(QSERIAL_INCLUDE_DIR
find_path(QSERIALPORT_INCLUDE_DIR
NAMES QSerialPort
PATHS
/usr/include/QtSerialPort
......@@ -17,7 +17,7 @@ find_path(QSERIAL_INCLUDE_DIR
)
# Finally the library itself
find_library(QSERIAL_LIBRARY
find_library(QSERIALPORT_LIBRARY
NAMES
QtSerialPort
PATHS
......@@ -28,6 +28,6 @@ find_library(QSERIAL_LIBRARY
# Set the include dir variables and the libraries and let libfind_process do the rest.
# NOTE: Singular variables for this library, plural for libraries this this lib depends on.
set(QSERIAL_PROCESS_INCLUDES QSERIAL_INCLUDE_DIR)
set(QSERIAL_PROCESS_LIBS QSERIAL_LIBRARY QSERIAL_LIBRARIES)
libfind_process(QSERIAL)
set(QSERIALPORT_PROCESS_INCLUDES QSERIALPORT_INCLUDE_DIR)
set(QSERIALPORT_PROCESS_LIBS QSERIALPORT_LIBRARY QSERIALPORT_LIBRARIES)
libfind_process(QSERIALPORT)
autobuild.sh
View file @ 52b20293
......@@ -18,12 +18,12 @@ do
if [ $OPT = "in_source_build" ] &> /dev/null
then
echo you chose in source build
mkdir -p build && cd build && cmake -DIN_SRC_BUILD:bool=TRUE .. && make $MAKEARGS
git submodule init && git submodule update && mkdir -p build && cd build && cmake -DIN_SRC_BUILD:bool=TRUE .. && make $MAKEARGS
exit 0
elif [ $OPT = "install_build" ] &> /dev/null
then
echo you chose install build
mkdir -p build && cd build && cmake .. && make $MAKEARGS
git submodule init && git submodule update mkdir -p build && cd build && cmake .. && make $MAKEARGS
exit 0
elif [ $OPT = "grab_debian_dependencies" ] &> /dev/null
then
......@@ -40,13 +40,13 @@ do
elif [ $OPT = "package_source" ] &> /dev/null
then
echo you chose to package the source
mkdir -p build && cd build && cmake .. && make package_source
git submodule init && git submodule update && mkdir -p build && cd build && cmake .. && make package_source
exit 0
elif [ $OPT = "package" ] &> /dev/null
then
echo you chose to package the binary
mkdir -p build && cd build && cmake .. && make package
git submodule init && git submodule update && mkdir -p build && cd build && cmake .. && make package
exit 0
elif [ $OPT = "clean" ] &> /dev/null
......
qgroundcontrol.pro
View file @ 52b20293
......@@ -59,36 +59,47 @@ exists(user_config.pri) {
}
INCLUDEPATH += $$BASEDIR/../mavlink/include/common
INCLUDEPATH += $$BASEDIR/../mavlink/include
INCLUDEPATH += $$BASEDIR/thirdParty/mavlink/include/common
INCLUDEPATH += $$BASEDIR/thirdParty/mavlink/include
contains(MAVLINK_CONF, pixhawk) {
# Remove the default set - it is included anyway
INCLUDEPATH -= $$BASEDIR/../mavlink/include/common
INCLUDEPATH -= $$BASEDIR/thirdParty/mavlink/include/common
# PIXHAWK SPECIAL MESSAGES
INCLUDEPATH += $$BASEDIR/../mavlink/include/pixhawk
INCLUDEPATH += $$BASEDIR/thirdParty/mavlink/include/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
# SLUGS SPECIAL MESSAGES
INCLUDEPATH += $$BASEDIR/../mavlink/include/slugs
INCLUDEPATH += $$BASEDIR/thirdParty/mavlink/include/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
# UALBERTA SPECIAL MESSAGES
INCLUDEPATH += $$BASEDIR/../mavlink/include/ualberta
INCLUDEPATH += $$BASEDIR/thirdParty/mavlink/include/ualberta
DEFINES += QGC_USE_UALBERTA_MESSAGES
}
contains(MAVLINK_CONF, ardupilotmega) {
# Remove the default set - it is included anyway
INCLUDEPATH -= $$BASEDIR/../mavlink/include/common
INCLUDEPATH -= $$BASEDIR/thirdParty/mavlink/include/common
# UALBERTA SPECIAL MESSAGES
INCLUDEPATH += $$BASEDIR/../mavlink/include/ardupilotmega
INCLUDEPATH += $$BASEDIR/thirdParty/mavlink/include/ardupilotmega
DEFINES += QGC_USE_ARDUPILOTMEGA_MESSAGES
}
......@@ -98,13 +109,6 @@ contains(MAVLINK_CONF, ardupilotmega) {
# done by the plugins above
include(qgroundcontrol.pri)
# QWT plot and QExtSerial depend on paths set by qgroundcontrol.pri
# Include serial port library
include(src/lib/qextserialport/qextserialport.pri)
# include qserial library
include(thirdParty/qserial/qserialport.prf)
# Include QWT plotting library
include(src/lib/qwt/qwt.pri)
DEPENDPATH += . \
......@@ -112,11 +116,22 @@ DEPENDPATH += . \
# lib/QMapControl/src \
lib/opmapcontrol \
lib/opmapcontrol/src \
plugins
plugins \
thirdParty/qserialport/include \
thirdParty/qserialport/include/QtSerialPort \
thirdParty/qserialport
INCLUDEPATH += . \
# lib/QMapControl \
lib/opmapcontrol \
$$BASEDIR/../mavlink/include
thirdParty/qserialport/include \
thirdParty/qserialport/include/QtSerialPort \
thirdParty/qserialport/src
# Include serial port library
include(src/lib/qextserialport/qextserialport.pri)
# include qserial library
include(thirdParty/qserialport/qgroundcontrol-qserialport.pri)
# ../mavlink/include \
# MAVLink/include \
......
src/comm/MAVLinkProtocol.cc
View file @ 52b20293
......@@ -390,14 +390,14 @@ void MAVLinkProtocol::sendHeartbeat()
mavlink_msg_heartbeat_pack(getSystemId(), getComponentId(),&beat, OCU, MAV_AUTOPILOT_GENERIC);
sendMessage(beat);
}
if (m_authEnabled) {
mavlink_message_t msg;
mavlink_auth_key_t auth;
if (m_authKey.length() != MAVLINK_MSG_AUTH_KEY_FIELD_KEY_LEN) m_authKey.resize(MAVLINK_MSG_AUTH_KEY_FIELD_KEY_LEN);
strcpy(auth.key, m_authKey.toStdString().c_str());
mavlink_msg_auth_key_encode(getSystemId(), getComponentId(), &msg, &auth);
sendMessage(msg);
}
//if (m_authEnabled) {
//mavlink_message_t msg;
//mavlink_auth_key_t auth;
//if (m_authKey.length() != MAVLINK_MSG_AUTH_KEY_FIELD_KEY_LEN) m_authKey.resize(MAVLINK_MSG_AUTH_KEY_FIELD_KEY_LEN);
//strcpy(auth.key, m_authKey.toStdString().c_str());
//mavlink_msg_auth_key_encode(getSystemId(), getComponentId(), &msg, &auth);
//sendMessage(msg);
//}
}
/** @param enabled true to enable heartbeats emission at heartbeatRate, false to disable */
......
src/comm/SerialInterface.h
View file @ 52b20293
......@@ -49,7 +49,8 @@ signals:
public:
enum baudRateType {
enum baudRateType
{
BAUD50, //POSIX ONLY
BAUD75, //POSIX ONLY
BAUD110,
......@@ -77,14 +78,16 @@ public:
BAUD921600 // WINDOWS ONLY
};
enum dataBitsType {
enum dataBitsType
{
DATA_5,
DATA_6,
DATA_7,
DATA_8
};
enum parityType {
enum parityType
{
PAR_NONE,
PAR_ODD,
PAR_EVEN,
......@@ -92,13 +95,15 @@ public:
PAR_SPACE
};
enum stopBitsType {
enum stopBitsType
{
STOP_1,
STOP_1_5, //WINDOWS ONLY
STOP_2
};
enum flowType {
enum flowType
{
FLOW_OFF,
FLOW_HARDWARE,
FLOW_XONXOFF
......@@ -107,7 +112,8 @@ public:
/**
* structure to contain port settings
*/
struct portSettings {
struct portSettings
{
baudRateType BaudRate;
dataBitsType DataBits;
parityType Parity;
......@@ -186,10 +192,11 @@ public:
}
virtual void setTimeout(qint64 timeout) {
_port->setTimeout(timeout);
};
}
virtual void setFlow(SerialInterface::flowType flow) {
// TODO implement
};
_port->setFlowControl((FlowType)flow);
}
};
using namespace TNX;
......@@ -262,11 +269,11 @@ public:
virtual void setTimeout(qint64 timeout) {
// TODO implement
//_port->setTimeout(timeout);
};
}
virtual void setFlow(SerialInterface::flowType flow) {
// TODO map
settings.setFlowControl(QPortSettings::FLOW_OFF);
};
}
};
#endif // SERIALINTERFACE_H
......
src/comm/SerialLink.cc
View file @ 52b20293
......@@ -48,32 +48,14 @@ SerialLink::SerialLink(QString portname, SerialInterface::baudRateType baudrate,
this->timeout = 1; ///< The timeout controls how long the program flow should wait for new serial bytes. As we're polling, we don't want to wait at all.
// Set the port name
if (porthandle == "") {
// name = tr("serial link ") + QString::number(getId()) + tr(" (unconfigured)");
if (porthandle == "")
{
name = tr("Serial Link ") + QString::number(getId());
} else {
name = portname.trimmed();
}
#ifdef _WIN3232
// Windows 32bit & 64bit serial connection
winPort = CreateFile(porthandle,
GENERIC_READ | GENERIC_WRITE,
0,
0,
OPEN_EXISTING,
FILE_ATTRIBUTE_NORMAL,
0);
if(winPort==INVALID_HANDLE_VALUE) {
if(GetLastError()==ERROR_FILE_NOT_FOUND) {
//serial port does not exist. Inform user.
}
//some other error occurred. Inform user.
else
{
name = portname.trimmed();
}
#else
#endif
loadSettings();
}
......
src/uas/UAS.cc
View file @ 52b20293
......@@ -690,15 +690,15 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
}
break;
case MAVLINK_MSG_ID_SCALED_PRESSURE: {
mavlink_scaled_pressure_t pressure;
mavlink_msg_scaled_pressure_decode(&message, &pressure);
quint64 time = this->getUnixTime(pressure.usec);
emit valueChanged(uasId, "abs pressure", "hPa", pressure.press_abs, time);
emit valueChanged(uasId, "diff pressure", "hPa", pressure.press_diff, time);
emit valueChanged(uasId, "temperature", "C", pressure.temperature/100.0, time);
}
break;
//case MAVLINK_MSG_ID_SCALED_PRESSURE: {
//mavlink_scaled_pressure_t pressure;
//mavlink_msg_scaled_pressure_decode(&message, &pressure);
//quint64 time = this->getUnixTime(pressure.usec);
//emit valueChanged(uasId, "abs pressure", "hPa", pressure.press_abs, time);
//emit valueChanged(uasId, "diff pressure", "hPa", pressure.press_diff, time);
//emit valueChanged(uasId, "temperature", "C", pressure.temperature/100.0, time);
//}
//break;
case MAVLINK_MSG_ID_RC_CHANNELS_RAW: {
mavlink_rc_channels_raw_t channels;
......@@ -1304,10 +1304,10 @@ void UAS::getStatusForCode(int statusCode, QString& uasState, QString& stateDesc
uasState = tr("EMERGENCY");
stateDescription = tr("EMERGENCY: Land Immediately!");
break;
case MAV_STATE_HILSIM:
uasState = tr("HIL SIM");
stateDescription = tr("HIL Simulation, Sensors read from SIM");
break;
//case MAV_STATE_HILSIM:
//uasState = tr("HIL SIM");
//stateDescription = tr("HIL Simulation, Sensors read from SIM");
//break;
case MAV_STATE_POWEROFF:
uasState = tr("SHUTDOWN");
......@@ -1975,24 +1975,24 @@ bool UAS::emergencyKILL()
void UAS::startHil()
{
mavlink_message_t msg;
// TODO Replace MG System ID with static function call and allow to change ID in GUI
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU,(int)MAV_ACTION_START_HILSIM);
// Send message twice to increase chance of reception
sendMessage(msg);
sendMessage(msg);
//mavlink_message_t msg;
//// TODO Replace MG System ID with static function call and allow to change ID in GUI
//mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU,(int)MAV_ACTION_START_HILSIM);
//// Send message twice to increase chance of reception
//sendMessage(msg);
//sendMessage(msg);
}
void UAS::stopHil()
{
mavlink_message_t msg;
// TODO Replace MG System ID with static function call and allow to change ID in GUI
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU,(int)MAV_ACTION_STOP_HILSIM);
// Send message twice to increase chance of reception
sendMessage(msg);
sendMessage(msg);
//mavlink_message_t msg;
//// TODO Replace MG System ID with static function call and allow to change ID in GUI
//mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU,(int)MAV_ACTION_STOP_HILSIM);
//// Send message twice to increase chance of reception
//sendMessage(msg);
//sendMessage(msg);
}
......
thirdParty/fetchUpstream.sh 0 → 100755
View file @ 52b20293
#!/bin/bash
PS3='Please enter your choice: '
LIST="all mavlink qserialport end"
echo
echo this script grabs upstream releases
echo
function fetch_qserialport
{
echo
rm -rf qserialport
git clone git://gitorious.org/inbiza-labs/qserialport.git
rm -rf qserialport/.git
}
function fetch_mavlink
{
echo
rm -rf mavlink
git clone git@github.com:openmav/mavlink.git
rm -rf mavlink/.git
}
echo
select OPT in $LIST
do
case $OPT in
"qserialport")
fetch_qserialport
exit 0
;;
"mavlink")
fetch_mavlink
exit 0
;;
"all")
fetch_mavlink
fetch_qserialport
exit 0
;;
"exit")
exit 0
;;
*)
echo unknown option
exit 1
esac
done
mavlink @ d2803c5e
Subproject commit d2803c5eddbb30a14731c403a96f7a200318e50f
thirdParty/mavlink/.gitignore 0 → 100644
View file @ 52b20293
*~
doc/html
doc/*.log
thirdParty/mavlink/README 0 → 100644
View file @ 52b20293
MAVLink Micro Air Vehicle Message Marshalling Library
This is a library for lightweight communication between
Micro Air Vehicles (swarm) and/or ground control stations.
It serializes C-structs for serial channels and can be used with
any type of radio modem.
For help, please visit the mailing list: http://groups.google.com/group/mavlink
MAVLink is licensed under the terms of the Lesser General Public License of the Free Software Foundation (LGPL).
As MAVLink is a header-only library, compiling an application with it is considered "using the libary", not a derived work. MAVLink can therefore be used without limits in any closed-source application without publishing the source code of the closed-source application.
To generate/update packets, select mavlink_standard_message.xml
in the QGroundControl station settings view, select mavlink/include as
the output directory and click on "Save and Generate".
You will find the newly generated/updated message_xx.h files in
the mavlink/include/generated folder.
To use MAVLink, #include the <mavlink.h> file, not the individual
message files. In some cases you will have to add the main folder to the include search path as well. To be safe, we recommend these flags:
gcc -I mavlink/include -I mavlink/include/<your message set, e.g. common>
For more information, please visit:
http://qgroundcontrol.org/mavlink/
(c) 2009-2011 Lorenz Meier <mail@qgroundcontrol.org>
thirdParty/mavlink/doc/Doxyfile 0 → 100755
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thirdParty/mavlink/doc/README 0 → 100644
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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 0 → 100644
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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 0 → 100644
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<?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
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<?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/include/ardupilotmega/ardupilotmega.h 0 → 100644
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/** @file
* @brief MAVLink comm protocol.
* @see http://pixhawk.ethz.ch/software/mavlink
* Generated on Thursday, March 31 2011, 22:06 UTC
*/
#ifndef ARDUPILOTMEGA_H
#define ARDUPILOTMEGA_H
#ifdef __cplusplus
extern "C" {
#endif
#include "../protocol.h"
#define MAVLINK_ENABLED_ARDUPILOTMEGA
#include "../common/common.h"
// MAVLINK VERSION
#ifndef MAVLINK_VERSION
#define MAVLINK_VERSION 0
#endif
#if (MAVLINK_VERSION == 0)
#undef MAVLINK_VERSION
#define MAVLINK_VERSION 0
#endif
// ENUM DEFINITIONS
// MESSAGE DEFINITIONS
#ifdef __cplusplus
}
#endif
#endif
thirdParty/mavlink/include/ardupilotmega/mavlink.h 0 → 100644
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/** @file
* @brief MAVLink comm protocol.
* @see http://pixhawk.ethz.ch/software/mavlink
* Generated on Thursday, March 31 2011, 22:06 UTC
*/
#ifndef MAVLINK_H
#define MAVLINK_H
#include "ardupilotmega.h"
#endif
thirdParty/mavlink/include/bittest.c 0 → 100644
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#include <mavlink.h>
#include <stdio.h>
int main(int argc, char* argv[])
{
uint8_t bitfield = 254; // 11111110
uint8_t mask = 128; // 10000000
uint8_t result = (bitfield & mask);
printf("0x%02x\n", bitfield);
// Transform into network order
generic_32bit bin;
bin.i = 1;
printf("First byte in (little endian) 0x%02x\n", bin.b[0]);
generic_32bit bout;
bout.b[0] = bin.b[3];
bout.b[1] = bin.b[2];
bout.b[2] = bin.b[1];
bout.b[3] = bin.b[0];
printf("Last byte out (big endian) 0x%02x\n", bout.b[3]);
uint8_t n = 5;
printf("Mask is 0x%02x\n", ((uint32_t)(1 << n)) - 1); // = 2^n - 1
int32_t encoded = 2;
uint8_t bits = 2;
uint8_t packet[MAVLINK_MAX_PACKET_LEN];
uint8_t packet_index = 0;
uint8_t bit_index = 0;
put_bitfield_n_by_index(encoded, bits, packet_index, bit_index, &bit_index, packet);
}
thirdParty/mavlink/include/checksum.h 0 → 100644
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#ifdef __cplusplus
extern "C" {
#endif
#ifndef _CHECKSUM_H_
#define _CHECKSUM_H_
#include "inttypes.h"
/**
*
* CALCULATE THE CHECKSUM
*
*/
#define X25_INIT_CRC 0xffff
#define X25_VALIDATE_CRC 0xf0b8
/**
* @brief Accumulate the X.25 CRC by adding one char at a time.
*
* The checksum function adds the hash of one char at a time to the
* 16 bit checksum (uint16_t).
*
* @param data new char to hash
* @param crcAccum the already accumulated checksum
**/
static inline void crc_accumulate(uint8_t data, uint16_t *crcAccum)
{
/*Accumulate one byte of data into the CRC*/
uint8_t tmp;
tmp=data ^ (uint8_t)(*crcAccum &0xff);
tmp^= (tmp<<4);
*crcAccum = (*crcAccum>>8) ^ (tmp<<8) ^ (tmp <<3) ^ (tmp>>4);
}
/**
* @brief Initiliaze the buffer for the X.25 CRC
*
* @param crcAccum the 16 bit X.25 CRC
*/
static inline void crc_init(uint16_t* crcAccum)
{
*crcAccum = X25_INIT_CRC;
}
/**
* @brief Calculates the X.25 checksum on a byte buffer
*
* @param pBuffer buffer containing the byte array to hash
* @param length length of the byte array
* @return the checksum over the buffer bytes
**/
static inline uint16_t crc_calculate(uint8_t* pBuffer, int length)
{
// For a "message" of length bytes contained in the unsigned char array
// pointed to by pBuffer, calculate the CRC
// crcCalculate(unsigned char* pBuffer, int length, unsigned short* checkConst) < not needed
uint16_t crcTmp;
//uint16_t tmp;
uint8_t* pTmp;
int i;
pTmp=pBuffer;
/* init crcTmp */
crc_init(&crcTmp);
for (i = 0; i < length; i++){
crc_accumulate(*pTmp++, &crcTmp);
}
/* This is currently not needed, as only the checksum over payload should be computed
tmp = crcTmp;
crcAccumulate((unsigned char)(~crcTmp & 0xff),&tmp);
crcAccumulate((unsigned char)((~crcTmp>>8)&0xff),&tmp);
*checkConst = tmp;
*/
return(crcTmp);
}
#endif /* _CHECKSUM_H_ */
#ifdef __cplusplus
}
#endif
thirdParty/mavlink/include/common/common.h 0 → 100644
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thirdParty/mavlink/include/common/mavlink.h 0 → 100644
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/** @file
* @brief MAVLink comm protocol.
* @see http://pixhawk.ethz.ch/software/mavlink
* Generated on Thursday, March 31 2011, 22:06 UTC
*/
#ifndef MAVLINK_H
#define MAVLINK_H
#include "common.h"
#endif
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// MESSAGE ACTION PACKING
#define MAVLINK_MSG_ID_ACTION 10
typedef struct __mavlink_action_t
{
uint8_t target; ///< The system executing the action
uint8_t target_component; ///< The component executing the action
uint8_t action; ///< The action id
} mavlink_action_t;
/**
* @brief Pack a action 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 The system executing the action
* @param target_component The component executing the action
* @param action The action id
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_action_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target, uint8_t target_component, uint8_t action)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_ACTION;
i += put_uint8_t_by_index(target, i, msg->payload); // The system executing the action
i += put_uint8_t_by_index(target_component, i, msg->payload); // The component executing the action
i += put_uint8_t_by_index(action, i, msg->payload); // The action id
return mavlink_finalize_message(msg, system_id, component_id, i);
}
/**
* @brief Pack a action message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param target The system executing the action
* @param target_component The component executing the action
* @param action The action id
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_action_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target, uint8_t target_component, uint8_t action)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_ACTION;
i += put_uint8_t_by_index(target, i, msg->payload); // The system executing the action
i += put_uint8_t_by_index(target_component, i, msg->payload); // The component executing the action
i += put_uint8_t_by_index(action, i, msg->payload); // The action id
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
/**
* @brief Encode a action 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 action C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_action_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_action_t* action)
{
return mavlink_msg_action_pack(system_id, component_id, msg, action->target, action->target_component, action->action);
}
/**
* @brief Send a action message
* @param chan MAVLink channel to send the message
*
* @param target The system executing the action
* @param target_component The component executing the action
* @param action The action id
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_action_send(mavlink_channel_t chan, uint8_t target, uint8_t target_component, uint8_t action)
{
mavlink_message_t msg;
mavlink_msg_action_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target, target_component, action);
mavlink_send_uart(chan, &msg);
}
#endif
// MESSAGE ACTION UNPACKING
/**
* @brief Get field target from action message
*
* @return The system executing the action
*/
static inline uint8_t mavlink_msg_action_get_target(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload)[0];
}
/**
* @brief Get field target_component from action message
*
* @return The component executing the action
*/
static inline uint8_t mavlink_msg_action_get_target_component(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
}
/**
* @brief Get field action from action message
*
* @return The action id
*/
static inline uint8_t mavlink_msg_action_get_action(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0];
}
/**
* @brief Decode a action message into a struct
*
* @param msg The message to decode
* @param action C-struct to decode the message contents into
*/
static inline void mavlink_msg_action_decode(const mavlink_message_t* msg, mavlink_action_t* action)
{
action->target = mavlink_msg_action_get_target(msg);
action->target_component = mavlink_msg_action_get_target_component(msg);
action->action = mavlink_msg_action_get_action(msg);
}
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// MESSAGE ACTION_ACK PACKING
#define MAVLINK_MSG_ID_ACTION_ACK 9
typedef struct __mavlink_action_ack_t
{
uint8_t action; ///< The action id
uint8_t result; ///< 0: Action DENIED, 1: Action executed
} mavlink_action_ack_t;
/**
* @brief Pack a action_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 action The action id
* @param result 0: Action DENIED, 1: Action executed
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_action_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t action, uint8_t result)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_ACTION_ACK;
i += put_uint8_t_by_index(action, i, msg->payload); // The action id
i += put_uint8_t_by_index(result, i, msg->payload); // 0: Action DENIED, 1: Action executed
return mavlink_finalize_message(msg, system_id, component_id, i);
}
/**
* @brief Pack a action_ack message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param action The action id
* @param result 0: Action DENIED, 1: Action executed
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_action_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t action, uint8_t result)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_ACTION_ACK;
i += put_uint8_t_by_index(action, i, msg->payload); // The action id
i += put_uint8_t_by_index(result, i, msg->payload); // 0: Action DENIED, 1: Action executed
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
/**
* @brief Encode a action_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 action_ack C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_action_ack_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_action_ack_t* action_ack)
{
return mavlink_msg_action_ack_pack(system_id, component_id, msg, action_ack->action, action_ack->result);
}
/**
* @brief Send a action_ack message
* @param chan MAVLink channel to send the message
*
* @param action The action id
* @param result 0: Action DENIED, 1: Action executed
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_action_ack_send(mavlink_channel_t chan, uint8_t action, uint8_t result)
{
mavlink_message_t msg;
mavlink_msg_action_ack_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, action, result);
mavlink_send_uart(chan, &msg);
}
#endif
// MESSAGE ACTION_ACK UNPACKING
/**
* @brief Get field action from action_ack message
*
* @return The action id
*/
static inline uint8_t mavlink_msg_action_ack_get_action(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload)[0];
}
/**
* @brief Get field result from action_ack message
*
* @return 0: Action DENIED, 1: Action executed
*/
static inline uint8_t mavlink_msg_action_ack_get_result(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
}
/**
* @brief Decode a action_ack message into a struct
*
* @param msg The message to decode
* @param action_ack C-struct to decode the message contents into
*/
static inline void mavlink_msg_action_ack_decode(const mavlink_message_t* msg, mavlink_action_ack_t* action_ack)
{
action_ack->action = mavlink_msg_action_ack_get_action(msg);
action_ack->result = mavlink_msg_action_ack_get_result(msg);
}
thirdParty/mavlink/include/common/mavlink_msg_attitude.h 0 → 100644
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// MESSAGE ATTITUDE PACKING
#define MAVLINK_MSG_ID_ATTITUDE 30
typedef struct __mavlink_attitude_t
{
uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
float roll; ///< Roll angle (rad)
float pitch; ///< Pitch angle (rad)
float yaw; ///< Yaw angle (rad)
float rollspeed; ///< Roll angular speed (rad/s)
float pitchspeed; ///< Pitch angular speed (rad/s)
float yawspeed; ///< Yaw angular speed (rad/s)
} mavlink_attitude_t;
/**
* @brief Pack a 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 usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
* @param roll Roll angle (rad)
* @param pitch Pitch angle (rad)
* @param yaw Yaw angle (rad)
* @param rollspeed Roll angular speed (rad/s)
* @param pitchspeed Pitch angular speed (rad/s)
* @param yawspeed Yaw angular speed (rad/s)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_attitude_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_ATTITUDE;
i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot)
i += put_float_by_index(roll, i, msg->payload); // Roll angle (rad)
i += put_float_by_index(pitch, i, msg->payload); // Pitch angle (rad)
i += put_float_by_index(yaw, i, msg->payload); // Yaw angle (rad)
i += put_float_by_index(rollspeed, i, msg->payload); // Roll angular speed (rad/s)
i += put_float_by_index(pitchspeed, i, msg->payload); // Pitch angular speed (rad/s)
i += put_float_by_index(yawspeed, i, msg->payload); // Yaw angular speed (rad/s)
return mavlink_finalize_message(msg, system_id, component_id, i);
}
/**
* @brief Pack a attitude message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
* @param roll Roll angle (rad)
* @param pitch Pitch angle (rad)
* @param yaw Yaw angle (rad)
* @param rollspeed Roll angular speed (rad/s)
* @param pitchspeed Pitch angular speed (rad/s)
* @param yawspeed Yaw angular speed (rad/s)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_attitude_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_ATTITUDE;
i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot)
i += put_float_by_index(roll, i, msg->payload); // Roll angle (rad)
i += put_float_by_index(pitch, i, msg->payload); // Pitch angle (rad)
i += put_float_by_index(yaw, i, msg->payload); // Yaw angle (rad)
i += put_float_by_index(rollspeed, i, msg->payload); // Roll angular speed (rad/s)
i += put_float_by_index(pitchspeed, i, msg->payload); // Pitch angular speed (rad/s)
i += put_float_by_index(yawspeed, i, msg->payload); // Yaw angular speed (rad/s)
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
/**
* @brief Encode a 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 attitude C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_attitude_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_attitude_t* attitude)
{
return mavlink_msg_attitude_pack(system_id, component_id, msg, attitude->usec, attitude->roll, attitude->pitch, attitude->yaw, attitude->rollspeed, attitude->pitchspeed, attitude->yawspeed);
}
/**
* @brief Send a attitude message
* @param chan MAVLink channel to send the message
*
* @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
* @param roll Roll angle (rad)
* @param pitch Pitch angle (rad)
* @param yaw Yaw angle (rad)
* @param rollspeed Roll angular speed (rad/s)
* @param pitchspeed Pitch angular speed (rad/s)
* @param yawspeed Yaw angular speed (rad/s)
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_attitude_send(mavlink_channel_t chan, uint64_t usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed)
{
mavlink_message_t msg;
mavlink_msg_attitude_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, usec, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed);
mavlink_send_uart(chan, &msg);
}
#endif
// MESSAGE ATTITUDE UNPACKING
/**
* @brief Get field usec from attitude message
*
* @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
*/
static inline uint64_t mavlink_msg_attitude_get_usec(const mavlink_message_t* msg)
{
generic_64bit r;
r.b[7] = (msg->payload)[0];
r.b[6] = (msg->payload)[1];
r.b[5] = (msg->payload)[2];
r.b[4] = (msg->payload)[3];
r.b[3] = (msg->payload)[4];
r.b[2] = (msg->payload)[5];
r.b[1] = (msg->payload)[6];
r.b[0] = (msg->payload)[7];
return (uint64_t)r.ll;
}
/**
* @brief Get field roll from attitude message
*
* @return Roll angle (rad)
*/
static inline float mavlink_msg_attitude_get_roll(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t))[0];
r.b[2] = (msg->payload+sizeof(uint64_t))[1];
r.b[1] = (msg->payload+sizeof(uint64_t))[2];
r.b[0] = (msg->payload+sizeof(uint64_t))[3];
return (float)r.f;
}
/**
* @brief Get field pitch from attitude message
*
* @return Pitch angle (rad)
*/
static inline float mavlink_msg_attitude_get_pitch(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float))[3];
return (float)r.f;
}
/**
* @brief Get field yaw from attitude message
*
* @return Yaw angle (rad)
*/
static inline float mavlink_msg_attitude_get_yaw(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
}
/**
* @brief Get field rollspeed from attitude message
*
* @return Roll angular speed (rad/s)
*/
static inline float mavlink_msg_attitude_get_rollspeed(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
}
/**
* @brief Get field pitchspeed from attitude message
*
* @return Pitch angular speed (rad/s)
*/
static inline float mavlink_msg_attitude_get_pitchspeed(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
}
/**
* @brief Get field yawspeed from attitude message
*
* @return Yaw angular speed (rad/s)
*/
static inline float mavlink_msg_attitude_get_yawspeed(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
}
/**
* @brief Decode a attitude message into a struct
*
* @param msg The message to decode
* @param attitude C-struct to decode the message contents into
*/
static inline void mavlink_msg_attitude_decode(const mavlink_message_t* msg, mavlink_attitude_t* attitude)
{
attitude->usec = mavlink_msg_attitude_get_usec(msg);
attitude->roll = mavlink_msg_attitude_get_roll(msg);
attitude->pitch = mavlink_msg_attitude_get_pitch(msg);
attitude->yaw = mavlink_msg_attitude_get_yaw(msg);
attitude->rollspeed = mavlink_msg_attitude_get_rollspeed(msg);
attitude->pitchspeed = mavlink_msg_attitude_get_pitchspeed(msg);
attitude->yawspeed = mavlink_msg_attitude_get_yawspeed(msg);
}
thirdParty/mavlink/include/common/mavlink_msg_attitude_controller_output.h 0 → 100644
View file @ 52b20293
// MESSAGE ATTITUDE_CONTROLLER_OUTPUT PACKING
#define MAVLINK_MSG_ID_ATTITUDE_CONTROLLER_OUTPUT 60
typedef struct __mavlink_attitude_controller_output_t
{
uint8_t enabled; ///< 1: enabled, 0: disabled
int8_t roll; ///< Attitude roll: -128: -100%, 127: +100%
int8_t pitch; ///< Attitude pitch: -128: -100%, 127: +100%
int8_t yaw; ///< Attitude yaw: -128: -100%, 127: +100%
int8_t thrust; ///< Attitude thrust: -128: -100%, 127: +100%
} mavlink_attitude_controller_output_t;
/**
* @brief Pack a attitude_controller_output 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 enabled 1: enabled, 0: disabled
* @param roll Attitude roll: -128: -100%, 127: +100%
* @param pitch Attitude pitch: -128: -100%, 127: +100%
* @param yaw Attitude yaw: -128: -100%, 127: +100%
* @param thrust Attitude thrust: -128: -100%, 127: +100%
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_attitude_controller_output_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t enabled, int8_t roll, int8_t pitch, int8_t yaw, int8_t thrust)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_ATTITUDE_CONTROLLER_OUTPUT;
i += put_uint8_t_by_index(enabled, i, msg->payload); // 1: enabled, 0: disabled
i += put_int8_t_by_index(roll, i, msg->payload); // Attitude roll: -128: -100%, 127: +100%
i += put_int8_t_by_index(pitch, i, msg->payload); // Attitude pitch: -128: -100%, 127: +100%
i += put_int8_t_by_index(yaw, i, msg->payload); // Attitude yaw: -128: -100%, 127: +100%
i += put_int8_t_by_index(thrust, i, msg->payload); // Attitude thrust: -128: -100%, 127: +100%
return mavlink_finalize_message(msg, system_id, component_id, i);
}
/**
* @brief Pack a attitude_controller_output message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param enabled 1: enabled, 0: disabled
* @param roll Attitude roll: -128: -100%, 127: +100%
* @param pitch Attitude pitch: -128: -100%, 127: +100%
* @param yaw Attitude yaw: -128: -100%, 127: +100%
* @param thrust Attitude thrust: -128: -100%, 127: +100%
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_attitude_controller_output_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t enabled, int8_t roll, int8_t pitch, int8_t yaw, int8_t thrust)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_ATTITUDE_CONTROLLER_OUTPUT;
i += put_uint8_t_by_index(enabled, i, msg->payload); // 1: enabled, 0: disabled
i += put_int8_t_by_index(roll, i, msg->payload); // Attitude roll: -128: -100%, 127: +100%
i += put_int8_t_by_index(pitch, i, msg->payload); // Attitude pitch: -128: -100%, 127: +100%
i += put_int8_t_by_index(yaw, i, msg->payload); // Attitude yaw: -128: -100%, 127: +100%
i += put_int8_t_by_index(thrust, i, msg->payload); // Attitude thrust: -128: -100%, 127: +100%
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
/**
* @brief Encode a attitude_controller_output 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 attitude_controller_output C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_attitude_controller_output_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_attitude_controller_output_t* attitude_controller_output)
{
return mavlink_msg_attitude_controller_output_pack(system_id, component_id, msg, attitude_controller_output->enabled, attitude_controller_output->roll, attitude_controller_output->pitch, attitude_controller_output->yaw, attitude_controller_output->thrust);
}
/**
* @brief Send a attitude_controller_output message
* @param chan MAVLink channel to send the message
*
* @param enabled 1: enabled, 0: disabled
* @param roll Attitude roll: -128: -100%, 127: +100%
* @param pitch Attitude pitch: -128: -100%, 127: +100%
* @param yaw Attitude yaw: -128: -100%, 127: +100%
* @param thrust Attitude thrust: -128: -100%, 127: +100%
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_attitude_controller_output_send(mavlink_channel_t chan, uint8_t enabled, int8_t roll, int8_t pitch, int8_t yaw, int8_t thrust)
{
mavlink_message_t msg;
mavlink_msg_attitude_controller_output_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, enabled, roll, pitch, yaw, thrust);
mavlink_send_uart(chan, &msg);
}
#endif
// MESSAGE ATTITUDE_CONTROLLER_OUTPUT UNPACKING
/**
* @brief Get field enabled from attitude_controller_output message
*
* @return 1: enabled, 0: disabled
*/
static inline uint8_t mavlink_msg_attitude_controller_output_get_enabled(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload)[0];
}
/**
* @brief Get field roll from attitude_controller_output message
*
* @return Attitude roll: -128: -100%, 127: +100%
*/
static inline int8_t mavlink_msg_attitude_controller_output_get_roll(const mavlink_message_t* msg)
{
return (int8_t)(msg->payload+sizeof(uint8_t))[0];
}
/**
* @brief Get field pitch from attitude_controller_output message
*
* @return Attitude pitch: -128: -100%, 127: +100%
*/
static inline int8_t mavlink_msg_attitude_controller_output_get_pitch(const mavlink_message_t* msg)
{
return (int8_t)(msg->payload+sizeof(uint8_t)+sizeof(int8_t))[0];
}
/**
* @brief Get field yaw from attitude_controller_output message
*
* @return Attitude yaw: -128: -100%, 127: +100%
*/
static inline int8_t mavlink_msg_attitude_controller_output_get_yaw(const mavlink_message_t* msg)
{
return (int8_t)(msg->payload+sizeof(uint8_t)+sizeof(int8_t)+sizeof(int8_t))[0];
}
/**
* @brief Get field thrust from attitude_controller_output message
*
* @return Attitude thrust: -128: -100%, 127: +100%
*/
static inline int8_t mavlink_msg_attitude_controller_output_get_thrust(const mavlink_message_t* msg)
{
return (int8_t)(msg->payload+sizeof(uint8_t)+sizeof(int8_t)+sizeof(int8_t)+sizeof(int8_t))[0];
}
/**
* @brief Decode a attitude_controller_output message into a struct
*
* @param msg The message to decode
* @param attitude_controller_output C-struct to decode the message contents into
*/
static inline void mavlink_msg_attitude_controller_output_decode(const mavlink_message_t* msg, mavlink_attitude_controller_output_t* attitude_controller_output)
{
attitude_controller_output->enabled = mavlink_msg_attitude_controller_output_get_enabled(msg);
attitude_controller_output->roll = mavlink_msg_attitude_controller_output_get_roll(msg);
attitude_controller_output->pitch = mavlink_msg_attitude_controller_output_get_pitch(msg);
attitude_controller_output->yaw = mavlink_msg_attitude_controller_output_get_yaw(msg);
attitude_controller_output->thrust = mavlink_msg_attitude_controller_output_get_thrust(msg);
}
thirdParty/mavlink/include/common/mavlink_msg_auth_key.h 0 → 100644
View file @ 52b20293
// MESSAGE AUTH_KEY PACKING
#define MAVLINK_MSG_ID_AUTH_KEY 7
typedef struct __mavlink_auth_key_t
{
char key[32]; ///< key
} mavlink_auth_key_t;
#define MAVLINK_MSG_AUTH_KEY_FIELD_KEY_LEN 32
/**
* @brief Pack a auth_key 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 key key
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_auth_key_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const char* key)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_AUTH_KEY;
i += put_array_by_index((const int8_t*)key, sizeof(char)*32, i, msg->payload); // key
return mavlink_finalize_message(msg, system_id, component_id, i);
}
/**
* @brief Pack a auth_key message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param key key
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_auth_key_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const char* key)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_AUTH_KEY;
i += put_array_by_index((const int8_t*)key, sizeof(char)*32, i, msg->payload); // key
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
/**
* @brief Encode a auth_key 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 auth_key C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_auth_key_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_auth_key_t* auth_key)
{
return mavlink_msg_auth_key_pack(system_id, component_id, msg, auth_key->key);
}
/**
* @brief Send a auth_key message
* @param chan MAVLink channel to send the message
*
* @param key key
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_auth_key_send(mavlink_channel_t chan, const char* key)
{
mavlink_message_t msg;
mavlink_msg_auth_key_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, key);
mavlink_send_uart(chan, &msg);
}
#endif
// MESSAGE AUTH_KEY UNPACKING
/**
* @brief Get field key from auth_key message
*
* @return key
*/
static inline uint16_t mavlink_msg_auth_key_get_key(const mavlink_message_t* msg, char* r_data)
{
memcpy(r_data, msg->payload, sizeof(char)*32);
return sizeof(char)*32;
}
/**
* @brief Decode a auth_key message into a struct
*
* @param msg The message to decode
* @param auth_key C-struct to decode the message contents into
*/
static inline void mavlink_msg_auth_key_decode(const mavlink_message_t* msg, mavlink_auth_key_t* auth_key)
{
mavlink_msg_auth_key_get_key(msg, auth_key->key);
}
thirdParty/mavlink/include/common/mavlink_msg_boot.h 0 → 100644
View file @ 52b20293
// MESSAGE BOOT PACKING
#define MAVLINK_MSG_ID_BOOT 1
typedef struct __mavlink_boot_t
{
uint32_t version; ///< The onboard software version
} mavlink_boot_t;
/**
* @brief Pack a boot 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 version The onboard software version
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_boot_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint32_t version)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_BOOT;
i += put_uint32_t_by_index(version, i, msg->payload); // The onboard software version
return mavlink_finalize_message(msg, system_id, component_id, i);
}
/**
* @brief Pack a boot message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param version The onboard software version
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_boot_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint32_t version)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_BOOT;
i += put_uint32_t_by_index(version, i, msg->payload); // The onboard software version
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
/**
* @brief Encode a boot 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 boot C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_boot_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_boot_t* boot)
{
return mavlink_msg_boot_pack(system_id, component_id, msg, boot->version);
}
/**
* @brief Send a boot message
* @param chan MAVLink channel to send the message
*
* @param version The onboard software version
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_boot_send(mavlink_channel_t chan, uint32_t version)
{
mavlink_message_t msg;
mavlink_msg_boot_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, version);
mavlink_send_uart(chan, &msg);
}
#endif
// MESSAGE BOOT UNPACKING
/**
* @brief Get field version from boot message
*
* @return The onboard software version
*/
static inline uint32_t mavlink_msg_boot_get_version(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload)[0];
r.b[2] = (msg->payload)[1];
r.b[1] = (msg->payload)[2];
r.b[0] = (msg->payload)[3];
return (uint32_t)r.i;
}
/**
* @brief Decode a boot message into a struct
*
* @param msg The message to decode
* @param boot C-struct to decode the message contents into
*/
static inline void mavlink_msg_boot_decode(const mavlink_message_t* msg, mavlink_boot_t* boot)
{
boot->version = mavlink_msg_boot_get_version(msg);
}
thirdParty/mavlink/include/common/mavlink_msg_change_operator_control.h 0 → 100644
View file @ 52b20293
// MESSAGE CHANGE_OPERATOR_CONTROL PACKING
#define MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL 5
typedef struct __mavlink_change_operator_control_t
{
uint8_t target_system; ///< System the GCS requests control for
uint8_t control_request; ///< 0: request control of this MAV, 1: Release control of this MAV
uint8_t version; ///< 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch.
char passkey[25]; ///< Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-"
} mavlink_change_operator_control_t;
#define MAVLINK_MSG_CHANGE_OPERATOR_CONTROL_FIELD_PASSKEY_LEN 25
/**
* @brief Pack a change_operator_control 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_system System the GCS requests control for
* @param control_request 0: request control of this MAV, 1: Release control of this MAV
* @param version 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch.
* @param passkey Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-"
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_change_operator_control_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t control_request, uint8_t version, const char* passkey)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL;
i += put_uint8_t_by_index(target_system, i, msg->payload); // System the GCS requests control for
i += put_uint8_t_by_index(control_request, i, msg->payload); // 0: request control of this MAV, 1: Release control of this MAV
i += put_uint8_t_by_index(version, i, msg->payload); // 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch.
i += put_array_by_index((const int8_t*)passkey, sizeof(char)*25, i, msg->payload); // Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-"
return mavlink_finalize_message(msg, system_id, component_id, i);
}
/**
* @brief Pack a change_operator_control message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param target_system System the GCS requests control for
* @param control_request 0: request control of this MAV, 1: Release control of this MAV
* @param version 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch.
* @param passkey Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-"
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_change_operator_control_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target_system, uint8_t control_request, uint8_t version, const char* passkey)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL;
i += put_uint8_t_by_index(target_system, i, msg->payload); // System the GCS requests control for
i += put_uint8_t_by_index(control_request, i, msg->payload); // 0: request control of this MAV, 1: Release control of this MAV
i += put_uint8_t_by_index(version, i, msg->payload); // 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch.
i += put_array_by_index((const int8_t*)passkey, sizeof(char)*25, i, msg->payload); // Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-"
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
/**
* @brief Encode a change_operator_control 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 change_operator_control C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_change_operator_control_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_change_operator_control_t* change_operator_control)
{
return mavlink_msg_change_operator_control_pack(system_id, component_id, msg, change_operator_control->target_system, change_operator_control->control_request, change_operator_control->version, change_operator_control->passkey);
}
/**
* @brief Send a change_operator_control message
* @param chan MAVLink channel to send the message
*
* @param target_system System the GCS requests control for
* @param control_request 0: request control of this MAV, 1: Release control of this MAV
* @param version 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch.
* @param passkey Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-"
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_change_operator_control_send(mavlink_channel_t chan, uint8_t target_system, uint8_t control_request, uint8_t version, const char* passkey)
{
mavlink_message_t msg;
mavlink_msg_change_operator_control_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, control_request, version, passkey);
mavlink_send_uart(chan, &msg);
}
#endif
// MESSAGE CHANGE_OPERATOR_CONTROL UNPACKING
/**
* @brief Get field target_system from change_operator_control message
*
* @return System the GCS requests control for
*/
static inline uint8_t mavlink_msg_change_operator_control_get_target_system(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload)[0];
}
/**
* @brief Get field control_request from change_operator_control message
*
* @return 0: request control of this MAV, 1: Release control of this MAV
*/
static inline uint8_t mavlink_msg_change_operator_control_get_control_request(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
}
/**
* @brief Get field version from change_operator_control message
*
* @return 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch.
*/
static inline uint8_t mavlink_msg_change_operator_control_get_version(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0];
}
/**
* @brief Get field passkey from change_operator_control message
*
* @return Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-"
*/
static inline uint16_t mavlink_msg_change_operator_control_get_passkey(const mavlink_message_t* msg, char* r_data)
{
memcpy(r_data, msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t), sizeof(char)*25);
return sizeof(char)*25;
}
/**
* @brief Decode a change_operator_control message into a struct
*
* @param msg The message to decode
* @param change_operator_control C-struct to decode the message contents into
*/
static inline void mavlink_msg_change_operator_control_decode(const mavlink_message_t* msg, mavlink_change_operator_control_t* change_operator_control)
{
change_operator_control->target_system = mavlink_msg_change_operator_control_get_target_system(msg);
change_operator_control->control_request = mavlink_msg_change_operator_control_get_control_request(msg);
change_operator_control->version = mavlink_msg_change_operator_control_get_version(msg);
mavlink_msg_change_operator_control_get_passkey(msg, change_operator_control->passkey);
}
thirdParty/mavlink/include/common/mavlink_msg_change_operator_control_ack.h 0 → 100644
View file @ 52b20293
// MESSAGE CHANGE_OPERATOR_CONTROL_ACK PACKING
#define MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK 6
typedef struct __mavlink_change_operator_control_ack_t
{
uint8_t gcs_system_id; ///< ID of the GCS this message
uint8_t control_request; ///< 0: request control of this MAV, 1: Release control of this MAV
uint8_t ack; ///< 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control
} mavlink_change_operator_control_ack_t;
/**
* @brief Pack a change_operator_control_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 gcs_system_id ID of the GCS this message
* @param control_request 0: request control of this MAV, 1: Release control of this MAV
* @param ack 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_change_operator_control_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t gcs_system_id, uint8_t control_request, uint8_t ack)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK;
i += put_uint8_t_by_index(gcs_system_id, i, msg->payload); // ID of the GCS this message
i += put_uint8_t_by_index(control_request, i, msg->payload); // 0: request control of this MAV, 1: Release control of this MAV
i += put_uint8_t_by_index(ack, i, msg->payload); // 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control
return mavlink_finalize_message(msg, system_id, component_id, i);
}
/**
* @brief Pack a change_operator_control_ack message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param gcs_system_id ID of the GCS this message
* @param control_request 0: request control of this MAV, 1: Release control of this MAV
* @param ack 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_change_operator_control_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t gcs_system_id, uint8_t control_request, uint8_t ack)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK;
i += put_uint8_t_by_index(gcs_system_id, i, msg->payload); // ID of the GCS this message
i += put_uint8_t_by_index(control_request, i, msg->payload); // 0: request control of this MAV, 1: Release control of this MAV
i += put_uint8_t_by_index(ack, i, msg->payload); // 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
/**
* @brief Encode a change_operator_control_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 change_operator_control_ack C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_change_operator_control_ack_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_change_operator_control_ack_t* change_operator_control_ack)
{
return mavlink_msg_change_operator_control_ack_pack(system_id, component_id, msg, change_operator_control_ack->gcs_system_id, change_operator_control_ack->control_request, change_operator_control_ack->ack);
}
/**
* @brief Send a change_operator_control_ack message
* @param chan MAVLink channel to send the message
*
* @param gcs_system_id ID of the GCS this message
* @param control_request 0: request control of this MAV, 1: Release control of this MAV
* @param ack 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_change_operator_control_ack_send(mavlink_channel_t chan, uint8_t gcs_system_id, uint8_t control_request, uint8_t ack)
{
mavlink_message_t msg;
mavlink_msg_change_operator_control_ack_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, gcs_system_id, control_request, ack);
mavlink_send_uart(chan, &msg);
}
#endif
// MESSAGE CHANGE_OPERATOR_CONTROL_ACK UNPACKING
/**
* @brief Get field gcs_system_id from change_operator_control_ack message
*
* @return ID of the GCS this message
*/
static inline uint8_t mavlink_msg_change_operator_control_ack_get_gcs_system_id(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload)[0];
}
/**
* @brief Get field control_request from change_operator_control_ack message
*
* @return 0: request control of this MAV, 1: Release control of this MAV
*/
static inline uint8_t mavlink_msg_change_operator_control_ack_get_control_request(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
}
/**
* @brief Get field ack from change_operator_control_ack message
*
* @return 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control
*/
static inline uint8_t mavlink_msg_change_operator_control_ack_get_ack(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0];
}
/**
* @brief Decode a change_operator_control_ack message into a struct
*
* @param msg The message to decode
* @param change_operator_control_ack C-struct to decode the message contents into
*/
static inline void mavlink_msg_change_operator_control_ack_decode(const mavlink_message_t* msg, mavlink_change_operator_control_ack_t* change_operator_control_ack)
{
change_operator_control_ack->gcs_system_id = mavlink_msg_change_operator_control_ack_get_gcs_system_id(msg);
change_operator_control_ack->control_request = mavlink_msg_change_operator_control_ack_get_control_request(msg);
change_operator_control_ack->ack = mavlink_msg_change_operator_control_ack_get_ack(msg);
}
thirdParty/mavlink/include/common/mavlink_msg_command.h 0 → 100644
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thirdParty/mavlink/include/common/mavlink_msg_command_ack.h 0 → 100644
View file @ 52b20293
// MESSAGE COMMAND_ACK PACKING
#define MAVLINK_MSG_ID_COMMAND_ACK 76
typedef struct __mavlink_command_ack_t
{
float command; ///< Current airspeed in m/s
float result; ///< 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
} mavlink_command_ack_t;
/**
* @brief Pack a command_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 command Current airspeed in m/s
* @param result 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_command_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, float command, float result)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_COMMAND_ACK;
i += put_float_by_index(command, i, msg->payload); // Current airspeed in m/s
i += put_float_by_index(result, i, msg->payload); // 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
return mavlink_finalize_message(msg, system_id, component_id, i);
}
/**
* @brief Pack a command_ack message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param command Current airspeed in m/s
* @param result 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_command_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, float command, float result)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_COMMAND_ACK;
i += put_float_by_index(command, i, msg->payload); // Current airspeed in m/s
i += put_float_by_index(result, i, msg->payload); // 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
/**
* @brief Encode a command_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 command_ack C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_command_ack_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_command_ack_t* command_ack)
{
return mavlink_msg_command_ack_pack(system_id, component_id, msg, command_ack->command, command_ack->result);
}
/**
* @brief Send a command_ack message
* @param chan MAVLink channel to send the message
*
* @param command Current airspeed in m/s
* @param result 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_command_ack_send(mavlink_channel_t chan, float command, float result)
{
mavlink_message_t msg;
mavlink_msg_command_ack_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, command, result);
mavlink_send_uart(chan, &msg);
}
#endif
// MESSAGE COMMAND_ACK UNPACKING
/**
* @brief Get field command from command_ack message
*
* @return Current airspeed in m/s
*/
static inline float mavlink_msg_command_ack_get_command(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload)[0];
r.b[2] = (msg->payload)[1];
r.b[1] = (msg->payload)[2];
r.b[0] = (msg->payload)[3];
return (float)r.f;
}
/**
* @brief Get field result from command_ack message
*
* @return 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
*/
static inline float mavlink_msg_command_ack_get_result(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(float))[3];
return (float)r.f;
}
/**
* @brief Decode a command_ack message into a struct
*
* @param msg The message to decode
* @param command_ack C-struct to decode the message contents into
*/
static inline void mavlink_msg_command_ack_decode(const mavlink_message_t* msg, mavlink_command_ack_t* command_ack)
{
command_ack->command = mavlink_msg_command_ack_get_command(msg);
command_ack->result = mavlink_msg_command_ack_get_result(msg);
}
thirdParty/mavlink/include/common/mavlink_msg_control_status.h 0 → 100644
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thirdParty/mavlink/include/common/mavlink_msg_debug.h 0 → 100644
View file @ 52b20293
// MESSAGE DEBUG PACKING
#define MAVLINK_MSG_ID_DEBUG 255
typedef struct __mavlink_debug_t
{
uint8_t ind; ///< index of debug variable
float value; ///< DEBUG value
} mavlink_debug_t;
/**
* @brief Pack a debug 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 ind index of debug variable
* @param value DEBUG value
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_debug_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t ind, float value)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_DEBUG;
i += put_uint8_t_by_index(ind, i, msg->payload); // index of debug variable
i += put_float_by_index(value, i, msg->payload); // DEBUG value
return mavlink_finalize_message(msg, system_id, component_id, i);
}
/**
* @brief Pack a debug message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param ind index of debug variable
* @param value DEBUG value
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_debug_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t ind, float value)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_DEBUG;
i += put_uint8_t_by_index(ind, i, msg->payload); // index of debug variable
i += put_float_by_index(value, i, msg->payload); // DEBUG value
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
/**
* @brief Encode a debug 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 debug C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_debug_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_debug_t* debug)
{
return mavlink_msg_debug_pack(system_id, component_id, msg, debug->ind, debug->value);
}
/**
* @brief Send a debug message
* @param chan MAVLink channel to send the message
*
* @param ind index of debug variable
* @param value DEBUG value
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_debug_send(mavlink_channel_t chan, uint8_t ind, float value)
{
mavlink_message_t msg;
mavlink_msg_debug_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, ind, value);
mavlink_send_uart(chan, &msg);
}
#endif
// MESSAGE DEBUG UNPACKING
/**
* @brief Get field ind from debug message
*
* @return index of debug variable
*/
static inline uint8_t mavlink_msg_debug_get_ind(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload)[0];
}
/**
* @brief Get field value from debug message
*
* @return DEBUG value
*/
static inline float mavlink_msg_debug_get_value(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint8_t))[0];
r.b[2] = (msg->payload+sizeof(uint8_t))[1];
r.b[1] = (msg->payload+sizeof(uint8_t))[2];
r.b[0] = (msg->payload+sizeof(uint8_t))[3];
return (float)r.f;
}
/**
* @brief Decode a debug message into a struct
*
* @param msg The message to decode
* @param debug C-struct to decode the message contents into
*/
static inline void mavlink_msg_debug_decode(const mavlink_message_t* msg, mavlink_debug_t* debug)
{
debug->ind = mavlink_msg_debug_get_ind(msg);
debug->value = mavlink_msg_debug_get_value(msg);
}
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// MESSAGE DEBUG_VECT PACKING
#define MAVLINK_MSG_ID_DEBUG_VECT 251
typedef struct __mavlink_debug_vect_t
{
char name[10]; ///< Name
uint64_t usec; ///< Timestamp
float x; ///< x
float y; ///< y
float z; ///< z
} mavlink_debug_vect_t;
#define MAVLINK_MSG_DEBUG_VECT_FIELD_NAME_LEN 10
/**
* @brief Pack a debug_vect 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 name Name
* @param usec Timestamp
* @param x x
* @param y y
* @param z z
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_debug_vect_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const char* name, uint64_t usec, float x, float y, float z)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_DEBUG_VECT;
i += put_array_by_index((const int8_t*)name, sizeof(char)*10, i, msg->payload); // Name
i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp
i += put_float_by_index(x, i, msg->payload); // x
i += put_float_by_index(y, i, msg->payload); // y
i += put_float_by_index(z, i, msg->payload); // z
return mavlink_finalize_message(msg, system_id, component_id, i);
}
/**
* @brief Pack a debug_vect message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param name Name
* @param usec Timestamp
* @param x x
* @param y y
* @param z z
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_debug_vect_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const char* name, uint64_t usec, float x, float y, float z)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_DEBUG_VECT;
i += put_array_by_index((const int8_t*)name, sizeof(char)*10, i, msg->payload); // Name
i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp
i += put_float_by_index(x, i, msg->payload); // x
i += put_float_by_index(y, i, msg->payload); // y
i += put_float_by_index(z, i, msg->payload); // z
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
/**
* @brief Encode a debug_vect 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 debug_vect C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_debug_vect_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_debug_vect_t* debug_vect)
{
return mavlink_msg_debug_vect_pack(system_id, component_id, msg, debug_vect->name, debug_vect->usec, debug_vect->x, debug_vect->y, debug_vect->z);
}
/**
* @brief Send a debug_vect message
* @param chan MAVLink channel to send the message
*
* @param name Name
* @param usec Timestamp
* @param x x
* @param y y
* @param z z
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_debug_vect_send(mavlink_channel_t chan, const char* name, uint64_t usec, float x, float y, float z)
{
mavlink_message_t msg;
mavlink_msg_debug_vect_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, name, usec, x, y, z);
mavlink_send_uart(chan, &msg);
}
#endif
// MESSAGE DEBUG_VECT UNPACKING
/**
* @brief Get field name from debug_vect message
*
* @return Name
*/
static inline uint16_t mavlink_msg_debug_vect_get_name(const mavlink_message_t* msg, char* r_data)
{
memcpy(r_data, msg->payload, sizeof(char)*10);
return sizeof(char)*10;
}
/**
* @brief Get field usec from debug_vect message
*
* @return Timestamp
*/
static inline uint64_t mavlink_msg_debug_vect_get_usec(const mavlink_message_t* msg)
{
generic_64bit r;
r.b[7] = (msg->payload+sizeof(char)*10)[0];
r.b[6] = (msg->payload+sizeof(char)*10)[1];
r.b[5] = (msg->payload+sizeof(char)*10)[2];
r.b[4] = (msg->payload+sizeof(char)*10)[3];
r.b[3] = (msg->payload+sizeof(char)*10)[4];
r.b[2] = (msg->payload+sizeof(char)*10)[5];
r.b[1] = (msg->payload+sizeof(char)*10)[6];
r.b[0] = (msg->payload+sizeof(char)*10)[7];
return (uint64_t)r.ll;
}
/**
* @brief Get field x from debug_vect message
*
* @return x
*/
static inline float mavlink_msg_debug_vect_get_x(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(char)*10+sizeof(uint64_t))[0];
r.b[2] = (msg->payload+sizeof(char)*10+sizeof(uint64_t))[1];
r.b[1] = (msg->payload+sizeof(char)*10+sizeof(uint64_t))[2];
r.b[0] = (msg->payload+sizeof(char)*10+sizeof(uint64_t))[3];
return (float)r.f;
}
/**
* @brief Get field y from debug_vect message
*
* @return y
*/
static inline float mavlink_msg_debug_vect_get_y(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(char)*10+sizeof(uint64_t)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(char)*10+sizeof(uint64_t)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(char)*10+sizeof(uint64_t)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(char)*10+sizeof(uint64_t)+sizeof(float))[3];
return (float)r.f;
}
/**
* @brief Get field z from debug_vect message
*
* @return z
*/
static inline float mavlink_msg_debug_vect_get_z(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(char)*10+sizeof(uint64_t)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(char)*10+sizeof(uint64_t)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(char)*10+sizeof(uint64_t)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(char)*10+sizeof(uint64_t)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
}
/**
* @brief Decode a debug_vect message into a struct
*
* @param msg The message to decode
* @param debug_vect C-struct to decode the message contents into
*/
static inline void mavlink_msg_debug_vect_decode(const mavlink_message_t* msg, mavlink_debug_vect_t* debug_vect)
{
mavlink_msg_debug_vect_get_name(msg, debug_vect->name);
debug_vect->usec = mavlink_msg_debug_vect_get_usec(msg);
debug_vect->x = mavlink_msg_debug_vect_get_x(msg);
debug_vect->y = mavlink_msg_debug_vect_get_y(msg);
debug_vect->z = mavlink_msg_debug_vect_get_z(msg);
}
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// MESSAGE GPS_LOCAL_ORIGIN_SET PACKING
#define MAVLINK_MSG_ID_GPS_LOCAL_ORIGIN_SET 49
typedef struct __mavlink_gps_local_origin_set_t
{
int32_t latitude; ///< Latitude (WGS84), expressed as * 1E7
int32_t longitude; ///< Longitude (WGS84), expressed as * 1E7
int32_t altitude; ///< Altitude(WGS84), expressed as * 1000
} mavlink_gps_local_origin_set_t;
/**
* @brief Pack a gps_local_origin_set 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 latitude Latitude (WGS84), expressed as * 1E7
* @param longitude Longitude (WGS84), expressed as * 1E7
* @param altitude Altitude(WGS84), expressed as * 1000
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_gps_local_origin_set_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, int32_t latitude, int32_t longitude, int32_t altitude)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_GPS_LOCAL_ORIGIN_SET;
i += put_int32_t_by_index(latitude, i, msg->payload); // Latitude (WGS84), expressed as * 1E7
i += put_int32_t_by_index(longitude, i, msg->payload); // Longitude (WGS84), expressed as * 1E7
i += put_int32_t_by_index(altitude, i, msg->payload); // Altitude(WGS84), expressed as * 1000
return mavlink_finalize_message(msg, system_id, component_id, i);
}
/**
* @brief Pack a gps_local_origin_set message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param latitude Latitude (WGS84), expressed as * 1E7
* @param longitude Longitude (WGS84), expressed as * 1E7
* @param altitude Altitude(WGS84), expressed as * 1000
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_gps_local_origin_set_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, int32_t latitude, int32_t longitude, int32_t altitude)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_GPS_LOCAL_ORIGIN_SET;
i += put_int32_t_by_index(latitude, i, msg->payload); // Latitude (WGS84), expressed as * 1E7
i += put_int32_t_by_index(longitude, i, msg->payload); // Longitude (WGS84), expressed as * 1E7
i += put_int32_t_by_index(altitude, i, msg->payload); // Altitude(WGS84), expressed as * 1000
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
/**
* @brief Encode a gps_local_origin_set 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 gps_local_origin_set C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_gps_local_origin_set_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps_local_origin_set_t* gps_local_origin_set)
{
return mavlink_msg_gps_local_origin_set_pack(system_id, component_id, msg, gps_local_origin_set->latitude, gps_local_origin_set->longitude, gps_local_origin_set->altitude);
}
/**
* @brief Send a gps_local_origin_set message
* @param chan MAVLink channel to send the message
*
* @param latitude Latitude (WGS84), expressed as * 1E7
* @param longitude Longitude (WGS84), expressed as * 1E7
* @param altitude Altitude(WGS84), expressed as * 1000
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_gps_local_origin_set_send(mavlink_channel_t chan, int32_t latitude, int32_t longitude, int32_t altitude)
{
mavlink_message_t msg;
mavlink_msg_gps_local_origin_set_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, latitude, longitude, altitude);
mavlink_send_uart(chan, &msg);
}
#endif
// MESSAGE GPS_LOCAL_ORIGIN_SET UNPACKING
/**
* @brief Get field latitude from gps_local_origin_set message
*
* @return Latitude (WGS84), expressed as * 1E7
*/
static inline int32_t mavlink_msg_gps_local_origin_set_get_latitude(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload)[0];
r.b[2] = (msg->payload)[1];
r.b[1] = (msg->payload)[2];
r.b[0] = (msg->payload)[3];
return (int32_t)r.i;
}
/**
* @brief Get field longitude from gps_local_origin_set message
*
* @return Longitude (WGS84), expressed as * 1E7
*/
static inline int32_t mavlink_msg_gps_local_origin_set_get_longitude(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(int32_t))[0];
r.b[2] = (msg->payload+sizeof(int32_t))[1];
r.b[1] = (msg->payload+sizeof(int32_t))[2];
r.b[0] = (msg->payload+sizeof(int32_t))[3];
return (int32_t)r.i;
}
/**
* @brief Get field altitude from gps_local_origin_set message
*
* @return Altitude(WGS84), expressed as * 1000
*/
static inline int32_t mavlink_msg_gps_local_origin_set_get_altitude(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(int32_t)+sizeof(int32_t))[0];
r.b[2] = (msg->payload+sizeof(int32_t)+sizeof(int32_t))[1];
r.b[1] = (msg->payload+sizeof(int32_t)+sizeof(int32_t))[2];
r.b[0] = (msg->payload+sizeof(int32_t)+sizeof(int32_t))[3];
return (int32_t)r.i;
}
/**
* @brief Decode a gps_local_origin_set message into a struct
*
* @param msg The message to decode
* @param gps_local_origin_set C-struct to decode the message contents into
*/
static inline void mavlink_msg_gps_local_origin_set_decode(const mavlink_message_t* msg, mavlink_gps_local_origin_set_t* gps_local_origin_set)
{
gps_local_origin_set->latitude = mavlink_msg_gps_local_origin_set_get_latitude(msg);
gps_local_origin_set->longitude = mavlink_msg_gps_local_origin_set_get_longitude(msg);
gps_local_origin_set->altitude = mavlink_msg_gps_local_origin_set_get_altitude(msg);
}
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/** @file
* @brief MAVLink comm protocol.
* @see http://pixhawk.ethz.ch/software/mavlink
* Generated on Thursday, March 31 2011, 22:06 UTC
*/
#ifndef MAVLINK_H
#define MAVLINK_H
#include "pixhawk.h"
#endif
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