Merge branch 'v10release' of github.com:pixhawk/qgroundcontrol into v10release

qgroundcontrol.pri

@@ -221,7 +221,7 @@ message("Compiling for linux 32")
     DEFINES += QGC_LIBFREENECT_ENABLED
     }
 
-    QMAKE_POST_LINK += && cp -rf $$BASEDIR/models $$DESTDIR
+    QMAKE_POST_LINK += && cp -rf $$BASEDIR/files $$DESTDIR
     QMAKE_POST_LINK += && cp -rf $$BASEDIR/data $$DESTDIR
     QMAKE_POST_LINK += && mkdir -p $$DESTDIR/images
     QMAKE_POST_LINK += && cp -rf $$BASEDIR/images/Vera.ttf $$DESTDIR/images/Vera.ttf
@@ -295,7 +295,7 @@ linux-g++-64 {
     DEFINES += QGC_LIBFREENECT_ENABLED
     }
 
-    QMAKE_POST_LINK += && cp -rf $$BASEDIR/models $$DESTDIR
+    QMAKE_POST_LINK += && cp -rf $$BASEDIR/files $$DESTDIR
     QMAKE_POST_LINK += && cp -rf $$BASEDIR/data $$DESTDIR
     QMAKE_POST_LINK += && mkdir -p $$DESTDIR/images
     QMAKE_POST_LINK += && cp -rf $$BASEDIR/images/Vera.ttf $$DESTDIR/images/Vera.ttf

src/comm/MAVLinkSimulationLink.cc

@@ -758,7 +758,7 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
                 for (i = onboardParams.begin(); i != onboardParams.end(); ++i) {
                     if (j != 5) {
                         // Pack message and get size of encoded byte string
-                        mavlink_msg_param_value_pack(read.target_system, componentId, &msg, i.key().toStdString().c_str(), i.value(), 0, onboardParams.size(), j);
+                        mavlink_msg_param_value_pack(read.target_system, componentId, &msg, i.key().toStdString().c_str(), i.value(), MAVLINK_TYPE_FLOAT, onboardParams.size(), j);
                         // Allocate buffer with packet data
                         bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);
                         //add data into datastream
@@ -786,7 +786,7 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
                         onboardParams.insert(key, set.param_value);
 
                         // Pack message and get size of encoded byte string
-                        mavlink_msg_param_value_pack(set.target_system, componentId, &msg, key.toStdString().c_str(), set.param_value, 0, onboardParams.size(), onboardParams.keys().indexOf(key));
+                        mavlink_msg_param_value_pack(set.target_system, componentId, &msg, key.toStdString().c_str(), set.param_value, MAVLINK_TYPE_FLOAT, onboardParams.size(), onboardParams.keys().indexOf(key));
                         // Allocate buffer with packet data
                         bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);
                         //add data into datastream
@@ -807,7 +807,7 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
                     float paramValue = onboardParams.value(key);
 
                     // Pack message and get size of encoded byte string
-                    mavlink_msg_param_value_pack(read.target_system, componentId, &msg, key.toStdString().c_str(), paramValue, 0, onboardParams.size(), onboardParams.keys().indexOf(key));
+                    mavlink_msg_param_value_pack(read.target_system, componentId, &msg, key.toStdString().c_str(), paramValue, MAVLINK_TYPE_FLOAT, onboardParams.size(), onboardParams.keys().indexOf(key));
                     // Allocate buffer with packet data
                     bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);
                     //add data into datastream
@@ -819,7 +819,7 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
                     float paramValue = onboardParams.value(key);
 
                     // Pack message and get size of encoded byte string
-                    mavlink_msg_param_value_pack(read.target_system, componentId, &msg, key.toStdString().c_str(), paramValue, 0, onboardParams.size(), onboardParams.keys().indexOf(key));
+                    mavlink_msg_param_value_pack(read.target_system, componentId, &msg, key.toStdString().c_str(), paramValue, MAVLINK_TYPE_FLOAT, onboardParams.size(), onboardParams.keys().indexOf(key));
                     // Allocate buffer with packet data
                     bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);
                     //add data into datastream

src/comm/QGCFlightGearLink.cc

@@ -350,8 +350,8 @@ fgScenery = "--fg-scenery=/Applications/FlightGear.app/Contents/Resources/data/S
 #endif
 
 #ifdef Q_OS_WIN32
-processFgfs = "C:\Program Files (x86)\FlightGear\bin\Win32\fgfs";
-fgRoot = "--fg-root=C:\Program Files (x86)\FlightGear\data";
+processFgfs = "C:\\Program Files (x86)\\FlightGear\\bin\\Win32\\fgfs";
+fgRoot = "--fg-root=C:\\Program Files (x86)\\FlightGear\\data";
 #endif
 
 #ifdef Q_OS_LINUX
@@ -361,10 +361,9 @@ fgRoot = "--fg-root=/usr/share/flightgear/data";
 
 processCall << fgRoot;
 processCall << fgScenery;
-processCall << "--generic=socket,out,50,127.0.0.1,49005,udp,ardupilot";
-processCall << "--generic=socket,in,50,127.0.0.1,49000,udp,ardupilot";
+processCall << "--generic=socket,out,50,127.0.0.1,49005,udp,qgroundcontrol";
+processCall << "--generic=socket,in,50,127.0.0.1,49000,udp,qgroundcontrol";
 processCall << "--in-air";
-processCall << "--altitude=10";
 processCall << "--vc=90";
 processCall << "--heading=300";
 processCall << "--timeofday=noon";
@@ -386,8 +385,9 @@ if (mav->getSystemType() == MAV_TYPE_QUADROTOR)
     processCall << "--prop:/engines/engine[2]/running=true";
     processCall << "--prop:/engines/engine[3]/running=true";
 }
-processCall << QString("--lat=%1").arg(mav->getLatitude());
-processCall << QString("--lon=%1").arg(mav->getLongitude());
+processCall << QString("--lat=%1").arg(UASManager::instance()->getHomeLatitude());
+processCall << QString("--lon=%1").arg(UASManager::instance()->getHomeLongitude());
+processCall << QString("--altitude=%1").arg(UASManager::instance()->getHomeAltitude());
 // Add new argument with this: processCall << "";
 processCall << QString("--aircraft=%2").arg(aircraft);
 

src/uas/UAS.cc

@@ -658,6 +658,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 int component = message.compid;
                 mavlink_param_union_t val;
                 val.param_float = value.param_value;
+                val.type = value.param_type;
 
                 // Convert to machine order if necessary
 //#if MAVLINK_NEED_BYTE_SWAP
@@ -680,22 +681,37 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 switch (value.param_type)
                 {
                 case MAVLINK_TYPE_FLOAT:
-                    parameters.value(component)->insert(parameterName, val.param_float);
+                    {
+                    // Variant
+                    QVariant param(val.param_float);
+                    parameters.value(component)->insert(parameterName, param);
                     // Emit change
-                    emit parameterChanged(uasId, message.compid, parameterName, val.param_float);
-                    emit parameterChanged(uasId, message.compid, value.param_count, value.param_index, parameterName, val.param_float);
+                    emit parameterChanged(uasId, message.compid, parameterName, param);
+                    emit parameterChanged(uasId, message.compid, value.param_count, value.param_index, parameterName, param);
+                    qDebug() << "RECEIVED PARAM:" << param;
+                }
                     break;
                 case MAVLINK_TYPE_UINT32_T:
-                    parameters.value(component)->insert(parameterName, val.param_uint32);
+                    {
+                    // Variant
+                    QVariant param(val.param_uint32);
+                    parameters.value(component)->insert(parameterName, param);
                     // Emit change
-                    emit parameterChanged(uasId, message.compid, parameterName, val.param_uint32);
-                    emit parameterChanged(uasId, message.compid, value.param_count, value.param_index, parameterName, val.param_uint32);
+                    emit parameterChanged(uasId, message.compid, parameterName, param);
+                    emit parameterChanged(uasId, message.compid, value.param_count, value.param_index, parameterName, param);
+                    qDebug() << "RECEIVED PARAM:" << param;
+                }
                     break;
                 case MAVLINK_TYPE_INT32_T:
-                    parameters.value(component)->insert(parameterName, val.param_int32);
+                    {
+                    // Variant
+                    QVariant param(val.param_int32);
+                    parameters.value(component)->insert(parameterName, param);
                     // Emit change
-                    emit parameterChanged(uasId, message.compid, parameterName, val.param_int32);
-                    emit parameterChanged(uasId, message.compid, value.param_count, value.param_index, parameterName, val.param_int32);
+                    emit parameterChanged(uasId, message.compid, parameterName, param);
+                    emit parameterChanged(uasId, message.compid, value.param_count, value.param_index, parameterName, param);
+                    qDebug() << "RECEIVED PARAM:" << param;
+                }
                     break;
                 default:
                     qCritical() << "INVALID DATA TYPE USED AS PARAMETER VALUE: " << value.param_type;
@@ -1860,6 +1876,8 @@ void UAS::setParameter(const int component, const QString& id, const QVariant& v
         p.target_system = (uint8_t)uasId;
         p.target_component = (uint8_t)component;
 
+        qDebug() << "SENT PARAM:" << value;
+
         // Copy string into buffer, ensuring not to exceed the buffer size
         for (unsigned int i = 0; i < sizeof(p.param_id); i++)
         {

src/ui/map3D/Pixhawk3DWidget.cc

@@ -139,7 +139,7 @@ Pixhawk3DWidget::selectFrame(QString text)
     if (text.compare("Global") == 0) {
         frame = MAV_FRAME_GLOBAL;
     } else if (text.compare("Local") == 0) {
-        frame = MAV_FRAME_LOCAL;
+        frame = MAV_FRAME_LOCAL_NED;
     }
 
     getPosition(lastRobotX, lastRobotY, lastRobotZ);
@@ -231,7 +231,7 @@ Pixhawk3DWidget::selectTarget(void)
                 getGlobalCursorPosition(getMouseX(), getMouseY(), altitude);
 
             target.set(cursorWorldCoords.first, cursorWorldCoords.second);
-        } else if (frame == MAV_FRAME_LOCAL) {
+        } else if (frame == MAV_FRAME_LOCAL_NED) {
             double z = uas->getLocalZ();
 
             std::pair<double,double> cursorWorldCoords =
@@ -266,7 +266,7 @@ Pixhawk3DWidget::insertWaypoint(void)
                              latitude, longitude);
 
             wp = new Waypoint(0, longitude, latitude, altitude);
-        } else if (frame == MAV_FRAME_LOCAL) {
+        } else if (frame == MAV_FRAME_LOCAL_NED) {
             double z = uas->getLocalZ();
 
             std::pair<double,double> cursorWorldCoords =
@@ -314,7 +314,7 @@ Pixhawk3DWidget::setWaypoint(void)
             waypoint->setX(longitude);
             waypoint->setY(latitude);
             waypoint->setZ(altitude);
-        } else if (frame == MAV_FRAME_LOCAL) {
+        } else if (frame == MAV_FRAME_LOCAL_NED) {
             double z = uas->getLocalZ();
 
             std::pair<double,double> cursorWorldCoords =
@@ -345,7 +345,7 @@ Pixhawk3DWidget::setWaypointAltitude(void)
         Waypoint* waypoint = waypoints.at(selectedWpIndex);
 
         double altitude = waypoint->getZ();
-        if (frame == MAV_FRAME_LOCAL) {
+        if (frame == MAV_FRAME_LOCAL_NED) {
             altitude = -altitude;
         }
 
@@ -355,7 +355,7 @@ Pixhawk3DWidget::setWaypointAltitude(void)
         if (ok) {
             if (frame == MAV_FRAME_GLOBAL) {
                 waypoint->setZ(newAltitude);
-            } else if (frame == MAV_FRAME_LOCAL) {
+            } else if (frame == MAV_FRAME_LOCAL_NED) {
                 waypoint->setZ(-newAltitude);
             }
         }
@@ -640,7 +640,7 @@ Pixhawk3DWidget::getPose(double& x, double& y, double& z,
 
             Imagery::LLtoUTM(latitude, longitude, x, y, utmZone);
             z = -altitude;
-        } else if (frame == MAV_FRAME_LOCAL) {
+        } else if (frame == MAV_FRAME_LOCAL_NED) {
             x = uas->getLocalX();
             y = uas->getLocalY();
             z = uas->getLocalZ();
@@ -673,7 +673,7 @@ Pixhawk3DWidget::getPosition(double& x, double& y, double& z,
 
             Imagery::LLtoUTM(latitude, longitude, x, y, utmZone);
             z = -altitude;
-        } else if (frame == MAV_FRAME_LOCAL) {
+        } else if (frame == MAV_FRAME_LOCAL_NED) {
             x = uas->getLocalX();
             y = uas->getLocalY();
             z = uas->getLocalZ();
@@ -941,7 +941,7 @@ Pixhawk3DWidget::updateHUD(double robotX, double robotY, double robotZ,
         oss.precision(6);
         oss << " Cursor [" << cursorLatitude <<
             " " << cursorLongitude << "]";
-    } else if (frame == MAV_FRAME_LOCAL) {
+    } else if (frame == MAV_FRAME_LOCAL_NED) {
         oss << " x = " << robotX <<
             " y = " << robotY <<
             " z = " << robotZ <<

src/ui/map3D/QGCGoogleEarthView.cc

@@ -461,7 +461,7 @@ QVariant QGCGoogleEarthView::documentElement(QString name)
             name.prepend("JScript_");
             HRESULT res = doc->getElementById(QStringToBSTR(name), &element);
             //BSTR elemString;
-            if (element) {
+            if (SUCCEEDED(res) && element) {
                 //element->get_innerHTML(&elemString);
                 VARIANT var;
                 var.vt = VT_BSTR;

src/ui/map3D/WaypointGroupNode.cc

@@ -63,7 +63,7 @@ WaypointGroupNode::update(MAV_FRAME frame, UASInterface *uas)
             QString utmZone;
             Imagery::LLtoUTM(latitude, longitude, robotX, robotY, utmZone);
             robotZ = -altitude;
-        } else if (frame == MAV_FRAME_LOCAL) {
+        } else if (frame == MAV_FRAME_LOCAL_NED) {
             robotX = uas->getLocalX();
             robotY = uas->getLocalY();
             robotZ = uas->getLocalZ();
@@ -154,7 +154,7 @@ WaypointGroupNode::getPosition(Waypoint* wp, double &x, double &y, double &z)
         QString utmZone;
         Imagery::LLtoUTM(latitude, longitude, x, y, utmZone);
         z = -altitude;
-    } else if (wp->getFrame() == MAV_FRAME_LOCAL) {
+    } else if (wp->getFrame() == MAV_FRAME_LOCAL_NED) {
         x = wp->getX();
         y = wp->getY();
         z = wp->getZ();

thirdParty/mavlink/include/ardupilotmega/mavlink_msg_set_mag_offsets.h

@@ -44,14 +44,27 @@ typedef struct __mavlink_set_mag_offsets_t
 static inline uint16_t mavlink_msg_set_mag_offsets_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
 						       uint8_t target_system, uint8_t target_component, int16_t mag_ofs_x, int16_t mag_ofs_y, int16_t mag_ofs_z)
 {
-	msg->msgid = MAVLINK_MSG_ID_SET_MAG_OFFSETS;
-
-	put_int16_t_by_index(msg, 0, mag_ofs_x); // magnetometer X offset
-	put_int16_t_by_index(msg, 2, mag_ofs_y); // magnetometer Y offset
-	put_int16_t_by_index(msg, 4, mag_ofs_z); // magnetometer Z offset
-	put_uint8_t_by_index(msg, 6, target_system); // System ID
-	put_uint8_t_by_index(msg, 7, target_component); // Component ID
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[8];
+	_mav_put_int16_t(buf, 0, mag_ofs_x);
+	_mav_put_int16_t(buf, 2, mag_ofs_y);
+	_mav_put_int16_t(buf, 4, mag_ofs_z);
+	_mav_put_uint8_t(buf, 6, target_system);
+	_mav_put_uint8_t(buf, 7, target_component);
+
+        memcpy(_MAV_PAYLOAD(msg), buf, 8);
+#else
+	mavlink_set_mag_offsets_t packet;
+	packet.mag_ofs_x = mag_ofs_x;
+	packet.mag_ofs_y = mag_ofs_y;
+	packet.mag_ofs_z = mag_ofs_z;
+	packet.target_system = target_system;
+	packet.target_component = target_component;
+
+        memcpy(_MAV_PAYLOAD(msg), &packet, 8);
+#endif
 
+	msg->msgid = MAVLINK_MSG_ID_SET_MAG_OFFSETS;
 	return mavlink_finalize_message(msg, system_id, component_id, 8, 219);
 }
 
@@ -72,14 +85,27 @@ static inline uint16_t mavlink_msg_set_mag_offsets_pack_chan(uint8_t system_id,
 							   mavlink_message_t* msg,
 						           uint8_t target_system,uint8_t target_component,int16_t mag_ofs_x,int16_t mag_ofs_y,int16_t mag_ofs_z)
 {
-	msg->msgid = MAVLINK_MSG_ID_SET_MAG_OFFSETS;
-
-	put_int16_t_by_index(msg, 0, mag_ofs_x); // magnetometer X offset
-	put_int16_t_by_index(msg, 2, mag_ofs_y); // magnetometer Y offset
-	put_int16_t_by_index(msg, 4, mag_ofs_z); // magnetometer Z offset
-	put_uint8_t_by_index(msg, 6, target_system); // System ID
-	put_uint8_t_by_index(msg, 7, target_component); // Component ID
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[8];
+	_mav_put_int16_t(buf, 0, mag_ofs_x);
+	_mav_put_int16_t(buf, 2, mag_ofs_y);
+	_mav_put_int16_t(buf, 4, mag_ofs_z);
+	_mav_put_uint8_t(buf, 6, target_system);
+	_mav_put_uint8_t(buf, 7, target_component);
+
+        memcpy(_MAV_PAYLOAD(msg), buf, 8);
+#else
+	mavlink_set_mag_offsets_t packet;
+	packet.mag_ofs_x = mag_ofs_x;
+	packet.mag_ofs_y = mag_ofs_y;
+	packet.mag_ofs_z = mag_ofs_z;
+	packet.target_system = target_system;
+	packet.target_component = target_component;
+
+        memcpy(_MAV_PAYLOAD(msg), &packet, 8);
+#endif
 
+	msg->msgid = MAVLINK_MSG_ID_SET_MAG_OFFSETS;
 	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 8, 219);
 }
 
@@ -110,16 +136,25 @@ static inline uint16_t mavlink_msg_set_mag_offsets_encode(uint8_t system_id, uin
 
 static inline void mavlink_msg_set_mag_offsets_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, int16_t mag_ofs_x, int16_t mag_ofs_y, int16_t mag_ofs_z)
 {
-	MAVLINK_ALIGNED_MESSAGE(msg, 8);
-	msg->msgid = MAVLINK_MSG_ID_SET_MAG_OFFSETS;
-
-	put_int16_t_by_index(msg, 0, mag_ofs_x); // magnetometer X offset
-	put_int16_t_by_index(msg, 2, mag_ofs_y); // magnetometer Y offset
-	put_int16_t_by_index(msg, 4, mag_ofs_z); // magnetometer Z offset
-	put_uint8_t_by_index(msg, 6, target_system); // System ID
-	put_uint8_t_by_index(msg, 7, target_component); // Component ID
-
-	mavlink_finalize_message_chan_send(msg, chan, 8, 219);
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[8];
+	_mav_put_int16_t(buf, 0, mag_ofs_x);
+	_mav_put_int16_t(buf, 2, mag_ofs_y);
+	_mav_put_int16_t(buf, 4, mag_ofs_z);
+	_mav_put_uint8_t(buf, 6, target_system);
+	_mav_put_uint8_t(buf, 7, target_component);
+
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_MAG_OFFSETS, buf, 8, 219);
+#else
+	mavlink_set_mag_offsets_t packet;
+	packet.mag_ofs_x = mag_ofs_x;
+	packet.mag_ofs_y = mag_ofs_y;
+	packet.mag_ofs_z = mag_ofs_z;
+	packet.target_system = target_system;
+	packet.target_component = target_component;
+
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_MAG_OFFSETS, (const char *)&packet, 8, 219);
+#endif
 }
 
 #endif
@@ -134,7 +169,7 @@ static inline void mavlink_msg_set_mag_offsets_send(mavlink_channel_t chan, uint
  */
 static inline uint8_t mavlink_msg_set_mag_offsets_get_target_system(const mavlink_message_t* msg)
 {
-	return MAVLINK_MSG_RETURN_uint8_t(msg,  6);
+	return _MAV_RETURN_uint8_t(msg,  6);
 }
 
 /**
@@ -144,7 +179,7 @@ static inline uint8_t mavlink_msg_set_mag_offsets_get_target_system(const mavlin
  */
 static inline uint8_t mavlink_msg_set_mag_offsets_get_target_component(const mavlink_message_t* msg)
 {
-	return MAVLINK_MSG_RETURN_uint8_t(msg,  7);
+	return _MAV_RETURN_uint8_t(msg,  7);
 }
 
 /**
@@ -154,7 +189,7 @@ static inline uint8_t mavlink_msg_set_mag_offsets_get_target_component(const mav
  */
 static inline int16_t mavlink_msg_set_mag_offsets_get_mag_ofs_x(const mavlink_message_t* msg)
 {
-	return MAVLINK_MSG_RETURN_int16_t(msg,  0);
+	return _MAV_RETURN_int16_t(msg,  0);
 }
 
 /**
@@ -164,7 +199,7 @@ static inline int16_t mavlink_msg_set_mag_offsets_get_mag_ofs_x(const mavlink_me
  */
 static inline int16_t mavlink_msg_set_mag_offsets_get_mag_ofs_y(const mavlink_message_t* msg)
 {
-	return MAVLINK_MSG_RETURN_int16_t(msg,  2);
+	return _MAV_RETURN_int16_t(msg,  2);
 }
 
 /**
@@ -174,7 +209,7 @@ static inline int16_t mavlink_msg_set_mag_offsets_get_mag_ofs_y(const mavlink_me
  */
 static inline int16_t mavlink_msg_set_mag_offsets_get_mag_ofs_z(const mavlink_message_t* msg)
 {
-	return MAVLINK_MSG_RETURN_int16_t(msg,  4);
+	return _MAV_RETURN_int16_t(msg,  4);
 }
 
 /**
@@ -192,6 +227,6 @@ static inline void mavlink_msg_set_mag_offsets_decode(const mavlink_message_t* m
 	set_mag_offsets->target_system = mavlink_msg_set_mag_offsets_get_target_system(msg);
 	set_mag_offsets->target_component = mavlink_msg_set_mag_offsets_get_target_component(msg);
 #else
-	memcpy(set_mag_offsets, MAVLINK_PAYLOAD(msg), 8);
+	memcpy(set_mag_offsets, _MAV_PAYLOAD(msg), 8);
 #endif
 }

thirdParty/mavlink/include/ardupilotmega/testsuite.h

@@ -11,25 +11,25 @@ extern "C" {
 
 #ifndef MAVLINK_TEST_ALL
 #define MAVLINK_TEST_ALL
-static void mavlink_test_common(uint8_t, uint8_t);
-static void mavlink_test_ardupilotmega(uint8_t, uint8_t);
+static void mavlink_test_common(uint8_t, uint8_t, mavlink_message_t *last_msg);
+static void mavlink_test_ardupilotmega(uint8_t, uint8_t, mavlink_message_t *last_msg);
 
-static void mavlink_test_all(uint8_t system_id, uint8_t component_id)
+static void mavlink_test_all(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
 {
-	mavlink_test_common(system_id, component_id);
-	mavlink_test_ardupilotmega(system_id, component_id);
+	mavlink_test_common(system_id, component_id, last_msg);
+	mavlink_test_ardupilotmega(system_id, component_id, last_msg);
 }
 #endif
 
 #include "../common/testsuite.h"
 
 
-static void mavlink_test_sensor_offsets(uint8_t system_id, uint8_t component_id)
+static void mavlink_test_sensor_offsets(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
 {
 	mavlink_message_t msg;
         uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
         uint16_t i;
-	mavlink_sensor_offsets_t packet2, packet1 = {
+	mavlink_sensor_offsets_t packet_in = {
 		17.0,
 	963497672,
 	963497880,
@@ -43,52 +43,107 @@ static void mavlink_test_sensor_offsets(uint8_t system_id, uint8_t component_id)
 	19211,
 	19315,
 	};
-	if (sizeof(packet2) != 42) {
-		packet2 = packet1; // cope with alignment within the packet
-	}
+	mavlink_sensor_offsets_t packet1, packet2;
+        memset(&packet1, 0, sizeof(packet1));
+        	packet1.mag_declination = packet_in.mag_declination;
+        	packet1.raw_press = packet_in.raw_press;
+        	packet1.raw_temp = packet_in.raw_temp;
+        	packet1.gyro_cal_x = packet_in.gyro_cal_x;
+        	packet1.gyro_cal_y = packet_in.gyro_cal_y;
+        	packet1.gyro_cal_z = packet_in.gyro_cal_z;
+        	packet1.accel_cal_x = packet_in.accel_cal_x;
+        	packet1.accel_cal_y = packet_in.accel_cal_y;
+        	packet1.accel_cal_z = packet_in.accel_cal_z;
+        	packet1.mag_ofs_x = packet_in.mag_ofs_x;
+        	packet1.mag_ofs_y = packet_in.mag_ofs_y;
+        	packet1.mag_ofs_z = packet_in.mag_ofs_z;
+        
+        
+
+        memset(&packet2, 0, sizeof(packet2));
 	mavlink_msg_sensor_offsets_encode(system_id, component_id, &msg, &packet1);
 	mavlink_msg_sensor_offsets_decode(&msg, &packet2);
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
 	mavlink_msg_sensor_offsets_pack(system_id, component_id, &msg , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z , packet1.mag_declination , packet1.raw_press , packet1.raw_temp , packet1.gyro_cal_x , packet1.gyro_cal_y , packet1.gyro_cal_z , packet1.accel_cal_x , packet1.accel_cal_y , packet1.accel_cal_z );
+	mavlink_msg_sensor_offsets_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
 	mavlink_msg_sensor_offsets_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z , packet1.mag_declination , packet1.raw_press , packet1.raw_temp , packet1.gyro_cal_x , packet1.gyro_cal_y , packet1.gyro_cal_z , packet1.accel_cal_x , packet1.accel_cal_y , packet1.accel_cal_z );
+	mavlink_msg_sensor_offsets_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
         mavlink_msg_to_send_buffer(buffer, &msg);
         for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
         	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
         }
+	mavlink_msg_sensor_offsets_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+        
+        memset(&packet2, 0, sizeof(packet2));
 	mavlink_msg_sensor_offsets_send(MAVLINK_COMM_1 , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z , packet1.mag_declination , packet1.raw_press , packet1.raw_temp , packet1.gyro_cal_x , packet1.gyro_cal_y , packet1.gyro_cal_z , packet1.accel_cal_x , packet1.accel_cal_y , packet1.accel_cal_z );
+	mavlink_msg_sensor_offsets_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 }
 
-static void mavlink_test_set_mag_offsets(uint8_t system_id, uint8_t component_id)
+static void mavlink_test_set_mag_offsets(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
 {
 	mavlink_message_t msg;
         uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
         uint16_t i;
-	mavlink_set_mag_offsets_t packet2, packet1 = {
+	mavlink_set_mag_offsets_t packet_in = {
 		17235,
 	17339,
 	17443,
 	151,
 	218,
 	};
-	if (sizeof(packet2) != 8) {
-		packet2 = packet1; // cope with alignment within the packet
-	}
+	mavlink_set_mag_offsets_t packet1, packet2;
+        memset(&packet1, 0, sizeof(packet1));
+        	packet1.mag_ofs_x = packet_in.mag_ofs_x;
+        	packet1.mag_ofs_y = packet_in.mag_ofs_y;
+        	packet1.mag_ofs_z = packet_in.mag_ofs_z;
+        	packet1.target_system = packet_in.target_system;
+        	packet1.target_component = packet_in.target_component;
+        
+        
+
+        memset(&packet2, 0, sizeof(packet2));
 	mavlink_msg_set_mag_offsets_encode(system_id, component_id, &msg, &packet1);
 	mavlink_msg_set_mag_offsets_decode(&msg, &packet2);
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
 	mavlink_msg_set_mag_offsets_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z );
+	mavlink_msg_set_mag_offsets_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
 	mavlink_msg_set_mag_offsets_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z );
+	mavlink_msg_set_mag_offsets_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
         mavlink_msg_to_send_buffer(buffer, &msg);
         for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
         	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
         }
+	mavlink_msg_set_mag_offsets_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+        
+        memset(&packet2, 0, sizeof(packet2));
 	mavlink_msg_set_mag_offsets_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z );
+	mavlink_msg_set_mag_offsets_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 }
 
-static void mavlink_test_ardupilotmega(uint8_t system_id, uint8_t component_id)
+static void mavlink_test_ardupilotmega(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
 {
-	mavlink_test_sensor_offsets(system_id, component_id);
-	mavlink_test_set_mag_offsets(system_id, component_id);
+	mavlink_test_sensor_offsets(system_id, component_id, last_msg);
+	mavlink_test_set_mag_offsets(system_id, component_id, last_msg);
 }
 
 #ifdef __cplusplus

thirdParty/mavlink/include/ardupilotmega/version.h

@@ -5,7 +5,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Mon Aug 29 10:37:55 2011"
+#define MAVLINK_BUILD_DATE "Wed Aug 31 10:19:04 2011"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
 
 #include "mavlink.h"

thirdParty/mavlink/include/checksum.h

@@ -64,6 +64,23 @@ static inline uint16_t crc_calculate(uint8_t* pBuffer, uint16_t length)
         return crcTmp;
 }
 
+/**
+ * @brief Accumulate the X.25 CRC by adding an array of bytes
+ *
+ * The checksum function adds the hash of one char at a time to the
+ * 16 bit checksum (uint16_t).
+ *
+ * @param data new bytes to hash
+ * @param crcAccum the already accumulated checksum
+ **/
+static inline void crc_accumulate_buffer(uint16_t *crcAccum, const char *pBuffer, uint8_t length)
+{
+	const uint8_t *p = (const uint8_t *)pBuffer;
+	while (length--) {
+                crc_accumulate(*p++, crcAccum);
+        }
+}
+
 
 
 

thirdParty/mavlink/include/common/mavlink_msg_attitude.h

@@ -50,16 +50,31 @@ typedef struct __mavlink_attitude_t
 static inline uint16_t mavlink_msg_attitude_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
 						       uint32_t time_boot_ms, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed)
 {
-	msg->msgid = MAVLINK_MSG_ID_ATTITUDE;
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[28];
+	_mav_put_uint32_t(buf, 0, time_boot_ms);
+	_mav_put_float(buf, 4, roll);
+	_mav_put_float(buf, 8, pitch);
+	_mav_put_float(buf, 12, yaw);
+	_mav_put_float(buf, 16, rollspeed);
+	_mav_put_float(buf, 20, pitchspeed);
+	_mav_put_float(buf, 24, yawspeed);
+
+        memcpy(_MAV_PAYLOAD(msg), buf, 28);
+#else
+	mavlink_attitude_t packet;
+	packet.time_boot_ms = time_boot_ms;
+	packet.roll = roll;
+	packet.pitch = pitch;
+	packet.yaw = yaw;
+	packet.rollspeed = rollspeed;
+	packet.pitchspeed = pitchspeed;
+	packet.yawspeed = yawspeed;
 
-	put_uint32_t_by_index(msg, 0, time_boot_ms); // Timestamp (milliseconds since system boot)
-	put_float_by_index(msg, 4, roll); // Roll angle (rad)
-	put_float_by_index(msg, 8, pitch); // Pitch angle (rad)
-	put_float_by_index(msg, 12, yaw); // Yaw angle (rad)
-	put_float_by_index(msg, 16, rollspeed); // Roll angular speed (rad/s)
-	put_float_by_index(msg, 20, pitchspeed); // Pitch angular speed (rad/s)
-	put_float_by_index(msg, 24, yawspeed); // Yaw angular speed (rad/s)
+        memcpy(_MAV_PAYLOAD(msg), &packet, 28);
+#endif
 
+	msg->msgid = MAVLINK_MSG_ID_ATTITUDE;
 	return mavlink_finalize_message(msg, system_id, component_id, 28, 39);
 }
 
@@ -82,16 +97,31 @@ static inline uint16_t mavlink_msg_attitude_pack_chan(uint8_t system_id, uint8_t
 							   mavlink_message_t* msg,
 						           uint32_t time_boot_ms,float roll,float pitch,float yaw,float rollspeed,float pitchspeed,float yawspeed)
 {
-	msg->msgid = MAVLINK_MSG_ID_ATTITUDE;
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[28];
+	_mav_put_uint32_t(buf, 0, time_boot_ms);
+	_mav_put_float(buf, 4, roll);
+	_mav_put_float(buf, 8, pitch);
+	_mav_put_float(buf, 12, yaw);
+	_mav_put_float(buf, 16, rollspeed);
+	_mav_put_float(buf, 20, pitchspeed);
+	_mav_put_float(buf, 24, yawspeed);
 
-	put_uint32_t_by_index(msg, 0, time_boot_ms); // Timestamp (milliseconds since system boot)
-	put_float_by_index(msg, 4, roll); // Roll angle (rad)
-	put_float_by_index(msg, 8, pitch); // Pitch angle (rad)
-	put_float_by_index(msg, 12, yaw); // Yaw angle (rad)
-	put_float_by_index(msg, 16, rollspeed); // Roll angular speed (rad/s)
-	put_float_by_index(msg, 20, pitchspeed); // Pitch angular speed (rad/s)
-	put_float_by_index(msg, 24, yawspeed); // Yaw angular speed (rad/s)
+        memcpy(_MAV_PAYLOAD(msg), buf, 28);
+#else
+	mavlink_attitude_t packet;
+	packet.time_boot_ms = time_boot_ms;
+	packet.roll = roll;
+	packet.pitch = pitch;
+	packet.yaw = yaw;
+	packet.rollspeed = rollspeed;
+	packet.pitchspeed = pitchspeed;
+	packet.yawspeed = yawspeed;
 
+        memcpy(_MAV_PAYLOAD(msg), &packet, 28);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_ATTITUDE;
 	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 28, 39);
 }
 
@@ -124,18 +154,29 @@ static inline uint16_t mavlink_msg_attitude_encode(uint8_t system_id, uint8_t co
 
 static inline void mavlink_msg_attitude_send(mavlink_channel_t chan, uint32_t time_boot_ms, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed)
 {
-	MAVLINK_ALIGNED_MESSAGE(msg, 28);
-	msg->msgid = MAVLINK_MSG_ID_ATTITUDE;
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[28];
+	_mav_put_uint32_t(buf, 0, time_boot_ms);
+	_mav_put_float(buf, 4, roll);
+	_mav_put_float(buf, 8, pitch);
+	_mav_put_float(buf, 12, yaw);
+	_mav_put_float(buf, 16, rollspeed);
+	_mav_put_float(buf, 20, pitchspeed);
+	_mav_put_float(buf, 24, yawspeed);
 
-	put_uint32_t_by_index(msg, 0, time_boot_ms); // Timestamp (milliseconds since system boot)
-	put_float_by_index(msg, 4, roll); // Roll angle (rad)
-	put_float_by_index(msg, 8, pitch); // Pitch angle (rad)
-	put_float_by_index(msg, 12, yaw); // Yaw angle (rad)
-	put_float_by_index(msg, 16, rollspeed); // Roll angular speed (rad/s)
-	put_float_by_index(msg, 20, pitchspeed); // Pitch angular speed (rad/s)
-	put_float_by_index(msg, 24, yawspeed); // Yaw angular speed (rad/s)
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, buf, 28, 39);
+#else
+	mavlink_attitude_t packet;
+	packet.time_boot_ms = time_boot_ms;
+	packet.roll = roll;
+	packet.pitch = pitch;
+	packet.yaw = yaw;
+	packet.rollspeed = rollspeed;
+	packet.pitchspeed = pitchspeed;
+	packet.yawspeed = yawspeed;
 
-	mavlink_finalize_message_chan_send(msg, chan, 28, 39);
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, (const char *)&packet, 28, 39);
+#endif
 }
 
 #endif
@@ -150,7 +191,7 @@ static inline void mavlink_msg_attitude_send(mavlink_channel_t chan, uint32_t ti
  */
 static inline uint32_t mavlink_msg_attitude_get_time_boot_ms(const mavlink_message_t* msg)
 {
-	return MAVLINK_MSG_RETURN_uint32_t(msg,  0);
+	return _MAV_RETURN_uint32_t(msg,  0);
 }
 
 /**
@@ -160,7 +201,7 @@ static inline uint32_t mavlink_msg_attitude_get_time_boot_ms(const mavlink_messa
  */
 static inline float mavlink_msg_attitude_get_roll(const mavlink_message_t* msg)
 {
-	return MAVLINK_MSG_RETURN_float(msg,  4);
+	return _MAV_RETURN_float(msg,  4);
 }
 
 /**
@@ -170,7 +211,7 @@ static inline float mavlink_msg_attitude_get_roll(const mavlink_message_t* msg)
  */
 static inline float mavlink_msg_attitude_get_pitch(const mavlink_message_t* msg)
 {
-	return MAVLINK_MSG_RETURN_float(msg,  8);
+	return _MAV_RETURN_float(msg,  8);
 }
 
 /**
@@ -180,7 +221,7 @@ static inline float mavlink_msg_attitude_get_pitch(const mavlink_message_t* msg)
  */
 static inline float mavlink_msg_attitude_get_yaw(const mavlink_message_t* msg)
 {
-	return MAVLINK_MSG_RETURN_float(msg,  12);
+	return _MAV_RETURN_float(msg,  12);
 }
 
 /**
@@ -190,7 +231,7 @@ static inline float mavlink_msg_attitude_get_yaw(const mavlink_message_t* msg)
  */
 static inline float mavlink_msg_attitude_get_rollspeed(const mavlink_message_t* msg)
 {
-	return MAVLINK_MSG_RETURN_float(msg,  16);
+	return _MAV_RETURN_float(msg,  16);
 }
 
 /**
@@ -200,7 +241,7 @@ static inline float mavlink_msg_attitude_get_rollspeed(const mavlink_message_t*
  */
 static inline float mavlink_msg_attitude_get_pitchspeed(const mavlink_message_t* msg)
 {
-	return MAVLINK_MSG_RETURN_float(msg,  20);
+	return _MAV_RETURN_float(msg,  20);
 }
 
 /**
@@ -210,7 +251,7 @@ static inline float mavlink_msg_attitude_get_pitchspeed(const mavlink_message_t*
  */
 static inline float mavlink_msg_attitude_get_yawspeed(const mavlink_message_t* msg)
 {
-	return MAVLINK_MSG_RETURN_float(msg,  24);
+	return _MAV_RETURN_float(msg,  24);
 }
 
 /**
@@ -230,6 +271,6 @@ static inline void mavlink_msg_attitude_decode(const mavlink_message_t* msg, mav
 	attitude->pitchspeed = mavlink_msg_attitude_get_pitchspeed(msg);
 	attitude->yawspeed = mavlink_msg_attitude_get_yawspeed(msg);
 #else
-	memcpy(attitude, MAVLINK_PAYLOAD(msg), 28);
+	memcpy(attitude, _MAV_PAYLOAD(msg), 28);
 #endif
 }

thirdParty/mavlink/include/common/mavlink_msg_auth_key.h

@@ -32,10 +32,19 @@ typedef struct __mavlink_auth_key_t
 static inline uint16_t mavlink_msg_auth_key_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
 						       const char *key)
 {
-	msg->msgid = MAVLINK_MSG_ID_AUTH_KEY;
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[32];
+
+	_mav_put_char_array(buf, 0, key, 32);
+        memcpy(_MAV_PAYLOAD(msg), buf, 32);
+#else
+	mavlink_auth_key_t packet;
 
-	put_char_array_by_index(msg, 0, key, 32); // key
+	memcpy(packet.key, key, sizeof(char)*32);
+        memcpy(_MAV_PAYLOAD(msg), &packet, 32);
+#endif
 
+	msg->msgid = MAVLINK_MSG_ID_AUTH_KEY;
 	return mavlink_finalize_message(msg, system_id, component_id, 32, 119);
 }
 
@@ -52,10 +61,19 @@ static inline uint16_t mavlink_msg_auth_key_pack_chan(uint8_t system_id, uint8_t
 							   mavlink_message_t* msg,
 						           const char *key)
 {
-	msg->msgid = MAVLINK_MSG_ID_AUTH_KEY;
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[32];
 
-	put_char_array_by_index(msg, 0, key, 32); // key
+	_mav_put_char_array(buf, 0, key, 32);
+        memcpy(_MAV_PAYLOAD(msg), buf, 32);
+#else
+	mavlink_auth_key_t packet;
 
+	memcpy(packet.key, key, sizeof(char)*32);
+        memcpy(_MAV_PAYLOAD(msg), &packet, 32);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_AUTH_KEY;
 	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 32, 119);
 }
 
@@ -82,12 +100,17 @@ static inline uint16_t mavlink_msg_auth_key_encode(uint8_t system_id, uint8_t co
 
 static inline void mavlink_msg_auth_key_send(mavlink_channel_t chan, const char *key)
 {
-	MAVLINK_ALIGNED_MESSAGE(msg, 32);
-	msg->msgid = MAVLINK_MSG_ID_AUTH_KEY;
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[32];
 
-	put_char_array_by_index(msg, 0, key, 32); // key
+	_mav_put_char_array(buf, 0, key, 32);
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AUTH_KEY, buf, 32, 119);
+#else
+	mavlink_auth_key_t packet;
 
-	mavlink_finalize_message_chan_send(msg, chan, 32, 119);
+	memcpy(packet.key, key, sizeof(char)*32);
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AUTH_KEY, (const char *)&packet, 32, 119);
+#endif
 }
 
 #endif
@@ -102,7 +125,7 @@ static inline void mavlink_msg_auth_key_send(mavlink_channel_t chan, const char
  */
 static inline uint16_t mavlink_msg_auth_key_get_key(const mavlink_message_t* msg, char *key)
 {
-	return MAVLINK_MSG_RETURN_char_array(msg, key, 32,  0);
+	return _MAV_RETURN_char_array(msg, key, 32,  0);
 }
 
 /**
@@ -116,6 +139,6 @@ static inline void mavlink_msg_auth_key_decode(const mavlink_message_t* msg, mav
 #if MAVLINK_NEED_BYTE_SWAP
 	mavlink_msg_auth_key_get_key(msg, auth_key->key);
 #else
-	memcpy(auth_key, MAVLINK_PAYLOAD(msg), 32);
+	memcpy(auth_key, _MAV_PAYLOAD(msg), 32);
 #endif
 }

thirdParty/mavlink/include/common/mavlink_msg_change_operator_control.h

@@ -41,13 +41,23 @@ typedef struct __mavlink_change_operator_control_t
 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)
 {
-	msg->msgid = MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL;
-
-	put_uint8_t_by_index(msg, 0, target_system); // System the GCS requests control for
-	put_uint8_t_by_index(msg, 1, control_request); // 0: request control of this MAV, 1: Release control of this MAV
-	put_uint8_t_by_index(msg, 2, 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.
-	put_char_array_by_index(msg, 3, 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 "!?,.-"
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[28];
+	_mav_put_uint8_t(buf, 0, target_system);
+	_mav_put_uint8_t(buf, 1, control_request);
+	_mav_put_uint8_t(buf, 2, version);
+	_mav_put_char_array(buf, 3, passkey, 25);
+        memcpy(_MAV_PAYLOAD(msg), buf, 28);
+#else
+	mavlink_change_operator_control_t packet;
+	packet.target_system = target_system;
+	packet.control_request = control_request;
+	packet.version = version;
+	memcpy(packet.passkey, passkey, sizeof(char)*25);
+        memcpy(_MAV_PAYLOAD(msg), &packet, 28);
+#endif
 
+	msg->msgid = MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL;
 	return mavlink_finalize_message(msg, system_id, component_id, 28, 217);
 }
 
@@ -67,13 +77,23 @@ static inline uint16_t mavlink_msg_change_operator_control_pack_chan(uint8_t sys
 							   mavlink_message_t* msg,
 						           uint8_t target_system,uint8_t control_request,uint8_t version,const char *passkey)
 {
-	msg->msgid = MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL;
-
-	put_uint8_t_by_index(msg, 0, target_system); // System the GCS requests control for
-	put_uint8_t_by_index(msg, 1, control_request); // 0: request control of this MAV, 1: Release control of this MAV
-	put_uint8_t_by_index(msg, 2, 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.
-	put_char_array_by_index(msg, 3, 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 "!?,.-"
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[28];
+	_mav_put_uint8_t(buf, 0, target_system);
+	_mav_put_uint8_t(buf, 1, control_request);
+	_mav_put_uint8_t(buf, 2, version);
+	_mav_put_char_array(buf, 3, passkey, 25);
+        memcpy(_MAV_PAYLOAD(msg), buf, 28);
+#else
+	mavlink_change_operator_control_t packet;
+	packet.target_system = target_system;
+	packet.control_request = control_request;
+	packet.version = version;
+	memcpy(packet.passkey, passkey, sizeof(char)*25);
+        memcpy(_MAV_PAYLOAD(msg), &packet, 28);
+#endif
 
+	msg->msgid = MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL;
 	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 28, 217);
 }
 
@@ -103,15 +123,21 @@ static inline uint16_t mavlink_msg_change_operator_control_encode(uint8_t system
 
 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_ALIGNED_MESSAGE(msg, 28);
-	msg->msgid = MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL;
-
-	put_uint8_t_by_index(msg, 0, target_system); // System the GCS requests control for
-	put_uint8_t_by_index(msg, 1, control_request); // 0: request control of this MAV, 1: Release control of this MAV
-	put_uint8_t_by_index(msg, 2, 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.
-	put_char_array_by_index(msg, 3, 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_finalize_message_chan_send(msg, chan, 28, 217);
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[28];
+	_mav_put_uint8_t(buf, 0, target_system);
+	_mav_put_uint8_t(buf, 1, control_request);
+	_mav_put_uint8_t(buf, 2, version);
+	_mav_put_char_array(buf, 3, passkey, 25);
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL, buf, 28, 217);
+#else
+	mavlink_change_operator_control_t packet;
+	packet.target_system = target_system;
+	packet.control_request = control_request;
+	packet.version = version;
+	memcpy(packet.passkey, passkey, sizeof(char)*25);
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL, (const char *)&packet, 28, 217);
+#endif
 }
 
 #endif
@@ -126,7 +152,7 @@ static inline void mavlink_msg_change_operator_control_send(mavlink_channel_t ch
  */
 static inline uint8_t mavlink_msg_change_operator_control_get_target_system(const mavlink_message_t* msg)
 {
-	return MAVLINK_MSG_RETURN_uint8_t(msg,  0);
+	return _MAV_RETURN_uint8_t(msg,  0);
 }
 
 /**
@@ -136,7 +162,7 @@ static inline uint8_t mavlink_msg_change_operator_control_get_target_system(cons
  */
 static inline uint8_t mavlink_msg_change_operator_control_get_control_request(const mavlink_message_t* msg)
 {
-	return MAVLINK_MSG_RETURN_uint8_t(msg,  1);
+	return _MAV_RETURN_uint8_t(msg,  1);
 }
 
 /**
@@ -146,7 +172,7 @@ static inline uint8_t mavlink_msg_change_operator_control_get_control_request(co
  */
 static inline uint8_t mavlink_msg_change_operator_control_get_version(const mavlink_message_t* msg)
 {
-	return MAVLINK_MSG_RETURN_uint8_t(msg,  2);
+	return _MAV_RETURN_uint8_t(msg,  2);
 }
 
 /**
@@ -156,7 +182,7 @@ static inline uint8_t mavlink_msg_change_operator_control_get_version(const mavl
  */
 static inline uint16_t mavlink_msg_change_operator_control_get_passkey(const mavlink_message_t* msg, char *passkey)
 {
-	return MAVLINK_MSG_RETURN_char_array(msg, passkey, 25,  3);
+	return _MAV_RETURN_char_array(msg, passkey, 25,  3);
 }
 
 /**
@@ -173,6 +199,6 @@ static inline void mavlink_msg_change_operator_control_decode(const mavlink_mess
 	change_operator_control->version = mavlink_msg_change_operator_control_get_version(msg);
 	mavlink_msg_change_operator_control_get_passkey(msg, change_operator_control->passkey);
 #else
-	memcpy(change_operator_control, MAVLINK_PAYLOAD(msg), 28);
+	memcpy(change_operator_control, _MAV_PAYLOAD(msg), 28);
 #endif
 }

thirdParty/mavlink/include/common/mavlink_msg_change_operator_control_ack.h

@@ -38,12 +38,23 @@ typedef struct __mavlink_change_operator_control_ack_t
 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)
 {
-	msg->msgid = MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK;
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[3];
+	_mav_put_uint8_t(buf, 0, gcs_system_id);
+	_mav_put_uint8_t(buf, 1, control_request);
+	_mav_put_uint8_t(buf, 2, ack);
+
+        memcpy(_MAV_PAYLOAD(msg), buf, 3);
+#else
+	mavlink_change_operator_control_ack_t packet;
+	packet.gcs_system_id = gcs_system_id;
+	packet.control_request = control_request;
+	packet.ack = ack;
 
-	put_uint8_t_by_index(msg, 0, gcs_system_id); // ID of the GCS this message 
-	put_uint8_t_by_index(msg, 1, control_request); // 0: request control of this MAV, 1: Release control of this MAV
-	put_uint8_t_by_index(msg, 2, ack); // 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control
+        memcpy(_MAV_PAYLOAD(msg), &packet, 3);
+#endif
 
+	msg->msgid = MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK;
 	return mavlink_finalize_message(msg, system_id, component_id, 3, 104);
 }
 
@@ -62,12 +73,23 @@ static inline uint16_t mavlink_msg_change_operator_control_ack_pack_chan(uint8_t
 							   mavlink_message_t* msg,
 						           uint8_t gcs_system_id,uint8_t control_request,uint8_t ack)
 {
-	msg->msgid = MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK;
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[3];
+	_mav_put_uint8_t(buf, 0, gcs_system_id);
+	_mav_put_uint8_t(buf, 1, control_request);
+	_mav_put_uint8_t(buf, 2, ack);
 
-	put_uint8_t_by_index(msg, 0, gcs_system_id); // ID of the GCS this message 
-	put_uint8_t_by_index(msg, 1, control_request); // 0: request control of this MAV, 1: Release control of this MAV
-	put_uint8_t_by_index(msg, 2, ack); // 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control
+        memcpy(_MAV_PAYLOAD(msg), buf, 3);
+#else
+	mavlink_change_operator_control_ack_t packet;
+	packet.gcs_system_id = gcs_system_id;
+	packet.control_request = control_request;
+	packet.ack = ack;
 
+        memcpy(_MAV_PAYLOAD(msg), &packet, 3);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK;
 	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 3, 104);
 }
 
@@ -96,14 +118,21 @@ static inline uint16_t mavlink_msg_change_operator_control_ack_encode(uint8_t sy
 
 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_ALIGNED_MESSAGE(msg, 3);
-	msg->msgid = MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK;
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[3];
+	_mav_put_uint8_t(buf, 0, gcs_system_id);
+	_mav_put_uint8_t(buf, 1, control_request);
+	_mav_put_uint8_t(buf, 2, ack);
 
-	put_uint8_t_by_index(msg, 0, gcs_system_id); // ID of the GCS this message 
-	put_uint8_t_by_index(msg, 1, control_request); // 0: request control of this MAV, 1: Release control of this MAV
-	put_uint8_t_by_index(msg, 2, ack); // 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK, buf, 3, 104);
+#else
+	mavlink_change_operator_control_ack_t packet;
+	packet.gcs_system_id = gcs_system_id;
+	packet.control_request = control_request;
+	packet.ack = ack;
 
-	mavlink_finalize_message_chan_send(msg, chan, 3, 104);
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK, (const char *)&packet, 3, 104);
+#endif
 }
 
 #endif
@@ -118,7 +147,7 @@ static inline void mavlink_msg_change_operator_control_ack_send(mavlink_channel_
  */
 static inline uint8_t mavlink_msg_change_operator_control_ack_get_gcs_system_id(const mavlink_message_t* msg)
 {
-	return MAVLINK_MSG_RETURN_uint8_t(msg,  0);
+	return _MAV_RETURN_uint8_t(msg,  0);
 }
 
 /**
@@ -128,7 +157,7 @@ static inline uint8_t mavlink_msg_change_operator_control_ack_get_gcs_system_id(
  */
 static inline uint8_t mavlink_msg_change_operator_control_ack_get_control_request(const mavlink_message_t* msg)
 {
-	return MAVLINK_MSG_RETURN_uint8_t(msg,  1);
+	return _MAV_RETURN_uint8_t(msg,  1);
 }
 
 /**
@@ -138,7 +167,7 @@ static inline uint8_t mavlink_msg_change_operator_control_ack_get_control_reques
  */
 static inline uint8_t mavlink_msg_change_operator_control_ack_get_ack(const mavlink_message_t* msg)
 {
-	return MAVLINK_MSG_RETURN_uint8_t(msg,  2);
+	return _MAV_RETURN_uint8_t(msg,  2);
 }
 
 /**
@@ -154,6 +183,6 @@ static inline void mavlink_msg_change_operator_control_ack_decode(const mavlink_
 	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);
 #else
-	memcpy(change_operator_control_ack, MAVLINK_PAYLOAD(msg), 3);
+	memcpy(change_operator_control_ack, _MAV_PAYLOAD(msg), 3);
 #endif
 }

thirdParty/mavlink/include/common/mavlink_msg_command_ack.h

@@ -35,11 +35,21 @@ typedef struct __mavlink_command_ack_t
 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)
 {
-	msg->msgid = MAVLINK_MSG_ID_COMMAND_ACK;
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[8];
+	_mav_put_float(buf, 0, command);
+	_mav_put_float(buf, 4, result);
+
+        memcpy(_MAV_PAYLOAD(msg), buf, 8);
+#else
+	mavlink_command_ack_t packet;
+	packet.command = command;
+	packet.result = result;
 
-	put_float_by_index(msg, 0, command); // Current airspeed in m/s
-	put_float_by_index(msg, 4, result); // 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
+        memcpy(_MAV_PAYLOAD(msg), &packet, 8);
+#endif
 
+	msg->msgid = MAVLINK_MSG_ID_COMMAND_ACK;
 	return mavlink_finalize_message(msg, system_id, component_id, 8, 8);
 }
 
@@ -57,11 +67,21 @@ static inline uint16_t mavlink_msg_command_ack_pack_chan(uint8_t system_id, uint
 							   mavlink_message_t* msg,
 						           float command,float result)
 {
-	msg->msgid = MAVLINK_MSG_ID_COMMAND_ACK;
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[8];
+	_mav_put_float(buf, 0, command);
+	_mav_put_float(buf, 4, result);
 
-	put_float_by_index(msg, 0, command); // Current airspeed in m/s
-	put_float_by_index(msg, 4, result); // 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
+        memcpy(_MAV_PAYLOAD(msg), buf, 8);
+#else
+	mavlink_command_ack_t packet;
+	packet.command = command;
+	packet.result = result;
 
+        memcpy(_MAV_PAYLOAD(msg), &packet, 8);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_COMMAND_ACK;
 	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 8, 8);
 }
 
@@ -89,13 +109,19 @@ static inline uint16_t mavlink_msg_command_ack_encode(uint8_t system_id, uint8_t
 
 static inline void mavlink_msg_command_ack_send(mavlink_channel_t chan, float command, float result)
 {
-	MAVLINK_ALIGNED_MESSAGE(msg, 8);
-	msg->msgid = MAVLINK_MSG_ID_COMMAND_ACK;
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[8];
+	_mav_put_float(buf, 0, command);
+	_mav_put_float(buf, 4, result);
 
-	put_float_by_index(msg, 0, command); // Current airspeed in m/s
-	put_float_by_index(msg, 4, result); // 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, buf, 8, 8);
+#else
+	mavlink_command_ack_t packet;
+	packet.command = command;
+	packet.result = result;
 
-	mavlink_finalize_message_chan_send(msg, chan, 8, 8);
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, (const char *)&packet, 8, 8);
+#endif
 }
 
 #endif
@@ -110,7 +136,7 @@ static inline void mavlink_msg_command_ack_send(mavlink_channel_t chan, float co
  */
 static inline float mavlink_msg_command_ack_get_command(const mavlink_message_t* msg)
 {
-	return MAVLINK_MSG_RETURN_float(msg,  0);
+	return _MAV_RETURN_float(msg,  0);
 }
 
 /**
@@ -120,7 +146,7 @@ static inline float mavlink_msg_command_ack_get_command(const mavlink_message_t*
  */
 static inline float mavlink_msg_command_ack_get_result(const mavlink_message_t* msg)
 {
-	return MAVLINK_MSG_RETURN_float(msg,  4);
+	return _MAV_RETURN_float(msg,  4);
 }
 
 /**
@@ -135,6 +161,6 @@ static inline void mavlink_msg_command_ack_decode(const mavlink_message_t* msg,
 	command_ack->command = mavlink_msg_command_ack_get_command(msg);
 	command_ack->result = mavlink_msg_command_ack_get_result(msg);
 #else
-	memcpy(command_ack, MAVLINK_PAYLOAD(msg), 8);
+	memcpy(command_ack, _MAV_PAYLOAD(msg), 8);
 #endif
 }

thirdParty/mavlink/include/common/mavlink_msg_command_short.h

@@ -53,17 +53,33 @@ typedef struct __mavlink_command_short_t
 static inline uint16_t mavlink_msg_command_short_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
 						       uint8_t target_system, uint8_t target_component, uint8_t command, uint8_t confirmation, float param1, float param2, float param3, float param4)
 {
-	msg->msgid = MAVLINK_MSG_ID_COMMAND_SHORT;
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[20];
+	_mav_put_float(buf, 0, param1);
+	_mav_put_float(buf, 4, param2);
+	_mav_put_float(buf, 8, param3);
+	_mav_put_float(buf, 12, param4);
+	_mav_put_uint8_t(buf, 16, target_system);
+	_mav_put_uint8_t(buf, 17, target_component);
+	_mav_put_uint8_t(buf, 18, command);
+	_mav_put_uint8_t(buf, 19, confirmation);
+
+        memcpy(_MAV_PAYLOAD(msg), buf, 20);
+#else
+	mavlink_command_short_t packet;
+	packet.param1 = param1;
+	packet.param2 = param2;
+	packet.param3 = param3;
+	packet.param4 = param4;
+	packet.target_system = target_system;
+	packet.target_component = target_component;
+	packet.command = command;
+	packet.confirmation = confirmation;
 
-	put_float_by_index(msg, 0, param1); // Parameter 1, as defined by MAV_CMD enum.
-	put_float_by_index(msg, 4, param2); // Parameter 2, as defined by MAV_CMD enum.
-	put_float_by_index(msg, 8, param3); // Parameter 3, as defined by MAV_CMD enum.
-	put_float_by_index(msg, 12, param4); // Parameter 4, as defined by MAV_CMD enum.
-	put_uint8_t_by_index(msg, 16, target_system); // System which should execute the command
-	put_uint8_t_by_index(msg, 17, target_component); // Component which should execute the command, 0 for all components
-	put_uint8_t_by_index(msg, 18, command); // Command ID, as defined by MAV_CMD enum.
-	put_uint8_t_by_index(msg, 19, confirmation); // 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
+        memcpy(_MAV_PAYLOAD(msg), &packet, 20);
+#endif
 
+	msg->msgid = MAVLINK_MSG_ID_COMMAND_SHORT;
 	return mavlink_finalize_message(msg, system_id, component_id, 20, 160);
 }
 
@@ -87,17 +103,33 @@ static inline uint16_t mavlink_msg_command_short_pack_chan(uint8_t system_id, ui
 							   mavlink_message_t* msg,
 						           uint8_t target_system,uint8_t target_component,uint8_t command,uint8_t confirmation,float param1,float param2,float param3,float param4)
 {
-	msg->msgid = MAVLINK_MSG_ID_COMMAND_SHORT;
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[20];
+	_mav_put_float(buf, 0, param1);
+	_mav_put_float(buf, 4, param2);
+	_mav_put_float(buf, 8, param3);
+	_mav_put_float(buf, 12, param4);
+	_mav_put_uint8_t(buf, 16, target_system);
+	_mav_put_uint8_t(buf, 17, target_component);
+	_mav_put_uint8_t(buf, 18, command);
+	_mav_put_uint8_t(buf, 19, confirmation);
 
-	put_float_by_index(msg, 0, param1); // Parameter 1, as defined by MAV_CMD enum.
-	put_float_by_index(msg, 4, param2); // Parameter 2, as defined by MAV_CMD enum.
-	put_float_by_index(msg, 8, param3); // Parameter 3, as defined by MAV_CMD enum.
-	put_float_by_index(msg, 12, param4); // Parameter 4, as defined by MAV_CMD enum.
-	put_uint8_t_by_index(msg, 16, target_system); // System which should execute the command
-	put_uint8_t_by_index(msg, 17, target_component); // Component which should execute the command, 0 for all components
-	put_uint8_t_by_index(msg, 18, command); // Command ID, as defined by MAV_CMD enum.
-	put_uint8_t_by_index(msg, 19, confirmation); // 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
+        memcpy(_MAV_PAYLOAD(msg), buf, 20);
+#else
+	mavlink_command_short_t packet;
+	packet.param1 = param1;
+	packet.param2 = param2;
+	packet.param3 = param3;
+	packet.param4 = param4;
+	packet.target_system = target_system;
+	packet.target_component = target_component;
+	packet.command = command;
+	packet.confirmation = confirmation;
 
+        memcpy(_MAV_PAYLOAD(msg), &packet, 20);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_COMMAND_SHORT;
 	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 20, 160);
 }
 
@@ -131,19 +163,31 @@ static inline uint16_t mavlink_msg_command_short_encode(uint8_t system_id, uint8
 
 static inline void mavlink_msg_command_short_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t command, uint8_t confirmation, float param1, float param2, float param3, float param4)
 {
-	MAVLINK_ALIGNED_MESSAGE(msg, 20);
-	msg->msgid = MAVLINK_MSG_ID_COMMAND_SHORT;
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[20];
+	_mav_put_float(buf, 0, param1);
+	_mav_put_float(buf, 4, param2);
+	_mav_put_float(buf, 8, param3);
+	_mav_put_float(buf, 12, param4);
+	_mav_put_uint8_t(buf, 16, target_system);
+	_mav_put_uint8_t(buf, 17, target_component);
+	_mav_put_uint8_t(buf, 18, command);
+	_mav_put_uint8_t(buf, 19, confirmation);
 
-	put_float_by_index(msg, 0, param1); // Parameter 1, as defined by MAV_CMD enum.
-	put_float_by_index(msg, 4, param2); // Parameter 2, as defined by MAV_CMD enum.
-	put_float_by_index(msg, 8, param3); // Parameter 3, as defined by MAV_CMD enum.
-	put_float_by_index(msg, 12, param4); // Parameter 4, as defined by MAV_CMD enum.
-	put_uint8_t_by_index(msg, 16, target_system); // System which should execute the command
-	put_uint8_t_by_index(msg, 17, target_component); // Component which should execute the command, 0 for all components
-	put_uint8_t_by_index(msg, 18, command); // Command ID, as defined by MAV_CMD enum.
-	put_uint8_t_by_index(msg, 19, confirmation); // 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_SHORT, buf, 20, 160);
+#else
+	mavlink_command_short_t packet;
+	packet.param1 = param1;
+	packet.param2 = param2;
+	packet.param3 = param3;
+	packet.param4 = param4;
+	packet.target_system = target_system;
+	packet.target_component = target_component;
+	packet.command = command;
+	packet.confirmation = confirmation;
 
-	mavlink_finalize_message_chan_send(msg, chan, 20, 160);
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_SHORT, (const char *)&packet, 20, 160);
+#endif
 }
 
 #endif
@@ -158,7 +202,7 @@ static inline void mavlink_msg_command_short_send(mavlink_channel_t chan, uint8_
  */
 static inline uint8_t mavlink_msg_command_short_get_target_system(const mavlink_message_t* msg)
 {
-	return MAVLINK_MSG_RETURN_uint8_t(msg,  16);
+	return _MAV_RETURN_uint8_t(msg,  16);
 }
 
 /**
@@ -168,7 +212,7 @@ static inline uint8_t mavlink_msg_command_short_get_target_system(const mavlink_
  */
 static inline uint8_t mavlink_msg_command_short_get_target_component(const mavlink_message_t* msg)
 {
-	return MAVLINK_MSG_RETURN_uint8_t(msg,  17);
+	return _MAV_RETURN_uint8_t(msg,  17);
 }
 
 /**
@@ -178,7 +222,7 @@ static inline uint8_t mavlink_msg_command_short_get_target_component(const mavli
  */
 static inline uint8_t mavlink_msg_command_short_get_command(const mavlink_message_t* msg)
 {
-	return MAVLINK_MSG_RETURN_uint8_t(msg,  18);
+	return _MAV_RETURN_uint8_t(msg,  18);
 }
 
 /**
@@ -188,7 +232,7 @@ static inline uint8_t mavlink_msg_command_short_get_command(const mavlink_messag
  */
 static inline uint8_t mavlink_msg_command_short_get_confirmation(const mavlink_message_t* msg)
 {
-	return MAVLINK_MSG_RETURN_uint8_t(msg,  19);
+	return _MAV_RETURN_uint8_t(msg,  19);
 }
 
 /**
@@ -198,7 +242,7 @@ static inline uint8_t mavlink_msg_command_short_get_confirmation(const mavlink_m
  */
 static inline float mavlink_msg_command_short_get_param1(const mavlink_message_t* msg)
 {
-	return MAVLINK_MSG_RETURN_float(msg,  0);
+	return _MAV_RETURN_float(msg,  0);
 }
 
 /**
@@ -208,7 +252,7 @@ static inline float mavlink_msg_command_short_get_param1(const mavlink_message_t
  */
 static inline float mavlink_msg_command_short_get_param2(const mavlink_message_t* msg)
 {
-	return MAVLINK_MSG_RETURN_float(msg,  4);
+	return _MAV_RETURN_float(msg,  4);
 }
 
 /**
@@ -218,7 +262,7 @@ static inline float mavlink_msg_command_short_get_param2(const mavlink_message_t
  */
 static inline float mavlink_msg_command_short_get_param3(const mavlink_message_t* msg)
 {
-	return MAVLINK_MSG_RETURN_float(msg,  8);
+	return _MAV_RETURN_float(msg,  8);
 }
 
 /**
@@ -228,7 +272,7 @@ static inline float mavlink_msg_command_short_get_param3(const mavlink_message_t
  */
 static inline float mavlink_msg_command_short_get_param4(const mavlink_message_t* msg)
 {
-	return MAVLINK_MSG_RETURN_float(msg,  12);
+	return _MAV_RETURN_float(msg,  12);
 }
 
 /**
@@ -249,6 +293,6 @@ static inline void mavlink_msg_command_short_decode(const mavlink_message_t* msg
 	command_short->command = mavlink_msg_command_short_get_command(msg);
 	command_short->confirmation = mavlink_msg_command_short_get_confirmation(msg);
 #else
-	memcpy(command_short, MAVLINK_PAYLOAD(msg), 20);
+	memcpy(command_short, _MAV_PAYLOAD(msg), 20);
 #endif
 }

thirdParty/mavlink/include/common/mavlink_msg_data_stream.h

@@ -38,12 +38,23 @@ typedef struct __mavlink_data_stream_t
 static inline uint16_t mavlink_msg_data_stream_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
 						       uint8_t stream_id, uint16_t message_rate, uint8_t on_off)
 {
-	msg->msgid = MAVLINK_MSG_ID_DATA_STREAM;
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[4];
+	_mav_put_uint16_t(buf, 0, message_rate);
+	_mav_put_uint8_t(buf, 2, stream_id);
+	_mav_put_uint8_t(buf, 3, on_off);
+
+        memcpy(_MAV_PAYLOAD(msg), buf, 4);
+#else
+	mavlink_data_stream_t packet;
+	packet.message_rate = message_rate;
+	packet.stream_id = stream_id;
+	packet.on_off = on_off;
 
-	put_uint16_t_by_index(msg, 0, message_rate); // The requested interval between two messages of this type
-	put_uint8_t_by_index(msg, 2, stream_id); // The ID of the requested data stream
-	put_uint8_t_by_index(msg, 3, on_off); // 1 stream is enabled, 0 stream is stopped.
+        memcpy(_MAV_PAYLOAD(msg), &packet, 4);
+#endif
 
+	msg->msgid = MAVLINK_MSG_ID_DATA_STREAM;
 	return mavlink_finalize_message(msg, system_id, component_id, 4, 21);
 }
 
@@ -62,12 +73,23 @@ static inline uint16_t mavlink_msg_data_stream_pack_chan(uint8_t system_id, uint
 							   mavlink_message_t* msg,
 						           uint8_t stream_id,uint16_t message_rate,uint8_t on_off)
 {
-	msg->msgid = MAVLINK_MSG_ID_DATA_STREAM;
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[4];
+	_mav_put_uint16_t(buf, 0, message_rate);
+	_mav_put_uint8_t(buf, 2, stream_id);
+	_mav_put_uint8_t(buf, 3, on_off);
 
-	put_uint16_t_by_index(msg, 0, message_rate); // The requested interval between two messages of this type
-	put_uint8_t_by_index(msg, 2, stream_id); // The ID of the requested data stream
-	put_uint8_t_by_index(msg, 3, on_off); // 1 stream is enabled, 0 stream is stopped.
+        memcpy(_MAV_PAYLOAD(msg), buf, 4);
+#else
+	mavlink_data_stream_t packet;
+	packet.message_rate = message_rate;
+	packet.stream_id = stream_id;
+	packet.on_off = on_off;
 
+        memcpy(_MAV_PAYLOAD(msg), &packet, 4);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_DATA_STREAM;
 	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 4, 21);
 }
 
@@ -96,14 +118,21 @@ static inline uint16_t mavlink_msg_data_stream_encode(uint8_t system_id, uint8_t
 
 static inline void mavlink_msg_data_stream_send(mavlink_channel_t chan, uint8_t stream_id, uint16_t message_rate, uint8_t on_off)
 {
-	MAVLINK_ALIGNED_MESSAGE(msg, 4);
-	msg->msgid = MAVLINK_MSG_ID_DATA_STREAM;
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[4];
+	_mav_put_uint16_t(buf, 0, message_rate);
+	_mav_put_uint8_t(buf, 2, stream_id);
+	_mav_put_uint8_t(buf, 3, on_off);
 
-	put_uint16_t_by_index(msg, 0, message_rate); // The requested interval between two messages of this type
-	put_uint8_t_by_index(msg, 2, stream_id); // The ID of the requested data stream
-	put_uint8_t_by_index(msg, 3, on_off); // 1 stream is enabled, 0 stream is stopped.
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_STREAM, buf, 4, 21);
+#else
+	mavlink_data_stream_t packet;
+	packet.message_rate = message_rate;
+	packet.stream_id = stream_id;
+	packet.on_off = on_off;
 
-	mavlink_finalize_message_chan_send(msg, chan, 4, 21);
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_STREAM, (const char *)&packet, 4, 21);
+#endif
 }
 
 #endif
@@ -118,7 +147,7 @@ static inline void mavlink_msg_data_stream_send(mavlink_channel_t chan, uint8_t
  */
 static inline uint8_t mavlink_msg_data_stream_get_stream_id(const mavlink_message_t* msg)
 {
-	return MAVLINK_MSG_RETURN_uint8_t(msg,  2);
+	return _MAV_RETURN_uint8_t(msg,  2);
 }
 
 /**
@@ -128,7 +157,7 @@ static inline uint8_t mavlink_msg_data_stream_get_stream_id(const mavlink_messag
  */
 static inline uint16_t mavlink_msg_data_stream_get_message_rate(const mavlink_message_t* msg)
 {
-	return MAVLINK_MSG_RETURN_uint16_t(msg,  0);
+	return _MAV_RETURN_uint16_t(msg,  0);
 }
 
 /**
@@ -138,7 +167,7 @@ static inline uint16_t mavlink_msg_data_stream_get_message_rate(const mavlink_me
  */
 static inline uint8_t mavlink_msg_data_stream_get_on_off(const mavlink_message_t* msg)
 {
-	return MAVLINK_MSG_RETURN_uint8_t(msg,  3);
+	return _MAV_RETURN_uint8_t(msg,  3);
 }
 
 /**
@@ -154,6 +183,6 @@ static inline void mavlink_msg_data_stream_decode(const mavlink_message_t* msg,
 	data_stream->stream_id = mavlink_msg_data_stream_get_stream_id(msg);
 	data_stream->on_off = mavlink_msg_data_stream_get_on_off(msg);
 #else
-	memcpy(data_stream, MAVLINK_PAYLOAD(msg), 4);
+	memcpy(data_stream, _MAV_PAYLOAD(msg), 4);
 #endif
 }

thirdParty/mavlink/include/common/mavlink_msg_debug.h

@@ -38,12 +38,23 @@ typedef struct __mavlink_debug_t
 static inline uint16_t mavlink_msg_debug_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
 						       uint32_t time_boot_ms, uint8_t ind, float value)
 {
-	msg->msgid = MAVLINK_MSG_ID_DEBUG;
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[9];
+	_mav_put_uint32_t(buf, 0, time_boot_ms);
+	_mav_put_float(buf, 4, value);
+	_mav_put_uint8_t(buf, 8, ind);
+
+        memcpy(_MAV_PAYLOAD(msg), buf, 9);
+#else
+	mavlink_debug_t packet;
+	packet.time_boot_ms = time_boot_ms;
+	packet.value = value;
+	packet.ind = ind;
 
-	put_uint32_t_by_index(msg, 0, time_boot_ms); // Timestamp (milliseconds since system boot)
-	put_float_by_index(msg, 4, value); // DEBUG value
-	put_uint8_t_by_index(msg, 8, ind); // index of debug variable
+        memcpy(_MAV_PAYLOAD(msg), &packet, 9);
+#endif
 
+	msg->msgid = MAVLINK_MSG_ID_DEBUG;
 	return mavlink_finalize_message(msg, system_id, component_id, 9, 46);
 }
 
@@ -62,12 +73,23 @@ static inline uint16_t mavlink_msg_debug_pack_chan(uint8_t system_id, uint8_t co
 							   mavlink_message_t* msg,
 						           uint32_t time_boot_ms,uint8_t ind,float value)
 {
-	msg->msgid = MAVLINK_MSG_ID_DEBUG;
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[9];
+	_mav_put_uint32_t(buf, 0, time_boot_ms);
+	_mav_put_float(buf, 4, value);
+	_mav_put_uint8_t(buf, 8, ind);
 
-	put_uint32_t_by_index(msg, 0, time_boot_ms); // Timestamp (milliseconds since system boot)
-	put_float_by_index(msg, 4, value); // DEBUG value
-	put_uint8_t_by_index(msg, 8, ind); // index of debug variable
+        memcpy(_MAV_PAYLOAD(msg), buf, 9);
+#else
+	mavlink_debug_t packet;
+	packet.time_boot_ms = time_boot_ms;
+	packet.value = value;
+	packet.ind = ind;
 
+        memcpy(_MAV_PAYLOAD(msg), &packet, 9);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_DEBUG;
 	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 9, 46);
 }
 
@@ -96,14 +118,21 @@ static inline uint16_t mavlink_msg_debug_encode(uint8_t system_id, uint8_t compo
 
 static inline void mavlink_msg_debug_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t ind, float value)
 {
-	MAVLINK_ALIGNED_MESSAGE(msg, 9);
-	msg->msgid = MAVLINK_MSG_ID_DEBUG;
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[9];
+	_mav_put_uint32_t(buf, 0, time_boot_ms);
+	_mav_put_float(buf, 4, value);
+	_mav_put_uint8_t(buf, 8, ind);
 
-	put_uint32_t_by_index(msg, 0, time_boot_ms); // Timestamp (milliseconds since system boot)
-	put_float_by_index(msg, 4, value); // DEBUG value
-	put_uint8_t_by_index(msg, 8, ind); // index of debug variable
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG, buf, 9, 46);
+#else
+	mavlink_debug_t packet;
+	packet.time_boot_ms = time_boot_ms;
+	packet.value = value;
+	packet.ind = ind;
 
-	mavlink_finalize_message_chan_send(msg, chan, 9, 46);
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG, (const char *)&packet, 9, 46);
+#endif
 }
 
 #endif
@@ -118,7 +147,7 @@ static inline void mavlink_msg_debug_send(mavlink_channel_t chan, uint32_t time_
  */
 static inline uint32_t mavlink_msg_debug_get_time_boot_ms(const mavlink_message_t* msg)
 {
-	return MAVLINK_MSG_RETURN_uint32_t(msg,  0);
+	return _MAV_RETURN_uint32_t(msg,  0);
 }
 
 /**
@@ -128,7 +157,7 @@ static inline uint32_t mavlink_msg_debug_get_time_boot_ms(const mavlink_message_
  */
 static inline uint8_t mavlink_msg_debug_get_ind(const mavlink_message_t* msg)
 {
-	return MAVLINK_MSG_RETURN_uint8_t(msg,  8);
+	return _MAV_RETURN_uint8_t(msg,  8);
 }
 
 /**
@@ -138,7 +167,7 @@ static inline uint8_t mavlink_msg_debug_get_ind(const mavlink_message_t* msg)
  */
 static inline float mavlink_msg_debug_get_value(const mavlink_message_t* msg)
 {
-	return MAVLINK_MSG_RETURN_float(msg,  4);
+	return _MAV_RETURN_float(msg,  4);
 }
 
 /**
@@ -154,6 +183,6 @@ static inline void mavlink_msg_debug_decode(const mavlink_message_t* msg, mavlin
 	debug->value = mavlink_msg_debug_get_value(msg);
 	debug->ind = mavlink_msg_debug_get_ind(msg);
 #else
-	memcpy(debug, MAVLINK_PAYLOAD(msg), 9);
+	memcpy(debug, _MAV_PAYLOAD(msg), 9);
 #endif
 }

thirdParty/mavlink/include/common/mavlink_msg_debug_vect.h

@@ -44,14 +44,25 @@ typedef struct __mavlink_debug_vect_t
 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 time_usec, float x, float y, float z)
 {
-	msg->msgid = MAVLINK_MSG_ID_DEBUG_VECT;
-
-	put_uint64_t_by_index(msg, 0, time_usec); // Timestamp
-	put_float_by_index(msg, 8, x); // x
-	put_float_by_index(msg, 12, y); // y
-	put_float_by_index(msg, 16, z); // z
-	put_char_array_by_index(msg, 20, name, 10); // Name
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[30];
+	_mav_put_uint64_t(buf, 0, time_usec);
+	_mav_put_float(buf, 8, x);
+	_mav_put_float(buf, 12, y);
+	_mav_put_float(buf, 16, z);
+	_mav_put_char_array(buf, 20, name, 10);
+        memcpy(_MAV_PAYLOAD(msg), buf, 30);
+#else
+	mavlink_debug_vect_t packet;
+	packet.time_usec = time_usec;
+	packet.x = x;
+	packet.y = y;
+	packet.z = z;
+	memcpy(packet.name, name, sizeof(char)*10);
+        memcpy(_MAV_PAYLOAD(msg), &packet, 30);
+#endif
 
+	msg->msgid = MAVLINK_MSG_ID_DEBUG_VECT;
 	return mavlink_finalize_message(msg, system_id, component_id, 30, 49);
 }
 
@@ -72,14 +83,25 @@ static inline uint16_t mavlink_msg_debug_vect_pack_chan(uint8_t system_id, uint8
 							   mavlink_message_t* msg,
 						           const char *name,uint64_t time_usec,float x,float y,float z)
 {
-	msg->msgid = MAVLINK_MSG_ID_DEBUG_VECT;
-
-	put_uint64_t_by_index(msg, 0, time_usec); // Timestamp
-	put_float_by_index(msg, 8, x); // x
-	put_float_by_index(msg, 12, y); // y
-	put_float_by_index(msg, 16, z); // z
-	put_char_array_by_index(msg, 20, name, 10); // Name
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[30];
+	_mav_put_uint64_t(buf, 0, time_usec);
+	_mav_put_float(buf, 8, x);
+	_mav_put_float(buf, 12, y);
+	_mav_put_float(buf, 16, z);
+	_mav_put_char_array(buf, 20, name, 10);
+        memcpy(_MAV_PAYLOAD(msg), buf, 30);
+#else
+	mavlink_debug_vect_t packet;
+	packet.time_usec = time_usec;
+	packet.x = x;
+	packet.y = y;
+	packet.z = z;
+	memcpy(packet.name, name, sizeof(char)*10);
+        memcpy(_MAV_PAYLOAD(msg), &packet, 30);
+#endif
 
+	msg->msgid = MAVLINK_MSG_ID_DEBUG_VECT;
 	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 30, 49);
 }
 
@@ -110,16 +132,23 @@ static inline uint16_t mavlink_msg_debug_vect_encode(uint8_t system_id, uint8_t
 
 static inline void mavlink_msg_debug_vect_send(mavlink_channel_t chan, const char *name, uint64_t time_usec, float x, float y, float z)
 {
-	MAVLINK_ALIGNED_MESSAGE(msg, 30);
-	msg->msgid = MAVLINK_MSG_ID_DEBUG_VECT;
-
-	put_uint64_t_by_index(msg, 0, time_usec); // Timestamp
-	put_float_by_index(msg, 8, x); // x
-	put_float_by_index(msg, 12, y); // y
-	put_float_by_index(msg, 16, z); // z
-	put_char_array_by_index(msg, 20, name, 10); // Name
-
-	mavlink_finalize_message_chan_send(msg, chan, 30, 49);
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[30];
+	_mav_put_uint64_t(buf, 0, time_usec);
+	_mav_put_float(buf, 8, x);
+	_mav_put_float(buf, 12, y);
+	_mav_put_float(buf, 16, z);
+	_mav_put_char_array(buf, 20, name, 10);
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG_VECT, buf, 30, 49);
+#else
+	mavlink_debug_vect_t packet;
+	packet.time_usec = time_usec;
+	packet.x = x;
+	packet.y = y;
+	packet.z = z;
+	memcpy(packet.name, name, sizeof(char)*10);
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG_VECT, (const char *)&packet, 30, 49);
+#endif
 }
 
 #endif
@@ -134,7 +163,7 @@ static inline void mavlink_msg_debug_vect_send(mavlink_channel_t chan, const cha
  */
 static inline uint16_t mavlink_msg_debug_vect_get_name(const mavlink_message_t* msg, char *name)
 {
-	return MAVLINK_MSG_RETURN_char_array(msg, name, 10,  20);
+	return _MAV_RETURN_char_array(msg, name, 10,  20);
 }
 
 /**
@@ -144,7 +173,7 @@ static inline uint16_t mavlink_msg_debug_vect_get_name(const mavlink_message_t*
  */
 static inline uint64_t mavlink_msg_debug_vect_get_time_usec(const mavlink_message_t* msg)
 {
-	return MAVLINK_MSG_RETURN_uint64_t(msg,  0);
+	return _MAV_RETURN_uint64_t(msg,  0);
 }
 
 /**
@@ -154,7 +183,7 @@ static inline uint64_t mavlink_msg_debug_vect_get_time_usec(const mavlink_messag
  */
 static inline float mavlink_msg_debug_vect_get_x(const mavlink_message_t* msg)
 {
-	return MAVLINK_MSG_RETURN_float(msg,  8);
+	return _MAV_RETURN_float(msg,  8);
 }
 
 /**
@@ -164,7 +193,7 @@ static inline float mavlink_msg_debug_vect_get_x(const mavlink_message_t* msg)
  */
 static inline float mavlink_msg_debug_vect_get_y(const mavlink_message_t* msg)
 {
-	return MAVLINK_MSG_RETURN_float(msg,  12);
+	return _MAV_RETURN_float(msg,  12);
 }
 
 /**
@@ -174,7 +203,7 @@ static inline float mavlink_msg_debug_vect_get_y(const mavlink_message_t* msg)
  */
 static inline float mavlink_msg_debug_vect_get_z(const mavlink_message_t* msg)
 {
-	return MAVLINK_MSG_RETURN_float(msg,  16);
+	return _MAV_RETURN_float(msg,  16);
 }
 
 /**
@@ -192,6 +221,6 @@ static inline void mavlink_msg_debug_vect_decode(const mavlink_message_t* msg, m
 	debug_vect->z = mavlink_msg_debug_vect_get_z(msg);
 	mavlink_msg_debug_vect_get_name(msg, debug_vect->name);
 #else
-	memcpy(debug_vect, MAVLINK_PAYLOAD(msg), 30);
+	memcpy(debug_vect, _MAV_PAYLOAD(msg), 30);
 #endif
 }

thirdParty/mavlink/include/common/mavlink_msg_extended_message.h

@@ -38,12 +38,23 @@ typedef struct __mavlink_extended_message_t
 static inline uint16_t mavlink_msg_extended_message_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
 						       uint8_t target_system, uint8_t target_component, uint8_t protocol_flags)
 {
-	msg->msgid = MAVLINK_MSG_ID_EXTENDED_MESSAGE;
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[3];
+	_mav_put_uint8_t(buf, 0, target_system);
+	_mav_put_uint8_t(buf, 1, target_component);
+	_mav_put_uint8_t(buf, 2, protocol_flags);
+
+        memcpy(_MAV_PAYLOAD(msg), buf, 3);
+#else
+	mavlink_extended_message_t packet;
+	packet.target_system = target_system;
+	packet.target_component = target_component;
+	packet.protocol_flags = protocol_flags;
 
-	put_uint8_t_by_index(msg, 0, target_system); // System which should execute the command
-	put_uint8_t_by_index(msg, 1, target_component); // Component which should execute the command, 0 for all components
-	put_uint8_t_by_index(msg, 2, protocol_flags); // Retransmission / ACK flags
+        memcpy(_MAV_PAYLOAD(msg), &packet, 3);
+#endif
 
+	msg->msgid = MAVLINK_MSG_ID_EXTENDED_MESSAGE;
 	return mavlink_finalize_message(msg, system_id, component_id, 3, 247);
 }
 
@@ -62,12 +73,23 @@ static inline uint16_t mavlink_msg_extended_message_pack_chan(uint8_t system_id,
 							   mavlink_message_t* msg,
 						           uint8_t target_system,uint8_t target_component,uint8_t protocol_flags)
 {
-	msg->msgid = MAVLINK_MSG_ID_EXTENDED_MESSAGE;
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[3];
+	_mav_put_uint8_t(buf, 0, target_system);
+	_mav_put_uint8_t(buf, 1, target_component);
+	_mav_put_uint8_t(buf, 2, protocol_flags);
 
-	put_uint8_t_by_index(msg, 0, target_system); // System which should execute the command
-	put_uint8_t_by_index(msg, 1, target_component); // Component which should execute the command, 0 for all components
-	put_uint8_t_by_index(msg, 2, protocol_flags); // Retransmission / ACK flags
+        memcpy(_MAV_PAYLOAD(msg), buf, 3);
+#else
+	mavlink_extended_message_t packet;
+	packet.target_system = target_system;
+	packet.target_component = target_component;
+	packet.protocol_flags = protocol_flags;
 
+        memcpy(_MAV_PAYLOAD(msg), &packet, 3);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_EXTENDED_MESSAGE;
 	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 3, 247);
 }
 
@@ -96,14 +118,21 @@ static inline uint16_t mavlink_msg_extended_message_encode(uint8_t system_id, ui
 
 static inline void mavlink_msg_extended_message_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t protocol_flags)
 {
-	MAVLINK_ALIGNED_MESSAGE(msg, 3);
-	msg->msgid = MAVLINK_MSG_ID_EXTENDED_MESSAGE;
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[3];
+	_mav_put_uint8_t(buf, 0, target_system);
+	_mav_put_uint8_t(buf, 1, target_component);
+	_mav_put_uint8_t(buf, 2, protocol_flags);
 
-	put_uint8_t_by_index(msg, 0, target_system); // System which should execute the command
-	put_uint8_t_by_index(msg, 1, target_component); // Component which should execute the command, 0 for all components
-	put_uint8_t_by_index(msg, 2, protocol_flags); // Retransmission / ACK flags
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_EXTENDED_MESSAGE, buf, 3, 247);
+#else
+	mavlink_extended_message_t packet;
+	packet.target_system = target_system;
+	packet.target_component = target_component;
+	packet.protocol_flags = protocol_flags;
 
-	mavlink_finalize_message_chan_send(msg, chan, 3, 247);
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_EXTENDED_MESSAGE, (const char *)&packet, 3, 247);
+#endif
 }
 
 #endif
@@ -118,7 +147,7 @@ static inline void mavlink_msg_extended_message_send(mavlink_channel_t chan, uin
  */
 static inline uint8_t mavlink_msg_extended_message_get_target_system(const mavlink_message_t* msg)
 {
-	return MAVLINK_MSG_RETURN_uint8_t(msg,  0);
+	return _MAV_RETURN_uint8_t(msg,  0);
 }
 
 /**
@@ -128,7 +157,7 @@ static inline uint8_t mavlink_msg_extended_message_get_target_system(const mavli
  */
 static inline uint8_t mavlink_msg_extended_message_get_target_component(const mavlink_message_t* msg)
 {
-	return MAVLINK_MSG_RETURN_uint8_t(msg,  1);
+	return _MAV_RETURN_uint8_t(msg,  1);
 }
 
 /**
@@ -138,7 +167,7 @@ static inline uint8_t mavlink_msg_extended_message_get_target_component(const ma
  */
 static inline uint8_t mavlink_msg_extended_message_get_protocol_flags(const mavlink_message_t* msg)
 {
-	return MAVLINK_MSG_RETURN_uint8_t(msg,  2);
+	return _MAV_RETURN_uint8_t(msg,  2);
 }
 
 /**
@@ -154,6 +183,6 @@ static inline void mavlink_msg_extended_message_decode(const mavlink_message_t*
 	extended_message->target_component = mavlink_msg_extended_message_get_target_component(msg);
 	extended_message->protocol_flags = mavlink_msg_extended_message_get_protocol_flags(msg);
 #else
-	memcpy(extended_message, MAVLINK_PAYLOAD(msg), 3);
+	memcpy(extended_message, _MAV_PAYLOAD(msg), 3);
 #endif
 }

thirdParty/mavlink/include/common/mavlink_msg_global_position.h

+// MESSAGE GLOBAL_POSITION PACKING
+
+#define MAVLINK_MSG_ID_GLOBAL_POSITION 33
+
+typedef struct __mavlink_global_position_t
+{
+ uint64_t usec; ///< Timestamp (microseconds since unix epoch)
+ float lat; ///< Latitude, in degrees
+ float lon; ///< Longitude, in degrees
+ float alt; ///< Absolute altitude, in meters
+ float vx; ///< X Speed (in Latitude direction, positive: going north)
+ float vy; ///< Y Speed (in Longitude direction, positive: going east)
+ float vz; ///< Z Speed (in Altitude direction, positive: going up)
+} mavlink_global_position_t;
+
+#define MAVLINK_MSG_ID_GLOBAL_POSITION_LEN 32
+#define MAVLINK_MSG_ID_33_LEN 32
+
+
+
+#define MAVLINK_MESSAGE_INFO_GLOBAL_POSITION { \
+	"GLOBAL_POSITION", \
+	7, \
+	{  { "usec", MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_global_position_t, usec) }, \
+         { "lat", MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_global_position_t, lat) }, \
+         { "lon", MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_global_position_t, lon) }, \
+         { "alt", MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_global_position_t, alt) }, \
+         { "vx", MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_global_position_t, vx) }, \
+         { "vy", MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_global_position_t, vy) }, \
+         { "vz", MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_global_position_t, vz) }, \
+         } \
+}
+
+
+/**
+ * @brief Pack a global_position message
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ *
+ * @param usec Timestamp (microseconds since unix epoch)
+ * @param lat Latitude, in degrees
+ * @param lon Longitude, in degrees
+ * @param alt Absolute altitude, in meters
+ * @param vx X Speed (in Latitude direction, positive: going north)
+ * @param vy Y Speed (in Longitude direction, positive: going east)
+ * @param vz Z Speed (in Altitude direction, positive: going up)
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_global_position_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+						       uint64_t usec, float lat, float lon, float alt, float vx, float vy, float vz)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[32];
+	_mav_put_uint64_t(buf, 0, usec);
+	_mav_put_float(buf, 8, lat);
+	_mav_put_float(buf, 12, lon);
+	_mav_put_float(buf, 16, alt);
+	_mav_put_float(buf, 20, vx);
+	_mav_put_float(buf, 24, vy);
+	_mav_put_float(buf, 28, vz);
+
+        memcpy(_MAV_PAYLOAD(msg), buf, 32);
+#else
+	mavlink_global_position_t packet;
+	packet.usec = usec;
+	packet.lat = lat;
+	packet.lon = lon;
+	packet.alt = alt;
+	packet.vx = vx;
+	packet.vy = vy;
+	packet.vz = vz;
+
+        memcpy(_MAV_PAYLOAD(msg), &packet, 32);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION;
+	return mavlink_finalize_message(msg, system_id, component_id, 32, 147);
+}
+
+/**
+ * @brief Pack a global_position message on a channel
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param usec Timestamp (microseconds since unix epoch)
+ * @param lat Latitude, in degrees
+ * @param lon Longitude, in degrees
+ * @param alt Absolute altitude, in meters
+ * @param vx X Speed (in Latitude direction, positive: going north)
+ * @param vy Y Speed (in Longitude direction, positive: going east)
+ * @param vz Z Speed (in Altitude direction, positive: going up)
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_global_position_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+							   mavlink_message_t* msg,
+						           uint64_t usec,float lat,float lon,float alt,float vx,float vy,float vz)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[32];
+	_mav_put_uint64_t(buf, 0, usec);
+	_mav_put_float(buf, 8, lat);
+	_mav_put_float(buf, 12, lon);
+	_mav_put_float(buf, 16, alt);
+	_mav_put_float(buf, 20, vx);
+	_mav_put_float(buf, 24, vy);
+	_mav_put_float(buf, 28, vz);
+
+        memcpy(_MAV_PAYLOAD(msg), buf, 32);
+#else
+	mavlink_global_position_t packet;
+	packet.usec = usec;
+	packet.lat = lat;
+	packet.lon = lon;
+	packet.alt = alt;
+	packet.vx = vx;
+	packet.vy = vy;
+	packet.vz = vz;
+
+        memcpy(_MAV_PAYLOAD(msg), &packet, 32);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION;
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 32, 147);
+}
+
+/**
+ * @brief Encode a global_position struct into a message
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ * @param global_position C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_global_position_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_global_position_t* global_position)
+{
+	return mavlink_msg_global_position_pack(system_id, component_id, msg, global_position->usec, global_position->lat, global_position->lon, global_position->alt, global_position->vx, global_position->vy, global_position->vz);
+}
+
+/**
+ * @brief Send a global_position message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param usec Timestamp (microseconds since unix epoch)
+ * @param lat Latitude, in degrees
+ * @param lon Longitude, in degrees
+ * @param alt Absolute altitude, in meters
+ * @param vx X Speed (in Latitude direction, positive: going north)
+ * @param vy Y Speed (in Longitude direction, positive: going east)
+ * @param vz Z Speed (in Altitude direction, positive: going up)
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_global_position_send(mavlink_channel_t chan, uint64_t usec, float lat, float lon, float alt, float vx, float vy, float vz)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[32];
+	_mav_put_uint64_t(buf, 0, usec);
+	_mav_put_float(buf, 8, lat);
+	_mav_put_float(buf, 12, lon);
+	_mav_put_float(buf, 16, alt);
+	_mav_put_float(buf, 20, vx);
+	_mav_put_float(buf, 24, vy);
+	_mav_put_float(buf, 28, vz);
+
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION, buf, 32, 147);
+#else
+	mavlink_global_position_t packet;
+	packet.usec = usec;
+	packet.lat = lat;
+	packet.lon = lon;
+	packet.alt = alt;
+	packet.vx = vx;
+	packet.vy = vy;
+	packet.vz = vz;
+
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION, (const char *)&packet, 32, 147);
+#endif
+}
+
+#endif
+
+// MESSAGE GLOBAL_POSITION UNPACKING
+
+
+/**
+ * @brief Get field usec from global_position message
+ *
+ * @return Timestamp (microseconds since unix epoch)
+ */
+static inline uint64_t mavlink_msg_global_position_get_usec(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint64_t(msg,  0);
+}
+
+/**
+ * @brief Get field lat from global_position message
+ *
+ * @return Latitude, in degrees
+ */
+static inline float mavlink_msg_global_position_get_lat(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  8);
+}
+
+/**
+ * @brief Get field lon from global_position message
+ *
+ * @return Longitude, in degrees
+ */
+static inline float mavlink_msg_global_position_get_lon(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  12);
+}
+
+/**
+ * @brief Get field alt from global_position message
+ *
+ * @return Absolute altitude, in meters
+ */
+static inline float mavlink_msg_global_position_get_alt(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  16);
+}
+
+/**
+ * @brief Get field vx from global_position message
+ *
+ * @return X Speed (in Latitude direction, positive: going north)
+ */
+static inline float mavlink_msg_global_position_get_vx(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  20);
+}
+
+/**
+ * @brief Get field vy from global_position message
+ *
+ * @return Y Speed (in Longitude direction, positive: going east)
+ */
+static inline float mavlink_msg_global_position_get_vy(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  24);
+}
+
+/**
+ * @brief Get field vz from global_position message
+ *
+ * @return Z Speed (in Altitude direction, positive: going up)
+ */
+static inline float mavlink_msg_global_position_get_vz(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  28);
+}
+
+/**
+ * @brief Decode a global_position message into a struct
+ *
+ * @param msg The message to decode
+ * @param global_position C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_global_position_decode(const mavlink_message_t* msg, mavlink_global_position_t* global_position)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+	global_position->usec = mavlink_msg_global_position_get_usec(msg);
+	global_position->lat = mavlink_msg_global_position_get_lat(msg);
+	global_position->lon = mavlink_msg_global_position_get_lon(msg);
+	global_position->alt = mavlink_msg_global_position_get_alt(msg);
+	global_position->vx = mavlink_msg_global_position_get_vx(msg);
+	global_position->vy = mavlink_msg_global_position_get_vy(msg);
+	global_position->vz = mavlink_msg_global_position_get_vz(msg);
+#else
+	memcpy(global_position, _MAV_PAYLOAD(msg), 32);
+#endif
+}

thirdParty/mavlink/include/common/mavlink_msg_global_position_int.h

@@ -53,17 +53,33 @@ typedef struct __mavlink_global_position_int_t
 static inline uint16_t mavlink_msg_global_position_int_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
 						       uint32_t time_boot_ms, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, uint16_t hdg)
 {
-	msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT;
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[24];
+	_mav_put_uint32_t(buf, 0, time_boot_ms);
+	_mav_put_int32_t(buf, 4, lat);
+	_mav_put_int32_t(buf, 8, lon);
+	_mav_put_int32_t(buf, 12, alt);
+	_mav_put_int16_t(buf, 16, vx);
+	_mav_put_int16_t(buf, 18, vy);
+	_mav_put_int16_t(buf, 20, vz);
+	_mav_put_uint16_t(buf, 22, hdg);
+
+        memcpy(_MAV_PAYLOAD(msg), buf, 24);
+#else
+	mavlink_global_position_int_t packet;
+	packet.time_boot_ms = time_boot_ms;
+	packet.lat = lat;
+	packet.lon = lon;
+	packet.alt = alt;
+	packet.vx = vx;
+	packet.vy = vy;
+	packet.vz = vz;
+	packet.hdg = hdg;
 
-	put_uint32_t_by_index(msg, 0, time_boot_ms); // Timestamp (milliseconds since system boot)
-	put_int32_t_by_index(msg, 4, lat); // Latitude, expressed as * 1E7
-	put_int32_t_by_index(msg, 8, lon); // Longitude, expressed as * 1E7
-	put_int32_t_by_index(msg, 12, alt); // Altitude in meters, expressed as * 1000 (millimeters), above MSL
-	put_int16_t_by_index(msg, 16, vx); // Ground X Speed (Latitude), expressed as m/s * 100
-	put_int16_t_by_index(msg, 18, vy); // Ground Y Speed (Longitude), expressed as m/s * 100
-	put_int16_t_by_index(msg, 20, vz); // Ground Z Speed (Altitude), expressed as m/s * 100
-	put_uint16_t_by_index(msg, 22, hdg); // Compass heading in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535
+        memcpy(_MAV_PAYLOAD(msg), &packet, 24);
+#endif
 
+	msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT;
 	return mavlink_finalize_message(msg, system_id, component_id, 24, 102);
 }
 
@@ -87,17 +103,33 @@ static inline uint16_t mavlink_msg_global_position_int_pack_chan(uint8_t system_
 							   mavlink_message_t* msg,
 						           uint32_t time_boot_ms,int32_t lat,int32_t lon,int32_t alt,int16_t vx,int16_t vy,int16_t vz,uint16_t hdg)
 {
-	msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT;
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[24];
+	_mav_put_uint32_t(buf, 0, time_boot_ms);
+	_mav_put_int32_t(buf, 4, lat);
+	_mav_put_int32_t(buf, 8, lon);
+	_mav_put_int32_t(buf, 12, alt);
+	_mav_put_int16_t(buf, 16, vx);
+	_mav_put_int16_t(buf, 18, vy);
+	_mav_put_int16_t(buf, 20, vz);
+	_mav_put_uint16_t(buf, 22, hdg);
 
-	put_uint32_t_by_index(msg, 0, time_boot_ms); // Timestamp (milliseconds since system boot)
-	put_int32_t_by_index(msg, 4, lat); // Latitude, expressed as * 1E7
-	put_int32_t_by_index(msg, 8, lon); // Longitude, expressed as * 1E7
-	put_int32_t_by_index(msg, 12, alt); // Altitude in meters, expressed as * 1000 (millimeters), above MSL
-	put_int16_t_by_index(msg, 16, vx); // Ground X Speed (Latitude), expressed as m/s * 100
-	put_int16_t_by_index(msg, 18, vy); // Ground Y Speed (Longitude), expressed as m/s * 100
-	put_int16_t_by_index(msg, 20, vz); // Ground Z Speed (Altitude), expressed as m/s * 100
-	put_uint16_t_by_index(msg, 22, hdg); // Compass heading in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535
+        memcpy(_MAV_PAYLOAD(msg), buf, 24);
+#else
+	mavlink_global_position_int_t packet;
+	packet.time_boot_ms = time_boot_ms;
+	packet.lat = lat;
+	packet.lon = lon;
+	packet.alt = alt;
+	packet.vx = vx;
+	packet.vy = vy;
+	packet.vz = vz;
+	packet.hdg = hdg;
 
+        memcpy(_MAV_PAYLOAD(msg), &packet, 24);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT;
 	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 24, 102);
 }
 
@@ -131,19 +163,31 @@ static inline uint16_t mavlink_msg_global_position_int_encode(uint8_t system_id,
 
 static inline void mavlink_msg_global_position_int_send(mavlink_channel_t chan, uint32_t time_boot_ms, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, uint16_t hdg)
 {
-	MAVLINK_ALIGNED_MESSAGE(msg, 24);
-	msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT;
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[24];
+	_mav_put_uint32_t(buf, 0, time_boot_ms);
+	_mav_put_int32_t(buf, 4, lat);
+	_mav_put_int32_t(buf, 8, lon);
+	_mav_put_int32_t(buf, 12, alt);
+	_mav_put_int16_t(buf, 16, vx);
+	_mav_put_int16_t(buf, 18, vy);
+	_mav_put_int16_t(buf, 20, vz);
+	_mav_put_uint16_t(buf, 22, hdg);
 
-	put_uint32_t_by_index(msg, 0, time_boot_ms); // Timestamp (milliseconds since system boot)
-	put_int32_t_by_index(msg, 4, lat); // Latitude, expressed as * 1E7
-	put_int32_t_by_index(msg, 8, lon); // Longitude, expressed as * 1E7
-	put_int32_t_by_index(msg, 12, alt); // Altitude in meters, expressed as * 1000 (millimeters), above MSL
-	put_int16_t_by_index(msg, 16, vx); // Ground X Speed (Latitude), expressed as m/s * 100
-	put_int16_t_by_index(msg, 18, vy); // Ground Y Speed (Longitude), expressed as m/s * 100
-	put_int16_t_by_index(msg, 20, vz); // Ground Z Speed (Altitude), expressed as m/s * 100
-	put_uint16_t_by_index(msg, 22, hdg); // Compass heading in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, buf, 24, 102);
+#else
+	mavlink_global_position_int_t packet;
+	packet.time_boot_ms = time_boot_ms;
+	packet.lat = lat;
+	packet.lon = lon;
+	packet.alt = alt;
+	packet.vx = vx;
+	packet.vy = vy;
+	packet.vz = vz;
+	packet.hdg = hdg;
 
-	mavlink_finalize_message_chan_send(msg, chan, 24, 102);
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, (const char *)&packet, 24, 102);
+#endif
 }
 
 #endif
@@ -158,7 +202,7 @@ static inline void mavlink_msg_global_position_int_send(mavlink_channel_t chan,
  */
 static inline uint32_t mavlink_msg_global_position_int_get_time_boot_ms(const mavlink_message_t* msg)
 {
-	return MAVLINK_MSG_RETURN_uint32_t(msg,  0);
+	return _MAV_RETURN_uint32_t(msg,  0);
 }
 
 /**
@@ -168,7 +212,7 @@ static inline uint32_t mavlink_msg_global_position_int_get_time_boot_ms(const ma
  */
 static inline int32_t mavlink_msg_global_position_int_get_lat(const mavlink_message_t* msg)
 {
-	return MAVLINK_MSG_RETURN_int32_t(msg,  4);
+	return _MAV_RETURN_int32_t(msg,  4);
 }
 
 /**
@@ -178,7 +222,7 @@ static inline int32_t mavlink_msg_global_position_int_get_lat(const mavlink_mess
  */
 static inline int32_t mavlink_msg_global_position_int_get_lon(const mavlink_message_t* msg)
 {
-	return MAVLINK_MSG_RETURN_int32_t(msg,  8);
+	return _MAV_RETURN_int32_t(msg,  8);
 }
 
 /**
@@ -188,7 +232,7 @@ static inline int32_t mavlink_msg_global_position_int_get_lon(const mavlink_mess
  */
 static inline int32_t mavlink_msg_global_position_int_get_alt(const mavlink_message_t* msg)
 {
-	return MAVLINK_MSG_RETURN_int32_t(msg,  12);
+	return _MAV_RETURN_int32_t(msg,  12);
 }
 
 /**
@@ -198,7 +242,7 @@ static inline int32_t mavlink_msg_global_position_int_get_alt(const mavlink_mess
  */
 static inline int16_t mavlink_msg_global_position_int_get_vx(const mavlink_message_t* msg)
 {
-	return MAVLINK_MSG_RETURN_int16_t(msg,  16);
+	return _MAV_RETURN_int16_t(msg,  16);
 }
 
 /**
@@ -208,7 +252,7 @@ static inline int16_t mavlink_msg_global_position_int_get_vx(const mavlink_messa
  */
 static inline int16_t mavlink_msg_global_position_int_get_vy(const mavlink_message_t* msg)
 {
-	return MAVLINK_MSG_RETURN_int16_t(msg,  18);
+	return _MAV_RETURN_int16_t(msg,  18);
 }
 
 /**
@@ -218,7 +262,7 @@ static inline int16_t mavlink_msg_global_position_int_get_vy(const mavlink_messa
  */
 static inline int16_t mavlink_msg_global_position_int_get_vz(const mavlink_message_t* msg)
 {
-	return MAVLINK_MSG_RETURN_int16_t(msg,  20);
+	return _MAV_RETURN_int16_t(msg,  20);
 }
 
 /**
@@ -228,7 +272,7 @@ static inline int16_t mavlink_msg_global_position_int_get_vz(const mavlink_messa
  */
 static inline uint16_t mavlink_msg_global_position_int_get_hdg(const mavlink_message_t* msg)
 {
-	return MAVLINK_MSG_RETURN_uint16_t(msg,  22);
+	return _MAV_RETURN_uint16_t(msg,  22);
 }
 
 /**
@@ -249,6 +293,6 @@ static inline void mavlink_msg_global_position_int_decode(const mavlink_message_
 	global_position_int->vz = mavlink_msg_global_position_int_get_vz(msg);
 	global_position_int->hdg = mavlink_msg_global_position_int_get_hdg(msg);
 #else
-	memcpy(global_position_int, MAVLINK_PAYLOAD(msg), 24);
+	memcpy(global_position_int, _MAV_PAYLOAD(msg), 24);
 #endif
 }

thirdParty/mavlink/include/common/mavlink_msg_global_position_setpoint_int.h

@@ -41,13 +41,25 @@ typedef struct __mavlink_global_position_setpoint_int_t
 static inline uint16_t mavlink_msg_global_position_setpoint_int_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
 						       int32_t latitude, int32_t longitude, int32_t altitude, int16_t yaw)
 {
-	msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT;
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[14];
+	_mav_put_int32_t(buf, 0, latitude);
+	_mav_put_int32_t(buf, 4, longitude);
+	_mav_put_int32_t(buf, 8, altitude);
+	_mav_put_int16_t(buf, 12, yaw);
+
+        memcpy(_MAV_PAYLOAD(msg), buf, 14);
+#else
+	mavlink_global_position_setpoint_int_t packet;
+	packet.latitude = latitude;
+	packet.longitude = longitude;
+	packet.altitude = altitude;
+	packet.yaw = yaw;
 
-	put_int32_t_by_index(msg, 0, latitude); // WGS84 Latitude position in degrees * 1E7
-	put_int32_t_by_index(msg, 4, longitude); // WGS84 Longitude position in degrees * 1E7
-	put_int32_t_by_index(msg, 8, altitude); // WGS84 Altitude in meters * 1000 (positive for up)
-	put_int16_t_by_index(msg, 12, yaw); // Desired yaw angle in degrees * 100
+        memcpy(_MAV_PAYLOAD(msg), &packet, 14);
+#endif
 
+	msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT;
 	return mavlink_finalize_message(msg, system_id, component_id, 14, 142);
 }
 
@@ -67,13 +79,25 @@ static inline uint16_t mavlink_msg_global_position_setpoint_int_pack_chan(uint8_
 							   mavlink_message_t* msg,
 						           int32_t latitude,int32_t longitude,int32_t altitude,int16_t yaw)
 {
-	msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT;
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[14];
+	_mav_put_int32_t(buf, 0, latitude);
+	_mav_put_int32_t(buf, 4, longitude);
+	_mav_put_int32_t(buf, 8, altitude);
+	_mav_put_int16_t(buf, 12, yaw);
+
+        memcpy(_MAV_PAYLOAD(msg), buf, 14);
+#else
+	mavlink_global_position_setpoint_int_t packet;
+	packet.latitude = latitude;
+	packet.longitude = longitude;
+	packet.altitude = altitude;
+	packet.yaw = yaw;
 
-	put_int32_t_by_index(msg, 0, latitude); // WGS84 Latitude position in degrees * 1E7
-	put_int32_t_by_index(msg, 4, longitude); // WGS84 Longitude position in degrees * 1E7
-	put_int32_t_by_index(msg, 8, altitude); // WGS84 Altitude in meters * 1000 (positive for up)
-	put_int16_t_by_index(msg, 12, yaw); // Desired yaw angle in degrees * 100
+        memcpy(_MAV_PAYLOAD(msg), &packet, 14);
+#endif
 
+	msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT;
 	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 14, 142);
 }
 
@@ -103,15 +127,23 @@ static inline uint16_t mavlink_msg_global_position_setpoint_int_encode(uint8_t s
 
 static inline void mavlink_msg_global_position_setpoint_int_send(mavlink_channel_t chan, int32_t latitude, int32_t longitude, int32_t altitude, int16_t yaw)
 {
-	MAVLINK_ALIGNED_MESSAGE(msg, 14);
-	msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT;
-
-	put_int32_t_by_index(msg, 0, latitude); // WGS84 Latitude position in degrees * 1E7
-	put_int32_t_by_index(msg, 4, longitude); // WGS84 Longitude position in degrees * 1E7
-	put_int32_t_by_index(msg, 8, altitude); // WGS84 Altitude in meters * 1000 (positive for up)
-	put_int16_t_by_index(msg, 12, yaw); // Desired yaw angle in degrees * 100
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[14];
+	_mav_put_int32_t(buf, 0, latitude);
+	_mav_put_int32_t(buf, 4, longitude);
+	_mav_put_int32_t(buf, 8, altitude);
+	_mav_put_int16_t(buf, 12, yaw);
+
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT, buf, 14, 142);
+#else
+	mavlink_global_position_setpoint_int_t packet;
+	packet.latitude = latitude;
+	packet.longitude = longitude;
+	packet.altitude = altitude;
+	packet.yaw = yaw;
 
-	mavlink_finalize_message_chan_send(msg, chan, 14, 142);
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT, (const char *)&packet, 14, 142);
+#endif
 }
 
 #endif
@@ -126,7 +158,7 @@ static inline void mavlink_msg_global_position_setpoint_int_send(mavlink_channel
  */
 static inline int32_t mavlink_msg_global_position_setpoint_int_get_latitude(const mavlink_message_t* msg)
 {
-	return MAVLINK_MSG_RETURN_int32_t(msg,  0);
+	return _MAV_RETURN_int32_t(msg,  0);
 }
 
 /**
@@ -136,7 +168,7 @@ static inline int32_t mavlink_msg_global_position_setpoint_int_get_latitude(cons
  */
 static inline int32_t mavlink_msg_global_position_setpoint_int_get_longitude(const mavlink_message_t* msg)
 {
-	return MAVLINK_MSG_RETURN_int32_t(msg,  4);
+	return _MAV_RETURN_int32_t(msg,  4);
 }
 
 /**
@@ -146,7 +178,7 @@ static inline int32_t mavlink_msg_global_position_setpoint_int_get_longitude(con
  */
 static inline int32_t mavlink_msg_global_position_setpoint_int_get_altitude(const mavlink_message_t* msg)
 {
-	return MAVLINK_MSG_RETURN_int32_t(msg,  8);
+	return _MAV_RETURN_int32_t(msg,  8);
 }
 
 /**
@@ -156,7 +188,7 @@ static inline int32_t mavlink_msg_global_position_setpoint_int_get_altitude(cons
  */
 static inline int16_t mavlink_msg_global_position_setpoint_int_get_yaw(const mavlink_message_t* msg)
 {
-	return MAVLINK_MSG_RETURN_int16_t(msg,  12);
+	return _MAV_RETURN_int16_t(msg,  12);
 }
 
 /**
@@ -173,6 +205,6 @@ static inline void mavlink_msg_global_position_setpoint_int_decode(const mavlink
 	global_position_setpoint_int->altitude = mavlink_msg_global_position_setpoint_int_get_altitude(msg);
 	global_position_setpoint_int->yaw = mavlink_msg_global_position_setpoint_int_get_yaw(msg);
 #else
-	memcpy(global_position_setpoint_int, MAVLINK_PAYLOAD(msg), 14);
+	memcpy(global_position_setpoint_int, _MAV_PAYLOAD(msg), 14);
 #endif
 }

thirdParty/mavlink/include/common/mavlink_msg_gps_global_origin.h

@@ -38,12 +38,23 @@ typedef struct __mavlink_gps_global_origin_t
 static inline uint16_t mavlink_msg_gps_global_origin_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
 						       int32_t latitude, int32_t longitude, int32_t altitude)
 {
-	msg->msgid = MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN;
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[12];
+	_mav_put_int32_t(buf, 0, latitude);
+	_mav_put_int32_t(buf, 4, longitude);
+	_mav_put_int32_t(buf, 8, altitude);
+
+        memcpy(_MAV_PAYLOAD(msg), buf, 12);
+#else
+	mavlink_gps_global_origin_t packet;
+	packet.latitude = latitude;
+	packet.longitude = longitude;
+	packet.altitude = altitude;
 
-	put_int32_t_by_index(msg, 0, latitude); // Latitude (WGS84), expressed as * 1E7
-	put_int32_t_by_index(msg, 4, longitude); // Longitude (WGS84), expressed as * 1E7
-	put_int32_t_by_index(msg, 8, altitude); // Altitude(WGS84), expressed as * 1000
+        memcpy(_MAV_PAYLOAD(msg), &packet, 12);
+#endif
 
+	msg->msgid = MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN;
 	return mavlink_finalize_message(msg, system_id, component_id, 12, 39);
 }
 
@@ -62,12 +73,23 @@ static inline uint16_t mavlink_msg_gps_global_origin_pack_chan(uint8_t system_id
 							   mavlink_message_t* msg,
 						           int32_t latitude,int32_t longitude,int32_t altitude)
 {
-	msg->msgid = MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN;
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[12];
+	_mav_put_int32_t(buf, 0, latitude);
+	_mav_put_int32_t(buf, 4, longitude);
+	_mav_put_int32_t(buf, 8, altitude);
 
-	put_int32_t_by_index(msg, 0, latitude); // Latitude (WGS84), expressed as * 1E7
-	put_int32_t_by_index(msg, 4, longitude); // Longitude (WGS84), expressed as * 1E7
-	put_int32_t_by_index(msg, 8, altitude); // Altitude(WGS84), expressed as * 1000
+        memcpy(_MAV_PAYLOAD(msg), buf, 12);
+#else
+	mavlink_gps_global_origin_t packet;
+	packet.latitude = latitude;
+	packet.longitude = longitude;
+	packet.altitude = altitude;
 
+        memcpy(_MAV_PAYLOAD(msg), &packet, 12);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN;
 	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 12, 39);
 }
 
@@ -96,14 +118,21 @@ static inline uint16_t mavlink_msg_gps_global_origin_encode(uint8_t system_id, u
 
 static inline void mavlink_msg_gps_global_origin_send(mavlink_channel_t chan, int32_t latitude, int32_t longitude, int32_t altitude)
 {
-	MAVLINK_ALIGNED_MESSAGE(msg, 12);
-	msg->msgid = MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN;
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[12];
+	_mav_put_int32_t(buf, 0, latitude);
+	_mav_put_int32_t(buf, 4, longitude);
+	_mav_put_int32_t(buf, 8, altitude);
 
-	put_int32_t_by_index(msg, 0, latitude); // Latitude (WGS84), expressed as * 1E7
-	put_int32_t_by_index(msg, 4, longitude); // Longitude (WGS84), expressed as * 1E7
-	put_int32_t_by_index(msg, 8, altitude); // Altitude(WGS84), expressed as * 1000
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN, buf, 12, 39);
+#else
+	mavlink_gps_global_origin_t packet;
+	packet.latitude = latitude;
+	packet.longitude = longitude;
+	packet.altitude = altitude;
 
-	mavlink_finalize_message_chan_send(msg, chan, 12, 39);
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN, (const char *)&packet, 12, 39);
+#endif
 }
 
 #endif
@@ -118,7 +147,7 @@ static inline void mavlink_msg_gps_global_origin_send(mavlink_channel_t chan, in
  */
 static inline int32_t mavlink_msg_gps_global_origin_get_latitude(const mavlink_message_t* msg)
 {
-	return MAVLINK_MSG_RETURN_int32_t(msg,  0);
+	return _MAV_RETURN_int32_t(msg,  0);
 }
 
 /**
@@ -128,7 +157,7 @@ static inline int32_t mavlink_msg_gps_global_origin_get_latitude(const mavlink_m
  */
 static inline int32_t mavlink_msg_gps_global_origin_get_longitude(const mavlink_message_t* msg)
 {
-	return MAVLINK_MSG_RETURN_int32_t(msg,  4);
+	return _MAV_RETURN_int32_t(msg,  4);
 }
 
 /**
@@ -138,7 +167,7 @@ static inline int32_t mavlink_msg_gps_global_origin_get_longitude(const mavlink_
  */
 static inline int32_t mavlink_msg_gps_global_origin_get_altitude(const mavlink_message_t* msg)
 {
-	return MAVLINK_MSG_RETURN_int32_t(msg,  8);
+	return _MAV_RETURN_int32_t(msg,  8);
 }
 
 /**
@@ -154,6 +183,6 @@ static inline void mavlink_msg_gps_global_origin_decode(const mavlink_message_t*
 	gps_global_origin->longitude = mavlink_msg_gps_global_origin_get_longitude(msg);
 	gps_global_origin->altitude = mavlink_msg_gps_global_origin_get_altitude(msg);
 #else
-	memcpy(gps_global_origin, MAVLINK_PAYLOAD(msg), 12);
+	memcpy(gps_global_origin, _MAV_PAYLOAD(msg), 12);
 #endif
 }

thirdParty/mavlink/include/common/mavlink_msg_gps_set_global_origin.h

+// MESSAGE GPS_SET_GLOBAL_ORIGIN PACKING
+
+#define MAVLINK_MSG_ID_GPS_SET_GLOBAL_ORIGIN 48
+
+typedef struct __mavlink_gps_set_global_origin_t
+{
+ int32_t latitude; ///< global position * 1E7
+ int32_t longitude; ///< global position * 1E7
+ int32_t altitude; ///< global position * 1000
+ uint8_t target_system; ///< System ID
+ uint8_t target_component; ///< Component ID
+} mavlink_gps_set_global_origin_t;
+
+#define MAVLINK_MSG_ID_GPS_SET_GLOBAL_ORIGIN_LEN 14
+#define MAVLINK_MSG_ID_48_LEN 14
+
+
+
+#define MAVLINK_MESSAGE_INFO_GPS_SET_GLOBAL_ORIGIN { \
+	"GPS_SET_GLOBAL_ORIGIN", \
+	5, \
+	{  { "latitude", MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_gps_set_global_origin_t, latitude) }, \
+         { "longitude", MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_gps_set_global_origin_t, longitude) }, \
+         { "altitude", MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_gps_set_global_origin_t, altitude) }, \
+         { "target_system", MAVLINK_TYPE_UINT8_T, 0, 12, offsetof(mavlink_gps_set_global_origin_t, target_system) }, \
+         { "target_component", MAVLINK_TYPE_UINT8_T, 0, 13, offsetof(mavlink_gps_set_global_origin_t, target_component) }, \
+         } \
+}
+
+
+/**
+ * @brief Pack a gps_set_global_origin 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 ID
+ * @param target_component Component ID
+ * @param latitude global position * 1E7
+ * @param longitude global position * 1E7
+ * @param altitude global position * 1000
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_gps_set_global_origin_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+						       uint8_t target_system, uint8_t target_component, int32_t latitude, int32_t longitude, int32_t altitude)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[14];
+	_mav_put_int32_t(buf, 0, latitude);
+	_mav_put_int32_t(buf, 4, longitude);
+	_mav_put_int32_t(buf, 8, altitude);
+	_mav_put_uint8_t(buf, 12, target_system);
+	_mav_put_uint8_t(buf, 13, target_component);
+
+        memcpy(_MAV_PAYLOAD(msg), buf, 14);
+#else
+	mavlink_gps_set_global_origin_t packet;
+	packet.latitude = latitude;
+	packet.longitude = longitude;
+	packet.altitude = altitude;
+	packet.target_system = target_system;
+	packet.target_component = target_component;
+
+        memcpy(_MAV_PAYLOAD(msg), &packet, 14);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_GPS_SET_GLOBAL_ORIGIN;
+	return mavlink_finalize_message(msg, system_id, component_id, 14, 170);
+}
+
+/**
+ * @brief Pack a gps_set_global_origin message on a channel
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @param latitude global position * 1E7
+ * @param longitude global position * 1E7
+ * @param altitude global position * 1000
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_gps_set_global_origin_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+							   mavlink_message_t* msg,
+						           uint8_t target_system,uint8_t target_component,int32_t latitude,int32_t longitude,int32_t altitude)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[14];
+	_mav_put_int32_t(buf, 0, latitude);
+	_mav_put_int32_t(buf, 4, longitude);
+	_mav_put_int32_t(buf, 8, altitude);
+	_mav_put_uint8_t(buf, 12, target_system);
+	_mav_put_uint8_t(buf, 13, target_component);
+
+        memcpy(_MAV_PAYLOAD(msg), buf, 14);
+#else
+	mavlink_gps_set_global_origin_t packet;
+	packet.latitude = latitude;
+	packet.longitude = longitude;
+	packet.altitude = altitude;
+	packet.target_system = target_system;
+	packet.target_component = target_component;
+
+        memcpy(_MAV_PAYLOAD(msg), &packet, 14);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_GPS_SET_GLOBAL_ORIGIN;
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 14, 170);
+}
+
+/**
+ * @brief Encode a gps_set_global_origin 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_set_global_origin C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_gps_set_global_origin_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps_set_global_origin_t* gps_set_global_origin)
+{
+	return mavlink_msg_gps_set_global_origin_pack(system_id, component_id, msg, gps_set_global_origin->target_system, gps_set_global_origin->target_component, gps_set_global_origin->latitude, gps_set_global_origin->longitude, gps_set_global_origin->altitude);
+}
+
+/**
+ * @brief Send a gps_set_global_origin message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @param latitude global position * 1E7
+ * @param longitude global position * 1E7
+ * @param altitude global position * 1000
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_gps_set_global_origin_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, int32_t latitude, int32_t longitude, int32_t altitude)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[14];
+	_mav_put_int32_t(buf, 0, latitude);
+	_mav_put_int32_t(buf, 4, longitude);
+	_mav_put_int32_t(buf, 8, altitude);
+	_mav_put_uint8_t(buf, 12, target_system);
+	_mav_put_uint8_t(buf, 13, target_component);
+
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_SET_GLOBAL_ORIGIN, buf, 14, 170);
+#else
+	mavlink_gps_set_global_origin_t packet;
+	packet.latitude = latitude;
+	packet.longitude = longitude;
+	packet.altitude = altitude;
+	packet.target_system = target_system;
+	packet.target_component = target_component;
+
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_SET_GLOBAL_ORIGIN, (const char *)&packet, 14, 170);
+#endif
+}
+
+#endif
+
+// MESSAGE GPS_SET_GLOBAL_ORIGIN UNPACKING
+
+
+/**
+ * @brief Get field target_system from gps_set_global_origin message
+ *
+ * @return System ID
+ */
+static inline uint8_t mavlink_msg_gps_set_global_origin_get_target_system(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint8_t(msg,  12);
+}
+
+/**
+ * @brief Get field target_component from gps_set_global_origin message
+ *
+ * @return Component ID
+ */
+static inline uint8_t mavlink_msg_gps_set_global_origin_get_target_component(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint8_t(msg,  13);
+}
+
+/**
+ * @brief Get field latitude from gps_set_global_origin message
+ *
+ * @return global position * 1E7
+ */
+static inline int32_t mavlink_msg_gps_set_global_origin_get_latitude(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int32_t(msg,  0);
+}
+
+/**
+ * @brief Get field longitude from gps_set_global_origin message
+ *
+ * @return global position * 1E7
+ */
+static inline int32_t mavlink_msg_gps_set_global_origin_get_longitude(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int32_t(msg,  4);
+}
+
+/**
+ * @brief Get field altitude from gps_set_global_origin message
+ *
+ * @return global position * 1000
+ */
+static inline int32_t mavlink_msg_gps_set_global_origin_get_altitude(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int32_t(msg,  8);
+}
+
+/**
+ * @brief Decode a gps_set_global_origin message into a struct
+ *
+ * @param msg The message to decode
+ * @param gps_set_global_origin C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_gps_set_global_origin_decode(const mavlink_message_t* msg, mavlink_gps_set_global_origin_t* gps_set_global_origin)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+	gps_set_global_origin->latitude = mavlink_msg_gps_set_global_origin_get_latitude(msg);
+	gps_set_global_origin->longitude = mavlink_msg_gps_set_global_origin_get_longitude(msg);
+	gps_set_global_origin->altitude = mavlink_msg_gps_set_global_origin_get_altitude(msg);
+	gps_set_global_origin->target_system = mavlink_msg_gps_set_global_origin_get_target_system(msg);
+	gps_set_global_origin->target_component = mavlink_msg_gps_set_global_origin_get_target_component(msg);
+#else
+	memcpy(gps_set_global_origin, _MAV_PAYLOAD(msg), 14);
+#endif
+}

thirdParty/mavlink/include/common/mavlink_msg_gps_status.h

@@ -51,15 +51,27 @@ typedef struct __mavlink_gps_status_t
 static inline uint16_t mavlink_msg_gps_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
 						       uint8_t satellites_visible, const uint8_t *satellite_prn, const uint8_t *satellite_used, const uint8_t *satellite_elevation, const uint8_t *satellite_azimuth, const uint8_t *satellite_snr)
 {
-	msg->msgid = MAVLINK_MSG_ID_GPS_STATUS;
-
-	put_uint8_t_by_index(msg, 0, satellites_visible); // Number of satellites visible
-	put_uint8_t_array_by_index(msg, 1, satellite_prn, 20); // Global satellite ID
-	put_uint8_t_array_by_index(msg, 21, satellite_used, 20); // 0: Satellite not used, 1: used for localization
-	put_uint8_t_array_by_index(msg, 41, satellite_elevation, 20); // Elevation (0: right on top of receiver, 90: on the horizon) of satellite
-	put_uint8_t_array_by_index(msg, 61, satellite_azimuth, 20); // Direction of satellite, 0: 0 deg, 255: 360 deg.
-	put_uint8_t_array_by_index(msg, 81, satellite_snr, 20); // Signal to noise ratio of satellite
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[101];
+	_mav_put_uint8_t(buf, 0, satellites_visible);
+	_mav_put_uint8_t_array(buf, 1, satellite_prn, 20);
+	_mav_put_uint8_t_array(buf, 21, satellite_used, 20);
+	_mav_put_uint8_t_array(buf, 41, satellite_elevation, 20);
+	_mav_put_uint8_t_array(buf, 61, satellite_azimuth, 20);
+	_mav_put_uint8_t_array(buf, 81, satellite_snr, 20);
+        memcpy(_MAV_PAYLOAD(msg), buf, 101);
+#else
+	mavlink_gps_status_t packet;
+	packet.satellites_visible = satellites_visible;
+	memcpy(packet.satellite_prn, satellite_prn, sizeof(uint8_t)*20);
+	memcpy(packet.satellite_used, satellite_used, sizeof(uint8_t)*20);
+	memcpy(packet.satellite_elevation, satellite_elevation, sizeof(uint8_t)*20);
+	memcpy(packet.satellite_azimuth, satellite_azimuth, sizeof(uint8_t)*20);
+	memcpy(packet.satellite_snr, satellite_snr, sizeof(uint8_t)*20);
+        memcpy(_MAV_PAYLOAD(msg), &packet, 101);
+#endif
 
+	msg->msgid = MAVLINK_MSG_ID_GPS_STATUS;
 	return mavlink_finalize_message(msg, system_id, component_id, 101, 23);
 }
 
@@ -81,15 +93,27 @@ static inline uint16_t mavlink_msg_gps_status_pack_chan(uint8_t system_id, uint8
 							   mavlink_message_t* msg,
 						           uint8_t satellites_visible,const uint8_t *satellite_prn,const uint8_t *satellite_used,const uint8_t *satellite_elevation,const uint8_t *satellite_azimuth,const uint8_t *satellite_snr)
 {
-	msg->msgid = MAVLINK_MSG_ID_GPS_STATUS;
-
-	put_uint8_t_by_index(msg, 0, satellites_visible); // Number of satellites visible
-	put_uint8_t_array_by_index(msg, 1, satellite_prn, 20); // Global satellite ID
-	put_uint8_t_array_by_index(msg, 21, satellite_used, 20); // 0: Satellite not used, 1: used for localization
-	put_uint8_t_array_by_index(msg, 41, satellite_elevation, 20); // Elevation (0: right on top of receiver, 90: on the horizon) of satellite
-	put_uint8_t_array_by_index(msg, 61, satellite_azimuth, 20); // Direction of satellite, 0: 0 deg, 255: 360 deg.
-	put_uint8_t_array_by_index(msg, 81, satellite_snr, 20); // Signal to noise ratio of satellite
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[101];
+	_mav_put_uint8_t(buf, 0, satellites_visible);
+	_mav_put_uint8_t_array(buf, 1, satellite_prn, 20);
+	_mav_put_uint8_t_array(buf, 21, satellite_used, 20);
+	_mav_put_uint8_t_array(buf, 41, satellite_elevation, 20);
+	_mav_put_uint8_t_array(buf, 61, satellite_azimuth, 20);
+	_mav_put_uint8_t_array(buf, 81, satellite_snr, 20);
+        memcpy(_MAV_PAYLOAD(msg), buf, 101);
+#else
+	mavlink_gps_status_t packet;
+	packet.satellites_visible = satellites_visible;
+	memcpy(packet.satellite_prn, satellite_prn, sizeof(uint8_t)*20);
+	memcpy(packet.satellite_used, satellite_used, sizeof(uint8_t)*20);
+	memcpy(packet.satellite_elevation, satellite_elevation, sizeof(uint8_t)*20);
+	memcpy(packet.satellite_azimuth, satellite_azimuth, sizeof(uint8_t)*20);
+	memcpy(packet.satellite_snr, satellite_snr, sizeof(uint8_t)*20);
+        memcpy(_MAV_PAYLOAD(msg), &packet, 101);
+#endif
 
+	msg->msgid = MAVLINK_MSG_ID_GPS_STATUS;
 	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 101, 23);
 }
 
@@ -121,17 +145,25 @@ static inline uint16_t mavlink_msg_gps_status_encode(uint8_t system_id, uint8_t
 
 static inline void mavlink_msg_gps_status_send(mavlink_channel_t chan, uint8_t satellites_visible, const uint8_t *satellite_prn, const uint8_t *satellite_used, const uint8_t *satellite_elevation, const uint8_t *satellite_azimuth, const uint8_t *satellite_snr)
 {
-	MAVLINK_ALIGNED_MESSAGE(msg, 101);
-	msg->msgid = MAVLINK_MSG_ID_GPS_STATUS;
-
-	put_uint8_t_by_index(msg, 0, satellites_visible); // Number of satellites visible
-	put_uint8_t_array_by_index(msg, 1, satellite_prn, 20); // Global satellite ID
-	put_uint8_t_array_by_index(msg, 21, satellite_used, 20); // 0: Satellite not used, 1: used for localization
-	put_uint8_t_array_by_index(msg, 41, satellite_elevation, 20); // Elevation (0: right on top of receiver, 90: on the horizon) of satellite
-	put_uint8_t_array_by_index(msg, 61, satellite_azimuth, 20); // Direction of satellite, 0: 0 deg, 255: 360 deg.
-	put_uint8_t_array_by_index(msg, 81, satellite_snr, 20); // Signal to noise ratio of satellite
-
-	mavlink_finalize_message_chan_send(msg, chan, 101, 23);
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[101];
+	_mav_put_uint8_t(buf, 0, satellites_visible);
+	_mav_put_uint8_t_array(buf, 1, satellite_prn, 20);
+	_mav_put_uint8_t_array(buf, 21, satellite_used, 20);
+	_mav_put_uint8_t_array(buf, 41, satellite_elevation, 20);
+	_mav_put_uint8_t_array(buf, 61, satellite_azimuth, 20);
+	_mav_put_uint8_t_array(buf, 81, satellite_snr, 20);
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_STATUS, buf, 101, 23);
+#else
+	mavlink_gps_status_t packet;
+	packet.satellites_visible = satellites_visible;
+	memcpy(packet.satellite_prn, satellite_prn, sizeof(uint8_t)*20);
+	memcpy(packet.satellite_used, satellite_used, sizeof(uint8_t)*20);
+	memcpy(packet.satellite_elevation, satellite_elevation, sizeof(uint8_t)*20);
+	memcpy(packet.satellite_azimuth, satellite_azimuth, sizeof(uint8_t)*20);
+	memcpy(packet.satellite_snr, satellite_snr, sizeof(uint8_t)*20);
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_STATUS, (const char *)&packet, 101, 23);
+#endif
 }
 
 #endif
@@ -146,7 +178,7 @@ static inline void mavlink_msg_gps_status_send(mavlink_channel_t chan, uint8_t s
  */
 static inline uint8_t mavlink_msg_gps_status_get_satellites_visible(const mavlink_message_t* msg)
 {
-	return MAVLINK_MSG_RETURN_uint8_t(msg,  0);
+	return _MAV_RETURN_uint8_t(msg,  0);
 }
 
 /**
@@ -156,7 +188,7 @@ static inline uint8_t mavlink_msg_gps_status_get_satellites_visible(const mavlin
  */
 static inline uint16_t mavlink_msg_gps_status_get_satellite_prn(const mavlink_message_t* msg, uint8_t *satellite_prn)
 {
-	return MAVLINK_MSG_RETURN_uint8_t_array(msg, satellite_prn, 20,  1);
+	return _MAV_RETURN_uint8_t_array(msg, satellite_prn, 20,  1);
 }
 
 /**
@@ -166,7 +198,7 @@ static inline uint16_t mavlink_msg_gps_status_get_satellite_prn(const mavlink_me
  */
 static inline uint16_t mavlink_msg_gps_status_get_satellite_used(const mavlink_message_t* msg, uint8_t *satellite_used)
 {
-	return MAVLINK_MSG_RETURN_uint8_t_array(msg, satellite_used, 20,  21);
+	return _MAV_RETURN_uint8_t_array(msg, satellite_used, 20,  21);
 }
 
 /**
@@ -176,7 +208,7 @@ static inline uint16_t mavlink_msg_gps_status_get_satellite_used(const mavlink_m
  */
 static inline uint16_t mavlink_msg_gps_status_get_satellite_elevation(const mavlink_message_t* msg, uint8_t *satellite_elevation)
 {
-	return MAVLINK_MSG_RETURN_uint8_t_array(msg, satellite_elevation, 20,  41);
+	return _MAV_RETURN_uint8_t_array(msg, satellite_elevation, 20,  41);
 }
 
 /**
@@ -186,7 +218,7 @@ static inline uint16_t mavlink_msg_gps_status_get_satellite_elevation(const mavl
  */
 static inline uint16_t mavlink_msg_gps_status_get_satellite_azimuth(const mavlink_message_t* msg, uint8_t *satellite_azimuth)
 {
-	return MAVLINK_MSG_RETURN_uint8_t_array(msg, satellite_azimuth, 20,  61);
+	return _MAV_RETURN_uint8_t_array(msg, satellite_azimuth, 20,  61);
 }
 
 /**
@@ -196,7 +228,7 @@ static inline uint16_t mavlink_msg_gps_status_get_satellite_azimuth(const mavlin
  */
 static inline uint16_t mavlink_msg_gps_status_get_satellite_snr(const mavlink_message_t* msg, uint8_t *satellite_snr)
 {
-	return MAVLINK_MSG_RETURN_uint8_t_array(msg, satellite_snr, 20,  81);
+	return _MAV_RETURN_uint8_t_array(msg, satellite_snr, 20,  81);
 }
 
 /**
@@ -215,6 +247,6 @@ static inline void mavlink_msg_gps_status_decode(const mavlink_message_t* msg, m
 	mavlink_msg_gps_status_get_satellite_azimuth(msg, gps_status->satellite_azimuth);
 	mavlink_msg_gps_status_get_satellite_snr(msg, gps_status->satellite_snr);
 #else
-	memcpy(gps_status, MAVLINK_PAYLOAD(msg), 101);
+	memcpy(gps_status, _MAV_PAYLOAD(msg), 101);
 #endif
 }

thirdParty/mavlink/include/common/mavlink_msg_heartbeat.h

@@ -46,15 +46,29 @@ typedef struct __mavlink_heartbeat_t
 static inline uint16_t mavlink_msg_heartbeat_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
 						       uint8_t type, uint8_t autopilot, uint8_t base_mode, uint16_t custom_mode, uint8_t system_status)
 {
-	msg->msgid = MAVLINK_MSG_ID_HEARTBEAT;
-
-	put_uint16_t_by_index(msg, 0, custom_mode); // Navigation mode bitfield, see MAV_AUTOPILOT_CUSTOM_MODE ENUM for some examples. This field is autopilot-specific.
-	put_uint8_t_by_index(msg, 2, type); // Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
-	put_uint8_t_by_index(msg, 3, autopilot); // Autopilot type / class. defined in MAV_CLASS ENUM
-	put_uint8_t_by_index(msg, 4, base_mode); // System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h
-	put_uint8_t_by_index(msg, 5, system_status); // System status flag, see MAV_STATUS ENUM
-	put_uint8_t_by_index(msg, 6, 3); // MAVLink version
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[7];
+	_mav_put_uint16_t(buf, 0, custom_mode);
+	_mav_put_uint8_t(buf, 2, type);
+	_mav_put_uint8_t(buf, 3, autopilot);
+	_mav_put_uint8_t(buf, 4, base_mode);
+	_mav_put_uint8_t(buf, 5, system_status);
+	_mav_put_uint8_t(buf, 6, 3);
+
+        memcpy(_MAV_PAYLOAD(msg), buf, 7);
+#else
+	mavlink_heartbeat_t packet;
+	packet.custom_mode = custom_mode;
+	packet.type = type;
+	packet.autopilot = autopilot;
+	packet.base_mode = base_mode;
+	packet.system_status = system_status;
+	packet.mavlink_version = 3;
+
+        memcpy(_MAV_PAYLOAD(msg), &packet, 7);
+#endif
 
+	msg->msgid = MAVLINK_MSG_ID_HEARTBEAT;
 	return mavlink_finalize_message(msg, system_id, component_id, 7, 88);
 }
 
@@ -75,15 +89,29 @@ static inline uint16_t mavlink_msg_heartbeat_pack_chan(uint8_t system_id, uint8_
 							   mavlink_message_t* msg,
 						           uint8_t type,uint8_t autopilot,uint8_t base_mode,uint16_t custom_mode,uint8_t system_status)
 {
-	msg->msgid = MAVLINK_MSG_ID_HEARTBEAT;
-
-	put_uint16_t_by_index(msg, 0, custom_mode); // Navigation mode bitfield, see MAV_AUTOPILOT_CUSTOM_MODE ENUM for some examples. This field is autopilot-specific.
-	put_uint8_t_by_index(msg, 2, type); // Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
-	put_uint8_t_by_index(msg, 3, autopilot); // Autopilot type / class. defined in MAV_CLASS ENUM
-	put_uint8_t_by_index(msg, 4, base_mode); // System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h
-	put_uint8_t_by_index(msg, 5, system_status); // System status flag, see MAV_STATUS ENUM
-	put_uint8_t_by_index(msg, 6, 3); // MAVLink version
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[7];
+	_mav_put_uint16_t(buf, 0, custom_mode);
+	_mav_put_uint8_t(buf, 2, type);
+	_mav_put_uint8_t(buf, 3, autopilot);
+	_mav_put_uint8_t(buf, 4, base_mode);
+	_mav_put_uint8_t(buf, 5, system_status);
+	_mav_put_uint8_t(buf, 6, 3);
+
+        memcpy(_MAV_PAYLOAD(msg), buf, 7);
+#else
+	mavlink_heartbeat_t packet;
+	packet.custom_mode = custom_mode;
+	packet.type = type;
+	packet.autopilot = autopilot;
+	packet.base_mode = base_mode;
+	packet.system_status = system_status;
+	packet.mavlink_version = 3;
+
+        memcpy(_MAV_PAYLOAD(msg), &packet, 7);
+#endif
 
+	msg->msgid = MAVLINK_MSG_ID_HEARTBEAT;
 	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 7, 88);
 }
 
@@ -114,17 +142,27 @@ static inline uint16_t mavlink_msg_heartbeat_encode(uint8_t system_id, uint8_t c
 
 static inline void mavlink_msg_heartbeat_send(mavlink_channel_t chan, uint8_t type, uint8_t autopilot, uint8_t base_mode, uint16_t custom_mode, uint8_t system_status)
 {
-	MAVLINK_ALIGNED_MESSAGE(msg, 7);
-	msg->msgid = MAVLINK_MSG_ID_HEARTBEAT;
-
-	put_uint16_t_by_index(msg, 0, custom_mode); // Navigation mode bitfield, see MAV_AUTOPILOT_CUSTOM_MODE ENUM for some examples. This field is autopilot-specific.
-	put_uint8_t_by_index(msg, 2, type); // Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
-	put_uint8_t_by_index(msg, 3, autopilot); // Autopilot type / class. defined in MAV_CLASS ENUM
-	put_uint8_t_by_index(msg, 4, base_mode); // System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h
-	put_uint8_t_by_index(msg, 5, system_status); // System status flag, see MAV_STATUS ENUM
-	put_uint8_t_by_index(msg, 6, 3); // MAVLink version
-
-	mavlink_finalize_message_chan_send(msg, chan, 7, 88);
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[7];
+	_mav_put_uint16_t(buf, 0, custom_mode);
+	_mav_put_uint8_t(buf, 2, type);
+	_mav_put_uint8_t(buf, 3, autopilot);
+	_mav_put_uint8_t(buf, 4, base_mode);
+	_mav_put_uint8_t(buf, 5, system_status);
+	_mav_put_uint8_t(buf, 6, 3);
+
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, buf, 7, 88);
+#else
+	mavlink_heartbeat_t packet;
+	packet.custom_mode = custom_mode;
+	packet.type = type;
+	packet.autopilot = autopilot;
+	packet.base_mode = base_mode;
+	packet.system_status = system_status;
+	packet.mavlink_version = 3;
+
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, (const char *)&packet, 7, 88);
+#endif
 }
 
 #endif
@@ -139,7 +177,7 @@ static inline void mavlink_msg_heartbeat_send(mavlink_channel_t chan, uint8_t ty
  */
 static inline uint8_t mavlink_msg_heartbeat_get_type(const mavlink_message_t* msg)
 {
-	return MAVLINK_MSG_RETURN_uint8_t(msg,  2);
+	return _MAV_RETURN_uint8_t(msg,  2);
 }
 
 /**
@@ -149,7 +187,7 @@ static inline uint8_t mavlink_msg_heartbeat_get_type(const mavlink_message_t* ms
  */
 static inline uint8_t mavlink_msg_heartbeat_get_autopilot(const mavlink_message_t* msg)
 {
-	return MAVLINK_MSG_RETURN_uint8_t(msg,  3);
+	return _MAV_RETURN_uint8_t(msg,  3);
 }
 
 /**
@@ -159,7 +197,7 @@ static inline uint8_t mavlink_msg_heartbeat_get_autopilot(const mavlink_message_
  */
 static inline uint8_t mavlink_msg_heartbeat_get_base_mode(const mavlink_message_t* msg)
 {
-	return MAVLINK_MSG_RETURN_uint8_t(msg,  4);
+	return _MAV_RETURN_uint8_t(msg,  4);
 }
 
 /**
@@ -169,7 +207,7 @@ static inline uint8_t mavlink_msg_heartbeat_get_base_mode(const mavlink_message_
  */
 static inline uint16_t mavlink_msg_heartbeat_get_custom_mode(const mavlink_message_t* msg)
 {
-	return MAVLINK_MSG_RETURN_uint16_t(msg,  0);
+	return _MAV_RETURN_uint16_t(msg,  0);
 }
 
 /**
@@ -179,7 +217,7 @@ static inline uint16_t mavlink_msg_heartbeat_get_custom_mode(const mavlink_messa
  */
 static inline uint8_t mavlink_msg_heartbeat_get_system_status(const mavlink_message_t* msg)
 {
-	return MAVLINK_MSG_RETURN_uint8_t(msg,  5);
+	return _MAV_RETURN_uint8_t(msg,  5);
 }
 
 /**
@@ -189,7 +227,7 @@ static inline uint8_t mavlink_msg_heartbeat_get_system_status(const mavlink_mess
  */
 static inline uint8_t mavlink_msg_heartbeat_get_mavlink_version(const mavlink_message_t* msg)
 {
-	return MAVLINK_MSG_RETURN_uint8_t(msg,  6);
+	return _MAV_RETURN_uint8_t(msg,  6);
 }
 
 /**
@@ -208,6 +246,6 @@ static inline void mavlink_msg_heartbeat_decode(const mavlink_message_t* msg, ma
 	heartbeat->system_status = mavlink_msg_heartbeat_get_system_status(msg);
 	heartbeat->mavlink_version = mavlink_msg_heartbeat_get_mavlink_version(msg);
 #else
-	memcpy(heartbeat, MAVLINK_PAYLOAD(msg), 7);
+	memcpy(heartbeat, _MAV_PAYLOAD(msg), 7);
 #endif
 }

thirdParty/mavlink/include/common/mavlink_msg_local_position_setpoint.h

@@ -41,13 +41,25 @@ typedef struct __mavlink_local_position_setpoint_t
 static inline uint16_t mavlink_msg_local_position_setpoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
 						       float x, float y, float z, float yaw)
 {
-	msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT;
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[16];
+	_mav_put_float(buf, 0, x);
+	_mav_put_float(buf, 4, y);
+	_mav_put_float(buf, 8, z);
+	_mav_put_float(buf, 12, yaw);
+
+        memcpy(_MAV_PAYLOAD(msg), buf, 16);
+#else
+	mavlink_local_position_setpoint_t packet;
+	packet.x = x;
+	packet.y = y;
+	packet.z = z;
+	packet.yaw = yaw;
 
-	put_float_by_index(msg, 0, x); // x position
-	put_float_by_index(msg, 4, y); // y position
-	put_float_by_index(msg, 8, z); // z position
-	put_float_by_index(msg, 12, yaw); // Desired yaw angle
+        memcpy(_MAV_PAYLOAD(msg), &packet, 16);
+#endif
 
+	msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT;
 	return mavlink_finalize_message(msg, system_id, component_id, 16, 50);
 }
 
@@ -67,13 +79,25 @@ static inline uint16_t mavlink_msg_local_position_setpoint_pack_chan(uint8_t sys
 							   mavlink_message_t* msg,
 						           float x,float y,float z,float yaw)
 {
-	msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT;
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[16];
+	_mav_put_float(buf, 0, x);
+	_mav_put_float(buf, 4, y);
+	_mav_put_float(buf, 8, z);
+	_mav_put_float(buf, 12, yaw);
+
+        memcpy(_MAV_PAYLOAD(msg), buf, 16);
+#else
+	mavlink_local_position_setpoint_t packet;
+	packet.x = x;
+	packet.y = y;
+	packet.z = z;
+	packet.yaw = yaw;
 
-	put_float_by_index(msg, 0, x); // x position
-	put_float_by_index(msg, 4, y); // y position
-	put_float_by_index(msg, 8, z); // z position
-	put_float_by_index(msg, 12, yaw); // Desired yaw angle
+        memcpy(_MAV_PAYLOAD(msg), &packet, 16);
+#endif
 
+	msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT;
 	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 16, 50);
 }
 
@@ -103,15 +127,23 @@ static inline uint16_t mavlink_msg_local_position_setpoint_encode(uint8_t system
 
 static inline void mavlink_msg_local_position_setpoint_send(mavlink_channel_t chan, float x, float y, float z, float yaw)
 {
-	MAVLINK_ALIGNED_MESSAGE(msg, 16);
-	msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT;
-
-	put_float_by_index(msg, 0, x); // x position
-	put_float_by_index(msg, 4, y); // y position
-	put_float_by_index(msg, 8, z); // z position
-	put_float_by_index(msg, 12, yaw); // Desired yaw angle
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[16];
+	_mav_put_float(buf, 0, x);
+	_mav_put_float(buf, 4, y);
+	_mav_put_float(buf, 8, z);
+	_mav_put_float(buf, 12, yaw);
+
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT, buf, 16, 50);
+#else
+	mavlink_local_position_setpoint_t packet;
+	packet.x = x;
+	packet.y = y;
+	packet.z = z;
+	packet.yaw = yaw;
 
-	mavlink_finalize_message_chan_send(msg, chan, 16, 50);
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT, (const char *)&packet, 16, 50);
+#endif
 }
 
 #endif
@@ -126,7 +158,7 @@ static inline void mavlink_msg_local_position_setpoint_send(mavlink_channel_t ch
  */
 static inline float mavlink_msg_local_position_setpoint_get_x(const mavlink_message_t* msg)
 {
-	return MAVLINK_MSG_RETURN_float(msg,  0);
+	return _MAV_RETURN_float(msg,  0);
 }
 
 /**
@@ -136,7 +168,7 @@ static inline float mavlink_msg_local_position_setpoint_get_x(const mavlink_mess
  */
 static inline float mavlink_msg_local_position_setpoint_get_y(const mavlink_message_t* msg)
 {
-	return MAVLINK_MSG_RETURN_float(msg,  4);
+	return _MAV_RETURN_float(msg,  4);
 }
 
 /**
@@ -146,7 +178,7 @@ static inline float mavlink_msg_local_position_setpoint_get_y(const mavlink_mess
  */
 static inline float mavlink_msg_local_position_setpoint_get_z(const mavlink_message_t* msg)
 {
-	return MAVLINK_MSG_RETURN_float(msg,  8);
+	return _MAV_RETURN_float(msg,  8);
 }
 
 /**
@@ -156,7 +188,7 @@ static inline float mavlink_msg_local_position_setpoint_get_z(const mavlink_mess
  */
 static inline float mavlink_msg_local_position_setpoint_get_yaw(const mavlink_message_t* msg)
 {
-	return MAVLINK_MSG_RETURN_float(msg,  12);
+	return _MAV_RETURN_float(msg,  12);
 }
 
 /**
@@ -173,6 +205,6 @@ static inline void mavlink_msg_local_position_setpoint_decode(const mavlink_mess
 	local_position_setpoint->z = mavlink_msg_local_position_setpoint_get_z(msg);
 	local_position_setpoint->yaw = mavlink_msg_local_position_setpoint_get_yaw(msg);
 #else
-	memcpy(local_position_setpoint, MAVLINK_PAYLOAD(msg), 16);
+	memcpy(local_position_setpoint, _MAV_PAYLOAD(msg), 16);
 #endif
 }

thirdParty/mavlink/include/common/version.h

@@ -5,7 +5,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Mon Aug 29 12:10:51 2011"
+#define MAVLINK_BUILD_DATE "Wed Aug 31 10:19:04 2011"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
 
 #include "mavlink.h"

thirdParty/mavlink/include/minimal/minimal.h

@@ -20,7 +20,11 @@ extern "C" {
 #endif
 
 #ifndef MAVLINK_MESSAGE_INFO
+<<<<<<< HEAD
 #define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}, {"EMPTY",0,{}}}
+=======
+#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}}
+>>>>>>> 720cd74fe31475906a3a527f70f564b1ebc17eb5
 #endif
 
 #include "../protocol.h"

thirdParty/mavlink/include/minimal/version.h

@@ -5,7 +5,11 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
+<<<<<<< HEAD
 #define MAVLINK_BUILD_DATE "Mon Aug 29 11:49:47 2011"
+=======
+#define MAVLINK_BUILD_DATE "Wed Aug 31 18:15:07 2011"
+>>>>>>> 720cd74fe31475906a3a527f70f564b1ebc17eb5
 #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
 
 #include "mavlink.h"