Merged

.gitignore

@@ -44,4 +44,7 @@ user_config.pri
 *.cproject
 *.sln
 *.suo
-*thirdParty*
+
+thirdParty/qserialport-build-desktop/
+thirdParty/qserialport/bin/
+thirdParty/qserialport/lib/

.gitmodules

-[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

@@ -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

-# - 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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

+#!/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

+*~
+doc/html
+doc/*.log

thirdParty/mavlink/README

+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/README

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

thirdParty/mavlink/doc/mavlink.css

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

thirdParty/mavlink/doc/mavlink.php

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

thirdParty/mavlink/doc/mavlink_to_html_table.xsl

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

thirdParty/mavlink/include/ardupilotmega/ardupilotmega.h

+/** @file
+ *	@brief MAVLink comm protocol.
+ *	@see http://pixhawk.ethz.ch/software/mavlink
+ *	 Generated on Thursday, March 31 2011, 22:06 UTC
+ */
+#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

+/** @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

+#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

+#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/mavlink.h

+/** @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

thirdParty/mavlink/include/common/mavlink_msg_action.h

+// 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);
+}

thirdParty/mavlink/include/common/mavlink_msg_action_ack.h

+// 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

+// 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

+// 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

+// 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

+// 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

+// 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

+// 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_ack.h

+// 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_debug.h

+// 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);
+}

thirdParty/mavlink/include/common/mavlink_msg_debug_vect.h

+// 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);
+}

thirdParty/mavlink/include/common/mavlink_msg_gps_local_origin_set.h

+// 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);
+}

thirdParty/mavlink/include/pixhawk/mavlink.h

+/** @file
+ *	@brief MAVLink comm protocol.
+ *	@see http://pixhawk.ethz.ch/software/mavlink
+ *	 Generated on Thursday, March 31 2011, 22:06 UTC
+ */
+#ifndef MAVLINK_H
+#define MAVLINK_H
+
+#include "pixhawk.h"
+
+#endif